CN219116312U - Automatic storage system of freezer - Google Patents
Automatic storage system of freezer Download PDFInfo
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- CN219116312U CN219116312U CN202223327706.8U CN202223327706U CN219116312U CN 219116312 U CN219116312 U CN 219116312U CN 202223327706 U CN202223327706 U CN 202223327706U CN 219116312 U CN219116312 U CN 219116312U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The utility model relates to an automatic storage system of a refrigeration house, which comprises a feed box, a feed box conveying system, a flexible conveying system, a visual identification station, an automatic stereoscopic warehouse, a WMS system and a WCS system, wherein the WMS system receives task information issued by an operator, issues a command to the WCS system after processing, and issues the command to an automatic stereoscopic warehouse control system, the feed box conveying control system and the flexible conveying control system after receiving the WMS command. According to the utility model, the WMS system and the WCS system are tightly integrated with the advanced automatic logistics equipment and the storage equipment in each industry, the robots are adopted to carry and case the material boxes, and the stacker is used for carrying out the operation of storing and taking the material boxes on the goods shelves, so that the full-automatic delivery, storage and storage management of the crop resources are realized, and the long-term storage of the whole crop resources is unmanned.
Description
Technical Field
The utility model relates to an automatic warehouse logistics system, in particular to an automatic warehouse system of a refrigerator.
Background
At present, the facility conditions of the domestic crop resource long-term repository are behind, and the informatization and intelligence level is low. The existing crop resource long-term storage warehouse adopts a traditional fixed type goods shelf as a storage goods shelf, an operator needs to finish operation by means of a ladder stand when accessing high-rise crop resources, the storage temperature in the warehouse is lower than-18 ℃, and the operator cannot operate in a low-temperature environment for a long time, so that the working efficiency is low, and potential safety hazards exist; meanwhile, when an operator works, the operator needs to frequently enter and exit the warehouse, so that the storage conditions of constant temperature and constant humidity in the warehouse are seriously affected, and the long-term storage of crop resources is not facilitated; because the crop resource is manually carried, the storage and taking device is not suitable for a fixed goods shelf with higher height, so that the effective storage capacity is small, and the storage and taking device is difficult to adapt to the requirements of actual work.
Disclosure of Invention
The utility model aims at overcoming the defects of the existing crop resource long-term storage, and provides an automatic storage system of a refrigeration house, which can replace the original manual operation by using modern and intelligent equipment and can timely, accurately and efficiently finish the crop resource access operation.
In order to achieve the above purpose, the utility model is realized by the following technical scheme:
an automatic warehouse system of a refrigerator comprises a material box, a material box conveying system, a flexible conveying system, a visual identification station, an automatic stereoscopic warehouse, a WMS system and a WCS system,
the feed box is a conveying object and is matched with the outline dimension of a single crop resource storage medium;
the material box conveying system is used for conveying the material boxes and comprises a carrying robot, a warehousing station, a delivery station, a jacking translation machine, a chain type roller conveyor and a movable roller conveyor, wherein the carrying robot is used for automatically feeding the material boxes of the warehousing station and the delivery station into a warehouse, automatically discharging the material boxes of the delivery station from the warehouse, automatically stacking and unstacking the material boxes, and a material box detection device is arranged on a robot clamping jaw of the carrying robot and used for adjusting the grabbing gesture of the carrying robot by detecting the placement angle of the material boxes when grabbing the material boxes each time; the jacking translation machine is arranged at the turning position of each conveying corner and is used for conveying the material box to the equipment, a chain mechanism in a roller gap jacks the material box to lift the material box away from the conveying surface of the original roller, and then the chain mechanism is started to realize 90-degree right-angle turning conveying of the material box; the chain type roller conveyor is used for realizing linear conveying of the feed box, and guide strips are arranged on two sides of the chain type roller conveyor according to the size of the conveying feed box and used for correcting possible feed box deflection in the conveying process; the movable roller conveyor is arranged below the storage door of each storage area and is used for realizing linkage conveying of the material box conveying system and the storage door of each area;
the flexible conveying system is used for conveying single crop resources and comprises an automatic tallying platform, a spider mobile robot station, a flexible chain plate bottle clamping conveyor, a flexible chain plate conveyor and a mobile belt conveyor; the automatic tallying platform is divided into a feeding assisting line and a feeding line, wherein the feeding assisting line is driven by a synchronous belt, and auxiliary materials enter the feeding line; the feeding line is driven by a belt, and the feeding opening is provided with a kicking mechanism, so that crop resources on the feeding line can be kicked out and then conveyed one by one; the flexible chain plate bottle clamping conveyor is provided with a side surface guiding device and a protecting device and is used for realizing the lifting and conveying of crop resources; the flexible chain plate conveyor is used for realizing the linear conveying and bend conveying of single crop resources and is provided with a side guide protection device and a positioning device; the movable belt conveyor is arranged below the warehouse door of each warehouse area and is linked with the opening and closing of the warehouse door, so that the linkage conveying of the flexible conveying system and the warehouse door of each area is realized; the spider mobile robot station is provided with a boxing station and an unpacking station, and the spider mobile robot is used for unpacking single crop resources in a bin at the unpacking station and loading the single crop resources into the bin at the boxing station; the box filling station and the box removing station are provided with a box clamping mechanism for fixing the boxes on each station;
the visual recognition station is arranged at the junction of the bin conveying system and the flexible conveying system and is used for recognizing bin bar codes of the passing bin and bar code information of crop resources in the bin, binding the crop resource information with position information in the bin and checking the crop resource bar code information in the bin;
the WMS system receives task information issued by an operator, issues a command to the WCS system after processing, and issues the command to the automatic stereoscopic warehouse control system, the feed box conveying control system and the flexible conveying control system after receiving the WMS command.
Furthermore, a plurality of divisions are arranged in each feed box according to the size of the crop resource storage medium, the side wall of each feed box adopts a hollowed-out structure, and the bottom of each feed box is a closed stackable structure; the bar code grooves are symmetrically arranged on two sides of the feed box and are used for pasting bar codes of the feed box.
Further, when the height difference exists on the conveying surface of the flexible conveying system, a flexible chain plate bottle clamping conveyor is arranged behind the automatic tallying platform.
Further, the storage medium according to single crop resource is equipped with anti falling device in spider hand robot's clamping jaw department for guarantee reliability, the stability of snatching at every turn.
Further, the automated stereoscopic warehouse comprises a goods shelf, a stacker and related control components, wherein the goods shelf is used for storing the material boxes in a high-rise storage area, and the stacker and related control components are used for completing the material box storage and automatic storage and taking operation of crop resources in a low-temperature refrigeration storage area.
The beneficial effects of the utility model are as follows:
1. the WMS system and the WCS system are tightly integrated with advanced automatic logistics equipment and warehousing equipment in various industries, a robot is used for carrying and boxing the feed box, and a stacker is used for carrying out storage operation of the feed box on a goods shelf, so that full-automatic delivery, warehousing and storage management of crop resources are realized, and the whole crop resource long-term storage is unmanned;
2. the job volume of entering and exiting the warehouse of the treatable crop resource every day (8 h) can reach 1500 cases, the work efficiency is greatly improved;
3. the robot and the stacker replace manual operation for frequently entering and exiting the low-temperature warehouse area, the visual recognition replaces manual checking of crop resource information, the labor intensity of operators is remarkably reduced, the maintenance of the storage environment of constant temperature and constant humidity of the warehouse area is facilitated, and the safety of crop resource storage is improved.
Drawings
FIG. 1 is a plan view of an automated warehouse system of a cold warehouse in accordance with an embodiment of the present utility model;
FIG. 2 is a schematic diagram of a bin structure in an embodiment of the utility model;
FIG. 3 is a schematic structural diagram of an elevating translation machine according to an embodiment of the present utility model;
FIG. 4 is a schematic view of a chain roller conveyor in accordance with an embodiment of the present utility model;
FIG. 5 is a schematic view of a mobile roller conveyor in accordance with an embodiment of the present utility model;
FIG. 6 is a schematic diagram of an automated tallying platform according to an embodiment of the present utility model;
FIG. 7 is a schematic view of a flexible flight conveyor in accordance with an embodiment of the utility model;
FIG. 8 is a schematic diagram of a mobile belt conveyor in accordance with an embodiment of the utility model;
fig. 9 is a schematic diagram of a workstation of a spider mobile robot in an embodiment of the present utility model.
In the figure: a-a warehousing station; b-a warehouse-out station; c-a visual recognition station; d-a return checking station; e-spider mobile robot stations; 1-a handling robot; 2-a first chain roller conveyor; 3-a first mobile roller conveyor; 4-jacking a first translation machine; 5-jacking a second translation machine; 6-a second chain roller conveyor; 7-jacking a translation machine III; 8-lifting the translation machine IV; 9-a second movable roller conveyor; 10-a chain type roller conveyor III; 11-a flexible flight conveyor; 12-a mobile belt conveyor; 13-a flexible chain plate bottle clamping conveyor; 14-an automatic tally platform; 15-a chain type roller conveyor IV; 16-a mobile roller conveyor III; 17-a chain type roller conveyor five; 18-jacking a translation machine V; 19-a chain type roller conveyor six; 20-a mobile roller conveyor IV; 21-a chain roller conveyor seven; 22-stacker; 23-shelf; 301-a chain mechanism; 401-a guide bar; 501-linear guide rail; 601-auxiliary feed line; 602-feeding line; 603-a kicking mechanism; 701-side guide guard; 702-a seed bottle positioning device; 801-linear guide rail; 901-a boxing station; 902-an unpacking station; 903-spider hand robot; 904—bin clamping mechanism.
Detailed Description
The utility model is described in detail below with reference to the drawings and examples.
As shown in fig. 1 to 9, the automatic warehouse system of the refrigerator can simultaneously meet the requirements of centralized boxing, conveying and storing of various crop resources and conveying and storing of single crop resources one by one according to different use requirements. Mainly comprises a feed box (customized according to the use requirement), a feed box conveying system, a flexible conveying system, a visual recognition station, an automatic stereoscopic warehouse, a WMS (warehouse management system) system and a WCS (warehouse scheduling system).
The feed boxes are conveying objects of the system, are matched and customized according to the outline dimensions of single crop resource storage media, and are internally provided with a plurality of divisions according to the dimensions of the crop resource storage media, so that the positions of the crop resources in the feed boxes are not changed in the transportation process; the side wall of the feed box is designed into a hollow structure, and the bottom of the feed box is a closed stackable structure; the bar code grooves are symmetrically arranged on two sides of the feed box and are used for pasting the bar codes of the feed box.
The bin conveying system is used for conveying bins and mainly comprises a transfer robot, a warehouse-in station, a warehouse-out station, a jacking translation machine, a chain type roller conveyor and a movable roller conveyor.
The transfer robot is used for achieving the functions of automatically feeding the bins of the warehouse-in station and the warehouse-out station into a warehouse, automatically discharging the bins from the warehouse, automatically stacking, unstacking and the like. The robot clamping jaw design of transfer robot has workbin detection device, and accessible detection workbin's the angle adjustment transfer robot of putting snatchs the gesture at every turn when snatching the workbin, ensures the reliability of snatching at every turn.
If necessary, the warehouse-in station and the warehouse-out station can be configured with three modes for free switching according to the use requirements of actual warehouse-out and warehouse-in: the double-ex-warehouse station mode, the double-warehouse-in station mode and the one-ex-warehouse-in station mode are used for meeting the requirements of different production beats.
A lifting and translating machine is arranged at the turning position of each conveying corner, when the feed box is conveyed to the equipment, a chain mechanism positioned in a roller gap lifts the feed box away from the conveying surface of the original roller, and then the chain mechanism is started to realize 90-degree right-angle turning conveying of the feed box.
The chain type roller conveyor is used for realizing linear conveying of the feed box, guide strips are arranged on two sides of the chain type roller conveyor according to the size of the conveying feed box, and the possible feed box deflection in the conveying process is corrected.
A movable roller conveyor is arranged below the warehouse door of each warehouse area, when the material box is conveyed to the warehouse door, the warehouse door is lifted and opened, the movable roller conveyor moves to the lower part of the warehouse door through a linear guide rail at the bottom to be connected with the rear chain roller conveyor, and when the material box passes, the movable roller conveyor returns to the original position, and the warehouse door can be closed. The movable roller conveyor can overcome the conveying gap generated by the thickness of the storage door, and is linked with the opening and closing of the storage door, so that the linkage conveying of the material box conveying system and the storage door in each area is realized, and the effects of energy saving and cold insulation are achieved.
The flexible conveying system is used for conveying single crop resources and mainly comprises an automatic tallying platform, a spider mobile robot station, a flexible chain plate bottle clamping conveyor, a flexible chain plate conveyor and a mobile belt conveyor.
The automatic tallying platform is divided into a feeding assisting line and a feeding line, wherein the feeding assisting line is driven by a synchronous belt, and auxiliary materials enter the feeding line; the feeding line is driven by a belt, and the feeding opening is provided with a kicking mechanism, so that crop resources on the feeding line can be kicked out and then conveyed one by one.
If the conveying surfaces have height differences, a flexible chain plate bottle clamping conveyor can be arranged, and the flexible chain plate bottle clamping conveyor is provided with a side surface guiding device and a protecting device and is used for realizing lifting conveying of crop resources.
The flexible chain plate conveyor is used for realizing the linear conveying and bend conveying of single crop resources and is provided with a side guide protection device and a positioning device.
And a movable belt conveyor is arranged below the warehouse door of each warehouse area, when a single crop resource is conveyed to the warehouse door, the warehouse door is lifted and opened, the movable belt conveyor moves to the lower part of the warehouse door through a linear guide rail at the bottom to be connected with a rear flexible chain plate conveyor, and after the material resource passes, the movable belt conveyor returns to the original position, and the warehouse door can be closed. The conveying gap generated by the thickness of the warehouse door can be overcome through the movable belt conveyor, and the flexible conveying system is linked with the opening and closing of the warehouse door, so that the linkage conveying of the flexible conveying system and the warehouse door in each area is realized, and the effects of energy saving and cold insulation are achieved;
the spider mobile robot station is provided with a boxing station and an unpacking station, and the spider mobile robot can unpack single crop resources in a bin at the unpacking station and load the single crop resources into the bin at the boxing station. And the boxing station and the unpacking station are provided with a workbin clamping mechanism for fixing workbins on each station. The anti-drop device is designed at the clamping jaw of the spider hand robot according to the storage medium of single crop resources, so that the reliability and stability of each grabbing are ensured.
The visual recognition station is arranged at the junction of the bin conveying system and the flexible conveying system, and can recognize bin bar codes passing through the bin and bar code information of crop resources in the bin and bind the crop resource information with position information in the bin when the bin entering through the bin conveying system or the bin boxed by the flexible conveying system is ready to enter an automatic stereoscopic warehouse. And meanwhile, checking the bar code information of the crop resources in the feed box, sending alarm information to the management system when the conditions of missing bar codes, bar code errors and the like are found, moving the feed box out to a return checking station, and waiting for manual checking confirmation.
The automatic stereoscopic warehouse mainly comprises a goods shelf, a stacker and related control components, wherein the goods shelf is main equipment for storing the material box in a high-rise storage area, has enough strength, rigidity and overall stability, and has high dimensional accuracy. The stacker and related control components are used for completing the storage and automatic access operation of the material box of crop resources in the low-temperature refrigeration house area.
The system is characterized in that a main body framework of the system is that an operator issues tasks to a WMS system, the WMS system issues instructions to a WCS system after analysis and operation, the WCS system receives the WMS instructions, the WCS issues instructions to an automatic stereoscopic warehouse control system, a feed box conveying control system and a flexible conveying control system to perform instruction execution, and after the instruction execution is completed, the WMS feeds back task completion information.
Examples:
as shown in fig. 1, the automatic warehouse system of the refrigerator provided by the utility model mainly comprises a material box, a material box conveying system, a flexible conveying system, a visual recognition station, an automatic stereoscopic warehouse, a WMS (warehouse management system) and a WCS (warehouse scheduling system).
In this embodiment, the single crop resource storage medium is a plastic square bottle, hereinafter referred to as a "seed bottle".
The structure of the feed boxes is shown in fig. 2, and the feed boxes are customized according to the outline dimensions of the seed bottles, and a plurality of divisions are arranged in each feed box according to the dimensions of the seed bottles, so that the positions of the seed bottles in the feed boxes are not changed in the transportation process; the side wall of the feed box is designed into a hollow structure, and the bottom of the feed box is a closed stackable structure; the bar code grooves are symmetrically arranged on two sides of the feed box and are used for pasting the bar codes of the feed box.
The bin conveying system is used for conveying bins and mainly comprises a transfer robot, a warehouse-in station, a warehouse-out station, a jacking translation machine, a chain type roller conveyor and a movable roller conveyor.
As shown in fig. 1, the transfer robot 1 is used for realizing functions of automatically loading and warehousing the bins stacked at the warehousing station a and the ex-warehouse station b, automatically unloading and ex-warehouse, automatically stacking, unstacking and the like. The robot clamping jaw of the transfer robot 1 is provided with a feed box detection device, and the grabbing gesture of the transfer robot can be adjusted by detecting the placing angle of the feed box when grabbing the feed box each time, so that the grabbing reliability each time is ensured.
If necessary, the warehouse-in station a and the warehouse-out station b can be configured with three modes for free switching according to the use requirements of actual warehouse-out and warehouse-in: the double-ex-warehouse station mode, the double-warehouse-in station mode and the one-ex-warehouse-in station mode are used for meeting the requirements of different production beats.
The first jacking translation machine 4, the second jacking translation machine 5, the third jacking translation machine 7, the fourth jacking translation machine 8 and the fifth jacking translation machine 18 are respectively arranged at the turning position of each conveying corner. The structure is as shown in figure 3, when the bin is conveyed to the equipment, a chain mechanism 301 positioned in a roller gap is lifted to lift the bin off the original roller conveying surface, and then the chain mechanism is started to operate to realize 90-degree quarter turn conveying of the bin.
The chain type roller conveyor I2, the chain type roller conveyor II 6, the chain type roller conveyor III 10, the chain type roller conveyor IV 15, the chain type roller conveyor V17, the chain type roller conveyor V19 and the chain type roller conveyor V21 are used for realizing linear conveying of the material box, the structure is as shown in fig. 4, the guide strips 401 are configured on two sides of the chain type roller conveyor according to the size of the conveying material box, and the material box skew possibly occurring in the conveying process is corrected.
The structure of the movable roller conveyor I3, the movable roller conveyor II 9, the movable roller conveyor III 16 and the movable roller conveyor IV 20 is shown in fig. 5, when the material box is conveyed to the position of the warehouse door, the warehouse door is lifted and opened, the movable roller conveyor moves to the position below the warehouse door through the linear guide rail 501 at the bottom and is connected with the rear chain roller conveyor, and when the material box passes, the movable roller conveyor returns to the original position, and the warehouse door can be closed. The movable roller conveyor can overcome the conveying gap generated by the thickness of the storage door, and is linked with the opening and closing of the storage door, so that the linkage conveying of the material box conveying system and the storage door in each area is realized, and the effects of energy saving and cold insulation are achieved.
The flexible conveying system is used for conveying seed bottles and mainly comprises an automatic cargo management platform, a spider mobile robot station, a flexible chain plate bottle clamping conveyor, a flexible chain plate conveyor and a mobile belt conveyor.
The automated tally platform 14 is comprised of two parts, a feed assist line 601 and a feed up line 602, as shown in fig. 6. The auxiliary feeding line is driven by the synchronous belt, and auxiliary materials enter the feeding line; the feeding line is driven by a belt, and a feeding hole is provided with a kicking mechanism 603, so that seed bottles on the feeding line can be kicked out and then conveyed one by one.
In this embodiment, the flexible conveying system has a conveying surface height difference, so that a flexible chain plate bottle clamping conveyor 13 is arranged behind the automatic tallying platform 14, and the flexible chain plate bottle clamping conveyor is provided with a side guiding device and a protecting device for realizing lifting conveying of seed bottles.
The flexible flight conveyor 11 is used to achieve both linear and curved transport of seed bottles, and is provided with a side guide guard 701 and a seed bottle positioning device 702 as shown in fig. 7.
A movable belt conveyor 12 is arranged below the warehouse door of each warehouse area, as shown in fig. 8, when seed bottles are conveyed to the warehouse door, the warehouse door is lifted and opened, the movable belt conveyor 12 moves to the lower part of the warehouse door through a linear guide rail 801 at the bottom to be connected with a rear flexible chain plate conveyor 11, and when the seed bottles pass, the movable belt conveyor 12 returns to the original position, and the warehouse door can be closed. The conveying gap generated by the thickness of the warehouse door can be overcome by moving the belt conveyor 12, and the flexible conveying system is linked with the opening and closing of the warehouse door, so that the linkage conveying of the flexible conveying system and the warehouse door in each area is realized, and the effects of energy conservation and cold insulation are achieved.
The spider mobile robot station e is provided with a boxing station 901 and an unpacking station 902, and as shown in fig. 9, seed bottles in a bin at the unpacking station 902 can be unpacked and loaded into the bin at the boxing station 901 by the spider mobile robot 903. A bin clamping mechanism 904 is also provided at the boxing station 901 and the unpacking station 902 for securing the bins at each station. The anti-drop device is designed at the clamping jaw of the spider hand robot according to the seed bottle, so that the reliability and stability of each grabbing are ensured.
The visual identification station c is arranged at the junction of the bin conveying system and the flexible conveying system, and when the bin entering through the bin conveying system or the bin boxed by the flexible conveying system is ready to enter the automatic stereoscopic warehouse, the visual identification station c can identify the bin bar code passing through the bin and the bar code information of crop resources in the bin and bind the crop resource information with the position information in the bin. And meanwhile, checking the bar code information of the crop resources in the feed box, sending alarm information to the management system when the conditions of missing bar codes, bar code errors and the like are found, moving the feed box out to the return checking station d, and waiting for manual checking confirmation.
The automated stereoscopic warehouse mainly comprises a shelf 23, a stacker 22 and related control components, wherein the shelf 23 is the main equipment for storing the bins in a high-rise storage area, has enough strength and rigidity and overall stability, and has high dimensional accuracy. Stacker 22 and associated control assembly are used to complete bin storage and automatic access of crop resources in the low temperature freezer area.
The working procedure of the present utility model is described below:
(1) Storage box for storage
The material box stacked at the warehousing station a is grabbed and placed on a chain type roller conveyor 2 at the warehousing end by a carrying robot 1, the chain type roller conveyor 2 and the movable type roller conveyor 3 are started to convey the material box to the movable type roller conveyor 3 at the same time, at the moment, the warehouse door is lifted and opened, the movable type roller conveyor 3 moves to the lower part of the warehouse door through a linear guide rail 501 at the bottom, the chain type roller conveyor 6 at the rear starts to convey the material box to the chain type roller conveyor 6, the movable type roller conveyor 3 is restored to the original position, the warehouse door is lowered and closed, the material box is conveyed to a visual recognition station c by the chain type roller conveyor 6, the visual recognition station c recognizes bar codes of the material box and bar codes of seed bottles in the material box and binds the information of the seed bottles with the position information in the material box, the bin is continuously conveyed to the jacking translation machine 7 by the chain type roller conveyor 6, a chain mechanism 301 at the bottom of the jacking translation machine 7 jacks up to lift the bin off the conveying surface of the original roller, then the chain mechanism starts to operate to convey the bin to the movable type roller conveyor 9 in a 90-degree right angle turn, the bin gate is lifted and opened, the movable type roller conveyor 9 moves to the position below the bin gate through a linear guide rail 501 at the bottom, the rear chain type roller conveyor 10 starts to convey the bin to the chain type roller conveyor 10, the movable type roller conveyor 9 is restored to the original position, the bin gate descends to be closed, after the bin reaches the goods position of the chain type roller conveyor 10, the WCS system distributes goods positions to the bin according to the goods position conditions in the bin and dispatches the stacker 22 to store the bin on the chain type roller conveyor 10 to the goods shelf 23, and the WMS system feeds back information to the management system to finish the bin warehouse entry.
(2) Bin delivery
After the WMS system receives the task of unloading the bin, the WCS system produces a bin unloading list, the WCS system dispatches the stacker 22 to take the bin out of the shelf 23 and place the bin on the chain roller conveyor 21, the bin gate is lifted and opened, the mobile roller conveyor 20 moves to the position below the bin gate through the linear guide rail 501 at the bottom, the bin is conveyed to the mobile roller conveyor 20, the mobile roller conveyor 20 returns to the original position, the bin gate is closed in a descending manner, the chain mechanism 301 at the bottom of the jacking and translating machine 8 is lifted and started, the bin is conveyed to the chain roller conveyor 19 through the chain mechanism 301, the jacking and translating machine 18 at the end of the chain roller conveyor 17 is lifted and started, the bin is connected to the chain mechanism 301, the chain mechanism 301 is lowered, the bin is dropped onto the chain roller conveyor 17, then the chain roller conveyor 17 is started to operate to convey the bin 90-degree right-angle turns to the position of the bin gate, the bin gate is lifted and opened, the mobile roller conveyor 16 moves to the position below the bin gate through the linear guide rail 501 at the bottom, the bin gate is conveyed to the mobile roller conveyor 16, the bin 16 is lifted and closed, the bin is returned to the position of the bin station b at the position of the bin, and the bin is unloaded from the bin station by the machine, and the bin station b is unloaded from the bin position.
(3) Seed bottle warehouse-in
The operator places the seed bottles on the automatic tally platform 14, the seed bottles are arranged and discharged through the auxiliary feed line 601 and the feed line 602, when the seed bottles pass through the feed port, the seed bottles are kicked out to the flexible chain plate bottle clamping conveyor 13 one by the kicking mechanism 603, the seed bottles are conveyed to the movable belt conveyor 12 through the flexible chain plate bottle clamping conveyor 13, at the moment, the warehouse door is lifted and opened, the movable belt conveyor 12 moves to the position below the warehouse door through the linear guide rail 801 at the bottom and is connected with the flexible chain plate conveyor 11 at the back, the seed bottles are conveyed to the positioning device 702 of the flexible chain plate conveyor 11 for positioning, meanwhile, the WCS system calls an empty box from the warehouse and conveys the empty box to the boxing station 901, the box clamping mechanism 904 starts to clamp the positioning of the empty box, after the empty box is in place, the spider robot 903 grabs the seed bottles at the positioning device 702 into the empty box at the boxing station 901, after the batch boxing task is completed, the jacking translation machine 5 is started in a jacking mode, the bin is connected to the chain structure 301, the chain mechanism 301 descends, the bin is placed on the chain type roller conveyor 6, the bin is conveyed to a visual recognition station c by the chain type roller conveyor 6, the visual recognition station c recognizes bin bar codes of the bin and bar code information of seed bottles in the bin and binds the seed bottle information with position information in the bin, the bin is continuously conveyed to the jacking translation machine 7 by the chain type roller conveyor 6, the chain mechanism 301 at the bottom of the jacking translation machine 7 is lifted to lift the bin off the raw roller conveying surface, then the chain mechanism starts to operate to convey the bin to the movable type roller conveyor 9 in a 90-degree right-angle turning mode, the bin door is lifted and opened, the movable type roller conveyor 9 moves to the position below the bin door through the linear guide rail 501 at the bottom, the chain roller conveyor 10 at the rear starts to convey the bin onto the chain roller conveyor 10, the movable roller conveyor 9 returns to the original position, the warehouse door descends to be closed, after the bin reaches the goods taking position of the chain roller conveyor 10, the WCS system distributes the goods to the bin according to the goods taking position condition in the warehouse and dispatches the stacker 22 to store and take the bin on the chain roller conveyor 10 onto the goods shelf 23, the WMS system feeds back information to the management system, and the warehousing of the seed bottles is completed.
(4) Seed bottle warehouse-out
After the WMS system receives the task of delivering seed bottles from the warehouse, it confirms the goods space of the bin to which the seed bottles belong, the WCS system dispatches the stacker 22 to take the bin out of the shelf 23 and place it on the chain type roller conveyor 21, the warehouse door is lifted and opened, the mobile roller conveyor 20 moves to the lower part of the warehouse door through the linear guide rail 501 at the bottom, the bin is delivered to the mobile roller conveyor 20, the mobile roller conveyor 20 returns to the original position, the warehouse door is lowered and closed, the chain mechanism 301 at the bottom of the lifting and lowering machine 8 is lifted and started, the bin is connected to the chain structure 301, the chain mechanism 301 is lowered, the bin is placed on the chain type roller conveyor 6, the lifting and lowering machine 4 is started, the bin is connected to the chain mechanism 301 via the chain type roller conveyor 6, the bin is lowered and dropped to the unpacking station 902, the bin clamping mechanism 904 is started and clamps the bin, after the bin is delivered to the position, the spider robot 903 picks the seed bottles to be delivered from the bin to the positioning device, the bin door is lifted and placed on the chain mechanism 702, the chain mechanism is lifted and started, the bin plate 12 is automatically moved to the bottom of the warehouse 11 via the chain type roller conveyor 11, the chain link plate 11 is closed, the flexible belt 11 is automatically moved to the warehouse 11, and the bin is delivered to the position and the bin 11 is lifted and closed, and the bin plate is delivered to the position by the flexible belt plate 11.
Claims (5)
1. An automatic warehouse system of freezer, its characterized in that: comprises a feed box, a feed box conveying system, a flexible conveying system, a visual identification station, an automatic stereoscopic warehouse, a WMS system and a WCS system,
the feed box is a conveying object and is matched with the outline dimension of a single crop resource storage medium;
the material box conveying system is used for conveying the material boxes and comprises a carrying robot, a warehousing station, a delivery station, a jacking translation machine, a chain type roller conveyor and a movable roller conveyor, wherein the carrying robot is used for automatically feeding the material boxes of the warehousing station and the delivery station into a warehouse, automatically discharging the material boxes of the delivery station from the warehouse, automatically stacking and unstacking the material boxes, and a material box detection device is arranged on a robot clamping jaw of the carrying robot and used for adjusting the grabbing gesture of the carrying robot by detecting the placement angle of the material boxes when grabbing the material boxes each time; the jacking translation machine is arranged at the turning position of each conveying corner and is used for conveying the material box to the jacking translation machine, a chain mechanism positioned in a roller gap jacks up to lift the material box away from the conveying surface of the original roller, and then the chain mechanism is started to realize 90-degree right-angle turning conveying of the material box; the chain type roller conveyor is used for realizing linear conveying of the feed box, and guide strips are arranged on two sides of the chain type roller conveyor according to the size of the conveying feed box and used for correcting possible feed box deflection in the conveying process; the movable roller conveyor is arranged below the storage door of each storage area and is used for realizing linkage conveying of the material box conveying system and the storage door of each area;
the flexible conveying system is used for conveying single crop resources and comprises an automatic tallying platform, a spider mobile robot station, a flexible chain plate bottle clamping conveyor, a flexible chain plate conveyor and a mobile belt conveyor; the automatic tallying platform is divided into a feeding assisting line and a feeding line, wherein the feeding assisting line is driven by a synchronous belt, and auxiliary materials enter the feeding line; the feeding line is driven by a belt, and the feeding opening is provided with a kicking mechanism, so that crop resources on the feeding line can be kicked out and then conveyed one by one; the flexible chain plate bottle clamping conveyor is provided with a side surface guiding device and a protecting device and is used for realizing the lifting and conveying of crop resources; the flexible chain plate conveyor is used for realizing the linear conveying and bend conveying of single crop resources and is provided with a side guide protection device and a positioning device; the movable belt conveyor is arranged below the warehouse door of each warehouse area and is linked with the opening and closing of the warehouse door, so that the linkage conveying of the flexible conveying system and the warehouse door of each area is realized; the spider mobile robot station is provided with a boxing station and an unpacking station, and the spider mobile robot is used for unpacking single crop resources in a bin at the unpacking station and loading the single crop resources into the bin at the boxing station; the box filling station and the box removing station are provided with a box clamping mechanism for fixing the boxes on each station;
the visual recognition station is arranged at the junction of the bin conveying system and the flexible conveying system and is used for recognizing bin bar codes of the passing bin and bar code information of crop resources in the bin, binding the crop resource information with position information in the bin and checking the crop resource bar code information in the bin;
the WMS system receives task information issued by an operator, issues a command to the WCS system after processing, and issues the command to the automatic stereoscopic warehouse control system, the feed box conveying control system and the flexible conveying control system after receiving the WMS command.
2. The automated warehouse system of claim 1, wherein: a plurality of divisions are arranged in each feed box according to the size of the crop resource storage medium, the side wall of each feed box adopts a hollow structure, and the bottom of each feed box is a closed stackable structure; the bar code grooves are symmetrically arranged on two sides of the feed box and are used for pasting bar codes of the feed box.
3. The automated warehouse system of claim 1, wherein: when the height difference exists on the conveying surface of the flexible conveying system, a flexible chain plate bottle clamping conveyor is arranged behind the automatic tallying platform.
4. The automated warehouse system of claim 1, wherein: the spider hand robot is characterized in that an anti-drop device is arranged at the clamping jaw of the spider hand robot according to a storage medium of single crop resources and used for ensuring the reliability and stability of each grabbing.
5. The automated warehouse system of claim 1, wherein: the automatic stereoscopic warehouse comprises a goods shelf, a stacker and related control components, wherein the goods shelf is used for storing the material boxes in a high-rise storage area, and the stacker and related control components are used for completing the material box storage and automatic storage and taking operation of crop resources in a low-temperature refrigeration house area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223327706.8U CN219116312U (en) | 2022-12-12 | 2022-12-12 | Automatic storage system of freezer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223327706.8U CN219116312U (en) | 2022-12-12 | 2022-12-12 | Automatic storage system of freezer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219116312U true CN219116312U (en) | 2023-06-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223327706.8U Active CN219116312U (en) | 2022-12-12 | 2022-12-12 | Automatic storage system of freezer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219116312U (en) |
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2022
- 2022-12-12 CN CN202223327706.8U patent/CN219116312U/en active Active
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