WO2018218543A1 - 一种仓储***、仓储***的控制***及控制方法 - Google Patents

一种仓储***、仓储***的控制***及控制方法 Download PDF

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Publication number
WO2018218543A1
WO2018218543A1 PCT/CN2017/086711 CN2017086711W WO2018218543A1 WO 2018218543 A1 WO2018218543 A1 WO 2018218543A1 CN 2017086711 W CN2017086711 W CN 2017086711W WO 2018218543 A1 WO2018218543 A1 WO 2018218543A1
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WIPO (PCT)
Prior art keywords
control module
storage
push
controlling
material box
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PCT/CN2017/086711
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English (en)
French (fr)
Inventor
陈军
詹树佳
程嘉聪
陆品桂
彭涛
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真玫智能科技（深圳）有限公司
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Priority to PCT/CN2017/086711 priority Critical patent/WO2018218543A1/zh
Publication of WO2018218543A1 publication Critical patent/WO2018218543A1/zh

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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
    • 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

Definitions

  • Embodiments of the present invention relate to the field of warehousing technology, and in particular, to a storage system, a control system for a storage system, and a control method.
  • the embodiment of the invention provides a control system and a control method for a storage system and a storage system, which can save time and manpower required for storing and extracting materials, and reduce storage cost of materials.
  • the embodiment of the present invention adopts the following technical solutions:
  • an embodiment of the present invention provides a storage system.
  • the storage system comprises: a storage frame body, a handling device for carrying the material box, a transmission unit for conveying and recycling the material box, and a control cabinet;
  • the storage rack body is provided with a plurality of storage compartments for storing the material box, At least one storage compartment is provided with a push-pull assembly for pushing and pulling the material box from the corresponding storage compartment, and the handling device, the transmission unit, and the push-pull assembly are all wirelessly connected to the control cabinet.
  • the storage system provided by the embodiment of the invention has the following beneficial effects:
  • the storage rack body is provided with a plurality of storage compartments for storing the material boxes.
  • the control unit is required to control the transmission unit, and the materials are stored.
  • the handling device is controlled by the control cabinet, so that the handling device can transport the material box to the designated storage compartment, and the material storage can be completed, which makes the storage.
  • the storage compartment of the material box containing the required materials can be found through the control cabinet, and the handling device is controlled to carry the material box into the storage compartment provided with the push-pull assembly, and then the push-pull assembly is controlled through the control cabinet. , so that the push-pull component pushes out the material box, and the material server required for sorting in the material box receives the material distribution information, and informs the material.
  • the selection device picks the required materials and puts them into the receiving device.
  • the push-pull assembly can be controlled by the control cabinet, so that the push-pull assembly pulls the material box back, and then passes through the control cabinet, so that the handling device will
  • the material box is transported to the original storage compartment, which eliminates the need to manually find and carry the material box containing the material during the material removal process, and the worker does not need to manually use the material after selecting the required material.
  • the box is placed back in place, saving manpower and time required for material access. It can be seen that when the storage system provided by the embodiment of the present invention is used for storing and taking materials, the time and labor required for storing and taking materials can be saved, and the storage cost of the materials is reduced.
  • an embodiment of the present invention provides a control system for a storage system, which adopts the following technical solutions:
  • the control system of the storage system is for controlling the storage system, and the control system of the storage system comprises: a central processor storing the storage information of the storage system, and a control unit respectively connected to the central processing unit for controlling the handling device to carry the material box.
  • Transport unit control module Transmission unit control module for controlling transfer unit transfer and recycling of material boxes, and for controlling push-pull assembly push And the push-pull component control module of the material box stored in the storage compartment.
  • an embodiment of the present invention provides a method for controlling a storage system, which adopts the following technical solutions:
  • the control method of the storage system uses the control system of the above storage system, and the control method of the storage system includes: a material storage control method and a material acquisition control method;
  • Material storage control methods include:
  • the storage compartment in the storage rack body for placing the material box containing the materials to be stored is selected;
  • Material access control methods include:
  • the required material box is selected according to the type information and quantity information of the required materials
  • the push-pull component control module is controlled by the central processing unit, and the push-pull component is controlled to push the push-pull assembly to push out the required material box.
  • FIG. 1 is a top plan view of a storage system according to an embodiment of the present invention.
  • FIG. 2 is a schematic perspective structural view of a storage system according to an embodiment of the present invention.
  • FIG. 3 is a top plan view of a push-pull assembly in a storage system according to an embodiment of the present invention
  • FIG. 4 is a schematic structural diagram of a push-pull assembly in a storage system according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a control system of a storage system according to an embodiment of the present invention.
  • FIG. 6 is a flowchart of a material storage control method according to an embodiment of the present invention.
  • FIG. 7 is a flowchart of a material access control method according to an embodiment of the present invention.
  • the embodiment of the present invention provides a storage system.
  • the storage system includes: a storage rack body 1, a handling device 3 for carrying the material box 2, and a material box for conveying and recycling. 2 transport unit 4 and control cabinet 5; storage rack body 1 is provided with a plurality of storage compartments 11 for storing material boxes, at least one storage compartment 11 is provided for pushing the material boxes out from the corresponding storage compartments and The push-pull assembly 6 is pulled back, and the carrying device 3, the transport unit 4, and the push-pull assembly 6 are all wirelessly connected to the control cabinet 5.
  • the transmission unit 4 can be controlled by the control cabinet 5 to transmit
  • the unit 4 transports the material box containing the material to a position corresponding to the designated storage compartment 11, and then the handling device 3 can be controlled by the control cabinet 5, so that the handling device 3 carries the material box to the designated storage compartment. 11.
  • the material storage is completed; when the material is taken from the storage system, the storage compartment 11 for placing the material box containing the required materials can be found through the control cabinet 5, and the handling device 3 is controlled to carry the material handling box.
  • the push-pull assembly 6 To the storage compartment 11 provided with the push-pull assembly 6, and then the push-pull assembly 6 is controlled by the control cabinet 5, so that the push-pull assembly 6 pushes the material box out, and the required materials can be sorted in the material box, in the sorting After completion, the push-pull assembly 6 can also be controlled by the control cabinet 5, causing the push-pull assembly 6 to pull the material cartridge back, and then transport the material cartridge to the original storage compartment 11 through the handling device 3.
  • the storage rack body 1 is provided with a plurality of storage compartments 11 for storing the material boxes.
  • the control unit 5 needs to control the transmission unit 4, After the material box 2 storing the material is transferred to the position corresponding to the designated storage compartment 11, the handling device 3 is controlled by the control cabinet 5, and the conveying device 3 carries the material box to the designated storage compartment 11 to complete
  • the storage of materials which makes it unnecessary for the staff to take a long time to find the material box of the material when storing the materials, and does not need to manually carry the material box, thereby saving the manpower and time required for material storage.
  • the storage compartment 11 for placing the material box containing the required materials can be found through the control cabinet 5, and the handling device 3 is controlled to carry the material cassette to the push-pull assembly 6
  • the push-pull assembly 6 is then controlled by the control cabinet 5, so that the push-pull assembly 6 pushes the material box out, and the required materials can be sorted in the material box, and after the sorting is completed,
  • the control cabinet 5 controls the push-pull assembly 6 so that the push-pull assembly 6 pulls the material cartridge back, and then passes through the control cabinet 5, causing the handling device 3 to carry the material cartridge to the original storage compartment 11, which allows the material to be taken.
  • the above-mentioned storage rack body 1 is a cylindrical frame body, and a cylindrical frame
  • the body may include a plurality of arc-shaped sub-frames detachably combined, and each of the arc-shaped sub-frames is provided with a plurality of storage compartments 11 so that the factory can arbitrarily select the arc-shaped sub-frames according to the actual plant size and requirements. The number is combined to form a cylindrical frame of different sizes.
  • the storage frame 1 can also be disassembled to facilitate the movement of the storage frame 1.
  • the storage rack body in the embodiment of the present invention can be not only a cylindrical frame body but also a rectangular parallelepiped frame body.
  • a rectangular parallelepiped frame body is selected, one side of the rectangular parallelepiped frame body can be placed on The wall of the storage rack body is arranged, thereby reducing the space required for the storage rack body and reducing the cost of the storage system.
  • the conveying device 3 is located in the inner region of the cylinder surrounded by the cylindrical frame body, and the conveying unit 4 projects into the inner region of the cylinder through an opening formed in the cylindrical frame body, and the push-pull assembly 6 is used for Pushing the material box from the corresponding storage compartment 11 in the direction of the inner region of the cylinder to the outer cylinder area outside the cylindrical frame, and pulling the material box back from the corresponding storage compartment 11 in the direction of the outer region of the cylinder to the inner region of the cylinder .
  • the above-described warehousing system may further include: a sorting robot 7 and a transport cart 8, in particular, the sorting robot 7 and the transport cart 8 are both located outside the cylinder, and the sorting robot 7 and transport The vehicles 8 are all wirelessly connected to the control cabinet 5, so that after the push-pull assembly 6 pushes the material box from the corresponding storage compartment 11 in the direction of the inner region of the cylinder to the outer region of the cylinder, the sorting robot can also be controlled by the control cabinet 5.
  • 7 Sorting the required materials from the material box to the transport cart 8, and then passing through the control cabinet 5, causing the transport cart 8 to carry the required materials along the predetermined route.
  • a safety door 12 can be opened on the storage rack body 1 , so that a worker can enter the middle area enclosed by the storage rack body through the safety door 12 to facilitate maintenance and maintenance of the storage rack body.
  • the storage rack body 1 can also be provided with a hole 13 for the transport vehicle to enter the intermediate area enclosed by the storage rack body, so as to facilitate transportation of the material by the transport vehicle.
  • the above-mentioned safety 12 can be selected from ordinary safety doors.
  • the electronic security door with stronger confidentiality can be selected.
  • the control system of the electronic safety door can be connected with the control cabinet, and the opening and closing of the safety door 12 can be controlled by the control cabinet.
  • the above-mentioned conveying device may be a four-axis robot arm or a six-axis robot arm, so that the storage and access of the multi-dimensional material box of the conveying device can be realized, and the requirements of the storage system for the handling device are met, optionally, in the handling
  • the bottom end of the device may be provided with a movable slide rail, such as a "T" shaped slide rail or the like, so that the transport device can perform multi-dimensional sliding, further satisfying the requirements of the storage system for the transport device.
  • the embodiment of the present invention is not limited, and those skilled in the art can set according to actual needs, and the carrying device can be fixed not only in the space provided with the above storage system.
  • the ground can also be hung in the air, etc., and those skilled in the art can set according to the actual space size and the position of the storage rack body in the storage system.
  • the transport unit 4 may include an upper transport belt 41 for transporting the material cartridge and a lower transport belt 42 for recycling the material cartridge, thereby allowing the materials to be simultaneously used in the storage system.
  • the material box 2 can be transported to the designated position through the upper conveyor belt 41, stored by the pusher 3, and reversely operated by the lower conveyor belt 42 to recover the sorting robot 7
  • the empty material box 2 after sorting improves the operation efficiency of the transmission unit 4, thereby improving the operating efficiency of the above storage system.
  • the upper conveyor belt may further be provided with a clamp structure for fixing the material box, and the material box is effectively positioned, thereby facilitating the accurate and smooth gripping of the material box by the handling device.
  • the push-pull assembly may be a pneumatic component or a roller conveyor, etc., as long as the pushing of the material can be realized under the control of the control cabinet.
  • the pneumatic component since the material of the material box is pushed by the roller conveyor, the position of the material box conveyed by the roller conveyor is controlled by electric control, so that the position of the material box pushed by the roller conveyor can be precisely controlled;
  • the pneumatic component when the pneumatic component is used to push the material cartridge, the required voltage is lower, which is easier to implement in actual operation.
  • a person skilled in the art can select a specific push-pull component according to the actual situation, which is not limited by the embodiment of the present invention.
  • the push-pull assembly 6 can be placed in a warehouse.
  • the pneumatic component at the bottom of the compartment 11, in particular, the bottom of the storage compartment 11 of the bottom shelf of the storage rack 1 can be provided with the pneumatic component, so that when a plurality of materials need to be sorted, the push can be used
  • the machine 3 transports a plurality of material boxes 2 containing a plurality of materials to the storage compartment 11 provided with the pneumatic components, and simultaneously pushes out a plurality of material boxes 2, so that seven sorting machines can be operated simultaneously by a plurality of sorting machines. Improve the sorting efficiency of materials.
  • the push-pull assembly 6 may include a pneumatic linear guide 61 mounted at the bottom of the storage compartment, and the pneumatic linear guide 61 is provided with a moving plate 62 as a base for supporting the material cartridge 2. And a pneumatic control member 63 for controlling the pushing direction of the pneumatic linear guide 61, the pneumatic control member 63 being wirelessly connected to the control cabinet.
  • the pneumatic control unit 63 may include a gas pipe, a solenoid valve 631 connected to the gas pipe, and a cylinder 632 connected to the solenoid valve.
  • the gas pipe delivers airflow to the cylinder 632 through the solenoid valve 631.
  • the solenoid valve 631 is energized, the airflow enters the cylinder 632 from one side, the cylinder 632 receives the air pressure, and the moving plate 62 connected thereto is pushed out through the pneumatic linear guide 61, the electromagnetic valve 631 is de-energized, and the airflow enters the cylinder from the other side.
  • the air cylinder 632 receives the air pressure, and the movable moving plate 62 is pushed in the reverse direction by the pneumatic linear guide 61 to recover the moving plate 62.
  • the embodiment of the present invention further provides a control system of the storage system for controlling the storage system.
  • the control system of the storage system includes a central processing unit 101 storing storage information of the storage system, And a carrier control module 102 for controlling the handling device to transport the material cartridge, a transmission unit control module 103 for controlling the transmission unit to transfer and recycle the material cartridge, and a control for pushing and unloading the push-pull assembly.
  • the central processor 101 may first select the material in the storage rack for placing the material to be stored according to the type information and quantity information of the material to be stored.
  • the storage compartment of the material box in particular, the central processing unit 101 can divide the storage compartments for placing the material boxes in the storage rack body according to different material types and frequency of use, for example, can be divided into high frequency use areas and Low-frequency use area, and then when storing materials, according to the type information of the materials to be stored And the quantity information, the optimal storage compartment is selected, and if the material is a material for high frequency use, the central processor 101 can select the storage for placing the material box containing the material to be stored in the high frequency use area.
  • the storage compartment for placing the material box containing the material to be stored is selected by the central processing unit 101 in the low-frequency use area, and then transmitted by the central processing unit 101.
  • the unit control module 103 controls the transmission unit through the transmission unit control module 103, transfers the material cartridge to a position corresponding to the storage compartment, and finally controls the handling device control module 102 through the central processing unit 101, and controls the module through the handling device 102, controlling the handling device, carrying the material box to the designated storage compartment; on the other hand, when using the above control system to take materials, the central processor 101 may be first selected according to the type information and quantity information of the required materials.
  • the required material box is then controlled by the central processing unit 101 and controlled by the handling device control module 102.
  • the material handling box required for the handling device is transported to the free storage compartment of the push-pull assembly at the bottom, and finally the push-pull component control module 104 is controlled by the central processing unit 101, and the push-pull component control module 104 is controlled to control the push-pull assembly to the required material box. Once launched, the required materials are available.
  • the control system of the storage system further includes a material respectively connected to the central processing unit 101 for controlling the sorting robot to feed the material in the material box.
  • a sorting robot control module 105 sorted to the transport vehicle, and a transport vehicle control module 106 for controlling the transport route of the transport vehicle, so that after the push-pull assembly pushes out the required material cartridge, it can also be controlled by the central processing unit 101.
  • the sorting robot control module 105 controls the sorting robot to sort the required materials in the material box to the transport vehicle through the sorting robot control module 105, and then controls the transport vehicle control module 106 through the central processing unit 101, and Through the transport vehicle control module 106, the transport vehicle is controlled to transport the required materials out according to a predetermined transport route.
  • an embodiment of the present invention further provides a method for controlling a storage system, wherein the storage system is controlled by using the control system of the storage system.
  • the control method of the storage system may include: a material storage control method and material access. Control Method.
  • the material storage control method includes:
  • Step S101 The central processing unit selects, according to the type information and the quantity information of the material to be stored, a storage compartment in the storage rack body for placing the material box containing the material to be stored.
  • Step S102 Control the transmission unit control module by the central processing unit, and control the transmission unit through the transmission unit control module to transfer the material box to a position corresponding to the storage compartment.
  • Step S103 controlling the handling device control module by the central processing unit, and controlling the conveying device through the conveying device control module to carry the material box to the storage compartment.
  • the material access control method includes:
  • Step S201 The central processing unit selects a required material box according to the type information and the quantity information of the required materials.
  • Step S202 Control the handling device control module by the central processing unit, and control the material box required for the handling device to be transported to the free storage compartment with the push-pull assembly at the bottom by the handling device control module.
  • Step S203 controlling the push-pull component control module by the central processing unit, and controlling the push-pull component to push out the required material box by pushing and pulling the component control module.
  • the material extraction control method further includes:
  • Step S204 Control the sorting robot control module by the central processing unit, and control the sorting robot to sort the required materials in the material box to the transport vehicle through the sorting robot control module.
  • Step S205 Controlling the transport vehicle control module by the central processor, and controlling the transport vehicle to transport the required materials according to the predetermined transport route through the transport vehicle control module.
  • the material access control method further includes:
  • Control the push-pull component control module through the central processor and control it through the push-pull component
  • the module controls the push-pull assembly and retracts the required material box.
  • the handling device control module can be controlled by the central processing unit, and the handling device can be controlled by the handling device control module to move the required material box back to the original storage compartment. If there is no material left in the required material box after sorting, the handling device control module and the transmission unit control module can be controlled by the central processing unit, and the handling device can be controlled by the handling device control module. After the material box is placed in the transmission unit, the transmission unit control module controls the transmission unit to timely recover the required material box, thereby eliminating the need to put the empty material box back into the storage rack body, thereby improving the utilization rate of the storage rack body and the storage. The operating efficiency of the frame.

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Abstract

公开了一种仓储***、仓储***的控制***及控制方法。该仓储***包括：仓储架体（1）、用于搬运物料盒（2）的搬运装置（3）、用于传送和回收物料盒（2）的传输单元（4）和控制柜（5）；仓储架体（1）上设置有多个用于存放物料盒（2）的仓储隔间（11），至少一个仓储隔间（11）设有用于将物料盒（2）从对应的仓储隔间（11）推出和拉回的推拉组件（6），搬运装置（3）、传输单元（4）、推拉组件（6）均与控制柜（5）无线连接。在使用该仓储***存放和取用物料时，能够节省存放和取用物料所需时间和人力，降低物料的存储成本。

Description

一种仓储***、仓储***的控制***及控制方法 技术领域
本发明实施例涉及仓储技术领域，尤其涉及一种仓储***、仓储***的控制***及控制方法。
背景技术
目前，许多工厂的生产加工过程中，往往需要多种物料，这就需要在工厂中配备物料存储装置来存储物料，而在生产过程中，当需要取用不同物料时，往往需要通过工作人员去寻找并搬取，而由于存储装置中存储的物料种类较多且数量庞大，工作人员需要花费较长的时间去查找盛有该物料的物料盒，且工作人员从存储装置中取出盛有该物料的物料盒，选取了所需物料之后，还需将该物料盒再放回原处，同样地，在工厂购入物料，物料需要入库时，也需要工作人员花费较长的时间去查找该种物料的物料盒并搬运该物料，将购入物料入库，这就使得不论是在取用原物料还是将购入的物料入库时，均需耗费大量的人力和时间，导致物料的存储成本较高。
发明内容
本发明实施例提供一种仓储***、仓储***的控制***及控制方法，能够节省存放和提取物料所需时间和人力，降低物料的存储成本。
为达到上述目的，本发明实施例采用如下技术方案：
第一方面，本发明实施例提供一种仓储***。该仓储***包括：仓储架体、用于搬运物料盒的搬运装置、用于传送和回收物料盒的传输单元和控制柜；仓储架体上设置有多个用于存放物料盒的仓储隔间，至少一个仓储隔间设有用于将物料盒从对应的仓储隔间推出和拉回的推拉组件，搬运装置、传输单元、推拉组件均与控制柜无线连接。
与现有技术相比，本发明实施例提供的仓储***具有以下有益效果：
在本发明实施例提供的仓储***中，仓储架体上设置有多个用于存放物料盒的仓储隔间，一方面，在需要存放物料时，只需要通过控制柜控制传输单元，将存放物料的物料盒传送至与指定的仓储隔间对应的位置之后，通过控制柜控制搬运装置，使搬运装置将该物料盒搬运至指定的仓储隔间，即可完成物料的存放，这就使得在存放物料时，不需要工作人员花费较长的时间去查找该种物料的物料盒，也不需要人工搬运该物料盒，节省了物料存放时所需的人力和时间；另一方面，当需要取用物料时，则可通过控制柜找到放置盛有所需物料的物料盒的仓储隔间，并控制搬运装置将该物料盒搬运至设有推拉组件的仓储隔间中，然后通过控制柜控制推拉组件，使推拉组件将该物料盒推出，即可在该物料盒中分拣所需的物料服务器接受到物料分配信息，通知物料拣选装置拣选所需的物料，放入接收装置中，在分拣完成之后，还可通过控制柜控制推拉组件，使推拉组件将该物料盒拉回，然后再通过控制柜，使搬运装置将该物料盒搬运至原仓储隔间，这就使得在物料的取用过程中，不需要人工查找并搬运盛有该物料的物料盒，且工作人员选取了所需物料之后，也无需人工将该物料盒再放回原处，从而节省了物料取用时所需的人力和时间。由此可知，在使用本发明实施例提供的仓储***存放和取用物料时，能够节省存放和取用物料所需时间和人力，降低了物料的存储成本。
第二方面，本发明实施例提供一种仓储***的控制***，采用如下技术方案：
该仓储***的控制***用于控制上述仓储***，该仓储***的控制***包括：存储有仓储***的存储信息的中央处理器、以及分别与中央处理器相连的用于控制搬运装置搬运物料盒的搬运装置控制模块、用于控制传输单元传送和回收物料盒的传输单元控制模块和用于控制推拉组件推送 和收回仓储隔间中存放的物料盒的推拉组件控制模块。
与现有技术相比，本发明实施例提供的仓储***的控制***的有益效果与上述仓储***的有益效果相同，故此处不再进行赘述。
第三方面，本发明实施例提供了一种仓储***的控制方法，采用如下技术方案：
该仓储***的控制方法使用上述仓储***的控制***，该仓储***的控制方法包括：物料存放控制方法和物料取用控制方法；
物料存放控制方法包括：
通过中央处理器，根据待存放物料的种类信息、数量信息，选定仓储架体中的用于放置盛有待存放物料的物料盒的仓储隔间；
通过中央处理器控制传输单元控制模块，并通过传输单元控制模块，控制传输单元，将物料盒传送至与仓储隔间对应的位置；
通过中央处理器控制搬运装置控制模块，并通过搬运装置控制模块，控制搬运装置，搬运物料盒至所述仓储隔间；
物料取用控制方法包括：
通过中央处理器，根据所需物料的种类信息和数量信息，选定所需的物料盒；
通过中央处理器控制搬运装置控制模块，并通过搬运装置控制模块，控制搬运装置搬运所需的物料盒至底部安装有推拉组件的空闲仓储隔间；
通过中央处理器控制推拉组件控制模块，并通过推拉组件控制模块，控制推拉组件将所需的物料盒推出。
与现有技术相比，本发明实施例提供的仓储***的控制方法的有益效果与上述仓储***的控制***的有益效果相同，故此处不再进行赘述。
附图说明
图1为本发明实施例提供的仓储***的俯视图；
图2为本发明实施例提供的仓储***的立体结构示意图；
图3为本发明实施例提供的仓储***中的推拉组件的俯视图；
图4为本发明实施例提供的仓储***中的推拉组件的结构示意图；
图5为本发明实施例提供的仓储***的控制***的结构示意图；
图6为本发明实施例提供的物料存放控制方法的流程图；
图7为本发明实施例提供的物料取用控制方法的流程图。
附图标记说明：
1—仓储架体，                11—仓储隔间，
12—安全门，                 13—孔洞，
2—物料盒，                  3—搬运装置，
4—传输单元，                41—上层传输带，
42—下层传输带，             5—控制柜，
6—推拉组件，                7—分拣机器人，
8—运输车，                  101—中央处理器，
102—搬运装置控制模块，      103—传输单元控制模块，
104—推拉组件控制模块，      105—分拣机器人控制模块，
106—运输车控制模块。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行描述。
本发明实施例提供一种仓储***，具体地，如图1和图2所示，该仓储***包括：仓储架体1、用于搬运物料盒2的搬运装置3、用于传送和回收物料盒2的传输单元4和控制柜5；仓储架体1上设置有多个用于存放物料盒的仓储隔间11，至少一个仓储隔间11设有用于将物料盒从对应的仓储隔间推出和拉回的推拉组件6，搬运装置3、传输单元4、推拉组件6均与控制柜5无线连接。
示例性地，在使用上述仓储***存放物料时，在将需要存放的物料放置在物料盒中之后，可通过控制柜5控制传输单元4，使传输 单元4将盛有该物料的物料盒传送至与指定的仓储隔间11对应的位置，然后即可通过控制柜5控制搬运装置3，使搬运装置3将该物料盒搬运至指定的仓储隔间11，完成物料的存放；在从上述仓储***中取用物料时，则可通过控制柜5找到放置盛有所需物料的物料盒的仓储隔间11，并控制搬运装置3将该物料盒搬运至设有推拉组件6的仓储隔间11中，然后通过控制柜5控制推拉组件6，使推拉组件6将该物料盒推出，即可在该物料盒中分拣所需的物料，在分拣完成之后，还可通过控制柜5控制推拉组件6，使推拉组件6将该物料盒拉回，然后再通过搬运装置3将该物料盒搬运至原仓储隔间11。
在本实施例提供的仓储***中，仓储架体1上设置有多个用于存放物料盒的仓储隔间11，一方面，在需要存放物料时，只需要通过控制柜5控制传输单元4，将存放物料的物料盒2传送至与指定的仓储隔间11对应的位置之后，通过控制柜5控制搬运装置3，使搬运装置3将该物料盒搬运至指定的仓储隔间11，即可完成物料的存放，这就使得在存放物料时，不需要工作人员花费较长的时间去查找该种物料的物料盒，也不需要人工搬运该物料盒，节省了物料存放时所需的人力和时间；另一方面，当需要取用物料时，则可通过控制柜5找到放置盛有所需物料的物料盒的仓储隔间11，并控制搬运装置3将该物料盒搬运至设有推拉组件6的仓储隔间中，然后通过控制柜5控制推拉组件6，使推拉组件6将该物料盒推出，即可在该物料盒中分拣所需的物料，在分拣完成之后，还可通过控制柜5控制推拉组件6，使推拉组件6将该物料盒拉回，然后再通过控制柜5，使搬运装置3将该物料盒搬运至原仓储隔间11，这就使得在物料的取用过程中，不需要人工查找并搬运盛有该物料的物料盒，且工作人员选取了所需物料之后，也无需人工将该物料盒再放回原处，从而节省了物料取用时所需的人力和时间。由此可知，在使用本发明实施例提供的仓储***存放和取用物料时，能够节省存放和取用物料所需时间和人力，降低了物料的存储成本。
示例性地，如图1所示，上述仓储架体1为筒状架体，筒状架 体可包括可拆卸组合在一起的多个弧状子架体，每个弧状子架体上设置有多个仓储隔间11，从而使得工厂可根据实际厂房大小以及需求，任意选取弧状子架体的个数，从而组合成不同大小的筒状架体，此外，当工厂搬迁或存放仓储架体的房间变化时，也可将该仓储架体1拆开，便于仓储架体1的移动。
可以想到的是，本发明实施例中的仓储架体不仅可以为筒状架体，也可以为长方体型架体等，当选用长方体型架体时，可使该长方体型架体的一面靠在设置该仓储架体的空间的墙壁上，从而可以减小仓储架体所需的空间，降低仓储***的成本。
进一步地，如图1所示，搬运装置3位于筒状架体所围成的筒内区域，且传输单元4通过开设在筒状架体上的开口伸入筒内区域，推拉组件6用于将物料盒从对应的仓储隔间11沿筒内区域至筒状架体外的筒外区域的方向推出，并将物料盒从对应的仓储隔间11沿筒外区域至筒内区域的方向拉回。
示例性地，如图1所示，上述仓储***还可包括：分拣机器人7和运输车8，具体地，分拣机器人7和运输车8均位于筒外区域，且分拣机器人7和运输车8均与控制柜5无线连接，从而使得在推拉组件6将物料盒从对应的仓储隔间11沿筒内区域至筒外区域的方向推出之后，还可通过控制柜5，控制分拣机器人7将所需物料从物料盒中分拣至运输车8，然后通过控制柜5，使运输车8沿预定路线将所需物料运出。
示例性地，如图1所示，仓储架体1上可开设有安全门12，从而使得工作人员可通过安全门12进入仓储架体所围成的中间区域，便于对仓储架体进行维修和维护，此外，仓储架体1上还可设有用于运输车进入仓储架体所围成的中间区域的孔洞13，以便于运输车运输物料，需要说明的是，上述安全12可以选用普通的安全门，也可以选用保密性更强的电子安全门，当选用电子安全门时，还可将该电子安全门的控制***与控制柜相连，通过控制柜控制安全门12的开启和关闭。
示例性地，上述搬运装置可以为四轴机械臂或六轴机械臂，从而能够实现搬运装置的多维度物料盒的存放和取用，满足仓储***对搬运装置的需求，可选的，在搬运装置的底端可设置有可移动滑轨，例如“T”字型滑轨等，从而使得该搬运装置可进行多维度滑动，进一步满足仓储***对搬运装置的需求。
需要补充的是，对于上述搬运装置在仓储***中的位置，本发明实施例不进行限定，本领域技术人员可根据实际需求进行设定，并且搬运装置不仅可以固定在设置有上述仓储***的空间的地上，也可以吊挂在空中等，本领域技术人员可根据实际的空间大小以及仓储***中的仓储架体的位置进行设置。
优选的，如图1和图2所示，传输单元4可包括用于传送物料盒的上层传输带41和用于回收物料盒的下层传输带42，从而使得在使用在仓储***同时进行物料的存放和取用过程中，一方面可通过上层传输带41将物料盒2传送至指定位置，使用推垛机3进行存放，另一方面可通过下层传输带42反向运行，回收分拣机器人7分拣之后空的物料盒2，提高了传输单元4的运行效率，进而提高了上述仓储***的运行效率。
示例性地，上述上层传输带还可设置有用于固定物料盒的夹具结构，对物料盒实现有效的定位，从而可以辅助搬运装置准确、平稳的夹取物料盒。
示例性地，上述推拉组件可以为气动组件或滚筒输送机等，只要可以在控制柜的控制下，实现对物料的推送即可。与使用气动组件相比，由于使用滚筒输送机对物料盒进行推送时，是通过电控制控制滚筒输送机输送的物料盒的位置的，因此，可精确控制滚筒输送机推送的物料盒的位置；而与使用滚筒输送机相比，使用气动组件对物料盒进行推送时，所需的电压额度较低，在实际操作中更易于实现。本领域技术人员可根据实际情况对选用具体地推拉组件，本发明实施例对此不进行限定。
示例性地，如图1至图4所示，推拉组件6可以为设置于仓储 隔间11的底部的气动组件，具体地，位于仓储架体1的最底层的仓储隔间11的底部均可设置有该气动组件，从而使得在需要分拣多种物料时，可在使用推垛机3将盛有多种物料的多个物料盒2分别搬运至设置有该气动组件的仓储隔间11之后，同时将多个物料盒2推出，便于多个分拣机器7人同时作业，提高物料的分拣效率。
示例性地，如图3和图4所示，推拉组件6可包括安装在仓储隔间的底部的气动直线导轨61，气动直线导轨61上设有用于作为支撑物料盒2的底座的移动板62，以及用于控制气动直线导轨61的推动方向的气动控制部件63，气动控制部件63与控制柜无线连接。
可选的，如图3和图4所示，气动控制部件63可包括气管、与气管相连的电磁阀631和与电磁阀相连的气缸632，具体地，气管通过电磁阀631向气缸632输送气流，电磁阀631通电，气流从一侧进入气缸632中，气缸632接收到气压，通过气动直线导轨61，将与之相连的移动板62推出，电磁阀631断电，气流从另一侧进入气缸632中，气缸632接收到气压，通过气动直线导轨61，将推出的移动板62向反方向推，实现移动板62的回收。
本发明实施例还提供一种仓储***的控制***，用于控制上述仓储***，具体地，如图5所示，该仓储***的控制***包括存储有仓储***的存储信息的中央处理器101、以及分别与中央处理器101相连的用于控制搬运装置搬运物料盒的搬运装置控制模块102、用于控制传输单元传送和回收物料盒的传输单元控制模块103和用于控制推拉组件推送和收回仓储隔间中存放的物料盒的推拉组件控制模块104。
示例性地，一方面，在使用上述控制***存放物料时，可先通过中央处理器101，根据待存放物料的种类信息、数量信息，选定仓储架体中的用于放置盛有待存放物料的物料盒的仓储隔间，具体地，可通过中央处理器101根据不同的物料种类和使用频率对仓储架体中用于放置物料盒的仓储隔间进行划分，例如可分为高频使用区和低频使用区，然后在存放物料时，即可根据待存放物料的种类信息 和数量信息，选定最优的仓储隔间，若该物料是高频使用的物料，即可通过中央处理器101在高频使用区中选定用于放置盛有待存放物料的物料盒的仓储隔间，若该物料是低频使用的物料，即可通过中央处理器101在低频使用区中选定用于放置盛有待存放物料的物料盒的仓储隔间，然后，通过中央处理器101控制传输单元控制模块103，并通过传输单元控制模块103，控制传输单元，将物料盒传送至与仓储隔间对应的位置，最后，通过中央处理器101控制搬运装置控制模块102，并通过搬运装置控制模块102，控制搬运装置，搬运物料盒至指定的仓储隔间；另一方面，在使用上述控制***取用物料时，可先通过中央处理器101，根据所需物料的种类信息和数量信息，选定所需的物料盒，然后通过中央处理器101控制搬运装置控制模块102，并通过搬运装置控制模块102，控制搬运装置搬运所需的物料盒至底部安装有推拉组件的空闲仓储隔间，最后通过中央处理器101控制推拉组件控制模块104，并通过推拉组件控制模块104，控制推拉组件将所需的物料盒推出之后，即可取用所需的物料。
本发明实施例提供的仓储***的控制***的有益效果可参照上述仓储***的有益效果，此处不再进行赘述。
示例性地，如图5所示，当上述仓储***包括分拣机器人和运输车时，仓储***的控制***还包括分别与中央处理器101相连的用于控制分拣机器人将物料盒中的物料分拣至运输车的分拣机器人控制模块105，以及用于控制运输车的运输路线的运输车控制模块106，从而在推拉组件将所需的物料盒推出之后，还可通过中央处理器101控制分拣机器人控制模块105，并通过分拣机器人控制模块105，控制分拣机器人将物料盒中的所需物料分拣至运输车，然后，通过中央处理器101控制得到运输车控制模块106，并通过运输车控制模块106，控制运输车按预定运输路线将所需物料运出。
此外，本发明实施例还提供一种仓储***的控制方法，使用上述仓储***的控制***对上述仓储***进行控制，具体地，该仓储***的控制方法可包括：物料存放控制方法和物料取用控制方法。
示例性地，如图6所示，物料存放控制方法包括：
步骤S101、通过中央处理器，根据待存放物料的种类信息、数量信息，选定仓储架体中的用于放置盛有待存放物料的物料盒的仓储隔间。
步骤S102、通过中央处理器控制传输单元控制模块，并通过传输单元控制模块，控制传输单元，将物料盒传送至与仓储隔间对应的位置。
步骤S103、通过中央处理器控制搬运装置控制模块，并通过搬运装置控制模块，控制搬运装置，搬运物料盒至所述仓储隔间。
示例性地，如图7所示，物料取用控制方法包括：
步骤S201、通过中央处理器，根据所需物料的种类信息和数量信息，选定所需的物料盒。
步骤S202、通过中央处理器控制搬运装置控制模块，并通过搬运装置控制模块，控制搬运装置搬运所需的物料盒至底部安装有推拉组件的空闲仓储隔间。
步骤S203、通过中央处理器控制推拉组件控制模块，并通过推拉组件控制模块，控制推拉组件将所需的物料盒推出。
可选地，如图7所示，当仓储***的控制***还包括分别与中央处理器相连的用于控制分拣机器人将物料盒中的物料分拣至运输车的分拣机器人控制模块，以及用于控制运输车的运输路线的运输车控制模块时，在步骤S203之后，上述物料取用控制方法还包括：
步骤S204、通过中央处理器控制分拣机器人控制模块，并通过分拣机器人控制模块，控制分拣机器人将物料盒中的所述所需物料分拣至运输车。
步骤S205、通过中央处理器控制得到运输车控制模块，并通过运输车控制模块，控制运输车按预定运输路线将所需物料运出。
需要补充的是，在上述步骤S204之后，上述物料取用控制方法还包括：
通过中央处理器控制推拉组件控制模块，并通过推拉组件控制 模块，控制推拉组件，将所需的物料盒收回。
若分拣之后，上述所需的物料盒中有剩余物料，则可通过中央处理器控制搬运装置控制模块，并通过搬运装置控制模块，控制搬运装置，将所需的物料盒搬回原仓储隔间；若分拣之后，上述所需的物料盒中没有剩余物料，则可通过中央处理器控制搬运装置控制模块和传输单元控制模块，在通过搬运装置控制模块，控制搬运装置，将所需的物料盒置于传输单元之后，通过传输单元控制模块，控制传输单元及时回收该所需的物料盒，从而无需将空的物料盒放回仓储架体，提高了仓储架体的利用率和该仓储架体的运行效率。
以上所述的具体实施方式，对本发明实施例的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施方式而已，并不用于限定本发明的保护范围，凡在本发明实施例的技术方案的基础之上，所做的任何修改、等同替换、改进等，均应包括在本发明实施例的保护范围之内。

Claims (14)

  1. 一种仓储***，其特征在于，包括：仓储架体、用于搬运物料盒的搬运装置、用于传送和回收所述物料盒的传输单元、控制柜；所述仓储架体上设置有多个用于存放所述物料盒的仓储隔间，至少一个所述仓储隔间设有用于将所述物料盒从对应的仓储隔间推出和拉回的推拉组件，所述搬运装置、所述传输单元、所述推拉组件均与所述控制柜无线连接。
  2. 根据权利要求1所述的仓储***，其特征在于，所述仓储架体为筒状架体，所述筒状架体包括可拆卸组合在一起的多个弧状子架体；每个所述弧状子架体上设置有多个所述仓储隔间。
  3. 根据权利要求2所述的仓储***，其特征在于，所述搬运装置位于所述筒状架体所围成的筒内区域，所述传输单元通过开设在所述筒状架体上的开口伸入所述筒内区域，所述推拉组件用于将所述物料盒从对应的仓储隔间沿所述筒内区域至所述筒状架体外的筒外区域的方向推出；
    所述仓储***还包括：分拣机器人和运输车，所述分拣机器人和所述运输小车均位于所述筒外区域，所述分拣机器人和所述运输车均与所述控制柜无线连接。
  4. 根据权利要求1所述的仓储***，其特征在于，所述仓储架体上开设有安全门。
  5. 根据权利要求1所述的仓储***，其特征在于，所述搬运装置为四 轴机械臂或六轴机械臂。
  6. 根据权利要求1所述的仓储***，其特征在于，所述传输单元包括用于传送所述物料盒的上层传输带和用于回收所述物料盒的下层传输带。
  7. 根据权利要求6所述的仓储***，其特征在于，所述上层传输带还设置有用于固定所述物料盒的夹具结构。
  8. 根据权利要求1所述的仓储***，其特征在于，所述推拉组件为设置于所述仓储隔间的底部的气动组件；位于所述仓储架体的最底层的所述仓储隔间的底部设置有所述气动组件。
  9. 根据权利要求8所述的仓储***，其特征在于，所述气动组件包括安装在所述仓储隔间的底部的气动直线导轨，所述气动直线导轨上设有用于作为支撑所述物料和的底座的移动板，以及用于控制所述气动直线导轨的推动方向的气动控制部件，所述气动控制部件与所述控制柜无线连接。
  10. 一种仓储***的控制***，其特征在于，用于控制如权利要求1～9任一项所述的仓储***，所述仓储***的控制***包括：存储有仓储***的存储信息的中央处理器、以及分别与所述中央处理器相连的用于控制搬运装置搬运物料盒的搬运装置控制模块、用于控制传输单元传送和回收所述物料盒的传输单元控制模块和用于控制推拉组件推送和收回仓储隔间中存放的所述物料盒的推拉组件控制模块。
  11. 根据权利要求10所述的仓储***的控制***，其特征在于，当所 述仓储***包括分拣机器人和运输车时，所述仓储***的控制***还包括分别与所述中央处理器相连的用于控制所述分拣机器人将所述物料盒中的物料分拣至所述运输车的分拣机器人控制模块，以及用于控制所述运输车的运输路线的运输车控制模块。
  12. 一种仓储***的控制方法，其特征在于，使用如权利要求10～11任一项所述的仓储***的控制***进行控制，所述仓储***的控制方法包括：物料存放控制方法和物料取用控制方法；
    所述物料存放控制方法包括：
    通过中央处理器，根据待存放物料的种类信息、数量信息，选定仓储架体中的用于放置盛有所述待存放物料的物料盒的仓储隔间；
    通过所述中央处理器控制传输单元控制模块，并通过所述传输单元控制模块，控制传输单元，将所述物料盒传送至与所述仓储隔间对应的位置；
    通过所述中央处理器控制搬运装置控制模块，并通过所述搬运装置控制模块，控制搬运装置，搬运所述物料盒至所述仓储隔间；
    所述物料取用控制方法包括：
    通过所述中央处理器，根据所需物料的种类信息和数量信息，选定所需的物料盒；
    通过所述中央处理器控制所述搬运装置控制模块，并通过所述搬运装置控制模块，控制所述搬运装置搬运所需的物料盒至底部安装有推拉组件 的空闲仓储隔间；
    通过所述中央处理器控制推拉组件控制模块，并通过所述推拉组件控制模块，控制所述推拉组件将所需的物料盒推出。
  13. 根据权利要求12所述的仓储***的运行方法，其特征在于，当所述仓储***的控制***还包括分别与所述中央处理器相连的用于控制分拣机器人将所述物料盒中的物料分拣至运输车的分拣机器人控制模块，以及用于控制所述运输车的运输路线的运输车控制模块时，在通过所述中央处理器控制推拉组件控制模块，并通过所述推拉组件控制模块，控制所述推拉组件将所需的物料盒推出之后，所述物料取用控制方法还包括：
    通过所述中央处理器控制所述分拣机器人控制模块，并通过所述分拣机器人控制模块，控制所述分拣机器人将所述物料盒中的所述所需物料分拣至所述运输车；
    通过所述中央处理器控制得到运输车控制模块，并通过所述运输车控制模块，控制所述运输车按预定运输路线将所述所需物料运出。
  14. 根据权利要求13所述的仓储***的运行方法，其特征在于，在通过所述中央处理器控制所述分拣机器人控制模块，并通过所述分拣机器人控制模块，控制所述分拣机器人将所述物料盒中的所述所需物料分拣至所述运输车之后，所述物料取用控制方法还包括：
    通过所述中央处理器控制所述推拉组件控制模块，并通过所述推拉组 件控制模块，控制所述推拉组件，将所需的物料盒收回；
    若分拣之后，所需的物料盒中有剩余物料，则通过所述中央处理器控制所述搬运装置控制模块，并通过所述搬运装置控制模块，控制所述搬运装置，将所需的物料盒搬回所述仓储隔间；
    若分拣之后，所需的物料盒中没有剩余物料，则通过所述中央处理器控制所述搬运装置控制模块和所述传输单元控制模块，在通过所述搬运装置控制模块，控制所述搬运装置，将所需的物料盒置于所述传输单元之后，通过所述传输单元控制模块，控制所述传输单元回收所需的物料盒。
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