Containerization system and containerization method

Abstract

The present application discloses a container system and container method. The container system includes a robot module, a packing module and a determination control unit. The packing module includes a mobile support, a drive assembly connected to the mobile support, and a roller group connected to the drive assembly. The determination control unit is connected to the robot module and the packing module, and is used to determine the characteristic information of the package located on the roller group; if the characteristic information meets the preset standard characteristics, the robot module is controlled to grab the package and load the package into the transfer container; if the characteristic information does not meet the preset standard characteristics, the mobile support is controlled to move to the preset container position so that the roller group is located above the transfer container, and the drive assembly is controlled to drive the roller group to be tilted with respect to the horizontal plane so that the package slides into the transfer container, so that multiple types of packages can be loaded into the transfer container, thereby improving the container efficiency and applicability.

Description

Technical Field

[0001] The present invention relates to the field of logistics and transportation technology, and in particular to a container system and a container method. Background Art

[0002] In the logistics industry, to improve package transportation efficiency, large numbers of packages are typically loaded into transfer containers for transport. Existing containerized systems typically employ robots to grab and load packages into transfer containers. However, due to the wide variety of package types, robots cannot handle multiple types, resulting in low containerization efficiency and poor applicability. Summary of the Invention

[0003] The present application provides a container system and a container method to solve the problems of low container efficiency and poor applicability of the container system in the prior art.

[0004] In one aspect, the present application provides a container system for loading packages into a transfer container, the container system comprising: a robot module, a packing module, and a determination control unit;

[0005] The packing module includes a movable support, a driving assembly connected to the movable support, and a roller group connected to the driving assembly;

[0006] The determination control unit is connected to the robot module and the packaging module, and is used to determine the characteristic information of the package located on the roller group;

[0007] If the characteristic information meets the preset standard characteristics, controlling the robot module to grab the package and put the package into the transfer container;

[0008] If the characteristic information does not meet the preset standard characteristics, the mobile support is controlled to move to a preset container position so that the roller group is located above the transfer container, and the drive component is controlled to drive the roller group to be inclined with respect to the horizontal plane so that the package slides into the transfer container.

[0009] In some possible implementations, the roller group includes a frame and a plurality of rollers rotatably connected to the frame, and the driving assembly includes two driving members connected to the movable support member, and the two driving members are respectively connected to the first end and the second end of the frame that are oppositely arranged.

[0010] In some possible implementations, the driving member includes a power member connected to the movable support member, and a transmission member connected to the power member, and the transmission member includes at least one pull rope connected to the frame.

[0011] In some possible implementations, the transmission member further includes a hoisting shaft connected to the power member, the hoisting shaft is rotatably connected to the movable support member, and the pull rope connects the hoisting shaft and the frame.

[0012] In some possible implementations, the frame includes two side panels and a plurality of connecting portions;

[0013] The two side plates are arranged opposite to each other and connected to the plurality of rollers;

[0014] The plurality of connection parts are respectively rotatably connected to one side of the two side plates away from the drum, and the pull rope is connected to the connection parts.

[0015] In some possible implementations, the transmission member further includes a plurality of redirecting wheels rotatably connected to the movable support member, the plurality of redirecting wheels are respectively located above the plurality of connecting portions, and the pull rope abuts against the redirecting wheels.

[0016] In some possible implementations, the container system further includes a flip module located at a preset container position, wherein the flip module is used to accommodate the transfer container and flip the transfer container.

[0017] In some possible implementations, the flip module includes a mounting frame, a flip frame, a first cylinder, and a first piston rod;

[0018] The turnover frame is rotatably connected to the mounting frame and is used to accommodate the transfer container;

[0019] The first cylinder is rotatably connected to the mounting bracket, and the first piston rod is movably connected to the first cylinder and rotatably connected to the flip frame.

[0020] In some possible implementations, the flip frame includes a frame body rotatably connected to the mounting frame, and at least one fork arm connected to one end of the frame body close to the mounting frame.

[0021] In some possible implementations, the flip frame further includes a sliding member movably connected to a side of the frame away from the mounting bracket, and a cover plate connected to the sliding member.

[0022] In some possible implementations, the container system further includes a feeding module, which is configured to abut against the movable support member when the movable support member is located at a preset docking position and transport the package to the roller group.

[0023] In some possible implementations, the feeding module includes a conveyor belt and a buffer member abutting against the conveyor belt;

[0024] The conveyor belt is used to transport the package to the buffer;

[0025] The buffer member is used to abut against the movable support member when the movable support member is located at a preset docking position, and to transport the package to the roller group when the package is not present on the roller group.

[0026] In some possible implementations, the cache member includes a plurality of cache rollers, and a first lifting baffle located on a side of the plurality of cache rollers close to the movable support member.

[0027] In some possible implementations, the feeding module further includes a connecting piece located between the conveyor belt and the buffering piece;

[0028] The conveyor belt is used to transport the package to the docking unit;

[0029] The connecting piece is used to transport the package to the buffer element when the package does not exist on the buffer element.

[0030] In some possible implementations, the docking member includes a plurality of docking rollers and a second lifting baffle located on a side of the plurality of docking rollers close to the buffer member.

[0031] In some possible implementations, the container system further includes a power module located at a preset docking position, wherein the power module is configured to abut against the roller group when the movable support member is located at the preset docking position, thereby driving the roller group to rotate.

[0032] In some possible implementations, the power module includes a bracket, a lifting member connected to the bracket, a supporting frame connected to the lifting member, a motor connected to the supporting frame, and a friction wheel set rotatably connected to the supporting frame and connected to the motor.

[0033] In some possible implementations, the lifting member includes a second cylinder connected to the bracket, and a second piston rod movably connected to the second cylinder, and the second piston rod is connected to the supporting frame.

[0034] In some possible implementations, the mobile support includes a mobile assembly and a support frame;

[0035] The moving assembly includes at least one guide rail connected to the determination control unit and at least one slider slidably connected to the guide rail, and the support frame is connected to the slider.

[0036] On the other hand, the present application also provides a containerization method, which is applied to the above-mentioned containerization system, and the method includes:

[0037] determining characteristic information of the package located on the roller group;

[0038] If the characteristic information meets the preset standard characteristics, controlling the robot module to grab the package and put the package into the transfer container;

[0039] If the characteristic information does not meet the preset standard characteristics, the mobile support is controlled to move to a preset container position so that the roller group is located above the transfer container, and the drive component is controlled to drive the roller group to be inclined with respect to the horizontal plane so that the package slides into the transfer container.

[0040] The container system provided by the present application includes a robot module, a packing module and a determination control unit. The packing module includes a mobile support, a drive assembly connected to the mobile support, and a roller group connected to the drive assembly. The determination control unit is connected to the robot module and the packing module, and is used to determine the characteristic information of the package located on the roller group; if the characteristic information meets the preset standard characteristics, indicating that the package can be grasped by the robot module, the robot module is controlled to grasp the package and put the package into the transfer container; if the characteristic information does not meet the preset standard characteristics, indicating that the package cannot be grasped by the robot module, the mobile support is controlled to move to the preset container position so that the roller group is located above the transfer container, and the drive assembly is controlled to drive the roller group to be tilted with the horizontal plane so that the package slides into the transfer container. That is, the present application uses the robot module to put the packages that can be grasped into the transfer container, and uses the packing module to put the packages that cannot be grasped by the robot module into the transfer container, so that multiple types of packages can be put into the transfer container, thereby improving the container efficiency and applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0042] Figure 1 This is a module diagram of a container system provided in one embodiment of the present application;

[0043] Figure 2 It is a three-dimensional schematic diagram of a container system provided in one embodiment of the present application;

[0044] Figure 3 This is a schematic diagram of a drive assembly and a roller assembly of a container system provided in one embodiment of the present application;

[0045] Figure 4 yes Figure 3 An enlarged schematic diagram of point A;

[0046] Figure 51 is a schematic diagram of a turnover module of a container system provided in one embodiment of the present application;

[0047] Figure 6 is a schematic diagram of a power module of a container system provided in one embodiment of the present application;

[0048] Figure 7 This is a schematic diagram of the cooperation between the power module and the roller assembly of the container system provided in one embodiment of the present application;

[0049] Figure 8 This is a flow chart of an assembly method provided in one embodiment of the present application. DETAILED DESCRIPTION

[0050] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0051] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0052] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or mutual communication; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0053] The containerization system of the present application can be applied to transportation scenarios where packages need to be containerized, such as loading multiple packages into a cage truck. The present application uses a robot module to load packages that can be grasped into a transfer container, and uses a packing module to load packages that cannot be grasped by the robot module into the transfer container. This allows multiple types of packages to be loaded into the transfer container, thereby improving containerization efficiency and applicability.

[0054] See also Figures 1 to 7 , an embodiment of the present application provides a container system for loading a package into a transfer container 100 , the container system includes: a robot module 1 , a packing module 2 , and a determination control unit 3 ;

[0055] The packing module 2 includes a movable support 21, a driving assembly 22 connected to the movable support 21, and a roller assembly 23 connected to the driving assembly 22;

[0056] The determination control unit 3 is connected to the robot module 1 and the packaging module 2 and is used to determine the characteristic information of the package located on the roller group 23;

[0057] If the characteristic information meets the preset standard characteristics, the robot module 1 is controlled to grab the package and put the package into the transfer container 100;

[0058] If the characteristic information does not meet the preset standard characteristics, the movable support 21 is controlled to move to the preset container position so that the roller group 23 is located above the transfer container 100, and the driving component 22 is controlled to drive the roller group 23 to be inclined with respect to the horizontal plane so that the package slides into the transfer container 100.

[0059] It should be noted that, when the package is located on the roller group 23, the determination control unit 3 first determines the characteristic information of the package located on the roller group 23. If the characteristic information meets the preset standard characteristics, for example, the characteristic information can be the shape of the package, and the preset standard characteristics can be a regular shape, that is, the shape of the package is a regular shape, which can be a cube or a rectangular parallelepiped, for example, the package can be a box of a regular shape, indicating that the package can be grasped by the robot module 1, then the determination control unit 3 controls the robot module 1 to grasp the package and put the package into the transfer container 100. If the characteristic information does not meet the preset standard characteristics, for example, the shape of the package The shape is irregular, and the package may be a linen bag, a snakeskin bag or an envelope, indicating that the package cannot be grasped by the robot module 1, then the control unit 3 controls the mobile support 21 to move to the preset container position, which refers to the position of the transfer container 100, so that the roller group 23 is located above the transfer container 100, and controls the driving component 22 to drive the roller group 23 to be inclined with respect to the horizontal plane, so that the package can slide from the roller group 23 into the transfer container 100 under the action of gravity, so that multiple types of packages can be loaded into the transfer container 100, thereby improving the container efficiency and applicability.

[0060] In addition, irregularly shaped packages (such as burlap bags, snakeskin bags or envelopes) do not need to be stacked in the transfer container 100, so the present application can slide irregularly shaped packages directly from the roller group 23 into the transfer container 100 through the packaging module 2. Regularly shaped packages (such as boxes) need to be stacked in the transfer container 100. When the robot module 1 grabs the regularly shaped packages for packaging (packaging refers to putting the packages into the transfer container 100), the present application can also perform palletizing. That is, the robot module 1 can maintain the stacking shape of the regularly shaped packages, so that multiple regularly shaped packages are neatly arranged in the transfer container 100, thereby improving the volume ratio of the transfer container 100. That is, the present application cooperates with the robot module 1 and the packaging module 2, which can not only package multiple types of packages, but also improve the volume ratio of the transfer container 100.

[0061] In this embodiment, the characteristic information may also be the size of the package. If the package size is less than or equal to the maximum size of the package that the robot module 1 can grasp, the control unit 3 controls the robot module 1 to pack the package. If the package size is greater than the maximum size of the package that the robot module 1 can grasp, the control unit 3 controls the packing module 2 to pack the package. Of course, the characteristic information may also be other characteristics of the package, and this application does not limit this.

[0062] In this embodiment, the robot module 1 includes a robotic arm connected to the determination control unit 3 and an end effector connected to the robotic arm. The end effector may be a gripper or suction cup. The determination control unit 3 controls the movement of the robotic arm to drive the movement of the end effector, thereby grasping the package and placing it into the transfer container 100. In addition, the robot module 1 can be located outside the movement path of the mobile support 21 to facilitate the robotic arm to drive the end effector to package.

[0063] In some embodiments, see Figure 1 and Figure 2 The determination control unit 3 may include a central processing unit 31 and a visual system 32 connected to the central processing unit 31. The visual system 32 includes an image processor and a camera connected to the image processor. The visual system 32 may be located above the packaging module 2. The camera takes a picture of the package on the roller group 23 to obtain an image of the package. The image processor then recognizes, judges, and calculates the image of the package to obtain feature information of the package. The feature information of the package is then sent to the central processing unit 31. The central processing unit 31 then compares the feature information of the package with preset standard features.

[0064] In addition, the determination control unit 3 can also set a visual system 32 above the transfer container 100, that is, the second visual system 32. The second visual system 32 takes a picture of the transfer container 100 through a camera device to obtain images of the transfer container 100 and the package located in the transfer container 100, and then uses the image processor to identify, judge and calculate the images of the transfer container 100 and the package located in the transfer container 100, thereby obtaining the remaining storage space information of the transfer container 100, and sending the remaining storage space information to the central processing unit 31. The central processing unit 31 matches the feature information of the package with the remaining storage space information. For example, the feature information is the shape and size of the package, and the remaining storage space information is the shape and size of the remaining storage space, thereby obtaining the designated placement position of the package, and then controlling the robot module 1 or the packaging module 2 according to the designated placement position to load the package into the designated placement position of the transfer container 100.

[0065] In this embodiment, the central processing unit 31 and the image processor can be any device with processing functions, such as a single chip microcomputer, a computer or a programmable logic controller, and this application does not limit this. The camera device can be various types of cameras, and this application does not limit this.

[0066] In some embodiments, see Figures 2 to 4 The roller assembly 23 includes a frame 231 and a plurality of rollers 232 rotatably connected to the frame 231. The drive assembly 22 includes two drive members 221 connected to the movable support member 21. The two drive members 221 are respectively connected to the first and second ends of the frame 231, which are oppositely disposed. When the plurality of rollers 232 are located above the transfer container 100, the determination control unit 3 controls the drive member 221 to drive the first or second end of the frame 231 to move vertically by a predetermined distance, so that the supporting surfaces of the plurality of rollers 232 are inclined relative to the horizontal plane. This allows the packages on the plurality of rollers 232 to slide into the transfer container 100 under the action of gravity. This allows multiple types of packages to be loaded into the transfer container 100, thereby improving the efficiency and applicability of the package.

[0067] In this embodiment, the multiple rollers 232 are arranged parallel to each other and the tops of the multiple rollers 232 are flush. The supporting surface of the multiple rollers 232 refers to the plane where the tops of the multiple rollers 232 are located. The preset distance can be determined based on the inclination angle between the supporting surface of the multiple rollers 232 and the horizontal plane, for example, 20 cm to 50 cm, which is not limited in this application.

[0068] In this embodiment, before the driving member 221 causes the bearing surfaces of the multiple rollers 232 to be tilted relative to the horizontal plane, the determination control unit 3 may also control the two driving members 221 to first drive the first end and the second end of the frame 231 to move simultaneously in the vertical direction, so that the bearing surfaces of the multiple rollers 232 remain parallel to the horizontal plane, thereby driving the multiple rollers 232 to move to a preset packaging position. The preset packaging position refers to a position where the bearing surfaces of the multiple rollers 232 are parallel to the horizontal plane and the distance between the multiple rollers 232 and the transport container 100 is a specified distance value. By bringing the multiple rollers 232 closer to the transport container 100 and shortening the distance between the multiple rollers 232 and the transport container 100, the height from which the package falls can be reduced, thereby reducing the impact force on the package when it falls into the transport container 100.

[0069] In other embodiments, the determination control unit 3 can also control the two driving members 221 to drive the first end and the second end of the frame 231 to move in opposite directions. For example, one driving member 221 drives the first end of the frame 231 to move upward, and the other driving member 221 drives the second end of the frame 231 to move downward, so that the supporting surfaces of the multiple rollers 232 are inclined to the horizontal plane.

[0070] In this embodiment, the roller 232 can be an unpowered roller or a powered roller, and the specific selection can be made according to actual conditions, and this application does not impose any restrictions here.

[0071] In this example, see Figures 2 to 4 The driving member 221 includes a power member 2211 connected to the movable support member 21, and a transmission member 2212 connected to the power member 2211. The transmission member 2212 includes at least one pull rope 22121 connected to the frame 231. When the pull rope 22121 is in a taut state, the power member 2211 drives the pull rope 22121 to move vertically up and down, thereby moving the frame 231 vertically, thereby sliding the package from the multiple rollers 232 into the transfer container 100. The pull rope 22121 is lightweight, reducing the load on the entire packaging module 2.

[0072] In addition, the packing module 2 controls the movement of the package by connecting the frame 231 with the pull rope 22121, so the frame 231 and the multiple rollers 232 are not rigidly connected to the package, which can avoid damage to the package.

[0073] In this embodiment, the pull rope 22121 can be a steel rope to improve the bearing capacity of the multiple rollers 232.

[0074] In this example, see Figures 2 to 4The transmission member 2212 further includes a hoist shaft 22122 connected to the power member 2211. The hoist shaft 22122 is rotatably connected to the movable support member 21. The pull rope 22121 connects the hoist shaft 22122 and the frame 231. The hoist shaft 22122 can be located above the frame 231. The power member 2211 drives the hoist shaft 22122 to rotate. Depending on the rotation direction of the hoist shaft 22122, the pull rope 22121 moves vertically upward or downward, thereby driving the frame 231 to move vertically, and further driving the multiple rollers 232 to move vertically, so that the package can be slid from the multiple rollers 232 into the transfer container 100. In addition, a portion of the pull rope 22121 can be wound around the winch shaft 22122, and the winch shaft 22122 and the movable support 21 can increase the carrying capacity of the pull rope 22121, thereby increasing the maximum weight of the packages that can be carried by multiple rollers 232 and improving the applicability of the packaging equipment.

[0075] Furthermore, the power member 2211 may be a drive motor, the output shaft of which is directly connected to the hoist shaft 22122, so that the drive motor can drive the hoist shaft 22122 to rotate. Of course, the power member 2211 may also include two synchronous pulleys and a synchronous belt, wherein the two synchronous pulleys are respectively connected to the output shaft of the drive motor and the hoist shaft 22122, and the synchronous belt connects the two synchronous pulleys. The drive motor drives the synchronous pulleys to rotate, thereby driving the synchronous belt to rotate, thereby driving the hoist shaft 22122 to rotate.

[0076] In this embodiment, there are two pull ropes 22121, both connected to the hoist shaft 22122. The two pull ropes 22121 are connected to either side of the end of the frame 231. Specifically, the two pull ropes 22121 in one driving member 221 are connected to either side of the first end of the frame 231, while the two pull ropes 22121 in the other driving member 221 are connected to either side of the second end of the frame 231. The four pull ropes 22121 improve the connection and movement stability of the frame 231, preventing the multiple rollers 232 from tilting from the horizontal plane before reaching the preset packaging position.

[0077] In this example, see Figures 2 to 4The frame 231 includes two side panels 2311 and multiple connecting portions 2312. The two side panels 2311 are positioned opposite each other and connect the multiple rollers 232. The multiple connecting portions 2312 are rotatably connected to the sides of the two side panels 2311 away from the rollers 232. Drawstrings 22121 are connected to the connecting portions 2312. This ensures that the connecting portions 2312 are not located between the two side panels 2311, preventing the connecting portions 2312 from interfering with the movement of packages on the rollers 232. Furthermore, because the connecting portions 2312 are rotatably connected to the side panels 2311, when the multiple rollers 232 are tilted, the side panels 2311 rotate within the connecting portions 2312, preventing the connecting portions 2312 from interfering with the rotation of the side panels 2311. This ensures that the supporting surfaces of the multiple rollers 232 can be tilted relative to the horizontal plane, allowing packages on the multiple rollers 232 to slide into the transfer container 100 under the action of gravity. This allows multiple types of packages to be loaded into the transfer container 100, improving packaging efficiency and applicability.

[0078] Furthermore, the number of connecting portions 2312 is the same as the total number of pull cords 22121 of the two driving members 221. For example, if the number of pull cords 22121 of the two driving members 221 is two each, then the number of connecting portions 2312 is four, and each pull cord 22121 is connected to a corresponding connecting portion 2312. The two sides of the first end of the frame 231 refer to the first ends of the two side panels 2311, and the two sides of the second end of the frame 231 refer to the second ends of the two side panels 2311. Two connecting portions 2312 are respectively connected to the first ends of the two side panels 2311, and the other two connecting portions 2312 are respectively connected to the second ends of the two side panels 2311.

[0079] In this example, see Figures 2 to 4 The transmission member 2212 further includes a plurality of redirecting wheels 22123 rotatably connected to the mobile support member 21. The plurality of redirecting wheels 22123 are respectively located above the plurality of connecting portions 2312, and the pull rope 22121 abuts against the redirecting wheels 22123. The redirecting wheels 22123 can change the direction of the force applied by the pull rope 22121 on the connecting portion 2312. Positioning the redirecting wheels 22123 above the connecting portion 2312 allows the force applied by the pull rope 22121 on the connecting portion 2312 to be directed vertically, ensuring that the frame 231 can move vertically. This allows the packages on the plurality of rollers 232 to slide into the transfer container 100 under the action of gravity, thereby enabling multiple types of packages to be loaded into the transfer container 100, thereby improving packaging efficiency and applicability. Furthermore, due to the presence of the redirecting wheel 22123 , the hoisting shaft 22122 does not need to be disposed above the connecting portion 2312 . The hoisting shaft 22122 only needs to be disposed at a position where the pull rope 22121 can be connected and the pull rope 22121 can abut against the redirecting wheel 22123 .

[0080] In some embodiments, see Figure 1 、 Figure 2 and Figure 5 The container system further includes a flip module 4 located at a preset container position. The flip module 4 is used to accommodate the transfer container 100 and flip the transfer container 100. The height of the transfer container 100 is generally designed to be about 2 meters, for example, between 1.9 meters and 2.4 meters, and the length and width are generally designed to be about 1 meter, for example, between 0.8 meters and 1.2 meters. The flip module 4 can flip the transfer container 100 from an upright state to a laid-down state. The upright state refers to a state in which the length and width of the transfer container 100 are about 1 meter and the height is about 2 meters. The laid-down state refers to a state in which the length of the transfer container 100 is about 2 meters, the width is about 1 meter, and the height is about 1 meter. Thus, the height of the transfer container 100 is changed from about 2 meters to about 1 meter, thereby reducing the height of the transfer container 100, thereby facilitating the robot module 1 and the packaging module 2 to load the parcels into the transfer container 100, thereby improving the packaging efficiency. In addition, after the packaging is completed, that is, after the transfer container 100 is filled with parcels, the flip module 4 can flip the transfer container 100 from a laid-down state to an upright state, so as to facilitate the transportation of the transfer container 100.

[0081] In this embodiment, the transport container 100 may include a transport frame 110 and a plurality of pulleys 120 connected to the bottom of the transport frame 110. The plurality of pulleys 120 are provided at the bottom of the transport frame 110 to facilitate the movement of the transport container 100. Furthermore, the transport frame 110 may be composed of a bottom frame and a plurality of side frames, one of which is movably connected to the other side frames and the bottom frame. When the transport container 100 is in a folded state, this movably connected side frame can be opened to expose the interior of the transport frame 110, thereby facilitating the robot module 1 and the packaging module 2 to load packages into the transport container 100.

[0082] In this example, see Figure 2 and Figure 5 The flip module 4 includes a mounting frame 41, a flip frame 42, a first cylinder 43, and a first piston rod 44. The flip frame 42 is rotatably connected to the mounting frame 41 and is used to accommodate the transfer container 100. The first cylinder 43 is rotatably connected to the mounting frame 41. The first piston rod 44 is movably connected to the first cylinder 43 and is rotatably connected to the flip frame 42. The mounting frame 41 can be installed on the ground or other supporting platforms. The flip frame 42 has a receiving chamber 401 and a first opening 402 connected to the receiving chamber 401. The transfer container 100 can enter the receiving chamber 401 through the first opening 402. The first cylinder 43 can drive the first piston rod 44 to extend and retract, thereby driving the flip frame 42 to flip. The transfer container 100 can rotate along with the flip frame 42, so that the transfer container 100 can be flipped from an upright state to a laid-down state during the packaging process to improve packaging efficiency.

[0083] In this embodiment, the first cylinder body 43 may be a hydraulic cylinder body. Of course, the first cylinder body 43 may also be other types, such as a pneumatic cylinder body or an electric cylinder body, and this application does not limit this.

[0084] In this example, see Figure 2 and Figure 5 The flip frame 42 includes a frame body 421 rotatably connected to the mounting frame 41, and at least one fork arm 422 connected to one end of the frame body 421 near the mounting frame 41. The fork arm 422 extends in a direction close to the first opening 402. When the transfer container 100 is pushed into the accommodating chamber 401 from the first opening 402, due to the presence of the pulley 120, there is a gap between the transfer frame 110 and the ground. Therefore, the fork arm 422 can be located between the transfer frame 110 and the ground. The fork arm 422 will not affect the movement of the transfer container 100. When the flip frame 42 is flipped, the fork arm 422 can lift the transfer frame 110, thereby driving the transfer container 100 to rotate together. That is, the present application can achieve the goal of driving the transfer container 100 to rotate through the fork arm 422 without affecting the movement of the transfer container 100 in the accommodating chamber 401.

[0085] In this embodiment, the number of the fork arms 422 can be two, and the two fork arms 422 are arranged in parallel. Of course, the number of the fork arms 422 can also be set to other numbers according to actual conditions, such as three or four, and this application does not limit this.

[0086] In this example, see Figure 2 and Figure 5 The frame 421 includes a bottom plate 4211 and two side panels 4212 connected to and opposite to each other on either side of the bottom plate 4211. The bottom plate 4211 or the side panels 4212 are rotatably connected to the mounting frame 41 on the side closest to the mounting frame 41, so that the flip frame 42 does not interfere with the ground during rotation. The bottom plate 4211 and the two side panels 4212 can be shaped like a "U" as a whole, thereby defining the accommodating chamber 401. In this case, the frame 421 also has a second opening 403 and a third opening 404 that communicate with the accommodating chamber 401. The second opening 403 is located at the top of the frame 421, and the third opening 404 is located at the bottom of the frame 421. The first opening 402 is located on the side of the frame 421. The fork arm 422 can be located at the third opening 404 to avoid affecting the movement of the transfer container 100 in the accommodating chamber 401.

[0087] In this embodiment, the side baffles 4212 may be vertically connected to the bottom plate 4211. The side baffles 4212 extend in a direction perpendicular to the bottom plate 4211, and the fork arms 422 may also extend in a direction perpendicular to the bottom plate 4211.

[0088] In this example, see Figure 2 and Figure 5 The flip frame 42 further includes a sliding member 423 movably connected to the side of the frame 421 away from the mounting frame 41, and a cover plate 424 connected to the sliding member 423. That is, the cover plate 424 can be slid toward or away from the frame 421 by the sliding member 423. The height of the cover plate 424 can be adjusted according to the heights of the transport containers 100 so that the cover plate 424 can abut the tops of the transport containers 100 of different heights. When the flip frame 42 is flipped, the transport container 100 can be prevented from sliding out of the accommodating chamber 401, making the transport container 100 more stable when flipping.

[0089] In this embodiment, there can be two sliding members 423, each connected to the two side baffles 4212, to improve the movement stability of the cover 424. The sliding member 423 can be movably connected to the side of the side baffle 4212 located in the accommodating cavity 401, or it can be movably connected to the side of the side baffle 4212 away from the accommodating cavity 401, and this application is not limited thereto.

[0090] In this embodiment, the sliding member 423 includes a slide rail 4231 connected to the side of the frame 421 away from the mounting bracket 41, and a slide rod 4232 slidably connected to the slide rail 4231. The slide rod 4232 is connected to the cover 424. The slide rail 4231 and the slide rod 4232 can realize the sliding of the cover 424 on the frame 421, which has a simple structure and low cost.

[0091] In addition, the number of sliding rails 4231 and sliding rods 4232 can be set to multiple according to actual conditions. For example, the number of sliding rails 4231 and sliding rods 4232 is two, and the two sliding rods 4232 are respectively slidably connected to the two sliding rails 4231, or the number of sliding rails 4231 is six, the number of sliding rods 4232 is two, the six sliding rails 4231 are arranged in two parallel rows, and the two sliding rods 4232 are respectively slidably connected to the two rows of sliding rails 4231. This application does not impose any restrictions on this.

[0092] In some embodiments, see Figure 1 and Figure 2 The containerization system also includes a feeding module 5, which is configured to abut against the mobile support 21 when the mobile support 21 is in a preset docking position and transport the package to the roller assembly 23. This preset docking position refers to the position where the packaging module 2 receives the package, i.e., the position where the mobile support 21 abuts the feeding module 5, allowing the feeding module 5 to transport the package to the roller assembly 23. In other words, when the control unit 3 determines that the packaging module 2 has not yet started packaging, or when the control unit 3 determines that the packaging module 2 has completed packaging, the packaging module 2 will be in the preset docking position to receive the next package, achieving uninterrupted package reception and improving containerization efficiency.

[0093] In this example, see Figure 2 The infeed module 5 includes a conveyor belt 51 and a buffer element 52 abutting against the conveyor belt 51. The conveyor belt 51 is used to transport packages to the buffer element 52. The buffer element 52 is used to abut against the movable support member 21 when the movable support member 21 is in the preset docking position and transport the packages to the roller assembly 23 when no packages are present. Specifically, the conveyor belt 51 first transports the packages to the buffer element 52 for temporary storage. Only when no packages are present on the roller assembly 23 does the buffer element 52 transport the packages to the roller assembly 23. This prevents multiple packages from piling up on the roller assembly 23 and causing congestion, thereby improving packaging efficiency.

[0094] In this example, see Figure 2 The buffer unit 52 includes a plurality of buffer rollers 521 and a first lifting baffle 522 located on the side of the plurality of buffer rollers 521 near the movable support 21. The determination control unit 3 is connected to the first lifting baffle 522, which can be raised and lowered in the vertical direction. The conveyor belt 51 first transports the packages to the plurality of buffer rollers 521 for temporary storage. The determination control unit 3 controls the first lifting baffle 522 to rise vertically to block the packages. When no packages are present on the roller group 23, the determination control unit 3 controls the first lifting baffle 522 to descend vertically, allowing the buffer rollers 521 to transport the packages to the roller group 23. This prevents multiple packages from piling up on the roller group 23 and causing congestion, thereby improving the packaging efficiency.

[0095] In addition, it is possible to determine whether there is a package on the roller group 23 by taking a picture of the roller group 23 at the preset docking position by the visual system 32 in the control unit 3.

[0096] In this example, see Figure 2 The cache member 52 also includes a cache support frame 523, and multiple cache rollers 521 are rotatably connected to the cache support frame 523. The first lifting baffle 522 may include a first lifting member connected to the cache support frame 523, and a first baffle connected to the first lifting member. The first lifting member can be a hydraulic cylinder or an electric cylinder. The control unit 3 is determined to be connected to the first lifting member to control the lifting of the first baffle.

[0097] In this embodiment, the buffer roller 521 can be an unpowered roller or a powered roller, and this application does not limit this. When the buffer roller 521 is an unpowered roller, the bearing surfaces of the multiple buffer rollers 521 need to be inclined with respect to the horizontal plane so that the buffer rollers 521 can transport the packages to the roller group 23.

[0098] In this embodiment, the conveyor belt 51 can be a belt conveyor, a roller conveyor, a wheel conveyor or a chain conveyor, as long as it is a mechanism that can transport goods, and this application does not impose any restrictions here.

[0099] In this example, see Figure 2 The feeding module 5 also includes a connecting member 53 located between the conveyor belt 51 and the buffer 52. The conveyor belt 51 is used to transport packages to the connecting member 53. The connecting member 53 is used to transport packages to the buffer 52 when no packages are present. The conveyor belt 51 and the buffer 52 are connected by the connecting member 53, so that various types of conveyor belts 51 can transport packages to the buffer 52. The connecting member 53 only transports packages to the buffer 52 when no packages are present. This prevents multiple packages from piling up on the buffer 52 and causing congestion, thereby improving packaging efficiency.

[0100] In this example, see Figure 2 The connecting member 53 includes a plurality of connecting rollers 531 and a second lifting baffle 532 located on the side of the connecting rollers 531 near the buffering member 52. The determination control unit 3 is connected to the second lifting baffle 532, which can be raised and lowered in the vertical direction. The conveyor belt 51 first transports the parcel to the plurality of connecting rollers 531 for temporary storage. The determination control unit 3 controls the second lifting baffle 532 to rise vertically to block the parcel. When no parcel is present on the buffering member 52, the determination control unit 3 controls the second lifting baffle 532 to descend vertically, allowing the connecting rollers 531 to transport the parcel to the buffering member 52. This prevents multiple parcels from piling up on the buffering member 52 and causing congestion, thereby improving the packaging efficiency.

[0101] In addition, the visual system 32 in the control unit 3 can be used to take a picture of the buffer element 52 to determine whether there is a package on the buffer element 52.

[0102] In this embodiment, the docking member 53 also includes a docking support frame 533, and multiple docking rollers 531 are rotatably connected to the docking support frame 533. The second lifting baffle 532 may include a second lifting member connected to the docking support frame 533, and a second baffle connected to the second lifting member. The second lifting member can be a hydraulic cylinder or an electric cylinder. The control unit 3 is determined to be connected to the second lifting member to control the lifting of the second baffle.

[0103] In this embodiment, the docking roller 531 can be either an unpowered roller or a powered roller, and this application does not limit this. When the docking roller 531 is an unpowered roller, the bearing surfaces of the multiple docking rollers 531 need to be inclined relative to the horizontal plane to facilitate the docking rollers 531 in transporting the packages to the buffer unit 52.

[0104] In some embodiments, see Figure 1 、 Figure 2 、 Figure 6 and Figure 7 The container system also includes a power module 6 located at a preset docking position. The power module 6 is configured to abut against the roller assembly 23 when the mobile support member 21 is at the preset docking position, thereby driving the roller assembly 23 to rotate. Specifically, the multiple rollers 232 in the roller assembly 23 may be unpowered rollers. When the packaging module 2 is at the preset docking position and receiving packages, the multiple rollers 232 will not completely adhere to the infeed module 5. A gap exists between the rollers 232 and the infeed module 5. By abutting against the roller assembly 23 by the power module 6 to drive the multiple rollers 232 to rotate, packages can be smoothly transported to the multiple rollers 232, preventing packages from being stuck in the gap between the rollers 232 and the infeed module 5, thereby improving container efficiency.

[0105] In addition, the provision of the power module 6 in the present application allows the plurality of rollers 232 to be unpowered rollers, eliminating the need for a power source on the roller group 23 to drive the rollers 232 to rotate. This can reduce the load on the roller group 23, thereby also reducing the load on the mobile support 21 during movement, thereby effectively reducing energy consumption. Furthermore, since a power source is not required on the roller group 23, the power module 6 is positioned at a preset connection position and does not move. Therefore, during the movement of the roller group 23 driven by the mobile support 21, there is no need to arrange relatively long wires and structures such as drag chains to power the power source. Instead, only relatively short wires and drag chains are required to power the power module 6, simplifying the wiring design and reducing costs and space requirements.

[0106] In this example, see Figure 2 、 Figure 6 and Figure 7 The power module 6 includes a bracket 61, a lifting member 62 connected to the bracket 61, a carrier frame 63 connected to the lifting member 62, a motor 64 connected to the carrier frame 63, and a friction wheel assembly 65 rotatably connected to the carrier frame 63 and connected to the motor 64. When the packaging module 2 is in the preset docking position and receiving a package, the motor 64 can drive the friction wheel assembly 65 to rotate, and the lifting member 62 can lift the carrier frame 63 upward, causing the friction wheel assembly 65 to abut against the multiple rollers 232, thereby driving the multiple rollers 232 to rotate. This allows the package to be smoothly transported to the multiple rollers 232, preventing the package from being stuck in the gap between the rollers 232 and the feeding module 5, thereby improving the packaging efficiency.

[0107] In addition, before the control unit 3 controls the movement of the movable support 21 , the lifting member 62 can drive the carrier 63 to descend, so that the friction wheel set 65 does not abut against the multiple rollers 232 , thereby preventing the power module 6 from interfering with the movement of the packaging module 2 .

[0108] In this example, see Figure 2 、 Figure 6 and Figure 7 The lifting member 62 includes a second cylinder 621 connected to the bracket 61 and a second piston rod 622 movably connected to the second cylinder 621. The second piston rod 622 is connected to the carrier 63. The second cylinder 621 can drive the second piston rod 622 to extend and retract, thereby driving the carrier 63 up and down, so that the friction wheel assembly 65 can abut against the multiple rollers 232, thereby driving the multiple rollers 232 to rotate. This allows the packages to be smoothly transported to the multiple rollers 232, preventing the packages from being stuck in the gap between the rollers 232 and the infeed module 5, thereby improving the packaging efficiency.

[0109] In this embodiment, the second cylinder 621 may be a hydraulic cylinder. Of course, the second cylinder 621 may also be other types, such as a pneumatic cylinder or an electric cylinder, and this application does not limit this.

[0110] In this embodiment, the upper surface of the friction wheel set 65 is higher than the upper surface of the carrier 63, so that part of the friction wheel set 65 protrudes from the carrier 63 and is located outside the carrier 63, so that the friction wheel set 65 can abut against the multiple rollers 232.

[0111] In this embodiment, the friction wheel group 65 may include a plurality of friction wheels connected to the carrier 63 and spaced apart, and a synchronous belt or synchronous chain connected to the plurality of friction wheels. The motor 64 may also be connected to the friction wheels via a synchronous belt or synchronous chain.

[0112] In this embodiment, the multiple friction wheels are parallel to each other, the multiple rollers 232 are parallel to each other, and the axial extension direction of the friction wheels is parallel to the axial extension direction of the rollers 232. In other words, the multiple friction wheels and the multiple rollers 232 are arranged in parallel, so that when the friction wheel group 65 abuts the multiple rollers 232, the contact area between the friction wheels and the rollers 232 is increased, thereby improving the transmission effect.

[0113] In addition, when the friction wheel set 65 abuts against a plurality of rollers 232 , one friction wheel can be located between two adjacent rollers 232 and abut against both rollers 232 at the same time, so as to further improve the transmission effect.

[0114] In addition, the diameter of the friction wheel can be larger than the diameter of the roller 232, which can further increase the contact area between the friction wheel and the roller 232, thereby further improving the transmission effect.

[0115] In some embodiments, see Figure 2The mobile support 21 includes a moving assembly 211 and a support frame 212. The moving assembly 211 includes at least one guide rail 2111 connected to the determination control unit 3 and at least one slider 2112 slidably connected to the guide rail 2111. The support frame 212 is connected to the slider 2112. The driving assembly 22 is connected to the support frame 212. That is, the guide rail 2111 can be an electric guide rail. The determination control unit 3 is connected to the electric guide rail to control the movement of the slider 2112, thereby controlling the support frame 212 to move to a preset container position or a preset docking position. This has low cost and stable movement.

[0116] In this embodiment, there can be two guide rails 2111, which are spaced apart and parallel to each other, so that the movement of the support frame 212 is more stable. The transport container 100, the turnover module 4, and the power module 6 are all located between the two guide rails 2111, so that the transport container 100, the turnover module 4, and the power module 6 are located below the support frame 212.

[0117] In addition, the feeding module 5 can be located at one end of the guide rail 2111, and the robot module 1 can be located outside the two guide rails 2111 and between the transfer container 100 and the feeding module 5, so that the robot arm drives the end effector to perform packaging.

[0118] See also Figure 8 Based on the above-mentioned container system, an embodiment of the present application further provides a container method, which is applied to the above-mentioned container system. The container method includes:

[0119] Step S1, determining characteristic information of the package on the roller group 23;

[0120] Step S2: If the characteristic information meets the preset standard characteristics, the robot module 1 is controlled to grab the package and put the package into the transfer container 100;

[0121] Step S3: If the characteristic information does not meet the preset standard characteristics, the movable support 21 is controlled to move to the preset container position so that the roller group 23 is located above the transfer container 100, and the driving component 22 is controlled to drive the roller group 23 to be inclined with respect to the horizontal plane so that the package slides into the transfer container 100.

[0122] In this application, the robot module 1 is used to load the packages that can be grasped into the transfer container 100, and the packaging module 2 is used to load the packages that cannot be grasped by the robot module 1 into the transfer container 100, so that multiple types of packages can be loaded into the transfer container 100, thereby improving the containerization efficiency and applicability.

[0123] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the detailed description of other embodiments above and will not be repeated here.

[0124] In specific implementation, the above components or structures can be implemented as independent entities, or can be arbitrarily combined to be implemented as the same or several entities. The specific implementation of the above components or structures can be referred to the previous embodiments and will not be repeated here.

[0125] The above is a detailed introduction to a container system and container method provided in an embodiment of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, based on the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A container system for loading packages into a transfer container, characterized in that: include: Robot module, packaging module, and determination control unit; The packaging module includes a mobile support, a drive assembly connected to the mobile support, and a roller group connected to the drive assembly. The mobile support is controlled by the determination control unit to move to a preset packaging position or a preset docking position. The roller group is used to receive the package at the preset docking position. The determination control unit is connected to the robot module and the packaging module, and is used to determine the characteristic information of the package located on the roller group, and the robot module is located outside the movement path of the mobile support member; If the characteristic information meets the preset standard characteristics, controlling the robot module to grab the package and put the package into the transfer container; If the characteristic information does not meet the preset standard characteristics, the mobile support is controlled to move from the preset docking position to the preset container position so that the roller group is located above the transfer container, and the drive component is controlled to drive the roller group to be inclined with respect to the horizontal plane so that the package slides into the transfer container.

2. The container system according to claim 1, wherein: The roller group includes a frame and a plurality of rollers rotatably connected to the frame. The driving assembly includes two driving members connected to the movable support member. The two driving members are respectively connected to the first end and the second end of the frame that are oppositely arranged.

3. The container system according to claim 2, wherein: The driving member includes a power member connected to the movable support member, and a transmission member connected to the power member, and the transmission member includes at least one pull rope connected to the frame.

4. The container system according to claim 3, wherein: The transmission member further comprises a hoisting shaft connected to the power member, the hoisting shaft is rotatably connected to the movable support member, and the pull rope connects the hoisting shaft and the frame.

5. The container system according to claim 3, wherein: The frame includes two side plates and a plurality of connecting parts; the two side plates are arranged opposite to each other and connect the plurality of rollers; The plurality of connection parts are respectively rotatably connected to one side of the two side plates away from the drum, and the pull rope is connected to the connection parts.

6. The container system according to claim 5, wherein: The transmission member further includes a plurality of redirecting wheels rotatably connected to the movable support member, the plurality of redirecting wheels are respectively located above the plurality of connecting parts, and the pull rope abuts against the redirecting wheels.

7. The container system according to any one of claims 1 to 6, wherein: It also includes a turnover module located at a preset container position, and the turnover module is used to accommodate the transfer container and flip the transfer container.

8. The container system according to claim 7, wherein: The flip module includes a mounting frame, a flip frame, a first cylinder and a first piston rod; The turnover frame is rotatably connected to the mounting frame and is used to accommodate the transfer container; The first cylinder is rotatably connected to the mounting bracket, and the first piston rod is movably connected to the first cylinder and rotatably connected to the flip frame.

9. The container system according to claim 8, wherein: The flip frame includes a frame body rotatably connected to the mounting frame, and at least one fork arm connected to one end of the frame body close to the mounting frame.

10. The container system according to claim 9, wherein: The flip frame further comprises a sliding member movably connected to a side of the frame away from the mounting bracket, and a cover plate connected to the sliding member.

11. The container system according to any one of claims 1 to 6, wherein: It also includes a feeding module, which is used to abut against the movable support member when the movable support member is located at a preset docking position and transport the package to the roller group.

12. The container system according to claim 11, wherein: The feeding module includes a conveyor belt and a buffer member abutting against the conveyor belt; The conveyor belt is used to transport the package to the buffer; The buffer member is used to abut against the movable support member when the movable support member is located at a preset docking position, and to transport the package to the roller group when the package is not present on the roller group.

13. The container system according to claim 12, wherein: The buffer element includes a plurality of buffer rollers and a first lifting baffle located on a side of the plurality of buffer rollers close to the movable support element.

14. The container system according to claim 12, wherein: The feeding module further includes a connecting piece located between the conveyor belt and the buffering piece; The conveyor belt is used to transport the package to the docking unit; The connecting piece is used to transport the package to the buffer element when the package does not exist on the buffer element.

15. The container system according to claim 14, wherein: The connecting member includes a plurality of connecting rollers and a second lifting baffle located on a side of the plurality of connecting rollers close to the buffer member.

16. The container system according to any one of claims 1 to 6, wherein: It also includes a power module located at a preset docking position, and the power module is used to abut against the roller group when the movable support member is located at the preset docking position to drive the roller group to rotate.

17. The container system according to claim 16, wherein: The power module includes a bracket, a lifting member connected to the bracket, a carrier frame connected to the lifting member, a motor connected to the carrier frame, and a friction wheel set rotatably connected to the carrier frame and connected to the motor.

18. The container system according to claim 17, wherein: The lifting member includes a second cylinder body connected to the bracket, and a second piston rod movably connected to the second cylinder body, and the second piston rod is connected to the supporting frame.

19. The container system according to any one of claims 1 to 6, wherein: The movable support comprises a movable assembly and a support frame; The moving assembly includes at least one guide rail connected to the determination control unit and at least one slider slidably connected to the guide rail, and the support frame is connected to the slider.

20. A containerization method, characterized in that: Applied to the container system according to any one of claims 1 to 19, the method comprises: determining characteristic information of the package located on the roller group; If the characteristic information meets the preset standard characteristics, controlling the robot module to grab the package and put the package into the transfer container; If the characteristic information does not meet the preset standard characteristics, the mobile support is controlled to move from the preset docking position to the preset container position so that the roller group is located above the transfer container, and the drive component is controlled to drive the roller group to be inclined with respect to the horizontal plane so that the package slides into the transfer container.

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