WO2018149260A1 - Système de collecte et de placement d'articles stéréoscopiques - Google Patents

Système de collecte et de placement d'articles stéréoscopiques Download PDF

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Publication number
WO2018149260A1
WO2018149260A1 PCT/CN2018/072617 CN2018072617W WO2018149260A1 WO 2018149260 A1 WO2018149260 A1 WO 2018149260A1 CN 2018072617 W CN2018072617 W CN 2018072617W WO 2018149260 A1 WO2018149260 A1 WO 2018149260A1
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WO
WIPO (PCT)
Prior art keywords
storage
storage unit
item
unit
pick
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Application number
PCT/CN2018/072617
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English (en)
Chinese (zh)
Inventor
陈再煊
Original Assignee
福建汇创天下科技有限公司
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Publication date
Application filed by 福建汇创天下科技有限公司 filed Critical 福建汇创天下科技有限公司
Publication of WO2018149260A1 publication Critical patent/WO2018149260A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles

Definitions

  • the invention relates to the technical field of cargo storage, in particular to a three-dimensional pick-and-place system for articles.
  • each storage unit of the three-dimensional storage device is mostly fixed, and the item extraction device requires a large amount of space for moving into the area of the storage unit, and extracts the items, and the space utilization rate is not high.
  • the inventors provide a three-dimensional pick-and-place system for articles, characterized in that the three-dimensional pick-and-place system of the article comprises: a storage structure, a storage unit and an article extraction device;
  • the storage structure is provided with one or more storage layers in the height direction, and the storage unit is disposed on the storage layer, each of which includes more than three storage unit parking spaces, and the number of storage units on the storage layer
  • the number of the storage unit parking spaces on the storage layer is less than one, and the storage unit can move on the storage layer, and the storage unit parking space without the storage unit is vacant;
  • the number of the item extracting devices is one or more, including a gripping device, a lifting device, a translating device and a translating track, the translating track being disposed above the storage structure, the translating device for driving the gripping device to move on the translating track
  • the lifting device is configured to drive the gripping device to move up and down.
  • the gripping device is configured to grasp an item placed on the storage unit or to grasp the storage unit. When the grasping device moves up and down, the lifting device can pass the vacant position.
  • the above technical solution has the following advantages: by placing the movable storage unit on a plurality of storage layers, when the articles are extracted, the storage unit located above the items to be taken is moved, and only one vacant position is required for each layer, that is, An extraction space can be vacated for the item to be taken, the item is extracted, the density of the item is increased, and the space utilization rate is improved; and the storage unit can be independently moved, and the movement mode of the storage unit is flexible, and the item access operation is convenient. .
  • the storage unit is a self-propelled storage unit
  • the storage unit is a self-propelled storage unit
  • the self-propelled storage unit includes a first driving mechanism, and the first driving mechanism is configured to drive the storage unit at Move on the storage layer.
  • the storage structure is provided with two or more storage layers in the height direction.
  • a moving unit is disposed between the storage layers of the storage structure, the moving unit includes a second driving mechanism and a storage unit moving device, and the second driving mechanism is configured to drive the mobile unit, and the storage unit moving device Used to move the storage unit.
  • the number of the storage structures is two or more, and the storage structures are arranged in an array form, and the storage layers are arranged in a plurality of rows and columns in the horizontal direction, and the storage layers between the adjacent storage structures are in communication with each other.
  • the storage layer is provided with a moving rail for moving the storage unit on the storage layer, and the storage unit moves on the moving rail by the universal wheel or the hub motor.
  • the storage unit is a vehicle parking unit
  • the vehicle parking unit includes a running mechanism for parking a vehicle
  • the parking mechanism is configured to park the vehicle in the storage layer Moving upwards, the gripping device is used to grab items placed on the parking deck.
  • FIG. 1 is a schematic front view showing the structure of a three-dimensional pick-and-place system for an article according to Embodiment 1 of the present invention
  • FIG. 2 is a schematic diagram of a three-dimensional structure of an article stereoscopic pick-and-place system according to Embodiment 1 of the present invention
  • FIG. 3 is a schematic front structural view of a three-dimensional pick-and-place system for articles according to Embodiment 2 of the present invention.
  • FIG. 4 is a schematic structural view of a three-dimensional pick-and-place system for articles according to Embodiment 3 of the present invention.
  • FIG. 5 is a schematic structural diagram of a storage unit according to Embodiment 4 of the present invention.
  • 201 a storage unit
  • 202 a first drive mechanism
  • 203 a parking deck
  • 401 a mobile unit; 402, a second drive mechanism; 403, a storage unit moving device.
  • FIG. 1 is a schematic front structural view of a three-dimensional pick-and-place system for articles according to a first embodiment of the present invention
  • FIG. 2 is a three-dimensional structural schematic view of a three-dimensional pick-and-place system for articles according to the first embodiment of the present invention.
  • a plurality of storage layers 102 are disposed on the substrate 101.
  • Each of the storage layers 102 is a moving rail.
  • the moving rails are disposed on two sides of the storage layer 102.
  • the storage unit parking space 103 is formed on the moving rail of the storage layer 102.
  • the storage unit 201 is disposed on the storage unit 201.
  • the storage unit 201 On the moving track of the layer 102, the storage unit 201 includes a parking layer 203 and a plurality of running mechanisms 204 (the traveling mechanism selects a universal wheel in the embodiment), and the parking layer 203 of the storage unit 201 passes the universal wheel in the moving track.
  • the number of the storage unit 201 Upward movement, the number of the storage unit 201 is one less than the number of the storage unit parking spaces 103, forming a vacant position (in this embodiment, the number of vacant positions of each storage layer is one, or two or more, by setting two The above vacant position makes the moving direction of the storage unit more flexible.
  • the translational track 302 of the article extraction device 301 is disposed at the top of the storage structure 101, and the article extraction device 301 is loaded by the translation.
  • the 303 is moved on the translational track 302 (the inverting device selects the hub motor in this embodiment), and the lifting device 304 is disposed on the article extracting device 301 (the electric lifting device is selected as the lifting device in the embodiment), and is connected to the grasping device 305.
  • the moving unit 401 is disposed between the layers of the storage layer 102 and disposed on the moving track (in this embodiment, the mobile unit selects a shuttle and shares the moving track with the storage unit, and an independent shuttle track can also be provided for placing.
  • the shuttle, the second drive mechanism 402 is a drive wheel of the shuttle, and the storage unit moving device on the shuttle uses a telescopic rod or a folding rod, and the telescopic rod/folding rod is used to contact the side of the moving unit and push the mobile unit on the moving rail. Move to both sides).
  • the shuttle located above the storage unit moves to the upper storage unit, and the two sides of the storage unit are contacted by the telescopic rod to shuttle
  • the vehicle moves, the telescopic rod on the shuttle drives the storage unit, and vacates the vacant position on the storage unit of the goods to be taken, the translation device moves with the animal product extraction device to the upper position of the vacant position, the electric winding machine starts, and the grasping device is lowered by the cable.
  • the gripping device passes between the intervals of moving the rails disposed on both sides of the storage layer, the gripping device grabs the cargo, the winder retracts the cable, moves the gripping device and the cargo to the top of the storage structure, and the article extracting device moves To the unloading area, drive the reeling machine to remove the goods (the cable is selected in this embodiment, and a chain can also be used).
  • the storage structure 101 is provided with a plurality of storage layers 102.
  • Each of the storage layers 102 is a moving rail.
  • the moving rails are disposed on two sides of the storage layer 102.
  • the moving rails on the storage layer 102 form a storage unit parking space, and the storage unit 201 is disposed at On the moving track of the storage layer 102, the storage unit 201 includes a parking layer plate 203 and a plurality of first driving mechanisms 202 (the first driving mechanism selects the hub motor in the embodiment), and the parking layer plate 203 of the storage unit 201 passes through the hub motor.
  • the number of the storage unit 201 is one less than the number of the storage unit parking spaces 103, forming a vacant position (in this embodiment, the number of vacant positions of each storage layer is one, or two or more, through Two or more vacant positions are provided to make the movement direction of the storage unit more flexible.
  • the translational track 302 of the article extraction device 301 is disposed at the top of the storage structure 101, and the article extraction device 301 is on the translational track 302 by the translation device 303 (this embodiment In the example, the translating device selects the hub motor) lifting device 304 is disposed on the article extracting device 301 (in this embodiment, the lifting device uses an electric reel), and Gripping means 305 contact.
  • the storage unit hub motor located above the goods to be taken works, moves the storage unit, and vacates the storage unit above the goods to be taken.
  • the item extraction device moves to the upper position by the translation device, the electric winding machine works, and the grasping device is lowered, and the grasping device passes between the intervals of moving the track disposed on both sides of the storage layer, and the grasping device grabs the goods.
  • the winding machine takes up the line, moves the gripping device and the goods to the top of the storage structure, moves the item extraction device to the unloading area, drives the winding machine, and unloads the goods.
  • FIG. 3 is a schematic structural diagram of a three-dimensional pick-and-place system for articles according to a third embodiment of the present invention.
  • the plurality of storage structures 101 are formed in rows and columns.
  • the storage layer 102 is two parallel storage rails and is along the X-axis and the Y-axis.
  • the storage unit 201 is disposed on the moving track of the storage layer 102, including the parking deck 203 and the hub motor (in the embodiment, the hub motor is selected as the first driving mechanism, and the universal wheel can also be selected, and the shuttle and the setting are adopted.
  • the translational track 302 of the article extraction device 301 is disposed at the top of the storage structure 101, and is disposed along the X, Y axis directions, and the plurality of article extraction devices 301 are disposed on the translational track by the translation device
  • the translating device selects the hub motor.
  • the article extracting devices are all disposed on the plane of the top of the storage structure 101, and the translating rails can also be arranged in multiple layers in the height direction, and the plurality of article extracting devices are respectively set.
  • the lifting device is arranged on the article extraction device 301 (in this embodiment, the lifting device uses an electric reel), and the connection is grabbed. Home.
  • the hub motor drives the storage unit above the goods to be moved, so as to move along the X and Y axes, and vacate the vacant position on the storage unit of the goods to be taken, and translate
  • the device with animal product extraction device moves along the translational track at the top of the storage structure to above the vacant position
  • the electric winding machine is activated
  • the gripping device is lowered by the cable
  • the gripping device moves the track from the X-axis and the Y-axis direction of the storage layer.
  • the gripping device grabs the cargo
  • the winder retracts the cable
  • moves the gripping device and the cargo to the top of the storage structure moves the article extracting device to the unloading area, drives the reeling machine, and unloads the goods.
  • the storage unit 201 is disposed on the moving track on both sides of the storage layer 102.
  • the storage unit 201 includes a parking layer plate 203 and a first driving mechanism 202.
  • the first driving mechanism selects the hub motor, and the universal wheel can also be used.
  • two parking layers are used for placing the wheels of the vehicle, by using two parking layers for placing the wheels,
  • the whole parking layer plate reduces the weight of the storage unit and facilitates movement;
  • the parking layer plate can also be used as two grooves for placing the wheels of the vehicle, by placing the wheels of the vehicle in the grooves, thereby avoiding The vehicle moves back and forth, and the parking deck of the storage unit 201 moves on the moving rail by the hub motor 203.
  • the grasping device is lowered by the lifting device, the vehicle to be stored is grasped, and then the lifting device is driven to move the vehicle to the top of the storage structure, and the storage to be placed
  • the storage unit above the unit is moved by the hub motor or the moving unit (shuttle) to make room
  • the item extraction device drives the vehicle to move above the storage unit to be placed, and when the lifting device is placed on the vehicle, the movement path is moved between the two sides of the storage structure.
  • the space is placed on the storage unit to be placed.
  • the storage unit is equipped with a hub motor or a shuttle with a universal wheel and a plane rail as a driving mechanism.
  • the driving mechanism may be a transmission gear driven by a power unit such as a motor, and the moving rail is a rack. The structure moves the storage unit and/or the article extracting device by means of the transmission gear and the rack.
  • the number of layers of the storage layer on the storage structure may be one layer, and the storage layer of the storage structure is disposed below the ground, and the top of the storage structure is not lower than the surface, and the storage unit in the storage layer does not need to be moved, and only needs to be moved.
  • the metal structure of the storage structure may be selected, or a frame structure made of reinforced concrete may be adopted, the metal frame structure may be assembled and disassembled, the utility model is convenient to use, the structure of the reinforced concrete frame is stable, and the cost is low.
  • the lifting device is an electric winding machine, and the power output shaft of the hydraulic motor may be connected to the winding mechanism or the pneumatic hoist.
  • the item stereo access system can be used in the storage area, and the items or goods stored in the parking layer can be parcels, boxed goods, palletized goods, etc., so as to improve the storage density of the goods, and also In the field of soilless cultivation, it is used to move or access a growing bed of a crop forming cell to facilitate observation or to adjust the illumination state of the crop by moving the crop.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne un système de collecte et de placement d'articles stéréoscopiques comprenant une structure de placement d'articles (101), des unités de placement d'articles (201) et un appareil de collecte d'articles (301). La structure de placement d'articles (101) est dotée de couches de placement d'articles (102) dans la direction de la hauteur, et les unités de placement d'articles (201) sont disposées sur les couches de placement d'articles (102). Chaque couche de placement d'articles (102) comprend des positions de stationnement d'unités de placement d'articles (103), l'unité de placement d'articles (201) peut se déplacer sur la couche de placement d'articles (102) et la position de stationnement d'unité de placement d'articles (103) où aucune unité de placement d'articles (201) n'est stationnée est une position inoccupée. L'appareil de collecte d'articles (301) comprend un dispositif de saisie (305), un dispositif de levage (304), un dispositif de translation (303) et une piste de translation (302). Le dispositif de saisie (305) est utilisé pour saisir un article placé sur l'unité de placement d'articles (201). Les unités de placement d'articles mobiles (201) étant disposées sur de multiples couches de placement d'articles (102), lorsqu'un article est collecté, l'unité de placement d'articles (201) située au-dessus de l'article devant être collecté est déplacée, de sorte qu'avec une seule position inoccupée dans chaque couche, un espace de collecte peut être prévu pour l'article devant être collecté de manière à collecter l'article, ce qui permet d'augmenter la densité de placement d'articles afin d'améliorer l'utilisation de l'espace.
PCT/CN2018/072617 2017-02-15 2018-01-15 Système de collecte et de placement d'articles stéréoscopiques WO2018149260A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710081573.5 2017-02-15
CN201710081573.5A CN106628785B (zh) 2017-02-15 2017-02-15 一种物品立体取放系统

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WO2018149260A1 true WO2018149260A1 (fr) 2018-08-23

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Publication number Priority date Publication date Assignee Title
CN106628785B (zh) * 2017-02-15 2019-08-02 福建汇创天下科技有限公司 一种物品立体取放系统
CN107352252B (zh) * 2017-07-27 2019-04-16 安徽江淮汽车集团股份有限公司 零部件分拣装置
CN107842910B (zh) * 2017-09-10 2020-08-25 浙江广播电视大学 一种绿色智能家居管理系统
CN109484788B (zh) * 2017-09-10 2021-01-15 杭州金伙伴智能科技有限公司 一种绿色智能仓储系统

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EP0589844A1 (fr) * 1992-09-24 1994-03-30 Claus Berndt Magasin à haute performance avec des moyens pour stocker et prélever des marchandises
CN101372285A (zh) * 2007-08-25 2009-02-25 傅黎明 智能化立体仓储设备
WO2016009304A1 (fr) * 2014-07-16 2016-01-21 Razumov Sergey N Séquence de conteneur de chargement souhaitée sur un plateau d'un chariot de conteneur dans un système de stockage
CN106628785A (zh) * 2017-02-15 2017-05-10 陈再煊 一种物品立体取放系统
CN107060434A (zh) * 2017-06-15 2017-08-18 福建汇创天下科技有限公司 一种立体车库
CN206466554U (zh) * 2017-02-15 2017-09-05 福建汇创天下科技有限公司 一种物品立体取放系统

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IT1275819B1 (it) * 1995-10-27 1997-10-17 Fata Automation Magazzino a celle con carri di trasporto ad elevata efficienza
CN2586777Y (zh) * 2002-09-26 2003-11-19 李学昌 多段挠性联动式立体停车库
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0589844A1 (fr) * 1992-09-24 1994-03-30 Claus Berndt Magasin à haute performance avec des moyens pour stocker et prélever des marchandises
CN101372285A (zh) * 2007-08-25 2009-02-25 傅黎明 智能化立体仓储设备
WO2016009304A1 (fr) * 2014-07-16 2016-01-21 Razumov Sergey N Séquence de conteneur de chargement souhaitée sur un plateau d'un chariot de conteneur dans un système de stockage
CN106628785A (zh) * 2017-02-15 2017-05-10 陈再煊 一种物品立体取放系统
CN206466554U (zh) * 2017-02-15 2017-09-05 福建汇创天下科技有限公司 一种物品立体取放系统
CN107060434A (zh) * 2017-06-15 2017-08-18 福建汇创天下科技有限公司 一种立体车库

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CN106628785A (zh) 2017-05-10

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