Pallet transfer system

Abstract

This application provides a pallet handover system for pallet handover between a guide vehicle and a stacker crane. The system includes a pallet handover mechanism, a control module, an execution module, and positioning points. The handover mechanism is located at the entry / exit position, with multiple supports forming a handover space to hold pallets. It is equipped with an obstacle sensor that emits light diagonally and a pallet sensor that emits light horizontally. The control module is coupled to the two sensors. Upon entry, based on signals indicating the absence of obstacles and the presence of pallets, it outputs a signal for the guide vehicle to place a pallet or for the stacker crane to retrieve a pallet; upon exit, it outputs a signal for the stacker crane to place a pallet or for the guide vehicle to retrieve a pallet. The execution module controls the operation of the guide vehicle and the stacker crane. The guide vehicle can send an inquiry signal at the positioning point to reconfirm the status of the handover space.

Description

Technical Field

[0001] This application relates to a handover mechanism and system, and more particularly to a pallet handover mechanism and pallet handover system. Prior Technology

[0002] In the past, the most common method for storing and retrieving pallets from automated storage and retrieval systems (AS / RS) was to connect the stacker crane's loading and unloading ports using conveyor belts. In this approach, to meet the stacker crane's needs for receiving and delivering pallets, the number of conveyor belts was often twice the number of stacker cranes, with additional conveyor belts added based on user needs for storage and retrieval efficiency, connecting the pallet inlet and outlet. This method required users to invest heavily in heavy equipment upfront, and once all conveyor lines were planned and constructed, they were difficult to move or add, reducing the warehouse's future flexibility in terms of space and efficiency adjustments. Summary of the Invention

[0003] The main purpose of this application is to solve the problems of excessively high construction costs of transport facilities and insufficient flexibility in overall space arrangement in existing automated warehousing systems.

[0004] To achieve the above objectives, one embodiment of this application provides a pallet handover mechanism for placing a pallet and allowing different transport devices to hand over the pallet. The pallet handover mechanism includes a receiving device, an obstacle sensor, and a pallet sensor. The placement device includes a plurality of supports arranged at intervals around each other to form an intersection space. Each support has a support member and a placement member. The placement member is located at the top of the support member and is used to place a pallet. An obstacle sensor is located on the support member of one of the supports. The obstacle sensor passes through the intersection space diagonally and emits an obstacle sensing light beam towards another support diagonally located. The obstacle sensing light beam is used to confirm whether there is an object in the intersection space and causes the obstacle sensor to send an obstacle presence signal or an obstacle absence signal accordingly. A pallet sensor is located on the placement member of one of the supports. The pallet sensor emits a pallet sensing light beam in a horizontal direction towards another adjacent support. The pallet sensing light beam is used to confirm whether a pallet is placed on the placement member and causes the pallet sensor to send a pallet presence signal or an obstacle absence signal accordingly.

[0005] Furthermore, this application provides a pallet handover system for allowing different transport devices to hand over a pallet. The transport devices include a guide vehicle and a stacker crane. The pallet handover system includes a pallet handover mechanism, a control module, and an execution module. The pallet handover mechanism is located at an inbound or outbound position and includes a receiving device, an obstacle sensor, and a pallet sensor. The support device includes a plurality of supports arranged at intervals around each other to form a junction space. Each support has a support member and a placement member, with the placement member located at the top of the support member and used to hold the pallet. An obstacle sensor is mounted on one of the supports, passing diagonally through the junction space and emitting an obstacle-sensing beam towards the diagonally opposite support. This beam confirms the presence of an object in the junction space and triggers the sensor to send an obstacle-present or obstacle-free signal. A pallet sensor is mounted on one of the supports, emitting a pallet-sensing beam horizontally towards the adjacent support. This beam confirms whether a pallet is placed on the placement member and triggers the sensor to send a pallet-present or obstacle-free signal. A control module is coupled to the obstacle sensor and the pallet sensor. When the control module... When the control module is used to control the pallet transfer mechanism located at the inbound position, if the control module receives an obstacle-free signal and a no-pallet signal, the control module outputs a guide vehicle inbound pallet placement signal; if the control module receives an obstacle-free signal and a pallet present signal, the control module outputs a stacker crane inbound pallet retrieval signal. When the control module is used to control the pallet transfer mechanism located at the outbound position, if the control module receives an obstacle-free signal and a no-pallet signal, the control module outputs a stacker crane outbound pallet placement signal; if the control module receives an obstacle-free signal and a pallet present signal, the control module outputs a guide vehicle outbound pallet retrieval signal. The execution module is coupled to the obstacle sensor, the pallet sensor, and the control module. The execution module receives and controls the operation of the guide vehicle and the stacker crane based on the guide vehicle inbound pallet placement signal, the guide vehicle outbound pallet retrieval signal, the stacker crane inbound pallet retrieval signal, and the stacker crane outbound pallet placement signal.

[0006] Therefore, the pallet transfer mechanism of this application does not have a physical connection with the conveying device, so its position can be adjusted at any time according to the user's needs and the space of the automated warehousing system, thereby making the warehouse space more flexible in adjustment and use, and improving the overall cargo transportation efficiency.

[0007] Furthermore, the various modules of the pallet handover system of this application can coordinate with each other stably and accurately to control the movement and operation of each transport device, so that this application can further guarantee the transport accuracy and transport efficiency of the pallets. Simple Explanation of the Diagram

[0008] [Figure 1] is a perspective view of the pallet transfer mechanism according to an embodiment of this application. [Figure 2] is a schematic diagram of the implementation state of the pallet handover mechanism according to an embodiment of this application, used to show the travel of the sensing light. [Figure 3] is a schematic diagram of the implementation state of the pallet handover mechanism according to an embodiment of this application, used to indicate the position of the positioning point. [Figure 4] is a perspective view of the pallet transfer mechanism according to another embodiment of this application. [Figure 5] is a schematic diagram of the implementation state of the pallet handover mechanism according to another embodiment of this application. [Figure 6] is a schematic diagram of the connection relationship of the pallet handover system according to an embodiment of this application. Implementation

[0009] To facilitate the explanation of the central idea expressed in the above-mentioned creative content section of this application, specific embodiments are provided below. The various objects in the embodiments are drawn to a scale suitable for illustrative purposes, rather than to the scale of actual components, as will be stated prior.

[0010] Please refer to Figures 1 to 6, which disclose a pallet transfer mechanism 100 according to an embodiment of this application. It is used to place a pallet 1 and allow different transport devices to transfer the pallet 1. The pallet transfer mechanism 100 includes a receiving device 10, an obstacle sensor 20 and a pallet sensor 30. The transport device includes an Automated Guided Vehicle (AGV), a stacker crane (i.e., a machine used for handling goods in an Automated Storage and Retrieval System (ASRS)), and a stacker crane; the pallet transfer mechanism 100 can be placed at an inbound or outbound position in the storage space of the Automated Storage and Retrieval System to allow the AGV and the stacker crane to transfer pallets 1 (i.e., the inbound procedure of placing pallets 1 into the Automated Storage and Retrieval System and the outbound procedure of removing pallets 1 from the Automated Storage and Retrieval System), or placed at a outbound position outside the storage space of the Automated Storage and Retrieval System to allow the AGV and the stacker crane to transfer pallets 1 (i.e., the outbound procedure of transporting pallets 1 to a designated location outside the Automated Storage and Retrieval System).

[0011] The supporting device 10 includes a plurality of supports 11 arranged at intervals around each other to form a junction space 12. Each support 11 has a support member 111 and a supporting member 112. The supporting member 112 is disposed at the top of the support member 111 and is used to place the pallet 1. In this embodiment of the application, there are four supports 11 arranged in a square. This arrangement of supports 11 can support the four corners of the pallet 1, so as to stably place the pallet 1.

[0012] Please refer to Figures 1 and 2. In this embodiment of the application, the receiving device 10 includes a plurality of guide members 13 and a blocking member 14. Each guide member 13 is erected on each receiving member 112, and the plurality of guide members 13 are used to restrict the pallet 1 at a junction position P; the blocking member 14 is erected on one side of the periphery of the receiving member 112 and blocks the pallet 1 at the junction position P. Thus, the pallet 1 can be stably placed at the junction position P through the guide members 13 and the blocking member 14, so as to facilitate the transfer and transport of the pallet 1 by the transport device.

[0013] An obstacle sensor 20 is mounted on a support member 111 of one of the brackets 11. The obstacle sensor 20 travels diagonally through the junction space 12 and emits an obstacle sensing ray L1 towards the other bracket 11 located diagonally opposite. The obstacle sensing ray L1 is used to determine whether there is an object in the junction space 12, and the obstacle sensor 20 accordingly sends an obstacle presence signal or an obstacle absence signal. Specifically, if the obstacle sensing ray L1 detects an object in the junction space 12 (i.e., the ray is blocked by an object and cannot reach the other bracket 11), the obstacle sensor 20 sends the obstacle presence signal; otherwise, it sends the obstacle absence signal.

[0014] Please refer to Figures 1 and 2. In this embodiment of the application, there are two obstacle sensors 20. The two obstacle sensors 20 are respectively disposed on the support members 111 of two adjacent brackets 11. The two obstacle sensing rays L1 are emitted in a cross pattern. When one of the obstacle sensing rays L1 detects an object in the junction space 12, the corresponding obstacle sensor 20 will send the obstacle signal. In this way, the cross-emitted obstacle sensing rays L1 can more accurately detect whether there is an object in the junction space 12.

[0015] A pallet sensor 30 is disposed on the support member 112 of one of the supports 11. The pallet sensor 30 emits a pallet sensing light L2 horizontally toward the adjacent support 11. The pallet sensing light L2 is used to confirm whether a pallet 1 is placed on the support member 112, and causes the pallet sensor 30 to send a pallet presence signal or a pallet absence signal accordingly. Specifically, if the pallet sensing light L2 detects that a pallet 1 is on the support member 112 (i.e., the light is blocked by the corner post of the pallet 1 placed on the support member 112), the pallet sensor 30 sends the pallet presence signal; otherwise, it sends the pallet absence signal.

[0016] Please refer to Figures 4 and 5. In another embodiment of this application, the pallet handover mechanism 100 further includes a barcode reader 40, which is erected on one side of the periphery of the support member 112. The barcode reader 40 is used to sense an identification barcode 1a on the pallet 1. In this way, the barcode reader 40 can sense and identify the barcode 1a to confirm whether the cargo information on the pallet 1 is correct, so that the handover process of the pallet 1 can be smoother and errors in the handover process can be avoided.

[0017] Please refer to Figures 4 and 5. In another embodiment of this application, the pallet transfer mechanism 100 further includes a stacker sensor 50, which is disposed on the bottom surface of the support member 112. The stacker sensor 50 can sense whether the stacker is present on one side of the support member 10 in the horizontal direction, and send a stacker presence signal or a stacker absence signal accordingly. Specifically, if the stacker sensor 50 detects the stacker, it sends the stacker presence signal; otherwise, it sends the stacker absence signal. Since the stacker is usually used for the shipping process of the pallet 1, the stacker sensor 50 is usually installed on the pallet transfer mechanism 100 located at the shipping position.

[0018] Please refer to Figure 6. In this embodiment of the application, the application further provides a pallet transfer system 200, which is used to control the operation of the transport device according to the sensing status of the pallet transfer mechanism 100. The pallet transfer system 200 includes a pallet transfer mechanism 100, a control module 210 and an execution module 220.

[0019] The control module 210 is coupled to the obstacle sensor 20 and the pallet sensor 30. When the control module 210 controls the pallet transfer mechanism 100 located at the inbound position, if the control module 210 receives the obstacle-free signal and the pallet-free signal, the control module 210 outputs a guide vehicle inbound pallet placement signal; if the control module 210 receives the obstacle-free signal and the pallet-present signal, the control module 210 outputs a stacker crane inbound pallet retrieval signal. When the control module 210 controls the pallet transfer mechanism 100 located at the outbound position, if the control module 210 receives the obstacle-free signal and the pallet-free signal, the control module 210 outputs a stacker crane outbound pallet placement signal; if the control module 210 receives the obstacle-free signal and the pallet-present signal, the control module 210 outputs a guide vehicle outbound pallet retrieval signal.

[0020] An execution module 220 is coupled to an obstacle sensor 20, a pallet sensor 30, and a control module 210. The execution module 220 receives and controls the operation of the guide vehicle and the stacker crane based on the guide vehicle's entry and pallet placement signals, the guide vehicle's exit and pallet retrieval signals, the stacker crane's entry and pallet retrieval signals, and the stacker crane's exit and pallet placement signals. Thus, the control module 210 and the execution module 220 can confirm whether the guide vehicle and the stacker crane can enter the pallet transfer mechanism 100 to retrieve and place pallets 1 through the signals sent by the obstacle sensor 20 and the pallet sensor 30, and control the actions of the guide vehicle and the stacker crane accordingly.

[0021] More specifically, taking the pallet handover mechanism 100 located at the entry position as an example, if the control module 210 receives the obstacle-free signal and the no-pallet signal, then the control module 210 outputs the guide vehicle entry and pallet placement signal to the execution module 220. The execution module 220 then controls the guide vehicle to place the pallet 1 at the handover position P. After the guide vehicle has placed the pallet 1 and left the handover space 12 (i.e., the obstacle sensor 20 will first change from sending the obstacle-free signal to sending the no-pallet signal), the control module 210 outputs the guide vehicle entry and pallet placement signal to the execution module 220. The execution module 220 then controls the guide vehicle to place the pallet 1 at the handover position P. If there is an obstacle signal, the signal will change from being sent to being sent as an obstacle-free signal, and the pallet sensor 30 will change from sending a pallet-free signal to sending a pallet-present signal. The control module 210 will receive the obstacle-free signal and the pallet-present signal, and output the stacker crane pallet retrieval signal to the execution module 220 according to the aforementioned signals. The execution module 220 will then control the stacker crane to remove the pallet 1 placed at the handover position P and place the pallet 1 in an empty space in the automated storage system.

[0022] Please refer to Figure 6. In this embodiment of the application, the control module 210 has a pre-stored abnormal warning time. If the duration of the obstacle signal or the pallet signal exceeds the abnormal warning time, the control module 210 will send an abnormal signal to inform the user and perform abnormal troubleshooting.

[0023] Please refer to Figures 3 and 6. In this embodiment of the application, the pallet handover system 200 further includes a positioning point 230. The positioning point 230 is located on one side of the receiving device 10 and in the handover space 12. The positioning point 230 is used to position the guide vehicle so that it can move to the correct position. When the guide vehicle is located at the positioning point 230 on one side of the receiving device 10, the guide vehicle can send an inquiry signal to the control module 210 to reconfirm whether there are any obstacles or pallets 1 in the handover space 12. This can further ensure the accuracy of pallet 1 transportation and handover, and further improve the overall pallet transportation efficiency.

[0024] Please refer to Figures 4 to 6. In another embodiment of this application, when the control module 210 is used to control the pallet transfer mechanism 100 located at the shipping position, if the control module 210 receives the unobstructed signal and the no-pallet signal, the control module 210 outputs a guide vehicle outbound pallet release signal. If the control module 210 receives the unobstructed signal and the pallet present signal, the control module 210 outputs a stacker outbound pallet retrieval signal. The execution module 220 receives and controls the operation of the guide vehicle and the stacker based on the guide vehicle outbound pallet release signal and the stacker outbound pallet retrieval signal. Therefore, when the pallet transfer mechanism 100 is used for cargo shipping, the pallet transfer system 200 can also control the operation of the guide vehicle and the stacker based on the aforementioned conditions to ensure the accuracy and efficiency of pallet 1 transportation.

[0025] Furthermore, the control module 210 is coupled to the forklift sensor 50. When the guide vehicle is about to enter the handover space 12, if the control module 210 receives the obstacle-free signal and the pallet-free signal, and also receives the forklift-free signal, then the control module 210 will output the guide vehicle exit and pallet release signal, enabling the guide vehicle to enter the handover space 12. If the control module 210 receives the forklift-present signal, and the duration of the forklift-present signal exceeds the abnormal warning time, then the control module 210 will send the abnormal signal to inform the user and perform abnormal troubleshooting.

[0026] Please refer to Figures 4 to 6. In another embodiment of this application, the pallet handover system 200 further includes a display device 240, which is coupled to the control module 210 and the execution module 220. The display device 240 displays pallet information of the pallet 1. The pallet information may include cargo information of the pallet 1 identified by the barcode reader 40, and information related to the pallet 1 such as whether the pallet 1 is located at the handover position P.

[0027] Therefore, this application has the following advantages:

[0028] 1. The pallet transfer mechanism 100 of this application does not have a physical connection with the conveying device. Therefore, its position can be adjusted at any time according to the user's needs and the space of the automated warehousing system, so as to make the warehouse space more flexible in adjustment and use, and improve the overall cargo transportation efficiency.

[0029] 2. The sensors of the pallet transfer mechanism 100 can accurately monitor the movement and placement of objects in the mechanism, which further ensures the transport accuracy and efficiency of the pallet 1.

[0030] 3. The various modules and devices of the pallet handover system 200 of this application can coordinate with each other stably and accurately to control the movement and operation of each transport device, so that this application can further guarantee the transport accuracy and transport efficiency of pallet 1.

[0031] Although this application is illustrated with a preferred embodiment, those skilled in the art can make various modifications without departing from the spirit and scope of this application. The embodiments described above are merely illustrative and not intended to limit the scope of this application. All modifications or alterations made without departing from the spirit of this application are within the scope of this patent application.

[0032] 1: Pallet 1a: Barcode Identification 100: Pallet handover mechanism 200: Pallet Handover System 210: Control Module 220: Execution Module 230: Location point 240: Display device 10: Supporting device 11: Bracket 111: Support component 112: Container 12: Handover Space 13: Guiding component 14: Supporting component 20: Obstacle Sensor 30: Pallet sensor 40: Barcode reader 50: Forklift sensor P: Handover location L1: Obstacle sensing light L2: Pallet sensor light

Claims

1. A pallet handover system for allowing different transport devices to hand over a pallet, the transport devices including a guide vehicle and a stacker crane, the pallet handover system comprising: a pallet handover mechanism disposed at an inbound position or an outbound position, the pallet handover mechanism being independently disposed and not physically connected to the transport devices, the pallet handover mechanism comprising: a receiving device comprising a plurality of supports arranged at intervals around each other to form a handover space, the supports being used to place the pallet, each support having a support member and a receiving member, the receiving member being disposed at the top of the support member and used to place the pallet, the supports not being physically connected to each other; An obstacle sensor is disposed on one of the brackets. The obstacle sensor passes through the junction space diagonally and emits an obstacle sensing light beam toward the other bracket diagonally disposed. The obstacle sensing light beam is used to confirm whether there is an object in the junction space and causes the obstacle sensor to send an obstacle presence signal or an obstacle absence signal accordingly. A pallet sensor is disposed on one of the brackets. The pallet sensor emits a pallet sensing light beam in a horizontal direction toward the other adjacent bracket. The pallet sensing light beam is used to confirm whether the pallet is placed on the support and causes the pallet sensor to send a pallet presence signal or an obstacle absence signal accordingly. A control module is coupled to the obstacle sensor and the pallet sensor. When the control module is used to control the pallet handover mechanism located at the inbound position, if the control module receives the obstacle-free signal and the pallet-free signal, the control module outputs a guide vehicle inbound pallet placement signal. If the control module receives the obstacle-free signal and the pallet-present signal, the control module outputs a stacker crane inbound pallet retrieval signal. When the control module is used to control the pallet handover mechanism located at the outbound position, if the control module receives the obstacle-free signal and the pallet-free signal, the control module outputs a stacker crane outbound pallet placement signal. If the control module receives the obstacle-free signal and the pallet-present signal, the control module outputs a guide vehicle outbound pallet retrieval signal. An execution module, coupled to the obstacle sensor, the pallet sensor, and the control module, receives and controls the operation of the guide vehicle and the stacker crane based on the guide vehicle's pallet placement signal, the guide vehicle's pallet retrieval signal, the stacker crane's pallet retrieval signal, and the stacker crane's pallet placement signal; and a fixed positioning point, located on one side of the receiving device and in the junction space, for positioning the guide vehicle. When the guide vehicle is located at the positioning point on one side of the placement device, the guide vehicle sends an inquiry signal to the control module to reconfirm whether there are any obstacles or pallets in the handover space.

2. The pallet handover system as described in claim 1, wherein, The placement device includes a plurality of guide members, each of which is erected on the placement member and is used to restrict the pallet at a junction position; the placement device further includes a stop member, which is erected on one side of the periphery of the placement member and stops the pallet at the junction position.

3. The pallet handover system as described in claim 1, wherein, The number of obstacle sensors is two, and the two obstacle sensors are respectively installed on the support members of two adjacent brackets, and the two obstacle sensing beams are emitted in a cross pattern.

4. The pallet handover system as described in claim 1, wherein, The control module has a pre-stored abnormal warning time. If the duration of the obstacle signal or the pallet signal exceeds the abnormal warning time, the control module will send an abnormal signal.

5. The pallet handover system as described in claim 1, wherein, The transport device further includes a stacker crane, and the pallet transfer mechanism can be set at a shipping position. When the control module controls the pallet transfer mechanism located at the shipping position, if the control module receives the unobstructed signal and the no-pallet signal, the control module outputs a guide vehicle out-of-warehouse pallet release signal. If the control module receives the unobstructed signal and the pallet present signal, the control module outputs a stacker crane out-of-warehouse pallet retrieval signal. The execution module receives and controls the operation of the guide vehicle and the stacker crane according to the guide vehicle out-of-warehouse pallet release signal and the stacker crane out-of-warehouse pallet retrieval signal.

6. The pallet handover system as described in claim 5, wherein, The pallet handover mechanism further includes a barcode reader, which is erected on one side of the periphery of the receiving component. The barcode reader is used to sense an identification barcode on the pallet. The pallet handover mechanism further includes a stacker sensor, which is disposed on the bottom surface of the receiving component. The stacker sensor can sense whether a stacker is present on one side of the receiving component in the horizontal direction and send a stacker presence signal or a stacker absence signal accordingly. The pallet handover system further includes a display device, which is coupled to the control module and the execution module. The display device displays pallet information of the pallet.

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