CN115973653A

CN115973653A - Container taking and delivering assembly, loading and unloading device, picking system and container taking and delivering method

Info

Publication number: CN115973653A
Application number: CN202111205928.XA
Authority: CN
Inventors: 孙沁; 闫杰; 李敏
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2021-10-15
Filing date: 2021-10-15
Publication date: 2023-04-18

Abstract

The utility model relates to a container taking and delivering assembly, a loading and unloading device, a picking system and a container taking and delivering method, wherein the container taking and delivering assembly comprises a base, and a bearing assembly used for bearing the accommodating space of a container is arranged on the base; a pick-and-place assembly configured for loading a container onto the carrier assembly or for pushing a container positioned on the carrier assembly; the moving component is connected with the taking and delivering component and drives the taking and delivering component to move in a first moving track and a second moving track; and the driving component drives the motion component to move in the first motion track and the second motion track. In this disclosure, get and send the subassembly and can move to the second movement track and do not occupy the space that bears the weight of the subassembly for get and send container subassembly structure compacter, can adapt to constrictive working space.

Description

Container picking and delivering assembly, loading and unloading device, picking system and container picking and delivering method

Technical Field

The present disclosure relates to the field of logistics, and more particularly, to a pick-and-place container assembly; the invention also relates to a handling device comprising the picking container assembly, a picking system and a picking container method.

Background

At present, the automatic warehousing system is increasingly applied to various civil and industrial warehousing fields, and the transportation equipment such as a stacker and the like is adopted to shuttle in a roadway between goods shelves to replace manual picking and transporting of goods on the goods shelves. In the intensive storage system, the goods shelves are compactly arranged at high density, and the existing carrying equipment is difficult to adapt to the narrow roadway space between the goods shelves and cannot be used in the intensive storage system.

Disclosure of Invention

The present disclosure provides a pick-and-place container assembly, a handling device, a picking system, and a pick-and-place container method for solving the problems in the prior art.

According to a first aspect of the present disclosure, there is provided a pick-and-place container assembly comprising a base and a container lid,

a carrier assembly configured to carry a container; the bearing component is provided with an accommodating space for accommodating a container;

a pick-and-place assembly configured for picking a container from a first target location and loading onto the carrier assembly, or for unloading a container from the carrier assembly and placing at a second target location;

the moving assembly is configured to drive the picking and placing assembly to move in a first moving track and a second moving track;

in the first motion track, the motion assembly is configured to drive the taking and placing assembly to move in the accommodating space of the bearing assembly so as to load and unload the container;

in the second motion track, the motion assembly is configured to drive the taking and placing assembly to leave the accommodating space of the bearing assembly, so that the container enters the accommodating space and is borne on the bearing assembly.

In one embodiment of the present disclosure, the moving assembly includes a guide mechanism and a sliding mechanism, wherein the guide mechanism includes a first guide portion and a second guide portion that are communicated together; the sliding mechanism is configured to move along a first guide part and a second guide part;

the first guide part and the second guide part respectively limit the first motion track and the second motion track of the sliding mechanism.

In one embodiment of the present disclosure, the first guide portion is configured to linearly extend in a horizontal direction, and the second guide portion is located in a different direction from the first guide portion;

the sliding mechanism is configured to move the taking and placing assembly along a linear direction in the accommodating space of the bearing assembly during the process of moving along the first guide part;

the sliding mechanism is configured to move along the first guide part to the second guide part, and then the taking and placing assembly moves away from the accommodating space of the bearing assembly gradually.

In one embodiment of the present disclosure, after the sliding mechanism is configured to move to the position along the second guiding portion, the pick-and-place assembly is configured to move to one side of the bearing assembly to avoid the accommodating space of the bearing assembly.

In one embodiment of the present disclosure, the second guide portion is configured to be positioned above the first guide portion; after the moving assembly is moved to the position along the second guide part, the taking and placing assembly is moved to the upper part of the bearing assembly so as to avoid the accommodating space of the bearing assembly.

In one embodiment of the present disclosure, the second guide portion is configured to be located below the first guide portion; after the moving assembly is moved to the position along the second guide part, the taking and placing assembly is moved to the lower part of the bearing assembly so as to avoid the accommodating space of the bearing assembly.

In one embodiment of the present disclosure, the moving assembly is configured to move along the second guide portion to a position where the pick-and-place assembly is lower than the carrying surface of the carrying assembly.

In one embodiment of the present disclosure, the first guide portion and the second guide portion are guide grooves provided in the guide mechanism, and the second guide portion is configured to extend obliquely downward from a tip end of the first guide portion.

In one embodiment of the present disclosure, the first guide portion and the second guide portion are located in the same plane; the slide mechanism includes:

the fixing part is controlled by a driving assembly to linearly move along a direction parallel to the plane of the first guide part and the plane of the second guide part;

a sliding part which is in sliding fit with the fixing part; the sliding part is matched in the first guide part and the second guide part in a guiding way;

the taking and placing assembly is arranged on the sliding part.

In one embodiment of the present disclosure, the driving assembly is a pulley structure, and the fixing portion is connected to a conveyor belt of the pulley structure.

In one embodiment of the disclosure, the guide mechanism is provided with a guide rod which is matched with the fixing part in a guiding way; the fixing portion is configured to move linearly in an extending direction of the guide bar by driving of the conveyor belt.

In one embodiment of the present disclosure, the guide mechanism includes a guide plate distributed vertically, and an upper end surface of the guide plate is lower than a bearing surface on the bearing assembly.

In one embodiment of the present disclosure, the pick and place assembly includes a suction cup mechanism configured to engage an end surface of the container.

In one embodiment of the present disclosure, the pick-and-place assembly includes a fixing base, and a buffer device is disposed between the suction cup mechanism and the fixing base.

In one embodiment of the present disclosure, the pick-and-place assembly further comprises a detection device configured to place the container onto the carrier assembly when the container is detected.

In one embodiment of the present disclosure, when the detection device detects the container, the moving assembly is located at a position where the first moving trajectory is communicated with the second moving trajectory.

In one embodiment of the present disclosure, the system further comprises a positioning system disposed on the base, the positioning system configured to position the relative position between the pick container assembly and the rack.

In one embodiment of the present disclosure, the positioning system is a vision scanning module, a laser scanning module, or an infrared scanning module.

In one embodiment of the present disclosure, a bracket is disposed on the base, and the positioning system is located on the bracket.

In one embodiment of the present disclosure, the first target position and the second target position are the same position or different positions.

In one embodiment of the present disclosure, the pick-and-feed container assembly comprises a first open end, a second open end; the carrier assembly is a conveyor belt configured to drive the container to move to the first open end or the second open end of the pick-and-feed container assembly.

In one embodiment of the disclosure, two conveying belts are provided, and the two conveying belts are spaced at the edge position of the container taking and delivering assembly; a space for the picking and placing component to move below the conveying belts is formed between the two conveying belts.

In one embodiment of the present disclosure, the conveyor belt is disposed on the base; on both sides of the base, anti-falling ribs are provided, which are designed to limit the containers on the conveyor belt.

In one embodiment of the present disclosure, a reforming guide mechanism is further provided on the base, the reforming guide mechanism being configured to guide the containers on the conveyor belt to move to the center of the pick-and-feed container assembly.

In one embodiment of the present disclosure, the anti-fall rib extends from the first open end of the pick-and-place container assembly to the second open end thereof; the middle area between the first opening end and the second opening end of the anti-falling flange extends inwards to form the correcting guide mechanism.

According to a second aspect of the present disclosure, there is also provided a handling device, comprising a frame body on which the above-mentioned pick-and-place container assembly is arranged, the pick-and-place container assembly being configured to move on the frame body.

In one embodiment of the present disclosure, the frame body includes an X-axis rail and a Y-axis rail, which are perpendicular to each other in direction; the Y-axis track is configured to move along an X-axis track and the pick-and-place container assembly is configured to move along a Y-axis track;

the moving assembly is configured to drive the taking and placing assembly to move in the first motion track along the Z-axis direction to load the container onto the bearing assembly.

In one embodiment of the present disclosure, the frame body comprises a gantry assembly, the X-axis track comprises a ground rail structure and a top rail structure disposed on the gantry assembly; and two ends of the Y-axis track are respectively matched with the ground track structure and the sky track structure in a guiding manner.

In one embodiment of the present disclosure, the Y-axis tracks are provided with at least two, and each Y-axis track is provided with at least one of the pick-and-place container assemblies.

According to a third aspect of the present disclosure, there is also provided a picking system comprising:

the sorting system comprises a workstation area, a sorting station and a sorting station, wherein the workstation area is internally provided with the sorting station;

a rack docking area configured to dock a rack;

the above-described handling device configured for transferring containers between a workstation area and a rack.

In one embodiment of the present disclosure, the workstation site further comprises a transfer line for receiving containers transferred from the pick-and-place container assembly; or for transferring containers on a transfer line to a pick-and-place container assembly.

According to a fourth aspect of the present disclosure, there is also provided a container taking method implemented by the above sorting system, including the steps of:

step S1000, the handling device drives the container taking and delivering assembly to move to a target position;

s2000, the moving assembly is controlled by the driving assembly to move in a first motion track to drive the picking and placing assembly to load the container at the target position of the goods shelf onto the bearing assembly;

step S3000, the moving component is controlled by the driving component to move in a second motion track to drive the taking and placing component to avoid the accommodating space of the bearing component;

and step 4000, driving the container on the bearing assembly to move to a workstation area.

In one embodiment of the present disclosure, the step S1000 includes:

step S1100, the handling device drives the container taking and delivering assembly to move to a target position according to coordinates prestored in the system;

step S1200, the positioning system obtains the position information of the mark on the shelf, and the handling device adjusts the position of the pick-and-place container assembly based on the obtained position deviation.

In one embodiment of the present disclosure, the step S2000 includes:

step S2100, the motion assembly is controlled by the driving assembly to move to a first position in a first motion track, and drives the pick-and-place assembly to extend out and load a container at a target position on the shelf;

step S2200, the moving assembly is controlled by the driving assembly to move towards the second position direction in the first motion track, and the pick-and-place assembly moves the loaded container towards the accommodating space direction of the bearing assembly;

step S2300, when the detection device detects that the container reaches the second position, the pick-and-place assembly releases the container, and the container is supported on the bearing assembly.

In an embodiment of the present disclosure, in step S3000, the moving assembly is controlled by the driving assembly to move to the third position in the second moving track, and the taking and placing assembly moves to the lower side of the bearing assembly to avoid the accommodating space of the bearing assembly.

According to a fifth aspect of the present disclosure, there is also provided a method of delivering containers, implemented by the above-mentioned picking system, comprising the steps of:

step S1000, conveying the containers in the workstation area to a bearing assembly of a container taking and delivering assembly;

step S2000, the handling device drives the container taking and delivering assembly to move to a target position;

step S3000, after the container on the bearing component is driven to move to a preset position, the moving component is controlled by the driving component to move to a first moving track along a second moving track, and the taking and delivering component is driven to enter an accommodating space of the bearing component;

and step 4000, the motion assembly is controlled by the driving assembly to move in the first motion track, so that the pick-and-place assembly pushes the container on the bearing assembly to a target position of the shelf for storage.

The container loading and unloading device has the beneficial effects that in the first motion track, the motion assembly drives the taking and placing assembly to move in the accommodating space of the bearing assembly so as to load and unload the container; in the second motion track, the moving assembly drives the taking and placing assembly to leave the accommodating space of the bearing assembly, so that the container can be accommodated in the accommodating space or move in the accommodating space. This container subassembly is sent in getting, puts the space that the subassembly does not occupy bearing assembly for get and send container subassembly structure compacter, can adapt to constrictive working space.

Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a schematic diagram of an overall construction of a pick-and-place container assembly according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of the motion assembly and the drive assembly of the pick-and-place container assembly provided by one embodiment of the present disclosure;

FIG. 3 is a schematic view of the pick-and-place assembly and the movement assembly of the pick-and-place container assembly provided by an embodiment of the present disclosure;

FIG. 4 is a schematic view of the pick-and-place assembly of the pick-and-place container assembly in a first motion profile according to one embodiment of the present disclosure;

FIG. 5 is a schematic view of the pick-and-place assembly of the pick-and-place container assembly in a second motion trajectory according to one embodiment of the present disclosure;

fig. 6 is a schematic overall structure diagram of a loading and unloading device according to an embodiment of the disclosure;

FIG. 7 is a schematic diagram of a picking system provided by an embodiment of the present disclosure;

FIG. 8 is a schematic diagram illustrating a method for removing a container according to an embodiment of the present disclosure;

fig. 9 is a schematic diagram illustrating a method for delivering containers according to an embodiment of the disclosure.

The one-to-one correspondence between component names and reference numbers in fig. 1 to 9 is as follows:

1. a base; 11. a support;

2. a carrier assembly; 21. a conveyor belt; 22. anti-falling flanges; 23. a reforming guide mechanism;

3. a pick-and-place assembly; 31. a suction cup mechanism; 32. a fixed seat; 33. a buffer device;

4. a motion assembly; 41. a guide mechanism; 411. a first guide portion; 412. a second guide portion; 42. a sliding mechanism; 421. a fixed part; 422. a sliding part; 4220. a slider; 43. a guide rod;

5. a drive assembly; 51. a pulley; 52. a conveyor belt;

6. a positioning system;

7. a frame body; 71. an X-axis orbit; 72. a Y-axis track;

Detailed Description

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

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

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Specific embodiments of the present disclosure are described below with reference to the accompanying drawings.

In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used only to indicate relative positional relationships between relevant portions, and do not limit absolute positions of the relevant portions.

In this document, "first", "second", and the like are used only for distinguishing one from another, and do not indicate the degree and order of importance, and the premise that each other exists, and the like.

In this context, "equal", "same", etc. are not strictly mathematical and/or geometric limitations, but also include tolerances as would be understood by a person skilled in the art and allowed for manufacturing or use, etc.

Unless otherwise indicated, numerical ranges herein include not only the entire range within its two endpoints, but also several sub-ranges subsumed therein.

The present disclosure provides a pick-and-place container assembly that is applicable to a handling device for transferring containers between different target locations. The container taking and delivering assembly mainly comprises a base, wherein a bearing assembly and a container taking and delivering assembly are arranged on the base, the bearing assembly is used for bearing a container and is provided with a containing space for containing the container, and the container taking and delivering assembly is used for taking the container out of a first target position and loading the container onto the bearing assembly or unloading the container from the bearing assembly and placing the container on a second target position. The container in the present disclosure is mainly a container for loading goods in logistics, and includes, but is not limited to, a bin, a tray, a packing box, and the like, and is not limited herein.

The motion trail of the taking and delivering assembly comprises a first motion trail and a second motion trail, the taking and delivering container assembly further comprises a motion assembly which is connected with the taking and delivering assembly and drives the taking and delivering assembly to move in the first motion trail and the second motion trail, and a driving assembly which drives the motion assembly to move.

When the driving component drives the motion component to move in the first motion track, the motion component is configured to drive the taking and delivering component to move in the accommodating space of the bearing component, and the container located at the first target position is loaded onto the bearing component or unloaded from the bearing component and placed at the second target position through reciprocating motions such as extending and retracting.

Wherein the first target location and the second target location may be corresponding container locations on the shelf. The first target position and the second target position may be the same container position or different container positions, and are not limited herein.

When the driving assembly drives the moving assembly to move in the second motion track, the moving assembly is configured to drive the taking and delivering assembly to leave the accommodating space of the bearing assembly, so that the container can enter the accommodating space of the bearing assembly and be borne on the bearing assembly.

According to the container taking and delivering assembly, in the first motion track, the motion assembly drives the taking and placing assembly to move in the accommodating space of the bearing assembly so as to load and unload a container; in the second motion track, the moving assembly drives the taking and placing assembly to leave the accommodating space of the bearing assembly, so that the container can be accommodated in the accommodating space or move in the accommodating space. The fetching and delivering container assembly does not occupy the space of the bearing assembly, so that the fetching and delivering container assembly is more compact in structure and can adapt to narrow working space.

Example one

The base 1 provides a support for the pick-and-place container assembly, as shown in fig. 1, the base 1 may be configured in any structure such as a flat plate shape, a frame shape, etc., and it may be disposed at the bottom or around the carrying assembly 2, and the structure and position of the base may be selected by those skilled in the art. In one embodiment of the pick-and-place container assembly shown in fig. 1, the base 1 is provided as a frame-like structure and may be disposed below the carrier assembly 2 to support the carrier assembly 2. The supporting assembly 2 is provided with a bearing surface for supporting the container, and an accommodating space for accommodating the container is arranged above the bearing surface.

In one embodiment, the moving assembly 4 includes a guide mechanism 41 and a slide mechanism 42. As shown in fig. 3 to 6, the guiding mechanism 41 includes a first guiding portion 411 and a second guiding portion 412 which are communicated together, and the first guiding portion 411 and the second guiding portion 422 define a first movement track and a second movement track of the moving assembly, respectively. That is, the moving assembly moves along the extending direction of the first guide portion 411 and the second guide portion 422, and may move along the first guide portion 411 to be engaged with the second guide portion 422.

The slide mechanism 42 is engaged with the guide mechanism 41, and the slide mechanism 42 is configured to move along the first guide portion 411 and the second guide portion 412. The pick-and-place assembly 3 is connected with the sliding mechanism 42, and the sliding mechanism 42 drives the pick-and-place assembly 3 to move along the first motion track and the second motion track when moving along the first guide portion 411 and the second guide portion 412.

In one embodiment of the present disclosure, the first guide portion 411 is configured to linearly extend in a horizontal direction, and the second guide portion 412 is located in a different direction from the first guide portion 412. The slide mechanism 42 is configured such that the taking-out unit 3 moves in a linear direction in the accommodating space of the carrier unit 2 during movement along the first guide portion 411. When the moving assembly 4 moves along the first guiding portion 411, the taking and delivering assembly 3 can be driven to load the container onto the carrying assembly 2 along the horizontal direction.

Further, the moving assembly 4 is configured to move away from the accommodating space gradually after moving along the first guide portion 411 to the second guide portion 412, until the picking assembly 3 is located outside the accommodating space of the carrier assembly 2.

Specifically, when the picking assembly 3 moves in the first movement track, the picking assembly 3 is located above the bearing assembly 2 and moves along the extension direction of the bearing assembly 2. The taking and delivering component 3 can move from the containing space above the bearing component 2 to the front end extending out of the bearing component 2, so that a container positioned at a first target position in front of the bearing component 2 can be loaded, and after the taking and delivering component 3 moves reversely, the loaded container can be moved to a position corresponding to the bearing component 2, so that the container can be placed on the bearing component 2.

Of course, in another application scenario, after the container is located on the carrying assembly 2, the pick-and-place assembly 3 may unload the container to the second target position by the same movement described above.

Since the second guide portion 412 is located in a different direction from the first guide portion 411, when the moving assembly 4 moves along the second movement track, the picking assembly 3 can leave the accommodating space of the carrier assembly 2 in a manner gradually deviating from the carrier assembly 2, and thereafter the container can be completely moved onto the carrier assembly 2 or pass through the accommodating space of the carrier assembly 2.

In the guide mechanism 41, the second guide portion 412 is connected to the tip of the first guide portion 411 and is offset from the extending direction of the first guide portion 411 itself.

In one embodiment of the present disclosure, after the sliding mechanism 42 is moved to the position along the second guiding portion 412, the picking assembly 3 is configured to move to one side of the carrier assembly 2 to leave the accommodating space of the carrier assembly 2. One side in this position is relative to the direction of extension of the carrier assembly 2. For example, with reference to the orientation of the view of fig. 1, the load bearing assembly 2 extends in a left-to-right direction, and "one side" in this position refers to the front or rear side of the load bearing assembly 2.

In this embodiment, the first guiding portion 411 may extend along the extending direction of the bearing assembly, and the second guiding portion may be located in the same horizontal plane as the first guiding portion 411 and extend in a direction away from or gradually away from one side of the bearing assembly.

In another embodiment of the present disclosure, the second guide portion 412 is configured to be located above the first guide portion 411, specifically, the first guide portion 411 extends linearly in a horizontal direction, and the second guide portion 412 extends obliquely upward relative to the first guide portion 411, and an obtuse included angle is formed between the two guide portions. After the moving assembly 4 moves to the position along the second guide portion 412, the pick-and-place assembly 3 is configured to move to the upper side of the carrier assembly 2 to leave the accommodating space of the carrier assembly 2. At this time, the distance between the picking assembly 3, the moving assembly 4 and the carrying assembly 2 should be higher than the height of the accommodating space.

In another embodiment of the present disclosure, as shown in fig. 2 to 5, the second guide part 412 is configured to be located below the first guide part 411, specifically, the first guide part 411 extends linearly in a horizontal direction, and the second guide part 412 and the first guide part 411 are located in the same vertical plane and extend obliquely downward relative to the first guide part 411, and an obtuse included angle is formed between the two guide parts. After the moving assembly 4 is configured to move to the position along the second guiding portion 412, the pick-and-place assembly 3 is configured to move to the lower side of the carrying assembly 2 to avoid the accommodating space of the carrying assembly 2.

In this embodiment, the intermediate region of the carrier assembly 2 may provide a gap or space through which the pick-and-place assembly 3 and the moving assembly 4 pass. When the moving component 4 drives the pick-up and delivery component 3 to move along the second moving track, the pick-up and delivery component can pass through the gap or space in the middle of the bearing component 2, so that the pick-up and delivery component can move to a position below the accommodating space.

The guide mode of the present disclosure may be a guide plate, a guide rod, a rail, or other conventional guide structures. The first guide part and the second guide part can be chutes or guide holes arranged on the guide mechanism, or two guide rods with different directions and connected ends. The above-described guide mechanism is merely an example, and those skilled in the art will understand that a structure having two guide portions with different directions is included in the scope of the present disclosure.

In a specific embodiment of the present disclosure, as shown in fig. 2 and 4, the guide mechanism 41 is a guide plate, the first guide portion 411 and the second guide portion 412 are mutually communicated guide grooves formed on the guide plate, and the sliding mechanism 42 is guided and engaged with the guide grooves so as to be slidable along the guide grooves. The guide slot may be provided on one side or opposite sides of the guide plate, or may penetrate both sides of the guide plate to form a through slot. The guide plate is vertically distributed relative to the bearing assembly, and the upper end face of the guide plate is lower than the bearing face on the bearing assembly 2 so as to avoid the accommodating space. The first guiding portion 41 is configured as a guiding groove extending along the horizontal direction, the second guiding portion 42 is configured as a guiding groove extending obliquely downwards from the end of the first guiding portion 411, and the sliding mechanism 42 can pass through the gap or space in the middle of the carrying component 2 to move the retrieving component away from the accommodating space of the carrying component when the retrieving component 3 is driven by the sliding mechanism 42 along the second guiding portion 412.

In one embodiment of the present disclosure, referring to fig. 3, 4, and 5, the sliding mechanism 42 includes a fixing portion 421 and a sliding portion 422, and the fixing portion 421 and the sliding portion 422 are slidably fitted together, so that the sliding portion 422 can slide relative to the fixing portion 421 under the action of an external force. The fixing portion 421 is controlled by the driving component 5, the driving component 5 can provide a driving force for linear motion, and the fixing portion 421 is driven to linearly move along a direction parallel to the plane where the first guide portion 411 and the second guide portion 412 are located. The sliding portion 422 is guided and fitted in the first guiding portion 411 and the second guiding portion 412, the fetching and delivering assembly 3 is arranged on the sliding portion 422, the sliding portion 422 can drive the fetching and delivering assembly 3 to move along the first guiding portion 411 and the second guiding portion 412, and the second guiding portion 412 extends obliquely relative to the first guiding portion 411 and forms an obtuse included angle with the first guiding portion 411.

The direction of the relative movement between the fixing part 421 and the sliding part 422 may be set to be perpendicular to the extending direction of the first guide part 411. The driving assembly 5 can drive the sliding portion 422 to move simultaneously through the fixing portion 421, and the moving direction of the fixing portion 421 is consistent with the extending direction of the first guiding portion 411 and is inconsistent with the extending direction of the second guiding portion 422.

Referring to fig. 5, since the moving direction of the fixing portion 421 is different from the extending direction of the second guiding portion 422, when the driving assembly 5 drives the fixing portion 421 to move linearly along the horizontal direction, the sliding portion 422 moves upward gradually relative to the fixing portion 421 under the restriction of the second guiding portion 422, thereby driving the picking-and-delivering assembly 3 to move upward and enter the accommodating space of the carrying assembly 2; the reverse movement leaves the pick-and-place module 3 out of the receiving space of the carrier module 2.

Referring to fig. 4, after the sliding portion 422 moves into the first guiding portion 411, since the moving direction of the fixing portion 421 is consistent with the extending direction of the first guiding portion 411, during the continuous movement of the fixing portion 421, no relative movement occurs between the fixing portion 421 and the sliding portion 422, that is, both the fixing portion 421 and the sliding portion 422 linearly move in the horizontal direction, so that the sliding portion 422 can drive the pick-and-place assembly 3 to linearly move in the accommodating space of the carrier assembly 2, so as to extend the driving assembly 3, and retract the pick-and-place assembly 3 in the reverse direction.

Both the fixing portion 421 and the sliding portion 422 may be provided as block structures, and in one embodiment, as viewed in fig. 2 to 5, the guide mechanism 41 is a guide plate vertically provided, and the first guide portion 411 and the second guide portion 412 are long holes or through holes provided on the guide plate. The first guide portion 411 extends linearly in the horizontal direction, and the second guide portion 412 extends obliquely downward with respect to the first guide portion 411. The fixing portion 421 may include two clamping plates, the top ends of the two clamping plates are connected together, and a sliding groove is arranged between the two clamping plates of the fixing portion 421; the sliding portion 422 is sandwiched between the two plates of the fixing portion 421, and is engaged with a slide groove in the fixing portion 421 to be slidable relative to the fixing portion 421. The sliding portion 422 also includes two clamping plates with top ends connected together, a gap is left between the two clamping plates, and the guide plate is located between the two clamping plates of the sliding portion 422. A sliding member is further connected between the two clamping plates of the sliding portion 422, and the sliding member is slidably fitted in the first guide portion 411 and the second guide portion 412. The sliding part can be a pin shaft, a sliding block and other structures, and can also be a roller, and the roller can reduce the friction force between the roller and the guide plate.

The driving assembly 5 provides a linear driving force, the sliding mechanism 42 and the guiding mechanism 41 are connected between the driving assembly 5 and the taking and delivering assembly 3, the linear driving force of the driving assembly 5 can be converted into a driving force along two directions of the first guiding portion 411 and the second guiding portion 412, and the taking and delivering assembly 3 is driven to move in a first motion track and a second motion track which are different in direction.

Drive assembly 5 can select for use linear motor, lead screw assembly, rack and pinion, conveyer belt etc. and drive arrangement that can realize linear motion all contains in this disclosed scope of protection. In one embodiment, the driving assembly 5 is a pulley structure, and referring to fig. 2, it includes at least two pulleys 51, a transmission belt 52 wound around the pulleys 51, and a motor driving the pulleys 51 to rotate, and an output end of the motor may be directly connected to one of the pulleys 51, or may be in transmission connection with the pulleys 51 through a transmission structure such as a gear assembly. The moving direction of the conveyor belt 52 coincides with the extending direction of the first guide 411. The fixing portion 421 of the sliding mechanism 42 is fixedly connected to the conveyor belt 52. The motor can drive the fixing portion 421 to reciprocate by adjusting the rotation direction through the belt wheel 51 and the conveyor belt 52.

The driving assembly 5 may be mounted on the base 1 or the carrier assembly, and may also be mounted on the guide mechanism 41 of the moving assembly 4. In a specific embodiment, the guiding mechanism 41 is a guiding plate, the belt pulley 51 and the transmission belt 52 of the driving assembly 5 are disposed on the guiding plate, the number of the belt pulleys 51 is two, the two belt pulleys 51 are disposed at two ends of the first guiding portion 411 and the second guiding portion 412 respectively and are rotatably connected to the guiding plate through a rotating shaft, and the fixing portion 421 is provided with a connecting member fixedly connected to the transmission belt 52.

In one embodiment, as shown in fig. 2, the belt pulley 51 and the belt 52 of the driving assembly 5 are arranged on one side of the guide plate, and the pick-and-place assembly 3 is arranged on the other side of the guide plate, so as to avoid interference with the driving mechanism when the pick-and-place assembly 3 moves. The motor may be disposed at an end of the guide plate near the second guide portion 412.

The strength of the belt 52 of the driving unit 5 is low, and at least one guide bar 43 may be provided to improve the stability of the moving direction of the sliding portion 422, and the extending direction of the guide bar 43 may be identical to the moving direction of the fixing portion 421. The fixing portion 421 is fitted with the guide bar 43, and the fixing portion 421 is configured to move linearly in the extending direction of the guide bar 43 by the driving of the conveyor belt 52. The guide rod 43 may be provided at the base 1, the carrier assembly 2, or the guide mechanism 41, etc.

In one embodiment as shown in fig. 2, the guide rods 43 are connected to the guide plate, and specifically, two ends of the two guide rods 43 are fixed to two sides of the guide plate respectively through mounting seats. The fixing portion 421 is provided with a slider 4220 slidably engaged with the guide rod 43, and the slider 4220 is inserted into the guide rod 43. The guide rods 43 are provided in two numbers, and the two guide rods 43 are respectively provided on opposite sides of the guide plate. The two clamp plates of the fixing portion 421 are respectively provided with sliders 4220 which slide along the two guide rods 43.

The pick-and-place assembly 3 may load the container in a variety of ways including, but not limited to, snap fit, magnetic attraction, vacuum chuck attraction, etc. In one embodiment, the pick-and-place assembly 3 includes a suction cup mechanism 31, the suction cup mechanism 31 being configured to engage an end surface of a container to load the container. The pick-and-place assembly 3 further comprises a fixed seat 32, the suction cup mechanism 31 is connected to the fixed seat 32, and the fixed seat 32 is connected to the sliding part 422 of the sliding mechanism 42.

In a specific embodiment of the present disclosure, referring to fig. 3 and 5, a buffer device 33 may be disposed between the suction cup mechanism 31 and the fixed seat 32 for buffering the impact force of the suction cup mechanism 31 when loading the container. The buffer device 33 may include a spring connected between the suction cup mechanism 31 and the fixing seat 32, a certain movement margin is left between the suction cup mechanism 31 and the fixing seat 32, and the suction cup mechanism 31 can overcome the acting force of the spring to displace relative to the fixing seat 32 under the action of an external force, so that the spring can buffer the external force applied to the suction cup mechanism 31.

The suction cup mechanism 31 may be a vacuum suction cup, and the number thereof may be one or more, and is not limited herein. The suction cup mechanism 31 can be controlled to suck the end face of the container or to release the end face by controlling the vacuum source, so that the container is placed on the bearing component or the shelf.

In the above embodiment, the moving assembly drives the pick-and-place assembly to extend out and suck the container located at the first target position of the shelf and drive the container to move onto the carrying assembly in the process of moving the pick-and-place assembly along the first guide portion to reciprocate. The pick-and-place assembly may then release the container and place the container on the carrier assembly.

In one embodiment of the present disclosure, the pick-and-place assembly may drive the container to move completely onto the carrying assembly, and then release the container to completely carry the container on the carrying assembly.

In one embodiment of the present disclosure, the pick-and-place assembly may drive the container to move to a position where a portion of the container is located on the carrier assembly, and after the pick-and-place assembly releases the container, the container may be completely pushed onto the carrier assembly by a pushing device.

In a specific embodiment of the present disclosure, the carrier assembly 2 is configured to transport a container, and two ends of the carrier assembly 2 can be respectively referred to as a first open end and a second open end. Referring to the view direction of fig. 1, the left end of the carrier assembly 2 is a first open end, and the right end thereof is a second open end. The carrier assembly 2 is capable of transporting a container between its first and second open ends, with a receiving space provided between the first and second open ends of the carrier assembly 2.

In one embodiment, as shown in fig. 1 and 2, the carrier assembly 2 includes a conveyor belt 21, an upper surface of the conveyor belt 21 is a bearing surface for supporting the containers, the conveyor belt 21 can convey the containers in a horizontal direction, and a conveying direction of the conveyor belt 21 is consistent with an extending direction of the first guide 411. When the picking and delivering component 3 loads the container and moves to the communication position of the first motion track and the second motion track or is close to the communication position, the container is driven to enter the first opening end, and at the moment, the picking and delivering component 3 releases the container and moves away from the accommodating space of the bearing component along the second motion track; the container can then be moved by the conveyor belt to be completely carried on the conveyor belt 21.

The bearing component 2 further comprises a plurality of driving rollers matched with the conveying belt 21, and a driving motor for driving the conveying belt 21 to rotate through the driving rollers. In one embodiment, the carrier assembly 2 may be a belt conveyor. The structure and principles of belt conveyors are prior art and it will be understood by those skilled in the art that they are not specifically described in this disclosure.

In one embodiment, as shown in fig. 1, two conveyor belts 21 may be provided, the two conveyor belts 21 are spaced apart and located on the same horizontal plane, and the pick-and-place module 3 and the moving module 4 may be disposed between the two conveyor belts 21. The two conveyor belts 21 move synchronously and transport the containers simultaneously. The two conveyor belts 21 can be driven by the same drive. When the taking and delivering assembly 3 moves to a position along the first motion track, the first opening end can extend out of the space between the two conveyor belts 21 so as to adsorb the end face of the container; when the pick-and-place assembly 3 moves to the right position along the second motion track, it can retract between the two conveyor belts 21 and move to a position lower than the carrying surface.

In a particular application scenario of the present disclosure, the conveyor belt 21 is further configured to transport the containers from the first open end to the second open end, or from the second open end to the second open end. The containers may be transported to the second open end, for example by means of a conveyor belt, and from the second open end to other target locations, for example to a workstation for sorting or to a conveyor line with the workstation. In addition, the containers on the conveying line of the workstation can also enter the bearing assembly 2 through the second opening end, and after reaching the corresponding position through the conveying of the bearing assembly 2, the taking-back assembly moves along the first guide part, and the containers on the bearing assembly 2 are pushed to the target position of the shelf through the first opening end for storage. In the process, the taking-returning assembly can push the container to the target position of the shelf for storage only through the pushing action, or can suck the container and push the container to the target position of the shelf for storage.

In one embodiment, in order to prevent containers from falling off both sides of the carrier assembly 2, anti-falling ribs 22 can be provided at both side positions of the base 1, the anti-falling ribs 22 being located outside the conveyor belt, so that they can be configured for restraining the containers on the conveyor belt 21. In particular, the anti-falling ribs 22 on both sides are arranged in a strip-shaped structure and are aligned with the extension direction of the conveyor belt 21, and the anti-falling ribs 22 can extend from the first open end of the bearing component to the second open end thereof.

A reforming guide mechanism 23 may also be provided on the base 1, the reforming guide mechanism 23 being configured to guide the containers on the conveyor belt 21 to move to the center of the carrier assembly. Specifically, as shown in fig. 1, the righting guide mechanisms 23 are disposed on two opposite sides of the base 1, and the righting guide mechanisms 23 on the two sides are symmetrically disposed with respect to the center line of the carrier assembly 2. The end of the reforming guide mechanism 23 is arranged to be a flared structure, which facilitates the container to enter between the reforming guide mechanisms 23 on both sides.

The anti-falling flange 22 and the correcting guide mechanism 23 can be arranged independently or integrally. In the embodiment shown in fig. 1, the anti-falling ribs 22 and the righting guide mechanisms 23 are connected into a whole, the middle area of the anti-falling ribs 22 between the first opening end and the second opening end extends inwards to form the righting guide mechanisms 23, the distance between the righting guide mechanisms 23 on the two sides is smaller than that between the anti-falling ribs 22, and the righting guide mechanisms 23 are connected with the anti-falling ribs 22 on the two ends through inclined planes to form flaring structures, so that containers can enter between the righting guide mechanisms 23.

In one embodiment, the pick-and-feed container assembly further comprises a detection device for detecting the position of the container. When the pick-and-place assembly 3 loads and unloads the container and moves part of it onto the carrier assembly 2, the detection means are able to detect the container, at which point the pick-and-place assembly 3 can place the container onto the carrier assembly 2, for example by switching off the vacuum source of the suction cup mechanism 31, so that the suction cup mechanism 31 releases the container. The detection position of the detection means, which thus determines when the pick-and-place assembly 3 releases the containers, can be adjusted according to the design, provided that the containers are finally carried on the conveyor belt. The detection position such as the detection position is a position where the moving member 4 moves into the first guide portion adjacent to the second guide portion.

The detection means includes, but is not limited to, a sensor, an infrared scanning device, an image pickup device, and the like, which is capable of generating and transmitting a detection signal when a container is detected. In one embodiment, the detection device may be a pressure sensor, which is disposed on the carrier assembly 2 and is capable of detecting the pressure of the container and generating a detection signal when the container is moved to a corresponding position on the carrier assembly 2. In another embodiment, it may be an infrared sensor or the like, and will not be described in detail here.

The pick-and-place container assembly of the present disclosure may be used to transfer containers on a shelf, where the position of the pick-and-place container assembly needs to correspond to a target location on the shelf when transferring containers.

In an actual storage environment, factors such as uneven ground or shelf installation errors also exist, so that the position of the container taking and delivering assembly deviates from a target position on the shelf. To improve the positional accuracy, the pick container assembly further comprises a positioning system 6, the positioning system 6 being configured for positioning the relative position between the pick container assembly and the rack. The positioning system 6 needs to adjust the position of the pick-and-place container assembly when it detects that the positional deviation between the pick-and-place container assembly and the target position of the shelf is within a predetermined range.

The positioning system can be a visual scanning module, a laser scanning module or an infrared scanning module, and acquires the position information of the container or the container position by identifying the corresponding position on the goods shelf. As shown in fig. 1, the positioning system can be relatively arranged on the base 1, and the base 1 can be provided with a bracket 11, and the bracket 11 is positioned above the bearing assembly 2 and avoids the accommodating space so as not to interfere with the movement of the container. The support 11 can be set up to the door type structure, and the bottom fixed connection of support 11 is in the both sides of the first open end of carrier assembly 2, and positioning system installs at the top of support 11, is located the top of carrier assembly 2.

In a specific embodiment of the present disclosure, the positioning system 6 may be a two-dimensional imaging module, and each container position on the shelf is correspondingly provided with a two-dimensional identifier, which is located at the center of the cross beam at the front side of the container position. The two-dimensional imaging module is configured to acquire location information of the indicia on the shelf,

the two-dimensional imaging module can be arranged at the center of the front end of the bearing component 2. This is favorable to two-dimensional imaging module to read the positional information of sign on its front crossbeam. After the two-dimensional imaging module obtains the position information of the mark on the cross beam, the height deviation and/or the horizontal deviation of the container picking and delivering assembly relative to the target position can be obtained, and therefore a reference is provided for the adjustment of the position of the container picking and delivering assembly.

Example two

The present embodiment provides a handling device, as shown in fig. 6, the handling device includes a frame body 7, a container picking and delivering assembly disclosed in the first embodiment is disposed on the frame body 7, the container picking and delivering assembly is configured to move on the frame body 7, and the position of the container picking and delivering assembly can be adjusted on the frame body. The specific structure and principle of the picking and delivering container assembly refer to the first embodiment, and details are not described in this embodiment.

Specifically, as shown in fig. 7, the frame body 7 includes X-axis rails 71 and Y-axis rails 72 perpendicular to each other, and the X-axis rails 71 and the Y-axis rails 72 are disposed on a vertical plane. Specifically, the Y-axis track is configured to move along the X-axis track and the pick-and-feed container assembly is configured to move along the Y-axis track. The moving assembly 4 is configured to drive the taking and delivering assembly 3 to move along the Z-axis direction in the first motion track, and the X-axis, the Y-axis and the Z-axis form a three-dimensional coordinate system.

In one embodiment, the frame 7 includes a gantry assembly and the X-axis track 71 includes a ground rail structure and a head rail structure disposed on the gantry assembly. The X-axis rails 71 extend in the horizontal direction, and the Y-axis rails 72 extend in the vertical direction. The Y-axis track 72 may be a vertical column structure, two ends of the Y-axis track 72 are respectively matched with the ground track structure and the sky track structure in a guiding manner, and the Y-axis track 72 moves horizontally along the ground track structure and the sky track structure.

Specifically, two X-axis rails 71 are respectively provided with an X-axis moving plate, the X-axis moving plate can move along the horizontal direction of the X-axis rails 71, and two ends of the Y-axis rail 72 are respectively fixedly connected to the two X-axis moving plates. The Y-axis track 72 is provided with a Y-axis moving plate which can move in the vertical direction along the Y-axis track 72, and the picking and delivering container assembly is fixedly connected to the Y-axis moving plate. The X-axis moving plate and the Y-axis moving plate may further have guide assemblies mounted thereon, and may slide along the corresponding X-axis rails 71 and Y-axis rails 72 by the guide assemblies.

The frame body 7 is further provided with a driving system, and the driving system comprises an X-axis driving unit and a Y-axis driving unit. Wherein the X-axis drive unit is adapted to drive the Y-axis track 72 along the X-axis track 71 and the Y-axis drive unit is adapted to drive the pick-up container assembly along the Y-axis track 72, thereby moving the pick-up container assembly to a corresponding position, for example, corresponding to a target location on the shelf. The driving system may include a driving motor, a transmission gear, a transmission chain, a lead screw assembly, etc., and those skilled in the art can arrange the driving system based on the prior art to realize the above functions of the driving system.

In one embodiment of the present disclosure, at least two Y-axis rails 72 may be provided, and at least two Y-axis rails 72 move independently between the upper and lower X-axis rails 71. At least one taking and delivering container assembly is arranged on each Y-axis track, and the taking and delivering container assemblies on each Y-axis track can move independently, so that the working efficiency of the loading and unloading device is improved.

In this embodiment, the handling device is used for transferring containers on a shelf, and the container picking and delivering assembly can move on the shelf body 7 along the X-axis track 71 and the Y-axis track 72 to a target position on the shelf.

The pick-and-place container assembly has a positioning system 6 for positional deviation between the pick-and-place container assembly and a target location on the shelf. Positioning system 6 can select for use two-dimensional imaging module such as camera, also can select for use three-dimensional imaging module such as degree of depth camera or panoramic camera, can acquire the positional information of target location.

In one embodiment, the positioning system 6 is a two-dimensional imaging module, each container position of the shelf is correspondingly provided with a two-dimensional identifier, and the two-dimensional imaging module is configured to obtain position information of the identifier on the shelf. Based on the sign position that two-dimensional imaging module obtained, can compare the position deviation of analysis delivery container subassembly and sign, including the deviation of horizontal direction and vertical direction. Based on the position deviation with the sign that the two-dimensional imaging module obtained, get and send the container subassembly and can adjust through X axle track 71, Y axle track 72, improve the accuracy between getting and sending the container subassembly and the target location.

The X-axis track 71 and the Y-axis track 72 of the loading and unloading device are of frame structures, and the loading and unloading device is matched with a container taking and delivering assembly with a compact structure, so that the loading and unloading device can work in a narrow working space, the space utilization rate is improved, and the capacity of a storage space is increased.

EXAMPLE III

The embodiment provides a picking system, as shown in fig. 7, including a workstation area, a shelf parking area, and a loading and unloading device disclosed in the second embodiment, and the specific structure and principle of the loading and unloading device refer to the second embodiment and the first embodiment, which are not described again in this embodiment.

The goods shelves are berthhed the district and are constructed and be used for berthhing the goods shelves, and handling device is constructed and is used for transporting the container between workstation district and goods shelves, is provided with in the workstation district and selects the station, can sort the goods in the container on selecting the station.

In one embodiment of the present disclosure, the workstation area may further comprise a conveyor line, which is capable of transporting the containers. The conveying line is used for receiving the containers transferred from the container picking and conveying assembly, and workers on the picking station can pick the containers on the conveying line; or the conveying line is used for conveying the containers on the conveying line to the picking and delivering container assembly, and the containers conveyed to the picking and delivering container assembly are the containers which are completely picked.

The loading and unloading device can load containers at a target position on the goods shelf according to an order and then convey the target containers to a conveying line of a workstation area, and workers at a picking station can pick goods in the containers on the conveying line according to the order; after the sorting is completed, the containers are conveyed to the loading and unloading device through the conveying line, and the unloading device can put the containers back to the goods shelf. The picking system realizes primary picking and transportation of the containers through the loading and unloading device, can realize the transportation of the containers between the goods shelf and the workstation area, effectively improves the efficiency of the sorting work, and lightens the labor intensity.

Example four

The embodiment discloses a container taking method, which is implemented by the picking system disclosed in the third embodiment, and as shown in fig. 8, the method includes the following steps:

in step S1000, the handling device drives the pick-and-place container assembly to move to the target position.

And the service system sends a container fetching instruction to the loading and unloading device, and the loading and unloading device drives the container fetching and sending component to move to a target position according to container position information contained in the service instruction after receiving the service instruction. The container position information can be stored in advance, for example in the form of coordinates, in a service system or in a control system of the handling device, on the basis of which the handling device can carry out corresponding operations.

In combination with the structure of the handling device in the present disclosure, the handling device includes an X-axis rail 71 arranged in the horizontal direction and a Y-axis rail 72 arranged in the vertical direction, and after receiving a service command, the handling device drives the pick-and-place container assembly to move to a target position through the movement in the X-axis direction and the Y-axis direction, and the target position corresponds to a target container position included in the service command.

In one embodiment of the present disclosure, step S1000 includes:

each container position on the goods shelf can be pre-stored in the system in a coordinate (x.y) mode, and after the unloading device receives a corresponding instruction, the unloading device can control the X-axis track 71 and the Y-axis track 72 to move corresponding distances according to coordinate information of a target position contained in the instruction, so that the container taking and delivering assembly is driven to the corresponding coordinate position to reach the target position.

The corresponding position of each container position on the goods shelf is provided with an identification, when the picking and delivering container assembly moves to the target position of the goods shelf, the positioning system can identify the identification of the target position of the goods shelf to obtain the position deviation between the target position and the picking and delivering container assembly, the handling device can adjust the position of the picking and delivering container assembly along the directions of the X axis and the Y axis based on the obtained position deviation, and the precision of the position of the picking and delivering container assembly is improved.

In one embodiment of the present disclosure, the handling device drives the pick-and-place container assembly to move such that the carrying surface of the carrying assembly is lower than the carrying surface of the container on the shelf for carrying the container, which facilitates the pick-and-place assembly to drag the container on the shelf onto the carrying assembly.

Step S2000, the moving assembly 4 is controlled by the driving assembly 5 to move in the first motion track, and drives the pick-and-place assembly 3 to load the container at the target shelf position onto the carrying assembly 2.

The driving component drives the taking and delivering component 3 to move along the first motion track through the moving component, so that the taking and delivering component extends out along the extending direction of the bearing component 2 in the accommodating space of the bearing component 2, and a container in front is adsorbed by the taking and delivering component. The moving component moves reversely to drive the taking and sending component to convey the container to the bearing component 2.

In a specific embodiment of the present disclosure, step S2000 includes:

step S210, the moving assembly is controlled by the driving assembly to move to the first position in the first motion track, and drives the pick-and-place assembly to extend out and load the container at the target position on the shelf.

In the first position, the pick-and-place assembly may be engaged with a container at a target location on the shelf to load the container. When the pick-and-place assembly 3 is moved to the first position, the pick-and-place assembly 2 extends out of the first open end of the carrier assembly 2, extends towards the container at the target location of the shelf, and engages the end face of the container to load the container. For example, when the pick-and-place unit 3 employs a suction cup mechanism, the suction cup mechanism engages the end surface of the container at that location, thereby attracting the container.

Step S220, the moving assembly is controlled by the driving assembly to move toward the second position in the first motion trajectory, and the picking assembly moves the loaded container toward the accommodating space of the carrying assembly.

When the container is located at the second position, the taking and delivering assembly places the container on the bearing assembly. For example, when the pick-and-place assembly is a suction cup mechanism, in the second position, the vacuum source of the suction cup mechanism is turned off to support the container on the carrier assembly.

The second position may be set at a communication position between the first motion trajectory and the second motion trajectory, or may be set at a position adjacent to the first motion trajectory, where the second motion trajectory communicates with the first motion trajectory. When the picking and delivering assembly adsorption container moves from the first position to the second position, the container moves towards the accommodating space of the bearing assembly, so that the container is completely or partially positioned on the bearing assembly.

When the container moves to the second position, it may be detected by the detection means, at which point the pick-and-place assembly may unload the container onto the carrier assembly. In embodiments in which the carrier assembly comprises a conveyor belt, the conveyor belt is capable of moving the containers completely into the receiving spaces of the carrier assembly during operation.

In embodiments where the pick-and-place assembly includes a suction cup mechanism, the detection device signals that the container is in position when the container is moved to the second position, thereby disconnecting the vacuum source of the suction cup mechanism which loads the container onto the conveyor belt.

And step S3000, the moving component 4 is controlled by the driving component to move in the second motion track, and drives the taking and delivering component to avoid the accommodating space of the bearing component.

The sliding mechanism of the moving assembly 4 drives the taking and delivering assembly 3 to move downwards to a second moving track, and drives the taking and delivering assembly 3 to move to a position lower than the bearing surface of the bearing assembly 2, so that the accommodating space of the bearing assembly is avoided. At this time, the carrier assembly 2 may transport the container into the receiving space.

In one embodiment, in step S3000, the moving assembly is controlled by the driving assembly to move to the third position in the second motion track, and the pick-up assembly moves to a position below the carrying assembly to avoid the accommodating space of the carrying assembly.

The third position is located on the second motion track, the taking and delivering assembly moves to the position below the bearing assembly to avoid the accommodating space, so that when the container moves to the accommodating space or passes through the accommodating space along the bearing assembly 2, the container can not interfere with the taking and delivering assembly, the space of the taking and delivering container assembly is saved, and the structure is more compact.

And step S4000, driving the container on the bearing assembly 2 to move to the workstation area.

After the containers are moved onto the carrier module 2, the X-axis rails 71 and Y-axis rails 72 of the handling device drive the pick-and-place container module to move from the target position to a position corresponding to the station area, for example, to the conveyor line of the station. The conveyer belt continues to carry to on transferring the conveyer belt of workstation with the container, so that can select the container with the station of selecting in workstation district, handling device has realized having saved the human cost to the automatic transportation of container, has improved work efficiency.

EXAMPLE five

The embodiment discloses a container conveying method, which is implemented by the picking system disclosed in the third embodiment, and as shown in fig. 9, the method comprises the following steps:

and S1000, conveying the containers in the work station area to a bearing assembly of the container taking and delivering assembly.

The containers which are picked in the workstation area need to be returned to the shelf, when the containers are conveyed to the bearing assembly of the picking and conveying container assembly, the picking and conveying assembly is located in the second motion track, namely the picking and conveying assembly is located outside the accommodating space of the bearing assembly, and the containers located in the workstation area can be conveyed to the bearing assembly of the picking and conveying container assembly.

For example, the container may be transported on a conveyor line at the workstation area and passed through the second open end of the pick-and-feed container assembly into the receiving space of the carrier assembly, eventually with the container supported on the carrier assembly.

In step S2000, the handling device drives the pick-and-place container assembly to move to the target position.

The handling device can drive the picking and delivering container assembly to move to a target position through the X-axis track 71 and the Y-axis track 72. The method of this step is consistent with the above-described manner of movement and will not be described in detail here.

In one embodiment of the present disclosure, the handling device drives the picking assembly to move to a position where the carrying surface of the carrying assembly is higher than the carrying surface of the container position on the shelf for carrying the container, which facilitates the picking assembly to push the container on the carrying assembly to the container position on the shelf for storage.

And S3000, after the container on the bearing assembly is driven to move to the preset position, the moving assembly is controlled by the driving assembly to move to the first moving track along the second moving track, so that the container taking and delivering assembly is driven to enter the accommodating space of the bearing assembly.

After reaching the target position, the easy movement on the carrying assembly can be driven to a preset position, which can be the second position. Of course, it is within the skill of the art that this step may be performed before the removal of the pick-and-place container assembly, and is not limited thereto.

In embodiments where the carrier assembly is a conveyor belt, the containers may be conveyed by the conveyor belt. When the container moves to the second position, the motion assembly is controlled to move to the first motion track along the second motion track, so that the taking and delivering assembly is driven to enter the accommodating space of the bearing assembly.

And step S4000, the motion assembly is controlled by the driving assembly to move in the first motion track, so that the taking assembly pushes the container on the bearing assembly to a target position of the shelf for storage.

Under the driving force of the driving assembly, the taking and delivering assembly can push the container located at the second position on the bearing assembly along the first motion track, so that the container is pushed towards the first opening end, the container is pushed to the target position of the shelf through the first opening end to be stored, and the feeding step of the container on the shelf is completed.

The loading and unloading device can complete the work of taking containers and the work of sending the containers in the picking system, improves the utilization rate and the work efficiency of equipment, lightens the labor intensity, effectively reduces the production cost and has outstanding advantages.

The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A container taking and delivering assembly is characterized by comprising a base and a container taking and delivering device positioned on the base,

a carrier assembly configured to carry a container; the bearing component is provided with a containing space for containing a container;

in the second motion track, the motion assembly is configured to drive the pick-and-place assembly to leave the accommodating space of the bearing assembly, so that the container enters the accommodating space and is borne on the bearing assembly.

2. The pick-and-feed container assembly as in claim 1, wherein the motion assembly comprises a guide mechanism and a slide mechanism, the guide mechanism comprising a first guide portion and a second guide portion in communication; the sliding mechanism is configured to move along a first guide part and a second guide part;

3. The pick-and-feed container assembly as in claim 2, wherein the first guide portion is configured to extend linearly in a horizontal direction, and the second guide portion is located in a different direction from the first guide portion;

4. The pick-and-place container assembly as recited in claim 3, wherein the slide mechanism is configured such that after the slide mechanism is moved into position along the second guide, the pick-and-place assembly is configured to move to one of the sides of the carrier assembly to avoid the receiving space of the carrier assembly.

5. The retrieval container assembly of claim 3, wherein the second guide is configured to be positioned above the first guide; after the moving assembly is moved to the position along the second guide part, the taking and placing assembly is moved to the upper part of the bearing assembly so as to avoid the accommodating space of the bearing assembly.

6. The retrieval container assembly of claim 3, wherein the second guide is configured to be positioned below the first guide; after the moving assembly is moved to the position along the second guide part, the taking and placing assembly is moved to the position below the bearing assembly so as to avoid the accommodating space of the bearing assembly.

7. A handling device comprising a frame on which is disposed a pick-and-place container assembly as claimed in any one of claims 1 to 6, the pick-and-place container assembly being configured to move on the frame.

8. A sorting system, comprising:

the system comprises a workstation area, a picking station and a picking station, wherein the workstation area is internally provided with the picking station;

a rack docking area configured to dock a rack;

the handling device of claim 7, configured for transferring containers between a workstation area and a rack.

9. A method of retrieving containers, carried out by the picking system of claim 8, comprising the steps of:

step S1000, the handling device drives the picking and delivering container assembly to move to a target position;

and step S4000, driving the container on the bearing assembly to move to the work station area.

10. A method of delivering containers, carried out by the picking system of claim 8, comprising the steps of:

and step S4000, the motion assembly is controlled by the driving assembly to move in a first motion track, so that the taking and placing assembly pushes the container on the bearing assembly to a target position of the shelf for storage.