TW202315823A - Automatic micro warehousing facility that includes a main frame unit, an elevation unit, a moving frame unit, and a control unit - Google Patents

Abstract

An automatic micro warehousing facility is applicable to storage of at least one storage box. The storage box has two flanges. The automatic micro warehousing facility includes a main frame unit, an elevation unit, a moving frame unit, and a control unit. The main frame unit comprises an elevated top frame. The top frame has a plurality of cargo positions and a transportation channel. The moving frame unit is movable relative to the cargo positions and is suitable for withdrawing or depositing the storage box in one of the cargo positions. The moving frame unit comprises a suspending rack and a carrying frame. The suspending rack is movable in an X-direction relative to the main frame unit. The carrying frame is movable in a Y-direction relative to the suspending rack. The carrying frame has at least two hooking and pushing members for hooking and pushing the storage box. Each of the hooking and pushing members includes a hook portion for hooking on one of the flanges of the storage box.

Description

Automated Micro Storage Equipment

The present invention relates to a storage of single or sequentially placed objects in a warehouse or warehouse, in particular to an automatic micro-storage equipment.

The supermarket logistics system integrated by convenience stores and logistics companies, due to the high distribution density and convenient pick-up, the business volume expands rapidly with the improvement of e-commerce. Convenience supermarkets mostly use a plurality of shelves arranged in rows to place packages, and manually classify the packages and place them on the shelves. However, due to the limited land occupation of convenience stores, not only the number of such shelves that can be set up is limited, but also it is time-consuming to search for specific packages by manpower alone.

In addition, most of the existing automatic storage systems use robotic arms or multiple gripping devices to automatically pick and place goods. Although it can save manpower, the cost is high and a large space is required to build the automatic storage system, which is not suitable for large areas. Smaller establishments such as convenience stores.

It can be seen from this that if we want to overcome the existing limitations and apply storage equipment in small warehouses, there is still room for progress and improvement.

Therefore, the object of the present invention is to provide a kind of automatic micro-storage equipment.

Therefore, the automatic micro-storage equipment of the present invention is suitable for storing at least one storage box, and the storage box includes two flanges that are spaced apart and protrude outward. The automated micro-storage equipment includes a main frame unit, a lifting unit , a mobile rack unit and a control unit.

The main shelf unit includes a high top shelf, the top shelf has several spaced cargo spaces, and a transport channel that communicates with the space of these cargo spaces and allows the at least one storage box to pass through. The at least one storage box The suitcase is suitable for storage in one of the cargo locations. The lifting unit moves along a Z-axis direction and is used to drive the at least one storage box to move into or out of the top frame.

The mobile shelf unit is higher than the cargo spaces in the Z-axis direction and can move relative to the cargo spaces. The mobile shelf unit is suitable for taking out or putting at least one storage box into one of the cargo spaces. The mobile frame unit includes a suspension frame and a bracket. The suspension frame can move relative to the main frame unit along an X-axis direction. The bracket is arranged on the suspension frame and as the suspension frame moves, the bracket can also move relative to the suspension frame along a Y-axis direction, the X-axis direction, the Y-axis direction and the Z-axis direction The brackets are perpendicular to each other, and the bracket is used for transporting the at least one storage box, and the bracket has at least two hooking and pushing parts for hooking and pushing the at least one storage box. Each of the hook push pieces has a hook portion for hooking one of the flanges of the at least one storage box, and the hook portion is lower than the flanges of the at least one storage box in the Z-axis direction . The control unit is used to control the movement of the mobile rack unit.

The effect of the present invention is that: the present invention elevates the top shelf so that the space below the top shelf can be kept in a clear state, which is convenient for shop assistants to walk around or be used for other purposes, and has the effect of increasing space utilization. In addition, the horizontal movement of the storage boxes can be automatically put in or taken out by means of the space configuration of the storage positions of the top shelf and the conveying channel, and in conjunction with the design of the hook and push parts of the bracket. These storage boxes are used to save the time of manpower picking and placing. In addition, compared with the existing mechanical arm or gripping device, the present invention has simple structure, low manufacturing cost and small footprint, and is very suitable for installation in convenience stores.

Referring to Fig. 1 to Fig. 3, an embodiment of the automatic micro-storage equipment of the present invention is suitable for storing several storage boxes 9, and each of the storage boxes 9 includes a chamber 90 that surrounds and defines an open top. The box body 91, and a cover 92 that can be opened and pivoted to the box body 91, the chamber 90 is used to store several packages (not shown) sent by home delivery. The cover body 92 in this embodiment is described as a split box cover, but it is not limited to this when used. The box body 91 has two flanges 911 respectively located on two opposite sides and protruding outward. The automated micro-storage equipment includes a main frame unit 1 , a lifting unit 2 , a visual identification device 21 , a moving frame unit 3 , an X-axis driving device 4 , and a control unit 5 .

The main frame unit 1 includes several support columns 11 standing on the ground and extending upward along a Z-axis direction, and a top frame 12 fixedly connected to the top sides of the support columns 11, as shown in FIG. 3 , The Z-axis direction is the up-down direction. Since the top frame 12 is elevated by the support columns 11, when the present invention is installed in a supermarket warehouse, the top frame 12 can be arranged directly below the ceiling, so that the space below the top frame 12 remains clear. state, it is convenient for shop assistants to walk around or be used for other purposes, so the present invention can increase the utilization rate of space. The top frame 12 has several long rods 121 spaced parallel to each other, several cross bars 122 spaced parallel to each other, two X-axis guide rails 123 spaced parallel to each other, several storage plates 13 and several guide plates 14 . Each of the long rods 121 extends along an X-axis direction. The crossbars 122 extend along a Y-axis direction and are connected to the long rods 121. The X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other. As shown in FIG. 2, the X-axis direction is left and right direction, the Y-axis direction is the front-back direction.

Cooperating with the long bars 121 and the cross bars 122, several storage spaces 100 suitable for storing the storage boxes 9 and a transport channel 101 for the storage boxes 9 are defined. Each of the cargo spaces 100 is connected to the conveying channel 101 and has an entrance 102 for the respective storage box 9 to enter and exit. In this embodiment, the cargo spaces 100 are arranged in the front row and the rear row, the cargo spaces 100 in the front row and the rear row are arranged at intervals in the direction of the X-axis, and the transport channel 101 is located between the two rows of the cargo spaces 100 between. It can be understood that, in other variations, the cargo spaces 100 can also be arranged in a row, or in three rows and the quantity of the conveying passage 101 can be changed, as long as the cargo spaces 100 can be connected with the conveying passage 101 The space is connected.

The X-axis guide rails 123 are spaced apart in parallel and respectively disposed on the two long rods 121 on the front and rear sides of the main frame unit 1 , and each of the X-axis guide rails 123 extends along the X-axis direction.

Referring to Fig. 4 to Fig. 6, the storage boards 13 extend along the Y-axis direction and are respectively arranged on the crossbars 122, and every two storage boards 13 are used to place a storage box 9. In this embodiment, the Every two storage boards 13 are arranged on the left and right sides of each cargo space 100 , so that the center of each cargo space 100 is hollow, so that the weight of the top frame 12 can be reduced. Each of the storage boards 13 has an entrance slope 131 adjacent to the entrance and exit 102 of the corresponding cargo space 100, and a stopper 132 for blocking the respective storage box 9, the entrance slope 131 is inclined from top to bottom And towards the transport channel 101 . The bottom surface of the storage box 9 can slide through the two entrance slopes 131 on the cargo space 100 , so that the storage box 9 enters or exits the cargo space 100 conveniently.

The guide plates 14 extend along the Y-axis direction and are respectively disposed on the cross bars 122 , and each guide plate 14 is connected between two storage plates 13 . Each of the guide plates 14 has two guide slopes 141 respectively corresponding to the adjacent two cargo spaces 100 , each of the guide slopes 141 is adjacent to the respective entrance 102 and gradually outwards from the corresponding cargo spaces 100 . Expanding and extending, these guide slopes 141 are used for sliding through the sides of the corresponding storage box 9, and the width between these guide slopes 141 is greater than the width of the bottom of the storage box 9, if the storage Before the object box 9 enters the cargo space 100, there is a deflection phenomenon, and it can also be guided to enter the cargo space 100 smoothly. By abutting the left and right sides of the bottom of each of the storage boxes 9 against the two adjacent guide plates 14 respectively, and the rear side of the bottom of each of the storage boxes 9 against the respective stoppers 132 Can be stably positioned in their respective bays 100.

Referring to FIG. 1 to FIG. 3 , the lifting unit 2 includes a first lift 22 and a second lift 23 spaced left and right. Both the first elevator 22 and the second elevator 23 can move along the Z-axis direction, and are used to drive the storage boxes 9 to move into or out of the top frame 12 . The first lifter 22 and the second lifter 23 of this embodiment use the transmission mechanism of the motor and the pulley set to achieve the lifting in the Z-axis direction, but other existing transmission mechanisms can also be used to achieve the same effect, and it is not intended to limit. It should be noted that the alternate use of the first elevator 22 and the second elevator 23 can save waiting time, thereby achieving the effect of quickly picking and placing the storage boxes 9 . In other variations, the lifting unit 2 can also omit the second lifter 23 , as long as the first lifter 22 can also drive the storage boxes 9 to move into or out of the top frame 12 .

The visual identification device 21 is arranged on the lifting unit 2 and is located between the first elevator 22 and the second elevator 23. The visual identification device 21 of this embodiment is a stereoscopic visual identification camera and is installed at a certain height. When placed on When the storage box 9 of the first elevator 22 or the second elevator 23 is opened, an image can be obtained from the top of the storage box 9 and the empty volume in the storage box 9 can be identified with visual recognition technology, and then Know how much space is left to place the package.

The mobile shelf unit 3 is higher than the cargo spaces 100 in the Z-axis direction and is slidably disposed on the X-axis guide rails 123 , so that the mobile shelf unit 3 can move relative to the cargo spaces 100 . The moving rack unit 3 is suitable for moving each storage box 9 in the X-axis direction and the Y-axis direction, so as to take each storage box 9 out or put it into one of the storage spaces 100 .

Referring to FIG. 2 and FIG. 7 , the mobile frame unit 3 includes a suspension frame 31 , a bracket 32 and a Y-axis driving device 33 . The suspension frame 31 can move relative to the top frame 12 of the main frame unit 1 along the X-axis direction. The suspension frame 31 surrounds and defines a moving space 30 and has two parallel and spaced Y-axis guide rails 311 extending along the Y-axis direction. The origin position of the suspension frame 31 in this embodiment is set on the left side of the top frame 12 and adjacent to the lifting unit 2, but in other variations, the origin position of the suspension frame 31 can also be set on the The rightmost position of the top frame 12 , the origin position of the suspension frame 31 is not a limitation of the present invention.

7 to 9, the bracket 32 is slidably disposed on the Y-axis guide rails 311 and as the suspension frame 31 moves, the bracket 32 can also move in the moving space 30 along the Y-axis direction. Move relative to the suspension frame 31 within the range. The bracket 32 has a moving frame 321, and four hooking pieces 322 connected to the four corners of the moving frame 321 and spaced parallel to each other. Extended side stopper 323, and a hook part 324 connected to the bottom end of the side stopper 323 and extending toward the direction of the moving frame 321, each of the hook parts 324 has a gradually expanding outward from the moving frame 321 The sliding slope 325 of. In other variations, the number of the hooking and pushing pieces 322 can also be two, and they are arranged on the front and rear sides of the moving frame 321 . In this embodiment, the origin position of the bracket 32 is aligned with the conveying channel 101 , and it can be understood that the origin position of the bracket 32 can also be set at other positions.

The Y-axis driving device 33 is used to drive the bracket 32 to move along the Y-axis direction. The Y-axis driving device 33 of this embodiment utilizes a set of motors and pulleys installed on one of the Y-axis guide rails 311 and connected to the bracket 32, and then drives the bracket 32 to move forward and backward in the Y-axis direction. In other variations, the Y-axis driving device 33 can also adopt other transmission mechanisms.

Referring to FIG. 2 and FIG. 8 , the X-axis driving device 4 is used to drive the moving frame unit 3 to move along the X-axis direction. The X-axis driving device 4 of this embodiment is respectively installed on the X-axis guide rails 123 and connected to the front and rear sides of the suspension frame 31 by means of two sets of motors and the transmission mechanism of the pulley set, so that the mobile frame unit 3 is For the left and right movement in the X-axis direction, in other variants, the X-axis driving device 4 can also use other transmission mechanisms.

Referring to FIG. 10 , by the X-axis driving device 4 and the Y-axis driving device 33 driving the bracket 32 to move left, right, forward and backward, several storage boxes 9 can be automatically stored or taken out.

Referring to Figures 11 to 13, when one of the storage boxes 9' in the rear row is to be taken out, the bracket 32 is first moved from the origin position along the Y-axis direction to the storage boxes 9 aligned with the rear row, Then move the mobile frame unit 3 to the right along the X-axis direction until the bracket 32 stops above the storage box 9 ′ to be taken out, because the hooks 324 are lower than the Z-axis direction. the flange 911 of the storage box 9, and the distance between the side stoppers 323 is slightly larger than the maximum width of the storage box 9 in the Y-axis direction, so the bracket 32 is relatively During the movement of the box 9 , the side stoppers 323 can pass through the storage boxes 9 one by one, so that the hook pushers 322 can move to the front and rear sides of the storage box 9 ′ to be taken out. It should be noted that, if the placement positions of the storage boxes 9 are slightly deviated, the bracket 32 can still slide through the design of the sliding slopes 325 (see FIG. 9 ) of the hook pushers 322. The storage boxes 9 reach the top of the storage box 9 ′ to be taken out smoothly, thereby avoiding the problem of jamming.

Referring to Fig. 14 to Fig. 15, then, the bracket 32 is moved a short distance to the front side along the Y-axis direction, and the side stoppers 323 of the two hook push pieces 322 on the rear side will abut against and push the storage box 9', so that the storage box 9' is gradually pushed away from the cargo space 100 and the front side is suspended, and finally the right side of the storage box 9' slides to the front side by the weight of the storage box 9' itself. The flange 911 abuts against the hook portions 324 of the two hook push members 322 at the front side.

Referring to Fig. 16, the bracket 32 continues to move to the top of the transport channel 101 so that the storage box 9' completely enters the transport channel 101, and at this time the hooks 324 of the hook pushers 322 are hooked on the storage box 9'. The flanges 911 of the storage box 9', so the bracket 32 can carry the storage box 9' and drive it. Then moving the mobile shelf unit 3 can make the storage box 9' be sent into the lifting unit 2 along the conveying channel 101 (see FIG. 13 ).

Referring to Fig. 10, on the contrary, if want to put the storage box 9 in the first elevator 22 or the second elevator 23 into one of the goods positions 100, just move the mobile shelf unit 3 and the bracket 32, so that The storage box 9 is first transported to the transport channel 101, then the mobile rack unit 3 is moved to the position of the cargo space 100, and the bracket 32 is moved into the cargo space 100, so that the storage box 9 can be sent into The slot is 100.

The present invention can not only increase the utilization rate of space by elevating the space configuration of the top frame 12, but also cooperate with the design of the suspension frame 31 and the hook pushers 322 to realize the horizontal movement of the storage boxes 9, Reaching the purpose of automatically putting in or taking out these storage boxes 9 can save the time for manpower to pick and place. Compared with complicated mechanical arms or clamping and placing devices, the structure of the mobile shelf unit 3 of the present invention is simple, so it can reduce the manufacturing cost. cost.

Referring to FIG. 2 , FIG. 3 and FIG. 17 , the control unit 5 is signal-connected to the visual recognition device 21 , the X-axis driving device 4 and the Y-axis driving device 33 , the first elevator 22 and the second elevator 23 . The control unit 5 is used to control the X-axis driving device 4 and the Y-axis driving device 33, and stores a plurality of position data respectively corresponding to the cargo positions 100, and the control unit 5 receives a file containing one of the position data. After the picking request, control the X-axis driving device 4 and the Y-axis driving device 33 according to the picking request, so as to drive the bracket 32 to move to the cargo position 100 corresponding to one of the position data. The control unit 5 can transmit signals by wire connection or wireless communication, so it can be arranged beside the lifting unit 2 or close to the cash register.

Thus, when the parcel is to be put into the storage box 9 located in the first elevator 22, the clerk will first open the storage box 9 and put the parcel into the storage box 9, and the above visual recognition The device 21 automatically recognizes the empty volume in the storage box 9 and transmits and stores this information in the control unit 5 , and then the clerk closes the storage box 9 . The clerk operates the control unit 5 so that the control unit 5 receives a warehouse-in request including one of the position data, and the control unit 5 controls the first elevator 22 to rise according to the warehouse-in request and controls the X-axis driving device 4 and the Y The shaft driving device 33 drives the bracket 32 to move to the storage space 100 corresponding to one of the position data, so that the storage box 9 can be put into the storage space 100 . In this embodiment, the control unit 5 can also store the information of the free volume of each storage box 9, so the clerk can find out the empty storage box 9 through the control unit 5 to place the parcel, and There is no need to open the storage boxes 9 one by one, so the time for receiving goods can be saved. Further, when receiving the goods, each package can be matched with the location information of the respective storage box 9 through barcode scanning and then stored in the control unit 5, and the location of the specific package can be quickly found through the control unit 5. This greatly saves the time spent on finding packages manually.

But the above-mentioned ones are only embodiments of the present invention, and should not limit the scope of the present invention. All simple equivalent changes and modifications made according to the patent scope of the present invention and the content of the patent specification are still within the scope of the present invention. Within the scope covered by the patent of the present invention.

1: Main frame unit 100: cargo space 101: Transport channel 102: entrance and exit 11: Support column 12: top shelf 121: long pole 122: cross bar 123: X-axis guide rail 13: Shelf board 131: Entrance bevel 132: stop part 14: guide plate 141: guide bevel 2: Lifting unit 21:Visual recognition device 22: First lift 23: Second Lift 3:Mobile shelf unit 30: Mobile Space 31:Suspension frame 311: Y-axis guide rail 32: Bracket 321:Move frame 322: hook push piece 323: side block 324: hook 325: sliding slope 33: Y-axis driving device 4: X-axis driving device 5: Control unit 9,9': storage box 90: Containment room 91: box body 911: Flange 92: cover body X: X axis direction Y: Y axis direction Z: Z axis direction

Other features and effects of the present invention will be clearly presented in the implementation manner with reference to the drawings, wherein: Fig. 1 is a three-dimensional schematic diagram illustrating that an embodiment of the automatic micro-storage equipment of the present invention is used to store several storage boxes; Fig. 2 is a top view of this embodiment; Fig. 3 is a schematic front view of this embodiment; Fig. 4 is an incomplete perspective view, illustrating that a top shelf of this embodiment has several cargo positions; Fig. 5 is a schematic plan view illustrating that one of the storage spaces is used to store one of the storage boxes; Fig. 6 is a schematic cross-sectional view taken along the line VI-VI in Fig. 5; Fig. 7 is an incomplete perspective view illustrating a mobile frame unit of this embodiment; Figure 8 is a fragmentary side view illustrating a bracket of the mobile rack unit; Fig. 9 is an incomplete bottom view, illustrating that the bracket has four hook push pieces; Fig. 10 is a schematic perspective view illustrating that the storage boxes are respectively stored in the cargo positions; Figures 11 to 12 are schematic diagrams of the movement of the bracket; Fig. 13 is a top view illustrating that the mobile shelf unit moves to the top where the bracket is located above one of the storage boxes; Figures 14 to 16 are schematic diagrams of taking out the storage box using the bracket; and Fig. 17 is a circuit block diagram of this embodiment.

1: Main frame unit

100: cargo space

101: Transport channel

11: Support column

12: top shelf

121: long pole

122: cross bar

123: X-axis guide rail

14: guide plate

2: Lifting unit

22: First lift

23: Second Lift

3:Mobile shelf unit

31:Suspension frame

32: Bracket

4: X-axis driving device

9: storage box

90: Containment room

91: box body

911: Flange

92: cover body

X: X axis direction

Y: Y axis direction

Z: Z axis direction

Claims (10)

An automated micro-storage device, suitable for storing at least one storage box, the storage box includes two spaced apart and outwardly protruding flanges, the automated micro-storage device includes: A main shelf unit, including a high top shelf, the top shelf has a plurality of spaced cargo spaces, and a transport channel that communicates with the space of the cargo spaces and allows the at least one storage box to pass through, the at least one The storage box is suitable for storage in one of the cargo slots; a lifting unit, which moves along a Z-axis direction and is used to drive the at least one storage box to move into or out of the top frame; a mobile shelf unit, which is higher than and movable relative to the cargo spaces in the z-axis direction, the mobile shelf unit is suitable for taking out or putting the at least one storage box into one of the cargo spaces, This mobile rack unit includes: a suspension frame movable relative to the main frame unit along an X-axis direction, and A bracket, arranged on the suspension frame and moving with the suspension frame, the bracket can also move relative to the suspension frame along a Y-axis direction, the X-axis direction, the Y-axis direction and the Z-axis The directions are perpendicular to each other. The bracket is used to transport the at least one storage box. The bracket has at least two hook pushers for hooking and pushing the at least one storage box. Each of the hook pushers has a hook for hooking. a hook for hanging one of the flanges of the at least one storage box, the hook being lower than the flanges of the at least one storage box in the Z-axis direction; and A control unit is used to control the movement of the mobile rack unit. The automated micro-storage equipment as claimed in claim 1, wherein the top frame also has two parallel and spaced X-axis guide rails extending along the X-axis direction, and the X-axis guide rails are higher than the X-axis guide rails in the Z-axis direction. The cargo space is provided for the mobile shelf unit to be slidably set. The automated micro-storage equipment as described in claim 2, wherein the suspension frame of the mobile rack unit has two Y-axis guide rails spaced in parallel and extending along the Y-axis direction, and the Y-axis guide rails allow the bracket to slide Offsite settings. The automated micro-storage equipment as described in claim 1, wherein each of the hook pushers also has a side stopper whose bottom end is connected to the corresponding hook part, and the side stopper can pass through the The storage box. The automated micro-storage equipment as described in claim 1, wherein each of the cargo spaces has an entrance for the at least one storage box to enter and exit, and at least one entrance slope adjacent to the entrance, and the at least one entrance slope is used for The bottom surface of the at least one storage box is allowed to slide through. The automatic micro-storage equipment as described in claim 5, wherein, the top shelf also has several long bars, several horizontal bars and several storage boards, and the cooperation between the long bars and the horizontal bars defines the goods The position and the conveying channel, the storage boards are respectively arranged on the cross bars, and each storage board has an entrance slope. The automated micro-storage equipment as described in Claim 1, wherein each of the cargo spaces has an entrance for the at least one storage box to enter and exit, and at least one guide slope adjacent to the entrance, and the at least one guide slope It is used for sliding through the side of the at least one storage box. The automated micro-storage equipment according to claim 1, wherein the lifting unit includes a first lift and a second lift arranged at intervals. The automated micro-storage equipment as described in claim 1 further includes an X-axis driving device, and the mobile rack unit also has a Y-axis driving device, and the X-axis driving device is used to drive the mobile rack unit to move along the X-axis direction , the Y-axis driving device is used to drive the bracket to move along the Y-axis direction, the control unit is used to control the X-axis driving device and the Y-axis driving device, and store a plurality of positions corresponding to the respective cargo positions data, the control unit receives a pick-up request including one of the position data, controls the X-axis driving device and the Y-axis drive device according to the pick-up request, so as to drive the bracket to move to correspond to one of the position data of the location. The automated micro-storage equipment according to claim 1, further comprising a visual identification device signally connected to the control unit, the visual identification device is used to identify the empty volume in the at least one storage box.

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