Control Method for Loading and Unloading Equipment to Pull Goods from Shelves

Abstract

The present invention discloses a control method for a loading and unloading device to pull goods from a shelf, which comprises the following steps: S1. The box pulling machine in the loading and unloading device body moves to the inlet and outlet where the predetermined cargo box on the shelf is located, and the manipulator on the box pulling machine moves towards the predetermined cargo box; S2. The distance measuring device starts to measure the distance. When the predetermined value is reached, the fingers of the manipulator hook the handle at the outer end of the cargo box from bottom to top; S3. The fingers of the manipulator drag the cargo box outwards, and the distance measuring device monitors the distance; S4. If the distance is maintained within the predetermined range, the fingers of the manipulator will drag the cargo box to the predetermined position on the loading platform of the box pulling machine, and the fingers of the manipulator will disengage from the handle at the outer end of the cargo box to complete pulling the cargo box; S5. If the distance exceeds the predetermined range and causes the hook to disengage, then, S6. The loading platform of the box pulling machine moves downwards to be lower than the shelf partition, the outer end of the cargo box moves downwards under the action of its own weight, and the fingers of the manipulator move towards the cargo box again, and step S2 is repeated. The present invention has the beneficial effect of preventing the hook from disengaging when pulling the box.

Description

Technical Field

[0001] The present invention relates to a loading and unloading device for goods on a shelf. Background Art

[0002] Goods are stored on a shelf, which has the characteristics of large capacity, small floor area, convenient loading and unloading, and low cost. In order to improve the degree of automation of loading and unloading, an independent shelf loading and unloading device is usually configured. Chinese Patent Publication No. CN202111124857.0, titled "Loading and Unloading Device Fixed on a Shelf", discloses a loading and unloading device that can be directly installed on the shelf to automatically complete the loading and unloading of goods. However, in the actual use process, there are still the following problems: When the position of the goods stored in the cargo box deviates from the center of the cargo box, the goods with the weight offset may cause the cargo box to tilt under the action of the self-weight of the goods, so that the cargo box is separated from the pulling hook of the box pulling machine in the shelf loading and unloading device, and the cargo box cannot be transported to the loading platform of the box pulling machine. Summary of the Invention

[0003] Based on the above deficiencies, the present invention provides a control method for pulling goods from a shelf by a loading and unloading device, which can prevent the manipulator from dragging the cargo box.

[0004] The technical solution of the present invention is as follows:

[0005] A control method for pulling goods from a shelf by a loading and unloading device, including a loading and unloading device body. When the loading and unloading device body pulls goods from the shelf, the following control steps are carried out:

[0006] S1. The controller of the loading and unloading device receives a server instruction. According to this instruction, the box pulling machine in the loading and unloading device body moves to the inlet and outlet where the predetermined cargo box on the shelf is located, and the manipulator on the box pulling machine moves towards the predetermined cargo box. At the same time,

[0007] S2. The distance measuring device on the box pulling machine starts to measure the distance between the manipulator and the cargo box. When the distance between the manipulator and the cargo box reaches a predetermined value, the fingers of the manipulator hook the handle at the outer end of the cargo box from bottom to top, and raise the handle (21) of the cargo box (2) to make the outer end of the bottom of the cargo box (2) higher than the loading platform (54);

[0008] S3. The fingers of the manipulator drag the cargo box outwards. At the same time, the distance measuring device monitors the distance between the manipulator and the cargo box, or monitors through a decoupling sensor installed on the manipulator. The decoupling sensor is electrically connected to the controller;

[0009] S4. If the distance between the fingers of the manipulator and the cargo box remains within a predetermined normal range, the fingers of the manipulator will drag the cargo box to a predetermined position on the loading platform of the box pulling machine, and the fingers of the manipulator will disengage from the handle at the outer end of the cargo box, completing the pulling of the cargo box;

[0010] S5. If the distance between the fingers of the manipulator and the cargo box exceeds the predetermined normal range, it is determined as the unhooked state. At this time,

[0011] S6. The loading platform of the box pulling machine moves downward to be lower than the shelf partition. The outer end of the cargo box moves downward under its own weight. The fingers of the manipulator move towards the cargo box again, and step S2 is repeated until the fingers of the manipulator drag the cargo box to the predetermined position on the loading platform of the box pulling machine, and the fingers of the manipulator disengage from the handle at the outer end of the cargo box, completing the pulling of the cargo box.

[0012] Preferably, in the step S1, the height of the loading platform of the box pulling machine is equal to or higher than the height of the shelf partition.

[0013] Preferably, the distance measuring device is a laser range finder or an ultrasonic range finder. The laser range finder or the ultrasonic range finder is fixed on the manipulator and electrically connected to the controller of the loading and unloading equipment.

[0014] Preferably, the distance measuring device is a reset switch. The reset switch is fixed on the fingers of the manipulator. When the fingers of the manipulator touch the cargo box, the reset switch acts, and the reset switch is electrically connected to the controller of the loading and unloading equipment.

[0015] Preferably, the distance measuring device is a distance measuring camera. The distance measuring camera is fixed on the manipulator and electrically connected to the controller of the loading and unloading equipment. The controller judges the distance between the fingers of the manipulator and the cargo box according to the image information of the fingers of the manipulator and the handle of the cargo box collected by the distance measuring camera.

[0016] Preferably, in the step S2, the fingers of the manipulator rotate from bottom to top to the horizontal position, and the loading and unloading equipment controls the box pulling machine to move upward, and the handle of the cargo box is lifted, so that the cargo box tilts.

[0017] Preferably, in the step S5, when the unhooked state appears, the controller of the loading and unloading equipment and / or the box pulling machine gives an alarm signal, and the alarm signal includes an audible and visual alarm signal.

[0018] Preferably, the distance measuring device is fixed on the manipulator and faces the cargo box when the fingers need to perform the box pulling action.

[0019] Preferably, the distance measuring device is fixed on the arm of the manipulator and can rotate with the arm. When there are two rows of shelves placed in parallel, the distance measuring device can be aligned with any one of the cargo boxes in the two rows of shelves, and the manipulator can pull the cargo box.

[0020] Preferably, in the step S1, the manipulator on the box pulling machine rotates from away from the cargo box to be pulled to facing the cargo box, so as to facilitate the distance measuring device to be aligned with the cargo box.

[0021] Compared with the prior art, the present invention has the following advantages:

[0022] The pulling speed of the box can be increased. When the goods stored in the cargo box deviate from the center position, in case of unhooking during the pulling of the cargo box, it can be detected in time and the cargo box can be pulled again in time.

[0023] The present invention has the beneficial effects of reasonable structure, low hardware cost, preventing unhooking during box pulling, and fast pulling speed of goods. Description of the Drawings

[0024] Figure 1 It is a schematic diagram of the overall simplified structure of the loading and unloading equipment body of the present invention installed on the shelf.

[0025] Figure 2 It is a schematic diagram of the structure of the loading and unloading equipment body of an embodiment of the present invention.

[0026] Figure 3 It is a side view of the box pulling machine.

[0027] Figure 4 It is a schematic diagram of the box pulling machine of the present invention about to hook the cargo box.

[0028] Figure 5 It is a schematic diagram of the box pulling machine of the present invention with its fingers lifting the cargo box.

[0029] Figure 6 It is a schematic diagram of the fingers of the present invention when unhooking the cargo box.

[0030] Figure 7 It is a schematic diagram of the fingers of the present invention when re - hooking the cargo box after unhooking.

[0031] Figure 8 It is a three - dimensional structure schematic diagram of the box pulling machine of the present invention. Detailed Embodiments

[0032] Now, the present invention will be further described in conjunction with the drawings:

[0033] As shown in the figure, a control method for a loading and unloading equipment to pull goods from a shelf includes a loading and unloading equipment body. As Figure 1 and Figure 2 shown, when the loading and unloading equipment body pulls goods from the shelf, the following control steps are taken:

[0034] S1. The controller of the loading and unloading equipment receives a server instruction. According to this instruction, the box pulling machine 5 in the loading and unloading equipment body moves to the import and export of the predetermined cargo box 2 on the shelf 1, as Figure 3As shown, in step S1, preferably, the height of the loading platform 54 of the box pulling machine 5 is equal to or higher than the height of the partition 11 of the shelf 1. Since it is difficult to control when their heights are the same, usually the height of the loading platform 54 of the box pulling machine 5 is higher than the height of the partition 11 of the shelf 1; the manipulator on the box pulling machine 5 moves towards the predetermined box 2, as Figure 4 and Figure 5 shown. At the same time,

[0035] S2. The distance measuring device on the box pulling machine 5 starts to measure the distance between the manipulator and the box 2. When the distance between the manipulator and the box 2 reaches a predetermined value, the fingers 51 of the manipulator rotate from bottom to top, that is, rotate clockwise, as Figure 4 shown, hook the handle 21 at the outer end of the box 2, and raise the handle 21 end of the box 2 to make the outer end of the bottom of the box 2 higher than the loading platform 54, as Figure 5 shown. It should be noted that when the outer end of the box 2 is raised, the pulling resistance can be reduced;

[0036] S3. The fingers 51 of the manipulator drag the box 2 outwards. At the same time, the distance measuring device monitors the distance between the manipulator and the box 2, or monitors through the decoupling sensor installed on the manipulator. The decoupling sensor is electrically connected to the controller;

[0037] S4. If the distance between the fingers 51 of the manipulator and the box 2 is maintained within the predetermined normal range, the fingers 51 of the manipulator will drag the box 2 to the predetermined position on the loading platform of the box pulling machine 5. The fingers 51 of the manipulator rotate 45 - 90 degrees clockwise, and the fingers 51 of the manipulator disengage from the handle 21 at the outer end of the box 2, completing the pulling of the box 2;

[0038] S5. If the distance between the fingers 51 of the manipulator and the box 2 exceeds the predetermined normal range, it is determined as the decoupling state. Usually, the goods in the box 2 are placed deviating from the center of the box 2, as Figure 5 and Figure 6 shown. At this time,

[0039] S6. The loading platform 54 of the box pulling machine 5 moves downwards to be lower than the partition 11 of the shelf 1, as Figure 7 shown. The outer end of the box 2 moves downwards under the action of its own weight. The fingers 51 of the manipulator move towards the box 2 again, and repeat step S2 until the fingers 51 of the manipulator drag the box 2 to the predetermined position on the loading platform of the box pulling machine 5, and the fingers 51 of the manipulator disengage from the handle 21 at the outer end of the box 2, completing the pulling of the box 2.

[0040] It should be noted that the loading and unloading equipment body of the present invention has the functions of taking out the cargo box 2 from the shelf 1 and storing the cargo box 2. The box pulling machine 5 in the loading and unloading equipment body can move up, down, left and right to a predetermined cargo box 2. The loading and unloading equipment body includes the equipment for loading and unloading goods fixed on the shelf with the application number CN202111124857.0 disclosed in the Chinese patent, such as Figure 1 , Figure 2 and Figure 3 shown in the figure. In the figure:

[0041] The upper guide rail 31 and the lower guide rail 32 are respectively fixed on the upper and lower parts of the shelf 1. A plurality of cargo boxes 2 are stored in the shelf 1. The cargo boxes 2 can store goods. Each cargo box 2 has an address, such as 111, 112, etc. and a two-dimensional code or bar code 10 is pasted on the partition 11 of the shelf 1. The two-dimensional code or bar code 10 is recognized by the camera 50 on the box pulling machine 5 to position the box pulling machine 5;

[0042] The upper parts of the first vertical rod 41 and the second vertical rod 42 are respectively installed with a first upper roller and a second upper roller driven by an upper motor. The lower parts of the first vertical rod 41 and the second vertical rod 42 are respectively installed with a first lower roller and a second lower roller driven by a lower motor. The first upper roller and the second upper roller can roll on the upper guide rail 31, and the first lower roller and the second lower roller can roll on the lower guide rail 32;

[0043] A first vertical slider and a second vertical slider driven by a first vertical movement driving device and a second vertical movement driving device are respectively installed on the first vertical rod 41 and the second vertical rod 42. The first vertical slider and the second vertical slider are hinged to the loading and unloading frame of the box pulling machine 5, also known as the loading and unloading device. The loading and unloading frame can move up and down along the first vertical rod 41 and the second vertical rod 42;

[0044] A first conveyor belt 61 and a second conveyor belt 62 driven by a conveyor motor are also provided on the loading and unloading frame as a cargo platform. The cargo box 2 can be dragged onto the first conveyor belt 61 and the second conveyor belt 62, and then the first conveyor belt 61 and the second conveyor belt 62 transport the cargo box 2 to the middle position of the loading and unloading frame. The manipulator is installed on the loading and unloading frame through a slide rail and driven by a dragging motor. The arm 52 of the manipulator can rotate, and the finger 51 of the manipulator can also rotate, as Figure 8 shown.

[0045] The loading and unloading equipment body can also select a robot walking on the ground. The robot is installed with a box pulling machine 5. Obviously, Figure 2 the first vertical rod 41 and the second vertical rod 42 shown are directly fixed on the robot, and the upper guide rail 31, the lower guide rail 32 and the rollers are replaced by the robot. The robot can directly drive on the ground.

[0046] It should also be noted that when pulling the cargo box 2, the outer end of the cargo box 2 is lifted upward. When the cargo box 2 is tilted and pulled out, the bottom of the cargo box 2 will touch the loading platform 54, as Figure 6 shown. Thus, the cargo box 2 can be smoothly pulled onto the loading platform 54. Suppose the loading platform 54 is lower than the partition of the shelf 1. Then there will be a step. When the cargo box 2 falls from the partition 11 of the shelf onto the loading platform 54, it will generate vibrations and is likely to damage some fragile goods. This is not an optimal solution.

[0047] Preferably, the distance measuring device is a laser rangefinder 53 or an ultrasonic rangefinder, as Figure 3 and Figure 4 shown. The laser rangefinder 53 or the ultrasonic rangefinder is fixed on the mechanical arm and is electrically connected to the controller of the loading and unloading equipment.

[0048] As another embodiment, the distance measuring device is a reset switch. The reset switch is fixed on the finger 51 of the mechanical arm. When the finger 51 of the mechanical arm touches the cargo box 2, the reset switch acts. The reset switch is electrically connected to the controller of the loading and unloading equipment. The unhooking sensor and the reset switch can be shared.

[0049] As another embodiment, the distance measuring device is a distance measuring camera. The distance measuring camera is fixed on the mechanical arm, usually at a position higher than the finger 51 on the loading and unloading rack through the rack. The distance measuring camera is electrically connected to the controller of the loading and unloading equipment. The controller determines the distance between the finger 51 of the mechanical arm and the cargo box 2 according to the image information of the finger 51 of the mechanical arm and the handle 21 of the cargo box 2 collected by the distance measuring camera; it should be noted that the image information of the finger 51 of the mechanical arm pulling the handle 21 of the cargo box 2 is taken as a reference standard. During the actual operation process, if the information collected by the distance measuring camera meets this reference standard, it is normal, otherwise, it can be considered abnormal and can be identified through software.

[0050] Preferably, in step S2, the finger 51 of the mechanical arm rotates from bottom to top to a horizontal position, as Figure 4 shown. The dotted line in the figure represents the horizontal position. The loading and unloading equipment controls the pulling box machine 5 to move vertically upward, as Figure 5 shown. The handle 21 of the cargo box 2 is lifted, causing the cargo box 2 to tilt.

[0051] It should be noted that the rotation of the finger 51 of the mechanical arm can be controlled by the grasping motor 55, as Figure 5 shown. The vertical upward movement of the pulling box machine 5 can be driven by the vertical movement drive motor 43 in the vertical movement drive device through the synchronous belt to drive the pulling box machine 5 to move vertically up and down along the first vertical rod 41 and the second vertical rod 42 of the slide rail structure, as Figure 2 shown.

[0052] Preferably, in step S5, when the decoupling state occurs, the controller of the loading and unloading equipment and / or the container pulling machine 5 gives an alarm signal, and the alarm signal includes an audible and visual alarm signal. In a large-scale container warehouse, the decoupling equipment can be found in time.

[0053] Preferably, the distance measuring device is fixed on the mechanical arm. When the finger 51 needs to perform a container pulling action, it faces the container 2, as Figure 3 , Figure 4 and Figure 5 shown. Generally, the distance measuring device is fixed on the arm 52 of the mechanical arm and can rotate with the arm 52, as Figure 8 shown.

[0054] Preferably, when there are two rows of shelves placed in parallel, the distance measuring device can be aligned with any one of the containers 2 in the two rows of shelves, and the mechanical arm can pull the container 2.

[0055] Preferably, in step S1, the mechanical arm on the container pulling machine 5 rotates from a position away from the container 2 to be pulled to a position facing the container 2, so that the distance measuring device can be conveniently aligned with the container 2. Figure 8 In, the distance measuring device is aligned with the container 2; in the figure, when the arm 52 of the mechanical arm rotates at least 90 degrees positive or 90 degrees negative, the mechanical arm is away from the container 2.

[0056] When loading and unloading goods in the present invention, the ground robot 9 transports the container 2 to the bottom of the shelf 1. The container pulling machine 5 moves to the bottom to pull out the container 2 transported by the ground robot. Then the container pulling machine 5 transports the container 2 to the inlet and outlet of the predetermined shelf vacancy above it, pushes the container 2 into the shelf vacancy, and takes the container 2 from the shelf 1 and transports it to the ground robot 9. The process is just the opposite for pulling and pushing the container, and the principle is basically the same.

Claims

1. A control method for a loading and unloading device to pull goods from a shelf, including the main body of the loading and unloading device. When the main body of the loading and unloading device pulls goods from the shelf, It is characterized in that, The steps are as follows: S1. The controller of the loading and unloading device receives a server instruction. According to this instruction, the box pulling machine (5) in the main body of the loading and unloading device moves to the import and export where the predetermined cargo box (2) is located on the shelf (1). The manipulator on the box pulling machine (5) moves towards the predetermined cargo box (2). At the same time, S2. The ranging device on the box pulling machine (5) starts to measure the distance between the manipulator and the cargo box (2). When the distance between the manipulator and the cargo box (2) reaches the predetermined value, the fingers (51) of the manipulator hook the handle (21) at the outer end of the cargo box (2) from bottom to top, and raise the handle (21) of the cargo box (2) to make the outer end of the bottom of the cargo box (2) higher than the loading platform (54); S3. The fingers (51) of the manipulator drag the cargo box (2) outward. At the same time, the ranging device monitors the distance between the manipulator and the cargo box (2), or monitors through the decoupling sensor installed on the manipulator. The decoupling sensor is electrically connected to the controller; S4. If the distance between the fingers (51) of the manipulator and the cargo box (2) remains within the predetermined normal range, the fingers (51) of the manipulator drag the cargo box (2) to the predetermined position on the loading platform of the box pulling machine (5), and the fingers (51) of the manipulator disengage from the handle (21) at the outer end of the cargo box (2), completing the pulling of the cargo box (2); S5. If the distance between the fingers (51) of the manipulator and the cargo box (2) exceeds the predetermined normal range, it is determined as the decoupling state. At this time, S6. The loading platform of the box pulling machine (5) moves downward to be lower than the partition of the shelf (1). The outer end of the cargo box (2) moves downward under its own weight. The fingers (51) of the manipulator move towards the cargo box (2) again, and repeat step S2 until the fingers (51) of the manipulator drag the cargo box (2) to the predetermined position on the loading platform of the box pulling machine (5), and the fingers (51) of the manipulator disengage from the handle (21) at the outer end of the cargo box (2), completing the pulling of the cargo box (2).

2. A control method for a loading and unloading device to pull goods from a shelf as described in claim 1, It is characterized in that, In step S1, the height of the loading platform (54) of the box pulling machine (5) is equal to or higher than the height of the partition (11) of the shelf (1).

3. A control method for a loading and unloading device to pull goods from a shelf as described in claim 2, It is characterized in that, The ranging device is a laser rangefinder (53) or an ultrasonic rangefinder. The laser rangefinder (53) or the ultrasonic rangefinder is fixed on the manipulator and electrically connected to the controller of the loading and unloading device.

4. A control method for a loading and unloading device to pull goods from a shelf as described in claim 2, It is characterized in that, The ranging device is a reset switch. The reset switch is fixed on the fingers (51) of the manipulator. When the fingers (51) of the manipulator touch the cargo box (2), the reset switch acts. The reset switch is electrically connected to the controller of the loading and unloading device.

5. The control method for a cargo handling device to pull goods from a shelf according to claim 2, characterized in that, the ranging device is a ranging camera, which is fixed on the mechanical arm and electrically connected to the controller of the cargo handling device. The controller determines the distance between the fingers (51) of the mechanical arm and the handle (21) of the cargo box (2) according to the image information of the fingers (51) of the mechanical arm and the handle (21) of the cargo box (2) collected by the ranging camera.

6. The control method for a cargo handling device to pull goods from a shelf according to any one of claims 1-5, characterized in that, in step S2, the fingers (51) of the mechanical arm rotate from bottom to top to the horizontal position, and the cargo handling device controls the pulling box machine (5) to move upward, and the handle (21) of the cargo box (2) is lifted, so that the cargo box (2) is tilted.

7. The control method for a cargo handling device to pull goods from a shelf according to any one of claims 1-5, characterized in that, in step S5, when the decoupling state appears, the controller of the cargo handling device and / or the pulling box machine (5) gives an alarm signal, and the alarm signal includes an audible and visual alarm signal.

8. The control method for a cargo handling device to pull goods from a shelf according to claim 1, 2, 3 or 5, characterized in that, the ranging device is fixed on the mechanical arm and faces the cargo box (2) when the fingers (51) need to perform a box pulling action.

9. The control method for a cargo handling device to pull goods from a shelf according to claim 8, characterized in that, the ranging device is fixed on the arm (52) of the mechanical arm and can rotate with the arm (52). When there are two rows of shelves (1) placed in parallel, the ranging device can be aligned with any one of the cargo boxes (2) in the two rows of shelves, and the mechanical arm can pull the cargo box (2).

10. The control method for a cargo handling device to pull goods from a shelf according to any one of claims 1-5, characterized in that, in step S1, the mechanical arm on the pulling box machine (5) rotates from away from the cargo box (2) to be pulled to facing the cargo box (2), so as to facilitate the ranging device to be aligned with the cargo box (2).

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