CN207434322U - The matching used transport shelf of a kind of and mobile transfer robot - Google Patents
The matching used transport shelf of a kind of and mobile transfer robot Download PDFInfo
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- CN207434322U CN207434322U CN201721468938.1U CN201721468938U CN207434322U CN 207434322 U CN207434322 U CN 207434322U CN 201721468938 U CN201721468938 U CN 201721468938U CN 207434322 U CN207434322 U CN 207434322U
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- shelf
- transport shelf
- transfer robot
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- mobile transfer
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- 238000012546 transfer Methods 0.000 title claims abstract description 54
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 21
- 238000003860 storage Methods 0.000 claims description 22
- 230000007306 turnover Effects 0.000 claims description 15
- 235000004443 Ricinus communis Nutrition 0.000 claims description 4
- 230000032258 transport Effects 0.000 abstract description 55
- 238000007726 management method Methods 0.000 description 11
- 238000013468 resource allocation Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 238000012856 packing Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000001965 increasing effect Effects 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 238000013439 planning Methods 0.000 description 2
- 238000012384 transportation and delivery Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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Abstract
The utility model discloses the matching used transport shelf of a kind of and mobile transfer robot, including frame body, there are four supporting legs for the frame body tool, it is fixed on the frame body and the supporting leg is vertically arranged lifts pedestal, and the height lifted between pedestal and ground is for mobile transfer robot disengaging, passive label is equipped at the bottom center for lifting pedestal, the passive label is corresponding with the number of the transport shelf.The utility model transports and passive label is equipped at the bottom center that pedestal is lifted on shelf, and passive label is corresponding with the number of the transport shelf, so as to which mobile transfer robot is made to carry out identification identification before lifting, to avoid mistake is carried.
Description
Technical field
The utility model is related to logistic storage centers to transport shelf, and in particular to a kind of with moving that transfer robot is mating to be made
Transport shelf.
Background technology
At this stage, the rapid development of electric business, express delivery industry is driving the demand of automatic intelligent equipment, and substantial amounts of movement is removed
Fortune robot and intelligent management system are introduced into the places such as logistics storage dispensing center, transshipment center, logistics warehouse.
In recent years, Amazon Company of the U.S. takes the lead in having used realizes that the order of " goods to people " picks by mobile transfer robot
System, picking staff fixed position are selected, the sequence information that moving machine carrier people issues according to system knows the position of shelf
It puts, and the shelf is lifted to be carried in face of picking staff and carry out picking.This mode drastically increases order selection
Efficiency, reduce the input of human cost.But in this system with the mobile matching used shelf of transfer robot,
Position is to be handed down to mobile transfer robot by central control system, since data transmission is there are the bit error rate, can inevitably be gone out
Now carry the situation of mistake.
Utility model content
Technical problem to be solved in the utility model is the matching used shelf of existing and mobile transfer robot, may
The problem of in the presence of mistake is carried.
In order to solve the above-mentioned technical problem, technical solution is to provide a kind of and mobile carrying implement used by the utility model
The matching used transport shelf of device people, including frame body, frame body tool there are four supporting leg, be fixed on the frame body with it is described
Supporting leg is vertically arranged to lift pedestal, and the height lifted between pedestal and ground passes in and out for mobile transfer robot,
Passive label is equipped at the bottom center for lifting pedestal, the passive label is opposite with the number of the transport shelf
It should.
In said program, the passive label is RFID label tag or two-dimension code label, is arranged on and described lifts pedestal
Bottom center at.
In said program, the bottom surface for lifting pedestal is equipped with the top on the jacking pallet with mobile transfer robot
The interface that point is adapted is risen, the interface is uniformly arranged along the circumferential direction of the passive label.
In said program, the interface is pit, and the inner surface of the pit is spherical surface.
In said program, the lower end of the supporting leg is equipped with for mating with the distance measuring sensor on mobile transfer robot
The reflection unit used.
In said program, the reflection unit is annular in shape, is sleeved on the supporting leg.
In said program, the frame body has individual layer shelf or multi-layered storage rack.
In said program, turnover box is placed on the individual layer shelf or multi-layered storage rack.
In said program, the lower end of the supporting leg is equipped with castor.
In said program, the upper end of the frame body is equipped with handle.
The utility model transports the bottom surface that pedestal is lifted on shelf equipped with passive label, passive label and the fortune
The number of defeated shelf is corresponding, so as to which mobile transfer robot is made to carry out identification identification before lifting, to avoid mistake is carried.
Description of the drawings
Fig. 1 is order radio frequency schematic diagram of the logistic storage center based on order to people in the utility model；
Fig. 2 is the structure diagram of mobile transfer robot in the utility model；
Fig. 3 is the top view of mobile transfer robot in the utility model；
Fig. 4 is the schematic diagram of double-layered transporting shelf in the utility model；
Fig. 5 is the schematic diagram that individual layer transports shelf in the utility model；
Fig. 6 is that order radio frequency of the logistic storage center based on order to people extends schematic diagram in the utility model；
Fig. 7 is order sorting method flow chart of the logistic storage center based on order to people in the utility model.
Specific embodiment
The utility model provides radio frequency and method of a kind of logistic storage center based on order to people, investment and dimension
Protect at low cost, energy consumption is few and efficient.The matching used transport shelf of a kind of and mobile transfer robot are additionally provided,
It can avoid carrying mistake.The utility model is described in detail with reference to specification drawings and specific embodiments.
As shown in Figure 1, radio frequency of the logistic storage center based on order to people provided by the utility model, including movement
Transfer robot 303 transports shelf 304 and order to people's intelligent management system.Wherein, mobile transfer robot 303 and fortune
Defeated shelf 304 can be arranged as required to multiple.
Logistic storage center arrangement has cargo storage area, storage work station 308 and is packaged work station 307, in cargo storage
The side in area is equipped with cargo transport area 309, connection storage work station 308 and packing work station 307.Wherein, cargo storage area and
Cargo transport area separates independently of each other, and cargo storage area is equipped with multigroup fixed goods shelf 301, for arrangement of goods.The fixed goods of two rows
The passage 310 between passage 311 and same row's fixed goods shelf between frame is the walking passageway of selection staff 302, is chosen
The only interior walking of the passage 310,311 between fixed goods shelf of staff 302.Each picking staff one from
The fixation working region that oneself is responsible for carries out picking, is packaged staff and works in fixed packing work station, is responsible for week
The kinds of goods finished have been chosen in turnning box and have been packaged delivery.
The ground in cargo transport area 309 is equipped with guiding terrestrial reference, for positioning transport shelf and the mobile conveying robot of guiding
People moves along programme path, and mobile transfer robot only travels in 309th area of cargo transport area, without driving into cargo storage area, because
And travel route is simple, travel route planning of being more convenient for.And it can run at high speed, improve efficiency.
Transport shelf 304 are also placed only in cargo transport area 309, can be lifted and transported by mobile transfer robot 303
To corresponding task objective point.
Order includes order management module and resource allocation module to people's intelligent management system, and order management module is used for down
Hair sequence information removes kinds of goods for selection staff from the cargo storage area that oneself is responsible for, the transport being put into picking workspace
In the turnover box of shelf, picking workspace is located at the joining place in cargo storage area and cargo transport area.
Resource allocation module for issuing carrying task and travel route, for mobile transfer robot according to the task of carrying and
Travel route is driven to below corresponding transport shelf, and has been lifted the transport shelf and be moved to task objective point.Carrying task
The transport position of shelf and task objective point can be specified.
The utility model ensures staff and mobile transfer robot by order management module and resource allocation module
Between collaborative work, the optimal travel route of mobile robot is planned, and to resource (mobile transfer robot) into
Row optimization, i.e.,：Ensure that the time that mobile transfer robot stops queuing is most short, ensure to be used when performing and maximizing task amount
Mobile transfer robot amount it is minimum.
As shown in Figure 2 and Figure 3, mobile transfer robot includes the jacking pallet of mobile chassis 101 and setting on its top face
102, jacking pallet 102 is connected with mobile chassis 101 by lifting body 104, and simplest cut may be employed in lifting body 104
Formula lifting platform structure (linkage), and elevating function is realized by driving motor, other more complicated structures can also be used,
For example jack screw structure etc..It jacks pallet 102 and is equipped with Rubber shock-absorbing pad 103 with transporting the contact point (Jacking point) of shelf 304,
For increasing frictional force, and damping can be played the role of when lifting Transport cargo rack movement.Rubber shock-absorbing pad 103 is set respectively
It puts in four corners of jacking pallet 102.
The middle part of mobile chassis 101 is set there are two differential gear 105, is symmetrical set, and can realize that zero radius of turn is revolved
Turn, the front and rear of mobile chassis 101 is respectively equipped with two driven wheels 106, is symmetrical set.
It is set on mobile chassis 101 there are two main sensor, first sensor 108 is for synchronous positioning and map structuring
(SLAM), positioned at the front lower of mobile chassis 101, by the sensor 108 to the travel route of mobile transfer robot into
Row navigation.Second sensor 107 is for avoidance and is accurately positioned, to realize that mobile transfer robot correctly drives to Transport cargo rack
Underface, specific implementation is：Using second sensor 107 according to before two of mobile transfer robot and Transport cargo rack
The distance between supporting leg adjusts travel direction and equal with the distance between two front leg struts (or angle), drives into Transport cargo rack
Lower section；Then, recycle second sensor 107 according between mobile transfer robot and the rear support leg of Transport cargo rack away from
From stopping at the underface of Transport cargo rack.Two sensors have been implemented in combination with the self-navigation and positioning of mobile transfer robot.
Mobile transfer robot automatic charging or can replace battery using rechargeable battery powered.Mobile transfer robot leads to
It crosses wireless network to be connected to people's intelligent management system with order, realizes information exchange, such as obtain carrying task and travel route, with
And other corresponding control information, such as charge information；Self information is reported to order to people's intelligent management system, as state is believed
Breath, location information etc..
Individual layer shelf or double-deck shelf may be employed in transport shelf, as shown in figure 4, double-layered transporting shelf include frame body and
The pedestal of lifting being arranged on frame body, frame body tool are vertically arranged there are four supporting leg 201, and it is horizontally disposed to lift pedestal, with supporting leg
201 is vertical, lifts the height between pedestal and ground for mobile transfer robot disengaging.It lifts and is set at the bottom center of pedestal
There is passive label 207, RFID label tag or two-dimension code label can be used, for being identified by mobile transfer robot, to determine
Transport the coding of shelf.
The bottom surface for lifting pedestal is equipped with the interface 205 being adapted with the Jacking point on jacking pallet 102, the interface 205
It at least 3, is uniformly arranged along passive label 207 is circumferential, in this way, lifting pedestal just when mobile transfer robot drives to
During lower section, it is possible to ensure that the Jacking point on jacking pallet 102 is opposite with interface 205.Interface 205 is pit, and pit is interior
Surface is spherical surface, and Jacking point is spheric protrusion or realizes automatic fine tuning positioning.
The lower end of supporting leg can set castor 206, can not also set.Castor pattern can allow picking staff clever
Living, convenient and easily mobile transport shelf.
Double-deck shelf can place the turnover box 202,203 of different colours, for example red as Inventory Transshipment, as order
Operation blueness.The operating mistake rate of home-delivery center staff can so be reduced.Transporting shelf 201 also has handle 204, side
Just staff moves.
The lower end of supporting leg is also provided with sensing with the second sensor 107 on mobile transfer robot, such as ranging
Device, matching used reflection unit 208, reflection unit is annular in shape, is sleeved on supporting leg, with the mobile transfer robot of measurement and supporting leg
The distance between, ensure that mobile transfer robot drives to the underface of transport shelf.
Fig. 5 transports shelf schematic diagram for individual layer, and structure and double-layered transporting shelf are essentially identical, repeat no more, turnover box is put
It puts on top surface.
The utility model can be expanded with fast and flexible, it is only necessary to be increased the quantity of mobile transfer robot, be packaged
The quantity of work station and commodity storage work station, as shown in Figure 6.
As shown in fig. 7, picking method of the logistic storage center based on order to people provided by the utility model, including following
Step：
Order management system in advance acquisition and real-time update whole inventory information, including Article Number, stockpile number and
Store shelf location etc. of kinds of goods, order management system by obtaining sequence information to order analyzing, including Article Number and
Store shelf location of kinds of goods etc.；
It chooses staff and the sequence information from order management system is obtained by handheld terminal, sequence information is by ordering
Menu manager system issues；
Selection staff removes kinds of goods according to sequence information from the fixed goods shelf in the cargo storage area that oneself is responsible for, and puts
In the turnover box for putting the transport shelf in picking workspace；
Mobile transfer robot obtains carrying task and travel route by resource allocation module, and according to the task of carrying and
Travel route is driven to below corresponding transport shelf, has been lifted the transport shelf and has been moved to task objective point.
Resource allocation module can integrate the sequence information of whole system and distribution, the execution task of mobile transfer robot
State optimize, select suitable mobile transfer robot.I.e.：Ensure that mobile transfer robot stops the time being lined up most
It is short, ensure that used mobile transfer robot amount is minimum when performing maximization task amount, and to the optimal of mobile robot
Programme path is planned, is formed and is carried mission dispatching to the mobile transfer robot specified.
If the kinds of goods in order are located at the cargo storage area that same selection staff is responsible for, task objective point is set
Packing work station is set to, after whole kinds of goods are both placed in turnover box by selection staff, mobile transfer robot row
The lower section for sailing to the transport shelf is lifted and is moved to packing work station, by being packaged staff from transport shelf
Turnover box is removed, the cargo taken out in it is packaged, and is then delivered.Meanwhile place an empty turnover box.
If whole kinds of goods in order are not located at the same cargo storage area that is responsible for of selection staff, but position
In by different multiple cargo storage areas for being responsible for of selection staff, then programme path is arranged to connect successively by resource allocation module
Receive orders the different picking workspaces of corresponding kinds of goods.Order kinds of goods are placed in turnover box it by first selection staff
Afterwards, transport shelf number and its present position are sent to resource allocation system, resource allocation system is numbered according to transport shelf
And its present position selects corresponding mobile transfer robot and issues carrying task, planning travel route.Mobile conveying robot
People is driven to first below the transport shelf of first picking workspace, is lifted and transports next picking work
Area, the selection staff of this picking workspace remove the turnover box being placed on after kinds of goods on the transport shelf according to sequence information
It is interior, it puts together with original product, so continues, until whole kinds of goods are both placed in the turnover box.When all kinds of goods
After selection, mobile conveying robot, which is lifted, to be carried the transport shelf and drives into packing work station, by being packaged staff from transport
Turnover box is removed on shelf, the cargo taken out in it is packaged, and is then delivered.Meanwhile place an empty turnover box.
In the utility model, under system initial state, each workspace of choosing is respectively provided with a transport shelf, and will
The number and location information of the transport shelf are stored in resource allocation module, and when the system is operated, mobile transfer robot is every
It is secondary put down transport shelf when, by its location of be sent to resource allocation system, the current location as the transport shelf.
Also, the mobile transfer robot of resource allocation system commander, when it puts down transport shelf empty driving, by programme path
Upper vacant transport shelf are carried to nearest picking workspace.Weight sensor or photoelectric sensor detection transport goods can be passed through
It whether there is turnover box on frame.
The effect of the utility model is：
(1) " order to people " mode has been used, the efficiency and accuracy of order sorting has been improved, improves the degree of automation
Meanwhile logistics storage dispensing center improvement cost is farthest reduced, and reduce the complexity and system of software and hardware system
Maintenance cost.
(2) picking staff service aisle and robot movable passageway, staff and mobile conveying robot are devised
People does not enter in different channels operations, mobile transfer robot inside picking passage, both ensure that security in turn ensured machine
Device people can save the space of storage with high-speed mobile, and the driving path of robot is simply single.
(3) installation period of whole system is short, and high modularization, autgmentability is strong, can freely add mobile robot.
The utility model is not limited to above-mentioned preferred forms, and anyone should learn that under the enlightenment of the utility model
The structure change made, it is every that there is same or similar technical solution with the utility model, each fall within the guarantor of the utility model
Within the scope of shield.
Claims (10)
1. the matching used transport shelf of a kind of and mobile transfer robot, including frame body, the frame body has there are four supporting leg,
It is characterized in that, is fixed on the frame body and the supporting leg is vertically arranged lifts pedestal, and described lift pedestal and ground
Between height for mobile transfer robot disengaging, the bottom surface for lifting pedestal is equipped with passive label, described passive
Formula label is corresponding with the number of the transport shelf.
2. transport shelf as described in claim 1, which is characterized in that the passive label is RFID label tag or Quick Response Code mark
Label are arranged on described lift at the bottom center of pedestal.
3. transport shelf as claimed in claim 2, which is characterized in that the bottom surface for lifting pedestal is equipped with carries with mobile
The interface that Jacking point on the jacking pallet of robot is adapted, the interface are laid along the circumferential direction of the passive label
It puts.
4. transport shelf as claimed in claim 3, which is characterized in that the interface is pit, and the inner surface of the pit
For spherical surface.
5. transport shelf as described in claim 1, which is characterized in that the lower end of the supporting leg is equipped with for moving carrying implement
The matching used reflection unit of distance measuring sensor on device people.
6. transport shelf as claimed in claim 5, which is characterized in that the reflection unit is annular in shape, is sleeved on the supporting leg.
7. transport shelf as described in claim 1, which is characterized in that the frame body has individual layer shelf or multi-layered storage rack.
8. transport shelf as claimed in claim 7, which is characterized in that be placed with turnover on the individual layer shelf or multi-layered storage rack
Case.
9. transport shelf as described in claim 1, which is characterized in that the lower end of the supporting leg is equipped with castor.
10. transport shelf as described in claim 1, which is characterized in that the upper end of the frame body is equipped with handle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721468938.1U CN207434322U (en) | 2017-11-07 | 2017-11-07 | The matching used transport shelf of a kind of and mobile transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721468938.1U CN207434322U (en) | 2017-11-07 | 2017-11-07 | The matching used transport shelf of a kind of and mobile transfer robot |
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| Publication Number | Publication Date |
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| CN207434322U true CN207434322U (en) | 2018-06-01 |
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| CN201721468938.1U Expired - Fee Related CN207434322U (en) | 2017-11-07 | 2017-11-07 | The matching used transport shelf of a kind of and mobile transfer robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018806A (en) * | 2018-08-21 | 2018-12-18 | 江苏木盟智能科技有限公司 | A kind of automatic conveying system and method |
| CN109264275A (en) * | 2018-09-20 | 2019-01-25 | 深圳蓝胖子机器人有限公司 | Intelligent repository management method, device and storage medium based on robot |
| CN109573438A (en) * | 2018-12-27 | 2019-04-05 | 北京艾瑞思机器人技术有限公司 | The method of transfer robot, shelf, warehousing system and Transport cargo rack |
| JP2020107322A (en) * | 2018-12-27 | 2020-07-09 | 北京曠視機器人技術有限公司Ｂｅｉｊｉｎｇ Ｋｕａｎｇｓｈｉ Ｒｏｂｏｔｉｃｓ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．， Ｌｔｄ． | Transport robot, commodity shelf, warehouse storage system, and commodity transport method |
| CN111517044A (en) * | 2019-02-01 | 2020-08-11 | 菜鸟智能物流控股有限公司 | Sorting system and method |
| CN113210294A (en) * | 2021-04-30 | 2021-08-06 | 浙江立镖机器人有限公司 | Robot cargo sorting system based on shelf transfer recognition and sorting method thereof |
| CN115009737A (en) * | 2022-05-31 | 2022-09-06 | 江苏木盟智能科技有限公司 | Multi-scene intelligent carrying method and system, storage medium and intelligent carrying robot |
| CN115991359A (en) * | 2023-03-22 | 2023-04-21 | 天津联汇智造科技有限公司 | Automatic finished product picking and placing and automatic warehousing system and method |
-
2017
- 2017-11-07 CN CN201721468938.1U patent/CN207434322U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018806A (en) * | 2018-08-21 | 2018-12-18 | 江苏木盟智能科技有限公司 | A kind of automatic conveying system and method |
| CN109018806B (en) * | 2018-08-21 | 2023-11-14 | 江苏木盟智能科技有限公司 | Automatic conveying system and method |
| CN109264275A (en) * | 2018-09-20 | 2019-01-25 | 深圳蓝胖子机器人有限公司 | Intelligent repository management method, device and storage medium based on robot |
| CN109264275B (en) * | 2018-09-20 | 2020-08-28 | 深圳蓝胖子机器人有限公司 | Robot-based intelligent warehouse management method and device and storage medium |
| CN109573438A (en) * | 2018-12-27 | 2019-04-05 | 北京艾瑞思机器人技术有限公司 | The method of transfer robot, shelf, warehousing system and Transport cargo rack |
| JP2020107322A (en) * | 2018-12-27 | 2020-07-09 | 北京曠視機器人技術有限公司Ｂｅｉｊｉｎｇ Ｋｕａｎｇｓｈｉ Ｒｏｂｏｔｉｃｓ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．， Ｌｔｄ． | Transport robot, commodity shelf, warehouse storage system, and commodity transport method |
| CN111517044A (en) * | 2019-02-01 | 2020-08-11 | 菜鸟智能物流控股有限公司 | Sorting system and method |
| CN111517044B (en) * | 2019-02-01 | 2022-05-24 | 菜鸟智能物流控股有限公司 | Sorting system and method |
| CN113210294A (en) * | 2021-04-30 | 2021-08-06 | 浙江立镖机器人有限公司 | Robot cargo sorting system based on shelf transfer recognition and sorting method thereof |
| CN113210294B (en) * | 2021-04-30 | 2022-07-22 | 浙江立镖机器人有限公司 | Robot cargo sorting system based on goods shelf transfer recognition and sorting method thereof |
| CN115009737A (en) * | 2022-05-31 | 2022-09-06 | 江苏木盟智能科技有限公司 | Multi-scene intelligent carrying method and system, storage medium and intelligent carrying robot |
| CN115991359A (en) * | 2023-03-22 | 2023-04-21 | 天津联汇智造科技有限公司 | Automatic finished product picking and placing and automatic warehousing system and method |
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Granted publication date: 20180601 |