CN205345971U - Intelligent intensive three -dimensional storehouse - Google Patents
Intelligent intensive three -dimensional storehouse Download PDFInfo
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- CN205345971U CN205345971U CN201620109502.2U CN201620109502U CN205345971U CN 205345971 U CN205345971 U CN 205345971U CN 201620109502 U CN201620109502 U CN 201620109502U CN 205345971 U CN205345971 U CN 205345971U
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Abstract
The utility model relates to an intelligent intensive three -dimensional storehouse, for solution prior art access inefficiency problem, including be furnished with the overhead parallel vertically walk orbital support and overhead parallel vertically walk the intensive formula that is used for saving goods or packing box of track below move goods shelves and track and intensive formula remove the intelligent three -dimensional transfer robot of goods shelves adapted, the track is vertically walked through the vertical running gear configuration track of transversely walking to the three -dimensional transfer robot of intelligence, and the track of transversely walking disposes vertical rail downwards through horizontal running gear, vertical rail through the configuration of perpendicular running gear be used for getting put transfer goods or packing box and intensive formula removes the fork mechanism of goods shelves adapted. It is big to have the density of depositing, the high advantage of goods access managerial efficiency.
Description
Technical field
This utility model relates to a kind of warehouse, particularly relates to a kind of intelligent intensive stereo garage.
Background technology
It is low to there is closeness in existing storehouse, the problem of goods access management inefficiency.
Utility model content
This utility model aims to overcome that the drawbacks described above of prior art, it is provided that it is big that one deposits density, the intelligent intensive stereo garage that goods access management efficiency is high.
For achieving the above object, this utility model include being furnished with below the support of overhead parallel longitudinal direction walking track and overhead parallel longitudinal direction walking track for store goods or container packed movable shelf and with the intelligent three-dimensional transfer robot of described track and packed movable shelf adapted；Intelligent three-dimensional transfer robot is that longitudinally walking track configures, by longitudinal traveling mechanism, track of laterally walking, laterally walking track configures downwards vertical track by horizontal walking mechanism, and vertical track passes through the configuration of vertical travelling mechanism for picking and placeing the fork mechanism of transfer goods or container and described packed movable shelf adapted.Have and deposit density greatly, the advantage that goods access management efficiency is high.
As optimization, described longitudinal traveling mechanism is that cross track frame two ends configure the rail wheel that the rail wheel and driving wheel that coordinate with track of longitudinally walking or configuration coordinate and the driving gear coordinated with the parallel tooth bar of track of longitudinally walking with longitudinal track of walking；The transverse direction walking track of cross track frame configuration configures downwards vertical track by horizontal walking mechanism.Described driving wheel or driving gear arrangement are on the output shaft of X-direction movable motor.
As optimization, described horizontal walking mechanism is that the perpendicular track top of the trellis two ends of inverted U configure the rail wheel and driving wheel that coordinate with track of laterally walking or configure the rail wheel coordinated with track of laterally walking and the driving gear coordinated with the parallel tooth bar of track of laterally walking；
Or described horizontal walking mechanism is to erect track upper frame to configure downwards the perpendicular track frame of inverted U by the revolving support that electric rotating machine drives, erects track upper frame two ends and configure the rail wheel that the rail wheel and driving wheel that coordinate with track of laterally walking or configuration coordinate with horizontal track of walking and the driving gear coordinated with the parallel tooth bar of track of laterally walking；
The perpendicular track frame both sides of inverted U are shaped with downwards a pair vertical track frame, and the vertical track of a pair inside vertical track frame is used for picking and placeing the fork mechanism of transfer goods or container by the configuration of vertical travelling mechanism.On the output shaft of described driving wheel or driving gear arrangement movable motor in the Y direction.
As optimization, described vertical travelling mechanism is rail wheel or the slide block of the configuration of fork mechanism both sides and vertical track adapted, the perpendicular track top of the trellis configuration Z-direction drive motor of inverted U, Z-direction drive motor drives two groups of overhead sheaves by drive mechanism, and the steel wire flat rubber belting lower end that overhead sheave lays out downwards is hung and connect fork mechanism.
As optimization, the drive sprocket of described Z-direction drive motor output shaft end is by the driven sprocket on the driven shaft of chain drive both sides, and driven shaft two ends, both sides are fixedly mounted with described overhead sheave respectively.
As optimization, described intelligent three-dimensional transfer robot is furnished with and connects the heap unstacker that is positioned at packed movable shelf one end successively and connect roller bed conveying line；
Multiple packed movable shelfs arranged side by side are respectively configured intelligent three-dimensional transfer robot, heap unstacker and roller bed conveying line；Configuring the jacking transferring machine of two spacing parallel arrangings between adjacent roller bed conveying line, outermost roller bed conveying line configures RFID and bar code identifying device between two jacking transferring machines；The radio frequency mechanism that makes an inventory of intelligent three-dimensional transfer robot configuration makes an inventory by the RFID on the goods stored on packed movable shelf or container and bar code are read.
As optimization, described RFID and bar code identifying device, roller bed conveying line, jacking transferring machine and heap unstacker connect PLC control system altogether, the actuating mechanism of radio frequency mechanism and intelligent three-dimensional transfer robot of making an inventory connects robot control system, one or more PLC control system arranged side by side and one or more parallel machine people altogether and controls system and connect reservoir area altogether and control industrial computer；
Reservoir area controls industrial computer parallel connection store management computer and master controller；Master controller each reservoir area in parallel submaster controller, the motor of each reservoir area submaster controller each row in parallel, sensor；
Or reservoir area controls industrial computer parallel connection store management computer and master controller；Master controller each reservoir area in parallel submaster controller, the motor of each reservoir area submaster controller each row in parallel, sensor；Store management computer parallel power mis system and higher level data base.
As optimization, described fork mechanism includes laterally uncovered horizontal bobbin carriage, has multilamellar to be respectively configured the horizontal pallet fork retractor device of goods or container clamp system in described bobbin carriage；The rectangular top frame of described support configuration parallel longitudinal direction walking track is packed on multiple supporting leg arranged side by side.
As optimization, described clamp system is cylinder clamping mechanism or motorized clasping mechanism；Configuring multi-layer tracking on the wall of both sides in described bobbin carriage, every side tracking is taken turns by tracking by tracking wheel and tracking driving wheel configuration side transverse direction goods shelf or every side tracking and the tooth bar of this side tracking configuration is by driving gear jointly to configure side transverse direction goods shelf, and horizontal goods shelf every layer relative is respectively provided for clamping the pallet fork of goods or container again through the cylinder clamping mechanism interlocked.
As optimization, described pallet fork distinguishing antenna equipped with RFID, relevant position is pasted with and described RFID distinguishes the RFID of antenna adapted on described goods or on container.Its control circuit principle is: robot control system connects make an inventory radio frequency mechanism and actuating mechanism, actuating mechanism is made up of walking mechanism arranged side by side, rotating mechanism, elevating mechanism and fork mechanism, walking mechanism is made up of longitudinal direction arranged side by side or front and back walking mechanism and transverse direction or left and right walking mechanism again, and fork mechanism is made up of pallet fork telescoping mechanism and cylinder clamp system.
This robot can coordinate packed movable shelf, it is achieved the concentrated type intelligent management in warehouse.It is mainly used in and intelligent and amount of storage are required higher short warehouse.
Version: Intelligent transfer robot includes: rack leg, transverse and longitudinal walking track or track girder, robot arm.Robot arm includes: rotating part and fork parts.Fork parts includes: fork lifting mechanism, pallet fork, clamping cylinder etc..Often group pallet fork includes two pallet fork arms, each arm one cylinder of configuration.
Patent main points: Intelligent transfer robot: adopt three-dimensional transfer robot that goods is carried out intellectual access operation, by support, fixing or that be directly anchored to top, warehouse or top track or track girder carry out all around walking to three-dimensional transfer robot, realize pallet fork by the fork lifting mechanism of robot and drive moving up and down of container.Robot arm can arrange and organize pallet fork more, can carry multiple container simultaneously.Often group pallet fork can individually stretch, and carries out accessing operation respectively.The fork parts of robot arm can rotate freely in the horizontal direction, to facilitate the container on access different directions.
Main feature: the pattern of the support transverse and longitudinal track can installed by the later stage, carries out intelligentized updating transformation to old warehouse.Adopt top rail, ground occupancy is low.Suitable in large-area warehouse, a transfer robot can meet warehouse requirement, it is achieved that maximum space availability ratio.Having three-dimensional carrying function, robot arm can arrange and organize pallet fork more, can carry multiple container simultaneously.The often group pallet fork of robot arm can individually stretch, and carries out accessing operation respectively.The fork parts of robot arm can rotate freely in the horizontal direction, to facilitate the container on access different directions.Often group pallet fork is simultaneously driven pallet fork clamping by two, left and right cylinder after going out fork, props up container from the side and carries out picking.
Intelligent intensive stereo garage system of the present invention is that storing goods shelf adopts packed movable shelf, utilizes layout intelligent robot above warehouse that articles from the storeroom the business operation such as deposit, withdraw.It is mainly used in and intelligent and amount of storage are required higher warehouse.
Version: hardware: be mainly made up of packed movable shelf, Intelligent transfer robot, coordinates heap unstacker, jacking transferring machine, roller bed conveying line and RFID and bar code identifying device etc. to complete the business operation such as deposit, withdraw of goods.Software: be mainly made up of warehouse management software and robot control software, cooperation heap unstacker, jacking transferring machine, roller bed conveying line and RFID and bar code identifying device etc. assist the operation flows such as the access of the PLC control realization goods of equipment.
Main points: 1), storing goods shelf: adopting packed movable shelf, position is intensive, amount of storage big, save the advantages such as space to have storage.2), Intelligent transfer robot: adopt three-dimensional transfer robot that goods is carried out intellectual access operation, track that is that three-dimensional transfer robot is fixed by support or that be directly anchored to top, warehouse or top carries out all around and moves, and realizes pallet fork by the vertical line unit of robot and drives moving up and down of goods.3), Intelligent transfer robot is with multiple fork mechanisms, it is possible to carry multiple container simultaneously, carries out accessing operation.4) Intelligent transfer robot can rotate in the horizontal direction, to facilitate the container on access different directions.
Main feature: 1), packed movable shelf, there is storage position be intensive, amount of storage big, save space, automatically distribute storage space, first in first out, the feature such as quick of making an inventory.2), Intelligent transfer robot, there is three-dimensional carrying function, it is possible to carry multiple container simultaneously.3), Intelligent transfer robot can rotate in the horizontal direction, with facilitate access different directions on container.
System components function: 1), two computers be two cores of storehouse.One is store management computer, is used for controlling warehouse-in, and and the system docking of higher level's electric power MS, process miscellaneous service document form.This can be operated by Field Force.Various types of data for store management processes.Another computer is that reservoir area controls industrial computer, for coordinating to control the operation of each robot control system(RCS), and the warehouse-in outbound of receiving management computer and order of making an inventory, control the work of robot control system and the work of coarctation cabinet master controller, export warning message etc..2), the part of PLC is the everything mechanism outside control reservoir area.Including RFID and bar code identifying device, jacking transferring machine, pipeline and the various actions to unstacker etc..Its various controls are controlled industrial computer management by reservoir area.3), robot motion mechanism and the radio frequency mechanism that makes an inventory.For performing the carrying work of container, wherein the radio frequency mechanism that makes an inventory is arranged near handling arm, can container be confirmed during outbound warehouse-in.When making an inventory, it is possible to the information of each case is passed to reservoir area and controls industrial computer.4) safe grating, be used for avoiding other people improper entrance reservoir area or accessor robot correctly playback cause danger.5), main controller controls each cabinet of coarctation cabinet part move, coordinate transfer robot to realize warehouse-in, outbound and task of making an inventory, for the abnormal conditions detected, information of uploading controls industrial computer to reservoir area.
Intelligent intensive stereo garage of the present invention controls systemic-function: 1), intelligent intensive stereo garage there are 485 interfaces with compunication, management computer can control the action of intensive stereo garage and realize；2), intelligent intensive stereo garage respectively arranges control and adopts CAN mechanics of communication, has the response advantage such as quick, reliable；3), intelligent intensive stereo garage realize motor control etc. by control signal wire, by obtain signal line states realize read the information such as proximity switch state, infrared anti-extrusion state；4), reservoir area has a main control cabinet, control to have the operation (reservoir area number can be customized according to client's practical situation) of reservoir area the instruction that is operated and reports to the police more.
Intelligent intensive stereo garage has triple protection function: 1), the inlet side of reservoir area, being configured with infrared ray safe grating, when there is any blocking, illustrating that someone enters reservoir area, and now all coarctation cabinet actions all stop, it is to avoid injury to personnel.2), coarctation cabinet is single-row configured under has infrared detection, and when having detected that foreign body blocks Infrared, cabinet can be out of service and send alarm signal to main frame.Avoid object to be extruded damage, or cabinet is damaged.3), overcurrent protection, intensive stereo garage actuating mechanism is subject to certain resistance can produce big electric current, it is possible to automatically detection motor produces the signal of big electric current, thus controlling motor stalls, stops burn-down of electric motor and the phenomenon such as cause that object breaks.
System communication mode: 1), store management computer and reservoir area control between industrial computer to be network communication.2), coarctation cabinet internal communication, namely the communication between reservoir area controller and row controller is can communication.3), coarctation cabinet master controller and reservoir area control between industrial computer is serial communication.3) communication, between reservoir area control industrial computer and robot system, the communication with fixing equipment adopts the modes such as netting twine or 485 to carry out wire communication, and the communication with the radio frequency mechanism that makes an inventory is wireless telecommunications.
System programming language: for real-time control system, we program with C++, and namely controlling in industrial computer in reservoir area is C Plus Plus.For data base management system, we program with C#, and database manipulation is more convenient, and interface is relatively more attractive in appearance.Communication can be worked out according to the requirement of any communications protocol.
System-based function:
1, warehouse-in: 1), store management computer receive electric power MIS document, the reservoir area that says the word controls industrial computer, starts into library.2), reservoir area control the industrial computer plc that says the word and control the actuating mechanism such as system drive pipeline, receive ammeter or transformer Turnover Box.3), for three-phase kilowatt-hour meter Turnover Box, it is usually with radio electronic label, automatically scans when passing through in RFID and bar code identifying device.4), part single-phase electric meter have electronic tag the same with three-phase kilowatt-hour meter in RFID and bar code identifying device by time automatically scan.5), part individual event ammeter does not have electronic tag and transformer automatically to carry out bar code scan when passing through in RFID and bar code identifying device.6), scanning result be all that the electronic tag of all items in Turnover Box and Turnover Box bind, and with warehouse-in mission requirements enter check.7), checking as found mistake, system alarm, mistake article or Turnover Box are returned and are processed by management personnel by conveyer.Confirmation, conveyer moves on, and delivers to heap and devans machine, it would be desirable to the container of warehouse-in stacks gradually.8), reservoir area control industrial computer and coordinate to control transfer robot picking case, system distributes storage space automatically, coordinates respective column coarctation cabinet and opens, and container is sequentially placed into formulation position and puts in storage by transfer robot.9), putting in storage successfully, reservoir area controls industrial computer and information returns store management computer the electric power MIS that sends a message back.
2, outbound: 1), store management computer receive electric power MIS document, the reservoir area that says the word controls industrial computer, starts library.2), the coarctation cabinet row that reservoir area control industrial computer coordination control instruction requires carry out open-shelf operation.3) reservoir area controls industrial computer and coordinates to control transfer robot and enter and formulate row, is put into successively on pallet fork by target container, carries out outbound operation, container is put into heap and devans machine.4) pile machine of devaning to be put into respectively on roller line by the container received.5), roller line transport Turnover Box through RFID and bar code identifying device, process automatically identifies FRID label information and automatically carries out bar code scan identification.6), the information scanned is required contrast verification with outbound by RFID and bar code identifying device.7), outbound success, reservoir area control industrial computer information is returned store management computer the electric power MIS that sends a message back.
3, make an inventory；1), store management computer receive electric power MIS document, the reservoir area that says the word controls industrial computer, starts the program of making an inventory.2), reservoir area controls industrial computer and coordinates control transfer robot and coarctation cabinet, coarctation cabinet is open-shelf sequentially, and transfer robot sequentially enters the row opened, and successively scans each table case with the radio frequency mechanism that makes an inventory, obtain table case electronic labeling information, and pass to reservoir area control industrial computer.3), after end of making an inventory, reservoir area controls industrial computer data of making an inventory and is sent to store management computer, and information is uploaded to electric power MIS.
Its system meets high reliability and principle of sound accounting；Intelligent intensive solid base management system final sum production scheduling platform slitless connection can be realized；Its configuration flow is the simplest and the most direct, equipment is selected according to advanced, maturity principle；It meets planning reasonability, practicality, opening, compatibility, expandability and principle of standardization；Its installation is easy and simple to handle, it is simple to safeguard；Cost performance is the highest.
This intelligent intensive stereo garage system is run more than 250 working days every year, and working time every workday is 8 hours.Time of running in system entirety year was more than 300 days.The system overall operation life-span was more than 15 years.The MTBF of each working cell of system, fault mean repair time of system was less than 4 hours more than 1 year.Historical data and all kinds of event that system is run can real-time queries, it is achieved the ordering management of system and the trackability of data.
After adopting technique scheme, the intensive stereo garage of this utility model has deposits density greatly, the advantage that goods access management efficiency is high.
Accompanying drawing explanation
Fig. 1 is the plan structure schematic diagram of this utility model intelligent intensive stereo garage；
Fig. 2 is the perspective view in a moving goods rack district in this utility model intelligent intensive stereo garage；
Fig. 3 is the side-looking structural representation in a moving goods rack district in this utility model intelligent intensive stereo garage；
Fig. 4 is the plan structure schematic diagram in a moving goods rack district in this utility model intelligent intensive stereo garage；
Fig. 5 is the A-A direction view of Fig. 3；
Fig. 6 is the schematic block circuit diagram of this utility model intelligent intensive stereo garage；
Fig. 7 is the structural representation of intelligent three-dimensional transfer robot and track thereof in this utility model stereo garage；
Fig. 8 is the structural representation of Y-direction movable motor and electric rotating machine and appendage in intelligent three-dimensional transfer robot in this utility model stereo garage；
Fig. 9 is that in this utility model stereo garage, in intelligent three-dimensional transfer robot, perpendicular track upper frame and inverted U erect the structural representation of track frame and fork mechanism part；
Figure 10 is that in this utility model stereo garage, in intelligent three-dimensional transfer robot, inverted U erects the structural representation of track frame and fork mechanism part；
Figure 11 is that in this utility model stereo garage, in intelligent three-dimensional transfer robot, inverted U erects the structural representation of pallet fork telescope motor part in track frame bottom and fork mechanism；
Figure 12 is that in this utility model stereo garage, in intelligent three-dimensional transfer robot, inverted U erects the structural representation of pallet fork and pallet fork handgrip cylinder portion in track frame bottom and fork mechanism；
Figure 13 is the control circuit theory diagram of intelligent three-dimensional transfer robot in this utility model stereo garage.
Detailed description of the invention
As it can be seen, this utility model intelligent intensive stereo garage include being furnished with the support of overhead parallel longitudinal direction walking track 1 and be positioned at below overhead parallel longitudinal direction walking track 1 for store goods or container packed movable shelf 8 and with the intelligent three-dimensional transfer robot 80 of described track and packed movable shelf 8 adapted；Intelligent three-dimensional transfer robot 80 is that longitudinally walking track 1 configures laterally walking track 2 by longitudinal traveling mechanism, laterally walking track 2 configures downwards vertical track by horizontal walking mechanism, and vertical track passes through the configuration of vertical travelling mechanism for the fork mechanism for picking and placeing transfer goods or container.Described longitudinal traveling mechanism is that cross track frame two ends configure the rail wheel and driving wheel that coordinate with track 1 of longitudinally walking or configure the rail wheel coordinated with track 1 of longitudinally walking and the driving gear coordinated with the parallel tooth bar of track 1 of longitudinally walking, described driving wheel or driving gear arrangement on the output shaft of X-direction movable motor 11；The transverse direction walking track of cross track frame configuration configures downwards vertical track by horizontal walking mechanism.
Specifically described horizontal walking mechanism is that perpendicular track upper frame 3 configures downwards the perpendicular track frame 4 of inverted U by the revolving support that electric rotating machine 31 drives, perpendicular track upper frame 3 two ends configure the rail wheel and driving wheel that coordinate with track 2 of laterally walking or configure the rail wheel coordinated with track 2 of laterally walking and the driving gear coordinated with the parallel tooth bar of track of laterally walking, on the output shaft of described driving wheel or driving gear arrangement movable motor 21 in the Y direction.Rail wheel that inverted U perpendicular track top of the trellis two ends configuration that can also to be described horizontal walking mechanism be and the rail wheel that laterally walking track coordinates and driving wheel or configuration coordinate with track of laterally walking and the driving gear coordinated with the horizontal parallel tooth bar of track of walking.Perpendicular track frame 4 both sides of inverted U are shaped with downwards a pair vertical track frame 44, and the vertical track 5 of a pair inside vertical track frame 44 is used for picking and placeing the fork mechanism of transfer goods or container by the configuration of vertical travelling mechanism.
More specifically described vertical travelling mechanism is rail wheel or the slide block 50 of the configuration of fork mechanism both sides and vertical track 5 adapted, inverted U perpendicular track frame 4 top configuration Z-direction drive motor 41, Z-direction drive motor 41 drives two groups of overhead sheaves 40 by drive mechanism, and the steel wire flat rubber belting lower end that overhead sheave 40 lays out downwards is hung and connect fork mechanism.
The drive sprocket of preferred described Z-direction drive motor 41 output shaft end drives the driven sprocket on both sides driven shaft 6 by chain 60, and both sides driven shaft 6 two ends are fixedly mounted with described overhead sheave 40 respectively.
Described intelligent three-dimensional transfer robot 80 connects the heap unstacker 81 being positioned at packed movable shelf 8 one end successively and connects roller bed conveying line 82.
Specifically multiple packed movable shelfs 8 arranged side by side are respectively configured intelligent three-dimensional transfer robot 80, heap unstacker 81 and roller bed conveying line 82；Configuring the jacking transferring machine 83 of two spacing parallel arrangings between adjacent roller bed conveying line 82, outermost roller bed conveying line 82 configures RFID and bar code identifying device 84 between two jacking transferring machines 83；Intelligent three-dimensional transfer robot 80 is configured with and the RFID on the goods stored on packed movable shelf 8 or container and bar code is read the radio frequency mechanism that makes an inventory made an inventory.
Specifically described RFID and bar code identifying device 84, roller bed conveying line 82, jacking transferring machine 83 and heap unstacker 81 connect PLC control system altogether, the actuating mechanism of radio frequency mechanism and intelligent three-dimensional transfer robot of making an inventory connects robot control system, one or more PLC control system arranged side by side and one or more parallel machine people altogether and controls system and connect reservoir area altogether and control industrial computer；
Reservoir area controls industrial computer parallel connection store management computer and master controller；Master controller each reservoir area in parallel submaster controller, the motor of each reservoir area submaster controller each row in parallel, sensor；
Or reservoir area controls industrial computer parallel connection store management computer and master controller；Master controller each reservoir area in parallel submaster controller, the motor of each reservoir area submaster controller each row in parallel, sensor；Store management computer parallel power mis system and higher level data base.There is the advantage that can save significantly on warehouse space He significantly improve store management efficiency.
Namely adopt packed movable shelf 8, utilize the intelligent three-dimensional transfer robot 80 being arranged in above packed movable shelf 8 on track that the goods on moving goods rack 8 or container deposit, withdraw management operation.By large-scale three dimensional transfer robot 80 support, track that is fixing or that be directly anchored to top, warehouse or top carries out all around and moves described intelligent three-dimensional transfer robot 80, realizes pallet fork by the vertical line unit of robot and drives moving up and down of goods or container.
Specifically described fork mechanism includes laterally uncovered horizontal bobbin carriage 7, has multilamellar to be respectively configured goods or the horizontal pallet fork retractor device of container cylinder clamping mechanism in described bobbin carriage 7；The rectangular top frame 10 that described support is configuration parallel longitudinal direction walking track is packed on multiple supporting leg arranged side by side 18.
More specifically configuring multi-layer tracking 78 on the wall of both sides in described bobbin carriage 7, every side tracking 78 is taken turns by tracking by tracking wheel and tracking driving wheel configuration side transverse direction goods shelf or every side tracking and the tooth bar of this side tracking configuration is by driving gear jointly to configure side transverse direction goods shelf, and horizontal goods shelf every layer relative is respectively provided for clamping the pallet fork 77 of goods or container again through the cylinder clamping mechanism interlocked.Distinguishing antenna equipped with RFID on described pallet fork 77, relevant position is pasted with and described RFID distinguishes the RFID of antenna adapted on described goods or on container.Described cylinder clamping mechanism includes the pallet fork of laterally driven pallet fork 77 and firmly grasps cylinder 70, and every layer of tracking driving wheel or tracking drive gear to be fixed together by the driving axle 79 coaxial with pallet fork telescope motor 71.
Distinguishing antenna equipped with RFID on described pallet fork, relevant position is pasted with and described RFID distinguishes the RFID of antenna adapted on described goods or on container.
Its control circuit principle is: robot control system connects make an inventory radio frequency mechanism and actuating mechanism, actuating mechanism is made up of walking mechanism arranged side by side, rotating mechanism, elevating mechanism and fork mechanism, walking mechanism is made up of longitudinal direction arranged side by side or front and back walking mechanism and transverse direction or left and right walking mechanism again, and fork mechanism is made up of pallet fork telescoping mechanism and cylinder clamp system.
This robot can coordinate packed movable shelf, it is achieved the concentrated type intelligent management in warehouse.It is mainly used in and intelligent and amount of storage are required higher short warehouse.
Version: Intelligent transfer robot includes: rack leg, transverse and longitudinal walking track or track girder, robot arm.Robot arm includes: rotating part and fork parts.Fork parts includes: fork lifting mechanism, pallet fork, clamping cylinder etc..Often group pallet fork includes two pallet fork arms, each arm one cylinder of configuration.
Patent main points: Intelligent transfer robot: adopt three-dimensional transfer robot that goods is carried out intellectual access operation, by support, fixing or that be directly anchored to top, warehouse or top track or track girder carry out all around walking to three-dimensional transfer robot, realize pallet fork by the fork lifting mechanism of robot and drive moving up and down of container.Robot arm can arrange and organize pallet fork more, can carry multiple container simultaneously.Often group pallet fork can individually stretch, and carries out accessing operation respectively.The fork parts of robot arm can rotate freely in the horizontal direction, to facilitate the container on access different directions.
Main feature: the pattern of the support transverse and longitudinal track can installed by the later stage, carries out intelligentized updating transformation to old warehouse.Adopt top rail, ground occupancy is low.Suitable in large-area warehouse, a transfer robot can meet warehouse requirement, it is achieved that maximum space availability ratio.Having three-dimensional carrying function, robot arm can arrange and organize pallet fork more, can carry multiple container simultaneously.The often group pallet fork of robot arm can individually stretch, and carries out accessing operation respectively.The fork parts of robot arm can rotate freely in the horizontal direction, to facilitate the container on access different directions.Often group pallet fork is simultaneously driven pallet fork clamping by two, left and right cylinder after going out fork, props up container from the side and carries out picking.
This utility model intelligent intensive stereo garage is that storing goods shelf adopts packed movable shelf, utilizes layout intelligent robot above warehouse that articles from the storeroom the business operation such as deposit, withdraw.It is mainly used in and intelligent and amount of storage are required higher warehouse.
Version: hardware: be mainly made up of packed movable shelf, Intelligent transfer robot, coordinates heap unstacker, jacking transferring machine, roller bed conveying line and RFID and bar code identifying device etc. to complete the business operation such as deposit, withdraw of goods.Software: be mainly made up of warehouse management software and robot control software, cooperation heap unstacker, jacking transferring machine, roller bed conveying line and RFID and bar code identifying device etc. assist the operation flows such as the access of the PLC control realization goods of equipment.
Main points: 1), storing goods shelf: adopting packed movable shelf, position is intensive, amount of storage big, save the advantages such as space to have storage.2), Intelligent transfer robot: adopt three-dimensional transfer robot that goods is carried out intellectual access operation, track that is that three-dimensional transfer robot is fixed by support or that be directly anchored to top, warehouse or top carries out all around and moves, and realizes pallet fork by the vertical line unit of robot and drives moving up and down of goods.3), Intelligent transfer robot is with multiple fork mechanisms, it is possible to carry multiple container simultaneously, carries out accessing operation.4) Intelligent transfer robot can rotate in the horizontal direction, to facilitate the container on access different directions.
Main feature: 1), packed movable shelf, there is storage position be intensive, amount of storage big, save space, automatically distribute storage space, first in first out, the feature such as quick of making an inventory.2), Intelligent transfer robot, there is three-dimensional carrying function, it is possible to carry multiple container simultaneously.3), Intelligent transfer robot can rotate in the horizontal direction, with facilitate access different directions on container.
Functions: 1), two computers be two cores of storehouse.One is store management computer, is used for controlling warehouse-in, and and the system docking of higher level's electric power MS, process miscellaneous service document form.This can be operated by Field Force.Various types of data for store management processes.Another computer is that reservoir area controls industrial computer, for coordinating to control the operation of each robot control system(RCS), and the warehouse-in outbound of receiving management computer and order of making an inventory, control the work of robot control system and the work of coarctation cabinet master controller, export warning message etc..2), the part of PLC is the everything mechanism outside control reservoir area.Including RFID and bar code identifying device, jacking transferring machine, pipeline and the various actions to unstacker etc..Its various controls are controlled industrial computer management by reservoir area.3), robot motion mechanism and the radio frequency mechanism that makes an inventory.For performing the carrying work of container, wherein the radio frequency mechanism that makes an inventory is arranged near handling arm, can container be confirmed during outbound warehouse-in.When making an inventory, it is possible to the information of each case is passed to reservoir area and controls industrial computer.4) safe grating, be used for avoiding other people improper entrance reservoir area or accessor robot correctly playback cause danger.5), main controller controls each cabinet of coarctation cabinet part move, coordinate transfer robot to realize warehouse-in, outbound and task of making an inventory, for the abnormal conditions detected, information of uploading controls industrial computer to reservoir area.
This utility model intelligent intensive stereo garage controls function: 1), intelligent intensive stereo garage there are 485 interfaces with compunication, management computer can control the action of intensive stereo garage and realize；2), intelligent intensive stereo garage respectively arranges control and adopts CAN mechanics of communication, has the response advantage such as quick, reliable；3), intelligent intensive stereo garage realize motor control etc. by control signal wire, by obtain signal line states realize read the information such as proximity switch state, infrared anti-extrusion state；4), reservoir area has a main control cabinet, control to have the operation (reservoir area number can be customized according to client's practical situation) of reservoir area the instruction that is operated and reports to the police more.
This utility model intelligent intensive stereo garage has triple protection function: 1), the inlet side of reservoir area, being configured with infrared ray safe grating, when there is any blocking, illustrating that someone enters reservoir area, and now all coarctation cabinet actions all stop, it is to avoid injury to personnel.2), coarctation cabinet is single-row configured under has infrared detection, and when having detected that foreign body blocks Infrared, cabinet can be out of service and send alarm signal to main frame.Avoid object to be extruded damage, or cabinet is damaged.3), overcurrent protection, intensive stereo garage actuating mechanism is subject to certain resistance can produce big electric current, it is possible to automatically detection motor produces the signal of big electric current, thus controlling motor stalls, stops burn-down of electric motor and the phenomenon such as cause that object breaks.
Communication modes: 1), store management computer and reservoir area control between industrial computer to be network communication.2), coarctation cabinet internal communication, namely the communication between reservoir area controller and row controller is can communication.3), coarctation cabinet master controller and reservoir area control between industrial computer is serial communication.3) communication, between reservoir area control industrial computer and robot system, the communication with fixing equipment adopts the modes such as netting twine or 485 to carry out wire communication, and the communication with the radio frequency mechanism that makes an inventory is wireless telecommunications.
Programming language: for real-time control system, we program with C++, and namely controlling in industrial computer in reservoir area is C Plus Plus.For data base management system, we program with C#, and database manipulation is more convenient, and interface is relatively more attractive in appearance.Communication can be worked out according to the requirement of any communications protocol.
Basic function:
1, warehouse-in: 1), store management computer receive electric power MIS document, the reservoir area that says the word controls industrial computer, starts into library.2), reservoir area control the industrial computer plc that says the word and control the actuating mechanism such as system drive pipeline, receive ammeter or transformer Turnover Box.3), for three-phase kilowatt-hour meter Turnover Box, it is usually with radio electronic label, automatically scans when passing through in RFID and bar code identifying device.4), part single-phase electric meter have electronic tag the same with three-phase kilowatt-hour meter in RFID and bar code identifying device by time automatically scan.5), part individual event ammeter does not have electronic tag and transformer automatically to carry out bar code scan when passing through in RFID and bar code identifying device.6), scanning result be all that the electronic tag of all items in Turnover Box and Turnover Box bind, and with warehouse-in mission requirements enter check.7), checking as found mistake, system alarm, mistake article or Turnover Box are returned and are processed by management personnel by conveyer.Confirmation, conveyer moves on, and delivers to heap and devans machine, it would be desirable to the container of warehouse-in stacks gradually.8), reservoir area control industrial computer and coordinate to control transfer robot picking case, system distributes storage space automatically, coordinates respective column coarctation cabinet and opens, and container is sequentially placed into formulation position and puts in storage by transfer robot.9), putting in storage successfully, reservoir area controls industrial computer and information returns store management computer the electric power MIS that sends a message back.
2, outbound: 1), store management computer receive electric power MIS document, the reservoir area that says the word controls industrial computer, starts library.2), the coarctation cabinet row that reservoir area control industrial computer coordination control instruction requires carry out open-shelf operation.3) reservoir area controls industrial computer and coordinates to control transfer robot and enter and formulate row, is put into successively on pallet fork by target container, carries out outbound operation, container is put into heap and devans machine.4) pile machine of devaning to be put into respectively on roller line by the container received.5), roller line transport Turnover Box through RFID and bar code identifying device, process automatically identifies FRID label information and automatically carries out bar code scan identification.6), the information scanned is required contrast verification with outbound by RFID and bar code identifying device.7), outbound success, reservoir area control industrial computer information is returned store management computer the electric power MIS that sends a message back.
3, make an inventory；1), store management computer receive electric power MIS document, the reservoir area that says the word controls industrial computer, starts the program of making an inventory.2), reservoir area controls industrial computer and coordinates control transfer robot and coarctation cabinet, coarctation cabinet is open-shelf sequentially, and transfer robot sequentially enters the row opened, and successively scans each table case with the radio frequency mechanism that makes an inventory, obtain table case electronic labeling information, and pass to reservoir area control industrial computer.3), after end of making an inventory, reservoir area controls industrial computer data of making an inventory and is sent to store management computer, and information is uploaded to electric power MIS.
It meets high reliability and principle of sound accounting；Intelligent intensive solid base management system final sum production scheduling platform slitless connection can be realized；Its configuration flow is the simplest and the most direct, equipment is selected according to advanced, maturity principle；It meets planning reasonability, practicality, opening, compatibility, expandability and principle of standardization；Its installation is easy and simple to handle, it is simple to safeguard；Cost performance is the highest.
This intelligent intensive stereo garage runs more than 250 working days every year, and working time every workday is 8 hours.Overall year ran the time more than 300 days.The overall operation life-span was more than 15 years.The MTBF of each working cell, fault mean repair time was less than 4 hours more than 1 year.Historical data and all kinds of event run can real-time queries, it is achieved the trackability of ordering management and data.
Claims (10)
1. an intelligent intensive stereo garage, it is characterised in that include being furnished with below the support of overhead parallel longitudinal direction walking track and overhead parallel longitudinal direction walking track for store goods or container packed movable shelf and with the intelligent three-dimensional transfer robot of described track and packed movable shelf adapted；Intelligent three-dimensional transfer robot is that longitudinally walking track configures, by longitudinal traveling mechanism, track of laterally walking, laterally walking track configures downwards vertical track by horizontal walking mechanism, and vertical track passes through the configuration of vertical travelling mechanism for picking and placeing the fork mechanism of transfer goods or container and described packed movable shelf adapted.
2. stereo garage according to claim 1, it is characterised in that rail wheel that described longitudinal traveling mechanism is the configuration of cross track frame two ends to be coordinated with track of longitudinally walking with the rail wheel that longitudinally walking track coordinates and driving wheel or configuration and the driving gear coordinated with longitudinal parallel tooth bar of track of walking；The transverse direction walking track of cross track frame configuration configures downwards vertical track by horizontal walking mechanism.
3. stereo garage according to claim 2, it is characterised in that rail wheel that described horizontal walking mechanism is inverted U perpendicular track top of the trellis two ends configuration to be coordinated with track of laterally walking with the rail wheel that laterally walking track coordinates and driving wheel or configuration and the driving gear coordinated with the horizontal parallel tooth bar of track of walking；
Or described horizontal walking mechanism is to erect track upper frame to configure downwards the perpendicular track frame of inverted U by the revolving support that electric rotating machine drives, erects track upper frame two ends and configure the rail wheel that the rail wheel and driving wheel that coordinate with track of laterally walking or configuration coordinate with horizontal track of walking and the driving gear coordinated with the parallel tooth bar of track of laterally walking；
The perpendicular track frame both sides of inverted U are shaped with downwards a pair vertical track frame, and the vertical track of a pair inside vertical track frame is used for picking and placeing the fork mechanism of transfer goods or container by the configuration of vertical travelling mechanism.
4. stereo garage according to claim 3, it is characterized in that described vertical travelling mechanism is rail wheel or the slide block of the configuration of fork mechanism both sides and vertical track adapted, the perpendicular track top of the trellis configuration Z-direction drive motor of inverted U, Z-direction drive motor drives two groups of overhead sheaves by drive mechanism, and the steel wire rope lower end that overhead sheave lays out downwards is hung and connect fork mechanism.
5. stereo garage according to claim 4, it is characterised in that the drive sprocket of described Z-direction drive motor output shaft end is by the driven sprocket on the driven shaft of chain drive both sides, and driven shaft two ends, both sides are fixedly mounted with described overhead sheave respectively.
6. stereo garage according to claim 1, it is characterised in that described intelligent three-dimensional transfer robot is furnished with and connects the heap unstacker being positioned at packed movable shelf one end successively and connect roller bed conveying line；
Multiple packed movable shelfs arranged side by side are respectively configured intelligent three-dimensional transfer robot, heap unstacker and roller bed conveying line；Configuring the jacking transferring machine of two spacing parallel arrangings between adjacent roller bed conveying line, outermost roller bed conveying line configures RFID bar code identifying device between two jacking transferring machines；The radio frequency mechanism that makes an inventory of intelligent three-dimensional transfer robot configuration makes an inventory by the RFID bar code on the goods stored on packed movable shelf or container is read.
7. stereo garage according to claim 6, it is characterized in that described RFID bar code identifying device, roller bed conveying line, jacking transferring machine and heap unstacker connect PLC control system altogether, the actuating mechanism of radio frequency mechanism and intelligent three-dimensional transfer robot of making an inventory connects robot control system, one or more PLC control system arranged side by side and one or more parallel machine people altogether and controls system and connect reservoir area altogether and control industrial computer；
Reservoir area controls industrial computer parallel connection store management computer and master controller；Master controller each reservoir area in parallel submaster controller, the motor of each reservoir area submaster controller each row in parallel, sensor；
Or reservoir area controls industrial computer parallel connection store management computer and master controller；Master controller each reservoir area in parallel submaster controller, the motor of each reservoir area submaster controller each row in parallel, sensor；Store management computer parallel power mis system and higher level data base.
8. according to the arbitrary described stereo garage of claim 1-7, it is characterised in that described fork mechanism includes laterally uncovered horizontal bobbin carriage, has multilamellar to be respectively configured the horizontal pallet fork retractor device of goods or container clamp system in described bobbin carriage；The rectangular top frame of described support configuration parallel longitudinal direction walking track is packed on multiple supporting leg arranged side by side.
9. stereo garage according to claim 8, it is characterised in that described clamp system is cylinder clamping mechanism or motorized clasping mechanism；Configuring multi-layer tracking on the wall of both sides in described bobbin carriage, every side tracking is taken turns by tracking by tracking wheel and tracking driving wheel configuration side transverse direction goods shelf or every side tracking and the tooth bar of this side tracking configuration is by driving gear jointly to configure side transverse direction goods shelf, and horizontal goods shelf every layer relative is respectively provided for clamping the pallet fork of goods or container again through the cylinder clamping mechanism interlocked.
10. stereo garage according to claim 9, it is characterised in that distinguish antenna equipped with RFID on described pallet fork, relevant position is pasted with and described RFID distinguishes the RFID of antenna adapted on described goods or on container.
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| CN201620109502.2U CN205345971U (en) | 2016-02-04 | 2016-02-04 | Intelligent intensive three -dimensional storehouse |
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| CN106081458A (en) * | 2016-08-05 | 2016-11-09 | 刘壮志 | Dna blood sample storage management system |
| CN106228688A (en) * | 2016-07-26 | 2016-12-14 | 无锡三迪工业动画有限公司 | A kind of intelligent large many standard commodities vending system and method thereof |
| CN107512573A (en) * | 2017-09-01 | 2017-12-26 | 芜湖路锋科技有限公司 | A kind of robot palletizer intelligence handling system based on location matches |
| CN107585585A (en) * | 2017-09-01 | 2018-01-16 | 芜湖路锋科技有限公司 | A kind of robot palletizer intelligence method for carrying based on location matches |
| CN109051490A (en) * | 2018-09-18 | 2018-12-21 | 深圳市鲸仓科技有限公司 | Packaged type is intensively deposited and picks device |
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| WO2021249571A1 (en) * | 2020-06-10 | 2021-12-16 | 深圳市海柔创新科技有限公司 | Warehouse inventory method and warehousing system |
| WO2024037334A1 (en) * | 2022-08-15 | 2024-02-22 | 北京融安特智能科技股份有限公司 | Unmanned archive repository system |
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| CN106228688A (en) * | 2016-07-26 | 2016-12-14 | 无锡三迪工业动画有限公司 | A kind of intelligent large many standard commodities vending system and method thereof |
| CN106228688B (en) * | 2016-07-26 | 2019-03-29 | 无锡三迪工业动画有限公司 | A kind of more standard commodities vending systems of intelligent large and its method |
| CN106081458A (en) * | 2016-08-05 | 2016-11-09 | 刘壮志 | Dna blood sample storage management system |
| CN106081458B (en) * | 2016-08-05 | 2018-09-25 | 刘壮志 | DNA blood sample storage management systems |
| CN107512573A (en) * | 2017-09-01 | 2017-12-26 | 芜湖路锋科技有限公司 | A kind of robot palletizer intelligence handling system based on location matches |
| CN107585585A (en) * | 2017-09-01 | 2018-01-16 | 芜湖路锋科技有限公司 | A kind of robot palletizer intelligence method for carrying based on location matches |
| CN109051490A (en) * | 2018-09-18 | 2018-12-21 | 深圳市鲸仓科技有限公司 | Packaged type is intensively deposited and picks device |
| CN111591654A (en) * | 2020-06-09 | 2020-08-28 | 国网冀北综合能源服务有限公司 | Power equipment storage system |
| WO2021249571A1 (en) * | 2020-06-10 | 2021-12-16 | 深圳市海柔创新科技有限公司 | Warehouse inventory method and warehousing system |
| CN112093357A (en) * | 2020-09-24 | 2020-12-18 | 江苏池丰科技有限公司 | Dense library and storage device |
| CN112722672A (en) * | 2021-02-26 | 2021-04-30 | 宁波万金现代钣金有限公司 | Unmanned intensive wisdom storehouse |
| WO2024037334A1 (en) * | 2022-08-15 | 2024-02-22 | 北京融安特智能科技股份有限公司 | Unmanned archive repository system |
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Effective date of registration: 20160923 Address after: 110000 No. 2, 2, two street, Shenyang economic and Technological Development Zone, Liaoning, Shenyang, China Patentee after: RHEINLAND ROBOTICS LTD. Address before: 063020, B building, No. three, Tangshan City Road, 1 Xichang Road, hi tech Development Zone, Hebei, China Patentee before: Tangshan Chuangtong Technology Co.,Ltd. Patentee before: RHEINLAND ROBOTICS LTD. |
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Granted publication date: 20160629 Termination date: 20220204 |