CN105921419A - Unmanned conveying, sorting and storing system - Google Patents
Unmanned conveying, sorting and storing system Download PDFInfo
- Publication number
- CN105921419A CN105921419A CN201610424735.6A CN201610424735A CN105921419A CN 105921419 A CN105921419 A CN 105921419A CN 201610424735 A CN201610424735 A CN 201610424735A CN 105921419 A CN105921419 A CN 105921419A
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- Prior art keywords
- hopper
- sorting
- delivery track
- track
- goods
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
- B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
- B07C3/082—In which the objects are carried by transport holders and the transport holders form part of the conveyor belts
- B07C3/087—In which the objects are carried by transport holders and the transport holders form part of the conveyor belts the objects being taken up in transport files or holders which are not part of the conveyor belts
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to an unmanned conveying, sorting and storing system, which comprises a bin stacking system, an automatic sorting system, a sorting and sowing system, a conveying track system and a control system, wherein the bin stacking system is connected with the automatic sorting system through a conveying track system; the bin stacking system comprises a cylindrical three-dimensional shelf, and a stacking robot is arranged at the center of the three-dimensional shelf and used for putting bins into or taking bins out of the three-dimensional shelf; the sorting and sowing system comprises an annular conveying line, and at least one sowing robot is arranged on an annular sowing track; the automatic picking system comprises at least one picking station and at least one picking robot, wherein materials are taken out of a bin I by the picking robot and placed on an annular conveying line; the control system is a bin stacking system, an automatic picking system, a sorting and sowing system, a control center of the conveying track system identifies information of a bin I, a bin II and goods, and monitors the whole sorting and conveying process.
Description
Technical field
The present invention relates to a kind of unmanned conveying sorting and storage system, belong to handling and conveying Sorting Technique neck
Territory.
Background technology
Existing unmanned conveying sorting, the automaticity of induction system is relatively low, and sorts conveying
Front and back step speed is not mated, and cause that pipeline draws is the longest, and whole sorting system volume is relatively big, accounts for
Ground area is big, and operation cost is high, inefficient；Additionally, existing unmanned conveying sorting system, can
Expand poor-performing, it is more difficult to according to the actual requirements, adjust the speed synchronizing sorting, cause the logical of system
By property by large effect.
Summary of the invention
The technical issues that need to address of the present invention are: existing unmanned conveying sorting, induction system from
Dynamicization degree is relatively low；Before and after sorting conveying, step speed is not mated, and cause that pipeline draws is the longest,
Whole sorting system volume is relatively big, and floor space is big, and operation cost is high, inefficient；Expansibility
Can be poor, it is more difficult to according to the actual requirements, adjust the speed synchronizing sorting, cause the versatility of system not
High.
The present invention takes techniques below scheme:
A kind of unmanned conveying sorting and storage system, including hopper stacking system, automatic radio frequency,
Sorting seeding system, delivery track system, control system；If entering the material of described hopper stacking system
Case is hopper I to be sorted, and the hopper after automatic radio frequency and sorting seeding system sorting is
Hopper II；Described hopper stacking system includes that columned stereo storage rack 1, described stereo storage rack 1 have
Multilayer, every layer is rounded, and stereo storage rack 1 has gap portions, is used for and delivery track system convergence,
Described stereo storage rack 1 centre is provided with Stacking Robots, for putting into/take out stereo storage rack by hopper
1；Described sorting seeding system includes that annular conveyor line 4, annular conveyor line 4 are provided with at least one and broadcast
Plant robot 7；Described delivery track system includes the first delivery track 3, the second delivery track 2,
Two, the first delivery track 2,3 be in turn connected to form make hopper I enter hopper stacking system conveying lead to
Road；Described first delivery track 3 is also connected with the 3rd delivery track 9, described 3rd delivery track 9
End is connected with automatic radio frequency front end, described automatic radio frequency rear end and the 4th delivery track 10
Connect；Described 4th delivery track 10 one end with two articles of hopper II bearing tracks 11 respectively is connected,
The other end and first delivery track 2 of described hopper II bearing track 11 connect；Described automatic selection system
System includes that at least one chooses station 5, at least one Prospect of Robot Sorting System 6, and each Prospect of Robot Sorting System 6 is right
Answer 1-2 selection station 5, by Prospect of Robot Sorting System 6, material is taken out in hopper I, be placed on ring
On shape pipeline 4；Described hopper I enters hopper stacking system when carrying out temporary, through the second conveyor track
Road the 2, first delivery track 3 enters hopper stacking system, and Stacking Robots leaves hopper I in solid
On the goods yard of shelf 1 correspondence；When described hopper I leaves hopper stacking system, Prospect of Robot Sorting System 6 will
Goods pickup in hopper I on selection station 5, is placed on annular sowing track 4, seeder
Goods on annular conveyor line 4 is picked up and is placed on both sides corresponding hopper II bearing track 11 by device people 7
On corresponding hopper II in, described hopper II is through the second delivery track the 2, the 3rd delivery track the 9, the 4th
Delivery track 10 carries backward；Described control system be described hopper stacking system, automatic radio frequency,
Sorting seeding system, the control centre of delivery track system, identify hopper I, hopper II and goods
Information, and monitor whole sorting course of conveying.
Further, the first delivery track 3 is the delivery track of double-layer structure, and upper and lower two-layer is used respectively
In feeding and discharging to stacking system 1, or discharging and charging operation；Described second delivery track 2
Also it is double-deck double-deck delivery track, corresponding with the two-layer up and down of the first delivery track 3 respectively.
Further, described hopper Stacking Robots is articulated robot, and described articulated robot has
Attached fixture, described attached fixture is the apparatus for work that hopper is put into/taken out shelf 1.
Further, described automatic radio frequency uses Prospect of Robot Sorting System 6 to be combined with visual identifying system,
Realize from hopper I, take out material respectively, be placed on annular conveyor line 4.
Further, described sorting seeding system uses a pair sowing machine people 7 in parallel and vision to know
Other system, it is achieved material hopper from annular conveyor line 4 sorting sowing to hopper II bearing track 11
In II.
Further, described stereo storage rack 1 has single deep position or the goods yard of double deep position, each goods yard pair
The center of quasi-stereo storage rack 1.
Further, the hopper I of a standard is deposited in each goods yard, and shelf have 10-20 layer.
Further, a pair sowing machine people 7 is lift-on/lift-off type, and pedestal is ceiling mounted, and
Integrated vision system；Described sowing machine people 7 will from annular conveyor line 4 by the sucker bottom it
Goods takes off, in the hopper II on the corresponding goods yard of hopper II bearing track 11 being placed into both sides, complete
Become sowing operation.
Further, during sorting seeding system work, the label recognition system identification in control system
Label on the goods of process, and send goods information and its positional information to sowing machine people,
When goods arrives the position of sowing machine people, sowing machine human visual system identifies goods and by goods
Thing picks up, and is put on hopper II bearing track 11 in corresponding empty charging box, and annular conveyor line 4 is installed
Having encoder, after each label recognition system identifies goods, encoder position signalling this moment is the most really
Having determined goods position on annular conveyor line 4, this position signalling is follow-up through machine for this material
Location, position during people.
The beneficial effects of the present invention is:
1) the automaticity height of unmanned conveying sorting, induction system；
2) the turnover hopper stacking system that hopper I is orderly under the monitoring of control system, hopper stacking system
System serves the effect of temporary goods, so that overcome owing to before and after sorting conveying, step speed is not
The longest defect that the pipeline joined and cause draws, thus reduce volume and the occupation of land of whole sorting system
Area, cuts operating costs, and improves efficiency of operation.
3) expansibility preferably can adjust selection station and Prospect of Robot Sorting System with according to the actual requirements
Quantity, and adjust the quantity of sowing machine people on annular conveyor line, thus adjust and synchronize sorting
Speed, improves controllability and the versatility of system.
4) compact conformation, delivery track compound use, conveying is controlled in order by control system.
5) it utilizes industrial robot to replace the piler in conventional automated logistics system, track switch formula to divide
Pick machine and manpower, it is achieved the most unmanned, the unmanned logistics system of low cost, have the most wide
Application prospect.
6) complex function that logistics sorts, carries, stores, sows is realized, system is completely left out people
Power works, and all of logistics sort, carries, stores, sowing etc. works and completed by robot.
7) multi-axis robot is applied simultaneously to: sort, carry, store, in the link such as sowing, real
The most unmanned.
8) multi-axis robot is combined with annular shelf, enables the system to enough realize zero access hopper and make
Industry, has floor space little, flexible and changeable, the advantage of low cost.Annular shelf can be made into many
Deep position, in order to accommodate and more store hopper；Commodity shelf system coordinates with fixture, uses annular shelf,
Share the form of shelf.
9) parallel robot, visual identity, tag recognition, encoder are combined, it is achieved to biography
Send identification and the selection of material on band, complete the sowing technique of logistics center.Due to each robot
Therefore can increase when system demand with independent operating, can be realized by the quantity increasing robot
The multiplication for the treatment of capacity, common conveying sorting system does not then accomplish this point.
10) robot, air-actuated jaw, pipeline, WMS system are combined, by WMS system by goods
Information delivers to robot control system, and after visual identity, this material is taken out from hopper by robot,
And be placed on the conveyer belt on side.
Accompanying drawing explanation
Fig. 1 is the present invention unmanned conveying sorting and the top view of storage system.
Fig. 2 is the enlarged drawing at the position of the hopper stacking system in Fig. 1.
Fig. 3 is the enlarged drawing at the automatic radio frequency position in Fig. 1.
Fig. 4 is the enlarged drawing at the sorting seeding system position in Fig. 1.
Fig. 5 is the structural representation of Stacking Robots.
Fig. 6 is the operating diagram of Stacking Robots.
Fig. 7 is the structural representation of sowing machine people.
In figure, 1. stereo storage rack, 2. the second delivery track, 3. the first delivery track, 4. annular conveying
Line, 5. selection station, 6. Prospect of Robot Sorting System, 7. sowing machine people, 8. hopper I and the trouble of hopper II
Mouthful, 9. the 3rd delivery track, 10. the 4th delivery track, 11. hopper II bearing tracks.
Detailed description of the invention
The present invention is further described with specific embodiment below in conjunction with the accompanying drawings.
Seeing Fig. 1-7, a kind of unmanned conveying is sorted and storage system, including hopper stacking system, automatically
Radio frequency, sorting seeding system, delivery track system, control system；If entering described hopper heap
The hopper of buttress system is hopper I to be sorted, through automatic radio frequency and sorting seeding system sorting
After hopper be hopper II；Described hopper stacking system includes columned stereo storage rack 1, described solid
Shelf 1 have multilayer, and every layer rounded, and stereo storage rack 1 has gap portions, are used for and conveyor track
Road system convergence, described stereo storage rack 1 centre is provided with Stacking Robots, for hopper is put into/
Take out stereo storage rack 1；Described sorting seeding system includes annular conveyor line 4, on annular sowing track 4
It is provided with at least one sowing machine people 7；Described delivery track system includes the first delivery track 3, second
Delivery track the 2, the second, first delivery track 2,3 is in turn connected to form and makes hopper I enter hopper heap
The transfer passage of buttress system；Described first delivery track 3 is also connected with the 3rd delivery track 9, described
3rd delivery track 9 end is connected with automatic radio frequency front end, described automatic radio frequency rear end with
4th delivery track 10 connects；Described 4th delivery track 10 respectively with two articles of hopper II bearing tracks
One end of 11 connects, and the other end and first delivery track 2 of described hopper II bearing track 11 connect；
Described automatic radio frequency includes that at least one chooses station 5, at least one Prospect of Robot Sorting System 6, each
Corresponding 1-2 of Prospect of Robot Sorting System 6 chooses station 5, by Prospect of Robot Sorting System 6 by material in hopper I
Take out, be placed on annular conveyor line 4；Described hopper I enters hopper stacking system when carrying out temporary,
Entering hopper stacking system through second delivery track the 2, first delivery track 3, Stacking Robots is by hopper
On I goods yard leaving stereo storage rack 1 correspondence in；When described hopper I leaves hopper stacking system, pick
Select robot 6 by the goods pickup in the hopper I on selection station 5, be placed on annular sowing track 4
On, the goods on annular conveyor line 4 is picked up and is placed on the corresponding hopper in both sides II by sowing machine people 7
In corresponding hopper II on bearing track 11, described hopper II carries through the second delivery track the 2, the 3rd
Track the 9, the 4th delivery track 10 carries backward；Described control system be described hopper stacking system,
Automatically radio frequency, sorting seeding system, the control centre of delivery track system, identification hopper I,
Hopper II and the information of goods, and monitor whole sorting course of conveying.
Seeing Fig. 2,5,6, described hopper Stacking Robots is 6 axle articulated robots, and described 6 axles close
Joint robot has attached fixture, and described attached fixture is the operation dress that hopper is put into/taken out shelf 1
Put.
See Fig. 1,3,7, described automatic radio frequency employing Prospect of Robot Sorting System 6 and visual recognition line
System combines, it is achieved is taken out respectively from hopper I by material, is placed on annular conveyor line 4.
Seeing Fig. 4, described sorting seeding system uses a pair sowing machine people 7 in parallel and visual recognition line
System, it is achieved in material hopper II from annular conveyor line 4 sorting sowing to hopper II bearing track 11.
See Fig. 2,6, described stereo storage rack 1 has single deep position or the goods yard of double deep position, each goods yard
The center of alignment stereo storage rack 1.
Seeing Fig. 4, a pair sowing machine people 7 is lift-on/lift-off type, and pedestal is ceiling mounted, and integrated
Vision system；Described sowing machine people 7 passes through the sucker bottom it from annular conveyor line 4 by goods
Take off, in the hopper II on the corresponding goods yard of hopper II bearing track 11 being placed into both sides, complete to broadcast
Plant operation.
See Fig. 1,4,7, during sorting seeding system work, the goods of label recognition system identification process
On label, and send goods information and its positional information to sowing machine people, when goods arrives
During the position of sowing machine people, sowing machine human visual system identifies goods and is picked up by goods, putting
On hopper II bearing track 11 in corresponding empty charging box, annular conveyor line 4 is provided with encoder,
After label recognition system identifies goods every time, encoder position signalling this moment has determined that goods exists
Position on annular conveyor line 4, this position signalling is used for the follow-up position through robot of this material
Location.
It is above the preferred embodiment of the present invention, and non-limiting protection scope of the present invention, this area
Those of ordinary skill can convert accordingly on the basis of this again, this conversion is without departing from this
In the case of bright flesh and blood, it should the protection domain equivalence limited with claims is defined.
Claims (9)
1. a unmanned conveying sorting and storage system, it is characterised in that:
Including hopper stacking system, automatic radio frequency, sorting seeding system, delivery track system
System, control system；
If the hopper entering described hopper stacking system is hopper I to be sorted, through automatically picking
Selecting the hopper after system and sorting seeding system sorting is hopper II；
Described hopper stacking system includes columned stereo storage rack (1), described stereo storage rack (1)
Having multilayer, every layer rounded, and stereo storage rack (1) has gap portions, is used for and conveying
Rail system is connected, and described stereo storage rack (1) centre is provided with Stacking Robots, is used for
Hopper is put into/is taken out stereo storage rack (1)；
Described sorting seeding system includes that annular conveyor line (4), annular conveyor line set on (4)
There is at least one sowing machine people (7)；
Described delivery track system includes the first delivery track (3), the second delivery track (2),
The second, the first delivery track (2,3) is in turn connected to form and makes hopper I enter hopper stacking system
The transfer passage of system；Described first delivery track (3) is also connected with the 3rd delivery track (9),
Described 3rd delivery track (9) end is connected with automatic radio frequency front end, described automatically picks
System Back-end and the 4th delivery track (10) is selected to connect；Described 4th delivery track (10) point
It is not connected with one end of two hoppers II bearing track (11), described hopper II bearing track (11)
The other end and the first delivery track (2) connect；
Described automatic radio frequency includes at least one selection station (5), at least one picker
Device people (6), corresponding 1-2 selection station (5) of each Prospect of Robot Sorting System (6), by picking
Select robot (6) to be taken out in hopper I by material, be placed on annular conveyor line (4)；
Described hopper I enters hopper stacking system when carrying out temporary, through the second delivery track (2),
First delivery track (3) enters hopper stacking system, and hopper I is left in by Stacking Robots
On the goods yard that stereo storage rack (1) is corresponding；
When described hopper I leaves hopper stacking system, Prospect of Robot Sorting System (6) will choose station
(5) the goods pickup in the hopper I on, is placed in annular sowing track (4), sowing
Goods on annular conveyor line (4) is picked up and is placed on the corresponding hopper in both sides by robot (7)
In corresponding hopper II on II bearing track (11), described hopper II through the second delivery track (2),
3rd delivery track (9), the 4th delivery track (10) carry backward；
Described control system is described hopper stacking system, automatic radio frequency, sorts sowing system
System, the control centre of delivery track system, identify hopper I, hopper II and the information of goods,
And monitor whole sorting course of conveying.
2. unmanned conveying sorting as claimed in claim 1 and storage system, it is characterised in that: first is defeated
Sending track (3) is the delivery track of double-layer structure, and upper and lower two-layer is respectively used to stacking system
(1) charging and discharging, or discharging and charging operation；Described second delivery track (2) is also
It is double-deck double-deck delivery track, respectively with the two-layer up and down of the first delivery track (3)
Corresponding.
3. unmanned conveying sorting as claimed in claim 1 and storage system, it is characterised in that: described material
Case Stacking Robots is articulated robot, and described articulated robot has attached fixture, described attached
Belonging to fixture is the apparatus for work that hopper is put into/taken out shelf (1).
4. conveying sorting as claimed in claim 1 unmanned and storage system, it is characterised in that: described from
Dynamic radio frequency uses Prospect of Robot Sorting System (6) to be combined with visual identifying system, it is achieved by material
Take out respectively from hopper I, be placed on annular conveyor line (4).
5. unmanned conveying sorting as claimed in claim 2 and storage system, it is characterised in that: described point
Pick seeding system and use a pair sowing machine people (7) in parallel and visual identifying system, it is achieved thing
Expect the hopper II from annular conveyor line (4) sorting sowing to hopper II bearing track (11)
In.
6. unmanned conveying sorting as claimed in claim 1 and storage system, it is characterised in that: described vertical
Body shelf (1) have single deep position or the goods yard of double deep position, each goods yard alignment stereo storage rack (1)
Center.
7. unmanned conveying sorting as claimed in claim 5 and storage system, it is characterised in that: Mei Gehuo
The hopper I of a standard is deposited in position, and shelf have 10-20 layer.
8. unmanned conveying sorting as claimed in claim 4 and storage system, it is characterised in that: broadcast for a pair
Planting robot (7) is lift-on/lift-off type, and pedestal is ceiling mounted, and integrated vision system；
Described sowing machine people (7) passes through the sucker bottom it from annular conveyor line (4) by goods
Take off, in the hopper II on the corresponding goods yard of the hopper II bearing track (11) being placed into both sides,
Complete to sow operation.
9. unmanned conveying sorting as claimed in claim 8 and storage system, it is characterised in that: sorting is broadcast
During the work of the system of kind, the label on the goods of label recognition system identification process, and goods is believed
Breath and its positional information send sowing machine people to, when goods arrives the position of sowing machine people
Time, sowing machine human visual system identifies goods and is picked up by goods, is put into hopper II carrying
In the upper corresponding empty charging box of track (11), annular selection track (4) is provided with encoder,
After label recognition system identifies goods every time, encoder position signalling this moment has determined that goods
Thing chooses the position on track (4) in annular, and this position signalling is used for the follow-up process of this material
Location, position during robot.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610424735.6A CN105921419B (en) | 2016-06-15 | 2016-06-15 | Unmanned conveying, sorting and storing system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610424735.6A CN105921419B (en) | 2016-06-15 | 2016-06-15 | Unmanned conveying, sorting and storing system |
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| Publication Number | Publication Date |
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| CN105921419A true CN105921419A (en) | 2016-09-07 |
| CN105921419B CN105921419B (en) | 2018-02-09 |
Family
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| CN106743785A (en) * | 2017-01-19 | 2017-05-31 | 红云红河烟草(集团)有限责任公司 | Auxiliary material warehousing logistics system with automatic classification conveying line |
| CN106733677A (en) * | 2017-01-10 | 2017-05-31 | 浙江思平智能科技有限公司 | A kind of charging tray barcode scanning goes out to be put in storage sorting system and its control method |
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