Container handling device, warehousing system and method of taking and placing containers

Abstract

The present disclosure relates to a container handling device, a storage system and a method for picking and placing containers, the container handling device comprising at least two handling units arranged in a spaced apart manner in a horizontal X-axis direction, each handling unit comprising: a support assembly extending in a vertical Y-axis direction; at least one container handling assembly controlled by a drive assembly to move along the support assembly in the Y-axis direction; the container handling assembly comprising a picking and placing assembly and a carrier assembly, the picking and placing assembly being configured to pick and place containers from a carrier; the carrier being provided with at least two rows and at least two columns of container storage units, each container storage unit comprising at least one storage location, each storage location being configured to receive at least one container; the at least two handling units being configured to handle containers on the same carrier. In the present disclosure, the container handling device picks and places containers by operating the at least two handling units simultaneously, thereby effectively improving the work efficiency.

Description

Technical Field

[0001] This disclosure relates to the field of logistics, and more specifically, to a container loading and unloading device; this disclosure also relates to a warehousing system including the container loading and unloading device and a method for picking up and placing containers. Background Technology

[0002] Automated warehousing systems are increasingly being used in various civilian and industrial warehousing sectors. Stacker cranes and other handling equipment move between vehicles, replacing manual picking and moving of goods. However, current stacker cranes and similar handling equipment have relatively slow handling speeds and low efficiency, failing to meet the evolving needs of warehousing systems. Summary of the Invention

[0003] This disclosure aims to address the problems existing in the prior art by providing a container loading and unloading device, a storage system, and a method for picking up and placing containers.

[0004] According to a first aspect of this disclosure, a container loading and unloading device is provided, comprising at least two loading and unloading units spaced apart in a horizontal X-axis direction, each of the loading and unloading units comprising:

[0005] A support component extending in the vertical Y-axis direction;

[0006] At least one pick-and-place container assembly, the pick-and-place container assembly being controlled by a drive assembly to move along the support assembly in the Y-axis direction;

[0007] The container pick-and-place assembly includes a pick-and-place component and a carrier component. The pick-and-place component is configured to move along the Z-axis direction to pick up a container from the carrier and load it onto the carrier component, or to unload a container from the carrier component and place it onto the carrier component. The carrier has at least two rows and at least two columns of container storage units in the plane containing the X and Y axes. Each container storage unit includes at least one storage position along the Z-axis direction, and each storage position can accommodate at least one container.

[0008] At least two loading / unloading units are configured to load and unload containers on the same vehicle.

[0009] In one embodiment of this disclosure, the number of loading and unloading units corresponds one-to-one with the number of columns of container storage units on the same carrier, and different loading and unloading units correspond to different columns of the same carrier.

[0010] In one embodiment of this disclosure, the loading and unloading unit is configured to move along the X-axis direction, and the same loading and unloading unit corresponds to different columns of the same vehicle.

[0011] In one embodiment of the present disclosure, the support assembly comprises a column, and a sliding track is arranged on the column, and the container transfer assembly is slidably connected with the column through the sliding track.

[0012] In one embodiment of the present disclosure, each of the loading and unloading units is independently controlled.

[0013] In one embodiment of the present disclosure, a portal assembly is further included, and one end of the support assembly is connected to the top of the portal assembly, and the other end is connected to the bottom of the portal assembly or other support surface.

[0014] In one embodiment of the present disclosure, the container transfer assembly is configured to transfer the container by at least one of suction, pushing, clamping, grabbing, hooking, lifting and picking up.

[0015] In one embodiment of the present disclosure, the movement assembly is configured to move along the second guide portion to lower the transfer assembly below the loading surface of the loading assembly.

[0016] In one embodiment of the present disclosure, the first guide portion and the second guide portion are guide grooves arranged in a guide mechanism, and the second guide portion is configured to extend downwardly and obliquely from the end of the first guide portion.

[0017] In one embodiment of the present disclosure, the loading assembly is configured to load the container; and a receiving space for receiving the container is formed on the loading assembly.

[0018] The transfer assembly is configured to take out the container from the first target position and load it onto the loading assembly, or unload the container from the loading assembly and place it at the second target position.

[0019] A movement assembly is configured to drive the transfer assembly to move in a first movement track and a second movement track.

[0020] In the first movement track, the movement assembly is configured to drive the transfer assembly to move in the receiving space of the loading assembly to load or unload the container.

[0021] In the second movement track, the movement assembly is configured to drive the transfer assembly to move out of the receiving space of the loading assembly to allow the container to enter the receiving space and be loaded on the loading assembly.

[0022] In one embodiment of the present disclosure, the movement assembly comprises a guide mechanism and a sliding mechanism, the guide mechanism comprises a first guide portion and a second guide portion which are connected together, and the sliding mechanism is configured to move along the first guide portion and the second guide portion.

[0023] The first guide part and the second guide part define the first movement track and the second movement track of the sliding mechanism, respectively.

[0024] In one embodiment of the present disclosure, the first guide part is configured to extend linearly in a horizontal direction, and the second guide part is located in a different direction from the first guide part.

[0025] The sliding mechanism is configured to move along the first guide part, and the pick-and-place assembly moves along a linear direction in the accommodation space of the carrier assembly.

[0026] The sliding mechanism is configured to move along the first guide part to the second guide part, and the pick-and-place assembly moves away from the accommodation space of the carrier assembly.

[0027] In one embodiment of the present disclosure, the second guide part is configured to be located below the first guide part, and the pick-and-place assembly is configured to move below the carrier assembly to avoid the accommodation space of the carrier assembly after the movement assembly moves along the second guide part to a position.

[0028] In one embodiment of the present disclosure, the first guide part and the second guide part are located in the same plane, and the sliding mechanism comprises:

[0029] The fixed part is controlled by the driving assembly to move linearly in a direction parallel to the plane in which the first guide part and the second guide part are located.

[0030] The sliding part is in sliding cooperation with the fixed part, and the sliding part is guided and cooperated in the first guide part and the second guide part.

[0031] The pick-and-place assembly is arranged on the sliding part.

[0032] In one embodiment of the present disclosure, the pick-and-place assembly comprises a suction disc mechanism configured to cooperate with the end face of the container.

[0033] In one embodiment of the present disclosure, the container pick-and-place assembly comprises a first open end and a second open end, and the carrier assembly is a conveying belt configured to drive the container to move to the first open end or the second open end of the container pick-and-place assembly.

[0034] In one embodiment of the present disclosure, a limiting mechanism is further included, and the limiting mechanism is configured to limit the two sides of the container on the carrier assembly.

[0035] In one embodiment of the present disclosure, the limiting mechanism comprises a first limiting part and a second limiting part arranged at intervals; the first limiting part and the second limiting part are configured to move towards or away from each other relative to the bearing assembly along the X-axis direction to adjust the distance between the first limiting part and the second limiting part.

[0036] In one embodiment of the present disclosure, the first limiting part and the second limiting part are slidingly fitted on a first base, and a transmission mechanism is further included to drive the first limiting part and the second limiting part to move along the X-axis direction on the first base.

[0037] In one embodiment of the present disclosure, the transmission mechanism comprises a transmission belt controlled by a pulley and extending along the X-axis direction, and the first limiting part and the second limiting part are respectively connected to two sides of the transmission belt at intervals.

[0038] In one embodiment of the present disclosure, the limiting mechanism is arranged at a position above the bearing assembly and is configured to limit the upper region of the container.

[0039] In one embodiment of the present disclosure, a rotating mechanism is further included, which is configured to drive the taking and placing assembly and the bearing assembly to rotate around the Y-axis.

[0040] In one embodiment of the present disclosure, the rotating mechanism comprises a second base and a slewing support part rotatably connected to the second base, and the bearing assembly and the taking and placing assembly are connected to the slewing support part oppositely.

[0041] In one embodiment of the present disclosure, a first sensor is included, which is used to determine whether there is a container in the storage position of the carrier when the container taking and placing assembly takes the container from the carrier and / or whether the storage position of the carrier is empty when the container is placed in the storage position of the carrier.

[0042] In one embodiment of the present disclosure, a second sensor is included, which is used to determine the pose deviation between the container taking and placing assembly and the container on the carrier.

[0043] In one embodiment of the present disclosure, the container handling device is further used to adjust the pose of the container handling device according to the pose deviation between the container handling device and the corresponding container determined by the second sensor, so as to eliminate the pose deviation.

[0044] In one embodiment of the present disclosure, the first sensor and the second sensor are the same sensor.

[0045] In one embodiment of the present disclosure, the first sensor and the second sensor are visual sensors, depth information sensors or 3D sensors.

[0046] According to a second aspect of the present disclosure, a warehouse system is also provided, comprising: a workstation area, wherein an operation station, a carrier parking area, and a container loading and unloading device are arranged;

[0047] The carrier parking area is configured to park carriers.

[0048] The container loading and unloading device is located between the operation station and the carrier parking area, and is configured to transfer containers between the operation station and the carriers located in the carrier parking area.

[0049] In an embodiment of the present disclosure, the carrier parking area is provided with at least two parking stations for parking carriers.

[0050] In an embodiment of the present disclosure, the container loading and unloading device is provided with at least two, each corresponding to a different carrier located in a different parking station.

[0051] In an embodiment of the present disclosure, the workstation area further comprises a conveying line, the conveying line comprises a conveying line inlet and a conveying line outlet, and the operation station is located on the conveying path of the conveying line; the conveying line inlet and the conveying line outlet are respectively provided with the container loading and unloading device.

[0052] The container loading and unloading device located at the conveying line inlet is used to take containers from the carriers located in the carrier parking area and place them on the conveying line.

[0053] The container loading and unloading device located at the conveying line outlet is used to take containers from the conveying line and place them on the carriers located in the carrier parking area.

[0054] According to a third aspect of the present disclosure, a container loading and unloading method is also provided, which is applied to a control server and a container loading and unloading device, and comprises:

[0055] The control server sends a loading and unloading instruction to the container loading and unloading device.

[0056] The container loading and unloading device controls at least two loading and unloading units to perform loading and unloading operations on containers on the same carrier in parallel based on the received loading and unloading instruction.

[0057] According to a fourth aspect of the present disclosure, a container loading and unloading method is also provided, which is characterized by being applied to a control server, an automatic handling device, and a warehouse system, and comprises: the control server sends a handling instruction to the automatic handling device according to a task order, and sends a loading and unloading instruction to the warehouse system;

[0058] The automatic handling device carries the carriers to the carrier parking area or carries the carriers away from the carrier parking area based on the received handling instruction.

[0059] The container handling device controls the at least two handling units to take and place containers between the operation stations and the same carrier based on the received taking and placing instructions in parallel.

[0060] One beneficial effect of the present disclosure is that the container handling device takes and places containers through the simultaneous work of the at least two handling units, the handling units are arranged along the X axis and can take and place containers of the container storage units of a column of carriers, the container taking and placing assembly can move to container storage units at different heights along the support assembly, and can replace manual taking and placing of containers on the carriers, thereby being more efficient.

[0061] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0062] The accompanying drawings incorporated in and forming a part of the specification illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0063] Figure 1 is a schematic diagram of the overall structure of the container handling device provided by an embodiment of the present disclosure;

[0064] Figure 2 is a schematic diagram of the overall structure of the container taking and placing assembly provided by an embodiment of the present disclosure;

[0065] Figure 3 is a schematic diagram of the movement assembly and drive assembly of the container taking and placing assembly provided by an embodiment of the present disclosure;

[0066] Figure 4 is a schematic diagram of the taking and placing assembly and movement assembly of the container taking and placing assembly provided by an embodiment of the present disclosure;

[0067] Figure 5 is a schematic diagram of the taking and placing assembly of the container taking and placing assembly provided by an embodiment of the present disclosure in a first movement track;

[0068] Figure 6 is a schematic diagram of the taking and placing assembly of the container taking and placing assembly provided by an embodiment of the present disclosure in a second movement track;

[0069] Figure 7 is a schematic diagram of the limiting mechanism of the container handling device provided by an embodiment of the present disclosure;

[0070] Figure 8 is a schematic diagram of the rotating mechanism of the container handling device provided by an embodiment of the present disclosure;

[0071] Figure 9is a schematic diagram of the overall structure of a container handling device provided by an embodiment of the present disclosure;

[0072] Figure 10 is a schematic diagram of the principle of a warehouse system provided by an embodiment of the present disclosure;

[0073] Figure 11 is a schematic diagram of the principle of a container taking and placing method provided by an embodiment of the present disclosure;

[0074] Figure 12 is a schematic diagram of the principle of another container taking and placing method provided by an embodiment of the present disclosure;

[0075] Figure 13 is a schematic diagram of the principle of a picking system provided by an embodiment of the present disclosure;

[0076] Figure 14 is a schematic diagram of the principle of a container taking method provided by an embodiment of the present disclosure;

[0077] Figure 15 is a schematic diagram of the principle of a container feeding method provided by an embodiment of the present disclosure.

[0078] Figures 1 to 15 The one-to-one correspondence between the names of the components and the reference numerals in the drawings is as follows:

[0079] 1, base; 11, support;

[0080] 2, bearing assembly; 21, conveying belt; 22, anti-falling stop edge; 23, alignment guide mechanism;

[0081] 3, taking and placing assembly; 31, suction cup mechanism; 32, fixing seat; 33, buffer device;

[0082] 4, movement assembly; 41, guide mechanism; 411, first guide part; 412, second guide part; 42, sliding mechanism; 421, fixed part; 422, sliding part; 4220, sliding block; 43, guide rod;

[0083] 5, driving assembly; 51, pulley; 52, conveying belt;

[0084] 6, positioning system;

[0085] 7, frame body; 71, X-axis rail; 72, Y-axis rail;

[0086] 81, support assembly; 82, gantry assembly;

[0087] 9, limiting mechanism; 91, first limiting part; 92, second limiting part; 93, first base; 94, transmission mechanism; 95, sliding guide structure;

[0088] 10. rotating mechanism; 101. second base; 102. slewing support part; 103. slewing bearing. DETAILED DESCRIPTION

[0089] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of the components and steps set forth in the embodiments, numerical expressions, and numerical values are not limiting to the scope of the present disclosure unless specifically stated otherwise.

[0090] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the scope of the present disclosure, its application, or uses.

[0091] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein. However, the techniques, methods, and devices are further explained in connection with the description of the drawings.

[0092] In all examples shown and discussed herein, any specific value should be interpreted as merely exemplary and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0093] It should be noted that like numbers and letters refer to like elements throughout the several views of the drawings and that the exemplified embodiment should not be construed as limiting the present disclosure, unless otherwise specifically stated.

[0094] A specific embodiment of the present disclosure will be described below with reference to the accompanying drawings.

[0095] In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used to describe relative positions between the relevant parts, and do not limit the absolute positions of the relevant parts.

[0096] In this document, "first", "second", and the like are used to distinguish between the relevant parts from each other, and do not indicate importance and order, and a prerequisite for each other.

[0097] In this document, "equal", "same", and the like are not strictly limited in the mathematical and / or geometric sense, but also include errors that can be understood by those skilled in the art and allowed in manufacturing or use.

[0098] Unless otherwise stated, numerical ranges herein include the entire range between the two endpoints, as well as several sub-ranges contained therein.

[0099] The present disclosure provides a container handling device for handling containers on a carrier. The carrier has a plurality of storage locations for storing containers arranged in a plurality of rows and columns in a horizontal and vertical manner. The carrier can be a movable rack. The containers in the present disclosure are mainly containers used for loading goods in logistics, including but not limited to boxes, pallets, packaging boxes, etc. The container handling device can take out containers from designated storage locations on the carrier or place containers on designated storage locations on the carrier.

[0100] In the present disclosure, the carrier has at least two rows and at least two columns of container storage units in the plane of the X-axis and the Y-axis, and each container storage unit includes at least one storage location in the direction of the Z-axis, and each storage location can accommodate at least one container. Wherein, the X-axis can be defined as extending in the horizontal direction, the Y-axis can be defined as extending in the vertical direction, and the Z-axis can be defined as extending in the direction perpendicular to the vertical plane of the X-axis and the Y-axis. The container handling device can move in space in the X-axis, Y-axis and Z-axis directions to handle containers at different positions on the carrier. The Z-axis, Y-axis and Z-axis are mutually perpendicular coordinate systems.

[0101] The container handling device includes at least two handling units arranged in a horizontal X-axis direction, and the at least two handling units are configured to handle containers on the same carrier. Each handling unit includes a support assembly and at least one container handling assembly for taking and placing containers on the carrier. Wherein, the support assembly extends in the vertical Y-axis direction, and the container handling assembly is controlled by a drive assembly to move along the support assembly in the Y-axis direction. The at least two handling units can effectively improve the working efficiency of the container handling device.

[0102] Embodiment one

[0103] In this embodiment, reference is made to Figure 1 Figure 2 The container handling assembly in the container handling device includes a taking and placing assembly 3 and a carrying assembly 2, wherein the carrying assembly 2 is used to carry containers, and the taking and placing assembly 3 can grasp or release containers. And the taking and placing assembly 3 is configured to move in the Z-axis direction to take containers from the carrier and load them onto the carrying assembly 2, or unload containers from the carrying assembly 2 and place them on the carrier.

[0104] In one embodiment, the number of handling units corresponds to the number of columns of container storage units on the same carrier, and different handling units correspond to different columns of the same carrier. In this embodiment, each handling unit corresponds to a column of container storage units of the carrier, and the position of the handling unit is relatively fixed and is only used to take and place containers on the corresponding column of container storage units. The container handling assembly on each handling unit can move in the Y-axis direction along the support assembly 81 to take containers of different heights on the same column of container storage units.

[0105] In an embodiment, the loading and unloading units are configured to move along the X-axis direction, and each loading and unloading unit corresponds to different columns of the carriers. The loading and unloading units can move along the X-axis to the corresponding positions of one column of the container storage units on the carriers, and the container taking and placing assembly can move along the support assembly 81 in the Y-axis direction to take or place the containers at different heights of the column of the container storage units. In this embodiment, the number of the loading and unloading units is less than the number of the columns of the container storage units on the carriers, which can relatively reduce the number of the loading and unloading units and reduce the manufacturing cost of the container loading and unloading device.

[0106] In a specific embodiment, referring to Figure 1 , four columns of the container storage units are arranged from left to right on the carriers, and two loading and unloading units are arranged on the left and right sides and move along the X-axis direction respectively. The left loading and unloading unit can correspond to the two columns of the container storage units on the left side, and the right loading and unloading unit can correspond to the two columns of the container storage units on the right side.

[0107] In an embodiment, the support assembly 81 includes a column, and a sliding track is arranged on the column and extends along the Y-axis direction. The container taking and placing assembly is slidably connected with the column through the sliding track and can move up and down along the column to different heights to correspond to different heights of the container storage units.

[0108] The sliding track can be a sliding groove, a sliding rod or the like, and the container taking and placing assembly can be provided with a sliding block or a roller matched with the sliding groove, a sliding sleeve matched with the sliding rod or the like. The above structures are only examples and are not specifically limited in the disclosure as long as the container taking and placing assembly can move along the column in the Y-axis direction.

[0109] In an embodiment, each loading and unloading unit is independently controlled and can work independently. At least two loading and unloading units can work simultaneously to take or place the containers on different columns of the container storage units. While one or more loading and unloading units take the containers on the carriers, the other loading and unloading units can place the containers on the carriers. Through independent control of the loading and unloading units, the container loading and unloading device has higher flexibility and higher work efficiency.

[0110] In an embodiment, referring to Figure 1 , the support assembly 81 is mounted on a portal assembly 82, and the portal assembly 82 can be fixed on the ground, a wall, a ceiling or the like. The portal assembly 82 can be provided in a door type structure, a frame type structure or the like. The portal assembly 82 can be arranged side by side with the carriers and extends along the X-axis direction. One end of the support assembly 81 can be connected to the top of the portal assembly 82, and the other end can be connected to the bottom of the portal assembly 82. When the portal assembly 82 is provided in a door type structure, the other end of the support assembly 81 can also be connected to other support surfaces, such as the ground.

[0111] In the embodiment in which the loading and unloading unit is movable along the X-axis direction, the gantry assembly 82 is provided with a track extending along the X-axis direction at least at the top, and the support assembly 81 is slidably connected with the track on the gantry assembly 82 so as to be movable along the X-axis direction. The track on the gantry assembly 82 can be a chute, a slide rod or the like, which is not specifically limited in the present disclosure.

[0112] The container taking and placing assembly takes and places the container by any one of the following modes: suction, pushing, clamping, grabbing, hooking, lifting and lifting. The specific mode of taking and placing the container by the container taking and placing assembly is not limited in the present application. The container taking and placing assembly of the forked structure includes two telescopic arms, which can be extended or retracted along the Z-axis direction at the same time to take and place the container. The forked structure is a prior art, which can be implemented by those skilled in the art, and will not be described here. Of course, the container taking and placing assembly can also be configured to take and place the container by other modes.

[0113] The container taking and placing assembly is used to transfer the container between different target positions. The container taking and placing assembly mainly includes a base, a carrying assembly and a taking and placing assembly arranged on the base. The carrying assembly is used to carry the container and has a containing space for containing the container. The taking and placing assembly is used to take the container from the first target position and load it onto the carrying assembly, or unload the container from the carrying assembly and place it at the second target position.

[0114] The movement trajectory of the taking and placing assembly includes a first movement trajectory and a second movement trajectory. The container taking and placing assembly further includes a movement assembly connected with the taking and placing assembly and driving the taking and placing assembly to move in the first movement trajectory and the second movement trajectory, and a driving assembly driving the movement assembly to move.

[0115] When the driving assembly drives the movement assembly to move in the first movement trajectory, the movement assembly is configured to drive the taking and placing assembly to move in the containing space of the carrying assembly, and load the container at the first target position onto the carrying assembly or unload the container from the carrying assembly and place it at the second target position through reciprocating movement such as extension and retraction.

[0116] The first target position and the second target position can be corresponding container positions on the carrier. The first target position and the second target position can be the same container position or different container positions, which is not limited herein.

[0117] When the driving assembly drives the movement assembly to move in the second movement trajectory, the movement assembly is configured to drive the taking and placing assembly to move away from the containing space of the carrying assembly, so that the container can enter the containing space of the carrying assembly and be carried on the carrying assembly.

[0118] The container taking and placing assembly of the present disclosure is capable of moving the taking and placing assembly in the accommodating space of the carrying assembly in a first movement track to load or unload the container, and moving the taking and placing assembly out of the accommodating space of the carrying assembly in a second movement track so that the container can be accommodated in the accommodating space or move in the accommodating space. The container taking and placing assembly of the present disclosure does not occupy the space of the carrying assembly, so that the structure of the container taking and placing assembly is more compact and can adapt to narrow working space.

[0119] In an embodiment, as shown in Figure 2 The base 1 provides support for the container taking and placing assembly, and the base 1 can be provided in any structure such as a flat plate or a frame, which can be arranged at the bottom or around the carrying assembly 2. The structure and position of the base can be selected by those skilled in the art. As shown in Figure 1 The base 1 is provided in a frame structure and can be arranged below the carrying assembly 2 to support the carrying assembly 2. The carrying assembly 2 is provided with a carrying surface for supporting the container, and the upper part of the carrying surface is an accommodating space for accommodating the container.

[0120] In an embodiment, the movement assembly 4 includes a guide mechanism 41 and a sliding mechanism 42. As shown in Figures 4 to 7 The guide mechanism 41 includes a first guide part 411 and a second guide part 412 which are connected together, and the first guide part 411 and the second guide part 412 define a first movement track and a second movement track of the movement assembly, respectively. That is, the movement assembly moves along the extension direction of the first guide part 411 and the second guide part 412, and can move along the first guide part 411 to cooperate with the second guide part 412.

[0121] The sliding mechanism 42 cooperates with the guide mechanism 41, and the sliding mechanism 42 is configured to move along the first guide part 411 and the second guide part 412. The taking and placing assembly 3 is connected with the sliding mechanism 42, and when the sliding mechanism 42 moves along the first guide part 411 and the second guide part 412, the taking and placing assembly 3 is driven to move along the first movement track and the second movement track.

[0122] In a specific embodiment of the present disclosure, the first guide part 411 is configured to extend linearly in the horizontal direction, and the second guide part 412 is located in a different direction from the first guide part 412. The sliding mechanism 42 is configured to move along the first guide part 411, and the taking and placing assembly 3 moves in the linear direction in the accommodating space of the carrying assembly 2. When the movement assembly 4 moves along the first guide part 411, the taking and placing assembly 3 is driven to load the container onto the carrying assembly 2 in the horizontal direction.

[0123] Further, the moving assembly 4 is configured to move the taking and placing assembly 3 away from the receiving space gradually after moving along the first guide part 411 to the second guide part 412, until the taking and placing assembly 3 is located outside the receiving space of the carrying assembly 2.

[0124] Specifically, when the taking and placing assembly 3 moves along the first movement track, the taking and placing assembly 3 is located above the carrying assembly 2 and moves along the extension direction of the carrying assembly 2. The taking and placing assembly 3 can move from the receiving space above the carrying assembly 2 to the front end of the carrying assembly 2, so as to load the container located at the first target position in front of the carrying assembly 2. After the taking and placing assembly 3 moves reversely, the loaded container can be moved to the position corresponding to the carrying assembly 2, so as to place the container on the carrying assembly 2.

[0125] Of course, in another application scenario, after the container is located on the carrying assembly 2, the taking and placing assembly 3 can unload the container to the second target position by the same movement mode as described above.

[0126] Since the second guide part 412 is located in a different direction from the first guide part 411, when the moving assembly 4 moves along the second movement track, the taking and placing assembly 3 can gradually move away from the receiving space of the carrying assembly 2, and then the container can be completely moved to the carrying assembly 2 or pass through the receiving space of the carrying assembly 2.

[0127] In the guide mechanism 41, the second guide part 412 is connected to the end of the first guide part 411 and deviates from the extension direction of the first guide part 411.

[0128] In an embodiment of the present disclosure, after the sliding mechanism 42 moves along the second guide part 412 to the position, the taking and placing assembly 3 is configured to move to one side of the carrying assembly 2 to leave the receiving space of the carrying assembly 2. The “one side” in this position refers to the extension direction of the carrying assembly 2. For example, referring to the view direction of Figure 2 , the carrying assembly 2 extends from the left side to the right side, and the “one side” in this position refers to the front side or the rear side of the carrying assembly 2.

[0129] In this embodiment, the first guide part 411 can extend along the extension direction of the carrying assembly, the second guide part can be located in the same horizontal plane as the first guide part 411, and extend away from or gradually away from one side of the carrying assembly.

[0130] In another embodiment of the present disclosure, the second guide portion 412 is configured to be above the first guide portion 411, specifically, the first guide portion 411 extends linearly in the horizontal direction, and the second guide portion 412 extends upwardly and obliquely relative to the first guide portion 411, forming an obtuse angle between the two guide portions. When the moving assembly 4 is moved to the position along the second guide portion 412, the pick-and-place assembly 3 is configured to move above the carrying assembly 2 to leave the accommodation space of the carrying assembly 2. At this time, the distance between the pick-and-place assembly 3, the moving assembly 4 and the carrying assembly 2 should be higher than the height of the accommodation space.

[0131] In another embodiment of the present disclosure, as described above, Figures 3 to 6 the second guide portion 412 is configured to be below the first guide portion 411, specifically, the first guide portion 411 extends linearly in the horizontal direction, and the second guide portion 412 extends downwardly and obliquely relative to the first guide portion 411, forming an obtuse angle between the two guide portions. The moving assembly 4 is configured to move to the position along the second guide portion 412, and the pick-and-place assembly 3 is configured to move below the carrying assembly 2 to avoid the accommodation space of the carrying assembly 2.

[0132] In this embodiment, the middle region of the carrying assembly 2 can be provided with a gap or space for the pick-and-place assembly 3 and the moving assembly 4 to pass through. When the pick-and-place assembly 3 is moved by the moving assembly 4 along the second movement track, it can pass through the gap or space in the middle of the carrying assembly 2, so as to be moved below the accommodation space.

[0133] The guide mode of the present disclosure can be a conventional guide structure such as a guide plate, a guide rod, a track, etc. The first guide portion and the second guide portion can be a sliding groove or a guide hole opened on the guide mechanism, or two guide rods with different directions and connected at the end portions. The above-mentioned guide mechanism is only an example, and those skilled in the art understand that the structure with two guide portions with different directions is also included in the protection scope of the present disclosure.

[0134] In a specific embodiment of the present disclosure, as described above, Figure 3 , Figure 5The guide mechanism 41 is a guide plate, the first guide part 411 and the second guide part 412 are guide grooves opened in the guide plate and communicated with each other, and the sliding mechanism 42 is guided and matched with the guide grooves, so that the sliding mechanism 42 can slide along the guide grooves. The guide grooves can be arranged on one side or opposite sides of the guide plate, or can be through grooves formed through the two sides of the guide plate. The guide plate is vertically distributed relative to the bearing assembly, and the upper end surface of the guide plate is lower than the bearing surface on the bearing assembly 2 to avoid the accommodation space. The first guide part 41 is a guide groove extending in the horizontal direction, and the second guide part 42 is a guide groove extending downwardly and obliquely from the end of the first guide part 411. When the sliding mechanism 42 drives the taking and placing assembly 3 to move along the second guide part 412, the taking and placing assembly 3 can pass through the gap or space in the middle of the bearing assembly 2 and move to the accommodation space of the bearing assembly.

[0135] In one embodiment of the present disclosure, referring to Figure 4 、 Figure 5 、 Figure 6 , the sliding mechanism 42 comprises a fixed part 421 and a sliding part 422, the fixed part 421 and the sliding part 422 are slidingly matched together, so that the sliding part 422 can slide relative to the fixed part 421 under the action of an external force. The fixed part 421 is controlled by the driving assembly 5, the driving assembly 5 can provide a driving force for linear motion, and drives the fixed part 421 to move linearly in a direction parallel to the plane in which the first guide part 411 and the second guide part 412 are located. The sliding part 422 is guided and matched in the first guide part 411 and the second guide part 412, and the taking and placing assembly 3 is arranged on the sliding part 422. The sliding part 422 can drive the taking and placing assembly 3 to move along the first guide part 411 and the second guide part 412. The second guide part 412 extends obliquely relative to the first guide part 411, and forms an obtuse angle with the first guide part 411.

[0136] The relative motion direction between the fixed part 421 and the sliding part 422 can be perpendicular to the extension direction of the first guide part 411. The driving assembly 5 can drive the sliding part 422 to move simultaneously through the fixed part 421. The motion direction of the fixed part 421 is consistent with the extension direction of the first guide part 411, and is inconsistent with the extension direction of the second guide part 422.

[0137] Referring to Figure 6 , since the motion direction of the fixed part 421 is different from the extension direction of the second guide part 422, when the driving assembly 5 drives the fixed part 421 to move linearly in the horizontal direction, the sliding part 422 gradually moves upward relative to the fixed part 421 under the restriction of the second guide part 422, thereby driving the taking and placing assembly 3 to move upward and into the accommodation space of the bearing assembly 2. The reverse motion makes the taking and placing assembly 3 leave the accommodation space of the bearing assembly 2.

[0138] refer to Figure 5 When the sliding part 422 moves into the first guide part 411, since the movement direction of the fixed part 421 is consistent with the extension direction of the first guide part 411, no relative movement occurs between the fixed part 421 and the sliding part 422 during the continued movement of the fixed part 421. That is to say, both the fixed part 421 and the sliding part 422 move linearly in the horizontal direction, thereby enabling the sliding part 422 to drive the pick-and-place component 3 to move linearly within the receiving space of the bearing component 2, so that the drive component 3 extends out, and in the opposite direction, the pick-and-place component 3 retracts.

[0139] Both the fixing part 421 and the sliding part 422 can be configured as block structures. In one specific embodiment, such as... Figures 3 to 6 From the perspective shown, the guide mechanism 41 is a vertically mounted guide plate, and the first guide portion 411 and the second guide portion 412 are elongated holes or through holes provided on the guide plate. The first guide portion 411 extends linearly in the horizontal direction, and the second guide portion 412 extends downwards at an angle relative to the first guide portion 411. The fixing portion 421 may include two clamping plates whose top ends are connected together, and a groove is provided between the two clamping plates of the fixing portion 421. The sliding portion 422 is clamped between the two clamping plates of the fixing portion 421 and cooperates with the groove in the fixing portion 421, allowing it to slide relative to the fixing portion 421. The sliding portion 422 also includes two clamping plates whose top ends are connected together, with a gap between the two clamping plates, and a guide plate is located between the two clamping plates of the sliding portion 422. A sliding member is also connected between the two clamping plates of the sliding portion 422, and the sliding member slidably engages within the first guide portion 411 and the second guide portion 412. The sliding component can be a pin, a slider, or a roller. The roller can reduce the friction between the roller and the guide plate.

[0140] The drive assembly 5 provides linear driving force. The sliding mechanism 42 and the guide mechanism 41 are connected between the drive assembly 5 and the pick-and-place assembly 3. They can convert the linear driving force of the drive assembly 5 into driving force along two directions: the first guide portion 411 and the second guide portion 412. This drives the pick-and-place assembly 3 to move within the first and second motion trajectories with different directions.

[0141] The drive assembly 5 can be a linear motor, lead screw assembly, gear rack, conveyor belt, etc.; any drive device capable of linear motion is included within the scope of this disclosure. In one specific embodiment, the drive assembly 5 is a pulley structure, see reference... Figure 3The drive assembly 5 comprises at least two pulleys 51, a conveying belt 52 wound around the pulleys 51, and a motor driving the pulleys 51 to rotate. The output end of the motor can be directly connected with one of the pulleys 51 or connected with the pulleys 51 through a gear assembly or other transmission structure. The moving direction of the conveying belt 52 is consistent with the extending direction of the first guide portion 411. The fixed portion 421 of the sliding mechanism 42 is fixedly connected with the conveying belt 52. The motor can drive the fixed portion 421 to move back and forth through the pulleys 51 and the conveying belt 52 by adjusting the rotating direction.

[0142] The drive assembly 5 can be mounted on the base 1 or the bearing assembly, or mounted on the guide mechanism 41 of the moving assembly 4. In a specific embodiment, the guide mechanism 41 is a guide plate, and the pulleys 51 and the conveying belt 52 of the drive assembly 5 are arranged on the guide plate. Two pulleys 51 are arranged at the two ends of the first guide portion 411 and the second guide portion 412 respectively, and are rotatably connected with the guide plate through rotating shafts. The fixed portion 421 is provided with connecting members fixedly connected with the conveying belt 52.

[0143] In a specific embodiment, as shown in Figure 3 , the pulleys 51 and the conveying belt 52 of the drive assembly 5 are arranged on one side of the guide plate, and the taking and placing assembly 3 is arranged on the other side of the guide plate, so as to avoid interference between the taking and placing assembly 3 and the drive mechanism when the taking and placing assembly 3 moves. The motor can be arranged on the guide plate close to one end of the second guide portion 412.

[0144] The strength of the conveying belt 52 of the drive assembly 5 is relatively low. In order to improve the stability of the moving direction of the sliding portion 422, at least one guide rod 43 can be arranged. The extending direction of the guide rod 43 is consistent with the moving direction of the fixed portion 421. The fixed portion 421 cooperates with the guide rod 43, and the fixed portion 421 is configured to move linearly along the extending direction of the guide rod 43 under the drive of the conveying belt 52. The guide rod 43 can be arranged on the base 1, the bearing assembly 2, or the guide mechanism 41.

[0145] As shown in an embodiment, Figure 3 , the guide rods 43 are connected with the guide plate. Specifically, the two ends of the two guide rods 43 are fixedly connected with the two sides of the guide plate through mounting seats. The fixed portion 421 is provided with sliding blocks 4220 slidingly cooperating with the guide rods 43, and the sliding blocks 4220 are arranged on the guide rods 43. The guide rods 43 are provided in two, and the two guide rods 43 are arranged on the opposite sides of the guide plate. The two clamping plates of the fixed portion 421 are respectively provided with the sliding blocks 4220 sliding along the two guide rods 43.

[0146] The loading and unloading assembly 3 can load containers in various ways, including but not limited to snap-fit, magnetic adsorption, vacuum suction cup adsorption, etc. In one specific embodiment, the loading and unloading assembly 3 includes a suction cup mechanism 31, which is configured to engage with the end face of the container to load the container. The loading and unloading assembly 3 also includes a fixing base 32, on which the suction cup mechanism 31 is connected, and the fixing base 32 is connected to the sliding portion 422 of the sliding mechanism 42.

[0147] In one specific embodiment of this disclosure, reference is made to Figure 4 , Figure 6 A buffer device 33 can be provided between the suction cup mechanism 31 and the fixed base 32 to buffer the impact force of the suction cup mechanism 31 when loading a container. The buffer device 33 may include a spring connected between the suction cup mechanism 31 and the fixed base 32. There is a certain amount of movement between the suction cup mechanism 31 and the fixed base 32. Under the action of external force, the suction cup mechanism 31 can overcome the force of the spring and move relative to the fixed part 32, thereby enabling the spring to buffer the external force on the suction cup mechanism 31.

[0148] The suction cup mechanism 31 can be a vacuum suction cup, and there can be one or more of them; there is no limitation here. By controlling the vacuum source, the suction cup mechanism 31 can be controlled to adsorb the end face of the container, or to release it, allowing the container to be placed on the support component or carrier.

[0149] In the above embodiments, as the motion component drives the pick-and-place component to reciprocate along the first guide portion, the pick-and-place component can extend and suck up the container located at the first target position on the carrier, and move the container onto the support component. At this time, the pick-and-place component can release the container and place it on the support component.

[0150] In one embodiment of this disclosure, the pick-and-place component can move the container fully onto the support component before releasing the container, so that the container is fully supported on the support component.

[0151] In one embodiment of this disclosure, the pick-and-place component can move the container so that a portion of the container is positioned on the support component. After the pick-and-place component releases the container, a pushing device can push the container completely onto the support component.

[0152] In one specific embodiment of this disclosure, the carrier component 2 is configured to transport a container, and the two ends of the carrier component 2 may be referred to as a first open end and a second open end, respectively. (See reference...) Figure 2 In the view, the left end of the carrier component 2 is the first opening end, and its right end is the second opening end. The carrier component 2 is capable of transporting the container between its first opening end and second opening end, and the accommodating space is disposed between the first opening end and the second opening end of the carrier component 2.

[0153] In one embodiment, as shown in Figure 2 , Figure 3 The carrying assembly 2 comprises a conveying belt 21, the upper surface of the conveying belt 21 is a carrying surface for supporting the containers, the conveying belt 21 is capable of transporting the containers in the horizontal direction, and the conveying direction of the conveying belt 21 is consistent with the extension direction of the first guide part 411. When the taking and placing assembly 3 is loaded with the containers and moves to the position where the first movement track and the second movement track are connected or adjacent to the position, the containers are brought into the first open end, at this time, the taking and placing assembly 3 releases the containers and moves along the second movement track away from the accommodation space of the carrying assembly; then the containers can be moved by the conveying belt to be completely carried on the conveying belt 21.

[0154] The carrying assembly 2 further comprises a plurality of transmission rollers cooperating with the conveying belt 21, and a driving motor for driving the conveying belt 21 to rotate through the transmission rollers. In one embodiment, the carrying assembly 2 can be a belt conveyor. The structure and principle of the belt conveyor are prior art, and those skilled in the art can understand that they will not be described in detail in the present disclosure.

[0155] In one embodiment, as shown in Figure 2 The conveying belt 21 can be provided in two, the two conveying belts 21 are arranged in a spaced manner and located on the same horizontal plane, and the taking and placing assembly 3 and the movement assembly 4 can be arranged between the two conveying belts 21. The two conveying belts 21 move synchronously and simultaneously transport the containers. The two conveying belts 21 can be driven by the same driving device. When the taking and placing assembly 3 moves along the first movement track to the position, the first open end can be extended from between the two conveying belts 21 to adsorb the end surface of the container; when the taking and placing assembly 3 moves along the second movement track to the position, it can be retracted to between the two conveying belts 21 and moved to be lower than the carrying surface.

[0156] In one specific application scenario of the present disclosure, the conveying belt 21 is further configured to convey the containers from the first open end to the second open end, or from the second open end to the second open end. For example, the containers can be conveyed to the second open end by the conveying belt, and then conveyed from the second open end to other target positions, such as a work station for picking, or a conveying line of the work station. In addition, the containers on the conveying line of the work station can also enter the carrying assembly 2 through the second open end, and then be conveyed by the carrying assembly 2 to the corresponding positions. Then, the taking and placing assembly moves along the first guide part to push the containers on the carrying assembly 2 through the first open end to the target positions of the carriers for storage. In this process, the taking and placing assembly can only push the containers to the target positions of the carriers for storage by pushing, or can adsorb the containers and push them to the target positions of the carriers for storage.

[0157] In one embodiment, in order to prevent the container from falling from both sides of the carrier assembly 2, a fall-preventing baffle 22 can be arranged at both sides of the base 1, and the baffle 22 is prevented from being located outside the conveying belt 21, so that it can be configured to limit the container on the conveying belt 21. Specifically, the fall-preventing baffles 22 at both sides are arranged in a strip-shaped structure, and are consistent with the extension direction of the conveying belt 21, and the fall-preventing baffles 22 can extend from the first open end of the carrier assembly to the second open end thereof.

[0158] The base 1 can also be provided with a centering guide mechanism 23 configured to guide the container on the conveying belt 21 to move to the center of the carrier assembly. Specifically, as shown in Figure 2 the centering guide mechanism 23 is arranged at opposite sides of the base 1, and the centering guide mechanisms 23 at both sides are symmetrically arranged relative to the center line of the carrier assembly 2. The end portion of the centering guide mechanism 23 is arranged in a flared structure, facilitating the container to enter between the centering guide mechanisms 23 at both sides.

[0159] The fall-preventing baffles 22 and the centering guide mechanisms 23 can be independently arranged, or can be arranged in an integrally formed structure. In Figure 2 the embodiment shown, the fall-preventing baffles 22 and the centering guide mechanisms 23 are connected as a whole, and the fall-preventing baffles 22 extend inwardly at the middle region between the first open end and the second open end to form the centering guide mechanisms 23, the distance between the centering guide mechanisms 23 at both sides is less than the distance between the fall-preventing baffles 22, and the centering guide mechanisms 23 are connected with the fall-preventing baffles 22 at both ends through a slope to form a flared structure, so as to facilitate the container to enter between the centering guide mechanisms 23.

[0160] In one embodiment, the container handling assembly further comprises a detection device for detecting the position of the container. When the container is handled by the pick-and-place assembly 3 and partially moved to the carrier assembly 2, the detection device can detect the container, at which time the pick-and-place assembly 3 can place the container on the carrier assembly 2, for example, the vacuum source of the suction cup mechanism 31 can be cut off to release the container by the suction cup mechanism 31. Therefore, the detection position of the detection device determines when the pick-and-place assembly 3 releases the container, and the detection position of the detection device can be adjusted according to the design, as long as the container can be finally carried on the conveying belt. For example, the detection position of the detection position is the position where the movement assembly 4 moves to the first guide portion adjacent to the second guide portion.

[0161] The detection device includes but is not limited to a sensor, an infrared scanning device, a camera device, etc. The detection device can generate and send a detection signal when detecting the container. In an embodiment, the detection device can be a pressure sensor arranged on the carrying assembly 2. When the container moves to the corresponding position of the carrying assembly 2, the pressure sensor can detect the pressure of the container and generate a detection signal. In another embodiment, it can be an infrared sensor, etc., which will not be described in detail here.

[0162] The container handling assembly of the present disclosure can be used to transport containers on a carrier. When transferring the containers, the position of the container handling assembly needs to correspond to the target position on the carrier.

[0163] In actual warehouse environment, there are factors such as uneven ground or carrier installation error, which cause the position of the container handling assembly to deviate from the target position on the carrier. In order to improve the position accuracy, the container handling assembly further comprises a positioning system 6 configured to position the relative position between the container handling assembly and the carrier. The positioning system 6 needs to adjust the position of the container handling assembly when detecting that the position deviation between the container handling assembly and the target position of the carrier reaches a preset range.

[0164] The positioning system can be a visual scanning module, a laser scanning module or an infrared scanning module, which obtains the position information of the container or the container site by identifying the corresponding position on the carrier. For example, Figure 2 As described above, the positioning system can be arranged on the base 1. The base 1 can be provided with a bracket 11, which is located above the carrying assembly 2 and avoids interfering with the movement of the container. The bracket 11 can be provided with a door structure, and the bottom end of the bracket 11 is fixedly connected to both sides of the first opening end of the carrying assembly 2. The positioning system is installed on the top of the bracket 11 and located above the carrying assembly 2.

[0165] In a specific embodiment of the present disclosure, the positioning system 6 can be a two-dimensional imaging module. Each container site on the carrier is provided with a two-dimensional mark, which is located at the center of the front beam of the container site. The two-dimensional imaging module is configured to obtain the position information of the mark on the carrier,

[0166] The two-dimensional imaging module can be arranged at the center of the front end of the carrying assembly 2. This is conducive to the two-dimensional imaging module reading the position information of the mark on the front beam. After the two-dimensional imaging module obtains the position information of the mark on the beam, it can obtain the height deviation and / or horizontal deviation of the container handling assembly relative to the target position of the container site, thereby providing a reference for adjusting the position of the container handling assembly.

[0167] Embodiment two

[0168] The embodiment provides a container loading and unloading device, and the specific structure and principle can refer to the loading and unloading container loading and unloading device of the first embodiment, and the same parts are not described herein. The difference between the embodiment and the first embodiment is that the embodiment further comprises a limiting mechanism, the limiting mechanism is configured to limit the two sides of the container located on the bearing assembly, and can replace the anti-falling baffle and the regular guide mechanism in the first embodiment.

[0169] Specifically, referring to Figure 7 , the limiting mechanism 9 comprises a first limiting part 91 and a second limiting part 92 arranged at intervals, and the first limiting part 91 and the second limiting part 92 are arranged on the two sides of the bearing assembly 2, and the container is placed between the two limiting parts. The first limiting part 91 and the second limiting part 92 are configured to move towards or away from each other relative to the bearing assembly 2 along the X-axis direction, so as to adjust the distance between the first limiting part 91 and the second limiting part 92, thereby being able to adapt to containers of different sizes. When different models of containers are placed on the carrier, the distance between the first limiting part 91 and the second limiting part 92 can be adjusted to adapt to the size of the container. The first limiting part 91 and the second limiting part 92 can be provided in the form of a rod, a plate, a roller or the like, and the present disclosure is not limited thereto as long as the two sides of the container can be blocked.

[0170] In an embodiment, referring to Figure 7 , the container loading and unloading device further comprises a first base 93, the first base 93 can provide a mounting basis for the first limiting part 91 and the second limiting part 92, and the first limiting part 91 and the second limiting part 92 are both slidingly fitted on the first base 93. At least one set of sliding guide structures 95 extending along the X-axis direction can be arranged on the first base 93, and the first limiting part 91 and the second limiting part 92 are fitted with the first base 93 through the sliding guide structures 95. The sliding guide structures 95 can include sliding grooves, sliding blocks or the like, and the present disclosure is not specifically limited thereto. In a preferred embodiment, the sliding guide structures 95 are provided with two sets, and the two sets of sliding guide structures 95 are respectively arranged near the two ends of the first limiting part 91 and the second limiting part 92.

[0171] The first base 93 can be provided with a transmission mechanism 94 moving along the X-axis direction, and the first limiting part 91 and the second limiting part 92 are driven to move along the X-axis direction on the first base 93 through the transmission mechanism 94. The transmission mechanism 94 can be, but is not limited to, a gear and rack structure, a connecting rod mechanism, a belt wheel mechanism or the like, and the present disclosure is not limited thereto.

[0172] In a specific embodiment, referring to Figure 7The transmission mechanism 94 includes a transmission belt and a belt wheel. The transmission belt extends in the X-axis direction and can be controlled to rotate by the belt wheel, which can be driven by a motor. The first limiting part 91 and the second limiting part 92 can be connected on both sides of the transmission belt interval, i.e., on both sides of the extension direction of the transmission belt. The transmission belt has a ring structure, and when rotating, the two sides of the transmission belt interval move in opposite directions, so that the first limiting part 91 and the second limiting part 92 can be driven to move closer to each other or farther away from each other, thereby adjusting the relative position between the two.

[0173] In another embodiment, the limiting mechanism 9 is arranged above the carrying assembly 2 and is configured to limit the upper region of the container. Specifically, the container can be placed between the carrying assembly 2 and the limiting mechanism 9, and the first limiting part 91 and the second limiting part 92 of the limiting mechanism 9 are close to the top edges of the two opposite sides of the container to avoid interference with the carrying assembly 2. The limiting mechanism 9 can be mounted on the base 1 by a support.

[0174] In an embodiment, with reference to Figure 8 The container loading and unloading device can further include a rotating mechanism 10 configured to drive the taking and placing assembly 3 and the carrying assembly 2 to rotate around the Y-axis, so as to flexibly adjust the angle relative to the container. The container on the storage site may, due to collision, unstable carrier, etc., have a pose deviation between the horizontal plane and the taking and placing assembly 3 and the carrying assembly 2. If the pose deviation is greater than a preset tolerance threshold, the container cannot be smoothly grabbed by the taking and placing assembly 3. At this time, the angle of the taking and placing assembly 3 and the carrying assembly 2 relative to the container can be adjusted by the rotating mechanism 10 to eliminate the pose deviation and make the pose deviation less than the preset tolerance threshold, so that the taking and placing assembly 3 can smoothly grab the container on the carrier to the carrying assembly 2.

[0175] The rotating mechanism 10 can include a second base 101 and a slewing support part 102 rotatably connected to the second base 101. The second base 101 can be connected to the support assembly 81 and move along the extension direction of the support assembly 81. The carrying assembly 2 and the taking and placing assembly 3 are connected relative to the slewing support part 102, and the rotation axis of the slewing support part 102 extends along the Y-axis direction and can rotate relative to the second base 101 around the Y-axis to adjust the relative angle between the carrying assembly 2, the taking and placing assembly 3 and the container.

[0176] The slewing support part 102 can be provided in a plate structure, a frame structure, etc., and can support the carrying assembly 2 and the taking and placing assembly 3. Specifically, the slewing support part 102 can include a plurality of support rods connected in a frame structure, and the carrying assembly 2 and the taking and placing assembly 3 can be fixedly connected to the slewing support part 102 by screwing, welding, bonding, etc., which are not limited in the present disclosure.

[0177] The slewing support part 102 can be connected with the second base 101 through a conventional rotating connection structure such as a bearing, a rotating shaft, and a shaft sleeve. In a preferred embodiment, the slewing support part 102 is connected with the second base 101 through a slewing bearing 103. The slewing support part 102 has an inner ring and an outer ring that rotate relative to each other. One of the inner ring and the outer ring is fixedly connected with the slewing support part 102, and the other is fixedly connected with the second base 101. Figure 8

[0178] The rotating mechanism 10 can further include a slewing driving mechanism for driving the slewing support part 102 to rotate. The rotating mechanism 10 can be directly connected with the slewing support part 102 for driving the slewing support part 102 to rotate, or can drive the slewing support part 102 to rotate through the slewing bearing 103. The slewing driving mechanism includes, but is not limited to, a motor, a gear set, a belt pulley mechanism, etc., which are not limited in the present disclosure. In an embodiment of the present disclosure, the outer ring of the slewing bearing 103 is fixedly connected with the second base 101, and the inner ring is fixedly connected with the carrying assembly 2 and the taking-and-placing assembly 3. The slewing driving mechanism includes a synchronous belt and a driving pulley. The synchronous belt is connected between the driving pulley and the inner ring of the slewing bearing 103. The driving pulley can drive the inner ring of the slewing bearing 103 to rotate through the synchronous belt. The inner ring drives the carrying assembly 2 and the taking-and-placing assembly 3 to rotate through the slewing support part 102.

[0179] In an embodiment, the container handling device comprises a first sensor for detecting a storage location of the carrier to determine whether the storage location is empty or not. The first sensor is configured to determine whether the storage location of the carrier is empty or not when the container handling device takes a container from the carrier and / or when the container handling device places a container in a storage location of the carrier.

[0180] The first sensor is configured to generate an empty storage location detection signal or a non-empty storage location detection signal. When taking a container, the first sensor determines whether the target storage location is empty or not. The taking-and-placing assembly 3 is configured to grasp a container from the target storage location based on the non-empty storage location detection signal or to refrain from grasping a container based on the empty storage location detection signal. This prevents the taking-and-placing assembly 3 from placing a container in a non-empty storage location, which would cause the container originally stored in the storage location to fall, or from grasping a container in an empty storage location.

[0181] When taking a container, the first sensor determines whether the target storage location is empty or not. The taking-and-placing assembly 3 is configured to grasp a container from the target storage location based on the non-empty storage location detection signal or to refrain from grasping a container based on the empty storage location detection signal. This prevents the taking-and-placing assembly 3 from placing a container in a non-empty storage location, which would cause the container originally stored in the storage location to fall, or from grasping a container in an empty storage location.

[0182] ​In the process of placing the container, if the first sensor sends an empty position detection signal, the taking and placing assembly 3 places the container on the carrier assembly 2 on the storage position based on the empty position detection signal, and if the first sensor sends a non-empty position detection signal, the taking and placing assembly 3 does not take the action of placing the container based on the non-empty position detection signal.

[0183] In an embodiment, the container loading and unloading device comprises a second sensor for determining the pose deviation between the container loading and unloading device and the corresponding container. The container loading and unloading device is further configured to adjust the pose of the container loading and unloading device according to the pose deviation between the container loading and unloading device and the corresponding container determined by the second sensor, so as to eliminate the pose deviation.

[0184] Specifically, the second sensor can detect the three-dimensional position of the container, so as to determine the three-dimensional deviation between the container and the container taking and placing assembly, including the deviation in the X-axis direction, the deviation in the Y-axis direction, and the angle deviation in the horizontal plane direction. Based on the position deviation, the container taking and placing assembly can adjust the position by moving along the gantry assembly 82 and the support assembly 81 in the X-axis and Y-axis directions to eliminate the deviation in the X-axis and Y-axis directions; the container taking and placing assembly can also rotate around the Y-axis by the rotating mechanism 10, so as to adjust the angle deviation with the container in the horizontal plane.

[0185] In an embodiment of the present disclosure, the second sensor obtains the three-dimensional position information of the container, and determines the position deviation between the container and the container taking and placing assembly in the X-axis direction, i.e., the horizontal deviation. The support assembly 81 moves a corresponding distance in the X-axis direction based on the horizontal deviation, so that the position of the container taking and placing assembly in the X-axis direction corresponds to the container.

[0186] In an embodiment of the present disclosure, the second sensor obtains the three-dimensional position information of the container, and determines the position deviation between the container and the container taking and placing assembly in the Y-axis direction, i.e., the height deviation. The container taking and placing assembly moves a corresponding distance along the support assembly 81 based on the height deviation, so that the position of the container taking and placing assembly in the Y-axis direction corresponds to the container.

[0187] In an embodiment of the present disclosure, the second sensor obtains the three-dimensional position information of the container, and determines the angle deviation between the container and the container taking and placing assembly in the horizontal plane direction, which is the angle deviation between the container and the Z-axis direction. The container taking and placing assembly rotates around the Y-axis by the rotating support part 102 based on the angle deviation, so that the angle corresponds to the angle of the container. Through the angle adjustment, the container taking and placing assembly may generate a position deviation in the X-axis direction with the container in the X-axis direction. Based on the position deviation, the support assembly 81 adjusts the position in the X-axis direction, so that the container taking and placing assembly and the container can correspond in the angle and the position in the horizontal plane direction.

[0188] For safety reasons, the container pick-up and delivery assembly should move along the X and Y axes within a predetermined movement threshold range based on three-dimensional position information, and rotate by a corresponding angle within a predetermined rotation threshold range. The predetermined movement threshold is the maximum distance to move, and the predetermined rotation threshold is the maximum angle to rotate. If the required movement distance exceeds the predetermined movement threshold, or the required rotation angle exceeds the predetermined rotation threshold, the container pick-up and delivery assembly will stop picking up or placing containers and report an anomaly to prevent collisions with the vehicle's frame during container pick-up and placement.

[0189] When adjusting the position of the container assembly relative to the container based on the second sensor, the order in which the horizontal deviation, height deviation, or angular deviation is adjusted can be arbitrary and is not limited here. In a preferred embodiment, the second sensor should be positioned relative to the center of the container assembly, which facilitates alignment of the center of the container assembly with the center of the container. Compared to conventional methods, this avoids the need to affix labels to the container and improves alignment accuracy.

[0190] The first sensor and the second sensor can be two separate sensors or the same sensor; this disclosure does not limit the choice. The first sensor and the second sensor can be, but are not limited to, a vision sensor, a depth sensor, or a 3D sensor, etc. Those skilled in the art can make their own selections based on existing technology, as long as they can acquire three-dimensional position information.

[0191] Example 3

[0192] This embodiment provides a container loading and unloading device, such as... Figure 9 The container loading and unloading device includes a frame 7, on which the container picking and delivering assembly disclosed in Embodiment 1 is mounted. The container picking and delivering assembly is configured to move on the frame 7, and its position can be adjusted on the frame. The specific structure and principle of the container picking and delivering assembly are described in Embodiment 1, and will not be repeated in this embodiment.

[0193] Specifically, such as Figure 9 The frame 7 includes mutually perpendicular X-axis tracks 71 and Y-axis tracks 72, which are arranged on a vertical plane. Specifically, the Y-axis track is configured to move along the X-axis track, and the container pick-and-place assembly is configured to move along the Y-axis track. The motion component 4 is configured to drive the pick-and-place assembly to move along the Z-axis direction within a first motion trajectory. The X-axis, Y-axis, and Z-axis constitute a three-dimensional coordinate system.

[0194] In an embodiment, the frame body 7 comprises a portal assembly, the X-axis track 71 comprises a ground track structure and a sky track structure arranged on the portal assembly. The X-axis track 71 extends in a horizontal direction, and the Y-axis track 72 extends in a vertical direction. The Y-axis track 72 can be a column structure, and the two ends of the Y-axis track 72 are guided and matched with the ground track structure and the sky track structure, respectively, and the Y-axis track 72 moves horizontally along the ground track structure and the sky track structure.

[0195] Specifically, the two X-axis tracks 71 are respectively provided with X-axis moving plates capable of moving horizontally along the X-axis tracks 71, and the two ends of the Y-axis track 72 are respectively fixedly connected to the two X-axis moving plates. The Y-axis track 72 is provided with a Y-axis moving plate capable of moving in a vertical direction along the Y-axis track 72, and the container taking and placing assembly is fixedly connected to the Y-axis moving plate. The X-axis moving plate and the Y-axis moving plate can be further provided with a guide assembly, and the guide assembly slides along the corresponding X-axis track 71 and Y-axis track 72.

[0196] The frame body 7 is further provided with a driving system, which comprises an X-axis driving unit and a Y-axis driving unit. The X-axis driving unit is used to drive the Y-axis track 72 to move along the X-axis track 71, and the Y-axis driving unit is used to drive the container taking and placing assembly to move along the Y-axis track 72, so that the container taking and placing assembly can be moved to a corresponding position, for example, a target position on the carrier. The driving system can comprise a driving motor, a transmission gear, a transmission chain, a lead screw assembly, etc., and those skilled in the art can set up based on the prior art to realize the above-mentioned functions of the driving system.

[0197] In an embodiment of the present disclosure, the Y-axis track 72 can be provided with at least two, and the at least two Y-axis tracks 72 move relatively independently between the two X-axis tracks 71. At least one container taking and placing assembly is arranged on each Y-axis track, and the container taking and placing assemblies on each Y-axis track can move independently, thereby improving the working efficiency of the container loading and unloading device.

[0198] In the present embodiment, the container loading and unloading device is used to transfer containers on the carrier, and the container taking and placing assembly can move on the frame body 7 along the X-axis track 71 and the Y-axis track 72 to the target position of the carrier.

[0199] The container taking and placing assembly is provided with a positioning system 6 for the positional deviation between the container taking and placing assembly and the target position on the carrier. The positioning system 6 can be a two-dimensional imaging module such as a camera, or a three-dimensional imaging module such as a depth camera or a panoramic camera, which can obtain the positional information of the target position.

[0200] In an embodiment, the positioning system 6 is configured with a two-dimensional imaging module, and each container position on the carrier is provided with a two-dimensional mark, and the two-dimensional imaging module is configured to obtain the position information of the mark on the carrier. Based on the position of the mark obtained by the two-dimensional imaging module, the deviation of the container taking and placing assembly from the mark can be compared and analyzed, including the deviation in the horizontal direction and the vertical direction. Based on the deviation of the mark obtained by the two-dimensional imaging module, the container taking and placing assembly can be adjusted through the X-axis rail 71 and the Y-axis rail 72, thereby improving the accuracy between the container taking and placing assembly and the target position.

[0201] The X-axis rail 71 and the Y-axis rail 72 of the container loading and unloading device are configured in a frame structure, which cooperates with the compactly structured container taking and placing assembly, and can be used in a relatively narrow working space, thereby improving the space utilization and increasing the capacity of the storage space.

[0202] Embodiment Four

[0203] The embodiment provides a storage system, which stores goods in containers and can quickly transfer and pick the goods in the containers, thereby improving the work efficiency and reducing the labor.

[0204] Reference Figure 10 The storage system includes a workstation area, and the workstation area is provided with an operation station, a carrier parking area, and the container loading and unloading device provided in the embodiment one and the embodiment two. The carrier parking area is used for parking the carrier, and the carrier is provided with a plurality of storage positions for placing the containers. The container loading and unloading device can take, place, and transfer the containers on the carrier, and the goods in the containers can be picked at the operation station. The container loading and unloading device is located between the operation station and the carrier parking area, and is configured to transfer the containers between the operation station and the carrier located in the carrier parking area.

[0205] According to the taking and placing instruction, the container taking and placing assembly of the container loading and unloading device moves along the X-axis and the Y-axis directions, and corresponds to the position of the storage position where the target container is located. Then, the taking and placing assembly 3 grasps the container along the Z-axis direction and grasps the container onto the carrying assembly 2. The container loading and unloading device can further transfer the container on the carrying assembly 2 to the operation station, and complete the picking of the goods in the container at the operation station. After the picking is completed, the container loading and unloading device can take away the container at the operation station and transfer the container to the target storage position on the carrier for storage.

[0206] The operation station can implement any one of the storage operations, including but not limited to at least one of the unloading operation, the shelving operation, the inventory operation, and the cargo handling operation. For example, when the operation station implements the picking and unloading operation, the operation station can serve as a picking and unloading station.

[0207] In an embodiment, at least two parking stations for parking the carriers are arranged in the carrier parking area, and different carriers can be parked on the parking stations, so that the storage system has a larger storage capacity. The carriers can be fixed on the corresponding parking stations or can be moved to different parking stations, which is more convenient and flexible.

[0208] In an embodiment, at least two container handling devices are arranged, each corresponding to a different carrier located at a different parking station. The container handling devices are relatively fixed with the carriers, and different container handling devices can work independently, which has a higher work efficiency.

[0209] In a specific embodiment, the workstation area further comprises a conveying line for transporting the containers. The conveying line comprises a conveying line inlet and a conveying line outlet, and the conveying line is capable of transporting the containers from the conveying line inlet to the conveying line outlet. The operation station is located on the conveying path of the conveying line; during the transportation process, the containers can be transported to the operation station for picking work at the operation station, and after the picking is completed, the containers can be transported to the conveying line outlet.

[0210] The conveying line inlet and the conveying line outlet are respectively provided with a container handling device. The container handling device located at the conveying line inlet is used to take the containers from the carriers located in the carrier parking area and place them on the conveying line; the container handling device located at the conveying line outlet is used to take the containers from the conveying line and place them on the carriers located in the carrier parking area. The container handling devices located at the conveying line inlet and the conveying line outlet can be two different container handling devices or the same container handling device. The conveying line can be a belt conveyor, a roller conveyor, a plate chain conveyor, etc., which is not limited in the present disclosure.

[0211] The operation station can be manually or robotically picked, and multiple operation stations can be arranged on the conveying line to work independently, which can improve the picking efficiency.

[0212] When the storage system is working, the container handling device located at the conveying line inlet takes the containers at the target position of the carriers according to the taking instruction, and then transports the containers to the conveying line inlet; the conveying line transports the containers to the operation station, and the goods in the containers are picked at the operation station; after the picking is completed, the containers are transported to the conveying line outlet by the conveying line; the container handling device located at the conveying line outlet takes the containers at the conveying line outlet according to the instruction, and then transports the containers to the target storage position of the carriers.

[0213] The storage system realizes the preliminary picking and transportation of the containers by the container handling devices, can realize the transfer of the containers between the carriers and the operation station area, effectively improves the efficiency of the sorting work, and reduces the labor.

[0214] Embodiment five

[0215] The embodiment provides a container taking and placing method, which is applied to the container loading and unloading device provided in the control server and the embodiment one and the embodiment two, and the control server can control the container loading and unloading device to take and place containers. Referring to Figure 11 , the container taking and placing method comprises the following steps.

[0216] The control server sends a taking and placing instruction to the container loading and unloading device.

[0217] Specifically, the taking and placing instruction is an instruction for taking a container on a target storage site on a carrier or an instruction for placing a container on the container loading and unloading device on a target storage site on the carrier. The container loading and unloading device can drive the container taking and placing assembly to move to a position corresponding to the target storage site according to the target storage site coordinates pre-stored in the system, and then drive the container taking and placing assembly to move along the Z axis to take the container on the target storage site or place the container on the container taking and placing assembly on the target storage site.

[0218] The container loading and unloading device controls at least two loading and unloading units to take and place containers on the same carrier in parallel based on the received taking and placing instruction.

[0219] Specifically, the container loading and unloading device comprises at least two loading and unloading units, and the loading units are controlled independently of each other and can simultaneously take and place containers, or only part of the loading units can work. The control server can send a taking and placing instruction for taking and placing at least two containers simultaneously to the container loading and unloading device, and the container loading and unloading device controls the loading and unloading units to take and place containers simultaneously based on the taking and placing instruction, which can effectively save working time and improve work efficiency.

[0220] Embodiment six

[0221] The embodiment provides a container taking and placing method, which is applied to the control server, the automatic carrying device, and the storage system disclosed in the embodiment four.

[0222] Referring to Figure 12 , the container taking and placing method comprises the following steps.

[0223] The control server sends a carrying instruction to the automatic carrying device according to a task order and sends a taking and placing instruction to the storage system.

[0224] The automatic carrying device can be a carrying robot for carrying a carrier. For example, the automatic carrying device can lift the carrier from the bottom of the carrier by a lifting device and then carry the carrier. The taking and placing instruction sent by the control server to the storage system can be an instruction for taking a container on a target storage site on the carrier or an instruction for placing a container on a target storage site on the carrier. The target storage site is located on the carrier carried by the automatic carrying device.

[0225] The automated transport device transports the carrier to the carrier parking area based on the received transport instruction; or transports the carrier away from the carrier parking area.

[0226] When the pick-and-place instruction is an instruction to pick up the container, the automated transport device transports the carrier to the carrier parking area in the work station area, so that the position of the carrier corresponds to the position of the container handling device, and then the container handling device can pick up the container at the target storage position of the carrier.

[0227] When the pick-and-place instruction is an instruction to place the container, the carrier places the container on the carrier in the carrier parking area, and then the automated transport device transports the carrier in the carrier parking area away, so as to empty the carrier parking area.

[0228] The container handling device controls at least two handling units to perform pick-and-place operations on the containers between the operation station and the same carrier in parallel based on the received pick-and-place instruction.

[0229] The container handling device can transfer containers between the operation station and the carrier. When the pick-and-place instruction is an instruction to pick up the container, the container handling device controls at least two handling units to transfer the container on the carrier to the operation station; when the pick-and-place instruction is an instruction to place the container, the container handling device controls the handling unit to transfer the container on the operation station to the carrier.

[0230] In the method for picking and placing containers of the embodiment, the preliminary sorting and transportation of the containers are realized by the control server, the automated transport device and the warehouse system, which effectively improves the efficiency of the sorting work and reduces the labor.

[0231] Embodiment Seven

[0232] The embodiment provides a sorting system, which comprises a work station area, a carrier parking area and the container handling device disclosed in Embodiment Three, and the specific structure and principle of the container handling device will not be described herein again. Figure 13 As described above, the container handling device comprises a work station area, a carrier parking area and the container handling device disclosed in Embodiment Three, and the specific structure and principle of the container handling device will not be described herein again.

[0233] The carrier parking area is configured to park the carrier, the container handling device is configured to transfer the container between the work station area and the carrier, and the work station area is provided with an operation station at which the goods in the container can be sorted.

[0234] In one embodiment of the present disclosure, the work station area can further comprise a conveying line, and the conveying line can transport the container. The conveying line is used to receive the container transferred from the container picking-and-placing assembly, and the worker at the operation station can sort the container on the conveying line; or the conveying line is used to transport the container on the conveying line to the container picking-and-placing assembly, and the container transported to the container picking-and-placing assembly is the container after sorting.

[0235] The container loading and unloading device can load the containers at the target positions on the carrier according to the order, and then transport the target containers to the conveying line in the workstation area, and the workers at the operation stations can pick the goods in the containers on the conveying line according to the order; after the picking is completed, the containers are transported to the container loading and unloading device through the conveying line, and the unloading device can put the containers back to the carrier. The picking system realizes the preliminary picking and transportation of the containers through the container loading and unloading device, can realize the transfer of the containers between the carrier and the workstation area, effectively improves the efficiency of the picking work, and reduces the labor.

[0236] Embodiment eight

[0237] The embodiment discloses a container taking method implemented by the picking system disclosed in embodiment three, which comprises the following steps: Figure 14 The container taking method comprises the following steps:

[0238] In step S1000, the container loading and unloading device drives the container taking and feeding assembly to move to the target position.

[0239] The business system issues a container taking instruction to the container loading and unloading device, and after receiving the business instruction, the container loading and unloading device drives the container taking and feeding assembly to move to the target position according to the container position information contained in the business instruction. The container position information can be pre-stored in the business system or the control system of the container loading and unloading device in the form of coordinates, and the container loading and unloading device can make corresponding operations according to the position information.

[0240] In combination with the structure of the container loading and unloading device in the present disclosure, the container loading and unloading device comprises an X-axis track 71 arranged in the horizontal direction and a Y-axis track 72 arranged in the vertical direction. After receiving the business instruction, the container loading and unloading device drives the container taking and feeding assembly to move to the target position through the movement in the X-axis direction and the Y-axis direction, so as to correspond to the target container position contained in the business instruction.

[0241] In an embodiment of the present disclosure, step S1000 comprises:

[0242] In step S1100, the container loading and unloading device drives the container taking and feeding assembly to move to the target position according to the pre-stored coordinates in the system.

[0243] Each container position on the carrier can be pre-stored in the system in the form of coordinates (x.y). After receiving the corresponding instruction, the unloading device can control the X-axis track 71 and the Y-axis track 72 to move a corresponding distance according to the coordinate information of the target position contained in the instruction, so as to drive the container taking and feeding assembly to the corresponding coordinate position and reach the target position.

[0244] In step S1200, the position information of the identified position on the carrier is obtained through the positioning system, and the container loading and unloading device adjusts the position of the container taking and feeding assembly based on the obtained position deviation.

[0245] The corresponding position of each container position on the carrier is provided with an identifier. When the container taking and placing assembly moves to the target position of the carrier, the positioning system can identify the identifier of the target position of the carrier, obtain the position deviation between the target position and the container taking and placing assembly, and the container loading and unloading device can adjust the position of the container taking and placing assembly along the directions of the X axis and the Y axis based on the obtained position deviation, thereby improving the accuracy of the position of the container taking and placing assembly.

[0246] In one embodiment of the present disclosure, the container loading and unloading device drives the container taking and placing assembly to move so that the bearing surface of the bearing assembly thereof is lower than the bearing surface of the container position on the carrier for bearing the container, thereby facilitating the container taking and placing assembly to drag the container on the carrier to the bearing assembly.

[0247] In step S2000, the movement assembly 4 is controlled by the driving assembly 5 to move in the first movement track, and the container taking and placing assembly 3 is driven to load the container at the target position of the carrier onto the bearing assembly 2.

[0248] The driving assembly drives the container taking and placing assembly 3 to move along the first movement track through the movement assembly, so that the container taking and placing assembly extends in the extension direction of the bearing assembly 2 in the accommodating space of the bearing assembly 2, and the container taking and placing assembly is ready to adsorb the container in front. The movement assembly reversely moves to drive the container taking and placing assembly to transport the container to the bearing assembly 2.

[0249] In one specific embodiment of the present disclosure, step S2000 comprises:

[0250] In step S210, the movement assembly is controlled by the driving assembly to move in the first movement track to the first position, and the container taking and placing assembly is driven to extend and load the container at the target position of the carrier.

[0251] When the container taking and placing assembly is located at the first position, the container taking and placing assembly can be positioned with the container at the target position of the carrier to load the container. When the container taking and placing assembly 3 moves to the first position, the container taking and placing assembly 2 extends out of the first opening end of the bearing assembly 2, extends to the container at the target position of the carrier, and cooperates with the end surface of the container to load the container. For example, when the container taking and placing assembly 3 adopts a suction disc mechanism, the suction disc mechanism cooperates with the end surface of the container at the position to adsorb the container.

[0252] In step S220, the movement assembly is controlled by the driving assembly to move in the first movement track to the second position, and the container taking and placing assembly moves the loaded container to the direction of the accommodating space of the bearing assembly.

[0253] When the container taking and placing assembly is located at the second position, the container taking and placing assembly places the container on the bearing assembly. For example, when the container taking and placing assembly is a suction disc mechanism, the vacuum source of the suction disc mechanism is cut off at the second position, and the container is supported on the bearing assembly.

[0254] The second position can be set at the position where the first movement track and the second movement track meet, or at the position adjacent to the position where the first movement track meets the second movement track. When the container is moved from the first position to the second position by the taking and placing assembly, the container is moved towards the direction of the containing space of the carrying assembly, so that the container is completely or partially located on the carrying assembly.

[0255] In step S2300, when the detection device detects that the container reaches the second position, the taking and placing assembly releases the container, and the container is supported on the carrying assembly.

[0256] When the container moves to the second position, the container can be detected by the detection device, and the taking and placing assembly can unload the container onto the carrying assembly. In the embodiment where the carrying assembly comprises a conveying belt, the conveying belt can completely move the container into the containing space of the carrying assembly during operation.

[0257] In the embodiment where the taking and placing assembly comprises a suction disc mechanism, when the container moves to the second position, the detection device sends a detection signal that the container is in place, so that the vacuum source of the suction disc mechanism is cut off, and the suction disc mechanism loads the container on the conveying belt.

[0258] In step S3000, the movement assembly 4 is controlled by the driving assembly to move in the second movement track, so as to drive the taking and placing assembly to avoid the containing space of the carrying assembly.

[0259] The sliding mechanism of the movement assembly 4 drives the taking and placing assembly 3 to move downwards to the second movement track, and drives the taking and placing assembly 3 to move below the carrying surface of the carrying assembly 2, so as to avoid the containing space of the carrying assembly. At this time, the carrying assembly 2 can transport the container into the containing space.

[0260] In one embodiment, in step S3000, the movement assembly is controlled by the driving assembly to move in the second movement track to a third position, and the taking and placing assembly moves below the carrying assembly to avoid the containing space of the carrying assembly.

[0261] The third position is located on the second movement track, and the taking and placing assembly moves below the carrying assembly to avoid the containing space, so that the container can not interfere with the taking and placing assembly when the container moves along the carrying assembly 2 to the containing space or passes through the containing space, which saves the space of the taking and placing assembly and makes the structure more compact.

[0262] In step S4000, the container on the carrying assembly 2 is driven to move to the working station area.

[0263] After the container is moved onto the bearing assembly 2, the X-axis rail 71 and the Y-axis rail 72 of the container handling device drive the container taking and placing assembly to move from the target position to a position corresponding to the corresponding position of the work station area, for example, corresponding to the conveying line of the work station. The conveying belt continues to convey, thereby transferring the container to the conveying line of the work station, so that the container can be picked at the operation station of the work station area. The container handling device realizes the automatic transfer of the container, saves the labor cost, and improves the work efficiency.

[0264] Embodiment Nine

[0265] The embodiment discloses a container feeding method implemented by the picking system disclosed in Embodiment Three, as described above, comprising the following steps: Figure 15

[0266] Step S1000, conveying the container in the work station area to the bearing assembly of the container taking and placing assembly.

[0267] The container in the work station area needs to be fed back to the carrier. When the container is conveyed to the bearing assembly of the container taking and placing assembly, the taking and placing assembly is located in the second movement track, that is, the taking and placing assembly is located outside the accommodation space of the bearing assembly. At this time, the container in the work station area can be conveyed to the bearing assembly of the container taking and placing assembly.

[0268] For example, the container can be conveyed on the conveying line of the work station area and enter the accommodation space of the bearing assembly through the second opening end of the container taking and placing assembly, and finally be supported on the bearing assembly.

[0269] Step S2000, the container handling device drives the container taking and placing assembly to move to the target position.

[0270] The container handling device can drive the container taking and placing assembly to move to the target position through the X-axis rail 71 and the Y-axis rail 72. The method of this step is consistent with the above-mentioned movement mode, and will not be described in detail here.

[0271] In an embodiment of the present disclosure, the container handling device drives the container taking and placing assembly to move to a position where the bearing surface of the bearing assembly is higher than the bearing surface for bearing the container on the container position of the carrier, so as to facilitate the taking and placing assembly to push the container on the bearing assembly to the container position of the carrier for storage.

[0272] Step S3000, after driving the container on the bearing assembly to move to the preset position, the movement assembly is controlled by the driving assembly to move along the second movement track to the first movement track, thereby driving the container taking and placing assembly to enter the accommodation space of the bearing assembly.

[0273] ​After reaching the target position, the easily movable component on the carrying assembly can be driven to move to a preset position, which can be the second position described above. Of course, for those skilled in the art, this step can also be performed before the container carrying assembly moves, which is not limited herein.

[0274] In the embodiment in which the carrying assembly is a conveying belt, the containers can be conveyed by the conveying belt. When the containers move to the second position described above, the movement assembly is controlled to move along the second movement track to the first movement track, so as to drive the taking and placing assembly into the accommodation space of the carrying assembly.

[0275] In step S4000, the movement assembly is controlled by the driving assembly to move in the first movement track, so that the taking and placing assembly pushes the containers on the carrying assembly to the target position of the carrier for storage.

[0276] Under the driving force of the driving assembly, the taking and placing assembly can push the containers in the second position of the carrying assembly along the first movement track, so as to push the containers towards the first opening end, and push the containers through the first opening end to the target position of the carrier for storage, thereby completing the feeding step of the containers on the carrier.

[0277] The container loading and unloading device can complete both the taking and placing of containers in the picking system, thereby improving the utilization rate and work efficiency of the equipment, reducing the labor, effectively reducing the production cost, and having outstanding advantages.

[0278] The above has described the embodiments of the present disclosure, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles, practical application, or technical improvement in the market of the embodiments, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A container handling device, characterized in that, The container handling device comprises at least two loading and unloading units arranged in a horizontal X-axis direction, each of the loading and unloading units comprising: a support assembly extending in a vertical Y-axis direction; at least one container taking and placing assembly controlled by a driving assembly to move along the support assembly in the Y-axis direction; the container taking and placing assembly comprises a taking and placing assembly and a carrying assembly configured to carry containers; the carrying assembly is provided with a receiving space for receiving containers; the taking and placing assembly is configured to take containers from a first target position and load the containers onto the carrying assembly, or unload the containers from the carrying assembly and place the containers at a second target position; the taking and placing assembly is configured to move in a Z-axis direction to take containers from a carrier and load the containers onto the carrying assembly, or unload the containers from the carrying assembly and place the containers on the carrier; the carrier is provided with at least two rows and at least two columns of container storage units in a plane of the X-axis and the Y-axis, each container storage unit comprises at least one storage site in the Z-axis direction, and each storage site can accommodate at least one container; the container taking and placing assembly further comprises a moving assembly configured to drive the taking and placing assembly to move in a first movement track and a second movement track; in the first movement track, the moving assembly is configured to drive the taking and placing assembly to move in the receiving space of the carrying assembly to load or unload containers; in the second movement track, the moving assembly is configured to drive the taking and placing assembly to move out of the receiving space of the carrying assembly to allow containers to enter the receiving space and be carried on the carrying assembly; the moving assembly comprises a guide mechanism and a sliding mechanism; the guide mechanism comprises a first guide part and a second guide part connected together; the sliding mechanism is configured to move along the first guide part and the second guide part; the first guide part and the second guide part define the first movement track and the second movement track of the sliding mechanism, respectively; the sliding mechanism comprises a fixed part and a sliding part; the fixed part and the sliding part are in sliding cooperation, so that the sliding part can slide relative to the fixed part under the action of an external force; the taking and placing assembly comprises a suction disc mechanism and a fixed seat; the fixed seat is connected to the sliding part of the sliding mechanism; the suction disc mechanism is connected to the fixed seat and is configured to cooperate with an end face of a container to load the container; the container taking and placing assembly further comprises a detection device; when a container reaches the second position is detected, the detection device sends a detection signal that the container is in position; the suction disc mechanism releases the container and places the container on the carrying assembly; the container loading and unloading device further comprises a second sensor for determining a pose deviation between the container taking and placing assembly and a container on the carrier; the container loading and unloading device is further configured to adjust the pose of the container loading and unloading device according to the pose deviation between the container loading and unloading device and the corresponding container determined by the second sensor, so as to eliminate the pose deviation; at least two of the loading and unloading units are configured to load and unload containers on the same carrier.

2. The container handling device according to claim 1, characterized in that The number of the loading and unloading units corresponds to the number of columns of the container storage units on the same carrier, and different loading and unloading units correspond to different columns of the same carrier.

3. The container handling device according to claim 1, characterized in that The loading and unloading units are configured to move along the X-axis direction, and the same loading and unloading unit corresponds to different columns of the same carrier.

4. The container handling device according to claim 1, characterized in that: The support assembly comprises a column, and a sliding track is arranged on the column, and the container taking and placing assembly is slidably connected with the column through the sliding track.

5. The container handling device according to claim 1, characterized in that Each of the loading and unloading units is independently controlled.

6. The container handling device according to claim 1, characterized in that The support assembly further comprises a portal assembly, one end of the support assembly is connected to the top of the portal assembly, and the other end is connected to the bottom of the portal assembly or is connected to other support surfaces.

7. The container handling device according to any of claims 1 to 6, wherein The container taking and placing assembly takes and places the containers by at least one of suction, pushing, clamping, grabbing, hooking, lifting and lifting.

8. The container handling device according to claim 1, wherein The first guide part is configured to extend linearly in the horizontal direction, and the second guide part is located in a different direction from the first guide part. The sliding mechanism is configured to move along the first guide part, and the taking and placing assembly moves in the linear direction in the accommodation space of the bearing assembly. The sliding mechanism is configured to move along the first guide part to the second guide part, and the taking and placing assembly moves away from the accommodation space of the bearing assembly.

9. The container handling device according to claim 1, characterized in that The second guide part is configured to be located below the first guide part, and the taking and placing assembly is configured to move below the bearing assembly after moving along the second guide part to the position, so as to avoid the accommodation space of the bearing assembly.

10. The container handling device according to claim 9, wherein The first guide part and the second guide part are located in the same plane. The fixed part is controlled by the driving assembly to move linearly in a direction parallel to the plane in which the first guide part and the second guide part are located. The sliding part is guided and fitted in the first guide part and the second guide part. The taking and placing assembly is arranged on the sliding part.

11. The container handling device according to claim 1, characterized in that The container taking and placing assembly comprises a first open end and a second open end, and the bearing assembly is a conveying belt configured to drive the containers to move to the first open end or the second open end of the container taking and placing assembly.

12. The container handling device according to claim 1, wherein The limiting mechanism is configured to limit the two sides of the containers on the bearing assembly.

13. The container handling device according to claim 12, wherein The limiting mechanism comprises first limiting parts and second limiting parts arranged at intervals, and the first limiting parts and the second limiting parts are configured to move towards or away from each other relative to the bearing assembly along the X-axis direction to adjust the distance between the first limiting parts and the second limiting parts.

14. The container handling device according to claim 13, wherein The first limiting parts and the second limiting parts are slidably connected to a first base, and a transmission mechanism is arranged to drive the first limiting parts and the second limiting parts to move along the X-axis direction on the first base.

15. The container handling device according to claim 14, wherein The transmission mechanism comprises a transmission belt controlled by a pulley and extending along the X-axis direction, and the first limiting parts and the second limiting parts are respectively connected to two sides of the transmission belt at intervals.

16. The container handling device according to any one of claims 12 to 15, wherein, The limiting mechanism is arranged above the bearing assembly and is configured to limit the upper region of the containers.

17. The container handling device according to claim 1, wherein The rotating mechanism is configured to drive the taking and placing assembly and the bearing assembly to rotate around the Y-axis.

18. The container handling device according to claim 17, wherein The rotating mechanism comprises a second base and a slewing support connected to the second base, and the carrying assembly and the taking and placing assembly are connected to the slewing support.

19. The container handling device of claim 1, wherein, The first sensor is configured to determine whether the storage position of the carrier is empty or not when the container is taken from the carrier or when the container is placed in the storage position of the carrier.

20. The container handling device according to claim 19, wherein The first sensor and the second sensor are the same sensor.

21. The container handling device according to claim 19, wherein The first sensor and the second sensor are visual sensors, depth information sensors or 3D sensors.

22. A warehousing system characterized by, The system comprises: a workstation area, wherein an operation station, a carrier parking area and the container loading and unloading device according to any one of claims 1 to 21 are arranged; the carrier parking area is configured to park carriers; the container loading and unloading device is arranged between the operation station and the carrier parking area and is configured to transfer containers between the operation station and the carriers parked in the carrier parking area.

23. The warehousing system of claim 22, wherein, The carrier parking area is provided with at least two parking stations for parking carriers.

24. The warehousing system of claim 23, wherein, The container loading and unloading device is provided with at least two, each corresponding to a carrier parked in a different parking station.

25. The warehousing system of claim 22, wherein, The workstation area further comprises a conveying line, the conveying line comprises a conveying line inlet and a conveying line outlet, and the operation station is arranged on the conveying path of the conveying line; the conveying line inlet and the conveying line outlet are respectively provided with the container loading and unloading device; The container loading and unloading device at the conveying line inlet is used to take containers from the carriers parked in the carrier parking area and place the containers on the conveying line; The container loading and unloading device at the conveying line outlet is used to take containers from the conveying line and place the containers on the carriers parked in the carrier parking area.

26. A method of picking and placing a container, the method comprising: The control server is configured to send a taking and placing instruction to the container loading and unloading device; The container loading and unloading device controls at least two loading and unloading units to take and place containers on the same carrier in parallel based on the received taking and placing instruction. The control server is configured to send a carrying instruction to the automated handling equipment and a taking and placing instruction to the warehouse system according to a task order; 27. A method of picking and placing a container, the method comprising: The automated handling equipment carries the carriers to the carrier parking area or carries the carriers away from the carrier parking area based on the received carrying instruction; The container loading and unloading device controls at least two loading and unloading units to take and place containers between the operation station and the same carrier in parallel based on the received taking and placing instruction. ​ ​

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