CN112849893A - Clamping vehicle and flat warehouse management system - Google Patents

Clamping vehicle and flat warehouse management system Download PDF

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Publication number
CN112849893A
CN112849893A CN202110171805.2A CN202110171805A CN112849893A CN 112849893 A CN112849893 A CN 112849893A CN 202110171805 A CN202110171805 A CN 202110171805A CN 112849893 A CN112849893 A CN 112849893A
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CN
China
Prior art keywords
clamping
holding
vehicle
warehouse
assembly
Prior art date
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Granted
Application number
CN202110171805.2A
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Chinese (zh)
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CN112849893B (en
Inventor
汝国庆
任澳杰
龙婧
顾成超
陈宇
周梁缘
邢蔚婷
陈欣
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ririshun Supply Chain Technology Co ltd
Original Assignee
Ririshun Supply Chain Technology Co ltd
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Priority to CN202110171805.2A priority Critical patent/CN112849893B/en
Publication of CN112849893A publication Critical patent/CN112849893A/en
Application granted granted Critical
Publication of CN112849893B publication Critical patent/CN112849893B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • 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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
    • 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
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • 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
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The invention discloses a clamping and holding vehicle and a horizontally-arranged warehouse management system. When the clamping and holding vehicle is used for loading and unloading goods, the space utilization rate of a warehouse can be improved, and the loading and unloading efficiency is improved.

Description

Clamping vehicle and flat warehouse management system
Technical Field
The invention relates to the technical field of logistics storage, in particular to a clamping vehicle and a flat warehouse storage management system.
Background
With the development of the logistics industry, the application range of transporting household appliances in a holding and clamping mode is wider and wider. For traditional wooden block dish transportation mode, embrace to press from both sides and transport and have advantages such as efficient, pile neatly, practice thrift cost (wooden block dish).
However, the clamping and holding vehicle does not have the height lifting function, so that products such as household appliances can be stacked in the warehouse only in a flat mode, and the space utilization rate of the warehouse is greatly reduced.
Meanwhile, a large channel needs to be reserved in the warehouse for the clamping and holding vehicle to move, the space requirement that the clamping and holding vehicle turns around in the warehouse is met, and the space utilization rate of the warehouse is further reduced to a certain degree.
In addition, the clamping and holding vehicle does not have a visual identification function generally, and the goods can be accurately delivered and stored only by assisting the manual handheld scanner to scan and identify the goods, so that the delivery efficiency is seriously reduced.
The above information disclosed in this background section is only for enhancement of understanding of the background of the application and therefore it may comprise prior art that does not constitute known to a person of ordinary skill in the art.
Disclosure of Invention
The invention provides a clamping vehicle and a flat warehouse storage management system, aiming at the problems pointed out in the background art, and the clamping vehicle can improve the space utilization rate of a warehouse and the warehouse entering and exiting efficiency when used for entering and exiting cargos.
In order to realize the purpose of the invention, the invention is realized by adopting the following technical scheme:
the invention provides a clamping and holding vehicle, which comprises:
a base;
the Mecanum wheel is arranged at the bottom of the base;
one end of the telescopic arm component is rotatably arranged on the base;
the clamping and holding assembly is arranged at the other end of the telescopic arm assembly;
the visual sensor is arranged on the clamping and holding assembly;
and the control part controls the movements of the Mecanum wheel, the telescopic arm assembly and the clamping and holding assembly according to the article information uploaded by the visual sensor.
In some embodiments of the present application, the base includes two transverse portions that set up relatively, and two the tip of transverse portion is equipped with the main part, be equipped with the engine in the main part, telescopic arm's one end with the main part rotates to be connected, telescopic arm with the transverse portion orientation the homonymy of main part, the main part with the bottom of transverse portion is equipped with respectively mecanum wheel.
In some embodiments of the present application, the control unit calculates and analyzes a tilting moment of the clamping and holding vehicle during operation, and when the tilting moment of the clamping and holding vehicle reaches a set threshold, the clamping and holding vehicle gives an alarm, and the telescopic arm assembly retracts or reduces the weight of an article carried by the clamping and holding assembly once.
In some embodiments of this application, press from both sides and embrace the subassembly including the sucking disc and press from both sides and embrace the board, work as vision sensor acquires that the clearance between two adjacent article is less than press from both sides and embrace when the required clearance value of setting for of board, the sucking disc adsorbs the removal to article to make two adjacent article misplacements.
In some embodiments of this application, press from both sides and embrace subassembly still includes the fixed plate, the fixed plate with telescopic boom connects, be equipped with the connecting plate of two relative settings on the fixed plate, two the connecting plate can move in opposite directions or back of the body mutually, every the inboard of connecting plate is fixed to be equipped with press from both sides and embrace the board, press from both sides the length of embracing the board and be greater than the length of connecting plate.
In some embodiments of the present application, a pressure sensor is disposed on an inner side of one of the clamping plates.
In some embodiments of the application, the telescopic arm assembly comprises a fixed arm, the fixed arm is hollow, one end of the fixed arm is rotatably connected with the base, an amplitude variation oil cylinder is arranged between the fixed arm and the base, and the amplitude variation oil cylinder drives the fixed arm to rotate in a vertical plane;
the inside of fixed arm is equipped with flexible arm, flexible arm can follow through the stroke hydro-cylinder the fixed arm is flexible.
The invention also provides a flat warehouse management system, which comprises the clamping and holding vehicle, a control center and a mobile remote controller, wherein the control part and the mobile remote controller are both communicated with the control center, the mobile remote controller is communicated with the clamping and holding vehicle, and the mobile remote controller controls the clamping and holding vehicle to move in the platform carrying process.
Some embodiments of the present application include a warehousing operation, which includes:
the control center receives a warehousing instruction, and the control center controls the clamping vehicle to move to a platform preparation area;
the clamping and holding vehicle is controlled to move from the platform preparation area to a designated unloading area through the mobile remote controller;
the vision sensor is used for acquiring information of articles to be warehoused and uploading the information to the control part and the control center, the control center allocates warehouse positions for the articles to be warehoused, the control part controls the motion of the telescopic arm assembly and the clamping and holding assembly, and the clamping and holding vehicle clamps the articles to be warehoused;
and the clamping and holding vehicle conveys the articles to be warehoused to the allocation warehouse location according to the traveling route distributed by the control center, and warehousing is completed.
Some embodiments of the present application include a warehouse-out job, which includes:
the control center receives a warehouse-out instruction, and controls the clamping and holding vehicle to move to a designated unloading area;
the visual sensor is used for acquiring information of articles to be delivered out of the warehouse and uploading the information to the control part and the control center, the control center is used for verifying the information of the articles to be delivered out of the warehouse, the control part is used for controlling the movement of the telescopic arm assembly and the clamping and holding assembly, and the clamping and holding vehicle is used for clamping the articles to be delivered out of the warehouse;
the clamping and holding vehicle conveys the articles to be delivered to the dock according to the traveling route distributed by the control center;
through the control of the mobile remote controller, the clamping and holding vehicle moves to an appointed loading area, and the clamping and holding vehicle automatically loads the articles to be delivered from the warehouse to finish the delivery from the warehouse.
Compared with the prior art, the invention has the advantages and positive effects that:
in the clamping and holding vehicle disclosed by the application, the base rotates in place for 360 degrees through the Mecanum wheels, so that the clamping and holding vehicle can rotate, turn and the like in a warehouse without a large space, the occupied space of the clamping and holding vehicle is reduced, and the space utilization rate of the warehouse is improved;
the telescopic arm assembly is telescopic and lifted to drive the clamping and holding assembly to lift, so that the clamping and holding assembly can conveniently pick and place articles at different height positions, the picking and placing convenience and efficiency of the articles are improved, and the warehouse-in and warehouse-out efficiency is improved;
meanwhile, articles can be stacked in the warehouse in multiple layers, so that the space utilization rate of the warehouse is further improved; when carrying articles, the control part controls the Mecanum wheel, the telescopic arm assembly and the clamping assembly to move according to the article information uploaded by the vision sensor, so that the articles can be carried fully automatically, and the carrying efficiency is improved.
Other features and advantages of the present invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural view of a clamp-type vehicle according to an embodiment;
FIG. 2 is a schematic structural diagram of a clamp assembly according to an embodiment;
fig. 3 is a schematic structural diagram of the clamp assembly according to the embodiment, viewed from another perspective.
Reference numerals:
100-base, 110-transverse portion, 120-main portion, 130-mounting recess;
200-a telescopic arm component, 210-a fixed arm, 220-a first telescopic arm, 230-a second telescopic arm, 240-a rotating arm, 250-a first luffing cylinder and 260-a second luffing cylinder;
300-clamping and holding component, 310-fixing plate, 320-connecting plate, 321-sliding block, 330-clamping and holding plate, 331-non-slip mat, 340-driving gear, 351-upper rack, 352-lower rack, 360-sliding rail, 370-guide block, 371-upper guide groove, 372-lower guide groove, 380-sucking disc and 390-fixing part;
400-Mecanum wheels;
500-visual sensor.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present application.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Example one
Referring to fig. 1, the clamp-type motorcycle in this embodiment includes a base 100, a mecanum wheel 400, a telescopic arm assembly 200, a clamp-type assembly 300, a vision sensor 500, a control unit, and the like.
Mecanum wheel 400 is arranged at the bottom of base 100, and 360-degree rotation of base 100 in situ is realized through Mecanum wheel 400, so that actions such as turning and steering can be performed without a large space in a warehouse by the clamping and holding vehicle, the occupied space of the clamping and holding vehicle is reduced, and the space utilization rate of the warehouse is improved.
One end of the telescopic arm assembly 200 is rotatably arranged on the base 100, and the other end of the telescopic arm assembly 200 is provided with a clamping assembly 300. The telescopic arm assembly 200 is driven to lift and lower to drive the clamping and holding assembly 300 to conveniently take and place articles at different height positions by the clamping and holding assembly 300, so that the convenience and efficiency of taking and placing the articles are improved, and the efficiency of warehousing and ex-warehouse is improved; meanwhile, articles can be stacked in the warehouse in multiple layers, and the space utilization rate of the warehouse is improved.
The vision sensor 500 is disposed on the clamping assembly 300, and the vision sensor 500 is configured to acquire information of an article to be carried, where the information includes size information, position information, and article attribute information (including an article name, a manufacturer, and the like).
The vision sensor 500 may be a multi-view camera or a structured light camera, etc.
The vision sensor 500 communicates with the control part, and when the article is conveyed, the control part controls the movements of the Mecanum wheel 400, the telescopic arm assembly 200 and the clamping and holding assembly 300 according to the article information uploaded by the vision sensor 500, so that the full-automatic conveying of the article is realized, and the conveying efficiency is improved.
In some embodiments of the present application, referring to fig. 1, the base 100 includes two opposite lateral portions 110, the two lateral portions 110 are provided with main portions 120 at ends thereof, and the lateral portions 110 and the main portions 120 form a C-shaped structure of the mobile base.
One end of the telescopic arm assembly 200 is rotatably connected to the main body portion 120, and the telescopic arm assembly 200 and the transverse portion 110 face the same side of the main body portion 120.
The engine is arranged in the main body part 120, so that the stability of the whole clamping vehicle is improved, and the overturning is avoided.
The body portion 120 is provided at an upper portion thereof with a mounting recess 130, and one end of the arm assembly 200 is rotatably provided in the mounting recess 130.
The bottom of the main body 120 and the bottom of the lateral part 110 are respectively provided with a Mecanum wheel 400, and four Mecanum wheels 400 symmetrically distributed play a role in supporting the base 100 more reliably.
When the clamping and holding vehicle carries, the telescopic arm assembly 200 is lifted and extended, the gravity of the object acts on the end part of the telescopic arm assembly 200, and the weight of the object is balanced by the weight of the base 100 so as to keep the balance of the clamping and holding vehicle.
In some embodiments of the present application, the control unit calculates and analyzes the tilting moment of the clamping and holding vehicle during the operation, when the tilting moment of the clamping and holding vehicle reaches a set threshold, the clamping and holding vehicle sends an alarm, and the telescopic arm assembly 200 retracts or reduces the weight of the articles carried by the clamping and holding assembly 300 once, so as to prevent the clamping and holding vehicle from tilting, and improve the operation safety and reliability.
In some embodiments of the present application, referring to fig. 1, the telescopic arm assembly 200 includes a fixed arm 210, an inside of the fixed arm 210 is hollow, one end of the fixed arm 210 is rotatably connected to the base 100, a luffing cylinder (denoted as a first luffing cylinder 250) is disposed between the fixed arm 210 and the base 100, and the first luffing cylinder 250 drives the fixed arm 210 to rotate in a vertical plane, that is, to swing up and down, so as to achieve the lifting and lowering of the clamping and clasping assembly 300.
The inside of fixed arm 210 is equipped with flexible arm, and flexible arm can stretch out and draw back along fixed arm 210 through the stroke hydro-cylinder, realizes the extension of flexible arm subassembly 200.
In this embodiment, the telescopic arm includes a first telescopic arm 220 and a second telescopic arm 230, and the specific setting structure is:
a first telescopic arm 220 is provided inside the fixed arm 210, and the first telescopic arm 220 is telescopic along the fixed arm 210 by a first stroke cylinder (not shown). The change in length of the telescopic arm assembly 200 is achieved by the extension and retraction of the first telescopic arm 220, further increasing the working range of the clamp assembly 300.
The first telescopic arm 220 is hollow, the second telescopic arm 230 is provided in the first telescopic arm 230, and the second telescopic arm 230 can be extended and contracted along the first telescopic arm 220 by a second stroke cylinder (not shown).
The range of length variation of the telescopic arm assembly 200 is further increased by the extension and retraction of the second telescopic arm 230, further increasing the working range of the clamp assembly 300.
In some embodiments of the present application, referring to fig. 1 and 3, the telescopic arm assembly 200 further comprises a rotating arm 240, one end of the rotating arm 240 is rotatably connected to the second telescopic arm 230, and the other end of the rotating arm 240 is rotatably connected to the clamping assembly 300.
A second luffing oil cylinder 260 is arranged between the rotating arm 240 and the clamping assembly 300, and the second luffing oil cylinder 260 drives the rotating arm 240 to rotate in a vertical plane.
When the telescopic arm assembly 200 extends obliquely upwards to a designated position, the clamping and holding assembly 300 is kept horizontal all the time under the action of the rotating arm 240, so that the clamping and holding assembly 300 can conveniently and smoothly take and place articles.
In some embodiments of the present application, referring to fig. 2 and 3, the clamping and embracing assembly 300 includes a suction cup 380 and two oppositely disposed clamping and embracing plates 330, the suction cup 380 is used for sucking an article to be carried, and the two clamping and embracing plates 330 can move toward or away from each other.
When acquiring through visual sensor 500 that the clearance between two adjacent articles is less than press from both sides and embrace the required clearance of setting for of board 330, be not convenient for press from both sides and embrace board 330 and stretch into, adsorb the removal to article through sucking disc 380 earlier, make two adjacent article produce the dislocation, press from both sides through pressing from both sides armful board 330 again and can press from both sides article smoothly, improve the convenience of pressing from both sides the operation of getting, help improving warehouse entry efficiency.
In some embodiments of the present application, the clamp assembly 300 further includes a fixing plate 310, the fixing plate 310 being connected to the telescopic arm assembly 200. Specifically, the fixed plate 310 is connected to an end of the second telescopic arm 230.
The fixing plate 310 is provided with two opposite connecting plates 320, the two connecting plates 320 can move towards or away from each other, and the inner side of each connecting plate 320 is fixedly provided with a clamping plate 330, so as to drive the two clamping plates 330 to move towards or away from each other, so as to clamp or release an article.
The length of the clamping and holding plate 330 is larger than that of the connecting plate, so that the contact area of the clamping and holding plate 330 and the article is increased, and the clamping reliability is improved.
The connecting plate 320 mainly plays a role of connecting with the fixing plate 310, and simultaneously drives the clamping and embracing plate 330 to move synchronously, and the arrangement of the connecting plate 320 is helpful for improving the structural stability of the whole clamping and embracing assembly 300.
The vision sensor 500 is fixedly disposed on the top of the fixing plate 310, so that the vision sensor 500 can conveniently acquire information related to the article.
In some embodiments of this application, one of them is pressed from both sides the inboard of embracing board 330 and is equipped with pressure sensor, acquires through pressure sensor and presss from both sides the pressure when embracing article, can move to suitable position when making press from both sides to embrace board 330 and press from both sides and get article, avoids pressing from both sides to embrace the power not enough to lead to article to drop, perhaps presss from both sides to embrace the power too big article damage that leads to.
In some embodiments of the present application, the inner side of the clamping plate 330 is provided with a non-slip pad 331, which improves the friction between the clamping plate 330 and the object and prevents the object from falling.
In some embodiments of the present application, the fixing plate 310 is provided with a driving gear 340, a top side of the driving gear 340 is engaged with an upper rack 351, a bottom side of the driving gear 340 is engaged with a lower rack 352, the upper rack 351 is fixedly connected with one of the connecting plates 320, and the lower rack 352 is fixedly connected with the other connecting plate 320.
The driving gear 340 rotates to drive the upper rack 351 and the lower rack 352 to synchronously move towards or away from each other, so that the connecting plate 320 and the clamping and embracing plate 330 can move towards or away from each other.
The fixed plate 310 is provided with two slide rails 360 which are oppositely arranged up and down, each connecting plate 320 is correspondingly provided with a slide block 321, and the slide blocks 321 are in sliding connection with the slide rails 360 to guide the reciprocating motion of the connecting plates 320, so that the motion of the connecting plates 320 is more stable.
The fixing plate 310 is provided with a guide block 370, the guide block 370 is hollow, the guide block 370 is provided with an upper guide groove 371 and a lower guide groove 372 which are oppositely arranged up and down, the driving gear 340 is arranged in the guide block 370, the upper rack 351 can move along the upper guide groove 371, and the lower rack 352 can move along the lower guide groove 372.
One end of the upper rack 351 and one end of the lower rack 352 are actually fixed through the connecting plate 320, and move synchronously along with the connecting plate 320, and the other ends of the upper rack 351 and the lower rack 352 are limited in the corresponding upper guide groove 371 and the lower guide groove 372, so that the structural stability and the movement stability of the upper rack 351 and the lower rack 352 are improved.
The fixing portion 390 is provided at the rear side of the fixing plate 310, the suction cup 380 is connected to the fixing portion 390, the suction cup 380 can move up and down, the suction cup 380 descends to facilitate suction of an article, and the suction cup 380 ascends to facilitate release of suction of the article.
Example two
The embodiment discloses a horizontal storage management system, which applies the clamping and holding vehicle disclosed in the embodiment to carry out the storage and delivery operation of articles.
The warehousing management system further comprises a control center and a mobile remote controller, the control part and the mobile remote controller are both communicated with the control center, the mobile remote controller is communicated with the clamping and holding vehicle, and the mobile remote controller controls the clamping and holding vehicle to move in the platform carrying process.
The control center is equivalent to the brain of the whole warehouse management system and monitors and controls the response and action of each link.
Inside the warehouse, the full-automatic operation of the clamping and holding vehicle in the warehouse is realized through the control center.
The semi-automatic operation of the clamping and holding vehicle at the platform is realized by moving the remote controller at the platform, the reason is that the operation environment at the platform is complex, the clamping and holding vehicle is controlled more accurately by the mobile remote controller in the environment, and the accuracy and the operation efficiency of the loading and unloading are improved.
The specific structure of the clamping and holding vehicle is as follows: referring to fig. 1, the clamp-type motorcycle in this embodiment includes a base 100, a mecanum wheel 400, a telescopic arm assembly 200, a clamp-type assembly 300, a vision sensor 500, a control unit, and the like.
Mecanum wheel 400 is arranged at the bottom of base 100, and 360-degree rotation of base 100 in situ is realized through Mecanum wheel 400, so that actions such as turning and steering can be performed without a large space in a warehouse by the clamping and holding vehicle, the occupied space of the clamping and holding vehicle is reduced, and the space utilization rate of the warehouse is improved.
One end of the telescopic arm assembly 200 is rotatably arranged on the base 100, and the other end of the telescopic arm assembly 200 is provided with a clamping assembly 300. The telescopic arm assembly 200 is driven to lift and lower to drive the clamping and holding assembly 300 to conveniently take and place articles at different height positions by the clamping and holding assembly 300, so that the convenience and efficiency of taking and placing the articles are improved, and the efficiency of warehousing and ex-warehouse is improved; meanwhile, articles can be stacked in the warehouse in multiple layers, and the space utilization rate of the warehouse is improved.
The vision sensor 500 is disposed on the clamping assembly 300, and the vision sensor 500 is configured to acquire information of an article to be carried, where the information includes size information, position information, and article attribute information (including an article name, a manufacturer, and the like).
The vision sensor 500 may be a multi-view camera or a structured light camera, etc.
The vision sensor 500 communicates with the control part, and when the article is conveyed, the control part controls the movements of the Mecanum wheel 400, the telescopic arm assembly 200 and the clamping and holding assembly 300 according to the article information uploaded by the vision sensor 500, so that the full-automatic conveying of the article is realized, and the conveying efficiency is improved.
In some embodiments of the present application, referring to fig. 1, the base 100 includes two opposite lateral portions 110, the two lateral portions 110 are provided with main portions 120 at ends thereof, and the lateral portions 110 and the main portions 120 form a C-shaped structure of the mobile base.
One end of the telescopic arm assembly 200 is rotatably connected to the main body portion 120, and the telescopic arm assembly 200 and the transverse portion 110 face the same side of the main body portion 120.
The engine is arranged in the main body part 120, so that the stability of the whole clamping vehicle is improved, and the overturning is avoided.
The body portion 120 is provided at an upper portion thereof with a mounting recess 130, and one end of the arm assembly 200 is rotatably provided in the mounting recess 130.
The bottom of the main body 120 and the bottom of the lateral part 110 are respectively provided with a Mecanum wheel 400, and four Mecanum wheels 400 symmetrically distributed play a role in supporting the base 100 more reliably.
When the clamping and holding vehicle carries, the telescopic arm assembly 200 is lifted and extended, the gravity of the object acts on the end part of the telescopic arm assembly 200, and the weight of the object is balanced by the weight of the base 100 so as to keep the balance of the clamping and holding vehicle.
In some embodiments of the present application, the control unit calculates and analyzes the tilting moment of the clamping and holding vehicle during the operation, when the tilting moment of the clamping and holding vehicle reaches a set threshold, the clamping and holding vehicle sends an alarm, and the telescopic arm assembly 200 retracts or reduces the weight of the articles carried by the clamping and holding assembly 300 once, so as to prevent the clamping and holding vehicle from tilting, and improve the operation safety and reliability.
In some embodiments of the present application, referring to fig. 1, the telescopic arm assembly 200 includes a fixed arm 210, an inside of the fixed arm 210 is hollow, one end of the fixed arm 210 is rotatably connected to the base 100, a luffing cylinder (denoted as a first luffing cylinder 250) is disposed between the fixed arm 210 and the base 100, and the first luffing cylinder 250 drives the fixed arm 210 to rotate in a vertical plane, that is, to swing up and down, so as to achieve the lifting and lowering of the clamping and clasping assembly 300.
The inside of fixed arm 210 is equipped with flexible arm, and flexible arm can stretch out and draw back along fixed arm 210 through the stroke hydro-cylinder, realizes the extension of flexible arm subassembly 200.
In this embodiment, the telescopic arm includes a first telescopic arm 220 and a second telescopic arm 230, and the specific setting structure is:
a first telescopic arm 220 is provided inside the fixed arm 210, and the first telescopic arm 220 is telescopic along the fixed arm 210 by a first stroke cylinder (not shown). The change in length of the telescopic arm assembly 200 is achieved by the extension and retraction of the first telescopic arm 220, further increasing the working range of the clamp assembly 300.
The first telescopic arm 220 is hollow, the second telescopic arm 230 is provided in the first telescopic arm 230, and the second telescopic arm 230 can be extended and contracted along the first telescopic arm 220 by a second stroke cylinder (not shown).
The range of length variation of the telescopic arm assembly 200 is further increased by the extension and retraction of the second telescopic arm 230, further increasing the working range of the clamp assembly 300.
In some embodiments of the present application, referring to fig. 1 and 3, the telescopic arm assembly 200 further comprises a rotating arm 240, one end of the rotating arm 240 is rotatably connected to the second telescopic arm 230, and the other end of the rotating arm 240 is rotatably connected to the clamping assembly 300.
A second luffing oil cylinder 260 is arranged between the rotating arm 240 and the clamping assembly 300, and the second luffing oil cylinder 260 drives the rotating arm 240 to rotate in a vertical plane.
When the telescopic arm assembly 200 extends obliquely upwards to a designated position, the clamping and holding assembly 300 is kept horizontal all the time under the action of the rotating arm 240, so that the clamping and holding assembly 300 can conveniently and smoothly take and place articles.
In some embodiments of the present application, referring to fig. 2 and 3, the clamping and embracing assembly 300 includes a suction cup 380 and two oppositely disposed clamping and embracing plates 330, the suction cup 380 is used for sucking an article to be carried, and the two clamping and embracing plates 330 can move toward or away from each other.
When acquiring through visual sensor 500 that the clearance between two adjacent articles is less than press from both sides and embrace the required clearance of setting for of board 330, be not convenient for press from both sides and embrace board 330 and stretch into, adsorb the removal to article through sucking disc 380 earlier, make two adjacent article produce the dislocation, press from both sides through pressing from both sides armful board 330 again and can press from both sides article smoothly, improve the convenience of pressing from both sides the operation of getting, help improving warehouse entry efficiency.
In some embodiments of the present application, the warehousing operation of the warehousing management system includes:
the control center receives the warehousing instruction and controls the clamping vehicle to move to the platform preparation area;
the clamping and holding vehicle is controlled to move from the platform preparation area to the appointed unloading area through the mobile remote controller;
the information of the articles to be warehoused is acquired through the visual sensor 500 and uploaded to the control part and the control center, the control center distributes warehouse positions for the articles to be warehoused, the control part controls the motion of the telescopic arm assembly 200 and the clamping assembly 300, and the clamping vehicle clamps the articles to be warehoused;
and the clamping vehicle conveys the articles to be warehoused to the allocation warehouse location according to the walking route distributed by the control center, and warehousing is completed.
In some embodiments of the present application, the warehouse management system comprises:
the control center receives the warehouse-out instruction and controls the clamping vehicle to move to the designated unloading area;
the information of the articles to be delivered from the warehouse is acquired through the visual sensor 500 and uploaded to the control part and the control center, the control center verifies the information of the articles to be delivered from the warehouse, the control part controls the movement of the telescopic arm assembly 200 and the clamping assembly 300, and the clamping vehicle clamps the articles to be delivered from the warehouse;
the clamping vehicle conveys the articles to be delivered to the dock according to the walking route distributed by the control center;
the clamping and holding vehicle is controlled to move to an appointed loading area through the mobile remote controller, and the clamping and holding vehicle automatically loads the articles to be delivered from the warehouse, so that delivery from the warehouse is completed.
In the foregoing description of embodiments, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. The utility model provides a press from both sides and embrace car which characterized in that includes:
a base;
the Mecanum wheel is arranged at the bottom of the base;
one end of the telescopic arm component is rotatably arranged on the base;
the clamping and holding assembly is arranged at the other end of the telescopic arm assembly;
the visual sensor is arranged on the clamping and holding assembly;
and the control part controls the movements of the Mecanum wheel, the telescopic arm assembly and the clamping and holding assembly according to the article information uploaded by the visual sensor.
2. A clamp vehicle according to claim 1,
the base comprises two transverse parts which are oppositely arranged, main body parts are arranged at the end parts of the two transverse parts, an engine is arranged in the main body part, one end of a telescopic arm component is rotatably connected with the main body part, the telescopic arm component and the transverse parts face towards the same side of the main body part, and the bottom parts of the main body part and the transverse parts are respectively provided with the Mecanum wheel.
3. A clamp vehicle according to claim 2,
the control part calculates and analyzes the tipping moment of the clamping and holding vehicle in the operation process, when the tipping moment of the clamping and holding vehicle reaches a set threshold value, the clamping and holding vehicle gives an alarm, and the telescopic arm assembly retracts or reduces the weight of the articles carried by the clamping and holding assembly once.
4. A clamp vehicle according to claim 1,
the clamp embraces the subassembly and includes the sucking disc and presss from both sides and embrace the board, works as vision sensor acquires that the clearance between two adjacent article is less than press from both sides when embracing the required clearance value of setting for of board, the sucking disc adsorbs the removal to article to make two adjacent article dislocation.
5. A clamp vehicle according to claim 4,
the clamping and holding assembly further comprises a fixed plate, the fixed plate is connected with the telescopic arm assembly, two connecting plates which are arranged oppositely are arranged on the fixed plate and can move in the opposite direction or in the opposite direction, each clamping and holding plate is fixedly arranged on the inner side of each connecting plate, and the length of each clamping and holding plate is greater than that of each connecting plate.
6. A clamp vehicle according to claim 4,
and a pressure sensor is arranged on the inner side of one of the clamping plates.
7. A clamp vehicle according to claim 1,
the telescopic arm assembly comprises a fixed arm, the fixed arm is hollow, one end of the fixed arm is rotatably connected with the base, an amplitude-variable oil cylinder is arranged between the fixed arm and the base, and the amplitude-variable oil cylinder drives the fixed arm to rotate in a vertical plane;
the inside of fixed arm is equipped with flexible arm, flexible arm can follow through the stroke hydro-cylinder the fixed arm is flexible.
8. The horizontally-placed warehouse storage management system is characterized by comprising the clamping and holding vehicle as claimed in any one of claims 1 to 7, a control center and a mobile remote controller, wherein the control portion and the mobile remote controller are both communicated with the control center, the mobile remote controller is communicated with the clamping and holding vehicle, and the mobile remote controller controls the clamping and holding vehicle to move in the platform carrying process.
9. The horizontal silo storage management system of claim 8,
including warehousing operation, it includes:
the control center receives a warehousing instruction, and the control center controls the clamping vehicle to move to a platform preparation area;
the clamping and holding vehicle is controlled to move from the platform preparation area to a designated unloading area through the mobile remote controller;
the vision sensor is used for acquiring information of articles to be warehoused and uploading the information to the control part and the control center, the control center allocates warehouse positions for the articles to be warehoused, the control part controls the motion of the telescopic arm assembly and the clamping and holding assembly, and the clamping and holding vehicle clamps the articles to be warehoused;
and the clamping and holding vehicle conveys the articles to be warehoused to the allocation warehouse location according to the traveling route distributed by the control center, and warehousing is completed.
10. The horizontal silo storage management system of claim 8,
including the operation of leaving warehouse, it includes:
the control center receives a warehouse-out instruction, and controls the clamping and holding vehicle to move to a designated unloading area;
the visual sensor is used for acquiring information of articles to be delivered out of the warehouse and uploading the information to the control part and the control center, the control center is used for verifying the information of the articles to be delivered out of the warehouse, the control part is used for controlling the movement of the telescopic arm assembly and the clamping and holding assembly, and the clamping and holding vehicle is used for clamping the articles to be delivered out of the warehouse;
the clamping and holding vehicle conveys the articles to be delivered to the dock according to the traveling route distributed by the control center;
through the control of the mobile remote controller, the clamping and holding vehicle moves to an appointed loading area, and the clamping and holding vehicle automatically loads the articles to be delivered from the warehouse to finish the delivery from the warehouse.
CN202110171805.2A 2021-02-08 2021-02-08 Clamping vehicle and flat warehouse management system Active CN112849893B (en)

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CN114919998B (en) * 2021-12-22 2023-12-22 南通中集元能集成科技有限公司 Integrated equipment feeding equipment and feeding method

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