WO2022151678A1 - 能将货物卸载在货柜内的立体卸载系统及其控制方法 - Google Patents

能将货物卸载在货柜内的立体卸载系统及其控制方法 Download PDF

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Publication number
WO2022151678A1
WO2022151678A1 PCT/CN2021/105225 CN2021105225W WO2022151678A1 WO 2022151678 A1 WO2022151678 A1 WO 2022151678A1 CN 2021105225 W CN2021105225 W CN 2021105225W WO 2022151678 A1 WO2022151678 A1 WO 2022151678A1
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WO
WIPO (PCT)
Prior art keywords
unloading
goods
fixed
container
dimensional
Prior art date
Application number
PCT/CN2021/105225
Other languages
English (en)
French (fr)
Inventor
朱建强
Original Assignee
浙江立镖机器人有限公司
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Filing date
Publication date
Application filed by 浙江立镖机器人有限公司 filed Critical 浙江立镖机器人有限公司
Priority to KR1020237017505A priority Critical patent/KR20230092000A/ko
Priority to US18/037,446 priority patent/US20230406627A1/en
Priority to JP2023526464A priority patent/JP2023547259A/ja
Priority to EP21918874.5A priority patent/EP4219344A4/en
Publication of WO2022151678A1 publication Critical patent/WO2022151678A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
    • B07C3/082—In which the objects are carried by transport holders and the transport holders form part of the conveyor belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/34—Devices for discharging articles or materials from conveyor 
    • B65G47/46—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points
    • B65G47/50—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points according to destination signals stored in separate systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/94—Devices for flexing or tilting travelling structures; Throw-off carriages
    • B65G47/96—Devices for tilting links or platform
    • B65G47/962—Devices for tilting links or platform tilting about an axis substantially parallel to the conveying direction
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0285—Postal items, e.g. letters, parcels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0216—Codes or marks on the article

Definitions

  • the present disclosure relates to a robot unloading system and a control method thereof.
  • the present disclosure provides a three-dimensional unloading system capable of unloading goods into a container and a control method thereof.
  • the present disclosure provides a three-dimensional unloading system capable of unloading goods into a container, including:
  • a sorting platform which is provided with a loading inlet and an unloading outlet
  • a package identification device which is installed at the loading entrance of the sorting platform and can identify the goods placed on the self-navigating trolley;
  • a positioning device configured to perform positioning while the self-navigating trolley is traveling
  • the three-dimensional unloading system also includes:
  • More than one rack consisting of a plurality of containers, each container capable of storing goods, the rack being installed close to the unloading exit;
  • An unloading device which is fixed on the conveying frame, can be moved to the unloading outlet under the driving of the conveying device to receive the unloaded goods from the self-guided trolley, and then move to a container close to the predetermined container, and unload the goods in the container ;
  • the server is wirelessly connected to the controller of the self-navigating trolley, and wired or wirelessly connected to the package identification device, the conveying device's controller, and the unloading device's controller.
  • the unloading device includes:
  • the unloading motor the casing of which is fixed with the conveying frame, and the rotating shaft of which is fixed with the first unloading transmission wheel core or the second unloading transmission wheel core, the unloading motor is electrically connected to the controller of the unloading device, and when the unloading motor rotates, The cargo can be unloaded.
  • the unloading device includes:
  • an overturning motor the casing of which is fixed with the casing of the first reducer, and the rotating shaft of which is fixed with the input shaft of the first reducer, and the overturning motor is electrically connected to the controller of the unloading device;
  • the flip tray fixed to the flip bracket, the flip tray configured to hold the cargo
  • the second reducer the casing of which is fixed with the conveying frame
  • the swing motor is electrically connected to the controller of the unloading device
  • the rotation of the swing motor can drive the turning plate to swing above the predetermined container, and the rotation of the turning motor can unload the goods in the container.
  • the delivery device includes:
  • Vertical mobile device which is provided with:
  • a hollow rod which is vertically fixed relative to the ground, the hollow rod is provided with an open end, and two outer sides of the hollow rod are provided with grooves;
  • a synchronous belt which connects the first synchronous pulley and the second synchronous pulley
  • a servo motor the shell of which is fixed with the hollow rod, and the rotating shaft of which is fixed with the central axis of the first synchronous pulley or the central axis of the second synchronous pulley, and the servo motor is electrically connected to the controller of the conveying device;
  • a sliding block is provided with a convex block and two sliding rails, the convex block can be embedded in the open end of the hollow rod and fixed with the synchronous belt, the sliding rail can only move back and forth along the groove, and the sliding block is connected to the conveying frame. fixed.
  • the conveying device further includes:
  • the horizontal moving device has the same structure as that of the vertical moving device, the hollow rod of the horizontal moving device is fixed horizontally with the ground through the bracket, the hollow rod in the vertical moving device is fixed with the slider in the horizontal moving device, and the horizontal moving device
  • the servo motor in is electrically connected with the controller of the conveying device.
  • the unloading device moves in proximity to the cargo.
  • the unloading device moves down slowly until the cargo completely slides down onto the unloading device.
  • the sorting platform is provided with multiple layers, and each layer of the sorting platform is provided with self-navigating trolleys for transporting and unloading goods, and each layer of the sorting platform is equipped with a package identification device and a positioning device.
  • the rack is a movable rack.
  • Each layer of the shelf is provided with two parallel rails, the container is provided with corresponding two flanges, and the two flanges of the container are pressed on the two rails.
  • the containers of the rack are arranged in a matrix.
  • the positioning device includes:
  • the location landmarks include two-dimensional codes, color block marks, graphic size marks or graphic quantity marks, and the corresponding sensors are cameras.
  • the present disclosure also provides a control method of a three-dimensional unloading system capable of unloading goods into a container, comprising the following steps:
  • the conveying device moves the unloading device to be close to the goods on the self-navigation trolley located at the exit of the unloading, and the self-navigation trolley starts to unload the goods;
  • the conveying device returns to normal speed, and the unloading device is conveyed to the container close to the predetermined and unloaded.
  • the advantage of the present disclosure is that after sorting, the goods can be directly unloaded into a predetermined container on the shelf; the containers on the shelf are closely arranged, which greatly increases the density of the outlet compared with the prior art, improves the space utilization, and also The unloading speed is improved; when unloading the goods from the self-navigating trolley, the unloading device slowly accepts the goods, which can effectively reduce the impact force of the goods and reduce the collision and damage of the goods.
  • the present disclosure has the beneficial effects of compact structure, high space utilization rate, fast unloading speed, and reduced damage to goods.
  • FIG. 1 is a schematic diagram of the overall structure of the present disclosure.
  • FIG. 2 is a schematic structural diagram of the unloading device moving to be close to the cargo when unloading the cargo according to the present disclosure.
  • FIG. 3 is a schematic structural diagram of the unloading device moving down slowly when the cargo just touches the unloading device according to the present disclosure.
  • FIG. 4 is a schematic structural diagram of the conveying device and the unloading device of the present disclosure.
  • FIG. 5 is a top view of the vertical movement device of the present disclosure.
  • FIG. 6 , FIG. 7 , and FIG. 8 are schematic diagrams of the related structure of the unloading device of the present disclosure using a flip disk.
  • a three-dimensional unloading system capable of unloading goods in a container may include:
  • Sorting platform 12 which may be provided with loading inlets and unloading outlets 13;
  • a package identification device which can be installed at the loading entrance of the sorting platform 12, and can identify the goods 5 installed on the self-navigating trolley 11 manually or by a robot;
  • a positioning device which can be configured to perform positioning when the self-navigation cart 11 is traveling;
  • a conveying device 4 which can be fixed with a conveying frame
  • the shelf 2 can be composed of a plurality of containers 21, each container 21 can store goods 5, the shelf 2 can be installed close to the unloading outlet 13, usually in order to improve space utilization and unloading efficiency , the shelf 2 can be arranged with a plurality of containers 21 in a vertical manner, and the plurality of containers 21 can be arranged in a matrix.
  • the distance of loading; the shelf 2 can preferably be a movable shelf, and the container 21 on the shelf 2 can preferably be a detachable structure, that is, the container 21 can be moved independently;
  • the unloading device 3 which can be fixed on the conveying frame, can be moved to the unloading outlet 13 under the driving of the conveying device 4 to receive the unloaded goods 5 from the self-guided trolley 11, and then move to a predetermined container 21, and unload the cargo 5 into the container 21;
  • the server which can be wirelessly connected to the controller of the self-navigating trolley 2 , and can be wired or wirelessly connected to the package identification device, the controller of the conveying device 4 and the controller of the unloading device 3 .
  • the advantage of the present disclosure is that after the goods 5 are unloaded into the containers 21 on the shelf 2, the shelf 2 can be conveniently moved to the packing place for packing, so as to meet some specific requirements.
  • the shelf 2 The containers 21 on the container can be closely arranged, which greatly increases the density of the delivery port compared with the prior art, improves the space utilization rate, and also improves the unloading speed.
  • each container 21 has a number, and each container 21 can be installed with more than one item 5, which corresponds to a certain owner or area, etc. For example, two items ordered by a buyer; A batch of goods ordered by buyers in provinces and cities, etc.
  • the unloading device 3 may include:
  • the shaft cores of the first unloading transmission wheel 32 and the second unloading transmission wheel 34 can be respectively rotatably connected to the conveying frame.
  • the folded edge 33 of the degree of the folded edge 33 can be configured to install the shaft core of the first unloading transmission wheel 32 and the second unloading transmission wheel 34;
  • a conveyor belt 35 which can couple the first unloading drive wheel 32 and the second unloading drive wheel 34, the conveyor belt 35 can be configured to carry the goods 5;
  • the unloading motor 31 the shell of which can be fixed with the folded edge 33, the rotating shaft of which can be fixed with the shaft core of the first unloading transmission wheel 32 or the shaft core of the second unloading transmission wheel 34, the unloading motor 31 can be electrically connected to the control of the unloading device 3 When the unloading motor 31 rotates, the load 5 can be unloaded.
  • the unloading motor 31 can be a deceleration motor, and a plurality of bearing wheels can be added, and the bearing wheels can be configured to support the middle of the conveyor belt 35 to increase the bearing weight of the goods 5 .
  • the unloading motor 31 When unloading in this embodiment, the unloading motor 31 is rotated forward or reversely, so that the goods 5 can be unloaded on the left or right shelf 2 .
  • the unloading device 3 may include:
  • the turning motor 62 the housing of which can be fixed with the housing of the first speed reducer 64, and the rotating shaft of which can be fixed with the input shaft of the first speed reducer 64, the turning motor 62 can be electrically connected to the controller of the unloading device 3;
  • Two flip brackets 63 can be arranged symmetrically, and they can be fixed with the output shaft of the first reducer 64;
  • a flip tray 60 which can be fixed with a flip bracket 63, the flip tray 60 can be configured to hold the goods 5;
  • the casing of the second speed reducer 66 can be fixed with the conveying frame; in this embodiment, the conveying frame can be the vertical plate 61;
  • the oscillating motor 67 the housing of which can be fixed with the housing of the second reducer 66, the rotating shaft of which can be fixed with the input shaft of the second reducer 66, the oscillating motor 67 can be electrically connected to the controller of the unloading device 3;
  • One end of the swing rod 65 can be fixed with the output shaft of the second reducer 66, and the other end of the swing rod 65 can be fixed with the casing of the first reducer 64.
  • two swing rods 65 can be provided;
  • the rotation of the swing motor 67 can drive the turning plate 60 to swing above the predetermined container 21 , and the rotation of the turning motor 62 can unload the cargo 5 into the container 21 .
  • only one shelf 2 can be arranged.
  • the conveying device 4 may include:
  • Vertical moving device 42 which may be provided with:
  • the hollow rod 422 can be fixed vertically relative to the ground.
  • the hollow rod 422 can be provided with an open end 4222.
  • the two outer sides of the hollow rod 422 can be provided with grooves 4221.
  • the hollow rod 422 in this embodiment can be directly fixed on the ground;
  • first synchronous pulley 424 and the second synchronous pulley which can be respectively rotatably fixed at both ends in the hollow rod 422;
  • timing belt 423 which can connect the first timing pulley 424 and the second timing pulley
  • the housing of the servo motor 421 can be fixed with the hollow rod 422, and its rotating shaft can be fixed with the central axis of the first synchronous pulley 424 or the central axis of the second synchronous pulley, and the servo motor 421 can be electrically connected to the conveying device 4.
  • controller; the servo motor 421 can choose a servo motor with a deceleration mechanism;
  • the slider 425 can be provided with a protrusion 4252 and two sliding rails 4251, the protrusion 4252 can be inserted into the open end 4222 of the hollow rod 422 and fixed with the timing belt 423, the sliding rail 4251 can only go back and forth along the groove 4221 Moving, the slider 425 can be fixed with the conveying frame.
  • the conveying device 4 may further include:
  • the structure of the lateral moving device 43 can be the same as that of the vertical moving device 42 and the hollow rod 432 of the lateral moving device 43 can be fixed horizontally with the ground through a bracket, and the hollow rod 422 in the vertical moving device 42 can be connected with the horizontal moving device 43.
  • the slider 435 in the device is fixed, and the servo motor 431 in the lateral moving device 43 can be electrically connected with the controller of the conveying device 4 .
  • the horizontal moving device 43 and the vertical moving device 42 have the same structure, which can reduce costs, facilitate management, and simultaneously realize three-dimensional unloading.
  • two lateral moving devices 43 may be provided, one vertical moving device 42 may be provided, and the upper and lower parts of the vertical moving device 42 may be respectively matched with the two lateral moving devices 43 .
  • the slider 435 is fixed, and the stability of this structure is relatively good.
  • the unloading device 3 when the self-navigating trolley 11 on the sorting platform 12 unloads the goods 5, the unloading device 3 can move to be close to the goods 5, and when the goods 5 just touch the unloading device 3, The unloading device 3 can be moved down slowly until the cargo 5 has completely slipped onto the unloading device 3 .
  • the unloading device 3 may comprise a conveyor belt 35 or a turn-over tray 60 .
  • the goods 5 when unloading the goods from the self-navigating trolley 11, the goods 5 are usually unloaded directly at the exit, and the exit has a certain height from the self-navigating trolley 11. Therefore, if the goods 5 are fragile items , it may be damaged by the impact force.
  • the unloading method of the present disclosure can effectively reduce the impact force of the cargo 5 and reduce damage to the cargo.
  • the sorting platform 12 is provided with multiple layers, and each layer of the sorting platform 12 has self-navigation trolleys 11 to transport and unload goods, and each layer of the sorting platform 12 is equipped with a package identification device and a positioning device.
  • the shelf 2 of the present disclosure may be a movable shelf, which can be moved manually or by a robot.
  • each layer in the shelf 2 is provided with two parallel rails 22, the container 21 can be provided with two corresponding flanges, and the two flanges of the container 21 can be pressed on On the two rungs 22.
  • the positioning means may include, for example:
  • a plurality of location landmarks which can be installed on the sorting platform 12 and can be recognized by the sensors of the self-navigating trolley 11, the location landmarks can include two-dimensional codes, color block marks, graphic size marks or graphic quantity marks, corresponding sensors It can be a camera, and this part is in the prior art.
  • the present disclosure also provides a control method for a three-dimensional unloading system capable of unloading goods into a container, which may include the following steps:
  • the conveying device 4 moves the unloading device 3 to be close to the goods 5 on the self-navigation trolley 11 located at the unloading exit 13, and the self-navigation trolley 11 starts to unload the goods 5;
  • the conveying device 4 returns to the normal speed, and the unloading device 3 is conveyed to the container 21 close to the predetermined and unloaded.
  • slow in step S2 can be understood as, for example, descending at a speed lower than the normal running speed or the so-called "normal speed".
  • the normal operating speed or "normal speed” may be a predetermined operating speed, or may also be a rated speed inherent in the unloading device according to its configuration and other factors, of course, this is only exemplary and not limiting.
  • step S3 can be explained as above.
  • the present disclosure provides a three-dimensional unloading system capable of unloading goods into a container and a control method thereof.
  • the goods can be directly unloaded into a predetermined container on the shelf, so that the containers on the shelf are Closely arranged, the density of the outlet is greatly increased compared with the existing technology, which improves the space utilization rate and the unloading speed.
  • the self-navigating trolley unloads the goods
  • the unloading device slowly accepts the goods, which can effectively reduce the impact force of the goods and reduce the Cargo crash damaged.
  • the invention has the beneficial effects of compact structure, high space utilization rate, fast unloading speed and reduced damage to goods.

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Abstract

本公开提供了一种能将货物卸载在货柜内的立体卸载系统及其控制方法。该立体卸载系统包括：分拣平台；自导航小车；包裹识别装置；定位装置。该立体卸载系统还包括：一个以上的货架，该货架由多个货柜组成，每个货柜能存储货物，该货架安装在接近卸货出口的位置处；输送装置，其固定有输送架；卸载装置，其固定在输送架上，该卸载装置在输送装置的驱动下能移动至卸货出口处以承接从自导航小车卸载的货物，之后移动至接近预定的货柜，将货物卸载在该货柜内；服务器，其通过无线连接至自导航小车的控制器，并通过有线或无线连接至包裹识别装置、输送装置的控制器和卸载装置的控制器。本公开具有结构紧凑、空间利用率高、卸载速度快、减少货物受损的有益效果。

Description

能将货物卸载在货柜内的立体卸载系统及其控制方法
相关申请的交叉引用
本公开要求于2021年1月12日提交中国专利局的申请号为2021100349703、名称为“能将货物卸载在货柜内的立体卸载系统及其控制方法”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及一种机器人卸货系统及其控制方法。
背景技术
通过自导航小车即机器人分拣货物和卸载货物已获得了广泛的应用。在现有技术中，货物通常根据需要卸载在某个预定的出口内，例如根据地域划分将包裹卸载在不同的出口内，再将同一个出口内的包裹进行打包运送。有一种需求是把货物卸载在货架上预定的某个货柜内，而由于一个货架可以设置很多个货柜，只要将货架运送到打包处，就能将所有的货物方便地运送到打包处打包。因此，如何将机器人分拣后的货物卸载在货架上预定的某个货柜内是本公开需要解决的问题。
发明内容
本公开根据以上需求，提供了一种能将货物卸载在货柜内的立体卸载系统及其控制方法。
本公开提供一种能将货物卸载在货柜内的立体卸载系统，包括：
分拣平台，其设置有装货入口和卸货出口；
多辆自导航小车，能在分拣平台上行驶且能将其承载的货物在卸货出口处卸载；
包裹识别装置，其安装在分拣平台的装货入口处，并能对放置到自导航小车上的货物进行识别；
定位装置，其被配置成在自导航小车行驶时进行定位；
该立体卸载系统还包括：
一个以上的货架，该货架由多个货柜组成，每个货柜都能存储货物，该货架安装在接近卸货出口的位置处；
输送装置，其固定有输送架；
卸载装置，其固定在输送架上，该卸载装置在输送装置的驱动下能移动至卸货出口处 以承接从自导航小车卸载的货物，之后移动至接近预定的货柜，并将货物卸载在该货柜内；
服务器，其通过无线连接至自导航小车的控制器，以及通过有线或无线连接至包裹识别装置、输送装置的控制器和卸载装置的控制器。
可选地，所述卸载装置包括：
第一卸载传动轮和第二卸载传动轮，其轴芯分别与输送架可转动地联接；
传送带，其联接第一卸载传动轮和第二卸载传动轮，该传送带被配置成承载所述货物；
卸载电机，其壳体与输送架固定，其转轴与第一卸载传动轮轴芯或第二卸载传动轮轴芯固定，该卸载电机电连接至所述卸载装置的控制器，在该卸载电机转动时，能卸载所述货物。
可选地，所述卸载装置包括：
第一减速器；
翻转电机，其壳体与第一减速器的壳体固定，其转轴与第一减速器的输入轴固定，该翻转电机电连接至所述卸载装置的控制器；
翻转支架，其与第一减速器的输出轴固定；
翻转盘，其与翻转支架固定，该翻转盘被配置成盛装所述货物；
第二减速器，其壳体与所述的输送架固定；
摆动电机，其壳体与第二减速器的壳体固定，其转轴与第二减速器的输入轴固定，该摆动电机电连接至卸载装置的控制器；
摆动杆，其一端与第二减速器的输出轴固定，其另一端与第一减速器的壳体固定；
该摆动电机的转动能带动翻转盘使其摆动至预定的货柜上方，该翻转电机的转动能将货物卸载在该货柜内。
可选地，所述输送装置包括：
竖向移动装置，其设置有：
中空杆，其相对于地面竖直固定，该中空杆设置有开口端，该中空杆的两个外侧面开设有凹槽；
第一同步带轮和第二同步带轮，其分别可转动地固定在中空杆内的两端处；
同步带，其联接第一同步带轮和第二同步带轮；
伺服电机，其壳体与中空杆固定，其转轴与第一同步带轮的中心轴或第二同步带轮的中心轴固定，该伺服电机电连接至所述输送装置的控制器；
滑块，其设置有凸块和两个滑轨，该凸块能嵌入中空杆的开口端且与同步带固定，该滑轨仅能沿着凹槽来回移动，该滑块与所述输送架固定。
可选地，所述输送装置还包括：
横向移动装置，其结构与竖向移动装置的结构相同且该横向移动装置的中空杆通过支架与地面水平固定，竖向移动装置中的中空杆与横向移动装置中的滑块固定，横向移动装置中的伺服电机与所述输送装置的控制器电连接。
当所述自导航小车卸载货物时，所述卸载装置移动至接近货物。在货物刚刚触及到卸载装置时，卸载装置缓慢下移，直至货物完全滑落到卸载装置上。
可选地，所述分拣平台设置有多层，每层分拣平台上均有自导航小车运货和卸货，每层分拣平台均配置有包裹识别装置和定位装置。
可选地，所述货架为可移动货架。
所述货架中的每层都设置有平行的两根横档，所述货柜设置有对应的两个翻边，该货柜的两个翻边压在两根横档上。
可选地，所述货架的货柜按矩阵排列。
可选地，所述定位装置包括：
多个位置地标，其安装在分拣平台上，并能被自导航小车的传感器识别，该位置地标包括二维码、颜色块标记、图形大小标记或图形数量标记，相应的传感器为摄像头。
本公开还提供一种能将货物卸载在货柜内的立体卸载系统的控制方法，包括如下步骤：
S1.输送装置将卸载装置移动至接近位于卸货出口处的自导航小车上的货物，自导航小车开始将货物卸下；
S2.当货物触及卸载装置时，卸载装置缓慢下降，直至货物完全滑落到卸载装置上；
S3.输送装置恢复常速，将卸载装置输送至接近预定的货柜并卸货。
本公开的优点是，能将货物分拣后直接卸载在货架上预定的某个货柜内；货架上的货柜紧密排列，比现有技术的出货口密度大大增加，提高了空间利用率，也提高了卸载速度；自导航小车卸载货物时，卸载装置缓慢承接货物，能有效减少货物冲击力，减少货物碰撞受损。
本公开具有结构紧凑、空间利用率高、卸载速度快、减少货物受损的有益效果。
附图说明
图1为本公开的整体结构示意图。
图2为本公开在卸载货物时，卸载装置移动至接近货物的结构示意图。
图3为本公开在货物刚刚触及到卸载装置时，卸载装置缓慢下移的结构示意图。
图4为本公开的输送装置和卸载装置的结构示意图。
图5为本公开的竖向移动装置的俯视图。
图6、图7、图8为本公开的卸载装置采用翻转盘相关结构的示意图。
具体实施方式
现结合附图对本公开作进一步的说明：
如图1所示，一种能将货物卸载在货柜内的立体卸载系统，可以包括：
分拣平台12，其可以设置有装货入口和卸货出口13；
多辆自导航小车11，能在分拣平台12上行驶且能将其承载的货物5在卸货出口13处卸载；
包裹识别装置，其可以安装在分拣平台12的装货入口处，并能对人工地或通过机器人安装到自导航小车11上的货物5进行识别；
定位装置，其可以被配置成在自导航小车11行驶时进行定位；
输送装置4，其可以固定有输送架；
一个以上的货架2，该货架2可以由多个货柜21组成，每个货柜21都能存储货物5，该货架2可以安装在接近卸货出口13的位置处，通常为了提高空间利用率和卸载效率，货架2可以按立式设置多个货柜21，多个货柜21可以按矩阵进行排列，优选地，可以设置两个货架2，该两个货架2可以分别位于输送装置4的两侧，以缩短装货的距离；所述货架2可以优选地为可移动货架，货架2上的货柜21可以优选地为可拆卸结构，即货柜21可单独移动；
卸载装置3，其可以固定在输送架上，该卸载装置3在输送装置4的驱动下能移动至卸货出口13处以承接从自导航小车11卸载的货物5，之后移动至接近预定的货柜21，并将货物5卸载在该货柜21内；
服务器，其可以通过无线连接至自导航小车2的控制器，以及可以通过有线或无线连接至包裹识别装置、输送装置4的控制器和卸载装置3的控制器。
相比现有技术，本公开的优点是，在货物5被卸载在货架2上的货柜21内后，能方便地将货架2移动到打包处打包，从而满足一些特定的需求，同时，货架2上的货柜21可以紧密排列，比现有技术的出货口密度大大增加，提高了空间利用率，也提高了卸载速度。
还需要说明的是，每个货柜21都有编号，每个货柜21可以安装一个以上的货物5，其对应某个货主或区域等等，举例说，某个买主订购的两件商品；某个省市买主订购的一批货物等等。
可选地，在一实施例中，如图1和图4所示，卸载装置3可以包括：
第一卸载传动轮32和第二卸载传动轮34，其轴芯可以分别与输送架可转动地联接，在本实施例中，输送架可以为水平板41，其两侧边可以有弯成90度的折边33，该折边33能被配置成安装第一卸载传动轮32和第二卸载传动轮34的轴芯；
传送带35，其可以联接第一卸载传动轮32和第二卸载传动轮34，该传送带35能被配置成承载货物5；
卸载电机31，其壳体可以与折边33固定，其转轴可以与第一卸载传动轮32轴芯或第二卸载传动轮34轴芯固定，该卸载电机31可以电连接至卸载装置3的控制器，在卸载电机31转动时，能卸载货物5。
通常，卸载电机31可以选用减速电机，还可以增加多个承载轮，该承载轮可以被配置成支撑传送带35的中部以增加货物5的承载重量。
在本实施例卸货时，通过卸载电机31的正转或反转，能将货物5卸载在左侧或右侧的货架2中。
可选地，在一实施例中，如图6、图7和图8所示，卸载装置3可以包括：
第一减速器64；
翻转电机62，其壳体可以与第一减速器64的壳体固定，其转轴可以与第一减速器64的输入轴固定，该翻转电机62可以电连接至卸载装置3的控制器；
翻转支架63，可以对称地设置有两个，并且其可以与第一减速器64的输出轴固定；
翻转盘60，其可以与翻转支架63固定，该翻转盘60能被配置成盛装货物5；
第二减速器66，其壳体可以与输送架固定；在本实施例中，该输送架可以为竖直板61；
摆动电机67，其壳体可以与第二减速器66的壳体固定，其转轴可以与第二减速器66的输入轴固定，该摆动电机67可以电连接至卸载装置3的控制器；
摆动杆65，其一端可以与第二减速器66的输出轴固定，其另一端可以与第一减速器64的壳体固定，为了增加强度，摆动杆65可以设置两个；
摆动电机67的转动能带动翻转盘60使其摆动至预定的货柜21上方，该翻转电机62的转动能将货物5卸载在该货柜21内。
在本实施例中，只能配置一侧的货架2。
可选地，在一实施例中，如图4、图5所示，输送装置4可以包括：
竖向移动装置42，其可以设置有：
中空杆422，其可以相对于地面竖直固定，该中空杆422可以设置有开口端4222，该中空杆422的两个外侧面可以开设有凹槽4221，本实施例中的中空杆422可以直接固定在地面上；
第一同步带轮424和第二同步带轮，其可以分别可转动地固定在中空杆422内的两端处；
同步带423，其可以联接第一同步带轮424和第二同步带轮；
伺服电机421，其壳体可以与中空杆422固定，其转轴可以与第一同步带轮424的中心 轴或第二同步带轮的中心轴固定，该伺服电机421可以电连接至输送装置4的控制器；该伺服电机421可以选用带减速机构的伺服电机；
滑块425，其可以设置有凸块4252和两个滑轨4251，该凸块4252能嵌入中空杆422的开口端4222且与同步带423固定，该滑轨4251仅能沿着凹槽4221来回移动，该滑块425可以与输送架固定。
只有竖向移动装置42的输送装置4只能将货物5卸载在同一列不同高度的货柜21内。可选地，为了覆盖多列的货柜21，在有竖向移动装置42的基础上，如图4所示，输送装置4还可以包括：
横向移动装置43，其结构可以与竖向移动装置42的结构相同且横向移动装置43的中空杆432可以通过支架与地面水平固定，竖向移动装置42中的中空杆422可以与横向移动装置43中的滑块435固定，横向移动装置43中的伺服电机431可以与输送装置4的控制器电连接。
横向移动装置43和竖向移动装置42的结构相同能降低成本，方便管理，同时能实现三维立体卸载。
可选地，如图8所示，横向移动装置43可以设置有两个，竖向移动装置42可以设置有一个，竖向移动装置42的上部与下部可以分别与两个横向移动装置43中的滑块435固定，该结构的平稳性能比较好。
可选地，如图2和图3所示，当分拣平台12上的自导航小车11卸载货物5时，卸载装置3可以移动至接近货物5，在货物5刚刚触及到卸载装置3时，卸载装置3可以缓慢下移，直至货物5完全滑落到卸载装置3上。根据前述实施例，卸载装置3可以包括传送带35或翻转盘60。
需要说明的是，在现有技术中，当自导航小车11卸载货物时，通常将货物5直接卸载在出口处，该出口离自导航小车11有一定的高度，因此如果货物5是易碎品，则有可能在冲击力的作用下受损。本公开的该卸货方法能有效减少货物5冲击力，减少货物受损。
为了提高空间利用率，分拣平台12设置有多层，每层分拣平台12上均有自导航小车11运货和卸货，每层分拣平台12均配置有包裹识别装置和定位装置。
本公开货架2可以为可移动货架，能通过人工或机器人来移动。
可选地，为了提货方便，货架2中的每层都设置有平行的两根横档22，所述货柜21可以设置有对应的两个翻边，该货柜21的两个翻边可以压在两根横档22上。
定位装置例如可以包括：
多个位置地标，其可以安装在分拣平台12上，并能被自导航小车11的传感器识别，该位置地标可以包括二维码、颜色块标记、图形大小标记或图形数量标记，相应的传感器 可以为摄像头，该部分为现有技术。
本公开还提供一种能将货物卸载在货柜内的立体卸载系统的控制方法，可以包括如下步骤：
S1.输送装置4将卸载装置3移动至接近位于卸货出口13处的自导航小车11上的货物5，自导航小车11开始将货物5卸下；
S2.当货物5触及卸载装置3时，卸载装置3缓慢下降，直至货物5完全滑落到卸载装置3上；
S3.输送装置4恢复常速，将卸载装置3输送至接近预定的货柜21并卸货。
其中，步骤S2中的“缓慢”例如可以理解为以低于惯常运行速度或所谓的“常速”的速度下降。惯常运行速度或“常速”可以是预定的某一运行速度，或者还可以是卸载装置根据其构造等因素而内在具有的额定速度，当然这只是示例性的，并不是限制性的。
类似地，步骤S3中的“常速”可以做如上解释。
工业实用性
综上所述，本公开提供了一种能将货物卸载在货柜内的立体卸载系统及其控制方法，能将货物分拣后直接卸载在货架上预定的某个货柜内，使得货架上的货柜紧密排列，比现有技术的出货口密度大大增加，提高了空间利用率，也提高了卸载速度，并且在自导航小车卸载货物时，卸载装置缓慢承接货物，能有效减少货物冲击力，减少货物碰撞受损。本发明具有结构紧凑、空间利用率高、卸载速度快、减少货物受损的有益效果。

Claims (14)

  1. 一种能将货物卸载在货柜内的立体卸载系统，包括：
    分拣平台(12)，所述分拣平台设置有装货入口和卸货出口(13)；
    自导航小车(11)，设置有多辆，所述自导航小车能在所述分拣平台(12)上行驶且能将所述自导航小车承载的货物(5)在所述卸货出口(13)处卸载；
    包裹识别装置，所述包裹识别装置安装在所述分拣平台(12)的装货入口处，并能对放置在所述自导航小车(11)上的货物(5)进行识别；
    定位装置，所述定位装置被配置成在所述自导航小车(11)行驶时进行定位；
    其特征在于，所述能将货物卸载在货柜内的立体卸载系统还包括：
    货架(2)，设置有一个以上，所述货架(2)由多个货柜(21)组成，每个货柜(21)能存储所述货物(5)，所述货架(2)安装在接近所述卸货出口(13)的位置处；
    输送装置(4)，所述输送装置固定有输送架；
    卸载装置(3)，所述卸载装置固定在所述输送架上，所述卸载装置(3)在所述输送装置(4)的驱动下能移动至所述卸货出口(13)处以承接从所述自导航小车(11)卸载的货物(5)，之后移动至接近预定的货柜(21)，将所述货物(5)卸载在该货柜(21)内；
    服务器，所述服务器通过无线连接至所述自导航小车(2)的控制器，以及通过有线或无线连接至所述包裹识别装置、所述输送装置(4)的控制器和所述卸载装置(3)的控制器。
  2. 根据权利要求1所述的能将货物卸载在货柜内的立体卸载系统，其特征在于，所述卸载装置(3)包括：
    第一卸载传动轮(32)和第二卸载传动轮(34)，所述第一卸载传动轮和所述第二卸载传动轮的轴芯分别与所述输送架可转动地联接；
    传送带(35)，所述传送带联接所述第一卸载传动轮(32)和所述第二卸载传动轮(34)，所述传送带(35)被配置成承载所述货物(5)；
    卸载电机(31)，所述卸载电机的壳体与所述输送架固定，所述卸载电机的转轴与所述第一卸载传动轮(32)轴芯或所述第二卸载传动轮(34)轴芯固定，所述卸载电机(31)电连接至所述卸载装置(3)的控制器，在所述卸载电机(31)转动时，能卸载所述货物(5)。
  3. 根据权利要求2所述的能将货物卸载在货柜内的立体卸载系统，其特征在于，所述卸载电机(31)为减速电机。
  4. 根据权利要求2所述的能将货物卸载在货柜内的立体卸载系统，其特征在于，所述卸 载装置(3)包括多个承载轮，所述承载轮被配置成支撑所述传送带(35)的中部以提升对于所述货物(5)的最大承载重量。
  5. 根据权利要求1所述的能将货物卸载在货柜内的立体卸载系统，其特征在于，所述卸载装置(3)包括：
    第一减速器(64)；
    翻转电机(62)，所述翻转电机的壳体与所述第一减速器(64)的壳体固定，所述翻转电机的转轴与所述第一减速器(64)的输入轴固定，所述翻转电机(62)电连接至所述卸载装置(3)的控制器；
    翻转支架(63)，所述翻转支架与所述第一减速器(64)的输出轴固定；
    翻转盘(60)，所述翻转盘与所述翻转支架(63)固定，所述翻转盘(60)被配置成盛装所述货物(5)；
    第二减速器(66)，所述第二减速器的壳体与所述输送架固定；
    摆动电机(67)，所述摆动电机的壳体与所述第二减速器(66)的壳体固定，所述摆动电机的转轴与所述第二减速器(66)的输入轴固定，所述摆动电机(67)电连接至所述卸载装置(3)的控制器；
    摆动杆(65)，所述摆动杆的一端与所述第二减速器(66)的输出轴固定，所述摆动杆的另一端与所述第一减速器(64)的壳体固定；
    所述摆动电机(67)的转动能带动所述翻转盘(60)并使所述翻转盘摆动至预定的货柜(21)上方，所述翻转电机(62)的转动能将所述货物(5)卸载在该货柜(21)内。
  6. 根据权利要求1所述的能将货物卸载在货柜内的立体卸载系统，其特征在于，所述输送装置(4)包括竖向移动装置(42)，所述竖向移动装置设置有：
    中空杆(422)，所述中空杆相对于地面竖直固定，所述中空杆(422)设置有开口端(4222)，所述中空杆(422)的两个外侧面开设有凹槽(4221)；
    第一同步带轮(424)和第二同步带轮，所述第一同步带轮和所述第二同步带轮分别可转动地固定在所述中空杆(422)内的两端处；
    同步带(423)，所述同步带联接所述第一同步带轮(424)和所述第二同步带轮；
    伺服电机(421)，所述伺服电机的壳体与所述中空杆(422)固定，所述伺服电机的转轴与所述第一同步带轮(424)的中心轴或所述第二同步带轮的中心轴固定，所述伺服电机(421)电连接至所述输送装置(4)的控制器；
    滑块(425)，所述滑块设置有凸块(4252)和两个滑轨(4251)，所述凸块(4252)能嵌入所述中空杆(422)的开口端(4222)中且与所述同步带(423)固定，所述滑轨(4251)仅能沿着所述凹槽(4221)来回移动，所述滑块(425)与所述输送架固定。
  7. 根据权利要求6所述的能将货物卸载在货柜内的立体卸载系统，其特征是在于，所述伺服电机(421)具有减速机构。
  8. 根据权利要求6所述的能将货物卸载在货柜内的立体卸载系统，其特征在于，所述输送装置(4)还包括：
    横向移动装置(43)，所述横向移动装置的结构与所述竖向移动装置(42)的结构相同且所述横向移动装置(43)的中空杆(432)通过支架与地面水平固定，所述竖向移动装置(42)中的中空杆(422)与所述横向移动装置(43)中的滑块(435)固定，所述横向移动装置(43)中的伺服电机(431)与所述输送装置(4)的控制器电连接。
  9. 根据权利要求8所述的能将货物卸载在货柜内的立体卸载系统，其特征是在于，所述横向移动装置(43)设置有两个，所述竖向移动装置(42)设置有一个，所述竖向移动装置(42)的上部与下部分别与两个所述横向移动装置(43)中的滑块(435)固定。
  10. 根据权利要求1至9中任一项所述的能将货物卸载在货柜内的立体卸载系统，其特征在于，当所述自导航小车(11)卸载所述货物(5)时，所述卸载装置(3)移动至接近所述货物(5)，在所述货物(5)刚刚触及到所述卸载装置(3)时，所述卸载装置(3)缓慢下移，直至所述货物(5)完全滑落到所述卸载装置(3)上。
  11. 根据权利要求10所述的能将货物卸载在货柜内的立体卸载系统，其特征在于，所述分拣平台(12)设置有多层，每层分拣平台(12)上均有所述自导航小车(11)运货和卸货，每层分拣平台(12)均配置有所述包裹识别装置和所述定位装置。
  12. 根据权利要求1至9中任一项所述的能将货物卸载在货柜内的立体卸载系统，其特征在于，所述货架(2)为可移动货架，所述货架(2)上的货柜(21)能够被拆卸。
  13. 根据权利要求12所述的能将货物卸载在货柜内的立体卸载系统，其特征在于，所述货架(2)中的每层都设置有平行的两根横档(22)，所述货柜(21)设置有对应的两个翻边，所述货柜(21)的两个翻边能压在所述两根横档(22)上。
  14. 一种能将货物卸载在货柜内的立体卸载系统的控制方法，其特征在于，用于根据权利要求1-13中任一项所述的能将货物卸载在货柜内的立体卸载系统，所述控制方法包括如下步骤：
    S1.所述输送装置(4)将所述卸载装置(3)移动至接近位于所述卸货出口(13)处的自导航小车(11)上的货物(5)，所述自导航小车(11)开始将所述货物(5)卸下；
    S2.当所述货物(5)触及所述卸载装置(3)时，所述卸载装置(3)缓慢下降，直至所述货物(5)完全滑落到所述卸载装置(3)上；
    S3.所述输送装置(4)恢复常速，将所述卸载装置(3)输送至接近所述预定的货柜(21)卸货。
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