WO2022135141A1

WO2022135141A1 - Material loading control method, control apparatus, material loading apparatus, and warehousing system

Info

Publication number: WO2022135141A1
Application number: PCT/CN2021/136198
Authority: WO
Inventors: 陈叶广; 孔哲; 高明; 赖文哲; 严智凯
Original assignee: 深圳市海柔创新科技有限公司
Priority date: 2020-12-24
Filing date: 2021-12-07
Publication date: 2022-06-30
Also published as: TWI832121B; CN112678392B; CN112678392A; TW202225068A

Abstract

A material loading control method, a control apparatus (300), a material loading apparatus (100), and a warehousing system, where the material loading control method is applied in the material loading apparatus (100), and the material loading apparatus (100) is used for transporting cargo to a carrier robot (200); the material loading apparatus (100) comprises a storage unit (2), a cargo inlet/outlet (21) and a rolling delivery member (22) are arranged on the storage unit (2), and the rolling delivery member (22) has an outer contour surface that can rollingly make contact with cargo within the storage unit (2); the material loading control method comprises: receiving a load material instruction; and controlling the rolling delivery member (22) to rotate in a direction towards the cargo inlet/outlet (21) according to the load material instruction, so as to convey cargo within the storage unit (2) to an outer side of the cargo inlet/outlet (21).

Description

Feeding control method, control device, feeding device and storage system

This application claims the priority of the Chinese patent application filed on December 24, 2020 with the application number 202011556769.3 and the application name is "feeding control method, control device, feeding device and storage system", the entire contents of which are Incorporated herein by reference.

technical field

The present application relates to the technical field of intelligent warehousing, and in particular, to a feeding control method, a control device, a feeding device and a warehousing system.

Background technique

Warehousing is an important link in logistics and an important link in the development of modern industry.

In the existing warehouse system, some mechanization and automation have been realized, such as the use of handling robots to transport goods to different shelves. However, even with some degree of mechanization and automation, there are still some jobs that require human-assisted processing. For example, when the goods arrive at the entrance of the storage system, it is necessary to manually load the handling robot, etc. When the pallet on the handling robot is more than one layer, or the pallet height is high, it needs to be loaded multiple times layer by layer, and then The cargo is delivered to the preset location by the handling robot.

In the above-mentioned warehousing system, since the loading process of the goods needs to be completed manually, the degree of automation is low, and the operation efficiency is poor.

Application content

In view of the above problems, the embodiments of the present application provide a feeding control method, a control device, a feeding device and a storage system, which can automatically complete the feeding process, have a high degree of automation, and improve operation efficiency.

In order to achieve the above purpose, the embodiments of the present application provide the following technical solutions:

A first aspect of the embodiments of the present application provides a feeding control method, which is applied to a feeding device. The feeding device is used to transport goods to a handling robot. The feeding device includes a storage unit, and the storage unit is provided with an import and export of goods and rolling conveyance. The rolling conveying member has an outer contour surface that can roll in contact with the goods in the storage unit, and the feeding control method includes: receiving a feeding instruction; The goods in the storage unit are conveyed to the outside of the goods inlet and outlet.

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 Feeding control method.

A third aspect of the embodiments of the present application provides a feeding device, which includes a bracket and a control assembly, a storage unit for placing goods is arranged on the bracket, the storage unit is provided with an inlet and outlet of goods and a rolling conveying member, and the rolling conveying member has a The outer contour surface of the rolling contact of the goods in the storage unit; the control assembly includes a drive unit for driving the rolling conveying member to rotate and the above-mentioned control device, the driving unit and the control device are electrically connected, and the control device is used for controlling the rolling conveying member to move toward the goods. The direction of the inlet and outlet is turned to transport the goods in the storage unit to the outside of the goods inlet and outlet.

A fourth aspect of the embodiments of the present application provides a storage system, including a handling robot and the above-mentioned feeding device. The handling robot has a pallet, and the pallet and the storage unit of the feeding device are correspondingly arranged to perform a feeding operation with the feeding device. .

The embodiments of the present application have the following advantages:

By using a feeding device for feeding, when used in conjunction with a material robot such as a handling robot, the goods in the storage unit are transported to the entrance and exit of the goods by controlling the traction force generated by the rotation of the rolling conveyor in the direction of the goods import and export. Outside, so that the goods enter the handling robot without manual feeding, so the degree of automation is high and the work efficiency is high.

Description of drawings

In order to illustrate the embodiments of the present disclosure or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present disclosure, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

Fig. 1 is the exploded structure schematic diagram of the feeding device provided by the first embodiment of the application;

FIG. 2 is a schematic structural diagram in a state in which the feeding device and the handling robot are matched according to the first embodiment of the present application;

3 is a schematic structural diagram of a support in the feeding device provided in Embodiment 1 of the present application;

4 is a schematic diagram of the lower structure of the support in the feeding device provided in the first embodiment of the application;

5 is a schematic diagram of another angle of the lower structure of the support in the feeding device provided in the first embodiment of the application;

Fig. 6 is the partial enlarged view of A place of Fig. 2;

7 is a schematic three-dimensional structural diagram of a partial structure of a feeding device provided in Embodiment 1 of the application;

8 is a schematic structural diagram of a storage unit of one layer in the feeding device of FIG. 1;

9 is a schematic three-dimensional structural diagram of a robotic arm in the feeding device provided in Embodiment 1 of the present application;

10 is a schematic three-dimensional structure diagram of a feeding device provided in Embodiment 1 of the application;

Fig. 11 is a partial enlarged view at B of Fig. 9;

12 is an exploded schematic diagram of the partial structure of the connection between the walking frame and the slide rail in the feeding device provided in the first embodiment of the application;

Fig. 13 is a flowchart of the feeding control method provided by the third embodiment of the present application;

FIG. 14 is a structural block diagram of a control apparatus provided in Embodiment 4 of the present application.

The above-mentioned drawings have shown clear embodiments of the present disclosure, and will be described in more detail hereinafter. These drawings and written descriptions are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the disclosed concepts to those skilled in the art by referring to specific embodiments.

Detailed ways

In the existing warehousing system, as an important link, logistics robots such as handling robots can already be used to transport goods to different shelves. However, the loading of the handling robots is still done by manpower. When the pallet is more than one layer, or the pallet height is high, it needs to be loaded multiple times layer by layer, resulting in a low degree of automation and poor operation efficiency.

In order to solve the above problems, the present application proposes a feeding control method, a control device, a feeding device and a storage system. The feeding of goods is automatically completed by the feeding device, with a high degree of automation and high operating efficiency.

In order to make the above objects, features and advantages of the embodiments of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.

Example 1

FIG. 1 is a schematic diagram of an exploded structure of the feeding device provided in Embodiment 1 of the application, and FIG. 2 is a schematic structural diagram of the feeding device provided in Embodiment 1 of the application in a state in which a handling robot cooperates.

Referring to FIG. 1 and FIG. 2 , an embodiment of the present application provides a loading device 100 for transporting goods to a handling robot 200 . The loading device 100 includes a bracket 1 and a storage unit 2 arranged on the bracket 1 . A cargo inlet and outlet 21 and a rolling transfer member 22 are provided, the rolling transfer member 22 has an outer contour surface capable of rolling contact with the cargo in the storage unit 2, and the rolling transfer member 22 is used to rotate around its own axis of rotation along the direction of the cargo inlet and outlet 21. The direction is rotated to transport the goods in the storage unit 2 to the handling robot 200 outside the storage unit 2 .

In the above solution, by using the feeding device 100 for feeding, the goods in the storage unit 2 rely on the traction force generated by the rotation of the rolling conveyor 22 to move in the direction of the goods inlet and outlet 21, so that the goods in the storage unit 2 can be moved. It is transported to the outside of the goods inlet and outlet 21 so that the goods can enter the handling robot 200 without manual feeding, so the degree of automation is high and the operation efficiency is high.

In the embodiment of the present application, in order to make the rolling transmission member 22 rotate, the storage unit 2 is further provided with a drive assembly, the drive assembly includes a first drive device (not shown), and the feeding device 100 further includes an electrical connection with the first drive device. The controller (not shown), the first driving device is connected with the rolling transmission member 22, the controller is used to control the first driving device, so that the first driving device drives the rolling transmission member 22 to rotate in the direction toward the outside of the goods inlet and outlet 21 .

In the embodiment of the present application, the feeding device 100 further includes a robotic arm 5 that can move relative to the storage unit 2 . The robotic arm 5 is used to drive the goods in the storage unit 2 to the outside of the storage unit 2 through its own movement. In some examples, a movable member 51 is provided on the robot arm 5, and the movable member 51 can move relative to the robot arm 5 to block the conveying path K of the goods; the movable member 51 is used to move the robot arm 5 relative to the storage unit 2 When it comes into contact with the cargo and push the cargo to the outside of the storage unit 2 .

In order to move the robotic arm 5, in the embodiment of the present application, the feeding device 100 further includes a traveling frame 6, and the traveling frame 6 is located on the side of the support 1; the robotic arm 5 is connected to the traveling frame 6, and the traveling frame 6 can be relative to the support 1 moves to drive the robotic arm 5 to move relative to the storage unit 2 .

Referring to FIG. 2 , an example of a handling robot 200 used in cooperation with the present application is briefly introduced. 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. In addition, 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 .

It can be understood that the handling robot 200 that can cooperate with the feeding device 100 of the present application includes, but is not limited to, the structure shown in FIG. 2 , and can also be other structures. The storage units 2 of the loading device 100 are 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 5 can push the cargo into the pallet 205 middle.

The feeding process of the feeding device 100 of the present application will be described below with reference to FIG. 2 .

The handling robot 200 starts from the position shown in FIG. 2 and moves toward the direction close to the feeding device 100 . When the handling robot 200 reaches the feeding position, that is, when the fixed bracket 204 of the handling robot 200 reaches the vicinity of the bracket 1 of the feeding device 100 , The pallets 205 of the handling robot 200 are in one-to-one correspondence with the storage unit 2. At this time, the robotic arm 5 and the movable part 51 are located in the conveying direction of the goods, and the movable part 51 is blocked on the conveying path K of the goods, and is located in the goods to be pushed. the back end of the . The robotic arm 5 drives the movable member 51 to move towards the direction of the handling robot 200, and the rolling transfer member 22 rotates. The plate 205 moves until the goods enter the pallet 205 of the handling robot 200 to complete the loading process. Wherein, the goods in each storage unit 2 can be sent to each pallet 205 of the handling robot 200 at the same time.

In the embodiment of the present application, in order to improve the feeding efficiency of the feeding device 100, the stability and safety of the feeding device 100 are improved. The feeding 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 sensor in this application may include at least a speed sensor, a position sensor, and a loading and unloading position sensor. one. In addition, in order to move the mechanical arm, the driving assembly may further comprise a second driving device for driving the traveling frame 6 to move relative to the bracket 1 .

The structure of each part in the feeding device 100 will be described in detail below.

FIG. 3 is a schematic structural diagram of a bracket in a feeding device provided in Embodiment 1 of the application, FIG. 4 is a schematic diagram of a lower structure of a bracket in a feeding device provided in Embodiment 1 of the application, and FIG. 5 is a schematic diagram of the structure in Embodiment 1 of the application. Schematic illustration of another angle of the substructure of the support in the loading device.

3, 4 and 5, the support 1 includes a column 11 and a support frame 12, the support frame 12 is located on the side of the support 1 away from the goods inlet and outlet 21, that is, along the goods conveying direction K (that is, the conveying path K of the goods) ) rear side; the bottom of the support frame 12 and the upright column 11 support the loading device 100 together, and the support frame 12 includes a support portion 120 extending along the ground.

In the above solution, by setting the support frame 12, the support frame 12 and the column 11 support the feeding device 100 together. The mechanism is increased, so the support for the feeding device 100 is relatively stable. Further, since the support portion 120 extends along the ground, the contact area between the support portion 120 and the ground can be increased, so that the support for the feeding device 100 is more stable, thereby improving the reliability of the feeding device 100 .

In the embodiment of the present application, the bottom of the support frame 12 and the column 11 jointly support the feeding device 100 , wherein the column 11 plays a main supporting role, and the support frame 12 plays an auxiliary supporting role. It should be noted that, in this application, the uprights 11 may include a plurality of uprights 11 , and the plurality of uprights 11 are arranged at intervals to support the feeding device 100 .

Referring to FIG. 3 , the front side Q in the direction K of conveyance of the goods is marked with arrows, and the direction opposite to the front side is the rear. For example, the column 11 in the present application may include a front column 121 located on the front side of the bracket 1 along the cargo conveying direction and a rear column 122 located at the rear side of the bracket 1 along the cargo transportation direction, and the support frame 12 may be connected to the rear column 122 .

In this way, during the process of the goods entering the loading device 100, it is easy to generate additional force on the bracket 1 in the conveying direction K of the goods. Part of the force is relatively large. As mentioned above, the front column 121 and the rear column 122 are arranged at intervals on the in and out path of the goods, and the support frame 12 as an auxiliary support is arranged on the rear column 122. The rear side of the feeding device 100 is Auxiliary support, thus making the feeding device 100 more stable. And it can effectively prevent the support 1 from shaking in the conveying direction of the above-mentioned goods.

The number of the uprights 11 can be set as required. For example, in the present application, both the front uprights 121 and the rear uprights 122 are two as an example to illustrate, and the case where the numbers of the front uprights 121 and the rear uprights 122 are other is similar, here No longer.

It can be understood that, in the present application, the upright post 11 may extend along a straight line as a whole like the rear upright post 122 , or, like the front upright post 121 , the upper and lower halves may not extend along a straight line. The extension direction of the upright column 11 may be along the vertical direction, and may also be arranged obliquely, which is not limited in this application.

In the embodiment of the present application, the support frame 12 may include a support portion 120 extending along the ground. Since the support portion 120 extends along the ground, the contact area between the support portion 120 and the ground can be increased, so that the support for the feeding device 100 is more stable. Thus, the reliability of the feeding device 100 is improved.

Further, the support portion 120 includes a first support portion 1201 and a second support portion 1202 that are connected to each other, the first support portion 1201 and the second support portion 1202 both extend along the ground, and the first support portion 1201 and the second support portion 1202 There is an angle between them. In this way, the first support portion 1201 and the second support portion 1202 can assist in supporting the upright column 11 at different angles, so that the support effect of the feeding device 100 is better.

It should be noted that the extension along the ground described in this application, for example, the support portion 120 extends along the ground, specifically means that the extension direction of the support portion 120 may be along the ground. The support portion 120 can support the feeding device 100 in a larger area. As for the specific support method of the support portion 120 , as shown in FIG. 3 , the support portion 120 may be supported on the ground by the feet 123 provided at the bottom thereof, or the bottom end surface of the support portion 120 may be directly supported on the ground.

Wherein, when the support portion 120 is supported on the ground through the legs 123, the column 11 can also be supported on the ground through the legs 123. It should be noted that, the support portion 120 cooperates with the legs 123 and needs to match the height of the column 11 after the legs 123 are engaged. , so that the storage unit 2 arranged on the rack 1 is arranged approximately horizontally. Optionally, the support feet 123 may be heavy duty cups with ears, which are fixed on the ground by, for example, expansion screws, or on a buffer body or a fixed body relatively fixed to the ground.

In the embodiment of the present application, the first support parts 1201 are connected to the rear column 122 , the number of the second support parts 1202 is even, and the second support parts 1202 are symmetrically arranged on both sides of the first support part 1201 . In this way, the second support portion 1202 can support the feeding device 100 more stably.

FIG. 5 is a schematic diagram showing a part of the bracket from another angle, and the illustration of the storage unit 2 is omitted in FIG. 5 for the convenience of observation. 5 , further, the extending direction of the first support portion 1201 and the goods conveying direction K are perpendicular to each other, and the extending direction of the second support portion 1202 is parallel to the goods conveying direction K. Further, the first end 1203 of the second support portion 1202 is connected to the end portion of the first support portion 1201 , and the second end 1204 of the second support portion 1202 extends along the ground. Specifically, the support portion 120 is a frame-shaped member extending around the circumference of the bracket 1 , and the frame-shaped member has an opening on the front side Q of the goods conveying direction K. As shown in FIG.

In the embodiment of the present application, the second support portion 1202 may also be located outside the area surrounded by the plurality of uprights 11 . In this way, the second support portion 1202 can play a better auxiliary supporting role outside the area of the substantially quadrilateral enclosed by the four uprights 11 , for example, the two front uprights 121 and the two rear uprights 122 .

4 and 5, the support frame 12 further includes a third support portion 1205. The third support portion 1205 includes a vertical extension section 1206 and a horizontal extension section 1207. The vertical extension section 1206 is connected to the upright column 11, for example, to the rear On the upright column 122 and extending along the length direction of the rear upright column 122, the horizontal extension section 1207 is connected with the vertical extension section 1206, and extends to the rear side of the rack 1 along the cargo conveying direction K.

The rear side of the loading device 100 may be provided with a buffer member or a fixing member that is fixed relative to the ground, so that the horizontal extension 1207 is fixed on the ground or the fixing member, and the loading device 100 is supported on the rear side. Specifically, the horizontally extending section 1207 may have a bottom end surface extending to the outside of the bracket 1 , and the bottom end surface is in contact with the ground and abuts. In other words, the bottom surface of the horizontally extending section 1207 can be in contact with the ground or the fixing member, and the horizontally extending section 1207 is in surface contact with the ground or the fixing member, so as to make the auxiliary support for the feeding device 100 more stable.

In the embodiment of the present application, further, when the feeding device 100 and the handling robot 200 are used together, in order to avoid the moving chassis 202 of the handling robot 200 , the bracket 1 may further be provided with an escape groove 13 .

Specifically, referring to FIG. 4 , when the bracket 1 includes a plurality of uprights 11 , such as two front uprights 121 and two rear uprights 122 , the two front uprights 121 and the two rear uprights 122 are spaced apart to form The avoidance groove 13 used to avoid the moving chassis 202 of the handling robot 200 can be understood that the opening of the avoidance groove 13 may face the handling robot 200 , that is, the opening direction of the cargo inlet and outlet 21 is the same. It should be understood that the avoidance groove 13 here refers to the avoidance space, which can be an open space formed by the gap between the legs as described above, or a relatively closed space formed by a continuous avoidance chamber, as long as The mobile chassis 202 of the transport robot 200 can enter, which is not limited in the present application. Further, when there are two front uprights 121 and two rear uprights 122 , the interval between the two front uprights 121 is greater than the interval between the two rear uprights 122 . In this way, on the one hand, it is convenient for the moving chassis 202 of the handling robot to enter, and on the other hand, the distance between the two front uprights 121 is increased, and the support for the feeding device 100 is also more stable.

Because the distance between the two rear uprights 122 is smaller than the distance between the two front uprights 121 , in order for the two rear uprights 122 to achieve the same supporting effect as the front uprights 121 , the second support portion 1202 can be located in a plurality of uprights Outside the area enclosed by 11. That is, the end of the first support portion 1201 is made closer to the outside than the rear pillar 122, and the junction of the first support portion 1201 and the second support portion 1202 is located in the area enclosed by the two front pillars 121 and the two rear pillars 122. outside.

In the embodiment of the present application, as mentioned above, when the handling robot 200 and the feeding device 100 are facing each other, it is possible that the handling robot 200 has not yet reached the preset feeding position, and the feeding device 100 performs the feeding action. It is very easy to fail in feeding, resulting in low reliability of feeding.

To avoid this from happening. The control assembly may also include an induction unit, the induction unit is electrically connected to the controller, the induction unit is arranged on the bracket 1, and is used to send out an induction signal when the handling robot 200 moves to a feeding position opposite to the feeding device 100, and the controller is used for According to the induction signal, control the sending component to carry out the feeding operation.

In the above solution, by setting the sensing unit, when the handling robot 200 reaches the preset loading position, the goods on the handling robot 200 are located at the position corresponding to the storage unit 2, the sensing unit sends a sensing signal to the controller, and the loading device 100 The feeding operation will not be carried out until the handling robot 200 is determined to be in place, the feeding failure will not occur, and the feeding reliability is high.

FIG. 6 is a partial enlarged view of part A of FIG. 2 .

Referring to FIG. 1 , FIG. 4 , and FIG. 6 , in the embodiment of the present application, as described above, the bottom of the bracket 1 has an escape groove 13 . The sensing unit may include a first sensing unit 71 disposed in the avoidance groove 13 , and the first sensing unit 71 is used to send out a sensing signal when the moving chassis 202 of the handling robot 200 is accommodated in the avoidance groove 13 .

In the embodiment of the present application, the number of the first sensing unit 71 is at least one. For example, as shown in FIG. 6 , the first sensing unit 71 is located at a position opposite to the moving chassis 202 of the handling robot.

In some other examples, in order to make the judgment of the sensing units more accurate, the number of the first sensing units 71 is at least two, and different first sensing units 71 are arranged at different positions relative to the avoidance groove 13; When at least one of the first sensing units 71 , for example, all the first sensing units 71 send sensing signals, the traveling frame is controlled to perform the feeding operation. In this way, it can be avoided that some of the first sensing units 71 fail, etc., and that the handling robot cannot be accurately measured.

It can be understood that, different first sensing units 71 may be respectively disposed on different sides of the avoidance groove 13 . The relative positions of the handling robot 200 and the feeding device 100 may be detected at different positions in the circumferential direction of the handling robot 200 as much as possible.

2 and FIG. 6 , the first induction unit 71 exemplarily includes a start switch 72 , the start switch 72 is located in the avoidance groove 13 and can be electrically connected to the controller, and the start switch 72 is used for the handling robot When the 200 moves into the avoidance groove 13, it touches the transfer robot 200 to send a sensing signal to the controller.

In the embodiment of the present application, the start switch 72 includes a switch bracket 721 and a detection rocker arm 722, the first end of the detection rocker arm 722 is rotatably connected to the switch bracket 721, and the second end of the detection rocker arm 722 is located in the avoidance groove 13, so as to For touching the handling robot 200 , the switch bracket 721 can send out an induction signal when detecting the rotation of the rocker arm 722 . In this embodiment of the present application, the first sensing unit 71 may include a proximity sensor, and the sensing area of the proximity sensor is located in the avoidance groove 13. Exemplarily, the proximity sensor is an infrared proximity sensor or a lidar.

The following describes the case where the start switch 72 is provided. In FIG. 6 , the ON state of the start switch 72 is indicated by a broken line. Specifically, when the cargo inlet of the pallet 205 of the transport robot 200 is opposite to the cargo inlet and outlet 21 of the storage unit 2, and the movable part 51 of the robotic arm 5 is located behind the cargo, the relative position of the transport robot 200 and the loading device 100 It is defined as the feeding position of the feeding device 100 .

2 and 6 , the moving chassis 202 of the handling robot 200 enters the avoidance slot 13, but when the handling robot 200 has not reached the preset feeding position, the moving chassis 202 is not in contact with the start switch 72, and the start switch 72 is at In the closed state, the transfer robot 200 does not perform the feeding operation. When the handling robot 200 reaches the preset feeding position, the moving chassis 202 contacts the start switch 72 and triggers the start switch 72 to act. The start switch 72 is turned on, and the handling robot 200 performs the feeding operation.

In the embodiment of the present application, the number of the uprights 11 is taken as an example for description, but the present application is not limited to this, and the number of the uprights 11 may also be 6, 8 or other numbers. In FIG. 1 , four uprights 11 are arranged side by side, and when viewed from above, the four uprights 11 are approximately located at four vertices of a rectangle. The storage unit 2 may be located between the four uprights 11 and arranged on the four uprights 11 .

FIG. 7 is a schematic three-dimensional structural diagram of a partial structure of the feeding device provided in the first embodiment of the present application. Referring to FIG. 7 , a top frame 111 is also connected to the top of the uprights 11 , and the top frame 111 is connected between the four uprights 11 , which can improve the connection strength of the bracket 1 and prevent the uprights 11 from shaking.

In order to better support the storage unit 2, the bracket 1 further includes an end connector 14, and the end connector 14 is connected between the two upright columns 11 arranged along the cargo output direction K. The two opposite sides of the storage unit 2 The ends can be connected between two oppositely disposed end connectors 14 .

Further, a guide member 141 may be connected to the end connecting member 14, the guide member 141 is located on the inward side of the end connecting member 14, and the guide member 141 extends along the output direction of the goods. The guide 141 has a guide surface 142 facing the goods to guide the goods as they are sent out of the storage unit 2 . When the storage unit 2 is fixed between the end connectors 14 , the guide 141 is located above the bottom of the storage unit 2 .

The end of the guide surface 142 along the end connecting piece 14 is further provided with an inclined area 143 and an inclined area 144 , wherein the inclined area 143 is disposed close to the cargo inlet and outlet 21 , and the inclined area 144 is disposed away from the cargo entrance and exit 21 . When two guide pieces 141 are arranged on two opposite end connecting pieces 14 , the inclined regions 143 on the two guide surfaces 142 are arranged opposite to each other, and the distance gradually decreases from the cargo inlet and outlet 21 toward the rear side. Further, the inclined regions 144 on the two guide surfaces 142 are disposed opposite to each other, and the distance gradually decreases from the rear side to the front side (cargo inlet and outlet 21 ), so as to cooperate with other mechanisms other than the loading device 100 .

Referring to FIG. 1 and FIG. 7 , the storage unit 2 for placing goods is arranged on the bracket 1 , and is specifically arranged between the columns 11 . When there are a plurality of storage units 2, the storage units 2 are arranged in the vertical direction, for example, they are arranged at intervals in the height direction of the column 11, so that the goods can be stored in different positions in the height direction. It can be understood that since 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 23 for placing goods is formed therebetween.

It should be noted that 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 storage units 2 can smoothly enter the pallets 205 . In addition, the arrangement of the storage units 2 in the present application is not limited to this, and a plurality of storage units 2 may also be provided in the width direction of the bracket 1 .

In the embodiment of the present application, the storage unit 2 has a plurality of rotatable rolling conveyors 22 , the rolling conveyors 22 are arranged side by side along the conveying direction K of the goods, and the rotation axes of the rolling conveyors 22 are parallel to each other.

The rolling conveyor 22 has an outer contour surface that is in rolling contact with the goods and is used to drive the goods out of the storage unit 2 . Referring to FIG. 7 , as an optional embodiment, the rolling conveying member 22 may be a rotating roller, and when both ends of the rotating roller are rotatably supported by the above-mentioned end connecting members 14, the roller surface of the rotating roller can rotate, and The above-mentioned rollable outer contour surface is formed. And when there are a plurality of rotating rollers, the rotating shafts of the plurality of rotating rollers are arranged in parallel with each other. Alternatively, the rolling conveyor 22 may also be a conveyor belt.

Further, the plurality of rolling conveyors 22 can be controlled individually, locally or all, so that the goods on the plurality of storage units 2 can be selectively single output, partial output or all output.

Further, the plurality of the rolling conveyors 22 may include a plurality of active rolling conveyors, and the rotation state of the active rolling conveyors can be controlled to enable the active rolling conveyors to transport the goods. Exemplarily, the active rolling transmission member is connected to the first driving device, and is driven by the first driving device to rotate around its own rotation axis.

In other examples, the plurality of rolling transfer members may include an active rolling transfer member and a driven rolling transfer member, the active rolling transfer member is connected to the first driving device, and is driven by the first driving device to rotate around its own rotation axis, from The movable rolling transmission member and the active rolling transmission member are interlocked with each other, and rotate under the driving of the active rolling transmission member.

For example, as another optional embodiment, the conveying member may be a plurality of V-ribbed belt drums 221 arranged side by side, and the plurality of V-ribbed belt drums 221 are rotatably connected between two opposite end connecting members 14 .

A plurality of V-ribbed belt rollers 221 are provided with a V-ribbed belt groove 222 at a position close to one end, and the same V-ribbed belt is sleeved at the position of the V-ribbed belt groove 222 on every two adjacent V-ribbed belt rollers 221. Each V-ribbed belt drum 221 is sleeved with two V-ribbed belts, so that the plurality of V-ribbed belt grooves 222 are linked together. Among the plurality of V-ribbed belt rollers 221, at least one of the V-ribbed belt rollers 221 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 221 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 rolling conveying member 22 .

Referring to FIG. 1 , the loading device 100 further includes a loading and unloading position sensor 96. The loading and unloading position sensor 96 is arranged on the bracket 1, and the loading and unloading position sensor 96 is located at the goods inlet and outlet 21. The loading and unloading position sensor 96 is used to detect whether the goods are stretched or not. out to the outside of the storage unit 2. Optionally, the loading and unloading position sensor may be a reflective photoelectric sensor.

In the embodiment of the present application, the storage unit 2 includes a first storage unit 94 located at the top of the loading device 100 and a second storage unit 95 located at the bottom of the loading device 100 , both of which are provided on the first storage unit 94 and the second storage unit 95 There are loading and unloading position sensors. Wherein, the first storage unit 94 is provided with a loading and unloading position sensor 96 , and the second storage unit 95 is provided with a loading and unloading position sensor 97 .

The loading and unloading position sensor 96 is arranged on the top frame 111, the loading and unloading position sensor 97 is arranged at the bottom of the second storage unit 95, and the loading and unloading position sensor 96 and the loading and unloading position sensor 97 are arranged opposite to each other. Loading and unloading sensors are arranged above the storage unit 94 and below the second storage unit 95 with the lowest height, and can detect when the goods in the storage unit 2 at any position protrude from the storage unit 2 . That is, among the multiple storage units 2, if one storage unit 2 performs a feeding operation, it can be detected by the loading and unloading sensor. In this way, the loading device 100 can detect whether there is a passing of goods through the loading and unloading sensor, so as to perform corresponding operations. Exemplarily, when the loading and unloading position sensor detects that there are goods passing through, it means that the loading operation is in normal operation, and the rolling conveyor 22 can rotate normally to drive the goods into and out of the storage unit 2 .

FIG. 8 is a schematic structural diagram of a storage unit of one layer in the feeding device of FIG. 1 . Referring to FIG. 8 , in the embodiment of the present application, as described above, the control assembly includes a controller, and further includes a first driving device for driving the transmission member to rotate. Furthermore, the control assembly also includes a sensor unit, where the sensor unit is used to detect the position of the goods and/or the speed of movement of the goods. Both the first driving device and the sensor unit are electrically connected to the controller, and the controller is used to control the rotation state of the rolling conveyor 22 according to the position of the goods and/or the moving speed of the goods, so as to transport the goods in the storage unit 2 to the storage unit 2 The transfer robot 200 on the outside.

In the embodiment of the present application, the sensor unit includes at least one of a speed sensor 8 and a position sensor. For example, the sensor unit includes a speed sensor 8 provided in the storage unit 2 .

Exemplarily, the speed sensor 8 includes a first speed sensor 81 and a second speed sensor 82. The second speed sensor 82 may be located on the side of the storage unit 2 away from the cargo inlet and outlet 21, and the first speed sensor 81 may be located at the second speed. Between the sensor 82 and the cargo inlet and outlet 21 . And both the first speed sensor 81 and the second speed sensor 82 are electrically connected to the controller.

The controller is used to control the rotational state of the rolling conveyor 22 . The moving speed of the goods detected by the first speed sensor 81 is greater than, less than or equal to the moving speed of the goods detected by the second speed sensor 82; The moving speed of the goods detected by the two speed sensors 82 controls the rotation state of the rolling conveyor 22 . It can be understood that the first speed sensor 81 is closer to the side of the cargo inlet and outlet 21 than the second speed sensor 82 . The controller adjusts the rotation state of the rolling conveyor 22 according to the moving speed of the goods detected by the first speed sensor 81 is greater than, less than or equal to the moving speed of the goods detected by the second speed sensor 82 to ensure that the goods are being loaded There is sufficient and/or stable speed in the process, so that the goods can enter the handling robot 200 smoothly and completely. On the contrary, if the difference between the moving speed of the goods detected by the first speed sensor 81 and the moving speed of the goods detected by the second speed sensor 82 is relatively large, it means that the transportation speed of the goods is too fast or gradually slows down, which may There is a problem of transportation difficulties.

Further, the speed sensor 8 may be a photoelectric sensor.

Referring to FIG. 8 , there are two first speed sensors 81 near the cargo inlet and outlet 21 , and the two first speed sensors 81 are located opposite to each other. For example, two first speed sensors 81 may be located at a location of the end connector 14 proximate the cargo access opening 21 .

Further, there are two second speed sensors 82 located behind the first speed sensor 81 , and the two second speed sensors 82 are located opposite to each other. For example, two second speed sensors 82 may be located at a location of the end connector 14 facing away from the cargo access port 21 . Arranging the speed sensors 8 in pairs in this way can make the speed measurement of the goods more accurate.

Continuing to refer to FIG. 8 , in the embodiment of the present application, the feeding device 100 further includes a first position sensor 91 . The first position sensor 91 is disposed on the storage unit 2 and is used to detect the position of the goods in the storage unit 2 . Specifically, the first position sensor 91 is located at a position close to the rear side of the end connecting member 14 in each storage unit 2 , in other words, located at the rear side of the second speed sensor 82 . And each storage unit 2 is correspondingly provided with a first position sensor 91 . The second driving device and the first position sensor 91 to be described later are both electrically connected to the controller, and the controller is used to control the position of the robotic arm 5 relative to the storage unit 2 according to the position of the goods, so that the movable member 51 is positioned away from the goods in the direction of the goods. side of exit 21.

FIG. 9 is a schematic three-dimensional structure diagram of a manipulator in a feeding device provided in Embodiment 1 of the application, FIG. 10 is a schematic three-dimensional structure diagram of a feeding device provided in Embodiment 1 of the application, and FIG. 11 is a partial enlarged view of part B of FIG. 9 . picture.

Next, the structures of the robot arm 5 and the traveling frame 6 will be described.

9 , 10 , and 11 , as described above, the feeding device 100 includes a robotic arm 5 that can move relative to the storage unit 2 , and the robotic arm 5 is used to move the goods in the storage unit 2 through its own movement. Drive to the outside of the storage unit 2 .

Exemplarily, a movable member 51 is provided on the robotic arm 5, and the movable member 51 can move relative to the robotic arm 5 to block the conveying path of the goods. Abut against the cargo and push the cargo to the outside of the storage unit 2 . Specifically, the movable member 51 can be moved relative to the robotic arm 5 to the unfolded position or the folded position, and when the movable member 51 is in the unfolded position, the movable member 51 is used for abutting with the goods in the storage unit 2, so that when the robotic arm 5 is relatively When the rack 1 moves, the transport robot 200 pushes out the goods from the storage unit 2 to the outside of the storage unit 2 .

Further, the feeding device 100 further includes a traveling frame 6 . Part of the structure of the walking frame 6 is located on the side of the bracket 1 . The robot arm 5 can be connected to the walking frame 6 , and the walking frame 6 can move relative to the bracket 1 to drive the robot arm 5 to move relative to the storage unit 2 .

Referring to FIGS. 9 and 11 , the walking frame 6 may include two supporting frame bodies 61 respectively disposed on both sides of the bracket 1 and a connecting beam 62 connected between the two supporting frame bodies 61 , and a robotic arm that drives the goods to move 5 is arranged on the walking frame 6, exemplarily, the robotic arm 5 is mounted on the connecting beam 62, and the robotic arm 5 is located at a position corresponding to the top of the pallet 205 on the handling robot 200, in other words, the robotic arm 5 and the storage unit 2 corresponds to the setting. Two ends of the connecting beam 62 are respectively connected with the two supporting frame bodies 61 .

As shown in FIG. 10 , the robotic arm 5 and the connecting beam 62 are located inside the bracket 1 , and the support frame body 61 is located at the side of the bracket 1 . When the support frame body 61 moves relative to the bracket 1 toward the handling robot 200 , the robotic arm 5 is driven to also move toward the cargo. stretch out.

Optionally, there are multiple robotic arms 5 , which are set corresponding to the storage unit 2 . In this application, one storage unit 2 corresponds to two robotic arms 5, and the two robotic arms 5 are located symmetrically on both sides of the storage unit 2 as an example for description, but the application is not limited to this, and the number of robotic arms 5 can also be other, and may also be located in other locations.

11, in the embodiment of the present application, the movable member 51 on the robot arm 5 can move to different positions relative to the robot arm 5. When the movable member 51 is blocked on the conveying path of the goods, the movable member 51 can be used to drive The goods are moved and sent out of the storage unit 2 . When the movable member 51 is not blocked on the conveying path of the goods, that is, the movable member 51 is located outside the conveying path of the goods, the movement of the robot arm 5 will not interfere with the goods at this time.

In the embodiment of the present application, the robotic arm 5 extends along the conveying direction of the goods, and the movable member 51 is disposed at the end of the robotic arm 5 that is away from the cargo inlet and outlet 21 . For example, the moving direction of the robot arm 5 may be in the horizontal direction. When the robotic arm 5 moves relative to the storage unit 2 , the movable range of the end of the robotic arm 5 provided with the movable member 51 is from the end of the storage unit 2 away from the cargo inlet and outlet 21 to the cargo inlet and outlet 21 .

Here, the movable member 51 is rotatably connected to the mechanical arm 5, and the rotation axis of the movable member 51 is parallel to the conveying direction of the goods. Exemplarily, the movable member 51 can be rotated to different positions relative to the robot arm 5, for example, the movable member 51 can be arranged horizontally and blocked on the conveying path of the goods; on the transport path of the goods.

For example, the movable member 51 can also be extended or shortened while rotating, so as to block the conveying path of the goods, or not block the conveying path of the goods.

Specifically, the movable member 51 is a movable push rod 52, the first end of the movable push rod 52 is rotatably connected to the mechanical arm 5, the second end of the movable push rod 52 is a free end, and the rod body of the movable push rod 52 is used for It is used to push the goods to the outside of the storage unit 2.

At this time, corresponding to FIG. 11 , the movable push rod 52 can be rotated relative to the mechanical arm 5 . When the movable push rod 52 is rotated to the horizontal position, the movable push rod 52 is in an unfolded state relative to the mechanical arm 5 , that is, the movable push rod 52 is in an unfolded state. It can be blocked on the incoming and outgoing path of the goods (refer to the movable push rod 52 on the right side of the drawing in FIG. 11 ). When the material is loaded, the movable push rod 52 is used to abut the side end of the goods and follow the robot arm 5 When the movable push rod 52 is rotated to the vertical position, the movable push rod 52 is in a folded state relative to the mechanical arm 5, that is, the movable push rod 52 is not blocked on the in and out path of the goods (refer to Fig. 11, the movable push rod 52) on the left side of the drawing.

Further, the number of movable push rods 52 is even, and they are respectively arranged on both sides of the storage unit 2 . This applies force to the cargo evenly.

Further, the manipulator 5 can cooperate with a plurality of rolling conveyors 22 to control the corresponding layer of the manipulator 5, the movable push rod 51 and the rolling conveyors 22 according to the goods to be outputted on the storage unit 2 and the number of layers thereof, so that more The goods on each storage unit 2 can be selectively single output, partial output or total output. Further, when outputting goods, the robotic arm 5 and the plurality of rolling conveying members 22 can be selectively activated.

12 is a schematic diagram of the partial structure of the connection between the traveling frame and the slide rail in the feeding device provided in the first embodiment of the application. Referring to FIG. 12 , for the fixing of the traveling frame 6, such as the supporting frame body 61 and the bracket 1, for example, it can be This is achieved by arranging slide rails 63 on the bracket 1 .

In the embodiment of the present application, the bracket 1 includes a slide rail 63 , the extending direction of the slide rail 63 is parallel to the conveying direction K of the goods, and the support frame 61 is disposed on the slide rail 63 and can move relative to the bracket 1 along the slide rail 63 .

Specifically, the bracket 1 further includes a sliding block 64 matched with the sliding rail 63 , and the sliding block 64 can slide back and forth in the sliding rail 63 . A connecting plate 611 is provided at the bottom end of the support frame body 61, and the connecting plate 611 is connected to the side of the slider 64 away from the slide rail 63, so that the movement of the slider 64 along the slide rail 63 can drive the support frame body 61, that is, to walk Shelf 6 moves. The sliding block 64 can move linearly along the sliding rail 63 by being driven by the second driving device.

In the embodiment of the present application, as described above, the second drive device in the drive assembly is disposed on the bracket 1, and the second drive device is electrically connected to the controller, so as to drive the robotic arm 5 relative to the storage device under the control of the controller. Unit 2 moves.

The second driving device 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 64 is connected to the chain. In this way, the motor drives the drive shaft to rotate through the reducer, and the drive shaft drives the sprockets to rotate, causing the chain tensioned between the sprockets to move linearly back and forth, and drive the slider 64 to move on the slide rail 63 .

Further, referring to FIG. 10 , the top end of the walking frame 6 and the bracket 1 can be slidably connected. For example, the connecting beam 62 at the top of the support frame body 61 is provided with a roller 93 extending upward, and the wheel surface of the roller 93 can be in rolling fit with the inner side surface of the top frame 111 .

10 , in order to prevent the walking frame 6 from colliding with the structure on the bracket 1 and causing the bracket 1 to shake, the control assembly of the present application is further provided with a second position sensor 92 which is electrically connected to the controller. The second position sensor 92 is used to detect the position of the walking frame 6 relative to the bracket 1 , and the controller is used to control the moving state of the walking frame 6 relative to the bracket 1 according to the position detected by the second position sensor 92 .

In the above solution, by setting the second position sensor 92, the position of the walking frame 6 relative to the bracket 1 can be detected. When the walking frame 6 moves to the position corresponding to the second position sensor 92, the controller can The information of the position sensor 92 adjusts the moving state of the walking frame 6 in time, for example, controlling the walking frame 6 to stop moving, that is, the speed of the walking frame 6 relative to the bracket 1 is zero, avoiding the occurrence of collision events, and preventing the supporting frame of the walking frame 6 The body 61 is moved out of the bracket 1 . Therefore, the stability and safety of the feeding device 100 are high.

In the embodiment of the present application, referring to FIG. 12 , in order to cooperate with the second position sensor 92 , the traveling frame 6 is further provided with a detection member 65 , and the detection member 65 protrudes toward the front side of the traveling frame 6 along the moving direction. And the controller is used to control the traveling frame 6 to stop moving when the traveling frame 6 moves to a position where the detection member 65 is opposite to the second position sensor 92 .

For example, the detection member 65 may be disposed on the connecting plate 611 at the bottom end of the support frame body 61 and be relatively fixed to the slider 64 . In addition, as an optional manner, the second position sensor 92 is a photoelectric sensor, and the detection member 65 includes a light blocking member that can be provided in front of the position sensor. Specifically, when the bracket 1 includes a plurality of uprights 11 and the walking frame 6 can move between the two adjacent uprights 11 , the second position sensor 92 is disposed on the two adjacent uprights 11 .

Further, the second position sensor 92 is located at the side of the two adjacent uprights 11 . The detector 65 has a detection portion 651 . When the carriage 6 moves to a position corresponding to the second position sensor 92 , the detection portion 651 is positioned laterally outside the column 11 and faces the position of the second position sensor 92 . When the second position sensor 92 is a photoelectric sensor, the detection portion 651 is formed as a light blocking member.

Optionally, the detecting member 65 further includes a connecting portion 652, the connecting portion 652 is installed on the side of the traveling frame 6 and protrudes to the outside of the traveling frame 6, and the side of the connecting portion 652 away from the traveling frame 6 is connected with the detecting portion 651. . In this way, the detection part 651 is fixed to the bottom of the traveling frame 6 through the connection part 652 . Optionally, the connecting portion 652 is fixed on the connecting plate 611 at the bottom of the support frame body 61 .

In this embodiment of the present application, the number of the second position sensors 92 may be two, for example, the second sensor 921 and the second sensor 922 . The two

second position sensors

921 and 922 may be respectively disposed at opposite ends of the traveling frame 6 in the moving direction. The controller is used to control the traveling frame 6 to stop moving when the traveling frame 6 moves to a position corresponding to any one of the two

second position sensors

921 and 922 .

Taking the situation shown in FIG. 12 as an example, the column 11 on the left side of the drawing is the column 11 near the goods inlet and outlet 21, and a second position sensor 921 is provided on the column 11 on the left side of the drawing. The upright column 11 is the upright column 11 facing away from the cargo inlet and outlet 21 , and a second position sensor 922 is also provided on the right column 11 . Correspondingly, the detection member 65 also includes a first detection member 653 and a second detection member 654 .

When the support frame 61 moves to the left cargo inlet 21, it drives the robotic arm 5 and the cargo to extend toward the cargo inlet 21, and drives the first detection member 653 to move in a direction close to the second position sensor 921. When the detection part 651 on the first detection member 653 is located at the side of the second position sensor 921, it is considered that the walking frame 6 has reached the limit position, and if it continues to move to the left, there is a risk of collision with the left column 11. At this time, the controller controls the walking The rack 6 stops moving. When the support frame body 61 moves to the right direction away from the cargo inlet and outlet 21 , the situation is similar, and details are not repeated here.

In the embodiment of the present application, as another optional manner, the second position sensor 92 is a contact switch, and the detection member 65 can be in contact with the second position sensor 92 . That is, when the detection member 65 and the second position sensor 92 are located at corresponding positions, the detection portion 651 can be in contact with the second position sensor 92 .

In the embodiment of the present application, as mentioned above, in order to further improve the feeding success rate of the feeding device 100 , it is also necessary to monitor the moving state of the movable member 51 relative to the mechanical arm 5 .

Referring to FIGS. 9 and 11 , at least one mechanical arm 5 is provided with a detection component 3 , and the detection component 3 is used to detect the position state of the movable member 51 . at least one of the position of the movable member 51 relative to the cargo. As mentioned above, the second driving device is used to drive the walking frame 6 to move relative to the bracket 1 , and the detection assembly 3 and the second driving unit are both electrically connected to the controller, and the controller is used to control the walking frame according to the position state of the movable member 51 . 6 mobile states.

In the embodiment of the present application, for the case where the feeding device 100 is provided with a plurality of mechanical arms 5, as shown in FIG. There is a detection component 3 on it.

By setting the detection assembly 3, the moving state of the movable member 51 relative to the robot arm 5 and the position of the movable member 51 relative to the goods can be monitored. For example, if the detection assembly 3 detects that the movable member 51 is blocked on the output path of the goods, a control operation can be performed as required, for example, the moving state of the traveling frame 6 can be controlled. Alternatively, if the detection component 3 detects that the end of the robotic arm 5 has not yet reached the rear side of the cargo, the movable member 51 can be controlled to be in the folded position as required to avoid interference with the cargo.

Specifically, the controller can send a control command to the movable member 51, so that the movable member 51 changes from being not blocked on the conveying path of the goods (corresponding to the folded state of the movable push rod 52) to being blocked on the conveying path of the goods (corresponding to the folded state of the movable push rod 52). In the unfolded state of the movable push rod 52), or stop the feeding operation of the feeding device 100, etc., the failure of the feeding operation is effectively avoided, and the feeding efficiency of the feeding device 100 is improved.

Alternatively, the controller may send a control instruction to the movable member 51, so that the movable member 51 continues to maintain the state that it is not blocked on the conveying path of the goods.

Referring to FIGS. 9 and 11 , in the embodiment of the present application, the detection component 3 includes a first position detection sensor 31 . In order to better detect the position of the movable member 51 , the first position detection sensor 31 is provided at the end of the mechanical arm 5 . The first position detection sensor 31 corresponds to the unfolded position or the folded position of the movable push rod 52 . In the drawings of the present application, the first position detection sensor 31 and the folded position of the movable push rod 52 are taken as an example for illustration, but the application is not limited to this, and the first position detection sensor 31 and the movable push rod 52 can also be combined. The expansion position corresponds to. In FIG. 11 , the first position detection sensor 31 is provided at the end of the mechanical arm 5, and the movable member 51, that is, the movable push rod 52, can be detected by the first position detection sensor 31 when it is rotated to the vertical position, in other words, When the movable member 51 is in a position where the feeding operation cannot be performed, it can be detected by the first position detection sensor 31 . The controller can perform corresponding control according to the detected information. Exemplarily, the first position detection sensor 31 is a photoelectric sensor or a contact switch.

In addition, in the embodiment of the present application, the number of movable parts 51 may be multiple, and the multiple movable parts 51 are symmetrically arranged on both horizontal sides of the storage unit 2 respectively, and each movable part 51 is correspondingly provided with a first position detection sensor 31 . Corresponding to the case where two robotic arms 5 are provided in FIGS. 9 and 11 , each robotic arm 5 is provided with a movable member 51 , and an end of each robotic arm 5 is provided with a first position detection sensor 31 .

In the state shown in FIG. 11 , both the end of the robot arm 5 on the left side of the drawing and the end of the robot arm 5 on the right side of the drawing are provided with the first position detection sensor 31 , and the movable part on the left side is provided with the first position detection sensor 31 . 51 is in the folded state, then the first position detection sensor 31 on the left sends the detected information that the movable part 51 is in the folded state to the controller; the movable part 51 on the right is in the unfolded state, the first position on the right The position detection sensor 31 transmits the information that the movable member 51 on the right side is in the unfolded state to the controller.

It should be noted that when the movable part 51 mentioned in this application is in an unfolded state, it means that the movable push rod 52 is in a horizontal state; while the movable part 51 is in a folded state, it means that the movable push rod 52 is in a vertical state, and it is impossible to carry out the goods. Feeding operation.

It should be understood that in the above control process, when the movable push rod 52 is in the folded state, it can be detected by the first position detection sensor 31 and sent to the controller, and the controller can control the moving state of the walking frame 6 as required. . When the movable push rod 52 is in the unfolded state, for example, when the movable push rod 52 is horizontal, or rotated to the position between folding and unfolding, it is considered that the movable push rod 52 can still perform the feeding operation, so the controller will not The moving state of the carriage 6 is adjusted.

In the embodiment of the present application, in order to prevent the movable member 51 from interfering with the cargo when it does not reach the rear side of the cargo, it is also necessary to detect the position of the end of the robotic arm 5 relative to the cargo. Referring to FIG. 11 , as a possible implementation manner, the detection assembly 3 further includes a second position detection sensor 32 , the second position detection sensor 32 is provided on the mechanical arm 5 , and the position of the second position detection sensor 32 is related to the movable member 51 . The second position detection sensor 32 is used to detect whether the movable member 51 is located outside the end of the cargo.

It should be noted that the second position detection sensor 32 and the movable member 51 are located adjacent to or at the same position on the robot arm 5 . For example, the second position detection sensor 32 may be located at the end of the robot arm 5 and on the side of the robot arm 5 close to the goods, so as to detect the relative position of the movable member 51 at the end of the robot arm 5 and the goods. It can be understood that the second position detection sensor 32 can also be located at the bottom or the top of the robot arm 5, as long as it can detect whether the movable member 51 at the end of the robot arm 5 is located on the rear side of the cargo.

Similar to the first position detection sensor 31, the second position detection sensor 32 is also a photoelectric sensor or a contact switch.

Embodiment 2

This embodiment provides a storage system, including the handling robot 200 and the loading device 100 of the first embodiment. As mentioned above, the handling robot 200 has a pallet 205 , and the pallet 205 and the storage unit 2 of the loading device 100 are provided correspondingly , so as to perform the feeding operation on the feeding device 100 . The pallet 205 and the storage unit 2 of the feeding 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.

It should be noted that the specific structure and functions of the handling robot 200 have been described in the first embodiment, and the specific structure and functions of the feeding device 100 have also been described in detail in the first embodiment, and will not be repeated here.

It should be noted that the 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 and the storage unit 2 of the loading device 100 are provided correspondingly That's it.

Embodiment 3

This embodiment provides a material feeding control method. The feeding control method in this embodiment can be applied to the feeding device 100 described in the first embodiment, and can also be applied to the storage system provided in the second embodiment.

FIG. 13 is a flowchart of the material feeding control method provided in Embodiment 3 of the present application. Referring to Figure 13, the feeding control method includes:

S100, receiving a feeding instruction;

S200 , controlling the rolling conveying member to rotate in a direction toward the import and export of goods according to the feeding instruction, so as to transport the goods in the storage unit to the outside of the import and export of goods.

In the above solution, conveying the goods in the storage unit 2 to the outside of the goods inlet and outlet 21 refers to conveying the goods in the storage unit 2 to the handling robot 200 or other equipment to be loaded.

Specifically, the handling robot 200 is taken as an example for description. The handling robot 200 approaches the feeding device 100 and reaches a preset feeding position. The support frame 61 of the walking frame 6 drives the robotic arm 5 and the movable part 51 to move towards the cargo until the movable part 51 is located at the rear side of the cargo, and the movable part 51 can be rotated from the folded position to the unfolded position, and moves towards the direction of the cargo inlet and outlet 21 At this time, the goods move toward the pallet 205 of the handling robot 200 under the thrust of the movable part 51 . Wherein, the corresponding movable parts 51 in each storage unit 2 move at the same time, and the goods in each storage unit 2 can be loaded at the same time.

In the embodiment of the present application, the above-mentioned control of the rolling conveyor 22 to rotate in the direction toward the goods inlet and outlet 21 according to the feeding instruction, so as to transport the goods in the storage unit 2 to the outside of the goods inlet and outlet 21 includes:

According to the feeding instruction, the rotation state of the rolling conveyor 22 is controlled so that the goods in the storage unit 2 are transported to the outside of the storage unit 2, and the rotation state includes the rotation speed and/or the start-stop state.

Specifically, after receiving the feeding instruction, the rolling conveying member 22 starts to rotate toward the direction of the goods inlet and outlet 21 . The goods move forward by the traction force exerted on the rolling conveyor 22. If the rotation speed of the rolling conveyor 22 is too small, the moving speed of the goods will be slow, and it may happen that the goods have not been completely transported to the outside of the goods inlet and outlet 21. If the rotation speed of the rolling conveyor 22 is too fast, the moving speed of the goods will be faster, which may cause impact on the equipment to be loaded, which may cause the equipment to be loaded to shake and move. In other cases, the feeding process is unstable. Therefore, it is necessary to control the rotation speed of the rolling conveyor 22 to ensure that the goods in the storage unit 2 are transported to the outside of the storage unit 2 . It can be understood that when the rolling conveying member 22 is activated, the goods start to move along with it, and if the rolling conveying member 22 stops rotating, the goods also stop moving.

In the embodiment of the present application, controlling the rotation state of the rolling conveyor 22 so that the goods in the storage unit 2 are transported to the outside of the storage unit 2 includes:

The rolling state of the rolling conveyor 22 is controlled according to at least one of the position of the goods in the storage unit 2 and the moving speed of the goods, so that the goods in the storage unit 2 are transported to the outside of the goods inlet and outlet 21 .

In the above solution, the rolling state of the rolling conveying member 22 is controlled according to the position of the goods in the storage unit 2. For example, when the goods just start to move, the distance between the rear end of the goods and the import and export 21 of the goods is relatively long, and the rolling transmission can be controlled. The rotation speed of the parts 22 is relatively slow. When the goods are about to be moved out of the storage unit 2, the distance between the rear end of the goods and the goods inlet and outlet 21 is close to 0, and the speed of the rolling conveying parts 22 can be controlled so that the goods can be smoothly moved out of the storage unit. 2. Smoothly enter the pallet of the handling robot. Here, the position of the goods in the storage unit 2 can be detected according to the first position sensor 91 described in the first embodiment.

The rotation state of the rolling conveyor 22 is controlled according to the moving speed of the goods, for example, the moving speed of the goods can be controlled within a suitable range, so as to avoid the situation that the storage unit 2 cannot be completely moved out or the speed is too fast when moving out of the storage unit 2 .

It should be understood that the rotation state of the rolling conveyor 22 can be controlled according to the position of the goods in the storage unit 2; or the rotation state of the rolling conveyor 22 can be controlled according to the moving speed of the goods; Both the position and the speed of movement of the goods control the rolling state of the rolling conveyor 22 .

In the embodiment of the present application, before controlling the rotation state of the rolling conveyor 22 according to at least one of the position of the goods in the storage unit 2 and the moving speed of the goods, the method further includes: detecting the moving speed of the goods.

The detection of the moving speed of the goods includes: detecting the moving speeds of the goods at at least two different positions on the in-out path of the goods.

For example, as described in the first embodiment, the speed sensor 8 may include a first speed sensor 81 and a second speed sensor 82. The second speed sensor 82 may be located on the side of the storage unit 2 away from the cargo inlet and outlet 21. The first speed sensor 82 The speed sensor 81 may be located between the second speed sensor 82 and the cargo inlet and outlet 21 .

In this way, during the movement of the goods towards the goods inlet and outlet 21 , the first speed sensor 81 can measure the speed of the goods near the goods inlet and outlet 21 , and the second speed sensor 82 can measure the speed of the goods on the side away from the goods inlet and outlet 21 . Set the speed at the position to measure.

In addition, as mentioned above, the plurality of rolling conveyors 22 include active rolling conveyors, and the rolling conveyors 22 are controlled to roll according to the feeding instruction, so as to transport the goods in the storage unit to the outside of the goods inlet and outlet, including: controlling the active rolling conveyors The rotating state of the rolling conveyor, so that the active rolling conveyor conveys the goods.

Alternatively, the driving rolling transfer member and the driven rolling transfer member included in the rolling transfer member 22 may be connected by a belt or the like. Therefore, controlling the rolling of the rolling conveyor 22 according to the feeding instruction to transport the goods in the storage unit 2 to the outside of the goods inlet and outlet 21 includes: controlling the rotation state of the active rolling conveyor, so that the active rolling conveyor and the slave The moving and rolling conveyors jointly transport the goods.

In the embodiment of the present application, in addition to the rolling transmission member 22, the movable member 51 of the robotic arm 5 also provides power for conveying the goods, so the feeding control method may also include:

The moving state of the robotic arm is controlled, so that the robotic arm and the rolling conveyer jointly drive the goods in the storage unit to the outside of the storage unit.

Specifically, controlling the moving state of the robotic arm 5 here may include controlling the moving speed of the robotic arm 5 and/or the position of the robotic arm 5 relative to the storage unit 2 . Similar to the influence of the rotational speed of the rolling conveyor 22 on the moving speed of the goods, the moving speed of the robotic arm 5 directly affects the moving speed of the goods. The position of the robotic arm 5 relative to the storage unit 2 also affects the position of the cargo relative to the storage unit 2 .

In the embodiment of the present application, the moving state of the robotic arm 5 is controlled, so that the robotic arm 5 and the rolling conveyor 22 jointly drive the goods in the storage unit 2 to the outside of the storage unit 2, including:

At least one of the moving state of the robot arm 5 and the rotating state of the rolling conveyor 22 is controlled according to the moving speed of the goods. The specific speed of the goods measured by the first speed sensor 81 and the second speed sensor 82 can be used for control. For example, if the moving speed of the goods is too slow or even stops, it is possible that the goods cannot be completely moved out of the storage unit 2. At this time, the moving speed of the robot arm 5 and/or the rotation speed of the rolling conveyor 22 can be increased to increase the movement of the goods. On the other hand, if the moving speed of the goods is too large, it may cause the goods to move out of the storage unit 2 too fast. Cargo slows down.

In addition, as mentioned above, the movable member 51 can be rotated to different positions relative to the robot arm 5 to unfold or fold, and when the movable member 51 is in the unfolded state, the robot arm 5 can drive the goods to move. Also includes before the goods are moved:

The position of the movable part 51 relative to the robot arm 5 is detected, for example, the detection assembly 3 detects the position of the movable part 51 relative to the robot arm 5 .

If the movable member 51 is in a folded state, the feeding operation is stopped. When the movable member 51 is in a folded state relative to the robotic arm 5, it is proved that the movable member 51 cannot drive the goods for feeding operation, so the feeding operation is controlled to stop.

In addition, as mentioned above, the walking frame 6 in the feeding device 100 can move relative to the bracket 1 of the feeding device 100 to drive the mechanical arm 5 to move. Therefore, the feeding method of the present application may also include:

Detect the position information of the walking frame relative to the bracket 1 . The position information of the walking frame relative to the bracket 1 can be detected by disposing a position sensor, such as the second position sensor 92 , on the bracket 1 . And control the moving state of the walking frame relative to the bracket 1 according to the detected position information.

In the above solution, by detecting the position of the walking frame relative to the bracket 1, as long as the position sensor is set at a position where it is easy to collide with the walking frame, when the walking frame is too close to the position where the bracket 1 is prone to collision, the controller can According to the information of the position sensor, the moving state of the walking frame 6 is adjusted in time to avoid the occurrence of collision events, so that the stability and safety of the feeding device 100 are high.

Wherein, controlling the moving state of the traveling frame 6 relative to the bracket 1 according to the detected position information includes: when the traveling frame moves to a preset position, controlling the traveling frame 6 to stop moving. In order to avoid collision with the structure of the bracket 1 and the like.

In order to further improve the reliability of the feeding operation, before the feeding operation, it may further include: judging whether the handling robot 200 is in the feeding position; if the handling robot 200 is in the feeding position, start the feeding operation.

Specifically, in order to confirm whether the handling robot 200 has reached the preset feeding position relative to the feeding device 100, it can be detected by the start switch 72 provided in the avoidance groove 13, and the mobile chassis 202 of the handling robot 200 enters the avoidance groove. 13 and reach the feeding position, control the traveling frame 6 to move and carry out the feeding operation.

Embodiment 4

FIG. 14 is a structural block diagram of a control apparatus provided by Embodiment 4 of the present application. Referring to FIG. 14 , this embodiment provides a control apparatus 300 , and the control apparatus 300 includes:

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 feeding control method described in the third embodiment .

Among them, the material feeding control method has been described in detail in the third embodiment, and will not be repeated here.

Embodiment 5

This embodiment provides a feeding device, which includes a support 1 and a control assembly. The support 1 is provided with a storage unit 2 for placing goods. The storage unit 2 is provided with a goods inlet and outlet 21 and a rolling transfer member 22. The rolling transfer member 22 having an outer contour surface capable of rolling contact with the goods in the storage unit 2;

The control assembly includes a drive unit for driving the rolling conveyor 22 to rotate and the control device 300 of the fourth embodiment. The driving unit is electrically connected to the control device 300, and the control device 300 is used to control the rolling conveyor 22 in the direction toward the goods inlet and outlet 21. Rotate to transport the goods in the storage unit 2 to the outside of the goods inlet and outlet 21 .

The structures and functional principles of the components in the feeding device provided in this embodiment are the same or similar to the feeding device 100 provided in the first embodiment, and the feeding device 100 has been described in detail in the first embodiment, and here No longer. The specific structure and functional principle of the control device 300 have been described in detail in the fourth embodiment, and are not repeated here.

Embodiment 6

This embodiment provides a storage system, including the handling robot 200 of Embodiment 1 and the feeding device of Embodiment 5. As mentioned above, the handling robot 200 has a pallet 205, a pallet 205 and a storage unit 2 of the feeding device. Corresponding settings are used to carry out the feeding operation of the feeding device. The pallet 205 and the storage unit 2 of the feeding device are arranged correspondingly. Specifically, the height of the pallet 205 is substantially the same as the height of the bottom of the storage unit 2, and the setting positions are corresponding and opposite.

It should be noted that the specific structure and function of the handling robot 200 have been described in Embodiment 1, and the specific structure and function of the feeding device have also been described in detail in Embodiment 5, and will not be repeated here.

It should be noted that the 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 and the storage unit 2 of the feeding device are set correspondingly, namely Can.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. scope.

Claims

A material loading control method, which is characterized in that it is applied to a material feeding device, and the material feeding device is used for transporting goods to a handling robot, and the material feeding device includes a storage unit, and the storage unit is provided with an import and export of goods and A rolling conveyor having an outer contour surface capable of rolling contact with goods within the storage unit, the method comprising:

Receive feeding instructions;

The rolling conveyor is controlled to rotate in a direction toward the goods inlet and outlet according to the feeding instruction, so as to transport the goods in the storage unit to the outside of the goods inlet and outlet.
The feeding control method according to claim 1, characterized in that, according to the feeding instruction, the rolling conveying member is controlled to rotate in a direction toward the import and export of the goods, so as to transfer the goods in the storage unit. Delivered to the outside of the cargo inlet and outlet, including:

According to the feeding instruction, the rotation state of the rolling conveying member is controlled, so that the goods in the storage unit are transported to the outside of the storage unit, and the rotation state includes rotation speed and/or start-stop state.
The feeding control method according to claim 2, wherein the controlling the rotation state of the rolling conveying member so that the goods in the storage unit are transported to the outside of the storage unit, comprises:

The rolling state of the rolling conveyor is controlled according to at least one of the position of the goods in the storage unit and the moving speed of the goods, so that the goods in the storage unit are transported to the entrance and exit of the goods outside.
The feeding control method according to claim 3, wherein the rotating state of the rolling conveyor is controlled according to at least one of the position of the goods in the storage unit and the moving speed of the goods Before, also included:

The moving speed of the cargo is detected.
The feeding control method according to claim 4, wherein the detecting the moving speed of the goods comprises:

The speed of movement of the cargo at at least two different positions on the ingress and egress path of the cargo is detected.
The feeding control method according to any one of claims 1-5, characterized in that there are a plurality of the rolling conveying members, and a plurality of the rolling conveying members are arranged side by side along the conveying direction of the goods, and a plurality of the rolling conveying members are arranged side by side along the conveying direction of the goods. The rolling conveyor includes an active rolling conveyor, and the rolling of the rolling conveyor is controlled according to the feeding instruction to transport the goods in the storage unit to the outside of the goods inlet and outlet, including:

The rotational state of the active rolling conveyor is controlled so that the active rolling conveyor conveys the goods.
The feeding control method according to any one of claims 1-5, characterized in that there are a plurality of the rolling conveying members, and a plurality of the rolling conveying members are arranged side by side along the conveying direction of the goods, and a plurality of the rolling conveying members are arranged side by side along the conveying direction of the goods. The rolling conveying member includes an active rolling conveying member and a driven rolling conveying member that are interlocked with each other, and the rolling conveying member is controlled to roll according to the feeding instruction, so as to transport the goods in the storage unit to the goods feeder. The outside of the exit, including:

The rotational state of the active rolling conveyor is controlled so that the active rolling conveyor and the driven rolling conveyor jointly convey the goods.
The feeding control method according to any one of claims 1-5, wherein the feeding device further comprises a robotic arm that can move relative to the support, and the method further comprises:

The moving state of the robotic arm is controlled, so that the robotic arm and the rolling conveying member together drive the goods in the storage unit to the outside of the storage unit.
The feeding control method according to claim 8, wherein the controlling the movement state of the robotic arm comprises:

The speed of movement of the robotic arm and/or the position of the robotic arm relative to the storage unit is controlled.
The feeding control method according to claim 8, wherein the moving state of the robotic arm is controlled so that the robotic arm and the rolling conveying member together drive the goods in the storage unit to The outside of the storage unit includes:

At least one of the moving state of the robot arm and the rotating state of the rolling conveyor is controlled according to the moving speed of the goods.
A control device, characterized in that it includes:

a processor; and a memory communicatively connected to the processor, the memory storing executable code that, when executed by the processor, causes the processor to perform any of claims 1-10 The one described feeding control method.
A feeding device is characterized in that it includes a support and a control assembly, the support is provided with a storage unit for placing goods, the storage unit is provided with a goods inlet and outlet and a rolling conveying member, and the rolling conveying member has an outer contour surface capable of rolling contact with goods within the storage unit;

The control assembly comprises a drive unit for driving the rolling conveying member to rotate and the control device according to claim 11 , the driving unit and the control device are electrically connected, and the control device is used for controlling the rolling conveyance The piece is rotated in a direction towards the cargo access to transport the cargo in the storage unit to the outside of the cargo access.
A storage system, characterized in that it comprises a handling robot and the feeding device according to claim 12 , the handling robot has a pallet, and the pallet and the storage unit of the feeding device are correspondingly arranged so as to be compatible with the feeding device. Carry out the feeding operation.