CN214086131U - Feeding device and warehousing system - Google Patents

Abstract

The utility model provides a loading attachment and warehouse system. The loading device is used for transporting goods to the transfer robot and comprises a support, a storage unit and a control assembly, the rolling conveying piece is provided with an outer contour surface capable of being in rolling contact with the goods in the storage unit, and the rolling conveying piece is used for rotating around a rotation axis of the rolling conveying piece in the direction towards the goods inlet and outlet; the control assembly comprises a controller, a first driving device and a sensor unit, the first driving device is used for driving the rolling conveying piece to rotate, the sensor unit is used for detecting the position of the goods and/or the moving speed of the goods, the first driving device and the sensor unit are electrically connected with the controller, and the controller is used for controlling the rotating state of the rolling conveying piece according to the position of the goods and/or the moving speed of the goods so as to convey the goods in the storage unit to the carrying robot outside the storage unit. The utility model discloses at the material loading in-process, degree of automation is better, the operating efficiency is higher.

Description

Feeding device and warehousing system

Technical Field

The utility model relates to an intelligent storage technical field especially relates to a loading attachment and warehouse system.

Background

Warehousing is an important link of logistics and an important link of modern industrial development.

In existing warehousing systems, mechanization and automation have been achieved in part, for example, with transfer robots to transfer goods to different racks. However, even if mechanization and automation are achieved to some extent, some of the work is manually assisted. For example, when goods arrive at the entrance of the warehousing system, a transfer robot or the like needs to be manually loaded, and when more than one layer of pallets is arranged on the transfer robot or the height of the pallets is high, the pallets need to be loaded layer by layer for multiple times, and then the transfer robot transports the goods to a preset place.

In the warehousing system, the loading process of goods needs to be completed manually, so that the automation degree is low, and the operation efficiency is poor.

SUMMERY OF THE UTILITY MODEL

In view of the above problem, the embodiment of the utility model provides a loading attachment and warehouse system can accomplish the material loading process automatically, and degree of automation is higher, and the operating efficiency has also obtained the improvement.

In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:

the embodiment of the utility model provides a first aspect provides a loading attachment for transporting goods to transfer robot, loading attachment includes support, memory cell and control assembly, and the memory cell sets up on the support, and the memory cell has goods import and export and rolls conveying piece, rolls conveying piece and has the outer contour surface that can roll contact with the goods in the memory cell, rolls conveying piece and is used for rotating along the direction towards goods import and export around self axis of rotation; the control assembly comprises a controller, a first driving device and a sensor unit, the first driving device is used for driving the rolling conveying piece to rotate, the sensor unit is used for detecting the position of the goods and/or the moving speed of the goods, the first driving device and the sensor unit are electrically connected with the controller, and the controller is used for controlling the rotating state of the rolling conveying piece according to the position of the goods and/or the moving speed of the goods so as to convey the goods in the storage unit to the carrying robot outside the storage unit.

The embodiment of the utility model provides a second aspect provides a storage system, including transfer robot and foretell loading attachment, transfer robot has the pallet, and pallet and loading attachment's memory cell corresponds the setting to carry out the material loading operation with loading attachment.

The embodiment of the utility model provides a have following advantage:

through adopting loading attachment to carry out the material loading, when using with material robot cooperation such as transfer robot, through the traction force that the control roll conveying piece rotates and produces along the direction of importing and exporting towards the goods, carry the outside to the goods is imported and exported with the goods in the storage unit to make the goods enter into transfer robot, need not artifical material loading, consequently degree of automation is higher, and the operating efficiency is higher.

Drawings

Fig. 1 is an exploded schematic structural diagram of a feeding device according to an embodiment of the present application;

fig. 2 is a schematic structural view of a state in which a loading device and a transfer robot according to an embodiment of the present disclosure are engaged;

fig. 3 is a schematic structural diagram of a bracket in a feeding device according to a first embodiment of the present application;

FIG. 4 is a schematic view of a lower structure of a rack in a loading device according to an embodiment of the present disclosure;

FIG. 5 is a schematic view of another angle of the lower structure of the support in the loading device according to the first embodiment of the present application;

FIG. 6 is an enlarged view of a portion of FIG. 2 at A;

fig. 7 is a schematic perspective view of a partial structure of a feeding device according to an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a storage unit in one layer of the loading device in FIG. 1;

fig. 9 is a schematic perspective view of a mechanical arm in a feeding device according to an embodiment of the present application;

fig. 10 is a schematic perspective view of a feeding device according to an embodiment of the present application;

fig. 11 is a partial enlarged view at B of fig. 9;

fig. 12 is an exploded schematic view of a connection partial structure of a walking frame and a sliding rail in a feeding device according to an embodiment of the present application;

fig. 13 is a flowchart of a feeding control method provided in the third embodiment of the present application;

fig. 14 is a block diagram of a control device according to a fourth embodiment of the present application.

Description of reference numerals:

100-a feeding device; 200-a transfer robot; 300-a control device; 201-a shelf; 202-moving the chassis; 203-a pick-up device; 204-a fixed support; 205-pallet; 1-a scaffold; 11-upright post; 111-top frame; 12-a support frame; 120-a support; 1201-a first support part; 1202-a second support; 1203-first end; 1204-a second end; 1205-a third support; 1206-a vertical extension; 1207-horizontal extension; 121-front pillar; 122-rear pillars; 123-support leg; 13-avoidance groove; 14-end connectors; 141-a guide; 142-a guide surface; 143. 144-a sloped region; 2-a storage unit; 21-cargo import and export; 22-a rolling conveyor; 221-v-ribbed belt rollers; 222-wedge groove; 23-a placement space; 3-a detection component; 31-a first position detection sensor; 32-a second position detection sensor; 5, a mechanical arm; 51-a movable member; 52-a movable push rod; 6-a walking frame; 61-support the frame body; 611-connecting plates; 62-connecting beams; 63-a slide rail; 64-a slide block; 65-a detection member; 651-detecting part; 652-a connecting portion; 653 — a first detecting member; 654-a second detecting member; 71-a first sensing unit; 72-start switch; 721-a switch bracket; 722-detecting a rocker arm; 8-a speed sensor; 81-a first speed sensor; 82-a second speed sensor; 91-a first position sensor; 92. 921, 922 — second position sensor; 93-a roller; 94-a first storage unit; 95-a second storage unit; 96. 97-feeding and discharging position sensor.

Detailed Description

In the existing warehousing system, as an important link, logistics robots such as a transfer robot can be used for conveying goods to different goods shelves, however, the loading of the transfer robot is still completed by manpower, and the loading is required to be carried out for multiple times layer by layer under the condition that the height of a pallet on the transfer robot is higher or more than one layer is formed, so that the automation degree is lower, and the operation efficiency is poorer.

In order to solve the problems, the application provides a feeding control method, a control device, a feeding device and a warehousing system, the feeding of goods is automatically completed through the feeding device, the automation degree is high, and the operation efficiency is also high.

In order to make the aforementioned objects, features and advantages of the embodiments of the present application more comprehensible, embodiments of the present application are described in detail below with reference to the accompanying drawings.

Example one

Fig. 1 is an exploded schematic structural view of a feeding device according to an embodiment of the present disclosure, and fig. 2 is a schematic structural view of a state in which the feeding device and a transfer robot according to the embodiment of the present disclosure are engaged with each other.

Referring to fig. 1 and 2, the present embodiment provides a loading device 100 for transporting goods to a transfer robot 200, where the loading device 100 includes a support 1 and a storage unit 2 disposed on the support 1, the storage unit 2 is provided with a goods entrance 21 and a rolling conveyor 22, the rolling conveyor 22 has an outer contour surface capable of rolling contact with the goods in the storage unit 2, and the rolling conveyor 22 is configured to rotate around its rotation axis in a direction toward the goods entrance 21 to transport the goods in the storage unit 2 to the transfer robot 200 outside the storage unit 2.

In the above scheme, by adopting the feeding device 100 to feed, the goods in the storage unit 2 move in the direction of the goods entrance/exit 21 by virtue of the traction force generated by the rotation of the rolling conveying member 22, and the goods in the storage unit 2 can be conveyed to the outer side of the goods entrance/exit 21, so that the goods enter the transfer robot 200 without manual feeding, and therefore, the degree of automation is high, and the work efficiency is high.

In the embodiment of the present application, in order to rotate the rolling conveying member 22, the storage unit 2 is further provided with a driving assembly, the driving assembly includes a first driving device (not shown), the feeding device 100 further includes a controller (not shown) electrically connected to the first driving device, the first driving device is connected to the rolling conveying member 22, and the controller is configured to control the first driving device, so that the first driving device drives the rolling conveying member 22 to rotate in a direction toward the outside of the cargo access 21.

In the embodiment of the present application, the loading device 100 further includes a mechanical arm 5 capable of moving relative to the storage unit 2, and the mechanical arm 5 is configured to drive the goods in the storage unit 2 to the outside of the storage unit 2 through its own movement. In some examples, the mechanical arm 5 is provided with a movable member 51, and the movable member 51 is movable relative to the mechanical arm 5 to block on the conveying path K of the goods; the movable member 51 is used for abutting against the goods and pushing the goods to the outside of the storage unit 2 when the robot arm 5 moves relative to the storage unit 2.

In order to move the mechanical arm 5, in the embodiment of the present application, the feeding device 100 further includes a walking frame 6, and the walking frame 6 is located at a side of the support 1; the robot 5 is connected to a walking frame 6, and the walking frame 6 can move relative to the support 1 to drive the robot 5 to move relative to the storage unit 2.

Referring to fig. 2, briefly describing an example of a transfer robot 200 used in conjunction with the present application, the transfer robot 200 includes a rack 201, a moving chassis 202, and a pickup device 203. Wherein, the shelf 201 is installed on the moving chassis 202, the shelf 201 may include a fixed bracket 204 and a plurality of pallets 205, the plurality of pallets 205 are arranged on the fixed bracket 204 at intervals in the vertical direction, and each pallet 205 is used for loading goods. In addition, a mobile chassis 202 may be used to enable movement of the shelves 201 on the floor of the storage area. The pickup device 203 may be mounted on the fixed bracket 204 and used to place goods on the pallet 205 or to pick up goods on the pallet 205.

It is understood that the transfer robot 200 capable of cooperating with the loading device 100 of the present application includes, but is not limited to, the structure shown in fig. 2, and may also be another structure, but it is required to ensure that in the transfer robot 200, each pallet 205 and each storage unit 2 of the loading device 100 are arranged in a one-to-one correspondence, and the height of the cargo carrying surface of the pallet 205 is approximately the same as the height of the cargo carrying surface of the storage unit 2, so that the robot arm 5 can push the cargo into the pallet 205.

The loading process of the loading device 100 of the present application is described below with reference to fig. 2.

The transfer robot 200 moves from the position shown in fig. 2 to a direction close to the loading device 100, when the transfer robot 200 reaches the loading position, that is, when the fixed bracket 204 of the transfer robot 200 reaches the vicinity of the bracket 1 of the loading device 100, the pallet 205 of the transfer robot 200 corresponds to the storage unit 2 one by one, and at this time, the robot arm 5 and the movable member 51 are located in the conveying direction of the goods, and the movable member 51 is arranged on the conveying path K of the goods and located at the rear end of the goods to be pushed. The mechanical arm 5 drives the movable member 51 to move toward the transfer robot 200, and the rolling transmission member 22 rotates, at this time, under the combined action of the pushing force of the movable member 51 and the traction force generated by the rotation of the rolling transmission member 22, the goods move toward the pallet 205 until the goods enter the pallet 205 of the transfer robot 200, and the loading process is completed. In which the goods in the respective storage units 2 can be simultaneously transferred to the respective decks 205 of the transfer robot 200.

In the embodiment of the application, in order to improve the feeding efficiency of the feeding device 100, the stability, the safety and the like of the feeding device 100 are improved. The feeding device 100 further includes a control component (not shown), the control component may include a controller, a sensor electrically connected to the controller, and the like, and the sensor in this application may include at least one of a speed sensor, a position sensor, and a feeding and discharging position sensor. Furthermore, in order to move the robot arm, the driving assembly may further include a second driving device for driving the traveling frame 6 to move relative to the support 1.

The structure of each part in the loading device 100 is described in detail below.

Fig. 3 is a schematic structural diagram of a bracket in a feeding device according to a first embodiment of the present application, fig. 4 is a schematic structural diagram of a lower portion of the bracket in the feeding device according to the first embodiment of the present application, and fig. 5 is a schematic structural diagram of another angle of the lower portion of the bracket in the feeding device according to the first embodiment of the present application.

Referring to fig. 3, 4 and 5, the rack 1 includes a column 11 and a supporting frame 12, and the supporting frame 12 is located on a side of the rack 1 away from the cargo access 21, i.e., on a rear side along the cargo conveying direction K (i.e., a conveying path K of the cargo); the bottom of the support frame 12 and the upright 11 together support the loading device 100, and the support frame 12 includes a support portion 120 extending along the ground.

In the above scheme, through setting up support frame 12, make support frame 12 and stand 11 support loading attachment 100 jointly, compare with the condition that prior art only leans on stand 11 to support loading attachment 100, the mechanism that is used for supporting loading attachment 100 increases, consequently supports comparatively firm to loading attachment 100. Further, since the supporting portion 120 extends along the ground, a contact area between the supporting portion 120 and the ground can be increased, so that the supporting of the feeding device 100 is more stable, thereby improving reliability of the feeding device 100.

In the embodiment of the present application, the bottom of the supporting frame 12 and the upright 11 support the feeding device 100 together, wherein the upright 11 plays a main supporting role, and the supporting frame 12 plays an auxiliary supporting role. It should be noted that, in the present application, the upright 11 may include a plurality of uprights 11, and the plurality of uprights 11 are spaced to support the loading device 100.

Referring to fig. 3, a front side Q in the cargo conveying direction K is indicated by an arrow, and a direction opposite to the front side is rear. For example, the pillar 11 in the present application may include a front pillar 121 located on the front side of the rack 1 in the cargo conveying direction and a rear pillar 122 located on the rear side of the rack 1 in the cargo conveying direction, and the support frame 12 may be connected to the rear pillar 122.

In this way, in the process of loading the goods into the loading device 100, additional force is easily generated to the bracket 1 in the conveying direction K of the goods, in other words, since the goods are sent out from the loading device 100 from the rear to the front, the force received by the rear side part of the loading device 100 is large, and as described above, the front upright 121 and the rear upright 122 are arranged at an interval on the in-and-out path of the goods, and the supporting frame 12 as an auxiliary support is arranged on the rear upright 122 to provide the auxiliary support to the rear side of the loading device 100, thereby making the loading device 100 more stable. And the support 1 can be effectively prevented from shaking in the conveying direction of the goods.

The number of the upright columns 11 can be set according to needs, for example, the application is described by taking two front upright columns 121 and two rear upright columns 122 as an example, and the description of the case where the number of the front upright columns 121 and the number of the rear upright columns 122 are other is similar to that, and is not repeated here.

It will be appreciated that in the present application, the upright 11 may extend entirely in a straight line, as with the rear upright 122, or the upper and lower halves may not extend in a straight line, as with the front upright 121. The extending direction of the upright post 11 may be vertical or inclined, which is not limited in this application.

In the embodiment of the present application, the supporting frame 12 may include a supporting portion 120 extending along the ground, and since the supporting portion 120 extends along the ground, the contact area between the supporting portion 120 and the ground may be increased, so that the supporting of the feeding device 100 is more stable, thereby improving the reliability of the feeding device 100.

Further, the supporting portion 120 includes a first supporting portion 1201 and a second supporting portion 1202 connected to each other, the first supporting portion 1201 and the second supporting portion 1202 both extend along the ground, and an included angle is formed between the first supporting portion 1201 and the second supporting portion 1202. Therefore, the first supporting part 1201 and the second supporting part 1202 can assist in supporting the upright post 11 at different angles, and the supporting effect on the feeding device 100 is better.

It should be noted that, in the present application, the support portion 120 extends along the ground, for example, the extending direction of the support portion 120 may be along the ground. So that the supporting part 120 can support the loading device 100 in a wide area range. As for a specific supporting mode of the supporting portion 120, as shown in fig. 3, the supporting portion 120 may be supported on the ground by the supporting leg 123 provided at the bottom thereof, or the bottom end surface of the supporting portion 120 may be directly supported on the ground.

When the supporting portion 120 is supported on the ground through the supporting leg 123, the upright post 11 may also be supported on the ground through the supporting leg 123, and it should be noted that the supporting portion 120 is matched with the supporting leg 123, and the height of the supporting portion needs to be matched with the height of the upright post 11 after being matched with the supporting leg 123, so that the storage unit 2 arranged on the support 1 is approximately horizontally arranged. Alternatively, the feet 123 may be heavy duty eared cups that are secured to the ground, such as by expansion screws or the like, or to a cushioning or mounting body that is secured against the ground.

In the embodiment of the present application, the first supporting portion 1201 is connected to the rear pillar 122, the number of the second supporting portions 1202 is even, and the second supporting portions 1202 are symmetrically disposed on two sides of the first supporting portion 1201. This can make the second supporting portion 1202 support the feeding device 100 more stably.

Fig. 5 is a schematic view showing a part of the holder from another angle, and the illustration of the storage unit 2 is omitted in fig. 5 for the convenience of observation. Referring to fig. 5, further, the extending direction of the first supporting portion 1201 and the goods conveying direction K are perpendicular to each other, and the extending direction of the second supporting portion 1202 is parallel to the goods conveying direction K. Further, a first end 1203 of the second support portion 1202 is connected with an end portion of the first support portion 1201, and a second end 1204 of the second support portion 1202 extends along the ground. Specifically, the support portion 120 is a frame-like member extending around the circumferential direction of the rack 1, and the frame-like member has an opening on the front side Q in the cargo conveying direction K.

In the embodiment of the present application, the second supporting portion 1202 may be located outside the region surrounded by the plurality of pillars 11. In this way, the second support portion 1202 can play a better auxiliary supporting role outside the range of the area where four columns 11, for example, two front columns 121 and two rear columns 122, enclose a substantially quadrilateral.

Referring to fig. 4 and 5, support frame 12 further includes a third support portion 1205, where third support portion 1205 includes a vertical extension 1206 and a horizontal extension 1207, where vertical extension 1206 is connected to upright 11, for example, to rear upright 122, and extends along the length direction of rear upright 122, and where horizontal extension 1207 is connected to vertical extension 1206 and extends toward the rear side of rack 1 along cargo conveying direction K.

A buffer member or a fixing member fixed to the ground may be provided at the rear side of the loading apparatus 100, so that the horizontal extension 1207 is fixed to the ground or the fixing member, and the loading apparatus 100 is supported at the rear side. Specifically, the horizontal extension 1207 may have a bottom end surface extending to the outside of the bracket 1, and the bottom end surface is attached to and abutted against the ground. In other words, the bottom end surface of the horizontal extension 1207 may abut against the ground or the fixing member, and the horizontal extension 1207 is in surface contact with the ground or the fixing member, so as to stabilize the auxiliary support for the feeding device 100.

In the embodiment of the present application, further, when the loading device 100 and the transfer robot 200 are used in cooperation, in order to avoid the moving chassis 202 of the transfer robot 200, the support 1 may further be provided with an avoiding groove 13.

Specifically, referring to fig. 4, when the rack 1 includes a plurality of columns 11, for example, two front columns 121 and two rear columns 122, the two front columns 121 and the two rear columns 122 are spaced apart from each other to form an avoidance groove 13 for avoiding the moving chassis 202 of the transfer robot 200, it is understood that an opening of the avoidance groove 13 may face the transfer robot 200, that is, the opening direction of the cargo access 21 is the same. It should be understood that the evacuation groove 13 herein refers to an evacuation space, and may be an open space formed by the gap between the legs as described above, or may be a relatively closed space formed by a continuous evacuation chamber, as long as the evacuation groove can be accessed by the moving chassis 202 of the transfer robot 200, and the present application is not limited thereto. Further, when there are two front pillars 121 and two rear pillars 122, the interval between the two front pillars 121 is greater than the interval between the two rear pillars 122. This facilitates the access of the mobile chassis 202 of the transfer robot, on the other hand, increases the distance between the two front uprights 121, and makes the support of the loading device 100 more stable.

Just as the distance between the two rear uprights 122 is smaller than the distance between the two front uprights 121, in order to achieve the same supporting effect of the two rear uprights 122 as the front uprights 121, the second supporting portion 1202 may be located outside the region surrounded by the plurality of uprights 11. That is, the end of the first support portion 1201 is positioned further outward than the rear pillar 122, and the boundary position between the first support portion 1201 and the second support portion 1202 is positioned outside the region surrounded by the two front pillars 121 and the two rear pillars 122.

In the embodiment of the present application, as described above, when the transfer robot 200 and the loading device 100 are opposed to each other, there is a possibility that the transfer robot 200 does not reach the preset loading position, and the loading device 100 performs the loading operation, and at this time, a loading failure is very likely to occur, which results in low loading reliability.

To avoid this. The control assembly may further include a sensing unit electrically connected to the controller, the sensing unit being disposed on the rack 1 and configured to send a sensing signal when the transfer robot 200 moves to a loading position opposite to the loading device 100, and the controller being configured to control the feeding assembly to perform a loading operation according to the sensing signal.

In the above scheme, by arranging the sensing unit, when the transfer robot 200 reaches the preset loading position, the goods on the transfer robot 200 are located at the position corresponding to the storage unit 2, the sensing unit sends a sensing signal to the controller, and the loading device 100 performs the loading operation after determining that the transfer robot 200 is in place, so that the situation of loading failure is avoided, and the loading reliability is high.

Fig. 6 is a partially enlarged view of fig. 2 at a.

Referring to fig. 1, 4 and 6, in the embodiment of the present application, as described above, the bottom of the bracket 1 has the avoidance groove 13. The sensing unit may include a first sensing unit 71, the first sensing unit 71 is disposed in the avoidance groove 13, and the first sensing unit 71 is configured to emit a sensing signal when the moving chassis 202 of the transfer robot 200 is received in the avoidance groove 13.

In the embodiment of the present application, the number of the first sensing units 71 is at least one. For example, as shown in fig. 6, the first sensing unit 71 may be located at a position opposite to the moving chassis 202 of the transfer robot.

In other examples, in order to make the determination of the sensing units more accurate, the number of the first sensing units 71 is at least two, and different first sensing units 71 are disposed at different positions relative to the avoiding groove 13; the controller is used for controlling the walking frame to carry out the feeding operation when at least one first sensing unit 71, for example, all first sensing units 71 send out sensing signals. This can prevent the occurrence of a situation in which the transfer robot cannot be accurately measured due to, for example, a failure in part of the first sensing units 71.

It is understood that different first sensing units 71 may be respectively disposed at different sides of the bypass groove 13. The relative positions of the transfer robot 200 and the loading device 100 may be detected at different positions in the circumferential direction of the transfer robot 200 as much as possible.

Referring to fig. 2 and 6, for example, the first sensing unit 71 may include a start switch 72, the start switch 72 is located in the avoidance slot 13 and may be electrically connected to the controller, and the start switch 72 is configured to touch the transfer robot 200 when the transfer robot 200 moves into the avoidance slot 13, so as to send a sensing signal to the controller.

In the embodiment of the present application, the start switch 72 includes a switch bracket 721 and a detecting rocker 722, a first end of the detecting rocker 722 is rotatably connected to the switch bracket 721, a second end of the detecting rocker 722 is located in the avoiding groove 13 for touching the transfer robot 200, and the switch bracket 721 can send out a sensing signal when the detecting rocker 722 rotates. In the embodiment of the present application, the first sensing unit 71 may include a proximity sensor, and a sensing area of the proximity sensor is located in the avoidance groove 13. Illustratively, the proximity sensor is an infrared proximity sensor or a lidar.

Next, description will be made with reference to a case where the start switch 72 is provided, and in fig. 6, the on state of the start switch 72 is shown by a broken line. Specifically, when the loading port of the pallet 205 of the transfer robot 200 is opposite to the cargo access port 21 of the storage unit 2 and the movable member 51 of the robot arm 5 is located behind the cargo, the relative position of the transfer robot 200 and the loading device 100 may be defined as the loading position of the loading device 100.

Referring to fig. 2 and 6, the moving chassis 202 of the transfer robot 200 enters the avoiding groove 13, but when the transfer robot 200 has not reached the preset loading position, the moving chassis 202 does not contact the start switch 72, the start switch 72 is in the off state, and the transfer robot 200 does not perform the loading operation. When the transfer robot 200 reaches the preset loading position, the moving chassis 202 contacts the start switch 72, and triggers the start switch 72 to operate, the start switch 72 is in an on state, and the transfer robot 200 performs loading operation.

In the embodiment of the present application, the number of the columns 11 is 4, but the present application is not limited thereto, and the number of the columns 11 may be 6, 8, or another number. In fig. 1, 4 columns 11 are juxtaposed, and the 4 columns 11 are located at approximately four vertices of a rectangle in plan view. The storage unit 2 may be located between the 4 columns 11 and disposed on the 4 columns 11.

Fig. 7 is a schematic perspective view of a partial structure of a feeding device according to an embodiment of the present application. Referring to fig. 7, a top frame 111 is further connected to the tops of the pillars 11, and the top frame 111 is connected between the 4 pillars 11, so that the connection strength of the bracket 1 can be improved, and the pillars 11 are prevented from shaking.

For a better support of the storage unit 2, the support 1 further comprises an end connection 14, the end connection 14 being connected between two uprights 11 arranged in the goods output direction K, and two opposite ends of the storage unit 2 can be connected between two oppositely arranged end connections 14.

Further, a guide member 141 may be connected to the end connector 14, the guide member 141 being located on an inward side of the end connector 14, and the guide member 141 extending in the output direction of the goods. The guide 141 has a guide surface 142 facing the goods to guide the goods when the goods are delivered out of the storage unit 2. With storage unit 2 secured between end connectors 14, guide 141 is located above the bottom of storage unit 2.

The guide surface 142 is further provided with an inclined area 143 and an inclined area 144 at the end along the end connection 14, wherein the inclined area 143 is arranged close to the goods access opening 21 and the inclined area 144 is arranged away from the goods access opening 21. In the case where the two guide members 141 are provided on the opposite end connectors 14, the inclined regions 143 on the two guide surfaces 142 are disposed opposite to each other, and the pitch gradually decreases from the cargo port 21 toward the rear side. Further, the inclined areas 144 of the two guide surfaces 142 are oppositely arranged, and the distance between the inclined areas is gradually reduced from the rear side to the front side (the cargo access opening 21) so as to cooperate with other mechanisms outside the loading device 100.

Referring to fig. 1 and 7, a storage unit 2 for placing goods is provided on a rack 1, specifically, between columns 11. When the storage unit 2 has a plurality of storage units, the storage units 2 are arranged in a vertical direction, for example, at intervals in the height direction of the column 11, so that the goods can be stored at different positions in the height direction. It is understood that since the storage units 2 of each layer are arranged at intervals in the height direction and stacked, the storage units 2 of each layer can be loaded with the goods, and a loading space 23 for loading the goods is formed between each storage unit 2 of each layer and the storage unit 2 of the next adjacent layer.

It should be noted that the set height of each layer of the storage units 2 corresponds to the set height of the pallet 205 on the transfer robot 200 one to one, so that the goods on the storage units 2 can smoothly enter the pallet 205. In addition, the arrangement of the storage units 2 in the present application is not limited to this, and a plurality of storage units 2 may be provided in the width direction of the rack 1.

In the present embodiment, the storage unit 2 has a plurality of rotatable rolling conveyors 22, the plurality of rolling conveyors 22 are arranged side by side along the conveying direction K of the goods, and the rotation axes of the plurality of rolling conveyors 22 are parallel to each other.

The rolling conveyor 22 has an outer contour surface in rolling contact with the goods for carrying the goods out of the storage unit 2. Referring to fig. 7, as an alternative embodiment, the rolling transfer member 22 may be a rotating roller, and the surface of the rotating roller may rotate while both ends of the rotating roller are rotatably supported by the end connection members 14, and form the outer contour surface that can roll. And when the number of the rotating rollers is plural, the rotating shafts of the plural rotating rollers are arranged in parallel with each other. Alternatively, the rolling conveyor 22 may be a conveyor belt.

Further, the plurality of rolling conveyors 22 may be individually controlled alternatively, partially or fully such that the goods on the plurality of storage units 2 can be selectively output singly, partially or fully.

Further, the plurality of rolling conveyors 22 may include a plurality of active rolling conveyors, and the rotation state of the active rolling conveyors may be controlled so that the active rolling conveyors transport the goods. Illustratively, the active rolling transmission member is connected with the first driving device and rotates around a rotation axis thereof under the driving of the first driving device.

In other examples, the plurality of rolling conveying members may include a driving rolling conveying member and a driven rolling conveying member, the driving rolling conveying member is connected to the first driving device and rotates around its own rotation axis under the driving of the first driving device, and the driven rolling conveying member and the driving rolling conveying member are linked with each other and rotate under the driving of the driving rolling conveying member.

For example, as an alternative embodiment, the transfer member may be a plurality of v-ribbed rollers 221 arranged side by side, the plurality of v-ribbed rollers 221 being rotatably connected between two opposite end links 14.

A wedge groove 222 is formed in the positions, close to one end, of the multiple v-ribbed belt rollers 221, the same v-ribbed belt is sleeved on every two adjacent v-ribbed belt rollers 221 at the position of the wedge groove 222, and two v-ribbed belts are sleeved on each v-ribbed belt roller 221 so that the multiple wedge grooves 222 are linked. At least one of the plurality of v-ribbed rollers 221 is a driving roller, and is driven to rotate by a driving device, such as the first driving device described above, so that the v-ribbed roller 221 as the driving roller drives all the driven rollers to rotate together by the v-ribbed belt to realize the rotation of the rolling transfer member 22.

Referring to fig. 1, the feeding device 100 further includes a loading and unloading position sensor 96, the loading and unloading position sensor 96 is disposed on the bracket 1, the loading and unloading position sensor 96 is located at the goods entrance/exit 21, and the loading and unloading position sensor 96 is used for detecting whether goods extend out of the storage unit 2. Optionally, the loading and unloading position sensor may be a reflective photoelectric sensor.

In the embodiment of the present application, the storage unit 2 includes a first storage unit 94 located at the top of the feeding device 100 and a second storage unit 95 located at the bottom of the feeding device 100, and the first storage unit 94 and the second storage unit 95 are both provided with a feeding and discharging position sensor. Wherein, a loading and unloading position sensor 96 is arranged on the first storage unit 94, and a loading and unloading position sensor 97 is arranged on the second storage unit 95.

The loading and unloading position sensor 96 is arranged on the top frame 111, the loading and unloading position sensor 97 is arranged at the bottom of the second storage unit 95, and the loading and unloading position sensor 96 and the loading and unloading position sensor 97 are oppositely arranged, so that the loading and unloading sensors are arranged above the first storage unit 94 with the highest height and below the second storage unit 95 with the lowest height, and cargoes in the storage unit 2 at any position can be detected when protruding out of the storage unit 2. That is, if one storage unit 2 among the plurality of storage units 2 performs the loading operation, the loading/unloading sensor can detect the loading/unloading operation. In this way, the loading device 100 can detect whether goods pass through the loading and unloading sensor, so as to perform corresponding operations. For example, when the loading and unloading position sensor detects that the goods pass through, which indicates that the loading operation is normal, the rolling conveyor 22 can rotate normally to drive the goods into and out of the storage unit 2.

Fig. 8 is a schematic structural diagram of a storage unit in one layer in the loading device of fig. 1. Referring to fig. 8, in the embodiment of the present application, as mentioned above, the control assembly includes the controller and further includes the first driving device for driving the conveying member to rotate. Furthermore, the control assembly comprises a sensor unit, where the sensor unit is adapted to detect the position of the goods and/or the speed of movement of the goods. The first driving means and the sensor unit are electrically connected to a controller for controlling a rotation state of the rolling transfer member 22 according to a position of the goods and/or a moving speed of the goods to transfer the goods in the storage unit 2 to the transfer robot 200 outside the storage unit 2.

In the embodiment of the present application, the sensor unit includes at least one of the speed sensor 8 and the position sensor. For example, the sensor unit includes a speed sensor 8, and the speed sensor 8 is provided in the storage unit 2.

Illustratively, the speed sensor 8 includes a first speed sensor 81 and a second speed sensor 82, the second speed sensor 82 may be located on a side of the storage unit 2 facing away from the cargo access opening 21, and the first speed sensor 81 may be located between the second speed sensor 82 and the cargo access opening 21. And both the first speed sensor 81 and the second speed sensor 82 are electrically connected to the controller.

The controller is used for controlling the rotation state of the rolling conveyor 22. The moving speed of the cargo detected by the first speed sensor 81 is greater than, less than, or equal to the moving speed of the cargo detected by the second speed sensor 82; the controller controls the rotation state of the rolling conveyor 22 according to the moving speed of the goods detected by the first speed sensor 81 and/or the moving speed of the goods detected by the second speed sensor 82. It is understood that the first speed sensor 81 is located closer to the cargo entrance 21 than the second speed sensor 82. The controller adjusts the rotation state of the rolling conveyor 22 according to whether the moving speed of the goods detected by the first speed sensor 81 is greater than, less than or equal to the moving speed of the goods detected by the second speed sensor 82, so as to ensure that the goods have sufficient and/or stable speed in the loading process, so that the goods can smoothly and completely enter the transfer robot 200. On the contrary, if the difference between the moving speed of the cargo detected by the first speed sensor 81 and the moving speed of the cargo detected by the second speed sensor 82 is large, it indicates that the transporting speed of the cargo is too fast or gradually slow, which may cause a problem of difficult transportation.

Further, the speed sensor 8 may be a photoelectric sensor.

Referring to fig. 8, the first speed sensors 81 near the cargo entrance and exit 21 are two, and the two first speed sensors 81 are located at positions opposite to each other. For example, two first speed sensors 81 may be located at the end connector 14 near the cargo access opening 21.

Further, there are two second speed sensors 82 located on the rear side of the first speed sensor 81, and the two second speed sensors 82 are located at positions opposite to each other. For example, two second speed sensors 82 may be located at a position of the end connector 14 facing away from the cargo access opening 21. Such paired placement of the speed sensors 8 may allow more accurate speed measurement of the cargo.

With continued reference to fig. 8, in the embodiment of the present application, the loading device 100 further includes a first position sensor 91, and the first position sensor 91 is disposed on the storage unit 2 and is used for detecting the position of the cargo in the storage unit 2. Specifically, the first position sensor 91 is located at a position near the rear side of the end connector 14 in each storage unit 2, in other words, at the rear side of the second speed sensor 82. And each memory cell 2 is provided with a first position sensor 91 correspondingly. The second driving device and the first position sensor 91, which will be described later, are electrically connected to a controller for controlling the position of the robot arm 5 relative to the storage unit 2 according to the position of the cargo so that the movable member 51 is positioned on the side of the cargo facing away from the cargo entrance/exit 21.

Fig. 9 is a schematic perspective view of a mechanical arm in a feeding device according to a first embodiment of the present disclosure, fig. 10 is a schematic perspective view of the feeding device according to the first embodiment of the present disclosure, and fig. 11 is a partially enlarged view of a portion B in fig. 9.

The following describes the structure of the robot arm 5 and the traveling frame 6.

Referring to fig. 9, 10 and 11, as mentioned above, the loading device 100 includes the robot arm 5, the robot arm 5 is movable relative to the storage unit 2, and the robot arm 5 is configured to bring the goods in the storage unit 2 to the outside of the storage unit 2 by its own movement.

Illustratively, the robot arm 5 is provided with a movable element 51, the movable element 51 is movable relative to the robot arm 5 to block the goods on the conveying path, and the movable element 51 is used for abutting against the goods and pushing the goods to the outside of the storage unit 2 when the robot arm 5 moves relative to the storage unit 2. Specifically, the movable member 51 is movable to an expanded position or a folded position with respect to the robot arm 5, and when the movable member 51 is in the expanded position, the movable member 51 is configured to abut against the goods in the storage unit 2, so as to push the goods out of the storage unit 2 to the transfer robot 200 outside the storage unit 2 when the robot arm 5 moves with respect to the bracket 1.

Further, the feeding device 100 further includes a walking frame 6. The walking frame 6 is partially arranged on the side of the bracket 1, the mechanical arm 5 can be connected to the walking frame 6, and the walking frame 6 can move relative to the bracket 1 so as to drive the mechanical arm 5 to move relative to the storage unit 2.

Referring to fig. 9 and 11, the traveling frame 6 may include two support frame bodies 61 respectively disposed at both sides of the rack 1 and a connection beam 62 connected between the two support frame bodies 61, and the robot arm 5 moving the goods is disposed on the traveling frame 6, and exemplarily, the robot arm 5 is mounted on the connection beam 62, and the robot arm 5 is located at a position corresponding to above the pallet 205 on the transfer robot 200, in other words, the robot arm 5 is disposed corresponding to the storage unit 2. Both ends of the connecting beam 62 are connected to the two support frame bodies 61, respectively.

As shown in fig. 10, the robot arm 5 and the connecting beam 62 are located inside the rack 1, the support frame body 61 is located on the side of the rack 1, and the robot arm 5 is driven to extend toward the load when the support frame body 61 moves toward the transfer robot 200 with respect to the rack 1.

Optionally, the mechanical arm 5 is provided in plurality and corresponds to the storage unit 2. In the present application, an example is described in which one storage unit 2 corresponds to two robot arms 5, and the two robot arms 5 are symmetrically located on both sides of the storage unit 2, but the present application is not limited thereto, and the number of the robot arms 5 may be other, and may also be located at other positions.

With reference to fig. 11, in the embodiment of the present application, the movable element 51 on the mechanical arm 5 can move to different positions relative to the mechanical arm 5, and when the movable element 51 is disposed on the conveying path of the goods, the movable element 51 can be used to drive the goods to move and send out of the storage unit 2. When the movable element 51 is not positioned on the conveying path of the goods, that is, the movable element 51 is positioned outside the conveying path of the goods, the movement of the mechanical arm 5 does not interfere with the goods.

In the embodiment of the present application, the robot arm 5 extends along the conveying direction of the goods, and the movable member 51 is disposed at one end of the robot arm 5 away from the goods entrance/exit 21. For example, the moving direction of the robot arm 5 may be in the horizontal direction. And when the mechanical arm 5 moves relative to the storage unit 2, the movable range of the end of the mechanical arm 5 provided with the movable member 51 is from the end of the storage unit 2 departing from the goods entrance/exit 21 to the goods entrance/exit 21.

Here, the movable member 51 is rotatably connected to the robot arm 5, and the rotation axis of the movable member 51 is parallel to the conveying direction of the goods. Illustratively, the movable element 51 can rotate to different positions relative to the mechanical arm 5, for example, the movable element 51 can be horizontally arranged and arranged on a conveying path of goods; for example, the movable element 51 may be vertically disposed and not be disposed on the conveying path of the goods.

For example, the movable member 51 may be extended or shortened while being rotated to be positioned on the transportation path of the cargo, or may not be positioned on the transportation path of the cargo.

Specifically, the movable member 51 is a movable push rod 52, a first end of the movable push rod 52 is rotatably connected to the mechanical arm 5, a second end of the movable push rod 52 is a free end, and a rod body of the movable push rod 52 is used for pushing the goods to the outside of the storage unit 2.

At this time, corresponding to fig. 11, the movable push rod 52 can rotate relative to the mechanical arm 5, when the movable push rod 52 rotates to a horizontal position, the movable push rod 52 is in an unfolded state relative to the mechanical arm 5, that is, the movable push rod 52 can be arranged on an in-and-out path of the goods (refer to the movable push rod 52 on the right side of the drawing in fig. 11), and when the goods are loaded specifically, the movable push rod 52 is used for abutting against the side end of the goods and pushing the goods out of the storage unit 2 along with the movement of the mechanical arm 5; when the movable push rod 52 is rotated to the vertical position, the movable push rod 52 is folded with respect to the robot arm 5, that is, the movable push rod 52 is not positioned on the entry and exit path of the goods (refer to the movable push rod 52 on the left side of the drawing in fig. 11).

Further, the movable push rods 52 are provided in an even number and are respectively disposed at both sides of the storage unit 2. This allows for uniform application of force to the cargo.

Further, the robot arm 5 may cooperate with the plurality of rolling conveyors 22 to control the robot arm 5, the movable push rod 51 and the rolling conveyor 22 at a corresponding level according to the goods to be output on the storage unit 2 and the number of levels thereof, so that the goods on the plurality of storage units 2 can be selectively output singly, partially or completely. Further, the robot arm 5 and the plurality of rolling conveyors 22 may be selectively activated in one operation when the goods are output.

Fig. 12 is a schematic view of a partial connection structure of a walking frame and a sliding rail in a feeding device according to an embodiment of the present disclosure, and referring to fig. 12, for fixing the walking frame 6, for example, the support frame body 61 and the support 1, for example, by providing a sliding rail 63 on the support 1.

In this embodiment, the support 1 includes the slide rail 63, and the extending direction of the slide rail 63 is parallel with the conveying direction K of the goods, and the support frame body 61 is disposed on the slide rail 63 and can move relative to the support 1 along the slide rail 63.

Specifically, the bracket 1 further comprises a sliding block 64 matched with the sliding rail 63, and the sliding block 64 can slide in the sliding rail 63 in a reciprocating manner. The bottom end of the support frame body 61 is provided with a connecting plate 611, the connecting plate 611 is connected to one side of the sliding block 64 departing from the sliding rail 63, and the sliding block 64 can drive the support frame body 61, namely the walking frame 6, to move along the sliding rail 63. The slider 64 can be driven by the second driving device to linearly move along the slide rail 63.

In the embodiment of the present application, as mentioned above, the second driving device of the driving assembly is disposed on the support 1, and the second driving device is electrically connected to the controller to drive the robot arm 5 to move relative to the storage unit 2 under the control of the controller.

The second driving means may comprise, for example, a motor, a reducer, a driving shaft, a sprocket, a chain, and the like. Wherein, the output shaft of the motor is connected with the driving shaft through the reducer, the chain wheel is connected with the driving shaft, the chain is tensioned on the chain wheel, and the sliding block 64 is connected with the chain. Thus, the motor drives the driving shaft to rotate through the speed reducer, the driving shaft drives the chain wheels to rotate, the chain tensioned between the chain wheels generates linear reciprocating displacement, and the sliding block 64 is driven to move on the sliding rail 63.

Further, referring to fig. 10, the top end of the walking frame 6 and the supporting frame 1 may be slidably connected. For example, the connecting beam 62 at the top of the supporting frame body 61 is provided with a roller 93 extending upwards, and the wheel surface of the roller 93 can be in rolling fit with the inner side surface of the top frame 111.

Referring to fig. 10, in order to prevent the traveling frame 6 from colliding with the structure on the support 1, causing the support 1 to shake, the control assembly of the present application is further provided with a second position sensor 92, and the second position sensor 92 is electrically connected with the controller. The second position sensor 92 is used for detecting the position of the walking frame 6 relative to the support 1, and the controller is used for controlling the moving state of the walking frame 6 relative to the support 1 according to the position detected by the second position sensor 92.

In the above-mentioned solution, the second position sensor 92 is provided to detect the position of the walking frame 6 relative to the support 1, and when the walking frame 6 moves to the position corresponding to the second position sensor 92, the controller may adjust the moving state of the walking frame 6 in time according to the information of the second position sensor 92, for example, control the walking frame 6 to stop moving, that is, the speed of the walking frame 6 relative to the support 1 is zero, avoid the occurrence of collision event, and prevent the support frame body 61 of the walking frame 6 from moving out of the support 1. Thereby making the loading device 100 highly stable and safe.

In the embodiment of the present application, referring to fig. 12, in order to cooperate with the second position sensor 92, the detection member 65 is further provided on the traveling frame 6, and the detection member 65 protrudes to the front side of the traveling frame 6 in the moving direction. And the controller is configured to control the traveling frame 6 to stop moving when the traveling frame 6 moves to a position where the detecting member 65 faces the second position sensor 92.

The detecting member 65 may be disposed on a connecting plate 611 at the bottom end of the support frame 61, and fixed relative to the slider 64, for example. In addition, as an alternative, the second position sensor 92 is a photoelectric sensor, and the detecting member 65 includes a light blocking member that can block the light blocking member disposed in front of the position sensor. Specifically, when the support 1 includes a plurality of upright posts 11 and the walking frame 6 can move between two adjacent upright posts 11, the second position sensor 92 is disposed on the two adjacent upright posts 11.

Further, the second position sensor 92 is located at the side of two adjacent columns 11. The detector 65 has a detection portion 651, and when the traveling frame 6 moves to a position corresponding to the second position sensor 92, the detection portion 651 is located on the lateral outer side of the column 11 and faces the position of the second position sensor 92. When the second position sensor 92 is a photoelectric sensor, the detection portion 651 is formed as a light blocking member.

Optionally, the detecting unit 65 further includes a connecting portion 652, the connecting portion 652 is mounted on a side of the traveling frame 6 and extends outward of the traveling frame 6, and a side of the connecting portion 652 facing away from the traveling frame 6 is connected to the detecting portion 651. In this way, the detection unit 651 is fixed to the bottom of the traveling frame 6 by the connection unit 652. Alternatively, the connecting portion 652 is fixed to the connecting plate 611 at the bottom of the support frame 61.

In the embodiment of the present application, the number of the second position sensors 92 may be two, for example, the second sensor 921 and the second sensor 922. The two second position sensors 921, 922 may be respectively disposed at opposite ends of the traveling frame 6 in the moving direction. The controller is configured to control the traveling frame 6 to stop moving when the traveling frame 6 moves to a position corresponding to any one of the two second position sensors 921 and 922.

Taking the case shown in fig. 12 as an example, the upright 11 on the left side of the drawing is the upright 11 close to the cargo access opening 21, the second position sensor 921 is provided on the upright 11 on the left side, the upright 11 on the right side of the drawing is the upright 11 away from the cargo access opening 21, and the second position sensor 922 is also provided on the upright 11 on the right side. Correspondingly, the detecting member 65 also includes a first detecting member 653 and a second detecting member 654.

When the supporting frame body 61 moves towards the left goods entrance/exit 21, the mechanical arm 5 and the goods are driven to extend towards the goods entrance/exit 21, the first detection piece 653 is driven to move towards the direction close to the second position sensor 921, when the detection part 651 on the first detection piece 653 is located on the side of the second position sensor 921, the walking frame 6 is considered to reach the limit position, and then the walking frame continues to move leftwards to have the risk of collision with the left upright post 11, and at the moment, the controller controls the walking frame 6 to stop moving. When the support frame 61 moves in a direction away from the cargo access opening 21 to the right, the same is true, and the description thereof is omitted.

In the embodiment of the present application, as another alternative, the second position sensor 92 is a contact switch, and the detecting member 65 may contact the second position sensor 92. That is, when the detecting member 65 and the second position sensor 92 are located at the corresponding positions, the detecting portion 651 may contact the second position sensor 92.

In the embodiment of the present application, as described above, in order to further improve the feeding success rate of the feeding device 100, the moving state of the movable element 51 relative to the mechanical arm 5 needs to be monitored.

Referring to fig. 9 and 11, at least one of the robot arms 5 is provided with a detection component 3, and the detection component 3 is used for detecting the position state of the movable element 51, where the position state of the movable element 51 includes at least one of the position of the movable element 51 relative to the robot arm 5 and the position of the movable element 51 relative to the cargo. As described above, the second driving device is used for driving the traveling frame 6 to move relative to the bracket 1, and the detection assembly 3 and the second driving unit are electrically connected to the controller, and the controller is used for controlling the moving state of the traveling frame 6 according to the position state of the movable member 51.

In the embodiment of the present application, in the case where a plurality of robot arms 5 are provided on the feeding device 100, as shown in fig. 1, the detection assembly 3 may be provided for each robot arm 5, or the detection assemblies 3 may be provided on some robot arms 5.

By providing the detection device 3, the moving state of the movable member 51 with respect to the robot arm 5 and the position of the movable member 51 with respect to the cargo can be monitored. For example, if the detection component 3 detects that the movable element 51 is located on the output path of the cargo, a control operation, such as controlling the moving state of the traveling frame 6, may be performed as required. Or, if the detecting component 3 detects that the end of the mechanical arm 5 has not reached the rear side of the cargo, the movable member 51 may be controlled to be in the folded position as required, so as to avoid interference with the cargo.

Specifically, the controller may send a control instruction to the movable element 51, so that the movable element 51 is changed from being not blocked on the conveying path of the goods (corresponding to the folded state of the movable push rod 52) to being blocked on the conveying path of the goods (corresponding to the unfolded state of the movable push rod 52), or the feeding operation of the feeding device 100 is stopped, and the like, thereby effectively avoiding the situation of failure of the feeding operation, and improving the feeding efficiency of the feeding device 100.

Alternatively, the controller may send a control command to the movable element 51 to enable the movable element 51 to continue to maintain the state of not being placed on the conveyance path of the cargo.

Referring to fig. 9 and 11, in the embodiment of the present application, the detecting assembly 3 includes a first position detecting sensor 31, in order to better detect the position of the movable element 51, the first position detecting sensor 31 is disposed at an end of the robot arm 5, and the first position detecting sensor 31 corresponds to the unfolding position or the folding position of the movable push rod 52. In the drawings of the present application, the first position detection sensor 31 and the movable push rod 52 are described as corresponding to the folded position as an example, but the present application is not limited thereto, and the first position detection sensor 31 and the movable push rod 52 may be corresponding to the unfolded position. In fig. 11, the first position detection sensor 31 is provided at an end portion of the robot arm 5, and when the movable piece 51, that is, the movable push rod 52 rotates to the vertical position, the first position detection sensor 31 can detect the position, that is, when the movable piece 51 is at a position where the feeding operation cannot be performed, the first position detection sensor 31 can detect the position. The controller can perform corresponding control according to the detected information. Illustratively, the first position detection sensor 31 is a photosensor or a touch switch.

In addition, in the embodiment of the present application, the number of the moving members 51 may be multiple, the multiple moving members 51 are respectively symmetrically disposed on two horizontal sides of the storage unit 2, and each of the moving members 51 is correspondingly disposed with one first position detection sensor 31. In fig. 9 and 11, two robot arms 5 are provided, each robot arm 5 is provided with a movable member 51, and the end of each robot arm 5 is provided with a first position detecting sensor 31.

In the state shown in fig. 11, the end of the mechanical arm 5 on the left side of the drawing and the end of the mechanical arm 5 on the right side of the drawing are both provided with the first position detection sensor 31, and the movable element 51 on the left side is in the folded state, then the first position detection sensor 31 on the left side sends the detected information that the movable element 51 is in the folded state to the controller; the movable element 51 on the right side is in the expanded state, and the first position detection sensor 31 on the right side transmits information that the movable element 51 on the right side is in the expanded state to the controller.

It should be noted that, the state of the movable member 51 in the extended state mentioned in the present application means that the movable push rod 52 is in the horizontal state; the condition that the movable piece 51 is in the folded state means that the movable push rod 52 is in the vertical state and cannot perform loading operation on goods.

It should be understood that, in the above control process, when the movable push rod 52 is in the folded state, it can be detected by the first position detecting sensor 31 and sent to the controller, and the controller controls the moving state of the walking frame 6 as required. When the movable pushing rod 52 is in the unfolded state, for example, when the movable pushing rod 52 is horizontal or rotated to a position between the folded and unfolded state, it is considered that the movable pushing rod 52 can still perform the loading operation, and therefore, the controller will not adjust the moving state of the walking frame 6.

In the embodiment of the present application, in order to prevent the movable member 51 from interfering with the cargo when it does not reach the rear side of the cargo, it is also necessary to detect the position of the end of the robot arm 5 with respect to the cargo. Referring to fig. 11, as a possible implementation manner, the detecting assembly 3 further includes a second position detecting sensor 32, the second position detecting sensor 32 is disposed on the robot arm 5, and a position of the second position detecting sensor 32 corresponds to a position of the movable member 51, and the second position detecting sensor 32 is configured to detect whether the movable member 51 is located outside an end portion of the cargo.

Note that the second position detection sensor 32 and the movable element 51 are located adjacent to or at the same position on the robot arm 5. For example, the second position detection sensor 32 may be located at an end portion of the robot arm 5 on a side of the robot arm 5 near the cargo in order to detect a relative position of the movable member 51 at the end portion of the robot arm 5 and the cargo. It is to be understood that the second position detection sensor 32 may be located at the bottom or top of the robot arm 5, or the like, as long as it can detect whether the movable piece 51 at the end of the robot arm 5 is located at the rear side of the cargo.

The second position detection sensor 32 is also a photosensor or a contact switch, similar to the first position detection sensor 31.

Example two

The present embodiment provides a storage system, which includes the transfer robot 200 and the loading device 100 of the first embodiment, as described above, the transfer robot 200 has the pallet 205, and the pallet 205 and the storage unit 2 of the loading device 100 are correspondingly disposed to perform loading operation on the loading device 100. The pallet 205 and the storage unit 2 of the feeding device 100 are correspondingly arranged, specifically, the height of the pallet 205 is approximately the same as the height of the bottom of the storage unit 2, and the arrangement positions are corresponding and oppositely arranged.

It should be noted that the specific structure and function of the transfer robot 200 have been described in the first embodiment, and the specific structure and function of the loading device 100 have also been described in detail in the first embodiment, and are not described again here.

It should be noted that the transfer robot 200 of the present application is not limited to the transfer robot 200 described in the first embodiment, as long as the transfer robot has a pallet 205 for placing goods thereon, and the pallet 205 and the storage unit 2 of the loading device 100 are correspondingly disposed.

EXAMPLE III

The embodiment provides a feeding control method. The feeding control method of the present embodiment may be applied to the feeding device 100 of the first embodiment, and may also be applied to the warehousing system provided in the second embodiment.

Fig. 13 is a flowchart of a feeding control method provided in the third embodiment of the present application. Referring to fig. 13, the feeding control method includes:

s100, receiving a feeding instruction;

s200, controlling the rolling conveying piece to rotate along the direction towards the goods entrance and exit according to the feeding instruction so as to convey the goods in the storage unit to the outer side of the goods entrance and exit.

In the above-described aspect, the transportation of the goods in the storage unit 2 to the outside of the goods entrance/exit 21 means that the goods in the storage unit 2 are transported to the transfer robot 200 or other equipment to be loaded.

Specifically, taking the example of loading the transfer robot 200, the transfer robot 200 approaches the loading device 100 and reaches a predetermined loading position. The support frame body 61 of the walking frame 6 drives the mechanical arm 5 and the movable member 51 to move towards the cargo until the movable member 51 is located at the rear side of the cargo, the movable member 51 can rotate from the folded position to the unfolded position and move towards the direction of the cargo access opening 21, and at this time, the cargo moves towards the cargo board 205 of the transfer robot 200 under the thrust action of the movable member 51. The corresponding movable members 51 in the storage units 2 move simultaneously, so that the goods in the storage units 2 can be loaded simultaneously.

In the embodiment of the present application, the above controlling the rolling transfer element 22 to rotate in the direction toward the goods entrance/exit 21 according to the loading command to transfer the goods in the storage unit 2 to the outside of the goods entrance/exit 21 includes:

according to the feeding instruction, the rotating state of the rolling conveying element 22 is controlled, so that the goods in the storage unit 2 are conveyed to the outer side of the storage unit 2, and the rotating state comprises the rotating speed and/or the starting and stopping state.

Specifically, upon receiving the loading command, the rolling conveyor 22 starts to rotate in the direction of the cargo access opening 21. The goods depend on the traction force applied to the rolling conveying member 22 to move forwards, if the rotation speed of the rolling conveying member 22 is too low, the moving speed of the goods is slow, the goods may not be completely conveyed out of the goods inlet/outlet 21 and stop, and the loading fails, and if the rotation speed of the rolling conveying member 22 is too high, the moving speed of the goods is fast, so that the equipment to be loaded may be impacted, the equipment to be loaded may shake and move, and the loading process is unstable. Therefore, it is necessary to ensure that the goods in the storage unit 2 are conveyed to the outside of the storage unit 2 by controlling the rotational speed of the rolling conveyor 22. It will be appreciated that when the roller conveyor 22 is activated, the load begins to move with it, and if the roller conveyor 22 stops rotating, the load stops moving with it.

In the embodiment of the present application, controlling the rotation state of the rolling conveyor 22 to convey the goods in the storage unit 2 to the outside of the storage unit 2 includes:

the rolling state of the rolling conveyor 22 is controlled according to at least one of the position of the goods in the storage unit 2 and the moving speed of the goods so that the goods in the storage unit 2 are conveyed to the outside of the goods entrance/exit 21.

In the above scheme, the rolling state of the rolling conveying member 22 is controlled according to the position of the goods in the storage unit 2, for example, when the goods starts to move, the distance from the rear end part of the rolling conveying member 22 to the goods entrance 21 is long, the rotating speed of the rolling conveying member 22 can be controlled to be slow, when the goods is to be moved out of the storage unit 2, the distance from the rear end part of the goods to the goods entrance 21 is close to 0, and the rising speed of the rolling conveying member 22 can be controlled, so that the goods can be smoothly moved out of the storage unit 2 and smoothly enter the goods plate of the transfer robot. The position of the goods in the storage unit 2 can be detected by the first position sensor 91 according to the first embodiment.

The rotation state of the rolling conveyor 22 is controlled according to the moving speed of the goods, for example, the moving speed of the goods may be controlled within a suitable range so as not to be completely removed from the storage unit 2 or too fast to be removed from the storage unit 2.

It should be understood that the rotation state of the rolling conveyor 22 may be controlled according to the position of the goods in the storage unit 2; or the rotation state of the rolling conveyor 22 according to the control of the moving speed of the goods; or simultaneously controls the rolling state of the rolling conveyor 22 according to both the position of the goods in the storage unit 2 and the moving speed of the goods.

In the embodiment of the present application, before controlling the rotation state of the rolling conveyor 22 according to at least one of the position of the cargo in the storage unit 2 and the moving speed of the cargo, the method further includes: the moving speed of the goods is detected.

And the moving speed of the goods is detected, comprising the following steps: the speed of movement of the goods at least two different positions on the in-out path of the goods is detected.

For example, as described in the first embodiment, the speed sensor 8 may include the first speed sensor 81 and the second speed sensor 82, the second speed sensor 82 may be located on a side of the storage unit 2 facing away from the cargo access opening 21, and the first speed sensor 81 may be located between the second speed sensor 82 and the cargo access opening 21.

Thus, during the movement of the cargo toward the cargo access opening 21, the first speed sensor 81 can measure the speed of the cargo near the cargo access opening 21, and the second speed sensor 82 can measure the speed of the cargo at a predetermined position on the side away from the cargo access opening 21.

In addition, as mentioned above, the plurality of rolling conveyors 22 includes an active rolling conveyor, and the rolling conveyor 22 is controlled to roll according to the loading command to transport the goods in the storage unit to the outside of the goods entrance/exit, including: and controlling the rotation state of the active rolling conveying member so that the active rolling conveying member conveys the goods.

Alternatively, the driving rolling transmission member and the driven rolling transmission member included in the rolling transmission member 22 may be connected by a belt or the like. Thereby, according to the material loading instruction, the rolling conveyor 22 is controlled to roll to convey the goods in the storage unit 2 to the outside of the goods entrance/exit 21, including: and controlling the rotation state of the driving rolling conveying element so that the driving rolling conveying element and the driven rolling conveying element jointly convey the goods.

In the embodiment of the present application, in addition to the rolling conveying element 22, the movable element 51 of the mechanical arm 5 also provides conveying power for the goods, so the loading control method may further include:

and controlling the moving state of the mechanical arm so that the mechanical arm and the rolling conveying piece jointly drive the goods in the storage unit to the outer side of the storage unit.

Specifically, here, controlling the movement state of the robot arm 5 may include controlling the movement speed of the robot arm 5 and/or the position of the robot arm 5 with respect to the storage unit 2. The moving speed of the robot arm 5, similarly to the influence of the rotating speed of the rolling conveyor 22 on the moving speed of the goods, directly influences the moving speed of the goods. The position of the robot arm 5 relative to the storage unit 2 also influences the position of the goods relative to the storage unit 2.

In the embodiment of the present application, the moving state of the robot arm 5 is controlled, so that the robot arm 5 and the rolling conveying member 22 jointly drive the goods in the storage unit 2 to the outside of the storage unit 2, including:

at least one of the moving state of the robot arm 5 and the rotating state of the rolling conveyor 22 is controlled according to the moving speed of the cargo. The specific speed of the cargo can be controlled by measuring the specific speed with the first speed sensor 81 and the second speed sensor 82. For example, if the moving speed of the goods is too slow or even stopped, so that the goods may not be completely moved out of the storage unit 2, the moving speed of the mechanical arm 5 may be increased and/or the rotating speed of the rolling conveyor 22 may be increased to increase the moving speed of the goods; conversely, if the speed of movement of the load is too fast, which may result in the possibility of the load moving out of the storage unit 2, the speed of movement of the robotic arm 5 may be slowed and/or the rotational speed of the roller conveyor 22 may be reduced to slow the load down.

In addition, as mentioned above, the movable element 51 can rotate to different positions relative to the mechanical arm 5 to unfold or fold, and when the movable element 51 is in the unfolded state, the mechanical arm 5 can drive the goods to move, so that before the mechanical arm 5 is used to drive the goods to move, the method further includes:

the position of the movable member 51 relative to the mechanical arm 5 is detected, for example, by the detection component 3 detecting the position of the movable member 51 relative to the mechanical arm 5.

If the movable member 51 is in the folded state, the feeding operation is stopped, and when the movable member 51 is in the folded state relative to the mechanical arm 5, it is proved that the movable member 51 cannot drive the goods to perform the feeding operation, so that the feeding operation is controlled to be stopped.

In addition, as mentioned above, the walking frame 6 in the feeding device 100 can move relative to the support 1 of the feeding device 100 to drive the robot arm 5 to move, and therefore, the feeding method of the present application may further include:

position information of the walking frame relative to the support 1 is detected. The position information of the walking frame with respect to the frame 1 can be detected by providing a position sensor, for example, the second position sensor 92, on the frame 1. And controls the moving state of the traveling frame with respect to the stand 1 according to the detected position information.

In the above scheme, the position of the traveling frame relative to the support 1 is detected, so long as the position sensor is arranged at the position where the traveling frame is easy to collide, when the traveling frame is too close to the position of the support 1 where the collision is easy to occur, the controller can timely adjust the moving state of the traveling frame 6 according to the information of the position sensor, so that the collision event is avoided, and the stability and the safety of the feeding device 100 are high.

Wherein, according to the position information control walking frame 6 relative to the moving state of the support 1 that detects, include: and when the walking frame moves to the preset position, controlling the walking frame 6 to stop moving. To avoid collision with the structure of the bracket 1, etc.

In order to further improve the reliability of the feeding operation, before the feeding operation, the method may further include: judging whether the transfer robot 200 is in the loading position; if the transfer robot 200 is at the loading position, the loading operation is started.

Specifically, in order to confirm whether or not the transfer robot 200 has reached a predetermined loading position with respect to the loading device 100, it is detected by the start switch 72 provided in the escape groove 13, and when the moving chassis 202 of the transfer robot 200 enters the escape groove 13 and reaches the loading position, the traveling carriage 6 is controlled to move and the loading operation is performed.

Example four

Fig. 14 is a block diagram of a control device according to a fourth embodiment of the present application, and referring to fig. 14, the present embodiment provides a control device 300, where the control device 300 includes:

a processor 301; and a memory 302 communicatively connected to the processor 301, wherein the memory 302 stores executable code, and when the executable code is executed by the processor 301, the processor 301 executes the feeding control method according to the third embodiment.

The feeding control method has been described in detail in the third embodiment, and is not described herein again.

EXAMPLE five

The embodiment provides a feeding device, which comprises a support 1 and a control assembly, wherein a storage unit 2 for placing goods is arranged on the support 1, a goods inlet/outlet 21 and a rolling conveying piece 22 are arranged on the storage unit 2, and the rolling conveying piece 22 is provided with an outer contour surface capable of being in rolling contact with the goods in the storage unit 2;

the control assembly comprises a driving unit for driving the rolling transmission member 22 to rotate and the control device 300 of the fourth embodiment, the driving unit is electrically connected with the control device 300, and the control device 300 is used for controlling the rolling transmission member 22 to rotate along the direction towards the goods entrance/exit 21 so as to convey the goods in the storage unit 2 to the outer side of the goods entrance/exit 21.

The structural and functional principles of the components in the feeding device provided in this embodiment are the same as or similar to those of the feeding device 100 provided in the first embodiment, and the feeding device 100 has already been described in detail in the first embodiment, and are not described again here. The detailed structure and functional principle of the control device 300 have been described in detail in the fourth embodiment, and are not repeated herein.

EXAMPLE six

The present embodiment provides a storage system, which includes the transfer robot 200 of the first embodiment and the loading device of the fifth embodiment, as described above, the transfer robot 200 has the pallet 205, and the pallet 205 and the storage unit 2 of the loading device are correspondingly disposed to perform loading operation on the loading device. The storage unit 2 of the pallet 205 and the loading device are correspondingly arranged, specifically, the height of the pallet 205 is approximately the same as the height of the bottom of the storage unit 2, and the arrangement positions are corresponding and are oppositely arranged.

It should be noted that the specific structure and function of the transfer robot 200 have been described in the first embodiment, and the specific structure and function of the loading device have also been described in detail in the fifth embodiment, which are not described herein again.

It should be noted that the transfer robot 200 of the present application is not limited to the transfer robot 200 described in the first embodiment, as long as the transfer robot has a pallet 205 for placing goods thereon, and the pallet 205 and the storage unit 2 of the loading device are correspondingly disposed.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims (16)

1. A loading device for transporting goods to a handling robot, comprising a frame, a storage unit and a control unit, wherein the storage unit is arranged on the frame and has a goods entrance and exit and a rolling conveyor having an outer contoured surface adapted to be in rolling contact with goods in the storage unit, the rolling conveyor being adapted to rotate about its own axis of rotation in a direction towards the goods entrance and exit;

the control assembly comprises a controller, a first driving device and a sensor unit, the first driving device is used for driving the rolling conveying piece to rotate, the sensor unit is used for detecting the position of the goods and/or the moving speed of the goods, the first driving device and the sensor unit are electrically connected with the controller, and the controller is used for controlling the rotating state of the rolling conveying piece according to the position of the goods and/or the moving speed of the goods so as to convey the goods in the storage unit to the carrying robot outside the storage unit.

2. The loading device according to claim 1, wherein said sensor unit comprises at least one of a speed sensor and a position sensor.

3. A loading device according to claim 2, characterised in that the sensor unit comprises a speed sensor, which is arranged in the storage unit.

4. A loading unit as claimed in claim 3, wherein said speed sensor comprises a first speed sensor and a second speed sensor, said first speed sensor being located between said second speed sensor and said cargo access opening.

5. The loading device according to claim 4, wherein the moving speed of the cargo detected by the first speed sensor is greater than, less than or equal to the moving speed of the cargo detected by the second speed sensor; the controller controls the rotation state of the rolling conveying piece according to the moving speed of the goods detected by the first speed sensor and/or the moving speed of the goods detected by the second speed sensor.

6. A feeding device according to claim 3 or 4, wherein the speed sensor is a photoelectric sensor.

7. A loading unit according to any one of claims 1-3, further comprising a robot arm movable relative to said storage unit, said robot arm being adapted to move itself to bring the goods in said storage unit to the outside of said storage unit.

8. The loading device according to claim 7, wherein the mechanical arm is provided with a movable member, and the movable member can move relative to the mechanical arm to block on the conveying path of the goods;

the movable piece is used for abutting against the goods and pushing the goods to the outer side of the storage unit when the mechanical arm moves relative to the storage unit.

9. A loading arrangement according to claim 8, wherein the robot arm extends in the conveying direction of the goods, and the movable member is arranged at an end of the robot arm facing away from the goods access opening.

10. The loading device according to claim 8 or 9, wherein the movable member is a movable push rod, a first end of the movable push rod is rotatably connected to the mechanical arm, a second end of the movable push rod is a free end, and a rod body of the movable push rod is used for pushing the goods to push the goods to the outside of the storage unit.

11. A loading device according to claim 7, wherein the direction of movement of the robotic arm is in a horizontal direction.

12. The loading device according to claim 7, further comprising a second driving device disposed on said support and configured to drive said robot arm to move relative to said storage unit.

13. The loading device according to any one of claims 1 to 3, further comprising a loading and unloading position sensor, wherein the loading and unloading position sensor is arranged on the bracket and is located at the goods entrance/exit, and the loading and unloading position sensor is used for detecting whether the goods extend out of the storage unit.

14. The loading device as claimed in claim 13, wherein the storage unit comprises a first storage unit located at the top of the loading device and a second storage unit located at the bottom of the loading device, and the loading and unloading position sensors are arranged on both the first storage unit and the second storage unit.

15. The loading device as claimed in claim 13, wherein said loading and unloading position sensor is a reflective photoelectric sensor.

16. A storage system comprising a transfer robot and a loading device according to any one of claims 1 to 15, wherein the transfer robot has a pallet, and the pallet and a storage unit of the loading device are arranged to correspond to each other to perform a loading operation with the loading device.

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