CN110626697B - Distributing and stacking system for warehouse logistics and working method - Google Patents
Distributing and stacking system for warehouse logistics and working method Download PDFInfo
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- CN110626697B CN110626697B CN201910981305.8A CN201910981305A CN110626697B CN 110626697 B CN110626697 B CN 110626697B CN 201910981305 A CN201910981305 A CN 201910981305A CN 110626697 B CN110626697 B CN 110626697B
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- 238000000034 method Methods 0.000 title claims description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 230000033001 locomotion Effects 0.000 claims description 50
- 230000009471 action Effects 0.000 claims description 21
- 241000252254 Catostomidae Species 0.000 claims description 10
- 125000006850 spacer group Chemical group 0.000 description 2
- 239000011324 bead Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
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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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- 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
-
- 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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
- B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention relates to a distributing and stacking system for warehouse logistics, which comprises a conveyor for conveying articles, wherein a scanner module is arranged above the tail end of the conveyor, a distributing mechanism module is arranged behind the scanner module, trays for stacking the articles are arranged in front of and on the left side and the right side of the tail end of the conveyor, a stacking robot module is respectively arranged above the trays, and the conveyor, the scanner module, the distributing mechanism module and the stacking robot module are connected with a control computer. The invention changes the former code scanning allocation and stacking mode, and has flexible and small equipment and smaller occupied space; after code scanning identification, automatic allocation and alignment can be realized; three groups of different express simultaneous stacking can be realized in the small-range area. The structure is exquisite, and area is few, and work efficiency is high, and the system is reliable and stable.
Description
Technical Field
The invention relates to the technical field of storage logistics equipment, in particular to an intelligent distributing and stacking system and a working method.
Background
The rise in the field of electronic commerce logistics occurs in a plurality of devices for sorting, distributing and stacking the stored express. The mainstream of the distributing and stacking equipment in the market at present is to sort by using a balance wheel in the middle section of a production line, convey express products to a terminal through a conveyor or a sliding slope, and utilize a stacking robot or manually perform stacking.
The defects of the scheme are as follows: 1, occupying large space; 2, equipment (distributing lines and stacking robots) has high input cost; 3, wasting the cost of manual sorting, distributing and stacking; 4, the field operation is complex, so a new intelligent distributing and stacking system needs to be developed.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides a distributing and stacking system for warehouse logistics and a working method of the system.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
The utility model provides a allocate pile up neatly system for storage commodity circulation, includes a conveyer that is used for conveying article, and conveyer end top is provided with the scanner module, and scanner module rear is provided with and allocates the mechanism module, and the terminal place ahead and the left and right sides of conveyer are provided with the tray that is used for article pile up neatly, and the tray top is provided with pile up neatly robot module respectively, conveyer, scanner module, allocate mechanism module, pile up neatly robot module and connect a control computer.
The conveyor is a belt conveyor.
The allocating mechanism module comprises a plurality of allocating rods which are connected with an allocating cylinder.
Each group of stacking robot modules is provided with a sucker for stacking objects, the sucker is connected with an up-down motion linear module, and the up-down motion linear module is connected with a left-right motion linear module.
The up-and-down motion linear module and the left-and-right motion linear module are arranged on the portal frame, the left-and-right motion linear module horizontally moves along the portal frame, and the up-and-down motion linear module horizontally moves and vertically moves along the left-and-right motion linear module.
The upper end of the vertical movement linear module is provided with a servo motor for driving the vertical movement, one side of the vertical movement linear module is provided with a servo motor for driving the horizontal movement of the portal frame, and the side of the portal frame is provided with a servo motor for driving the horizontal movement of the portal frame.
And a plurality of inductors used for inducing the article conveying condition are arranged on the portal frame of each group of stacking robot modules, and the number of the inductors corresponds to the number of the suckers.
And the portal frames of the palletizing robot modules at the left side and the right side are respectively provided with a position sensor.
The article is provided with an identification code which can be identified by the scanner module.
And each group of stacking robot modules is provided with a plurality of suckers, and the suckers are arranged in parallel to form a corner vacuum sucker module.
A working method of a distributing and stacking system for warehouse logistics is characterized in that,
A) The article with the identification code is put on a conveyor for conveying;
b) The articles are conveyed to a scanner module through a conveyor for coding identification;
c) The distributing mechanism module distributes;
d) The palletizing robot module senses the objects, and a group of objects corresponding to the number of the suckers of the palletizing robot module are in place;
f) The sucking discs on the palletizing robot module adsorb articles and put the articles on the designated stations of the tray.
In the step c), if the articles enter the left and right trays at the tail end of the conveyor, the distributing mechanism module only needs to act for the second time; the first action content is angular position movement positioning, namely, turning and advancing the article in the left-right direction; the second action is to position the article in a right angle, then to the corresponding tray baffle to perform the next action.
In the step c), if the articles enter the front tray at the tail end of the conveyor, the distributing mechanism module only needs one action, the action content is that the angle positions of the articles are aligned and positioned, and then the articles are directly conveyed to the corresponding tray baffle plate to perform the next action.
The beneficial effects are that: the invention changes the former code scanning allocation and stacking mode, and has the following advantages: 1, the equipment is flexible, small and small, and occupies smaller space; 2, automatic allocation and alignment can be realized after code scanning identification; 3, the region of small circle can realize the pile up neatly simultaneously of 3 different express delivery of group. The structure is exquisite, and area is few, and work efficiency is high, and the system is reliable and stable.
Drawings
Please provide the relevant drawings of the present invention to describe the relevant components in detail. The drawings are given part names by number.
FIG. 1 is a schematic perspective view of a dispensing palletizing system according to the present invention;
FIG. 2 is a schematic top view of the dispensing palletizing system according to the present invention;
FIG. 3 is a schematic side view of the dispensing palletizing system according to the present invention;
fig. 4 is a schematic diagram of a module of an allocating mechanism according to the present invention.
Wherein: 1. a conveyor; 2. a scanner module; 3. a dispensing conveyor module; 4. a tray; 5. a palletizing robot module; 6. A baffle; 31. a dispenser servomotor; 32. a dispensing cylinder assembly; 33. a dispensing cylinder assembly; 34. a spacer; 35. a distributing frame; 51. a corner vacuum chuck module; 52. a linear module for moving up and down; 53. a linear module moving left and right; 54. a portal frame; 55. a Z-axis servo motor; 56. a servo motor for driving the up-and-down motion; 57. a servo motor for driving the linear module moving left and right to horizontally move along the portal frame; 58. an inductor; 59. a position sensor.
Detailed Description
The invention will be further illustrated with reference to specific examples.
Referring to fig. 1, 2 and 3, an allocation stacking system for warehouse logistics comprises a conveyor 1 for conveying articles, a scanner module 2 is arranged above the tail end of the conveyor, an allocation mechanism module 3 is arranged behind the scanner module, trays 4 for stacking the articles are arranged in front of the tail end and on the left side and the right side of the conveyor, a stacking robot module 5 is arranged above the trays, and the conveyor 1, the scanner module 2, the allocation mechanism module 3 and the stacking robot module 5 are connected with a control computer.
The conveyor is a belt conveyor.
Referring to fig. 4, the dispensing mechanism module includes a dispenser servomotor 31, a dispensing cylinder assembly 32, a dispensing cylinder assembly 33, a spacer 34, and a dispensing frame 35. The plane conveyer belt conveys the express delivery carton to the station department, and the plane conveyer belt of distributor servo motor 31 transmission advances or stops, distributes cylinder subassembly 32, 33 and guides the express delivery carton to the station route, and parting bead 35 acts on the express delivery carton and keeps apart.
With continued reference to fig. 1-3, the palletizing robot modules are organized into three groups, the three groups of motion principles and their structures are all identical, each group is further composed of three linear modules (including a servo drive mechanism). Each linear module is composed of: servo motor, straight line module base, built-in hold-in range part constitution. The motion principle of each linear module is consistent: the sensor is arranged at each station of the distributing mechanism, when sensing the express cartons, the sensor sends information to the control part of the stacking distributing machine, and the control part sends instructions to the linear module servo motor to execute actions.
Each group of stacking robot modules is provided with a sucker 51 for stacking objects, the sucker is connected with an up-down motion linear module 52, and the up-down motion linear module is connected with a left-right motion linear module 53.
The up-and-down movement linear module 52 and the left-and-right movement linear module 53 are arranged on the portal frame 54, the left-and-right movement linear module 53 moves horizontally along the portal frame, and the up-and-down movement linear module 52 moves horizontally and up-and-down along the left-and-right movement linear module 53.
The uppermost end of the vertical movement linear module 52 is provided with a servo motor 55 for driving the vertical movement, one side of the horizontal movement linear module 53 is provided with a servo motor 56 for driving the horizontal movement, and the side of the portal frame is provided with a servo motor 57 for driving the horizontal movement of the horizontal movement linear module along the portal frame.
A plurality of sensors 58 for sensing the conveying condition of the articles are arranged on the portal frame of each group of stacking robot modules 5, and the number of the sensors corresponds to that of the suckers 51.
The portal frames of the palletizing robot modules at the left side and the right side are also respectively provided with a position sensor 59.
The article is provided with an identification code which can be identified by the scanner module.
And each group of stacking robot modules is provided with a plurality of suckers 51, and the suckers are arranged in parallel to form a corner vacuum sucker module.
The working method of the distributing and stacking system for the warehouse logistics comprises the following steps of:
The express carton is completed through actions such as packing, sealing and labeling, and the like, and is conveyed and moved to the lower part of the scanner module by the conveyor 1 to carry out express coding identification.
The express carton codes identified by the scanner module are transmitted to a human-computer interface control system, the system automatically distributes instructions to the tray 4 position distributing cylinder executing element, and the distributing cylinder acts to link the distributing rod 31 to perform angular position movement for positioning.
The express delivery carton is conveyed to the allocated conveyor 3 with a well positioned angle position through the conveyor 1 and is conveyed continuously, the express delivery carton is conveyed on the allocated conveyor 3 and is moved to the position of the sensor 58, the sensor 58 senses the express delivery carton, the allocated air cylinder acts, and the allocated rod is returned to align the forward conveying position of the express delivery carton.
The delivery movement of the express delivery cartons to the baffle 6 stops advancing, the second and third express delivery cartons are waited to be delivered to the position on the tray station, after the three express delivery cartons are delivered in place, the three sensors 58 respectively sense, the servo motor 55, the servo motor 56 and the servo motor 57 act simultaneously according to the set movement track, the corner vacuum chuck module is positioned, the three express delivery cartons distributed on the tray 4 are adsorbed to the position to be placed, and a group of circulation distributing and stacking actions are completed. (1 or 2 or 3 express cartons can be adsorbed and stacked according to the setting).
The left and right sides of the stacking robot module are different in motion trail of the express delivery cartons compared with the stacking robot module in front of the conveying belt, and the left and right directions have a turning process, so that the front of the conveying belt does not have turning. Corresponding sensors are arranged at corresponding positions so as to achieve the purpose of turning or straight running.
If the articles enter the trays at the left and right sides of the tail end of the conveyor, the distributing mechanism module only needs to act for the second time; the first action content is angular position movement positioning, namely, turning and advancing the article in the left-right direction; the second action is to position the article in a right angle, then to the corresponding tray baffle to perform the next action.
If the articles enter the front tray at the tail end of the conveyor, the distributing mechanism module only needs one action, the action content is that the angle positions of the articles are aligned and positioned, and then the articles are directly conveyed to the corresponding tray baffle plate to perform the next action.
The invention changes the former code scanning allocation and stacking mode, and has the following advantages: 1, the equipment is flexible, small and small, and occupies smaller space; 2, automatic allocation and alignment can be realized after code scanning identification; and 3, three groups of different express simultaneous stacking can be realized in the small-range area. The structure is exquisite, and area is few, and work efficiency is high, and the system is reliable and stable.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the patent claims is defined by the appended claims and their equivalents.
Claims (9)
1. The working method of the distributing and stacking system for the warehouse logistics is characterized in that the stacking system comprises a conveyor for conveying objects, a scanner module is arranged above the tail end of the conveyor, a distributing mechanism module is arranged behind the scanner module, trays for stacking the objects are arranged in front of and on the left side and the right side of the tail end of the conveyor, a stacking robot module is arranged above the trays respectively, and the conveyor, the scanner module, the distributing mechanism module and the stacking robot module are connected with a control computer; each group of stacking robot modules is provided with a sucker for stacking objects, the sucker is connected with an up-down motion linear module, and the up-down motion linear module is connected with a left-right motion linear module; the working method is as follows:
a) The article with the identification code is put on a conveyor for conveying;
b) The articles are conveyed to a scanner module through a conveyor for coding identification;
c) The distributing mechanism module distributes;
d) The palletizing robot module senses the objects, and a group of objects corresponding to the number of the suckers of the palletizing robot module are in place;
f) Sucking discs on the palletizing robot module adsorb the articles and put the articles on a designated station of the tray;
In the step c), if the articles enter the left and right trays at the tail end of the conveyor, the distributing mechanism module only needs to act for the second time; the first action content is angular position movement positioning, namely, turning and advancing the article in the left-right direction; the second action content is that the angle position of the article is aligned and positioned, and then the article is conveyed to the corresponding tray baffle plate for the next action;
in the step c), if the articles enter the front tray at the tail end of the conveyor, the distributing mechanism module only needs one action, the action content is that the angle positions of the articles are aligned and positioned, and then the articles are directly conveyed to the corresponding tray baffle plate to perform the next action.
2. A method of operating a palletizing system for warehouse logistics according to claim 1, wherein the conveyor is a belt conveyor.
3. The method of claim 1, wherein the dispensing mechanism module comprises a plurality of dispensing levers coupled to the dispensing cylinder.
4. The working method of the distributing and stacking system for the warehouse logistics according to claim 1, wherein the up-and-down motion linear module and the left-and-right motion linear module are arranged on the portal frame, the left-and-right motion linear module moves horizontally along the portal frame, and the up-and-down motion linear module moves horizontally and up-and-down along the left-and-right motion linear module.
5. The working method of a distributing and stacking system for warehouse logistics according to claim 1, wherein a servo motor for driving up-and-down motion is arranged at the uppermost end of the up-and-down motion linear module, a servo motor for driving left-and-right motion is arranged at one side of the left-and-right motion linear module, and a servo motor for driving horizontal motion along the portal frame is arranged at the side of the portal frame.
6. The working method of a distributing and stacking system for warehouse logistics according to claim 1, wherein a plurality of sensors for sensing the conveying condition of articles are arranged on a portal frame of each group of stacking robot modules, and the number of the sensors corresponds to the number of sucking discs.
7. The method of claim 1, wherein the gantry of the palletizing robot module on the left and right sides is further provided with a position sensor.
8. A method of operating a palletizing system for warehouse logistics according to claim 1, wherein the articles are provided with an identification code that is identifiable by a scanner module.
9. The method according to claim 1, wherein each group of stacking robot modules is provided with a plurality of suckers, and the suckers are juxtaposed to form a corner vacuum sucker module.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910981305.8A CN110626697B (en) | 2019-10-16 | 2019-10-16 | Distributing and stacking system for warehouse logistics and working method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910981305.8A CN110626697B (en) | 2019-10-16 | 2019-10-16 | Distributing and stacking system for warehouse logistics and working method |
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| Publication Number | Publication Date |
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| CN110626697A CN110626697A (en) | 2019-12-31 |
| CN110626697B true CN110626697B (en) | 2024-06-25 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111674937B (en) * | 2020-04-30 | 2021-05-07 | 昆明理工大学 | Stacking mechanism |
| CN114260188B (en) * | 2021-12-30 | 2023-12-08 | 宁波智能制造技术研究院有限公司 | Multi-station multi-equipment intelligent transportation and carrying regulation and control method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210853934U (en) * | 2019-10-16 | 2020-06-26 | 上海发网云物流科技有限公司 | A allocate pile up neatly system for storage commodity circulation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070237622A1 (en) * | 2006-04-07 | 2007-10-11 | Reichel & Drews, Inc. | Palletizing apparatus |
| FR2948339A1 (en) * | 2009-07-22 | 2011-01-28 | Sidel Participations | IMPROVEMENT TO A COMBINED PALLETIZATION PLANT WITH SECURE ACCESS. |
| CN202625375U (en) * | 2012-04-01 | 2012-12-26 | 无锡大东机械制造有限公司 | Intelligent joint robot stacking system |
| CN205060975U (en) * | 2015-07-31 | 2016-03-02 | 常州智华自动化设备科技有限公司 | Automatic break a jam and fold packing car all -in -one |
| CN105197561A (en) * | 2015-08-28 | 2015-12-30 | 广西力源宝科技有限公司 | Automatic tray circulating robot stacking system |
| CN109178960B (en) * | 2018-10-18 | 2024-02-20 | 西安中科光电精密工程有限公司 | Intelligent stacking system and method suitable for different specification carton packages |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210853934U (en) * | 2019-10-16 | 2020-06-26 | 上海发网云物流科技有限公司 | A allocate pile up neatly system for storage commodity circulation |
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