WO2022089634A1 - 卸料方法、控制装置、卸料装置及仓储系统 - Google Patents

卸料方法、控制装置、卸料装置及仓储系统 Download PDF

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Publication number
WO2022089634A1
WO2022089634A1 PCT/CN2021/127885 CN2021127885W WO2022089634A1 WO 2022089634 A1 WO2022089634 A1 WO 2022089634A1 CN 2021127885 W CN2021127885 W CN 2021127885W WO 2022089634 A1 WO2022089634 A1 WO 2022089634A1
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WIPO (PCT)
Prior art keywords
goods
storage unit
unloading
unloading device
speed
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PCT/CN2021/127885
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English (en)
French (fr)
Inventor
陈叶广
孔哲
赖文哲
严智凯
Original Assignee
深圳市海柔创新科技有限公司
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Publication of WO2022089634A1 publication Critical patent/WO2022089634A1/zh

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    • 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
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses

Definitions

  • the present application relates to the technical field of intelligent storage, and in particular, to an unloading method, a control device, an unloading device and a storage system.
  • handling robots and unloading devices are the main equipment that can realize automated handling operations. Through handling robots and unloading devices, the heavy manual labor of humans can be reduced and the efficiency of handling operations can be improved.
  • a handling robot generally includes a base and a plurality of handling robot shelves arranged on the base, and goods can be placed on the handling robot shelves;
  • the unloading device includes a body and a plurality of storage units arranged on the body, and the storage units are used for storing slaves from handling Goods unloaded from robot shelves.
  • the handling robot is close to the unloading device, so that the shelves of the handling robot are in one-to-one correspondence with the storage units, and then the unloading device transports the goods on the shelves of the handling robot to the corresponding storage units.
  • the conveying speed may be high. After the goods are conveyed, the goods may be thrown from the unloader and detached. The additional repositioning of the cargo on the unloading device results in a lower unloading reliability.
  • the embodiments of the present application provide an unloading method, control device, unloading device and storage system, which can prevent goods from falling from the unloading device, and can improve the unloading efficiency and reliability of the unloading device.
  • a first aspect of the embodiments of the present application provides an unloading method, which is applied to an unloading device.
  • the unloading device includes a storage unit and a robotic arm that can move relative to the storage unit.
  • the storage unit is provided with a rotatable transmission member, and the transmission member There is a rolling surface in rolling contact with the goods, and the method includes: using a mechanical arm to transport the goods on the handling robot to the storage unit; detecting the moving speed of the goods in the storage unit; at least one of the speed of movement of the arm to prevent cargo entering the storage unit from leaving the storage unit.
  • a second aspect of an embodiment of the present application provides a control device, including: a processor; and a memory communicatively connected to the processor, the memory stores executable codes, and when the executable codes are executed by the processor, the processor is made to execute the above-mentioned method.
  • a third aspect of the embodiments of the present application provides an unloading device, which includes a body and a control assembly, the body is provided with a storage unit for placing goods, the storage unit has a rotatable transmission member, and the transmission member has a rolling surface that is in rolling contact with the goods , for driving goods into and out of the storage unit;
  • the control assembly includes a drive unit for driving the conveying member to rotate, a speed sensor for detecting the moving speed of the goods in the storage unit, and the above-mentioned control device.
  • the moving speed controls the rotational state of the conveyor to prevent the goods entering the storage unit from leaving the storage unit.
  • a fourth aspect of the embodiments of the present application provides an unloading device, which includes a main body, a mechanical arm and a control assembly.
  • the main body is provided with a storage unit for placing goods.
  • the mechanical arm can move relative to the storage unit to drive the goods to move.
  • the storage unit has a rotatable conveying member, the conveying member has a rolling surface in rolling contact with the goods, so as to drive the goods into and out of the storage unit;
  • the control assembly includes a controller, a first drive unit for driving the conveying member to rotate, and a speed sensor for detecting the moving speed of the goods in the storage unit, the first drive unit and the speed sensor are both electrically connected to the controller, and the controller is used for Control the rotational state of the conveyor according to the moving speed of the goods to prevent the goods entering the storage unit from leaving the storage unit
  • a fifth aspect of the embodiments of the present application provides a storage system, including a handling robot and the above-mentioned unloading device, the handling robot has a pallet, and the pallet and the storage unit of the unloading device are correspondingly arranged to perform unloading operations to the unloading device
  • a speed sensor is provided to detect the moving speed of the goods, and the controller controls at least one of the rotation state of the conveying member and the moving speed of the robotic arm according to the moving speed of the goods. It is driven by rotation, so when the controller changes the rotation state of the conveying piece, it can indirectly adjust the moving speed of the goods, and/or the controller directly controls the moving speed of the robotic arm, which can prevent the goods from moving too fast and being thrown from the storage unit and disengage, or avoid the delivery of the goods when the conveyor belt is not activated on the delivery side of the unloader. In this way, the goods will not fall, so the unloading efficiency and reliability are high.
  • FIG. 1 is a schematic diagram of the exploded structure of the unloading device provided in Embodiment 1 of the application;
  • FIG. 2 is a schematic structural diagram in a state in which the unloading device and the handling robot provided in the first embodiment of the present application cooperate;
  • FIG. 3 is a schematic structural diagram of another state in which the unloading device and the handling robot are matched according to the first embodiment of the application;
  • FIG. 4 is a schematic structural diagram of a body in the unloading device provided in Embodiment 1 of the application;
  • FIG. 5 is a schematic diagram of the lower structure of the body in the unloading device provided in the first embodiment of the application;
  • FIG. 6 is a schematic diagram of another angle of the lower structure of the body in the unloading device provided in the first embodiment of the application;
  • Fig. 7 is a partial enlarged view at A of Fig. 1;
  • FIG. 8 is a schematic three-dimensional structural diagram of a partial structure of the unloading device provided in Embodiment 1 of the application;
  • Fig. 9 is a partial enlarged view at B of Fig. 1;
  • Fig. 10 is a partial enlarged view at C of Fig. 1;
  • FIG. 11 is a schematic structural diagram of a storage unit of one layer in the unloading device of FIG. 1;
  • FIG. 12 is a schematic three-dimensional structure diagram of the unloading device provided in the first embodiment of the application.
  • Fig. 13 is a partial enlarged view at D of Fig. 12;
  • Fig. 14 is a partial enlarged view at E of Fig. 12;
  • FIG. 17 is a flowchart of a method for controlling a robotic arm in the unloading method provided in Embodiment 3 of the present application;
  • FIG. 20 is a structural diagram of a control device provided in Embodiment 4 of the present application.
  • 100-unloading device 200-handling robot; 201-shelf; 202-mobile chassis; 203-carrying device; 204-fixed bracket; 205-pallet; 300-control device; 301-processor; 302-memory;
  • the unloading device includes an unloading assembly, and the unloading assembly can reciprocate relative to the body of the unloading device, so as to pull the goods on the rack of the handling robot to the storage unit of the unloading device, when the unloading assembly is opposite to the unloading device, when the unloading assembly is opposite to the unloading device During the above-mentioned reciprocating movement of the main body, it may collide with structural components such as the main body of the unloading device, causing the body to shake, and the stability and safety of the unloading device will be affected.
  • the unloading assembly pulls the goods on the rack of the handling robot, it may happen that the operating end of the unloading assembly does not move to the goods, even if the unloading assembly reciprocates with the operating end, The goods cannot be moved, so that the unloading operation fails and the unloading efficiency of the unloading device is reduced.
  • the present application proposes an unloading device, an unloading method and a storage system, which can safely and reliably complete the unloading operation.
  • FIG. 1 is a schematic diagram of the exploded structure of the unloading device provided in the first embodiment of the application
  • FIG. 2 is a schematic structural diagram of the unloading device provided in the first embodiment of the application in a state in which the unloading device and a handling robot cooperate
  • FIG. 3 is the implementation of the application.
  • Example 1 provides a schematic structural diagram of another state in which the unloading device and the handling robot cooperate.
  • the unloading device 100 includes a main body 1 and a storage unit 2.
  • the storage unit 2 is installed on the main body 1, and the storage unit 2 is used for placing goods (not shown).
  • the storage unit 2 has a rotatable transmission member 21, and the transmission member 21 has a rolling surface in rolling contact with the goods, so as to drive the goods into and out of the storage unit 2.
  • the unloading device 100 may further include a carrier frame 3 that can move relative to the body 1 , and the carrier frame 3 has a mechanical arm 31 for driving the goods to move.
  • the manipulator 31 is provided with a movable push rod 32, the movable push rod 32 can move to different positions relative to the manipulator 31, and the movable push rod 32 can drive the goods to move when the movable push rod 32 is blocked on the in-out path J of the goods.
  • the movable push rod 32 can be moved to different positions relative to the mechanical arm, for example, the movable push rod can be set horizontally and blocked on the in-out path J of the goods; for example, the movable push rod can be set vertically without blocking On the entry and exit path J of the goods.
  • the movable push rod 32 can also be extended or shortened while rotating, so as to block the in-out path of the goods, or not block the in-out path J of the goods.
  • the handling robot 200 includes a rack 201 , a mobile chassis 202 , and a pickup device 203 .
  • the shelf 201 is installed on the mobile chassis 202.
  • the shelf 201 may include a fixed bracket 204 and a plurality of pallets 205.
  • the pallets 205 are arranged on the fixed bracket 204 at intervals in the vertical direction, and each pallet 205 is used for carrying place the goods.
  • the mobile chassis 202 may be used to enable the movement of the racks 201 on the floor of the storage area.
  • the cargo picking device 203 can be installed on the fixed bracket 204 and used to place the cargo on the pallet 205 or take out the cargo on the pallet 205 .
  • the handling robot 200 that can cooperate with the unloading device 100 of the present application includes, but is not limited to, the structure shown in FIG. 2 , and can also be other structures, but it is necessary to ensure that in the handling robot, each pallet 205 and the unloader
  • Each storage unit 2 of the loading device 100 is arranged in a one-to-one correspondence, and the height of the cargo carrying surface of the pallet 205 is approximately the same as the height of the cargo carrying surface of the storage unit 2, so that the robotic arm 31 can extend into the cargo on the pallet 205 Nearby, unload the cargo.
  • the handling robot 200 is close to the unloading device 100, so that the pallets 205 of the handling robot 200 and the storage unit 2 are in one-to-one correspondence.
  • the robotic arm 31 drives the movable push rod 32 to extend toward the goods until the movable push rod 32 is located in the pulling out of the goods.
  • the movable push rod 32 is blocked on the entry and exit path J of the goods relative to the robotic arm 31 , the robotic arm 31 moves in a direction away from the handling robot 200 , and the movable push rod 32 drives the goods to move to the storage unit 2 .
  • the conveying member 21 drives the goods to further enter the storage unit 2 until the goods enter the storage position in the storage unit 2 .
  • the unloading device 100 also includes a control assembly (not shown), the control assembly may include a controller, a sensor electrically connected to the controller, etc.
  • the sensors in this application may include a speed sensor 15, a position sensor 39, and a movable push rod position detection at least one of the devices 61 .
  • the control assembly may further include a first driving unit for driving the conveying member 21 to rotate; optionally, the control assembly may further include a first driving unit for driving the carrier 3 relative to The second drive unit 5 for the movement of the body 1 .
  • FIG. 4 is a schematic diagram of the structure of the body in the unloading device provided in the first embodiment of the application
  • FIG. 5 is a schematic diagram of the lower structure of the body in the unloading device provided in the first embodiment of the application
  • FIG. 6 is the first embodiment of the application. Schematic illustration from another angle of the substructure of the body in the unloading device.
  • the body 1 includes a column 12 and a support frame 16 , and the support frame 16 is located at the rear side of the body 1 along the direction of goods in and out; the bottom of the support frame 16 and the column 12 jointly support the unloading device 100 ,
  • the support frame 16 includes a support portion 160 extending along the ground.
  • the mechanism for supporting the unloading device 100 is increased. , so the support for the unloading device 100 is relatively stable. Further, since the support portion 160 extends along the ground, the contact area between the support portion 160 and the ground can be increased, so the support for the unloading device 100 is more stable, thereby improving the unloading reliability of the unloading device 100 .
  • the bottom of the support frame 16 and the column 12 jointly support the unloading device 100 , wherein the column 12 plays a main supporting role, and the support frame 16 plays an auxiliary supporting role.
  • the uprights 12 may include a plurality of uprights 12 , and the plurality of uprights 12 are arranged at intervals to support the unloading device 100 .
  • the number of the uprights 12 can be set as required.
  • both the front uprights 122 and the rear uprights 123 are two as an example to illustrate, and the case where the numbers of the front uprights 122 and the rear uprights 123 are other is similar, here No longer.
  • the upright post 12 may extend along a straight line as a whole like the rear upright post 123 , or, like the front upright post 122 , the upper and lower halves may not extend along a straight line.
  • the extension direction of the upright column 12 may be along the vertical direction, or may be disposed obliquely, which is not limited in this application.
  • the support portion 160 includes a first support portion 161 and a second support portion 162 that are connected to each other, the first support portion 161 and the second support portion 162 both extend along the ground, and the first support portion 161 and the second support portion 162 There is an angle between them. In this way, the first support portion 161 and the second support portion 162 can assist in supporting the upright column 12 at different angles, so that the support effect for the unloading device is better.
  • the support portion 160 when the support portion 160 is supported on the ground by the legs 164, the column 12 can also be supported on the ground by the legs 164. It should be noted that the support portion 160 needs to be matched with the legs and needs to be matched with the height of the column 12 after matching the legs, so that The storage unit provided on the main body 1 is arranged substantially horizontally.
  • the support feet 164 may be heavy duty cups with ears, which are fixed to the ground by, for example, expansion screws, or a buffer body or a fixed body relatively fixed to the ground.
  • the first support parts 161 are connected to the rear column 123 , the number of the second support parts 162 is even, and the second support parts 162 are symmetrically arranged on both sides of the first support part 161 . In this way, the support of the unloading device by the second support portion is more stable.
  • the body 1 includes a plurality of uprights 12 , for example, includes two front uprights 122 and two rear uprights 123 , and the two front uprights 122 and the two rear uprights 123 are spaced apart to form a
  • the opening of the avoidance groove 111 may face the transport robot 200, that is, the opening direction of the cargo inlet 23 described later is the same.
  • the second support portion 162 can be located in a plurality of uprights. Outside the area enclosed by 12. That is, the end of the first support portion 161 is positioned closer to the outside than the rear pillar, and the boundary between the first support portion 161 and the second support portion 162 is located outside the area enclosed by the two front pillars 122 and the two rear pillars 123 .
  • the sensing unit by setting the sensing unit, when the handling robot 200 reaches the preset unloading position, the goods on the handling robot are located at the position corresponding to the storage unit, the sensing unit sends a sensing signal to the controller, and the unloading device 100 determines The unloading operation will not be performed until the handling robot 100 is in place, so the unloading failure will not occur, and the unloading reliability is high.
  • FIG. 7 is a partial enlarged view of part A of FIG. 1 .
  • the bottom of the main body 1 has an escape groove 111 for accommodating the chassis of the transport robot.
  • the sensing unit may include a first sensing unit 112 disposed in the avoidance slot 111, and the first sensing unit 112 is used to send out a sensing signal when the moving chassis 202 of the handling robot 200 is accommodated in the avoidance slot.
  • the number of the first sensing unit 112 is at least one.
  • the first sensing unit 112 is located at a position opposite to the moving chassis 202 of the handling robot.
  • the start switch 113 includes a switch body 1131 and a detection rocker arm 1132 , the first end of the detection rocker arm and the switch body 1131 are rotatably connected, and the second end of the detection rocker arm 1132 extends into the escape groove 111 to For touching the handling robot, the switch body 1131 can send out an induction signal when detecting the rotation of the rocker arm 1132 .
  • the sensing unit may further include a second sensing unit, and the second sensing unit is located above the avoidance groove 111 , and is used for sending a sensing signal when the pallet 205 of the handling robot is opposite to the body 1 . Since the second sensing unit and the first sensing unit 112 are located at different heights of the unloading device, it can be correspondingly detected whether the structures at different heights of the handling robot are reliably aligned and matched with the unloading device. Avoid a situation where the chassis of the handling robot is in a normal position, but the pallet 205 is not moved in place. This can ensure reliable cooperation between the pallet 205 of the handling robot and the unloading device.
  • the start switch 113 is provided.
  • the ON state of the start switch 113 is indicated by a dotted line.
  • the delivery port of the pallet 205 of the handling robot 200 can be opposed to the cargo inlet 23 of the storage unit 2, and the movable push rod 32 of the robotic arm 31 can be moved to be located behind the goods, the handling robot 200 and the unloader
  • the relative position of the unloading device 100 is defined as the unloading position of the unloading device 100 .
  • the mobile chassis 202 of the handling robot 200 enters the avoidance slot 111, but when the handling robot 200 has not reached the preset unloading position, the mobile chassis 202 is not in contact with the start switch 113, and the start switch 113 is in a closed state, and the unloading and handling robot 200 does not perform unloading operations.
  • the handling robot 200 reaches the preset unloading position, the mobile chassis 202 contacts the start switch 113 and triggers the start switch 113 to act.
  • the start switch 113 is turned on, and the unloading handling robot 200 performs the unloading operation.
  • the number of the uprights 12 is 4 as an example for description, but the present application is not limited to this, and the number of the uprights 12 may also be 6, 8 or other numbers.
  • FIG. 1 four uprights 12 are arranged side by side, and when viewed from above, the four uprights 12 are approximately located at the four vertices of the rectangle.
  • the storage unit 2 may be located between the four uprights 12 and arranged on the four uprights 12 .
  • FIG. 8 is a schematic three-dimensional structural diagram of a partial structure of the unloading device provided in the first embodiment of the present application.
  • a top frame 121 is also connected to the top of the uprights 12 , and the top frame 121 is connected between the four uprights 12 , which can improve the connection strength of the body 1 and prevent the uprights 12 from shaking.
  • the body 1 further includes an end connector 13, which is connected between the two upright columns 12 arranged in the direction of goods in and out.
  • the two opposite ends of the storage unit 2 The ends can be connected between two oppositely disposed end connectors 13 .
  • a guide member 131 may be connected to the end connecting member 13, the guide member 131 is located on the inward side of the end connecting member 13, and the guide member 131 extends along the in-out direction of the goods.
  • the guide 131 has a guide surface 1311 facing the goods to guide the goods when they enter and exit the storage unit 2 . With the storage unit 2 fixed between the end connectors 13 , the guide 131 is located above the storage unit 2 .
  • the end of the guide surface 1311 along the in-out direction of the goods is further provided with an inclined area 1312 and an inclined area 1313 , wherein the inclined area 1312 is disposed near the goods inlet 23 , and the inclined area 1313 is disposed near the goods outlet 24 .
  • the inclined regions 1312 on the two guide surfaces 1311 are arranged opposite to each other, and the distance gradually decreases from the cargo inlet 23 toward the cargo outlet 24 .
  • the inclined regions 1313 on the two guide surfaces 1311 are disposed opposite to each other, and the distance gradually decreases from the cargo outlet 24 toward the cargo inlet 23, so as to cooperate with other mechanisms other than the unloading device.
  • the storage unit 2 for placing goods is arranged on the main body 1 , and is specifically arranged between the columns 12 .
  • the storage units 2 are arranged in the vertical direction, for example, the storage units 2 are arranged at intervals on the vertical columns 12 in the height direction, so that the goods can be stored in different positions in the height direction.
  • the storage units 2 of each layer are spaced apart in the height direction and arranged in layers, goods can be loaded on each layer of storage units 2, and the storage unit 2 of each layer and the adjacent storage unit 2 of the next layer can be loaded with goods.
  • a placing space 22 for placing goods is formed therebetween.
  • the storage unit 2 has a cargo inlet 23 and a cargo outlet 24 arranged oppositely on the in-out path of the cargo.
  • the setting heights of the storage units 2 on each layer correspond to the setting heights of the pallets 205 on the handling robot 200 one-to-one, so that the goods on the pallets 205 can enter the storage units 2 smoothly.
  • the arrangement of the storage units 2 in the application is not limited to this, and a plurality of storage units 2 may also be provided in the width direction of the main body 1 .
  • the storage unit 2 has a rotatable transmission member 21
  • the transmission member 21 has a rolling surface in rolling contact with the goods, so as to drive the goods into and out of the storage unit 2 .
  • the conveying member 21 may be a rotating roller.
  • the roller surface of the rotating roller can rotate and form a above the rolling surface.
  • the rotating shafts of the plurality of rotating rollers are arranged in parallel with each other.
  • the plurality of rotating rollers may include linked driving rollers and driven rollers, the driving rollers are rotated under the driving of a driving device, such as the above-mentioned first driving device, and each driven roller also rotates accordingly, so that the conveying member 21 rotates. .
  • the conveying member 21 may be a plurality of V-ribbed belt drums 211 arranged side by side, and the plurality of V-ribbed belt drums 211 are rotatably connected between the two opposite end connecting members 13 between.
  • a plurality of V-ribbed belt rollers 211 are provided with a V-ribbed belt groove 212 at a position close to one end, and the same V-ribbed belt is sleeved at the position of the V-ribbed belt groove 212 on every two adjacent V-ribbed belt rollers 211.
  • Two V-ribbed belts are sleeved on each of the V-ribbed belt drums 211 , so that the plurality of V-ribbed belt grooves 212 are linked together.
  • At least one of the V-ribbed belt rollers 211 is a driving roller, and is rotated under the driving of a driving device, such as the above-mentioned first driving device, so that the multi-ribbed belt roller 211 as the driving roller passes through the multi-ribbed belt. All the driven rollers are driven to rotate together to realize the rotation of the conveying member 21 .
  • FIG. 9 is a partial enlarged view of B in FIG. 1
  • FIG. 10 is a partial enlarged view of C in FIG. 1 .
  • the unloading device 100 further includes a loading and unloading position detection sensor 25 , the loading and unloading position sensor 25 is located at the cargo inlet 23 , and the loading and unloading position detection sensor 25 is used to detect whether the cargo extends to the outside of the storage unit 2.
  • the loading and unloading position sensor 25 may be a photoelectric sensor.
  • the storage unit 2 includes a first storage unit 27 located at the top of the unloading device 100 and a second storage unit 28 located at the bottom of the unloading device 100.
  • the first storage unit A loading and unloading position sensor 25 is arranged on the 27
  • a loading and unloading position sensor 26 is arranged on the second storage unit 28 .
  • the loading and unloading position sensor 25 is arranged on the top frame 121, the loading and unloading position sensor 26 is arranged on the top of the support 11, and the loading and unloading position sensor 25 and the loading and unloading position sensor 26 are oppositely arranged,
  • loading and unloading sensors are provided above the first storage unit 27 with the highest height and below the second storage unit 28 with the lowest height, so that when the goods in the storage unit 2 at any position protrude from the storage unit 2, it can be detected. That is, if one of the multiple storage units 2 performs the unloading operation, it can be detected by the loading and unloading sensor.
  • the unloading device 100 can detect whether there is a passing of goods through the loading and unloading sensor, so as to perform corresponding operations.
  • the loading and unloading sensor detects that there are goods passing through, it means that the unloading operation is in normal operation, and the conveying member 21 can rotate normally to drive the goods into and out of the storage unit 2 .
  • FIG. 11 is a schematic structural diagram of a storage unit on one layer of the unloading device of FIG. 1 .
  • the control assembly includes a controller, and further includes a first driving unit for driving the conveying member 21 to rotate and a speed sensor 15 for detecting the moving speed of the goods in the storage unit 2 , the first driving unit and the speed sensor 15 are both electrically connected to the controller, and the controller is used to control at least one of the rotation state of the conveying member 21 and the moving speed of the mechanical arm 31 according to the moving speed of the goods, so as to prevent the storage unit 2 from entering the storage unit 2.
  • the goods are released from the storage unit 2 .
  • the controller controls at least one of the rotating state of the conveying member 21 and the moving speed of the mechanical arm 31 according to the moving speed of the goods.
  • the moving part of the robot is driven by the rotation of the conveying member 21, so when the controller changes the rotation state of the conveying member 21, it can indirectly adjust the moving speed of the goods, and/or the controller directly controls the moving speed of the mechanical arm 31, which can prevent The goods move too fast and are thrown out of the storage unit 2 and detached, or the goods are sent out when the conveyor belt is not activated on the delivery side of the unloading device. In this way, the goods will not fall, so the reliability of unloading is high.
  • the speed sensor 15 may be disposed near at least one of the cargo inlet 23 and the cargo outlet 24 . In this way, the moving speed of the goods at at least one of the goods inlet 23 and the goods outlet 24 of the storage unit 2 is detected. Further, the speed sensor 15 may be a photoelectric sensor.
  • the present embodiment is described by taking the speed sensor 15 provided on both the cargo outlet 24 and the cargo inlet 23 as an example for description.
  • the solution for setting the speed sensor 15 at the position is similar to this, and will not be repeated here.
  • the speed sensor 15 includes a first speed sensor 151 located at the cargo inlet 23 and a second speed sensor 152 located at the cargo outlet 24 .
  • the controller is configured to control at least one of the rotating state of the conveying member 21 and the moving speed of the mechanical arm 31, so that the moving speed of the goods detected by the second speed sensor 152 is less than a preset speed threshold, wherein, The preset speed threshold is a critical speed at which the goods will not leave the storage unit 2 .
  • the controller is used to control at least one of the rotation state of the conveying member 21 and the moving speed of the robot arm 31 so that the moving speed of the goods detected by the second speed sensor 152 is zero. In this way, when the cargo reaches the vicinity of the cargo outlet 24, its velocity is zero and will not fall out of the cargo outlet 24.
  • first speed sensors 151 located at the cargo inlet 23 , and the two first speed sensors 151 are located opposite to each other.
  • two first speed sensors 151 may be located at the end connector 13 near the cargo inlet 23 .
  • second speed sensors 152 located at the cargo outlet 24, and the two second speed sensors 152 are located opposite to each other.
  • two second speed sensors 152 may be located at the end connector 13 near the cargo outlet 24 .
  • the paired arrangement of the speed sensors 15 can make the speed measurement of the goods more accurate.
  • FIG. 12 is a schematic three-dimensional structural diagram of the unloading device provided in the first embodiment of the application.
  • the carrier 3 can move relative to the main body 1 along the in-out direction of the goods.
  • the moving direction of the carrier 3 relative to the main body 1 is parallel to the in-out direction of the goods. so that the robot arm 31 pushes the goods in and out of the storage unit 2
  • the carrying frame 3 may include two supporting frame bodies 33 respectively disposed on both sides of the main body 1 and a connecting beam 34 connected between the two supporting frame bodies 33.
  • the robotic arm 31 is mounted on the support frame 33 and is located at a position corresponding to the top of the pallet 205 on the transport robot 200 , in other words, the robotic arm 31 is set corresponding to the storage unit 2 .
  • Two ends of the connecting beam 34 are respectively connected with the two supporting frame bodies 33 .
  • the robotic arm 31 and the connecting beam 34 are located inside the main body 1 , and the support frame 33 is located outside the main body 1 .
  • the robotic arm 31 is driven to extend toward the goods. out.
  • one storage unit 2 corresponds to two robotic arms 31 , and the two robotic arms 31 are located symmetrically on both sides of the storage unit 2 for illustration.
  • the present application is not limited to this, and the robotic arms 31 may also be located at other positions.
  • FIG. 14 is a partial enlarged view of the position E of FIG. 12 .
  • a movable member is provided on the robot arm 31 , and the movable member can move to different positions relative to the robot arm 31 , and the movable member is blocked at When the goods are in and out of the path, the movable parts can be used to drive the goods to move and enter and exit the storage unit 2 .
  • the movable part is not blocked on the in-out path of the goods, that is, the movable part is located outside the in-out path of the goods, at this time, the movement of the robot arm 31 will not interfere with the goods.
  • the movable member can be moved to different positions relative to the mechanical arm 31, for example, the movable member can be arranged horizontally and blocked on the in-out path J of the goods; for example, the movable member can be arranged vertically, not blocked from the goods on the in and out path J.
  • the movable member can also be extended or shortened while rotating, so as to block the in-out path of the goods, or not block the in-out path J of the goods.
  • the movable member is rotatably disposed at the end of the mechanical arm 31, and the rotation axis of the movable member and the moving direction of the carrier 3 are parallel to each other.
  • the movable member is a movable push rod 32
  • the first end of the movable push rod 32 is rotatably connected to the mechanical arm 31
  • the second end of the movable push rod 32 is a free end
  • the rod body of the movable push rod 32 is used for Push goods in and out of storage unit 2.
  • the number of movable push rods 32 is even, and they are respectively arranged on both sides of the storage unit 2 . This applies force to the cargo evenly.
  • FIG. 15 is an exploded view of the partial structure of the connection between the carrier and the slide rail in the unloading device provided in the first embodiment of the application.
  • a slider can be provided on the main body 1. rail 35 to achieve.
  • the body 1 includes a slide rail 35 , the extending direction of the slide rail 35 is parallel to the in-out direction of the goods, and the carrier 3 is disposed on the slide rail 35 and can move relative to the body 1 along the slide rail 35 .
  • the body 1 further includes a sliding block 36 matched with the sliding rail 35 , and the sliding block 36 can slide back and forth in the sliding rail 35 .
  • the bottom end of the support frame body 33 is provided with a connecting plate 331 , and the connecting plate 331 is connected to the side of the slider 36 away from the slide rail 35 , so that the movement of the slider 36 along the slide rail 35 can drive the support frame body 33 , that is, transport Shelf 3 moves.
  • the slider 36 can move linearly along the slide rail 35 by being driven by the second driving unit 5 (refer to FIG. 13 ).
  • the second drive unit 5 may include, for example, a motor, a reducer, a drive shaft, a sprocket, a chain, and the like.
  • the output shaft of the motor is connected to the drive shaft through the reducer, the sprocket is connected to the drive shaft, the chain is tensioned on the sprocket, and the slider 36 is connected to the chain.
  • the motor drives the drive shaft to rotate through the reducer, and the drive shaft drives the sprockets to rotate, so that the chain tensioned between the sprockets moves linearly back and forth, and drives the slider 36 to move on the slide rail 35 .
  • the top end of the carrier 3 and the main body 1 can be slidably connected.
  • the connecting beam 34 at the top of the carrier 3 is provided with a roller 37 extending upward, and the wheel surface of the roller 37 can be rolled and matched with the inner side surface of the top frame 121 .
  • the control assembly of the present application is further provided with a position sensor 39, and the position sensor 39 is electrically connected to the controller. connect.
  • the position sensor 39 is used to detect the position of the carrier 3 relative to the main body 1
  • the controller is used to control the moving state of the carrier 3 relative to the main body 1 according to the position detected by the position sensor 39 .
  • the controller can adjust the moving state of the carrier 3 in time according to the information of the position sensor 39 to avoid the occurrence of a collision event, thereby making the unloading device 100 more stable and safe.
  • the position sensor 39 is located on the main body 1 , and the controller is used to control the carrier 3 to stop moving when the carrier 3 moves to a position corresponding to the position sensor 39 .
  • the carrier 3 stops moving, that is, the speed of the carrier 3 relative to the main body 1 is zero, which can better avoid the carrier 3 and the main body 1. Collision. And prevent the support frame body 33 in the carrier frame 3 from moving out of the main body 1 .
  • the carrier 3 in order to cooperate with the position sensor 39 , the carrier 3 is further provided with a detection member 38 , and the detection member 38 protrudes toward the front side of the moving direction of the carrier 3 .
  • the controller is used to control the carrier 3 to stop moving when the carrier 3 moves to the position where the detection member 38 is opposite to the position sensor 39 .
  • the detection member 38 may be disposed on the connecting plate 331 at the bottom end of the support frame body 33 and relatively fixed to the slider 36 .
  • the position sensor 39 is a photoelectric sensor
  • the detection member 38 includes a light blocking member that can be provided in front of the position sensor 39 .
  • the position sensor 39 is arranged on the two adjacent uprights 12 . .
  • the position sensor 39 is located on the side of the two adjacent uprights 12 .
  • the detector 38 has a detection portion 381 , and the detection portion 381 is positioned laterally outside the column 12 and faces the position of the position sensor 39 when the carrier 3 moves to a position corresponding to the position sensor 39 .
  • the detection portion 381 forms a light blocking member.
  • the detecting member 38 further includes a connecting portion 382 , the connecting portion 382 is installed on the side of the carrier 3 and protrudes to the outside of the carrier 3 , and the side of the connecting portion 382 that is away from the carrier 3 is connected to the detecting portion 381 . .
  • the detection part 381 is fixed to the bottom of the carrier through the connection part 382 .
  • the connecting portion 382 is fixed on the connecting plate 331 at the bottom of the support frame body 33 .
  • the position sensor 39 may include a first position sensor 391 and a second position sensor 392 , which are respectively disposed at opposite ends of the carrier 3 in the moving direction.
  • the controller is used to control the carriage 3 to stop moving when the carriage 3 moves to a position corresponding to any one of the first position sensor 391 and the second position sensor 392 .
  • the column 12 on the left side of the figure is the column 12 close to the cargo inlet 23, and a first position sensor 391 is provided on the column 12 on the left side of the figure.
  • the upright post 12 is the upright post 12 adjacent to the cargo outlet 24 , and a second position sensor 392 is provided on the right upright post 12 .
  • the detection member 38 also includes a first detection member 383 and a second detection member 384 .
  • the supporting frame body 33 moves toward the left cargo inlet 23, it drives the mechanical arm 31 to extend toward the cargo, and drives the first detection member 383 to move in a direction close to the first position sensor 391.
  • the detection part 381 is located at the side of the first position sensor 391, it is considered that the carrier 3 has reached the limit position, and if it continues to move to the left, there is a risk of colliding with the left column 12.
  • the controller controls the carrier 3 to stop moving.
  • the supporting frame body 33 moves toward the left cargo outlet 24, it drives the mechanical arm 31 to extend away from the transport robot 200, and drives the second detection member 384 to move in a direction close to the second position sensor 392.
  • the detection part 381 on the detection part 384 is located on the side of the second position sensor 392, it is considered that the carrier 3 has reached the limit position, and if it continues to move to the right, there is a risk of collision with the right column 12.
  • the controller controls the carrier 3 Stop moving.
  • the position sensor 39 is a contact switch, and the detection member 38 can be in contact with the position sensor 39 . That is, when the detection member 38 and the position sensor 39 are located at the corresponding positions, the detection portion 381 can be in contact with the position sensor 39 .
  • At least one mechanical arm 31 is provided with a detection component 6 , and the detection component 6 is used to detect the position of the movable member relative to the mechanical arm 31 .
  • the detection component 6 By setting the detection component 6, the moving state of the movable part relative to the manipulator can be monitored. If it is detected that the movable part is blocked on the entry and exit path of the goods, the control operation can be performed as required.
  • the controller can The moving state of the carrier 3 is controlled relative to the position of the robot arm 31 .
  • the controller can send a control command to the movable piece, so that the movable piece changes from being blocked on the in-out path of the goods to blocked on the in-out path of the goods, or stops the unloading operation of the unloading device 100, etc., to effectively avoid The unloading operation fails, and the unloading efficiency of the unloading device 100 is improved.
  • the detection assembly 6 includes a movable push rod position detector 61.
  • the movable push rod position detector 61 is provided at the end of the mechanical arm 31.
  • the movable push rod position detector 61 and the movable push rod 32 may be arranged in a one-to-one correspondence.
  • the movable push rod position detector 61 can be, for example, a photoelectric sensor or a contact switch.
  • the movable push rod position detector 61 corresponds to the position of the movable push rod 32 when the movable push rod 32 is not blocked on the incoming and outgoing path of the goods. In other words, when the movable push rod 32 is in a position where the unloading operation cannot be performed, it can be detected by the movable push rod position detector 61 .
  • the arrangement of the movable push rod position detector 61 will be described with reference to FIG. 14 .
  • the end of the mechanical arm 31 on the left side of the drawing and the end of the mechanical arm 31 on the right side of the drawing are provided with a movable push rod position detector 61 , and the movable push rod 32 on the left side is provided.
  • the movable push rod position detector 61 on the left side will send the detected position information to the controller; the movable push rod 32 located on the right side is blocked on the goods On the entry and exit path of the goods, the position detector 61 of the movable push rod on the right side will not send information to the controller, or send the position information of the movable push rod 32 on the right side blocked on the entry and exit path of the goods to the controller.
  • the movable push rod 32 mentioned in this application is blocked on the in-out path of the goods, which means that the movable push rod 32 is in a horizontal state; and the movable push rod 32 is not blocked on the in-out path of the goods, It means that the movable push rod 32 is in a vertical state, and the cargo cannot be unloaded.
  • the movable push rod 32 when the movable push rod 32 is in the unblocked position where the unloading operation cannot be performed, it can be detected by the movable push rod position detector 61 and sent to the controller, and the controller can adjust the operation according to needs.
  • the moving state of the carrier 3 is controlled.
  • the controller When the movable push rod 32 is in the blocking position, for example, when the movable push rod 32 is horizontal, or is located between the unblocked and blocked positions, it is considered that the movable push rod 32 can still perform the unloading operation. Therefore, the controller will not The moving state of the carrier 3 is adjusted.
  • the robotic arm 31 may include a first robotic arm arranged at the top of the carrier 3 and a second robotic arm arranged at the bottom of the carrier 3 .
  • the multiple robotic arms at least on the first robotic arm and the second robotic arm.
  • a detection assembly 6 is provided.
  • This embodiment provides a storage system, including the handling robot 200 and the unloading device 100 of the first embodiment.
  • the handling robot 200 has a pallet 205 , and the pallet 205 and the storage unit 2 of the unloading device 100 are provided correspondingly , to perform the unloading operation to the unloading device 100 .
  • the pallet 205 and the storage unit 2 of the unloading device 100 are arranged correspondingly.
  • the height of the pallet 205 is approximately the same as the height of the bottom of the storage unit 2, and the setting positions are corresponding and opposite.
  • handling robot 200 of the present application is not limited to the handling robot 200 described in the first embodiment, as long as it has a pallet 205 for loading goods, and the pallet 205 is provided correspondingly with the storage unit 2 of the unloader 100 That's it.
  • This embodiment provides an unloading method, which is applied to the unloading device 100 of the first embodiment, and the unloading method can also be applied to the unloading device 100 provided in the second embodiment.
  • FIG. 16 is a flow chart of the first unloading method provided in Embodiment 3 of the present application.
  • the unloading method includes:
  • transporting the goods on the handling robot 200 to the storage unit 2 of the unloading device 100 refers to the entire process in which the robotic arm 31 and the movable push rod 32 drive the goods to move to the storage unit 2 .
  • the handling robot 200 approaches the unloading device 100 and reaches a preset unloading position.
  • the support frame 33 of the carrier 3 drives the mechanical arm 31 and the movable push rod 32 to move toward the transport robot 200.
  • the movable push rod 32 rotates from the unblocked position to the blocked position, and moves toward the transporting robot 200. Moving away from the direction of the handling robot 200 , at this time, the goods move toward the storage unit 2 of the unloading device 100 under the pulling force of the movable push rod 32 .
  • the moving speed of the goods at at least one position on the goods in-out path of the storage unit 2 can be detected.
  • detecting the movement speed of the goods at at least one position on the goods in-out path of the storage unit 2 specifically includes: detecting the movement speeds of the goods in at least two different positions on the goods in-out path. Since the speed of the goods generally changes during transportation, measuring the movement speed of at least two different positions can detect the movement of the goods more accurately.
  • the detection of the moving speed of the goods at at least two different positions on the inbound and outbound path of the goods specifically includes:
  • the speed sensor 15 is provided at the position corresponding to the storage unit 2 on the body 1 , for example, two first speed sensors 151 are provided at the cargo inlet 23 , and the two first speed sensors 151 are located opposite to each other. And two second speed sensors 152 are provided at the cargo outlet 24, and the two second speed sensors 152 are located at positions opposite to each other. In this way, during the movement of the goods toward the storage unit 2, the two first speed sensors 151 can measure the speed of the goods at the goods inlet 23, and the two second speed sensors 152 can measure the speed of the goods at the goods outlet 24. .
  • the controller controls at least one of the rotating state of the conveying member 21 and the moving speed of the mechanical arm 31 according to the moving speed of the goods, Since the moving part of the goods is driven by the rotation of the conveying member 21, when the controller changes the rotation state of the conveying member 21, the moving speed of the goods can be adjusted indirectly, and/or the controller directly controls the moving speed of the mechanical arm 31, which can The goods are prevented from moving too fast and being detached from the storage unit 2 . There is no need to additionally place the dropped goods on the unloading device 100, so the unloading efficiency is high.
  • controlling at least one of the rotational state of the conveying member 21 and the moving state of the mechanical arm 31 in the storage unit 2 according to the moving speed specifically includes:
  • the rotational speed of the conveying member 21 is reduced. It can be understood that when the moving speed of the goods is too fast, there is a risk of falling from the storage unit 2. At this time, reducing the rotation speed of the conveyor belt can reduce the moving speed of the goods and prevent the goods from falling.
  • the rotation speed of the conveying member 21 is increased. It can be understood that when the moving speed of the goods is lower than the preset delivery speed, it may stop moving before reaching the storage position of the storage unit 2. At this time, the rear end of the goods when moving is located outside the storage unit 2. The risk of falling in the storage unit 2, at this time, increasing the rotation speed of the conveyor belt can increase the moving speed of the goods, so that the goods can accurately reach the predetermined storage position.
  • the rotation speed of the conveying member 21 When the moving speed of the goods is greater than the preset delivery speed, the rotation speed of the conveying member 21 is reduced to reduce the moving speed of the goods, and when the moving speed of the goods is less than the preset delivery speed, the rotation speed of the conveying member 21 is increased, In order to increase the moving speed of the goods, the moving speed of the goods can be controlled near the preset delivery speed to ensure that the goods can reach the predetermined storage position, and the front and rear ends of the goods will not exceed the storage unit 2, thus greatly reducing the risk of falling cargo.
  • the conveying member 21 includes a plurality of rotating rollers arranged side by side, and the rotating shafts of the multiple rotating rollers are arranged in parallel with each other; and the multiple rotating rollers include an interlocking driving roller and a driven roller.
  • Controlling at least one of the rotating state of the conveying member 21 and the moving state of the robotic arm in the storage unit 2 according to the moving speed specifically includes: controlling the rotating state of the driving roller according to the moving speed. Since the driving roller and the driven roller are linked, the rotation state of the driving roller can be controlled to change the rotation state of the driven roller, and the rotation state of the entire conveying member 21 remains the same.
  • controlling at least one of the rotational state of the conveying member 21 in the storage unit 2 and the moving speed of the robotic arm 31 according to the moving speed specifically includes:
  • the moving speed of the robotic arm in the direction of ingress and egress of the goods may be increased. It can be understood that when the moving speed of the goods is lower than the preset delivery speed, it may stop moving before reaching the storage position of the storage unit 2. At this time, the rear end of the goods when moving is located outside the storage unit 2. The risk of falling in the storage unit 2, at this time, increasing the moving speed of the manipulator in the direction of the goods entering and leaving can increase the moving speed of the goods, so that the goods can accurately reach the predetermined storage position.
  • the moving speed of the goods When the moving speed of the goods is greater than the preset delivery speed, reduce the moving speed of the robotic arm along the in-out direction of the goods to reduce the moving speed of the goods.
  • the moving speed of the in and out direction can increase the moving speed of the goods, so that the moving speed of the goods can be controlled near the preset delivery speed to ensure that the goods can reach the predetermined storage position, and the front and rear ends of the goods will not exceed the storage. unit 2, thus greatly reducing the risk of cargo falling.
  • controlling at least one of the rotating state of the conveying member 21 in the storage unit 2 and the moving speed of the mechanical arm 31 according to the moving speed may further include controlling the rotating state of the conveying member 21 in the storage unit 2 according to the moving speed, and controlling the mechanical The moving speed of the arm 31 .
  • the rotational speed of the conveying member 21 is reduced, and the moving speed of the robot arm in the direction in which the goods are in and out is reduced. It can be understood that when the moving speed of the goods is too fast, there is a risk of falling from the storage unit 2.
  • the rotation speed of the conveyor belt is reduced, and the moving speed of the robot arm in the direction of the goods entering and leaving is reduced, both of which are at the same time. It can reduce the moving speed of the goods more efficiently and prevent the goods from falling.
  • the rotation speed of the conveying member 21 is increased and the moving speed of the robot arm along the goods in-out direction is increased.
  • the moving speed of the goods may stop moving before reaching the storage position of the storage unit 2.
  • the rear end of the goods when moving is located outside the storage unit 2.
  • the risk of falling in the storage unit 2 at this time, increase the rotation speed of the conveyor belt and increase the moving speed of the robot arm in the direction of the goods in and out. The two work at the same time, which can increase the moving speed of the goods more efficiently and make the goods more accurate. reach the intended storage location.
  • the method further includes:
  • the loading and unloading position sensors can be located at the goods inlet 23, for example, part of the loading and unloading position sensor 25 is located above the topmost storage unit 2, and part of the loading and unloading position sensor 26 is located below the bottommost storage unit 2. Whether the unloading device 100 is performing the unloading operation can be known by detecting whether the goods protrude to the outside of the storage unit 2 .
  • the loading and unloading position detection sensor is used to detect whether there is goods passing through. It is transported from the handling robot to the storage unit; in addition, the loading and unloading position detection sensor can also be used to detect whether the goods protrude to the outside of the storage unit. If the goods reach the predetermined storage position, they will not exceed the entrance of the storage unit.
  • the loading and unloading position detection sensor detects, thereby greatly reducing the risk of falling goods, otherwise, there is a risk of falling goods, and corresponding operations can be carried out at this time.
  • FIG. 17 is a flowchart of the control method of the robotic arm in the unloading method provided in the third embodiment of the application.
  • the unloading device 100 includes a robotic arm 31 and a movable member disposed on the robotic arm 31 .
  • the moving piece can be moved to different positions relative to the mechanical arm 31 to block or unblock the in-out path of the goods.
  • the mechanical arm 31 is used to drive the goods into and out of the storage unit 2.
  • the robotic arm 31 moves the goods on the handling robot 200 to the storage unit 2, it further includes:
  • a detection component 6 may be provided on the mechanical arm 31 , so that the detection component 6 detects the position of the movable part relative to the mechanical arm 31 .
  • the unloading device 100 includes a carrier 3 , and a robotic arm 31 is located on the carrier 3 , the carrier 3 can move relative to the body 1 of the unloading device 100 to drive the goods into and out of the storage unit 2.
  • the unloading method of the present application may also include:
  • S103 Detect position information of the carrier relative to the body.
  • the position information of the carrier 3 relative to the main body 1 can be detected by disposing a position sensor on the main body.
  • the controller can adjust the moving state of the carrier 3 in time according to the information of the position sensor 39 to avoid the occurrence of collision events, thereby making the unloading device 100 more stable and safe.
  • controlling the moving state of the carrier 3 relative to the main body 1 according to the detected position information specifically includes: when the carrier 3 moves to a preset position, controlling the carrier 3 to stop moving. In order to avoid collision with the structure of the main body 1, etc.
  • FIG. 19 is a flowchart of another unloading method provided in the third embodiment of the application. Referring to FIG. 19 , in the implementation of the application, before moving the goods on the handling robot 200 to the storage unit 2 of the unloading device 100 , the method further includes: :
  • the control The carrier 3 moves and performs unloading operations.
  • the unloading operation may be, for example, a series of operations such as the start of movement of the carrier 3 to the transfer robot 200 to transfer the cargo, which will be described later.
  • Fig. 20 is a structural block diagram of the control device provided by the fourth embodiment of the application. Referring to Fig. 20, the present embodiment provides a control device 300.
  • the control device 300 includes:
  • processor 301 a processor 301; and a memory 302 connected in communication with the processor 301, the memory 302 stores executable codes, and when the executable codes are executed by the processor 301, the processor 301 is made to execute the unloading method described in the third embodiment.
  • This embodiment provides an unloading device 100, which includes a main body 1 and a control assembly.
  • the main body 1 is provided with a storage unit 2 for placing goods.
  • the storage unit 2 has a rotatable transmission member 21, and the transmission member 21 has a rolling contact with the goods.
  • the rolling surface is used to drive the goods into and out of the storage unit 2;
  • the control assembly includes a drive unit for driving the transmission member 21 to rotate, a speed sensor 15 for detecting the moving speed of the goods in the storage unit 2, and the control device 300 of the fourth embodiment , both the drive unit and the speed sensor 15 are electrically connected to the control device 300, and the control device 300 is used to control at least one of the rotational state of the conveying member 21 and the moving speed of the robotic arm according to the moving speed of the goods, so as to prevent the storage unit 2 from entering the storage unit 2.
  • the goods are released from the storage unit 2 .
  • This embodiment provides a storage system, including the handling robot 200 of the first embodiment and the unloading device 100 of the fifth embodiment.
  • the handling robot 200 has a pallet 205, the pallet 205 and the unloading device 100 for storage
  • the unit 2 is correspondingly arranged to perform the unloading operation to the unloading device 100 .
  • the pallet 205 and the storage unit 2 of the unloading device 100 are arranged correspondingly, specifically, the height of the pallet 205 is approximately the same as the height of the bottom of the storage unit 2, and the setting positions are corresponding and opposite.
  • handling robot 200 of the present application is not limited to the handling robot 200 described in the first embodiment, as long as it has a pallet 205 for loading goods, and the pallet 205 is provided correspondingly with the storage unit 2 of the unloader 100 That's it.
  • references to the terms “one embodiment,” “some embodiments,” “exemplary embodiments,” “examples,” “specific examples,” or “some examples”, etc., are meant to incorporate embodiments A particular feature, structure, material, or characteristic described or exemplified is included in at least one embodiment or example of the present application.
  • schematic representations of the above terms do not necessarily refer to the same embodiment or example.
  • the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

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Abstract

一种卸料方法、控制装置、卸料装置及仓储系统。卸料方法应用于卸料装置（100），卸料装置（100）包括存储单元（2）和可相对于存储单元（2）移动的机械臂（31），存储单元（2）中设置有可转动的传送件（21），传送件（21）具有和货物滚动接触的滚动面，卸料方法包括：利用机械臂（31）将搬运机器人（200）上的货物运送至存储单元（2）；检测货物在存储单元（2）中的移动速度；根据移动速度控制存储单元（2）中传送件（21）的转动状态和机械臂（31）的移动速度的至少一者，以防止进入存储单元（2）的货物脱离存储单元（2）。该卸料方法卸货的可靠性较高。

Description

卸料方法、控制装置、卸料装置及仓储系统
本申请要求于2020年11月02日提交中国专利局，申请号为202011205320.2，申请名称为“卸料方法、控制装置、卸料装置及仓储系统”的中国申请专利申请的优先权，其与本申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及智能仓储技术领域，尤其涉及一种卸料方法、控制装置、卸料装置及仓储系统。
背景技术
随着人工智能技术、自动化技术、信息技术的飞速发展，末端物流的智能化程度也随之不断提高，而智能仓储是物流过程的一个重要环节。在智能仓储中，搬运机器人和卸料装置是可以实现自动化搬运作业的主要设备，通过搬运机器人和卸料装置能够减轻人类繁重的体力劳动，并提高搬运作业的效率。
目前，搬运机器人一般包括底座以及设置于底座上的多个搬运机器人货架，搬运机器人货架上可放置货物；卸料装置包括本体以及设置在本体上的多个存储单元，存储单元用于存放从搬运机器人货架上卸出的货物。在卸货时，搬运机器人靠近卸料装置，使搬运机器人货架和存储单元一一对应，然后卸料装置把搬运机器人货架上载置的货物运送至对应的存储单元中。
然而，搬运机器人上载置的货物在向卸料装置传送的过程中，有可能会发生传送速度较大的情况，在货物传送完毕后，货物有可能会从卸料装置上抛出并脱离，需要额外将货物重新放置于卸料装置上，导致卸货可靠性较低。
发明内容
鉴于上述问题，本申请实施例提供一种卸料方法、控制装置、卸料装置及仓储系统，可以避免货物从卸货装置上掉落，能够提高卸货装置的卸货效率和可靠性。
为了实现上述目的，本申请实施例提供如下技术方案：
本申请实施例第一方面提供一种卸料方法，应用于卸料装置，卸料装置包括存储单元和可相对于存储单元移动的机械臂，存储单元中设置有可转动的传送件，传送件具有和货物滚动接触的滚动面，方法包括：利用机械臂将搬运机器人上的货物运送至存储单元；检测货物在存储单元中的移动速度；根据移动速度控制存储单元中传送件的转动状态和机械臂的移动速度的至少一者，以防止进入存储单元的货物脱离存储单元。
本申请实施例第二方面提供一种控制装置，包括：处理器；以及与处理器通信连接的存储器，存储器存储有可执行代码，当可执行代码被处理器执行时，使处理器执行上述的方法。
本申请实施例第三方面提供一种卸料装置，包括本体和控制组件，本体上设置有用于放置货物的存储单元，存储单元具有可转动的传送件，传送件具有和货物滚动接触的滚动面，以用于带动货物进出所述存储单元；
控制组件包括用于驱动传送件转动的驱动单元、用于检测货物在存储单元中移动速度的速度传感器以及上述的控制装置，驱动单元和速度传感器均和控制装置电连接，控制装置用于根据货物的移动速度控制所述传送件的转动状态，以防止进入所述存储单元的所述货物脱离所述存储单元。
本申请实施例第四方面提供一种卸料装置，包括本体、机械臂和控制组件，本体上设置有用于放置货物的存储单元，机械臂可相对存储单元移动，以带动货物移动，存储单元具有可转动的传送件，传送件具有和货物滚动接触的滚动面，以用于带动货物进出所述存储单元；
控制组件包括控制器、用于驱动传送件转动的第一驱动单元和用于检测所述货物在存储单元中移动速度的速度传感器，第一驱动单元和速度传感器均和控制器电连接，控制器用于根据货物的移动速度控制传送件的转动状态，以防止进入存储单元的所述货物脱离存储单元
本申请实施例第五方面提供一种仓储系统，包括搬运机器人和上述的卸料装置，搬运机器人具有货板，货板和卸料装置的存储单元对应设置，以向卸料装置进行卸货操作
本申请实施例具有如下优点：
本实施例中，通过设置速度传感器来检测货物的移动速度，控制器根据货物的移动速度来控制传 送件的转动状态和机械臂的移动速度的至少一者，由于货物的移动部分依靠传送件的转动来带动，因此控制器改变传送件的转动状态时，即可间接调整货物的移动速度，和/或控制器直接控制机械臂的移动速度，可以防止货物移动速度过快而从存储单元抛出并脱离，或者避免在卸料装置的出货侧未启动传送带时即将货物送出。这样货物不会发生掉落，因此卸货效率和可靠性较高。
除了上面所描述的本申请实施例解决的技术问题、构成技术方案的技术特征以及由这些技术方案的技术特征所带来的有益效果外，本申请实施例提供的卸料方法、控制装置、卸料装置及仓储系统所能解决的其他技术问题、技术方案中包含的其他技术特征以及这些技术特征带来的有益效果，将在具体实施方式中作出进一步详细的说明。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例一提供的卸料装置的分解结构示意图；
图2为本申请实施例一提供的卸料装置和搬运机器人配合的一种状态下的结构示意图；
图3为本申请实施例一提供的卸料装置和搬运机器人配合的另一种状态的结构示意图；
图4为本申请实施例一提供的卸料装置中本体的结构示意图；
图5为本申请实施例一提供的卸料装置中本体的下部结构的示意图；
图6为本申请实施例一提供的卸料装置中本体的下部结构的另一个角度的示意图；
图7为图1的A处的局部放大图；
图8为本申请实施例一提供的卸料装置的局部结构的立体结构示意图；
图9为图1的B处的局部放大图；
图10为图1的C处的局部放大图；
图11为图1的卸料装置中其中一层的存储单元的结构示意图；
图12为本申请实施例一提供的卸料装置的立体结构示意图；
图13为图12的D处的局部放大图；
图14为图12的E处的局部放大图；
图15为本申请实施例一提供的卸料装置中搬运架与滑轨的连接局部结构的爆炸图；
图16为本申请实施例三提供的第一种卸料方法的流程图；
图17为本申请实施例三提供的卸料方法中机械臂的控制方法的流程图；
图18为本申请实施例三提供的卸料方法中搬运架的防撞控制方法的流程图；
图19为本申请实施例三提供的另一种卸料方法的流程图；
图20为本申请实施例四提供的控制装置的结构图。
附图标记：
100-卸料装置；200-搬运机器人；201-货架；202-移动底盘；203-取货装置；204-固定支架；205-货板；300-控制装置；301-处理器；302-存储器；
1-本体；111-避让槽；112-第一感应单元；113-启动开关；1131-开关本体；1132-检测摇臂；12-立柱；121-顶部框；122-前立柱；123-后立柱；13-端部连接件；131-导向件；1311-导向面；1312-倾斜区域；15-速度传感器；151-第一速度传感器；152-第二速度传感器；16-支撑架；160-支撑部；161-第一支撑部；162-第二支撑部；1621-第一端；1622-第二端；163-第三支撑部；1631-水平延伸段；1632-竖直延伸段；164-支脚；2-存储单元；21-传送件；211-多楔带滚筒；212-楔带槽；22-载置空间；23-货物进口；24-货物出口；25、26-上下料位置检测传感器；27-第一存储单元；28-第二存储单元；3-搬运架；31-机械臂；32-活动推杆；33-支撑架体；331-连接板；34-连接梁；35-滑轨；36-滑块；37-滚轮；38-检测件；381-检测部；382-连接部；383-第一检测件；384-第二检测件；39-位置传感器；391-第一位置传感器；392-第二位置传感器；5-第二驱动单元；6-检测组件；61-活动推杆位置检测器。
具体实施方式
在智能仓储中，卸料装置用于对搬运机器人上载置的货物进行卸货，此过程中容易发生货物从卸料装置上掉落的问题。这是由于，卸货过程中，搬运机器人上载置的货物以预设的传送速度被传送至卸料装置，待货物进入到卸料装置的目标位置处时，若货物并未停止且具有一定的速度，则有可能会从卸料装置上掉落，此时需要人工或额外的机构将掉落的货物重新放置于卸料装置上，导致卸货效率 较低。
另一方面，卸料装置包括卸料组件，卸料组件可相对于卸料装置的本体往复移动，以将搬运机器人货架上的货物拉送至卸料装置的存储单元上，在卸料组件相对于上述本体往复移动的过程中，有可能会与卸料装置的本体等结构件发生碰撞，导致本体晃动，卸料装置的稳定性和安全性会受到影响。
另外，在卸料组件将搬运机器人货架上的货物进行拉送时，有可能会发生卸料组件的操作端没有移动至货物上的情况，即使卸料组件带着所述操作端往复移动，也无法带动货物移动，从而使卸货操作失败，降低卸料装置的卸货效率。
为了解决上述问题，本申请提出一种卸料装置、卸料方法及仓储系统，能够安全可靠的完成卸货操作。
为了使本申请实施例的上述目的、特征和优点能够更加明显易懂，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。显然，所描述的实施例仅仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动的前提下所获得的所有其它实施例，均属于本申请保护的范围。
实施例一
图1为本申请实施例一提供的卸料装置的分解结构示意图，图2为本申请实施例一提供的卸料装置和搬运机器人配合的一种状态下的结构示意图，图3为本申请实施例一提供的卸料装置和搬运机器人配合的另一种状态的结构示意图。
参照图1，本申请实施例提供一种卸料装置100，卸料装置100包括本体1和存储单元2，存储单元2安装在本体1上，且存储单元2用于放置货物(未图示)；存储单元2具有可转动的传送件21，传送件21具有和货物滚动接触的滚动面，以用于带动货物进出存储单元2。
本申请实施例中，卸料装置100还可以包括能够相对于本体1移动的搬运架3，搬运架3上具有用于带动货物移动的机械臂31。进一步的，机械臂31上设置有活动推杆32，活动推杆32可相对于机械臂31移动至不同位置，活动推杆32挡设在货物的进出路径J上时，可以带动货物移动。此处，活动推杆32可以相对于机械臂移动至不同位置，例如可以是活动推杆水平设置，挡设在货物的进出路径J上；例如可以是活动推杆竖直设置，未挡设在货物的进出路径J上。
例如也可以是活动推杆32在转动的同时伸长或缩短，以挡设在货物的进出路径上，或者未挡设在货物的进出路径J上。
参照图2，简单介绍与本申请配合使用的搬运机器人200的一个例子，搬运机器人200包括货架201、移动底盘202、以及取货装置203。其中，货架201安装于移动底盘202上，货架201可以包括固定支架204和多个货板205，多个货板205在竖直方向间隔地设置在固定支架204上，各货板205用于载置货物。另外，移动底盘202可以用于实现货架201在仓储区的地面上移动。取货装置203可以安装在固定支架204上，并用于将货物放置在货板205上或将货板205上的货物取出。
可以理解的是，能够与本申请的卸料装置100配合的搬运机器人200包括但不限于为图2所示的结构，也可以为其它结构，但需要保证搬运机器人中，各货板205和卸料装置100的各存储单元2一一对应设置，且货板205的货物承载面的高度与存储单元2的载货面的高度大致相同，以使机械臂31可伸入货板205上的货物附近，对货物进行卸货操作。
下面结合图2、图3说明本申请的卸料装置100的卸货过程。
搬运机器人200靠近卸料装置100，使搬运机器人200的货板205和存储单元2一一对应，此时机械臂31带动活动推杆32朝向货物伸出，直至活动推杆32位于货物的拖出方向的后侧，活动推杆32相对于机械臂31而言，挡设在货物的进出路径J上，机械臂31朝向背离搬运机器人200的方向移动，活动推杆32带动货物向存储单元2移动，当货物运送至存储单元2的传送件21的滚动面上时，传送件21带动货物进一步进入存储单元2，直至货物进入存储单元2中的储存位置处。
本申请实施例中，为了解决如上所述的卸料装置100卸货效率较差，稳定性安全性较差的问题。卸料装置100还包括控制组件(未图示)，控制组件可以包括控制器、与控制器电连接的传感器等，本申请中的传感器可以包括速度传感器15、位置传感器39、活动推杆位置检测器61中的至少一者。为了对传送件21和搬运架3的运行状态进行控制，控制组件还可以包括用于驱动传送件21转动的第一驱动单元；可选的，控制组件还可以包括用于驱动搬运架3相对于本体1移动的第二驱动单元5。
下面详细说明卸料装置100中各部分的结构。
图4为本申请实施例一提供的卸料装置中本体的结构示意图，图5为本申请实施例一提供的卸料装置中本体的下部结构的示意图，图6为本申请实施例一提供的卸料装置中本体的下部结构的另一个角度的示意图。
参照图4、图5、图6，本体1包括立柱12和支撑架16，支撑架16位于本体1的沿货物进出方向的后侧；支撑架16的底部和立柱12共同支撑卸料装置100，支撑架16包括沿地面延伸的支撑部160。
上述方案中，通过设置支撑架16，使支撑架16和立柱12共同支撑卸料装置100，与现有技术仅靠立柱支撑卸料装置的情况相比，用于支撑卸料装置100的机构增加，因此对卸料装置100的支撑较为稳固。进一步的，由于支撑部160沿地面延伸，可以增加支撑部160与地面的接触面积，因此对卸料装置100的支撑更为稳固，从而提高了卸料装置100的卸货可靠性。
本申请实施例中，支撑架16的底部和立柱12共同支撑卸料装置100，其中，立柱12起到主要的支撑作用，支撑架16起到辅助支撑作用。需要注意的是，本申请中，立柱12可以包括多个，且多个立柱12间隔设置，以支撑卸料装置100。
参照图4，以实线箭头标出沿货物进出方向的前侧和后侧。例如，本申请中的立柱可以包括位于本体1的沿货物进出方向前侧的前立柱122和位于本体的沿货物进出方向后侧的后立柱123，支撑架16可以连接在后立柱123上。
这样，在货物进入卸料装置100的过程中，容易在货物的进出方向K上对本体1产生附加力，换言之，由于货物从前向后进入卸料装置100中，因此卸料装置100后侧部分受到的力较大，像上述这样，前立柱122和后立柱123在货物的进出路径上间隔设置，且作为辅助支撑的支撑架16设置在后立柱上，给卸料装置100后侧以辅助支撑，因此使卸料装置100更为稳固。且能够有效避免本体在上述货物的进出方向K上产生晃动。
立柱12的数量可以根据需要设置，例如，本申请以前立柱122和后立柱123均为两个为例来进行说明，对于前立柱122和后立柱123的数量为其它的情况与此类似，此处不再赘述。
可以理解的是，在本申请中，立柱12可以像后立柱123那样，整体沿一条直线延伸，也可以像前立柱122那样，上半部分和下半部分并未沿一条直线延伸。立柱12的延伸方向可以沿竖直方向，也可以倾斜设置，本申请对此不作限制。
本申请实施例中，支撑架16可以包括沿地面延伸的支撑部160，由于支撑部160沿地面延伸，可以增加支撑部160与地面的接触面积，因此对卸料装置100的支撑更为稳固，从而提高了卸料装置100的卸货可靠性。
进一步的，支撑部160包括相互连接的第一支撑部161和第二支撑部162，第一支撑部161和第二支撑部162均沿地面延伸，且第一支撑部161和第二支撑部162之间具有夹角。这样可以使第一支撑部161和第二支撑部162在不同的角度上辅助支撑立柱12，从而对卸料装置的支撑效果更好。
需要注意的是，本申请中所述的沿地面延伸，例如支撑部160沿地面延伸，具体是指支撑部160的延伸方向可以沿着地面。使支撑部160可以在较大面积范围内对卸料装置100进行支撑。而对于支撑部160的具体支撑方式，可以如图4那样，支撑部160通过其底部设置的支脚164而支撑在地面，也可以是支撑部160的底端面直接支撑在地面上。
其中，支撑部160通过支脚164支撑在地面上时，立柱12也可以通过支脚164支撑在地面上，需要注意的是，支撑部160配合支脚，需要与立柱12配合支脚后的高度向匹配，以使设于本体1上的存储单元大致水平设置。可选的，支脚164可以为重型带耳脚杯，例如通过膨胀螺钉等固定在地面，或者与地面相对固定的缓冲体或者固定体上。
本申请实施例中，第一支撑部161连接在后立柱123上，第二支撑部162为偶数个，且第二支撑部162对称设置在第一支撑部161的两侧。这样可以使第二支撑部对卸料装置的支撑更为稳固。
图6是从另一角度表示本体局部的示意图，并且，为了便于观察，在图6中省略了存储单元的图示。参照图6，进一步的，第一支撑部161的延伸方向和货物进出方向K相互垂直，第二支撑部162的延伸方向平行于货物进出方向K。如前所述，卸料装置100在卸货过程中易于在货物进出方向K上产生晃动，因此第一支撑部161沿货物进出方向K延伸，能够较好地避免这种情况。第二支撑部162的延伸方向平行于货物进出方向K可以避免卸料装置的左右晃动。
进一步的，第二支撑部162的第一端1621和第一支撑部161的端部连接，第二支撑部162的第二端1622沿地面延伸。具体的，支撑部160为绕本体1的周向延伸的框状件，且框状件在货物进出方向K的前侧具有开口。另外，支撑部还可以为杆状件。
本申请实施例中，第二支撑部162还可以位于多个立柱12所围成的区域的外侧。这样，在四个立柱，例如两个前立柱122、两个后立柱123围成大致四边形的区域范围之外，第二支撑部162能够起到较好的辅助支撑作用。
参照图5、图6，支撑架还包括第三支撑部163，第三支撑部包括竖直延伸段1632和水平延伸段1631，竖直延伸段1632连接于立柱12上，例如连接于后立柱123上，并沿后立柱123的长度方向延伸，水平延伸段1631和竖直延伸段1632连接，并向本体的沿货物进出方向的后侧延伸。
可以在卸料装置100的后侧设置相对于地面固定的缓冲件或固定件等，使水平延伸段1631固定在地面或固定件上，在后侧对卸料装置100进行辅助支撑。具体的，水平延伸段1631可以具有向本体1外侧延伸的底端面，底端面与地面贴合并抵接。换言之，水平延伸段1631的底端面可以与地面或者固定件抵接，水平延伸段1631与地面或固定件为面接触，这样，接触面积较大对卸料装置100的辅助支撑更为稳定。
支撑部160的底面设置有压力传感器(未图示)，压力传感器用于检测支撑部160受到的压力。压力传感器可以与控制器电连接，控制器还用于根据压力传感器检测到的压力信息调节支撑部160的支撑，例如可以调节支撑部160的高度。
本申请实施例中，进一步的，在卸料装置100和搬运机器人200配合使用时，为了对搬运机器人200的移动底盘202进行避让，本体1上还可以设有避让槽111。
具体的，参照图5，在本体1包括多个立柱12、例如包括两个前立柱122、两个后立柱123，其两个前立柱122、两个后立柱123之间间隔设置，以形成用于避让搬运机器人200的移动底盘202的避让槽111，可以理解的是，避让槽111的开口可以面向搬运机器人200，即与后述的货物进口23的开口方向相同。应当理解的是，这里的避让槽111指代的是避让空间，可以如上述那样由支腿之间的空隙形成的开放空间，也可以是由连续的避让腔室形成的相对封闭的空间，只要能供搬运机器人200的移动底盘202进入即可，并本申请对此不加以限制。
进一步的，前立柱122和后立柱123均为两个时，两个前立柱122之间的间隔大于两个后立柱123之间的间隔。即两个前立柱122在下部部分，二者之间的间距局部增大，这样一方面可以便于搬运机器人200的移动底盘202进入，另一方面，增大了两个前立柱122之间的间距，对卸料装置100的支撑也更为稳固。
正由于两个后立柱123之间的间距小于两个前立柱122之间的间距，为了使两个后立柱123达到与前立柱122同样的支撑效果，可以使第二支撑部162位于多个立柱12所围成的区域的外侧。即，使第一支撑部161的端部比后立柱更靠近外侧，第一支撑部161和第二支撑部162的交界位置位于两个前立柱122和两个后立柱123围成的区域的外侧。
本申请实施例中，如前所述，在搬运机器人200和卸料装置100相对时，有可能搬运机器人200还未到达预设的卸货位置，或已经超出预设卸货位置，卸料装置100就进行卸货动作，此时极容易发生卸货失败的情况，导致卸货可靠性较低。
为了避免这种情况的发生。控制组件还可以包括感应单元，感应单元和控制器电连接，感应单元设置在本体1上，用于在搬运机器人200移动至和卸料装置100相对的卸货位置时发出感应信号，控制器用于根据感应信号控制搬运架进行卸货操作。
上述方案中，通过设置感应单元，在搬运机器人200到达预设的卸货位置时，搬运机器人上的货物位于与存储单元对应的位置处，感应单元向控制器发送感应信号，卸料装置100在确定搬运机器人100就位后才会进行卸货操作，因此不会发生卸货失败的情况，卸货可靠性较高。
图7为图1的A处的局部放大图。
参照图1、图5、图7，本申请实施例中，如前所述，本体1的底部具有用于容置搬运机器人的底盘的避让槽111。感应单元可以包括第一感应单元112，第一感应单元112设置在避让槽111内，第一感应单元112用于在搬运机器人200的移动底盘202容纳至避让槽内时发出感应信号。
本申请实施例中，第一感应单元112的数量为至少一个。例如可以如图7所示那样，第一感应单元112位于与搬运机器人的移动底盘202相对的位置处。
在其它一些示例中，为了使感应单元的判断更为准确，第一感应单元112的数量为至少两个，且不同第一感应单元112设置在相对于避让槽11的不同位置；控制单元用于在至少一个第一感应单元112、例如全部第一感应单元112均发出感应信号时，控制搬运架进行卸货操作。这样可以避免出现部分第一感应单元112发生故障等，无法准确测量搬运机器人的情况发生。或者即使搬运机器人已经到达卸货位置，但是搬运机器人发生倾斜或姿势不正确的情况，在所有第一感应单元112均发出感应信号时，证明搬运机器人到达卸货位置，且姿势正确，可以使感应的可靠性更高。
可以理解的是，不同的第一感应单元112可以分别设置在避让槽111的不同侧。可以尽量在搬运机器人的周向不同位置上对搬运机器人和卸料装置100的相对位置进行检测。
参照图7，示例性的，第一感应单元112可以包括启动开关113，启动开关113位于所述避让槽内，且可以与控制器电连接，启动开关113用于在搬运机器人移动至避让槽111内时触碰搬运机器人，以向控制器发出感应信号。
本申请实施例中，启动开关113包括开关本体1131和检测摇臂1132，检测摇臂的第一端和 开关本体1131可转动连接，检测摇臂1132的第二端伸入避让槽111内，以用于触碰搬运机器人，开关本体1131可在检测摇臂1132转动时发出感应信号。
需要说明的是，本申请中，卸货操作例如可以是搬运架3开始朝向搬运机器人200移动，以搬运货物等一系列的操作。
本申请实施例中，作为一种可能的实施方式，第一感应单元112可以包括接近传感器，接近传感器的感应区域位于避让槽111内。示例性的，接近传感器为红外接近传感器或者激光雷达。
在其它一些示例中，感应单元还可以包括第二感应单元，第二感应单元位于避让槽111上方，用于在搬运机器人的货板205与本体1相对时，发出感应信号。由于第二感应单元和第一感应单元112处于卸货装置的不同高度，因此可以相应检测搬运机器人的不同高度位置的结构是否和卸料装置可靠对位并配合。避免搬运机器人出现底盘处于正常位置，但货板205未移动到位的情况。这样可以保证搬运机器人的货板205与卸料装置的可靠配合。
本申请实施例中，第二感应单元可以为多个，且多个第二感应单元间隔设置在本体的不同高度位置。这样能够对搬运机器人高度方向上的不同部位(例如是不同货板205)是否正确对位进行检测。
下面结合设置有启动开关113的情况进行说明，在图7中，用虚线表示启动开关113的开启状态。具体的，可以将搬运机器人200的货板205的出货口和的存储单元2的货物进口23相对，且机械臂31的活动推杆32可以通过移动而位于货物后方时，搬运机器人200与卸料装置100的相对位置定义为卸料装置100的卸货位置。
参照图2、图3和图7，搬运机器人200的移动底盘202进入避让槽111，但在搬运机器人200还未到达预设的卸货位置时，移动底盘202并未与启动开关113接触，启动开关113处于关闭状态，卸料搬运机器人200不进行卸货操作。搬运机器人200到达预设的卸货位置时，移动底盘202与启动开关113接触，并触发启动开关113动作，启动开关113处于开启状态，卸料搬运机器人200进行卸货操作。
本申请实施例中，参照图1，以立柱12的数量为4个为例进行说明，但本申请不限于此，立柱12的数量也可以为6个、8个或者其它数量。
在图1中，4个立柱12并列设置，俯视时，4个立柱12大致位于矩形的四个顶点处。存储单元2可以位于4个立柱12之间，且设置在4个立柱12上。
图8为本申请实施例一提供的卸料装置的局部结构的立体结构示意图。参照图8，在立柱12顶部还连接有顶部框121，顶部框121连接在4个立柱12之间，可以提高本体1的连接强度，且防止立柱12晃动。
为了对存储单元2进行较好地支撑，本体1还包括端部连接件13，端部连接件13连接在沿货物进出方向排列的两个立柱12之间，存储单元2的两个相对的端部可以连接在两个相对设置的端部连接件13之间。
进一步的，端部连接件13上还可以连接有导向件131，导向件131位于端部连接件13的朝内一侧，且导向件131沿着货物的进出方向延伸。导向件131具有朝向货物的导向面1311，以在货物进出存储单元2时对货物进行导引。在存储单元2固定在端部连接件13之间的情况下，导向件131位于存储单元2上方。
导向面1311的沿着货物的进出方向的端部还设有倾斜区域1312和倾斜区域1313，其中倾斜区域1312靠近货物进口23设置，倾斜区域1313靠近货物出口24设置。在两个导向件131设置在相对的两个端部连接件13上的情况下，两个导向面1311上的倾斜区域1312相对设置，且间距由货物进口23朝向货物出口24方向逐渐减小。进一步的，两个导向面1311上的倾斜区域1313相对设置，且间距由货物出口24朝向货物进口23方向逐渐减减小，以与卸料装置之外的其它机构相互配合。
参照图1、图8，用于放置货物的存储单元2设置在本体1上，具体设置在各立柱12之间。当存储单元2具有多个时，存储单元2沿竖直方向排列，例如在立柱12的高度方向上间隔设置在各立柱12上，以使货物可以存放于高度方向上的不同位置。可以理解的是，由于各层存储单元2在高度方向上间隔且层叠布置，每一层存储单元2上可以载置货物，并且每一层存储单元2和相邻的下一层存储单元2之间形成用于载置货物的载置空间22。
进一步的，存储单元2在货物的进出路径上具有相对设置的货物进口23和货物出口24，货物可从货物进口23进入到存储单元2中，货物可从货物出口24脱离存储单元2。
需要注意的是，每层存储单元2的设置高度和搬运机器人200上货板205的设置高度一一对应，以便于货板205上的货物能顺利进入到存储单元2中。另外，申请中存储单元2的排布方式不限于此，存储单元2还可以在本体1的宽度方向上设置多个。
本申请实施例中，存储单元2具有可转动的传送件21，传送件21具有和货物滚动接触的滚动面，以用于带动货物进出存储单元2。参照图8，作为一种可选的实施方式，传送件21可以为转动辊，转动辊的两端被上述的端部连接件13可转动地支撑时，转动辊的辊面可以转动，并形成上述滚动面。并且转动辊为多个时，多个转动辊的转轴相互平行设置。进一步的，多个转动辊可以包括联动的主动辊和从动辊，主动辊在驱动装置、例如上述的第一驱动装置的驱动下转动，各个从动辊也随之转动，使传送件21转动。
例如，作为另一种可选的实施方式，传送件21可以为多个并排设置的多楔带滚筒211，多个多楔带滚筒211可转动地连接在两个相对的端部连接件13之间。
多个多楔带滚筒211的靠近一个端部的位置处设有楔带槽212，每两个相邻的多楔带滚筒211上在楔带槽212的位置套设同一条多楔带，每个多楔带滚筒211上套设有两个多楔带，以使多个楔带槽212联动。多个多楔带滚筒211中，至少一个多楔带滚筒211为主动辊，在驱动装置、例如上述的第一驱动装置的驱动下转动，这样作为主动辊的多楔带滚筒211通过多楔带带动所有的从动辊一起转动，以实现传送件21的转动。
图9为图1的B处的局部放大图，图10为图1的C处的局部放大图。参照图9、图10，本申请实施例中，卸料装置100还包括上下料位置检测传感器25，上下料位置传感器25位于货物进口23处，上下料位置检测传感器25用于检测货物是否伸出至存储单元2的外侧。可选的，上下料位置传感器25可以为光电传感器。
参照图1、图9、图10，本申请实施例中，存储单元2包括位于卸料装置100顶部的第一存储单元27和位于卸料装置100底部的第二存储单元28，第一存储单元27上设置有上下料位置传感器25，第二存储单元28上设置有上下料位置传感器26。
具体的，参照图9、图10，上下料位置传感器25设置在顶部框121上，上下料位置传感器26设置在支座11的顶部，且上下料位置传感器25和上下料位置传感器26相对设置，像这样在高度最高的第一存储单元27上方和高度最低的第二存储单元28下方设置上下料传感器，任意位置的存储单元2中的货物凸出于存储单元2时，都可以被检测到。即多个存储单元2中，若有一个存储单元2进行卸货操作时，都能被上下料传感器检测到。这样卸料装置100可以通过上下料传感器而检测是否有货物通过，从而执行相应的操作。示例性的，当上下料传感器检测到有货物通过时，说明处于正常卸货操作中，传送件21可以正常转动，以带动货物进出存储单元2。
图11为图1的卸料装置中其中一层的存储单元的结构示意图。参照图11，本申请实施例中，如前所述，控制组件包括控制器，还包括用于驱动传送件21转动的第一驱动单元和用于检测货物在存储单元2中移动速度的速度传感器15，第一驱动单元和速度传感器15均和控制器电连接，控制器用于根据货物的移动速度控制传送件21的转动状态和机械臂31的移动速度的至少一者，以防止进入存储单元2的货物脱离存储单元2。
可以理解的是，上述方案中，通过设置速度传感器15来检测货物的移动速度，控制器根据货物的移动速度来控制传送件21的转动状态和机械臂31的移动速度的至少一者，由于货物的移动部分依靠传送件21的转动来带动，因此控制器改变传送件21的转动状态时，即可间接调整货物的移动速度，和/或控制器直接控制机械臂31的移动速度，均可以防止货物移动速度过快而从存储单元2抛出并脱离，或者是在卸料装置的出货侧未启动传送带时，即将货物送出。这样货物不会发生掉落，因此卸货的可靠性较高。
本申请实施例中，速度传感器15可以靠近货物进口23和货物出口24的至少一者设置。这样检测货物在存储单元2的货物进口23和货物出口24至少一个位置的移动速度。进一步的，速度传感器15可以为光电传感器。
参照图11，本实施例以货物出口24和货物进口23均设有速度传感器15为例来进行说明，对于货物出口24或货物进口23设有速度传感器15的方案、以及在存储单元2的其它位置设置速度传感器15的方案与此类似，此处不再赘述。
参照图11，速度传感器15包括位于货物进口23的第一速度传感器151和位于货物出口24的第二速度传感器152。
其中，可选的，控制器用于控制传送件21的转动状态和机械臂31的移动速度的至少一者，以使第二速度传感器152检测到的货物的移动速度小于预设速度阈值，其中，预设速度阈值为货物不会脱离存储单元2的临界速度。
例如，控制器用于控制传送件21的转动状态和机械臂31的移动速度的至少一者，以使第二速度传感器152检测到的货物的移动速度为零。这样，在货物达到货物出口24附近时，其速度为零，不会从货物出口24掉出。
参照图11，位于货物进口23的第一速度传感器151为两个，且两个第一速度传感器151位于彼此相对的位置。例如，两个第一速度传感器151可以位于端部连接件13的靠近货物进口23的位置处。
进一步的，位于货物出口24的第二速度传感器152为两个，且两个第二速度传感器152位于彼此相对的位置。例如，两个第二速度传感器152可以位于端部连接件13的靠近货物出口24的位置处。这样成对的设置速度传感器15可以使对货物的速度测量更为精确。
图12为本申请实施例一提供的卸料装置的立体结构示意图。
下面介绍搬运架3的结构。参照图1、图12、图13，搬运架3可以沿货物的进出方向相对于本体1移动，换言之，搬运架3相对于本体1的移动方向和货物的进出方向平行。以使机械臂31推动货物进出存储单元2
可选的，搬运架3可以包括分别设置在本体1的两侧的两个支撑架体33和连接在两个支撑架体33之间的连接梁34，搬运架3上具有用于带动货物移动的机械臂31，机械臂31安装在支撑架体33上，且机械臂31位于与搬运机器人200上的货板205上方对应的位置处，换言之，机械臂31与存储单元2对应设置。连接梁34的两端分别和两个支撑架体33连接。
如图12所示，机械臂31、连接梁34位于本体1内侧，支撑架体33位于本体1外侧，支撑架体33相对于本体1朝向搬运机器人200移动时，带动机械臂31也朝向货物伸出。
可选的，搬运架3上的机械臂31为多个，且与存储单元2对应设置。图12中以一个存储单元2对应两个机械臂31，且两个机械臂31对称位于存储单元2两侧为例进行说明，本申请不限于此，机械臂31还可以位于其它位置。
图14为图12的E处的局部放大图，参照图14，本申请实施例中，机械臂31上设置有活动件，活动件可相对于机械臂31移动至不同位置，活动件挡设在货物的进出路径上时，活动件可以用以带动货物移动、并进出存储单元2。活动件未挡设在货物的进出路径上时，即活动件位于货物的进出路径之外，此时机械臂31的移动不会与货物发生干涉。
这里，此处，活动件可以相对于机械臂31移动至不同位置，例如可以是活动件水平设置，挡设在货物的进出路径J上；例如可以是活动件竖直设置，未挡设在货物的进出路径J上。
例如也可以是活动件在转动的同时伸长或缩短，以挡设在货物的进出路径上，或者未挡设在货物的进出路径J上。
进一步的，活动件可转动地设置在机械臂31的端部，且活动件的转动轴和搬运架3的移动方向相互平行。
具体的，活动件为活动推杆32，活动推杆32的第一端可转动地连接于机械臂31上，活动推杆32的第二端为自由端，且活动推杆32的杆体用于推动货物进出存储单元2。
此时，对应到图14中，活动推杆32可相对于机械臂31转动，且活动推杆32转动至水平位置时，活动推杆32挡设在货物的进出路径上(参照图14中图面右侧的活动推杆32)；活动推杆32转动至竖直位置时，活动推杆32未挡设在货物的进出路径上(参照图14中图面左侧的活动推杆32)。
进一步的，活动推杆32为偶数个，且分别设置在存储单元2的两侧。这样可以对货物均匀地施力。
图15为本申请实施例一提供的卸料装置中搬运架与滑轨的连接局部结构的爆炸图，参照图15，对于搬运架3和本体1的固定，例如可以通过在本体1上设置滑轨35来实现。
本申请实施例中，本体1包括有滑轨35，滑轨35的延伸方向和货物的进出方向平行，搬运架3设置于滑轨35上并可沿滑轨35相对于本体1移动。
具体的，本体1还包括与滑轨35相配合的滑块36，滑块36可在滑轨35中往复滑动。在支撑架体33底端设有连接板331，连接板331连接在滑块36的背离滑轨35的一侧，由此滑块36沿滑轨35的移动可带动支撑架体33、即搬运架3移动。滑块36可以通过第二驱动单元5(参照图13)的驱动而实现沿滑轨35的直线移动。
第二驱动单元5例如可以包括电机、减速器、驱动轴、链轮以及链条等。其中，电机的输出轴通过减速器与驱动轴连接，链轮连接在驱动轴上，链条张紧在链轮上，滑块36与链条连接。这样，电机通过减速器带动驱动轴转动，驱动轴带动链轮转动，使张紧在链轮间的链条产生直线往复位移，带动滑块36在滑轨35上移动。
进一步的，参照图12，搬运架3的顶端和本体1之间可以滑动连接。例如，在搬运架3顶部的连接梁34上设有向上伸出的滚轮37，滚轮37的轮面可以与顶部框121的内侧面滚动配合。
如前所述，参照图13、图15，为了防止搬运架3与本体1上的结构发生碰撞，导致本体1晃动，本申请的控制组件还设置有位置传感器39，位置传感器39与控制器电连接。位置传感器39用于检测搬运架3相对本体1的位置，控制器用于根据位置传感器39检测到的位置控制搬运架3 相对于本体1的移动状态。
在上述方案中，通过设置位置传感器39，可以对搬运架3相对本体1的位置进行检测，只要将位置传感器39设置在容易与搬运架3发生碰撞的位置，在搬运架3距离本体1的容易发生碰撞的位置过近时，控制器可以根据该位置传感器39的信息及时调整搬运架3的移动状态，避免碰撞事件的发生，从而使卸料装置100的稳定性和安全性较高。
具体的，位置传感器39位于本体1上，控制器用于在搬运架3移动至与位置传感器39对应的位置时，控制搬运架3停止移动。像上述这样，在搬运架3移动到与位置传感器39对应的位置时使搬运架3停止移动，即搬运架3相对于本体1的速度为零，这样能更好地避免搬运架3与本体1发生碰撞。并防止搬运架3中的支撑架体33移动到本体1之外。
本申请实施例中，参照图13、图15，为了与位置传感器39配合使用，搬运架3上还设置有检测件38，检测件38向搬运架3的移动方向的前侧伸出。而控制器用于在搬运架3移动至检测件38与位置传感器39相对的位置时，控制搬运架3停止移动。
检测件38例如可以设置在支撑架体33底端的连接板331上，并与滑块36相对固定。
例如，作为一种可选的方式，位置传感器39为光电传感器，检测件38包括可挡设在位置传感器39前方的挡光件。
具体的，参照图13、图15，在本体1包括多根立柱12，搬运架3可在相邻两根立柱12之间移动时，位置传感器39设置于所述的相邻两根立柱12上。
进一步的，位置传感器39位于相邻两根立柱12的侧方。检测件38具有检测部381，搬运架3移动至与位置传感器39对应的位置时，检测部381位于立柱12的侧方外侧，且与位置传感器39的位置相对。在位置传感器39为光电传感器时，检测部381形成挡光件。
可选的，检测件38还包括连接部382，连接部382安装在搬运架3的侧方，并向搬运架3外侧伸出，连接部382的背离搬运架3的一侧和检测部381连接。这样，检测部381通过连接部382固定在搬运件的底部。可选的，连接部382固定在支撑架体33底部的连接板331上。
本申请实施例中，位置传感器39可以包括第一位置传感器391和第二位置传感器392，第一位置传感器391和第二位置传感器392分别设置在搬运架3的移动方向的相对两端。控制器用于在搬运架3移动至与第一位置传感器391和第二位置传感器392中的任意一者的位置相对应时，控制搬运架3停止移动。
以图15中所示的情况为例说明，其中，图面左侧的立柱12为靠货物进口23的立柱12，左侧的立柱12上设有一个第一位置传感器391，图面右侧的立柱12为靠货物出口24的立柱12，右侧的立柱12上设有一个第二位置传感器392。与之对应地，检测件38也包括第一检测件383和第二检测件384。
当支撑架体33向左侧的货物进口23移动时，带动机械臂31向货物方向伸出，并带动第一检测件383向靠近第一位置传感器391的方向移动，待第一检测件383上的检测部381位于第一位置传感器391侧方时，认为搬运架3已经达到极限位置，再继续向左移动有与左侧立柱12碰撞的风险，此时控制器控制搬运架3停止移动。
当支撑架体33向左侧的货物出口24移动时，带动机械臂31向背离搬运机器人200的方向伸出，并带动第二检测件384向靠近第二位置传感器392的方向移动，待第二检测件384上的检测部381位于第二位置传感器392侧方时，认为搬运架3已经达到极限位置，再继续向右移动有与右侧立柱12碰撞的风险，此时控制器控制搬运架3停止移动。
本申请实施例中，作为另一种可选的方式，位置传感器39为接触开关，检测件38可与位置传感器39接触。即当检测件38与位置传感器39位于对应的位置时，检测部381可与位置传感器39接触。
本申请实施例中，如前所述，为了进一步提高卸料装置100的卸货成功率，还需要对活动件相对于机械臂的移动状态进行监控。
参照图14，至少一个机械臂31上设置有检测组件6，检测组件6用于检测活动件相对于机械臂31的位置。通过设置检测组件6，可以对活动件相对于机械臂的移动状态进行监控，若检测到活动件挡设在货物的进出路径上时，可以根据需要进行控制操作，例如，控制器可以根据活动件相对于机械臂31的位置控制搬运架3的移动状态。
具体的，控制器可以向活动件发送控制指令，使活动件由未挡设在货物的进出路径上变为挡设在货物的进出路径上，或者停止卸料装置100的卸货操作等，有效避免了卸货操作失败的情况，提高了卸料装置100的卸货效率。
本申请实施例中，检测组件6包括活动推杆位置检测器61，为了更好地对活动推杆32的位 置进行检测，活动推杆位置检测器61设置在机械臂31的端部。可选的，可以使活动推杆位置检测器61和活动推杆32一一对应设置。活动推杆位置检测器61例如可以是光电传感器或者接触开关。
进一步的，活动推杆位置检测器61与活动推杆32的未挡设在货物的进出路径上时的位置相对应。换言之，当活动推杆32处于无法进行卸货操作的位置时，能够被活动推杆位置检测器61检测到。
参照图14对活动推杆位置检测器61的设置情况进行说明。如图14所示，图面左侧的机械臂31的端部和位于图面右侧的机械臂31的端部均设有活动推杆位置检测器61，且位于左侧的活动推杆32未挡设在货物的进出路径上，则位于左侧的活动推杆位置检测器61将检测到的未挡设的位置信息并发送至控制器；位于右侧的活动推杆32挡设在货物的进出路径上，则位于右侧的活动推杆位置检测器61不会向控制器发送信息，或者向控制器发送右侧的活动推杆32挡设在货物的进出路径上的位置信息。
需要注意的是，本申请中所提到的活动推杆32挡设在货物的进出路径上，是指活动推杆32呈水平状态；而活动推杆32未挡设在货物的进出路径上，是指活动推杆32呈竖直状态，无法对货物进行卸货操作。
应当理解的是，上述控制过程中，当活动推杆32处于无法进行卸货操作的未挡设位置时，能够被活动推杆位置检测器61检测到，并发送至控制器，控制器根据需要对搬运架3的移动状态进行控制。而对于活动推杆32处于挡设位置时，例如活动推杆32水平，或者位于未挡设和挡设之间的位置时，认为活动推杆32仍能够进行卸货操作，因此，控制器将不会对搬运架3的移动状态进行调整。
本实施例中，对于卸料装置100上设有多个机械臂31的情况而言，可以如图1所示那样，为每个机械臂31均设置检测组件6，也可以部分机械臂31上设有检测组件6。例如，机械臂31可以包括设置在搬运架3顶部的第一机械臂和设置在搬运架3底部的第二机械臂，多个机械臂中，至少在第一机械臂和第二机械臂上均设置有检测组件6。
实施例二
本实施例提供一种仓储系统，包括实施例一的搬运机器人200和卸料装置100，如前所述，搬运机器人200具有货板205，货板205和卸料装置100的存储单元2对应设置，以向卸料装置100进行卸货操作。货板205和卸料装置100的存储单元2对应设置，具体是指货板205的高度和存储单元2的底部的高度大致相同，设置位置对应，且相对设置。
需要说明的是，搬运机器人200的具体结构和功能已经在实施一中说明，卸料装置100的具体结构和功能也已经在实施例一中进行了详细说明，此处不再赘述。
需要注意的是，本申请的搬运机器人200不限于实施例一所述的搬运机器人200，只要具有用于载置货物的货板205，并且货板205和卸料装置100的存储单元2对应设置即可。
实施例三
本实施例提供一种卸料方法，应用于实施一的卸料装置100中，该卸料方法也可以应用于实施例二提供的卸料装置100中。
图16为本申请实施例三提供的第一种卸料方法的流程图。
参照图16，卸料方法包括：
S100、利用机械臂将搬运机器人上的货物运送至存储单元；
上述方案中，将搬运机器人200上的货物运送至卸料装置100的存储单元2是指机械臂31和活动推杆32带动货物向存储单元2移动的整个过程。
具体的，搬运机器人200靠近卸料装置100，并到达预设的卸货位置。搬运架3的支撑架体33带动机械臂31和活动推杆32朝向搬运机器人200移动，活动推杆32到达货物的后方时，活动推杆32由未挡设位置转动到挡设位置，并向背离搬运机器人200的方向移动，此时货物在活动推杆32的拉力作用下朝向卸料装置100的存储单元2移动。
S200、检测货物在存储单元中的移动速度。
具体的，可以检测货物在存储单元2的货物进出路径上至少一个位置的移动速度。
进一步的，检测货物在存储单元2的货物进出路径上至少一个位置的移动速度，具体包括：检测货物在货物进出路径上至少两个不同位置的移动速度。由于货物在运送过程中速度一般会发生变化，因此测量至少两个不同位置的移动速度可以对货物的移动情况检测得更为准确。
本申请实施例中，检测货物在货物进出路径上至少两个不同位置的移动速度，具体包括：
检测货物在第一位置和第二位置的移动速度；其中，第一位置和第二位置依次设置在货物进出路径的货物进口23和货物出口24之间，其中，货物进口23和货物出口24相对设置。
具体的，在本体1上与存储单元2对应的位置处设置速度传感器15，例如在货物进口23处设置两个第一速度传感器151，且两个第一速度传感器151位于彼此相对的位置。并在货物出口24处设置两个第二速度传感器152，且两个第二速度传感器152位于彼此相对的位置。这样货物朝向存储单元2的移动过程中，两个第一速度传感器151可以对货物在货物进口23处的速度进行测量，两个第二速度传感器152可以对货物在货物出口24处的速度进行测量。
当然，对于第一位置和第二位置为货物进出路径的货物进口23和货物出口24之间的其它位置的情况与上述类似，此处不再赘述。
S300、根据移动速度控制存储单元中传送件的转动状态和机械臂的移动速度的至少一者，以防止进入存储单元的货物脱离存储单元。
在上述方案中，通过检测货物在卸料装置100的存储单元2的中的移动速度，控制器根据货物的移动速度来控制传送件21的转动状态和机械臂31的移动速度的至少一者，由于货物的移动部分依靠传送件21的转动来带动，因此控制器改变传送件21的转动状态时，即可间接调整货物的移动速度，和/或控制器直接控制机械臂31的移动速度，可以防止货物移动速度过快而从存储单元2脱离。无需额外将掉落的货物重新放置于卸料装置100上，因此卸货效率较高。
具体的，根据移动速度控制存储单元2中传送件21的转动状态和机械臂31的移动状态的至少一者，具体包括：
当移动速度大于预设送货速度时，减小传送件21的转动速度。可以理解的是，当货物的移动速度过快时，有从存储单元2中掉落的风险，此时减小传送带的转动速度，可以减小货物的移动速度，避免货物掉落。
可选的，当移动速度小于预设送货速度时，增大传送件21的转动速度。可以理解的是，当货物的移动速度小于预设送货速度时，有可能还未到达存储单元2的存放位置就停止移动，此时货物移动时的后端部位于存储单元2外，有从存储单元2中掉落的风险，此时增大传送带的转动速度，可以增大货物的移动速度，使货物准确达到预定的存放位置。
在货物移动速度大于预设送货速度时，减小传送件21的转动速度以减小货物的移动速度，在货物的移动速度小于预设送货速度时，增大传送件21的转动速度，以增大货物的移动速度，由此可以将货物的移动速度控制在预设送货速度附近，以保证货物能达到预定存放位置，其前端和后端都不会超出存储单元2，因而大大减少了货物掉落的风险。
本申请实施例中，传送件21包括多个并排设置的转动辊，多个转动辊的转轴相互平行设置；且多个转动辊包括联动的主动辊和从动辊。
根据移动速度控制存储单元2中传送件21的转动状态和机械臂的移动状态的至少一者，具体包括：根据移动速度控制主动辊的转动状态。由于主动辊和从动辊联动，因此控制主动辊的转动状态就能使从动辊的转动状态也随之改变，整个传送件21的转动状态保持一致。
可选的，本申请实施例中，根据移动速度控制存储单元2中传送件21的转动状态和机械臂31的移动速度的至少一者，具体包括：
当移动速度大于预设送货速度时，减小机械臂沿货物进出方向的移动速度，由于机械臂上的活动件推动货物移动，因此，可以理解的是，当货物的移动速度过快时，有从存储单元2中掉落的风险，此时减小传机械臂沿货物进出方向的移动速度，可以减小货物的移动速度，避免货物掉落。
可选的，当移动速度小于预设送货速度时，可以增大机械臂沿货物进出方向的移动速度。可以理解的是，当货物的移动速度小于预设送货速度时，有可能还未到达存储单元2的存放位置就停止移动，此时货物移动时的后端部位于存储单元2外，有从存储单元2中掉落的风险，此时增大机械臂沿货物进出方向的移动速度，可以增大货物的移动速度，使货物准确达到预定的存放位置。
在货物移动速度大于预设送货速度时，减小机械臂沿货物进出方向的移动速度以减小货物的移动速度，在货物的移动速度小于预设送货速度时，增大机械臂沿货物进出方向的移动速度，以增大货物的移动速度，由此可以将货物的移动速度控制在预设送货速度附近，以保证货物能达到预定存放位置，其前端和后端都不会超出存储单元2，因而大大减少了货物掉落的风险。
进一步的，根据移动速度控制存储单元2中传送件21的转动状态和机械臂31的移动速度的至少一者，还可以包括根据移动速度控制存储单元2中传送件21的转动状态，并且控制机械臂31的移动速度。
此时，当移动速度大于预设送货速度时，减小传送件21的转动速度，并且减小机械臂沿货物进出方向的移动速度。可以理解的是，当货物的移动速度过快时，有从存储单元2中掉落的风险，此时减小传送带的转动速度，并且减小机械臂沿货物进出方向的移动速度，二者同时作用，可以更有效率地减小货物的移动速度，避免货物掉落。
可选的，当移动速度小于预设送货速度时，增大传送件21的转动速度并且增大机械臂沿货物进出方向的移动速度。可以理解的是，当货物的移动速度小于预设送货速度时，有可能还未到达存储单元2的存放位置就停止移动，此时货物移动时的后端部位于存储单元2外，有从存储单元2中掉落的风险，此时增大传送带的转动速度并且增大机械臂沿货物进出方向的移动速度，二者同时作用，可以更有效率地增大货物的移动速度，使货物准确达到预定的存放位置。
在货物移动速度大于预设送货速度时，减小传送件21的转动速度并且减小机械臂沿货物进出方向的移动速度，以减小货物的移动速度；在货物的移动速度小于预设送货速度时，增大传送件21的转动速度并且增大机械臂沿货物进出方向的移动速度，可以增大货物的移动速度，由此可以将货物的移动速度控制在预设送货速度附近，以保证货物能达到预定存放位置，其前端和后端都不会超出存储单元2，因而大大减少了货物掉落的风险。
可选的，利用机械臂31将搬运机器人200上的货物运送至的存储单元2之后，还包括：
检测货物是否伸出至存储单元2的外侧。具体的，可以通过上下料位置检测传感器来检测货物是否伸出至存储单元2外侧。可以使上下料位置传感器位于货物进口23处，例如部分上下料位置传感器25位于最顶层的存储单元2上方，且部分上下料位置传感器26位于最底层的存储单元2下方。通过检测货物是否伸出至存储单元2的外侧可以得知卸料装置100是否正在进行卸货操作。
总而言之，上下料位置检测传感器在卸料工作时，主要可以实现的目的包括：上下料位置检测传感器用于检测是否有货物通过，如有，则说明处于正常卸货操作中，且确实有货物正常的从搬运机器人上被搬运到存储单元中；此外，上下料位置检测传感器也可以用于检测货物是否伸出至存储单元的外侧，如果货物达到预定存放位置，是不会超出存储单元的进口而被上下料位置检测传感器检测到，从而大大减少了货物掉落的风险，反之，则具有货物掉落的风险，此时即可进行相应操作。
图17为本申请实施例三提供的卸料方法中机械臂的控制方法流程图，参照图17，可选的，卸料装置100包括机械臂31以及设置在机械臂31上的活动件，活动件可相对机械臂31移动至不同位置以挡设或未挡设在货物的进出路径上，当活动件挡设在货物的进出路径上时，机械臂31用于带动货物进出存储单元2，利用机械臂31将搬运机器人200上的货物移动至存储单元2之前还包括：
S101、检测活动件相对于机械臂的位置。
可以在机械臂31上设置检测组件6，以检测组件6检测活动件相对于机械臂31的位置。
S102、若活动件相对于机械臂未挡设在货物的进出路径上，则停止卸料操作。
当活动件相对于机械臂31未挡设在货物的进出路径上时，证明活动件无法带动货物进行卸货操作，因此控制卸料操作停止。
图18为本申请实施例三提供的卸料方法中搬运架的防撞控制方法的流程图，参照图18，可选的，卸料装置100包括搬运架3，机械臂31位于搬运架上3，搬运架3可相对卸料装置100的本体1移动以带动货物进出存储单元2，本申请的卸料方法还可以包括：
S103、检测搬运架相对本体的位置信息。可以通过在本体上设置位置传感器来检测搬运架3相对本体1的位置信息。
S104、根据检测到的位置信息控制搬运架相对于本体的移动状态。
上述方案中，通过对搬运架3相对本体1的位置进行检测，只要将位置传感器39设置在容易与搬运架3发生碰撞的位置，在搬运架3距离本体1的容易发生碰撞的位置过近时，控制器可以根据该位置传感器39的信息及时调整搬运架3的移动状态，避免碰撞事件的发生，从而使卸料装置100的稳定性和安全性较高。
其中，根据检测到的位置信息控制搬运架3相对于本体1的移动状态，具体包括：当搬运架3移动至预设位置时，控制搬运架3停止移动。以避免与本体1结构等产生碰撞。
图19为本申请实施例三提供的另一种卸料方法的流程图，参照图19，本申请实施中，将搬运机器人200上的货物移动至卸料装置100的存储单元2之前，还包括：
S105、判断搬运机器人是否处于卸货位置；
S106、若搬运机器人处于卸货位置，则接收搬运机器人输送的货物。
为了确认搬运机器人200相对于卸料装置100是否已经到了预设的卸货位置，可以通过在避让槽111内设置的启动开关113来检测，在搬运机器人200的移动底盘202进入避让槽111时，控制搬运架3移动并进行卸货操作。卸货操作例如可以是后述的搬运架3开始朝向搬运机器人200移动，以搬运货物等一系列的操作。
实施例四
图20为本申请实施例四提供的控制装置的结构框图，参照图20，本实施例提供一种控制装置 300，控制装置300包括：
处理器301；以及与处理器301通信连接的存储器302，存储器302存储有可执行代码，当可执行代码被处理器301执行时，使处理器301执行如实施例三所述的卸料方法。
其中卸料方法已经在实施例三中进行了详细说明，此处不再赘述。
实施例五
本实施例提供一种卸料装置100，包括本体1和控制组件，本体1上设置有用于放置货物的存储单元2，存储单元2具有可转动的传送件21，传送件21具有和货物滚动接触的滚动面，以用于带动货物进出存储单元2；控制组件包括用于驱动传送件21转动的驱动单元、用于检测货物在存储单元2中移动速度的速度传感器15以及实施例四的控制装置300，驱动单元和速度传感器15均和控制装置300电连接，控制装置300用于根据货物的移动速度控制传送件21的转动状态和机械臂的移动速度的至少一者，以防止进入存储单元2的货物脱离存储单元2。
卸料装置100的结构和功能原理在实施例一中已经进行了详细描述，此处不再赘述。
实施例六。
本实施例提供一种仓储系统，包括实施例一的搬运机器人200和实施例五的卸料装置100，如前所述，搬运机器人200具有货板205，货板205和卸料装置100的存储单元2对应设置，以向卸料装置100进行卸货操作。货板205和卸料装置100的存储单元2对应设置，具体是指货板205的高度和存储单元2的底部的高度大致相同，设置位置对应，且相对设置。
需要说明的是，搬运机器人200的具体结构和功能已经在实施一中说明，卸料装置100的具体结构和功能也已经在实施例五中进行了详细说明，此处不再赘述。
需要注意的是，本申请的搬运机器人200不限于实施例一所述的搬运机器人200，只要具有用于载置货物的货板205，并且货板205和卸料装置100的存储单元2对应设置即可。
本说明书中各实施例或实施方式采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分相互参见即可。
在本说明书的描述中，参考术语“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合实施方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (44)

  1. 一种卸料方法，其特征在于，应用于卸料装置，所述卸料装置包括存储单元和可相对于所述存储单元移动的机械臂，所述存储单元中设置有可转动的传送件，所述传送件具有和货物滚动接触的滚动面，所述方法包括：
    利用所述机械臂将搬运机器人上的货物运送至所述存储单元；
    检测所述货物在所述存储单元中的移动速度；
    根据所述移动速度控制所述存储单元中传送件的转动状态和所述机械臂的移动速度的至少一者，以防止进入所述存储单元的所述货物脱离所述存储单元。
  2. 根据权利要求1所述的卸料方法，其特征在于，所述检测所述货物在所述卸料装置的存储单元中的移动速度，具体包括：
    检测所述货物在所述存储单元的货物进出路径上至少一个位置的移动速度。
  3. 根据权利要求2所述的卸料方法，其特征在于，所述检测所述货物在所述存储单元的货物进出路径上至少一个位置的移动速度，具体包括：
    检测所述货物在所述货物进出路径上至少两个不同位置的移动速度。
  4. 根据权利要求3所述的卸料方法，其特征在于，所述检测所述货物在所述货物进出路径上至少两个不同位置的移动速度，具体包括：
    检测所述货物在第一位置和第二位置的移动速度；其中，所述第一位置和所述第二位置依次设置在所述货物进出路径的货物进口和货物出口之间，其中，所述货物进口和所述货物出口相对设置。
  5. 根据权利要求1所述的卸料方法，其特征在于，所述根据所述移动速度控制所述存储单元中传送件的转动状态和所述机械臂的移动速度的至少一者，具体包括：
    当所述移动速度大于预设送货速度时，减小所述传送件的转动速度；
    和/或，当所述移动速度小于所述预设送货速度时，增大所述传送件的转动速度。
  6. 根据权利要求1所述的卸料方法，其特征在于，所述传送件包括多个并排设置的转动辊，多个所述转动辊的转轴相互平行设置；且多个所述转动辊包括联动的主动辊和从动辊；
    所述根据所述移动速度控制所述存储单元中传送件的转动状态和所述机械臂的移动速度的至少一者，具体包括：
    根据所述移动速度控制所述主动辊的转动状态。
  7. 根据权利要求1所述的卸料方法，其特征在于，所述根据所述移动速度控制所述存储单元中传送件的转动状态和所述机械臂的移动速度的至少一者，具体包括：
    当所述移动速度大于预设送货速度时，减小所述机械臂沿货物进出方向的移动速度；
    和/或，当所述移动速度小于所述预设送货速度时，增大所述机械臂沿所述货物进出方向的移动速度。
  8. 根据权利要求1-7任一项所述的卸料方法，其特征在于，所述利用所述机械臂将搬运机器人上的货物运送至所述存储单元移动之后，还包括：检测所述货物是否伸出至所述存储单元的外侧。
  9. 根据权利要求1-7任一项所述的卸料方法，其特征在于，所述机械臂上设置有活动件，所述活动件可相对所述机械臂移动至不同位置，且所述活动件挡设在所述货物的进出路径上时，所述机械臂用于带动所述货物进出所述存储单元，
    所述利用所述机械臂将搬运机器人上的货物运送至所述存储单元移动之前还包括：
    检测所述活动件相对于所述机械臂的位置；
    若所述活动件相对于所述机械臂未挡设在所述货物的进出路径上，则停止卸料操作。
  10. 根据权利要求1-7任一项所述的卸料方法，其特征在于，所述卸料装置包括搬运架，所述机械臂位于所述搬运架上，所述搬运架可相对所述卸料装置的本体移动以带动所述货物进出所述存储单元，所述方法还包括：
    检测所述搬运架相对所述本体的位置信息；
    根据检测到的位置信息控制所述搬运架相对于所述本体的移动状态。
  11. 根据权利要求10所述的卸料方法，其特征在于，所述根据检测到的位置信息控制所述搬运架相对于所述本体的移动状态，具体包括：
    当所述搬运架移动至预设位置时，控制所述搬运架停止移动。
  12. 根据权利要求1-7任一项所述的卸料方法，其特征在于，所述将搬运机器人上的货物运送至所述卸料装置的存储单元移动之前，还包括：
    判断所述搬运机器人是否处于卸货位置；
    若所述搬运机器人处于所述卸货位置，则接收所述搬运机器人输送的货物。
  13. 一种控制装置，其特征在于，包括：
    处理器；以及
    与所述处理器通信连接的存储器，所述存储器存储有可执行代码，当所述可执行代码被所述处理器执行时，使所述处理器执行如权利要求1-12任一项所述的方法。
  14. 一种卸料装置，其特征在于，包括本体和控制组件，所述本体上设置有用于放置货物的存储单元，所述存储单元具有可转动的传送件，所述传送件具有和所述货物滚动接触的滚动面，以用于带动所述货物进出所述存储单元；
    所述控制组件包括用于驱动所述传送件转动的驱动单元、用于检测所述货物在所述存储单元中移动速度的速度传感器以及权利要求13所述的控制装置，所述驱动单元和所述速度传感器均和所述控制装置电连接，所述控制装置用于根据所述货物的移动速度控制所述传送件的转动状态，以防止进入所述存储单元的所述货物脱离所述存储单元。
  15. 一种卸料装置，其特征在于，包括本体、机械臂和控制组件，所述本体上设置有用于放置货物的存储单元，所述机械臂可相对所述存储单元移动，以带动所述货物移动，所述存储单元具有可转动的传送件，所述传送件具有和所述货物滚动接触的滚动面，以用于带动所述货物进出所述存储单元；
    所述控制组件包括控制器、用于驱动所述传送件转动的第一驱动单元和用于检测所述货物在所述存储单元中移动速度的速度传感器，所述第一驱动单元和所述速度传感器均和所述控制器电连接，所述控制器用于根据所述货物的移动速度控制所述传送件的转动状态，以防止进入所述存储单元的所述货物脱离所述存储单元。
  16. 根据权利要求15所述的卸料装置，其特征在于，所述存储单元在所述货物的进出路径上具有相对设置的货物进口和货物出口，所述速度传感器靠近所述货物进口和所述货物出口的至少一者设置。
  17. 根据权利要求16所述的卸料装置，其特征在于，所述速度传感器包括位于所述货物进口的第一速度传感器和位于所述货物出口的第二速度传感器。
  18. 根据权利要求17所述的卸料装置，其特征在于，所述控制器用于控制所述传送件的转动状态，以使所述第二速度传感器检测到的所述货物的移动速度小于预设速度阈值，其中，所述预设速度阈值为所述货物不会脱离所述存储单元的临界速度。
  19. 根据权利要求18所述的卸料装置，其特征在于，所述控制器用于控制所述传送件的转动状态，以使所述第二速度传感器检测到的所述货物的移动速度为零。
  20. 根据权利要求15所述的卸料装置，其特征在于，所述存储单元为多个，且多个所述存储单元沿竖直方向排列。
  21. 根据权利要求15所述的卸料装置，其特征在于，所述传送件为转动辊。
  22. 根据权利要求21所述的卸料装置，其特征在于，所述转动辊为多个，多个所述转动辊的转轴相互平行设置。
  23. 根据权利要求15所述的卸料装置，其特征在于，还包括可相对于所述本体移动的搬运架，所述机械臂位于所述搬运架上。
  24. 根据权利要求23所述的卸料装置，其特征在于，所述本体上设置有滑轨，所述滑轨的延伸方向和所述货物的进出方向平行，所述搬运架设置于所述滑轨上并可沿所述滑轨相对于所述本体移动。
  25. 根据权利要求15所述的卸料装置，其特征在于，还包括上下料位置检测传感器，所述上下料位置传感器位于所述货物进口处，所述上下料位置检测传感器用于检测所述货物是否伸出至所述存储单元的外侧。
  26. 根据权利要求25所述的卸料装置，其特征在于，所述存储单元包括位于所述卸料装置顶部的第一存储单元和位于所述卸料装置底部的第二存储单元，所述第一存储单元和所述第二存储单元上均设置有所述上下料位置传感器。
  27. 根据权利要求15所述的卸料装置，其特征在于，所述本体的底部具有用于避让搬运机器人的移动底盘的避让槽，所述避让槽的开口面向所述货物进口。
  28. 根据权利要求27所述的卸料装置，其特征在于，所述避让槽内设置有启动开关，所述启动开关用于在所述搬运机器人的移动底盘进入所述避让槽时，控制所述搬运架移动并进行卸货操作。
  29. 根据权利要求23所述的卸料装置，其特征在于，所述控制组件还包括位置传感器和用于驱动所述搬运架移动的第二驱动单元，所述位置传感器和所述第二驱动单元均和所述控制器电连接，所述位置传感器用于检测所述搬运架相对所述本体的位置信息，所述控制器还用于根据所述位置传感器检测到的位置信息控制所述搬运架相对于所述本体的移动状态。
  30. 根据权利要求29所述的卸料装置，其特征在于，所述位置传感器位于所述本体上，所述控制器用于在所述搬运架移动至与所述位置传感器对应的位置时，控制所述搬运架停止移动。
  31. 根据权利要求30所述的卸料装置，其特征在于，所述搬运架上设置有检测件，所述检测件向所述搬运架的移动方向的前侧伸出；
    所述控制器用于在所述搬运架移动至所述检测件与所述位置传感器相对的位置时，控制所述搬运架停止移动。
  32. 根据权利要求31所述的卸料装置，其特征在于，所述本体包括多根立柱，所述搬运架可在相邻两根所述立柱之间移动，位置传感器设置于所述立柱上。
  33. 根据权利要求32所述的卸料装置，其特征在于，所述位置传感器位于所述立柱的侧方；
    所述检测件具有检测部，所述搬运架移动至与所述位置传感器对应的位置时，所述检测部位于所述立柱的侧方外侧，且与所述位置传感器的位置相对。
  34. 根据权利要求30所述的卸料装置，其特征在于，所述位置传感器包括第一位置传感器和第二位置传感器，所述第一位置传感器和所述第二位置传感器分别设置在所述搬运架的移动方向的相对两端；
    所述控制器用于在所述搬运架移动至与所述第一位置传感器和所述第二位置传感器中的任意一者的位置相对应时，控制所述搬运架停止移动。
  35. 根据权利要求23所述的卸料装置，其特征在于，所述机械臂上设置有活动件，所述活动件可相对所述机械臂移动至不同位置，且所述活动件挡设在所述货物的进出路径上时，所述机械臂用于带动所述货物进出所述存储单元；
    至少一个所述机械臂上设置有检测组件，所述检测组件用于检测所述活动件相对于所述机械臂的位置。
  36. 根据权利要求35所述的卸料装置，其特征在于，所述活动件可转动的设置在所述机械臂的端部，且所述活动件的转动轴和所述搬运架的移动方向相互平行。
  37. 根据权利要求36所述的卸料装置，其特征在于，所述活动件未挡设在所述货物的进出路径上时，所述活动件位于所述货物的进出路径之外。
  38. 根据权利要求36所述的卸料装置，其特征在于，所述活动件为活动推杆，所述活动推杆的第一端可转动的连接于所述机械臂上，所述活动推杆的第二端为自由端，且所述活动推杆的杆体用于推动所述货物进出所述存储单元。
  39. 根据权利要求38所述的卸料装置，其特征在于，所述活动推杆挡设在所述货物的进出路径上时，所述活动推杆呈水平设置；
    所述活动推杆未挡设在所述货物的进出路径上时，所述活动推杆呈竖直设置。
  40. 根据权利要求39所述的卸料装置，其特征在于，所述检测组件包括活动推杆位置检测器，所述活动推杆位置检测器设置在所述机械臂的端部。
  41. 根据权利要求40所述的卸料装置，其特征在于，所述活动推杆位置检测器与所述活动推杆未挡设在所述货物的进出路径上时的位置相对应。
  42. 根据权利要求35所述的卸料装置，其特征在于，所述控制器还用于：根据所述活动推杆相对于所述机械臂的位置控制所述搬运架的移动状态。
  43. 根据权利要求42所述的卸料装置，其特征在于，所述机械臂包括设置在所述搬运架顶部的第一机械臂和设置在所述搬运架底部的第二机械臂，所述第一机械臂和所述第二机械臂上均设置有所述检测组件。
  44. 一种仓储系统，其特征在于，包括搬运机器人和权利要求14-43任一项所述的卸料装置，所述搬运机器人具有货板，所述货板和所述卸料装置的存储单元对应设置，以向所述卸料装置进行卸货操作。
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