Container loading and unloading device and warehousing system

Abstract

The utility model relates to a container loading and unloading device and a warehousing system.The container loading and unloading device comprises a base, a taking and placing assembly, a detecting assembly and a control unit, and the base is used for installing various assemblies needed by the container loading and unloading device; the taking and placing assembly is arranged on the base and is constructed to move at least in the X-axis direction so as to take and place the container on the target area; the detection assembly is arranged on the base and is configured to obtain offset information of the container in the target area; the control unit is configured to control the taking and placing assembly to move in the direction where the target area is located according to the deviation information obtained by the detection unit so as to push the container to move by a preset displacement in the X-axis direction. According to the container loading and unloading device, it can be guaranteed that the container does not deviate relative to the target area any more, or the deviation amount of the container relative to the target area meets the requirement, so that excessive deviation of the container in the target area can be effectively avoided, and potential safety hazards are eliminated.

Description

Technical Field

[0001] The present disclosure relates to the field of logistics and warehousing, and in particular to a container loading and unloading device; the present disclosure also relates to a warehousing system. Background Art

[0002] In the goods-to-person warehousing and logistics system, when there is a need for containers to enter and exit the warehouse, the containers to be entered can be sent to the operating workstation, and then sent to the carrier through the container loading and unloading device to complete the container entry; when there is a need for containers to be taken out of the warehouse, the container is taken out of the carrier through the container loading and unloading device and sent to the operating workstation to complete the container exiting the warehouse.

[0003] Container loading and unloading equipment usually uses vacuum suction devices to transfer containers by pulling. After the container loading and unloading equipment uses the vacuum suction cup to push the container on the conveyor belt onto the carrier, due to the structure of the vacuum suction cup itself, there may still be a certain vacuum degree between the vacuum suction cup and the container during the withdrawal of the vacuum suction cup. The vacuum suction cup will pull the container out of the carrier for a certain distance, causing the container to protrude from the carrier, posing a safety hazard. Utility Model Content

[0004] In order to solve the problems existing in the prior art, the present disclosure provides a container loading and unloading device and a storage system.

[0005] According to a first aspect of the present disclosure, there is provided a container loading and unloading device, comprising:

[0006] Pedestal;

[0007] a pick-and-place assembly, the pick-and-place assembly being disposed on the base and being configured to move at least in an X-axis direction to pick and place containers on a target area;

[0008] a detection component, the detection component being disposed on the base and configured to obtain displacement information of the container when the container is in the target area;

[0009] A control unit is configured to control the pick-and-place assembly to move in the direction of the target area according to the offset information obtained by the detection unit, so as to push the container to move a predetermined displacement in the X-axis direction.

[0010] In one embodiment of the present disclosure, the container loading and unloading device includes a carrying assembly arranged on the base and configured to transport containers, the base is provided with a passing space for the container to move on the carrying assembly, one side of the passing space has a taking and placing opening; the detection assembly is arranged at a position on the base to avoid the movement path of the container.

[0011] In one embodiment of the present disclosure, the detection component is an image sensor disposed on the base and located above the access port, and the image sensor is configured to at least acquire image information of the container located in the target area.

[0012] In one embodiment of the present disclosure, the detection component is a distance sensor disposed on a base and lower than a supporting surface of the carrier component, and the distance sensor is configured to at least obtain distance information of a container located on a target area.

[0013] In one embodiment of the present disclosure, the distance sensor includes a first sensor and a second sensor, the first sensor is configured to obtain a first distance from the first sensor to the target area, and the second sensor is configured to obtain a second distance from the second sensor to the container located on the target area; the control unit is configured to control the pick-and-place component to move in the direction of the target area based on the offset information determined by the first distance and the second distance.

[0014] In one embodiment of the present disclosure, the detection direction of the second sensor is configured to be tilted upward relative to a horizontal plane to obtain a second distance from the second sensor to the container.

[0015] In one embodiment of the present disclosure, the supporting assembly includes at least two conveyor belts arranged in parallel, and the second sensor is located between the two conveyor belts and lower than the upper surface of the conveyor belts; the detection wave emitted by the second sensor is transmitted obliquely upward from between the two conveyor belts to the location of the container.

[0016] In one embodiment of the present disclosure, the target area includes at least one of a carrier for storing containers, a cache position or an operating station, and the first distance is the distance from the first sensor to the corresponding side of the carrier.

[0017] In one embodiment of the present disclosure, the target area includes at least one of a carrier, a cache position or an operating station for storing containers, and the first distance is the distance from the first sensor to the corresponding side of the carrier, the cache position or the operating station.

[0018] In one embodiment of the present disclosure, the carrier and the cache position both include a carrying portion for carrying the container, and a supporting portion for supporting the carrying portion; for the carrier and the cache position, the first distance is the distance from the first sensor to the side wall of the carrying portion or the side wall of the supporting portion;

[0019] The operating station includes a carrying portion for carrying a container; for the operating station, the first distance is the distance from the first sensor to a side wall of the carrying portion.

[0020] In one embodiment of the present disclosure, the carrier, cache position or operating station includes a carrying part for carrying the container and a supporting part for supporting the carrying part; the first distance is the distance from the first sensor to the side wall of the carrying part or the side wall of the supporting part.

[0021] In one embodiment of the present disclosure, the pick-and-place assembly comprises:

[0022] an actuator, wherein the actuator is configured to perform a connection action for connecting the container or a release action for releasing the container;

[0023] The motion mechanism is configured to drive the actuator to move in a first motion trajectory and a second motion trajectory; in the first motion trajectory, the motion mechanism is configured to drive the actuator to move in the passing space to load and unload containers; in the second motion trajectory, the motion mechanism is configured to drive the actuator to avoid the passing space to allow the container to pass through the passing space.

[0024] In one embodiment of the present disclosure, the carrying assembly includes a passage space for the container to move through, and one side of the passage space has a pick-and-place opening; the pick-and-place assembly includes:

[0025] an actuator, wherein the actuator is configured to perform a connection action for connecting the container or a release action for releasing the container;

[0026] The motion mechanism is configured to drive the actuator to reciprocate in the passage space so as to load and unload containers through the loading and unloading port.

[0027] In one embodiment of the present disclosure, the motion mechanism includes an X-axis motion mechanism, and the X-axis motion mechanism is configured to be controlled by a driving unit to drive the actuator to move in the X-axis direction;

[0028] The container handling device further comprises a trigger sensor, wherein the trigger sensor is configured to be triggered when the actuator moves to a predetermined position; and the control unit is configured to compensate the driving unit according to a trigger signal obtained by the trigger sensor.

[0029] In one embodiment of the present disclosure, the motion mechanism includes an X-axis motion mechanism, and the X-axis motion mechanism is configured to be controlled by a driving unit to drive the actuator to move in the X-axis direction;

[0030] The container loading and unloading device also includes a trigger sensor arranged at a predetermined position, and the trigger sensor is constructed to be triggered when the actuator moves to the predetermined position; the control unit is configured to send an alarm signal when the operating parameters of the pick-and-place component reach a threshold value when the trigger sensor is triggered.

[0031] In one embodiment of the present disclosure, the operating parameter is the difference between the actual timing when the trigger sensor is triggered and the preset timing; or the operating parameter is the difference between the actual code disk value of the drive unit and the preset code disk value when the trigger sensor is triggered.

[0032] In one embodiment of the present disclosure, the X-axis moving mechanism includes a gear rotatably connected to the base, and a transmission chain meshing with the gear; the driving unit is constructed to drive the transmission chain to rotate through the gear to drive the actuator to move in the X-axis direction.

[0033] In one embodiment of the present disclosure, during the process of returning the container, the control unit is configured to continue to control the pick-and-place assembly to move a predetermined displacement in the X-axis direction based on the offset information obtained by the detection unit after the pick-and-place assembly moves into place.

[0034] In one embodiment of the present disclosure, the pick-and-place assembly is configured to perform a connecting action for connecting a container and a releasing action for releasing a container;

[0035] In the process of returning the container, the detection unit is configured to obtain the offset information after the pick-and-place assembly performs a release action, and the control unit is configured to control the pick-and-place assembly to push the container to move in the X-axis direction based on the offset information.

[0036] In one embodiment of the present disclosure, the control unit is configured to control the pick-and-place assembly to push the container to move a predetermined displacement in the X-axis direction when no connection action is performed, and to disengage from the container during resetting.

[0037] In one embodiment of the present disclosure, the pick-and-place assembly includes a vacuum suction cup, which is configured to perform a connecting action of connecting the container by forming a vacuum between the vacuum suction cup and the container, and to perform a loosening action of loosening the container by releasing the vacuum between the vacuum suction cup and the container.

[0038] According to a second aspect of the present disclosure, there is provided a container loading and unloading device, comprising:

[0039] Pedestal;

[0040] A pick-and-place assembly, the pick-and-place assembly is disposed on the base, the pick-and-place assembly comprises an actuator and a motion mechanism, the actuator is configured to perform a connection action for connecting a container, or a release action for releasing a container, and the motion mechanism is controlled by a driving unit to drive the actuator to move at least in the X-axis direction;

[0041] a trigger sensor configured to be triggered when the actuator moves to a predetermined position;

[0042] A control unit is configured to compensate the driving unit according to a trigger signal obtained by the trigger sensor, or to send an alarm signal when an operating parameter of the pick-and-place component reaches a threshold value when the trigger sensor is triggered.

[0043] In one embodiment of the present disclosure, the operating parameter is the difference between the actual timing when the trigger sensor is triggered and the preset timing; or the operating parameter is the difference between the actual code disk value of the drive unit and the preset code disk value when the trigger sensor is triggered.

[0044] In one embodiment of the present disclosure, the motion mechanism includes a gear rotatably connected to the base, and a transmission chain meshing with the gear; the driving unit is constructed to drive the transmission chain to rotate through the gear to drive the actuator to move in the X-axis direction.

[0045] According to a third aspect of the present disclosure, there is provided a storage system, comprising:

[0046] A vehicle docking area, used for docking a vehicle, wherein the vehicle carries a container;

[0047] a workstation configured to process the container;

[0048] A container loading and unloading device, wherein the carrier docking area and the workstation are respectively located on two sides of the container loading and unloading device.

[0049] During the operation of the container loading and unloading device disclosed in the present invention, the pick-and-place assembly can move at least in the X-axis direction to place the container in the target area, and the detection assembly can obtain the offset information of the container when it is in the target area. Then the control unit can control the pick-and-place assembly to move in the direction of the target area according to the offset information obtained by the detection unit, so as to push the container to move a predetermined displacement in the X-axis direction, so that the container no longer deviates relative to the target area, or the offset amount of the container relative to the target area meets the requirements, thereby effectively avoiding excessive offset of the container in the target area and eliminating safety hazards.

[0050] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings, which are incorporated in and constitute 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.

[0052] Figure 1 It is a structural schematic diagram of the warehousing system disclosed in the present invention;

[0053] Figure 2 It is a schematic diagram of the structure of the carrier and the container loading and unloading device disclosed in the present invention;

[0054] Figure 3 is a schematic diagram of the three-dimensional structure of the container loading and unloading device disclosed in the present invention;

[0055] Figure 4 is a top schematic diagram of a container handling device of the present disclosure;

[0056] Figures 1 to 4 The one-to-one correspondence between the component names and the reference numerals is as follows:

[0057] 10. Container loading and unloading device; 11. Base; 12. Pick-up and placement assembly; 121. Actuator; 122. Motion mechanism; 1221. Transmission chain; 1222. Avoidance movement mechanism; 13. Detection assembly; 131. First sensor; 132. Second sensor; 14. Carrying assembly; 141. Conveyor belt; 151. Passing space; 152. Pick-up and placement port; 16. Trigger sensor; 20. Carrier; 21. Carrying part; 22. Support part; 30. Container; 40. Workstation; 41. Processing station. DETAILED DESCRIPTION

[0058] 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 components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specifically stated.

[0059] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0060] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0061] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0062] In this document, “upper”, “lower”, “front”, “back”, “left”, “right”, etc. are only used to indicate the relative position relationship between related parts, rather than to limit the absolute positions of these related parts.

[0063] In this article, "first", "second", etc. are only used to distinguish each other, and do not indicate the importance and order, or the premise of each other's existence.

[0064] In this document, “equal”, “same”, etc. are not strictly limited in a mathematical and / or geometric sense, but also include errors that can be understood by those skilled in the art and are allowed in manufacturing or use.

[0065] The present disclosure provides a container loading and unloading device, which is used for loading and unloading containers on target areas such as carriers or processing stations. Among them, the carrier can be a movable shelf, and the processing station can be a workbench in a workstation or a conveyor line. The container loading and unloading device can take out the container stored in the target storage position of the carrier and transfer it to the target processing station, or, take the container from the target processing station and place it in the target storage position of the carrier. The container in the present disclosure is mainly a container used to load goods in logistics, including but not limited to material boxes, pallets, packaging boxes, etc., which are not limited here.

[0066] Specifically, the container loading and unloading device of the present invention includes a base, a pick-and-place assembly, a detection assembly and a control unit, wherein the base is used to install various components required for the container loading and unloading device; the pick-and-place assembly is arranged on the base and is constructed to move at least in the X-axis direction to pick up and place the container on the target area; the detection assembly is arranged on the base and is configured to obtain the offset information of the container when it is in the target area; the control unit is configured to control the pick-and-place assembly to move in the direction of the target area according to the offset information obtained by the detection unit, so as to push the container to move a predetermined displacement in the X-axis direction.

[0067] In this way, during the operation of the container loading and unloading device of the present invention, the pick-and-place assembly can move at least in the X-axis direction to place the container in the target area, and the detection assembly can obtain the offset information of the container when it is in the target area. Then the control unit can control the pick-and-place assembly to move in the direction of the target area according to the offset information obtained by the detection unit, so as to push the container to move a predetermined displacement in the X-axis direction, so that the container no longer deviates relative to the target area, or the offset amount of the container relative to the target area meets the requirements, thereby effectively avoiding excessive offset of the container in the target area and eliminating safety hazards.

[0068] For ease of understanding, refer to Figures 1 to 4 , the specific structure and working principle of the container loading and unloading device of the present disclosure are described in detail. It should be noted that the present disclosure also provides a storage system. In order to keep the text concise, this article introduces the storage system together with the description of the container loading and unloading device.

[0069] like Figure 1 and Figure 2As shown, the present disclosure provides a container loading and unloading device 10, which is used for loading and unloading containers 30 on a target area such as a carrier 20 or a processing station 41. Among them, the carrier 20 can be a movable shelf or a fixed shelf, and the processing station 41 can be a workbench or a conveyor line in the workstation 40. The container loading and unloading device 10 can take out the container 30 stored in the target storage position of the carrier 20 and transfer it to the target processing station 41, or, take the container 30 from the target processing station 41 and place it in the target storage position of the carrier 20. The container 30 in the present disclosure is mainly a container 30 used to load goods in logistics, including but not limited to a material box, a pallet, a packaging box, etc., which is not limited here.

[0070] Specifically, the container handling device 10 of the present disclosure includes a base 11 , a pick-and-place assembly 12 , a detection assembly 13 and a control unit. The base 11 is used to install various components required for the container handling device 10 .

[0071] The pick-and-place assembly 12 is disposed on the base 11 and is configured to move at least in the X-axis direction to pick up and place the container 30 on the target area. That is, the pick-and-place assembly 12 of the present disclosure can at least move along the X-axis direction to place the container 30 on the target area or in the vicinity thereof, and can also move along the X-axis direction to transfer the container 30 in the target area to the container handling device 10. It can be understood that in the process of picking up and placing the container 30 on the target area, the X-axis direction can be a horizontal direction.

[0072] The detection component 13 is disposed on the base 11, and is configured to obtain the offset information of the container 30 when it is in the target area. It is understandable that the offset information of the container 30 when it is in the target area at least includes the offset information of the container 30 when it is in the target area along the X-axis direction, and the offset information may include whether it is located in the target area or offset from the target area along the positive / negative direction of the X-axis, and the specific offset relative to the target area along the positive / negative direction of the X-axis, etc.; it may also include whether the target area is offset along the positive / negative direction of the Y-axis, and the specific offset relative to the target area along the positive / negative direction of the Y-axis or the offset angle relative to the Y-axis direction, etc.

[0073] The control unit is configured to control the pick-and-place assembly 12 to move in the direction of the target area according to the offset information obtained by the detection unit, so as to push the container 30 to move a predetermined displacement in the X-axis direction.

[0074] In this way, during the operation of the container loading and unloading device 10 of the present invention, the pick-and-place component 12 can move at least in the X-axis direction to place the container 30 in the target area, and the detection component 13 can obtain the offset information of the container 30 when it is in the target area. Then the control unit can control the pick-and-place component 12 to move in the direction of the target area according to the offset information obtained by the detection unit, so as to push the container 30 to move a predetermined displacement in the X-axis direction, so that the container 30 is no longer offset relative to the target area, or the offset amount of the container 30 relative to the target area meets the requirements, thereby effectively avoiding excessive offset of the container 30 in the target area and eliminating safety hazards; for example, it can effectively avoid the container 30 from protruding from the shelf, affecting the subsequent picking and placing of the container 30, and ensure the safe picking and placing of the subsequent container 30.

[0075] Specifically, in one embodiment of the present disclosure, during the process of the container loading and unloading device 10 of the present disclosure returning the container 30, the control unit is configured to continue to control the pick-and-place assembly 12 to move a predetermined displacement in the X-axis direction based on the offset information obtained by the detection unit after the pick-and-place assembly 12 moves into place.

[0076] That is, in the process of the container loading and unloading device 10 of the present invention returning the container 30, after the process of the pick-and-place component 12 moving in the X-axis direction to place the container 30 in the target area is completed, the detection unit can obtain the offset information of the container 30 when it is in the target area, and then the control unit determines whether to continue pushing the control unit toward the carrier 20 according to the offset information of the container 30 when it is in the target area. If it is necessary to continue pushing, the pick-and-place component 12 continues to control the movement of a predetermined displacement in the X-axis direction to ensure that the offset information of the container 30 when it is in the target area meets the requirements.

[0077] In another embodiment of the present disclosure, the pick-and-place assembly 12 is configured to perform a connection action for connecting the container 30 and a release action for releasing the container 30. That is, in the process of the container handling device 10 of the present disclosure taking the container 30, the pick-and-place assembly 12 can perform a connection action for connecting the container 30, and then transfer the container 30 to the container handling device 10 by moving the pick-and-place assembly 12; after the container 30 is transferred to the container handling device 10, the pick-and-place assembly 12 can perform a release action for releasing the container 30, so that the pick-and-place assembly 12 is separated from the container 30.

[0078] In the process of returning the container 30, the pick-and-place component 12 can, after executing the connecting action of connecting the container 30, push the container 30 to move to the target area in the X-axis direction, and then execute the loosening action for loosening the container 30, and separate the pick-and-place component 12 from the container 30; the pick-and-place component 12 can also push the container 30 to move to the target area in the X-axis direction without executing the connecting action of connecting the container 30, and then directly separate the pick-and-place component 12 from the container 30.

[0079] Specifically, in one embodiment of the present disclosure, in the process of returning the container 30, the detection unit is configured to obtain the offset information after the pick-and-place component 12 performs the releasing action, and the control unit is configured to control the pick-and-place component 12 to push the container 30 to move in the X-axis direction based on the offset information.

[0080] That is, in the process of returning the container 30, after the pick-and-place component 12 performs the connection action of connecting the container 30, it pushes the container 30 to move in the X-axis direction to the target area, and then performs a loosening action for loosening the container 30, and separates the pick-and-place component 12 from the container 30. The detection unit obtains the offset information after the pick-and-place component 12 performs the loosening action, and the control unit controls the pick-and-place component 12 to push the container 30 to move in the X-axis direction based on the offset information to ensure that the offset information of the container 30 when it is in the target area meets the requirements.

[0081] In one embodiment of the present disclosure, the control unit is configured to control the pick-and-place assembly 12 to push the container 30 to move a predetermined displacement in the X-axis direction when the connection action is not performed, and to disengage from the container 30 during the resetting process.

[0082] That is, in the process of returning the container 30, the pick-and-place component 12 pushes the container 30 to move in the X-axis direction to the target area without performing the connection action, and then the pick-and-place component 12 is separated from the container 30 during the resetting process. After the pick-and-place component 12 is separated from the container 30, the detection unit can obtain the offset information, and the control unit controls the pick-and-place component 12 to push the container 30 to move in the X-axis direction based on the offset information, which can also ensure that the offset information of the container 30 in the target area meets the requirements.

[0083] Specifically, Figure 3 and Figure 4 As shown, in one embodiment of the present disclosure, the pick-and-place assembly 12 includes a vacuum suction cup, which is configured to perform a connecting action of connecting the container 30 by forming a vacuum between the suction cup and the container 30, and to perform a loosening action of loosening the container 30 by releasing the vacuum between the suction cup and the container 30.

[0084] That is, in the process of the container loading and unloading device 10 of the present disclosure taking the container 30, the vacuum suction cup can form a vacuum between itself and the container 30 to perform a connecting action of connecting the container 30, and then transfer the container 30 to the container loading and unloading device 10 by moving the vacuum suction cup; after the container 30 is transferred to the container loading and unloading device 10, the vacuum suction cup can release the vacuum between itself and the container 30 to perform a loosening action of loosening the container 30.

[0085] That is, in the process of the container loading and unloading device 10 of the present invention returning the container 30, after the process of the pick-and-place component 12 moving in the X-axis direction to place the container 30 in the target area is completed, the detection unit can obtain the offset information of the container 30 when it is in the target area, and then the control unit determines whether to continue pushing the control unit toward the carrier 20 according to the offset information of the container 30 when it is in the target area. If it is necessary to continue pushing, the pick-and-place component 12 continues to control the movement of a predetermined displacement in the X-axis direction to ensure that the offset information of the container 30 when it is in the target area meets the requirements.

[0086] When the container 30 is offset or deflected in the Y-axis direction relative to the target area, the control unit can control the pick-and-place component 12 to push and / or pull the container to move the container in the Y-axis direction based on the offset information of the container 30 when it is in the target area, so as to further ensure that the offset information of the container 30 when it is in the target area meets the requirements.

[0087] Specifically, Figure 3 As shown, the container loading and unloading device 10 also includes a carrying component 14, which is arranged on the base 11 and is constructed to transport the container 30. The base 11 is provided with a passing space 151 for the container 30 to move on the carrying component 14, and a pick-up and release port 152 is provided on one side of the passing space 151; the detection component 13 is arranged at a position on the base 11 to avoid the movement path of the container 30.

[0088] That is, in the process of taking the container 30, the container 30 enters the through space 151 from the access opening 152 and moves in the through space 151 on the carrier assembly 14 in the container loading and unloading device 10 of the present disclosure; in the process of placing the container 30, the container 30 moves from the through space 151 on the carrier assembly 14 to the access opening 152 and moves out from the access opening 152. In one embodiment of the present disclosure, the container 30 can be transferred between the two sides of the carrier assembly 14, and the two sides of the carrier assembly 14 serve as the access opening 152 respectively; in another embodiment of the present disclosure, the container 30 can enter and exit the through space 151 through the same access opening 152 to load and unload the container 30.

[0089] When the container 30 enters and exits the passage space 151 through the same pick-and-place opening 152 to load and unload the container 30, in the process of the container loading and unloading device 10 of the present disclosure taking the container 30, the pick-and-place component 12 can perform a connecting action to connect the container 30, and then transfer the container 30 to the container loading and unloading device 10 by moving the pick-and-place component 12; after the container 30 is transferred to the container loading and unloading device 10, the pick-and-place component 12 may not perform a loosening action for loosening the container 30. After the container loading and unloading device 10 of the present disclosure moves to the target position, the pick-and-place component moves in the X-axis direction to place the container 30 in the target area, and then performs a loosening action for loosening the container 30, thereby separating the pick-and-place component 12 from the container 30, thereby effectively saving the process and improving the efficiency of picking and placing the container 30.

[0090] Since the detection component 13 is arranged at a position on the base 11 to avoid the movement path of the container 30, the detection component 13 will not hinder the movement of the container 30 during the movement of the container 30 through the space 151, thereby ensuring that the container 30 can normally enter and exit the container loading and unloading device 10 of the present disclosure.

[0091] In one embodiment of the present disclosure, the pick-and-place assembly 12 includes an actuator 121 and a motion mechanism 122, the actuator 121 is configured to perform a connection action for connecting a container 30, or a release action for releasing the container 30; the motion mechanism 122 is configured to drive the actuator 121 to move in a first motion trajectory and a second motion trajectory; within the first motion trajectory, the motion mechanism 122 is configured to drive the actuator 121 to move in a passing space 151 to load and unload the container 30; within the second motion trajectory, the motion mechanism 122 is configured to drive the actuator 121 to avoid the passing space 151 so that the container 30 passes through the passing space 151.

[0092] In this way, when the actuator 121 is not needed to work, the actuator 121 can avoid the passing space 151 under the drive of the motion mechanism 122, so as not to occupy the passing space 151, so that the structure of the pick-and-place assembly 12 is more compact and can adapt to narrow working spaces.

[0093] As mentioned above, in one embodiment of the present disclosure, the supporting assembly 14 includes a passing space 151 for the container 30 to move through, and a pick-up and release port 152 is provided on one side of the passing space 151; the pick-up and release assembly 12 includes an actuator 121 and a motion mechanism 122, and the actuator 121 is configured to perform a connecting action for connecting the container 30, or a releasing action for releasing the container 30; the motion mechanism 122 is configured to drive the actuator 121 to reciprocate in the passing space 151, so as to load and unload the container 30 through the pick-up and release port 152.

[0094] That is, the container 30 can enter and exit the passage space 151 through the same access port 152. At this time, the actuator 121 can be arranged on the opposite side of the access port 152, and the moving mechanism 122 can reciprocate in the passage space 151 to complete the purpose of loading and unloading the container 30 from the same access port 152, and the moving mechanism 122 does not need to avoid the passage space 151.

[0095] It can be understood that in order to enable the actuator 121 to move along the X-axis direction, in one embodiment of the present disclosure, the motion mechanism 122 includes an X-axis motion mechanism, and the X-axis motion mechanism is configured to be controlled by the driving unit to drive the actuator 121 to move in the X-axis direction. Figure 4 As shown, in one embodiment of the present disclosure, the X-axis moving mechanism includes a gear rotatably connected to the base 11, and a transmission chain 1221 meshing with the gear; the driving unit is configured to drive the transmission chain 1221 to rotate through the gear, so as to drive the actuator 121 to move in the X-axis direction. That is, the driving unit can drive the transmission chain 1221 to rotate through the gear, so as to drive the actuator 121 to move in the X-axis direction.

[0096] In another embodiment of the present disclosure, the movement mechanism 122 drives the actuator 121 to avoid the passing space 151, so that the container 30 can pass through the passing space 151. The movement mechanism 122 includes an avoidance movement mechanism 1222, which is configured to be controlled by the driving unit to drive the actuator 121 to move in the Y-axis or Z-axis direction, thereby driving the actuator 121 to avoid the passing space 151; the Y-axis direction is a horizontal direction perpendicular to the X-axis, and the Z-axis direction is a vertical direction. The avoidance movement mechanism 1222 can also adopt the matching structure of the above-mentioned transmission chain 1221 and gears, and the principle is similar, which will not be repeated here.

[0097] like Figure 4 As shown, in one embodiment of the present disclosure, the carrying assembly 14 includes at least two parallel conveyor belts 141, and the conveyor belts 141 can be controlled to rotate by a power unit, thereby driving the container 30 on the conveyor belts 141 to move along the extension direction of the conveyor belts 141. By providing the conveyor belts 141, the pick-and-place assembly 12 can be assisted to drive the container 30 to move in the X-axis direction, greatly reducing the resistance of the container 30 during the movement in the X-axis direction.

[0098] Specifically, in one embodiment of the present disclosure, the detection component 13 is an image sensor disposed on the base 11 and located above the access port 152 , and the image sensor is configured to at least acquire image information of the container 30 located in the target area.

[0099] The image sensor may be a depth camera, which can obtain the offset information of the container 30 in the target area by acquiring the depth information in the image information of the container 30 located in the target area; the image sensor may also be other forms of image sensors, as long as the image sensor can also obtain the offset information of the container 30 in the target area.

[0100] In another embodiment of the present disclosure, the detection component 13 is a distance sensor disposed on the base 11 and lower than the supporting surface of the bearing component 14, and the distance sensor is configured to at least obtain the distance information of the container 30 located in the target area. That is, the distance sensor obtains the displacement information of the container 30 when it is in the target area by at least obtaining the distance information of the container 30 located in the target area.

[0101] Specifically, in one embodiment of the present disclosure, the distance sensor includes a first sensor 131 and a second sensor 132, the first sensor 131 is configured to obtain a first distance from the first sensor 131 to the target area, and the second sensor 132 is configured to obtain a second distance from the second sensor 132 to the container 30 located on the target area; the control unit is configured to control the pick-and-place component 12 to move in the direction of the target area according to the offset information determined by the first distance and the second distance. That is, in the process of the distance sensor, the first sensor 131 can obtain the first distance from the first sensor 131 to the target area, and the second sensor 132 is configured to obtain the second distance from the second sensor 132 to the container 30 located on the target area; the control unit is configured to control the pick-and-place component 12 to move in the direction of the target area according to the offset information determined by the first distance and the second distance.

[0102] The first distance can be a straight-line distance from the first sensor 131 to the target area, or a distance from the first sensor 131 to the target area in the X-axis direction. The second distance can be a straight-line distance from the second sensor 132 to the container 30 located in the target area, or a distance from the second sensor 132 to the container 30 located in the target area in the X-axis direction. As long as the control unit can determine the offset information of the container 30 when it is in the target area according to the first distance and the second distance, the control unit can control the pick-and-place assembly 12 to move in the direction of the target area according to the offset information determined by the first distance and the second distance, so as to ensure that the offset information of the container 30 when it is in the target area meets the requirements.

[0103] Specifically, Figure 2As shown, the target area includes a carrier 20 for storing a container 30. When the target area includes a carrier 20 for storing a container 30, the first distance is the distance from the first sensor 131 to the corresponding side of the carrier 20. The first sensor 131 may be a photoelectric sensor, an ultrasonic sensor or other sensors to obtain the distance to the corresponding side of the carrier 20. In another embodiment of the present disclosure, the target area includes a cache position or an operating station for storing a container 30. When the target area includes a cache position for storing a container 30, the first distance is the distance from the first sensor 131 to the corresponding side of the cache position; when the target area includes an operating station for storing a container 30, the first distance is the distance from the first sensor 131 to the corresponding side of the operating station.

[0104] Further, in one embodiment of the present disclosure, the carrier 20 and the cache position both include a carrier portion 21 for carrying the container 30, and a support portion 22 for supporting the carrier portion 21; for the carrier 20 and the cache position, the first distance is the distance from the first sensor 131 to the side wall of the carrier portion 21 or the side wall of the support portion 22. It is understandable that it is more convenient for the first sensor 131 to obtain the distance to the side wall of the carrier portion 21 or the side wall of the support portion 22.

[0105] In another embodiment of the present disclosure, the operating station includes a carrying portion for carrying the container 30; for the operating station, the first distance is the distance from the first sensor 131 to the side wall of the carrying portion, and it is also convenient for the first sensor 131 to obtain the distance to the side wall of the carrying portion of the operating station.

[0106] Among them, Figure 3 As shown, in one embodiment of the present disclosure, the detection direction of the second sensor 132 is configured to be tilted upward relative to the horizontal plane to obtain the second distance from the second sensor 132 to the container 30. Since the detection direction of the second sensor 132 is tilted upward relative to the horizontal plane to obtain the second distance from the second sensor 132 to the container 30, the second sensor 132 does not need to be set at the same horizontal height as the container 30, so that the second sensor 132 is located in a position to avoid the movement path of the container 30. Similarly, the second sensor 132 can also be a photoelectric sensor, an ultrasonic sensor or other sensors to obtain the distance to the container 30.

[0107] like Figure 3 and Figure 4As shown, in one embodiment of the present disclosure, when the bearing assembly 14 includes at least two conveyor belts 141 arranged in parallel, the second sensor 132 is located between the two conveyor belts 141 and is lower than the upper surface of the conveyor belts 141; the detection wave emitted by the second sensor 132 is transmitted obliquely upward from between the two conveyor belts 141 to the location of the container 30. Since the second sensor 132 is located between the two conveyor belts 141 and is lower than the upper surface of the conveyor belts 141; the detection wave emitted by the second sensor 132 is transmitted obliquely upward from between the two conveyor belts 141 to the location of the container 30, it can ensure that the second sensor 132 can obtain the second distance to the container 30, and can ensure that it is in a position to avoid the movement path of the container 30, so as not to affect the normal movement of the container 30.

[0108] As mentioned above, in one embodiment of the present disclosure, the X-axis moving mechanism includes a gear rotatably connected to the base 11, and a transmission chain 1221 meshing with the gear. The driving unit drives the transmission chain 1221 to rotate through the gear to drive the actuator 121 to move in the X-axis direction. When the weight of the container 30 is heavy, a large force is required to pull or push the container 30 to move in the X-axis direction. In this way, the transmission chain 1221 may jump teeth relative to the gear; when the actuator 121 moves close to the container in the X-axis direction, when the actuator 121 collides with the container 30, the transmission chain 1221 may jump teeth relative to the gear. When the transmission chain 1221 may jump teeth relative to the gear, the zero point position of the pick-and-place assembly 12 will be inaccurate, thereby affecting the accuracy of subsequent pick-and-place of the container 30.

[0109] Therefore, if Figure 3 As shown, in one embodiment of the present disclosure, the container handling device 10 further includes a trigger sensor 16, which is configured to be triggered when the actuator 121 moves to a predetermined position; and the control unit is configured to compensate the driving unit according to the trigger signal obtained by the trigger sensor 16. That is, the actuator 121 can trigger the trigger sensor 16 when it moves to a predetermined position, and the control unit compensates the driving unit according to the trigger signal obtained by the trigger sensor 16. Specifically, the control unit automatically compensates the driving unit according to the operating parameters when the trigger sensor 16 obtains the trigger signal, so that the pick-and-place assembly 12 can determine the correct new zero position, thereby ensuring the accuracy of the subsequent pick-and-place container 30.

[0110] like Figure 3As shown, in another embodiment of the present disclosure, the container loading and unloading device 10 also includes a trigger sensor 16 arranged at a predetermined position, and the trigger sensor 16 is constructed to be triggered when the actuator 121 moves to the predetermined position; the control unit is configured to send an alarm signal when the operating parameters of the picking and placing component 12 reach a threshold value when the trigger sensor 16 is triggered.

[0111] That is, when the actuator 121 moves to a predetermined position, it can trigger the trigger sensor 16. The control unit can send out an alarm signal when the operating parameters of the pick-and-place component 12 reach a threshold value when the trigger sensor 16 is triggered. After receiving the alarm signal, the maintenance personnel can recalibrate the X-axis moving mechanism in time, so that the zero point position of the pick-and-place component 12 can return to normal, thereby ensuring the accuracy of subsequent pick-and-place container 30.

[0112] Specifically, in one embodiment of the present disclosure, the operating parameter is the difference between the actual timing when the trigger sensor 16 is triggered and the preset timing. The preset timing when the trigger sensor 16 is triggered is the timing after the drive unit is started for a set period of time. Regardless of whether the actual timing when the trigger sensor 16 is triggered is earlier than the preset timing and the duration exceeds the threshold, or the actual timing when the trigger sensor 16 is triggered is later than the preset timing and the duration exceeds the threshold, the control unit can send out an alarm signal.

[0113] In another embodiment of the present disclosure, the operating parameter is the difference between the actual code disk value of the drive unit and the preset code disk value when the trigger sensor 16 is triggered. The principle is similar to the above embodiment and will not be repeated here.

[0114] like Figure 1 and Figure 2 As shown, the present disclosure provides a storage system, comprising:

[0115] The carrier 20 docking area is used to dock the carrier 20, and the carrier 20 carries the container 30;

[0116] a workstation 40 configured to process the container 30;

[0117] In the container handling device 10 , the carrier 20 docking area and the workstation 40 are respectively located on two sides of the container handling device 10 .

[0118] During the operation of the container loading and unloading device 10 of the warehousing system of the present invention, the pick-and-place component 12 can move at least in the X-axis direction to place the container 30 in any target area of ​​the carrier 20 or the workstation 40, and the detection component 13 can obtain the offset information of the container 30 when it is in the target area. Then the control unit can control the pick-and-place component 12 to move in the direction of the target area according to the offset information obtained by the detection unit, so as to push the container 30 to move a predetermined displacement in the X-axis direction, so that the container 30 no longer deviates relative to the target area, or the offset amount of the container 30 relative to the target area meets the requirements, thereby effectively avoiding excessive offset of the container 30 in the target area and eliminating safety hazards.

[0119] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A container loading and unloading device, characterized in that: include: Base (11); A pick-and-place assembly (12), the pick-and-place assembly (12) being disposed on the base (11) and being configured to move at least in an X-axis direction to pick and place a container (30) on a target area; a detection component (13), the detection component (13) being disposed on the base (11) and configured to obtain offset information of the container (30) when it is in the target area; A control unit is configured to control the pick-and-place assembly (12) to move in the direction of the target area according to the offset information obtained by the detection unit, so as to push the container (30) to move a predetermined displacement in the X-axis direction.

2. The container handling device according to claim 1, characterized in that: The container loading and unloading device (10) comprises a carrying assembly (14) arranged on the base (11) and configured to transport a container (30); a passage space (151) for the container (30) to move on the carrying assembly (14) is arranged on the base (11); one side of the passage space (151) has a taking-in and putting-out opening (152); and the detection assembly (13) is arranged at a position on the base (11) to avoid the moving path of the container (30).

3. The container handling device according to claim 2, characterized in that: The detection component (13) is an image sensor disposed on the base (11) and located above the access opening (152), and the image sensor is configured to at least acquire image information of the container (30) located in the target area.

4. The container handling device according to claim 2, characterized in that: The detection component (13) is a distance sensor arranged on the base (11) and lower than the supporting surface of the bearing component (14), and the distance sensor is configured to at least obtain distance information of a container (30) located in a target area.

5. The container handling device according to claim 4, characterized in that: The distance sensor comprises a first sensor (131) and a second sensor (132), wherein the first sensor (131) is configured to obtain a first distance from the first sensor (131) to the target area, and the second sensor (132) is configured to obtain a second distance from the second sensor (132) to the container (30) located on the target area; and the control unit is configured to control the pick-and-place component (12) to move in the direction of the target area according to offset information determined by the first distance and the second distance.

6. The container handling device according to claim 5, characterized in that: The detection direction of the second sensor (132) is configured to be inclined upward relative to a horizontal plane so as to obtain a second distance from the second sensor to the container (30).

7. The container handling device according to claim 6, characterized in that: The bearing assembly (14) comprises at least two conveyor belts (141) arranged in parallel, and the second sensor (132) is located between the two conveyor belts (141) and below the upper surface of the conveyor belts (141); the detection wave emitted by the second sensor (132) is transmitted obliquely upward from between the two conveyor belts (141) to the location of the container (30).

8. The container handling device according to claim 5, characterized in that: The target area includes at least one of a carrier (20), a cache position or an operating station for storing a container (30), and the first distance is the distance from the first sensor (131) to the corresponding side of the carrier (20), the cache position or the operating station.

9. The container handling device according to claim 8, characterized in that: The carrier (20) and the cache position both comprise a carrying portion (21) for carrying the container (30), and a supporting portion (22) for supporting the carrying portion (21); for the carrier (20) and the cache position, the first distance is the distance from the first sensor (131) to the side wall of the carrying portion (21) or the side wall of the supporting portion (22); The operating station comprises a carrying portion for carrying a container (30); for the operating station, the first distance is the distance from the first sensor (131) to the side wall of the carrying portion.

10. The container handling device according to claim 2, characterized in that: The pick-and-place assembly (12) comprises: An actuator (121), wherein the actuator (121) is configured to perform a connection action for connecting a container (30) or a release action for releasing a container (30); A motion mechanism (122), wherein the motion mechanism (122) is configured to drive the actuator (121) to move in a first motion trajectory and a second motion trajectory; within the first motion trajectory, the motion mechanism (122) is configured to drive the actuator (121) to move in the passing space (151) to load and unload the container (30); within the second motion trajectory, the motion mechanism (122) is configured to drive the actuator (121) to avoid the passing space (151) to allow the container (30) to pass through the passing space (151).

11. The container handling device according to claim 2, characterized in that: The carrying assembly (14) comprises a passing space (151) for the container (30) to move through, and one side of the passing space (151) is provided with a pick-up and drop-out opening (152); the pick-up and drop-out assembly (12) comprises: An actuator (121), wherein the actuator (121) is configured to perform a connection action for connecting a container (30) or a release action for releasing a container (30); A moving mechanism (122) is configured to drive the actuator (121) to reciprocate in the passing space (151) so as to load and unload the container (30) through the loading and unloading port (152).

12. The container handling device according to claim 10 or 11, characterized in that: The motion mechanism (122) comprises an X-axis motion mechanism, and the X-axis motion mechanism is configured to be controlled by a driving unit to drive the actuator (121) to move in the X-axis direction; The container handling device (10) further comprises a trigger sensor (16), wherein the trigger sensor (16) is configured to be triggered when the actuator (121) moves to a predetermined position; and the control unit is configured to compensate the drive unit according to a trigger signal obtained by the trigger sensor (16).

13. The container handling device according to claim 10 or 11, characterized in that: The motion mechanism (122) comprises an X-axis motion mechanism, and the X-axis motion mechanism is configured to be controlled by a driving unit to drive the actuator (121) to move in the X-axis direction; The container handling device (10) further comprises a trigger sensor (16) arranged at a predetermined position, wherein the trigger sensor (16) is configured to be triggered when the actuator (121) moves to the predetermined position; and the control unit is configured to send out an alarm signal when an operating parameter of the pick-and-place assembly (12) reaches a threshold value when the trigger sensor (16) is triggered.

14. The container handling device according to claim 13, characterized in that: The operating parameter is the difference between the actual timing when the trigger sensor (16) is triggered and the preset timing; or the operating parameter is the difference between the actual code disk value of the drive unit when the trigger sensor (16) is triggered and the preset code disk value.

15. The container handling device according to claim 14, characterized in that: The X-axis moving mechanism comprises a gear rotatably connected to the base (11), and a transmission chain (1221) meshing with the gear; the driving unit is configured to drive the transmission chain (1221) to rotate via the gear, so as to drive the actuator (121) to move in the X-axis direction.

16. The container handling device according to claim 1, characterized in that: During the process of returning the container (30), the control unit is configured to continue to control the pick-and-place assembly (12) to move a predetermined displacement in the X-axis direction based on the offset information obtained by the detection unit after the pick-and-place assembly (12) moves to the position.

17. The container handling device according to claim 1, characterized in that: The pick-and-place assembly (12) is configured to perform a connecting action for connecting a container (30) and a releasing action for releasing a container (30); During the process of returning the container (30), the detection unit is configured to obtain the offset information after the pick-and-place component (12) performs a release action, and the control unit is configured to control the pick-and-place component (12) to push the container (30) to move in the X-axis direction based on the offset information.

18. The container handling device according to claim 17, characterized in that: The control unit is configured to control the pick-and-place assembly (12) to push the container (30) to move a predetermined displacement in the X-axis direction when no connection action is performed, and to disengage from the container (30) during a resetting process.

19. The container handling device according to claim 17, characterized in that: The pick-and-place assembly (12) comprises a vacuum suction cup, which is configured to perform a connecting action of connecting the container (30) by forming a vacuum between the vacuum suction cup and the container (30), and to perform a loosening action of loosening the container (30) by releasing the vacuum between the vacuum suction cup and the container (30).

20. A container loading and unloading device, characterized in that: include: Base (11); A pick-and-place assembly (12), the pick-and-place assembly (12) being arranged on the base (11), the pick-and-place assembly (12) comprising an actuator (121) and a motion mechanism (122), the actuator (121) being configured to perform a connection action for connecting a container (30) or a release action for releasing a container (30), the motion mechanism (122) being controlled by a driving unit to drive the actuator (121) to move at least in an X-axis direction; a trigger sensor (16), wherein the trigger sensor (16) is configured to be triggered when the actuator (121) moves to a predetermined position; A control unit is configured to compensate the drive unit according to a trigger signal obtained by the trigger sensor (16), or to send an alarm signal when an operating parameter of the pick-and-place component (12) reaches a threshold value when the trigger sensor (16) is triggered.

21. The container handling device according to claim 20, characterized in that: The operating parameter is the difference between the actual timing when the trigger sensor (16) is triggered and the preset timing; or the operating parameter is the difference between the actual code disk value of the drive unit when the trigger sensor (16) is triggered and the preset code disk value.

22. The container handling device according to claim 21, characterized in that: The motion mechanism (122) comprises a gear rotatably connected to the base (11), and a transmission chain (1221) meshing with the gear; the driving unit is configured to drive the transmission chain (1221) to rotate via the gear, so as to drive the actuator (121) to move in the X-axis direction.

23. A storage system, characterized in that: include: A carrier (20) docking area, used for docking a carrier (20), wherein the carrier (20) carries a container (30); a workstation (40) configured to process the container (30); According to the container loading and unloading device (10) according to any one of claims 1 to 19, the carrier (20) docking area and the workstation (40) are respectively located on two sides of the container loading and unloading device (10).

Images