CN119037971A - Intelligent warehouse system and warehouse method - Google Patents
Intelligent warehouse system and warehouse method Download PDFInfo
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- CN119037971A CN119037971A CN202411525894.6A CN202411525894A CN119037971A CN 119037971 A CN119037971 A CN 119037971A CN 202411525894 A CN202411525894 A CN 202411525894A CN 119037971 A CN119037971 A CN 119037971A
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- 238000003860 storage Methods 0.000 claims abstract description 38
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- 239000013077 target material Substances 0.000 claims description 23
- 238000005192 partition Methods 0.000 claims description 12
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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
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
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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
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
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Abstract
The invention relates to the technical field of warehousing systems, and provides an intelligent warehouse system and a warehousing method, wherein the system comprises a vertical warehouse, at least one intelligent crane, a lifting platform and a crane control system; the vertical warehouse comprises a material inlet and outlet warehouse, a material storage warehouse and a warehouse moving adjustment warehouse, wherein the material storage warehouse comprises a plurality of rows of trestle frames, each trestle frame comprises a plurality of material boxes and each material box is vertically piled, the warehouse moving adjustment warehouse is used for temporarily storing the material boxes, the material inlet and outlet warehouse is used for storing the material in storage or the material in outlet warehouse, the intelligent crane is hoisted with a lifting platform, the intelligent crane is used for carrying each trestle frame from the upper part of the vertical warehouse, the stroke and the lifting height of the intelligent crane are determined based on the overall dimension of the plurality of rows of trestle frames and the material types, and the crane control system is used for controlling the intelligent crane to move to the lifting position after receiving the command of the material inlet and outlet warehouse. The invention improves the utilization rate of the warehouse and can flexibly adapt to different types of warehouse environments.
Description
Technical Field
The invention relates to the technical field of warehousing systems, in particular to an intelligent warehouse system and a warehousing method.
Background
Under the background that the current industrial production automation is continuously improved, each industry has put forward higher requirements on the efficiency and the safety of the material storage and transportation links. Traditional storage and production sites generally adopt a mode of combining a multi-layer goods shelf with a forklift to store and carry medium and small pieces of materials. Although the method meets basic requirements to a certain extent, the number of shelf layers is limited due to the limited operation height and the larger turning radius of the common forklift, and the common forklift needs a spacious channel for operation, so that the space utilization rate is greatly reduced. In addition, the potential safety hazard existing in the operation of the common forklift in the warehouse environment is more obvious, especially in the high-strength operation, and the accident risk is increased.
Disclosure of Invention
The invention provides an intelligent warehouse system and a warehouse method, which are used for solving the defects existing in the prior art.
The invention provides an intelligent warehouse system, comprising:
the system comprises a vertical warehouse, at least one intelligent travelling crane, a lifting platform and a travelling crane control system;
The vertical warehouse comprises a material inlet and outlet warehouse, a material storage warehouse and a warehouse shifting adjustment warehouse, wherein the material storage warehouse comprises a plurality of rows of trestle frames, each trestle frame comprises a plurality of material boxes, each material box is vertically piled, the inner gear size of each material box is larger than the material size, each trestle frame is arranged at intervals in a partition mode, the interval distance between each trestle frame is larger than the sum of the positioning precision error of the intelligent travelling crane and the lifting fluctuation amount of a lifting tool on the lifting platform, and the warehouse positions of the material inlet and outlet warehouse, the warehouse positions of the material storage warehouse and the warehouse positions of the warehouse shifting adjustment warehouse are determined based on the appearance size of each trestle frame, the interval distance between each trestle frame and the warehouse position interval requirement;
the intelligent travelling crane is hung on the lifting platform and is used for carrying all the trestle frames from the upper part of the vertical warehouse, and the stroke and the lifting height of the intelligent travelling crane are determined based on the overall dimension of the trestle frames in multiple rows and the types of materials;
and the traveling crane control system is used for controlling the intelligent traveling crane to move to a lifting position after receiving the warehouse-in and warehouse-out instruction and controlling the lifting platform to lift the target bin.
According to the intelligent warehouse system provided by the invention, each bin is provided with an upper layer stacking guiding and positioning device or a lower layer stacking guiding and positioning device.
According to the intelligent warehouse system provided by the invention, the material inlet and outlet warehouse is provided with the protrusion device for separating the material box from the material.
According to the intelligent warehouse system provided by the invention, the material box is provided with the forkable structure, or the material inlet and outlet warehouse is provided with the transfer roller way which is in butt joint with the material assembly line.
According to the intelligent warehouse system provided by the invention, the lifting device on the lifting platform is provided with the intelligent partition module, and the intelligent partition module is used for partitioning materials based on the material specification and/or the material inlet and outlet frequency.
According to the intelligent warehouse system provided by the invention, the driving control system is also used for scanning the two-dimensional codes carried by each material so as to acquire the warehouse in-out information and attribute information of each material;
The system also comprises a material management module, a material database and a material management module, wherein the material management module is used for storing the information of the in-out warehouse and the attribute information of each material into the material database and managing the materials based on the data in the material database.
According to the intelligent warehouse system provided by the invention, the driving control system comprises a controller, a remote module, a motor controller, a motor, an actuator controller and an actuator;
The remote module is communicated with the controller through an industrial Ethernet, and is used for upgrading a software program corresponding to the controller through a remote network;
The motor controller is communicated with the controller through an industrial network, and is used for controlling the motor to run after receiving a motor control signal sent by the controller, receiving motor running data fed back after the motor runs, and optimizing the motor control signal based on the motor running data;
The controller is used for sending an execution signal to the execution mechanism controller so that the execution mechanism controller controls the execution mechanism to operate, and is also used for receiving mechanism operation data fed back by the execution mechanism and optimizing the execution signal based on the mechanism operation data.
According to the intelligent warehouse system provided by the invention, the driving control system further comprises a control console and a man-machine interaction interface, wherein the control console is provided with a control switch, an operation indicator light and an emergency stop switch.
The invention also provides a storage method, which comprises the following steps:
determining coordinate information of a target material from a material database;
Determining the lifting position of the intelligent crane based on the coordinate information;
And controlling the intelligent travelling crane to move to a lifting position, and then controlling the lifting platform to lift.
According to the warehousing method provided by the invention, the lifting platform is controlled to lift, and then the warehousing method further comprises the following steps:
And if the lifted material is inconsistent with the target material, controlling the intelligent crane to move to a warehouse-moving adjustment warehouse, unloading the lifted material, and returning to execute control of the intelligent crane to move to a lifting position, controlling the lifting platform to lift until the lifted material is consistent with the target material, and controlling the intelligent crane to move to the material-entering and-exiting warehouse, and unloading the lifted material.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing any of the warehousing methods described above when executing the program.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a warehousing method as described in any of the above.
The invention also provides a computer program product comprising a computer program which, when executed by a processor, implements a warehousing method according to any one of the above.
According to the intelligent warehouse system and the warehouse method, the conventional goods shelves are replaced by the trestle, so that a palletless loading and unloading mode is realized, the lifting height between layers is omitted, the storage space of the warehouse is maximized, the utilization rate of the warehouse is improved, and the energy storage capacity is increased. According to the invention, the intelligent travelling crane is used for replacing the traditional forklift to carry out material in and out and carry, and a special passage is not required to be reserved for the forklift, so that the plane utilization rate of the warehouse is improved, and the potential safety hazard possibly brought by the forklift when moving in the warehouse is reduced. The intelligent warehouse system provided by the invention can independently operate in a building, has a simpler structural design than a vehicle-to-ground rail fork vehicle-to-vehicle warehouse scheme, is convenient to install and maintain, and can flexibly adapt to different types of warehouse environments.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of an intelligent warehouse system provided by the invention.
Fig. 2 is a schematic diagram of a stack frame structure provided by the invention.
Fig. 3 is a schematic structural diagram of the driving control system provided by the invention.
Fig. 4 is a schematic flow chart of a warehousing method based on the intelligent warehouse system.
Fig. 5 is a schematic flow chart of a warehousing method based on the intelligent warehouse system provided by the invention.
Fig. 6 is a schematic structural diagram of an electronic device provided by the present invention.
Reference numerals:
101, a material storage and stacking warehouse, 102, 103, a warehouse moving and adjusting warehouse, 104, a trestle, 105, an intelligent crane, 106, a lifting platform, 107, a crane control system, 108, a winch, 109, a steel wire rope, 110, a track, 111, a protrusion device, 112, a man-machine interaction interface and 113, a stand column.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Traditional storage and production sites generally adopt a mode of combining a multi-layer goods shelf with a forklift to store and carry medium and small pieces of materials. Although the method meets basic requirements to a certain extent, the number of shelf layers is limited due to the limited operation height and the larger turning radius of the common forklift, and the common forklift needs a spacious channel for operation, so that the space utilization rate is greatly reduced. In addition, the potential safety hazard existing in the operation of the common forklift in the warehouse environment is more obvious, especially in the high-strength operation, and the accident risk is increased.
In addition, by heightening the goods shelves, the stereoscopic warehouse scheme of the vehicle rail fork on the top and the bottom remarkably improves the storage capacity of the unit space and solves the safety problem to a certain extent. However, the scheme still has the design limitation of the operation roadway, and the application range is mainly limited to the middle and small-sized finished product warehouse. For relatively short production plant warehouses and large and medium material storage and handling requirements, the vehicle rail fork is not the best choice. Accordingly, the related art still faces challenges in terms of space utilization, flexibility and security, and new solutions are needed to meet the increasing market demand.
In this regard, the invention provides an intelligent warehouse system which utilizes intelligent travelling crane automatic stacking, which can not only greatly improve the capacity of warehouse or workshop goods space, but also realize the automation of warehouse and production logistics.
FIG. 1 is a schematic diagram of an intelligent warehouse system provided by the invention, and as shown in FIG. 1, the system comprises a vertical warehouse, at least one intelligent crane, a lifting platform and a crane control system;
The vertical warehouse comprises a material inlet and outlet warehouse 101, a material storage warehouse 102 and a warehouse moving adjustment warehouse 103, wherein the material storage warehouse 102 comprises a plurality of rows of shelves 104, each shelf 104 comprises a plurality of material boxes, each material box is vertically piled, the inner file size of each material box is larger than the material size, each shelf 104 is arranged at intervals in a partition mode, the interval distance between each shelf 104 is larger than the sum of the positioning precision error of the intelligent crane 105 and the lifting fluctuation of a lifting tool on the lifting platform 106, the warehouse position of the material inlet and outlet warehouse 101, the warehouse position of the material storage warehouse 102 and the warehouse position of the warehouse moving adjustment warehouse 103 are determined based on the appearance size of each shelf 104, the interval distance between each shelf 104 and the warehouse position interval requirement;
The intelligent crane 105 is hoisted with a lifting platform 106, the intelligent crane 105 is used for carrying each trestle 104 from the upper part of the vertical warehouse, and the stroke and the lifting height of the intelligent crane 105 are determined based on the overall dimension of the trestle 104 and the types of materials;
The crane control system 107 is configured to control the intelligent crane 105 to move to a lifting position after receiving the warehouse-in and warehouse-out instruction, and control the lifting platform 106 to lift the target bin.
Specifically, the vertical warehouse comprises a material inlet and outlet warehouse 101, a material storage stack warehouse 102 and a warehouse moving adjustment warehouse 103, wherein the material storage stack warehouse 102 comprises a plurality of rows of trestle 104, each trestle 104 comprises a plurality of bins and each bin is vertically piled, so that the vertical space can be effectively utilized, and the occupied area is reduced. Fig. 2 is a schematic diagram of a stack frame structure provided by the invention.
In addition, each workbin is used for depositing the material, and the interior shelves size of each workbin is greater than the material size, is convenient for put into fast and take out the material, friction and obstacle when avoiding the operation. In addition, considering that the materials may have the difference in size, the inner gear size of each material box is larger than the material size, so that the material boxes have allowance, materials with different shapes or sizes can be adapted, and the flexibility of material storage is improved. For example, if the size of the material is 1500mm x 3000mm x 80mm, the internal size of the bin may be 1700mm x 3080mm x 100mm, with the internal size of the bin being slightly larger than the size of the material. When the material box is designed, the material box needs to be ensured to bear the weight of the material box with the corresponding layer number and the corresponding material and accurately position the stacking so as to ensure that the material box does not fall down after the stacking.
The trestle 104 are arranged at intervals in a partitioning way, the interval distance between the trestle 104 is larger than the sum of the positioning precision error of the intelligent crane 105 and the lifting shaking quantity of the lifting appliance on the lifting platform 106, so that the risk of collision between the intelligent crane 105 and the lifting platform 106 during operation can be reduced, the safety of equipment and materials is ensured, and the trestle 104 or a material box is ensured to be lifted smoothly.
Alternatively, the stock stack library 102 may be divided into different areas according to the type, purpose, or attribute of the materials, and different materials may be stored to the bins of the corresponding areas. For example, different areas may be provided that distinguish between perishable items, heavy materials, hazardous materials, and the like. In addition, the corresponding stack height and width can be set according to the size and weight of the materials, so that the space can be maximally utilized in each partition.
Considering that the overall dimensions of the stacks 104, the spacing between the stacks 104 and the requirements for the space between the stacks may affect the operation of the intelligent crane 105 and the lifting platform 106, the space between the stacks 101, the space between the stacks 102 and the space between the stacks 103 are determined based on the overall dimensions of the stacks 104, the spacing between the stacks 104 and the requirements for the space between the stacks, so as to reasonably arrange the space between the stacks and maximize the utilization of the warehouse space.
The intelligent crane 105 is hoisted with a lifting platform 106 (as shown in fig. 1, the intelligent crane 105 is hoisted with the lifting platform 106 through a hoist 108 and a wire rope 109 by adopting four wires in a synchronous hoisting way), the intelligent crane 105 is used for carrying each trestle 104 from the upper part of a vertical warehouse, the stroke and the lifting height of the intelligent crane 105 are determined based on the external dimensions of the trestle 104 in a plurality of rows and the types of materials, and the stroke and the lifting height of the intelligent crane 105 are determined according to the external dimensions of the trestle 104 in a plurality of rows, so that all warehouse positions can be covered, and the material can be conveniently accessed. Meanwhile, the type of the material also affects the requirement of the lifting height, for example, a higher or heavy material needs a larger lifting capacity, so the lifting height of the intelligent crane 105 needs to be determined based on the type of the material. The intelligent crane 105 may be a bridge crane, and under certain application scenarios, such as a large material handling requirement, a large warehouse, etc., a plurality of intelligent cranes 105 may be provided to improve warehouse operation efficiency.
The crane control system 107 is configured to control the intelligent crane 105 to accurately move to a lifting position after receiving the warehouse-in and warehouse-out instruction, and control the lifting platform 106 to lift the target bin. The crane control system 107 may include a data communication module and a memory module, where after receiving a command for entering and exiting a garage, the crane control system 107 may control the intelligent crane 105 to accurately move to a lifting position, and then control the lifting platform 106 to lift the target bin. Namely, after receiving the instructions for entering and exiting the warehouse, the control sequence of the lifting operation is translation-positioning-descending-aligning-falling position-hooking-ascending-translation-positioning-descending-falling position-unhooking-ascending, and the positioning, falling position, hooking and unhooking of the lifting operation are all provided with detection sensing devices for confirming whether the action is finished or not. Wherein the intelligent row cart 105 implements translation on the track 110.
According to the intelligent warehouse system provided by the embodiment of the invention, the conventional goods shelves are replaced by the trestle 104, so that a palletless loading and unloading mode is realized, the lifting height between layers is omitted, the storage space of the warehouse is maximized, the utilization rate of the warehouse is improved, and the energy storage capacity is increased. According to the embodiment of the invention, the intelligent travelling crane 105 is used for replacing a traditional forklift to carry out material in and out and carry, and a special passage is not required to be reserved for the forklift, so that the plane utilization rate of the warehouse is improved, and potential safety hazards possibly brought by the forklift when the forklift moves in the warehouse are reduced. The intelligent warehouse system provided by the embodiment of the invention can independently operate in a building, has a simpler structural design than a vehicle vertical warehouse scheme of rail fork, is convenient to install and maintain, and can flexibly adapt to different types of warehouse environments.
Based on the embodiment, each bin is provided with an upper layer stacking guiding and positioning device or a lower layer stacking guiding and positioning device.
Specifically, the upper and lower stacking guide positioning devices are devices for ensuring that the bins can be accurately aligned when vertically stacked. The guiding and positioning device is used for ensuring that the materials can be accurately placed in the process of storage or transportation. The upper layer stacking guide positioning device or the lower layer stacking guide positioning device is arranged on each material box, so that the overturning caused by the possible misstepping or instability caused by stacking positioning errors can be prevented.
Based on any of the above embodiments, the material inlet and outlet warehouse 101 is provided with a protrusion device for separating the material from the material.
Specifically, for the material box inconvenient to participate in material circulation, the material inlet and outlet warehouse 101 is provided with a protrusion device 111 for separating the material box from the material, so that the material box is separated from the material through the protrusion device 111, and the material inlet and outlet fork operation or transfer butt joint is facilitated, and the operation efficiency is improved.
Based on any of the above embodiments, the material box is provided with a forkable structure, or the material in-out warehouse 101 is provided with a transfer roller way which is in butt joint with the material assembly line.
Specifically, to the workbin of participated in commodity circulation, but be equipped with fork fortune structure on the workbin, but this fork fortune structure supplies fork truck fork fortune. Or the material inlet and outlet warehouse 101 is provided with a transfer roller way which is in butt joint with a material assembly line so as to be in butt joint with the assembly line.
The material box is provided with a fork conveying structure, or the material inlet and outlet warehouse 101 is provided with a transfer roller way which is in butt joint with a material assembly line, so that the efficiency of material conveying can be improved, and the material box can be conveyed in a warehouse smoothly.
Based on any of the above embodiments, the lifting device on the lifting platform 106 is provided with an intelligent partition module, and the intelligent partition module is used for partitioning materials based on the material specification and/or the material frequency. The lifting platform 106 may also be provided with an alignment device and an automatic spreader for the stack or bin.
In particular, the material specification refers to specific characteristics of the material, such as size, weight, shape, and material type. The material frequency refers to the number of times of entering and exiting the warehouse in a certain time, and reflects the use frequency and the demand of the material.
Optionally, according to the material specification, can arrange the storage area rationally, ensure that the material of different sizes and shapes is effectively deposited, reduce the space waste. According to the material business turn over frequency, place the material that the frequency of use is high in the position that is more accessible, reduce and get material and handling time to improve whole operating efficiency.
Based on any of the above embodiments, the driving control system 107 is further configured to scan two-dimensional codes carried by each material, so as to obtain information of entering and exiting a warehouse and attribute information of each material;
the intelligent warehouse system also comprises a material management module, a material database and a material management module, wherein the material management module is used for storing the in-out warehouse information and the attribute information of each material into the material database and managing the materials based on the data in the material database.
Specifically, the driving control system 107 obtains the information of the material in and out of the warehouse and the attribute information by scanning the two-dimensional code, and ensures the real-time updating and accuracy of the information. The material management module in the intelligent warehouse system is responsible for storing the warehouse in-out information and the attribute information of each material into the material database and carrying out efficient material management based on the data. Wherein, the attribute information of the materials generally refers to basic characteristics of the materials, such as names, specifications, weights, storage conditions, shelf life, supplier information, and the like.
When the material management is carried out, the stock quantity of the material can be tracked in real time, the lowest stock alarm is set to ensure timely replenishment, historical in-out stock data are analyzed to predict future demands so as to optimize a purchasing plan, the material storage positions are reasonably arranged according to the material attribute and the use frequency, the material taking efficiency is improved, the quality guarantee period of the material is monitored, the material to be expired is processed in time, the loss is reduced, the quality guarantee period of the material is monitored, the material to be expired is processed in time, and the loss is reduced.
Based on any of the above embodiments, fig. 3 is a schematic structural diagram of the driving control system provided by the present invention, and as shown in fig. 3, the driving control system 107 includes a controller, a remote module, a motor controller, a motor, an actuator controller, and an actuator;
The remote module is communicated with the controller through an industrial Ethernet, and is used for upgrading a software program corresponding to the controller through the remote network;
The motor controller is communicated with the controller through an industrial network, and is used for controlling the motor to operate after receiving the motor control signal sent by the controller, receiving motor operation data fed back after the motor operates, and optimizing the motor control signal based on the motor operation data;
The controller is used for sending an execution signal to the execution mechanism controller so that the execution mechanism controller controls the execution mechanism to operate, receiving mechanism operation data fed back by the execution mechanism, and optimizing the execution signal based on the mechanism operation data.
Specifically, the controller serves as a central processor of the driving control system 107, and controls the operation and scheduling of the entire system. The remote module is connected with the controller through an industrial Ethernet, is provided with a wireless 4G network signal and can upgrade a software program corresponding to the controller through a remote network OTA. The motor controller and the controller are communicated through an industrial network, the controller sends a motor control signal to the motor controller, the motor controller executes motor operation after receiving the motor control signal, meanwhile, the motor feeds back motor operation data to the motor controller, and the controller reads the motor controller operation data through the industrial network to form a closed-loop control system.
In addition, the controller outputs an execution signal to the execution mechanism controller, the execution mechanism controller controls the operation of the execution mechanism after receiving the execution signal output by the controller signal, the execution mechanism operates the feedback mechanism operation data to the controller, and the controller performs logic operation based on the mechanism operation data to optimize the execution signal. Wherein the actuator may comprise a cylinder.
Based on any of the above embodiments, the driving control system 107 further includes a console and a man-machine interface 112, where the console is provided with a control switch, an operation indicator light, and an emergency stop switch.
Specifically, the console and human-computer interaction interface 112 of the drive control system 107 are designed to improve the safety and convenience of operation. The control switch allows an operator to start or stop the device, operate the indicator light to provide real-time status feedback, and the emergency stop switch ensures that the operation can be rapidly interrupted in an emergency situation to prevent accidents.
In addition, the console can be provided with a debugging maintenance switch and an automatic permission switch, so that an operator can flexibly switch the working mode. After logging in the driving control system 107 through the man-machine interaction interface 112, the warehouse manager can set initial data of the system, design and update driving operation programs, confirm alarm fault points, repair faults, and restore an automatic operation state after debugging is normal.
Taking fig. 1 as an example, the intelligent warehouse system provided by the invention is described as follows:
Assuming that the material size is 1500mm×3000mm×80mm, the trestle 104 is guided by adopting a steel-structure trestle and a warehouse-position separation structure, and the specific intelligent warehouse system design scheme is as follows:
1. and (3) structural design of a trestle:
The size of the trestle is determined according to the size of the material, and is slightly larger than the size of the material, such as the inner gear size 1700mm multiplied by 3080mm multiplied by 100mm in the example.
The frame structure of the trestle is determined according to the characteristics of required materials, the strength of the frame structure is calculated according to the load, corresponding upright posts 113 are arranged according to the calculated frame structure, as shown in fig. 1, 4 main bearing upright posts are arranged on the middle long side, 4 auxiliary upright posts are arranged on the short side, lifting holes are formed in the main upright posts, the size of the lifting holes is matched with that of a lifting tool, the total weight of goods and the trestle is less than or equal to 3 tons, 20 layers of the trestle are designed and stacked, the total load of 8 upright posts is 60 tons, and the strength requirement is met through calculation.
2. Intelligent driving parameter design:
And determining the length of the intelligent driving longitudinal and transverse tracks according to the library position layout, wherein in the example, only one-way tracks are arranged for single-row library positions, and 6-library-position partition is met according to the standard length of 12 meters.
And determining the intelligent travelling crane track gauge according to the total width of the warehouse area layout, wherein in the example, the bearing rail beam neutral gear distance is more than or equal to 3200, and the track gauge is determined only by considering that the width of a single-row trestle is met.
The trolley and the lifting appliance are designed according to the size of the trestle and the lifting point, platform length of lifting appliance for middle and small car in example the wide dimension is consistent with the trestle.
Determining lifting height according to the height of the stacking layer and the safety passage height of the lifting goods, if the height is limited, determining the stacking layer number based on the allowable lifting height, and if the stacking layer number is 20 layers in the example, the preset stacking layer number, the lifting height is larger than 21 layers of stacking height and the safety height is 150mm;
The intelligent travelling load is determined by the weight of the materials and the weight of the trestle, and in an example, the lifting weight is less than or equal to 3 tons.
3. The intelligent driving quantity configuration is to divide the warehouse position and the intelligent driving quantity according to the warehouse or the production field overall planning, mainly consider the convenience of material feeding and discharging and the smooth production beat and flow, and at least one material feeding and discharging warehouse and one warehouse moving and adjusting warehouse are required to be configured to configure one intelligent driving except meeting the warehouse capacity requirement. In the example, six warehouse positions are divided along the length direction of the travelling rail according to the width of the trestle considering the separation distance, one warehouse position is slightly wider than the portal and is used as a feeding and discharging warehouse position so as to facilitate the cooperation operation of a forklift, and the five warehouse positions are equal and are positioned in the portal, wherein 2/4 warehouse positions are stacked, and 3/1 warehouse positions are moved and adjusted.
4. The invention provides two stack guiding and positioning methods, namely a limiting guide method of partition guiding members for partition in the example, which is suitable for small truss type vertical libraries, and a mutual positioning and guiding method between upper and lower layer stacks, such as a conventional convex-concave structure guiding and positioning, which is suitable for larger vertical libraries.
5. Stack goods separation, namely arranging a special stack goods device on a stack frame which does not participate in the production process. The protruding device 111 in the example is a discrete and separate boss, the boss positions are opposite to neutral gear of a bracket of the trestle, the trestle is placed at a position when in goods feeding, the upper surface of the bracket is lower than the plane of the boss by a certain height, a forklift is convenient for placing goods on the boss, after the forklift leaves, the crane lifts the goods in storage, and when in goods feeding, the trestle carrying the goods is placed at the boss positions by the intelligent crane, the goods is placed on the boss, and the trestle is sunk below the boss, and the forklift takes the goods. Optionally, a transfer roller way can be further arranged above the protrusion device 111, and the transfer roller way is in butt joint with the production line for discharging. Alternatively, the intelligent travelling crane can realize the delivery of single-piece materials, and a special single-plate separate-sheet material taking mechanism is required to be designed.
6. And the intelligent crane operation automatic control comprises the steps of carrying out trolley operation and lifting appliance lifting layering of the intelligent crane, adopting preset coordinates and fixed point detection and confirmation, decelerating in advance before the intelligent crane is in place, and receiving detection signals to confirm that the intelligent crane is in place. For larger vertical libraries, because of large movement distance and error of the relative position of library bits, a ground preset positioning device can be adopted, the standard trestle is adopted to identify and calibrate each library bit, then the coordinates are determined one by one, the position detection marks are calibrated one by one, and the layered positioning coordinates are relatively accurate, thus the detection is carried out by using a proximity signal.
Based on any of the above embodiments, fig. 4 is a schematic flow chart of a warehousing method based on an intelligent warehouse system according to the present invention, as shown in fig. 4, where the method includes:
Step 410, determining coordinate information of a target material from a material database;
Step 420, determining the hoisting position of the intelligent crane based on the coordinate information;
and 430, controlling the intelligent crane to operate to a hoisting position, and controlling the lifting platform to hoist.
Specifically, the storage location of each material, including its coordinate information, is recorded in the material database. After the coordinate information of the target material is obtained, the intelligent travelling crane can be ensured to accurately translate to the upper part of the target material, and the material searching time and the error rate of the intelligent travelling crane are reduced.
After the coordinate information of the target material is determined, calculating the lifting position to which the intelligent crane needs to move according to the coordinate information. Optionally, the coordinate information of the target material can be combined with the current state of the intelligent crane, and the optimal path and the final hoisting position can be determined by combining the surrounding environment and the obstacle, so that the intelligent crane can safely and efficiently approach the target material.
After the hoisting position is determined, controlling the intelligent travelling crane to run to the hoisting position, and controlling the lifting platform to carry out hoisting operation.
Based on any of the above embodiments, controlling the lifting platform to lift further comprises:
And if the lifted material is inconsistent with the target material, unloading the lifted material after controlling the intelligent crane to run to the moving warehouse, and controlling the lifting platform to lift after returning to execute the control of the intelligent crane to run to the lifting position until the lifted material is consistent with the target material, and unloading the lifted material after controlling the intelligent crane to run to the material inlet and outlet warehouse.
Specifically, if the lifted material is inconsistent with the target material, the intelligent crane is controlled to operate to the warehouse-moving adjustment warehouse, the wrong lifted material is temporarily stored to the warehouse-moving adjustment warehouse, and the intelligent crane is controlled to operate to the lifting position after being returned to be controlled, so that the lifting platform is controlled to lift until the lifted material is consistent with the target material, and the intelligent crane is controlled to operate to the material-entering and exiting warehouse and then to unload the lifted material, thereby avoiding production delay and resource waste caused by material errors.
Fig. 5 is a schematic flow chart of a warehousing method based on an intelligent warehouse system according to the present invention, as shown in fig. 5, the method includes:
And determining coordinate information of the target material, and calculating a lifting position of the intelligent crane based on the coordinate information of the target material by the controller, wherein the lifting position comprises a transverse coordinate position and a longitudinal coordinate position, and the transverse coordinate position is identical with the transverse coordinate position of the target material.
And after the intelligent crane is controlled to run to the transverse coordinate position and the longitudinal coordinate position, the actuating mechanism is controlled to grasp the material corresponding to the lifting position, and the lifted material is obtained. And the controller judges whether the lifted material is consistent with the target material, and if so, the intelligent crane is controlled to move to the material in-out warehouse and then unload the lifted material. If not, the intelligent crane is controlled to move to the warehouse-moving adjustment warehouse, then the lifting material is unloaded, and the intelligent crane is controlled to move to the highest ordinate position of the warehouse-moving adjustment warehouse, and then the intelligent crane is returned to be controlled to run to the transverse coordinate position and the longitudinal coordinate position.
After the intelligent crane is controlled to move to and from the material warehouse and the lifted materials are unloaded, the controller judges whether the material exists in the warehouse-moving adjustment warehouse, if yes, the intelligent crane is controlled to move to the warehouse-moving adjustment warehouse, the corresponding materials are grabbed, the intelligent crane is controlled to move to the material storage stack warehouse, and the corresponding materials are returned to the corresponding material boxes. And if the material does not exist in the moving warehouse adjusting warehouse, controlling the intelligent travelling crane to run to a waiting position.
Fig. 6 is a schematic structural diagram of an electronic device according to the present invention, as shown in fig. 6, the electronic device may include a processor (processor) 610, a communication interface (Communications Interface) 620, a memory 630, and a communication bus 640, where the processor 610, the communication interface 620, and the memory 630 complete communication with each other through the communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to perform a warehousing method that includes determining coordinate information of a target material from a material database, determining a lifting location of the intelligent cart based on the coordinate information, and controlling the lifting platform to lift after controlling the intelligent cart to operate to the lifting location.
Further, the logic instructions in the memory 630 may be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. The storage medium includes a U disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, an optical disk, or other various media capable of storing program codes.
In another aspect, the invention further provides a computer program product, the computer program product comprises a computer program, the computer program can be stored on a non-transitory computer readable storage medium, when the computer program is executed by a processor, the computer program can execute the warehousing method provided by the above methods, the method comprises the steps of determining coordinate information of a target material from a material database, determining a lifting position of the intelligent crane based on the coordinate information, and controlling the lifting platform to lift after controlling the intelligent crane to move to the lifting position.
In yet another aspect, the present invention further provides a non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, is implemented to perform the warehousing method provided by the above methods, the method including determining coordinate information of a target material from a material database, determining a lifting position of the intelligent vehicle based on the coordinate information, and controlling lifting of the lifting platform after controlling the intelligent vehicle to move to the lifting position.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
It should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present invention, and not for limiting the same, and although the present invention has been described in detail with reference to the above-mentioned embodiments, it should be understood by those skilled in the art that the technical solution described in the above-mentioned embodiments may be modified or some technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solution of the embodiments of the present invention.
Claims (10)
1. An intelligent warehouse system, comprising:
the system comprises a vertical warehouse, at least one intelligent travelling crane, a lifting platform and a travelling crane control system;
The vertical warehouse comprises a material inlet and outlet warehouse, a material storage warehouse and a warehouse shifting adjustment warehouse, wherein the material storage warehouse comprises a plurality of rows of trestle frames, each trestle frame comprises a plurality of material boxes, each material box is vertically piled, the inner gear size of each material box is larger than the material size, each trestle frame is arranged at intervals in a partition mode, the interval distance between each trestle frame is larger than the sum of the positioning precision error of the intelligent travelling crane and the lifting fluctuation amount of a lifting tool on the lifting platform, and the warehouse positions of the material inlet and outlet warehouse, the warehouse positions of the material storage warehouse and the warehouse positions of the warehouse shifting adjustment warehouse are determined based on the appearance size of each trestle frame, the interval distance between each trestle frame and the warehouse position interval requirement;
the intelligent travelling crane is hung on the lifting platform and is used for carrying all the trestle frames from the upper part of the vertical warehouse, and the stroke and the lifting height of the intelligent travelling crane are determined based on the overall dimension of the trestle frames in multiple rows and the types of materials;
and the traveling crane control system is used for controlling the intelligent traveling crane to move to a lifting position after receiving the warehouse-in and warehouse-out instruction and controlling the lifting platform to lift the target bin.
2. The intelligent warehouse system of claim 1, wherein each bin is provided with an upper and lower stacking guide positioning device or a guide positioning device.
3. The intelligent warehouse system of claim 1, wherein the in-out material warehouse is provided with a protrusion device for separating the material from the material.
4. The intelligent warehouse system of claim 1, wherein the bin is provided with a forkable structure or the in-out material warehouse is provided with a transfer roller way which is in butt joint with a material pipeline.
5. The intelligent warehouse system of claim 1, wherein the lifting platform is provided with an intelligent partition module for partitioning materials based on material specifications and/or material frequency.
6. The intelligent warehouse system of claim 1, wherein the driving control system is further configured to scan two-dimensional codes carried by each material to obtain information of entering and exiting the warehouse and attribute information of each material;
The system also comprises a material management module, a material database and a material management module, wherein the material management module is used for storing the information of the in-out warehouse and the attribute information of each material into the material database and managing the materials based on the data in the material database.
7. The intelligent warehouse system of claim 1, wherein the drive control system comprises a controller, a remote module, a motor controller, a motor, an actuator controller, and an actuator;
The remote module is communicated with the controller through an industrial Ethernet, and is used for upgrading a software program corresponding to the controller through a remote network;
The motor controller is communicated with the controller through an industrial network, and is used for controlling the motor to run after receiving a motor control signal sent by the controller, receiving motor running data fed back after the motor runs, and optimizing the motor control signal based on the motor running data;
The controller is used for sending an execution signal to the execution mechanism controller so that the execution mechanism controller controls the execution mechanism to operate, and is also used for receiving mechanism operation data fed back by the execution mechanism and optimizing the execution signal based on the mechanism operation data.
8. The intelligent warehouse system of claim 1, wherein the drive control system further comprises a console and a human-machine interface, the console being provided with a control switch, an operating indicator light, and an emergency stop switch.
9. A warehousing method based on the intelligent warehouse system of any one of claims 1-8, comprising:
determining coordinate information of a target material from a material database;
Determining the lifting position of the intelligent crane based on the coordinate information;
And controlling the intelligent travelling crane to move to a lifting position, and then controlling the lifting platform to lift.
10. The warehousing method of claim 9 wherein the controlling the lifting platform to lift further comprises:
And if the lifted material is inconsistent with the target material, controlling the intelligent crane to move to a warehouse-moving adjustment warehouse, unloading the lifted material, and returning to execute control of the intelligent crane to move to a lifting position, controlling the lifting platform to lift until the lifted material is consistent with the target material, and controlling the intelligent crane to move to the material-entering and-exiting warehouse, and unloading the lifted material.
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