CN222330650U - Container handling equipment and storage systems - Google Patents
Container handling equipment and storage systems Download PDFInfo
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- CN222330650U CN222330650U CN202421253792.9U CN202421253792U CN222330650U CN 222330650 U CN222330650 U CN 222330650U CN 202421253792 U CN202421253792 U CN 202421253792U CN 222330650 U CN222330650 U CN 222330650U
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Abstract
本公开涉及一种容器装卸装置和仓储系统，容器装卸装置包括基座、取放组件、检测组件和控制单元，基座用于安装容器装卸装置所需的各种组件；取放组件设置于基座上，且被构造为至少在X轴方向上运动，以对目标区域上的容器进行取放；检测组件设置于基座上，且被配置为获取容器在目标区域时的偏移信息；控制单元被配置为根据检测单元获得的偏移信息控制取放组件向目标区域所在方向运动，以推动容器在X轴方向上运动预定的位移。本公开的容器装卸装置可保证容器相对于目标区域不再偏移，或容器相对于目标区域的偏移量满足要求，从而可以有效避免容器在目标区域内偏移过多，消除安全隐患。
The present disclosure relates to a container loading and unloading device and a storage system. The container loading and unloading device includes a base, a pick-and-place assembly, a detection assembly and a control unit. The base is used to install various components required for the container loading and unloading device; the pick-and-place assembly is arranged on the base and is constructed to move at least in the X-axis direction to pick and place the container on the target area; the detection assembly is arranged on the base and is configured to obtain the offset information of the container when it is in the target area; the control unit is configured to control the pick-and-place assembly to move in the direction of the target area according to the offset information obtained by the detection unit, so as to push the container to move a predetermined displacement in the X-axis direction. The container loading and unloading device disclosed in the present disclosure can ensure that the container is no longer offset relative to the target area, or the offset amount of the container relative to the target area meets the requirements, thereby effectively avoiding excessive offset of the container in the target area and eliminating safety hazards.
Description
Technical Field
The disclosure relates to the field of logistics storage, in particular to a container loading and unloading device, and also relates to a storage system.
Background
In the goods-to-person warehouse logistics system, when the need of the container in-and-out warehouse exists, the container to be warehoused can be sent to the operation workstation and then sent to the carrier through the container loading and unloading device to finish the warehouse-in of the container, and when the need of the container out-of-warehouse is met, the container is taken out from the carrier through the container loading and unloading device and is sent to the operation workstation to finish the out-of-warehouse of the container.
The container handling device generally uses devices such as a vacuum western and the like to transfer containers in a pulling manner, after the container handling device uses a vacuum chuck to push the containers on a conveyor belt onto a carrier, due to the self-structure of the vacuum chuck, a certain vacuum degree may still exist between the vacuum chuck and the containers in the process of withdrawing the vacuum chuck, and the vacuum chuck will pull the containers out of the carrier for a certain distance, so that the containers protrude from the carrier, and potential safety hazards exist.
Disclosure of utility model
The present disclosure provides a container handling apparatus and a warehousing system for solving the problems existing in the prior art.
According to a first aspect of the present disclosure there is provided a container handling apparatus comprising:
A base;
A pick-and-place assembly disposed on the base and configured to move at least in an X-axis direction to pick and place a container on a target area;
A detection assembly disposed on the base and configured to obtain offset information of the container at the target area;
and the control unit is configured to control the pick-and-place assembly to move towards the direction of the target area according to the offset information obtained by the detection unit so as to push the container to move by a preset displacement in the X-axis direction.
In one embodiment of the disclosure, the container handling device comprises a bearing assembly arranged on the base and configured for conveying containers, a passing space for the containers to move on is arranged on the base, a pick-and-place opening is formed in one side of the passing space, and the detection assembly is arranged on the base at a position avoiding the container movement path.
In one embodiment of the present disclosure, the detection assembly is an image sensor disposed on the base and positioned over the access opening, the image sensor configured to acquire at least image information of a container positioned on the target area.
In one embodiment of the present disclosure, the detection assembly is a distance sensor disposed on the base below the bearing surface of the carrier assembly, the distance sensor configured to acquire at least distance information of a container located on the target area.
In one embodiment of the disclosure, the distance sensor comprises a first sensor and a second sensor, the first sensor is configured to acquire a first distance from the first sensor to the target area, the second sensor is configured to acquire a second distance from the second sensor to the container located on the target area, and the control unit is configured to control the movement of the picking and placing component in the direction of the target area according to offset information determined by the first distance and the second distance.
In one embodiment of the present disclosure, the detection direction of the second sensor is configured to be inclined upward with respect to the horizontal plane to obtain a second distance thereof to the container.
In one embodiment of the disclosure, the bearing assembly comprises at least two conveying belts arranged in parallel, the second sensor is located between the two conveying belts and lower than the upper surface of the conveying belts, and detection waves sent by the second sensor are transmitted to the position of the container from the position between the two conveying belts in an inclined mode.
In one embodiment of the present disclosure, the target area includes at least one of a carrier, a buffer location, or an operating station for storing containers, and the first distance is a distance from a first sensor to a respective side of the carrier.
In one embodiment of the present disclosure, the target area includes at least one of a carrier, a buffer location, or an operation station for storing containers, and the first distance is a distance from the first sensor to a respective side of the carrier, buffer location, or operation station.
In one embodiment of the disclosure, the carrier and the buffer position each comprise a bearing part for bearing the container and a supporting part for supporting the bearing part, wherein the first distance is the distance from the first sensor to the side wall of the bearing part or the side wall of the supporting part for the carrier and the buffer position;
The operation station comprises a bearing part for bearing the container, and the first distance is the distance from the first sensor to the side wall of the bearing part for the operation station.
In one embodiment of the disclosure, the carrier, the buffer position or the operation station comprises a carrying part for carrying the container and a supporting part for supporting the carrying part, and the first distance is a distance from the first sensor to the side wall of the carrying part or the side wall of the supporting part.
In one embodiment of the present disclosure, the pick-and-place assembly includes:
An actuator configured to perform a connecting action for connecting the containers or a releasing action for releasing the containers;
The container loading and unloading device comprises a container passing space, a moving mechanism and a container loading and unloading device, wherein the moving mechanism is configured to drive the executing mechanism to move in a first moving track and a second moving track, the moving mechanism is configured to drive the executing mechanism to move in the passing space in the first moving track so as to load and unload the container, and the moving mechanism is configured to drive the executing mechanism to avoid the passing space in the second moving track so as to enable the container to pass through the passing space.
In one embodiment of the present disclosure, the carrying assembly includes a passing space for the container to move through, and one side of the passing space has a taking and placing port, and the taking and placing assembly includes:
An actuator configured to perform a connecting action for connecting the containers or a releasing action for releasing the containers;
And the motion mechanism is configured to drive the actuating mechanism to reciprocate in the passing space so as to load and unload the container through the pick-and-place opening.
In one embodiment of the disclosure, the movement mechanism comprises an X-axis movement mechanism configured to be controlled by a driving unit to drive the actuator to move in the X-axis direction;
The container handling apparatus further includes a trigger sensor configured to be triggered when the actuator moves to a predetermined position, and the control unit is configured to compensate the driving unit according to a trigger signal obtained by the trigger sensor.
In one embodiment of the disclosure, the movement mechanism comprises an X-axis movement mechanism configured to be controlled by a driving unit to drive the actuator to move in the X-axis direction;
the container handling apparatus further includes a trigger sensor disposed at a predetermined location, the trigger sensor configured to be triggered when the actuator moves to the predetermined location, and the control unit is configured to issue an alarm signal when an operating parameter of the pick-and-place assembly reaches a threshold value based on the trigger sensor being triggered.
In one embodiment of the present disclosure, the operation parameter is a difference between an actual time when the trigger sensor is triggered and a preset time, or a difference between an actual code wheel value of the driving unit and a preset code wheel value when the trigger sensor is triggered.
In one embodiment of the present disclosure, the X-axis moving mechanism includes a gear rotatably connected to the base, and a transmission chain engaged with the gear, and the driving unit is configured to rotate the transmission chain through the gear to drive the actuator to move in the X-axis direction.
In one embodiment of the present disclosure, the control unit is configured to continuously control the pick-and-place assembly to move in the X-axis direction by a predetermined displacement based on the offset information acquired by the detection unit after the pick-and-place assembly moves in place during the process of returning the container.
In one embodiment of the present disclosure, the pick-and-place assembly is configured to perform a connecting action to connect the containers and a releasing action to release the containers;
In the process of returning the container, the detection unit is configured to acquire the offset information after the picking and placing assembly performs the loosening action, and the control unit is configured to control the picking and placing assembly to push the container to move in the X-axis direction based on the offset information.
In one embodiment of the present disclosure, the control unit is configured to control the pick-and-place assembly to push the container to move a predetermined displacement in the X-axis direction in a state where the connection action is not performed, and to be disengaged from the container during the resetting.
In one embodiment of the present disclosure, the pick-and-place assembly includes a vacuum chuck configured to perform a connection action to connect the containers by forming a vacuum with the containers and to perform a release action to release the containers by releasing the vacuum with the containers.
According to a second aspect of the present disclosure, there is provided a container handling apparatus comprising:
A base;
The picking and placing assembly is arranged on the base and comprises an executing mechanism and a moving mechanism, wherein the executing mechanism is configured to execute a connecting action for connecting a container or a loosening action for loosening the container, and the moving mechanism is controlled by a driving unit to drive the executing mechanism to move at least in the X-axis direction;
A trigger sensor configured to be triggered when the actuator moves to a predetermined position;
the control unit is configured to compensate the driving unit according to the trigger signal obtained by the trigger sensor or send out an alarm signal when the operation parameter of the picking and placing assembly reaches a threshold value when the trigger sensor is triggered.
In one embodiment of the present disclosure, the operation parameter is a difference between an actual time when the trigger sensor is triggered and a preset time, or a difference between an actual code wheel value of the driving unit and a preset code wheel value when the trigger sensor is triggered.
In one embodiment of the present disclosure, the movement mechanism includes a gear rotatably connected to the base, and a transmission chain engaged with the gear, and the driving unit is configured to rotate the transmission chain through the gear to drive the actuator to move in the X-axis direction.
According to a third aspect of the present disclosure, there is provided a warehousing system comprising:
the carrier stopping area is used for stopping a carrier, and the carrier is loaded with a container;
a workstation configured for processing containers;
and the carrier stopping area and the work station are respectively positioned at two sides of the container loading and unloading device.
In the working process of the container loading and unloading device, the taking and placing component can move at least in the X-axis direction to place the container in the target area, the detecting component can acquire the offset information of the container in the target area, then the control unit can control the taking and placing component to move towards the direction of the target area according to the offset information acquired by the detecting unit so as to push the container to move for a preset displacement in the X-axis direction, so that the container is not offset relative to the target area any more, or the offset of the container relative to the target area meets the requirement, thereby effectively avoiding excessive offset of the container in the target area and eliminating potential safety hazards.
Other features of the present disclosure and its advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic diagram of the warehousing system of the present disclosure;
FIG. 2 is a schematic view of a carrier and container handling apparatus of the present disclosure;
FIG. 3 is a schematic perspective view of a container handling apparatus of the present disclosure;
FIG. 4 is a top schematic view of the container handling apparatus of the present disclosure;
the one-to-one correspondence between the component names and the reference numerals in fig. 1 to 4 is as follows:
10. The device comprises a container loading and unloading device, 11, a base, 12, a picking and placing component, 121, an executing mechanism, 122, a moving mechanism, 1221, a transmission chain, 1222, an avoidance moving mechanism, 13, a detection component, 131, a first sensor, 132, a second sensor, 14, a bearing component, 141, a conveying belt, 151, a passing space, 152, a picking and placing port, 16, a triggering sensor, 20, a carrier, 21, a bearing part, 22, a supporting part, 30, a container, 40, a working station, 41 and a processing station.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used merely to indicate relative positional relationships between the relevant portions, and do not limit the absolute positions of the relevant portions.
Herein, "first", "second", etc. are used only for distinguishing one another, and do not denote any order or importance, but rather denote a prerequisite of presence.
Herein, "equal," "same," etc. are not strictly mathematical and/or geometric limitations, but also include deviations that may be appreciated by those skilled in the art and allowed by fabrication or use, etc.
The present disclosure provides a container handling apparatus for loading and unloading containers on a target area such as a tool or a processing station. Wherein, the carrier can be a movable goods shelf, and the processing station can be a workbench in a workstation or a conveying line. The container handling device is capable of retrieving containers stored on the target storage location of the carrier and transferring them to the target processing station, or alternatively, retrieving containers from the target processing station and placing them in the target storage location of the carrier. Containers in this disclosure are primarily containers for loading goods in a logistics, including but not limited to bins, trays, packing boxes, and the like, without limitation.
The container loading and unloading device comprises a base, a picking and placing component, a detecting component and a control unit, wherein the base is used for installing various components required by the container loading and unloading device, the picking and placing component is arranged on the base and is configured to move at least in the X-axis direction so as to pick and place a container on a target area, the detecting component is arranged on the base and is configured to acquire offset information of the container in the target area, and the control unit is configured to control the picking and placing component to move in the direction of the target area according to the offset information acquired by the detecting unit so as to push the container to move for a preset displacement in the X-axis direction.
In this way, in the working process of the container loading and unloading device disclosed by the disclosure, the taking and placing component can move at least in the X-axis direction to place the container in the target area, the detecting component can acquire the offset information of the container in the target area, then the control unit can control the taking and placing component to move in the direction of the target area according to the offset information acquired by the detecting unit so as to push the container to move for a preset displacement in the X-axis direction, so that the container is not offset relative to the target area any more, or the offset of the container relative to the target area meets the requirement, thereby effectively avoiding excessive offset of the container in the target area and eliminating potential safety hazards.
For ease of understanding, the specific structure of the container handling apparatus of the present disclosure and its principle of operation will be described in detail below with reference to fig. 1 to 4. It should be noted that, in order to keep the text concise, the present disclosure also provides a warehousing system, which is described together with the description of the container handling apparatus.
As shown in fig. 1 and 2, the present disclosure provides a container handling apparatus 10 for loading and unloading containers 30 on a target area such as a tool 20 or a processing station 41. Wherein the carrier 20 may be a movable shelf or a fixed shelf, and the processing station 41 may be a table or a conveyor line within the workstation 40. The container handling apparatus 10 is capable of taking out the container 30 stored on the target storage location of the carrier 20 and transferring it to the target processing station 41, or alternatively, taking the container 30 from the target processing station 41 and placing it in the target storage location of the carrier 20. The container 30 in this disclosure is primarily a container 30 for loading goods in a logistics, including but not limited to a bin, tray, package box, etc., without limitation.
Specifically, the container handling apparatus 10 of the present disclosure includes a base 11, a pick-and-place assembly 12, a detection assembly 13, and a control unit, the base 11 being used to mount various components required for the container handling apparatus 10.
The pick-and-place assembly 12 is disposed on the base 11 and is configured to move in at least the X-axis direction to pick and place the container 30 on the target area. That is, the pick and place assembly 12 of the present disclosure is capable of moving in at least the X-axis direction to place the container 30 at or near the target area, and also capable of moving in the X-axis direction to transfer the container 30 at the target area into the container handling device 10. It will be appreciated that the X-axis direction may be horizontal during the process of picking and placing the container 30 on the target area.
The detection assembly 13 is disposed on the base 11 and is configured to acquire offset information of the container 30 at the target area. It will be appreciated that the offset information of the container 30 at the target area includes at least the offset information of the container 30 at the target area along the X-axis direction, which may include whether the container is located in the target area or offset the target area along the X-axis positive/negative direction, a specific offset amount with respect to the target area along the X-axis positive/negative direction, etc., and may include whether the container is offset the target area along the Y-axis positive/negative direction, a specific offset amount with respect to the target area along the Y-axis positive/negative direction, an offset angle with respect to the Y-axis direction, etc.
The control unit is configured to control the pick-and-place assembly 12 to move in the direction of the target area according to the offset information obtained by the detection unit, so as to push the container 30 to move by a predetermined displacement in the X-axis direction.
In this way, in the working process of the container handling device 10 of the disclosure, the pick-and-place component 12 can move at least in the X-axis direction to place the container 30 in the target area, the detection component 13 can obtain the offset information of the container 30 in the target area, then the control unit can control the pick-and-place component 12 to move in the direction of the target area according to the offset information obtained by the detection unit, so as to push the container 30 to move for a predetermined displacement in the X-axis direction, so that the container 30 is not offset relative to the target area, or the offset of the container 30 relative to the target area meets the requirement, thereby effectively avoiding the container 30 from being offset too much in the target area and eliminating the hidden safety hazard, for example, effectively avoiding the container 30 from protruding from the shelf, affecting the situation of the subsequent container 30, and ensuring the safe picking and placing of the subsequent container 30.
Specifically, in one embodiment of the present disclosure, during the time that the container handling apparatus 10 of the present disclosure is still holding the container 30, the control unit is configured to continue to control the movement of the pick and place assembly 12 in the X-axis direction by a predetermined displacement based on the offset information acquired by the detection unit after the pick and place assembly 12 is moved into place.
That is, in the process that the container handling device 10 of the present disclosure still holds the container 30, after the pick-and-place assembly 12 moves in the X-axis direction to place the container 30 in the target area, the detection unit may obtain the offset information of the container 30 in the target area, and then the control unit determines whether to continue pushing the control unit to the carrier 20 according to the offset information of the container 30 in the target area, if the control unit needs to continue pushing, the pick-and-place assembly 12 is continuously controlled to move in the X-axis direction by a predetermined displacement, so as to ensure that the offset information of the container 30 in the target area meets the requirements.
In yet another embodiment of the present disclosure, the pick-and-place assembly 12 is configured to perform a coupling action to couple the containers 30 and a uncoupling action to uncouple the containers 30. That is, in the process of taking the container 30 from the container handling apparatus 10 of the present disclosure, the taking and placing assembly 12 can perform a connection operation for connecting the container 30 and then transfer the container 30 into the container handling apparatus 10 by moving the taking and placing assembly 12, and after transferring the container 30 into the container handling apparatus 10, the taking and placing assembly 12 can perform a release operation for releasing the container 30, thereby separating the taking and placing assembly 12 from the container 30.
In the process of returning the container 30, the picking and placing assembly 12 can push the container 30 to move to the target area in the X-axis direction after the connecting action of the connecting container 30 is performed, then perform the releasing action for releasing the container 30 and separate the picking and placing assembly 12 from the container 30, or the picking and placing assembly 12 can push the container 30 to move to the target area in the X-axis direction without performing the connecting action of the connecting container 30 and then directly separate the picking and placing assembly 12 from the container 30.
Specifically, in one embodiment of the present disclosure, during the process of returning the container 30, the detection unit is configured to obtain the offset information after the pick-and-place assembly 12 performs the releasing action, and the control unit is configured to control the pick-and-place assembly 12 to push the container 30 to move in the X-axis direction based on the offset information.
That is, in the process of returning the container 30, after the container 30 is connected, the pick-and-place assembly 12 pushes the container 30 to move to the target area in the X-axis direction, then the releasing action for releasing the container 30 is performed, the pick-and-place assembly 12 is separated from the container 30, the detecting unit obtains offset information after the pick-and-place assembly 12 performs the releasing action, and the control unit controls the pick-and-place assembly 12 to push the container 30 to move in the X-axis direction based on the offset information, so that the offset information when the container 30 is in the target area is ensured to meet the requirement.
In one embodiment of the present disclosure, the control unit is configured to control the pick and place assembly 12 to push the container 30 to move a predetermined displacement in the X-axis direction in a state where the connection action is not performed, and to disengage from the container 30 during the resetting.
That is, in the process of returning the container 30, the pick-and-place assembly 12 pushes the container 30 to move to the target area in the X-axis direction in a state where the connection action is not performed, and then the pick-and-place assembly 12 is separated from the container 30 in the process of resetting. After the picking and placing component 12 is separated from the container 30, the detection unit can acquire offset information, and the control unit controls the picking and placing component 12 to push the container 30 to move in the X-axis direction based on the offset information, so that the offset information of the container 30 in a target area can be ensured to meet the requirement.
Specifically, as shown in fig. 3 and 4, in one embodiment of the present disclosure, the pick-and-place assembly 12 includes a vacuum chuck configured to perform a connection action to connect the containers 30 by creating a vacuum with the containers 30 and a release action to release the containers 30 by releasing the vacuum with the containers 30.
That is, in the process of taking the container 30 by the container handling apparatus 10 of the present disclosure, the vacuum chuck can perform a coupling action of coupling the container 30 by forming a vacuum with the container 30 and then transferring the container 30 into the container handling apparatus 10 by moving the vacuum chuck, and after transferring the container 30 into the container handling apparatus 10, the vacuum chuck can perform a releasing action of releasing the container 30 by releasing the vacuum with the container 30.
That is, in the process that the container handling device 10 of the present disclosure still holds the container 30, after the pick-and-place assembly 12 moves in the X-axis direction to place the container 30 in the target area, the detection unit may obtain the offset information of the container 30 in the target area, and then the control unit determines whether to continue pushing the control unit to the carrier 20 according to the offset information of the container 30 in the target area, if the control unit needs to continue pushing, the pick-and-place assembly 12 is continuously controlled to move in the X-axis direction by a predetermined displacement, so as to ensure that the offset information of the container 30 in the target area meets the requirements.
For the case that the container 30 is offset or deflected in the Y-axis direction relative to the target area, the control unit may control the pick-and-place assembly 12 to move the container in the Y-axis direction by pushing and/or pulling the container according to the offset information of the container 30 in the target area, so as to further ensure that the offset information of the container 30 in the target area meets the requirement.
Specifically, as shown in fig. 3, the container handling device 10 further includes a carrying assembly 14, the carrying assembly 14 is disposed on the base 11, and is configured to convey the container 30, a passing space 151 for the container 30 to move on the carrying assembly 14 is disposed on the base 11, a pick-and-place opening 152 is disposed on one side of the passing space 151, and the detecting assembly 13 is disposed on the base 11 at a position avoiding the path of movement of the container 30.
That is, in the container handling apparatus 10 of the present disclosure, the container 30 is moved from the access opening 152 into the pass-through space 151 on the carrier assembly 14 and into the pass-through space 151 during the taking of the container 30, and the container 30 is moved from the pass-through space 151 on the carrier assembly 14 to the access opening 152 and out of the access opening 152 during the putting of the container 30. In one embodiment of the present disclosure, the container 30 may be transferred between two sides of the carrier assembly 14, the two sides of the carrier assembly 14 being the access ports 152, respectively, and in another embodiment of the present disclosure, the container 30 may be accessed through the same access port 152 into and out of the access space 151 to load and unload the container 30.
In the case that the container 30 is moved into and out of the through space 151 through the same access opening 152 to load and unload the container 30, in the process of taking the container 30 by the container handling device 10 of the present disclosure, the taking and placing component 12 can perform a connection action for connecting the container 30, then transfer the container 30 into the container handling device 10 by moving the taking and placing component 12, after transferring the container 30 into the container handling device 10, the taking and placing component 12 can not perform a release action for releasing the container 30, after the container handling device 10 of the present disclosure is moved to the target position, the taking and placing component moves in the X-axis direction to place the container 30 to the target area, and then performs a release action for releasing the container 30, so that the taking and placing component 12 is separated from the container 30, thereby effectively saving a flow and improving the taking and placing efficiency of the container 30.
Since the detecting assembly 13 is disposed on the base 11 at a position avoiding the movement path of the container 30, the detecting assembly 13 does not obstruct the movement of the container 30 during the movement of the container 30 along the passing space 151, thereby ensuring that the container 30 can be normally moved in and out on the container handling apparatus 10 of the present disclosure.
In one embodiment of the present disclosure, the pick-and-place assembly 12 includes an actuator 121 and a movement mechanism 122, the actuator 121 being configured to perform a connection motion for connecting the container 30 or a release motion for releasing the container 30, the movement mechanism 122 being configured to move the actuator 121 in a first movement path in which the movement mechanism 122 is configured to move the actuator 121 in the pass-through space 151 to load and unload the container 30, and a second movement path in which the movement mechanism 122 is configured to move the actuator 121 out of the pass-through space 151 to pass the container 30 through the pass-through space 151.
Thus, when the executing mechanism 121 is not required to work, the executing mechanism 121 can avoid the open passing space 151 under the drive of the moving mechanism 122, so that the passing space 151 is not occupied, the structure of the picking and placing assembly 12 is more compact, and the picking and placing assembly can adapt to a narrow working space.
As previously described, in one embodiment of the present disclosure, the carrier assembly 14 includes a pass-through space 151 for the movement of the container 30 therethrough, the pass-through space 151 having a pick-and-place port 152 at one side thereof, the pick-and-place assembly 12 includes an actuator 121 and a movement mechanism 122, the actuator 121 being configured to perform a coupling action for coupling the container 30 or a releasing action for releasing the container 30, the movement mechanism 122 being configured to reciprocate the actuator 121 within the pass-through space 151 to load and unload the container 30 through the pick-and-place port 152.
That is, the container 30 may be moved into and out of the through space 151 through the same access port 152, at this time, the actuator 121 may be disposed opposite to the access port 152, the movement mechanism 122 may reciprocate in the through space 151 to accomplish the purpose of loading and unloading the container 30 from the same access port 152, and the movement mechanism 122 may not need to avoid the through space 151.
It will be appreciated that in order to enable movement of the actuator 121 in the X-axis direction, in one embodiment of the present disclosure, the movement mechanism 122 includes an X-axis movement mechanism configured to be controlled by the drive unit to move the actuator 121 in the X-axis direction. Specifically, as shown in fig. 4, in one embodiment of the present disclosure, the X-axis moving mechanism includes a gear rotatably coupled to the base 11, and a driving chain 1221 engaged with the gear, and the driving unit is configured to rotate the driving chain 1221 through the gear to move the actuator 121 in the X-axis direction. That is, the driving unit can drive the transmission chain 1221 to rotate through the gear, so as to drive the actuator 121 to move in the X-axis direction.
In yet another embodiment of the present disclosure, in order for the movement mechanism 122 to drive the actuator 121 to clear the through space 151, the container 30 is passed through the through space 151. The movement mechanism 122 includes an avoidance movement mechanism 1222, where the avoidance movement mechanism 1222 is configured to be controlled by the driving unit to drive the actuator 121 to move in a Y-axis or Z-axis direction, so as to drive the actuator 121 to avoid the open space 151, where the Y-axis direction is a horizontal direction perpendicular to the X-axis, and the Z-axis direction is a vertical direction. The avoidance movement mechanism 1222 may also adopt a matching structure of the above-mentioned transmission chain 1221 and gears, and the principle is similar, and will not be described herein.
As shown in fig. 4, in one embodiment of the present disclosure, the carrier assembly 14 includes at least two parallel arranged conveyor belts 141, the conveyor belts 141 being capable of being controlled to rotate by a power unit to move the containers 30 on the conveyor belts 141 in the direction of extension of the conveyor belts 141. By providing the conveyor belt 141, the pick-and-place assembly 12 can be assisted to drive the container 30 to move in the X-axis direction, so that the resistance of the container 30 in the moving process in the X-axis direction is greatly reduced.
Specifically, in one embodiment of the present disclosure, the detection assembly 13 is an image sensor disposed on the base 11 above the access port 152, the image sensor being configured to at least acquire image information of the container 30 located on the target area.
The image sensor may be a depth camera capable of acquiring the offset information of the container 30 at the target area by acquiring the depth information in the image information of the container 30 located at the target area, or may be another type of image sensor as long as the image sensor is also capable of acquiring the offset information of the container 30 at the target area.
In yet another embodiment of the present disclosure, the detection assembly 13 is a distance sensor disposed on the base 11 below the bearing surface of the bearing assembly 14, the distance sensor being configured to acquire at least distance information of the container 30 located on the target area. I.e., the distance sensor acquires the offset information of the container 30 at the target area by acquiring at least the distance information of the container 30 located on the target area.
Specifically, in one embodiment of the present disclosure, the distance sensor includes a first sensor 131 and a second sensor 132, the first sensor 131 is configured to acquire a first distance from the first sensor 131 to the target area, the second sensor 132 is configured to acquire a second distance from the second sensor 132 to the container 30 located on the target area, and the control unit is configured to control the movement of the pick-and-place assembly 12 in a direction in which the target area is located according to offset information determined by the first distance and the second distance. I.e. during the distance sensor process, the first sensor 131 is able to acquire a first distance from the first sensor 131 to the target area, the second sensor 132 is configured to acquire a second distance from the second sensor 132 to the container 30 located on the target area, and the control unit is configured to control the movement of the pick-and-place assembly 12 in the direction of the target area based on the offset information determined by the first distance and the second distance.
The first distance may be a linear distance from the first sensor 131 to the target area, a distance from the first sensor 131 to the target area in the X-axis direction, and the second distance may be a linear distance from the second sensor 132 to the container 30 located on the target area, or a distance from the second sensor 132 to the container 30 located on the target area in the X-axis direction, as long as the control unit can determine the offset information of the container 30 in the target area based on the first distance and the second distance. The control unit can control the pick-and-place assembly 12 to move towards the direction of the target area according to the offset information determined by the first distance and the second distance, so as to ensure that the offset information of the container 30 in the target area meets the requirement.
Specifically, as shown in fig. 2, the target area includes a carrier 20 for storing the container 30, and in the case where the target area includes the carrier 20 for storing the container 30, the first distance is a distance from the first sensor 131 to the corresponding side of the carrier 20. The first sensor 131 may be a photoelectric sensor, an ultrasonic sensor, or the like, to obtain a distance to a corresponding side of the carrier 20. In yet another embodiment of the present disclosure, the target area includes a buffer location or an operation station for storing the container 30, and the first distance is a distance from the first sensor 131 to a corresponding side of the buffer location in case the target area includes the buffer location for storing the container 30, and the first distance is a distance from the first sensor 131 to a corresponding side of the operation station in case the target area includes the operation station for storing the container 30.
Further, in one embodiment of the present disclosure, the carrier 20 and the buffer location each include a carrying portion 21 for carrying the container 30, and a supporting portion 22 for supporting the carrying portion 21, and for the carrier 20 and the buffer location, the first distance is a distance from the first sensor 131 to a sidewall of the carrying portion 21 or a sidewall of the supporting portion 22. It will be appreciated that the first sensor 131 is more conveniently located at a distance from the side wall of the carrier 21 or the side wall of the support 22.
In another embodiment of the present disclosure, the operation station includes a carrying portion for carrying the container 30, and for the operation station, the first distance is a distance from the first sensor 131 to a side wall of the carrying portion, and it is convenient for the first sensor 131 to obtain a distance from the side wall of the carrying portion of the operation station.
Wherein, as shown in fig. 3, in one embodiment of the present disclosure, the detection direction of the second sensor 132 is configured to be inclined upward with respect to the horizontal plane to obtain the second distance thereof to the container 30. Because the detection direction of the second sensor 132 is inclined upward relative to the horizontal plane to obtain the second distance from the second sensor 132 to the container 30, the second sensor 132 does not need to be disposed at the same horizontal height as the container 30, so that the second sensor 132 is located at a position avoiding the movement path of the container 30. Similarly, the second sensor 132 may also be a photoelectric sensor, an ultrasonic sensor, or the like, to obtain the distance to the container 30.
In one embodiment of the present disclosure, where the carrier assembly 14 includes at least two conveyor belts 141 arranged in parallel, as shown in fig. 3 and 4, the second sensor 132 is located between the two conveyor belts 141 and below the upper surface of the conveyor belts 141, and the detection wave emitted from the second sensor 132 is transmitted obliquely upward from between the two conveyor belts 141 to the location of the container 30. The second sensor 132 is located between the two conveying belts 141 and is lower than the upper surface of the conveying belts 141, and the detection wave sent by the second sensor 132 is transmitted to the position of the container 30 from the position between the two conveying belts 141 in an inclined and upward mode, so that the second sensor 132 can acquire the second distance to the container 30, the position of avoiding the movement path of the container 30 can be ensured, and the normal movement of the container 30 is prevented from being influenced.
As described above, in one embodiment of the present disclosure, the X-axis moving mechanism includes a gear rotatably coupled to the base 11, and a driving chain 1221 engaged with the gear, and the driving unit drives the driving chain 1221 to rotate through the gear to drive the actuator 121 to move in the X-axis direction, and when the weight of the container 30 is heavy, a large force is required to pull or push the container 30 to move in the X-axis direction, so that the driving chain 1221 may jump teeth with respect to the gear, and when the actuator 121 moves close to the container in the X-axis direction, the driving chain 1221 may jump teeth with respect to the gear when the actuator 121 collides with the container 30. When the transmission chain 1221 possibly jumps teeth relative to the gear, the zero position of the picking and placing assembly 12 is inaccurate, thereby affecting the accuracy of the subsequent picking and placing containers 30.
Thus, as shown in FIG. 3, in one embodiment of the present disclosure, the container handling apparatus 10 further includes a trigger sensor 16, the trigger sensor 16 being configured to be triggered when the actuator 121 moves to a predetermined position, and the control unit being configured to compensate the drive unit based on a trigger signal obtained by the trigger sensor 16. I.e. the actuator 121 can trigger the trigger sensor 16 when it moves to a predetermined position, the control unit compensates the drive unit in accordance with the trigger signal obtained by the trigger sensor 16. Specifically, the control unit automatically compensates the driving unit according to the operation parameters obtained by the trigger sensor 16 when the trigger signal is obtained, so that the pick-and-place assembly 12 can determine a correct new zero position, and the accuracy of the subsequent pick-and-place container 30 is ensured.
In another embodiment of the present disclosure, as shown in FIG. 3, the container handling apparatus 10 further includes a trigger sensor 16 disposed at a predetermined location, the trigger sensor 16 being configured to be triggered when the actuator 121 is moved to the predetermined location, and the control unit being configured to issue an alarm signal when an operating parameter of the pick and place assembly 12 reaches a threshold value upon the trigger sensor 16 being triggered.
That is, the trigger sensor 16 can be triggered when the actuator 121 moves to a predetermined position, the control unit can send an alarm signal when the operation parameter of the pick-and-place assembly 12 reaches a threshold value according to the trigger of the trigger sensor 16, and after receiving the alarm signal, a maintainer can calibrate the X-axis moving mechanism again in time, so that the zero position of the pick-and-place assembly 12 can be recovered to be normal, and the accuracy of the subsequent pick-and-place container 30 is ensured.
Specifically, in one embodiment of the present disclosure, the operation parameter is a difference between an actual time when the trigger sensor 16 is triggered and a preset time, the preset time when the trigger sensor 16 is triggered is a time when the driving unit starts for a set period, whether the actual time when the trigger sensor 16 is triggered exceeds the preset time by a period longer than the preset time, and the control unit may send an alarm signal.
In another embodiment of the present disclosure, the operating parameter is a difference between the actual code wheel value of the driving unit and the preset code wheel value when the trigger sensor 16 is triggered, and the principle is similar to the above embodiment and will not be repeated herein.
As shown in fig. 1 and 2, the present disclosure provides a warehousing system comprising:
a carrier 20 parking area for parking the carrier 20, wherein the carrier 20 carries the container 30;
A workstation 40, the workstation 40 configured for processing the containers 30;
In the container handling apparatus 10, the docking area for the carriers 20 and the work station 40 are located on both sides of the container handling apparatus 10.
In the working process of the container handling device 10 of the warehouse system of the present disclosure, the pick-and-place assembly 12 can move at least in the X-axis direction to place the container 30 in any target area of the carrier 20 or the workstation 40, the detection assembly 13 can obtain the offset information of the container 30 in the target area, and then the control unit can control the pick-and-place assembly 12 to move in the direction of the target area according to the offset information obtained by the detection unit, so as to push the container 30 to move for a predetermined displacement in the X-axis direction, so that the container 30 is not offset any more relative to the target area, or the offset of the container 30 relative to the target area meets the requirement, thereby effectively avoiding excessive offset of the container 30 in the target area and eliminating potential safety hazards.
The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.
Claims (23)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202421253792.9U CN222330650U (en) | 2024-06-03 | 2024-06-03 | Container handling equipment and storage systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202421253792.9U CN222330650U (en) | 2024-06-03 | 2024-06-03 | Container handling equipment and storage systems |
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| Publication Number | Publication Date |
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| CN222330650U true CN222330650U (en) | 2025-01-10 |
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| CN202421253792.9U Active CN222330650U (en) | 2024-06-03 | 2024-06-03 | Container handling equipment and storage systems |
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| CN (1) | CN222330650U (en) |
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