WO2023284115A1 - Système de manipulation d'articles à levage continu et son procédé de commande - Google Patents

Système de manipulation d'articles à levage continu et son procédé de commande Download PDF

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Publication number
WO2023284115A1
WO2023284115A1 PCT/CN2021/120094 CN2021120094W WO2023284115A1 WO 2023284115 A1 WO2023284115 A1 WO 2023284115A1 CN 2021120094 W CN2021120094 W CN 2021120094W WO 2023284115 A1 WO2023284115 A1 WO 2023284115A1
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WO
WIPO (PCT)
Prior art keywords
lifting
article
rotary
robot
guide
Prior art date
Application number
PCT/CN2021/120094
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English (en)
Chinese (zh)
Inventor
朱俊达
Original Assignee
杭州慧仓信息科技有限公司
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Publication date
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Publication of WO2023284115A1 publication Critical patent/WO2023284115A1/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
    • 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
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses

Definitions

  • the invention relates to a sorting system, in particular to a continuous lifting article processing system and a control method thereof.
  • the lifting equipment is one of the main facilities of the three-dimensional warehouse, and it is an indispensable part of the modern industrial warehouse, logistics center and distribution center.
  • the CN108438705A previously applied by our company discloses a continuous lifting article processing system with a multi-buffer chain lifting mechanism.
  • the operating efficiency of the entire system has been significantly improved, due to the use of a chain lifting mechanism and no corresponding reduction in vibration Measures, resulting in excessive vibration of this structure during operation, resulting in excessive noise during overall operation, and long-term operation can easily lead to loosening of some fasteners, resulting in high maintenance and repair costs in the later period.
  • the object of the present invention is to provide a continuous lifting article processing system and a control method thereof for the above-mentioned problems existing in the prior art.
  • the continuous lifting article processing system includes 1, including a continuous lifting mechanism, an article processing mechanism and an article processing robot;
  • the continuous lifting mechanism includes a frame, and is located on the frame The rotary lifting assembly on the top and a plurality of lifting track sections for docking with the article processing robot for the article processing robot to drive in.
  • the lifting track sections are evenly spaced on the turning part of the rotary lifting assembly, and the rotary The part includes a belt structure or a chain structure, each of the lifting track sections is provided with a first positioning piece that cooperates with the article handling robot, and the frame is provided with a first positioning piece that cooperates with the lifting track sections to realize lifting
  • the rotary guide track guided by the track section, each of the lifting track sections is provided with a guide device, and the rotary guide track is provided with a guide groove for the guide device to move;
  • the article processing mechanism includes an article storage and picking destination and a multi-layer Fixed guide rails, the fixed guide rails of each layer can be docked with the lifting track section for the article processing robot to enter and exit;
  • the article processing robot includes a car body and a positioning device arranged on the car body, through the positioning device and The first positioning member cooperates to realize the positioning of the article processing robot.
  • this application realizes the positioning of the article handling robot through the cooperation of the positioning device of the article handling robot and the first positioning member, and also realizes the judgment of whether there is an article handling robot in the lifting track section, one
  • the positioning device realizes multiple functions and saves costs.
  • the lifting track section can slide smoothly in the guide groove, which not only reduces the occurrence of vibration, makes the lifting track section more stable, but also effectively reduces the friction force and reduces the rotation lifting Blocking and loss of kinetic energy of components.
  • the fixed guide rails on each layer are provided with a plurality of second positioning parts, and the positioning of the object processing robot is realized through the cooperation of the second positioning parts and the positioning device.
  • the guide device is a guide pulley or a guide block.
  • This solution can be a rolling friction fit or a sliding friction fit, preferably a guide pulley with a rolling friction fit, which has a smaller friction force, making the movement of the lifting track segment smoother and reducing kinetic energy loss.
  • At least two surfaces of the guide groove are in contact with each of the guide pulleys.
  • each lifting track segment there are four guide wheels at the left end and right end of each lifting track segment, and two of them are arranged at the left and right ends of the guide groove. This scheme makes the hoisting track section run more stably.
  • the rotary guide track includes two vertical tracks and two arc tracks, and the guide grooves are formed by splicing the two vertical tracks and the two arc tracks.
  • the rotary lifting assembly includes a rotary synchronous belt, a transmission pulley and a rotating shaft, and the rotary part is composed of the rotary synchronous belt and the transmission pulley to realize the rotary motion, and each of the lifting track segments is uniform along the track direction of the rotary synchronous belt. are arranged at intervals, and the driving motor drives the rotating shaft to drive the transmission pulley to rotate.
  • This solution improves the existing chain drive to a synchronous belt drive, which can significantly improve the stability, make the drive more stable, lower the noise and have a long service life, and can withstand certain impacts, so it can significantly improve the performance of the rotary lifting component. Stability, reducing vibration, making the hoisting track segment more stable when turning.
  • a reversing reducer is provided between the driving motor and the transmission pulley. This scheme, through the cooperation of the drive motor and the reversing reducer, facilitates the location arrangement of the drive motor, and also enables the drive motor to easily drive the operation of the rotary lifting assembly.
  • a charging track parallel to the length direction of the item storage and picking destination is provided on the item storage and picking destination, and the item processing robot during driving is charged through the charging track.
  • the control method of the continuous lifting article handling system includes the following steps:
  • the object handling robot receives an instruction from the control terminal and travels to the entrance of the continuous lifting mechanism, wherein the instruction includes at least the target number of layers;
  • the control terminal acquires the location of the object processing robot
  • the positioning device cooperates with the first positioning part to stop and send an in-position signal to the control terminal;
  • the control terminal receives the in-position signal to control the continuous lifting mechanism to continue to lift, wherein the continuous lifting mechanism stops once every time it runs, and the running distance is the distance between two adjacent lifting track sections;
  • the article handling robot drives out to the target floor, and the article handling robot travels to a designated position along the fixed guide rail of the target floor.
  • the entry and exit of the object processing robot can be realized conveniently, so that multiple object processing robots can quickly reach different target layers to perform tasks, reducing the waiting time of the object processing robot and improving the operating efficiency.
  • each of the article processing robots is equipped with a conveyor belt, the conveying direction of which is parallel to the width direction of the object storage and picking destination, and when the article processing robot travels to the set point of the target number of floors, it passes through the conveying belt.
  • the belt transports the goods to the outside of the item storage and picking destination.
  • each item handling robot can use the conveyor belt to transport the goods to the storage and picking destination, especially when the conveyor belt runs fast, the inertia of the goods can be used to throw the goods out of the storage and picking destination.
  • Fig. 1 is a perspective view of the system of the present invention
  • Fig. 2 is the top view of Fig. 1;
  • Fig. 3 is a side view of Fig. 1;
  • Fig. 4 is a perspective view of the continuous lifting mechanism in Fig. 1;
  • Fig. 5 is an internal structural diagram of the rotary lifting assembly in Fig. 4;
  • Figure 6 is an enlarged view of A in Figure 5;
  • Fig. 7 is a side view of Fig. 4;
  • Fig. 8 is a perspective view of the object handling robot of the present invention.
  • Fig. 9 is a flowchart of the control method of the present invention.
  • Fig. 10 is a schematic diagram of another embodiment of the rotary guide track.
  • the continuous lifting article handling system includes a continuous lifting mechanism 1, an article handling mechanism, and a plurality of article handling robots 3, wherein the article handling mechanism includes an article handling destination, a shelf 2, and a
  • the multi-layer fixed guide rails 21 capable of moving back and forth along the length direction of the shelf 2 for the article processing robot 3 and the cargo introduction line 4 docked with one of the fixed guide rails 21, each layer of fixed guide rails 21 are provided with inclined storage on both sides.
  • the bucket 22 and the storage bucket 22 are arranged in an array along the length direction of the fixed guide rail 21, which can be conveniently taken by the staff.
  • the cargo introduction line 4 is provided with a camera 23, a human-computer interaction panel 24 and a code scanning gun 25, etc., and the human-computer interaction panel
  • the control terminal can be integrated in 24, such as the existing X86 control board or ARM control board, etc., to realize the network control function, to control the camera 23, the code scanning gun 25, the object handling robot 3 and the continuous lifting mechanism 1, according to the set
  • the barcode scanning gun 25 is used to scan the barcode of the goods, so as to obtain which storage bucket 22 the goods need to be sent to or which storage bucket 22 the goods should be classified into, and the empty items can be dispatched through the control terminal
  • the processing robot 3 transports the goods to the corresponding storage bins 22 on the target floor.
  • the item processing destination may be a plurality of storage bins 22 .
  • each article handling robot 3 is all provided with conveyer belt 31, and the conveying direction of this conveyer belt 31 is parallel with the width direction of shelf 2, and article handling robot 3 travels to the setting of target floor number.
  • the goods are transported to the outside of the shelf 2 through the conveyor belt 31.
  • the conveyor belt 31 on the article handling robot 3 runs a certain distance to move the goods to The middle position of the article handling robot 3 makes it difficult for the goods to touch the shelf 2, which can greatly reduce the risk of goods falling.
  • each article handling robot 3 can use the conveyor belt 31 to transport the goods to the outside of the shelf 2, especially when the conveyor belt 31 runs fast, the inertia of the goods can be used to throw the goods out of the shelf 2, without additional settings
  • Other picking structures reduce equipment costs, and also enable the item handling robot 3 to more flexibly perform loading and unloading operations at multiple positions on the shelf 2 .
  • the continuous lifting mechanism 1 includes a frame 11, a rotary lifting assembly 12 mounted on the frame 11, and a plurality of lifting track segments 13 arranged at even intervals on the rotary lifting assembly 12,
  • Each lifting track section 13 is provided with a positioning member 5 cooperating with the sensor 32 of the object handling robot 3, and the frame 11 is provided with a lifting track for the lifting track section 13 to rotate from top to bottom or from bottom to top.
  • the lifting track is provided with a rotary guide track 14 that cooperates with the lifting track section 13, and each lifting track section 13 performs a rotary motion along the track of the rotary guiding track 14, wherein the lifting track section 13 is divided into two parts, and the rotary lifting assembly 12 is in the
  • the left and right ends of the frame 11 are provided with one respectively, so the lifting track section 13 is also arranged on the two rotary lifting assemblies 12 respectively, and the two lifting track sections 13 form a complete track, so each lifting track section 13 is only the main
  • a short board is needed to support the wheels of the object handling robot 3, which greatly saves the space occupied, especially when the lifting track section 13 rotates with the rotary lifting assembly 12, the space occupied by the bottom of the rotary lifting assembly 12 Smaller, and therefore the volume of the rack 11 can be designed to be smaller.
  • the first positioning member and the second positioning member are the same part, so they are both denoted as a positioning member 5 , and the positioning device is a common sensor 32 in this embodiment.
  • the object handling robot 3 is provided with a touch switch or a photoelectric sensor 32, through which the touch switch or the photoelectric sensor cooperates with the positioning member 5, such as contact or reflected light, or visual recognition, to realize the positioning and positioning of the article handling robot 3.
  • the positioning member 5 such as contact or reflected light, or visual recognition
  • each fixed guide rail 21 on the shelf 2 is also equipped with a positioning piece 5, such as the entrance of each rotary lifting assembly 12, such as the place where it is docked with the goods introduction line 4, can realize the article handling robot 3 position sensing, thereby greatly facilitating the control of each item handling robot 3, and there is no need to install multiple sensors 32 on the item handling robot 3, which greatly reduces the design cost of the item handling robot 3.
  • the sensor in the present application can be a variety of sensors, such as photoelectric sensors, limit switches, visual sensors, etc., so the positioning member 5 can be a baffle, a baffle, an image mark or a two-dimensional code, etc., in this embodiment
  • the types of the sensor and the positioning member 5 are not limited.
  • each lifting track segment 13 is provided with a limit stopper 131, through which the limit stopper 131 is used to limit the stroke of the article processing robot 3, in order to reduce the number of items between the article handling robot 3 and the limit stopper 131.
  • a silicone pad or a rubber pad can be pasted on the limit baffle 131, or a silicone pad or a rubber pad can be pasted on the side where the object handling robot 3 contacts the limit baffle 131, so that the noise can be greatly reduced.
  • the wheels of each object handling robot 3 are rubber wheels, which can greatly reduce the noise on the fixed guide rail 21. More preferably, a rubber layer can be provided on the fixed guide rail 21 to further reduce noise.
  • the article handling robot 3 can travel back and forth between the fixed guide rail 21 and the lifting rail section 13 and achieve positioning through the positioning member 5 .
  • the shelf 2 is provided with a charging track 26 parallel to the length direction of the shelf 2, and the article processing robot 3 is charged through the charging track 26 during driving.
  • This solution can charge the item handling robot 3 while the item handling robot 3 is running, without taking out the item handling robot 3 for recharging, which significantly reduces maintenance costs, does not require additional charging waiting time, and keeps the item handling robot 3 It has always been an advantage, which can significantly improve the operating efficiency of the system.
  • At least one guide pulley 132 is provided at the left and right ends of each lifting track section 13, and the rotary guide track 14 is provided with a guide groove 141 for the guide pulley 132 to slide. 132 contacts.
  • the lifting track section 13 can slide smoothly in the guide groove 141, and also to a certain extent, the multiple degrees of freedom of the guide pulley 132 can be significantly improved, so that the guide pulley 132 can only
  • the guide groove 141 slides, so when the lifting rail segment 13 rotates along the guide groove 141, there will be no large shaking, the stability is significantly improved, the vibration is further reduced, and the hindrance and kinetic energy loss of the rotary lifting assembly 12 are reduced.
  • the guide block can also be used instead of the guide pulley 132, but the friction of the guide block is larger than the rolling friction of the guide pulley 132, so it needs to be well lubricated.
  • each lifting track section 13 is four, and two pairs are arranged at the left and right ends of the guide groove 141 . This solution makes the lifting track section 13 more stable during operation.
  • the rotary guide rail 14 includes two vertical rails 1411 and two arc-shaped rails 1412 , and the guide groove 141 is formed by splicing the two vertical rails 1411 and the two arc-shaped rails 1412 .
  • This solution can facilitate the processing and assembly of the rotary guide track, especially when the arc design of the arc track 1412 is unreasonable, it is easy to cause a large friction sound and shaking when the lifting track section 13 passes by, so the rotary guide track Divided into four parts, one of the tracks can be replaced separately, especially to facilitate the testing and modification of the arc track 1412, so as to quickly test out the arc track 1412 with the best arc.
  • each vertical rail 1411 can be divided into left and right halves, and can be assembled together by screws or buckles, or the outward side of the vertical rail 1411 can be screwed or disengaged
  • the ribs are disassembled by buckling or the like, so that the guide pulley 132 in the vertical rail 1411 can be easily disassembled, thereby reducing the difficulty of assembly and maintenance.
  • FIG. 10 another embodiment of the rotary guide rail 14 is shown in the figure, the guide pulley 132 directly abuts against the surface of the rotary guide rail 14, and slides along the outer surface contour of the rotary guide rail 14, which can greatly It is convenient to disassemble and assemble the lifting track section 13, and is easy to maintain.
  • the rubber guide pulley 132 with good damping performance is used to improve the damping effect, but the guiding effect is not as good as the above-mentioned embodiment.
  • the rotary lifting assembly 12 includes a rotary synchronous belt 121, a transmission pulley 122 and a rotating shaft 123, and the rotary motion is formed by the rotary synchronous belt 121 and the transmission pulley 122.
  • Each lifting track segment 13 tracks along the rotary synchronous belt 121 The directions are arranged at even intervals, and the driving motor 6 drives the rotating shaft 123 to drive the transmission pulley 122 to rotate.
  • the revolving guide track 14 of the present application can also play a significant damping effect, and the structure of the revolving synchronous belt 121 can further reduce the vibration without adding lubricating oil, etc.
  • a plurality of shock-absorbing feet 8 are installed at the bottom of the frame 11, which further reduces the vibration of the frame 11 and reduces noise.
  • a reversing reducer 7 is provided between the drive motor 6 and the transmission pulley 122, and the number of reversing reducers 7 is two. Therefore, one drive motor 6 can be used to simultaneously lift two rotating assemblies 12 drives. In this solution, through the cooperation of the drive motor 6 and the reversing reducer 7 , the location arrangement of the drive motor 6 is more convenient, and the drive motor 6 can easily drive the operation of the rotary lifting assembly 12 .
  • the continuous lifting mechanism 1 is respectively arranged at both ends of the length direction of the shelf 2, one for lifting the object processing robot 3, and one for the lowering of the object processing robot 3, only the rotation of the two continuous lifting mechanisms 1
  • the direction is opposite, the principle is the same.
  • a baffle plate 35 that can be turned over is provided at both ends of the conveyor belt of the article handling robot 3, and the goods are prevented from coming out by the baffle plate 35.
  • control method of the continuous lifting article handling system includes the following steps:
  • the object handling robot 3 receives an instruction from the control terminal and travels to the entrance of the continuous lifting mechanism 1, wherein the instruction includes at least the target number of layers;
  • the control terminal allocates the storage bucket 22 and sends this command to the goods handling robot 3
  • the article handling robot 3 drives to the goods introduction line 4 to carry out the material loading operation
  • the goods introduction line 4 sends the goods to the conveyor belt of the article handling robot 3
  • the conveyor belt of the article handling robot 3 runs for a certain distance to transport the goods
  • the sensor 32 cooperates with the positioning part 5 to realize positioning, and docks with the goods introduction line 4
  • many article processing robots 3 that have completed tasks are waiting in line, and the instructions from the control end are so continuously received and run. After completing the tasks, return to the initial position by means of the continuous lifting mechanism 1 and wait.
  • the control terminal acquires the location of the item processing robot 3;
  • the position of the article handling robot 3 is as above, realized by the cooperation of the sensor 32 and the positioning member 5, and it can be installed at the place where each article handling robot 3 needs to stop, and each article handling robot 3 is also provided with a distance sensor 3332, used for sensing the front and rear distances of the item handling robot 3, when the distance between the item handling robot 3 and the previous item handling robot 3 is too close, the item handling robot 3 slows down or stops to prevent two adjacent item handling robots 3 from colliding.
  • the control terminal can obtain the in-position signal and can control the rotary lifting assembly 12 to stop so that the object handling robot 3 can drive in.
  • the rotary lifting assembly 12 since the rotary lifting assembly 12 is actually driven by the drive motor 6 and stops once every step, that is, the rotary lifting assembly 12 can lift the lifting track section 13 for a certain distance at each step, and this distance is the distance between two adjacent lifting rails.
  • the sensor 32 of the object processing robot 3 stops after sensing the positioning member 5, and may continue to move forward due to inertia, so the object processing robot 3 can be well prevented from moving excessively under the action of the limit baffle 131. Make it stop at the correct position.
  • the control terminal receives the in-position signal to control the rotary lifting assembly 12 to continue to lift, wherein the rotary lifting assembly 12 stops every time it runs, and the running distance is the distance between two adjacent lifting track sections 13;
  • the principle is as described above, which can facilitate the positioning of the rotary lifting assembly 12 .
  • control end records the number of floors entered by the object handling robot 3 as the initial floor, so the difference between the target number of floors minus the initial floor is the number of floors that the object handling robot 3 needs to upgrade, so after the object handling robot 3 enters , control the number of times that the rotary lifting component runs this number of layers to transport the object processing robot 3 to the target layer.
  • the robot 3 If there are other object processing robots 3 to enter or go out, first execute the instructions of other object processing robots 3, and the object processing robot 3 The robot 3 still waits to be promoted to the target layer, and the rotary hoisting assembly 12 still pauses once every time it runs, but when the article processing robot 3 enters and exits, the rotary hoisting assembly 12 pauses for a slightly longer time, which can facilitate the entry and exit of the article processing robot 3.
  • the article handling robot 3 drives out to the target floor, and the article handling robot 3 travels to a designated position along the fixed guide rail of the target floor.
  • the article handling robot 3 After the article handling robot 3 runs to the designated position, it can drive the goods through the conveyor belt 31 and throw the goods onto the storage bucket 22 by using the inertia.
  • the entry and exit of the object processing robot 3 can be realized conveniently, so that multiple object processing robots 3 can quickly reach different target layers to perform tasks, reduce the waiting time of the object processing robot 3, and have higher operating efficiency.
  • the term “a” should be understood as “at least one” or “one or more”, that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element
  • the quantity can be multiple, and the term “a” cannot be understood as a limitation on the quantity.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système de manipulation d'articles à levage continu et un procédé de commande de celui-ci. Le système de manipulation d'articles à levage continu comprend des mécanismes de levage continu (1), un mécanisme de manipulation d'articles et un robot de manipulation d'articles (3). Les mécanismes de levage continus comprennent chacun une crémaillère (11), des ensembles de levage rotatif (12) et des sections de piste de levage (13), chaque section de piste de levage étant pourvue d'un premier élément de positionnement (5) qui correspond au robot de manipulation d'articles. Une piste de guidage rotative (14) qui correspond aux sections de piste de levage pour guider les sections de piste de levage est disposée sur la crémaillère. Le mécanisme de manipulation d'articles comprend une destination de stockage et de tri d'articles et de multiples couches de rails de guidage fixes (21). Le robot de manipulation d'articles comprend une carrosserie de véhicule et un dispositif de positionnement (32) disposé sur la carrosserie de véhicule. Le dispositif de positionnement coopère avec les premiers éléments de positionnement pour positionner le robot de manipulation d'articles, de telle sorte que les vibrations peuvent être significativement réduites, ce qui permet de réduire le desserrage d'un élément de fixation, d'atteindre le but d'augmenter une période de maintenance, et d'améliorer l'efficacité de fonctionnement.
PCT/CN2021/120094 2021-07-13 2021-09-24 Système de manipulation d'articles à levage continu et son procédé de commande WO2023284115A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110788945.4A CN113479538A (zh) 2021-07-13 2021-07-13 连续提升物品处理系统及其控制方法
CN202110788945.4 2021-07-13

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WO2023284115A1 true WO2023284115A1 (fr) 2023-01-19

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CN117326311A (zh) * 2023-11-13 2024-01-02 广州载德自动化智能科技有限公司 横移换向装置、输送线及输送方法

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CN107867541A (zh) * 2016-09-23 2018-04-03 株式会社大福 物品搬送车
CN108438705A (zh) * 2018-04-09 2018-08-24 杭州慧仓信息科技有限公司 具有多缓冲位链条升降机构的穿梭车分拣库系统
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CN117326311A (zh) * 2023-11-13 2024-01-02 广州载德自动化智能科技有限公司 横移换向装置、输送线及输送方法
CN117326311B (zh) * 2023-11-13 2024-02-23 广州载德自动化智能科技有限公司 横移换向装置、输送线及输送方法

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