A container handling system and a method of container picking

Abstract

The present disclosure relates to a container handling system and a container handling method. The container handling system comprises a container handling device and a control unit. The container handling device comprises a carrier assembly comprising a transfer mechanism having a first side and a second side opposite to each other; a container handling assembly having an engaged state and a disengaged state. In the engaged state, the container handling assembly transfers a container located on the first side onto the transfer mechanism. In the disengaged state, the container handling assembly is disengaged from the container. The control unit is configured to control the container handling assembly to switch from the engaged state to the disengaged state when the container reaches a first preset position during the process of transferring the container located on the first side onto the transfer mechanism. The container is configured to receive a frictional driving force from the transfer mechanism that is greater than a motion resistance when the container is at the first preset position. The container handling system and the container handling method provided by the present disclosure can reduce the failure rate of container handling.

Description

Technical Field

[0001] This disclosure relates to the field of logistics, and in particular to a container handling system and a container handling method. Background Technology

[0002] In a goods-to-person warehousing and logistics system, when there is a need for container entry or exit, the container to be entered can be sent to the operating table, and then transferred to the carrier by the container loading and unloading device to complete the container entry. When there is a need for container exit, the container loading and unloading device removes the container from the carrier and transfers it to the operating table to complete the container exit. However, the container retrieval and delivery process has a relatively high failure rate. Summary of the Invention

[0003] In order to solve the problems existing in the prior art, this disclosure provides a container handling system and a container picking and placing method, which can reduce the failure rate of container picking and delivery.

[0004] According to a first aspect of this disclosure, a container handling system is provided, including a container loading / unloading device and a control unit, wherein the container loading / unloading device includes:

[0005] A carrier assembly, the carrier assembly including a conveying mechanism having opposing first and second sides, and the conveying mechanism being configured to transfer a container at least from the first side to the second side; and

[0006] A container pick-and-place assembly is configured to have an engaged state and a disengaged state; in the engaged state, the container pick-and-place assembly is configured to transfer a container located on a first side onto a conveyor mechanism; in the disengaged state, the container pick-and-place assembly is configured to disengage from the container; wherein,

[0007] The control unit is specifically configured to: control the container pick-and-place assembly to switch from the engaged state to the disengaged state when the container reaches a first preset position during the process of transferring the container located on the first side to the conveying mechanism; wherein the container is configured such that when it is in the first preset position, the frictional driving force from the conveying mechanism is greater than the motion resistance it receives.

[0008] In one embodiment of this disclosure, along the container conveying direction of the conveying mechanism, the distance between the first preset position and the first side is 1 / 10 to 4 / 5 of the total length of the container.

[0009] In one embodiment of this disclosure, when the container loading and unloading device is used to transfer multiple types of containers with different container information, the first preset position is configured such that when any type of container is in the first preset position, the frictional driving force from the conveying mechanism is greater than the motion resistance it receives; wherein, the container information includes at least one of the following: total container weight, container size, container shape, container material, and container center of gravity position.

[0010] In one embodiment of this disclosure, the container handling system further includes: a detection component configured to be arranged on the movement path of the container, for generating a detection signal characterizing the current position information of the container; wherein the control unit is communicatively connected to the detection component, and the control unit is configured to send control commands to control the working state of the container pick-and-place component and / or the carrier component based on the detection signal.

[0011] In one embodiment of this disclosure, the detection component includes a first sensor located on the conveying mechanism near the first side, and the first sensor is configured to generate a detection signal characterizing position information and / or speed information of the container as it enters or exits the conveying mechanism from the first side.

[0012] In one embodiment of this disclosure, the detection component includes a second sensor located along the container conveying direction of the conveying mechanism, the second sensor being positioned at the midpoint of the conveying mechanism, and the second sensor being configured to generate a detection signal characterizing whether a container is currently loaded on the conveying mechanism.

[0013] In one embodiment of this disclosure, the control unit is further configured to: control the conveying mechanism to convey the container in a first conveying direction during the process of the container being transferred from the first side to the second side, and the conveying rate is a first conveying rate before the container reaches a first preset position; after the container reaches the first preset position, the conveying rate is a second conveying rate, wherein the first conveying rate is less than the second conveying rate.

[0014] In one embodiment of this disclosure, the control unit is further configured to: control the conveying mechanism to convey the container in a second conveying direction opposite to the first conveying direction during the process of the container being transferred from the second side to the first side, and the conveying rate is a third conveying rate, wherein the first conveying speed is less than the third conveying rate.

[0015] In one embodiment of this disclosure, the container pick-and-place assembly is further configured to transfer a container located on the conveying mechanism to the first side in the engaged state;

[0016] The control unit is further configured to: control the container pick-and-place assembly to switch from a disengaged state to a engaged state when the container reaches a second preset position during the process of transferring the container located on the conveying mechanism to the first side.

[0017] In one embodiment of this disclosure, along the container conveying direction of the conveying mechanism, the distance between the second preset position and the first side is 1 / 10 to 4 / 5 of the total length of the container.

[0018] In one embodiment of this disclosure, when the container loading and unloading device is used to transfer multiple types of containers with different container information, the second preset position is configured such that when any type of container is in the second preset position, the frictional driving force from the conveying mechanism is less than the motion resistance it experiences; wherein, the container information includes at least one of the following: total container weight, container size, container shape, container material, and container center of gravity position.

[0019] In one embodiment of this disclosure, the container handling system further includes: an acquisition component configured to acquire container information of the container, the container information including at least one of the following: total container weight, container size, container shape, and container center of gravity position; wherein the control unit is further configured to determine, based on the container information, a first preset position, a second preset position, and / or the engagement position of the container pick-and-place component with the container.

[0020] In one embodiment of this disclosure, along the container conveying direction of the conveying mechanism, the engagement position of the container pick-and-place assembly with the container is located on a side wall of the container corresponding to the container pick-and-place assembly; when the container pick-and-place assembly is configured to be in the engagement state, the engagement position of the container pick-and-place assembly with the container side wall is located within a preset area of ​​the side wall, and the orthographic projection of the center of gravity of the container onto the side wall is located within the preset area.

[0021] In one embodiment of this disclosure, there is a gap between the four boundaries of the preset region and the four edges of the sidewall, and the preset region is configured to satisfy the following conditions:

[0022] h1 / H ≥ 1 / 5;

[0023] h2 / H ≥ 1 / 10;

[0024] w1 / W≥1 / 10;

[0025] w2 / W ≥ 1 / 10;

[0026] in,

[0027] h1 is the distance between the top boundary of the preset area and the top edge of the sidewall in the Y-axis direction;

[0028] h2 is the distance between the bottom boundary of the preset area and the bottom edge of the sidewall in the Y-axis direction;

[0029] H is the height of the sidewall in the Y-axis direction;

[0030] W is the width of the sidewall in the X-axis direction;

[0031] w1 and w2 are the distances from the two sides of the preset area in the X-axis direction to the two sides of the corresponding sidewall; wherein the carrying component conveys the container along the Z-axis direction, and the X-axis, Y-axis and Z-axis are perpendicular to each other.

[0032] According to a second aspect of this disclosure, embodiments of this disclosure provide a container handling method, implemented by a container handling system of embodiments of this disclosure; the method includes the following steps:

[0033] During the process of the conveying mechanism conveying the container from the first side to the second side, the container picking and placing assembly is controlled by the control unit to be in an engaged state before reaching the first preset position. When the container reaches the first preset position, the container picking and placing assembly switches from the engaged state to the disengaged state so as to take the container out from the first side and place it on the conveying mechanism.

[0034] In one embodiment of this disclosure, the method further includes the following steps:

[0035] During the process of the conveying mechanism conveying the container from the second side to the first side, the container picking and placing assembly is controlled by the control unit to be in a disengaged state before reaching the second preset position. When the container reaches the second preset position, the container picking and placing assembly switches from the disengaged state to the engaged state to push the container from the conveying mechanism to the first side.

[0036] In one embodiment of this disclosure, during the process of transferring the container from the first side to the second side, the conveying mechanism is controlled to convey the container in a first conveying direction, and before the container reaches the first preset position, the conveying rate is a first conveying rate; after the container reaches the first preset position, the conveying rate is a second conveying rate, and the first conveying rate is less than the second conveying rate.

[0037] In one embodiment of this disclosure, during the process of transferring the container from the second side to the first side, the conveying mechanism is controlled to convey the container in a second conveying direction opposite to the first conveying direction, and the conveying rate is a third conveying rate, wherein the first conveying speed is less than the third conveying rate.

[0038] One beneficial effect of this disclosure is that, during the process of the conveying mechanism transferring the container from the first side to the second side, the container pick-and-place assembly is controlled by the control unit. Before the container reaches the first preset position, it is in a mating state to remove the container from the first side. When the container reaches the first preset position, the container pick-and-place assembly switches from the mating state to the disengaged state. Because the container is configured to be in the first preset position, the frictional driving force from the conveying mechanism is greater than the resistance to movement. Thus, during the process of the conveying mechanism transferring the container from the first side to the second side, when the container reaches the first preset position, the container pick-and-place assembly separates from the container to clear space for the container to pass through. Since the frictional driving force from the conveying mechanism is greater than the resistance to movement at this time, after the container disengages from the container pick-and-place assembly, it can be smoothly loaded onto the conveying mechanism under the frictional driving force of the conveying mechanism and transferred to the second side. This avoids the phenomenon that the container cannot be transferred by the conveying mechanism due to excessive resistance to movement, thereby solving the problem in related technologies where the container pick-and-place assembly fails to pick up or place the container due to the short mating time.

[0039] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0040] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments of the present disclosure and, together with their description, serve to explain the principles of the present disclosure.

[0041] Figure 1 This is a schematic diagram of a container handling system provided in one embodiment of the present disclosure;

[0042] Figure 2 This is a schematic diagram of the structure of a container handling system provided in an embodiment of this disclosure;

[0043] Figure 3 This is a schematic diagram of the assembly structure of the container handling device and the carrier component in a container handling system provided in an embodiment of the present disclosure;

[0044] Figure 4 This is a three-dimensional structural diagram of the container handling device's container loading and unloading assembly in a container handling system according to an embodiment of this disclosure, taken from one perspective.

[0045] Figure 5 This is a three-dimensional structural diagram of the container handling device's container loading and unloading assembly in a container handling system provided in an embodiment of this disclosure, from another perspective.

[0046] Figure 6This is a front view of the structure of the container handling device in a container handling system provided in an embodiment of the present disclosure when the container picking and placing components are in a mating state;

[0047] Figure 7 This is a front view of the structure of the container handling device in a container handling system provided in an embodiment of the present disclosure when the container picking and placing assembly is in a disengaged state;

[0048] Figure 8 This is a three-dimensional structural diagram of the container handling device's container loading and unloading assembly in a container handling system provided in another embodiment of this disclosure, viewed from one perspective.

[0049] Figure 9 This is a three-dimensional structural diagram of the container handling device's container loading and unloading assembly in a container handling system provided in an embodiment of this disclosure, from another perspective.

[0050] Figure 10 This is a front view of the container handling device's container loading and unloading assembly in a container handling system provided in another embodiment of this disclosure;

[0051] Figure 11 This is a right view of the container handling device's container loading and unloading assembly in a container handling system provided in another embodiment of this disclosure;

[0052] Figure 12 This is a left view of the container handling device's container loading and unloading assembly in a container handling system provided in another embodiment of this disclosure;

[0053] Figure 13 This is a top view of the container handling device's container loading and unloading assembly in a container handling system provided in another embodiment of this disclosure;

[0054] Figure 14 This is a schematic diagram showing the distribution of a preset area on the side wall of a container provided in an embodiment of this disclosure.

[0055] Figures 1 to 14 The one-to-one correspondence between the component names and the reference numerals in the figures is as follows:

[0056] 10. Container loading and unloading device; 30. Vehicle docking area; 31. Vehicle; 40. Workstation; 101. Bearing assembly; 102. Container loading and unloading assembly; 103. Frame; 1031. X-axis track; 1032. Y-axis track; 104. Detection assembly; 1011. Conveying mechanism; 101A. First side; 101B. Second side; 1012. Accommodation space; 1041. First sensor; 20a. Side wall; 1021. Actuator; 1022. Motion mechanism Structure; 10221, guide unit; 1022a, first guide part; 1022b, second guide part; 10222, sliding unit; 1023, support frame; 1024, first moving mechanism; 10241, first drive motor; 10242, first support member; 10243, first transmission member; 1025, second moving mechanism; 10251, second drive motor; 10252, second support member; 10253, second transmission member; M, preset area. Detailed Implementation

[0057] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0058] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0059] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0060] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0061] The specific embodiments of this disclosure are described below with reference to the accompanying drawings.

[0062] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0063] In this article, "first," "second," etc., are used only to distinguish one another, and not to indicate degree of importance, order, or prerequisite for each other.

[0064] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0065] This disclosure provides a container handling system, which may include a container loading / unloading device and a control unit. The container loading / unloading device includes a carrying component and a container picking / placing component. The carrying component includes a conveying mechanism having a first side and a second side opposite to each other, and the conveying mechanism is configured to transfer a container at least from the first side to the second side. The container picking / placing component is configured to have an engaged state and a disengaged state. In the engaged state, the container picking / placing component is configured to engage with a container to transfer a container located on the first side to the conveying mechanism, or to push a container on the conveying mechanism to the first side. In the disengaged state, the container picking / placing component is configured to detach from the container and to avoid a receiving space. The control unit is specifically configured to: during the process of transferring a container located on the first side to the conveying mechanism, before the container reaches a first preset position, control the container picking / placing component to be in the engaged state; when the container reaches the first preset position, control the container picking / placing component to switch from the engaged state to the disengaged state; wherein when the container is configured to be in the first preset position, the frictional driving force from the conveying mechanism is greater than the motion resistance.

[0066] In the above solution, during the process of the conveying mechanism transferring the container from the first side to the second side, the container pick-and-place assembly is controlled by the control unit. It is in a mating state before the container reaches the first preset position to remove the container from the first side. When the container reaches the first preset position, the container pick-and-place assembly switches from the mating state to the disengaged state. Because the container is configured to be in the first preset position, the frictional driving force from the conveying mechanism is greater than the resistance to movement. Thus, during the process of the conveying mechanism transferring the container from the first side to the second side, when the container reaches the first preset position, the container pick-and-place assembly separates from the container to clear space for the container to pass through. Since the frictional driving force from the conveying mechanism is greater than the resistance to movement, after the container disengages from the container pick-and-place assembly, it can be smoothly loaded onto the conveying mechanism under the frictional driving force and transferred to the second side. This avoids the phenomenon where the container cannot be transferred by the conveying mechanism due to excessive resistance to movement, thereby solving the problem in related technologies where the container pick-and-place assembly fails to pick up or place the container due to the short mating time.

[0067] For ease of understanding, please refer to the following: Figures 1 to 7 The specific structure and working principle of the container handling system disclosed herein will be described in detail with reference to one embodiment.

[0068] like Figures 1 to 6As shown, the container handling system provided in this embodiment may include a container loading / unloading device 10 and a control unit (not shown in the figure). The container loading / unloading device 10 includes a carrying assembly 101 and a container picking / placing assembly 102. The carrying assembly 101 includes a conveying mechanism 1011, which has a first side 101A and a second side 101B opposite to each other, and the conveying mechanism 1011 is configured to transfer containers at least from the first side 101A to the second side 101B.

[0069] In some embodiments of this disclosure, the container handling system may include a carrier docking area 30 and a workstation 40, wherein the carrier docking area 30 may be located on a first side 101A of the conveying mechanism 1011, and the carrier docking area 30 is configured for docking a carrier 31, which is configured to carry containers. The workstation 40 may be located on a second side 101B of the conveying mechanism 1011, and the workstation 40 is configured to have at least one picking station. The container loading / unloading device 10 may be controlled by a control unit to remove containers from the carrier 31 in the carrier docking area 30 and load them onto the conveying mechanism 1011, or to unload containers from the conveying mechanism 1011 of the carrying assembly 101 and place them onto the carrier 31.

[0070] In this disclosure, containers mainly refer to containers used for loading goods in logistics, including but not limited to bins, pallets, and packaging boxes, etc., which are not limited herein. In addition, in one embodiment of this disclosure, the second side 101B of the conveying mechanism 1011 may also be equipped with a conveyor line or a robot performing other tasks, such as a belt robot carrying cargo boxes or other shelves.

[0071] like Figure 3 As shown, the carrier assembly 101 may have a receiving space 1012 for carrying the container. When transferring the container from the first side 101A to the second side 101B, the container can pass through the receiving space 1012.

[0072] The container pick-and-place assembly 102 is configured to have an engaged state and an unengaged state. In the engaged state, the container pick-and-place assembly 102 is configured to engage with the container using any suitable method such as snap-fit ​​engagement, suction cup adsorption, or clamp gripping. In the engaged state, the container pick-and-place assembly 102 is configured to transfer the container located on the first side 101A to the conveying mechanism 1011, or to push the container located on the conveying mechanism 1011 to the carrier 31 on the first side 101A.

[0073] The control unit is specifically configured to: during the process of transferring the container located on the first side 101A to the conveying mechanism 1011, control the container pick-and-place assembly 102 to be in a engaged state before reaching the first preset position, and switch from the engaged state to the disengaged state when the container reaches the first preset position; wherein, when the container is configured to be in the first preset position, the frictional driving force from the conveying mechanism 1011 is greater than the motion resistance.

[0074] After receiving a container retrieval instruction, the container handling system moves the container retrieval and placement assembly 102 to the first side 101A of the conveying mechanism 1011 and cooperates with the container to retrieve the container from the first side 101A and place it on the conveying mechanism 1011. After the container moves to the first preset position, the container retrieval and placement assembly 102 disengages from the container and avoids the receiving space 1012, so that the container is fully supported on the conveying mechanism 1011 and passes through the receiving space 1012. At this time, the container is conveyed by the conveying mechanism 1011 to the second side 101B, completing the process of transferring the container from the first side 101A to the second side 101B.

[0075] In the above scheme, during the process of the conveying mechanism 1011 transporting the container from the first side 101A to the second side 101B, the container pick-and-place assembly 102 is in a mating state before the container reaches the first preset position, taking the container out from the first side 101A and placing it on the conveying mechanism 1011; after the container reaches the first preset position, the container pick-and-place assembly 102 switches from the mating state to the disengaged state. Since the frictional driving force from the conveying mechanism 1011 on the container when it is in the first preset position is greater than the motion resistance it experiences, the container disengages from the container pick-and-place assembly 102. Under the frictional driving force of the conveying mechanism 1011, the container will be successfully loaded onto the conveying mechanism 1011 without encountering motion resistance and being unable to be conveyed, thereby avoiding the problem of container pick-and-place failure due to the short mating time between the container pick-and-place assembly 102 and the container.

[0076] The conveying mechanism 1011 may be configured to drive the container to move by frictional force between itself and the container in order to convey the container.

[0077] In some embodiments, the conveying mechanism 1011 may be a belt conveyor or a roller conveyor, etc.

[0078] A belt conveyor is a friction-driven machine that transports materials continuously. It mainly consists of a frame, conveyor belt, idlers, drums, tensioning devices, and transmission devices. It can transport materials along a specific conveying line from the initial feeding point to the final unloading point, forming a material transport process.

[0079] Roller conveyors mainly consist of rollers, a frame, supports, and a drive unit. They move items forward through friction between rotating rollers and the conveyed material. Powered roller conveyors are commonly used for horizontal or slightly inclined conveying lines. The drive unit transmits power to the rollers, causing them to rotate, and the materials are conveyed through friction between the roller surface and the surface of the conveyed material. They can be classified as individually driven or in groups. In the former, each roller has its own drive unit for easy disassembly. In the latter, several rollers are grouped together and driven by a single drive unit to reduce equipment costs. Group drives utilize gear drives, chain drives, and belt drives. Powered roller conveyors are generally driven by AC motors, but dual-speed motors and hydraulic motors can also be used as needed.

[0080] The container pick-and-place assembly 102 can engage with the container in various ways, including but not limited to snap-fit ​​engagement, magnetic adsorption engagement, vacuum suction cup adsorption engagement, etc. In one specific embodiment, the container pick-and-place assembly 102 includes a suction cup mechanism configured to engage with the end face of the container to pull or push the container.

[0081] When the container is fully loaded onto the conveyor mechanism 1011, the resistance to movement is less than the frictional driving force from the conveyor mechanism 1011, allowing the conveyor mechanism 1011 to smoothly transport the container. When the container is only partially loaded onto the conveyor mechanism 1011, if the length of the container loaded onto the conveyor mechanism 1011 is too short, the resistance to movement from the container's own weight will be greater than the frictional driving force from the conveyor mechanism 1011. Therefore, the container must be fully loaded or the length of the portion loaded onto the conveyor mechanism 1011 must be sufficiently large to ensure that the container moves under the frictional driving force of the conveyor mechanism 1011 after detaching from the container pick-and-place assembly 102.

[0082] In one embodiment of this disclosure, along the container conveying direction of the conveying mechanism 1011, the distance between the first preset position and the first side 101A is 1 / 10 to 4 / 5 of the total length of the container. That is, when the length of the container loaded onto the conveying mechanism 1011 is 1 / 10 to 4 / 5 of the total length of the container, the container pick-and-place assembly 102 can detach from the container. At this time, the motion resistance of the container due to its own weight is less than the frictional driving force from the conveying mechanism 1011. The first preset position may differ for containers with different information, such as different container weights, container sizes, container materials, and container center of gravity positions.

[0083] In order to ensure that the container handling system can be applied to various types of containers with different container information and can smoothly pick up and deliver different types of containers, the first preset position can be configured such that when any type of container is in the first preset position, the frictional driving force from the conveying mechanism 1011 is greater than the motion resistance. The container information includes at least one of the following: total container weight, container size, container shape, container material, and container center of gravity position.

[0084] During the process of transferring the container located on the first side 101A to the conveying mechanism 1011, when the frictional driving force of any type of container from the conveying mechanism 1011 is equal to the motion resistance, the position of the container is recorded as the first critical position. Different types of containers may correspond to different first critical positions. Among the different first critical positions, the second critical position located closest to the second side 101B is recorded as the first farthest critical position. The container is conveyed and placed along the conveying mechanism 1011, and the first preset position is located on the side of the first farthest critical position that is closer to the second side 101B.

[0085] Specifically, taking four types of containers (A, B, C, and D) with different weights applicable to this container handling system as examples, the weight or size of the four types of containers increases sequentially. The first critical positions corresponding to the four types of containers are positions a, b, c, and d, respectively. The distances from positions a, b, c, and d to the first side 101A increase sequentially. That is to say, position d is the first critical position farthest from the first side 101A. Position d is recorded as the first farthest critical position, and the first preset position is located on the side of position d that is farthest from the first side 101A. In this way, when any type of container (A, B, C, or D) reaches the first preset position, the frictional driving force from the conveying mechanism 1011 will necessarily be less than the motion resistance experienced by the container, thereby ensuring that different types of containers can be transported smoothly and avoiding container pick-up and delivery failures.

[0086] In one embodiment of this disclosure, the container handling system may further include: a detection component 104 configured to be arranged along the movement path of the container within the receiving space 1012, for generating a detection signal characterizing the current position information of the container. This position information may include, but is not limited to, at least one of the following: container position, container movement speed, etc. A control unit is communicatively connected to the detection component 104, and the control unit is configured to send control commands based on the detection signals to control the operating state of the container handling component 102 and / or the carrier component 101.

[0087] Thus, when the container is removed from the first side 101A and partially loaded onto the conveying mechanism 1011, the detection component 104 can detect positional information such as the container's position and movement speed. Based on the detection signals, the control unit can control the switching between the engaged and disengaged states of the container pick-and-place assembly 102. For example, when the container pick-and-place assembly 102 uses a suction cup mechanism to pick up the container, based on the detection signals from the detection component 104, when the container is detected to have reached a first preset position, the control unit can cut off the vacuum source of the suction cup mechanism, causing the suction cup mechanism to release the container. The detection position of the detection component 104 can determine when the container pick-and-place assembly 102 releases the container. The detection position of the detection device can be adjusted according to the design, as long as the container is ultimately loaded onto the conveying mechanism 1011.

[0088] The detection component 104 includes, but is not limited to, sensors, infrared scanning devices, cameras, etc. When a container is detected, the detection component 104 generates and sends a corresponding detection signal. In one embodiment, the detection component 104 can be a pressure sensor, which is disposed on the conveying mechanism 1011. When the container moves to the corresponding position on the conveying mechanism 1011, 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 specifically described here.

[0089] Specifically, the detection component 104 includes a first sensor 1041 located near the first side 101A of the conveying mechanism 1011, and the first sensor 1041 is configured to generate a detection signal characterizing the position information and / or speed information of the container as it enters or exits the conveying mechanism 1011 from the first side 101A.

[0090] Thus, when the container located on the first side 101A is transferred to the conveying mechanism 1011, the first sensor 1041 can detect at least one of the container's position information and movement speed information in real time, thereby detecting whether the container has reached the first preset position.

[0091] In one embodiment, the first sensor 1041 may be arranged at a position corresponding to a first preset position. The container includes multiple end faces, and the end face closest to the second side 101B is configured as a sidewall 20a. When the container moves to the first preset position, the first sensor 1041 can be triggered to generate a detection signal characterizing that the container has reached the first preset position. At this time, the control unit receives the detection signal fed back by the first sensor 1041 and sends a control command to the container pick-and-place assembly 102 to switch the container pick-and-place assembly 102 from the engaged state to the disengaged state.

[0092] It should be noted that placing the first sensor 1041 at the first preset position to detect whether the container has reached the first preset position is simple and convenient. The first sensor 1041 can be any suitable position sensor, such as a photoelectric sensor, pressure sensor, or laser sensor. In other embodiments not shown, the first sensor 1041 may not be limited to a position sensor; it can also be a speed sensor used to detect the current movement speed of the container. In this case, the first sensor 1041 can be set at the position corresponding to the first preset position, or it can be arranged at the inlet / outlet of the receiving space 1012 of the conveying mechanism 1011 near the first side 101A. The control unit can calculate the linear movement distance of the container on the conveying mechanism 1011 based on the current movement speed of the container fed back by the first sensor 1041, and thus determine whether the container has reached the first preset position.

[0093] It should be understood that in the above embodiments, sensors are used to detect the position and speed of the container to determine whether the container has reached the first preset position. In other embodiments not shown, it is also possible to determine whether the container has reached the first preset position without using sensors. For example, the control unit can directly determine the speed of the container based on parameters such as the transmission rate of the transmission unit and the container information, and then calculate the linear movement distance of the container to determine whether the container has reached the first preset position. Using sensors to detect the position or speed of the container to determine whether the container has reached the first preset position provides a more accurate detection result compared to calculating and determining the container position based on parameters such as the transmission rate of the transmission unit.

[0094] In one embodiment of this disclosure, the detection component 104 may further include a second sensor located at the midpoint of the conveying mechanism 1011 along the container conveying direction of the conveying mechanism 1011, and configured to generate a detection signal characterizing whether a container is currently loaded on the conveying mechanism 1011. Thus, by detecting whether a container is loaded on the conveying mechanism 1011, the operation or shutdown of the conveying mechanism 1011 can be controlled to improve the operational safety of the entire system.

[0095] In one embodiment of this disclosure, the control unit is further configured to: control the conveying mechanism 1011 to convey the container in a first conveying direction during the process of the container being transferred from the first side 101A to the second side 101B, and the conveying rate is a first conveying rate before the container reaches the first preset position; after the container reaches the first preset position, the conveying rate is a second conveying rate, and the first conveying rate is less than the second conveying rate.

[0096] Thus, during the process of taking the container located on the first side 101A out to the conveying mechanism 1011, before the container reaches the first preset position, in order to avoid the conveying speed of the conveying mechanism 1011 being too fast and interfering with the container and the container pick-and-place assembly 102, and in order to reduce the container slipping on the conveying mechanism 1011, the conveying speed of the conveying mechanism 1011 can be set to low speed. After the container pick-and-place assembly 102 is removed from the container, the container pick-and-place assembly 102 will avoid the receiving space 1012 of the conveying mechanism 1011, so that the conveying mechanism 1011 can be controlled to increase its speed so that the container can be moved out of the conveying mechanism 1011 to the second side 101B more smoothly.

[0097] In one embodiment of this disclosure, the container pick-and-place assembly 102 is further configured such that when the container located on the conveying mechanism 1011 can be transferred to the first side 101A in the engaged state, the control unit is further configured to: control the container pick-and-place assembly 102 to switch from the disengaged state to the engaged state when the container reaches the second preset position during the process of transferring the container located on the conveying mechanism 1011 to the first side 101A.

[0098] Thus, during the process of the conveying mechanism 1011 conveying the container from the second side 101B to the first side 101A, the container pick-and-place assembly 102 is controlled by the control unit and is in a disengaged state before the container reaches the second preset position, so as to avoid the receiving space 1012 on the conveying mechanism 1011 and transfer the container from the second side 101B to the conveying mechanism 1011.

[0099] Since the frictional driving force from the conveying mechanism 1011 is less than the motion resistance when the container is in the second preset position, it is not easy to transfer the container to the second side 101B if the conveying mechanism 1011 is used alone after the container reaches the second preset position. Therefore, the control unit controls the container pick-up and place assembly 102 to switch from the disengaged state to the engaged state after the container reaches the second preset position. This ensures that the container is smoothly pushed to the carrier 31 on the second side 101B by the frictional driving force of the conveying mechanism 1011 under the push of the container pick-up and place assembly 102, thereby further avoiding the problem of container pick-up and delivery failure.

[0100] In one embodiment of this disclosure, the control unit is further configured to: control the conveying mechanism 1011 to convey the container in a second conveying direction opposite to the first conveying direction during the process of the container being transferred from the second side 101B to the first side 101A, and the conveying rate is a third conveying rate, wherein the first conveying speed is less than the third conveying rate.

[0101] In the above scheme, when transferring the container located on the second side 101B to the first side 101A, before the container reaches the second preset position, the container pick-and-place assembly 102 is in a disengaged state to avoid the accommodating space 1012, and the container is transferred by the conveying mechanism 1011; when the container reaches the second preset position, the container pick-and-place assembly 102 switches to a cooperating state to cooperate with the conveying mechanism 1011 to push the container from the conveying mechanism 1011 to the first side 101A. During the transfer of the container from the second side 101B to the first side 101A, the conveying mechanism 1011 is configured for high-speed transport, which is more conducive to smoothly moving the container from the conveying mechanism 1011 to the carrier 31 on the first side 101A.

[0102] In one embodiment of this disclosure, along the container conveying direction of the conveying mechanism 1011, the distance between the second preset position and the first side 101A is 1 / 10 to 4 / 5 of the total length of the container. That is, when the container pick-and-place assembly 102 pushes the container from the conveying mechanism 1011 to the first side 101A, the length of the container loaded onto the conveying mechanism 1011 is 1 / 10 to 4 / 5 of the total length of the container. The second preset position may differ for containers with different container information, such as different container weights, container sizes, container materials, and container center of gravity positions.

[0103] To ensure that the container handling system can smoothly pick up and deliver various types of containers when applied to multiple types of containers with different container information, in one embodiment of this disclosure, when the container loading and unloading device 10 is used to transfer multiple types of containers with different container information, the second preset position is configured such that when any type of container is in the second preset position, the frictional driving force from the conveying mechanism 1011 is less than the motion resistance. The container information includes at least one of the following: total container weight, container size, container shape, container material, and container center of gravity position.

[0104] During the process of transferring the container located on the conveying mechanism 1011 to the first side 101A, when the frictional driving force of any type of container from the conveying mechanism 1011 is equal to the motion resistance, the position of the container is recorded as the second critical position. Different types of containers correspond to different second critical positions. Among the different second critical positions, the second critical position closest to the second side 101B is recorded as the second farthest critical position. The container is conveyed and placed along the conveying mechanism 1011, and the second preset position is located on the side of the second farthest critical position that is closer to the second side 101B.

[0105] For example, taking four types of containers, A, B, C, and D, with different weights applicable to this container handling system, as an example, the weights of the four types of containers increase sequentially. The second critical positions corresponding to the four types of containers are positions a, b, c, and d, respectively. Obviously, the distances from positions a, b, c, and d to the first side 101A increase sequentially. That is to say, position d is the second critical position farthest from the first side 101A. Position d is recorded as the second farthest critical position, and the second preset position is located on the side of position d that is farthest from the first side 101A. In this way, when any type of container (A, B, C, or D) reaches the first preset position, the frictional driving force from the conveying mechanism 1011 will necessarily be less than the motion resistance experienced by the container, thereby ensuring that different types of containers can be transported smoothly and avoiding container pick-up and delivery failures.

[0106] In one embodiment of this disclosure, the container handling system further includes an acquisition component configured to acquire container information of the container. The container information includes at least one of the following: total container weight, container dimensions, container shape, and container center of gravity position. The control unit is further configured to determine a first preset position and / or a second preset position based on the container information. Thus, when the container handling system is applicable to transporting various types of containers with different container information, it can also acquire the container information of the currently transported container in real time through the acquisition component to determine the matching first preset position and / or second preset position for different types of containers.

[0107] The acquisition component can be, but is not limited to, a weight sensor, an image acquisition device, or other acquisition parts that can collect container information in real time. Alternatively, the acquisition component can acquire container information in real time based on pick-up and drop-off instructions.

[0108] Specifically, after receiving a container retrieval instruction, the container handling system drives the container retrieval component 102 to move to the first side 101A of the conveying mechanism 1011 based on the container information contained in the instruction. The container information can be pre-stored in the control unit. Taking this container handling system as an example applicable to the transfer of different types of containers, the control unit is also configured to pre-store the correspondence between container information and a first preset position and a second preset position. When the control unit receives container information fed back by the retrieval component, it determines the first preset position and / or the second preset position based on the correspondence.

[0109] Different types of containers have different center of gravity, weight, size or shape. If the container pick-up and drop-off assembly 102 and the container are in the same position, the position may deviate significantly from the center of gravity or size of some types of containers, which may lead to container pick-up and drop-off failure.

[0110] To further reduce the container pick-up and drop-off failure rate, in one embodiment of this disclosure, the control unit is also configured to determine the engagement position between the container pick-up and drop-off assembly 102 and the container when the assembly is in an engagement state, based on container information. This engagement position refers to the position where the container pick-up and drop-off assembly 102 applies force to the container. For example, if the container pick-up and drop-off assembly 102 engages with the container using a suction cup, this configuration position is the suction cup's adsorption position.

[0111] In one embodiment of this disclosure, along the container conveying direction of the conveying mechanism 1011, the mating position of the container pick-and-place assembly and the container is located on the side wall 20a of the container corresponding to the container pick-and-place assembly. Figure 7 The diagram shown is denoted as sidewall 20a. Figure 7 As shown, when the container pick-and-place assembly 102 is configured to be in a mating state, the mating position between the container pick-and-place assembly 102 and the container is located within a preset region M of the side wall 20a. This preset region M is configured such that the orthographic projection of the container's center of gravity onto the side wall 20a lies within the preset region M. The distribution and area of ​​the preset region M can be adapted according to container information such as the container's shape, size, and weight.

[0112] In the above scheme, when the container pick-and-place assembly 102 is in the mating state, it can pull or push the end face of the container closest to the second side 101B to drive the container to move. Compared with the scheme of the container pick-and-place assembly 102 pulling or pushing other end faces of the container, it is more conducive to the stability of the container movement and the spatial layout. The mating position is located within the preset area M, and the center of gravity of the container is projected onto the side wall 20a within the preset area M. The preset area M is regarded as the sweet spot of the side wall 20a of the container. The position where the container pick-and-place assembly 102 applies force to the container can be as close as possible to the center of gravity of the container in the horizontal direction to ensure that the container pick-and-place assembly 102 can pull or push the container more smoothly.

[0113] In one embodiment of this disclosure, the preset region M is constructed as a middle region of the sidewall 20a, and the preset region M is configured to satisfy the following conditions:

[0114] h1 / H ≥ 1 / 5;

[0115] h2 / H ≥ 1 / 10;

[0116] w1 / W≥1 / 10;

[0117] w2 / W ≥ 1 / 10;

[0118] in,

[0119] h1 is the distance between the top boundary of the preset region M and the top edge of the sidewall 20a in the Y-axis direction;

[0120] h2 is the distance between the bottom boundary of the preset region M and the bottom edge of the sidewall 20a in the Y-axis direction;

[0121] H is the height of the sidewall 20a in the Y-axis direction;

[0122] W is the width of the sidewall 20a in the X-axis direction;

[0123] w1 and w2 are the distances from the two side boundaries of the preset region M in the X-axis direction to the corresponding two side boundaries of the sidewall 20a, respectively; wherein the carrying component transports the container along the Z-axis direction, and the X-axis, Y-axis, and Z-axis are perpendicular to each other, forming a three-dimensional coordinate system.

[0124] In this way, for various types of containers, the center of gravity can be roughly distributed within the aforementioned preset area M. With the position located within the aforementioned preset area M, it can be ensured that various types of containers can be picked up and placed smoothly.

[0125] In one embodiment of this disclosure, the preset area M may be the same for different types of containers. In other embodiments, for different types of containers, the control unit is further configured to control the working state of the container pick-and-place assembly 102 based on the center of gravity position of any container, so that the distance between the center of gravity position and the orthographic projection of the mating position on the side wall 20a is within a threshold value. This further ensures that the mating position between the container pick-and-place assembly 102 and the container is more biased towards the container's center of gravity. For example, if the container's center of gravity is biased towards the lower left corner relative to the side wall 20a, then the mating position between the container pick-and-place assembly 102 and the container can be adapted to be biased towards the lower left corner of the side wall 20a. The threshold value can refer to the allowable distance deviation between the center of gravity and the mating position during the process of the container being pulled or pushed by the container pick-and-place assembly 102. Preferably, the threshold value can be 0 or close to 0.

[0126] In one embodiment of this disclosure, the container handling system may further include: an acquisition component for acquiring container information of the container. The container information may include the center of gravity position of the container. The control unit is further configured to determine the mating position information between the container pick-and-place component 102 and the container based on the container information fed back by the acquisition component, and to move the container pick-and-place component 102 to the mating position corresponding to the container.

[0127] The acquisition component can be, but is not limited to, real-time acquisition devices such as weight sensors and image acquisition devices, to acquire container information in real time. The acquisition component can also acquire container information in real time based on pick-up and place-down instructions. Specifically, after receiving a container placement instruction, the container handling system drives the pick-up and place-down component 102 to move according to the container information of the current container contained in the instruction, and positions the pick-up and place-down component 102 and the container within a preset area on the side wall 20a. The container information can be pre-stored in the control unit.

[0128] In one embodiment of this disclosure, such as Figures 3 to 7 As shown, the container pick-and-place assembly 102 includes:

[0129] Actuator 1021, configured to perform a connection action for connecting a container or a release action for releasing a container; and

[0130] A motion mechanism 1022 is configured to drive the actuator 1021 to move in a first motion trajectory and a second motion trajectory; in the first motion trajectory, the motion mechanism 1022 is configured to drive the actuator 1021 to move within the receiving space 1012 of the carrying assembly 101 to load and unload containers; in the second motion trajectory, the motion mechanism 1022 is configured to drive the motion mechanism 1022 away from the receiving space 1012 of the carrying assembly 101 so that the container can enter the receiving space and be carried on the carrying assembly.

[0131] The actuator 1021 may include components such as latches, suction cups, and magnetic adsorption components that can connect to or release the container; the motion mechanism 1022 is configured to drive the actuator 1021 to move.

[0132] In some embodiments, such as Figures 3 to 7 As shown, the motion mechanism 1022 includes a guide unit 10221 and a sliding unit 10222.

[0133] like Figures 3 to 7As shown, the guiding unit 10221 includes a first guiding portion 1022a and a second guiding portion 1022b that are connected. The first guiding portion 1022a and the second guiding portion 1022b respectively define a first motion trajectory and a second motion trajectory of the motion mechanism 1022. The first guiding portion 1022a can be configured to extend linearly along the Z-axis of the parallel conveying mechanism 1011, and the second guiding portion 1022b can be configured to be in a different direction from the first guiding portion 1022a. The sliding unit 10222 cooperates with the guiding unit 10221 and can move along the first guiding portion 1022a and the second guiding portion 1022b. Since the actuator 1021 is connected to the sliding unit 10222, when the sliding unit 10222 moves along the first guiding portion 1022a and the second guiding portion 1022b, it can drive the actuator 1021 to move along the first motion trajectory and the second motion trajectory.

[0134] Since the second guide portion 1022b and the first guide portion 1022a are located in different directions, as the sliding unit 10222 moves along the first guide portion 1022a, it can drive the actuator 1021 to move linearly along the Z-axis in the receiving space 1012 of the carrier component 101, so as to load the container onto the carrier component 101 along the Z-axis direction; and after moving along the first guide portion 1022a to the second guide portion 1022b, it can drive the actuator 1021 to move gradually away from the receiving space 1012 until the actuator 1021 is outside the receiving space 1012 of the carrier component 101.

[0135] In one embodiment of this disclosure, the second guide portion 1022b is configured to be located above the first guide portion 1022a. Specifically, the first guide portion 1022a extends linearly along the Z-axis, and the second guide portion 1022b and the first guide portion 1022a are located in the same vertical plane. The second guide portion 1022b extends obliquely upward relative to the first guide portion 1022a, and an obtuse angle is formed between the two guide portions. When the sliding unit 10222 moves into position along the second guide portion 1022b, the actuator 1021 is configured to move above the support assembly 101 to leave the receiving space of the support assembly 101.

[0136] In another embodiment of this disclosure, such as Figures 3 to 7As shown, the second guide portion 1022b is configured to be located below the first guide portion 1022a. Specifically, the first guide portion 1022a extends linearly along the Z-axis, and the second guide portion 1022b and the first guide portion 1022a are located in the same vertical plane and extend downward at an angle relative to the first guide portion 1022a, forming an obtuse angle between the two guide portions. After the sliding unit 10222 moves into position along the second guide portion 1022b, the actuator 1021 is configured to move below the support assembly 101 to avoid the receiving space 1012 of the support assembly 101.

[0137] The guiding method disclosed herein can be a conventional guiding structure such as a guide plate, guide rod, or track. The first guiding part 1022a and the second guiding part 1022b can be a groove or guide hole formed on the guiding unit 10221, or two guide rods with different directions and connected at their ends. The above-described guiding mechanism is merely an example, and those skilled in the art will understand that structures with two guiding parts in different directions are all included within the protection scope of this disclosure.

[0138] Figures 8 to 13 The diagram shown is a structural schematic of a container pick-up and drop-off assembly according to another embodiment of this disclosure.

[0139] like Figures 8 to 13 As shown, in another embodiment of this disclosure, the container pick-and-place assembly 102 includes:

[0140] The actuator 1021, located above the bearing surface of the bearing assembly 101, is configured to perform a connection action for connecting the container or a release action for releasing the container.

[0141] Support frame 1023, the support frame 1023 is connected to the load-bearing component 101;

[0142] A first moving mechanism 1024 is connected to the support frame 1023 and to the actuator 1021. The first moving mechanism 1024 is configured to drive the actuator 1021 to move up and down relative to the support frame 1023 in the Y-axis direction of the bearing surface of the vertical bearing assembly 101, so that the actuator 1021 can descend to a picking position within the receiving space 1012 or rise to a clearance position that avoids the receiving space 1012.

[0143] The second moving mechanism 1025 is connected to the support frame 1023 and to the actuator 1021. The second moving mechanism 1025 is configured to drive the actuator 1021 to move relative to the support frame 1023 along the Z-axis toward or away from the first side 101A, so that the actuator 1021 can move within the receiving space 1012 to load and unload containers.

[0144] In this embodiment, as Figures 8 to 13 As shown, exemplarily, the first moving mechanism 1024 includes:

[0145] First drive motor 10241;

[0146] A first support member 10242 is arranged along the Y-axis direction and is connected to the support frame 1023. An actuator 1021 is slidably connected to the first support member 10242.

[0147] The first transmission member 10243 is connected to the actuator 1021, and the first transmission member 10243 is configured to drive the actuator 1021 to slide along the Y-axis direction on the first support member 10242 under the drive of the first drive motor 10241, so as to realize the lifting and lowering of the actuator 1021 along the Y-axis direction.

[0148] In one embodiment, the first support member 10242 can be constructed as any suitable structure such as a support plate or a support rod. The first transmission member 10243 can be constructed as a gear and rack structure, a roller guide structure, a synchronous belt structure, a lead screw structure, or any other transmission structure that can drive the actuator 1021 to slide along the first support member 10242.

[0149] In some implementations, such as Figures 8 to 13 As shown, the second moving mechanism 1025 includes:

[0150] Second drive motor 10251;

[0151] A second support member 10252 is arranged along the Z-axis direction and is connected to the support frame 1023. An actuator 1021 is slidably disposed on the second support member 10252.

[0152] The second transmission member 10253 is connected to the actuator 1021, and the second transmission member 10253 is configured to drive the actuator 1021 to slide along the Y-axis on the second support member 10252 under the drive of the second drive motor 10251, so as to realize the movement of the actuator 1021 along the Z-axis towards or away from the first side.

[0153] In one embodiment, the second support member 10252 can be constructed as any suitable structure such as a support plate or a support rod. The second transmission member 10253 can be constructed as a gear and rack structure, a roller guide structure, a synchronous belt structure, a lead screw structure, or any other transmission structure that can drive the actuator 1021 to slide along the second support member 10252.

[0154] In one embodiment, such as Figures 8 to 13As shown, the actuator 1021 can be connected to the first transmission member 10243 of the first moving mechanism 1024, and the first moving mechanism 1024 is configured to be able to move up and down along the second support member 10252, so that the first moving mechanism 1024 can carry the actuator 1021 to move along the Z-axis under the drive of the second moving mechanism 1025.

[0155] It is understood that the above is only an exemplary description of the container pick-and-place assembly 102, and the specific construction of the container pick-and-place assembly 102 is not limited thereto.

[0156] In some embodiments, such as Figure 2 As shown, the container loading and unloading device 10 may also include a frame 103, on which the container picking and placing assembly 102 and the carrying assembly 101 disclosed in Embodiment 1 are provided. The container picking and placing assembly 102 and the carrying assembly 101 are configured to move on the frame 103, and the positions of the container picking and placing assembly 102 and the carrying assembly 101 can be adjusted on the frame 103.

[0157] Specifically, such as Figure 2 As shown, the frame 103 includes mutually perpendicular X-axis rails 1031 and Y-axis rails 1032, which are arranged on a vertical plane. The container loading and unloading assembly 102 is configured to move via the X-axis rails 1031 and Y-axis rails 1032 until the actuator 1021 corresponds to a preset area M of the container, so that the actuator 1021 is in the optimal position to perform the connection action.

[0158] Specifically, the Y-axis track 1032 is configured to move along the X-axis track 1031, and the container pick-and-place assembly 102 and the carrier assembly 101 are configured to move along the Y-axis track 1032. The container pick-and-place assembly 102 is configured to move linearly along the Z-axis within the receiving space in the engaged state, and to leave the receiving space 1012 in the disengaged state.

[0159] In another embodiment of this disclosure, the container pick-and-place assembly includes at least two actuators 1021, and each actuator 1021 is configured to synchronously perform a connecting or releasing action. The container pick-and-place assembly 102 is configured to move via X-axis track 1031 and Y-axis track 1032 until the actuators 1021 correspond to a preset area M of the container, after which at least two actuators 1021 are configured to synchronously perform a connecting or releasing action. Thus, by adjusting the position of the container pick-and-place assembly 102, the actuators 1021 can be moved to the position corresponding to the preset area M of the container, while simultaneously controlling each actuator 1021 to perform a connecting action to align with the container's mating position.

[0160] In another embodiment of this disclosure, the container pick-and-place assembly 102 includes at least two actuators 1021, and at least some of the actuators 1021 are configured to independently perform connection or release actions. The container pick-and-place assembly 102 is configured to move via the X-axis track 1031 and the Y-axis track 1032 until the actuators correspond to a preset area M of the container, and then only perform a connection action with the actuator 1021 corresponding to the mating position. Thus, taking the actuator 1021 including a suction cup as an example, when there are multiple suction cups, in the mating state, only the suction cup in the optimal position can be vacuumed to adsorb the container, while suction cups in other positions do not need to be vacuumed.

[0161] This disclosure also provides a container handling method, which is implemented by the container handling system of this disclosure; the method includes the following steps:

[0162] Step S01: During the process of the conveying mechanism 1011 conveying the container from the first side 101A to the second side 101B, the container pick-up and place assembly 102 is controlled by the control unit to be in a cooperative state before reaching the first preset position. When the container reaches the first preset position, the container pick-up and place assembly 102 switches from the cooperative state to the disengaged state so as to take the container out from the first side 101A and place it on the conveying mechanism 1011.

[0163] In the above scheme, during the process of the conveying mechanism 1011 conveying the container from the first side 101A to the second side 101B, before the container reaches the first preset position, the container pick-up and place assembly 102 is in a cooperative state to pick up the container located on the first side 101A from the first side 101A and transfer it onto the conveying mechanism 1011; until the container reaches the first preset position, the container pick-up and place assembly 102 can be separated from the container. Since the frictional driving force of the container from the conveying mechanism 1011 at this time is greater than the motion resistance, after the container is separated from the container pick-up and place assembly 102, it can be smoothly conveyed to the second side 101B by the conveying mechanism 1011 under the frictional driving force of the conveying mechanism 1011, thereby avoiding the problem of container pick-up and placement failure due to the short cooperation time between the container pick-up and place assembly 102 and the container.

[0164] In one embodiment of this disclosure, the method further includes:

[0165] Step S02: During the process of the conveying mechanism 1011 conveying the container from the second side 101B to the first side 101A, the container pick-up and place assembly 102 is controlled by the control unit to be in a disengaged state before reaching the second preset position. When the container reaches the second preset position, the container pick-up and place assembly 102 switches from the disengaged state to the engaged state to push the container from the conveying mechanism 1011 to the first side 101A.

[0166] In the above scheme, during the process of the conveying mechanism 1011 conveying the container from the second side 101B to the first side 101A, the container pick-and-place assembly 102 is controlled by the control unit and is in a disengaged state before the container reaches the second preset position to avoid the receiving space 1012 on the conveying mechanism 1011, so that the container is transferred from the second side 101B to the conveying mechanism 1011. Since the frictional driving force from the conveying mechanism 1011 on the container is less than the motion resistance when the container is configured to be in the second preset position, it is not easy to transfer the container to the second side 101B if the conveying mechanism 1011 is used alone when the container reaches the second preset position. At this time, the control unit controls the container pick-and-place assembly 102 to switch from the disengaged state to the engaged state. In this way, it can be ensured that the container is smoothly pushed to the carrier 31 on the second side 101B by the frictional driving force of the conveying mechanism 1011 under the push of the container pick-and-place assembly 102, thereby further avoiding the problem of container pick-and-place failure.

[0167] In one embodiment of this disclosure, in step S01 above, during the process of the container being transferred from the first side 101A to the second side 101B, the conveying mechanism 1011 is controlled to convey the container in a first conveying direction, and before the container reaches the first preset position, the conveying rate is the first conveying rate; after the container reaches the first preset position, the conveying rate is the second conveying rate, and the first conveying rate is less than the second conveying rate.

[0168] Using the above scheme, when the container located on the first side 101A is taken out onto the conveying mechanism 1011, before the container reaches the first preset position, the container pick-and-place assembly 102 will cooperate with the container and move within the accommodating space 1012. In order to avoid the conveying speed of the conveying mechanism 1011 being too fast and interfering with the container and the container pick-and-place assembly 102, and to reduce the container slipping on the conveying mechanism 1011, the conveying speed of the conveying mechanism 1011 can be set to low speed. After the container pick-and-place assembly 102 leaves the container and avoids the accommodating space 1012 of the conveying mechanism 1011, the conveying mechanism 1011 can be controlled to increase its speed so that the container can be moved out of the conveying mechanism 1011 to the second side 101B more smoothly.

[0169] In one embodiment of this disclosure, in step S02 above, during the process of the container being transferred from the second side 101B to the first side 101A, the conveying mechanism 1011 is controlled to convey the container in a second conveying direction opposite to the first conveying direction, and the conveying rate is a third conveying rate, where the first conveying speed is less than the third conveying rate.

[0170] Using the above scheme, when transferring the container located on the second side 101B to the first side 101A, before the container reaches the second preset position, the container pick-and-place assembly 102 is in a disengaged state to avoid the accommodating space 1012, and the container is transferred by the conveying mechanism 1011. When the container reaches the second preset position, the container pick-and-place assembly 102 switches to a cooperating state to cooperate with the conveying mechanism 1011 to push the container from the conveying mechanism 1011 to the first side 101A. During the entire transfer process of the container located on the second side 101B to the first side 101A, the conveying rate of the conveying mechanism 1011 can be set to high-speed conveying, which is more conducive to smoothly moving the container from the conveying mechanism 1011 to the first side 101A.

[0171] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of this disclosure is defined by the appended claims.

Claims

1. A container handling system, characterized in that, Includes a container loading / unloading device and a control unit, wherein the container loading / unloading device includes: A carrier assembly, the carrier assembly including a conveying mechanism having opposing first and second sides, and the conveying mechanism being configured to transfer a container at least in a first conveying direction, the first conveying direction being a container conveying direction from the first side to the second side; and A container pick-and-place assembly is configured to have an engaged state and a disengaged state; in the engaged state, the container pick-and-place assembly is configured to transfer a container located on a first side onto a conveyor mechanism, and is also configured to transfer a container located on the conveyor mechanism to the first side in the engaged state; in the disengaged state, the container pick-and-place assembly is configured to disengage from the container. A component is configured to acquire container information, which includes at least one of the following: total container weight, container dimensions, container shape, and container center of gravity position; wherein, The control unit is specifically configured to: control the container picking and placing assembly to switch from the engaging state to the disengaging state when the container reaches a first preset position during the process of transferring the container located on the first side to the conveying mechanism; wherein the container is configured such that when it is in the first preset position, the frictional driving force from the conveying mechanism is greater than the motion resistance it receives. The control unit is further configured to: control the container pick-and-place assembly to switch from a disengaged state to a engaged state when the container reaches a second preset position during the process of transferring the container located on the conveying mechanism to the first side; The control unit is also configured to determine the first preset position and the second preset position based on the container information.

2. The container handling system according to claim 1, characterized in that, Along the container conveying direction of the conveying mechanism, the distance between the first preset position and the first side is 1 / 10 to 4 / 5 of the total length of the container.

3. The container handling system according to claim 1, characterized in that, When the container loading and unloading device is used to transfer multiple types of containers with different container information, the first preset position is configured such that when any type of container is in the first preset position, the frictional driving force from the conveying mechanism is greater than the motion resistance it receives; wherein, the container information includes at least one of the following: total container weight, container size, container shape, container material, and container center of gravity position.

4. The container handling system according to claim 1, characterized in that, The container handling system further includes: a detection component configured to be arranged on the movement path of the container, used to generate a detection signal characterizing the current position information of the container; wherein, the control unit is communicatively connected to the detection component, and the control unit is configured to send control commands to control the working state of the container pick-and-place component and / or the carrier component based on the detection signal.

5. The container handling system according to claim 4, characterized in that, The detection component includes a first sensor located on the conveying mechanism near the first side, and the first sensor is configured to generate a detection signal characterizing the position information and / or speed information of the container as it enters or exits the conveying mechanism from the first side.

6. The container handling system according to claim 4, characterized in that, The detection component includes a second sensor located along the container conveying direction of the conveying mechanism, the second sensor being positioned at the center of the conveying mechanism, and the second sensor being configured to generate a detection signal characterizing whether a container is currently loaded on the conveying mechanism.

7. The container handling system according to claim 1, characterized in that, The control unit is further configured to: during the process of transferring the container from the first side to the second side, control the conveying mechanism to convey the container in a first conveying direction, and before the container reaches the first preset position, the conveying rate is a first conveying rate; after the container reaches the first preset position, the conveying rate is a second conveying rate, and the first conveying rate is less than the second conveying rate.

8. The container handling system according to claim 7, characterized in that, The control unit is further configured to: during the process of transferring the container from the second side to the first side, control the conveying mechanism to convey the container in a second conveying direction opposite to the first conveying direction, and the conveying rate is a third conveying rate, wherein the first conveying rate is less than the third conveying rate.

9. The container handling system according to claim 1, characterized in that, Along the container conveying direction of the conveying mechanism, the distance between the second preset position and the first side is 1 / 10 to 4 / 5 of the total length of the container.

10. The container handling system according to claim 1, characterized in that, When the container loading and unloading device is used to transfer multiple types of containers with different container information, the second preset position is configured such that when any type of container is in the second preset position, the frictional driving force from the conveying mechanism is less than the motion resistance it experiences; wherein, the container information includes at least one of the following: total container weight, container size, container shape, container material, and container center of gravity position.

11. The container handling system according to claim 1, characterized in that, The control unit is also configured to determine the mating position of the container pick-and-place assembly with the container based on the container information.

12. The container handling system according to any one of claims 1 to 11, characterized in that, Along the container conveying direction of the conveying mechanism, the engagement position of the container pick-and-place assembly with the container is located on the side wall of the container corresponding to the container pick-and-place assembly; when the container pick-and-place assembly is configured to be in the engagement state, the engagement position of the container pick-and-place assembly with the container side wall is located within a preset area of ​​the side wall, and the center of gravity of the container is projected onto the side wall within the preset area.

13. The container handling system according to claim 12, characterized in that, There is a gap between the four boundaries of the preset area and the four edges of the sidewall, and the preset area is configured to satisfy the following conditions: h1 / H ≥ 1 / 5; h2 / H ≥ 1 / 10; w1 / W≥1 / 10; w2 / W ≥ 1 / 10; in, h1 is the distance in the Y-axis direction between the top boundary of the preset area and the top edge of the sidewall; h2 is the distance in the Y-axis direction between the bottom boundary of the preset area and the bottom edge of the sidewall; H is the height of the sidewall in the Y-axis direction; W is the width of the sidewall in the X-axis direction; w1 and w2 are the distances from the two sides of the preset area in the X-axis direction to the two sides of the corresponding sidewall; wherein the carrying component conveys the container along the Z-axis direction, and the X-axis, Y-axis and Z-axis are perpendicular to each other.

14. A method for handling containers, implemented by a container handling system according to any one of claims 1 to 13; characterized in that, The method includes the following steps: During the process of the conveying mechanism conveying the container from the first side to the second side, the container picking and placing assembly is controlled by the control unit to be in an engaged state before reaching the first preset position. When the container reaches the first preset position, the container picking and placing assembly switches from the engaged state to the disengaged state so as to take the container out from the first side and place it on the conveying mechanism.

15. The method according to claim 14, characterized in that, The method further includes the following steps: During the process of the conveying mechanism conveying the container from the second side to the first side, the container picking and placing assembly is controlled by the control unit to be in a disengaged state before reaching the second preset position. When the container reaches the second preset position, the container picking and placing assembly switches from the disengaged state to the engaged state to push the container from the conveying mechanism to the first side.

16. The method according to claim 14, characterized in that, In the method, during the process of transferring the container from the first side to the second side, the conveying mechanism is controlled to convey the container in a first conveying direction, and before the container reaches the first preset position, the conveying rate is a first conveying rate; after the container reaches the first preset position, the conveying rate is a second conveying rate, and the first conveying rate is less than the second conveying rate.

17. The method according to claim 16, characterized in that, In the method, during the process of transferring the container from the second side to the first side, the conveying mechanism is controlled to convey the container in a second conveying direction opposite to the first conveying direction, and the conveying rate is a third conveying rate, wherein the first conveying rate is less than the third conveying rate.

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