Mechanical arm automatic unstacking warehouse-in and warehouse-out system

Abstract

The invention discloses a mechanical arm automatic unstacking warehouse-in and warehouse-out system, and relates to the technical field of logistics freight, and the mechanical arm automatic unstacking warehouse-in and warehouse-out system comprises an unloading and loading module, a protection module, a feeding module, a material taking module, an information reading module and a main control module; a telescopic belt conveyor is matched to complete truck unloading, unloaded articles are conveyed through a conveying line, during conveying, after the articles enter a grabbing position, the articles are clamped through cooperation of a mechanical arm and a suction cup clamp, the articles are stacked on an idle feeding tray on an AGV, and after stacking is completed, the goods are conveyed to the conveying line. Stacked articles are transferred to the warehousing area through the AGVs to be warehoused, three candidate AGVs can continue to work after stacking of a single AGV is completed, efficiency is improved, workers only need to be matched for unloading, labor intensity is low, and working efficiency is high.

Description

Technical Field

[0001] The present invention relates to the technical field of warehousing in-and-out storage, and in particular to a robotic arm automatic de-coding in-and-out storage system. Background Art

[0002] Logistics, which originally means "physical distribution" or "goods delivery", is a part of the supply chain activities. It is the process of planning, implementing and controlling the efficient and low-cost flow and storage of goods, service consumption and related information from the place of production to the place of consumption in order to meet customer needs. Logistics is centered on warehousing and promotes the synchronization of production and the market. Logistics is the whole process of planning, implementing and managing the transportation of raw materials, semi-finished products, finished products and related information from the place of production to the place of consumption of goods at the lowest cost through transportation, storage and distribution in order to meet customer needs.

[0003] In the field of warehousing, raw materials are often unloaded and products are shipped. This handling work is highly repetitive and labor-intensive, resulting in rising labor costs. In order to reduce costs and improve production efficiency, a robotic arm automatic de-coding and warehousing system is developed to solve the above problems. Summary of the invention

[0004] The technical problem solved by the present invention is to overcome the defects of the prior art such as high labor intensity, high repetitiveness and high cost, and provide a robotic arm automatic de-coding and warehousing system.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a robotic arm automatic code removal and warehousing system, comprising an unloading and loading module, a protection module, a feeding module, a material picking module, an information reading module and a main control module;

[0006] The unloading and loading module is used to unload the items transported in the truck compartment and transport them to the material collection position to facilitate subsequent material collection and storage;

[0007] The protection module is used to ensure the safety of the staff and can effectively prevent interference during the operation of the system;

[0008] The feeding module is used to transport the stacked items to the warehouse for storage;

[0009] The material taking module is used to take out the items that enter the material taking point in the unloading and loading module, and place the items in a suitable feeding module to complete the stacking and put the items into storage;

[0010] The information reading module is used to read the information on the item and whether the feeding module is idle;

[0011] The host computer of the main control module controls the start and shut down of the material taking module, the protection module, the feeding module and other facilities by using the host computer, so that the feeding module can put the items into the warehouse normally.

[0012] Preferably, the unloading and loading module comprises:

[0013] Telescopic belt conveyor: The telescopic belt conveyor can adjust the depth of the truck compartment according to the unloading situation, making it easier for unloading personnel to place items on the telescopic belt conveyor;

[0014] Conveyor line: The items unloaded on the telescopic belt conveyor are transported to the loading machine along the telescopic belt conveyor, and then transported by the conveyor belt on the conveyor line.

[0015] Preferably, the conveyor line is provided with two front and rear blocking plates, which are used to block the articles on the conveyor line to prevent the articles from falling off the conveyor belt during conveyance.

[0016] Preferably, the protection module includes:

[0017] Safety fence: The safety fence consists of four fence frames. It is used to enclose a safe space. The stacking work of items is carried out in this safe space. On the one hand, it ensures the safety of the items, and on the other hand, it ensures the safety of the staff, effectively improving the safety index;

[0018] Four safety light barriers: By setting up four safety light barriers, four entrances and exits for entering and exiting the safety fence can be set up at the safety fence, and the safety light barriers can be used to block the entrances and exits. When entry and exit are needed, the entrances and exits can be opened, which cooperates with the safety fence to play a better practical role.

[0019] Preferably, the feeding module comprises:

[0020] Four workstations: The four workstations are divided into workstation 1, workstation 2, workstation 3 and workstation 4 according to the front, left, back and right directions, and the workstations are composed of a positioning plate, a pressure sensor and a retractable switch. The retractable switch is located at the top of the positioning plate, and the pressure sensor is located at the bottom of the retractable switch. When the top of the retractable switch is subjected to pressure, the pressure index of the pressure sensor will change, and the pressure information will be fed back to the main control module in real time using the pressure sensor;

[0021] Four AGV transport vehicles: The four AGV transport vehicles are respectively located above the corresponding workstations, and after the four AGV transport vehicles are matched with the corresponding workstations, they are also divided in the order of No. 1 AGV transport vehicle, No. 2 AGV transport vehicle, No. 3 AGV transport vehicle and No. 4 AGV transport vehicle. Subsequently, the AGV transport vehicle is used to press the retractable switch. After the AGV transport vehicle transports the stacked items, the AGV transports the items into the warehouse;

[0022] Four feeding pallets: The four feeding pallets are located on four AGV transport vehicles respectively. The items are palletized on the feeding pallets to facilitate subsequent transportation into the warehouse.

[0023] Preferably, the material taking module comprises:

[0024] Suction cup clamp: Use the suction cup clamp to clamp the items entering the material picking position, and then place the clamped items in the feeding module for palletizing, which is convenient for subsequent transportation into the warehouse;

[0025] Robotic arm: Use the robotic arm to control the suction cup fixture to move repeatedly to the appropriate position to clamp and place the items;

[0026] Robotic arm base: The robotic arm base is placed in the middle of the four workstations, and the robotic arm base can provide stable support for the robotic arm to ensure that the robotic arm is sufficiently stable during subsequent operation.

[0027] Preferably, the information reading module:

[0028] Four camera brackets: Place the four camera brackets near the four corners of the protection module, and divide them into camera bracket No. 1, camera bracket No. 2, camera bracket No. 3 and camera bracket No. 4 according to the front, left, back and right directions. Use the camera brackets to install the 3D camera, and install the 3D camera at a high place to adjust the shooting angle of the 3D camera, so that the 3D camera has a sufficient shooting angle to read the required data;

[0029] Four 3D cameras: The four 3D cameras are divided into 3D camera No. 1, 3D camera No. 2, 3D camera No. 3 and 3D camera No. 4 according to the serial numbers of the corresponding camera brackets. The 3D cameras are used to read the object data and the data on the feeding module, so that the main control module can make judgments and issue correct instructions.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] When the system of the present invention is in use, the unloading of the truck is completed by the cooperation of the telescopic belt conveyor, and the unloaded items are transmitted by the conveyor line. During the transmission, after the items enter the grabbing position, the mechanical arm and the suction cup clamp are used to clamp the items and stack the items on the idle feeding tray on the AGV transport vehicle. After the stacking is completed, the AGV transport vehicle is used to transfer the stacked items to the warehousing area for warehousing. After the single AGV transport vehicle completes the stacking, there are three standby AGV transport vehicles that can continue to work, thereby improving efficiency. In addition, the workers only need to cooperate with the unloading, with low labor intensity and high work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a composition diagram of the system of the present invention;

[0033] Figure 2 Detailed composition diagram of the system of the present invention. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] See also Figure 1-2 ,The present invention provides a technical solution: a robotic arm automatic code removal and warehousing system, including an unloading and loading module, a protection module, a feeding module, a picking module, an information reading module and a main control module;

[0036] The unloading and loading module is used to unload the items transported in the truck compartment and transport them to the material collection position to facilitate subsequent material collection and storage;

[0037] Furthermore, the unloading and loading module includes:

[0038] Telescopic belt conveyor: The telescopic belt conveyor can adjust the depth of the truck compartment according to the unloading situation, making it easier for unloading personnel to place items on the telescopic belt conveyor;

[0039] Conveyor line: The items unloaded on the telescopic belt conveyor are transported to the feeder along the telescopic belt conveyor, and then transported by the conveyor belt on the conveyor line;

[0040] Furthermore, the conveyor line is provided with two front and rear blocking plates, which are used to block the objects on the conveyor line to prevent the objects from falling off the conveyor belt during conveyance;

[0041] The protection module is used to ensure the safety of the staff and can effectively prevent interference during the operation of the system;

[0042] Furthermore, the protection module includes:

[0043] Safety fence: The safety fence consists of four fence frames. It is used to enclose a safe space. The stacking work of items is carried out in this safe space. On the one hand, it ensures the safety of the items, and on the other hand, it ensures the safety of the staff, effectively improving the safety index;

[0044] Four safety gratings: With the four safety gratings, four entrances and exits can be set at the safety fence, and the safety gratings can be used to block the entrances and exits. When entry and exit are needed, the entrances and exits can be opened, which can cooperate with the safety fence to play a better practical role;

[0045] The feeding module is used to transport the stacked items to the warehouse for storage;

[0046] Furthermore, the feeding module comprises:

[0047] Four workstations: The four workstations are divided into workstation 1, workstation 2, workstation 3 and workstation 4 according to the front, left, back and right directions, and the workstations are composed of a positioning plate, a pressure sensor and a retractable switch. The retractable switch is located at the top of the positioning plate, and the pressure sensor is located at the bottom of the retractable switch. When the top of the retractable switch is subjected to pressure, the pressure index of the pressure sensor will change, and the pressure information will be fed back to the main control module in real time using the pressure sensor;

[0048] Four AGV transport vehicles: The four AGV transport vehicles are respectively located above the corresponding workstations, and after the four AGV transport vehicles are matched with the corresponding workstations, they are also divided in the order of No. 1 AGV transport vehicle, No. 2 AGV transport vehicle, No. 3 AGV transport vehicle and No. 4 AGV transport vehicle. Subsequently, the AGV transport vehicle is used to press the retractable switch. After the AGV transport vehicle transports the stacked items, the AGV transports the items into the warehouse;

[0049] Four feeding trays: The four feeding trays are located on four AGV transport vehicles respectively. The items are palletized on the feeding trays to facilitate subsequent transportation into the warehouse;

[0050] The material taking module is used to take out the items that enter the material taking point in the unloading and loading module, and place the items in a suitable feeding module to complete the stacking and put the items into storage;

[0051] Furthermore, the material taking module comprises:

[0052] Suction cup clamp: Use the suction cup clamp to clamp the items entering the material picking position, and then place the clamped items in the feeding module for palletizing, which is convenient for subsequent transportation into the warehouse;

[0053] Robotic arm: Use the robotic arm to control the suction cup fixture to move repeatedly to the appropriate position to clamp and place the items;

[0054] Robotic arm base: The robot arm base is placed in the middle of the four workstations, and the robot arm base can provide stable support for the robot arm to ensure that the robot arm is sufficiently stable during subsequent operation;

[0055] The information reading module is used to read the information on the item and whether the feeding module is idle;

[0056] Furthermore, the information reading module:

[0057] Four camera brackets: Place the four camera brackets near the four corners of the protection module, and divide them into camera bracket No. 1, camera bracket No. 2, camera bracket No. 3 and camera bracket No. 4 according to the front, left, back and right directions. Use the camera brackets to install the 3D camera, and install the 3D camera at a high place to adjust the shooting angle of the 3D camera, so that the 3D camera has a sufficient shooting angle to read the required data;

[0058] Four 3D cameras: The four 3D cameras are divided into 3D camera No. 1, 3D camera No. 2, 3D camera No. 3 and 3D camera No. 4 according to the serial numbers of the corresponding camera brackets. The 3D cameras are used to read the data of the objects and the data on the feeding module, so that the main control module can make judgments and issue correct instructions;

[0059] The host computer of the main control module controls the start and shut down of the material taking module, the protection module, the feeding module and other facilities by using the host computer, so that the feeding module can put the items into the warehouse normally.

[0060] The specific workflow of the present invention can be divided into the following two parts:

[0061] Palletizing and warehousing process:

[0062] The truck delivers the goods to the platform, the upper computer selects the warehousing mode, starts the system, and then unloads the materials onto the telescopic belt conveyor. The telescopic belt conveyor can adjust the depth of the truck compartment according to the actual unloading situation. The materials are transported to the conveyor line through the telescopic belt conveyor. At the same time, the upper computer dispatches the AGV transport vehicle to carry the empty feeding tray to the work station. Before this, the AGV transport vehicle needs to apply for entry, and the application signal is transmitted to the upper computer. If the upper computer passes, the signal of the safety grating will be shielded and the AGV transport vehicle will be allowed to enter. After the AGV transport vehicle enters, the upper computer will enable the safety grating signal. At this time, as long as the vehicle that does not pass the application enters, the safety grating alarm will be triggered. After the AGV transport vehicle arrives at the work station, the 3D camera installed on the camera bracket is used to shoot the AGV The V transport vehicle holds the position data of the control feeding pallet. The upper computer sends the position data of the feeding pallet to the robotic arm installed on the base of the robotic arm. After obtaining the data, the robotic arm uses the suction cup clamp installed at the bottom to grab the materials that enter the grabbing position on the conveyor line, and stacks the materials on the feeding pallet on the AGV transport vehicle. When the whole stack is completed, the AGV transport vehicle applies to leave the workstation. When the upper computer allows it to go out, the AGV transport vehicle will transport the full stack to the warehousing area for warehousing. After palletizing at one workstation, the robotic arm will repeat the above operation to palletize the materials to the next workstation, thereby performing cyclic palletizing. After all the materials in the vehicle are unloaded, press the unloading completion button, and the truck can directly leave the platform. When the robotic arm completes palletizing, the entire palletizing and warehousing process is completed.

[0063] From the perspective of palletizing efficiency, the upper position is prioritized to workstation No. 4, which is closer to the robot arm's grasping position, followed by workstation No. 1 and No. 3, and finally workstation No. 2. When workstation No. 1 is occupied, workstation No. 1 and No. 3 are considered, and finally workstation No. 2.

[0064] Depalletizing and outbound delivery process:

[0065] Depalletizing and outbound delivery is the reverse process of palletizing and inbound delivery. The specific process is that the empty truck arrives at the loading platform, the outbound mode is selected on the host computer, the system is started, and then the host computer dispatches the AGV transport vehicle to transport the materials to be shipped from the shipping area to the workstation according to the shipping order. Before entering the workstation, the AGV transport vehicle applies for entry. At this time, the host computer will shield the safety grating signal and allow the AGV transport vehicle to enter. The host computer will enable the safety grating signal. This means that as long as the AGV transport vehicle that does not pass the application will trigger a safety grating alarm. After the AGV transport vehicle enters the workstation, the 3D camera installed on the camera bracket shoots the material data and location information on the AGV transport vehicle's feeding tray, and the host computer sends the material location data to the mechanical arm installed on the base of the mechanical arm. The robot arm moves to the corresponding workstation after collecting the cargo data, and removes the material from the feeding tray through the suction cup fixture installed at the end of the robot arm and places it on the conveyor line. The conveyor line is used to transport the material to the telescopic belt conveyor, and then the material is loaded into the truck. After the robot arm has dismantled a feeding tray, the AGV transport vehicle applies to leave the workstation. When the host computer allows it to go out, the AGV transport vehicle transports the empty feeding tray to the designated collection location. At this time, the robot arm will continue to dismantle the pallet at the next workstation for delivery, and the depalletizing will be repeated in this way. After the depalletizing and shipping quantity reaches the target, the robot arm stops depalletizing, and the remaining tailings are reset by the AGV transport vehicle. At this time, you can press the loading completion button or leave the platform, and the entire depalletizing and shipping process is completed.

[0066] Similar to palletizing and warehousing, in order to consider the depalletizing efficiency, the robotic arm will give priority to depalletizing station No. 4, which is closest to the conveyor line, followed by station No. 1 and station No. 3, and finally station No. 2.

[0067] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robotic arm automatic de-coding and warehousing system, characterized by: It includes unloading and loading module, protection module, feeding module, picking module, information reading module and main control module; The unloading and loading module is used to unload the items transported in the truck compartment and transport them to the material collection position to facilitate subsequent material collection and storage; The protection module is used to ensure the safety of the staff and can effectively prevent interference during the operation of the system; The feeding module is used to transport the stacked items to the warehouse for storage; The material taking module is used to take out the items that enter the material taking point in the unloading and loading module, and place the items in a suitable feeding module to complete the stacking and put the items into storage; The information reading module is used to read the information on the item and whether the feeding module is idle; The host computer of the main control module controls the start and shut down of the material taking module, the protection module, the feeding module and other facilities by using the host computer, so that the feeding module can put the items into the warehouse normally.

2. According to claim 1, a robot arm automatic code removal and warehousing system is characterized by: The unloading and loading module comprises: Telescopic belt conveyor: The telescopic belt conveyor can adjust the depth of the truck compartment according to the unloading situation, making it easier for unloading personnel to place items on the telescopic belt conveyor; Conveyor line: The items unloaded on the telescopic belt conveyor are transported to the loading machine along the telescopic belt conveyor, and then transported by the conveyor belt on the conveyor line.

3. The automatic unpacking and warehousing system of a robot arm according to claim 2 is characterized by: The conveyor line is provided with two front and rear blocking plates, which are used to block the articles on the conveyor line to prevent the articles from falling from the conveyor belt during conveyance.

4. The automatic unpacking and warehousing system of a robot arm according to claim 1 is characterized by: The protection module comprises: Safety fence: The safety fence consists of four fence frames. It is used to enclose a safe space. The stacking work of items is carried out in this safe space. On the one hand, it ensures the safety of the items, and on the other hand, it ensures the safety of the staff, effectively improving the safety index; Four safety light barriers: By setting up four safety light barriers, four entrances and exits for entering and exiting the safety fence can be set up at the safety fence, and the safety light barriers can be used to block the entrances and exits. When entry and exit are needed, the entrances and exits can be opened, which cooperates with the safety fence to play a better practical role.

5. The automatic unpacking and warehousing system of a robot arm according to claim 1 is characterized by: The feeding module comprises: Four workstations: The four workstations are divided into workstation 1, workstation 2, workstation 3 and workstation 4 according to the front, left, back and right directions, and the workstations are composed of a positioning plate, a pressure sensor and a retractable switch. The retractable switch is located at the top of the positioning plate, and the pressure sensor is located at the bottom of the retractable switch. When the top of the retractable switch is subjected to pressure, the pressure index of the pressure sensor will change, and the pressure information will be fed back to the main control module in real time using the pressure sensor; Four AGV transport vehicles: The four AGV transport vehicles are respectively located above the corresponding workstations, and after the four AGV transport vehicles are matched with the corresponding workstations, they are also divided in the order of No. 1 AGV transport vehicle, No. 2 AGV transport vehicle, No. 3 AGV transport vehicle and No. 4 AGV transport vehicle. Subsequently, the AGV transport vehicle is used to press the retractable switch. After the AGV transport vehicle transports the stacked items, the AGV transports the items into the warehouse; Four feeding pallets: The four feeding pallets are located on four AGV transport vehicles respectively. The items are palletized on the feeding pallets to facilitate subsequent transportation into the warehouse.

6. The automatic unpacking and warehousing system of a robot arm according to claim 1 is characterized by: The material taking module comprises: Suction cup clamp: Use the suction cup clamp to clamp the items entering the material picking position, and then place the clamped items in the feeding module for palletizing, which is convenient for subsequent transportation into the warehouse; Robotic arm: Use the robotic arm to control the suction cup fixture to move repeatedly to the appropriate position to clamp and place the items; Robotic arm base: The robotic arm base is placed in the middle of the four workstations, and the robotic arm base can provide stable support for the robotic arm to ensure that the robotic arm is sufficiently stable during subsequent operation.

7. The automatic unpacking and warehousing system of a robot arm according to claim 1 is characterized by: The information reading module: Four camera brackets: Place the four camera brackets near the four corners of the protection module, and divide them into camera bracket No. 1, camera bracket No. 2, camera bracket No. 3 and camera bracket No. 4 according to the front, left, back and right directions. Use the camera brackets to install the 3D camera, and install the 3D camera at a high place to adjust the shooting angle of the 3D camera, so that the 3D camera has a sufficient shooting angle to read the required data; Four 3D cameras: The four 3D cameras are divided into 3D camera No. 1, 3D camera No. 2, 3D camera No. 3 and 3D camera No. 4 according to the serial numbers of the corresponding camera brackets. The 3D cameras are used to read the object data and the data on the feeding module, so that the main control module can make judgments and issue correct instructions.

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