Intelligent warehousing system for dangerous goods

Abstract

The utility model relates to the technical field of dangerous goods storage, and particularly discloses an intelligent dangerous goods storage system which comprises a detection device, a loading and unloading vehicle manipulator, a protection window, a storage manipulator and a storage goods shelf, and the detection device, the loading and unloading vehicle manipulator, the protection window and the storage manipulator are all electrically connected with an external controller. The detection device is used for obtaining the position of the dangerous goods transfer box, and the loading and unloading vehicle mechanical arm is used for grabbing the dangerous goods transfer box on the transfer trolley into the protection window or grabbing the dangerous goods transfer box in the protection window to the transfer trolley. The storage mechanical arm is used for grabbing the dangerous goods transfer box in the protection window to the storage goods shelf or grabbing the dangerous goods transfer box on the storage goods shelf into the protection window. According to the scheme, the problems that an existing goods storage system is complex in overall configuration and not suitable for dangerous goods transfer can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of dangerous goods storage, in particular to an intelligent storage system for dangerous goods. Background Art

[0002] At present, after dangerous goods are produced and packed in the production workshop, they are transported to the storage warehouse by transport vehicles or manual lifting, and then manually registered and put into the warehouse; the exit from the warehouse is also handled manually. Due to the high risk of dangerous goods, there is a great potential danger to the operators.

[0003] In order to solve the above problems, existing cargo storage warehouses are equipped with automatic systems that match software and hardware, such as the utility model with announcement number CN209127402U, which discloses a dangerous goods transit warehouse system, including a warehouse outer wall, characterized in that: the outer surface of one side of the warehouse outer wall is fixedly installed with an entrance and an auxiliary warehouse door, and the auxiliary warehouse door is located on one side of the entrance, the upper outer surface of the warehouse outer wall is fixedly installed with a warehouse roof beam, the upper outer surface of the warehouse roof beam is fixedly installed with a warehouse roof, the lower outer surface of one side of the warehouse roof beam is fixedly installed with a fireproof rolling shutter door, and the inside of the warehouse outer wall is fixedly installed with a WMS system chassis A Sichuan-type pallet is arranged on one side of the WMS system chassis, and a cargo rack is fixedly installed on the other side of the WMS system chassis. A pallet changing area and a detection area are arranged at the rear end of the cargo rack, and the detection area is located on the side with the pallet changing area. An AGV mobile vehicle is arranged at the front end of the cargo rack, and an AGV docking berth is arranged at the front end of the AGV mobile vehicle. A conveyor chain is fixedly connected to the front end outer surface of the AGV docking berth, and one end of the conveyor chain is fixedly connected to a double-towed in-and-out storage conveying port. An electric control cabinet is arranged on one side of the double-towed in-and-out storage conveying port, and a side door window is fixedly installed on one side of the Sichuan-type pallet. The above scheme can classify and sort the goods and send them to the AGV docking berth through the conveyor chain, and the AGV mobile vehicle will send them to the corresponding cargo rack, which saves a certain amount of labor, saves time and effort, and is conducive to people's use.

[0004] The defect of the above scheme is that the above system is equipped with AGV mobile vehicles in the warehouse, which is suitable for large-scale storage factories. When the corresponding goods are to be transferred in the warehouse, they must first pass through the conveyor belt and the various scanning devices arranged on it. Not only are there many devices configured in the entire transfer and warehousing process, which is costly, but the conveyor belt-type transfer method will cause vibration to the dangerous goods, which is not conducive to the transfer of dangerous goods. Therefore, our company proposes a new intelligent storage system for dangerous goods for the transfer and storage of dangerous goods. Utility Model Content

[0005] The utility model provides an intelligent storage system for dangerous goods to solve the problem that the existing cargo storage system has a complex overall configuration and is not suitable for the transportation of dangerous goods.

[0006] To solve the above problems, the technical solution adopted by the utility model is as follows: an intelligent storage system for dangerous goods, including a detection device, a loading and unloading vehicle manipulator, a protective window, a storage manipulator, and a storage shelf. The detection device, the loading and unloading vehicle manipulator, the protective window, and the storage manipulator are all electrically connected to the controller of the external device. The detection device is used to obtain the position of the dangerous goods transfer box, the loading and unloading vehicle manipulator is used to grab the dangerous goods transfer box on the transfer cart into the protective window or grab the dangerous goods transfer box in the protective window onto the transfer cart, and the storage manipulator is used to grab the dangerous goods transfer box in the protective window onto the storage shelf or grab the dangerous goods transfer box on the storage shelf into the protective window.

[0007] The basic principle of this solution is: after the detection device reads the position of the hazardous goods transfer box in the transfer vehicle, it sends a signal to the controller. After receiving the coordinate signal, the controller starts the loading and unloading vehicle manipulator and opens the protective window at the same time. The loading and unloading vehicle manipulator grabs the hazardous goods transfer box and transports it into the protective window. The storage manipulator then grabs the hazardous goods transfer box in the protective window and puts it on the corresponding storage shelf.

[0008] The beneficial effects of this solution are: 1. Compared with the existing cargo transfer that needs to be transported on a conveyor belt, which leads to safety issues caused by bumps in the freight box, this solution directly obtains the precise position coordinates of the transfer vehicle when it arrives at the loading and unloading room of the warehouse, so that it can be directly grasped by the loading and unloading vehicle manipulator, and no other equipment such as pallets is required. The parts used in the entire system are streamlined and efficient, reducing the construction cost of the entire system. At the same time, it saves a certain amount of manpower, which is conducive to the automation of dangerous goods transfer.

[0009] 2. This solution is designed to automate unloading, storage, outbound delivery and loading, so as to realize automatic loading and unloading and storage of dangerous goods, and transform operators into remote monitoring personnel or patrol personnel, so as to realize isolation of people and drugs, isolation of people and machines, and replacement of people with machines during operation, and improve production safety.

[0010] Furthermore, the loading and unloading vehicle manipulator includes a first lifting mechanism, a first rotating mechanism, a first translation mechanism, a first grasping mechanism, and a frame. The frame is located between the detection device and the protective window. The first rotating mechanism is installed at the upper end of the frame, and a robotic arm is installed above the first rotating mechanism. The robotic arm can rotate along the vertical central axis through the first rotating mechanism. A first translation mechanism is installed on the side of the robotic arm. The first translation mechanism can make the robotic arm reciprocate in the horizontal direction. The first lifting mechanism is located at the end of the robotic arm, and the first grasping mechanism is located at the output end of the first lifting mechanism. The first lifting mechanism can drive the first grasping mechanism to grasp the dangerous goods transfer box.

[0011] Furthermore, there are two protective windows, and the protective window includes a driving cylinder, a movable window panel, a guide bar, and a back panel. The back panel is in the shape of a strip frame with an opening facing upward, the guide bar is located at the front side of the back panel, the movable window panel is slidably connected between the guide bar and the back panel, the driving cylinder is located above the protective window, and the output shaft of the driving cylinder is connected to the outer wall of the movable window panel, and the reciprocating motion of the movable window panel is achieved by the driving cylinder. The double protective windows are used to achieve safe isolation between the loading and unloading room and the storage room in the warehouse.

[0012] Furthermore, the storage manipulator includes a second lifting mechanism, a power transmission mechanism, a second rotating mechanism, a second translation mechanism, a second telescopic mechanism, and a second grasping mechanism. A horizontal base is provided at the bottom of the storage manipulator. The storage manipulator is installed on the second translation mechanism and slides back and forth along the base through the second translation mechanism. The power transmission mechanism is located at the end of the base, the second lifting mechanism is located above the second rotating mechanism, the second telescopic mechanism is located at the top of the second lifting mechanism, and the second grasping mechanism is located at the end of the second telescopic mechanism.

[0013] Furthermore, a code reading device electrically connected to the external controller is installed in the protective window, and a unique identification code is provided on the outer wall of the dangerous goods transfer box. The code reading device is used to read the unique identification code and send the transfer box data to the controller.

[0014] Furthermore, the detection device includes a bracket and a plurality of distance measuring sensors. The bracket is an L-shaped fence. The right angle of the L-shaped fence is used for contacting to locate the transfer vehicle. The distance measuring sensors are arranged on the side walls of the L-shaped fence.

[0015] Furthermore, the number of storage shelves is two rows, and the storage shelves are arranged parallel to the base.

[0016] Furthermore, the two protective windows are not opened at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of an embodiment of the utility model;

[0018] Figure 2 A schematic diagram of a detection device in an embodiment of the utility model;

[0019] Figure 3 It is a schematic diagram of a loading and unloading vehicle manipulator in an embodiment of the utility model;

[0020] Figure 4 This is a schematic diagram of a protective window in an embodiment of the utility model;

[0021] Figure 5 This is a schematic diagram of a storage shelf in an embodiment of the utility model;

[0022] Figure 6This is a schematic diagram of a storage manipulator in an embodiment of the utility model;

[0023] Figure 7 Schematic diagram of a code reading device in an embodiment of the present utility model. DETAILED DESCRIPTION

[0024] The following is further described in detail through specific implementation methods:

[0025] The figure marks in the drawings of the specification include: warehouse 1, loading and unloading room 101, storage room 102, transfer vehicle 2, detection device 3, distance measuring sensor 31, bracket 32, loading and unloading vehicle manipulator 4, frame 41, first rotating mechanism 42, first translation mechanism 43, first grabbing mechanism 44, first lifting mechanism 45, protective window 5, driving cylinder 51, movable window panel 52, guide bar 53, back plate 54, storage manipulator 6, second lifting mechanism 61, power transmission mechanism 62, second rotating mechanism 63, second translation mechanism 64, second telescopic mechanism 65, second grabbing mechanism 66, base 7, storage shelf 8, code reading device 9.

[0026] The embodiment is basically as shown in the attached Figures 1 to 7 As shown:

[0027] Intelligent storage system for dangerous goods, such as Figure 1 As shown, it includes a warehouse 1. The road in the warehouse 1 is a long strip with one end open. The middle part of the warehouse 1 is divided into two left and right parts by a wall. The left side of the wall is a storage room 102, and the right side of the wall is a loading and unloading room 101. Storage shelves 8 arranged along the length of the storage room 102 are arranged in the storage room 102. The storage shelves 8 are arranged in two rows along the width of the storage room 102. A base 7 is arranged between the two rows of storage shelves 8. The base 7 is arranged along the length of the storage shelves 8. A storage manipulator 6 is arranged above the base 7. The storage manipulator 6 can slide along the length of the base 7. The storage manipulator 6 can be used to clamp the dangerous goods transfer box and transport the dangerous goods transfer box to the designated position on the storage shelf 8.

[0028] A rectangular passage is formed through the wall separating the storage room 102 and the loading and unloading room 101. The rectangular passage is arranged in the middle of the wall, and the position of the rectangular passage is on the same straight line as the position of the base 7. A protective window 5 is installed in the passage. The number of the protective windows 5 is two, and the two protective windows 5 are arranged on the two sides of the wall respectively. The structure of a single protective window 5 is as follows: Figure 4As shown, the protective window 5 includes a driving cylinder 51, a movable window plate 52, a guide bar 53, and a back plate 54. The back plate 54 is a C-shaped frame with an opening facing upward. The back plate 54 is fixed to the outer wall of the passage. The surface of the back plate 54 is fixed with a guide bar 53 which is also in the shape of a C-shaped frame by bolts. A slide groove is provided on the inner edge of the guide bar 53. The slide groove can be adapted to the outer edge of the movable window plate 52, so that the movable window plate 52 can slide up and down along the guide bar 53. A driving cylinder 51 is arranged above the protective window 5. The output shaft of the driving cylinder 51 is connected to the surface of the movable window plate 52. The driving cylinder 51 is electrically connected to the controller of the external device. When the driving cylinder 51 is retracted, the movable window plate 52 slides upward, and the single protective window 5 opens upward, and the rectangular passage is connected to the outside on one side. When the driving cylinder 51 is extended, the movable window plate 52 slides downward, and the protective window 5 is closed so that the rectangular passage is separated from the external space, thereby ensuring the safety of the entire warehouse 1.

[0029] In the loading and unloading room 101 on the right side of the protective window 5, a loading and unloading vehicle manipulator 4 is installed on the same straight line as the protective window 5, and a detection device 3 is installed on the right side of the loading and unloading vehicle manipulator 4. The structure of the loading and unloading vehicle manipulator 4 is as follows: Figure 3 As shown, the loading and unloading vehicle manipulator 4 includes a frame 41, a first translation mechanism 43, a first rotation mechanism 42, a first grasping mechanism 44, and a first lifting mechanism 45. The frame 41 is vertically installed on the ground, and the frame 41 is located directly opposite the protective window 5. The rotating mechanism is installed on the top of the frame 41. In this embodiment, the rotating mechanism can be a servo rotating platform, so that the mechanical structure installed above the rotating platform can rotate along the vertical axis. The first translation mechanism 43 is installed above the rotating platform. The output shaft of the first translation mechanism 43 is perpendicular to the output shaft of the rotating platform. The output end of the first translation mechanism 43 is connected to a long strip-shaped robotic arm, and a track is installed along the length of the side wall of the robotic arm. When the first translation mechanism 43 is working, the first translation mechanism 43 can make the entire robotic arm slide back and forth in the horizontal direction, thereby realizing translational movement on the horizontal plane. The specific first translation mechanism 43 can select a linear module or an electric slide rail, etc. A first lifting mechanism 45 is provided at the end of the robot arm, and the output end of the first lifting mechanism 45 is connected to the first grabbing mechanism 44, through which the first lifting mechanism 45 can make the first grabbing mechanism 44 reciprocate up and down in the vertical direction. Specifically, the first lifting mechanism 45 can be a lifting cylinder or an electric push rod or a screw structure driven by a servo motor. Specifically, the first grabbing mechanism 44 can be an electric gripper. The first grabbing mechanism 44 is used to grab the dangerous goods transfer box.

[0030] In the storage room 102 on the left side of the protective window 5, a storage manipulator 6 is installed on the same line as the protective window 5, and the bottom of the storage manipulator 6 is installed on the second translation mechanism 64, and the second translation mechanism 64 can drive the entire storage manipulator 6 to reciprocate on the base 7. The storage manipulator 6 is located above the second translation mechanism 64 and is provided with a second rotating mechanism 63, and the upper part of the entire storage manipulator 6 is rotated along the vertical central axis through the second rotating mechanism 63. A second lifting mechanism 61 is installed above the second rotating mechanism 63, and a second telescopic mechanism 65 is installed on the output end of the second lifting mechanism 61. The reciprocating motion of the second lifting mechanism 61 can make the second telescopic mechanism 65 move in the vertical direction, and a second grasping mechanism 66 is installed on the output end of the second telescopic mechanism 65. The second grasping mechanism 66 is the same as the first grasping mechanism 44 and can grasp the dangerous goods transfer box. Specifically, in this embodiment, the second lifting device adopts a screw structure driven by a servo motor, and the second telescopic mechanism 65 can be an electric push rod or an electric cylinder, etc. A power transmission mechanism 62 is arranged at the end of the base frame. The power transmission mechanism 62 provides clean, pressure-stable compressed air for pneumatic actuators such as cylinders and clutches that perform actions.

[0031] like Figure 7 As shown, the present solution is further provided with a code reading device 9, which is used to read the information of the transfer box entering or leaving the warehouse, and to number and memorize the dangerous goods transfer box. A unique identification mark, such as a barcode, a two-dimensional code, etc., is provided on the box body of each dangerous goods transfer box. The code reading device 9 is arranged inside the protective window 5. When the dangerous goods transfer box is placed in the protective window 5, the code reading device 9 obtains the transfer box data and sends it to the controller.

[0032] like Figure 2 As shown, a detection device 3 is installed on the ground to the right of the loading and unloading vehicle manipulator 4 in the loading and unloading room 101. The detection device 3 is used to detect the position of the dangerous goods transfer box in the transfer vehicle 2, and generate coordinate information of the transfer box position and transmit it to the controller of the external device. Specifically, the detection device 3 includes an L-shaped bracket 32, the vertical side of the bracket 32 ​​is opposite to the front of the protective window 5, the horizontal side of the bracket 32 ​​is perpendicular to the vertical side, two distance sensors 31 are arranged along the length of the vertical side of the bracket 32, a distance sensor 31 is arranged on the horizontal side, and a distance sensor is arranged on the opposite side of the opening of the bracket 32. When the transfer vehicle 2 stops at the designated area of ​​the loading and unloading room 101, the distance sensor reads the position of the transfer vehicle 2, and generates coordinate data to be transmitted to the controller.

[0033] The specific implementation process is as follows:

[0034] Dangerous goods storage:

[0035] The transfer vehicle 2 stops at the designated area → the driver goes to the waiting area to start the automatic storage program for dangerous goods → the detection device 3 detects the position of the transfer box and generates coordinate data and transmits it to the computer system → the loading and unloading vehicle manipulator 4 grabs the dangerous goods transfer box according to the coordinate data → the loading and unloading vehicle manipulator 4 transfers the transfer box to the explosion-proof window of the warehouse 1 → the explosion-proof window opens → the loading and unloading vehicle manipulator 4 places the transfer box in the explosion-proof window and reads the transfer box data → the explosion-proof window closes, and the explosion-proof window on the other side opens → the storage manipulator 6 grabs the transfer box → the storage manipulator 6 places the transfer box on the storage shelf 8, and generates the transfer box position information in the database → the storage of dangerous goods is completed, and the driver drives the transfer vehicle 2 away from the warehouse 1 area.

[0036] Dangerous goods out of warehouse:

[0037] The transfer vehicle 2 stops at the designated area → the driver goes to the waiting area to start the automatic dangerous goods outbound program → the detection device 3 generates coordinate data of the position of the transfer vehicle 2 and transmits it to the computer system → the driver selects the transfer box that needs to be outbound on the computer or touch screen → the storage manipulator 6 grabs the transfer box from the shelf → the storage manipulator 6 transfers the transfer box to the front of the explosion-proof window → the explosion-proof window opens → the storage manipulator 6 places the transfer box in the explosion-proof window and reads the transfer box data → the explosion-proof window closes, and the explosion-proof window on the other side opens → the loading and unloading vehicle manipulator 4 grabs the transfer box → the loading and unloading vehicle manipulator 4 loads the transfer box into the transfer vehicle 2 according to the coordinate information → the driver drives the transfer vehicle 2 away from the warehouse 1 area.

[0038] The above is only an embodiment of the utility model, and the common knowledge such as the known specific structure and characteristics in the scheme is not described in detail here. It should be pointed out that for those skilled in the art, several deformations and improvements can be made without departing from the structure of the utility model, which should also be regarded as the protection scope of the utility model, and these will not affect the effect of the implementation of the utility model and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. Intelligent storage system for dangerous goods, characterized by: It includes a detection device, a loading and unloading vehicle manipulator, a protective window, a storage manipulator, and a storage shelf. The detection device, the loading and unloading vehicle manipulator, the protective window, and the storage manipulator are all electrically connected to the controller of the peripheral device. The detection device is used to obtain the position of the dangerous goods transfer box. The loading and unloading vehicle manipulator is used to grab the dangerous goods transfer box on the transfer trolley into the protective window or grab the dangerous goods transfer box in the protective window onto the transfer trolley. The storage manipulator is used to grab the dangerous goods transfer box in the protective window onto the storage shelf or grab the dangerous goods transfer box on the storage shelf into the protective window; The detection device includes an L-shaped bracket, the vertical side of the bracket faces the front of the protective window, the horizontal side of the bracket is perpendicular to the vertical side, two distance sensors are arranged at intervals along the length of the vertical side of the bracket, a distance sensor is arranged on the horizontal side, and a distance sensor is arranged on the opposite side of the bracket opening; when the transfer vehicle stops at the designated area of ​​the loading and unloading room, the distance sensor reads the position of the transfer vehicle and generates coordinate data to be transmitted to the controller; The loading and unloading vehicle manipulator comprises a first lifting mechanism, a first rotating mechanism, a first translation mechanism, a first grabbing mechanism, and a frame, wherein the frame is located between the detection device and the protective window, the first rotating mechanism is installed at the upper end of the frame, and a mechanical arm is installed above the first rotating mechanism, the mechanical arm can be rotated along the vertical central axis through the first rotating mechanism, the first translation mechanism is installed on the side of the mechanical arm, the first translation mechanism can make the mechanical arm reciprocate in the horizontal direction, the first lifting mechanism is located at the end of the mechanical arm, the first grabbing mechanism is located at the output end of the first lifting mechanism, and the first lifting mechanism can drive the first grabbing mechanism to grab the dangerous goods transfer box; the number of the protective windows is two, and the protective window comprises a driving cylinder, a movable window panel, a guide bar, and a back panel, the back panel is in the shape of a strip frame with an opening upward, the guide bar is located at the front side of the back panel, the movable window panel is slidably connected between the guide bar and the back panel, the driving cylinder is located above the protective window, the output shaft of the driving cylinder is connected to the outer wall of the movable window panel, and the reciprocating motion of the movable window panel is realized by the driving cylinder; The storage manipulator includes a second lifting mechanism, a power transmission mechanism, a second rotating mechanism, a second translation mechanism, a second telescopic mechanism, and a second grasping mechanism. A horizontal base is provided below the storage manipulator. The storage manipulator is mounted on the second translation mechanism and reciprocates along the base through the second translation mechanism. The power transmission mechanism is located at the end of the base. The second lifting mechanism is located above the second rotating mechanism. The second telescopic mechanism is located at the top of the second lifting mechanism. The second grasping mechanism is located at the end of the second telescopic mechanism. A code reading device electrically connected to an external controller is installed in the protective window, and a unique identification code is provided on the outer wall of the dangerous goods transfer box. The code reading device is used to read the unique identification code and send the transfer box data to the controller; the detection device includes a bracket and a plurality of distance measuring sensors, the bracket is an L-shaped fence, the right angle of the L-shaped fence is used for contacting to locate the transfer vehicle, and the distance measuring sensor is arranged on the side wall of the L-shaped fence; the number of the storage shelves is two rows, and the storage shelves are arranged parallel to the base.

2. The intelligent storage system for dangerous goods according to claim 1 is characterized by: The two protective windows are not opened at the same time.

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