CN112999396A - Movable goods taking, sterilizing or disinfecting inspection device and inspection method for unmanned refrigerated warehouse - Google Patents
Movable goods taking, sterilizing or disinfecting inspection device and inspection method for unmanned refrigerated warehouse Download PDFInfo
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- CN112999396A CN112999396A CN202110207351.XA CN202110207351A CN112999396A CN 112999396 A CN112999396 A CN 112999396A CN 202110207351 A CN202110207351 A CN 202110207351A CN 112999396 A CN112999396 A CN 112999396A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/24—Apparatus using programmed or automatic operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/02—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using physical phenomena
- A61L2/08—Radiation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/26—Accessories or devices or components used for biocidal treatment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/127—Working platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/14—Means for controlling sterilisation processes, data processing, presentation and storage means, e.g. sensors, controllers, programs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/15—Biocide distribution means, e.g. nozzles, pumps, manifolds, fans, baffles, sprayers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/16—Mobile applications, e.g. portable devices, trailers, devices mounted on vehicles
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Epidemiology (AREA)
- Civil Engineering (AREA)
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- Combustion & Propulsion (AREA)
- Apparatus For Disinfection Or Sterilisation (AREA)
Abstract
The invention discloses a movable goods taking, sterilizing or disinfecting inspection device for an unmanned refrigerated warehouse and an inspection method, and relates to the technical field of disinfecting and sterilizing devices. The goods taking and sterilizing mechanism can sterilize goods, goods shelves and the environment, the goods are taken through the goods taking mechanism and placed on the goods transporting mechanism, and the goods are accurately sterilized and sterilized in the transporting process from top to bottom in the moving process of the channel.
Description
Technical Field
The invention relates to the technical field of disinfection and sterilization devices, in particular to a movable goods taking and sterilization or disinfection inspection device and an inspection method for an unmanned refrigerated warehouse.
Background
The method is influenced by new crown epidemic situation, the detection of the method from the external package in the refrigerated warehouse is positive for many times, and certain problems exist in the disinfection and sterilization of the frozen food.
The existing goods taking mechanism is not combined with a disinfection and sterilization device, goods need to be taken firstly, then disinfection and sterilization are carried out, the process is complicated, and the efficiency is low.
When goods in the refrigeration house are taken out of the refrigeration house, the sterilization and disinfection of part of the refrigeration house are not strict and not in place, even a plurality of small refrigeration houses are taken out of the refrigeration house without sterilization and disinfection treatment, and a plurality of unmanned refrigeration houses need strict sterilization and disinfection treatment, so that the safety of goods receiving personnel is ensured when the refrigeration houses are taken out of the refrigeration house, and the safety of frozen foods is ensured.
Therefore, there is a need for a device that can perform accurate sterilization and disinfection when leaving a warehouse, particularly in an unmanned freezer, and ensure the safety and delivery of goods.
Disclosure of Invention
The invention aims to provide a movable goods taking, sterilizing or disinfecting inspection device and an inspection method for an unmanned refrigerated warehouse, which are used for solving the problems in the prior art and sterilizing goods before the goods are taken out of the warehouse to ensure safety.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a movable goods taking, sterilizing or disinfecting inspection device for an unmanned refrigerated warehouse, which comprises a travelling mechanism, wherein the travelling mechanism is provided with a goods taking mechanism, a sterilizing and disinfecting mechanism and a goods transporting mechanism, the sterilizing and disinfecting mechanism and the goods transporting mechanism are arranged on the travelling mechanism through a lifting mechanism, the sterilizing and disinfecting mechanism is arranged on the outer side of the goods transporting mechanism, and a passage through which the goods transporting mechanism passes is arranged in the sterilizing and disinfecting mechanism.
Preferably, the goods taking mechanism comprises a vertical moving structure, the vertical moving structure is arranged on the traveling mechanism, a telescopic structure is arranged on the vertical moving structure, and a sucker is arranged at one end of the telescopic structure.
Preferably, the vertical moving structure comprises a rotary hydraulic cylinder, the rotary hydraulic cylinder is fixed on the traveling mechanism, the rotary hydraulic cylinder is in transmission connection with a transmission shaft, the transmission shaft is in threaded connection with a moving table, the moving table is provided with a camera and the telescopic structure, and the camera and the telescopic structure are arranged on the same side.
Preferably, the telescopic structure comprises a hydraulic rod, a fixed end of the hydraulic rod is arranged on the motion platform, and the telescopic end of the hydraulic rod is provided with the sucker.
Preferably, the disinfection and sterilization mechanism includes a plurality of bracing pieces, the upper end of bracing piece is provided with first supporting part, the lower extreme of bracing piece passes the second supporting part to be fixed elevating system's lift portion is last, first supporting part with be provided with a plurality of bactericidal lamps between the second supporting part, the inboard of bracing piece is provided with the anticollision net, the anticollision net is provided with a plurality of through-holes, the upper end of anticollision net with the first opening intercommunication of first supporting part, the lower extreme of anticollision net with the second opening intercommunication of second supporting part, first opening the anticollision net with the second opening forms the passageway that cargo transport mechanism passes through.
Preferably, still be provided with a plurality of disinfection shower nozzles on the first supporting part, disinfection shower nozzle is used for spraying disinfectant, the homonymy the scope that disinfection shower nozzle sprays is criss-cross, disinfection shower nozzle sets up towards the outside.
Preferably, the number of the germicidal lamps is N, N ═ μ ═ f(s)1，h，s2) Wherein mu is a correction coefficient, mu is 0.8-1.2, s1H is a distance between the first supporting part and the second supporting part, s2Is the surface area of the goods to be taken.
Preferably, the cargo transportation mechanism comprises a first hydraulic cylinder, a cylinder body of the first hydraulic cylinder is fixed in a lifting part of the lifting mechanism, and a loading platform is arranged at a piston end of the first hydraulic cylinder.
Preferably, running gear includes the chassis, elevating system's fixed part sets up on the chassis, the lateral wall on chassis is provided with a plurality of sensors, the sensor is used for dodging the obstacle, the lower extreme on chassis is provided with a plurality of walking wheels.
The invention also provides a polling method adopting the movable goods taking, sterilizing or disinfecting polling device of the unmanned refrigerated warehouse, which comprises the following steps:
the method comprises the following steps: the warehouse is detected through a positioning sensor, a preset route is generated, and the generation mode of the preset route is as follows: acquiring a user order and automatically generating according to the order; or, automatically generating a preset line according to the input of the user; or, reading the history record, and automatically generating the machine according to the previous operation history record; or, the user sets a mode in advance and generates the mode randomly;
step two: judging whether a preset route has an obstacle or not through a sensor, if so, planning a new route, when the new route is planned, referring to and changing the coordinates of the position of the obstacle and a goods shelf, the relative position of a movable goods taking, sterilizing or disinfecting inspection device of the unmanned refrigerated warehouse and the running speed setting of the movable goods taking, sterilizing or disinfecting inspection device of the unmanned refrigerated warehouse to obtain the new route, starting the operation of the movable goods taking, sterilizing or disinfecting inspection device of the unmanned refrigerated warehouse, correcting the route in real time in the working process, and planning the new route again when meeting a new obstacle in the running process; if no obstacle exists, the unmanned refrigerated warehouse can move the goods taking, sterilizing or disinfecting inspection device to directly start working, the route is corrected in real time in the working process, and a new route is re-planned when a new obstacle is encountered in the running process.
Compared with the prior art, the invention has the following technical effects:
the goods taking and sterilizing mechanism can sterilize goods, goods shelves and the environment, the goods are taken through the goods taking mechanism and placed on the goods transporting mechanism, and the goods are accurately sterilized and sterilized in the transporting process from top to bottom in the moving process of the channel.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view of the portable pick-up sterilization or disinfection inspection device of an unmanned refrigerated warehouse of the present invention;
FIG. 2 is a schematic view of a support rod and a germicidal lamp according to the present invention;
FIG. 3 is a schematic view of a bump net of the present invention;
FIG. 4 is a schematic diagram of the portable pick-up sterilization or disinfection inspection device of the unmanned refrigerated warehouse of the present invention;
FIG. 5 is a flow chart of the inspection method of the movable goods taking, sterilizing or disinfecting inspection device of the unmanned refrigerated warehouse;
FIG. 6 is a comparison of the effects of different routes;
wherein: 100-movable goods taking, sterilizing or disinfecting inspection device for unmanned refrigerated warehouse, 1-traveling mechanism, 2-goods taking mechanism, 3-disinfecting and sterilizing mechanism, 4-goods transporting mechanism, 5-sucker, 6-rotary hydraulic cylinder, 7-transmission shaft, 8-moving table, 9-camera, 10-hydraulic rod, 11-supporting rod, 12-first supporting part, 13-second supporting part, 14-sterilizing lamp, 15-anti-collision net, 16-disinfecting nozzle, 17-first hydraulic cylinder, 18-object stage, 19-chassis, 20-sensor, 21-traveling wheel and 22-lifting mechanism.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
The invention aims to provide a movable goods taking, sterilizing or disinfecting inspection device and an inspection method for an unmanned refrigerated warehouse, which are used for solving the problems in the prior art and sterilizing goods before the goods are taken out of the warehouse to ensure safety.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example one
As shown in fig. 1-4: the embodiment provides a portable goods of getting of unmanned cold-stored warehouse is disinfected or disinfection inspection device 100, including running gear 1, be provided with on running gear 1 and get goods mechanism 2, disinfection and sterilization mechanism 3 and cargo transportation mechanism 4 all set up on running gear 1 through an elevating system 22, and disinfection and sterilization mechanism 3 sets up in the outside of cargo transportation mechanism 4, is provided with the passageway that cargo transportation mechanism 4 passes through in the disinfection and sterilization mechanism 3. The disinfection and sterilization mechanism 3 of this embodiment can disinfect goods, goods shelves and environment, get goods through getting goods mechanism 2, place the goods on freight mechanism 4, the goods is in the motion process of passageway, disinfection and sterilization mechanism 3 carries out accurate disinfection and sterilization in the goods from last transport process down, manual contact has been avoided to this embodiment, the realization is got goods, the dual effect of disinfection and sterilization, guarantee that the goods of leaving warehouse reaches the standard of killing, disinfection and sterilization is effectual, and is efficient.
Specifically, in this embodiment, the goods taking mechanism 2 includes a vertical moving structure, the vertical moving structure is arranged on the traveling mechanism 1, a telescopic structure is arranged on the vertical moving structure, and a sucker 5 is arranged at one end of the telescopic structure. Vertical moving structure includes rotary hydraulic cylinder 6 or motor, and rotary hydraulic cylinder 6 or motor are fixed on running gear 1, and rotary hydraulic cylinder 6 or motor are connected with 7 transmissions of transmission shaft, and in this embodiment, rotary hydraulic cylinder 6 or motor, transmission shaft 7 are two, and threaded connection has motion platform 8 on the transmission shaft 7, is provided with camera 9 and extending structure on the motion platform 8, and camera 9 and extending structure homonymy set up. The telescopic structure comprises a hydraulic rod 10, the fixed end of the hydraulic rod 10 is arranged on the motion platform 8, and the telescopic end of the hydraulic rod 10 is provided with a sucker 5.
In this embodiment, the disinfection and sterilization mechanism 3 includes a plurality of support rods 11, this embodiment includes three support rods 11, three support rods 11 are uniformly arranged at intervals of 120 °, the upper end of each support rod 11 is provided with a first support portion 12, the lower end of each support rod 11 passes through a second support portion 13 and is fixed on a lifting portion of a lifting mechanism 22, a plurality of germicidal lamps 14 are arranged between the first support portion 12 and the second support portion 13, the inner side of each support rod 11 is provided with an anti-collision net 15, the anti-collision net 15 is a wire mesh, the anti-collision net 15 protects the germicidal lamps 14, the germicidal lamps 14 are prevented from being damaged by goods on a carrying platform 18, the anti-collision net 15 is provided with a plurality of through holes, the upper end of the anti-collision net 15 is communicated with a first opening of the first support portion 12, the lower end of the anti-collision net 15 is communicated with a second opening of the second support portion, the first support part 12 and the second support part 13 are both circular rings with the same size, and the diameter of the object stage 18 is smaller than that of the channel. The disinfection and sterilization mechanism 3 can carry out independent disinfection and sterilization on air, goods shelves on two sides and goods, and has independent disinfection and sterilization functions.
In this embodiment, the first supporting portion 12 is further provided with a plurality of disinfection nozzles 16, the disinfection nozzles 16 are used for spraying disinfectants, the spraying ranges of the disinfection nozzles 16 on the same side are crossed to ensure complete disinfection and sterilization, and the disinfection nozzles 16 are arranged towards the outside. In this embodiment, the number of the disinfecting nozzles 16 is four, two disinfecting nozzles 16 face the shelf on one side, and the other two disinfecting nozzles 16 face the shelf on the other side.
In the present embodiment, the number of the germicidal lamps 14 is N, N ═ μ ═ f(s)1，h，s2) Wherein mu is a correction coefficient, mu is 0.8-1.2, s1H is the distance between the first support part 12 and the second support part 13, s is the total area of the through holes of the impact net 152Is the surface area of the goods to be taken.
In this example, the wire mesh has an aperture area s1＝75*75＝5625mm2The height h between the first support part 12 and the second support part 13 is 1500mm, and the surface area s of the goods to be taken2Less than 3840000mm2According to the calculation, the number of the germicidal lamps 14 is 6, the germicidal lamps 14 are uniformly arranged at 60 degrees, and the supporting shaft and the germicidal lamps 14 adjacent to the two sides are arranged at 30 degrees.
In this embodiment, the cargo transporting mechanism 4 includes a first hydraulic cylinder 17, a cylinder body of the first hydraulic cylinder 17 is fixed in a lifting part of the lifting mechanism 22, and a stage 18 is provided at a piston end of the first hydraulic cylinder 17.
In this embodiment, the traveling mechanism 1 includes a chassis 19, a fixing portion of the lifting mechanism 22 is disposed on the chassis 19, a plurality of sensors 20 are disposed on a side wall of the chassis 19, the sensors 20 are used for avoiding obstacles, and a plurality of traveling wheels 21 are disposed at a lower end of the chassis 19.
In this embodiment, the lifting mechanism 22 is a hydraulic cylinder, the cylinder of the first hydraulic cylinder 17 is fixed to the lifting portion of the lifting mechanism 22, the lifting portion of the lifting mechanism 22 contracts, the piston of the first hydraulic cylinder 17 contracts, and the stage 18 descends to be flush with the upper end of the lifting mechanism 22.
After confirming the goods of getting, according to the order list, get among the goods mechanism 2 motion platform 8 and carry out up-and-down motion along transmission shaft 7, when the camera 9 caught the goods, the hydraulic stem 10 on the motion platform 8 is flexible, makes sucking disc 5 be close to the goods and absorbs, then hydraulic stem 10 contracts and puts the goods on objective table 18, gets to accomplish under camera 9 supervision in the whole process of goods, can in time correct, constitutes closed loop feedback. The disinfection shower nozzle 16 can disinfect to goods shelves, goods and the goods of waiting to get of both sides, and sterilamp 14 both can be patrolling and examining the in-process and carry out disinfection alone to goods shelves, goods and the goods of waiting to get and disinfect, can carry out accurate the disinfecting to the goods extranal packing of taking off again on objective table 18. The embodiment finishes the disinfection and sterilization treatment simultaneously in the goods taking and transporting processes, saves time, improves the delivery efficiency, and ensures the delivery safety by double disinfection.
Example two
As shown in fig. 5 to 6, the present embodiment further provides an inspection method using the portable goods-taking sterilization or disinfection inspection apparatus 100 of the first embodiment, including the following steps:
the method comprises the following steps: the warehouse is detected through a positioning sensor, a preset route is generated, and the generation mode of the preset route is as follows: acquiring a user order and automatically generating according to the order; or, automatically generating a preset line according to the input of the user; or, reading the history record, and automatically generating the machine according to the previous operation history record; or, the user sets a mode in advance and generates the mode randomly;
step two: judging whether a preset route has an obstacle or not through the sensor 20, if so, planning a new route, when the new route is planned, referring to and changing the coordinates of the position of the obstacle and the position of the goods shelf, the relative position of the movable goods taking, sterilizing or disinfecting inspection device 100 of the unmanned refrigerated warehouse and the operation speed setting of the movable goods taking, sterilizing or disinfecting inspection device 100 of the unmanned refrigerated warehouse to obtain the new route, starting the operation of the movable goods taking, sterilizing or disinfecting inspection device 100 of the unmanned refrigerated warehouse, correcting the route in real time in the working process, and planning the new route again when meeting a new obstacle in the operation process; if no obstacle exists, the unmanned refrigerated warehouse can move the goods taking, sterilizing or disinfecting inspection device 100 to directly start working, the route is corrected in real time in the working process, and a new route is re-planned when a new obstacle is encountered in the running process.
When the preset route planning is carried out, the embodiment is based on the adaptive radar cruise control system, the unmanned refrigerated warehouse movable goods taking, sterilizing or disinfecting inspection device 100 runs among shelves of the warehouse, the warehouse environment information is obtained in real time through the sensor 20, the optimal route is planned according to the obtained relative position and relative distance of the shelves and the front obstacle, the unmanned refrigerated warehouse movable goods taking, sterilizing or disinfecting inspection device 100 and the information of the intention running direction of the unmanned refrigerated warehouse movable goods taking, sterilizing or disinfecting inspection device 100, the optimal route is planned, the unmanned refrigerated warehouse movable goods taking, sterilizing or disinfecting inspection device 100 starts running to take goods, the shelves are disinfected and sterilized during running, and after goods are taken, the goods are accurately sterilized and disinfected, and the unmanned refrigerated warehouse can move to fetch the goods for sterilization or the disinfection inspection device 100 runs to prepare for delivery. The effect graphs generated by the planned different routes and the unplanned route are shown in fig. 6, and of the specific four routes, the first route has less time consumption and good disinfection and sterilization effects, and the first route is preferred.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. The utility model provides a portable goods of getting of unmanned cold-stored warehouse is disinfected or is disinfected inspection device which characterized in that: including running gear, last goods mechanism, the disinfection and sterilization mechanism and the cargo transportation mechanism of getting of being provided with of running gear, the disinfection and sterilization mechanism with the cargo transportation mechanism all sets up through an elevating system on the running gear, the disinfection and sterilization mechanism sets up the outside of cargo transportation mechanism, be provided with in the disinfection and sterilization mechanism the passageway that cargo transportation mechanism passes through.
2. The unmanned refrigerated warehouse mobile sterilization or disinfection inspection device of claim 1, wherein: the goods taking mechanism comprises a vertical moving structure, the vertical moving structure is arranged on the traveling mechanism, a telescopic structure is arranged on the vertical moving structure, and a sucker is arranged at one end of the telescopic structure.
3. The unmanned refrigerated warehouse mobile pick-up sterilization or disinfection inspection device of claim 2, wherein: the vertical moving structure comprises a rotary hydraulic cylinder, the rotary hydraulic cylinder is fixed on the traveling mechanism and is in transmission connection with a transmission shaft, the transmission shaft is in threaded connection with a moving table, a camera and a telescopic structure are arranged on the moving table, and the camera and the telescopic structure are arranged on the same side.
4. The unmanned refrigerated warehouse mobile pick-up sterilization or disinfection inspection device of claim 3, wherein: the telescopic structure comprises a hydraulic rod, the fixed end of the hydraulic rod is arranged on the motion platform, and the telescopic end of the hydraulic rod is provided with the sucker.
5. The unmanned refrigerated warehouse mobile pick-up sterilization or disinfection inspection device of claim 1, wherein: the disinfection and sterilization mechanism comprises a plurality of supporting rods, the upper end of each supporting rod is provided with a first supporting part, the lower end of each supporting rod penetrates through a second supporting part to be fixed on the lifting part of the lifting mechanism, a plurality of sterilizing lamps are arranged between the first supporting part and the second supporting part, an anti-collision net is arranged on the inner side of each supporting rod, a plurality of through holes are formed in the anti-collision net, the upper end of the anti-collision net is communicated with a first opening of the first supporting part, the lower end of the anti-collision net is communicated with a second opening of the second supporting part, and the anti-collision net and the second opening form a channel through which the cargo transportation mechanism passes.
6. The unmanned refrigerated warehouse mobile pick-up sterilization or disinfection inspection device of claim 5, wherein: still be provided with a plurality of disinfection shower nozzles on the first supporting part, disinfection shower nozzle is used for spraying disinfectant, the homonymy disinfection shower nozzle sprayed scope is alternately, disinfection shower nozzle sets up towards the outside.
7. The unmanned refrigerated warehouse mobile pick-up sterilization or disinfection inspection device of claim 5, wherein: the number of the germicidal lamps is N, mu f(s)1，h，s2) Wherein mu is a correction coefficient, mu is 0.8-1.2, s1H is a distance between the first supporting part and the second supporting part, s2Is the surface area of the goods to be taken.
8. The unmanned refrigerated warehouse mobile pick-up sterilization or disinfection inspection device of claim 1, wherein: the goods transportation mechanism comprises a first hydraulic cylinder, a cylinder body of the first hydraulic cylinder is fixed in a lifting part of the lifting mechanism, and an objective table is arranged at a piston end of the first hydraulic cylinder.
9. The unmanned refrigerated warehouse mobile pick-up sterilization or disinfection inspection device of claim 1, wherein: the walking mechanism comprises a chassis, a fixing part of the lifting mechanism is arranged on the chassis, a plurality of sensors are arranged on the side wall of the chassis and used for avoiding obstacles, and a plurality of walking wheels are arranged at the lower end of the chassis.
10. An inspection method using the unmanned refrigerated warehouse mobile pick-up sterilization or disinfection inspection device according to any one of claims 1 to 9, characterized in that: the method comprises the following steps:
the method comprises the following steps: the warehouse is detected through a positioning sensor, a preset route is generated, and the generation mode of the preset route is as follows: acquiring a user order and automatically generating according to the order; or, automatically generating a preset line according to the input of the user; or, reading the history record, and automatically generating the machine according to the previous operation history record; or, the user sets a mode in advance and generates the mode randomly;
step two: judging whether a preset route has an obstacle or not through a sensor, if so, planning a new route, when the new route is planned, referring to and changing the coordinates of the position of the obstacle and a goods shelf, the relative position of a movable goods taking, sterilizing or disinfecting inspection device of the unmanned refrigerated warehouse and the running speed setting of the movable goods taking, sterilizing or disinfecting inspection device of the unmanned refrigerated warehouse to obtain the new route, starting the operation of the movable goods taking, sterilizing or disinfecting inspection device of the unmanned refrigerated warehouse, correcting the route in real time in the working process, and planning the new route again when meeting a new obstacle in the running process; if no obstacle exists, the unmanned refrigerated warehouse can move the goods taking, sterilizing or disinfecting inspection device to directly start working, the route is corrected in real time in the working process, and a new route is re-planned when a new obstacle is encountered in the running process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110207351.XA CN112999396A (en) | 2021-02-24 | 2021-02-24 | Movable goods taking, sterilizing or disinfecting inspection device and inspection method for unmanned refrigerated warehouse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110207351.XA CN112999396A (en) | 2021-02-24 | 2021-02-24 | Movable goods taking, sterilizing or disinfecting inspection device and inspection method for unmanned refrigerated warehouse |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112999396A true CN112999396A (en) | 2021-06-22 |
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Cited By (1)
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| CN116617433A (en) * | 2023-07-26 | 2023-08-22 | 金乡县昌鑫冷藏有限公司 | Warehouse entry and exit atomization disinfection method and system |
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