CN116142811A - Container operating mechanism, container palletizing system and control method thereof - Google Patents

Abstract

The invention discloses a container operating mechanism, a container stacking system comprising the container operating mechanism and a control method of the system. The container operating mechanism of the present invention uses the container position adjustment mechanism to adjust the container to the preset second target position after the container pick-and-place component takes out the container, and then the container palletizing component takes out the container from the second target position and stacks it. On the pallet, the combined position between the container palletizing assembly and the container is limited within the allowable deviation range, so that the container palletizing assembly can control the stacking position of the container at the preset stacking position, or the The deviation between the actual stacking position of the container and the preset stacking position is controlled within the allowable deviation range, avoiding the positional interference between the container and the previous stacked container and/or the subsequent container to be stacked , to ensure the smooth and orderly progress of the stacking work.

Description

Container operating mechanism, container palletizing system and control method thereof

technical field

The invention relates to the technical field of storage systems, in particular to a container operating mechanism, a container palletizing system and a control method thereof.

Background technique

Automated warehousing systems have been more and more used in various civil and industrial warehousing fields, but at the same time, some problems that are not humanized and inefficient have been exposed.

For example, in the current warehousing system, taking containers from the carrier and palletizing the containers are all done manually, which is time-consuming, labor-intensive and inefficient.

In view of this, how to unmanned automatic pick-and-place and stack containers is a technical problem to be solved urgently by those skilled in the art.

Contents of the invention

In order to unmanned automatic pick-and-place and stacking of containers, the present invention provides a container operating mechanism in the first aspect.

The container operating mechanism of the present invention comprises:

base;

a container pick-and-place assembly configured to take out the container at the first target position, and place the taken-out container on the container position adjustment mechanism, the container position adjustment mechanism is configured for adjusting the container to a preset second target position;

a container palletizing assembly configured to remove the container at the second target location and stack the removed container at a third target location;

A moving assembly, the moving assembly is arranged on the base and is configured to drive the container pick-and-place assembly and the container palletizing assembly to move.

In one embodiment of the container handling mechanism of the present invention, the container access assembly is configured to engage with the container through the front face of the container.

In one embodiment of the container handling mechanism of the present invention, the container palletizing assembly is configured to engage the container via the top surface of the container.

In one embodiment of the container operating mechanism of the present invention, the container pick-and-place component picks and places the container by at least one of sucking, pushing, clamping, grabbing, hooking, hugging, and lifting.

In one embodiment of the container operating mechanism of the present invention, the container palletizing assembly stacks containers by at least one of suction, hooking and grabbing.

In one embodiment of the container operating mechanism of the present invention, the container pick-and-place assembly includes:

a first casing, the first casing is arranged on the moving assembly;

A first suction cup, the first suction cup is arranged on the first housing and is controlled by the first vacuum generating device for sucking or loosening the container.

In one embodiment of the container operating mechanism of the present invention, the container pick-and-place assembly includes a plurality of first suction cups.

In one embodiment of the container operating mechanism of the present invention, the plurality of first suction cups are divided into at least two rows arranged parallel to each other.

In one embodiment of the container operating mechanism of the present invention, the container pick-and-place assembly further includes a telescopic drive assembly configured to drive the first suction cup relative to the first casing along the Telescopic movement in the direction of placing the container.

In one embodiment of the container operating mechanism of the present invention, the telescopic drive assembly includes a piston cylinder, the cylinder body of the piston cylinder is fixed on the housing, and the piston rod of the piston cylinder extends out of the housing And the suction cup is connected, and the piston cylinder is configured to push the piston rod to move telescopically relative to the cylinder body after passing through the medium.

In one embodiment of the container operating mechanism of the present invention, the telescopic drive assembly includes a ball screw nut mechanism and a motor, and the lead screw of the ball screw nut mechanism is rotatably connected to the housing and controlled by The motor is driven to rotate, and the nut of the ball screw nut mechanism is located outside the housing and fixedly connected to the suction cup.

In one embodiment of the container operating mechanism of the present invention, the container pick-and-place assembly further includes a bearing element, the bearing element is arranged on the first housing and located below the first suction cup, and the bearing element Constructed to hold containers.

In one embodiment of the container operating mechanism of the present invention, the container pick-and-place assembly further includes a telescopic drive assembly configured to drive the first suction cup relative to the first casing along the Telescopic movement in the direction of placing the container;

And the first suction cup is configured to exceed the carrier element to absorb the container when it is in the extended state, and allow the carrier element to carry the container when it is in the retracted state.

In one embodiment of the container operating mechanism of the present invention, the bearing element includes at least two pins, and at least two pins are both arranged on the housing and arranged parallel to each other.

In one embodiment of the container operating mechanism of the present invention, the container palletizing assembly includes:

a second housing, the second housing is arranged on the first housing or on the moving assembly;

The second suction cup is arranged on the second housing and is controlled by the second vacuum generating device for sucking or loosening the container.

In one embodiment of the container handling mechanism of the present invention, the container palletizing assembly includes a plurality of the second suction cups;

In one embodiment of the container operating mechanism of the present invention, a plurality of the second suction cups are sequentially arranged at intervals.

In one embodiment of the container operating mechanism of the present invention, the container operating mechanism includes at least two container palletizing assemblies, and at least two container palletizing assemblies are arranged in parallel.

In an embodiment of the container operating mechanism of the present invention, the container operating mechanism further includes a first detection element configured to detect the position of the first target position or the second target position Whether the identification information of the target container and the target container are consistent;

The container pick-and-place component picks and places the container when the identification information of the container at the first target position or the second target position detected by the first detection element is consistent with that of the target container.

In a second aspect, the present invention also provides a container palletizing system, which is characterized in that the container palletizing system includes a container position adjustment mechanism and the above-mentioned container operating mechanism.

In one embodiment of the container palletizing system of the present invention, the container palletizing system further includes a pallet position adjustment mechanism configured to adjust the pallet to a preset fourth target position, the A third target location is located on the pallet.

In one embodiment of the container palletizing system of the present invention, the container palletizing system further includes a second detection element, the second detection element is arranged on the pallet position adjustment mechanism and is configured to detect the Whether the conditions for stacking containers are met;

The container palletizing component is used to stack containers on the pallet when the pallet meets the conditions for stacking containers detected by the second detection element.

In an embodiment of the container palletizing system of the present invention, the second detection element includes an in-position detection element configured to detect whether the pallet is adjusted to the fourth target position;

The container palletizing assembly is used for stacking containers on the pallet when the pallet is adjusted to the fourth target position detected by the presence detection element.

In an embodiment of the container palletizing system of the present invention, the second detection element further includes a tray state detection element configured to detect whether there is a foreign object on the tray;

The container palletizing assembly is used to stack containers on the pallet when there is no foreign object on the pallet detected by the pallet state detecting element.

In one embodiment of the container palletizing system of the present invention, the pallet position adjustment mechanism further includes an alarm unit, which is connected in communication with the second detection element and is configured to An early warning signal is issued when the conditions for stacking containers are not met.

In one embodiment of the container palletizing system of the present invention, the container position adjustment mechanism includes:

buffer table;

a fixed baffle, and the fixed baffle is fixedly arranged on the buffer table;

A first movable baffle, the first movable baffle is configured to be set on the buffer platform in a liftable manner controlled by a first positioning drive mechanism, and the container pick-and-place assembly is configured as the first movable baffle A movable baffle is placed in the lower position to place the container on the buffer table;

A second movable baffle, the second movable baffle is configured to be controlled by a second positioning drive mechanism to be movably arranged on the buffer platform, and is used to push the container to move against the fixed baffle ;

The third movable baffle, the third movable baffle is configured to be controlled by a third positioning drive mechanism to be movably arranged on the buffer platform, and is used to push the container to move to the high position of the first movable baffle. A movable baffle offsets each other.

In one embodiment of the container palletizing system of the present invention, the buffer platform further has a lifting guide hole, and the first movable baffle is lifted and lowered along the lifting guide hole.

In one embodiment of the container palletizing system of the present invention, the container position adjustment mechanism further includes a combination platform, the combination platform is arranged on the buffer table and is configured to stack containers whose size is smaller than a predetermined size .

In one embodiment of the container palletizing system of the present invention, the combined platform includes a second buffer cover plate and a buffer bracket, and the second buffer cover plate is located above the buffer platform and fixedly arranged on the on the cache table.

In one embodiment of the container palletizing system of the present invention, the pallet position adjustment mechanism includes a left guide strip, a right guide strip and an end stopper;

The left side guide strip and the right side guide strip are configured to guide the tray subjected to external force, and the end stopper is configured to stop the tray when the tray moves to the fourth target position under the action of external force. Movement of the pallet in the direction of infeed.

In one embodiment of the container palletizing system of the present invention, the container palletizing system further includes a safety protection mechanism, and the safety protection mechanism is configured to surround the container operation mechanism, the container position adjustment mechanism and the pallet The position adjustment mechanism has an operation port and an entrance and exit;

The container operating mechanism is configured to take out the container from the first target position or put the container (8) into the first target position through the operating port protruding from the area enclosed by the safety protection mechanism;

The access port is configured for the tray to enter and exit the area enclosed by the safety protection mechanism.

In one embodiment of the container palletizing system of the present invention, the safety protection mechanism includes a plurality of uprights arranged at intervals in sequence, and a shield connecting two adjacent uprights, wherein, the same as the first target position The blocking member is not provided between the two adjacent columns at positions to form the operation opening.

In an embodiment of the container palletizing system of the present invention, the first target position is located on a carrier.

In a third aspect, the present invention also provides a control method for a container palletizing system, the container palletizing system is the container palletizing system as described above, and it is characterized in that the control method includes the following steps:

Step S1000, the moving component drives the container pick-and-place component to move to the first target position, and the container pick-and-place component takes out the container at the first target position;

Step S2000, the moving component drives the container pick-and-place component to move to the container position adjustment mechanism, and the container pick-and-place component places the container on the container position adjustment mechanism;

Step S3000, the container position adjustment mechanism adjusts the container to a preset second target position;

Step S4000, the moving component drives the container palletizing component to move to the second target position, and the container palletizing component takes out the container at the second target position;

Step S5000, the moving component drives the container palletizing component to move to the third target position, and the container palletizing component stacks the container on the third target position.

In an embodiment of the control method of the present invention, the third target position is located on the pallet;

After the step S3000, the control method further includes the step of detecting whether the pallet satisfies the condition for stacking containers.

In one embodiment of the control method of the present invention, in the step S1000, the container pick-and-place component combines with the front surface of the container at the first target position to take out the container.

In one embodiment of the control method of the present invention, in the step S4000, the container palletizing assembly combines with the top surface of the container at the first target position to take out the container.

In one embodiment of the control method of the present invention, the detection method for detecting whether the pallet meets the conditions for stacking containers includes:

detecting whether the tray is adjusted to a preset fourth target position; and/or

Check for foreign objects on the tray.

In one embodiment of the control method of the present invention, in the step S1000, it further includes reading the information of the container at the first target position, the information including the size of the container;

When the size of the container is smaller than the predetermined size, in step S3000, the container palletizing assembly takes out the container at the second target position, and arranges the container at the target position;

When the size of the combined container at the arrangement target position conforms to the predetermined size, in step S4000, the container stacking assembly puts a plurality of containers at the arrangement target position at the third target position.

The moving component of the container operating mechanism of the present invention first drives the container picking and placing component to move to the first target position, and then the container picking and placing component takes out the container at the first target position; then, the moving component drives the container picking and placing component to move to the container position adjustment mechanism, and place it on the container position adjustment mechanism; then adjust the position of the container to the preset second target position by the container position adjustment mechanism, and then the movement component drives the container palletizing component to move to the third target position At the last container stacking assembly, the container is stacked on the third target position.

It can be seen from this that, after the container handling mechanism of the present invention takes out the container by the container pick-and-place assembly, it first uses the container position adjustment mechanism to adjust the container to the preset second target position, and then the container palletizing assembly starts from the second target position. Take out the container and stack it on the pallet, and limit the joint position between the container palletizing component and the container within the allowable deviation range, so that the container palletizing component can control the stacking position of the container at the preset stacking position , or the deviation between the actual stacking position of the container and the preset stacking position can be controlled within the allowable deviation range, so as to avoid the The positional interference between them ensures the smooth and orderly progress of the stacking work.

In addition, the container palletizing system is equipped with a combination platform, and the containers whose size is smaller than the predetermined size are temporarily buffered on the combination platform. Compared with stacking containers one by one according to the container size, the stacking efficiency can be improved.

In addition, the container operating mechanism uses the container pick-and-place component to take out the container on the carrier by combining with the front surface of the container, and uses the container palletizing component to take out the container on the container positioning mechanism by combining with the top surface of the container, which can be densely packed. The storage containers can also be stacked densely, making full use of the space on the carrier and the pallet, and improving the container placement capacity of the carrier or pallet.

Description of drawings

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

Fig. 1 is the working state schematic diagram of the specific embodiment of container palletizing system provided by the present invention;

Fig. 2 is a perspective view of the assembly of the container pick-and-place assembly and the container palletizing assembly;

Fig. 3 to Fig. 5 are respectively the front view, top view and side view of the assembly shown in Fig. 2;

Fig. 6 is a perspective view of a container position adjustment mechanism;

Fig. 7 is a partial enlarged view of A in Fig. 6;

Fig. 8 is a perspective view of the tray position adjustment mechanism;

Fig. 9 is a schematic flow chart of the main steps of the control method of the container palletizing system provided by the present invention;

Fig. 10 is a schematic flowchart of the detailed steps of the control method of the container palletizing system provided by the present invention.

The one-to-one correspondence between the names of the components and the reference numerals in Fig. 1 to Fig. 8 is as follows:

1 Base: 10 bottom plates, 11 top plates, 12 vertical poles;

2 Container pick-and-place components: 20 the first shell, 21 the first suction cup, 22 the pinion, 23 the first detection element;

3 motion components;

4 Container palletizing components: 40 second shell, 41 connecting bracket, 42 fasteners;

5 Container position adjustment mechanism: 50 cache cover, 51 outrigger, 52 beam, 53 fixed baffle, 54 first movable baffle, 55 second movable baffle, 56 third movable baffle, 57 second cache cover , 58 cache bracket, 59 guide plate, 5a lifting guide hole, 590 foot, 591 chemical bolt;

6 Tray position adjustment mechanism: 60 left guide bar, 61 right guide bar, 62 end stopper, 63 in-position detection element, 64 pallet state detection device, 65 left mounting bracket, 66 right mounting bracket, 67 alarm unit;

7 Safety protection mechanism: 70 pillars, 71 blocking parts, 7a operation port, 7b entrance and exit.

8 containers;

9 vehicles.

Detailed ways

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

The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses.

Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the description.

In all examples shown and discussed herein, any specific values should be construed as exemplary only, and not as limitations. Therefore, other instances of the exemplary embodiment may have different values.

It should be noted that like numerals and letters denote like items in the following figures, therefore, once an item is defined in one figure, it does not require further discussion in subsequent figures.

In order to improve the loading and unloading efficiency of the storage system, the first aspect of the present invention provides a container palletizing system, the container palletizing system is used for the controller to pick and place containers from multiple different carriers in the warehouse, and will take out Containers are stacked onto pallets that can be moved automatically or manually between different target areas of the warehouse to transport the containers. The carrier is configured to store or carry containers, and the carrier includes a shelf (such as a partition shelf, a container shelf), a pallet support, a cage car, a pallet support, a truck, and the like. Each carrier includes a plurality of storage locations, each storage location for receiving a container. In order to facilitate understanding, the ordinal numbers "first", "second", "third", "fourth" and so on will be used hereinafter to distinguish two different target positions. have a limiting effect.

In addition, it should be noted that, in terms of storage functions, the containers in the present invention include general-purpose containers and special-purpose containers, wherein, general-purpose containers refer to containers that can store any goods, such as storage boxes, sorting boxes, etc., and special-purpose containers refer to special-purpose containers. Containers for placing a certain type or type of goods, such as shoe boxes, fresh boxes, buckets, etc. Distinguished from materials, cartons, glass bottles, plastic boxes, metal boxes, leather boxes, etc. of the present invention.

The present invention provides a container operating mechanism and a container palletizing system including the container operating mechanism. In order to facilitate understanding and keep the text concise, the following article will take an embodiment of the container palletizing system as an example in combination with FIGS. 1 to 9 Explain the specific structure and working principle of the container operating mechanism and the container palletizing system, and will not explain the container operating mechanism separately.

Referring to Fig. 1, the container palletizing system of the present application includes a container operating mechanism and a container position adjusting mechanism.

Wherein, the container operating mechanism includes a base 1 , a container picking and placing assembly 2 , a moving assembly 3 and a container stacking assembly 4 .

Wherein, the container pick-and-place assembly 2 is configured to take out the container 8 located at the first target position, and place the taken-out container 8 on the container position adjustment mechanism, and the container position adjustment mechanism is configured to adjust the container 8 to the preset second target position. The container stacking assembly 4 is configured to take out the container 8 on the second target position, and place the container 8 on the third target position; the motion assembly 3 is arranged on the base 1, and is configured to drive the container pick-and-place assembly 2 And the container palletizing assembly 4 moves.

It should be noted that the first target position and the third target position may be the same target position or different target positions, and the first target position and the second target position may be located in warehouses such as pallets, carriers, container buffer racks, etc. Commonly used components in the system.

For easy understanding, in this embodiment, the container operating mechanism mainly picks and delivers containers between the carrier, the container position adjustment mechanism and the tray. The first target position is the storage position of the storage container on the carrier, and the third target position is It refers to the stacking position where the container is stacked on the pallet. The working principle of the stacking container between the above three components of the container operating mechanism will be described in detail below in conjunction with this embodiment.

In addition, it should be noted that the orientation words "front", "top" and "bottom" used in describing the container palletizing system herein are based on when the container 8 is placed on the carrier. The opening direction of the container access opening facing the user side or the vehicle is "front", the side of the container close to the ground is "bottom", and the side away from the ground is "top".

In detail, referring to FIG. 1 , the base 1 includes a bottom plate 10 , a top plate 11 and a vertical pole 12 , wherein the bottom plate 10 and the top plate 11 are fixedly connected by the vertical pole 12 , and between the bottom plate 10 and the top plate 11 is provided with a vertical pole 12 fixed Connected multiple stiffeners. The base 1 is placed on the ground of the warehouse or fixedly connected to the ground by screws.

The motion assembly 3 is arranged on the top plate 11. Specifically, in this embodiment, the motion assembly 3 is specifically a mechanical arm, which can perform various actions such as moving, rotating, and pitching according to a predetermined program, and then drives the container pick-and-place assembly 2 Movement between different target positions. Of course, the robotic arm can also perform various actions such as moving, rotating, and pitching according to control instructions issued by the user or external equipment. It can be understood that on the basis of satisfying the function of driving the container picking and placing assembly 2 to move between different target positions, the moving assembly 3 is not limited to the mechanical arm.

It should also be noted that the container operating mechanism of the present invention may also include a controller (not shown in the figure), which is configured to control the pick-and-place container assembly 2, the movement assembly 3, the container stacking assembly 4, etc. Each functional component executes corresponding actions. In some embodiments, the container operator can be equipped with a separate dedicated controller. In some other embodiments, each functional component of the container operating mechanism may be controlled by the user or the controller of the storage system, that is, controlled by an external controller of the container operating mechanism.

Referring to FIGS. 2 to 5 , the container pick-and-place assembly 2 includes a first housing 20 , a first suction cup 21 and a first vacuum generating device (not shown in the figures). Wherein, the first casing 20 is arranged on the moving assembly 3 . Specifically, the first housing 20 is fixedly connected to the end shaft of the mechanical arm, the first suction cup 21 is arranged on the first housing 20, and the first suction cup 21 is connected to the first vacuum generating device through a gas pipeline.

When the first vacuum generating device is started, the gas pipeline is ventilated, the air inside the first suction cup 21 is sucked away, and a vacuum state of negative pressure is formed in the first suction cup 21 . At this time, the air pressure inside the first suction cup 21 is lower than the atmospheric pressure outside the first suction cup 21, and the container 8 is sucked up under the action of the external negative pressure. The higher the degree of vacuum inside the first suction cup 21 is, the tighter the adhesion between the first suction cup 21 and the container 8 is. Vacuum adsorption has the advantages of cleanness, stable and reliable adsorption, and no damage to the surface of the container 8.

Further, in this embodiment, the container pick-and-place assembly 2 of the present invention is combined with the front surface of the container 8 to take out the container 8 from the first target position. There is no need to reserve space between adjacent containers for the insertion of removed components, and the containers can be densely stored on the carrier, making full use of the space on the carrier and improving the container placement capacity of the carrier.

In addition, in this embodiment, the container pick-and-place assembly of the present invention picks and places the container by suction.

According to some other embodiments of the present invention, the container pick-and-place assembly can also pick and place the container by at least one of pushing, clamping, taking out, hooking, picking up, and lifting.

Further, in order to improve the stability and reliability of the container pick-and-place assembly 2 for picking and placing the container 8, the container pick-and-place assembly 2 includes several first suction cups 21, and the several first suction cups 21 are divided into at least two rows, and at least two rows The first suction cups 21 are arranged parallel to each other.

Specifically, referring to Fig. 2, in the present embodiment, the container pick-and-place assembly 2 includes 14 first suction cups 21, and these 14 first suction cups 21 are equally divided into two rows arranged in parallel, with 7 first suction cups in each row 21 are set at intervals in turn.

With such arrangement, multiple adsorption points are formed between the container pick-and-place assembly 2 and the container 8 , and the adsorption force is relatively large, which can ensure the stability and reliability of taking out the container 8 . It can be understood that those skilled in the art can choose the number and arrangement of the first suction cups 21 according to actual needs.

Continuing to refer to FIG. 2 , in this embodiment, the container pick-and-place assembly 2 further includes a bearing element disposed on the first housing 20 and located below the first suction cup 21 , and configured to bear the container 8 .

Further, the container pick-and-place assembly 2 also includes a telescopic drive assembly configured to drive the first suction cup 21 to move telescopically along the direction of picking and placing the container 8 relative to the first housing 20, and the first suction cup 21 is configured to When it is in the extended state, it exceeds the carrier element to absorb the container 8, and when it is in the retracted state, the carrier element carries the container 8.

In the initial state, the first suction cup 21 is located in the retracted position, that is, close to the first housing 20. When the container 8 needs to be taken out, the telescopic drive assembly drives the first suction cup 21 to extend until it exceeds the carrier element and contacts the container 8, and the second suction cup is activated. A vacuum generating device, the first suction cup 21 absorbs the container 8; the telescopic drive assembly is controlled to drive the first suction cup 21 to retract to the initial position, and then the controller closes the first vacuum generating device, the adsorption force of the first suction cup 21 disappears, and the container 8 is The self-weight falls on the carrying element; or the container is carried by the carrying element while the first suction cup 21 absorbs the container.

It can be understood that, compared with simply relying on the first suction cup 21 to absorb the container 8, the container pick-and-place assembly 2 is equipped with a load-bearing element, which can prevent the first suction cup 21 from losing its adsorption force when the first vacuum generating device fails unexpectedly, causing the container 8 to fall risk, improving the reliability of taking out the container 8.

On the other hand, after the container pick-and-place assembly 2 takes out the container 8 and returns to the initial position, the first vacuum generating device can be turned off, and the container 8 is only carried by the carrier element during the transportation of the container 8 . It can be understood that, compared with the way in which the first suction cup 21 continuously absorbs the container 8 during the process of transporting the container 8, this transport mode can reduce the working time of the first vacuum generating device and save energy.

In detail, the telescopic driving assembly may include a hydraulic cylinder, an electric cylinder or an air cylinder, the cylinder body of which is fixed in the first housing 20, the piston rod of which protrudes out of the first housing 20 and is connected to the first suction cup 21, through which the piston is driven. The extension of the rod from the cylinder or retraction to the cylinder can realize the telescopic movement of the first suction cup 21 relative to the first housing 20 along the direction of picking and placing the container 8 .

Of course, in some other embodiments, the telescopic drive assembly includes a ball screw nut mechanism and a motor, and the lead screw of the ball screw nut mechanism is rotatably connected to the first housing 20 through a bearing and is driven to rotate by the motor. The nut block is located outside the first housing 20 and is fixedly connected to the first suction cup 21, and the motor can be controlled to rotate forward and reverse to realize that the first suction cup 21 protrudes from the first housing 20 or the first suction cup 21 retracts to the first housing 20.

In addition, the telescopic drive assembly can also be driven by rack and pinion drive, chain drive, belt drive, etc., which will not be listed here.

Continuing to refer to FIG. 2 , in this embodiment, the bearing element includes two prongs 22 fixedly connected to the first housing 20 , and the two prongs 22 are arranged in parallel at intervals in a horizontal plane. Certainly, the number of the gussets 22 is not limited to two, and the number of the gussets 22 may be an integer greater than 2, and these gussets 22 may be arranged in parallel at intervals in sequence on a horizontal plane.

Certainly, the structure of the load-bearing element is not limited to the pinion 22 , and in other implementations, the container pick-and-place assembly 2 can also use a whole plate as the load-bearing element, as long as it can meet the function of the load-bearing container 8 .

When a container 8 is stored on the first target position, the moving component 3 can drive the container pick-and-place component 2 to move to the first target position and take out the container 8 on the first target position, but there may be a package stored on the first target position Containers 8 of various types of products, and how to find the target container that needs to be taken out from a large number of containers 8 is the condition for the container pick-and-place component 2 to take out the container 8 from the first target position.

Among them, the target container refers to the container that needs to be taken out by the user or the upper-level control unit of the storage system. The identification information of the target container includes product name, place of origin, supplier and other relevant information. The form is set on the container.

To this end, referring to FIG. 2 , the container operating mechanism includes a first detection element 23 configured to detect whether the identification information of the container 8 at the first target position is consistent with that of the target container.

When the identification information of the container 8 on the first target position is consistent with that of the target container, the moving component 3 drives the container pick-and-place component 2 to move from the current position to the first target position, and then the container pick-and-place component 2 takes out the first target position. The container 8 on the target position; otherwise, the motion assembly 3 drives the container pick-and-place assembly 2 to move to the next first target position, and controls the first detection element 23 to detect both the container 8 and the target container on the first target position Whether the identification information of the target container is consistent until a container with the same identification information as the target container is found, or an early warning signal is sent to remind the user or the controller that the container failed to be taken out. It should be noted that the early warning signal can be a sound signal, a light signal or a text signal, or a combination of any two of the sound signal, light signal and text signal.

Specifically, the first detection element 23 also includes a container identification element and a judging unit. Wherein, the container identification element is arranged on the container pick-and-place assembly 2, and is configured to identify the identification information of the container 8; the judging unit communicates with the container identification element, and is configured to judge the container identified by the current container identification element Whether the identification information is consistent with the identification code of the target container that the container pick-and-place component 2 needs to take out.

When the container identification component recognizes that the identification information of the current container 8 is consistent with the identification code of the target container to be taken out by the container pick-and-place assembly 2, the container pick-and-place assembly 2 takes out the container 8.

It should be noted that, in this embodiment, the first detection element 23 is arranged on the container pick-and-place assembly 2, on the basis of satisfying the identification information function of identifying the container 8, the first detection element 23 can also be arranged on the container palletizing assembly 4 Or on the moving component 3, those skilled in the art can select an appropriate position setting based on the spatial position of the container operating mechanism.

2 to 5, the container palletizing assembly 4 includes a second housing 40 and a second suction cup (not shown); wherein, the second housing 40 is fixedly arranged on the bottom of the first housing 20, the second The suction cup is fixedly arranged on the bottom surface of the second housing 40 and communicates with the chamber of the second housing 40. A gas pipeline is also provided on the second housing 40, and the second vacuum generating device is connected to the second housing through the gas pipeline. 40 chambers communicate.

Of course, the container stacking assembly 4 can also be arranged on the moving assembly 3, for example, a cantilever bracket extending toward the carrier 9 is set on the moving assembly 3, and the second housing 40 of the container stacking assembly 4 is fixedly arranged on the cantilever On the bracket, it is only necessary to ensure that the suction port of the second suction cup can face the top surface of the container 8.

When the second vacuum generating device is activated, a negative pressure is formed in the chamber of the second housing 40 , and under the action of the internal and external pressure difference, the second suction cup absorbs the container.

The container palletizing assembly 4 includes several second suction cups, the several second suction cups are divided into at least two rows, and at least two rows of second suction cups are arranged parallel to each other.

With such arrangement, a plurality of adsorption points are formed between the container palletizing assembly 4 and the container 8 , and the adsorption force is relatively large, which can ensure the stability and reliability of taking out the container 8 . It can be understood that those skilled in the art can choose the number and arrangement of the second suction cups according to actual needs.

In addition, in this embodiment, the container palletizing assembly 4 of the present invention takes out or stacks containers by means of suction.

According to other embodiments of the present invention, the container palletizing assembly 4 can also take out or stack containers by hooking. The hooking method means that a hook can be set on the container stacking assembly 4, and a lifting ring is detachably set on the top of the container. Before the container stacking assembly 4 is taken out of the container, the lifting ring is connected to the container manually or by a robot. After the palletizing assembly puts the container in 4 yards, the lifting ring is removed from the container manually or by a robot.

Continuing to refer to FIG. 1 , in this embodiment, the container operating mechanism includes two container palletizing assemblies 4 , which are arranged in parallel to improve the stability of the container operating mechanism for operating containers.

In detail, the container operating mechanism includes a connecting bracket 41, the connecting bracket 41 is fixedly arranged on the bottom surface of the first housing 20 of the container pick-and-place assembly 2 through fasteners 42, and the two container palletizing assemblies 4 are fixedly arranged on the connecting bracket 41 on.

It should be noted that, in some other embodiments, the container operating mechanism may include one container stacking assembly 4 or three or more container stacking assemblies 4, and those skilled in the art may And factors such as the size of the actual required adsorption force determine the quantity of the container palletizing assembly 4 and get final product.

The container pick-and-place component 2 combines with the container 8 through the front end of the container 8 from the first target position of the carrier 9 and absorbs the container 8, and then the moving component 3 drives the container pick-and-place component 2 to move to the container position adjustment mechanism 5, and the container takes The placing component 2 places the container 8 on the container position adjustment mechanism 5, and the container position adjustment mechanism 5 adjusts the container to the second target position. It should be noted that the second target position is that the movement component 3 drives the container palletizing component 4 to move To take out the target position of the container, the second target position is preset in the control system of the container palletizing system, and the control system sends the position information (coordinate value) of the second target position to the motion component 3, and the motion component 3 will drive the container When the palletizing assembly 4 moves to the second target position, and the container is also located at the second target position, the relative position between the container palletizing assembly and the container is defined.

In the container palletizing system of the present invention, after the container pick-and-place component takes out the container, the container position adjustment mechanism is used to adjust the container to the preset second target position, and then the container palletizing component takes out the container from the second target position Stacked on the pallet, the joint position between the container palletizing component and the container is limited within the allowable deviation range, so that the container palletizing component can control the stacking position of the container at the preset stacking position, or it can Control the deviation between the actual stacking position of the container and the preset stacking position within the allowable deviation range, avoiding the position between the container and the previously stacked container and/or the subsequent container to be stacked Interference ensures the smooth and orderly progress of the stacking work.

Furthermore, the container palletizing assembly 4 is combined with the top surface of the container 8 to take out the container 8 to densely stack the containers on the pallet, fully utilize the space on the pallet, and improve the ventilation and placement capability of the pallet.

The moving component 3 drives the container palletizing component 4 to move onto the pallet, and then the container palletizing component 5 puts the container 8 on the third target position of the pallet.

The container operating mechanism stacks the containers on the carrier 9 on the pallet. Stacking refers to placing multiple containers next to each other on the tray surface. When the tray surface is full, the subsequent transportation is carried over. Containers 8 are placed above the first layer of containers 8, so that the containers 8 are superimposed to reach the maximum allowable placement height, and finally the pallets are transported to the designated target area in the warehouse by manual or handling robots.

It should be noted that, in the container palletizing system of this embodiment, the second target position is preset, so as to compensate the position deviation generated when the container operating mechanism moves between different target areas.

With reference to Fig. 6, the container position adjustment mechanism 5 comprises a buffer platform, a fixed baffle 53, a first movable baffle 54, a second movable baffle 55 and a third movable baffle 56; wherein the fixed baffle 53 is fixed on the buffer platform , the first movable baffle 54 is controlled by the first positioning drive mechanism to be arranged on the buffer platform in a liftable manner, and is configured to be positioned at a low position, the container pick-and-place assembly 2 can push the container onto the buffer platform; the second The movable baffle 55 is controlled by the second positioning drive mechanism to be arranged on the buffer platform in a movable manner, and is configured to push the container to abut against the fixed baffle 53; the third movable baffle 56 is controlled by the third positioning The driving mechanism is arranged on the buffer platform in a movable manner, and is configured to push the container to abut against the first movable baffle plate 54 at a high position.

In detail, the buffer platform in this embodiment at least includes a first buffer cover plate 50 and a plurality of legs 51 for supporting the first buffer cover plate 50 on the ground.

In order to ensure the stability of the buffer platform, in the present embodiment, the buffer platform also includes anchors 590 and chemical bolts 591 matching the number of legs 51; the anchors 590 are fixed on the bottom surface of the legs 51, and the chemical bolts 591 are fixed on the on the ground feet 590 and be fixed on the ground.

Referring to Fig. 7, the container position adjustment mechanism 5 is also provided with a lifting guide hole 5a, and the first movable baffle 54 can be lifted and lowered along the lifting guide hole 5a under the control of the first positioning drive mechanism.

The container position adjustment mechanism 5 includes a guide plate 59, the edge of the first buffer covering plate 50 is provided with a guide groove, the guide plate 59 is fixedly arranged on the first buffer covering plate 50 by means of fasteners, welding or bonding, and is connected with The guide groove surrounds and forms the lifting guide hole 5a.

The first positioning drive mechanism includes a first air cylinder, the cylinder body of the first air cylinder is fixedly arranged on the beam 52 and communicates with the external high-pressure air source, the beam 52 is used to fixedly connect the two adjacent legs 51, and the first movable baffle 54 is fixedly arranged on the extended end of the piston rod of the first cylinder.

The second positioning drive mechanism includes a second cylinder, the cylinder body of the second cylinder is fixedly arranged on the first buffer cover plate 50 and communicated with the external high-pressure air source, and the second movable baffle 55 is fixedly arranged on the piston rod of the second cylinder. protruding end.

The third positioning drive mechanism includes a third cylinder, the cylinder body of the third cylinder is fixedly arranged on the first buffer cover plate 50 and communicated with the external high-pressure air source, and the third movable baffle 56 is fixedly arranged on the piston rod of the third cylinder. protruding end.

The container position adjustment mechanism 5 also includes a cylinder control box configured to control the telescopic timing of the piston rods of the first cylinder, the second cylinder and the third cylinder.

In detail, firstly, the cylinder controller controls the first movable baffle 54 to be in the low position, that is, when the first movable baffle 54 is located in the low position, the first movable baffle 54 is located below the surface of the first buffer cover plate 50, and the container pick-and-place assembly 2 pushes the container to the first buffer cover plate 50, then control the first movable baffle 54 to rise to a high position, then control the second movable baffle 55 to push the container 8 to the fixed baffle 53, and control the third movable baffle 56 to push the container 8 to It is enough for the container 8 to be against the first movable baffle plate 54, so far the container is positioned to the buffering target position, and then the moving assembly drives the container stacking assembly 4 to move to the top of the positioned container 8, and continues to drive the container stacking assembly 4 to descend to The second suction cup is adsorbed on the top surface of the container 8, the motion component continues to drive the container palletizing assembly 4 to move to the second target position on the pallet, the second vacuum generating device is turned off, the second suction cup adsorption disappears, and the container 8 falls onto the pallet , and operate in such a cycle until the container 8 stacked on the pallet reaches the height or quantity allowed to be transported.

Similarly, in order to prevent the pallet from moving beyond the preset fourth target position under the action of external force, continue to refer to FIG. Configured for adjusting the tray to a preset fourth target position.

The relative positions among the tray, the carrier 9 and the container position adjustment mechanism are limited, so that the container operating mechanism can quickly and accurately stack the containers 8 on the tray according to the preset path. Wherein, the fourth target position is preset, so as to compensate the position deviation generated when the container operating mechanism moves between different target areas.

It should be noted that, generally, the tray has a cuboid structure.

Referring to Fig. 8, the tray position adjustment mechanism 6 includes a left guide bar 60, a right guide bar 61 and an end stopper 62; wherein, the left guide bar 60 and the right guide bar 61 are configured to guide For the pallet, the end stopper 62 is configured to prevent the pallet from continuing to move along the introduction direction when it reaches the preset fourth target position.

In detail, both the left guide bar 60 and the right guide bar 61 include side guide tubes with a square cross-sectional shape, and chemical bolts for fixing the side guide tubes on the ground.

The end stopper 62 includes an end guide pipe with a square cross section, an installation bracket for fixing the end guide pipe, and chemical bolts for fixing the installation bracket on the ground.

The side guide pipe is provided with a through hole configured to allow the screw rod of the chemical bolt to pass through. And the side guide tube is provided with an operation port for the user's hands or tools such as an external hexagonal wrench to stretch in and tighten the nut on the screw rod.

In more detail, the left guide bar 60 and the right guide bar 61 are inclined outward to form an inlet. To facilitate the import of the tray.

In this embodiment, the tray position adjustment mechanism 6 includes an in-position detection element 63, which is arranged on the left guide bar 60 and/or the right guide bar 61, and is configured to detect whether the tray is adjusted to the first position or not. Four target locations.

In detail, in this embodiment, the position detection element 63 includes a matched signal transmitting part and a signal receiving part, and the signal receiving part is configured to be triggered when receiving a signal emitted by the signal transmitting part. The position detection element 63 may be a photoelectric through-beam sensor.

The tray position adjustment mechanism 6 also includes a left side mounting bracket 65 and a right side mounting bracket 66, the left side mounting bracket 65 is provided with the signal emitting part of the in-position detection element 63, and the right side mounting bracket 66 is provided with the signal of the in-position detection element 63. Receive parts.

In this embodiment, both the left side mounting bracket 65 and the right side mounting bracket 66 are sheet metal structures formed by bending. In the installation groove, two connection plates are formed by bending the notch to the horizontal direction, the connection plates are fixed on the ground by chemical bolts, and the relative positions of the left side mounting bracket 65 and the right side mounting bracket 66 are provided with holes for positioning. The signal penetration hole through which the detection signal penetrates.

In other embodiments, the presence detection element 63 may be a proximity switch configured to be triggered when the tray reaches the fourth target position.

Further, the tray position adjustment mechanism 6 also includes a tray state detection element 64, the tray state detection element 64 is configured to detect whether there is a foreign object on the tray, and the container palletizing assembly 4 is based on the detection of a foreign object on the tray by the tray state detection element 64. When there are no foreign objects, stack the containers on the pallet.

In some embodiments, the tray state detecting element 64 includes a matching signal emitting part and a signal receiving part, and the signal receiving part is configured to be triggered when receiving a signal emitted by the signal emitting part. The tray state detection element 64 may be a photoelectric through-beam sensor.

Continuing to refer to FIG. 8 , in this embodiment, the tray position adjustment mechanism 6 further includes an alarm unit 67, which is communicatively connected with the arrival detection element 63 and/or the tray state detection element 64, and is configured to act as the second detection element When it is detected that the tray does not meet the conditions for stacking the container 8, an early warning signal is sent to remind the control personnel in the control room of the actual state of the tray.

In detail, the alarm unit 67 is a signal light, and the signal light is configured to use signal lights of different colors to output different detection results.

For example, when the tray is positioned successfully, the signal light is green, otherwise it is red, when there is a foreign object on the tray it is blue, otherwise it is white, etc. In this field, the appropriate color can be selected based on the actual application scene.

In other embodiments, the alarm unit 67 may be a voice and/or text display device.

In order to improve the palletizing efficiency, different palletizing methods are adopted for containers of different sizes in this embodiment. In detail, when the size of the container is close to the preset container size, after the container position adjustment mechanism 5 positions the container, the container palletizing assembly 4 takes out the container, and then stacks the container on the pallet.

When the size of the container is smaller than the preset container size, after the container pick-and-place assembly 2 places the container on the buffer platform of the container position adjustment mechanism 5, the container position adjustment mechanism 5 positions the container, and then the container palletizing assembly 4 passes through After the top surface of the container is combined, take out the container and stack it on the combination platform, repeat the above operation to stack another container on the combination platform until the predetermined size is reached. When the overall size of a plurality of containers 8 placed on the combination platform reaches a predetermined size, the container stacking assembly 4 once absorbs these containers 8 and transports them to the tray by the moving assembly 3, and then closes the second container stacking assembly 4. The vacuum generating device puts these small-sized containers in 8 yards on the pallet, realizing the purpose of handling multiple containers at a time.

In detail, the combination platform is arranged on the buffer table, and is configured to stack at least two containers whose size is smaller than a predetermined size.

Referring to FIG. 6 , the combination platform includes a second cache cover plate 57 located above the cache table and a cache bracket 58 connecting the second cache cover plate 57 and the cache table.

It should be noted that the size of the container 8 is included in the identification information of the container 8 , as mentioned above, the container operating mechanism can obtain the identification information of the container through the first detection element 23 .

Continuing to refer to FIG. 1, the container palletizing system also includes a safety protection mechanism 7; wherein, the container position adjustment mechanism 5 is configured to temporarily place the container 8 that the container operating mechanism takes out from the carrier 9, or the container operating mechanism removes the container 8 from the carrier 9. The container 8 taken out from the tray; the safety protection mechanism 7 encloses the container operation mechanism and the container position adjustment mechanism 5, and the safety protection mechanism 7 has an operation port 7a and an entrance and exit 7b, and the operation port 7a is configured to be used for the container operation mechanism from the carrier 9 or place the container 8 on the carrier 9, and the access 7b is configured to allow the tray to enter and exit the area enclosed by the safety protection mechanism 7.

Continuing to refer to FIG. 1 , in this embodiment, the safety protection mechanism 7 includes a plurality of columns 70 that surround the container operating mechanism and the container position adjustment mechanism 5 and are sequentially arranged at intervals. A shielding member 71 is connected between two adjacent columns 70, wherein , no shield 71 is provided between the two uprights 70 corresponding to the target carrier 9 to form the operation opening 7a. No shielding member 71 is provided between the two uprights 70 at a position convenient for the tray to enter and exit to form the entrance and exit 7b.

The container palletizing system is equipped with a safety protection mechanism 7 that can prevent unrelated personnel from approaching the container operating mechanism, so as to prevent unintentional or intentional actions of unrelated personnel from causing damage to the container operating mechanism, and can also avoid casualties caused by the accidental fall of the container 8, thereby improving the container palletizing system. job security and reliability.

In detail, in this embodiment, the blocking member 71 includes a plurality of vertical rods and a plurality of horizontal rods arranged in parallel and at intervals, and the plurality of vertical rods and the plurality of horizontal rods are fixedly connected to each other to form a fence. It can be understood that the safety protection mechanism 7 is assembled by rods, which has a simple structure and low manufacturing cost. In some other embodiments, the shielding member 71 may be a whole board or a fabric such as cloth.

In addition, continuing to refer to Fig. 1, the safety protection mechanism 7 is a square fence structure. Of course, when meeting the requirements of the enclosing container operating mechanism and the container position adjustment mechanism 5 functions, processing and assembly techniques, the safety protection mechanism 7 can be circular, Oval and other structures.

The present invention also provides a control method applied to the above-mentioned container palletizing system, see Fig. 9, the control method includes the following main steps:

Step S1000, the moving component drives the container pick-and-place component to move to the first target position, and the container pick-and-place component takes out the container at the first target position;

Step S2000, the moving component drives the container pick-and-place component to move to the container position adjustment mechanism, and the container pick-and-place component places the container on the container position adjustment mechanism;

Step S3000, the container position adjustment mechanism adjusts the container to the preset second target position;

Step S4000, the moving component drives the container palletizing component to move to the second target position, and the container palletizing component takes out the container at the second target position;

Step S5000, the moving component drives the container palletizing component to move to the third target position, and the container palletizing component stacks the container on the third target position.

In order to facilitate a better understanding, the control flow of the control method will be described in detail below by taking a specific embodiment as an example with reference to FIG. 10 .

In this embodiment, the first target position is located on the carrier, and the third target position is located on the pallet. It can be understood that the control method of the container palletizing system of the present application is not limited to stacking containers between carriers and pallets, but can be applied to stacking containers between any two target areas in the storage system.

Referring to Figure 10, the control method of the container palletizing system of the present application includes the following detailed steps:

S1001. The moving component drives the container pick-and-place component to move to a first target position on the carrier.

It should be noted that the first target position in the carrier refers to the position of the carrier where the target container that the user wants to take out is placed. The first target position and the target container are correspondingly stored in the database of the storage system. The database can be called.

S1002. Read the information of the container at the first target position, where the information includes the size of the container.

As mentioned above, the container operating mechanism of the container palletizing system of the present application is provided with a first detection element, the first detection element is used to obtain the identification information of the target container, so as to determine whether the container to be taken out is consistent with the target container, The identification information includes the size of the container.

S1003. The container pick-and-place component combines with the front surface of the container at the first target position to take out the container.

Obviously, in this embodiment, the container pick-and-place component cooperates with the front surface of the container to take out the container 8, so that the containers can be densely placed and stacked on the carrier, thereby increasing the container storage capacity of the carrier.

According to some other embodiments of the present invention, the container pick-and-place assembly of the present invention can also be combined with the bottom surface, side surface or top surface of the container to take out the container. Specifically, the container pick-and-place assembly can pick and place containers by at least one of sucking, pushing, clamping, grabbing, hooking, picking up, and lifting.

S2000. The moving component drives the container pick-and-place component to move to the container position adjustment mechanism, and the container pick-and-place component places the container on the container position adjustment mechanism.

S3000. The container position adjustment mechanism adjusts the container to a preset second target position. Wherein, at the second target position, the preset moving component drives the container palletizing component to move from the current position to the target position.

In detail, in combination with the above-mentioned container palletizing system, the adjustment method for the container position adjustment mechanism to adjust the container to the preset second target position includes the following steps:

First, the cylinder controller controls the first movable baffle 54 to be in the low position, that is, the first movable baffle 54 is located below the plate surface of the first buffer cover plate 50 when it is in the low position; secondly, the container pick-and-place assembly 2 pushes the container to the first On the cache cover plate 50, then control the first movable baffle 54 to rise to a high position; again, control the second movable baffle 55 to push the container 8 to the container 8 and the fixed baffle 53; finally, control the third movable baffle 56 to push The container 8 to the container 8 only needs to abut against the first movable baffle 54 , so far the container is adjusted from the current position to the second target position.

After the container is adjusted to the second target position, the control method of this embodiment continues to detect whether the pallet meets the conditions for stacking the container, so as to prevent errors caused by directly performing subsequent stacking work when the pallet does not meet the conditions for stacking the container.

Detecting whether the pallet meets the conditions for stacking containers includes the following steps:

S3001. Detect whether the tray reaches a preset fourth target position.

Likewise, as mentioned above, the tray position adjustment mechanism 6 includes an in-position detection element 63 configured to detect whether the tray is in the preset fourth target position.

In detail, the position detection element 63 includes a matching signal transmitting part and a signal receiving part, and the signal receiving part is configured to be triggered when receiving a signal emitted by the signal transmitting part. The position detection element 63 may be a photoelectric through-beam sensor.

In some other embodiments, the presence detection element 63 may be a proximity switch configured to be triggered when the tray reaches the preset fourth target position.

When step S3001 detects that the tray has reached the preset fourth target position, step S3002 is executed; otherwise, step S3003 is executed.

S3002. Detect whether there is a foreign object on the tray.

The purpose of this step is to prevent the occurrence of foreign objects on the pallet that prevent the container from being stacked, so as to improve the probability of successfully stacking the container.

When there is no foreign matter on the tray, go to step S3004, otherwise go to step S3005.

S3003. Send out an early warning signal to remind the user or the upper-level control system that the tray is not in place or there is a foreign object on the tray.

S3004. Determine whether the size of the container is smaller than a predetermined size.

It should be noted that the "predetermined size" refers to the size of the container that is preset by the user or the upper-level control system and allows the container palletizing assembly to be taken out once. Usually, the size of the container will be different. The user can set the size of the container that can be taken out at a time according to the size of the container palletizing component and the adsorption capacity of the suction cup. When the container size is smaller than the predetermined size, the container palletizing component will be single At least two containers can be taken out at a time. When the size of the container is greater than or equal to the predetermined size, the container palletizing assembly can only take out one container at a time.

When the size of the container is greater than or equal to the predetermined size, perform step S4001;

When the size of the container is smaller than the predetermined size, step S3005 is executed.

S4001. The moving component drives the container palletizing component to move to a second target position, and the container palletizing component combines with the top surface of the container at the second target position to take out the container.

Obviously, in this embodiment, the container stacking assembly is combined with the top surface of the container to take out the container 8, so that the containers can be densely placed and stacked on the pallet, thereby increasing the container storage capacity of the pallet.

According to other embodiments of the present invention, the container palletizing assembly of the present invention can also be combined with the bottom surface and the side surface of the container to take out the container. Specifically, the container pick-and-place assembly can pick and place the container by sucking or hooking.

S5001. The moving component drives the container palletizing component to move to the third target position on the pallet, and the container palletizing component stacks the taken-out container on the third target position on the pallet.

It should be noted that the method of stacking containers can be based on the area of the working surface of the pallet and the size of the container. First, the container palletizing component places the container on the working surface of the pallet. When the working surface of the pallet is full, the container The palletizing component then places the container on top of the bottom container until it reaches a height that allows stacking of the container.

Of course, the method of stacking the containers can also be to firstly stack the containers to the allowable height, and then start another group to stack up to the allowable height until the working surface of the pallet is fully placed.

S3005. The container palletizing component combines with the top surface of the container at the second target position to take out the container, and arranges the container at the target position for arrangement.

It should be noted that the arrangement target position refers to the position on the second buffer cover plate on the combination platform on the container position adjustment mechanism. After meeting the predetermined size, the container palletizing component will put these combined containers on the pallet, that is, the container palletizing component can stack multiple containers at a time, so as to reduce the number of movements of the container operating mechanism when stacking the same number of containers and improve the efficiency of stacking .

S3006. Determine whether the size of the combined container at the arrangement target position is smaller than a predetermined size.

When the size of the combined container at the arrangement target position is smaller than the predetermined size, step S1001 is executed, and the container pick-and-place component continues to take out the container from the carrier;

When the size of the combined container at the arrangement target position is greater than or equal to the predetermined size, step S4002 is executed.

S4002. The moving component drives the container palletizing component to move to the arrangement target position, and the container palletizing component takes out the container at the arrangement target position.

S5002. The moving component drives the container palletizing component to move to a third target position in the pallet, and the container palletizing component stacks a plurality of containers arranged at the target position on the third target position of the pallet.

It should be noted that, in this embodiment, the step of reading the information of the container on the carrier is set before the container pick-and-place component takes out the container from the carrier, based on the purpose of only obtaining the size of the container, in other embodiments, This step only needs to be before the container palletizing assembly takes out the container from the second target position.

In addition, in this embodiment, the step of detecting whether the pallet satisfies the conditions for stacking containers is arranged before the step of judging the size relationship between the size of the container and the predetermined size, the purpose of which is to shorten the steps of the control method.

In some other embodiments, the step of detecting whether the pallet satisfies the conditions for stacking containers can also be set after the step of judging the size relationship between the size of the container and the predetermined size.

For example, when the size of the container is smaller than the predetermined size, if the judgment result of step S3006 is yes, then check whether the pallet meets the conditions for stacking the container, if so, execute step S4002, otherwise execute an early warning signal.

When the size of the container is greater than or equal to the predetermined size, directly detect whether the pallet meets the conditions for stacking the container, if so, execute step S4001, otherwise execute to send an early warning signal.

In the control method of the present invention, after the container pick-and-place component takes out the container, the container position adjustment mechanism is used to adjust the container to the preset second target position, and then the container palletizing component takes out the container from the second target position and stacks it. On the pallet, the combined position between the container palletizing assembly and the container is limited within the allowable deviation range, so that the container palletizing assembly can control the stacking position of the container at the preset stacking position, or the The deviation between the actual stacking position of the container and the preset stacking position is controlled within the allowable deviation range, which avoids the positional interference between the container and the previous stacked container and/or the subsequent container to be stacked , to ensure the smooth and orderly progress of the stacking work.

In addition, a combination platform is configured on the container palletizing system, and the containers 8 smaller than the predetermined size are temporarily buffered on the combination platform. After the combination reaches the predetermined size, the whole is put on the pallet by the container palletizing component 4, and the container is not considered Compared with stacking containers of 8 sizes one by one, the stacking efficiency can be improved.

In addition, the container operating mechanism takes out the container 8 from the carrier 9 through the front surface of the container 8 through two take-out components, and stacks the container 8 from the top surface of the container 8, and realizes loading and unloading and stacking perfectly with one mechanism Function, and can also densely stack containers, make full use of the space on the carrier and pallet, and improve the container placement capacity of the carrier or pallet.

Having described various embodiments of the present invention, the foregoing description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and alterations 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 to best explain the principle of each embodiment, practical application or technical improvement in the market, or to enable other ordinary skilled in the art to understand each embodiment disclosed herein. The scope of the invention is defined by the appended claims.

Claims (10)

1. A container operating mechanism integrating pick-and-place and stacking, characterized in that, the container operating mechanism includes: base(1); A container pick-and-place assembly (2), the container pick-and-place assembly (2) is configured to take out the container (8) at the first target position, and place the taken-out container (8) on the container position adjustment mechanism , the container position adjustment mechanism is configured to adjust the container (8) to a preset second target position; A container palletizing assembly (4), the container palletizing assembly (4) is configured to be used for taking out the container (8) on the second target position, and stacking the taken out container (8) on the third target position superior; A moving assembly (3), the moving assembly is arranged on the base, and the moving assembly is configured to drive the container pick-and-place assembly and the container palletizing assembly to move. 2. The container handling mechanism of claim 1, wherein the container access assembly is configured for engagement with the container via the front face of the container. 3. The container handling mechanism of claim 1, wherein the container palletizing assembly is configured to engage a container via a top surface of the container. 4. The container operating mechanism according to any one of claims 1 to 3, wherein the container pick-and-place assembly comprises: a first housing (20), the first housing (20) is arranged on the moving assembly (3); A first suction cup (21), the first suction cup (21) is arranged on the first casing (20) and is controlled by the first vacuum generating device for sucking or loosening the container (8). 5. The container operating mechanism according to claim 4, characterized in that, the container palletizing assembly (4) comprises: A second housing (40), the second housing (40) is arranged on the first housing or on the moving assembly (3); The second suction cup is arranged on the second casing (40) and is controlled by the second vacuum generating device for sucking or loosening the container. 6. A container palletizing system, characterized in that the container palletizing system comprises a container position adjustment mechanism (5) and the container operating mechanism according to any one of claims 1 to 5. 7. The container palletizing system according to claim 6, characterized in that, the container palletizing system further comprises a pallet position adjustment mechanism configured to adjust the pallet to a preset fourth target position, the third target position is located on the pallet. 8. The container palletizing system according to claim 6 or 7, wherein the container position adjustment mechanism comprises: buffer table; A fixed baffle (53), the fixed baffle (53) is fixedly arranged on the buffer table; The first movable baffle (54), the first movable baffle (54) is configured to be controlled by the first positioning drive mechanism to be arranged on the buffer platform in a liftable manner, and the container pick-and-place assembly (2) being configured to place the container on the buffer platform when the first movable baffle is at a low position; A second movable baffle (55), the second movable baffle (55) is configured to be controlled by a second positioning drive mechanism to be movably arranged on the buffer table, and used to push the container (8) Move to resist with described fixed baffle (53); A third movable baffle (56), the third movable baffle (56) is configured to be controlled by a third positioning drive mechanism to be arranged on the buffer platform in a movable manner, and is used to push the container (8) Move to abut against the first movable baffle (54) at the high position. 9. The container palletizing system according to claim 8, characterized in that, the container position adjustment mechanism further comprises a combination platform, the combination platform is arranged on the buffer table, and is configured to be used for stacking container sizes A container (8) smaller than a predetermined size. 10. A control method for a container palletizing system, the container palletizing system being the container palletizing system according to any one of claims 6 to 9, characterized in that the control method comprises the following steps: Step S1000, the moving component drives the container pick-and-place component to move to the first target position, and the container pick-and-place component (2) takes out the container at the first target position; Step S2000, the moving component drives the container pick-and-place component to move to the container position adjustment mechanism, and the container pick-and-place component (2) places the container on the container position adjustment mechanism; Step S3000, the container position adjustment mechanism adjusts the container to a preset second target position; Step S4000, the moving component drives the container palletizing component to move to the second target position, and the container palletizing component takes out the container at the second target position; Step S5000, the moving component drives the container palletizing component to move to the third target position, and the container palletizing component stacks the container on the third target position.

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