Box taking and placing device and storage system
By designing a combination of supports, retrieval and lifting mechanisms, the problems of low storage density and difficulty in retrieval and placement in traditional storage systems are solved, achieving efficient and safe cargo transportation.
Patent Information
- Application Number
- CN202422684645.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-04
- Publication Date
- 2025-11-11
- Estimated Expiration
- 2034-11-04
AI Technical Summary
In traditional storage systems, forklift and hook-and-go retrieval methods are limited by space requirements, resulting in low storage density and difficulty in retrieval, especially in densely packed shelving environments where safe and reliable operation is difficult to achieve.
Design a box picking and placing device, including a support, a picking and placing mechanism and a lifting mechanism. The lifting mechanism moves vertically to connect and separate the boxes, and the translation mechanism moves horizontally. Combined with the conveying mechanism, the boxes are transported efficiently.
It increases storage density, simplifies operating procedures, avoids space limitations, and enables safe and reliable handling of various goods, especially heavy goods.
Smart Images
Figure CN223534156U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of storage boxes, and more particularly to a box retrieval device and storage system. Background Technology
[0002] The storage system reduces manpower requirements and speeds up goods handling through automation. Furthermore, advanced positioning technology and automated control ensure accuracy in every operation. In addition, it reduces the risk of accidents caused by human error, enhancing overall warehouse security.
[0003] However, traditional storage systems are limited by the retrieval methods, resulting in low storage density and difficulty in retrieval. For forklift-style retrieval, sufficient space must be maintained between containers to allow for forklifts to operate, reducing storage density. Furthermore, hook-style retrieval requires sufficient space for the hooks to rotate, which is often difficult to achieve in densely packed shelving environments. Additionally, for certain specially shaped or heavy goods, hooks may not be able to reliably and safely retrieve them. Utility Model Content
[0004] The purpose of this application is to provide a device for retrieving and placing boxes and a storage system.
[0005] According to a first aspect of the embodiments of this application, a box-picking and placing device is provided for transporting boxes, the box-picking and placing device including a support, a picking and placing mechanism and a lifting mechanism;
[0006] The support includes a support space for supporting the box;
[0007] The loading and unloading mechanism is used to connect with the box body;
[0008] The lifting mechanism is connected to the picking and placing mechanism and is used to drive the picking and placing mechanism to move vertically relative to the support; the lifting mechanism is used to switch between the first state and the second state.
[0009] When the lifting mechanism is in the first state, the lifting mechanism drives the picking and placing mechanism to the connection position; when the lifting mechanism is in the connection position, the picking and placing mechanism is used to connect with the box and drive the box into or away from the carrying space.
[0010] When the lifting mechanism is in the second state, the lifting mechanism drives the pick-and-place mechanism to the separated position; when the lifting mechanism is in the separated position, the pick-and-place mechanism is used to separate from the box body.
[0011] There is a height difference between the connection position and the separation position relative to the support in the vertical direction.
[0012] In some embodiments, the support includes two openings disposed opposite each other along the transport direction, the openings communicating with the carrying space;
[0013] The box-taking and placement device includes a translation mechanism connected to the box-taking and placement mechanism, which drives the box-taking and placement mechanism to move relative to the support along the transport direction, so as to drive the box body into or away from the carrying space from any of the openings.
[0014] In some embodiments, the translation mechanism includes a slidingly connected adapter unit and a fixing unit, the fixing unit being connected to the bracket, and the adapter unit being slidably connected to the pick-and-place mechanism;
[0015] When the pick-and-place mechanism extends out of the carrying space along the transport direction and moves to its limit position, the pick-and-place mechanism is located at the end of the transfer unit away from the fixed unit along the transport direction.
[0016] In some embodiments, the translation mechanism includes a transverse sub-strip, which is wound around the adapter unit. The adapter unit includes a first side end and a second side end that are disposed opposite to each other along the thickness direction. The pick-and-place mechanism is fixedly connected to the transverse sub-strip located at the first side end, and the fixing unit is fixedly connected to the transverse sub-strip located at the second side end.
[0017] When the pick-and-place mechanism is in its extreme position, the pick-and-place mechanism and the fixing unit are respectively located at both ends of the transverse belt along the transport direction.
[0018] In some embodiments, the adapter unit includes a first rod and a second rod that are slidably connected to the fixed unit, the first rod and the second rod being arranged along the transport direction, and a fixed space being provided between the first rod and the second rod;
[0019] The translation mechanism includes at least two spaced-apart rotating wheels, which are disposed in the fixed space, and the transverse sub-belt is wound around the two rotating wheels.
[0020] In some embodiments, the two rotating wheels are respectively fixed at both ends of the fixed space.
[0021] In some embodiments, the pick-and-place mechanism is configured to move between a first extreme position and a second extreme position;
[0022] When the pick-and-place mechanism is in the first extreme position, the distance between the pick-and-place mechanism and the bearing space is the first distance; when the pick-and-place mechanism is in the second extreme position, the distance between the pick-and-place mechanism and the bearing space is the second distance.
[0023] The first distance is greater than the second distance, and the difference between the first distance and the second distance is greater than or equal to 5cm and less than or equal to 10cm.
[0024] In some embodiments, the loading and unloading device further includes a conveying mechanism, which is fixed to the bracket. The conveying mechanism includes a first conveyor belt and a second conveyor belt arranged opposite to each other, and there is an installation space between the first conveyor belt and the second conveyor belt. The installation space is located below the bearing space.
[0025] The lifting mechanism is located in the installation space, and the picking and placing mechanism can switch between the installation space and the bearing space under the drive of the lifting mechanism.
[0026] In some embodiments, the bracket includes a first opening and a second opening, both of which communicate with the carrying space, and the first opening and the second opening are located on opposite sides of the carrying space along the transport direction;
[0027] The pick-and-place mechanism includes a first pick-and-place unit and a second pick-and-place unit arranged opposite to each other along the transport direction, and the pick-and-place mechanism is used to move between a first extreme position and a second extreme position.
[0028] When the pick-and-place mechanism is in the first extreme position, the first pick-and-place unit moves away from the bearing space through the first opening, serving as the end of the pick-and-place mechanism away from the bearing space, and is used to grab or push the box; when the pick-and-place mechanism is in the second extreme position, the second pick-and-place unit moves away from the bearing space through the second opening, serving as the end of the pick-and-place mechanism away from the bearing space, and is used to grab or push the box.
[0029] In some embodiments, the picking and placing mechanism includes a fixing part, and the first picking and placing unit and the second picking and placing unit each include a picking and placing part and an extension part connected to each other, and the first picking and placing unit and the second picking and placing unit are respectively fixed to both sides of the fixing part;
[0030] The difference between the length of the extension of the first pick-and-place unit and the length of the extension of the second pick-and-place unit is greater than or equal to 5 cm and less than or equal to 10 cm.
[0031] In some embodiments, the pick-and-place mechanism further includes two position detection units, which are fixedly disposed along the transport direction with the extensions of the first pick-and-place unit and the second pick-and-place unit, respectively.
[0032] Furthermore, when the pick-and-place mechanism is located in the carrying space, one of the position detection units is positioned facing the first opening, and the other position detection unit is positioned facing the second opening.
[0033] In some embodiments, the pick-and-place portion is configured as a hook or a suction cup.
[0034] According to a second aspect of the embodiments of this application, a storage system is provided, the storage system comprising:
[0035] The shelf includes multiple storage openings;
[0036] A gantry frame, which is configured to cooperate with the shelving unit;
[0037] A box retrieval device is provided, which is connected to the gantry and can be transported by the gantry to the corresponding storage port.
[0038] In some embodiments, the storage system includes a plurality of shelves spaced apart along the transport direction, and the pick-and-place device is disposed between the plurality of shelves.
[0039] In some embodiments, the support includes two openings disposed opposite each other along the transport direction, the openings communicating with the carrying space;
[0040] The gantry is equipped with a baffle, and when the box retrieval device is located at the storage opening, the baffle is located at the opening;
[0041] The second state includes a first sub-state and a second sub-state;
[0042] When the lifting mechanism is in the first sub-state, the orthogonal projection of the pick-up and place mechanism onto the baffle along the transport direction is at least partially located on the baffle;
[0043] When the lifting mechanism is in the second sub-state, the orthogonal projection of the pick-up and place mechanism onto the baffle along the transport direction is outside the baffle.
[0044] The beneficial technical effects of the technical solutions provided in this application are:
[0045] This application comprises a support frame, a pick-and-place mechanism, and a lifting mechanism. The support frame includes a support space for carrying the container, and the pick-and-place mechanism is used to connect to the container. The lifting mechanism is connected to the pick-and-place mechanism and is used to move the pick-and-place mechanism vertically relative to the support frame. The lifting mechanism can switch between a first state and a second state. When the lifting mechanism is in the first state, it moves the pick-and-place mechanism to the connected position. When the lifting mechanism is in the connected position, the pick-and-place mechanism connects to the container and moves the container into or away from the support space. When the lifting mechanism is in the second state, it moves the pick-and-place mechanism to the separated position. When the lifting mechanism is in the separated position, the pick-and-place mechanism separates from the container.
[0046] Therefore, this application can achieve connection or separation with the container by directly moving the lifting mechanism vertically, thereby realizing the transportation of the container. This process is simple, convenient, and easy to operate. Furthermore, the container retrieval device proposed in this application avoids the need to maintain a certain distance between containers and leave sufficient space for the fork arms to extend, which reduces the storage density of the rack, as required by the forklift-type retrieval method. On the other hand, it also avoids the need for the hook to have sufficient space to complete the rotation action in the hook-type retrieval method, and this method can also safely and reliably retrieve and place heavy goods. Attached Figure Description
[0047] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0048] Figure 1 This is a schematic diagram illustrating the cooperation between a box retrieval device and a gantry according to an embodiment of this application.
[0049] Figure 2 This is a schematic diagram of the loading and unloading device in the loading state according to an embodiment of this application.
[0050] Figure 3 This is a structural schematic diagram of the loading and unloading device in the loading state from another angle, according to an embodiment of this application.
[0051] Figure 4 This is a schematic diagram illustrating the cooperation between the loading and unloading device and the box body according to an embodiment of this application.
[0052] Figure 5 This is a schematic diagram of the structure of a pick-up and drop-off box device according to an embodiment of this application.
[0053] Figure 6This is a schematic diagram illustrating the cooperation of the pick-up and place mechanism, the lifting mechanism, and the translation mechanism according to an embodiment of this application.
[0054] Figure 7 This is a schematic diagram illustrating the cooperation between the pick-up and place mechanism and the translation mechanism according to an embodiment of this application.
[0055] Figure 8 for Figure 7 A schematic diagram of the cross-section of N-N'.
[0056] Explanation of reference numerals in the attached figures
[0057] 10 Box Picking and Placing Device
[0058] Box 20
[0059] gantry 30
[0060] baffle 31
[0061] Bracket 100
[0062] Carrying space 110
[0063] Opening 120
[0064] First opening 121
[0065] Second opening 122
[0066] Installation space 130
[0067] Picking and placing mechanism 200
[0068] First pick-and-place unit 210
[0069] Second pick-and-place unit 220
[0070] Fixing part 230
[0071] Pick-up and drop-off section 240
[0072] Extension 250
[0073] Position detection unit 260
[0074] Lifting mechanism 300
[0075] Vertical band 310
[0076] Vertical rotation mechanism 320
[0077] Translation mechanism 400
[0078] Horizontal band 410
[0079] Horizontal Rotation Mechanism 420
[0080] Adapter Unit 430
[0081] First side end 431
[0082] Second side end 432
[0083] First shot 430A
[0084] Second shot 430B
[0085] Fixed unit 440
[0086] Horizontal sub-band 450
[0087] Rotating wheel 460
[0088] Fixed space 470
[0089] Conveying mechanism 500
[0090] Conveyor motor 510
[0091] Conveyor rod 520
[0092] First conveyor belt 530
[0093] Second conveyor belt 540
[0094] First state A1
[0095] Second state A2
[0096] Delivery direction X
[0097] Vertical direction Y Detailed Implementation
[0098] The technical solutions in the embodiments (or "implementations") of this application will be clearly and completely described herein with reference to the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.
[0099] If the embodiments of this application contain terms relating to directional indications or positional relationships (such as up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationships and movements between components in a specific posture (as shown in the attached figures); if the specific posture changes, the directional indications or positional relationships will also change accordingly. Furthermore, the terms "first" and "second" used in the embodiments of this application are only for descriptive convenience and should not be construed as indicating or implying relative importance.
[0100] refer to Figure 1As shown, the storage system includes shelves, masts 30, and a pick-and-place device 10. The shelves provide storage space for various types of goods. They are typically designed in a multi-level, multi-column configuration, with each cell serving as a storage opening, accommodating items of different sizes and weights. Masts 30 are installed in conjunction with the shelves, and the pick-and-place device 10 is connected to the masts 30. The masts 30 act as a bridge connecting the pick-and-place device 10 and the shelves, responsible for precisely transporting the pick-and-place device 10 to the designated storage opening. It can move vertically to reach storage openings at different heights; it can also move along horizontal tracks to cover all shelves throughout the warehouse area.
[0101] This storage system reduces manpower requirements and speeds up goods handling through automation. Furthermore, it utilizes advanced positioning technology and automated control to ensure accuracy in every operation. In addition, it reduces the risk of accidents caused by human error, enhancing overall warehouse security.
[0102] However, traditional storage systems are limited by the retrieval and placement methods, resulting in low storage density and difficulty in retrieval and placement. For forklift-style retrieval and placement, a certain distance must be maintained between the boxes 20 to allow sufficient operating space for the forks, resulting in reduced storage density. In addition, hook-style retrieval and placement requires sufficient space for the hooks to rotate, which is often difficult to achieve in densely packed shelving environments. Furthermore, for certain specially shaped or heavy goods, the hooks may not be able to be retrieved and placed safely and reliably.
[0103] refer to Figures 1-4 As shown, this application proposes a container loading and unloading device 10 for transporting a container 20. The container loading and unloading device 10 includes a support 100, a loading and unloading mechanism 200, and a lifting mechanism 300. The support 100 includes a carrying space 110 for supporting the container 20, and the loading and unloading mechanism 200 is used to connect with the container 20. It should be noted that the loading and unloading mechanism 200 and the container 20 can be directly hooked together to achieve connection, or they can directly abut against each other to achieve contact; this application does not impose any restrictions.
[0104] The lifting mechanism 300 is connected to the pick-and-place mechanism 200, and is used to drive the pick-and-place mechanism 200 to move vertically in the Y direction relative to the support 100. The connection between the lifting mechanism 300 and the pick-and-place mechanism 200 can be either a direct connection or an indirect connection via other components. Furthermore, the lifting mechanism 300 drives the pick-and-place mechanism 200 to move vertically in the Y direction relative to the support 100. That is, the pick-and-place mechanism 200 can move in and out of the bearing space 110 vertically in the Y direction.
[0105] refer to Figure 5 and Figure 6 As shown, the lifting mechanism 300 may include a vertical belt 310 and a vertical rotation mechanism 320. The vertical belt 310 is arranged along the vertical direction Y, and the vertical rotation mechanism 320 is used to drive the vertical belt 310 to move along the vertical direction Y. The pick-and-place mechanism 200 is fixedly arranged with the vertical belt 310 and moves along the vertical direction Y under the drive of the vertical belt 310. Of course, the lifting mechanism 300 may also be other types, such as a lifting rod, etc., and this application does not impose any restrictions.
[0106] refer to Figure 2 and Figure 5 As shown, the lifting mechanism 300 can switch between a first state A1 and a second state A2. When the lifting mechanism 300 is in the first state A1, it drives the pick-and-place mechanism 200 to the connected position. When the lifting mechanism 300 is in the connected position, the pick-and-place mechanism 200 is used to connect with the housing 20 and drive the housing 20 into or away from the carrying space 110. When the lifting mechanism 300 is in the second state A2, it drives the pick-and-place mechanism 200 to the separated position. When the lifting mechanism 300 is in the separated position, the pick-and-place mechanism 200 is used to separate from the housing 20.
[0107] The connection position and the separation position have a height difference relative to the support 100 along the vertical Y direction. It should be noted that in this application, the height of the connection position and the separation position is not limited. On one hand, the connection position can be higher than the separation position, with connection achieved when the lifting mechanism 300 is raised and separation achieved when the lifting mechanism 300 is lowered. On the other hand, the separation position can be higher than the connection position, with separation achieved when the lifting mechanism 300 is raised and connection achieved when the lifting mechanism 300 is lowered.
[0108] Based on the above configuration, this application can directly connect to or separate from the container 20 by moving the lifting mechanism 300 along the vertical Y direction, thereby realizing the transportation of the container 20. This process is simple, convenient, and easy to operate.
[0109] Furthermore, based on the above-mentioned design, the container loading and unloading device 10 proposed in this application avoids the need for a certain distance to be maintained between the containers 20 in the forklift-type loading and unloading method, which requires sufficient space for the fork arms to extend, thus reducing the storage density of the shelving. On the other hand, it also avoids the need for sufficient space for the hook to complete the rotation action in the hook-type loading and unloading method, and this method can also safely and reliably handle heavy goods. In summary, the above-mentioned design can greatly reduce the space required for loading and unloading, thereby increasing the overall storage density.
[0110] In one embodiment, reference Figures 1-5As shown, the support 100 includes two openings 120 arranged opposite each other along the transport direction X, and the openings 120 communicate with the carrying space 110. In addition, the box picking and placing device 10 includes a translation mechanism 400, which is connected to the picking and placing mechanism 200 and is used to drive the picking and placing mechanism 200 to move relative to the support 100 along the transport direction X, so as to drive the box 20 into or away from the carrying space 110 through either opening 120.
[0111] Similarly, the translation mechanism 400 here is connected to the pick-and-place mechanism 200. This connection can be either direct or indirect, achieved through other components. (Reference) Figures 1-5 As shown, the lifting mechanism 300 is connected to the pick-and-place mechanism 200 via the translation mechanism 400, and the translation mechanism 400 is directly connected to the pick-and-place mechanism 200. Of course, except... Figures 1-5 In addition to the embodiments shown, this embodiment may also include a situation where the translation mechanism 400 is connected to the pick-and-place mechanism 200 via the lifting mechanism 300, and the lifting mechanism 300 is directly connected to the pick-and-place mechanism 200.
[0112] refer to Figures 5-8 As shown, the translation mechanism 400 includes a transverse belt 410 and a transverse rotation mechanism 420. The transverse belt 410 is arranged along the transport direction X, and the transverse rotation mechanism 420 is used to drive the transverse belt 410 to move along the transport direction X. The pick-and-place mechanism 200 is fixedly installed with the transverse belt 410 and moves along the transport direction X under the drive of the transverse belt 410. Similarly, the lifting mechanism 300 can also be other types, such as a sliding rod, etc., and this application does not impose any restrictions.
[0113] Based on the above configuration, the translation mechanism 400 and the lifting mechanism 300 work together to allow the picking and placing mechanism 200 to move along the transport direction X and the vertical direction Y, thus enabling the picking and placing of goods even when the picking and placing device 10 is not in its designated position. For example, if the gantry 30 fails to deliver the picking and placing device 10 to the designated height, the lifting mechanism 300 can increase or decrease its stroke to compensate. Similarly, if the gantry 30 fails to deliver the picking and placing device 10 to the designated position along the transport direction X, the translation mechanism 400 can increase or decrease its stroke to compensate.
[0114] In one embodiment, the storage system may also be provided with multiple shelves, which are spaced apart along the transport direction X, and the box pick-and-place device 10 is disposed between the multiple shelves.
[0115] At this time, the translation mechanism 400 can drive the pick-and-place mechanism 200 to enter or move away from the carrying space 110 through either opening 120. That is, the pick-and-place mechanism 200 can pick up or place goods in both opening directions. Compared with single-sided pick-and-place, this configuration greatly saves costs, improves efficiency, and saves a lot of space.
[0116] In one embodiment, reference Figures 6-8 As shown, the translation mechanism 400 includes a slidingly connected transfer unit 430 and a fixing unit 440. The fixing unit 440 is connected to the bracket 100, and the transfer unit 430 is slidably connected to the pick-and-place mechanism 200. When the pick-and-place mechanism 200 extends out of the bearing space 110 along the transport direction X and moves to its limit position, along the transport direction X, the pick-and-place mechanism 200 is located at the end of the transfer unit 430 opposite to the fixing unit 440.
[0117] Based on the above configuration, the path that the pick-and-place mechanism 200 can take along the transport direction X is the sum of the paths of the transfer unit 430 and the fixing unit 440 in the transport direction X. Furthermore, with this configuration, the pick-and-place mechanism 200 can be positioned at the outermost end of the transfer unit 430 when it reaches its limit position, thus facilitating contact with the container 20 and making it easier to pick up or place goods.
[0118] In one embodiment, reference Figure 7 and Figure 8 As shown, the translation mechanism 400 includes a transverse sub-belt 450, which is wound around the transfer unit 430. The transfer unit 430 includes a first side end 431 and a second side end 432 arranged opposite to each other along the thickness direction. The pick-and-place mechanism 200 is fixedly connected to the transverse sub-belt 450 located at the first side end 431, and the fixing unit 440 is fixedly connected to the transverse sub-belt 450 located at the second side end 432. When the pick-and-place mechanism 200 is in its extreme position, the pick-and-place mechanism 200 and the fixing unit 440 are respectively located at both ends of the transverse belt 410 along the transport direction X.
[0119] Based on the above configuration, when the translation mechanism 400 moves to one side, the transverse belt 410 drives the pick-up and place mechanism 200 to move on the same side, and at the same time drives the fixed unit 440 to move in the opposite direction until the pick-up and place mechanism 200 is at its limit position. At this point, the pick-up and place mechanism 200 and the fixed unit 440 are located at the two ends of the transverse belt 410 along the transport direction X, which makes it more convenient to pick up or place goods.
[0120] In one embodiment, reference continues Figures 6-8 As shown. Among them, reference Figure 6As shown, the transverse sub-belt 450 is omitted to show the two rotating wheels 460. The transfer unit 430 includes a first rod 430A and a second rod 430B slidably connected to the fixed unit 440. The first rod 430A and the second rod 430B are arranged along the transport direction X, and a fixed space 470 is provided between the first rod 430A and the second rod 430B. The translation mechanism 400 includes at least two spaced rotating wheels 460, which are disposed in the fixed space 470. The transverse sub-belt 450 is wound around the two rotating wheels 460.
[0121] Based on the above configuration, on the one hand, the rotating wheels 460 are all positioned between the first rod 430A and the second rod 430B, thereby allowing the rotating wheels 460 to be connected to the first rod 430A and the second rod 430B respectively, thus improving their stability. On the other hand, the rotating wheels 460 and the transverse sub-belt 450 within the fixed space 470 can be protected from direct contact by external objects, preventing damage.
[0122] Furthermore, in this embodiment, the two rotating wheels 460 are respectively fixed at both ends of the fixed space 470. This arrangement allows the transverse sub-strips 450 on the two rotating wheels 460 to be at their longest length, thereby enabling the pick-and-place mechanism 200 and the fixed unit 440 connected to the transverse sub-strips 450 to move to their furthest relative positions, thus achieving a better pick-and-place effect.
[0123] In one embodiment, the pick-and-place mechanism 200 is configured to move between a first extreme position and a second extreme position. (See reference...) Figure 1 As shown, in the storage system proposed in this application, there is only one gantry 30, but the container loading and unloading device 10 needs to transport the container 20 to both sides. Therefore, when transporting the container 20 to the side with the gantry 30, it needs to cross the gantry 30.
[0124] When the pick-up and place mechanism 200 is in the first extreme position, the distance from the end of the pick-up and place mechanism 200 away from the bearing space 110 is defined as the first distance. When the pick-up and place mechanism 200 is in the second extreme position, the distance from the end of the pick-up and place mechanism 200 away from the bearing space 110 is defined as the second distance. In this embodiment, the first distance is set to be greater than the second distance. That is, the distance the pick-up and place mechanism 200 extends from the bearing space 110 in the first extreme position is longer than the distance it extends from the bearing space 110 in the second extreme position, thereby filling the distance required to cross the gantry 30.
[0125] When the difference between the first distance and the second distance is too large, the space required for the pick-and-place mechanism 200 is excessive. Conversely, when the difference is too small, the pick-and-place mechanism 200 cannot effectively cross the gantry 30 to transport the container 20. This application sets the difference between the first distance and the second distance to be greater than or equal to 5 cm and less than or equal to 10 cm. Within this range, the space occupied by the pick-and-place mechanism 200 is appropriate, while also allowing it to effectively cross the gantry 30 to transport the container 20. For example, the difference between the first distance and the second distance can be 5 cm, 6 cm, 7 cm, 8 cm, 9 cm, or 10 cm.
[0126] Furthermore, in one embodiment, reference Figure 1 As shown, the gantry 30 may also be provided with a baffle 31. When the loading and unloading device 10 is located at the storage opening, the baffle 31 is located at the opening 120. The second state includes a first sub-state and a second sub-state. When the lifting mechanism 300 is in the first sub-state, the orthographic projection of the loading and unloading mechanism 200 along the transport direction X onto the baffle 31 is at least partially located on the baffle 31. When the lifting mechanism 300 is in the second sub-state, the orthographic projection of the loading and unloading mechanism 200 along the transport direction X onto the baffle is located outside the baffle 31. That is, when the lifting mechanism 300 is in the first sub-state, the movement of the loading and unloading mechanism 200 along the transport direction X will be blocked by the baffle 31, thus preventing it from connecting with the box 20. When the lifting mechanism 300 is in the second sub-state, the movement of the loading and unloading mechanism 200 along the transport direction X will not be blocked by the baffle 31, thus enabling connection with the box 20. It should be noted that there is a height difference between the pick-and-place mechanism 200 in the first sub-state and the pick-and-place mechanism 200 in the second sub-state.
[0127] Based on the above settings, when the pick-up and place-out device 10 needs to pick up goods, the lifting mechanism 300 can be switched from the first sub-state to the second sub-state, so that the pick-up and place-out mechanism 200 will not be blocked by the baffle 31 when it moves along the transport direction X, and thus successfully connects with the box body 20.
[0128] In one embodiment, reference Figures 1-4 As shown, the loading and unloading box device 10 also includes a conveying mechanism 500, which is fixed to the bracket 100. The conveying mechanism 500 includes a first conveyor belt 530 and a second conveyor belt 540 arranged opposite to each other, and there is an installation space 130 between the first conveyor belt 530 and the second conveyor belt 540. The installation space 130 is located below the bearing space 110.
[0129] The lifting mechanism 300 is disposed in the installation space 130, and the loading and unloading mechanism 200 can switch between the installation space 130 and the bearing space 110 under the drive of the lifting mechanism 300. That is, it can switch between the first state A1 and the second state A2.
[0130] Based on the above configuration, firstly, the first conveyor belt 530 and the second conveyor belt 540 can provide support forces on both sides to the box 20 located in the carrying space 110, thereby making the transportation of the box 20 more stable. Secondly, the installation space 130 located between the first conveyor belt 530 and the second conveyor belt 540 can be used to arrange the lifting mechanism 300, the translation mechanism 400, etc., thereby protecting the lifting mechanism 300 and the translation mechanism 400.
[0131] In addition, continue to refer to Figures 1-4 As shown, the conveying mechanism 500 also includes a conveying motor 510 and a conveying rod 520. The conveying motor 510 drives the conveying rod 520 to rotate. The conveying rod 520 is connected to the first conveyor belt 530 and the second conveyor belt 540 respectively, and drives the first conveyor belt 530 and the second conveyor belt 540 to rotate synchronously. Of course, the conveying mechanism 500 can also be other types, such as rotating wheels, etc., and this application does not impose any restrictions.
[0132] The pick-and-place mechanism 200, lifting mechanism 300, translation mechanism 400 and conveying mechanism 500 of the pick-and-place device 10 cooperate with each other to realize the transportation of the box 20.
[0133] The process of transporting the container to the pick-and-place device 10 is as follows: First, the lifting mechanism 300 transitions from the first sub-state to the second sub-state, ensuring that the pick-and-place mechanism 200 is not blocked by the baffle 31 when moving along the transport direction X. Then, the pick-and-place mechanism 200 moves out of the carrying space 110 under the action of the translation mechanism 400. Next, the lifting mechanism 300 raises the pick-and-place mechanism 200 to connect with the container 20. Then, the translation mechanism 400 moves back, pulling the container 20 into the carrying space 110. When the container 20 is pulled halfway into the carrying space 110, the lifting mechanism 300 lowers the pick-and-place mechanism to disconnect it from the container 20. Finally, the conveying mechanism 500 moves the container 20 entirely into the carrying space 110. It should be noted that the above example of the container 20 being pulled halfway into the carrying space 110 is only an example; the specific value can be determined according to the actual situation. For example, it could be one-quarter, one-half, three-quarters, etc.
[0134] The process of removing the box from the pick-and-place device 10 is as follows: First, under the movement of the conveyor mechanism 500, half of the box 20 is pushed out of the carrying space 110, thus exposing half of the carrying space 110. Then, the pick-and-place mechanism 200, driven by the translation mechanism 400, moves to the exposed carrying space 110, and the lifting mechanism 300 raises it from the installation space 130 to the carrying space 110. Next, the pick-and-place mechanism 200, driven by the translation mechanism 400, moves towards the box 20 until the box 20 is completely pushed onto the shelf. Finally, the translation mechanism 400 drives the pick-and-place mechanism 200 back, thus completing the delivery process. Similarly, the above-described action of pushing half of the box 20 out of the carrying space 110 is only an example; the specific value can be determined according to the actual situation. For example, it could be one-quarter, one-half, three-quarters, etc.
[0135] In one embodiment, reference Figures 2-4 As shown, the bracket 100 includes a first opening 120 and a second opening 120. Both the first opening 120 and the second opening 120 are connected to the bearing space 110. Furthermore, the first opening 120 and the second opening 120 are located on opposite sides of the bearing space 110 along the transport direction X.
[0136] refer to Figure 6 and Figure 7 As shown, the pick-and-place mechanism 200 includes a first pick-and-place unit 210 and a second pick-and-place unit 220 disposed opposite to each other along the transport direction X. The pick-and-place mechanism 200 is used to move between a first extreme position and a second extreme position. When the pick-and-place mechanism 200 is located at the first extreme position, the first pick-and-place unit 210 moves away from the bearing space 110 through the first opening 120, serving as the end of the pick-and-place mechanism 200 away from the bearing space 110, and is used to grasp or push the box 20. When the pick-and-place mechanism 200 is located at the second extreme position, the second pick-and-place unit 220 moves away from the bearing space 110 through the second opening 120, serving as the end of the pick-and-place mechanism 200 away from the bearing space 110, and is used to grasp or push the box 20.
[0137] Based on the above configuration, the first pick-and-place unit 210 and the second pick-and-place unit 220 can both grab or push the box 20 from the first opening 120 and the second opening 120, so that the pick-and-place box device 10 can exert maximum efficiency.
[0138] In this embodiment, refer to Figure 6 and Figure 7As shown. The pick-and-place mechanism 200 includes a fixing part 230. The first pick-and-place unit 210 and the second pick-and-place unit 220 each include a pick-and-place part 240 and an extension part 250 connected to each other. The first pick-and-place unit 210 and the second pick-and-place unit 220 are respectively fixed to both sides of the fixing part 230. It should be noted that the pick-and-place part 240 can be a hook or a suction cup. There can be two hooks or suction cups at the same time, or one can be a hook and the other can be a suction cup. Of course, the hook and suction cup are just examples in this embodiment, and their specific shapes are not limited in this application. In addition, it should be noted that when the pick-and-place part 240 is a hook, a hooking part is provided on the box 20 to facilitate the hook to hook the box 20.
[0139] The difference between the length of the extension 250 of the first pick-and-place unit 210 and the length of the extension 250 of the second pick-and-place unit 220 is set to be greater than or equal to 5 cm and less than or equal to 10 cm. Similarly, within this range, on the one hand, the space occupied by the pick-and-place mechanism 200 is appropriate, and on the other hand, the length of the extension 250 allows the pick-and-place unit 240 connected to it to effectively cross the thickness of the gantry 30 along the transport direction X to transport the box 20. For example, the difference between the length of the extension 250 of the first pick-and-place unit 210 and the length of the extension 250 of the second pick-and-place unit 220 can be 5 cm, 6 cm, 7 cm, 8 cm, 9 cm, or 10 cm.
[0140] In this embodiment, the pick-and-place mechanism 200 further includes two position detection units 260. The two position detection units 260 are fixedly disposed along the transport direction X with the extensions 250 of the first pick-and-place unit 210 and the second pick-and-place unit 220, respectively. When the pick-and-place mechanism 200 is located in the carrying space 110, one position detection unit 260 is positioned towards the first opening 120, and the other position detection unit 260 is positioned towards the second opening 120. The aforementioned position detection units 260 can detect the position of the box 20, and the storage system can adjust the position of the pick-and-place device 10 based on the detection of the position detection units 260.
[0141] Based on the above settings, the position detection unit 260 can detect the first opening 120 and the second opening 120 respectively, so that the lifting mechanism 300, the translation mechanism 400 and the conveying mechanism 500 can cooperate better to achieve better handling.
[0142] It should be noted that the technical solutions or features described in the above embodiments can be combined or supplemented with each other without conflict. The scope of protection of this application is not limited to the precise structures described in the above embodiments and shown in the accompanying drawings; all modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.
Claims
1. A device for taking and placing boxes, characterized in that, The container loading and unloading device is used for transporting containers and includes a support, a loading and unloading mechanism, and a lifting mechanism. The support includes a support space for supporting the box; The loading and unloading mechanism is used to connect with the box body; The lifting mechanism is connected to the picking and placing mechanism and is used to drive the picking and placing mechanism to move vertically relative to the support; the lifting mechanism is used to switch between a first state and a second state. When the lifting mechanism is in the first state, the lifting mechanism drives the picking and placing mechanism to the connection position; when the lifting mechanism is in the connection position, the picking and placing mechanism is used to connect with the box and drive the box into or away from the carrying space. When the lifting mechanism is in the second state, the lifting mechanism drives the pick-and-place mechanism to the separated position; when the lifting mechanism is in the separated position, the pick-and-place mechanism is used to separate from the box body. There is a height difference between the connection position and the separation position relative to the support in the vertical direction.
2. The container loading and unloading device as described in claim 1, characterized in that, The support includes two openings arranged opposite each other along the transport direction, the openings communicating with the bearing space; The box-taking and placement device includes a translation mechanism connected to the box-taking and placement mechanism, which drives the box-taking and placement mechanism to move relative to the support along the transport direction, so as to drive the box body into or away from the carrying space from any of the openings.
3. The container loading and unloading device as described in claim 2, characterized in that, The translation mechanism includes a slidingly connected transfer unit and a fixing unit. The fixing unit is connected to the bracket, and the transfer unit is slidably connected to the pick-and-place mechanism. When the pick-and-place mechanism extends out of the carrying space along the transport direction and moves to its limit position, the pick-and-place mechanism is located at the end of the transfer unit away from the fixed unit along the transport direction.
4. The container loading and unloading device as described in claim 3, characterized in that, The translation mechanism includes a transverse sub-strip, which is wound around the adapter unit. The adapter unit includes a first side end and a second side end that are arranged opposite to each other along the thickness direction. The pick-and-place mechanism is fixedly connected to the transverse sub-strip located at the first side end, and the fixing unit is fixedly connected to the transverse sub-strip located at the second side end. When the pick-and-place mechanism is in its extreme position, the pick-and-place mechanism and the fixing unit are respectively located at both ends of the transverse sub-belt along the transport direction.
5. The container loading and unloading device as described in claim 4, characterized in that, The adapter unit includes a first rod and a second rod that are slidably connected to the fixed unit. The first rod and the second rod are arranged along the transport direction and have a fixed space between them. The translation mechanism includes at least two spaced-apart rotating wheels, which are disposed in the fixed space, and the transverse sub-belt is wound around the two rotating wheels.
6. The container loading and unloading device as described in claim 5, characterized in that, The two rotating wheels are respectively fixed at both ends of the fixed space.
7. The container loading and unloading device as described in claim 2, characterized in that, The pick-and-place mechanism is used to move between a first extreme position and a second extreme position; When the pick-and-place mechanism is in the first extreme position, the distance between the pick-and-place mechanism and the bearing space is the first distance; when the pick-and-place mechanism is in the second extreme position, the distance between the pick-and-place mechanism and the bearing space is the second distance. The first distance is greater than the second distance, and the difference between the first distance and the second distance is greater than or equal to 5cm and less than or equal to 10cm.
8. The container loading and unloading device as described in claim 1, characterized in that, The loading and unloading box device further includes a conveying mechanism, which is fixed to the bracket. The conveying mechanism includes a first conveyor belt and a second conveyor belt arranged opposite to each other, and there is an installation space between the first conveyor belt and the second conveyor belt. The installation space is located below the bearing space. The lifting mechanism is located in the installation space, and the picking and placing mechanism can switch between the installation space and the bearing space under the drive of the lifting mechanism.
9. The container loading and unloading device as described in claim 1, characterized in that, The bracket includes a first opening and a second opening, both of which communicate with the bearing space, and the first opening and the second opening are located on opposite sides of the bearing space along the transport direction; The pick-and-place mechanism includes a first pick-and-place unit and a second pick-and-place unit arranged opposite to each other along the transport direction, and the pick-and-place mechanism is used to move between a first extreme position and a second extreme position. When the pick-and-place mechanism is in the first extreme position, the first pick-and-place unit moves away from the bearing space through the first opening, serving as the end of the pick-and-place mechanism away from the bearing space, and is used to grab or push the box; when the pick-and-place mechanism is in the second extreme position, the second pick-and-place unit moves away from the bearing space through the second opening, serving as the end of the pick-and-place mechanism away from the bearing space, and is used to grab or push the box.
10. The container loading and unloading device as described in claim 9, characterized in that, The picking and placing mechanism includes a fixing part, and the first picking and placing unit and the second picking and placing unit each include a picking and placing part and an extension part that are connected to each other. The first picking and placing unit and the second picking and placing unit are respectively fixed on both sides of the fixing part. The difference between the length of the extension of the first pick-and-place unit and the length of the extension of the second pick-and-place unit is greater than or equal to 5 cm and less than or equal to 10 cm.
11. The container loading and unloading device as described in claim 10, characterized in that, The pick-and-place mechanism further includes two position detection units, which are fixedly disposed along the transport direction to the extensions of the first pick-and-place unit and the second pick-and-place unit, respectively. Furthermore, when the pick-and-place mechanism is located in the carrying space, one of the position detection units is positioned facing the first opening, and the other position detection unit is positioned facing the second opening.
12. The container loading and unloading device as described in claim 10, characterized in that, The pick-and-place section is configured as a hook or a suction cup.
13. A storage system, characterized in that, The storage system includes: The shelf includes multiple storage openings; A gantry frame, which is configured to cooperate with the shelving unit; The retrieval and placement device according to any one of claims 1-12, wherein the retrieval and placement device is connected to the gantry and can be transported by the gantry to the corresponding storage port.
14. The storage system as described in claim 13, characterized in that, The storage system includes multiple shelves, which are spaced apart along the transport direction, and the pick-and-place device is disposed between the multiple shelves.
15. The storage system as described in claim 13, characterized in that, The support includes two openings arranged opposite each other along the transport direction, the openings communicating with the bearing space; The gantry is equipped with a baffle, and when the box retrieval device is located at the storage opening, the baffle is located at the opening; The second state includes a first sub-state and a second sub-state; When the lifting mechanism is in the first sub-state, the orthogonal projection of the pick-up and place mechanism onto the baffle along the transport direction is at least partially located on the baffle; When the lifting mechanism is in the second sub-state, the orthogonal projection of the pick-up and place mechanism onto the baffle along the transport direction is outside the baffle.