Dual-mode communication three-dimensional storage robot

Abstract

The utility model provides a dual-mode communication three-dimensional storage robot. The dual-mode communication three-dimensional storage robot comprises a switch, a PLC (Programmable Logic Controller) control device, a driving device, a communication device and a plurality of sensing devices, the various sensing devices are connected with the PLC control device; the PLC control device is connected with the switch; the driving device comprises a CAN card, a driver, a motor and an execution device, the motor is connected to the switch through the driver and the CAN card in sequence and receives a control instruction of the PLC control device, and the execution device is driven by the motor; the communication device comprises a vehicle-mounted wireless terminal, a Wi-Fi antenna and a 5G antenna. According to the utility model, based on the network topology form of the PLC and the switch, the access of various electrical components is realized, and the warehousing operation capability of the three-dimensional warehousing robot is enriched and perfected. According to the utility model, various functional components can be accessed to the switch and then processed by the PLC control device, so that the layout of the mode is more systematized, the expansion of the components is simpler and more convenient, and mutual crosstalk among the components is not caused.

Description

Technical Field

[0001] This technical solution belongs to the field of warehousing and logistics, specifically involving a dual-mode communication three-dimensional warehousing robot. Background Technology

[0002] Automated storage and retrieval systems (AS / RS) utilize automated storage and retrieval equipment to achieve high-level warehouse optimization, automated storage and retrieval, and simplified operation. Currently, AS / RS typically employs vertical racks to store goods, with cross-shaped tracks on these racks for automated storage robots to move along, thereby handling and retrieving pallets of goods stored on the racks.

[0003] Automated storage robots typically employ a flat design to maximize storage space efficiency. These robots are controlled by a system that sends commands to them via communication devices, allowing the robots to perform tasks such as movement and material handling.

[0004] Automated storage robots typically use Wi-Fi wireless communication, which is susceptible to external interference, has poor stability and high latency, making it difficult to adapt to storage scenarios with large floor areas, multiple layers, and dense stacking. Utility Model Content

[0005] This utility model provides a dual-mode communication three-dimensional warehouse robot, which includes a vehicle body, a switch, a PLC control device, a drive device, a communication device, and various sensing devices; the switch, PLC control device, drive device, communication device, and various sensing devices are all installed on the vehicle body;

[0006] Multiple sensors are connected to the PLC control unit, and the PLC control unit receives data from various sensors.

[0007] The PLC control unit is connected to the switch. The PLC control unit processes various communication data and sensor data, and issues control commands.

[0008] The drive unit includes a CAN card, a driver, a motor, and an actuator. The motor is connected to the switch via the driver and the CAN card to receive control commands from the PLC control unit. The actuator is driven by the motor to perform the movement and lifting / reversing tasks of the automated storage robot in the direction of the sub-rail and main rail.

[0009] The communication device includes an onboard wireless terminal, a Wi-Fi antenna, and a 5G antenna. The Wi-Fi antenna and the 5G antenna are connected to a switch through the onboard wireless terminal to enable communication between the automated warehouse robot and the outside world.

[0010] Preferably, the automated storage and retrieval system (AS / RS) robot includes a vehicle body, on which a walking system, a lifting system, and a battery are provided. The walking system includes a walking drive device and walking wheels. The lifting system includes a lifting drive device, lifting plates, and lifting linkages. Lifting plates are provided on both sides of the vehicle body. The lifting plates on both sides are connected by lifting linkages. The lifting plates on both sides are driven synchronously by the lifting drive device and the lifting linkages.

[0011] The battery provides power to the automated storage and retrieval system robot.

[0012] Preferably, the motor includes a walking drive motor and a lifting drive motor, and the actuator includes walking wheels, a transmission mechanism, a lifting support plate, and a lifting linkage; the walking drive motor drives the walking wheels and the transmission mechanism, and the lifting drive motor drives the lifting support plate and the lifting linkage.

[0013] Preferably, the multiple sensing devices include a positioning photoelectric sensor, a lifting plate detection sensor, and a lifting linkage position detection miniature photoelectric sensor;

[0014] Positioning photoelectric sensors detect the position of the automated storage and retrieval system robot in the direction of the sub-rail or the main rail; lifting pallet detection sensors detect the position of the lifting pallet; and lifting link position detection micro photoelectric sensors detect the position of the lifting link.

[0015] Preferably, it also includes a display device, which comprises a light board, a light strip, and a control PCB board. The light board and light strip are connected to a switch through the control PCB board to receive control commands from the PLC, thereby enabling the automated storage robot to interact with external lighting or displays.

[0016] Preferably, it also includes a lidar, the function of which is to detect environmental information and realize obstacle avoidance function, wherein the lidar is connected to the switch.

[0017] Preferably, the lidar is installed on the left and right sides of the vehicle body, arranged diagonally.

[0018] Preferably, it also includes an RFID reader / writer, which is used to detect information about cargo pallets or the location of storage locations. The RFID reader / writer is connected to a switch.

[0019] Preferably, the RFID reader is located on the upper and lower sides of the vehicle body.

[0020] Preferably, Wi-Fi antennas are installed on the front and rear sides of the vehicle body, and 5G antennas are installed on the front, rear, left and right sides of the vehicle body.

[0021] The beneficial effects of this invention are as follows: It enables the access of various electrical components based on the network topology of the PLC and switch, enriching and improving the warehousing operation capabilities of the automated storage and retrieval system (AS / RS). With this invention, various functional components can be connected to the switch and then processed through the PLC control device. This layout is more systematic, component expansion is simpler, and it avoids crosstalk between components. Attached Figure Description

[0022] Figure 1 , 2 Schematic diagram of an automated warehouse robot;

[0023] Figure 3 The diagram shown is a partially enlarged view of the position of the lifting linkage.

[0024] Figure 4 The image shown is a top view of the 3D warehousing robot.

[0025] Figure 5 The diagram shows a schematic of the network topology of an automated warehouse robot. Detailed Implementation Plan

[0026] like Figure 1-4 As shown, the dual-mode communication three-dimensional warehouse robot in this embodiment includes a vehicle body, on which a walking system, a lifting system, and a battery are provided. The walking system includes a walking drive motor 211 and walking wheels 212. The lifting system includes a lifting drive motor 223, a lifting plate 221, and a lifting link 222. Lifting plates 221 are provided on both sides of the vehicle body. The lifting plates 221 on both sides are connected by the lifting link 222. The lifting plates 221 on both sides are driven synchronously by the lifting drive motor 223 and the lifting link 222.

[0027] Battery 26 provides power to the automated storage and retrieval system robot.

[0028] The automated storage and retrieval system (AS / RS) robot also includes a switch 25, a PLC control unit 24, a drive unit, a communication unit, and various sensing devices. The switch, PLC control unit, drive unit, communication unit, and various sensing devices are all mounted on the vehicle body.

[0029] like Figure 5 As shown, various sensors are directly connected to the PLC control device 24, which receives various sensor data; the PLC control device 24 is connected to the switch 25, which processes various communication data and sensor data, and issues control commands.

[0030] The drive unit includes a CAN card, a driver, a motor, and an actuator. The motor is connected to the switch 25 sequentially via the driver and the CAN card to receive control commands from the PLC control unit 24. The actuator, driven by the motor, performs the movement and lifting / reversing tasks of the automated storage and retrieval robot in the sub-rail and main rail directions. The driver receives commands from the controller and converts them into drive signals for the motor and actuator.

[0031] In this embodiment, a dual-mode vehicle-mounted wireless terminal is used on the automated storage and retrieval system (AS / RS) robot, along with a Wi-Fi antenna and a 5G antenna, to achieve dual-mode communication capability for the AS / RS robot.

[0032] Simultaneously, a network topology centered around the PLC and switches is adopted to enable the access of various electrical components, enriching and improving the warehousing operation capabilities of the automated storage and retrieval system (AS / RS). In this implementation, various functional components can be connected to the switches and then processed through the PLC control device. This layout is more systematic, component expansion is simpler, and it does not cause crosstalk between various components.

[0033] The motors include a walking drive motor 211 and a lifting drive motor 223. The actuators include walking wheels 212, a transmission mechanism (not shown), a lifting support plate 221, and a lifting connecting rod 222. The walking drive motor drives the transmission mechanism and walking wheels, while the lifting drive motor drives the lifting support plate and lifting connecting rod; both are controlled and executed by the drive devices. A CAN card, also known as a PCAN-USB, is a CAN-to-USB interface device.

[0034] The communication device includes an on-board wireless terminal, a Wi-Fi antenna 241 and a 5G antenna 242. The Wi-Fi antenna 241 and the 5G antenna 242 are connected to the switch 25 through the on-board wireless terminal to realize communication between the automated warehouse robot and the outside world.

[0035] Wi-Fi antenna 241 and 5G antenna 242 are respectively arranged around the vehicle body. Specifically, in this embodiment, the Wi-Fi antenna is arranged on the front side of the vehicle body, and the 5G antenna is arranged on the left or right side of the vehicle body. However, those skilled in the art should understand that the arrangement of Wi-Fi antenna 241 and 5G antenna 242 is not limited to this. In order to achieve better signal propagation, Wi-Fi antennas are arranged on both the front and rear sides of the vehicle body, and 5G antennas are arranged on the front, rear, left, and right sides of the vehicle body.

[0036] When using the device, you can choose to use either Wi-Fi or 5G signals depending on the on-site working environment and configuration strategy. Wi-Fi or 5G signals can be enabled simultaneously for signal transmission; alternatively, they can automatically switch to a single communication mode to work independently based on network conditions.

[0037] Using both Wi-Fi and 5G antennas ensures normal operation even if one signal fails, experiences delays, or the device malfunctions. Furthermore, using different signal sources reduces the probability of signal obstruction or interference in the direction of signal transmission.

[0038] Multiple sensing devices include a positioning photoelectric sensor 27, a lifting plate detection sensor 224, and a lifting linkage 222 position detection miniature photoelectric sensor 225;

[0039] Positioning photoelectric sensor 27 detects the position of the automated storage robot in the direction of the sub-rail or the main rail; lifting pallet detection sensor 224 detects the position of the lifting pallet; and lifting link 222 position detection miniature photoelectric sensor 225 detects the position of the lifting link 222.

[0040] In this embodiment, multiple sensors are directly connected to the PLC control device without going through a switch. Sensors are a crucial component in the entire movement of the warehouse robot, and the transmission of sensor data needs to be highly reliable. Direct connection to the PLC control device allows for direct reception and processing of the sensor data.

[0041] The dual-mode communication automated storage and retrieval system (AS / RS) robot also includes a display device. This display device comprises a light panel 232, a light strip 231, and a control PCB board. The light panel 232 and light strip 231 are connected to a switch 25 via the control PCB board to receive control commands from the PLC, enabling the AS / RS robot to interact with external lighting or displays. The display device is located on the front side of the vehicle body and is used for lighting and display. The light panel 232 and light strip 231 are located at the front end of the vehicle body, and the control PCB board is located on the inner side of the front end of the vehicle body.

[0042] The dual-mode communication automated warehousing robot also includes a LiDAR (not shown) and an RFID reader 28. The LiDAR detects environmental information to achieve obstacle avoidance, while the RFID reader detects information about the pallet or the location of the storage space. The LiDAR and RFID reader are connected to a switch 25. The information acquired by the LiDAR and RFID reader is transmitted through a communication device connected to the switch. The RFID reader is mounted on the warehousing robot, specifically on the upper and lower sides of the vehicle body. During reading and writing, the RFID reader on the upper side of the vehicle body can be as close as possible to the bottom of the pallet to read the RFID tag information from the pallet; the RFID reader on the lower side of the vehicle body... F The ID reader reads the RFID tag information on the shelf location.

[0043] The LiDAR (Light Detection and Ranging) is mounted on the four sides of the vehicle body. Preferably, in this embodiment, the LiDAR is mounted on the left and right sides of the vehicle body, arranged diagonally.

[0044] The battery is positioned in the middle of the vehicle body to ensure the robot's center of gravity is stable. The walking drive motors 211 are located on both sides of the vehicle body, close to the walking wheels; the lifting linkages are located on the front and rear sides of the vehicle body.

[0045] This utility model provides a dual-mode communication automated storage and retrieval system (AS / RS) robot, enabling it to communicate in both modes. Furthermore, it employs a network topology centered around a PLC and a switch, enriching and improving the AS / RS robot's storage operation capabilities.

Claims

1. A dual-mode communication automated storage and retrieval system robot, comprising a vehicle body, a switch, a PLC control unit, a drive unit, a communication unit, and various sensing devices; the switch, PLC control unit, drive unit, communication unit, and various sensing devices are all mounted on the vehicle body; characterized in that: Multiple sensors are connected to the PLC control unit, and the PLC control unit receives data from various sensors. The PLC control unit is connected to the switch. The PLC control unit processes various communication data and sensor data, and issues control commands. The drive unit includes a CAN card, a driver, a motor, and an actuator. The motor is connected to the switch via the driver and the CAN card to receive control commands from the PLC control unit. The actuator is driven by the motor to perform the movement and lifting / reversing tasks of the automated storage robot in the direction of the sub-rail and main rail. The communication device includes an onboard wireless terminal, a Wi-Fi antenna, and a 5G antenna. The Wi-Fi antenna and the 5G antenna are connected to a switch through the onboard wireless terminal to enable communication between the automated warehouse robot and the outside world.

2. The dual-mode communication automated warehousing robot as described in claim 1, characterized in that, The vehicle body is equipped with a walking system, a lifting system, and a battery. The walking system includes a walking drive device and walking wheels. The lifting system includes a lifting drive device, lifting plates, and lifting linkages. Lifting plates are provided on both sides of the vehicle body. The lifting plates on both sides are connected by lifting linkages. The lifting plates on both sides are driven synchronously by the lifting drive device and lifting linkages. The battery provides power to the automated storage and retrieval system robot.

3. The dual-mode communication automated warehousing robot as described in claim 1, characterized in that, The motor includes a walking drive motor and a lifting drive motor, and the actuator includes walking wheels, a transmission mechanism, a lifting support plate, and a lifting linkage; the walking drive motor drives the transmission mechanism and the walking wheels, and the lifting drive motor drives the lifting support plate and the lifting linkage.

4. The dual-mode communication automated warehousing robot as described in claim 1, characterized in that, Multiple sensing devices include a positioning photoelectric sensor, a lifting plate detection sensor, and a lifting linkage position detection miniature photoelectric sensor; Positioning photoelectric sensors detect the position of the automated storage and retrieval system robot in the direction of the sub-rail or the main rail; lifting pallet detection sensors detect the position of the lifting pallet; and lifting link position detection micro photoelectric sensors detect the position of the lifting link.

5. The dual-mode communication automated warehousing robot as described in claim 1, characterized in that, It also includes a display device, which comprises a light board, light strips, and a control PCB board. The light board and light strips are connected to a switch through the control PCB board to receive control commands from the PLC, enabling the automated warehouse robot to interact with external lighting or displays.

6. The dual-mode communication automated warehousing robot as described in claim 1, characterized in that, It also includes lidar, which is used to detect environmental information and enable obstacle avoidance. The lidar is connected to the switch.

7. The dual-mode communication automated warehousing robot as described in claim 6, characterized in that, The lidar is installed on the left and right sides of the vehicle body, arranged diagonally.

8. The dual-mode communication automated warehousing robot as described in claim 1, characterized in that, It also includes an RFID reader, which is used to detect information about cargo pallets or the location of storage locations. The RFID reader is connected to the switch.

9. The dual-mode communication automated warehousing robot as described in claim 8, characterized in that, The RFID reader is installed on the upper and lower sides of the vehicle body.

10. The dual-mode communication automated warehousing robot as described in claim 1, characterized in that, Wi-Fi antennas are installed on the front and rear sides of the vehicle body, and 5G antennas are installed on the front, rear, left and right sides of the vehicle body.

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