CN208964012U - Processing unit, cargo transfer means and cargo storage system - Google Patents
Processing unit, cargo transfer means and cargo storage system Download PDFInfo
- Publication number
- CN208964012U CN208964012U CN201690001160.0U CN201690001160U CN208964012U CN 208964012 U CN208964012 U CN 208964012U CN 201690001160 U CN201690001160 U CN 201690001160U CN 208964012 U CN208964012 U CN 208964012U
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- against body
- transmission
- transfer means
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- 238000012546 transfer Methods 0.000 title claims abstract description 62
- 238000012545 processing Methods 0.000 title claims abstract description 56
- 238000003860 storage Methods 0.000 title claims abstract description 43
- 230000005540 biological transmission Effects 0.000 claims abstract description 129
- 230000033001 locomotion Effects 0.000 claims description 11
- 239000000758 substrate Substances 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 230000003213 activating effect Effects 0.000 claims description 2
- 230000008901 benefit Effects 0.000 description 12
- 239000003814 drug Substances 0.000 description 7
- 229940079593 drug Drugs 0.000 description 7
- 238000004806 packaging method and process Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000032258 transport Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 241000254032 Acrididae Species 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 229940127554 medical product Drugs 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2205/00—Stopping elements used in conveyors to stop articles or arrays of articles
- B65G2205/06—Cushioned or damping stop devices, e.g. using springs or other mechanical actions
Abstract
The utility model relates to a kind of processing units of cargo transfer means for automatic cargo storage system, the cargo transfer means and a kind of automatic cargo storage system of automatic cargo storage system, it include: abutment means (503), its have be arranged above the transmission surface (403) of transmission device (401) against body (505), it is described to be driven along longitudinal extension of the transmission device (401) and against body (505) along its direction of transfer, wherein, it is described to form limiter against body (505), for limiting the cargo (150) transmitted on transmission surface (403), and wherein, it is described adjustable in the transmission device (401) longitudinal position against body (505).The processing unit further comprises: clamping device (509), it is with clamper (511), wherein, the clamping device (509) is arranged against the cargo (150) against body (505) by the clamper (511) clamping, and grabs the cargo from the transmission surface (403).
Description
Technical field
The present invention relates to a kind of processing unit of cargo transfer means for automatic cargo storage system, automatic cargos to deposit
The cargo transfer means of storage system and a kind of automatic cargo storage system.
Background technique
Known as memory surface, the channel-style storage surface for example including memory channel can fill under executor auxiliary.
In the process, executor will be transferred to storage location close to the feed terminal of storage surface, and by object.Such storage system
It is frequently used for the commodity such as the drug in pharmacy.For so-called fast-moving consumer goods, there are the shelf of inclination compartment especially to have
With, wherein individual cargos are contained in the channel separated by lateral separator, while being disposed relative to that horizontal plane is inclined to be deposited
It stores up on surface.When removing lower article, other articles can be slid downwards to appropriate location.Normally, each channel accommodates
The article of similar type.Article is, for example, being provided with parallelepiped pack, wherein the packaging of same size will be introduced into logical
In the channel of road width adequate Package size.But in such storage surface, different shape (as cylindrical) and different size
Cargo may also be stored in same channel.
Normally, once the cargo of predetermined quantity is removed out of memory channel, executor will fill storage location.For
This, will be filled with multiple articles to be supplemented, and executor will be advanced the feed terminal on respective stored surface in executor, use
In transfer article.
In order to guarantee the supplementary functions of storage surface with reliable fashion, it is necessary to ensure that article to be stored is filled with controlled manner
Executor.Since known executor moves at a very rapid rate in storage system, presented by manual operation to executor
Send article that there is very high security risk.Therefore, transfer device is mainly used for manually or automatically placing article.Executor is from transfer
It takes article to be stored in device away, then proceedes to predetermined storage location.
In practice, it is often necessary to very rapidly fill storage system.Therefore, in most cases, identical items will
It is transported simultaneously with executor.It, will be in transfer device temporarily by the article transported by executor in order to allow to fill executor rapidly
When storage a period of time.
The applicant has developed various cargo transfer means, and has applied for a patent, for example, Publication No. DE10
The patent of 2013 218 538 or DE 10 2,014 208 405.These cargo transfer means are manual operation, wherein main to close
Note is that transfering channel will be filled by the cargo of similar type.In existing known cargo transfer means type, manual operation
Operator is needed persistently to stay in " original position ", meanwhile, according to the cargo type of the memory capacity of transfering channel and introducing, must be again
It is secondary fill cargo into transfering channel before, which has some free times and needs to spend, sometimes a few minutes.But
It is to predict that transfering channel needs the precise time point being refilled with to be difficult, therefore, operator should stay in by transfer device.
Known transfer device is set up directly in cargo storage system.But the delivering of cargo is all in most cases in difference
In cargo storage system position carry out, thus before storing, it is necessary first to by another person by carrying cargo to shift dress
It sets.
DE10 2,014 208 405 provides a kind of loading attachment, the stacked channels shape being set as in cargo transfer means
Formula.But in the loading attachment, article must introduce in stacked form and in a relatively orderly fashion.
In the very high relatively large cargo storage system of cargo handling capacity, it is often necessary to high speed introduces cargo, such as ---
In the case where Bale Cargo --- to introduce the speed of multiple packagings in the short time, for example, 20 per minute or more than 20
The speed of packaging introduces.In such storage system, it is often difficult to be manually introduced.
Generally, in the device for handling cargo, when cargo does not have particular order, for example, being provided with bulk form
When, it can be difficult to handle.In this case, especially there is challenge in the following aspects: distribution cargo, so that it be made to be no more than individual dresses
The receiving capacity set, such as the receiving capacity of cargo elevator.Further, cargo location is stored as order state, makes to fill
Cargo can be handled in an advantageous manner by setting, and finally, make cargo is disconnected from each other to be transferred to executor to facilitate.Further,
Identification cargo is frequently necessary to guarantee correctly to store in cargo storage system.
Isolated cargo can be transported for example on a moving belt.From conveyer belt unload cargo a possibility be due to
Cargo is placed on one end of conveyer belt by gravity.However, the time of unloading is different, because working as in the case where cargo size difference
When the center of gravity of cargo has moved past the end on transmission surface, cargo is fallen from the transmission surface of conveyer belt earliest.Therefore,
One problem is the time for accurately controlling cargo and unloading from conveyer belt.For example, if from cargo is transferred to from conveyer belt
Device is managed, the exact timing of cargo is needed then to be necessary.
Other problem may be in the case where not interrupting the flowing of cargo or being collided with isolated cargo transverse to
The cargo of separation is unloaded on the direction of the conveying direction of conveyer belt.
Summary of the invention
Therefore, the purpose of the present invention is to create a kind of processing dress of cargo transfer means for automatic cargo storage system
It sets, can be unloaded isolated cargo from transmission device with scheduled clock rate using the processing unit.If cargo can be with
Carrying out unloading in any direction by conveyer will advantageously.
Processing unit according to the present invention for cargo transfer means is limited by following character: the processing unit
(1) include:
Abutment means (503), have be arranged above the transmission surface (403) of transmission device (401) against body
It is (505), described to be driven along longitudinal extension of the transmission device (401) and against body (505) along its direction of transfer, wherein
It is described to form limiter against body (505), for limiting the cargo (150) transmitted on transmission surface (403), and its
In, it is described adjustable in the transmission device (401) longitudinal position against body (505), also, including
Clamping device (509), with clamper (511), wherein clamping device (509) operation is by described
Clamper (511) clamping is arranged against the cargo (150) against body (505), and grabs from the transmission surface (403)
Take the cargo.
Cargo transfer means according to the present invention are limited by following feature: cargo transfer means have processing unit above-mentioned
(1), transmission device (401) and second processing device, wherein the abutment means (501) are arranged in the transmission device (401)
On.
Cargo storage system according to the present invention is limited by following feature: cargo storage system is shifted with cargo above-mentioned
Device.
The processing unit and cargo transfer means of cargo transfer means in automatic cargo storage system according to the present invention
In transmission device match, and be configured to cargo being transferred to cargo transfer from the transmission device of cargo transfer means
The second processing device of device.The transmission device of the cargo transfer means has to be prolonged in the longitudinal direction that a sender drives up
The transmission surface stretched.Processing unit of the invention includes position limiter device, has and is arranged on the transmission surface of transmission device
Side against body, wherein the limiter for forming the cargo for transmitting on transmission surface against body, and wherein described
It is adjustable in the longitudinal position of transmission device against body.Processing unit further comprises: clamping device, has clamping
Device, wherein clamping device operation is is arranged against the cargo against body by the gripper, and from transmission table
Cargo is grabbed on face.By position limiter device, the cargo transported on transmission surface will be kept, thus such as transmission device
Transmission surface can continue to run.By described against the position of definition is arranged in cargo, and can be by clamping device to have
The mode of benefit grabs.Therefore, the separation cargo being arranged on transmission surface can be by transmission device with the reception of predetermined clock speed
And it is handed over to such as second processing device.Since cargo is grabbed by clamping device, on the one hand can be carried out in predetermined point of time
On the other hand cargo crawl can shift cargo along freely optional direction.
By that will be set as adjustable in the longitudinal position of transmission device against body, it may be adapted to transmission table against body
The cargo size of the cargo transported on face.Thereby it can be assured that will for example be set as against the cargo of body along transmission device
Longitudinal direction, be located at gripper position center lower section.Such advantage is that clamping device can be grabbed in same position always
Picking object, so that have clamping device need not can be in the additional adjusting feature for grabbing different size cargos.By against body,
Its effect is that the position for being suitble to crawl will be arranged in the cargo grabbed by clamper.This is suitble to the position grabbed by clamper can
To be such as clamper center lower position.Alternatively it is also possible to be arranged through this against body, the position of cargo is set, is being supported
While by against body, the center of gravity of cargo is located at clamper center lower section.
By against body in the longitudinal controllability of transmission device, against body by being longitudinally oriented or far along transmission device
From goods movement.Controllability against body for example can be carried out individually before each goods handling to transmission surface.?
Multiple similar cargos are known in the case where transporting on transmitting surface, this group of phase can of course be directed to by adjusting against the position of body
Single is executed like cargo.
Preferably, provide against body by pin-shaped at.Such advantage is there is relatively narrow shape against body, and
It is preferred that clamper will not be interfered when clamper grabs cargo.
Preferred embodiment in accordance with the present invention provides and is less than goods against body and transmission surface spacing distance D, the distance D
The minimum dimension of object.In the case where parallelepiped cargo, such as packaging drug, the minimum dimension of cargo is in most cases
It is the height of packaging.Particularly, processing unit of the invention can be used for multiple and different cargos, wherein the dimensional discrepancy of cargo
It is known.In this regard, the distance D minimum dimension for being less than all cargos can be provided.Thereby it can be assured that being located against body stopping
Cargo will not be slipped over from below body.The distance D can be for example in the range of 2 millimeters -4 millimeters, and preferably
3 millimeters.Preferably, it is further provided the distance D' against body top side to transmission surface is less than one or the minimum ruler of all cargos
It is very little.In other words: when cargo is against body, not extending above cargo against body.Such advantage is, not against body
Clamper can be interfered during clamper grabs cargo.
It can further provide for that there is the length L being oriented transverse to transmission device against body in transmission surface,
In, L is greater than second large-sized half of cargo.In the case where parallelepiped cargo, which will be for such as cargo
Width.Normally, cargo transports on transmission surface in the following manner: its length direction is arranged along direction of transfer in cargo.Pass through
It is positioned against body to extend with predetermined length L in transmission surface, it can be ensured that after cargo is against body, when transmission surface
When continuing to run, cargo will not be had around the trend rotated against body.If verified extend beyond cargo transverse direction against body
In the half of the size on transmission surface, so that it may avoid overcoming the danger against body because transmitting surface and continuing to run.Having
In the case where multiple cargos of principal dimensions, it is of course possible to length L be provided and be greater than this side up maximum cargo second large-sized one
Half.
Preferably, provide it is described can extend or be pivoted out against body, and can shrink or inwardly pivot turns
It is dynamic.In this way, cargo can also be transported to except the position of body by transmitting surface.Such advantage is that being detected as can
The cargo for refusing cargo will not shunk or inwardly pivotally supported position, but will be by transmission device against body against body
It is transported to cargo refusal portion.In the case where transmission device has position detection, can also for example provide ought detect that cargo does not have
Have presentation correctly towards when, against the contraction of body, --- and correspondingly pivoting deviation --- will lead to cargo by transmission table
Face is transported to cargo bypass, is bypassed by cargo, cargo can for example be back to transmission device.
It has been found that extending or being pivoted out particularly advantageous for against body for selectively operating against body.
Preferably, providing abutment means includes the first driving equipment, for the zigzag tread patterns along transmission device against body.Benefit
In this way, it can drive automatically against body to carry out position adjustment.
It can provide and be guided on guide rail against body.By this support, can be realized in a manner of technically simple against
Body is adjusted along the longitudinal position of transmission device.
Can provide against body include the second driving equipment, by second driving equipment, can extend against body or
It is pivoted out, and can shrink or inwardly pivot.Therefore, this function also can be performed automatically.
In these cases, it can provide, when against longitudinal movement of the body along transmission device, the second driving equipment will be with
Be guided.Therefore, the first and second driving equipments form continuous kinematic system.
Preferably, the first and/or second driving equipment is provided as pneumatic linear driving.Verified pneumatic actuation especially has
Benefit, because its lightweight is compact, while very tough and tensile.Further, pneumatic actuation has following advantages: if using other pneumatic drivings
It is dynamic, public energy source can be used.
Particularly preferred embodiment according to the present invention, providing clamper is holder fixed by vacuum.It, can be with by such clamper
Very rapidly goods clamping in an advantageous manner, while preventing damage goods.Further, by vacuum suck clamper,
Cargo through grabbing can also be placed by terminating the vacuum state of sucking clamper again in an advantageous manner
In above-mentioned arrangement, can provide clamper includes grip block, has at least one sucking element.Above-mentioned sucking
Element can be such as bellows-type sucking element.
It includes two first sucking elements that grip block, which can be provided, is adapted for activating together and one second is inhaled
Enter element and be arranged with respect to the first sucking element deviation, and is adapted for individually actuating.Above-mentioned sucking element can be set
It is set to such as triangular construction.The advantage of this arrangement is that two first sucking elements can be used for General goods size, together
When in the case where common-use size cargo, second sucking element will remain inoperative, thus reduce vacuum energy loss.In goods
Object is very wide, two of them first suck element and second sucking element all rest on cargo in the case where, in addition to first inhale
Enter other than element, the second sucking element can be switched individually.By means of which, cargo very greatly, very heavy can also
To be grabbed by vacuum suck clamper.
Preferably, it provides grip block to support via at least one guiding bar for being fixed to grip block, wherein described at least one
A guiding bar is on the shell of clamper by linear guide.For this purpose, the shell of clamper may include sleeve, guiding bar is guided
Across the sleeve.Due to being guided bar support, the clamping bucking of plate can permit.Therefore, when grip block is moved to downward contact
When cargo is to grab the cargo, grip block to for example prevent damage goods, and can ensure that grip block is beaten completely with linear displacement
It opens and rests on cargo.
In above-mentioned arrangement, present invention advantageously provides spring arrangement is provided at least one described guiding bar, it is used for
Along the grip block for being located at cargo crawl position towards the pressing of the direction of cargo.In other words: grip block is filled via guiding bar and spring
It sets and is supported with elastic type.When grip block is moved to contact cargo downwards, grip block will be directed to the elastic force buckling of spring arrangement.
Thereby it can be assured that grip block and the sucking element being arranged on grip block abut cargo, to allow sucking element will
Cargo is held in place for crawl.The elastic guiding bar of grip block further prevents damage goods.It is similar in cargo
In the case of, the deviation of height often occurs.When grip block is now moved to predetermined position, it is possible that cargo or too high
Or too low situation.By the resilient support of grip block, benefit can be realized by the planned lower position that is moved to of grip block
It repays.Thereby it can be assured that grabbing cargo with reliable fashion.
It can further provide for being provided with sensor at least one guiding bar, for detecting guiding bar relative to shell
Linear movement.Therefore, it can detecte the movement of guiding bar by the sensor, and then detect the movement of grip block, so as to
To realize that grip block rests on cargo.Therefore, by means of sensor, it can control grip block moving along cargo direction.
Preferably, it provides clamping device to include Linear Driving and drive around the rotation of rotary shaft, wherein the rotation is driven
Dynamic operation is the substrate drives clamping limb relative to clamping device, and Linear Driving operation is to drive relative to clamping limb
Clamper.Therefore, clamping device has continuous movement because rotation drives guidance Linear Driving.It has been found that passing through setting position
Variable limiter is set for grabbing cargo from transmission device, it is only necessary to which the clamping device driven including two is sufficient.Cause
This, this clamping device can be produced inexpensively.
The Linear Driving of clamping device and rotation driving can be such as servo motor.These drivings may include integral type
Transmission.This kind of driving is very compact, and speed is very fast.Alternatively it is also possible to provide pneumatic actuation.
The invention further relates to a kind of cargo transfer means with processing unit according to the present invention.Goods according to the present invention
Object transfer device has transmission device and second processing device, and wherein brake apparatus is arranged at transmission device.
In cargo transfer means according to the present invention, second processing device can be provided for receiving the tool of cargo
There is the conveyer chain of independent compartment.By processing unit according to the present invention, cargo can be mobile from conveyer in an advantageous manner
To each compartment of conveyer chain.Due to during the continuous operation of conveyer chain, each compartment is with fixed clock rate to being pushed forward
Into, therefore conveyer must be with rate shifts cargo, such as every 2.5s always accordingly.Processing unit according to the present invention is demonstrate,proved
It is bright the most advantageous for this application, because cargo can be by conveyer in determining time dot picking.
Preferably, the guiding wall that arrangement extends along conveying direction on the feed surface of conveyer, feed surface are provided
It is tilted with sharp angle α relative to horizontal line on guiding wall direction.This transmission device has the following advantages that, since inclination makes passing
The cargo on surface is sent to contact with guiding wall, and therefore cargo can advantageously continuative transport.Furthermore, it is possible to pass through this biography
Device is sent to be advantageously isolated cargo.Angle [alpha] is preferably between 20 ° to 40 °.It is particularly preferred that the angle α, which is 28 °,.It is verified
Utilize the common transmission surface at 28 ° of angles, it can be ensured that product (such as drug packages) is reliably slidingly born against on guiding wall.
Preferably, it is arranged on guiding wall against body.This ensures to hit by transmission surface along guiding wall freight
It hits against body and by its buffering.
In a particularly preferred embodiment of the invention, the rotation axis of grabbing device is perpendicular to transmission surface cloth
It sets.By arranging as grabbing device, grabbing device can move into cargo in an advantageous manner and receive position, grab
Cargo can be received in device in an advantageous manner.For example, clamping plate can be arranged parallel to the cargo received bit on transmission surface
It sets.
Further it is provided that the compartment of conveyer chain has and receives the transmission inclination angle on surface in position in cargo and equal incline
Angle.Therefore, because grabbing device only needs to be implemented the linear movement of grabber and the rotary motion of grabber arm, cargo can
By grabbing device in a particularly simple way from transmission surface delivery to each compartment.Therefore, grabbing device is by cargo from biography
It send surface to lift, pivot them and places them in the compartment of conveyer chain.Therefore grabbing device needs only to have two certainly
By spending, therefore especially save cost.According to the arrangement of conveyer chain, it may be necessary to pivot cargo between 45 ° to 90 °.
Preferably, the stock keeping unit and/or cargo ruler for determining cargo size data are provided on transmission device
Very little detection device, wherein being controlled by cargo size data against the position of body.Cargo can identify by stock keeping unit,
Allow to determine corresponding cargo size data from database.Alternatively, or in addition, pass through cargo size detection system unified test
Measure cargo and it is thus determined that cargo size data.Cargo size data can be the cargo for example on the conveying direction of transmission device
Extension.By the information, can control in an advantageous manner against the position of body so that lean against cargo against body relative to
Grabber correctly positions.
In general, can be provided in after reception cargo, pass through the position against body of grabbing device adjustment cargo for after
It sets.Therefore it can adjust in the mobile period of grabber against the position of body, with transferring product.
The invention further relates to a kind of cargo storage systems with cargo transfer means according to the present invention.
Cargo transfer means according to the present invention for example receive cargo from loading attachment, and they are transferred to for example in goods
Executor in object storage system.Therefore, cargo transfer means according to the present invention have reception and forwarding function, those functions
It can especially be performed automatically.Typical cargo storage system is drug storage system, wherein drug and other medical products
It is packaged in box and is stored as cargo.For example, cargo transfer means according to the present invention can have classification feature, so that
Cargo (such as goods packing) can be handled in a manner of non-classified by cargo transfer means.
Each cargo is transferred to the biography with single compartment by the time in restriction by processing unit according to the present invention
Chain is sent to support separation and classification.For example, then cargo can enter the transfering channel for executor from conveyer chain.
Detailed description of the invention
It is following the present invention to be explained in greater detail in conjunction with attached drawing.
In the accompanying drawings, it shows:
Fig. 1 is the automatic cargo of the invention for showing the cargo transfer means of the invention including processing unit of the invention
The perspective schematic view of storage system,
Fig. 2 is the perspective schematic view for showing processing unit of the invention,
Fig. 3 is the exemplary details figure for the abutment means for showing processing unit shown in Fig. 2,
Fig. 4 is the exemplary details figure for showing the fixture of clamping device of processing unit of the invention shown in Fig. 2,
Fig. 4 a is the schematic diagram for showing the clamping plate of fixture shown in the Fig. 4 observed from below.
Specific embodiment
Fig. 1 schematically shows automatic cargo storage system 100 according to the present invention comprising cargo transfer means 110.
Cargo can be introduced into cargo storage system 100 according to the present invention, be transferred to executor 120 later --- and it is only big in Fig. 1
Showing out --- it is suitable for arranging goods in class being put into storage location (not shown), for example, memory channel.Automatic cargo storage system
100 can be such as pharmacy's storage system, wherein the pharmacy's product that will store drug and other packagings, such as box-packed.In this process
In, cargo transfer means 110 according to the present invention are by automatic reception cargo and transfer them to executor 120.Cargo transfer dress
Setting 110 can for example be ready in intermediate buffer by the freight classification of introducing and by it, to be transferred to executor 120.
As shown in Figure 1, cargo transfer means 110 are spatially restricted compared with cargo storage system 100.In order to can
Will introduce the freight classification of cargo transfer means 110 and separate cargo to be transferred to executor 120, cargo transfer means
110 include multiple processing units.Therefore, because the steric requirements of cargo transfer means 110 limits, the setting of different disposal device exists
Different level heights.Cargo is received from grass-hopper 401, cargo transfer means 110 have processing unit 501, by cargo
It is transferred to second processing device (not shown), second processing device for example can be together with the individual cells for receiving cargo
Conveyer chain.
Fig. 2 schematically shows the perspective view of processing unit 501 of the invention.Cargo 150 will be in transmission device 401
Transmission is transported on surface 403.Transmission surface 403 is driven along direction of transfer.Direction of transfer prolongs along the longitudinal direction of transmission device 401
It stretches, it is indicated by an arrow in Fig. 2.Transmission device 401 further comprises the guiding wall 405 being arranged on transmission surface 403.Transmission
Surface 403 is set as along the direction of guiding wall 405 relative to horizontal line α at an acute angle.Angle α can be such as 28 degree.Since this inclines
Tiltedly, the cargo 150 transmitted on transmission surface 403 will be slided along guiding wall 405, and during transport against guiding wall
405。
Processing unit 501 of the invention includes abutment means 503, has the transmission surface that transmission device 401 is arranged in
403 top against body 505.The limiter of the cargo 150 transmitted on transmission surface 403 is formed against body 505.
It can be formed as example selling against body 505, be arranged on guiding wall 405.Thus, it is possible to ensure on transmission surface
The cargo being transported on 403 against guiding wall 405 strikes against body 505.When transmitting surface 403 can continue to run, against
Body 505 will keep cargo 150.
The opposite side of guiding wall 405 is arranged in sensor 507, and is designed as such as light barrier, and operation is to detect whether
In the presence of the cargo 150 against body 505.
Processing unit 501 further comprises the clamping device 509 with clamper 511.The operation of clamping device 509 is to pass through
The gripper is arranged against the cargo 150 against body 505, and grabs cargo 150 from transmission surface 403.
Clamping device 509 includes substrate 513 comprising the clamping limb 515 being pivotally connected with it.Clamping limb 515 passes through rotation
Turn driving 517 to be driven relative to substrate 513, so that clamping limb 515 be allow to pivot relative to the substrate.Rotation is driven
Dynamic 517 operation surrounds the rotary shaft for being set as orthogonal with transmission surface 403 for driving clamping limb 515 and rotates.
In order to drive clamper 511 relative to clamping limb 515, clamping device 509 further comprises Linear Driving 519.
By rotation driving 517, clamping limb 515 can pivot in the following manner: clamper 511 will be arranged on goods
150 top of object.By Linear Driving 519, clamper 511 can be moved at this time along the direction of cargo 150 to grab cargo 150.
Abutment means 503 are designed as to adjust upward in the vertical of transmission device 401 against body 505, thus make against
The position of body can just adjust upward herein.Therefore, adjustable against body 505 is to transport towards or away from transmission surface 403
The cargo 150 sent.It can be set locating for cargo 150 against the position of 505 state of body as a result,.It therefore, can be with
The cargo for being set in clamping device 509 receives position, and when against body 505, cargo 150 is along the longitudinal direction of transmission device 401
It is arranged in below the center of clamper 511, so that clamper be allow to grab cargo 150 with reliable fashion.Also it can be provided in
When against body 505, cargo 150 is set as following manner: the center of gravity of cargo 150 is located at the center lower section of clamper 511.
By the adjustability against 505 position of body, and then make the position for being arranged against the cargo 150 against body 505
With adjustability, clamping device 509 by can suitably operate for clamping limb 515 pivotable support and clamper
Two freedom degrees that 511 linear adjustability allows, to only need to rotate driving 517 and Linear Driving 519.It presss from both sides as a result,
Holding device 509 can be produced in a manner of being dirt cheap.
By setting orthogonal with transmission surface 403 for the rotary shaft of rotation driving 517, the folder that will be contacted with cargo 150
The grip block 521 of holder 511, which may be set to be, is parallel to transmission surface 403, grabs without complicated pivot
Picking object 150.
After grabbing cargo 150, cargo is transferred to unshowned second processing device by clamping device 509.
By clamping device, only there are two the above-mentioned designs of freedom degree, if it is possible, for the goods on second processing device
The storage surface of object 150 should also have the inclined inclination for being parallel to or substantially parallel to transmission surface 403.It therefore can be by
According to advantageous manner arrangement of goods 150.If second processing device is designed as including individual conveyer chains for transmitting compartments, described individual
Compartment, which receives position in its cargo, can have the inclined inclination on corresponding transmission surface 403.
Fig. 3 is shown specifically abutment means 503.
By transmission device 401, parallelepiped cargo 150 can be mainly transported, for example, the goods of packaging drug form
Object.In the process, it is provided by transmission device 401 through position correction, a main side of cargo 150 leans against transmission surface
On 403, wherein the direction of transfer for being longitudinally oriented transmission device 401 of cargo 150.In this case, the minimum ruler of cargo 150
Very little is the size of cargo 150 on the direction orthogonal with transmission surface 403.
In abutment means 503 of the invention, provide against body 505 and transmission 403 spacing distance D of surface, the distance
D is less than the minimum dimension of cargo on the direction orthogonal with transmission surface 403.Distance D is also measured in this direction.Thus, it is possible to
Ensure that cargo 150 can be moved to against body 505, and will not be slipped over from below.Exist in multiple and different cargos 150
The minimum dimension for being less than minimum cargo against the distance D of body 505 can be provided by transmitting in the case where transporting on surface 403.Most
Small cargo should be understood as most flat cargo, thus when with the stop of its main surface, in the side orthogonal with transmission surface 403
There is minimum extend upwards.
It is less than the above-mentioned of cargo 150 to the distance D' for transmitting surface 403 against 505 top side of body it is possible to further provide
Minimum extends.Thus, it is possible to ensure not extending on cargo 150 when cargo 150 is against body 505 against body 505
Side, to avoid hindering clamper 511.
Further, above transmission surface 403, there is the transmission being oriented transverse to transmission surface 403 against body 505
The length L of device, wherein L is greater than second large-sized half of cargo 150.In the cargo of parallelepiped shape, cargo
The 150 second largest width having a size of cargo.Therefore, cargo location shown in Fig. 3, width are transverse to direction of transfer
Extension on direction.Thus, it is possible to prevent cargo 150 against body 505 after, and when transmitting surface 403 and continuing to run,
Cargo 150 may be easy to be rotated, and rotate around against body 505.It, can be to avoid goods by above-mentioned minimum length L
Object 150 carries out the tendency of above-mentioned movement.
It is supported on guide rail 523 against body 505.Guiding wall 405 is arranged on the side on transmission surface 523 in guide rail.It supports
Guiding wall 405 is extended through by body 505.For this purpose, guiding wall 405 includes longitudinal hole (not shown).
By being supported by guide rail 523, can be moved up in the vertical of transmission device 401 against body 505.For this purpose, against dress
Setting 503 includes the first driving equipment 525, for driving up in the vertical of transmission device 401 against body 505.
On transmission device 401, stock keeping unit can be set, for identification cargo.It therefore, can be according to depositing in advance
The cargo data of storage obtains cargo size data.For example, can detecte the length of cargo, for controlling against body 505
Position, so that cargo 150 will be arranged below 511 center of clamper when cargo 150 is located at the position against body 505.
It can further provide for that deviation or contraction can be pivoted against body 505.The exemplary implementation shown in Fig. 3
It is extending or contractile against body 505 in example.The transmission area on transmission surface 403 can be removed against body as a result, thus
It is sent to cargo 150 by except the stop position that body 505 is formed.To for example be not on clamped device
The cargo 150 of the correct direction of 509 crawls can be guided for example to bypass to cargo, for example, to be re-supplied to transmission
Device 401.If stock keeping unit, such as detect unknown cargo 150, it can also be shunk against body 505, and unknown goods
Object 150 can be sent in cargo refusal portion.
In addition to stock keeping unit, transmission device 401 can have position detecting device, can by the position detecting device
To determine position of the cargo 150 on transmission surface 403.
It include the second driving equipment 527 against body 505 to extend and shrink.Second driving equipment 527 is by the first driving
Equipment 525 carries, to form continuous kinematic system.
First and second driving equipment can be pneumatic actuation.If clamper 511 is designed as vacuum suck clamper,
It is particularly advantageous in this way.In this case, pneumatic system is needed, later, pneumatic system may be used as the energy of the driving.
The rotation driving 517 of clamping device 509 and Linear Driving 519 can be designed as the servo horse that there is integral type to be driven
It reaches.
In Fig. 4 and 4a, it is shown specifically clamper 511.It is apparent from from Fig. 4 a, grip block 521 includes two first suctions
Enter element 529, the successively front and back setting on the direction of transfer of transmission device 401.Two first sucking elements 529 can be common
Operation.Grip block 521 further comprises the second sucking element 531, and the phase is set as deviateing the first sucking element 529.Therefore,
One sucking element 529 and the second sucking element 531 are set as triangular construction.Second sucking element 531 can be independently of first
It is individually operated to suck element 529.Therefore, when receiving normal goods, two first sucking elements 529 will come into operation first.
If cargo 150 is very wide or very big, the second sucking element 531 can continue to come into operation, to provide crawl goods enough
The suction of object 150.
Grip block 521 is supported via two guiding bars 533,533 fixed value grip block 521 of guiding bar.For this purpose, clamper packet
Sleeve 535 is included, there is the guiding bar 533 extended therethrough.
Corresponding spring arrangement 537 is provided in each guiding bar 533, between grip block 521 and sleeve 535
Effectively.Therefore, by spring arrangement 537, when the cargo crawl position being located in clamping device 509, grip block 521 will be along court
It is pressed to the direction of cargo 150.
When clamper 511 is extended through Linear Driving 519 towards cargo 150, spring arrangement 537 will flexibly buckling, from
And grip block 521 is caused to be rested on cargo 150 with pressure.Thus, it is possible to ensure cargo 150 can be inhaled into element 529,
531 crawls.At the same time, spring arrangement 537 prevents Linear Driving 519 from applying too big pressure to cargo 150, causes to destroy cargo
150。
It is provided with sensor 539 at least one guiding bar 533, for detecting the linear movement of guiding bar 533.It is logical
The sensor is crossed, can control Linear Driving 519.For example, when guiding bar 533 has covered the predetermined road relative to sleeve 535
When electrical path length, Linear Driving 519 can be closed, may insure that grip block 521 will rest on cargo 150 in this way.Be based on goods
The control of object size is compared, and this control has the advantage independently of cargo size.
Claims (22)
1. processing unit (501) is used for the cargo transfer means (110) of automatic storage system (100), it is used for cargo (150)
The second processing dress of the cargo transfer means (110) is transferred to from the transmission device (401) of the cargo transfer means (110)
It sets, the transmission device (401) has the driven transmission surface (403) extendd in the longitudinal direction in the transmission direction, packet
It includes:
Abutment means (503), have be arranged above the transmission surface (403) of transmission device (401) against body (505),
It is described to be driven along longitudinal extension of the transmission device (401) and against body (505) along its direction of transfer, wherein described to support
Limiter is formed by body (505), for limiting the cargo (150) transmitted on transmission surface (403), and wherein, institute
State it is adjustable in the transmission device (401) longitudinal position against body (505), also, including
Clamping device (509), with clamper (511), wherein clamping device (509) operation is to pass through the clamping
Device (511) clamping is arranged against the cargo (150) against body (505), and grabs institute from the transmission surface (403)
State cargo.
2. processing unit according to claim 1, it is characterised in that: described against body (505) and the transmission surface
(403) standoff distance D, the distance D are less than the minimum dimension of the cargo (150).
3. processing unit according to claim 1 or 2, it is characterised in that: described above the transmission surface (403)
Have against body (505) and be oriented the length L transverse to the transmission device (401), wherein L is greater than the cargo (150)
Second large-sized half.
4. processing unit according to claim 1, it is characterised in that: described to extend outwardly against body (505) or pivot
Axis rotation.
5. processing unit according to claim 1, it is characterised in that: the abutment means (503) include that the first driving is set
Standby (525) are used for described in the zigzag tread patterns along the transmission device (401) against body (505).
6. processing unit according to claim 1, it is characterised in that: described to be drawn on guide rail (523) against body (505)
It leads.
7. processing unit according to claim 4, it is characterised in that: described to include the second driving equipment against body (505)
(527), described to extend outwardly or pivot against body (505) by second driving equipment.
8. the processing unit according to any one of claim 5-7, it is characterised in that: described first and/or second drives
Dynamic equipment (525,527) are pneumatic linear driving.
9. processing unit according to claim 1, it is characterised in that: the clamper (511) is holder fixed by vacuum.
10. processing unit according to claim 9, it is characterised in that: the clamper (511) includes grip block (521),
It has at least one sucking element (529,531).
11. processing unit according to claim 10, it is characterised in that: the grip block (521) includes two first suctions
Enter element (529), be suitable for activating together and one second sucking element (531), is set as deviateing described first and sucks
Element (529), and it is suitable for individually actuating.
12. processing unit described in 0 or 11 according to claim 1, it is characterised in that: the grip block (521) is via being fixed to
At least one guiding bar (533) of the grip block (521) supports, wherein at least one described guiding bar (533) is in the folder
By linear guide on the shell of holder (511).
13. processing unit according to claim 12, it is characterised in that: be arranged at least one described guiding bar (533)
There are spring arrangement (537), for the direction on the cargo crawl position of the clamping device (509) edge towards the cargo (150)
Press the grip block (521).
14. processing unit according to claim 12, it is characterised in that: be arranged at least one described guiding bar (533)
There are sensor (539), for detecting linear movement of the guiding bar (533) relative to the shell.
15. processing unit according to claim 1, it is characterised in that: the clamping device (509) includes Linear Driving
(519) and around the rotation of rotary shaft (517) are driven, wherein rotation driving (517) operation is relative to clamping dress
Substrate (513) driving clamping limb (515) of (509) is set, and the Linear Driving (519) operation is relative to the clamping limb
(515) clamper (511) is driven.
16. cargo transfer means (110), including according to claim 1 to processing unit described in any one of 15 (1), spy
Sign is, transmission device (401) and second processing device, wherein the abutment means (503) are arranged in the transmission device
(401) on.
17. cargo transfer means (110) according to claim 16, which is characterized in that the second processing device is tool
Have for receiving the independent every indoor conveyer chain of cargo.
18. cargo transfer means according to claim 16 or 17, which is characterized in that upwardly extended in the sender
Guiding wall (405) is arranged on the transmission surface (403) of the transmission device (401), wherein the transmission surface (403)
It is tilted on the guiding wall (405) direction relative to horizontal line with sharp angle α.
19. cargo transfer means according to claim 18, it is characterised in that: described to be arranged against body (505) described
On the guiding wall (405) of transmission device (401).
20. cargo transfer means according to claim 16, it is characterised in that: the rotary shaft of the clamping device (509)
It is set as orthogonal with transmission surface (403).
21. cargo transfer means according to claim 16, which is characterized in that for determining the cargo of cargo size data
Identification device and/or cargo size detection device are arranged on the transmission device (401), wherein passing through the cargo size number
According to the control position against body (505).
22. cargo storage system (100) has cargo transfer means described in any one of 6 to 21 according to claim 1
(110)。
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102015218393.9 | 2015-09-24 | ||
| DE102015218393.9A DE102015218393B4 (en) | 2015-09-24 | 2015-09-24 | Handling device for a goods transfer device of an automatic warehouse |
| PCT/EP2016/072550 WO2017050901A2 (en) | 2015-09-24 | 2016-09-22 | Handling device for a goods transfer device of an automatic warehouse |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208964012U true CN208964012U (en) | 2019-06-11 |
Family
ID=57121200
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201690001160.0U Active CN208964012U (en) | 2015-09-24 | 2016-09-22 | Processing unit, cargo transfer means and cargo storage system |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN208964012U (en) |
| DE (1) | DE102015218393B4 (en) |
| WO (1) | WO2017050901A2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111776739A (en) * | 2020-07-23 | 2020-10-16 | 黄瑞要 | Efficient commodity circulation letter sorting is with small-size intelligent arm |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5418026B1 (en) | 1971-03-03 | 1979-07-04 | ||
| DE2928665A1 (en) | 1979-07-16 | 1981-02-12 | Fuchs & Co Ag | METHOD AND DEVICE FOR AUTOMATICALLY GROUPING SETTING POSITIONS OF A STACKED GOOD |
| JP2505084B2 (en) * | 1991-12-26 | 1996-06-05 | 靜甲株式会社 | Alignment and supply device for multiple articles |
| DE10000684A1 (en) | 2000-01-10 | 2001-07-12 | Michael Marquardt | Shelf storage facility with a removal unit for piece-goods, comprises shelves provided with computer controlled pushers capable of pushing piece-goods into the computer controlled removal unit |
| DE10260970B4 (en) | 2002-12-24 | 2012-09-20 | Nkt Holzoptimierung Gmbh & Co. Kg | Jointing line |
| DE202012002094U1 (en) * | 2012-03-02 | 2012-03-23 | Asutec Gmbh | stop module |
| ITPR20120027A1 (en) * | 2012-05-07 | 2013-11-08 | Gea Procomac Spa | METHOD AND FORMATION SYSTEM OF A LAYER OF PACKAGING PACKAGES |
| US20140262685A1 (en) * | 2013-03-15 | 2014-09-18 | Illinois Tool Works Inc. | Continuous Motion Article Arranging Systems and Methods |
| JP2014223718A (en) * | 2013-04-19 | 2014-12-04 | 花王株式会社 | Article supply apparatus |
| DE102013218538A1 (en) | 2013-09-16 | 2015-03-19 | Gebr. Willach Gmbh | Goods transfer device and warehouse with goods transfer device |
| DE102014208405B4 (en) | 2014-05-06 | 2021-05-06 | Gebr. Willach Gmbh | Goods transfer device and goods warehouse with goods transfer device |
-
2015
- 2015-09-24 DE DE102015218393.9A patent/DE102015218393B4/en active Active
-
2016
- 2016-09-22 WO PCT/EP2016/072550 patent/WO2017050901A2/en active Application Filing
- 2016-09-22 CN CN201690001160.0U patent/CN208964012U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111776739A (en) * | 2020-07-23 | 2020-10-16 | 黄瑞要 | Efficient commodity circulation letter sorting is with small-size intelligent arm |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102015218393A1 (en) | 2017-03-30 |
| DE102015218393B4 (en) | 2017-05-04 |
| WO2017050901A2 (en) | 2017-03-30 |
| WO2017050901A3 (en) | 2017-05-11 |
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