CN218260161U

CN218260161U - Get material feeding unit, loading and unloading unit and select system

Info

Publication number: CN218260161U
Application number: CN202221764543.7U
Authority: CN
Inventors: 孙沁
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2022-07-07
Filing date: 2022-07-07
Publication date: 2023-01-10
Anticipated expiration: 2032-07-07

Abstract

The utility model provides a taking and delivering container device, a loading and unloading unit and a sorting system, wherein the taking and delivering container device comprises a support frame, a bearing component, a taking and placing component, a rotating component, a vertical moving component and a transverse moving mechanism, the bearing component is connected to the support frame and is provided with a bearing surface; the taking and placing assembly positioned above the bearing assembly is provided with a joint member for being detachably connected to the container; the rotating assembly is provided with a rotating shaft connected to the picking and placing assembly and used for driving the picking and placing assembly to rotate around a first pivot axis vertical to the bearing surface; the vertical moving assembly is used for moving the rotating assembly and the taking and placing assembly along the vertical direction; the transverse moving mechanism is used for moving the joint component along a first horizontal direction, and the transverse moving mechanism is arranged on the vertical moving assembly and/or the joint component. The utility model discloses with the structure of simplifying more, realize two opposite direction's material of getting and send, and owing to get the top that puts the subassembly and be located bearing surface, help realizing the lower material of getting and sending of goods shelves.

Description

Get material feeding unit, loading and unloading unit and select system

Technical Field

The utility model relates to a technical field of storage equipment, more specifically relate to a get material feeding device, loading and unloading unit and select system.

Background

At present, the automatic storage system is increasingly applied to various civil and industrial storage fields, but because the cost of a storage field is continuously increased, a high-efficiency intensive storage mode is continuously provided.

The goods shelf arrangement in the field of dense storage is characterized in that the storage positions are closely arranged. A method which is not suitable for warehouse-in type transportation such as holding forks during feeding and blanking; moreover, the efficiency of warehouse-in type transportation and manual transportation are both low.

Therefore, it is desirable to provide a material handling device, a loading and unloading unit and a picking system to at least partially solve the above problems.

SUMMERY OF THE UTILITY MODEL

In the summary section a series of concepts in a simplified form is introduced, which will be described in further detail in the detailed description section. The inventive content does not imply any attempt to define the essential features and essential features of the claimed solution, nor is it implied to be intended to define the scope of the claimed solution.

To solve the above problems, a first aspect of the present invention provides a pick-and-place container device, including:

a support frame;

the bearing component is connected to the supporting frame and provided with a bearing surface for bearing a container, and the outer side areas of two ends of the bearing surface along a first horizontal direction are respectively a first target position and a second target position;

a pick-and-place assembly positioned above the carrier assembly, the pick-and-place assembly having engagement members for detachably connecting to the containers for unidirectional or bidirectional transfer of the containers between the first target position and the carrier assembly, and for unidirectional or bidirectional transfer of the containers between the second target position and the carrier assembly;

a rotation assembly having a rotational axis connected to the pick-and-place assembly for driving the pick-and-place assembly to rotate about a first pivot axis perpendicular to the bearing surface to enable the engagement member to be directed toward the first target position or the second target position;

the vertical moving assembly is connected to the supporting frame and is used for moving the rotating assembly and the picking and placing assembly along a vertical direction perpendicular to the bearing surface; and

a lateral movement mechanism for moving the engagement member relative to the support frame in the first horizontal direction, the lateral movement mechanism being provided to the vertical movement assembly and/or the engagement member.

According to the container taking and delivering device of the first aspect of the utility model, the taking and placing component is arranged above the bearing component, so that the space at the lower part of the supporting frame can not be occupied, and the container taking and delivering device is beneficial to realizing the taking and delivering of the container at the lower position of the goods shelf; the joint component faces different directions through the rotation of the rotating assembly so as to realize the material taking and feeding of the first target position or the second target position, so that the structure of the taking and placing assembly is simplified, and the occupied space in the first horizontal direction is reduced; and the joint component rotates around the vertical first pivot axis, so that the space occupation in the vertical direction can be reduced, and the compactness of the structure of the container taking and placing device along the vertical direction is favorably realized.

Optionally, the lateral moving mechanism is configured as a lateral moving assembly, and the lateral moving assembly is disposed between the vertical moving assembly and the supporting frame, so as to drive the vertical moving assembly, the rotating assembly and the pick-and-place assembly to move together along the first horizontal direction.

Optionally, the lateral movement assembly comprises:

the transverse guide rail is arranged on the support frame along the first horizontal direction;

a lateral movement member movably connected to the lateral guide rail, the lateral movement member connected to the vertical movement assembly.

Optionally, the vertical movement assembly comprises:

a vertical guide rail provided to the lateral moving member along the vertical direction;

a vertical moving member movably connected to the vertical guide rail, the vertical moving member being connected to the rotating assembly.

Optionally, the lateral moving mechanism is configured as a lateral moving assembly disposed between the rotating assembly and the vertical moving assembly for driving the rotating assembly and the pick-and-place assembly to move laterally together.

Optionally, the vertical movement assembly comprises:

the vertical guide rail is arranged on the support frame along the vertical direction;

a vertical moving member movably connected to the vertical rail, the vertical moving member being connected to the lateral moving assembly.

Optionally, the lateral movement assembly comprises:

a lateral guide rail provided to the vertically moving member along the first horizontal direction;

a lateral moving member movably connected to the lateral rail, the lateral moving member connected to the rotating assembly.

Alternatively, the lateral movement mechanism includes a fixed member connected to the rotation shaft and a movable member that is extendable and retractable in a horizontal direction with respect to the fixed member, the movable member being connected to the engagement member.

Optionally, the pick-and-place assembly comprises another said traverse mechanism, the traverse mechanism comprising a fixed member connected to the rotation shaft and a movable member that is extendable and retractable in a horizontal direction with respect to the fixed member, the movable member being connected to the engaging member for driving the engaging member to move to a third target position and for driving the engaging member to move to a fourth target position, the third target position being further away from the supporting frame than the first target position in the first horizontal direction, the fourth target position being further away from the supporting frame than the second target position.

Optionally, the pick-and-place container apparatus comprises a first open end and a second open end; the carrier assembly includes at least one conveyor belt configured to drive the containers from one of the first and second open ends to the other of the first and second open ends.

Optionally, the container taking and delivering device comprises at least two conveying belts, and the at least two conveying belts are arranged at intervals along a second horizontal direction perpendicular to the first horizontal direction.

Optionally, the number of the conveying belts is two, and the taking and placing assembly is located between the two conveying belts.

Optionally, the top of the support frame has an avoidance gap through which the vertical movement assembly extends at least partially.

Optionally, the vertical movement assembly is configured to move the access assembly between an access position in which the access assembly extends at least partially through the access opening and an operating position in which the access assembly is below the access opening.

Optionally, both sides of the conveyor belt are provided with fall-protection ribs configured for restraining containers on the bearing surface.

Optionally, the container pick-and-place device further comprises a guide mechanism configured to guide the containers on the conveyor belt towards a center of a second horizontal direction, the second horizontal direction being perpendicular to the first horizontal direction and the vertical direction.

Optionally, the anti-falling rib extends from the first open end to the second open end of the container taking and delivering device, and the middle area between the first open end and the second open end of the anti-falling rib extends inwards along the second horizontal direction to form the guide mechanism.

Optionally, the engagement member is configured as a suction cup, a hook or a magnet.

Optionally, the rotating assembly comprises:

a linear cylinder comprising a cylinder body and a piston rod movable in a direction perpendicular to the first pivot axis;

a rack connected to the piston rod; and

and the gear is connected to the rotating shaft and meshed with the rack.

Optionally, the rotating assembly comprises:

a connecting rod, a first end of the connecting rod being pivotably connected to the piston rod about a second pivot axis parallel to the first pivot axis; and

a link having a first end pivotally connected to the second end of the link about a third pivot axis parallel to the first pivot axis, the second end of the link being connected to the pivot axis, the link being configured as a crank or a disc.

Optionally, the rotating assembly comprises:

an output shaft of the motor is connected to the rotating shaft; or

A rotary cylinder having an output connected to the rotary shaft.

Optionally, the container taking and delivering device further comprises:

the sensor is arranged at the end part of the supporting frame along the first horizontal direction and used for detecting the height information of the container.

Optionally, the container taking and delivering device further comprises:

a controller connected to the sensor and to the vertical movement assembly, the controller configured to perform:

receiving the height information detected by the sensor;

according to the height information, determining the vertical movement distance required by the taking and placing assembly along the vertical direction;

and controlling the vertical moving assembly to drive the taking and placing assembly to move the vertical moving distance along the vertical direction according to the vertical moving distance.

A second aspect of the present invention provides a loading and unloading unit, comprising a frame body, wherein the above-mentioned container device is provided on the frame body, and the container device is movably provided on the frame body.

According to the utility model discloses the loading and unloading unit of second aspect is through using foretell container device of sending of getting, can enough accomplish and get the container work, can accomplish the work of sending the container again, has improved the utilization ratio and the work efficiency of equipment, has alleviateed the human labor, has reduced manufacturing cost effectively.

Optionally, the rack body comprises:

an X-axis track extending parallel to a bearing surface of the pick-and-place container apparatus and perpendicular to the first horizontal direction;

a Y-axis track having an extension direction parallel to the vertical direction the Y-axis track is configured to be moveably coupled to the X-axis track along the extension direction of the X-axis track, and the pick-and-place receptacle device is configured to be moveably coupled to the Y-axis track along the vertical direction.

Optionally, the X-axis track comprises a ground rail to which a lower end of the Y-axis track is movably connected.

Optionally, the X-axis track further comprises a sky rail located above the ground rail, and an upper end of the Y-axis track is movably connected to the sky rail.

Optionally, at least two Y-axis tracks are provided, and at least one container taking and delivering device is provided on each Y-axis track.

The utility model discloses a third aspect provides a system of selecting, the system of selecting includes:

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

a rack parking area configured to park a rack, the rack parking area spaced from the workstation area along the first horizontal direction; and

according to the above-mentioned handling unit, the handling unit is located at the distance between the workstation zone and the shelving stop zone, the handling unit being configured to enable the transfer of containers between the workstation zone and the shelving stop zone.

According to the utility model discloses the system of selecting of third aspect through using foretell loading and unloading unit, helps realizing in compacter intensive storage environment, adapts to more efficient goods and puts on the shelf demand with goods off the shelf.

Optionally, the workstation further comprises a conveyor line for receiving the containers transferred from the container transfer device; or the container conveying device is used for conveying the containers on the conveying line to the container taking and conveying assembly.

Drawings

The following drawings of the embodiments of the present invention are provided as a part of the present invention for understanding the present invention. There are shown in the drawings, embodiments and descriptions thereof, which are used to explain the principles of the invention. In the drawings there is shown in the drawings,

fig. 1 is a perspective view of a preferred embodiment of a pick-and-place container apparatus according to the present invention;

FIG. 2 is another perspective view of the pick-and-feed container apparatus shown in FIG. 1;

FIG. 3 is a top plan view of the pick-and-feed container apparatus shown in FIG. 1;

FIG. 4 is a view of the container handling apparatus of FIG. 1 in a use configuration with the suction cup extending out of the first open end and engaging the container;

FIG. 5 is another state of use of the pick-and-feed container apparatus shown in FIG. 1, wherein the suction cups partially move the containers from the first open end onto the bearing surface;

FIG. 6 is a further use condition of the container picking and delivering apparatus of FIG. 1, wherein the container is fully positioned on the carrier surface and the suction cup is in the retracted position and facing the first open end;

FIG. 7 is a further state of use of the container picking and delivering apparatus shown in FIG. 1, wherein the container is fully positioned on the carrying surface and the suction cup is in the retracted position and facing the second open end;

FIG. 8 is a further state of use of the container handling apparatus of FIG. 1, wherein the suction cups have fully pushed the containers out of the second open end to the exterior of the container handling apparatus;

FIG. 9 is a further state of use of the pick-and-place container apparatus shown in FIG. 1, wherein the container is completely outside of the pick-and-place container apparatus;

FIG. 10 is a side view of the coupling structure of the pick-and-place assembly, the rotating assembly and the vertically moving member shown in FIG. 1;

FIG. 11 is a perspective view of the coupling structure of the pick-and-place assembly, the rotating assembly and the vertical moving member shown in FIG. 10;

fig. 12 is a perspective view of a pick-and-place container apparatus according to another preferred embodiment of the present invention;

FIG. 13 is a top plan view of the pick-and-place container apparatus shown in FIG. 12;

fig. 14 is a top view of a pick-and-place container apparatus in accordance with yet another preferred embodiment of the present invention, wherein three conveyor belts are provided;

FIG. 15 is a perspective view of the device of FIG. 14;

fig. 16 is a perspective view of a container pick-and-place apparatus according to still another preferred embodiment of the present invention, in which one conveyor belt is provided; and

fig. 17 is a perspective view of a loading and unloading unit with a container pick-and-place device according to a preferred embodiment of the present invention.

Description of the reference numerals

100: support frame 101: first open end

102: second open end 103: anti-falling flange

103a: the guide mechanism 104: avoid the breach

110: the conveying belt 111: bearing surface

112: opening 120: movement mechanism

121: taking and placing assembly 121a: operating lever

121b: suction cup 121c: rotating frame

121c1: mounting portion 121d: rotating shaft

121f: the proximity sensor 122: lateral movement assembly

122a: the cross rail 122b: transversely moving member

123: vertical movement assembly 123a: vertical guide rail

123b: the vertical moving member 124: rotating assembly

124a: linear cylinder 124b: rack bar

124c: gear 130: container

224: rotating assembly 224a: straight line cylinder

224d: the connecting rod 224e: disc with a circular groove

300: a rack body 310: x-axis rail

320: y-axis rail 400: goods shelf

AX1: first pivot axis AX2: second pivot axis

AX3: third pivot axis D1: first horizontal direction

D2: second horizontal direction D3: in the vertical direction

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that embodiments of the invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring embodiments of the present invention.

Ordinal words such as "first" and "second" are referred to herein merely as labels, and do not have any other meaning, e.g., a particular order, etc. Also, for example, the term "first component" does not itself imply the presence of "second component", and the term "second component" does not itself imply the presence of "first component".

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

In this context, "equal," "same," and the like are not strictly mathematical and/or geometric limitations, but also encompass errors that may be understood by one skilled in the art and that may be allowed for manufacturing or use, etc.

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

Depending on the context, the word "if" may be interpreted as "at \8230; \8230when" or "when 8230; \8230, when" or "in response to a determination".

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

First, terms of terms related to one or more embodiments of the present invention are explained.

"goods racking" means placing goods to be warehoused into the corresponding cargo space of the goods container.

"unloading of goods" means taking goods to be taken out of the warehouse from the corresponding cargo space of the goods container.

The picking system is a system for picking target goods according to picking instructions, the target goods are goods on a picking order, and each kind of goods is stored in a different container.

The container is a container used for loading goods in logistics and includes, but is not limited to, a shelf, a bin, a tray, a packing box and the like.

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It is to be understood that the terms "upper", "lower", and the like are used herein for purposes of illustration only and are not to be construed as limiting.

The container picking and delivering device according to the present invention will be described in detail with reference to fig. 1 to 17. The container taking and delivering device is used for realizing goods loading and unloading between the dense goods shelf and the workstation.

First embodiment

The utility model discloses at first provide a get and send container device for realize the conveying of container, as shown in fig. 1 to 17. The device for taking and delivering containers according to the present invention comprises a support frame 100, a carrying assembly and a moving mechanism 120. The moving mechanism 120 includes a pick-and-place assembly 121, a rotating assembly 124, a vertical moving assembly 123, and a lateral moving mechanism.

Wherein the bearing assembly is connected to the supporting frame 100. The carrier assembly has a carrier surface for carrying the container 130. The outer regions of both ends of the bearing surface in the first horizontal direction D1 are a first target position and a second target position, respectively. The pick-and-place assembly 121 is located above the carrying assembly. The pick-and-place assembly 121 has engagement members for detachably connecting to the container 130 for one-way or two-way transfer of the container 130 between the first target position and the carrier assembly, and for one-way or two-way transfer of the container 130 between the second target position and the carrier assembly.

The rotating assembly 124 has a rotating shaft connected to the pick-and-place assembly 121. The rotating assembly 124 is used for driving the pick-and-place assembly 121 to rotate about a first pivot axis AX1 perpendicular to the bearing surface so that the engaging member can be oriented to the first target position or the second target position. The vertical moving assembly 123 is connected to the supporting stand 100. The vertical moving assembly 123 is used for moving the rotating assembly 124 and the pick-and-place assembly 121 along a vertical direction perpendicular to the bearing surface to adjust the position of the pick-and-place assembly 121 along the vertical direction. The lateral moving mechanism is used for moving the engaging member relative to the supporting frame 100 along the first horizontal direction D1, and the lateral moving mechanism is disposed on the vertical moving assembly 123 and/or the engaging member.

According to the device for taking and delivering the container 130 of the utility model, the taking and placing component 121 is arranged above the bearing component, so that the space at the lower part of the support frame 100 is not occupied, and the taking and delivering of the container 130 at the lower position of the shelf is facilitated; due to the fact that the engaging members are oriented in different directions through the rotation of the rotating assembly 124, so as to achieve the material taking and feeding of the first target position or the second target position, the structure of the taking and feeding assembly 121 is simplified, and the occupied space in the first horizontal direction D1 is reduced; and the engaging member rotates around the vertical first pivot axis AX1, so that the space occupation in the vertical direction can be reduced, and the structure of the device for taking and placing the container 130 in the vertical direction can be more compact.

The various components of the container pick-and-place device will be discussed separately further below:

supporting rack 100

As shown in fig. 1 to 9, and 12 to 17, the support stand 100 may include a base frame, a first side frame, a second side frame, and a top end beam. Wherein the chassis may be a horizontally arranged rectangular frame. The chassis may be used to mount a load bearing assembly as will be described in more detail below. The first and second side frames are respectively connected to both side portions of the bottom chassis in the second horizontal direction D2. The first side frame and the second side frame are parallel to each other and perpendicular to the base frame respectively. The first and second side frames may be configured as U-shaped frames with the opening 112 facing downward. The two top end beams are connected between the first side frame and the second side frame along the second horizontal direction D2. The two top end beams respectively correspond to two ends of the underframe in the first horizontal direction D1.

In the illustrated embodiment, the top end beam is of a height corresponding to the second side frame, and the top of the first side frame is higher than the top of the second side frame. The second side frame may be used to mount a motion mechanism 120, which will be described in detail below.

In addition, the support frame 100 may include a first open end 101 and a second open end 102. The first open end 101 and the second open end 102 are respectively located at two ends of the support frame 100 along the first horizontal direction D1. In the illustrated embodiment, the angle between the first open end 101 and the second open end 102 with respect to the first pivot axis AX1 is 180 degrees.

Optionally, the top of the cage 100 has an escape notch 104. A vertical movement assembly 123, described in detail below, can extend at least partially through the avoidance gap 104. The first pivot axis AX1 of the rotating assembly 124, which will be described in detail below, corresponds to a center position of the avoidance gap 104 in the second horizontal direction D2, and the size of the avoidance gap 104 may be adapted to a pivot range of the engagement member about the first pivot axis AX1, which will be described in detail below. By limiting the position and size of the avoidance notch 104, the engagement member located at the avoidance position can be allowed to pivot in the avoidance notch 104, and even the engagement member can be allowed to pivot around the first pivot axis AX1 in the process of moving from the operating position to the avoidance position, so that the efficiency of adjusting the posture of the engagement member is improved, and the work efficiency of the material taking and feeding device in the process of putting cargos on and off the shelf is improved. It is understood that the avoidance gap 104 is not necessary, and the provision of the avoidance gap 104 can reduce the dimension of the support stand 100 in the height direction while avoiding the large-sized container 130, thereby contributing to the compactness of the structure of the support stand 100 in the vertical direction D3.

It is understood that, as a variation of the present invention, the support frame 100 may not include a top beam.

Bearing assembly

As seen in fig. 1-3, and 12-16, the load bearing assembly is connected to the support stand 100 above. The carrier assembly has a carrier surface 111 for carrying the container 130. Outer areas of both ends of the bearing surface 111 in the first horizontal direction D1 are a first target position and a second target position, respectively. The first target position may be disposed corresponding to the first open end 101, the second target position may be disposed corresponding to the second open end 102, and the first target position is closer to the first open end 101 than the second target position.

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

Further, the carrier assembly may comprise at least one conveyor belt 110. The conveyor 110 is configured to drive the containers 130 from one of the first open end 101 and the second open end 102 to the other of the first open end 101 and the second open end 102. The upper surface of the conveyor belt 110 constitutes a carrying surface 111 for carrying the containers 130.

In the illustrated embodiment, the conveyor belt 110 may be a single, unitary, endless member (as shown in fig. 16). The dimension of the conveyor belt 110 in the second horizontal direction D2 perpendicular to the first horizontal direction D1 is adapted to the dimension of the containers 130 in the second horizontal direction D2. A pick-and-place assembly 121, which will be described in detail below, is disposed corresponding to a middle portion of the conveyor belt 110 in the second horizontal direction D2. The upper surface of the conveyor belt 110 constitutes the above bearing surface 111. In this embodiment, the bearing surface 111 is a complete surface in the second horizontal direction D2.

In the illustrated embodiment, the conveyor belt 110 may also be two endless members (as shown in fig. 1-3, and 12 and 13). The two conveying belts 110 are disposed at intervals along the second horizontal direction D2, and respectively correspond to two ends of the supporting frame 100 along the second horizontal direction D2. The pick-and-place assembly 121 is located between the two conveyor belts 110. When the container 130 is loaded, the two conveyor belts 110 respectively correspond to bottoms of both ends of the container 130 in the second horizontal direction D2. The upper surfaces of the two conveyor belts 110 together constitute the above bearing surface 111. That is, in this embodiment, the bearing surfaces 111 are two surfaces separated in the second horizontal direction D2. In a variation of this embodiment, referring to fig. 14 and 15, an additional conveyor 110 may be added between the two conveyors 110 to carry the bottom of the container 130 at an intermediate position. So that the container 130 is prevented from being caught in the opening 112 between the two conveyor belts 110 and even the container 130 is prevented from being detached from the opening 112.

In addition, the two sides of the conveying belt 110 may be provided with anti-falling ribs 103, and the anti-falling ribs 103 are arranged at two ends of the supporting frame 100 along the second horizontal direction D2. The fall arrest rib 103 extends from the first open end 101 to the second open end 102 of the container pick and place device. The fall arrest rib 103 is configured for limiting the containers 130 on the bearing surface 111, i.e. limiting the travel of the containers 130 on the bearing surface 111 in the second horizontal direction D2, thereby preventing the containers 130 from disengaging the conveyor belt 110 from both sides of the conveyor belt 110. The second horizontal direction D2 is perpendicular to the first horizontal direction D1 and the vertical direction D3.

In addition, the supporting frame 100 is further provided with a guiding mechanism 103a, and the guiding mechanisms 103a may be located at two ends of the bearing surface 111 along the second horizontal direction D2. The guide mechanism 103a is configured to guide the containers 130 on the conveyor belt 110 toward the center of the second horizontal direction D2 such that the containers 130 on the bearing surface 111 are located at the center position of the bearing surface 111 in the second horizontal direction D2.

For example, in the illustrated embodiment, two safety ribs 103 are provided, one on each side of the support surface 111 in the second horizontal direction D2 being situated on each side of the safety rib 103. The guide means 103a can be configured as a facing surface of two safety ribs 103. The anti-falling rib 103 extends inward in the second horizontal direction D2 in a middle region between the first open end 101 and the second open end 102 to form a guide mechanism 103a. The distance between the facing surfaces of the two retaining ribs 103 decreases in the direction of the container 130 moving to the support surface 111.

Pick-and-place assembly 121

Referring to fig. 1 to 9 and 12 to 17, the pick-and-place assembly 121 is located above the carrier assembly. The pick-and-place assembly 121 has an engagement member for detachably connecting to the container 130. The engagement member enables one-way or two-way transfer of the container 130 between the first target location and the carrier assembly, and enables one-way or two-way transfer of the container 130 between the second target location and the carrier assembly. The engagement members enable one-way transfer of the container 130 between the first target location and the carrier assembly, i.e., the engagement members can be received from the first target location and moved onto the carrier assembly, or push the container 130 on the carrier assembly to the first target location. The engagement members are capable of transferring the container 130 bi-directionally between the first target location and the carrier assembly, i.e., the engagement members are capable of both receiving and moving the container 130 on the carrier assembly from the first target location onto the carrier assembly and pushing the container 130 on the carrier assembly to the first target location.

In the illustrated embodiment, the pick-and-place assembly 121 further includes a lever 121a and a rotating frame 121c. One end of the lever 121a in the lever length direction is connected to the rotating frame 121c, and the other end of the lever 121a in the lever length direction is connected to the engaging member. Wherein the engagement member is configured as a suction cup 121b. The suction force of the suction cup 121b is provided by a vacuum-pumping device and is communicated to the outward-facing surface of the suction cup 121b through an air passage pipe. So that after the suction cup 121b is brought into contact with the surface of the container 130, the suction cup 121b is engaged with the container 130 by activating the vacuum-pumping means to pump vacuum, and the vacuum is broken by turning off the vacuum-pumping means or turning off a valve connected in series to the gas flow pipe to disengage the suction cup 121b from the container 130.

It is to be understood that as a variation of the present embodiment, the engagement member may be configured as a hook. Accordingly, a rib or the like capable of hooking the hook may be provided on or near the end surface (e.g., a side edge of the end surface) of the container 130 or on the upper edge of the container 130. The container 130 can be hooked by arranging a hook, so that the picking and placing assembly 121 is connected with the container 130.

As a further variant of this embodiment, the joining member can be configured as a magnet. Accordingly, a ferrous member or another magnet capable of magnetically attracting the magnet may be provided on the container 130. The engaging member preferably employs an electromagnet. The electromagnet is electrically connected to the controller through a switch, and the electromagnet is controlled to be connected with and disconnected from the container 130 through the opening and closing of the switch controlled by the controller.

Rotating assembly 124

Referring to fig. 1 to 11 and 14 to 17, the rotating assembly 124 has a rotating shaft 121d and is connected to the above pick-and-place assembly 121 through the rotating shaft 121d. The rotating assembly 124 is used to drive the above suction cup 121b to rotate about a first pivot axis AX1 perpendicular to the bearing surface 111 to enable the engagement member to be oriented towards the first or second target position.

In the illustrated embodiment, the rotating assembly 124 includes a linear cylinder 124a, a rack 124b, and a gear 124c. The linear cylinder 124a includes a cylinder body and a piston rod movable in a direction perpendicular to the first pivot axis AX 1. The rack 124b is connected to the piston rod. The gear 124c is coupled to the rotating shaft 121d and engaged with the rack 124 b. The axis of the gear 124c coincides with the axis of the rotating shaft 121d. When the cylinder is started, the piston rod makes extension and retraction movement, and then power is transmitted to the rotating shaft 121d through the rack 124b and the gear 124c to drive the rotating shaft 121d to realize forward rotation and reverse rotation, and finally the orientation of the joint member is changed, so that the joint member faces the first target position or the second target position. The limit structure can be arranged at the two ends of the moving stroke of the suction cup 121b to limit the moving range of the suction cup 121b. Since the linear cylinder 124a is well known in the art, it will not be described in detail herein.

Referring to fig. 12 and 13, as another embodiment of the above-described rotating assembly, the rotating assembly 224 of this embodiment includes a linear cylinder 224a, a connecting rod, and a connecting member. The linear cylinder 224a includes a cylinder body and a piston rod movable in a direction perpendicular to the first pivot axis AX 1. The first end of the link 224d is pivotably connected to the piston rod about a second pivot axis AX2 that is parallel to the first pivot axis AX 1. The first end of the link is pivotally connected to the second end of the link 224d about a third pivot axis AX3 that is parallel to the first pivot axis AX 1. The second end of the link is fixedly connected to the rotation shaft 121d. In the illustrated embodiment, the connector is configured as a disc 224e. The third pivot axis AX3 does not coincide with the first pivot axis AX 1. It will be appreciated that as a variation of this embodiment, the connecting member may be configured as a crank. The crank may be a lever.

It will be appreciated that the rotating assembly may comprise a motor or a rotating cylinder as other embodiments of the rotating assembly described above. That is, the rotating shaft 121d may be directly driven to rotate by a motor, thereby realizing the adjustment of the rotation of the suction cup 121b to change the orientation of the suction cup 121b. A speed reduction assembly, such as a speed reduction gear set, may be added between the motor and the rotating shaft 121d to adjust the pivoting speed of the rotating shaft 121d to meet the actual picking requirement.

It will also be appreciated that the rotary assembly may comprise a rotary cylinder as other embodiments of the rotary assembly described above. It is also possible to connect the output of the rotary cylinder, the axis of rotation of which coincides with the first pivot axis AX1, to the rotary shaft 121d. Activation of the rotary cylinder may cause the rotary shaft 121d to rotate about the first pivot axis AX1, thereby effecting a change in the orientation of the engagement member. Rotary cylinders are well known in the art and will not be described in detail herein.

Vertical movement assembly 123

As seen in fig. 1-9, and 12-17, the vertical movement assembly 123 is connected to a lateral movement mechanism, which will be described in detail below. The vertical moving assembly 123 is used for moving the rotating assembly 124 and the pick-and-place assembly 121 along a vertical direction D3 perpendicular to the bearing surface 111. That is, the vertical moving assembly 123 is used to drive the rotating assembly 124 and the pick-and-place assembly 121 to move together in the vertical direction, so that the height of the suction cups 121b on the pick-and-place assembly 121 is matched with the height of the containers 130, or the suction cups 121b are located at an avoiding position avoiding the containers 130.

Optionally, the vertical moving assembly 123 at least partially extends through the above avoiding gap 104 on the supporting frame 100, so that when the container 130 with a larger height dimension is taken and conveyed, the vertical moving assembly 123 can drive the suction cup 121b to move to a higher position to avoid the container 130 on the bearing surface 111. At the same time, it may contribute to reducing the size of the support stand 100 in the vertical direction.

In the illustrated embodiment, the vertical moving assembly specifically includes a vertical guide rail 123a and a vertical moving member 123b. The vertical guide rail 123a is provided to the lateral moving member 122b, which will be described in detail later, in the vertical direction D3. The vertical moving member 123b is movably connected to the vertical guide rail 123a, and at the same time, the vertical moving member 123b is also connected to the rotating assembly 124. The vertical movement assembly 123 is configured to move the pick-and-place assembly 121 between an avoidance position and an operating position. When the pick-and-place assembly 121 is located at the avoiding position, the pick-and-place assembly 121 may partially extend through the avoiding gap 104, or may be located completely above the avoiding gap 104; when the pick-and-place assembly 121 is in the operating position, the pick-and-place assembly 121 is located below the clearance gap 104, so that the height of the suction cup 121b is adapted to the height of the container 130, ensuring that the suction cup 121b can engage the container 130 and move the container 130 in the first horizontal direction D1.

Transverse moving mechanism

As shown in fig. 1 to 9, and 12 to 17, the lateral moving mechanism is connected to the support frame 100 and is movable in the first horizontal direction D1 with respect to the support frame 100, so that the engaging member can be moved in the first horizontal direction D1 with respect to the support frame 100.

In the illustrated embodiment, the lateral movement mechanism is configured to laterally move the assembly 122. The transverse moving assembly 122 is disposed between the vertical moving assembly 123 and the supporting frame 100, and is used for driving the vertical moving assembly 123, the rotating assembly 124 and the pick-and-place assembly 121 to move together along the first horizontal direction D1.

Specifically, the traverse assembly 122 includes a traverse rail 122a and a traverse member 122b. The cross rail 122a is disposed on the supporting frame 100 along the first horizontal direction D1. The lateral moving member 122b is slidably coupled to the lateral guide rail 122a in the first horizontal direction D1, and the lateral moving member 122b is coupled to the vertical moving assembly 123.

It is understood that in variations of the present embodiment, the position of the lateral movement assembly 122 and the position of the vertical movement assembly 123 may be interchanged. That is, in this modified embodiment, the traverse assembly 122 is disposed between the rotating assembly 124 and the vertical moving assembly 123 for driving both the rotating assembly 124 and the pick-and-place assembly 121 to move laterally together. Specifically, the vertical guide rail 123a of the vertical movement assembly 123 is disposed on the support stand 100 along the vertical direction D3, the vertical movement member 123b of the vertical movement assembly 123 is movably connected to the vertical guide rail 123a, and the vertical movement member 123b is connected to the lateral movement assembly 122. The lateral guide rail 122a of the lateral moving assembly 122 is disposed on the vertical moving member 123b along the first horizontal direction D1, the lateral moving member 122b of the lateral moving assembly 122 is movably connected to the lateral guide rail 122a, and the lateral moving member 122b is connected to the rotating assembly 124.

According to the container taking and delivering device of the present invention, the supporting frame is provided with the bearing assembly, the container 130 is supported by the bearing surface 111 of the bearing assembly, and the outer areas of the two ends of the bearing surface 111 along the first horizontal direction D1 are respectively the first target position and the second target position; detachably connecting the container 130 by means of the engagement member of the pick-and-place assembly 121 above the carrier assembly for unidirectional or bidirectional transfer of the container 130 between the first target position and the carrier assembly and for unidirectional or bidirectional transfer of the container 130 between the second target position and the carrier assembly; the rotating shaft 121d of the rotating assembly 124 is connected to the pick-and-place assembly 121 to drive the pick-and-place assembly 121 to rotate around the first pivot axis AX1 perpendicular to the bearing surface 111, so that the engaging member can be oriented to the first target position or the second target position; is connected to the supporting frame 100 through a vertical moving assembly 123, and is used for moving the rotating assembly 124 and the pick-and-place assembly 121 in a vertical direction D3 perpendicular to the bearing surface 111, so that the height of the pick-and-place assembly 121 can be matched with the height of the container 130 to be picked and delivered or the container 130 on the bearing surface 111 can be avoided; transferring the container 130 in the first horizontal direction D1 is achieved by providing a lateral moving mechanism to the vertical moving assembly 123 and/or the engagement member to move the engagement member in the first horizontal direction D1 relative to the support 100 by the lateral moving mechanism such that the engagement member facing the first target position can move in the first horizontal direction D1 between the bearing surface 111 and the first target position, or such that the engagement member facing the second target position can move in the first horizontal direction D1 between the bearing surface 111 and the second target position. The taking and placing component 121 is arranged above the bearing component, so that the taking and placing component of the container taking and placing device does not occupy the space at the lower part of the support frame 100, and is favorable for realizing the taking and placing of the container 130 at the lower position of the goods shelf; due to the fact that the engagement members are oriented in different directions through the rotation of the rotating assembly 124, so as to achieve the material taking and feeding of the first target position or the second target position, the structure of the taking and feeding assembly 121 is simplified, and the space occupation along the first horizontal direction D1 is reduced; and the engaging member rotates around the vertical first pivot axis AX1, so that the space occupation in the vertical direction can be reduced, and the structure of the device for taking and placing the container 130 in the vertical direction can be more compact.

Referring to fig. 1 to 11 and 14 to 17, the pick-and-place container apparatus of the present invention may further include a proximity sensor 121f. The proximity sensor 121f is provided to the rotating frame 121c and spaced apart from the first end of the manipulation lever 121a in a length direction of the manipulation lever 121 a. The proximity sensor 121f is used to generate a sensing signal when the first end of the joystick 121a approaches the proximity sensor 121f. In practical applications, the controller (e.g., a computer) with data processing and analyzing functions is used to receive the sensing signal of the proximity sensor 121f and perform analysis processing, so as to determine whether the engaging member is reliably engaged with (abutted against) the container 130 on the shelf or to push the container 130 on the shelf to a proper position.

The pick-and-place assembly may further include two springs. Meanwhile, in the illustrated embodiment, the rotating frame 121c has a mounting portion 121c1 protruding in the vertical direction D3, and the first end of the operating rod 121a is movably inserted into the mounting portion 121c1 along the length direction of the operating rod 121 a. The two springs are respectively located at both sides of the mounting portion 121c1 and are respectively connected to the operating lever 121 a. The two springs cushion the forces from the two oppositely directed containers when the engagement member is forced to prevent damage to the engagement member.

Optionally, some position sensors for sensing the in-position signal of the container 130 may be disposed on the supporting stand 100. The position sensors may be disposed at positions corresponding to the first and second open ends 101 and 102 of the support frame 100. The position sensor may be implemented using a photoelectric sensing switch in the prior art. Meanwhile, the controller is also connected to the electric control connection ends of the vertical moving assembly 123, the horizontal moving assembly 122, the rotating assembly 124 and the like, so as to perform analysis processing and judgment according to information acquired by the position sensing switch, the proximity sensor and other sensors, and to regulate and control the operation states of the vertical moving assembly 123, the horizontal moving assembly 122, the rotating assembly 124 and the like.

For example, in practice, the same pallet may have different sized cargo spaces to carry containers of different volumes. When taking containers from different cargo spaces of such a pallet, it is necessary to obtain the height of the container beforehand so that the engaging members can be docked with the container to be taken. In other applications, the size of the goods space of different shelves may also be different, and similarly, if the container taking and delivering device of the embodiment is to perform the operation of taking and delivering containers from and to different size goods spaces of different shelves, the size of the container of the corresponding goods space also needs to be obtained in advance. In contrast, the container pick-and-place device according to the present embodiment further includes a controller and a sensor for detecting height information of the container. The sensor is disposed at an end (one end or both ends) of the support frame in the first horizontal direction. A controller is connected to the sensor and to the vertical movement assembly, the controller configured to perform:

receiving height information detected by a sensor;

according to the height information, determining the vertical movement distance required by the picking and placing assembly along the vertical direction;

and controlling the vertical moving assembly to drive the picking and placing assembly to move a vertical moving distance along the vertical direction according to the vertical moving distance.

Wherein the sensor for detecting height information of the container, on the one hand, detects the container size and controls the engagement member to adjust to a suitable pick-and-place position to match containers of different sizes; on the other hand, the moving of the pick-and-place assembly to the avoiding position can be adjusted according to the actual height of the avoiding position when the containers with different height sizes are picked and delivered.

Further, sensors (such as the above-mentioned sensor for detecting the height information of the containers) or image acquisition devices may also be arranged at the opening 112 between the two conveyor belts 110. For example, a camera may be provided at the opening 112 for collecting identification information of the container 130, and the like.

In the illustrated embodiment, the rotation of the suction cup 121b around the rotation shaft 121d may be implemented by:

referring to fig. 10 and 11, the rack 124b is driven by the linear cylinder 124a to move along the second horizontal direction D2, and the sucker rod (the operating rod 121 a) is driven by the rack-and-pinion mechanism to rotate 180 degrees in a reciprocating manner.

In the illustrated embodiment, the manner of picking up goods from the first open end 101 may be:

when the container picking and delivering device moves to the picking position along with the conveyor line, the suction cup 121b is rotated 180 degrees above the conveyor line, so that the suction cup 121b faces the first opening end 101. The suction cup 121b is then lowered to the operating position by the vertical movement assembly 123 (see fig. 1 to 3). Suction cup 121b is then moved in a first horizontal direction D1 by lateral movement assembly 122 to extend suction cup 121b in its entirety (e.g., out of first open end 101). The suction cup 121b is fitted with a spring and a proximity sensor 121f on the rod. When the suction cup 121b extends and abuts against the container (see fig. 4), the rod of the suction cup 121b retracts due to the resistance, so that the tail end of the rod of the suction cup 121b approaches the proximity sensor 121f and excites the proximity sensor 121f to generate a sensing signal, thereby adapting to the position of taking the container. Upon determining that suction cup 121b is reliably in contact with the container, a vacuum may be drawn on the air between suction cup 121b and the container to securely attach suction cup 121b to the container. At this time, the suction cup 121b is retracted in the first horizontal direction D1 by the operation of the traverse assembly 122 to pull the container into the container picking and delivering device on the conveying line (see fig. 5), and when the container reaches the sensing range of the rim sensor (the container is completely moved to the upper portion of the conveying surface of the container picking and delivering device), the suction cup 121b breaks the vacuum, so that the suction cup 121b is separated from the container. Then, the suction cup 121b is retracted along the first horizontal direction D1 by the lateral moving assembly 122 and raised along the vertical direction to an avoidance position above the container by the vertical moving assembly 123 (see fig. 5), thereby completing the pickup. After the goods are taken, the containers positioned on the container taking and delivering device are delivered to a target position preset by the system through the delivery line.

In the illustrated embodiment, delivery from the second open end 102 may be accomplished by:

when the container picking and delivering device moves to the material delivering position along with the conveyor line, the suction cup 121b is rotated 180 degrees above, so that the suction cup 121b faces the second opening end 102 (see fig. 7). The suction cups 121b are lowered to the operating position in the vertical direction D3 by the operation of the vertical moving assembly 123, and are moved towards the second open end 102 in the first horizontal direction D1 by the lateral moving assembly 122 until they are attached to the containers 130, and the suction cups 121b are moved in the first horizontal direction D1 by the lateral moving assembly 122 until the containers 130 are pushed out of the second open end 102 (see fig. 8) and brought to the set position of the dense racking (or other structure receiving the containers 130). Then, the suction cup 121b is retracted by the horizontal moving assembly 122, and the suction cup 121b is lifted by the vertical moving assembly 123 until the container is returned to the upper position of the container picking and delivering device (see fig. 9), thereby completing the delivery.

In the illustrated embodiment, the implementation manner of picking up goods from the second open end 102 is the same as the implementation manner of picking up goods from the first open end 101 in principle, and is not described again. Similarly, the implementation manner of delivering goods from the first open end 101 is the same as the implementation manner of delivering goods from the second open end 102, and is not described herein again.

Second embodiment

The second embodiment of the present invention is a material transfer device having substantially the same structure as the first embodiment except for the position of the lateral movement mechanism, and the same or similar reference numerals are given to the same or similar structures. Therefore, for the sake of brevity, only the distinguishing features will be described in detail herein.

The transverse moving mechanism is arranged between the rotating shaft and the joint component, for example, the transverse moving mechanism can be arranged between the rotating shaft and the taking and placing assembly or can be a part of the taking and placing assembly. The lateral movement mechanism includes a fixed member and a movable member. Wherein the fixed member is connected to the rotating shaft, the movable member is connected to the engaging member, and the movable member is retractable in a horizontal direction with respect to the fixed member. That is, the distance between the engagement member and the rotating shaft is adjusted by the lateral movement mechanism between the rotating shaft and the engagement member, and the extension and retraction of the engagement member are adjusted. It should be noted that the rotating assembly may be activated to drive the engagement member toward the first target position or the second target position prior to activating the lateral movement mechanism to prevent the engagement member from interfering with other structures of the pick-and-place container apparatus.

Wherein the lateral shifting mechanism may be configured as a linear cylinder. The cylinder body of the linear cylinder is connected to the rotary shaft, and the piston rod of the linear cylinder is connected to the joint member.

It is to be understood that the above-described two lateral movement mechanisms may be included as a modification of the present embodiment. That is, two lateral movement mechanisms are used in combination, so that a longer stroke can be achieved. In addition, a double stretching position can be realized to take and deliver the container at two positions with different distances in the first horizontal direction. This embodiment is applicable to a rack in which the cargo space is penetrated in the first horizontal direction. For example, one of the two lateral moving mechanisms employs the lateral moving mechanism of the first embodiment, by which the engaging member can be driven to move to the first target position and the engaging member can be driven to move to the second target position. Meanwhile, the picking and placing assembly comprises another transverse moving mechanism. The transverse moving mechanism of the taking and placing assembly comprises a fixed component connected to the rotating shaft and a movable component capable of extending and contracting along the horizontal direction relative to the fixed component, and the movable component is connected to the joint component. The transverse moving mechanism of the pick-and-place assembly is used for driving the joint member to move to the third target position and is used for driving the joint member to move to the fourth target position. In the first horizontal direction, the third target position is farther from the support frame than the first target position, and the fourth target position is farther from the support frame than the second target position. The structure of the transverse moving mechanism of the pick-and-place assembly may also be the same as that of the transverse moving mechanism of the first embodiment.

Taking the case of transferring the containers between the carrying assembly and the first target position and the third target position, respectively, the process of taking and delivering the containers may be: activating one of the two lateral movement mechanisms to actuate the engagement member to transfer the container between the carrier assembly and the first target location; then, both lateral movement mechanisms are simultaneously activated to actuate the engagement members to transfer the container between the carrier assembly and the third target position.

According to the utility model discloses an above-mentioned arbitrary embodiment get and send containerization device can be to in the automatic intensive storage, goods put intensive, and the side does not have the goods shelves of fork passageway, help realizing the automation and get goods. Can also be to the access of big depth of field and low storehouse position, thereby make the utility model discloses a get that material feeding device can adapt to the more comprehensive intensive storage get and send goods environment.

Referring to fig. 17, the present invention also provides a loading and unloading unit, which includes a frame body 300. The rack 300 is provided with the container taking and feeding device according to any one of the above embodiments, and the container taking and feeding device may be configured to be movably provided to the rack 300. That is, the pick-and-place container apparatus may be moved relative to the rack 300 to a position corresponding to a first target position, or moved relative to the rack 300 to a position corresponding to a second target position. The first target position may be a cargo space on the shelf 400 or a position far from the shelf 400.

According to the utility model discloses a loading and unloading unit, through using foretell container device of sending of getting, can enough accomplish and get the container work, can accomplish the work of sending the container again, has improved the utilization ratio and the work efficiency of equipment, has alleviateed the human labor, has reduced manufacturing cost effectively.

Specifically, the rack 300 includes an X-axis rail 310 and a Y-axis rail 320. The extending direction of the X-axis track 310 is parallel to the carrying surface of the pick-and-place container device and perpendicular to the first horizontal direction D1. The extending direction of the Y-axis rail 320 is parallel to the vertical direction D3 the Y-axis rail 320 is configured to be movably connected to the X-axis rail 310 along the extending direction of the X-axis rail 310. The pick-and-place container apparatus is configured to be movably coupled to the Y-axis track 320 in a vertical direction D3. Changing the position of the picking and delivering container device along the extending direction of the X-axis rail 310 can be realized when the picking and delivering container device moves along the extending direction of the X-axis rail 310 (which may be parallel to the second horizontal direction D2). When the container picking and conveying device moves along the extending direction (the vertical direction D3) of the Y-axis track 320, the position of the container picking and conveying device along the extending direction of the Y-axis track 320 can be changed.

In the illustrated embodiment, the X-axis track 310 includes a ground rail to which the lower end of the Y-axis track 320 is movably connected. Alternatively, a column capable of sliding along the X-axis rail 310 may be disposed on the ground rail, and the Y-axis rail 320 may be disposed on the column.

It will be appreciated that in variations of the illustrated embodiment, the X-axis track 310 further may include an overhead track, the overhead track being located above the ground track, and the upper end of the Y-axis track 320 being movably connected to the overhead track. In an application scenario where the X-axis track 310 comprises a head rail, the frame 300 may be configured as a gantry (portal frame), with the head rail mounted at the top of the gantry and the ground rail mounted at the bottom of the gantry.

In order to improve the efficiency of taking and delivering the container 130, the Y-axis track 320 of the present invention may be at least two. At least one pick-and-place container device is disposed on each Y-axis track 320. The pick-and-place container devices of the two Y-axis tracks 320 may work in concert to achieve pick-and-place at different locations on the X-axis track 310.

For example, in the illustrated embodiment, two Y-axis rails 320 are provided, and one container pickup device is provided on each Y-axis rail 320.

The utility model discloses a loading and unloading unit can also be including being used for ordering about Y axle track 320 and remove along the extending direction of X axle track 310 and order about the drive assembly who takes out and send the extending direction removal of container device along Y axle track 320. The driving assembly may include a stepping motor, a lead screw, a nut, and other components, and may also be implemented by referring to other manners in the prior art, which are not described herein again.

The utility model also provides a system of selecting, the loading and unloading unit as shown in figure 17 is the component part of the system of selecting. The picking system according to the invention comprises a workstation area, a shelf 400 docking area, and a handling unit according to any of the embodiments or variants described above. Wherein, a picking station is arranged in the workstation area. The shelf 400 parking area is configured for parking the shelf 400, the shelf 400 parking area being spaced apart from the workstation area in the first horizontal direction D1. Located at the separation of the workstation area and the shelf 400 docking area is a handling unit configured to enable transfer of containers 130 between the workstation area and the shelf 400 docking area.

Optionally, the workstation area further comprises a conveyor line. The conveyor line is adapted to receive the containers 130 transferred from the container handling device. Or for transferring containers 130 located on a transfer line to the pick-and-place container 130 assembly.

The loading and unloading unit can complete the work of taking containers and the work of sending the containers in the picking system, thereby improving the utilization rate and the working efficiency of equipment, reducing the labor intensity, effectively reducing the production cost and having outstanding advantages. According to the utility model discloses a system of selecting through using foretell loading and unloading unit, helps realizing in compacter intensive storage environment, adapts to more efficient goods and puts on the shelf the demand with goods off the shelf.

Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Terms such as "disposed" and the like, as used herein, may refer to one element being directly attached to another element or one element being attached to another element through intervening elements. Features described herein in one embodiment may be applied to another embodiment, either alone or in combination with other features, unless the feature is not applicable or otherwise stated in the other embodiment.

The present invention has been described in terms of the above embodiments, but it is to be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the invention to the described embodiments. It will be appreciated by those skilled in the art that many more modifications and variations are possible in light of the above teaching and are intended to be included within the scope of the invention.

Claims

1. A container handling apparatus, comprising:

a support frame;

the vertical moving assembly is connected to the supporting frame and is used for moving the rotating assembly and the taking and placing assembly along a vertical direction perpendicular to the bearing surface; and

2. The device according to claim 1, wherein the lateral moving mechanism is configured as a lateral moving assembly disposed between the vertical moving assembly and the supporting frame for driving the vertical moving assembly, the rotating assembly and the pick-and-place assembly together to move in the first horizontal direction.

3. The device for retrieving and delivering containers from and as defined in claim 2, wherein the lateral movement assembly comprises:

4. The device according to claim 3, wherein said vertical movement assembly comprises:

a vertical moving member movably connected to the vertical rail, the vertical moving member being connected to the rotating assembly.

5. The device according to claim 1, wherein the lateral movement mechanism is configured as a lateral movement assembly disposed between the rotation assembly and the vertical movement assembly for driving the rotation assembly and the pick-and-place assembly to move laterally together.

6. The device according to claim 5, wherein said vertical movement assembly comprises:

7. The device of claim 6, wherein the lateral movement assembly comprises:

8. The device according to claim 1, wherein the lateral moving mechanism includes a fixed member connected to the rotating shaft and a movable member that is extendable and retractable in a horizontal direction with respect to the fixed member, the movable member being connected to the engaging member.

9. A pick and place container apparatus as claimed in any one of claims 2 to 7, wherein the pick and place assembly includes a further said traverse mechanism including a fixed member connected to the rotary shaft and a movable member which is extendable and retractable in a horizontal direction relative to the fixed member, the movable member being connected to the engagement member for driving the engagement member to move to a third target position and for driving the engagement member to move to a fourth target position, the third target position being further from the support frame than the first target position in the first horizontal direction and the fourth target position being further from the support frame than the second target position.

10. The transfer container apparatus of claim 1, wherein the transfer container apparatus comprises a first open end and a second open end; the carrier assembly includes at least one conveyor belt configured to drive the containers from one of the first and second open ends to the other of the first and second open ends.

11. The retrieval container device of claim 10, wherein the retrieval container device includes at least two of the conveyor belts, the at least two conveyor belts being spaced apart along a second horizontal direction perpendicular to the first horizontal direction.

12. A pick and place container apparatus as claimed in claim 11, wherein the number of conveyor belts is two, the pick and place assembly being located between the two conveyor belts.

13. The container handling device of claim 1, wherein the top of the support frame has an access opening through which the vertical movement assembly extends at least partially.

14. The device according to claim 13, wherein the vertical movement assembly is configured to move the access assembly between an avoidance position and an operative position, the access assembly in the avoidance position extending at least partially through the avoidance gap, the access assembly in the operative position being positioned below the avoidance gap.

15. Device according to claim 10, characterized in that the conveyor belt is provided on both sides with anti-falling ribs configured for restraining containers on the bearing surface.

16. The retrieval container device of claim 15, further comprising a guide mechanism configured to guide the containers on the conveyor belt toward a center of a second horizontal direction that is perpendicular to the first horizontal direction and the vertical direction.

17. The retrieval container device of claim 16, wherein the anti-fall rib extends from the first open end to the second open end of the retrieval container device, the anti-fall rib forming the guide mechanism extending inboard in the second horizontal direction in a middle region between the first open end to the second open end.

18. The handling container apparatus according to claim 1, wherein the engagement member is configured as a suction cup, a hook, or a magnet.

19. The pick-and-feed container apparatus of claim 1, wherein the rotating assembly comprises:

a rack connected to the piston rod; and

and the gear is connected to the rotating shaft and meshed with the rack.

20. The pick-and-feed container apparatus of claim 1, wherein the rotating assembly comprises:

21. The pick-and-feed container apparatus of claim 1, wherein the rotating assembly comprises:

a motor having an output shaft connected to the rotating shaft; or

A rotary cylinder, an output of the rotary cylinder being connected to the rotary shaft.

22. The container handling device of claim 1, further comprising:

23. The pick-and-feed container apparatus as claimed in claim 22, further comprising:

receiving the height information detected by the sensor;

24. A handling unit comprising a frame on which is disposed a pick-and-place container apparatus as claimed in any one of claims 1 to 23, the pick-and-place container apparatus being configured to be removably disposed on the frame.

25. The handling unit of claim 24, wherein the magazine comprises:

a Y-axis track having an extending direction parallel to the vertical direction the Y-axis track configured to movably couple to the X-axis track along the extending direction of the X-axis track, the pick-and-place container device configured to movably couple to the Y-axis track along the vertical direction.

26. The handling unit of claim 25, wherein the X-axis track includes a ground rail to which a lower end of the Y-axis track is movably connected.

27. The handling unit of claim 26, wherein the X-axis track further comprises a head rail located above the ground rail, an upper end of the Y-axis track being movably connected to the head rail.

28. Handling unit according to any of claims 25-27, c h a r a c t e r i z e d in that there are at least two Y-axis tracks, each of which is provided with at least one of the pick-and-place container devices.

29. A picking system, characterized in that the picking system comprises:

the handling unit according to any of claims 24-28, said handling unit being located at the interval of the workstation zone and the shelf stop zone, said handling unit being configured to enable transferring containers between the workstation zone and the shelf stop zone.

30. The picking system of claim 29, wherein the workstation site further includes a conveyor line for receiving the containers transferred from the container pick-and-place device; or the container conveying device is used for conveying the containers on the conveying line to the container taking and conveying assembly.