WO2018149260A1

WO2018149260A1 - Stereoscopic item pick-and-place system

Info

Publication number: WO2018149260A1
Application number: PCT/CN2018/072617
Authority: WO
Inventors: 陈再煊
Original assignee: 福建汇创天下科技有限公司
Priority date: 2017-02-15
Filing date: 2018-01-15
Publication date: 2018-08-23
Also published as: CN106628785B; CN106628785A

Abstract

Disclosed is a stereoscopic item pick-and-place system, comprising an item placing structure (101), item placing units (201) and an item picking apparatus (301). The item placing structure (101) is provide with item placing layers (102) in the height direction, and the item placing units (201) are disposed on the item placing layers (102). Each item placing layer (102) comprises item placing unit parking positions (103), the item placing unit (201) can move on the item placing layer (102), and the item placing unit parking position (103) where no item placing unit (201) is parked is an unoccupied position. The item picking apparatus (301) comprises a grasping device (305), a lifting device (304), a translation device (303) and a translation track (302). The grasping device (305) is used for grasping an item placed on the item placing unit (201). With the movable item placing units (201) being disposed on multiple item placing layers (102), when an item is picked, the item placing unit (201) located above the item to be picked is moved, so that with only one unoccupied position in each layer, a picking space can be provided for the item to be picked so as to pick the item, thereby increasing the item placing density in order to improve the utilization of space.

Description

One-dimensional pick-and-place system for articles

Technical field

The invention relates to the technical field of cargo storage, in particular to a three-dimensional pick-and-place system for articles.

Background technique

With the economic development and the gradual improvement of material life, the daily storage of goods, express parcels and vehicles and other items has been greatly increased. At the same time, the space of urban land and warehouses is limited, and today’s land prices have risen sharply. The large-scale expansion in the storage plane space, in the large background of the flat space supply, the further utilization and optimization of the existing storage space has become an important issue.

In the prior art, each storage unit of the three-dimensional storage device is mostly fixed, and the item extraction device requires a large amount of space for moving into the area of the storage unit, and extracts the items, and the space utilization rate is not high.

Summary of the invention

Therefore, it is necessary to provide a three-dimensional pick-and-place system for articles to solve the problem that the prior art article extracting device requires a large amount of space for moving to the storage unit, and the space utilization rate is not high.

In order to achieve the above object, the inventors provide a three-dimensional pick-and-place system for articles, characterized in that the three-dimensional pick-and-place system of the article comprises: a storage structure, a storage unit and an article extraction device;

The storage structure is provided with one or more storage layers in the height direction, and the storage unit is disposed on the storage layer, each of which includes more than three storage unit parking spaces, and the number of storage units on the storage layer The number of the storage unit parking spaces on the storage layer is less than one, and the storage unit can move on the storage layer, and the storage unit parking space without the storage unit is vacant;

The number of the item extracting devices is one or more, including a gripping device, a lifting device, a translating device and a translating track, the translating track being disposed above the storage structure, the translating device for driving the gripping device to move on the translating track The lifting device is configured to drive the gripping device to move up and down. The gripping device is configured to grasp an item placed on the storage unit or to grasp the storage unit. When the grasping device moves up and down, the lifting device can pass the vacant position.

Different from the prior art, the above technical solution has the following advantages: by placing the movable storage unit on a plurality of storage layers, when the articles are extracted, the storage unit located above the items to be taken is moved, and only one vacant position is required for each layer, that is, An extraction space can be vacated for the item to be taken, the item is extracted, the density of the item is increased, and the space utilization rate is improved; and the storage unit can be independently moved, and the movement mode of the storage unit is flexible, and the item access operation is convenient. .

Further, the storage unit is a self-propelled storage unit, the storage unit is a self-propelled storage unit, and the self-propelled storage unit includes a first driving mechanism, and the first driving mechanism is configured to drive the storage unit at Move on the storage layer.

Further, the storage structure is provided with two or more storage layers in the height direction.

Further, a moving unit is disposed between the storage layers of the storage structure, the moving unit includes a second driving mechanism and a storage unit moving device, and the second driving mechanism is configured to drive the mobile unit, and the storage unit moving device Used to move the storage unit.

Further, the number of the storage structures is two or more, and the storage structures are arranged in an array form, and the storage layers are arranged in a plurality of rows and columns in the horizontal direction, and the storage layers between the adjacent storage structures are in communication with each other.

Further, the storage layer is provided with a moving rail for moving the storage unit on the storage layer, and the storage unit moves on the moving rail by the universal wheel or the hub motor.

Further, the storage unit is a vehicle parking unit, the vehicle parking unit includes a running mechanism for parking a vehicle, and the parking mechanism is configured to park the vehicle in the storage layer Moving upwards, the gripping device is used to grab items placed on the parking deck.

DRAWINGS

1 is a schematic front view showing the structure of a three-dimensional pick-and-place system for an article according to Embodiment 1 of the present invention;

2 is a schematic diagram of a three-dimensional structure of an article stereoscopic pick-and-place system according to Embodiment 1 of the present invention;

3 is a schematic front structural view of a three-dimensional pick-and-place system for articles according to Embodiment 2 of the present invention;

4 is a schematic structural view of a three-dimensional pick-and-place system for articles according to Embodiment 3 of the present invention;

FIG. 5 is a schematic structural diagram of a storage unit according to Embodiment 4 of the present invention.

Description of the reference signs:

101, storage structure; 102, storage layer; 103, storage unit parking space;

201, a storage unit; 202, a first drive mechanism; 203, a parking deck;

204, walking mechanism;

301, article extraction device; 302, translation track; 303, translation device;

304, lifting device; 305, grasping device;

401, a mobile unit; 402, a second drive mechanism; 403, a storage unit moving device.

detailed description

The detailed description of the technical contents, structural features, and the objects and effects of the present invention will be described in detail below with reference to the accompanying drawings.

Embodiment 1

1 and FIG. 2, FIG. 1 is a schematic front structural view of a three-dimensional pick-and-place system for articles according to a first embodiment of the present invention, and FIG. 2 is a three-dimensional structural schematic view of a three-dimensional pick-and-place system for articles according to the first embodiment of the present invention. A plurality of storage layers 102 are disposed on the substrate 101. Each of the storage layers 102 is a moving rail. The moving rails are disposed on two sides of the storage layer 102. The storage unit parking space 103 is formed on the moving rail of the storage layer 102. The storage unit 201 is disposed on the storage unit 201. On the moving track of the layer 102, the storage unit 201 includes a parking layer 203 and a plurality of running mechanisms 204 (the traveling mechanism selects a universal wheel in the embodiment), and the parking layer 203 of the storage unit 201 passes the universal wheel in the moving track. Upward movement, the number of the storage unit 201 is one less than the number of the storage unit parking spaces 103, forming a vacant position (in this embodiment, the number of vacant positions of each storage layer is one, or two or more, by setting two The above vacant position makes the moving direction of the storage unit more flexible. The translational track 302 of the article extraction device 301 is disposed at the top of the storage structure 101, and the article extraction device 301 is loaded by the translation. The 303 is moved on the translational track 302 (the inverting device selects the hub motor in this embodiment), and the lifting device 304 is disposed on the article extracting device 301 (the electric lifting device is selected as the lifting device in the embodiment), and is connected to the grasping device 305. The moving unit 401 is disposed between the layers of the storage layer 102 and disposed on the moving track (in this embodiment, the mobile unit selects a shuttle and shares the moving track with the storage unit, and an independent shuttle track can also be provided for placing. The shuttle, the second drive mechanism 402 is a drive wheel of the shuttle, and the storage unit moving device on the shuttle uses a telescopic rod or a folding rod, and the telescopic rod/folding rod is used to contact the side of the moving unit and push the mobile unit on the moving rail. Move to both sides).

According to the above structure, when the cargo on a certain storage unit needs to be extracted during a specific operation, the shuttle located above the storage unit moves to the upper storage unit, and the two sides of the storage unit are contacted by the telescopic rod to shuttle The vehicle moves, the telescopic rod on the shuttle drives the storage unit, and vacates the vacant position on the storage unit of the goods to be taken, the translation device moves with the animal product extraction device to the upper position of the vacant position, the electric winding machine starts, and the grasping device is lowered by the cable. The gripping device passes between the intervals of moving the rails disposed on both sides of the storage layer, the gripping device grabs the cargo, the winder retracts the cable, moves the gripping device and the cargo to the top of the storage structure, and the article extracting device moves To the unloading area, drive the reeling machine to remove the goods (the cable is selected in this embodiment, and a chain can also be used).

Embodiment 2

The storage structure 101 is provided with a plurality of storage layers 102. Each of the storage layers 102 is a moving rail. The moving rails are disposed on two sides of the storage layer 102. The moving rails on the storage layer 102 form a storage unit parking space, and the storage unit 201 is disposed at On the moving track of the storage layer 102, the storage unit 201 includes a parking layer plate 203 and a plurality of first driving mechanisms 202 (the first driving mechanism selects the hub motor in the embodiment), and the parking layer plate 203 of the storage unit 201 passes through the hub motor. Moving on the moving track, the number of the storage unit 201 is one less than the number of the storage unit parking spaces 103, forming a vacant position (in this embodiment, the number of vacant positions of each storage layer is one, or two or more, through Two or more vacant positions are provided to make the movement direction of the storage unit more flexible. The translational track 302 of the article extraction device 301 is disposed at the top of the storage structure 101, and the article extraction device 301 is on the translational track 302 by the translation device 303 (this embodiment In the example, the translating device selects the hub motor) lifting device 304 is disposed on the article extracting device 301 (in this embodiment, the lifting device uses an electric reel), and Gripping means 305 contact.

According to the above structure, in the specific operation, when it is necessary to extract the goods on a certain storage unit, the storage unit hub motor located above the goods to be taken works, moves the storage unit, and vacates the storage unit above the goods to be taken. Position, the item extraction device moves to the upper position by the translation device, the electric winding machine works, and the grasping device is lowered, and the grasping device passes between the intervals of moving the track disposed on both sides of the storage layer, and the grasping device grabs the goods. The winding machine takes up the line, moves the gripping device and the goods to the top of the storage structure, moves the item extraction device to the unloading area, drives the winding machine, and unloads the goods.

Embodiment 3

Referring to FIG. 3, FIG. 3 is a schematic structural diagram of a three-dimensional pick-and-place system for articles according to a third embodiment of the present invention. The plurality of storage structures 101 are formed in rows and columns. The storage layer 102 is two parallel storage rails and is along the X-axis and the Y-axis. The storage unit 201 is disposed on the moving track of the storage layer 102, including the parking deck 203 and the hub motor (in the embodiment, the hub motor is selected as the first driving mechanism, and the universal wheel can also be selected, and the shuttle and the setting are adopted. The lever on the shuttle drives the storage unit), the translational track 302 of the article extraction device 301 is disposed at the top of the storage structure 101, and is disposed along the X, Y axis directions, and the plurality of article extraction devices 301 are disposed on the translational track by the translation device In the present embodiment, the translating device selects the hub motor. In this embodiment, the article extracting devices are all disposed on the plane of the top of the storage structure 101, and the translating rails can also be arranged in multiple layers in the height direction, and the plurality of article extracting devices are respectively set. On the translational track of the different layers), the lifting device is arranged on the article extraction device 301 (in this embodiment, the lifting device uses an electric reel), and the connection is grabbed. Home.

According to the above structure, in the specific operation, when the goods need to be extracted, the hub motor drives the storage unit above the goods to be moved, so as to move along the X and Y axes, and vacate the vacant position on the storage unit of the goods to be taken, and translate The device with animal product extraction device moves along the translational track at the top of the storage structure to above the vacant position, the electric winding machine is activated, and the gripping device is lowered by the cable, and the gripping device moves the track from the X-axis and the Y-axis direction of the storage layer. Between, the gripping device grabs the cargo, the winder retracts the cable, moves the gripping device and the cargo to the top of the storage structure, moves the article extracting device to the unloading area, drives the reeling machine, and unloads the goods.

Embodiment 4

The storage unit 201 is disposed on the moving track on both sides of the storage layer 102. The storage unit 201 includes a parking layer plate 203 and a first driving mechanism 202. (In this embodiment, the first driving mechanism selects the hub motor, and the universal wheel can also be used. And driving the storage unit through the shuttle and the rod disposed on the shuttle; in this embodiment, two parking layers are used for placing the wheels of the vehicle, by using two parking layers for placing the wheels, The whole parking layer plate reduces the weight of the storage unit and facilitates movement; in this embodiment, the parking layer plate can also be used as two grooves for placing the wheels of the vehicle, by placing the wheels of the vehicle in the grooves, thereby avoiding The vehicle moves back and forth, and the parking deck of the storage unit 201 moves on the moving rail by the hub motor 203.

According to the above structure, in the specific operation, when the vehicle needs to enter the storage position of the vehicle, the grasping device is lowered by the lifting device, the vehicle to be stored is grasped, and then the lifting device is driven to move the vehicle to the top of the storage structure, and the storage to be placed The storage unit above the unit is moved by the hub motor or the moving unit (shuttle) to make room, the item extraction device drives the vehicle to move above the storage unit to be placed, and when the lifting device is placed on the vehicle, the movement path is moved between the two sides of the storage structure. The space is placed on the storage unit to be placed.

In the above embodiment, the storage unit is equipped with a hub motor or a shuttle with a universal wheel and a plane rail as a driving mechanism. In some embodiments, the driving mechanism may be a transmission gear driven by a power unit such as a motor, and the moving rail is a rack. The structure moves the storage unit and/or the article extracting device by means of the transmission gear and the rack.

In the above embodiment, the number of layers of the storage layer on the storage structure may be one layer, and the storage layer of the storage structure is disposed below the ground, and the top of the storage structure is not lower than the surface, and the storage unit in the storage layer does not need to be moved, and only needs to be moved. The article extraction device at the top of the storage structure, and the articles on the storage unit are grabbed, the articles can be extracted to the surface, saving underground space.

In the above embodiment, the metal structure of the storage structure may be selected, or a frame structure made of reinforced concrete may be adopted, the metal frame structure may be assembled and disassembled, the utility model is convenient to use, the structure of the reinforced concrete frame is stable, and the cost is low.

In the above embodiment, the lifting device is an electric winding machine, and the power output shaft of the hydraulic motor may be connected to the winding mechanism or the pneumatic hoist.

In some embodiments, the item stereo access system can be used in the storage area, and the items or goods stored in the parking layer can be parcels, boxed goods, palletized goods, etc., so as to improve the storage density of the goods, and also In the field of soilless cultivation, it is used to move or access a growing bed of a crop forming cell to facilitate observation or to adjust the illumination state of the crop by moving the crop.

The above is only the embodiment of the present invention, and thus does not limit the scope of patent protection of the present invention. Any equivalent structural transformation made by using the specification and the drawings of the present invention, or directly or indirectly applied to other related technical fields, The same is included in the scope of patent protection of the present invention.

Claims

An item stereoscopic pick-and-place system, characterized in that the item stereoscopic pick-and-place system comprises: a storage structure, a storage unit and an item extraction device;

The storage structure is provided with one or more storage layers in the height direction, and the storage unit is disposed on the storage layer, each of which includes more than three storage unit parking spaces, and the number of storage units on the storage layer The number of the storage unit parking spaces on the storage layer is less than one, and the storage unit can move on the storage layer, and the storage unit parking space without the storage unit is vacant;

The number of the item extracting devices is one or more, including a gripping device, a lifting device, a translating device and a translating track, the translating track being disposed above the storage structure, the translating device for driving the gripping device to move on the translating track The lifting device is configured to drive the gripping device to move up and down. The gripping device is used for grasping an object placed on the storage unit or for grasping the storage unit. When the grasping device moves up and down, the lifting device can pass the vacant position.
The article stereoscopic pick-and-place system according to claim 1, wherein the storage unit is a self-propelled storage unit, and the self-propelled storage unit comprises a first driving mechanism, and the first driving mechanism is used for driving The storage unit moves on the storage layer.
The article stereoscopic pick-and-place system according to claim 1, wherein the storage structure is provided with two or more storage layers in a height direction.
The article stereoscopic pick-and-place system according to claim 3, wherein a moving unit is disposed between the storage layers of the storage structure, the moving unit includes a second driving mechanism and a storage unit moving device, and the second A drive mechanism is used to drive the mobile unit, and the storage unit moving device is used to move the storage unit.
The article stereoscopic pick-and-place system according to claim 1, wherein the number of the storage structures is two or more, and the storage structures are arranged in an array form, and the storage layers are arranged in a plurality of rows and columns in the horizontal direction, adjacent to each other. The deposit layers between the workpiece structures are in communication with one another.
The article stereoscopic pick-and-place system according to claim 1, wherein the storage layer is provided with a moving track for moving the storage unit on the storage layer, and the storage unit passes the universal wheel Or the hub motor moves on the moving track.
The item stereoscopic pick-and-place system according to claim 1, wherein the storage unit is a vehicle parking unit, the vehicle parking unit comprises a running mechanism and a parking deck, and the vehicle parking floor is used for placing a vehicle. The running mechanism is configured to move a vehicle parking deck on the storage layer, and the grasping device is configured to grasp an item placed on the parking floor.