WO2020169044A1 - 存取机构、装置、设备、系统及方法 - Google Patents

存取机构、装置、设备、系统及方法 Download PDF

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Publication number
WO2020169044A1
WO2020169044A1 PCT/CN2020/075796 CN2020075796W WO2020169044A1 WO 2020169044 A1 WO2020169044 A1 WO 2020169044A1 CN 2020075796 W CN2020075796 W CN 2020075796W WO 2020169044 A1 WO2020169044 A1 WO 2020169044A1
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WO
WIPO (PCT)
Prior art keywords
access
clamping
article
clamping piece
item
Prior art date
Application number
PCT/CN2020/075796
Other languages
English (en)
French (fr)
Inventor
华聚良
Original Assignee
江苏华章物流科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201910129051.7A external-priority patent/CN111591641B/zh
Priority claimed from CN201910619985.9A external-priority patent/CN112216023A/zh
Priority claimed from CN201910922408.7A external-priority patent/CN112573053B/zh
Priority claimed from CN201910922176.5A external-priority patent/CN112573052B/zh
Application filed by 江苏华章物流科技股份有限公司 filed Critical 江苏华章物流科技股份有限公司
Publication of WO2020169044A1 publication Critical patent/WO2020169044A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed

Definitions

  • the present invention relates to the technical field of article access, in particular to an access mechanism, device, equipment, system and method.
  • the main function of the access mechanism is to access items ( For example, take out items from any position on the shelf, desktop, conveyor line, etc., and store the items to the target location on the shelf.
  • the foregoing items include any form of container such as the item itself, packing box, turnover box, etc.).
  • the existing access mechanisms are mostly suitable for accessing the entire storage box or the entire tray.
  • the gripping force of the clamping part of the storage mechanism is the same.
  • it may be Insufficient gripping force causes accidents that cause items to fall and damage; when accessing small, fragile items (such as milk in glass bottles), accidents may occur that damage the surface of the item due to too much gripping force; resulting in safety Hidden dangers and economic losses.
  • the access mechanism when receiving a multi-task order, the access mechanism often needs to access one by one. If 5 items of different specifications need to be taken out at a time, the access mechanism can only take out the first item and store it on the buffer shelf before taking it out. The second item is stored on the buffer rack, and so on, until the five items are taken out and then sent to the target location, which is less efficient.
  • AGV trolleys help transport the items to the picking personnel, let the picking personnel perform related operations, and then transport them to the shelf for storage, or the picking personnel will remove the items from the shelf for related operations and deliver them Transporting the AGV trolley to the target location still requires manual participation, and the efficiency is low, and the entire process is not automated in a true sense.
  • the present invention aims to solve the above-mentioned problems and provides an access mechanism, device, equipment, system and method, which is suitable for various applications such as zero-dismantling access or self-service retail single product access, with high access efficiency and powerful functions. It has wide adaptability, no need for human participation, and can realize fully automated access in a true sense.
  • An access mechanism provided by the present invention includes a mobile device and an access device, wherein:
  • the access device is arranged on the mobile device, which can be driven by the mobile device to move in the depth direction and move vertically, and includes at least two access arms;
  • Each access arm includes a clamping piece for holding objects and a suction cup for sucking objects;
  • Mobile equipment includes lateral movement devices
  • Each of the access arms is individually connected with a lateral movement device, and each of the access arms can be driven by the lateral movement device to move independently in the lateral direction to adjust the distance between two adjacent access arms.
  • the access mechanism further includes a storage platform, and the mobile device is set on the storage platform;
  • the mobile equipment also includes a longitudinal movement device and a lifting device,
  • the longitudinal movement device is arranged on the storage platform;
  • the lifting device is arranged above the longitudinal moving device and can move along the depth direction with the longitudinal moving device;
  • the horizontal moving device is arranged above the lifting device and can move vertically with the lifting device;
  • Each access arm is also correspondingly provided with a lifting part
  • Each lifting part can drive its corresponding access arm to lift.
  • the access mechanism further includes a storage platform, and the mobile device is set on the storage platform;
  • the mobile equipment also includes a longitudinal moving device and a lifting device,
  • the lifting device is arranged on the storage platform
  • Longitudinal moving device set above the lifting device, can move vertically with the lifting device
  • the horizontal movement device is arranged above the longitudinal movement device and can move along the depth direction with the longitudinal movement device;
  • Each access arm is also correspondingly provided with a lifting part
  • Each lifting part can drive its corresponding access arm to lift.
  • the lifting part includes a pushing cylinder, a pushing bar and a support member,
  • the pushing bar has a first end and a second end.
  • the first end is hinged with the output end of the pushing cylinder, and the second end is hinged with the access arm. It is set to be driven by the air pressure of the pushing cylinder to drive the hinged clamping piece. Vertical movement.
  • the access mechanism further includes a storage platform; the mobile device is arranged on the storage platform;
  • the mobile equipment also includes a longitudinal moving device and a lifting device,
  • the longitudinal movement device is arranged on the storage platform;
  • the horizontal movement device is arranged above the longitudinal movement device and can move along the depth direction with the longitudinal movement device;
  • the lifting device includes a plurality of sub lifting devices
  • the number of sub-lifting devices is the same as the number of access arms;
  • the access arm is connected to the sub-elevating device in a one-to-one correspondence, and can move vertically with its corresponding sub-elevating device;
  • Each of the sub-elevating devices is individually connected with the lateral moving device, and each of the sub-elevating devices can be driven by the lateral moving device to move in the lateral direction independently to adjust the distance between two adjacent access arms.
  • the lateral movement device includes a timing belt assembly, a clutch and a lateral drive part,
  • the timing belt assembly includes a driving wheel, a driven wheel and a timing belt sleeved between the driving wheel and the driven wheel connected with the lateral driving part;
  • Each access arm is correspondingly provided with a clutch, and is individually connected or disconnected with the timing belt through its corresponding clutch.
  • the number of the suction cups is multiple, and the multiple suction cups are distributed on each access arm;
  • the number of air paths of the suction cup is multiple;
  • the plurality of suction cup air paths can select the number of opened air paths and/or the air flow rate of the air paths according to the size and weight of the article.
  • a displacement sensor is further provided on the access mechanism
  • the displacement sensor is used to monitor the relative displacement between the object and the clamping piece in real time during the process of clamping the object by the clamping piece;
  • Each of the access arms is also configured to move in the transverse direction in response to the relative displacement fed back by the displacement sensor, so as to shorten the distance between it and the adjacent access arms that cooperate to hold objects.
  • an article depositing method is also proposed.
  • the method is based on the aforementioned access mechanism, and the method includes:
  • the access arm In response to the item information, select the access arm to grab the item and select the method of grabbing the item; the item information includes at least the width, height, type of soft and hard material, source location and target location of the item; the method of grabbing the item Including suction and/or clamping;
  • the selected access arm grabs the item from the source location of the item according to the selected grab method
  • the mobile device drives the selected access arm to move to the target position.
  • the aforementioned movement includes one or more of moving in the depth direction, vertical lifting movement, and moving in the lateral direction;
  • the selected access arm is driven by the lateral movement device to move and/or close the air path of the suction cup alone in the lateral direction, so as to release the grasped article at the target position corresponding to the article.
  • the method further includes: when the selected access arm grabs the object from the source position of the object according to the selected grabbing mode, it can also adjust the clamping force and/or suction force according to the item information.
  • the method further includes: after the selected access arm grabs the object from the source position of the object according to the selected grabbing mode, the selected access arm pushes the object to the target position.
  • a method for taking out an article is also proposed, the method is based on the aforementioned access mechanism, and the method includes:
  • the access arm In response to the item information, select the access arm to grab the item and select the method of grabbing the item; the item information includes at least the width, height, type of soft and hard material, source location and target location of the item; the method of grabbing the item Including suction and/or clamping;
  • the mobile device drives the selected access arm to move to the source position, the aforementioned movement includes one or more of moving in the depth direction, vertical lifting movement, and moving in the lateral direction;
  • the selected access arm is driven by the lateral movement device to move separately in the lateral direction and/or open the suction cup air path to grab the item from the source position of the item;
  • the mobile device drives the selected access arm to move to the target position;
  • the selected access arm is driven by the lateral movement device to move and/or close the air path of the suction cup alone in the lateral direction, so as to release the grasped article at the target position corresponding to the article.
  • the method further includes: when the selected access arm grabs the object from the source position of the object according to the selected grabbing mode, it can also adjust the clamping force and/or suction force according to the item information.
  • the method further includes: after the selected access arm grabs the item from the source position of the item according to the selected grab method, the selected access arm drags the item to the target location.
  • an access device which includes at least two access arms;
  • Each access arm can be extended horizontally, including a clamping piece for holding objects and a suction cup for sucking objects;
  • the clamping piece and the suction cup are connected as a whole;
  • the distance between two adjacent access arms can be adjusted
  • Each of the access arms can be individually moved in the lateral direction to adjust the distance between two adjacent access arms.
  • an access device which includes at least two clamping parts arranged in parallel with each other, and a displacement monitoring device;
  • Each clamping part is horizontally stretchable and includes a clamping piece for clamping objects
  • the distance between two adjacent clamping pieces can be adjusted
  • the displacement monitoring device is used for real-time monitoring of the relative displacement between the article and the holding part during the dragging process of the article being held by the holding part;
  • Each of the clamping parts is also configured to move laterally in response to the relative displacement fed back by the displacement monitoring device to shorten the distance between it and the adjacent clamping parts working in cooperation.
  • an access device which includes the aforementioned access mechanism or the aforementioned access device.
  • an access mechanism suitable for AGV trolleys is also proposed, which is arranged on the mobile chassis of the AGV trolley and includes a clamping part, a displacement monitoring device and a control device, wherein:
  • the clamping part which can be horizontally extended and retracted relative to the mobile chassis, is used to clamp articles. It includes a first clamping piece and a second clamping piece arranged in parallel with each other, and the first clamping piece and the second clamping piece Adjustable distance between;
  • the displacement monitoring device is used for real-time monitoring of the relative displacement between the article and the clamping part and feedback to the control device during the dragging process of the article being held by the clamping part;
  • the control device is electrically connected to the displacement monitoring device and the clamping part, respectively, and is configured to control the movement of the first clamping piece and/or the second clamping piece to shorten the first clamping piece in response to the relative displacement fed back by the displacement monitoring device And the distance between the second clamping piece.
  • an access mechanism suitable for AGV trolleys is also proposed, which is arranged on the mobile chassis of the AGV trolley and includes a clamping part, a power supply device and a control device, wherein:
  • the clamping part which can be horizontally extended and retracted relative to the mobile chassis, is used to clamp articles. It includes a first clamping piece and a second clamping piece arranged in parallel with each other, and the first clamping piece and the second clamping piece Adjustable distance between;
  • Both the first clamping piece and the second clamping piece are made of metal, and inner pads made of insulating material are both provided inside the first clamping piece and the second clamping piece;
  • Power supply device used to provide voltage for two clamping pieces
  • the first clamping piece and the second clamping piece form a capacitance sensor under the condition that the power supply device provides voltage
  • the control device is electrically connected to the clamping portion and the capacitance sensor, and is configured to control the movement of the first clamping piece and/or the second clamping piece to shorten the first clamping piece and the second clamping piece in response to the capacitance change of the aforementioned capacitive sensor.
  • the distance between the clamping pieces is electrically connected to the clamping portion and the capacitance sensor, and is configured to control the movement of the first clamping piece and/or the second clamping piece to shorten the first clamping piece and the second clamping piece in response to the capacitance change of the aforementioned capacitive sensor.
  • an AGV trolley is also proposed, including the aforementioned access mechanism for AGV trolleys.
  • an automated storage and retrieval system which includes a rack with multiple cargo lanes, at least one AGV trolley and a control unit, wherein:
  • the control unit generates task instructions according to the order requirements, and sends the task instructions to the AGV trolley; the task instructions include the source location information and/or target location information of the item;
  • AGV trolley with mobile chassis, lifting parts and clamping parts;
  • Lifting parts which can drive the clamping parts to move vertically
  • Clamping parts which can be extended and contracted towards the cargo way of the shelf, used to clamp items
  • the clamping component includes a first clamping piece and a second clamping piece arranged in parallel with each other, and the distance between the first clamping piece and the second clamping piece is adjustable;
  • the AGV trolley in response to task instructions, automatically travels to the front and bottom of the cargo lane corresponding to the source and/or target position of the item; the lifting component lifts and drives the clamping component to the corresponding height of the rack cargo lane; the clamping component faces the shelf
  • the cargo lane extends to the source location and/or the target location of the article, and takes the article from the source location and/or deposits the article to the target location.
  • the width and height of the cargo lane can be adjusted.
  • control unit is further configured to virtually divide each layer of space into a plurality of the cargo lanes of equal or unequal width.
  • the access system further includes a cargo loading device that can be placed in the cargo lane;
  • the cargo loading device can place one or more articles thereon, and the clamping part can be stored in the cargo lane and/or taken out from the cargo lane together with the one or more articles placed thereon.
  • the strength can ensure a firm gripping of the article without causing damage to the surface of the article due to excessive gripping force.
  • the structure of the entire deposit and withdrawal mechanism is optimized.
  • the design of multiple deposit and withdrawal arms realizes the one-time deposit and withdrawal of multiple items, which greatly improves the efficiency of deposit and withdrawal; And/or a variety of ways to absorb, further realize the one-time mixed access to multiple items of different specifications (different height, width, length, soft and hard material types).
  • the access mechanism through the integrated design of access arm and suction cup makes the whole system more compact and diversified in functions. At the same time, it can access multiple different items together, saving space, more convenient installation and maintenance, and high access efficiency. , Powerful function and wide adaptability.
  • FIG. 1 is a schematic diagram of the overall structure of the access mechanism of the preferred embodiment of the present invention.
  • FIG. 2 is a schematic structural diagram of a lateral movement device of an access mechanism according to a preferred embodiment of the present invention.
  • FIG. 3 is a schematic diagram of the structure of the access device of the access mechanism in the preferred embodiment of the present invention.
  • FIG. 4 is a schematic diagram of the structure of the access arm of the access mechanism of the preferred embodiment of the present invention.
  • FIG. 5 is a schematic diagram of an access method (a method for picking and removing items) according to a preferred embodiment of the present invention.
  • Fig. 6 is a schematic diagram of an access method (a method for sucking and removing items) according to a preferred embodiment of the present invention.
  • FIG. 7 is a schematic diagram of an access method (an item folder, deposit and storage method) according to a preferred embodiment of the present invention.
  • FIG. 8 is a schematic diagram of an access method (a method for picking and depositing items) in a preferred embodiment of the present invention.
  • FIG. 9 is a schematic diagram of the storage platform (temporary storage of items) of the access mechanism of the preferred embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of an access device according to some preferred embodiments of the present invention.
  • FIG. 11 is a schematic structural diagram of an access device according to some preferred embodiments of the present invention.
  • Fig. 12 is a structural diagram of an access mechanism suitable for AGV trolleys in some preferred embodiments of the present invention.
  • FIG. 13 is a schematic structural diagram of an access mechanism suitable for AGV trolleys according to other preferred embodiments of the present invention.
  • FIG. 14 is a schematic diagram of the structure of the clamping portion of the access mechanism for AGV trolleys according to other preferred embodiments of the present invention.
  • Fig. 15 is a schematic structural diagram of an AGV trolley according to a preferred embodiment of the present invention.
  • FIG. 16 is a schematic structural diagram of an access system according to a preferred embodiment of the present invention.
  • FIG. 17 is a schematic structural diagram of an automated access system according to another preferred embodiment of the present invention.
  • FIG. 18 is a schematic diagram of a shelf of an automated storage and retrieval system according to a preferred embodiment of the present invention.
  • FIG. 19 is a schematic diagram of a shelf of an automated storage and retrieval system according to another preferred embodiment of the present invention.
  • 20 is a schematic diagram of the structure of the cargo loading device of the access system according to the preferred embodiment of the present invention.
  • FIG. 21 is a schematic structural diagram of a clamping component of the access system according to a preferred embodiment of the present invention.
  • an access mechanism is proposed, which is suitable for accessing materials and is suitable for transporting in logistics storage equipment (such as AGV automatic guided vehicles, RGV track guided vehicles, etc. Or transfer equipment) and self-service vending equipment for material access.
  • logistics storage equipment such as AGV automatic guided vehicles, RGV track guided vehicles, etc. Or transfer equipment
  • self-service vending equipment for material access.
  • the access mechanism includes a storage platform 1, a mobile device, and an access device.
  • the storage platform 1 is used to temporarily store items 6 to be deposited or items 6 to be taken out.
  • the mobile device is set on the storage platform 1.
  • the mobile equipment includes a lateral movement device 2.
  • the access device is set on the mobile device, which can be driven by the mobile device to move in the depth direction (Y direction) and move vertically (Z direction).
  • the access device includes at least two access arms 5.
  • Each access arm 5 includes a clamping piece 5-1 for clamping objects and a suction cup 5-2 for sucking objects.
  • the clamping piece 5-1 and the suction cup 5-2 are connected as a whole, and the suction cup 5-2 is arranged at any position (bottom, side and top) on the clamping piece 5-1.
  • Each sucker 5-2 can independently access items; each clamping piece 5-1 can independently move in the horizontal direction (X direction) and can independently move vertically (Z direction). Ways of accessing items include sucking and/or clamping.
  • Each access arm 5 is individually connected to the lateral movement device 2 (this connection is a direct connection or an indirect connection), and each access arm 5 can be driven by the lateral movement device 2 to move independently in the lateral direction (X direction) for adjustment
  • the distance between two adjacent access arms 5 can realize the adjustment of the position of the access arm 5 in the lateral direction (X direction) according to the width, height, type of soft and hard material, source position and target position of the article. Further adjust the position of the clamping piece 5-1 and the suction cup 5-2 in the transverse direction (X direction), and when the article is accessed by clamping, by adjusting the distance between two adjacent access arms 5 It is possible to clamp items according to their width.
  • the aforementioned hard material article is defined as an article whose outer surface is elastically deformed under the action of a constant constant external force
  • the aforementioned soft material article is defined as an article whose outer surface is plastically deformed under the action of a constant constant external force.
  • the mobile device further includes a longitudinal moving device 3 and a lifting device 4.
  • the longitudinal movement device 3 is arranged on the storage platform 1.
  • the lifting device 4 is arranged above the longitudinal moving device 3 and can move along the depth direction (Y direction) with the longitudinal moving device 3.
  • the horizontal moving device 2 is arranged above the lifting device 4, and the whole can move vertically (Z direction) along with the lifting device 4.
  • Each access arm 5 is connected to the lateral movement device 2 separately. Therefore, all access arms 5 also indirectly follow the vertical lifting device 4 for vertical lifting (Z direction) movement (access to items of different heights) and indirectly follow The longitudinal moving device 3 moves in the depth direction (Y direction) (access to items of different depths).
  • each access arm 5 is also provided with a lifting part correspondingly.
  • Each lifting part can individually drive its corresponding access arm 5 for lifting.
  • the lifting part includes a pushing cylinder 5-5, a pushing bar 5-4, and a support 5-3.
  • the pushing cylinder 5-5 is installed on the support 5-3.
  • the pushing bar 5-4 has a first end and a second end.
  • the first end of the pushing bar 5-4 is hinged with the output end of the pushing cylinder 5-5, and the second end of the pushing bar 5-4 is hinged with the access arm 5. It is arranged to be driven by the air pressure of the pushing cylinder 5-5 to drive the hinged access arm 5 (clamping piece 5-1) to move vertically (Z direction). In this way, only the access arm 5 (clamping piece 5-1) that requires work can be lowered for item access, and the rest of the access arm 5 that does not need work can be kept above the non-target item. This can be effective Avoid interference; meanwhile, each access arm 5 can move individually up and down (Z direction), positioning in the height direction is more accurate, and the overall access mechanism is more compact.
  • the lifting device 4 is driven by a ball screw mechanism.
  • those skilled in the art can also select other structures or structures of lifting structures according to actual needs, which will not be repeated here.
  • the mobile device further includes a longitudinal moving device 3 and a lifting device 4.
  • the lifting device 4 is arranged on the storage platform 1.
  • the longitudinal moving device 3 is arranged above the lifting device 4 and can move vertically (Z direction) along with the lifting device 4.
  • the horizontal moving device 2 is arranged above the vertical moving device 3, and the whole can move along the depth direction (Y direction) with the vertical moving device 3.
  • Each access arm 5 is connected to the lateral movement device 2 separately. Therefore, all access arms 5 also indirectly move with the longitudinal movement device 3 in the depth direction (Y direction) (access items of different depths) and indirectly follow
  • the vertical lifting device 4 is used for vertical lifting (Z direction) movement (access to items of different heights).
  • each access arm 5 is also provided with a lifting part correspondingly.
  • Each lifting part can individually drive its corresponding access arm 5 for lifting.
  • the lifting part includes a pushing cylinder 5-5, a pushing bar 5-4, and a support 5-3.
  • the pushing cylinder 5-5 is installed on the support 5-3.
  • the pushing bar 5-4 has a first end and a second end.
  • the first end of the pushing bar 5-4 is hinged with the output end of the pushing cylinder 5-5, and the second end of the pushing bar 5-4 is hinged with the access arm 5. It is arranged to be driven by the air pressure of the pushing cylinder 5-5 to drive the hinged access arm 5 (clamping piece 5-1) to move vertically (Z direction). In this way, only the access arm 5 (clamping piece 5-1) that requires work can be lowered for item access, and the rest of the access arm 5 that does not need work can be kept above the non-target item. This can be effective Avoid interference; at the same time, each access arm 5 can be moved up and down independently, positioning in the height direction is more accurate, and the overall access mechanism is more compact.
  • the lifting device 4 is driven by a ball screw mechanism 4-1.
  • those skilled in the art can also select other structures or structures of lifting structures according to actual needs, which will not be repeated here.
  • the mobile equipment also includes a longitudinal moving device 3 and a lifting device 4.
  • the longitudinal moving device 3 is arranged on the storage platform 1.
  • the lateral movement device 2 is arranged above the longitudinal movement device 3 and can move along the depth direction (Y direction) with the longitudinal movement device 3.
  • the lifting device 4 includes a plurality of sub lifting devices.
  • the number of sub-elevating devices is the same as the number of access arms 5.
  • the access arm 5 is connected to the sub-elevating device in a one-to-one correspondence, that is, the access arm 5 is indirectly connected to the lateral movement device 2 through its corresponding sub-elevating device.
  • the access arm 5 can move vertically (Z-direction) with its corresponding sub-elevating device, and of course it can also indirectly move with the lateral movement device 2 alone in the horizontal (X direction) and indirectly with the longitudinal movement device. 3Move in the depth direction (Y direction).
  • Each sub-elevating device is separately connected to the lateral moving device 2, and each sub-elevating device can be driven by the lateral moving device 2 to move independently in the lateral direction (X direction) to adjust the distance between two adjacent access arms 5, namely It can adjust the position of the sub-elevating device (access arm 5) in the lateral direction (X direction) according to the width, height, soft and hard material type, source position and target position of the article, and then adjust the clamping piece 5-1 and the suction cup 5-2 Position in the horizontal direction (X direction), and when accessing items in a clamping manner, by adjusting the distance between two adjacent sub-elevating devices (access arm 5), it can be realized according to the width of the item
  • the strength of the clamping article can also be adjusted according to the weight, material and other information of the article (for example, the clamping strength can be adjusted by the clamping torque between two clamping pieces).
  • the distance between two adjacent access arms 5 can also be adjusted to select different suction positions according to the width of the article. The wider the article, the greater the distance between two adjacent sub-elevating devices (access arms 5).
  • the longitudinal moving device 3 includes a longitudinal driving part 3-2 and a longitudinal transmission part 3-1.
  • the longitudinal transmission part 3-1 includes a longitudinal synchronous belt assembly 3-1 (not fully shown in the figure).
  • the longitudinal synchronous belt assembly 3-1 includes a longitudinal driving wheel connected with the longitudinal driving part 3-2, a longitudinal driven wheel, and a longitudinal synchronous belt sleeved between the longitudinal driving wheel and the longitudinal driven wheel.
  • the longitudinal driving part 3-2 drives the longitudinal driving wheel to rotate, and the rotation of the longitudinal driving wheel drives the longitudinal synchronous belt to move in the depth direction (Y direction) (and also drives the longitudinal driven wheel to rotate).
  • the longitudinal synchronous belt moves along the depth direction (Y direction), and drives the devices (such as the lateral moving device 2, the lifting device 4) provided on it to move in the depth direction (Y direction) as a whole.
  • the longitudinal moving device 3 can drive the device on it to move as a whole, and the structure is simpler and more compact.
  • the longitudinal drive part 3-2 is a deep motion servo motor
  • the longitudinal drive part 3-1 includes a longitudinal timing belt assembly 3-1.
  • Device such as air cylinder, etc.
  • transmission device such as screw, rack and pinion, etc.
  • the lateral movement device 2 includes a timing belt assembly 2-1, a clutch 2-14, and a lateral driving part 2-2.
  • the timing belt assembly 2-1 includes a driving wheel 2-11, a driven wheel 2-12 connected to the lateral driving part 2-2, and a timing belt 2-13 sleeved between the driving wheel 2-11 and the driven wheel 2-12 .
  • Each access arm 5 is correspondingly provided with a clutch 2-14, and is individually connected or disconnected with the timing belt through its corresponding clutch 2-14.
  • the clutch 2-14 connects or disconnects the access arm 5 (or sub-elevating device) and the timing belt of the lateral movement device 2; that is, a clutch 2-14 is installed on each access arm 5 to selectively control the access arm 5 Move.
  • each access arm 5 is also provided with a timing belt wheel and a positioning pin 2-15 correspondingly.
  • the clutch 2-14 is closed and the positioning pin 2-15 retracts to synchronize The pulley does not rotate and drives the access arm 5 to follow the timing belt 2-13; when it stops, the clutch 2-14 is opened and the positioning pin 2-15 extends to make the access arm 5 immobile, only the timing belt wheel is fixed The shaft rotates.
  • the number of suction cups 5-2 is multiple.
  • the number of open air paths and/or the air flow rate of the multiple suction cup air paths 5-2b can be selected according to the size and weight of the article.
  • the gas path 5-2b is designed according to three paths, including a front gas path, a middle gas path, and a tail gas path. The front end of the central air path is directly connected to the suction cup, the suction area of the suction cup is set downward, and the vacuum auxiliary valve 5-2a is added above the other suction cups.
  • the two suction cups at the front and the two suction cups at the middle are the main stress points.
  • the other suction cups in the middle air path are mainly used to assist objects of different lengths, so as to satisfy the adsorption of objects of different lengths.
  • the tail end gas path is mainly for large and heavy items, optimizing the force of the suction cup.
  • Such a gas path distribution makes the access arm 5 suitable for items of all sizes within the compatible size range of the access arm.
  • the suction force can be controlled according to the air flow to meet the adsorption of items of different densities. In this way, the adjustment of the suction position and the adjustment of the suction force can be realized, and the adaptability is wider.
  • the item information includes at least the width and height of the item, the type of soft and hard material, the source location, and the target location placed on the storage platform 1. Ways of grabbing items include sucking and/or clamping.
  • the width of the access arm 5 is adjusted by the lateral movement device 2 mechanism, and the access arms 5 on both sides of the item to be picked up are pushed and accessed by the sub-elevating device or lifting part
  • the arm 5 descends and extends to the top of the article in the depth direction (Y direction) by the longitudinal moving device 3.
  • the article is picked up by the front end of the holding piece 5-1 of the access arm 5, and the article is dragged onto the storage platform 1 (drag article It is more energy-saving and safer than completely clamping the article), the article completely passes through the inspection sensor 1-1 installed on the storage platform 1 to complete the pickup.
  • the access arms 5 on both sides of the item to be picked up are pushed down by the sub-elevating device or the lifting part, and are moved along the depth direction (Y Direction) stretch to the top of the article until the suction cup 5-2 stably absorbs the article, drag the article to the top of the fixture storage platform, the article completely walks through the inspection sensor 1-1 installed on the storage platform 1 to complete the pickup.
  • Y Direction depth direction
  • the storage platform 1 After the item is taken out by the access device, the item is placed on the storage platform 1 for temporary storage.
  • the storage platform 1 includes a plurality of temporary storage lanes. Set the height and width of the temporary storage channel. First pick and place hard items smaller than the set height and width (hard items with different widths and the same height), and then pick and place the packaged items smaller than the set height and width. Different temporary storage lanes are classified according to the height of the items to be taken and placed, and the goods are picked up according to the rule of short first and then high and stored on the storage platform 1.
  • the storage platform 1 is virtually divided into one access channel by every two adjacent access arms 5. For example, if there are 4 access arms 5, it can be divided into three temporary storage channels, and the temporary storage channels store three different types respectively.
  • the access arm 5 to grab the item and select the method of grabbing the item;
  • the item information includes at least the width, height, soft and hard material type, source location and target location of the item 6; grabbing Ways of objects include sucking and/or clamping.
  • the access arm 5 For soft items, after raising the access arm 5 to a specified height, use the lateral movement device 2 to adjust the width of the access arm 5, and the access arms 5 on both sides of the items to be stored are pushed by the sub-elevating device or the lifting part. Descend to the suction cup 5-2 to stably absorb the items, push the items onto the shelf through the longitudinal movement device 3 (the front end of the item triggers the detection sensor 1-1, and the system obtains the front end position accuracy to calculate the depth), and the access arm 5 retracts Go to the position of the in-position sensor of the access arm 5 to complete the inventory.
  • the access arm 5 For hard articles, after the access arm 5 is lowered to a specified height, the access arm 5 is pushed down by the sub-elevating device or the lifting part, and the longitudinal moving device 3 extends in the depth direction (Y direction) to the top of the article.
  • the arm 5 gripping piece 5-1 grips the item at the foremost end and pushes the item onto the shelf (the front end of the item triggers the inspection sensor 1-1, and the system obtains the front end position accuracy to calculate the depth), and the access arm 5 retracts to The inventory is completed outside the scope of the object sensor 1-1.
  • the access device Before the access device deposits the items to be deposited, the access device needs to take out the items to be stored from the storage platform 1.
  • the removal of the items to be stored generally follows the principle of first in, last out of the items temporarily stored on the temporary storage lane of the storage platform 1.
  • the process of taking out the items to be stored in a single temporary storage lane on the storage platform 1 is completed (different temporary storage lanes are classified in advance according to the height of the stored goods, and the goods to be stored are taken out according to the rule of high first and low).
  • An object sensor 1-1 is provided on the storage platform. Each time the object is stored, the object will scan the sensor 1-1 to detect the front end position of the object, thereby ensuring the accuracy of the fork depth.
  • the sequence of movement of the access arm 5 of the access device along the depth direction (Y direction), the lateral direction (X direction), and the vertical direction (Z direction) is not limited, and can be in any order.
  • those skilled in the art can choose the way of sucking and picking according to the specific information of the item to jointly access the item.
  • the number of working access arms 5 of the access device can be adjusted to achieve mixed access to multiple different items at one time.
  • the working principle of each access arm 5 is the same as before and will not be repeated here.
  • multiple displacement sensors are also provided on the access mechanism.
  • the displacement sensor is used for real-time monitoring of the relative displacement between the object and the clamping piece 5-1 during the clamping of the object 6 by the clamping piece 5-1.
  • each access arm 5 moves in the transverse direction (X direction) to shorten the distance between it and the adjacent access arm 5 that is matched to hold the article, thereby realizing an adaptive adjustment of the clamp The purpose of sustaining power.
  • the clamping force can also be increased by adjusting the clamping torque, and then the two access arms 5 drag or push the article to the target position of the article.
  • an article depositing method is also proposed.
  • the method is based on the aforementioned access mechanism, and the method includes:
  • the items 6 to be deposited are placed on the storage platform 1.
  • the access arm 5 for grabbing the item 6 is selected and the manner of grabbing the item 6 is selected.
  • the item information includes at least the width, height, soft and hard material type, source location, and target location of the item 6.
  • the way of grabbing the article 6 includes sucking and/or clamping.
  • the selected access arm 5 grabs the object 6 from the source position (on the storage platform 1) of the object 6 according to the selected grabbing method (sucking and/or clamping).
  • the selected access arm can also adjust the clamping force and/or suction force according to the item information.
  • the mobile device drives the selected access arm 5 to move to the target position (the item is pushed to the target position by the access arm).
  • the aforementioned movement includes moving in the depth direction (Y direction) and vertical lifting (Z direction) One or more of movement and movement in the lateral direction (X direction).
  • the selected access arm 5 is driven by the lateral movement device 2 to move separately in the lateral direction (X direction) and/or close the suction cup air path 5-2b to release the grabbed article 6 at the target position corresponding to the article 6 ( outside world).
  • the access arm 5a is the selected access arm for grabbing the article 6
  • the access arm 5b is the unselected access arm.
  • FIG. 5 a method for taking out an article is also proposed.
  • the method is based on the aforementioned access mechanism, and the method includes:
  • the access arm 5 In response to the item information, select the access arm 5 to grab the item 6 and select the method of grabbing the item 6; the item information includes at least the width, height, type of soft and hard material, source location, and target placed on the storage platform 1 of the item 6 Location; the way to grab the item 6 includes sucking and/or clamping.
  • the access arm 5a is the selected access arm for grabbing the article 6, and the access arm 5b is the unselected access arm.
  • the mobile device drives the selected access arm 5 to move to the source position.
  • the aforementioned movements include moving in the depth direction (Y direction), moving vertically (Z direction) and moving in the lateral direction (X direction). One or more of.
  • the selected access arm 5 is driven by the lateral movement device 2 to move separately in the lateral direction (X direction) and/or open the suction cup air path 5-2b to grab (suction and/or clamp) from the source position (outside) ) Item 6.
  • the selected access arm can also adjust the clamping force and/or suction force according to the item information.
  • the mobile device drives the selected access arm 5 to move to the target position (the item is dragged to the target position by the access arm); the aforementioned movement includes moving in the depth direction (Y direction), One or more of vertical lifting (Z direction) movement and transverse direction (X direction) movement.
  • the selected access arm 5 is driven by the lateral movement device 2 to move separately in the lateral direction (X direction) and/or close the suction cup air path 5-2b to release the grabbed article 6 at the target position corresponding to the article 6 ( On the platform 1 shown in Figure 9).
  • an access device is also provided, as shown in FIG. 10, which includes at least two access arms 7.
  • Each access arm 7 can be extended and retracted horizontally in the depth direction (Y direction) through a horizontal extension mechanism 7-3, including a clamping piece 7-1 for holding objects and a plurality of suction cups 7 for sucking objects. -2.
  • the clamping piece 7-1 and the suction cup 7-2 are connected as a whole.
  • the distance between two adjacent access arms 7 can be adjusted.
  • Each access arm 7 can independently move in the lateral direction (X direction) to adjust the distance between two adjacent access arms 7.
  • Each sucker 7-2 can suck items independently.
  • Each clamping piece 7-1 can independently move in the lateral direction (X direction). Ways of accessing items include sucking and/or clamping.
  • the access device can adjust the distance between two adjacent access arms 7 to clamp items according to different widths of the items. It can also adjust the clamping force, suction force and suction position according to the item information. Repeat.
  • an access device is also proposed, as shown in FIG. 11, which includes at least two clamping portions 8 arranged in parallel with each other, and a displacement monitoring device 8-2.
  • Each clamping part can be horizontally expanded and contracted in the depth direction (Y direction) through a horizontal expansion and contraction mechanism 8-3, and includes a clamping piece 8-1 for clamping objects. The distance between two adjacent clamping pieces 8-1 can be adjusted.
  • the displacement monitoring device 8-2 is used for real-time monitoring of the relative displacement between the object and the clamping piece 8-1 during the dragging process of the clamping piece 8-1.
  • Each clamping portion 8 is also configured to move laterally (X direction) in response to the relative displacement fed back by the displacement monitoring device 8-2 to shorten the distance between it and the adjacent clamping portion 8 working in cooperation.
  • Each clamping portion 8 can independently move in the lateral direction (X direction).
  • Ways of accessing items include sucking and/or clamping.
  • the access device can adjust the distance between two adjacent clamping parts 8 to clamp the article according to different widths of the article; it can also realize the purpose of adaptively adjusting the clamping force according to the relative displacement. If there is a relative displacement between the article and the clamping piece, it means that the clamping force is insufficient.
  • the clamping force can also be increased by adjusting the clamping torque, and then the two clamping parts 8 drag or push the article to the target position of the article, which will not be repeated here.
  • an access device is also provided.
  • the access device is a vending device (not shown in the drawings), an AGV trolley (as shown in Figure 15) and any other device that needs to access items. It includes the access mechanisms 11, 12, 16 described above or below, or includes the access devices described above or below.
  • the AGV trolley usually includes a mobile chassis 13 with an automatic driving system and access mechanisms 11 and 12.
  • the access mechanisms 11 and 12 described later are suitable for storing articles on the shelves and/or taking out articles to be taken out from the shelves.
  • the foregoing shelf may be a storage shelf 15 for storing items, or any other form of shelf such as a supermarket sales shelf. Of course, it may also be a temporary storage shelf 14 provided on some AGV trolleys, which is not limited here.
  • an access mechanism 11 suitable for AGV trolleys is also proposed.
  • the access mechanism 11 includes a clamping portion 11-1, a displacement monitoring device 11-5, and a control device (not shown in the drawings).
  • the clamping portion 11-1 can be horizontally extended and retracted (in the Y direction) relative to the mobile chassis through a telescopic slide rail mechanism 11-3 for clamping objects.
  • the clamping portion 11-1 includes a first clamping piece 11-1a and a second clamping piece 11-1b arranged in parallel with each other. The distance between the first clamping piece 11-1a and the second clamping piece 11-1b is adjustable.
  • the displacement monitoring device 11-5 is arranged on the clamping portion 11-1, and is used for real-time monitoring of the relative relationship between the article 6 and the clamping portion 11-1 during the dragging process of the article 6 held by the clamping portion 11-1 Displacement and feedback to the control device.
  • the control device which is electrically connected to the displacement monitoring device 11-5 and the clamping portion 11-1, is configured to control the first clamping piece 11-1a and/or the first clamping piece 11-1a and/or the The two clamping pieces 11-1b move to shorten the distance between the first clamping piece 11-1a and the second clamping piece 11-1b.
  • the access mechanism 11 can adjust the distance between the first clamping piece and the second clamping piece to clamp the article according to different widths of the article, and also realize the purpose of adaptively adjusting the clamping force. If there is a relative displacement between the article and the clamping portion 11-1, it indicates that the clamping force is insufficient, so shorten the distance between the first clamping piece 11-1a and the second clamping piece 11-1b to Clamp the article tighter, and then the first clamping piece 11-1a and the second clamping piece 11-1b together drag or push the article to the target position of the article; of course, the clamping can also be increased by adjusting the clamping torque Then, the first clamping piece 11-1a and the second clamping piece 11-1b drag or push the article to the target position of the article together.
  • the clamping portion 11-1 is provided with a motor, a lead screw, and the clamping guide portion 11-2.
  • the guiding direction of the gripping guide portion 11-2 is perpendicular to the horizontal expansion and contraction direction of the gripping portion 11-1, which plays a guiding role.
  • the motor-driven screw rod moves along the guiding direction of the gripping guide portion 11-2 to synchronously drive the first clamping piece 11-1a and the second clamping piece 11-1b, so that the first clamping piece 11-1a and the second clamping piece 11-1a
  • the pieces 11-1b move to the middle at the same time or separate synchronously, and the clamping center is at the middle position between the first clamping piece 11-1a and the second clamping piece 11-1b, which can adjust the first clamping piece 11-1a
  • the purpose of the distance between the second clamping piece 11-1b and the second clamping piece 11-1b is to realize the purpose of clamping objects of different widths and the purpose of adaptively adjusting the clamping force.
  • the clamping portion 11-1 is further provided with two motors, two lead screws, and a clamping guide portion 11-2.
  • the guiding direction of the clamping guide portion 11-2 is perpendicular to the horizontal expansion and contraction direction of the clamping portion 11-1, which plays a guiding role;
  • the first clamping piece 11-1a and the second clamping piece 11-1b are respectively controlled by one of the motors Driven by a screw rod to move along the guide direction (X direction) of the gripping guide portion 11-2, the first gripping piece 11-1a and the second gripping piece 11-1b are independently controlled to adjust the first gripping piece
  • the purpose of the distance between 11-1a and the second clamping piece 11-1b is to realize the purpose of clamping objects 6 of different widths and the purpose of adaptively adjusting the clamping force. This method is more flexible.
  • Both the first clamping piece 11-1a and the second clamping piece 11-1b can be adjusted separately, and the clamping center does not necessarily have to be the first clamping piece 11-1a and the second clamping piece
  • an access mechanism 12 suitable for AGV carts is also proposed.
  • the access mechanism 12 is arranged on the mobile chassis 13 of the AGV cart.
  • the access mechanism 12 includes a clamp The holding portion 12-1, the power supply device 12-5, and the control device (not shown in the drawings).
  • the clamping portion 12-1 can be horizontally extended and retracted (in the Y direction) relative to the mobile chassis through a telescopic slide rail mechanism 12-3, and is used for clamping objects, and includes first clamping pieces 12-1a arranged parallel to each other And the second clamping piece 12-1b, the distance between the first clamping piece 12-1a and the second clamping piece 12-1b can be adjusted.
  • the first clamping piece 12-1a and the second clamping piece 12-1b are made of metal, and the inner side of the first clamping piece 12-1a and the inner side of the second clamping piece 12-1b are both provided with a soft insulating material. Rubber inner liner 12-1c, 12-1d; power supply device 12-5, used to provide voltage for the two clamping pieces 12-1a, 12-1b (in this embodiment, the voltage is a safe voltage below 36V) .
  • the first clamping piece 12-1a and the second clamping piece 12-1b form a parallel plate capacitance sensor under the condition that the power supply device 12-5 supplies voltage.
  • the control device electrically connected to the clamping portion 12-1, controls the movement of the first clamping piece 12-1a and/or the second clamping piece 12-1b in response to the capacitance change of the aforementioned capacitance sensor (the first clamping piece 12 -1a and/or the second clamping piece 12-1b can be guided by the clamping and guiding device 12-2 during the movement, and the guiding direction is the X direction) to shorten the first clamping piece 12-1a and the second clamping Hold the distance between the pieces 12-1b.
  • the holding part 12-1 clamps the article to be dragged or pushed, if there is a relative displacement between the article 6 and the holding part 12-1, the capacitance will change, so the first holding piece 12- is gradually shortened.
  • the distance between 1a and the second clamping piece 12-1b is to clamp the article 6 tighter until the capacitance does not change (the article is completely clamped); then the first clamping piece 12-1a and the second clamp The holding pieces 12-1b together drag or push the article to the target position of the article; of course, the clamping force can also be increased by adjusting the clamping torque, and then the two first clamping pieces 12-1a and the second clamping piece 12 -1b Drag or push the item 6 to the target position of the item 6, which will not be repeated here.
  • the access mechanisms 11 and 12 are also provided with cargo platforms 11-4, 12-4, and cargo platforms 11 -4, 12-4 are used to carry the items to be stored and retrieved, improve the stability of the items during the movement of the AGV trolley, and prevent falling.
  • an automatic access system is also proposed.
  • the system includes a rack 15 with multiple cargo lanes 15-1, at least one AGV trolley, and a control unit (not shown in the figure).
  • Each cargo lane 15-1 has a unique number.
  • the control unit is equipped with a storage module (not shown in the figure).
  • the storage module is used to record the cargo lane 15-1 number and the specific location information corresponding to the cargo lane 15-1 number.
  • the binding relationship between the two is also used to record the inventory information of cargo lane 15-1.
  • the control unit generates one or more task instructions according to the order requirements (a task instruction can be the same item type or multiple item types, and the quantity of each deposit and withdrawal task is 1 or more items), and Send the task instruction to the AGV car.
  • the task instruction includes source location information and/or target location information of the item.
  • the source location information and/or the target location information both include the cargo lane 15-1 number, the specific location information corresponding to the cargo lane 15-1 number, and the binding relationship between the two.
  • the aforementioned specific location information includes the position information of the shelf 15 on the warehouse plane, the height of the cargo lane 15-1 relative to the floor of the shelf 15 and the height of the cargo lane 15-1 itself, the coordinate information of the cargo lane 15-1 and the cargo lane 15-1
  • the width of the AGV trolley can be accurately located to the source and/or target location through specific location information.
  • the AGV trolley has a mobile chassis 13, a lifting component (not shown in the figure), and a clamping component 16.
  • the bottom end of the lifting component is connected with the mobile chassis 13 and the top end is connected with the clamping component 16, which can drive the clamping component 16 to move vertically (Z direction).
  • the clamping member 16 can be extended and retracted toward the cargo lane 15-1 on the shelf 15 through a guide rail mechanism 16-2 (the guiding direction is the Y direction) for clamping articles.
  • the clamping member 16 includes a clamping piece 16-1.
  • the clamping piece 16-1 includes a first clamping piece 16-1a and a second clamping piece 16-1b which are arranged in parallel with each other, between the first clamping piece 16-1a and the second clamping piece 16-1b The distance can be adjusted.
  • the clamping component 16 is also provided with a cargo platform 16-4, and the cargo platform 16-4 is used to carry items to be stored or retrieved.
  • the AGV trolley responds to task instructions and automatically travels (the AGV is equipped with a QR code and SLM navigation system) to the source and/or target position of the article corresponding to the front and bottom of the cargo lane 15-1; the lifting component lifts and drives the clamping
  • the component 16 reaches the height corresponding to the cargo lane 15-1; the clamping component 16 extends toward the cargo lane 15-1 on the shelf 15 to the source position and/or target position of the article, and removes the article from the source position, and/or Deposit the item to the target location.
  • the AGV trolley is also provided with a temporary storage shelf 14, and the temporary storage shelf 14 is used to temporarily store items to be stored and retrieved.
  • the temporary storage rack 14 has a multi-layer storage rack, and the storage rack is also provided with a plurality of temporary storage lanes 14-1.
  • the shelf 15 includes a body, a plurality of layer plates 15-12, and a plurality of partition baffles 15-11.
  • the layers 15-12 are arranged horizontally, and the height of the layers 15-12 can be adjusted, and the inside of the body can be divided into upper and lower layers of space.
  • the dividing baffle 15-11 is used to divide each layer of space into multiple cargo lanes 15-1, and the distance between two adjacent dividing baffles 15-11 can be adjusted.
  • the partition baffle 15-11 is in the shape of "I".
  • the I-shaped structure of the partition baffle 15-11 and the I-shaped structure of another adjacent partition 15-11 form the aforementioned cargo lane 15-1.
  • the cargo lane 15-1 composed of the "I"-shaped separating baffle 15-11 can access items of different widths and heights, which is highly versatile; and the "I" shape plays a role in the cargo lane 15-1.
  • the limit function of the placed items prevents the items from tilting left and right.
  • the cost of the shelf 15 is low, the size is not limited, the use place is not limited, and the application range is wide (can be used in supermarkets, warehouses, pharmacies, etc.).
  • the shelf 15 includes a body and a plurality of laminates 15-12.
  • the layers 15-12 are arranged horizontally, and the height of the layers 15-12 can be adjusted, and the inside of the body can be divided into upper and lower layers of space.
  • the control unit is also configured to virtually divide each layer of space into multiple cargo lanes 15-1 of equal or unequal width. For example: the first layer on the shelf 15 is divided into 5 equal parts (that is, 5 cargo lanes 15-1); the width of each cargo lane 15-1 is 60 cm.
  • the control unit assigns a unique number to each of the aforementioned virtual cargo lanes 15-1 and records the specific location information corresponding to the cargo lane 15-1 number and the cargo lane 15-1 number and the binding relationship between the two In the storage module, in order to allocate items to be stored to the cargo lane 15-1 or take out the items from the cargo lane 15-1 when accessing tasks.
  • the virtual cargo lane 15-1 is adopted, and its shelf cost is lower than the aforementioned “I”-shaped cargo lane shelf.
  • the access system further includes a cargo loading device 17 that can be placed on the cargo lane 15-1 and the temporary storage lane 14-1.
  • Cargo loading device 17, on which one or more items 6 can be placed, and the clamped part 16 can be stored in the cargo lane 15-1 (or the temporary storage shelf) together with the one or more items placed on it. Take it out from the cargo lane 14-1) and/or from the cargo lane 15-1 (or the cargo lane 14-1 of the temporary storage shelf). In this way, the equipment can store and retrieve one or more items at one time through the cargo loading device 17, which improves the access efficiency.
  • the AGV trolley further includes a rotating part 16-3.
  • the rotating part 16-3 can drive the entire clamping part 16 to rotate relative to the mobile chassis 13 to access items on shelves in different positions (azimuths). In this way, the AGV trolley can adjust the height of the clamping member 16 and the orientation of the clamping member 16 according to the specific positions of the items to be stored and retrieved on the shelf 15 to store and retrieve items of different heights and orientations.
  • the control unit When taking it out:
  • the control unit When taking it out:
  • the control unit generates task instructions according to the order requirements and sends the task instructions to the AGV trolley.
  • the AGV trolley in response to task instructions, automatically travels to the front and bottom of the cargo lane 15-1 corresponding to the source position of the item; the lifting device lifts (along the Z direction) to drive the clamping component 16 to the shelf 15 corresponding to the cargo lane 15-1 Height; the clamping member 16 extends toward the rack 15-1 (along the Y direction) to the source position of the item.
  • the clamping member 16 adjusts the distance between the first clamping piece 16-11a and the second clamping piece 16-11b according to the width of the article to clamp the article and drag the clamped article.
  • the clamping member 16 shrinks in a direction away from the shelf 15 and takes out the articles from the source position to the outside of the cargo lane 15-1.
  • the control unit When depositing: The control unit generates task instructions according to the order requirements and sends the task instructions to the AGV trolley.
  • the AGV car in response to mission instructions, automatically travels to the source location of the item.
  • the clamping member 16 adjusts the distance between the first clamping piece 16-11a and the second clamping piece 16-11b according to the width of the article to clamp the article.
  • the AGV trolley automatically drives to the front and bottom of the cargo lane 15-1 corresponding to the target position of the article.
  • the lifting device lifts (along the Z direction) to drive the clamping member 16 to the height corresponding to the rack 15-1.
  • the clamping member 16 extends (along the Y direction) toward the rack 15-1 to the target position of the article, and stores the article to the target position.
  • the entire process of automatic storage and retrieval can be realized in a true sense, and the cargo loading device can be used to store and retrieve multiple different widths and sizes at once Items.

Abstract

一种存取机构、装置、设备、系统及方法，包括置物平台（1）、移动设备以及存取装置。移动设备设置在置物平台（1）上。存取装置，其能够受移动设备的驱动沿进深方向移动和作垂直升降移动，其包括至少两个存取臂（5）。每个存取臂（5）包括夹持片（5-1）和吸盘（5-2）。移动设备包括横向移动装置（2）。每个所述存取臂（5）与横向移动装置（2）单独连接，每个所述存取臂（5）可受横向移动装置（2）的驱动单独沿横向方向移动。该存取方法采用夹持部和吸盘两种抓取构件，仅用一个存取机构就能够实现存取不同材质的物品；多个存取臂的设计实现了一次性存取多件物品，提高了存取效率。

Description

存取机构、装置、设备、系统及方法 技术领域
本发明涉及物品存取技术领域，尤其涉及一种存取机构、装置、设备、系统及方法。
背景技术
在物品存取技术领域，尤其在物流仓储设备(如AGV自动导引小车、RGV有轨导引小车等搬运或者转运设备)和自助售货设备中，存取机构的主要功能是存取物品(如从货架货格、桌面、输送线等任何位置将物品取出、将物品存入至货架上的目标位置，前述的物品包括物品本身、包装箱、周转箱等任何形式的容器)。现有的存取机构多适用于对于整个收纳箱或者整个托盘的进行存取。在需要拆零存取或者自助零售单件商品存取的应用场合，由于不同种类物品的包装形状(如异形)、材质(如软、硬质材料)、体积重量(大小种类)等各异，且尺寸规格(如长、宽、高)差异较大，导致同一存取机构无法适应，需要频繁更换不同的存取夹具或存取机构，效率较低；虽然还有的存取机构在结构上作了改进，能够使用夹取和吸取两种方式进行存取，但结构复杂、占用空间较大，实用场景常常受限(如无法从狭小的货架货道中取出多种规格甚至异形的物品)。同时，市面上一些存取机构，无论物品的重量、材质是相同还是不同的，存储机构的夹持部的夹取力度均相同，当存取重量较大、表面光滑的物品时，可能会因为夹取力度不够造成物品掉落损坏的事故发生；当存取重量较小、易碎的物品(如玻璃瓶装牛奶)时，可能会因为夹取力度太大造成物品表面损坏的事故发生；造成安全隐患和经济损失。
另外，在收到多任务订单时，存取机构常常需要逐个进行存取，如一次需要取出5件不同规格的物品，存取机构只能先取出第一件物品存放在缓存架上，再取出第二件物品存放在缓存架上，以此类推，直到完成五件物品的取出作业，再送至目标位置，效率较低。
在物品存取系统技术领域，为了实现自动化存取物品，目前主要的实现方式有两类：一、设计专用的存储货架和存取设备，例如自动化立库，需要使用专用货架以便穿梭车能运行其中以实现货物的存取，专用货架成本较高，并且受场地的限制应用范围受限。二、货到人式AGV小车，AGV小车将物品帮运至拣选人员前，让拣选人员进行相关作业后，再将其搬运至货架中存储，或者拣选人员从货架中搬出物品进行相关作业后交给AGV小车运输至目标位置，仍然需要人工的参与，效率较低，没有真正意义上实现全流程自动化。
发明内容
本发明旨在解决上述问题，提供一种存取机构、装置、设备、系统及方法，适用于拆零存取或者自助零售单件商品存取等多种应用场合，存取效率高，功能强大，适应性广，无需 人工参与，能够真正意义上实现全自动化存取。
为达成上述目的，本发明所采用的技术方案如下：
本发明提出的一种存取机构，包括移动设备以及存取装置，其中：
存取装置，设置在移动设备上，其能够受移动设备的驱动沿进深方向移动和作垂直升降移动，其包括至少两个存取臂；
每个存取臂包括用于夹持物品的夹持片和用于吸取物品的吸盘；
移动设备包括横向移动装置；
每个所述存取臂与横向移动装置单独连接，每个所述存取臂可受横向移动装置的驱动单独沿横向方向移动、以调整相邻两个存取臂之间的距离。
进一步的实施例中，所述存取机构还包括置物平台，移动设备设置在置物平台上；
移动设备还包括纵向移动装置和升降装置，
所述纵向移动装置，设置在置物平台上；
升降装置，设置在纵向移动装置的上方，可随着纵向移动装置沿进深方向移动；
横向移动装置，设置在升降装置的上方，可随着升降装置作垂直升降移动；
每个所述存取臂上还对应设有升降部；
每个所述升降部能够驱动其对应的存取臂进行升降。
进一步的实施例中，所述存取机构还包括置物平台，移动设备设置在置物平台上；
所述移动设备还包括纵向移动装置和升降装置，
所述升降装置，设置在置物平台上；
纵向移动装置，设置在升降装置的上方，可随着升降装置作垂直升降移动；
横向移动装置，设置在纵向移动装置的上方，可随着纵向移动装置沿进深方向移动；
所述每个存取臂上还对应设有升降部；
每个所述升降部能够驱动其对应的存取臂进行升降。
进一步的实施例中，所述升降部包括推动气缸、推动条以及支撑件，
推动气缸安装在支撑件上；
推动条，具有第一端和第二端，第一端与推动气缸的输出端铰接，第二端与存取臂铰接，其被设置成受推动气缸的气压驱动带动与其铰接的夹持片作垂直升降移动。
进一步的实施例中，所述存取机构还包括置物平台；移动设备设置在置物平台上；
所述移动设备还包括纵向移动装置和升降装置，
所述纵向移动装置设置在置物平台上；
横向移动装置，设置在纵向移动装置的上方，可随着纵向移动装置沿进深方向移动；
升降装置包括多个子升降装置；
子升降装置的数量与存取臂的数量相同；
存取臂，与子升降装置一一对应连接，可随着其对应的子升降装置作垂直升降移动；
每个所述子升降装置与横向移动装置单独连接，每个所述子升降装置可受横向移动装置的驱动单独沿横向方向移动、以调整相邻两个存取臂之间的距离。
进一步的实施例中，
所述横向移动装置包括同步带组件、离合器以及横向驱动部，
同步带组件包括与横向驱动部连接的主动轮、从动轮以及套设在主动轮和从动轮之间的同步带；
每个存取臂，对应设置一离合器，并通过其对应的离合器单独与所述同步带连接或者分离。
进一步的实施例中，所述吸盘的数量为多个，多个吸盘分布在各个存取臂上；
吸盘的气路的数量为多条；
多条所述吸盘气路可根据物品的尺寸、重量选择开启的气路数量和/或气路的气流量。
进一步的实施例中，所述存取机构上还设有位移传感器；
位移传感器用于在夹持片夹持物品的过程中实时监测物品与夹持片之间的相对位移；
每个所述存取臂，还被设置成响应于位移传感器反馈的相对位移，沿横向方向移动、以缩短其与相邻配合夹持物品的存取臂之间的距离。
根据本发明的改进，还提出一种物品存入方法，所述方法基于前述的存取机构，所述方法包括：
待存入物品放置在一置物平台上；
响应于物品信息选择抓取物品的存取臂以及选择抓取物品的方式；所述物品信息至少包括物品的宽度、高度、软硬材质种类、源位置以及目标位置；所述抓取物品的方式包括吸取和/或夹持；
被选择的存取臂按照选择的抓取方式从物品的源位置抓取物品；
移动设备响应于目标位置，带动被选择的存取臂移动至目标位置，前述移动包括沿进深方向移动、作垂直升降移动和沿横向方向移动中的一种或多种；
被选择的存取臂受横向移动装置的驱动单独沿横向方向移动和/或关闭吸盘气路、以将抓取的物品释放在物品对应的目标位置。
进一步的实施例中，所述方法还包括：被选择的存取臂按照选择的抓取方式从物品的源位置抓取物品时，还可根据物品信息调节夹持力度和/或吸取力度。
进一步的实施例中，所述方法还包括：被选择的存取臂按照选择的抓取方式从物品的源位置抓取物品后，被选择的存取臂推动物品至目标位置。
根据本发明的改进，还提出一种物品取出方法，所述方法基于前述的存取机构，所述方法包括：
响应于物品信息选择抓取物品的存取臂以及选择抓取物品的方式；所述物品信息至少包括物品的宽度、高度、软硬材质种类、源位置以及目标位置；所述抓取物品的方式包括吸取和/或夹持；
移动设备响应于物品源位置，带动被选择的存取臂移动至源位置，前述移动包括沿进深方向移动、作垂直升降移动和沿横向方向移动中的一种或多种；
被选择的存取臂受横向移动装置的驱动单独沿横向方向移动和/或开启吸盘气路、以从物品的源位置抓取物品；
移动设备响应于目标位置，带动被选择的存取臂移动至目标位置；
被选择的存取臂受横向移动装置的驱动单独沿横向方向移动和/或关闭吸盘气路、以将抓取的物品释放在物品对应的目标位置。
进一步的实施例中，所述方法还包括：被选择的存取臂按照选择的抓取方式从物品的源位置抓取物品时，还可根据物品信息调节夹持力度和/或吸取力度。
进一步的实施例中，所述方法还包括：被选择的存取臂按照选择的抓取方式从物品的源位置抓取物品后，被选择的存取臂拖动物品至目标位置。
根据本发明的改进，还提出一种存取装置，其包括至少两个存取臂；
每个存取臂，可水平伸缩，包括用于夹持物品的夹持片和用于吸取物品的吸盘；
夹持片和吸盘连接为一体；
相邻两个存取臂之间的距离可调节；
每个所述存取臂可单独作横向方向移动、以调整相邻两个存取臂之间的距离。
根据本发明的改进，还提出一种存取装置，其包括至少两个相互之间平行设置的夹持部、以及位移监测装置；
每个夹持部，可水平伸缩，包括用于夹持物品的夹持片；
相邻两个夹持片之间的距离可调节；
位移监测装置用于在夹持部夹持物品拖动的过程中实时监测物品与夹持部之间的相对位移；
每个所述夹持部，还被设置成响应于位移监测装置反馈的相对位移，作横向移动、以缩短其与相邻配合工作的夹持部之间的距离。
根据本发明的改进，还提出一种存取设备，其包括前述的存取机构、或者其包括前述的存取装置。
根据本发明的改进，还提出一种适用于AGV小车的存取机构，设置在AGV小车的移动底盘上，包括夹持部、位移监测装置以及控制装置，其中：
夹持部，可相对于移动底盘水平伸缩，用于夹持物品，其包括相互之间平行设置的第一夹持片和第二夹持片，第一夹持片与第二夹持片之间的距离可调节；
位移监测装置用于在夹持部夹持物品拖动的过程中实时监测物品与夹持部之间的相对位移并反馈至控制装置；
控制装置，与位移监测装置以及夹持部分别电连接，被设置成响应于位移监测装置反馈的相对位移、控制第一夹持片和/或第二夹持片移动以缩短第一夹持片和第二夹持片之间的距离。
根据本发明的改进，还提出一种适用于AGV小车的存取机构，设置在AGV小车的移动底盘上，包括夹持部、电源装置以及控制装置，其中：
夹持部，可相对于移动底盘水平伸缩，用于夹持物品，其包括相互之间平行设置的第一夹持片和第二夹持片，第一夹持片与第二夹持片之间的距离可调节；
第一夹持片和第二夹持片均为金属材质，第一夹持片内侧和第二夹持片内侧均设有绝缘材质制成的内衬垫；
电源装置，用于为两个夹持片提供电压；
第一夹持片和第二夹持片在电源装置提供电压的条件下形成一电容传感器；
控制装置，与夹持部、电容传感器电连接，被设置成响应于前述电容传感器的电容变化、控制第一夹持片和/或第二夹持片移动以缩短第一夹持片和第二夹持片之间的距离。
根据本发明的改进，还提出一种AGV小车，包括前述的适用于AGV小车的存取机构。
根据本发明的改进，还提出一种自动化存取系统，包括具有多个货道的货架、至少一个AGV小车以及控制单元，其中：
控制单元，根据订单需求生成任务指令，并将任务指令下发至AGV小车；任务指令包括物品的源位置信息和/或目标位置信息；
AGV小车，具有移动底盘、升降部件以及夹持部件；
升降部件，可带动夹持部件作竖直升降移动；
夹持部件，可朝向货架货道伸缩，用于夹持物品；
夹持部件，包括相互之间平行设置的第一夹持片和第二夹持片，第一夹持片与第二夹持片之间的距离可调节；
AGV小车，响应于任务指令、自动行驶至物品的源位置和/或目标位置对应的货道的前下方；升降部件升降带动夹持部件到达货架货道对应的高度；夹持部件朝向货架上的货道延伸至物品的源位置和/或目标位置，并将物品从源位置取出、和/或将物品存入至目标位置。
进一步的实施例中，所述货道的宽度、高度均可调节。
进一步的实施例中，所述控制单元，还被设置成将每层空间虚拟分隔成多个相等或不等宽度的所述货道。
进一步的实施例中，所述存取系统还包括可放置在货道内的载货装置；
载货装置，其上可放置一个或者多个物品，并且受夹持部的夹持可连同其上放置的一个或者多个物品一起存入货道内、和/或从货道内取出。
本发明提出的存取机构、装置、设备、系统及方法，与现有技术相比，其显著的有益效果在于，
1)适用于拆零存取或者自助零售单件商品存取等多种应用场合，采用夹持部和吸盘两种抓取构件，使得存取机构同时具备夹持抓取和吸附抓取两种功能，既能实现对柔性物品进行存取、又能实现对周转箱或者托盘等容器进行存取，即仅用一个存取机构就能够实现存取不同尺寸、形状、大小的瓶装、罐装、盒装、箱装、袋装、纸质、薄件、塑料膜包装件、玻璃等各类材质的物品，适应性更广；并且可根据物品尺寸、重量、材质信息调整夹持力度和/或吸取力度，能够确保牢固的夹持物品、同时又不会因为夹持力度过大对物品表面造成损坏。
2)在处理多任务存、取订单时，整个存取机构对结构进行了优化设计，多个存取臂的设计实现了一次性存取多件物品，大大提高了存取效率；结合夹取和/或吸取多种方式，进一步实现了一次性混合存取多件不同规格材质(不同的高度、宽度、长度、软硬材质种类)物品的功能。
3)通过设置离合器，能够更精确地独立控制各个存取臂的横向移动和变宽度。
4)存取机构通过存取臂与吸盘的一体化设计使整个系统结构更加紧凑，功能多样化，同时能够混合存取多件不同的物品，节省空间，安装、维修更加方便，存取效率高，功能强 大，适应性广。
5)整个存取系统(AGV小车、货架以及控制单元)的配合，无需人工的参与，能够真正意义上实现全流程自动化存、取；并且通过设置虚拟货道，能够存储不同宽度、尺寸的物品，且货架为普通货架即可，成本较低，尺寸不限、使用场地亦不限，应用范围广泛(可用于超市、仓库、药房等)。
附图说明
构成本发明的一部分的附图用来提供对本发明的进一步理解，附图不意在按比例绘制。在附图中，在各个图中示出的每个相同或近似相同的组成部分可以用相同的标号表示。为了清晰起见，在每个图中，并非每个组成部分均被标记。现在，将通过例子并参考附图来描述本发明的各个方面的实施例，在附图中：
图1为本发明较优实施例的存取机构的总体结构示意图。
图2为本发明较优实施例的存取机构的横向移动装置的结构示意图。
图3为本发明较优实施例的存取机构的存取装置的结构示意图。
图4为本发明较优实施例的存取机构的存取臂的结构示意图。
图5为本发明较优实施例存取方法(物品夹取取出方法)的示意图。
图6为本发明较优实施例存取方法(物品吸取取出方法)的示意图。
图7为本发明较优实施例存取方法(物品夹取存入方法)的示意图。
图8为本发明较优实施例存取方法(物品吸取存入方法)的示意图。
图9为本发明较优实施例存取机构的置物平台(暂存物品)的示意图。
图10为本发明某些较优实施例的存取装置的结构示意图。
图11为本发明某些较优实施例的存取装置的结构示意图。
图12为本发明某些较优实施例的适用于AGV小车的存取机构的结构示意图。
图13为本发明另一些较优实施例的适用于AGV小车的存取机构的结构示意图。
图14为本发明另一些较优实施例的适用于AGV小车的存取机构的夹持部的结构示意图。
图15为本发明较优实施例的AGV小车的结构示意图。
图16为本发明较优实施例的存取系统的结构示意图。
图17为本发明另一较优实施例的自动化存取系统的结构示意图。
图18为本发明较优实施例的自动化存取系统的货架的示意图。
图19为本发明另一较优实施例的自动化存取系统的货架的示意图。
图20为本发明较优实施例的存取系统的载货装置的结构示意图。
图21为本发明较优实施例的存取系统的夹持部件的结构示意图。
具体实施方式
为了更了解本发明的技术内容，特举具体实施例并配合上述所附图式说明如下。
根据本发明的较优实施例，提出了一种存取机构，该机构适用于对物料进行存取，并适用于在物流仓储设备(如AGV自动导引小车、RGV有轨导引小车等搬运或者转运设备)和自助售货设备中进行物料存取。
如图1至图9所示，该存取机构包括置物平台1、移动设备以及存取装置。置物平台1用于暂存待存入的物品6或者待取出的物品6。
移动设备设置在置物平台1上。移动设备包括横向移动装置2。
存取装置，设置在移动设备上，其能够受移动设备的驱动沿进深方向(Y方向)移动和作垂直升降(Z方向)移动。存取装置包括至少两个存取臂5。每个存取臂5包括用于夹持物品的夹持片5-1和用于吸取物品的吸盘5-2。夹持片5-1和吸盘5-2连接为一体，吸盘5-2设置在夹持片5-1上的任意位置(底部、侧面和顶部)。每个吸盘5-2均可独立存取物品；每个夹持片5-1，均可独立沿横向方向(X方向)移动和均可独立作垂直升降(Z方向)移动。存取物品的方式包括吸取和/或夹持。
每个存取臂5与横向移动装置2单独连接(此连接为直接连接或者间接连接)，每个存取臂5可受横向移动装置2的驱动单独沿横向方向(X方向)移动、以调整相邻两个存取臂5之间的距离，即能够实现根据物品的宽度、高度、软硬材质种类、源位置以及目标位置，调整存取臂5在横向方向(X方向)上的位置，进而调整夹持片5-1和吸盘5-2在横向方向(X方向)上的位置，并且在采用夹持的方式存取物品时，通过调整相邻两个存取臂5之间的距离能够实现根据物品的宽度夹持物品。前述的硬材质物品定义为在受持续恒定外力的作用下、外表面产生弹性变形的物品，前述的软材质物品定义为在受持续恒定外力的作用下、外表面产生塑性变形的物品。当然，还可以根据物品的重量、材质等信息调整夹持物品的力度(如通过两个夹持片之间的夹持力矩来调整夹持力度)；同时在采用吸取的方式存取物品时，也可以通过调整相邻两个存取臂5之间的距离实现根据物品的宽度选择不同的吸取位置。物品越宽，相邻两个存取臂5之间的距离越大。
在某些实施例中，移动设备还包括纵向移动装置3和升降装置4。纵向移动装置3，设置在置物平台1上。升降装置4，设置在纵向移动装置3的上方，可随着纵向移动装置3沿进深方向(Y方向)移动。横向移动装置2，设置在升降装置4的上方，整体可随着升降装置4作垂直升降(Z方向)移动。每个存取臂5与横向移动装置2单独连接，因此，所有存 取臂5也间接地随着垂直升降装置4作垂直升降(Z方向)移动(存取不同高度的物品)以及间接地随着纵向移动装置3沿进深方向(Y方向)移动(存取不同深度的物品)。由于所有存取臂5随着垂直升降装置4一起作垂直升降(Z方向)移动，在存取物品时，不需要作业的存取臂5有可能与目标物品旁边放置的非目标物品干涉，为了有效避免不需要作业的存取臂5与目标物品旁边放置的非目标物品干涉，每个存取臂5还对应设有一个升降部。每个升降部能够单独驱动其对应的存取臂5进行升降。在本实施例中，如图3所示，升降部包括推动气缸5-5、推动条5-4以及支撑件5-3。推动气缸5-5安装在支撑件5-3上。推动条5-4，具有第一端和第二端，推动条5-4第一端与推动气缸5-5的输出端铰接，推动条5-4第二端与存取臂5铰接，其被设置成受推动气缸5-5的气压驱动带动与其铰接的存取臂5(夹持片5-1)作垂直升降(Z方向)移动。如此，仅需要作业的存取臂5(夹持片5-1)下降进行物品存取即可，其余的不需要作业的存取臂5保持在非目标物品上方位置即可，这样，能够有效避免干涉的情况发生；同时每个存取臂5能够单独升降(Z方向)移动，在高度方向上定位更加精准，整体存取机构更加紧凑。在本实施例中，升降装置4采用滚珠丝杠机构传动，当然，本领域的技术人员也可根据实际需求选取其它结构或者构造的升降结构，在此不再赘述。
在另一些实施例中，移动设备还包括纵向移动装置3和升降装置4。升降装置4，设置在置物平台1上。纵向移动装置3，设置在升降装置4的上方，可随着升降装置4作垂直升降(Z方向)移动。横向移动装置2，设置在纵向移动装置3的上方，整体可随着纵向移动装置3沿进深方向(Y方向)移动。每个存取臂5与横向移动装置2单独连接，因此，所有存取臂5也间接地随着纵向移动装置3沿进深方向(Y方向)移动(存取不同深度的物品)以及间接地随着垂直升降装置4作垂直升降(Z方向)移动(存取不同高度的物品)。由于所有存取臂5随着垂直升降装置4一起作垂直升降(Z方向)移动，在存取物品时，不需要作业的存取臂5有可能与目标物品旁边放置的非目标物品干涉，为了有效避免不需要作业的存取臂5与目标物品旁边放置的非目标物品干涉，每个存取臂5还对应设有一个升降部。每个升降部能够单独驱动其对应的存取臂5进行升降。在本实施例中，如图3所示，升降部包括推动气缸5-5、推动条5-4以及支撑件5-3。推动气缸5-5安装在支撑件5-3上。推动条5-4，具有第一端和第二端，推动条5-4第一端与推动气缸5-5的输出端铰接，推动条5-4第二端与存取臂5铰接，其被设置成受推动气缸5-5的气压驱动带动与其铰接的存取臂5(夹持片5-1)作垂直升降(Z方向)移动。如此，仅需要作业的存取臂5(夹持片5-1)下降进行物品存取即可，其余的不需要作业的存取臂5保持在非目标物品上方位置即可，这样，能 够有效避免干涉的情况发生；同时每个存取臂5能够单独升降移动，在高度方向上定位更加精准，整体存取机构更加紧凑。在本实施例中，升降装置4采用滚珠丝杠机构4-1传动，当然，本领域的技术人员也可根据实际需求选取其它结构或者构造的升降结构，在此不再赘述。
在另一些实施例中，为了进一步简化整体结构，取消了前述某些实施例中的多个升降部。移动设备还包括纵向移动装置3和升降装置4。纵向移动装置3设置在置物平台1上。横向移动装置2，设置在纵向移动装置3的上方，可随着纵向移动装置3沿进深方向(Y方向)移动。升降装置4包括多个子升降装置。子升降装置的数量与存取臂5的数量相同。存取臂5，与子升降装置一一对应连接，即存取臂5通过其对应的子升降装置与横向移动装置2间接连接。存取臂5可随着其对应的子升降装置作垂直升降(Z方向)移动，当然也可间接地随着横向移动装置2单独作横向(X方向)移动、以及间接地随着纵向移动装置3沿进深方向(Y方向)移动。每个子升降装置与横向移动装置2单独连接，每个子升降装置可受横向移动装置2的驱动单独沿横向方向(X方向)移动、以调整相邻两个存取臂5之间的距离，即能够实现根据物品的宽度、高度、软硬材质种类、源位置以及目标位置调整子升降装置(存取臂5)在横向方向(X方向)上的位置，进而调整夹持片5-1和吸盘5-2在横向方向(X方向)上的位置，并且在采用夹持的方式存取物品时，通过调整相邻两个子升降装置(存取臂5)之间的距离能够实现根据物品的宽度夹持物品，当然，也可以根据物品的重量、材质等信息调整夹持物品的力度(如通过两个夹持片之间的夹持力矩来调整夹持力度)。同时，在采用吸取的方式存取物品时，也可以通过调整相邻两个存取臂5之间的距离实现根据物品的宽度选择不同的吸取位置。物品越宽，相邻两个子升降装置(存取臂5)之间的距离越大。
在某些实施例中，纵向移动装置3包括纵向驱动部3-2和纵向传动部3-1。纵向传动部3-1包括纵向同步带组件3-1(图中未完全示出)。纵向同步带组件3-1包括与纵向驱动部3-2连接的纵向主动轮、纵向从动轮以及套设在纵向主动轮和纵向从动轮之间的纵向同步带。纵向驱动部3-2驱动纵向主动轮旋转，纵向主动轮旋转带动纵向同步带沿进深方向(Y方向)移动(同时也带动纵向从动轮旋转)。纵向同步带沿进深方向(Y方向)移动，带动其上设置的装置(如横向移动装置2、升降装置4)整体沿进深方向(Y方向)移动。如此，纵向移动装置3可带动其上的装置整体移动，结构更加简单、紧凑。在本实施例中，纵向驱动部3-2为进深运动伺服电机，纵向传动部3-1包括纵向同步带组件3-1，当然，本领域的技术人员也可以根据实际需求选择其它类型的驱动装置(如气缸等)和传动装置(如丝杠、齿轮齿条等)。
在一些优选的实施例中，如图3所示，横向移动装置2包括同步带组件2-1、离合器2-14以及横向驱动部2-2。同步带组件2-1包括与横向驱动部2-2连接的主动轮2-11、从动轮2-12以及套设在主动轮2-11和从动轮2-12之间的同步带2-13。每个存取臂5，对应设置一离合器2-14，并通过其对应的离合器2-14单独与同步带连接或者分离。离合器2-14使得存取臂5(或者子升降装置)与横向移动装置2的同步带连接或者分离；即每个存取臂5上安装有离合器2-14，可以选择性地控制存取臂5移动。进一步地，在一部分实施例中，每个存取臂5还对应设置一同步带轮和一定位销2-15，存取臂移动时，离合器2-14闭合定位销2-15回缩，同步带轮不旋转，带动存取臂5跟随同步带2-13运动；到位停止时，离合器2-14打开，定位销2-15伸出，使存取臂5固定不动，仅同步带轮定轴旋转。
在某些优选的实施例中，如图1所示，吸盘5-2的数量为多个，多个吸盘5-2分布在各个存取臂5上。吸盘5-2的气路5-2b的数量为多条。当需要采取吸取的方式时，多条吸盘气路5-2b可根据物品的尺寸、重量选择开启的气路数量和/或气路的气流量。比如，如图4所示，气路5-2b按照三路设计，包括前端气路、中部气以及尾端气路。中部气路的前端直接连接吸盘，吸盘的吸取区域朝下设置，其他的吸盘上方增加真空辅助阀5-2a。前端2个吸盘与中部2个吸盘的为主要受力点。中部气路其他吸盘主要用于辅助不同长度的物品，从而满足不同长度物品的吸附。尾端气路主要针对大型重型物品，优化吸盘的受力。这样的气路分布，使存取臂5适用于存取臂兼容尺寸范围内所有尺寸的物品，另外还可以根据气流量来控制吸取力度，满足不同密度的物品的吸附。如此，能够实现吸取位置的调节以及吸取力度的调节，适应性更广。
综上，本发明较优实施例提出的存取机构的工作原理为：
取出物品时：响应于物品信息选择抓取物品的存取臂5以及选择抓取物品的方式。物品信息至少包括物品的宽度、高度、软硬材质种类、源位置以及放置在置物平台1上的目标位置。抓取物品的方式包括吸取和/或夹持。
对于硬质物品，将存取臂5上升到目标位置高度后，利用横向移动装置2机构调整存取臂5宽度，待取物品两侧的存取臂5通过子升降装置或者升降部推动存取臂5下降、和通过纵向移动装置3沿进深方向(Y方向)延伸至物品上方，利用存取臂5夹持片5-1最前端夹取物品，将物品拖拉至置物平台1上(拖拉物品比完全夹持物品更节约能耗、更安全)，物品完全走过安装在置物平台1上的检物传感器1-1，完成取货。对于软质物品，将存取臂5升到目标位置高度，待取物品两侧的存取臂5通过子升降装置或者升降部推动存取臂5下降和通过纵向移动装置3沿进深方向(Y方向)伸至物品上方，至吸盘5-2稳定吸附物品，将 物品拖拉至夹具置物平台上方，物品完全走过安装在置物平台1上的检物传感器1-1，完成取货。
存取装置取出物品后，物品放置在置物平台1上暂存。如图9所示，置物平台1包括多个暂存道。设定暂存道高度和宽度。先取放小于设定高度、宽度的硬质物品(不同宽度、同高度的硬质物品)、后取放小于设定高度和宽度软的包装物品。不同的暂存道按照取放物品的高度分类，按照先矮后高的规则进行取货并缓存在置物平台1上。置物平台1被每相邻的两个存取臂5虚拟划分成一个存取道，如，有4个存取臂5，则可以划分为三个暂存道，暂存道分别存放三种不同的高度物品进行取放；然后按照暂存道为单位，先存放硬包装物品后存放软包装物品；先存取小尺寸物品再存取大尺寸物品。放置在置物平台1上的已取物品在存取臂5的导向下，被待取物品推入置物平台1后端，完成单个暂存道的取货暂存过程。
存入物品时：响应于物品信息选择抓取物品的存取臂5以及选择抓取物品的方式；物品信息至少包括物品6的宽度、高度、软硬材质种类、源位置以及目标位置；抓取物品的方式包括吸取和/或夹持。
对于软质物品，将存取臂5上升到指定高度后，利用横向移动装置2调整存取臂5宽度，待存物品两侧的存取臂5通过子升降装置或者升降部推动存取臂5下降至吸盘5-2稳定吸附物品，通过纵向移动装置3将物品推至货架上(物品前端触发检物传感器1-1，系统获取前端位置精度，从而计算进深深度)，存取臂5回撤到存取臂5的到位传感器的位置，完成存货。对于硬质物品，将存取臂5下降到指定高度后，通过子升降装置或者升降部推动存取臂5下降和通过纵向移动装置3沿进深方向(Y方向)延伸至物品上方，利用存取臂5夹持片5-1最前端夹取物品，将物品推至货架上(物品前端触发检物传感器1-1，系统获取前端位置精度，从而计算进深深度)，存取臂5回撤到检物传感器1-1的范围之外，完成存货。
在存取装置将待存入物品存入之前，存取装置需从置物平台1先取出待存物品，取出待存物品一般按照置物平台1暂存道上暂存的物品的先进后出的原则来完成置物平台1上单个暂存道的取出待存物品的过程(不同的暂存道预先按照存放商品的高度分类，按照先高后矮规则进行取出待存货物)。置物平台上设有检物传感器1-1，每次存放时，物品会扫过该传感器1-1检测物品的前端位置，从而保证货叉进深深度的精度。
应当理解的是，存取装置的存取臂5沿着进深方向(Y方向)、横向方向(X方向)和竖直方向(Z方向)移动的先后顺序不作限定，可以为任意顺序。另外，无论是存货还是取货，本领域的技术人员可根据物品的具体信息选择吸取和夹取的方式共同对物品进行存取。根据订单的需求，能够调节存取装置的作业存取臂5的数量以实现一次性混合存取多件不同 物品，每个存取臂5的工作原理如前，在此不再赘述。
在一些优选的实施例中，存取机构上还设有多个位移传感器(图中未示出)。位移传感器用于在夹持片5-1夹持物品6的过程中实时监测物品与夹持片5-1之间的相对位移。每个存取臂5响应于位移传感器反馈的相对位移，沿横向方向(X方向)移动、以缩短其与相邻配合夹持物品的存取臂5之间的距离，从而实现自适应调节夹持力的目的。如当物品与夹持片5-1之间产生了相对位移，则表示夹持力不够，因此缩短两个存取臂5之间的距离以将物品夹得更紧，然后两个存取臂5将物品拖动或者推动至物品目标位置；当然，也可以通过调整夹取力矩来增加夹持力，然后两个存取臂5将物品拖动或者推动至物品目标位置。
根据本发明的改进，如图7结合图8所示，还提出一种物品存入方法，方法基于前述的存取机构，方法包括：
待存入物品6放置在置物平台1上。
响应于物品信息选择抓取物品6的存取臂5以及选择抓取物品6的方式。物品信息至少包括物品6的宽度、高度、软硬材质种类、源位置以及目标位置。抓取物品6的方式包括吸取和/或夹持。
被选择的存取臂5按照选择的抓取方式(吸取和/或夹持)从物品6的源位置(置物平台1上)抓取物品6。被选择的存取臂还可根据物品信息调节夹持力度和/或吸取力度。
移动设备响应于目标位置，带动被选择的存取臂5移动至目标位置(物品被存取臂推动至目标位置)，前述移动包括沿进深方向(Y方向)移动、作垂直升降(Z方向)移动和沿横向方向(X方向)移动中的一种或多种。
被选择的存取臂5受横向移动装置2的驱动单独沿横向方向(X方向)移动和/或关闭吸盘气路5-2b、以将抓取的物品6释放在物品6对应的目标位置(外界)。如图7(采用夹取方式)和图8(采用吸取方式)所示，存取臂5a是选择的抓取物品6的存取臂，存取臂5b是未被选择的存取臂。
更详尽的物品存入方法同前述的存取机构的工作原理，在此不再赘述。
根据本发明的改进，如图5结合图6所示，还提出一种物品取出方法，方法基于前述的存取机构，方法包括：
响应于物品信息选择抓取物品6的存取臂5以及选择抓取物品6的方式；物品信息至少包括物品6的宽度、高度、软硬材质种类、源位置以及放置在置物平台1上的目标位置；抓取物品6的方式包括吸取和/或夹持。如图5(采用夹取方式)和图6(采用吸取方式)所示，存取臂5a是选择的抓取物品6的存取臂，存取臂5b是未被选择的存取臂。
移动设备响应于源位置，带动被选择的存取臂5移动至源位置，前述移动包括沿进深方向(Y方向)移动、作垂直升降(Z方向)移动和沿横向方向(X方向)移动中的一种或多种。
被选择的存取臂5受横向移动装置2的驱动单独沿横向方向(X方向)移动和/或开启吸盘气路5-2b、以从源位置(外界)抓取(吸取和/或夹持)物品6。被选择的存取臂还可根据物品信息调节夹持力度和/或吸取力度。
移动设备响应于置物平台1上的目标位置，带动被选择的存取臂5移动至目标位置(物品被存取臂拖动至目标位置)；前述移动包括沿进深方向(Y方向)移动、作垂直升降(Z方向)移动和沿横向方向(X方向)移动中的一种或多种。
被选择的存取臂5受横向移动装置2的驱动单独沿横向方向(X方向)移动和/或关闭吸盘气路5-2b、以将抓取的物品6释放在物品6对应的目标位置(如图9所示的置物平台1上)。
更详尽的物品取出方法同前述的存取机构的工作原理，在此不再赘述。
根据本发明的改进，还提出一种存取装置，如图10所示，其包括至少两个存取臂7。每个存取臂7，可通过一水平伸缩机构7-3沿进深方向(Y方向)水平伸缩，包括一个用于夹持物品的夹持片7-1和多个用于吸取物品的吸盘7-2。夹持片7-1和吸盘7-2连接为一体。相邻两个存取臂7之间的距离可调节。每个存取臂7可单独作横向方向(X方向)移动、以调整相邻两个存取臂7之间的距离。每个吸盘7-2均可独立吸取物品。每个夹持片7-1，均可独立作横向方向(X方向)移动。存取物品的方式包括吸取和/或夹持。该存取装置能够通过调整相邻两个存取臂7之间的距离以实现根据物品不同的宽度夹持物品，也可以根据物品信息调整夹持力度、吸取力度以及吸取位置，在此不再赘述。
根据本发明的改进，还提出一种存取装置，如图11所示，其包括至少两个相互之间平行设置的夹持部8、以及位移监测装置8-2。每个夹持部，可通过一水平伸缩机构8-3沿进深方向(Y方向)水平伸缩，包括用于夹持物品的夹持片8-1。相邻两个夹持片8-1之间的距离可调节。位移监测装置8-2，用于在夹持片8-1夹持物品拖动的过程中实时监测物品与夹持片8-1之间的相对位移。每个夹持部8，还被设置成响应于位移监测装置8-2反馈的相对位移，作横向(X方向)移动、以缩短其与相邻配合工作的夹持部8之间的距离。每个夹持部8，均可独立作横向方向(X方向)移动。存取物品的方式包括吸取和/或夹持。该存取装置能够通过调整相邻两个夹持部8之间的距离以实现根据物品不同的宽度夹持物品；也可以根据相对位移，实现自适应调节夹持力的目的。如当物品与夹持片之间产生了相对位移， 则表示夹持力不够，因此缩短两个夹持片之间的距离以将物品夹得更紧，然后两个夹持部8将物品拖动或者推动至物品目标位置；当然，也可以通过调整夹取力矩来增加夹持力，然后两个夹持部8将物品拖动或者推动至物品目标位置，在此不再赘述。
根据本发明的改进，还提出一种存取设备，该存取设备为售货设备(附图未示出)、AGV小车(如图15所示)等任何需要存取物品的设备，该设备包括前述或者后述的存取机构11、12、16、或者包括前述或者后述的存取装置。
为便于阐述后述的适用于AGV小车的存取机构11、12，在此先简单阐述下AGV小车。如图15所示，AGV小车通常包括具有自动行驶系统的移动底盘13以及存取机构11、12。后述的存取机构11、12适于将物品存入至货架上、和/或将待取出的物品从货架上取出。前述的货架可以为存储物品的仓储货架15、也可以为超市售卖货架等任何其它形式的货架，当然，也可以为某些AGV小车上自身设置的暂存货架14，在此不做限定。
根据本发明的改进，还提出一种适用于AGV小车的存取机构11。如图12所示，存取机构11包括夹持部11-1、位移监测装置11-5以及控制装置(附图中未示出)。夹持部11-1，可通过一伸缩滑轨机构11-3相对于移动底盘水平伸缩(Y方向)，用于夹持物品。夹持部11-1包括相互之间平行设置的第一夹持片11-1a和第二夹持片11-1b。第一夹持片11-1a和第二夹持片11-1b之间的距离可调节。位移监测装置11-5，设置在夹持部11-1上，用于在夹持部11-1夹持物品6拖动的过程中实时监测物品6与夹持部11-1之间的相对位移并反馈至控制装置。控制装置，与位移监测装置11-5以及夹持部11-1分别电连接，被设置成响应于位移监测装置11-5反馈的相对位移、控制第一夹持片11-1a和/或第二夹持片11-1b移动以缩短第一夹持片11-1a和第二夹持片11-1b之间的距离。该存取机构11能够通过调整第一夹持片和第二夹持片之间的距离以实现根据物品不同的宽度夹持物品，也可以实现自适应调节夹持力的目的。如当物品与夹持部11-1之间产生了相对位移，则表示夹持力不够，因此缩短第一夹持片11-1a和第二夹持片11-1b之间之间的距离以将物品夹得更紧，然后第一夹持片11-1a和第二夹持片11-1b一起将物品拖动或者推动至物品目标位置；当然，也可以通过调整夹取力矩来增加夹持力，然后第一夹持片11-1a和第二夹持片11-1b一起将物品拖动或者推动至物品目标位置。
在某些实施例中，夹持部11-1设有一电机、一丝杠以及夹取导向部11-2。夹取导向部11-2的导向方向与夹持部11-1水平伸缩的方向垂直，起到导向作用。电机驱动丝杆沿夹取导向部11-2的导向方向移动同步驱动第一夹持片11-1a和第二夹持片11-1b，使得第一夹持片11-1a和第二夹持片11-1b同时往中间运动或同步分开，夹持中心在第一夹持片11-1a 和第二夹持片11-1b之间的中间位置，起到调节第一夹持片11-1a和第二夹持片11-1b之间的距离的目的，从而实现夹取不同宽度物品的目的以及实现自适应调节夹持力的目的。
在另一实施例中，夹持部11-1还设有两个电机、两丝杠以及夹取导向部11-2。夹取导向部11-2的导向方向与夹持部11-1水平伸缩的方向垂直，起到导向作用；第一夹持片11-1a和第二夹持片11-1b分别受其中一电机和一丝杆驱动沿夹取导向部11-2的导向方向(X方向)移动，第一夹持片11-1a和第二夹持片11-1b均单独控制，起到调节第一夹持片11-1a和第二夹持片11-1b之间的距离的目的，从而实现夹取不同宽度物品6的目的以及实现自适应调节夹持力的目的。这种方式更灵活，第一夹持片11-1a和第二夹持片11-1b均能单独调节，夹持中心不一定必须为第一夹持片11-1a和第二夹持片11-1b之间的中间位置。
根据本发明的改进，还提出一种适用于AGV小车的存取机构12，如图13和图14所示，该存取机构12设置在AGV小车的移动底盘13上，存取机构12包括夹持部12-1、电源装置12-5以及控制装置(附图中未示出)。夹持部12-1，可通过一伸缩滑轨机构12-3相对于移动底盘水平伸缩(Y方向)，用于夹持物品，其包括相互之间平行设置的第一夹持片12-1a和第二夹持片12-1b，第一夹持片12-1a和第二夹持片12-1b之间的距离可调节。第一夹持片12-1a和第二夹持片12-1b均为金属材质，第一夹持片12-1a内侧和第二夹持片12-1b内侧均设有绝缘材质制成的软胶内衬垫12-1c、12-1d；电源装置12-5，用于为两个夹持片12-1a、12-1b提供电压(在本实施例中，电压为36V以下的安全电压)。第一夹持片12-1a和第二夹持片12-1b在电源装置12-5提供电压的条件下形成一平行板电容传感器。控制装置，与夹持部12-1电连接，响应于前述电容传感器的电容变化、控制第一夹持片12-1a和/或第二夹持片12-1b移动(第一夹持片12-1a和/或第二夹持片12-1b在移动的过程中可以通过夹取导向装置12-2进行导向,导向方向为X方向)以缩短第一夹持片12-1a和第二夹持片12-1b之间的距离。如此，当夹持部12-1夹住物品准备拖动或者推动时，如果物品6与夹持部12-1之间发生相对位移，电容会发生变化，因此逐渐缩短第一夹持片12-1a和第二夹持片12-1b之间的距离以将物品6夹得更紧，直到电容不发生变化为止(将物品完全夹持)；然后第一夹持片12-1a和第二夹持片12-1b一起将物品拖动或者推动至物品目标位置；当然，也可以通过调整夹取力矩来增加夹持力，然后两个第一夹持片12-1a和第二夹持片12-1b将物品6拖动或者推动至物品6的目标位置，在此不再赘述。
在某些前述适用于AGV小车的存取机构的实施例中，如图12和图13所示，存取机构11、12还设有载货平台11-4、12-4，载货平台11-4、12-4用于承载待存、取的物品，提高物品在AGV小车移动过程中的稳定性，防坠落。
根据本发明的改进，还提出一种自动化存取系统。如图16至图21所示，该系统包括具有多个货道15-1的货架15、至少一个AGV小车以及控制单元(图中未示出)。每个货道15-1均具有唯一编号，控制单元设有一存储模块(图中未示出)，存储模块用于记录货道15-1编号、货道15-1编号对应的具体位置信息及两者之间的绑定关系，还用于记录货道15-1的库存信息。
控制单元，根据订单需求生成一个或者多个任务指令(一个任务指令可以为同种物品类型，也可以是多种物品类型，每次存、取任务的数量为1个或多个物品)，并将任务指令下发至AGV小车。任务指令包括物品的源位置信息和/或目标位置信息。源位置信息和/或目标位置信息均包括货道15-1编号、货道15-1编号对应的具体位置信息及两者之间的绑定关系。前述具体位置信息包括货架15在仓库平面上的位置信息、货道15-1相对货架15地面的高度和货道15-1本身的高度、货道15-1的坐标信息和货道15-1的宽度，AGV小车通过具体位置信息能精确定位到源位置和/或目标位置。
AGV小车，具有移动底盘13、升降部件(图中未示出)以及夹持部件16。升降部件，其底端与移动底盘13连接，顶端与夹持部件16连接，可带动夹持部件16作竖直升降(Z方向)移动。夹持部件16，可通过一导轨机构16-2(导向方向为Y方向)朝向货架15上的货道15-1伸缩，用于夹持物品。夹持部件16，包括夹持片16-1。夹持片16-1包括相互之间平行设置的第一夹持片16-1a和第二夹持片16-1b，第一夹持片16-1a和第二夹持片16-1b之间的距离可调节。夹持部件16还设有载货平台16-4，载货平台16-4用于承载待存、取的物品。AGV小车，响应于任务指令、自动行驶(AGV上设置有二维码、SLM导航系统)至物品的源位置和/或目标位置对应的货道15-1的前下方；升降部件升降带动夹持部件16到达货架货道15-1对应的高度；夹持部件16朝向货架15上的货道15-1延伸至物品的源位置和/或目标位置，并将物品从源位置取出、和/或将物品存入至目标位置。
在某些实施例中，如图16和图17所示，AGV小车还设有暂存货架14，暂存货架14用于暂存待存、取的物品。暂存货架14具有多层存储架，存储架还设有多个暂存货道14-1。
在一些优选的实施例中，如图18所示，货架15包括本体、多个层板15-12以及多个分隔挡板15-11。层板15-12，呈水平设置，层板15-12的高度可调节，可将本体内部分成上、下多层空间。分隔挡板15-11，用于将每层空间分隔成多个货道15-1，两个相邻分隔挡板15-11之间的距离可调节。分隔挡板15-11呈“工”字型结构。分隔挡板15-11的“工”字型结构与相邻的另一个分隔挡板15-11的“工”字型结构之间形成前述货道15-1。如此，采用“工”字型分隔挡板15-11构成的货道15-1能够存取不同宽度、高度的物品，通用性 强；并且“工”字型起到了对货道15-1内放置的物品的限位作用，防止物品左右倾斜。该货架15的成本较低，尺寸不限、使用场地亦不限，应用范围广泛(可用于超市、仓库、药房等)。
在另一优选的实施例中，如图19所示，货架15包括本体以及多个层板15-12。层板15-12，呈水平设置，层板15-12的高度可调节，可将本体内部分成上、下多层空间。控制单元，还被设置成将每层空间虚拟分隔成多个相等或不等宽度的货道15-1。例如：货架15上第一层分成5等份(即5个货道15-1)；每个货道15-1的宽度为60cm。为便于管理，控制单元为前述每个虚拟货道15-1分配唯一的编号并将货道15-1编号、货道15-1编号对应的具体位置信息及两者之间的绑定关系记录在存储模块中，以便在存取任务时、给货道15-1分配需要存储的物品或者将物品从货道15-1中取出。采用虚拟货道15-1，其货架较前述“工”字型构成的货道货架成本更低。
在一些优选的实施例中，如图20所示，存取系统还包括可放置在货道15-1、暂存货道14-1的载货装置17。载货装置17，其上可放置一个或者多个物品6，并且受夹持部件16的夹持可连同其上放置的一个或者多个物品一起存入货道15-1(或者暂存货架的货道14-1)内、和/或从货道15-1(或者暂存货架的货道14-1)内取出。如此，该设备可通过载货装置17一次性存、取一个或多个物品，提高了存取效率。
在某些实施例中，如图21所示，AGV小车还包括旋转部件16-3。旋转部件16-3，可带动整个夹持部件16相对于移动底盘13作旋转运动以便存取不同位置(方位)货架上的物品。如此，该AGV小车能够根据货架15待存、取物品的具体位置，调整夹持部件16的高度以及夹持部件16的方位以存、取不同高度、不同方位的物品。
前述存取系统的存、取的基本工作流程如下：
取出时：控制单元，根据订单需求生成任务指令，并将任务指令下发至AGV小车。
AGV小车，响应于任务指令、自动行驶至物品的源位置对应的货道15-1的前下方；升降装置升降(沿Z方向)带动夹持部件16到达货架15上货道15-1对应的高度；夹持部件16朝向货架货道15-1延伸(沿Y方向)至物品的源位置。
夹持部件16根据物品的宽度调整第一夹持片16-11a和第二夹持片16-11b之间的距离以将物品夹持，并拖动夹持的物品。
夹持部件16朝向远离货架15的方向收缩，并将物品从源位置取出至货道15-1外。
存入时：控制单元，根据订单需求生成任务指令，并将任务指令下发至AGV小车。AGV小车，响应于任务指令、自动行驶至物品的源位置。
夹持部件16根据物品的宽度调整第一夹持片16-11a和第二夹持片16-11b之间的距离以将物品夹持。
AGV小车自动行驶至物品的目标位置对应的货道15-1的前下方。升降装置升降(沿Z方向)带动夹持部件16到达货架货道15-1对应的高度。夹持部件16朝向货架货道15-1延伸(沿Y方向)至物品的目标位置，并将物品存入至目标位置。
如此，通过整个系统(AGV小车、货架以及控制单元)的配合，无需人工参与，能够真正意义上实现全流程自动化存、取，并能够利用载货装置一次性存、取多个不同宽度、尺寸的物品。
虽然本发明已以较佳实施例揭露如上，然其并非用以限定本发明。本发明所属技术领域中具有通常知识者，在不脱离本发明的精神和范围内，当可作各种的更动与润饰。因此，本发明的保护范围当视权利要求书所界定者为准。

Claims (24)

  1. 一种存取机构，其特征在于，包括移动设备以及存取装置，其中：
    存取装置，设置在移动设备上，其可受移动设备的驱动沿进深方向移动和作垂直升降移动，其包括至少两个存取臂；
    每个存取臂包括用于夹持物品的夹持片和用于吸取物品的吸盘；
    移动设备包括横向移动装置；
    每个所述存取臂与横向移动装置单独连接，每个所述存取臂可受横向移动装置的驱动单独沿横向方向移动、以调整相邻两个存取臂之间的距离。
  2. 根据权利要求1所述的存取机构，其特征在于，
    所述存取机构还包括置物平台，移动设备设置在置物平台上；
    移动设备还包括纵向移动装置和升降装置，
    所述纵向移动装置，设置在置物平台上；
    升降装置，设置在纵向移动装置的上方，可随着纵向移动装置沿进深方向移动；
    横向移动装置，设置在升降装置的上方，可随着升降装置作垂直升降移动；
    每个所述存取臂上还对应设有升降部；
    每个所述升降部能够驱动其对应的存取臂进行升降。
  3. 根据权利要求1所述的存取机构，其特征在于，
    所述存取机构还包括置物平台，移动设备设置在置物平台上；
    所述移动设备还包括纵向移动装置和升降装置，
    所述升降装置，设置在置物平台上；
    纵向移动装置，设置在升降装置的上方，可随着升降装置作垂直升降移动；
    横向移动装置，设置在纵向移动装置的上方，可随着纵向移动装置沿进深方向移动；
    所述每个存取臂上还对应设有升降部；
    每个所述升降部能够驱动其对应的存取臂进行升降。
  4. 根据权利要求2或者3所述的存取机构，其特征在于，
    所述升降部包括推动气缸、推动条以及支撑件，
    推动气缸安装在支撑件上；
    推动条，具有第一端和第二端，第一端与推动气缸的输出端铰接，第二端与存取臂铰接，其被设置成受推动气缸的气压驱动带动与其铰接的夹持片作垂直升降移动。
  5. 根据权利要求1所述的存取机构，其特征在于，
    所述存取机构还包括置物平台，移动设备设置在置物平台上；
    所述移动设备还包括纵向移动装置和升降装置，
    所述纵向移动装置设置在置物平台上；
    横向移动装置，设置在纵向移动装置的上方，可随着纵向移动装置沿进深方向移动；
    升降装置包括多个子升降装置；
    子升降装置的数量与存取臂的数量相同；
    存取臂，与子升降装置一一对应连接，可随着其对应的子升降装置作垂直升降移动；
    每个所述子升降装置与横向移动装置单独连接，每个所述子升降装置可受横向移动装置的驱动单独沿横向方向移动、以调整相邻两个存取臂之间的距离。
  6. 根据权利要求1或2或3或5所述的存取机构，其特征在于，
    所述横向移动装置包括同步带组件、离合器以及横向驱动部，
    同步带组件包括与横向驱动部连接的主动轮、从动轮以及套设在主动轮和从动轮之间的同步带；
    每个存取臂，对应设置一离合器，并通过其对应的离合器单独与所述同步带连接或者分离。
  7. 根据权利要求1或2或3或5所述的存取机构，其特征在于，所述吸盘的数量为多个，多个吸盘分布在各个存取臂上；
    吸盘的气路的数量为多条；
    多条所述吸盘气路可根据物品的尺寸、重量选择开启的气路数量和/或气路的气流量。
  8. 根据权利要求1所述的存取机构，其特征在于，所述存取机构上还设有位移传感器；
    位移传感器用于在夹持片夹持物品的过程中实时监测物品与夹持片之间的相对位移；
    每个所述存取臂，还被设置成响应于位移传感器反馈的相对位移，沿横向方向移动、以缩短其与相邻配合夹持物品的存取臂之间的距离。
  9. 一种物品存入方法，其特征在于，所述方法基于所述权利要求1-8任意一项所述的存取机构，所述方法包括：
    待存入物品放置在一置物平台上；
    响应于物品信息选择抓取物品的存取臂以及选择抓取物品的方式；所述物品信息至少包括物品的宽度、高度、软硬材质种类、源位置以及目标位置；所述抓取物品的方式包括吸取和/或夹持；
    被选择的存取臂按照选择的抓取方式从物品的源位置抓取物品；
    移动设备响应于目标位置，带动被选择的存取臂移动至目标位置，前述移动包括沿进深 方向移动、作垂直升降移动和沿横向方向移动中的一种或多种；
    被选择的存取臂受横向移动装置的驱动单独沿横向方向移动和/或关闭吸盘气路、以将抓取的物品释放在物品对应的目标位置。
  10. 根据权利要求9所述的物品存入方法，其特征在于，所述方法还包括：被选择的存取臂按照选择的抓取方式从物品的源位置抓取物品时，还可根据物品信息调节夹持力度和/或吸取力度。
  11. 根据权利要求9或10所述的物品存入方法，其特征在于，所述方法还包括：被选择的存取臂按照选择的抓取方式从物品的源位置抓取物品后，被选择的存取臂推动物品至目标位置。
  12. 一种物品取出方法，其特征在于，所述方法基于所述权利要求1-8任意一项所述的存取机构，所述方法包括：
    响应于物品信息选择抓取物品的存取臂以及选择抓取物品的方式；所述物品信息至少包括物品的宽度、高度、软硬材质种类、源位置以及目标位置；所述抓取物品的方式包括吸取和/或夹持；
    移动设备响应于物品源位置，带动被选择的存取臂移动至源位置，前述移动包括沿进深方向移动、作垂直升降移动和沿横向方向移动中的一种或多种；
    被选择的存取臂受横向移动装置的驱动单独沿横向方向移动和/或开启吸盘气路、以从物品的源位置抓取物品；
    移动设备响应于目标位置，带动被选择的存取臂移动至目标位置；
    被选择的存取臂受横向移动装置的驱动单独沿横向方向移动和/或关闭吸盘气路、以将抓取的物品释放在物品对应的目标位置。
  13. 根据权利要求12所述的物品取出方法，其特征在于，所述方法还包括：被选择的存取臂按照选择的抓取方式从物品的源位置抓取物品时，还可根据物品信息调节夹持力度和/或吸取力度。
  14. 根据权利要求12或13所述的物品取出方法，其特征在于，所述方法还包括：被选择的存取臂按照选择的抓取方式从物品的源位置抓取物品后，被选择的存取臂拖动物品至目标位置。
  15. 一种存取装置，其特征在于，其包括至少两个存取臂；
    每个存取臂，可水平伸缩，包括用于夹持物品的夹持片和用于吸取物品的吸盘；
    夹持片和吸盘连接为一体；
    相邻两个存取臂之间的距离可调节；
    每个所述存取臂可单独作横向方向移动、以调整相邻两个存取臂之间的距离。
  16. 一种存取装置，其特征在于，其包括至少两个相互之间平行设置的夹持部、以及位移监测装置；
    每个夹持部，可水平伸缩，包括用于夹持物品的夹持片；
    相邻两个夹持片之间的距离可调节；
    位移监测装置用于在夹持部夹持物品拖动的过程中实时监测物品与夹持部之间的相对位移；
    每个所述夹持部，还被设置成响应于位移监测装置反馈的相对位移，作横向移动、以缩短其与相邻配合工作的夹持部之间的距离。
  17. 一种存取设备，其特征在于，其包括权利要求1-8任意一项所述的存取机构、或者其包括权利要求15或16所述的存取装置。
  18. 一种适用于AGV小车的存取机构，设置在AGV小车的移动底盘上，其特征在于，包括夹持部、位移监测装置以及控制装置，其中：
    夹持部，可相对于移动底盘水平伸缩，用于夹持物品，其包括相互之间平行设置的第一夹持片和第二夹持片；
    第一夹持片与第二夹持片之间的距离可调节；
    位移监测装置用于在夹持部夹持物品拖动的过程中实时监测物品与夹持部之间的相对位移并反馈至控制装置；
    控制装置，与位移监测装置、夹持部分别电连接，被设置成响应于位移监测装置反馈的相对位移、控制第一夹持片和/或第二夹持片移动以缩短第一夹持片和第二夹持片之间的距离。
  19. 一种适用于AGV小车的存取机构，其特征在于，设置在AGV小车的移动底盘上，其特征在于，包括夹持部、电源装置以及控制装置，其中：
    夹持部，可相对于移动底盘水平伸缩，用于夹持物品，其包括相互之间平行设置的第一夹持片和第二夹持片；
    第一夹持片与第二夹持片之间的距离可调节；
    第一夹持片和第二夹持片均为金属材质，第一夹持片内侧和第二夹持片内侧均设有绝缘材质制成的内衬垫；
    电源装置，用于为两个夹持片提供电压；
    第一夹持片和第二夹持片在电源装置提供电压的条件下形成一电容传感器；
    控制装置，与夹持部、电容传感器电连接，被设置成响应于前述电容传感器的电容变化、控制第一夹持片和/或第二夹持片移动以缩短第一夹持片和第二夹持片之间的距离。
  20. 一种AGV小车，其特征在于，包括前述权利要求18或19所述的适用于AGV小车的存取机构。
  21. 一种自动化存取系统，其特征在于，包括：具有多个货道的货架、至少一个AGV小车以及控制单元，其中：
    控制单元，根据订单需求生成任务指令，并将任务指令下发至AGV小车；任务指令包括物品的源位置信息和/或目标位置信息；
    AGV小车，具有移动底盘、升降部件以及夹持部件；
    升降部件，可带动夹持部件作竖直升降移动；
    夹持部件，可朝向货架货道伸缩，用于夹持物品；
    夹持部件，包括相互之间平行设置的第一夹持片和第二夹持片，第一夹持片与第二夹持片之间的距离可调节；
    AGV小车，响应于任务指令、自动行驶至物品的源位置和/或目标位置对应的货道的前下方；升降部件升降带动夹持部件到达货架货道对应的高度；夹持部件朝向货架上的货道延伸至物品的源位置和/或目标位置，并将物品从源位置取出、和/或将物品存入至目标位置。
  22. 根据权利要求21所述的一种自动化存取系统，其特征在于，所述货道的宽度、高度均可调节。
  23. 根据权利要求21所述的一种自动化存取系统，其特征在于，所述控制单元，还被设置成将每层空间虚拟分隔成多个相等或不等宽度的所述货道。
  24. 根据权利要求21所述的一种自动化存取系统，其特征在于，所述存取系统还包括可放置在货道内的载货装置；
    载货装置，其上可放置一个或者多个物品，并且受夹持部的夹持可连同其上放置的一个或者多个物品一起存入货道内、和/或从货道内取出。
PCT/CN2020/075796 2019-02-21 2020-02-19 存取机构、装置、设备、系统及方法 WO2020169044A1 (zh)

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