CN209177372U - A kind of man-machine coordination whole process flexibility sorting system - Google Patents
A kind of man-machine coordination whole process flexibility sorting system Download PDFInfo
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- CN209177372U CN209177372U CN201821918334.7U CN201821918334U CN209177372U CN 209177372 U CN209177372 U CN 209177372U CN 201821918334 U CN201821918334 U CN 201821918334U CN 209177372 U CN209177372 U CN 209177372U
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Abstract
The utility model discloses a kind of man-machine coordination whole process flexibility sorting systems, including AGV robot, shelf, the elevator connecting with shelf and shuttle and control system；Power supply unit, scanning means, detection device, gyroscope, odometer and the first central processing unit are provided on the car body of AGV robot；Elevator includes column, the hoisting mechanism connecting with column, two promotion platforms and the second central processing unit；Shuttle includes carrying platform, two shuttle shells, shuttle vehicle track, walking mechanism and third central processing unit.The utility model has the beneficial effects that AGV robot is navigated by two dimensional code, after boosted machine is promoted, ensure to transport the accuracy of cargo by shuttle transport, infrared sensor on carrying platform is used to perceive the position of hopper, realize the automation of cargo transport, the interdependency to manpower is reduced, operating efficiency and the flexibility of entire warehousing system are improved.
Description
Technical field
The utility model relates to logistics and transportation technical fields, sort system more particularly, to a kind of man-machine coordination whole process flexibility
System.
Background technique
In recent years, with industrial automation, intelligentized development, all trades and professions, especially warehousing industry and transport service, warp
Often need to load and unload material and carried, and during manual handling, not only spend the time more, and human cost compared with
Height, thus need to realize cargo and material handling and carry the automation of overall process, reduce the interdependency to manpower.With storage
The continuous development of technology, in storage process, the daily output of cargo is very big, in order to improve the utilization rate of storage space,
It is provided with intensive warehouse mostly, is meeting storage cargo maximumlly simultaneously, also requiring to store in a warehouse out, storage will flexibly, low consumption
Efficiently, the access of cargo is completed within the shortest time.
Utility model content
The purpose of the utility model is to overcome above-mentioned technical deficiencies, propose a kind of man-machine coordination whole process flexibility sorting system
System, solves above-mentioned technical problem in the prior art.
The technical solution adopted in the utility model provides a kind of man-machine coordination whole process flexibility sorting system, comprising: AGV machine
Device people, shelf, the elevator being connect with the shelf and shuttle and control system；The AGV robot include car body,
The objective table that connect with the car body and the first central processing unit that the vehicle body is arranged in are arranged on the car body
There are power supply unit, scanning means, detection device, gyroscope and odometer, the scanning means is to be arranged in the Vehicular body front
Two-dimensional code reader, first central processing unit respectively with the scanning means, the detection device, the gyroscope and
The odometer is electrically connected；The elevator includes column, the hoisting mechanism connecting with the column, is arranged in the column
Two promotion platforms of two sides and the second central processing unit, the column include column ontology, top plate and setting described vertical
Two guide rails inside column, the two sides inside the column are arranged in two guide rails, and two guide rails are stood with described
Be all made of integral type mosaic texture between column, the hoisting mechanism include the directive wheel being connect respectively with two guide rails, with
The synchronous belt component of the directive wheel connection, the hoisting mechanism ontology connecting with the promotion platform and setting are described vertical
The synchronization wheel assembly of column lower end；The shuttle includes carrying platform, two shuttles that the carrying platform two sides are arranged in
Shell, the shuttle vehicle track that the carrying platform bottom is set, the walking mechanism being arranged in below the shuttle ontology, with
And the third central processing unit on the shuttle shell is set, the carrying platform include loading plate and with the loading plate
The lifting control mechanism of coupling is provided with several infrared sensors, two shuttle shells difference on the loading plate
The two sides of the carrying platform are fixed on, the lifting control mechanism, the power supply device and the third central processing unit are equal
It is arranged on the shuttle shell, is provided with pallet fork component on the shuttle shell；The control system respectively with it is described
First central processing unit, second central processing unit and the third central processing unit are wirelessly connected.
The utility model has the beneficial effects that AGV robot is navigated by two dimensional code, after boosted machine is promoted, pass through
Shuttle transport ensures to transport the accuracy of cargo, and the infrared sensor on carrying platform is used to perceive the position of hopper, realizes
The automation of cargo transport reduces the interdependency to manpower, improves operating efficiency and the flexibility of entire warehousing system.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the utility model；
Fig. 2 is the schematic perspective view of AGV robot in the utility model；
Fig. 3 is the schematic perspective view of elevator in the utility model；
Fig. 4 is the partial structure diagram in elevator main view direction in the utility model；
Fig. 5 is the schematic perspective view of shuttle in the utility model；
Fig. 6 is the partial structure diagram in shuttle main view direction in the utility model；
In attached drawing: 1, AGV robot, 2, shelf, 3, elevator, 4, shuttle, 11, car body, 12, objective table, 13, scanning
Device, 14, detection device, 31, column, 32, hoisting mechanism, 33, promote platform, 311, column ontology, 312, top plate, 313, lead
Rail, 321, directive wheel, 322, synchronous belt component, 323, hoisting mechanism ontology, 324, synchronous wheel assembly, 41, carrying platform, 42,
Shuttle shell, 43, shuttle vehicle track, 44, walking mechanism, 421, pallet fork component, 4211, pallet fork, 4212, synchronous belt.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing, to this reality
It is further elaborated with novel.It should be appreciated that specific embodiment described herein is only used to explain that this is practical new
Type is not used to limit the utility model.
As shown in Figure 1, the technical solution adopted in the utility model provides a kind of man-machine coordination whole process flexibility sorting system,
It include: AGV robot 1, shelf 2, the elevator 3 being connect with shelf 2 and shuttle 4 and control system.
AGV robot 1 includes car body 11, the objective table 12 that connect with car body 11 and be arranged in inside car body 11 the
One central processing unit.
Car body 11 is released effectively car body machining stress using the cast member being independently opened, processing after annealing processing,
Precision after can be effectively controlled car body processing, guarantees the consistency of car body.It is provided with power supply unit in car body 11, the power supply unit
Using the physical battery power supply of LiFePO4, the physical battery of LiFePO4 belongs to explosion-proof maintenance-free battery, and LiFePO4 object
Rationality battery supports 2C charging, and current strength is smaller in charging process, reduces the impact of current versus cell in charging process, extends
The service life of battery, power supply unit are that AGV robot 1 provides power supply, promote the safety in use process.
Scanning means 13 and detection device 14 are provided on car body 11, scanning means 13 is two that 11 front of car body is arranged in
Code reader is tieed up, which cooperates AGV machine using German import PEPPERL FUCHS planar bar code technology, two-dimensional code reader
The control system of the first central processing unit and host computer in people uses, AGV robot pass through two dimensional code navigation by recognition, it can be achieved that
The harmony of Duo Tai AGV robot pahtfinder hard promotes scene Duo Tai AGV robot in the coordination in irregular path, avoids nothing
The operation in path is imitated, service efficiency is promoted.Detection device 14 includes laser sensor, ultrasonic sensor, infrared sensor
One or any two kinds or three kinds, position and operating status of the detection device for real-time monitoring AGV robot.Car body 11
On be additionally provided with gyroscope and odometer, which is used to detect the traffic direction of AGV robot, and the odometer is for calculating
The speed of service of AGV robot.Scanning means, detection device, gyroscope and odometer with the central processing unit inside car body 1
It is electrically connected, the central processing unit and host computer are wirelessly connected, and metrical information is sent to the logistics transportation by central processing unit
The control system of system, for control system calculates the displacement of AGV robot.
Objective table 12 is for placing material, and AGV robot 1 is by material transferring to shelf 2.
For storing material, several elevators 3 and several shuttles 4 are arranged on shelf 2 shelf 2.
Elevator 3 is the defeated roller bed type elevator of single upright column and double, the promotion that elevator 3 includes column 31, connect with column 31
Mechanism 32, two promotion platforms 33 that 31 two sides of column are set and the second central processing unit being arranged on column 31.
Column 31 includes column ontology 311, top plate 312 and two guide rails 313 being arranged in inside column 31, top plate 312
Lower section is provided with buffer, avoids hoisting mechanism 32 in use process out of control and impacts the top plate 312 at 31 top of column.Two are led
The two sides inside column 31 are arranged in rail 313, and are all made of integral type mosaic texture between two guide rails 313 and column 31, should
Design can reduce space, while avoiding hoisting mechanism 32 and promoting the collision in 33 operational process of platform.
Column 31 is made of high-strength aluminum alloy material, and the rail section of two guide rails 313 designs according to actual needs
Die sinking can effectively ensure that reasonable structural and long-term service life.It is additionally provided with maintenance stair on column ontology 311, is
Do not influence to be promoted the use of platform 33, the two sides of column ontology 311 are arranged in two promotion platforms 33, and maintenance stair setting is vertical
The back of column ontology 311.
Hoisting mechanism 32 connect including respectively with the directive wheel 321 of two guide rails 313 connection, with directive wheel 321 synchronous
With component 322, with promote the hoisting mechanism ontology 323 and the synchronous wheel assembly of 31 lower end of column is set that platform 33 connects
324。
It is slidably connected between directive wheel 321 and guide rail 313, directive wheel 321 uses the U-shaped bearing of moral mark import, guarantees to be promoted
Mechanical precision when mechanism 32 is gone up and down.
Synchronous belt component 322 includes synchronizing belt tensioner pulley, synchronous belt and synchronous belt pressing device, on the synchronization belt tensioner pulley
It is sheathed with synchronous belt, synchronous belt pressing device is arranged on synchronous belt.Synchronous belt 322 is used using German horse personal style and attitude board, material
Rubber and glass wire can reduce high-speed cruising bring noise, easy to maintenance, long service life.
Hoisting mechanism ontology 323 includes fixed frame, is arranged in the compensation linkage at fixed frame both ends, the fixed frame and is promoted
The side of platform 33 is fixedly connected, and is moved up and down so that promoting platform 33 with fixed frame.
Synchronous wheel assembly 324 includes bottom plate, the driving motor being arranged on bottom plate, decelerating motor and synchronizing wheel, the driving
The output axis connection decelerating motor of motor, driving motor drive drive shaft rotation, drive synchronous belt to make reciprocal fortune by synchronizing wheel
It is dynamic, it pumps to drive and promote platform 33.Driving motor uses import ethercat servo motor, it is ensured that same
Walk the high-speed cruising and precise positioning of wheel assembly.
Two promotion platforms 33 are separately positioned on the two sides of column 31, work independently from each other between two promotion platforms 33,
The balance and service efficiency of the defeated roller bed type elevator entirety of the single upright column and double can be improved.
Second central processing unit is using the open architecture that Germany Lenze ethercat, ethercat are based on Ethernet
Field bus protocol, meet IEC international standard, the second central processing unit is controllable to mention by motion control and pulse control
The peaceful 33 any position stopping in expanded reach, removal switch detection can reduce cost, mention to avoid cumbersome installation
Rise the safety in use process.
Shuttle 4 is being carried including carrying platform 41, the two shuttle shells 42 that 41 two sides of carrying platform are arranged in, setting
The shuttle vehicle track 43 of 41 bottom of platform, the walking mechanism 44 being arranged in below shuttle shell 42 and setting are in shuttle
Third central processing unit on shell 42.
Lifting control mechanism of the carrying platform 41 including loading plate and with loading plate coupling, the lifting control mechanism and third
Central processing unit is electrically connected, for adjusting the height of loading plate.In this present embodiment, user carries out practical according to ambient conditions
Manipulation, issues decline instruction or climb command controls loading plate.Several infrared sensors are provided on loading plate, it should
Infrared sensor is used to perceive the position of loading plate feeding box, and infrared sensor and third central processing unit are electrically connected.
Two shuttle shells 42 are separately fixed at the two sides of carrying platform 41, the elevating control machine on carrying platform 41
Structure and third central processing unit are arranged on shuttle shell 42.It is additionally provided with power supply device on shuttle shell 42, the electricity
Source device belongs to explosion-proof maintenance-free battery, and phosphoric acid using the physical battery power supply of LiFePO4, the physical battery of LiFePO4
The physical battery of iron lithium supports 2C charging, and current strength is smaller in charging process, and current versus cell rushes in reduction charging process
It hits, extends the service life of battery, which provides power supply for shuttle, promotes the safety in use process.
Pallet fork component 421 is provided on shuttle shell 42, the pallet fork component 421 include several pallet forks 4211 and with this
The synchronous belt 4212 that pallet fork 4211 connects, pallet fork 4211 use Shuan Shen mechanism, and the driving motor on pallet fork 4211 is using German human relations
Thatch ethercat product realizes that precise positioning, pallet fork component 421 can be two each to left and right in a halts in use process
Hopper carries out precise positioning crawl, and synchronous belt 4212 uses rubber and glass using German horse personal style and attitude board, the material of synchronous belt 4212
Glass fiber line can reduce the noise during shuttle high-speed cruising, while facilitate maintenance, long service life.
Shuttle vehicle track 43 and carrying platform 41 are cooperatively connected, and shuttle is facilitated to access cargo, complete cargo scheduling, thus
Improve operating efficiency and the flexibility of entire warehousing system.
Walking mechanism 44 includes at least one set of driving wheel, at least one set of driven wheel and travel driving motor, driving wheel and from
Driving wheel is respectively positioned on the bottom of shuttle shell 42, and travel driving motor is set to the inside of shuttle shell 42, hoofing part electricity
Machine is for driving driving wheel and driven wheel being driven to move on shuttle vehicle track.The core wheel of driving wheel and driven wheel is all made of quenching
The outside of steel modulation treatment, the core wheel is enclosed with Anti-slip cover, is provided with waterproof grommet on the Anti-slip cover, and drive can be effectively ensured
Frictional force between driving wheel and ground, and be not easy to skid, driving wheel vacantly causes to skid when the shuttle being avoided to walk
The situation of off-line.
In above-mentioned technical proposal, working principle of the utility model is: under the manipulation of control system, AGV robot is by goods
Object transports elevator 3, after boosted machine 3 is promoted, cargo is transported to corresponding shelf location by shuttle 4, completes goods
Object scheduling, to improve operating efficiency and the flexibility of entire warehousing system.
Compared with prior art, the utility model has the beneficial effects that AGV robot is navigated by two dimensional code, through mentioning
After the machine of liter is promoted, ensure to transport the accuracy of cargo by shuttle transport, the infrared sensor on carrying platform is for perceiving
The automation of cargo transport is realized in the position of hopper, reduces the interdependency to manpower, improves the operating efficiency of entire warehousing system
And flexibility.
Specific embodiment of the present utility model described above does not constitute the restriction to scope of protection of the utility model.
Any other various changes and modifications that any technical concept according to the present utility model is made should be included in practical
In novel scope of protection of the claims.
Claims (5)
1. a kind of man-machine coordination whole process flexibility sorting system characterized by comprising AGV robot, shelf and the goods
The elevator and shuttle and control system of frame connection；The load that the AGV robot includes car body, is connect with the car body
Object platform and the first central processing unit that the vehicle body is arranged in are provided with power supply unit, scanning dress on the car body
It sets, detection device, gyroscope and odometer, the scanning means are the two-dimensional code reader that the Vehicular body front is arranged in, institute
The first central processing unit is stated electrically to connect with the scanning means, the detection device, the gyroscope and the odometer respectively
It connects；The elevator include column, the hoisting mechanism being connect with the column, be arranged in two of the column two sides promoted it is flat
Platform and the second central processing unit, the column include that column ontology, top plate and be arranged in inside the column two lead
Rail, the two sides inside the column are arranged in two guide rails, and are all made of one between two guide rails and the column
Body formula mosaic texture, the hoisting mechanism include the directive wheel connecting respectively with two guide rails, connect with the directive wheel
Synchronous belt component, with the hoisting mechanism ontology that connect of promotion platform and the synchronizing wheel of the column lower end is set
Component；The shuttle includes carrying platform, two shuttle shells that the carrying platform two sides are arranged in, is arranged described
The shuttle vehicle track of carrying platform bottom, the walking mechanism being arranged in below the shuttle ontology and setting are worn described
Third central processing unit on shuttle car shell, the carrying platform include loading plate and the elevating control with loading plate coupling
Mechanism is provided with several infrared sensors on the loading plate, and two shuttle shells are separately fixed at the carrying
The two sides of platform, the lifting control mechanism and the third central processing unit are arranged on the shuttle shell, described
Pallet fork component and power supply device are additionally provided on shuttle shell；The control system respectively with first central processing unit,
Second central processing unit and the third central processing unit are wirelessly connected.
2. a kind of man-machine coordination whole process flexibility sorting system as described in claim 1, which is characterized in that the column uses
Aluminum alloy material production.
3. a kind of man-machine coordination whole process flexibility sorting system as described in claim 1, which is characterized in that the power supply unit
The physical battery power supply of LiFePO4 is all made of with the power supply device.
4. a kind of man-machine coordination whole process flexibility sorting system as described in claim 1, which is characterized in that the synchronous belt is adopted
Rubber and glass wire are used with the material of German horse personal style and attitude board, the synchronous belt.
5. a kind of man-machine coordination whole process flexibility sorting system as described in claim 1, which is characterized in that the two dimensional code is read
Take device using German PEPPERL FUCHS planar bar code technology.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821918334.7U CN209177372U (en) | 2018-11-20 | 2018-11-20 | A kind of man-machine coordination whole process flexibility sorting system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821918334.7U CN209177372U (en) | 2018-11-20 | 2018-11-20 | A kind of man-machine coordination whole process flexibility sorting system |
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| CN209177372U true CN209177372U (en) | 2019-07-30 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111422546A (en) * | 2020-04-20 | 2020-07-17 | 江苏浩智智能科技有限公司 | Full-automatic sorting method for stored goods |
| CN111792269A (en) * | 2020-05-27 | 2020-10-20 | 北京京东乾石科技有限公司 | Sorting device |
| CN112793969A (en) * | 2020-12-23 | 2021-05-14 | 珠海迪沃航空工程有限公司 | Four-way shuttle sleeve elevator, control system and control method |
| CN113387117A (en) * | 2020-03-11 | 2021-09-14 | 长沙智能驾驶研究院有限公司 | Transport robot, transport system, and transport robot connection control method |
| CN113525989A (en) * | 2021-07-30 | 2021-10-22 | 上海阿觅尔智能科技有限公司 | Intelligent unmanned warehouse |
| CN114180250A (en) * | 2021-12-27 | 2022-03-15 | 杭州慧仓信息科技有限公司 | Article handling system with direct docking positioning device and method thereof |
| WO2024027189A1 (en) * | 2022-08-03 | 2024-02-08 | 北京京东乾石科技有限公司 | Goods distribution device and system, device control method, controller, and readable medium |
-
2018
- 2018-11-20 CN CN201821918334.7U patent/CN209177372U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113387117A (en) * | 2020-03-11 | 2021-09-14 | 长沙智能驾驶研究院有限公司 | Transport robot, transport system, and transport robot connection control method |
| CN111422546A (en) * | 2020-04-20 | 2020-07-17 | 江苏浩智智能科技有限公司 | Full-automatic sorting method for stored goods |
| CN111792269A (en) * | 2020-05-27 | 2020-10-20 | 北京京东乾石科技有限公司 | Sorting device |
| CN112793969A (en) * | 2020-12-23 | 2021-05-14 | 珠海迪沃航空工程有限公司 | Four-way shuttle sleeve elevator, control system and control method |
| CN113525989A (en) * | 2021-07-30 | 2021-10-22 | 上海阿觅尔智能科技有限公司 | Intelligent unmanned warehouse |
| CN114180250A (en) * | 2021-12-27 | 2022-03-15 | 杭州慧仓信息科技有限公司 | Article handling system with direct docking positioning device and method thereof |
| CN114180250B (en) * | 2021-12-27 | 2024-05-28 | 杭州慧仓信息科技有限公司 | Article handling system with direct docking positioning device and method thereof |
| WO2024027189A1 (en) * | 2022-08-03 | 2024-02-08 | 北京京东乾石科技有限公司 | Goods distribution device and system, device control method, controller, and readable medium |
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| CP01 | Change in the name or title of a patent holder |
Address after: 435000 No. 2, Fengyuan Road, Luoqiao sub district office, Daye City, Huangshi City, Hubei Province Patentee after: Smart Core Technology (Hubei) Co.,Ltd. Address before: 435000 No. 2, Fengyuan Road, Luoqiao sub district office, Daye City, Huangshi City, Hubei Province Patentee before: PROLOG SMART CORE TECHNOLOGY (HUBEI) Co.,Ltd. |
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