Material taking and feeding device, loading and unloading unit and sorting system

Abstract

A material taking and feeding device, a loading and unloading unit and a picking system, the material taking and feeding device comprises a support frame (100), a bearing assembly, a taking and placing assembly (121), a rotating assembly (124), a vertical moving assembly (123) and a transverse moving mechanism (122), the bearing assembly is connected to the support frame and has a bearing surface (111); the pick-and-place assembly located above the bearing assembly is provided with a joint component used for being detachably connected to the container; the rotating assembly is provided with a rotating shaft (121d) connected to the pick-and-place assembly and used for driving the pick-and-place assembly to rotate around a first pivoting axis (AX1) perpendicular to the bearing surface; the vertical moving assembly is used for moving the rotating assembly and the taking and placing assembly in the vertical direction. The transverse moving mechanism is used for moving the joint component in the first horizontal direction (D1), and the transverse moving mechanism is arranged on the vertical moving assembly and / or the joint component. According to the device, material taking and feeding in two opposite directions are achieved through a more simplified structure, and due to the fact that the taking and placing assembly is located above the bearing surface, material taking and feeding at the lower position of the goods shelf can be achieved easily.

Description

[0001] This application claims priority to two Chinese patent applications filed on July 7, 2022, entitled "Feeding and Picking Device, Loading and Unloading Unit and Picking System" and "Feeding and Picking Device, Loading and Unloading Unit and Picking System", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This invention relates generally to the technical field of warehousing equipment, and more specifically to a material handling device, a loading and unloading unit, and a picking system. Background Technology

[0003] Currently, automated warehousing systems are increasingly being used in various civilian and industrial warehousing fields. However, due to the continuous increase in storage site costs, there is a growing demand for efficient and intensive storage methods.

[0004] The characteristic of racking layout in the field of high-density warehousing is that storage locations are arranged closely together. Forklift handling methods such as pallet chucks are not suitable for loading and unloading; moreover, both inbound and manual handling are relatively inefficient.

[0005] Therefore, there is a need to provide a feeding device, a loading and unloading unit, and a picking system to at least partially solve the above problems. Utility Model Content

[0006] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0007] To at least partially solve the above problems, a first aspect of the present invention provides a feeding device, the feeding device comprising:

[0008] Support frame;

[0009] A support assembly connected to the support frame, the support assembly having a support surface for supporting a container, the outer regions of the two ends of the support surface along a first horizontal direction being a first target position and a second target position, respectively;

[0010] A pick-and-place assembly, located above the carrier assembly, having a detachable engagement member for unidirectional or bidirectional transfer of the container between a first target location and the carrier assembly, and for unidirectional or bidirectional transfer of the container between a second target location and the carrier assembly;

[0011] A rotating assembly having a rotation axis connected to the pick-and-place assembly for driving the pick-and-place assembly to rotate about a first pivot axis perpendicular to the bearing surface, so that the engaging member can be oriented toward the first target position or the second target position;

[0012] A vertical moving assembly, connected to the support frame, for moving the rotating assembly and the pick-and-place assembly in a vertical direction perpendicular to the bearing surface; and

[0013] A lateral movement mechanism for moving the connecting member relative to the support frame along the first horizontal direction, the lateral movement mechanism being disposed on the vertical movement assembly and / or the connecting member.

[0014] According to the first aspect of the present invention, the picking and placing device, by placing the picking and placing component above the carrying component, does not occupy the space under the support frame, which helps to pick and place containers at lower positions on the shelf; since the connecting member is oriented in different directions by rotating the rotating component to pick and place materials at the first target position or the second target position, the structure of the picking and placing component is simplified, and the space occupied along the first horizontal direction is reduced; since the connecting member rotates about the first vertical pivot axis, the space occupied in the vertical direction can be reduced, which in turn helps to make the structure of the picking and placing device in the vertical direction more compact.

[0015] Optionally, the lateral movement mechanism is configured as a lateral movement component, which is disposed between the vertical movement component and the support frame to drive the vertical movement component, the rotation component, and the pick-and-place component to move together along the first horizontal direction.

[0016] Optionally, the lateral movement component includes:

[0017] A transverse guide rail is provided on the support frame along the first horizontal direction;

[0018] A lateral moving member, movably connected to the lateral guide rail, and connected to the vertical moving assembly.

[0019] Optionally, the vertical movement component includes:

[0020] A vertical guide rail is provided on the transverse moving member along the vertical direction;

[0021] A vertically moving member, movably connected to the vertical guide rail, and connected to the rotating assembly.

[0022] Optionally, the lateral movement mechanism is configured as a lateral movement component, which is disposed between the rotating component and the vertical movement component to drive both the rotating component and the pick-and-place component to move laterally together.

[0023] Optionally, the vertical movement component includes:

[0024] A vertical guide rail is provided on the support frame along the vertical direction;

[0025] A vertically moving component, movably connected to the vertical guide rail, and connected to the horizontally moving assembly.

[0026] Optionally, the lateral movement component includes:

[0027] A transverse guide rail is provided on the vertical moving member along the first horizontal direction;

[0028] A lateral moving member, movably connected to the lateral guide rail, is connected to the rotating assembly.

[0029] Optionally, the lateral movement mechanism includes a fixed member connected to the rotation axis and a movable member that is horizontally extendable relative to the fixed member, the movable member being connected to the engaging member.

[0030] Optionally, the pick-and-place assembly includes another lateral movement mechanism, which includes a fixed member connected to the rotation axis and a movable member that is horizontally extendable relative to the fixed member. The movable member is connected to the engaging member and is used to drive the engaging member to move to a third target position and to drive the engaging member to move to a fourth target position. Along the first horizontal direction, the third target position is farther away from the support frame than the first target position, and the fourth target position is farther away from the support frame than the second target position.

[0031] Optionally, the feeding device includes a first open end and a second open end; the carrying component includes at least one conveyor belt configured to drive the container from one of the first open end and the second open end to the other of the first open end and the second open end.

[0032] Optionally, the feeding device includes at least two conveyor belts, which are spaced apart along a second horizontal direction perpendicular to the first horizontal direction.

[0033] Optionally, there are two conveyor belts, and the pick-and-place assembly is located between the two conveyor belts.

[0034] Optionally, the top of the support frame has a clearance notch through which the vertical moving component extends at least partially.

[0035] Optionally, the vertical moving component is configured to move the pick-and-place component between a clearance position and an operating position, wherein the pick-and-place component in the clearance position extends at least partially through the clearance notch, and the pick-and-place component in the operating position is located below the clearance notch.

[0036] Optionally, anti-fall guards are provided on both sides of the conveyor belt, and the anti-fall guards are configured to restrain the container on the bearing surface.

[0037] Optionally, the feeding device further includes a guiding mechanism configured to guide the container on the conveyor belt toward the center of a second horizontal direction, the second horizontal direction being perpendicular to the first horizontal direction and the vertical direction.

[0038] Optionally, the anti-fall guard extends from the first opening end of the feeding device to the second opening end, and the anti-fall guard extends inward along the second horizontal direction in the middle region between the first opening end and the second opening end to form the guide mechanism.

[0039] Alternatively, the connecting member may be configured as a suction cup, hook, or magnet.

[0040] Optionally, the rotating component includes:

[0041] A linear cylinder, the linear cylinder comprising a cylinder body and a piston rod movable in a direction perpendicular to the first pivot axis;

[0042] A rack, the rack being connected to the piston rod; and

[0043] A gear, which is connected to the rotating shaft and meshes with the rack.

[0044] Optionally, the rotating component includes:

[0045] A linear cylinder, the linear cylinder comprising a cylinder body and a piston rod movable in a direction perpendicular to the first pivot axis;

[0046] A connecting rod, the first end of which is pivotally connected to the piston rod about a second pivot axis parallel to the first pivot axis; and

[0047] A connector, the first end of which is pivotally connected to the second end of the connecting rod about a third pivot axis parallel to the first pivot axis, the second end of which is connected to the pivot axis, the connector being configured as a crank or a disc.

[0048] Optionally, the rotating component includes:

[0049] An electric motor, wherein the output shaft of the electric motor is connected to the rotating shaft; or

[0050] A rotary cylinder, the output of which is connected to the rotating shaft.

[0051] Optionally, the feeding device further includes:

[0052] A sensor is disposed at the end of the support frame along the first horizontal direction, and the sensor is used to detect the height information of the container.

[0053] Optionally, the feeding device further includes:

[0054] A controller, connected to the sensor and the vertical movement component, is configured to perform:

[0055] Receive the height information detected by the sensor;

[0056] Based on the height information, determine the required vertical movement distance of the pick-and-place component along the vertical direction;

[0057] Based on the vertical movement distance, the vertical movement component is controlled to drive the pick-up and place component to move the vertical movement distance along the vertical direction.

[0058] A second aspect of the present invention provides a loading and unloading unit, including a frame on which the above-mentioned material handling device is disposed, wherein the material handling device is configured to be movably disposed on the frame.

[0059] According to the second aspect of the present invention, the loading and unloading unit, by applying the above-mentioned feeding and receiving device, can complete both container picking and container delivery, thereby improving equipment utilization and work efficiency, reducing manual labor, and effectively lowering production costs.

[0060] Optionally, the frame includes:

[0061] The X-axis track extends parallel to the bearing surface of the feeding device and is perpendicular to the first horizontal direction.

[0062] The Y-axis track extends parallel to the vertical direction and is movably connected to the X-axis track along its extension direction. The feeding device is movably connected to the Y-axis track along the vertical direction.

[0063] Optionally, the X-axis track includes a ground rail, and the lower end of the Y-axis track is movably connected to the ground rail.

[0064] Optionally, the X-axis track further includes a ceiling track located above the ground track, and the upper end of the Y-axis track is movably connected to the ceiling track.

[0065] Optionally, at least two Y-axis tracks are provided, and at least one of the feeding devices is provided on each Y-axis track.

[0066] A third aspect of the present invention provides a picking system, the picking system comprising:

[0067] The workstation area is equipped with picking stations;

[0068] A racking docking area, configured for docking racks, the racking docking area being spaced apart from the workstation area along the first horizontal direction; and

[0069] According to the above-described loading and unloading unit, the loading and unloading unit is located at the interval between the workstation area and the rack docking area, and the loading and unloading unit is configured to transfer containers between the workstation area and the rack docking area.

[0070] According to the picking system of the third aspect of the present invention, by applying the above-described loading and unloading unit, it is helpful to adapt to the needs of more efficient goods loading and unloading in a more compact and dense storage environment.

[0071] Optionally, the workstation area further includes a conveyor line for receiving the container transferred from the pick-and-feed device; or for conveying the container located on the conveyor line to the pick-and-feed container assembly. Attached Figure Description

[0072] The following drawings, which illustrate embodiments of the present invention, are included as part of this invention for understanding its principles. The drawings depict embodiments of the invention and their descriptions, serving to explain the principles of the invention. In the drawings,

[0073] Figure 1 This is a perspective view of a feeding device according to a preferred embodiment of the present invention;

[0074] Figure 2 for Figure 1 Another perspective view of the feeding device shown;

[0075] Figure 3 for Figure 1 The top view of the feeding device shown;

[0076] Figure 4 for Figure 1 The diagram shows a usage state of the feeding device, in which a suction cup extends out of the first opening end and engages with the container;

[0077] Figure 5 for Figure 1 Another diagram of the feeding device in use is shown, in which the suction cup partially moves the container from the first open end onto the support surface;

[0078] Figure 6 for Figure 1 The diagram shows another usage state of the feeding device, in which the container is fully positioned on the bearing surface and the suction cup is in a clearance position facing the first opening end;

[0079] Figure 7 for Figure 1 The diagram shows another usage state of the feeding device, in which the container is fully positioned on the bearing surface and the suction cup is in a clearance position facing the second opening end;

[0080] Figure 8 for Figure 1 The diagram shows another usage state of the feeding device, in which the suction cup completely pushes the container from the second opening end to the outside of the feeding device;

[0081] Figure 9 for Figure 1 The diagram shows another usage state of the feeding device, in which the container is completely outside the feeding device;

[0082] Figure 10 for Figure 1 A side view of the connection structure of the pick-and-place component, the rotating component, and the vertical moving component shown;

[0083] Figure 11 for Figure 10 A perspective view of the connection structure of the pick-and-place component, the rotating component, and the vertical moving component shown.

[0084] Figure 12 This is a perspective view of a feeding device according to another preferred embodiment of the present invention;

[0085] Figure 13 for Figure 12 The top view of the feeding device shown;

[0086] Figure 14 This is a top view of a feeding device according to another preferred embodiment of the present invention, wherein there are three conveyor belts;

[0087] Figure 15 for Figure 14 A perspective view of the feeding device shown;

[0088] Figure 16 This is a perspective view of a feeding device according to another preferred embodiment of the present invention, wherein the conveyor belt is a single piece; and

[0089] Figure 17 This is a perspective view of a loading and unloading unit with a feeding device according to a preferred embodiment of the present invention.

[0090] Explanation of reference numerals in the attached figures

[0091] 100: Support frame; 101: First open end

[0092] 102: Second opening end; 103: Fall protection edge.

[0093] 103a: Guiding mechanism; 104: Avoidance gap

[0094] 110: Conveyor belt; 111: Bearing surface

[0095] 112: Opening 120: Motion Mechanism

[0096] 121: Pick-up and drop-off assembly; 121a: joystick

[0097] 121b: Suction cup; 121c: Rotating frame

[0098] 121c1: Mounting part; 121d: Rotating shaft

[0099] 121f: Proximity sensor; 122: Lateral movement assembly

[0100] 122a: Lateral guide rail; 122b: Lateral moving component

[0101] 123: Vertical moving component; 123a: Vertical guide rail

[0102] 123b: Vertical moving component; 124: Rotating component

[0103] 124a: Linear cylinder; 124b: Rack and pinion

[0104] 124c: Gear; 130: Container

[0105] 224: Rotary assembly; 224a: Linear cylinder

[0106] 224d: Linkage rod; 224e: Disc

[0107] 300: Frame; 310: X-axis track

[0108] 320: Y-axis track; 400: shelf.

[0109] AX1: First pivot axis; AX2: Second pivot axis

[0110] AX3: Third pivot axis; D1: First horizontal direction

[0111] D2: Second horizontal direction; D3: Vertical direction Detailed Implementation

[0112] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid confusion with embodiments of the invention.

[0113] In this document, ordinal numbers such as “first” and “second” used in this application are merely identifiers and do not have any other meaning, such as a specific order. Moreover, for example, the term “first component” does not imply the existence of a “second component”, and the term “second component” does not imply the existence of a “first component”.

[0114] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0115] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0116] Unless otherwise stated, the numerical ranges in this document include not only the entire range within its two endpoints, but also the subranges contained therein.

[0117] Depending on the context, the word "if" can be interpreted as "when," "when," or "in response to determination."

[0118] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0119] First, the terminology used in one or more embodiments of the present invention will be explained.

[0120] "Goods shelving" refers to placing goods awaiting warehousing into the corresponding storage locations within the goods containers.

[0121] "Removing goods from shelves" refers to taking out goods that are about to be shipped from the corresponding storage location in the goods container.

[0122] A picking system is a system that picks target goods according to picking instructions. Target goods are the goods on the picking order, and each type of goods is stored in a different container.

[0123] Containers are used in logistics to load goods, including but not limited to shelves, bins, pallets, and boxes.

[0124] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. It should be noted that the terms "upper," "lower," and similar expressions used herein are for illustrative purposes only and are not intended to be limiting.

[0125] The following will combine Figures 1 to 17 The picking and feeding device according to the present invention will be described in detail. This picking and feeding device is used to realize the loading and unloading of goods between the mobile shelving and the workstation.

[0126] First Implementation Method

[0127] This invention first provides a feeding device for conveying containers, such as... Figures 1 to 17 As shown. The feeding device according to the present invention includes a support frame 100, a bearing assembly, and a motion mechanism 120. The motion mechanism 120 includes a picking and placing assembly 121, a rotating assembly 124, a vertical moving assembly 123, and a horizontal moving mechanism.

[0128] The carrier assembly is connected to the support frame 100. The carrier assembly has a carrier surface for carrying the container 130. The outer regions at both ends of the carrier surface along a first horizontal direction D1 are a first target position and a second target position, respectively. A pick-and-place assembly 121 is located above the carrier assembly. The pick-and-place assembly 121 has a detachable engagement member for unidirectional or bidirectional transfer of the container 130 between the first target position and the carrier assembly, and for unidirectional or bidirectional transfer of the container 130 between the second target position and the carrier assembly.

[0129] The rotating assembly 124 has a rotational axis connected to the pick-and-place assembly 121. The rotating assembly 124 drives the pick-and-place assembly 121 to rotate about a first pivot axis AX1 perpendicular to the bearing surface, so that the engaging member can be oriented toward a first target position or a second target position. A vertical moving assembly 123 is connected to the support frame 100. The vertical moving assembly 123 moves the rotating assembly 124 and the pick-and-place assembly 121 in a vertical direction perpendicular to the bearing surface to adjust the position of the pick-and-place assembly 121 in the vertical direction. A lateral moving mechanism is disposed on the vertical moving assembly 123 and / or the engaging member, for moving the engaging member relative to the support frame 100 in a first horizontal direction D1.

[0130] According to the feeding device of the present invention, by placing the picking and placing component 121 above the bearing component, the space below the support frame 100 is not occupied, which helps to pick and place the container 130 at a lower position on the shelf; since the connecting member is oriented in different directions by rotating the rotating component 124 to pick and place materials at the first target position or the second target position, the structure of the picking and placing component 121 is simplified, and the space occupied along the first horizontal direction D1 is reduced; since the connecting member rotates about the vertical first pivot axis AX1, the space occupied in the vertical direction can be reduced, which is conducive to the compactness of the structure of the picking and placing device for container 130 in the vertical direction.

[0131] The individual components of the feeding device will be discussed in further detail below:

[0132] support frame 100

[0133] like Figures 1 to 9 ,as well as Figures 12 to 17 As shown, the support frame 100 may include a base frame, a first side frame, a second side frame, and top beams. The base frame may be a horizontally arranged rectangular frame. The base frame is used to mount the load-bearing components, which will be detailed below. The first and second side frames are respectively connected to the two sides of the base frame along the second horizontal direction D2. The first and second side frames are parallel to each other and perpendicular to the base frame. The first and second side frames may be constructed as U-shaped frames with the opening 112 facing downwards. Two top beams are provided, and the two top beams are connected between the first and second side frames along the second horizontal direction D2. The two top beams correspond to the two ends of the base frame along the first horizontal direction D1.

[0134] In the illustrated embodiment, the height of the top beam is the same as that of the second side frame, and the top of the first side frame is higher than the top of the second side frame. The second side frame can be used to mount the motion mechanism 120, which will be described in detail below.

[0135] Furthermore, the support frame 100 may include a first open end 101 and a second open end 102. The first open end 101 and the second open end 102 are respectively located at both ends of the support frame 100 along the first horizontal direction D1. In the illustrated embodiment, the angle between the first open end 101 and the second open end 102 relative to the first pivot axis AX1 is 180 degrees.

[0136] Optionally, the top of the support frame 100 has a clearance notch 104. The vertical moving component 123, detailed below, can extend at least partially through the clearance notch 104. The first pivot axis AX1 of the rotating component 124, detailed below, corresponds to the center position of the clearance notch 104 along the second horizontal direction D2, and the size of the clearance notch 104 can be adapted to the pivoting range of the engaging member, detailed below, about the first pivot axis AX1. By defining the position and size of the clearance notch 104, the engaging member located in the clearance position can be allowed to pivot within the clearance notch 104, and even the engaging member can be allowed to pivot about the first pivot axis AX1 during movement from the operating position to the clearance position, thereby improving the efficiency of adjusting the attitude of the engaging member and thus helping to improve the working efficiency of the loading and unloading device during the loading and unloading process. It is understandable that the clearance notch 104 is not necessary. By setting the clearance notch 104, the dimension of the support frame 100 in the height direction can be reduced while being able to avoid larger containers 130, thereby contributing to the compactness of the structure of the support frame 100 in the vertical direction D3.

[0137] It is understood that, as a variation of the present invention, the support frame 100 may not include the top beam.

[0138] Carrier component

[0139] like Figures 1 to 3 ,as well as Figures 12 to 16 As can be seen, the support assembly is connected to the support frame 100 described above. The support assembly has a support surface 111 for supporting the container 130. The outer regions at both ends of the support surface 111 along the first horizontal direction D1 are a first target position and a second target position, respectively. The first target position can be set to correspond to the first opening end 101, and the second target position can be set to correspond to the second opening end 102, and the first target position is closer to the first opening end 101 than the second target position.

[0140] The first target location and the second target location can be corresponding container locations on the shelf. The first target location and the second target location can be the same container location or different container locations; there is no restriction on this.

[0141] Furthermore, the carrying component may include at least one conveyor belt 110. The conveyor belt 110 is configured to drive the container 130 from one of the first open end 101 and the second open end 102 to the other of the first open end 101 and the second open end 102. The upper surface of the conveyor belt 110 forms a carrying surface 111 for carrying the container 130.

[0142] In the illustrated embodiment, the conveyor belt 110 can be a single, integral, annular component (e.g., Figure 16 (As shown). The dimensions of the conveyor belt 110 along the second horizontal direction D2, which is perpendicular to the first horizontal direction D1, are adapted to the dimensions of the container 130 along the second horizontal direction D2. The pick-and-place assembly 121, which will be described in detail below, is disposed at the middle of the conveyor belt 110 along the second horizontal direction D2. The upper surface of the conveyor belt 110 constitutes the bearing surface 111 described above. In this embodiment, the bearing surface 111 is a complete surface along the second horizontal direction D2.

[0143] In the illustrated embodiment, the conveyor belt 110 can also be two annular components (such as...). Figures 1 to 3 ,as well as Figure 12 and Figure 13 (As shown). Two conveyor belts 110 are spaced apart along the second horizontal direction D2, respectively corresponding to the two ends of the support frame 100 along the second horizontal direction D2. The pick-and-place assembly 121 is located between the two conveyor belts 110. When carrying the container 130, the two conveyor belts 110 correspond to the bottom of the two ends of the container 130 along the second horizontal direction D2. The upper surfaces of the two conveyor belts 110 together constitute the bearing surface 111 mentioned above. That is, in this embodiment, the bearing surface 111 are two surfaces separated along the second horizontal direction D2. In variations of this embodiment, refer to 14 and Figure 15 An additional conveyor belt 110 can be added between the two conveyor belts 110 to support the middle position of the bottom of the container 130. This can prevent the container 130 from getting stuck in the opening 112 between the two conveyor belts 110, and can even prevent the container 130 from coming off the opening 112.

[0144] Furthermore, anti-fall guards 103 may be provided on both sides of the conveyor belt 110, and the anti-fall guards 103 are provided at both ends of the support frame 100 along the second horizontal direction D2. The anti-fall guards 103 extend from the first opening end 101 of the feeding device to the second opening end 102. The anti-fall guards 103 are configured to restrict the container 130 on the bearing surface 111, that is, to limit the stroke of the container 130 on the bearing surface 111 along the second horizontal direction D2, thereby preventing the container 130 from detaching from the sides of the conveyor belt 110. The second horizontal direction D2 is perpendicular to the first horizontal direction D1 and the vertical direction D3.

[0145] In addition, the support frame 100 is also provided with a guide mechanism 103a, which may be located at both ends of the bearing surface 111 along the second horizontal direction D2. The guide mechanism 103a is configured to guide the container 130 on the conveyor belt 110 toward the center of the second horizontal direction D2, such that the container 130 on the bearing surface 111 is located at the center of the bearing surface 111 along the second horizontal direction D2.

[0146] For example, in the illustrated embodiment, two fall arresters 103 are provided, located on opposite sides of the bearing surface 111 along the second horizontal direction D2. The guide mechanism 103a can be configured as opposing surfaces of the two fall arresters 103. The fall arresters 103 extend inward along the second horizontal direction D2 in the central region between the first opening end 101 and the second opening end 102 to form the guide mechanism 103a. The distance between the opposing surfaces of the two fall arresters 103 decreases along the direction in which the container 130 moves towards the bearing surface 111.

[0147] Pick-and-place component 121

[0148] See Figures 1 to 9 , Figures 12 to 17 The pick-and-place assembly 121 is located above the carrier assembly. The pick-and-place assembly 121 has a connecting member for detachable connection to the container 130. The connecting member is capable of unidirectional or bidirectional transfer of the container 130 between a first target location and the carrier assembly, and also capable of unidirectional or bidirectional transfer of the container 130 between a second target location and the carrier assembly. The unidirectional transfer of the container 130 between the first target location and the carrier assembly means that the connecting member can pick up and move the container 130 from the first target location onto the carrier assembly, or push the container 130 from the carrier assembly to the first target location. The bidirectional transfer of the container 130 between the first target location and the carrier assembly means that the connecting member can both pick up and move the container 130 from the first target location onto the carrier assembly and push the container 130 from the carrier assembly to the first target location.

[0149] In the illustrated embodiment, the pick-and-place assembly 121 further includes a lever 121a and a rotating frame 121c. One end of the lever 121a along its length is connected to the rotating frame 121c, and the other end of the lever 121a along its length is connected to a coupling member. The coupling member is constructed as a suction cup 121b. The suction force of the suction cup 121b is provided by a vacuuming device and is connected to the outward-facing surface of the suction cup 121b via an air passage. Thus, after the suction cup 121b contacts the surface of the container 130, a vacuum is created by activating the vacuuming device to achieve coupling between the suction cup 121b and the container 130. The vacuum is then disengaged by closing the vacuuming device or closing the valve connected in series with the air passage.

[0150] It is understood that, as a variation of this embodiment, the connecting member can be constructed as a hook. Accordingly, a structure such as a stiffener that can be hooked onto the end face or near the end face (e.g., the side of the end face) or the upper edge of the container 130 can be provided. By providing the hook, the container 130 can be hooked, thereby achieving the connection between the pick-and-place assembly 121 and the container 130.

[0151] As another variation of this embodiment, the engaging member can be constructed as a magnet. Accordingly, an iron member or another magnet capable of being attracted to the magnet magnetically can be provided on the container 130. An electromagnet is preferably used as the engaging member. The electromagnet is electrically connected to a controller via a switch, and the controller controls the opening and closing of the switch to control the engagement and disengagement of the electromagnet from the container 130.

[0152] Rotating component 124

[0153] See Figures 1 to 11 ,as well as Figures 14 to 17 The rotating assembly 124 has a rotating shaft 121d and is connected to the pick-and-place assembly 121 described above via the rotating shaft 121d. The rotating assembly 124 is used to drive the suction cup 121b described above to rotate about a first pivot axis AX1 perpendicular to the bearing surface 111, so that the engaging member can be oriented toward a first target position or a second target position.

[0154] In the illustrated embodiment, the rotating assembly 124 includes a linear cylinder 124a, a rack 124b, and a gear 124c. The linear cylinder 124a includes a cylinder body and a piston rod movable in a direction perpendicular to the first pivot axis AX1. The rack 124b is connected to the piston rod. The gear 124c is connected to the rotating shaft 121d and meshes with the rack 124b. The axis of the gear 124c coincides with the axis of the rotating shaft 121d. When the cylinder is activated, the piston rod extends and retracts, transmitting power to the rotating shaft 121d via the rack 124b and gear 124c, causing the rotating shaft 121d to rotate forward and backward, ultimately changing the orientation of the engaging member so that the engaging member faces either a first target position or a second target position. Limiting structures can be provided at both ends of the stroke of the suction cup 121b to limit its range of movement. Since the linear cylinder 124a is well-known in the art, it will not be described in detail here.

[0155] See Figure 12 and Figure 13In another embodiment of the aforementioned rotating assembly, the rotating assembly 224 includes a linear cylinder 224a, a connecting rod, and a connector. The linear cylinder 224a includes a cylinder body and a piston rod movable in a direction perpendicular to the first pivot axis AX1. A first end of the connecting rod 224d is pivotally connected to the piston rod about a second pivot axis AX2 parallel to the first pivot axis AX1. A first end of the connector is pivotally connected to a second end of the connecting rod 224d about a third pivot axis AX3 parallel to the first pivot axis AX1. The second end of the connector is fixedly connected to the rotating shaft 121d. In the illustrated embodiment, the connector is constructed as a disk 224e. The third pivot axis AX3 does not coincide with the first pivot axis AX1. It is understood that, as a variation of this embodiment, the connector can be constructed as a crank. The crank can be a rod.

[0156] It is understood that, as another embodiment of the aforementioned rotating assembly, the rotating assembly may include a motor or a rotary cylinder. That is, the rotating shaft 121d can be directly driven to rotate by a motor, thereby adjusting the rotation of the suction cup 121b mentioned above to change the orientation of the suction cup 121b. A reduction assembly, such as a reduction gear set, can be added between the motor and the rotating shaft 121d to adjust the pivoting speed of the rotating shaft 121d to meet the actual picking requirements.

[0157] It is also understood that, as another embodiment of the above-described rotating assembly, the rotating assembly may include a rotary cylinder. Alternatively, the output of the rotary cylinder may be connected to the rotating shaft 121d, with the rotation axis of the rotary cylinder's output coinciding with the first pivot axis AX1. Activating the rotary cylinder can drive the rotating shaft 121d to rotate around the first pivot axis AX1, thereby changing the orientation of the engaging member. Rotary cylinders are well-known technology in the art and will not be described in detail here.

[0158] Vertical moving component 123

[0159] like Figures 1 to 9 ,as well as Figures 12 to 17 As can be seen, the vertical moving component 123 is connected to the lateral moving mechanism, which will be described in detail below. The vertical moving component 123 is used to move the rotating component 124 and the pick-and-place component 121 in a vertical direction D3 perpendicular to the bearing surface 111. That is, the vertical moving component 123 is used to drive the rotating component 124 and the pick-and-place component 121 to move together in the vertical direction, so that the height of the suction cup 121b on the pick-and-place component 121 is adapted to the height of the container 130, or the suction cup 121b is positioned in a position that avoids the container 130.

[0160] Optionally, the vertical moving component 123 extends at least partially through the clearance notch 104 on the support frame 100 described above, thereby enabling the vertical moving component 123 to move the suction cup 121b to a higher position to avoid the container 130 on the bearing surface 111 when picking up or delivering a container 130 with a larger height dimension. This also helps to reduce the vertical dimension of the support frame 100.

[0161] In the illustrated embodiment, the vertical moving assembly specifically includes a vertical guide rail 123a and a vertical moving member 123b. The vertical guide rail 123a is disposed along the vertical direction D3 above the lateral moving member 122b, which will be described in detail below. The vertical moving member 123b is movably connected to the vertical guide rail 123a and is also connected to the rotating assembly 124. The vertical moving assembly 123 is configured to move the pick-and-place assembly 121 between a clearance position and an operating position. When the pick-and-place assembly 121 is in the clearance position, it can extend partially through the clearance notch 104 or be completely above the clearance notch 104; when the pick-and-place assembly 121 is in the operating position, it is located below the clearance notch 104, such that the height of the suction cup 121b is adapted to the height of the container 130, ensuring that the suction cup 121b can engage the container 130 and move the container 130 along the first horizontal direction D1.

[0162] Lateral movement mechanism

[0163] like Figures 1 to 9 ,as well as Figures 12 to 17 As shown, the lateral movement mechanism is connected to the support frame 100 and is able to move relative to the support frame 100 along the first horizontal direction D1, thereby enabling the engagement member to move relative to the support frame 100 along the first horizontal direction D1.

[0164] In the illustrated embodiment, the lateral movement mechanism is configured as a lateral movement component 122. The lateral movement component 122 is disposed between the vertical movement component 123 and the support frame 100 to drive the vertical movement component 123, the rotation component 124, and the pick-and-place component 121 to move together along the first horizontal direction D1.

[0165] Specifically, the lateral movement assembly 122 includes a lateral guide rail 122a and a lateral movement member 122b. The lateral guide rail 122a is disposed on the support frame 100 along a first horizontal direction D1. The lateral movement member 122b is slidably connected to the lateral guide rail 122a along the first horizontal direction D1, and the lateral movement member 122b is connected to the vertical movement assembly 123.

[0166] It is understood that in variations of this embodiment, the positions of the lateral moving component 122 and the vertical moving component 123 can be interchanged. That is, in this variation, the lateral moving component 122 is disposed between the rotating component 124 and the vertical moving component 123 to drive both the rotating component 124 and the pick-and-place component 121 to move laterally together. Specifically, the vertical guide rail 123a of the vertical moving component 123 is disposed on the support frame 100 along the vertical direction D3, and the vertical moving member 123b of the vertical moving component 123 is movably connected to the vertical guide rail 123a and is connected to the lateral moving component 122. The lateral guide rail 122a of the lateral moving component 122 is disposed on the vertical moving member 123b along the first horizontal direction D1, and the lateral moving member 122b of the lateral moving component 122 is movably connected to the lateral guide rail 122a and is connected to the rotating component 124.

[0167] According to the feeding device of the present invention, a bearing assembly is provided on a support frame 100, and a container 130 is carried by a bearing surface 111 of the bearing assembly. The outer regions of the two ends of the bearing surface 111 along the first horizontal direction D1 are respectively the first target position and the second target position. The container 130 is detachably connected to the picking and placing assembly 121 above the bearing assembly by a connecting member, so as to transfer the container 130 unidirectionally or bidirectionally between the first target position and the bearing assembly, and to transfer the container 130 unidirectionally or bidirectionally between the second target position and the bearing assembly. The rotating shaft 121d of the rotating assembly 124 is connected to the picking and placing assembly 121 to drive the picking and placing assembly 121 to rotate about a first pivot axis AX1 perpendicular to the bearing surface 111, so that the connecting member can be directed toward the first target position or the second target position. The vertical moving assembly... 123 is connected to the support frame 100 and is used to move the rotating component 124 and the pick-and-place component 121 in a vertical direction D3 perpendicular to the bearing surface 111, so that the height of the pick-and-place component 121 can be adapted to the height of the container 130 to be picked up or to avoid the container 130 on the bearing surface 111; by providing a lateral movement mechanism to the vertical movement component 123 and / or the engaging component, the engaging component can be moved relative to the support frame 100 in a first horizontal direction D1 by the lateral movement mechanism, so that the engaging component toward the first target position can move between the bearing surface 111 and the first target position in a first horizontal direction D1, or so that the engaging component toward the second target position can move between the bearing surface 111 and the second target position in a first horizontal direction D1, thereby realizing the transfer of the container 130 along the first horizontal direction D1. The feeding device of the present invention, by placing the feeding component 121 above the bearing component, does not occupy the space under the support frame 100, which helps to pick up and put the container 130 at a lower position on the shelf; since the connecting member is oriented in different directions by rotating the rotating component 124 to pick up and put the material at the first target position or the second target position, it not only simplifies the structure of the feeding component 121, but also helps to reduce the space occupied along the first horizontal direction D1; and since the connecting member rotates about the vertical first pivot axis AX1, the space occupied in the vertical direction can be reduced, which in turn helps to make the structure of the feeding and putting device for container 130 compact in the vertical direction.

[0168] See Figures 1 to 11 ,as well as Figures 14 to 17The feeding device of the present invention may further include a proximity sensor 121f. The proximity sensor 121f is disposed on the rotating frame 121c and spaced apart from the first end of the operating lever 121a along the length of the operating lever 121a. The proximity sensor 121f generates a sensing signal when the first end of the operating lever 121a approaches the proximity sensor 121f. In practical applications, it needs to be used in conjunction with a controller (e.g., a computer) with data processing and analysis functions. The controller receives the sensing signal from the proximity sensor 121f and analyzes it to determine whether the engaging member reliably engages (abuts) with the container 130 on the shelf, or whether the container 130 is pushed into place on the shelf.

[0169] The pick-and-place assembly may also include two springs. In the illustrated embodiment, the rotating frame 121c has a mounting portion 121c1 protruding vertically in the direction D3, with a first end of the operating lever 121a movably passing through the mounting portion 121c1 along the length of the operating lever 121a. Two springs are located on opposite sides of the mounting portion 121c1 and are respectively connected to the operating lever 121a. The two springs buffer the forces from the containers in two opposite directions when the engaging member is under stress, preventing damage to the engaging member.

[0170] Optionally, position sensors for sensing the arrival signal of container 130 can also be installed on the support frame 100. The position sensors can be located at positions corresponding to the first opening end 101 and the second opening end 102 of the support frame 100. The position sensors can be implemented using photoelectric induction switches as in the prior art. Simultaneously, the controller is also connected to the electrical control connection terminals of the vertical movement component 123, the horizontal movement component 122, and the rotation component 124, etc., to analyze, process, and judge the information collected by the aforementioned position induction switches, proximity sensors, and other sensors, in order to regulate the operating state of the vertical movement component 123, the horizontal movement component 122, and the rotation component 124, etc.

[0171] For example, in practical applications, the same shelf may have storage locations of different sizes to accommodate containers of different volumes. When picking up and delivering containers to different storage locations on such a shelf, the height of the containers needs to be obtained in advance so that the connecting member can mate with the container to be picked up and delivered. In other applications, the storage locations on different shelves may also have different dimensions. Similarly, if the picking and delivering device of this embodiment is to perform the operation of picking up and delivering containers to storage locations of different sizes on different shelves, it also needs to obtain the dimensions of the containers for the corresponding storage locations in advance. To this end, the picking and delivering device of this embodiment further includes a controller and a sensor for detecting the height information of the containers. The sensor is disposed at one or both ends of the support frame along the first horizontal direction. The controller is connected to the sensor and connected to the vertical movement component, and the controller is configured to execute:

[0172] Receive height information detected by the sensor;

[0173] Based on the height information, determine the required vertical movement distance of the pick-up and place components in the vertical direction;

[0174] Based on the vertical movement distance, control the vertical movement component to drive the pick-and-place component to move vertically by the vertical movement distance.

[0175] The sensor used to detect the height information of the container serves two purposes: firstly, it detects the container size and controls the connecting components to adjust to the appropriate pick-up and delivery position to match containers of different sizes; secondly, it can also serve as a basis for adjusting the pick-up and delivery components to move to the avoidance position, because the actual height of the avoidance position may be different when picking up and delivering containers of different heights.

[0176] Furthermore, sensors (such as the aforementioned sensor for detecting container height information) or image acquisition devices can be arranged at the opening 112 between the two conveyor belts 110. For example, a camera can be installed at the opening 112 to collect identification information of the container 130.

[0177] In the illustrated embodiment, the suction cup 121b can rotate around the rotation axis 121d in the following ways:

[0178] See Figure 10 and Figure 11 The linear cylinder 124a drives the rack 124b to move along the second horizontal direction D2, and the rack and pinion mechanism drives the suction cup rod (operating lever 121a) to achieve a reciprocating 180-degree rotation.

[0179] In the illustrated embodiment, the method for retrieving goods from the first opening end 101 can be as follows:

[0180] When the feeding device moves to the feeding position along the conveyor line, the suction cup 121b is first rotated 180 degrees upwards so that it faces the first opening end 101. Then, the vertical moving component 123 lowers the suction cup 121b to the operating position (see...). Figures 1 to 3 Then, the suction cup 121b is moved along the first horizontal direction D1 by the lateral movement assembly 122 to extend the suction cup 121b as a whole (e.g., extend beyond the first opening end 101). A spring and a proximity sensor 121f are mounted on the lever 121a. When the suction cup 121b extends and abuts against the container (see...) Figure 4When the control lever 121a receives resistance and retracts, its tail end approaches the proximity sensor 121f, triggering the sensor to generate a sensing signal to adaptively position the container. Once reliable contact between the suction cup 121b and the container is confirmed, a vacuum can be created between the suction cup 121b and the container to ensure reliable attachment. At this point, the suction cup 121b retracts along the first horizontal direction D1 via the operation of the lateral movement assembly 122, pulling the container into the feeding device on the conveyor line (see [reference]). Figure 5 When the container reaches the sensing range of the outer edge sensor (the container is completely moved to the upper part of the conveying surface of the feeding device), the suction cup 121b breaks the vacuum, causing the suction cup 121b to detach from the container. Then, the suction cup 121b retracts along the first horizontal direction D1 via the lateral moving assembly 122 and rises vertically along the vertical direction via the vertical moving assembly 123 to a clearance position above the container (see...). Figure 5 This completes the pickup process. After pickup, the container located at the feeding device is transported by the conveyor line to the system's preset target position.

[0181] In the illustrated embodiment, the delivery from the second opening end 102 can be achieved as follows:

[0182] When the feeding device moves to the feeding position along the conveyor line, first rotate the suction cup 121b 180 degrees upwards so that the suction cup 121b faces the second opening end 102 (see...). Figure 7 The suction cup 121b descends to the operating position in the vertical direction D3 via the vertical moving component 123, and moves towards the second opening end 102 in the first horizontal direction D1 via the horizontal moving component 122 until it attaches to the container 130. Then, the suction cup 121b is moved along the first horizontal direction D1 by the horizontal moving component 122 until the container 130 is pushed out of the second opening end 102 (see...). Figure 8 The material is then transported to the designated location on the high-density shelving (or other structure that receives the container 130). Then, the suction cup 121b is retracted via the lateral movement component 122 and raised via the vertical movement component 123 until it returns to its position above the feeding device (see [reference]). Figure 9 ), thus completing the delivery.

[0183] In the illustrated embodiment, the method of retrieving goods from the second opening end 102 is the same as the method of retrieving goods from the first opening end 101, and will not be described again. Similarly, the method of delivering goods from the first opening end 101 is the same as the method of delivering goods from the second opening end 102, and will not be described again here.

[0184] Second Implementation Method

[0185] The feeding device according to the second embodiment of the present invention has a substantially the same structure as the feeding device according to the first embodiment, except for the position of the lateral moving mechanism, wherein structures with the same function are given the same or similar reference numerals. Therefore, for the sake of brevity, only the distinguishing technical features will be described in detail here.

[0186] The lateral movement mechanism is positioned between the rotating shaft and the engaging member. For example, the lateral movement mechanism can be positioned between the rotating shaft and the pick-and-place assembly, or it can be part of the pick-and-place assembly. The lateral movement mechanism includes a fixed member and a movable member. The fixed member is connected to the rotating shaft, and the movable member is connected to the engaging member, and the movable member can extend and retract horizontally relative to the fixed member. That is, by adjusting the distance between the engaging member and the rotating shaft through the lateral movement mechanism located between the rotating shaft and the engaging member, the extension and retraction of the engaging member can be adjusted. It should be noted that before activating the lateral movement mechanism, the rotating assembly can be activated first to drive the engaging member toward a first target position or a second target position to prevent interference between the engaging member and other structures of the pick-and-place device.

[0187] The lateral movement mechanism can be constructed as a linear cylinder. The cylinder body of the linear cylinder is connected to the rotating shaft, and the piston rod of the linear cylinder is connected to the engaging member.

[0188] It is understood that variations of this embodiment may include the two lateral movement mechanisms described above. That is, the two lateral movement mechanisms are used in combination to achieve a longer stroke. Furthermore, a double-extend position can be achieved to pick up and deliver containers at two locations at different distances in the first horizontal direction. This embodiment is applicable to racks with storage locations extending through the first horizontal direction. For example, one of the two lateral movement mechanisms may employ the lateral movement mechanism of the first embodiment, which can drive the engaging member to a first target position and then to a second target position. Simultaneously, the pick-and-place assembly includes another lateral movement mechanism. The lateral movement mechanism of the pick-and-place assembly includes a fixed member connected to a rotation axis and a movable member that can extend and retract horizontally relative to the fixed member, the movable member being connected to the engaging member. The lateral movement mechanism of the pick-and-place assembly is used to drive the engaging member to a third target position and to a fourth target position. Along the first horizontal direction, the third target position is further away from the support frame than the first target position, and the fourth target position is further away from the support frame than the second target position. The construction of the lateral movement mechanism of the pick-and-place assembly may also be the same as that of the lateral movement mechanism of the first embodiment.

[0189] Taking the transfer of a container between the carrier component and the first target position and the third target position as an example, the process of picking up and sending the container can be as follows: first, one of the two lateral movement mechanisms is activated to drive the connecting member to transfer the container between the carrier component and the first target position; then, both lateral movement mechanisms are activated simultaneously to drive the connecting member to transfer the container between the carrier component and the third target position.

[0190] According to any of the above embodiments of the present invention, the picking and feeding device can facilitate automated picking in automated high-density storage where goods are densely arranged and there are no forklift aisles on the sides. It can also handle multi-depth and low-level storage, thus enabling the picking and feeding device of the present invention to adapt to a more comprehensive high-density storage picking and delivery environment.

[0191] See Figure 17 The present invention also provides a loading and unloading unit, including a frame 300. A picking and feeding device according to any of the above embodiments is disposed on the frame 300, and the picking and feeding device can be configured to be movably disposed on the frame 300. That is, the picking and feeding device can be moved relative to the frame 300 to a position corresponding to a first target position, or relative to the frame 300 to a position corresponding to a second target position. The first target position can be a storage location on the shelf 400, or a location away from the shelf 400.

[0192] According to the loading and unloading unit of the present invention, by applying the above-mentioned feeding and receiving device, both container picking and container delivery can be completed, thereby improving equipment utilization and work efficiency, reducing manual labor, and effectively reducing production costs.

[0193] Specifically, the frame 300 includes an X-axis track 310 and a Y-axis track 320. The X-axis track 310 extends parallel to the bearing surface of the feeding device and is perpendicular to the first horizontal direction D1. The Y-axis track 320 extends parallel to the vertical direction D3. The Y-axis track 320 is configured to be movably connected to the X-axis track 310 along its extension direction. The feeding device is configured to be movably connected to the Y-axis track 320 along the vertical direction D3. When the feeding device moves along the extension direction of the X-axis track 310 (which may be parallel to the second horizontal direction D2), its position along the extension direction of the X-axis track 310 can be changed. When the feeding device moves along the extension direction of the Y-axis track 320 (vertical direction D3), its position along the extension direction of the Y-axis track 320 can be changed.

[0194] In the illustrated embodiment, the X-axis track 310 includes a ground track, and the lower end of the Y-axis track 320 is movably connected to the ground track. Optionally, a column capable of sliding along the X-axis track 310 can be provided on the ground track, and the Y-axis track 320 can be provided on the column.

[0195] It is understood that, in variations of the illustrated embodiment, the X-axis track 310 may further include a top track, which is located above the ground track, and the upper end of the Y-axis track 320 is movably connected to the top track. In applications where the X-axis track 310 includes a top track, the frame 300 may be constructed as a gantry (gantry frame), with the top track installed at the top of the gantry and the ground track installed at the bottom of the gantry.

[0196] To improve the efficiency of picking up and delivering the container 130, at least two Y-axis tracks 320 can be provided in this invention. Each Y-axis track 320 is provided with at least one picking and feeding device. The picking and feeding devices of the two Y-axis tracks 320 can work together to realize picking up and delivering goods at different positions on the X-axis track 310.

[0197] For example, in the illustrated embodiment, two Y-axis tracks 320 are provided, and each Y-axis track 320 is provided with a feeding device.

[0198] The loading and unloading unit of the present invention may further include a drive assembly for driving the Y-axis track 320 to move along the extension direction of the X-axis track 310 and for driving the feeding device to move along the extension direction of the Y-axis track 320. The drive assembly may include components such as a stepper motor, a lead screw, and a nut, or may be implemented in other ways as described in the prior art, which will not be elaborated here.

[0199] The present invention also provides a picking system, such as Figure 17 The loading and unloading unit shown is a component of the picking system. The picking system according to the present invention includes a workstation area, a shelf docking area, and a loading and unloading unit according to any of the above embodiments or variations. The workstation area contains picking stations. The shelf docking area is configured to dock shelves 400, and is spaced apart from the workstation area along a first horizontal direction D1. The loading and unloading unit is located at the interval between the workstation area and the shelf docking area, and is configured to transfer containers 130 between the workstation area and the shelf docking area 400.

[0200] Optionally, the workstation area also includes a conveyor line. The conveyor line is used to receive containers 130 transferred from the pick-and-feed device. Alternatively, it is used to transport containers 130 located on the conveyor line to the pick-and-feed device.

[0201] In a picking system, the loading and unloading unit can both pick up and deliver containers, improving equipment utilization and work efficiency, reducing manual labor, and effectively lowering production costs, demonstrating significant advantages. According to the picking system of the present invention, by applying the aforementioned loading and unloading unit, it is possible to adapt to more efficient shelving and de-shelving requirements in a more compact and dense storage environment.

[0202] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the invention. Terms such as “set” appearing herein can refer to either a component being directly attached to another component or a component being attached to another component via an intermediary. A feature described in one embodiment herein may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0203] The present invention has been described through the above embodiments; however, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit the present invention to the described embodiments. Those skilled in the art will understand that many variations and modifications can be made based on the teachings of the present invention, and all such variations and modifications fall within the scope of protection claimed by the present invention.

Claims

1. A feeding device, characterized in that, include: Support frame (100); A support assembly connected to the support frame (100) has a support surface (111) for supporting a container, wherein the outer regions of the two ends of the support surface (111) along a first horizontal direction (D1) are a first target position and a second target position, respectively. A pick-and-place assembly (121) is located above the carrier assembly and has a detachable engagement member for connecting to the container for unidirectional or bidirectional transfer of the container between the first target location and the carrier assembly, or for unidirectional or bidirectional transfer of the container between the second target location and the carrier assembly. A rotating assembly (124) having a rotation axis (121d) connected to the pick-and-place assembly (121) for driving the pick-and-place assembly (121) to rotate about a first pivot axis (AX1) so that the engagement member can be oriented toward the first target position or the second target position; as well as A lateral movement mechanism for moving the connecting member relative to the support frame (100) along the first horizontal direction (D1).

2. The feeding device according to claim 1, characterized in that, The lateral movement mechanism is configured as a lateral movement component (122), which is used to drive the rotation component (124) and the pick-and-place component (121) to move together along the first horizontal direction (D1).

3. The feeding device according to claim 2, characterized in that, The lateral movement component (122) includes: A transverse guide rail (122a) is disposed on the support frame (100) along the first horizontal direction (D1). A lateral moving member (122b) is movably connected to the lateral guide rail (122a).

4. The feeding device according to claim 1, characterized in that, The lateral movement mechanism includes a fixed member connected to the rotation shaft (121d) and a movable member that is retractable in the horizontal direction relative to the fixed member, the movable member being connected to the engaging member.

5. The feeding device according to claim 1, characterized in that, The pick-and-place assembly (121) includes another lateral movement mechanism, which includes a fixed member connected to the rotation shaft (121d) and a movable member that is horizontally extendable relative to the fixed member. The movable member is connected to the engaging member and is used to drive the engaging member to move to a third target position and to drive the engaging member to move to a fourth target position along the first horizontal direction (D1). The third target position is further away from the support frame (100) than the first target position, and the fourth target position is further away from the support frame (100) than the second target position.

6. The feeding device according to claim 1, characterized in that, The carrying component includes a conveyor belt (110) configured to drive the container to move along the first horizontal direction (D1).

7. The feeding device according to claim 6, characterized in that, The feeding device includes at least two conveyor belts (110), which are spaced apart along a second horizontal direction (D2) perpendicular to the first horizontal direction (D1).

8. The feeding device according to claim 7, characterized in that, The number of conveyor belts (110) is two, and the pick-and-place assembly (121) is located between the two conveyor belts (110).

9. The feeding device according to claim 1, characterized in that, The top of the support frame (100) has a clearance notch (104).

10. The feeding device according to claim 6, characterized in that, The conveyor belt (110) is provided with anti-fall guards (103) on both sides, which are configured to restrain the container on the bearing surface (111).

11. The feeding device according to claim 10, characterized in that, The feeding device further includes a guiding mechanism (103a) configured to guide the container on the conveyor belt (110) toward the center of a second horizontal direction (D2), the second horizontal direction (D2) being perpendicular to the first horizontal direction (D1) and the vertical direction (D3).

12. The feeding device according to claim 10, characterized in that, The feeding device includes a first open end (101) and a second open end (102), and the conveyor belt (110) is configured to drive the container to move from one of the first open end (101) and the second open end (102) to the other of the first open end (101) and the second open end (102).

13. The feeding device according to claim 12, characterized in that, The anti-fall guard (103) extends from the first opening end (101) of the feeding device to the second opening end (102). The anti-fall guard (103) extends inward along the second horizontal direction (D2) in the middle region between the first opening end (101) and the second opening end (102) to form a guide mechanism (103a).

14. The feeding device according to claim 1, characterized in that, The connecting component is constructed as a suction cup, hook, or magnet.

15. The feeding device according to claim 1, characterized in that, The rotating assembly (124) includes: A linear cylinder (224a) includes a cylinder body and a piston rod movable in a direction perpendicular to the first pivot axis (AX1); A rack, the rack being connected to the piston rod; and A gear, which is connected to the rotating shaft (121d) and meshes with the rack.

16. The feeding device according to claim 1, characterized in that, The rotating assembly (124) includes: A linear cylinder (224a) includes a cylinder body and a piston rod movable in a direction perpendicular to the first pivot axis (AX1); A connecting rod (224d), the first end of which is pivotally connected to the piston rod about a second pivot axis (AX2) parallel to the first pivot axis (AX1); and A connector, the first end of which is pivotally connected about a third pivot axis (AX3) parallel to the first pivot axis (AX1) to the second end of the connecting rod (224d), the second end of which is connected to the pivot axis, the connector being configured as a crank or a disc (224e).

17. The feeding device according to claim 1, characterized in that, The rotating assembly (124) includes: An electric motor, the output shaft of which is connected to the rotating shaft (121d); or A rotary cylinder, the output of which is connected to the rotating shaft (121d).

18. The feeding device according to claim 1, characterized in that, The pick-and-place assembly (121) includes a joystick (121a) and a rotating frame (121c), one end of the joystick (121a) is connected to the rotating frame (121c), and the other end of the joystick (121a) is connected to the engagement member.

19. The feeding device according to claim 18, characterized in that, The feeding device also includes a proximity sensor (121f), which is configured to generate a sensing signal when the end of the lever (121a) used to connect to the rotating frame (121c) approaches the proximity sensor (121f) to determine whether the engagement member engages with the container or whether the container is pushed into place.

20. The feeding device according to claim 1, characterized in that, The feeding device further includes a position sensor configured to sense the position signal of the container to at least regulate the motion state of the lateral movement mechanism and / or the rotating assembly (124).

21. The feeding device according to claim 1, characterized in that, The feeding device further includes a limiting structure, which is disposed at the end of the moving stroke of the connecting member to limit the range of movement of the connecting member.

22. The feeding device according to claim 1, characterized in that, The feeding device further includes: A sensor is disposed at the end of the support frame (100) along the first horizontal direction (D1), and the sensor is used to detect the height information of the container.

23. The feeding device according to claim 22, characterized in that, The feeding device further includes: A controller, connected to the sensor, configured to perform: Receive the height information detected by the sensor; Based on the height information, determine the required vertical movement distance of the pick-and-place component (121) along the vertical direction (D3); Based on the vertical movement distance, the pick-and-place component (121) is controlled to move vertically along the vertical direction (D3) by the vertical movement distance.

24. The feeding device according to claim 1, characterized in that, The feeding and receiving device also includes an image acquisition device configured to acquire the identification information of the container.

25. The feeding device according to any one of claims 1-24, characterized in that, The feeding device further includes a vertical moving component (123), which is connected to the support frame (100) and is used to move the rotating component (124) and the picking and placing component (121) in a vertical direction (D3) perpendicular to the bearing surface (111).

26. The feeding device according to claim 25, characterized in that, The lateral moving component (122) of the lateral moving mechanism is disposed on the side of the vertical moving component (123) facing the support frame (100) to drive the vertical moving component (123), the rotating component (124) and the pick-and-place component (121) to move together along the first horizontal direction (D1).

27. The feeding device according to claim 26, characterized in that, The vertical movement component (123) includes: A vertical guide rail (123a) is disposed along the vertical direction (D3) on the lateral moving member (122b) of the lateral moving assembly (122). A vertical moving member (123b) is movably connected to the vertical guide rail (123a) and is connected to the rotating assembly (124).

28. The feeding device according to claim 25, characterized in that, The lateral movement component (122) of the lateral movement mechanism is disposed on the side of the rotation component (124) facing the vertical movement component (123) to drive the rotation component (124) and the pick-and-place component (121) to move laterally together.

29. The feeding device according to claim 25, characterized in that, The vertical moving component (123) extends at least partially through the clearance notch (104) of the support frame (100).

30. The feeding device according to claim 29, characterized in that, The vertical moving component (123) is configured to move the pick-and-place component (121) between a clearance position and an operating position, wherein the pick-and-place component (121) in the clearance position extends at least partially through the clearance notch (104), and the pick-and-place component (121) in the operating position is located below the clearance notch (104).

31. The feeding device according to claim 25, characterized in that, The controller of the feeding device is connected to the vertical moving component (123) and is configured to control the movement of the vertical moving component (123) according to the vertical moving distance, so as to drive the picking and placing component (121) to move a vertical moving distance along the vertical direction (D3).

32. A loading and unloading unit, characterized in that, Includes a frame (300), on which a feeding device according to any one of claims 1 to 31 is provided, the feeding device being configured to be movably disposed on the frame (300).

33. The loading and unloading unit according to claim 32, characterized in that, The frame (300) includes: X-axis track (310), the extension direction of which is parallel to the bearing surface of the feeding device and perpendicular to the first horizontal direction (D1). The Y-axis track (320) extends in a direction parallel to the vertical direction (D3). The Y-axis track (320) is configured to be movably connected to the X-axis track (310) along the extension direction of the X-axis track (310). The feeding device is configured to be movably connected to the Y-axis track (320) along the vertical direction (D3).

34. The loading and unloading unit according to claim 33, characterized in that, The X-axis track (310) includes a ground track, and the lower end of the Y-axis track (320) is movably connected to the ground track.

35. The loading and unloading unit according to claim 34, characterized in that, The X-axis track (310) further includes a ceiling track located above the ground track, and the upper end of the Y-axis track (320) is movably connected to the ceiling track.

36. The loading and unloading unit according to any one of claims 33 to 35, characterized in that, At least two Y-axis tracks (320) are provided, and at least one of the feeding devices is provided on each Y-axis track (320).

37. A picking system, characterized in that, The picking system includes: The workstation area is equipped with picking stations; A racking docking area, configured for docking racks (400), the racking docking area being spaced apart from the workstation area along the first horizontal direction (D1); and The loading and unloading unit according to any one of claims 32 to 36 is located at the interval between the workstation area and the rack docking area, and the loading and unloading unit is configured to transfer containers between the workstation area and the rack docking area.

38. The picking system according to claim 37, characterized in that, The workstation area also includes a conveyor line for receiving the containers transferred from the pick-and-feed device; or for conveying the containers located on the conveyor line to the pick-and-feed container assembly.

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