WO2023143346A1 - 货箱转移系统 - Google Patents

货箱转移系统 Download PDF

Info

Publication number
WO2023143346A1
WO2023143346A1 PCT/CN2023/073046 CN2023073046W WO2023143346A1 WO 2023143346 A1 WO2023143346 A1 WO 2023143346A1 CN 2023073046 W CN2023073046 W CN 2023073046W WO 2023143346 A1 WO2023143346 A1 WO 2023143346A1
Authority
WO
WIPO (PCT)
Prior art keywords
container
conveying
assembly
conveying device
transfer
Prior art date
Application number
PCT/CN2023/073046
Other languages
English (en)
French (fr)
Inventor
王淼
方权
汪旭
王梦迪
Original Assignee
北京极智嘉科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202210112937.2A external-priority patent/CN116553041A/zh
Priority claimed from CN202220246032.XU external-priority patent/CN217457336U/zh
Application filed by 北京极智嘉科技股份有限公司 filed Critical 北京极智嘉科技股份有限公司
Publication of WO2023143346A1 publication Critical patent/WO2023143346A1/zh

Links

Classifications

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

Definitions

  • the present disclosure relates to the technical field of warehousing, and in particular, to a container transfer system.
  • the robot can accept instructions or the program preset by the system, and automatically perform operations such as cargo transfer and handling.
  • the robot can carry multiple cargo boxes at one time, and place the cargo boxes on temporary storage mechanisms on different layers of the robot.
  • the robot transfers the container, the robot takes the container from different temporary storage mechanisms and places it at the target position.
  • the present disclosure aims to solve one of the technical problems in the related art at least to a certain extent. For this reason, the embodiments of the present disclosure propose a container transfer system, which improves transfer efficiency and reduces input costs.
  • the present disclosure provides a container transfer system, the system includes a container dumping mechanism and container handling equipment, the container dumping mechanism includes a first conveying device and a second conveying device, the first conveying device and the The second conveying device is arranged oppositely, and a connection position is provided between the first conveying device and the second conveying device; the container handling equipment is configured to respond to the container access instruction when traveling to In the case of the docking station, it is docked with the first conveying device and/or the second conveying device, and the container is conveyed to the work station by the first conveying device or the second conveying device; And/or receive the container sent by the workstation through the second conveying device or the first conveying device.
  • the container transfer system of the embodiment of the present disclosure can transfer a plurality of container boxes at one time through the transfer device, which has high transfer efficiency and low cost for transferring the container boxes.
  • Fig. 1 is a front view of the system structure of a container transfer system provided by an embodiment of the present disclosure.
  • Fig. 2 is a top view of the system structure of the container transfer system provided by an embodiment of the present disclosure.
  • Fig. 3 is a schematic diagram of a system structure of a container transfer system provided by an embodiment of the present disclosure.
  • Fig. 4 is an overall schematic diagram of a container transfer system provided by an embodiment of the present disclosure.
  • FIG. 5 is an exploded schematic diagram of a container transfer system according to an embodiment of the present disclosure.
  • Fig. 6 is a schematic structural diagram of a container transfer system according to an embodiment of the present disclosure, wherein the container handling equipment is not shown.
  • Fig. 7 is a schematic structural diagram of the first conveying device of the container transfer system according to the embodiment of the present disclosure.
  • Fig. 8 is a schematic structural diagram of the first lifting mechanism of the container transfer system according to the embodiment of the present disclosure.
  • Fig. 9 is a schematic structural diagram of a transfer device of a container transfer system according to an embodiment of the present disclosure.
  • FIG. 10 is a schematic diagram of the structure at point A in FIG. 9 .
  • FIG. 11 is a schematic diagram of the structure at B in FIG. 9 .
  • FIG. 12 is a schematic rear view of FIG. 9 .
  • FIG. 13 is a schematic structural diagram at point C in FIG. 12 .
  • Fig. 14 is a schematic structural view of the second drive assembly of the container transfer system according to the embodiment of the present disclosure.
  • Fig. 15 is a schematic structural view of the guide device of the container transfer system according to the embodiment of the present disclosure.
  • Fig. 16 is a schematic structural diagram of a positioning device of a container transfer system according to an embodiment of the present disclosure.
  • Fig. 17 is a partial schematic diagram of a detection component on the first lifting mechanism of the container transfer system according to an embodiment of the present disclosure.
  • Container transfer system 100 container 101; container dump mechanism 110; workstation 130; first external conveying device 140; second external conveying device 150; control server 160; inventory area 170;
  • Transfer device 3 bracket 31; guide rail assembly 310; transfer assembly 32; jacking fork 320; moving member 321; support member 322; first drive assembly 33; 3310; the first coupling 3311; the second driving shaft 332; the second shaft section 3320; the second coupling 3321; the pulley 333; the first pulley 3331; the second pulley 3332; Synchronous belt 3341; second synchronous belt 3342; second drive assembly 34; second drive motor 340; transmission member 341; rotating member 342;
  • Guide device 5 base plate 501; guide plate 502; second positioning hole 5021; stop member 503; guide wheel 504; second guide assembly 52; first guide assembly 51;
  • Positioning device 6 first positioning component 61; second positioning component 62; mounting plate 601; base 602; third drive motor 603; transmission component 604; positioning plate 605;
  • the detection component 7 The detection component 7 ; the first detection part 71 ; the second detection part 72 ; the third detection part 73 .
  • FIG. 1 shows a system structure diagram of a container transfer system provided by an embodiment of the present disclosure.
  • a kind of container transferring system among Fig. 1, comprises container dumping mechanism 110 and container handling equipment 4, wherein, container dumping mechanism 110 comprises first conveying device 1 and second conveying device 2, first conveying device 1 and The second conveying device 2 is arranged oppositely, and a docking position for docking with the container handling equipment 4 is arranged between the first conveying device 1 and the second conveying device 2.
  • the container handling equipment 4 is configured to respond to the container Access command, proceed to the connection position, dock with the first conveying device 1 and/or the second conveying device 2, transport the container to the workstation through the first conveying device 1 or the second conveying device 2, pass the second conveying device 2 or the first conveying device 1 receives the cargo box sent by the workstation.
  • the first conveying device and the second conveying device are two parts of the container dumping mechanism, the first conveying device 1 or the second conveying device 2 in the container dumping mechanism are used to match the container handling equipment 4, so that the container The container on the handling device 4 is transferred to the corresponding conveying device, and the container is transported to the work station by the corresponding conveying device.
  • the second conveying device 2 or the first conveying device 1 in the container dumping mechanism is used to receive the container conveyed by the workstation, and cooperate with the container handling equipment 4 to transfer the container to the container handling equipment 4 .
  • the box dumping mechanism of the present disclosure is mainly used to transport multiple boxes transported by the box handling equipment 4 to the workstation at the same time, or transfer multiple boxes processed by the workstation to the box handling equipment at the same time.
  • This container dumping mechanism can adopt a structure well known to those skilled in the art, and will not be described in detail here.
  • the space between the first conveying device 1 and the second conveying device 2 can be a connecting position.
  • the underground surface corresponding to the connection position is provided with a sign, and the container handling equipment 4 can be parked at a determined position according to the underground sign of the connection position, and the container handling equipment 4 moves the container from the storage area 170 to the connection position.
  • the container is conveyed to the workstation by the first conveying device 1, and the container sent by the workstation can be received by the second conveying device 2 at the docking position.
  • the connecting position can be the spatial position where the container handling equipment 4 docks with the first conveying device 1 or the second conveying device 2, and the connecting position can be determined by a mark set on the ground, for example, a container
  • the handling equipment 4 is provided with an image recognition device, and an image mark is set on the underground surface of the connecting position, wherein the mark can be a two-dimensional code, which is recognized by the image recognition device of the container handling device 4. Identify the two-dimensional code, and adjust the position of the container handling device 4 according to the recognized image information of the two-dimensional code, so that the container handling device 4 can accurately reach the connection position.
  • the connection location can also be determined in other ways, as long as the location recognition function can be achieved, which is not limited in the present disclosure.
  • the container handling equipment 4 is a device that can move a container or a container, and can be a container handling equipment that can carry objects.
  • the container handling equipment 4 is a container handling equipment that can carry objects
  • conventional methods in the art can be used
  • the cargo box handling equipment 4 is the cargo box handling equipment.
  • a container is a container that is taken out from the storage area 170 by the container handling equipment 4 and transported to the workstation by the first conveying device 1, and a container is transported to the container handling equipment by the second conveying device 2 after the workstation completes the processing of the container
  • the container in 4 the container and the container can be any container that can store goods, for example, a plastic or paper container, a pallet, a packing box for the item itself, and the like.
  • the container handling equipment 4 can take out the container or store the container.
  • the work station may include a goods picking area, where after the case is transported to the work station, goods required for the order task are picked from the case by manual or automated equipment at the work station.
  • the automated equipment may include, for example, an automated robotic arm that removes goods from boxes.
  • Inventory area 170 is an area for storing cargo boxes and cargo boxes.
  • a plurality of inventory carriers are arranged, and each inventory carrier is provided with a plurality of container positions, and each container position can store a container or boxes, forming aisles between a plurality of inventory carriers in the inventory area 170, in which case handling equipment 4 can pass to remove boxes from the inventory carriers, or to store boxes on the inventory carriers tool on.
  • the container handling equipment can realize the docking with the first conveying device and the second conveying device at the connection position at the same time, so as to transport the target container to the workstation, or receive the selected target from the workstation cargo box. For example, after the container handling equipment transfers the container to the first conveying device at the connecting position, it can directly receive the container from the second conveying device at the connecting position.
  • the container transfer system of the present disclosure saves the time for the container handling equipment to go to and from different container dumping mechanisms, and improves the efficiency of cargo handling. Efficiency of box transfers.
  • the container handling equipment does not need to move back and forth between the container dumping mechanisms, the number of times the container handling equipment passes on the ground can be reduced, and the burden of the system for planning the passage path for the container handling equipment can be reduced.
  • the first conveying device 1 is configured to obtain a container from the container handling equipment 4 and transport the container to the work station, or receive a container transported from the work station and transport the container to the work station. Box handling equipment4.
  • the second conveying device 2 is configured to receive the container transported by the workstation, and transport the container to the container handling device 4, or obtain the container from the container handling device 4, and transport the container to the workstation.
  • the first conveying device 1 can convey the container on the container handling device 4 to the workstation, and similarly, the second conveying device 2 receives the container sent from the workstation.
  • the case handling equipment 4 is the case handling equipment
  • the case is the case that needs to be picked
  • the case is the case that has been picked
  • the case handling equipment will need to pick the goods from the storage area 170
  • the box moves to the docking station, and the first conveying device 1 acquires the container on the container handling equipment at the docking station and transports it to the workstation. After being manually picked, it is transported out of the workstation, and the second conveying device 2 receives the cargo box transported from the workstation, and transports the cargo box to the handling equipment for handling the cargo box.
  • the second conveying device 2 and the first conveying device 1 are arranged at intervals in the first direction (the left-right direction as shown in FIG. 6 ), and the container handling equipment 4 can be located at the first conveying Between the device 1 and the second conveying device 2, 21, the second conveying device 2 has a multi-layer second conveying mechanism 21, the multi-layer second conveying mechanism 21 corresponds to the multi-layer temporary storage mechanism 41, and the second conveying mechanism 21 is used for Delivery container 101.
  • the first conveying device 1 and the second conveying device 2 are arranged at intervals in the left-right direction, and the container handling equipment 4 can move between the first conveying device 1 and the second conveying device 2 .
  • the multi-layer second conveying mechanisms 21 are arranged at intervals in the vertical direction, and each second conveying mechanism 21 may correspond to a temporary storage mechanism 41 , that is, the number of the second conveying mechanisms 21 is consistent with the number of the temporary storage mechanisms 41 .
  • the container 101 can move from the second conveying mechanism 21 to the temporary storage mechanism 41 , or from the temporary storage mechanism 41 to the second conveying mechanism 21 .
  • the container handling equipment 4 by setting at least two conveying devices, it is possible for the container handling equipment 4 to complete both delivery and receiving of goods at the same place, which avoids the need for the container handling equipment 4 to move to another place after delivering goods at one place. Pick up from another location, increasing the efficiency of case transfers.
  • the container transfer system further includes: a control server 160, and correspondingly, the container handling device 4 is further configured to: receive the container access instruction sent by the control server 160, wherein the container storage The fetch instruction carries target container information, and the container is acquired from the inventory area 170 based on the target container information.
  • the control server 160 can be a local control server 160, or can serve for remote control 160, wherein, the local control server 160 can be the control server 160 built in the container handling equipment 4, and the remote control server 160 can be the control server 160 connected to the container handling equipment 4 through the network.
  • the network It can be a wired network connected by coaxial cable, twisted pair and optical fiber, or a wireless network that can realize the interconnection of various communication devices without wiring, such as WIFI, Bluetooth (Bluetooth), Near Field Communication (Near Field Communication) , NFC), infrared (Infrared), etc., which are not limited in this embodiment of the present disclosure.
  • the container handling device 4 can receive the container access instruction sent by the control server 160 through the network, and the container access instruction carries the target container information, wherein the target container information can be the information of the container to be transported,
  • the target container information includes the location information of the container, and the container handling device 4 arrives at the location where the container is stored according to the location information in the target container information and takes out the container, that is, acquires the container.
  • Fig. 3 is a schematic structural diagram of a container transfer system provided by an embodiment of the present disclosure.
  • the first conveying device 1 may be an inbound device
  • the second conveying device 2 may be an outbound device
  • the container handling equipment 4 travels to the inbound device.
  • the docking station transports the container to the workstation through the inbound device, and receives the container sent by the workstation through the outbound device.
  • the container transfer system further includes: a first external conveying device 140 and a second external conveying device 150, the first external conveying device 140 is arranged between the first conveying device 1 and the work station, and the second external conveying device 1
  • the conveying device 150 is arranged between the second conveying device 2 and the work station
  • the first external conveying device 140 is configured to receive the container obtained by the first conveying device 1 from the container handling equipment 4, and convey the container to the work station, Alternatively, it is configured to receive a case delivered from a workstation and deliver the case to the case handling device 4 .
  • the second external conveying device 150 is configured to receive the container transported by the workstation, and transport the container to the second conveying device 2, or is configured to obtain the container from the container handling equipment 4, and transport the container to the described workstation.
  • the first external conveying device 140 receives the container obtained by the inbound device from the container handling equipment 4, and transports the container to the work station, and the second external conveying device 150 receives the container transported by the work station, and The case is conveyed to the outbound unit.
  • both the first external conveying device 140 and the second external conveying device 150 can be conveying lines, and the first external conveying device 140 can be a The inbound conveying line, the second external conveying device 150 can be the outbound conveying line arranged between the second conveying device 2 and the work station, and the inbound conveying line receives the container transported by the first conveying device 1, and the container Conveying to the workstation 130 , similarly, the outbound conveying line receives the cargo boxes conveyed by the workstation 130 , and conveys the cargo boxes to the second conveying device 2 .
  • the conveying speed of the container and the container is improved, and the efficiency of container transfer is improved.
  • the container handling equipment 4 includes at least one layer of temporary storage mechanism 41, and the temporary storage mechanism 41 is used to temporarily store the container 101, and the first conveying device 1 includes at least one layer of first The conveying mechanism 11, the second conveying device 2 includes at least one layer of the second conveying mechanism 21, the temporary storage mechanism 41 is used to store a container 101, the first conveying mechanism 11 is used to store a container 101, and the second conveying mechanism 21 is used to store a container 101; and the number of layers of the temporary storage mechanism 41, the first conveying mechanism 11 and the second conveying mechanism 12 is the same.
  • the container handling equipment 4 includes a multi-layer temporary storage mechanism 41, the multi-layer temporary storage mechanism 41 is arranged at intervals along the up and down direction, and each layer of temporary storage mechanism 41 is used to temporarily store the container 101
  • a conveying device 1 comprises a multi-layer first conveying mechanism 11
  • a second conveying device 2 comprises a multi-layer second conveying mechanism 21
  • the number of layers of the temporary storage mechanism 41 is the same as the number of layers of the first conveying mechanism 11 and the second conveying mechanism 21
  • the number of layers of the temporary storage mechanism 41 has six layers, correspondingly, the first conveying mechanism 11 and the second conveying mechanism 21 also have six layers, and the container and the container of the container handling equipment 4 are obtained at the first conveying device 1.
  • the container handling equipment 4 can simultaneously transfer a plurality of container boxes to the multi-layer first conveying mechanism 11, or transfer multiple cargo boxes of the second conveying mechanism 21 on different layers The case is transferred to the case handling device 4 simultaneously.
  • the first conveying device 1 includes a first elevating mechanism
  • the second conveying device 2 includes a second elevating mechanism
  • the first elevating mechanism is configured to convey the boxes stored by the first conveying mechanism 11 on each floor. to the first external conveying device 140 , or transport the container from the first external conveying device 140 to the first conveying mechanism 11 on each floor.
  • the second lifting mechanism is configured to transport the container from the second external conveying device 150 to the second conveying mechanism 21 on each floor, or convey the container stored in the second conveying mechanism 21 on each floor to the second external conveying device 150 .
  • the first lifting mechanism is used to transport the containers stored by the first conveying mechanism 11 on each floor to the first external conveying device 140 .
  • the first lifting mechanism can be carried out with the first conveying mechanism 11 by lifting Docking, after the first lifting mechanism receives the container on the first conveying mechanism 11, it is adjusted to the height corresponding to the first external conveying device 140, so that the container can be transferred to the first external conveying device 140, and then The first external conveying device 140 conveys the container to the work station 130 .
  • the second lifting mechanism is used to transport the container on the second external conveying device 150 to the second conveying mechanism 21 .
  • the second lifting mechanism can be adjusted to a height corresponding to the second external conveying device 150 , so that the container can be transferred from the second external conveying device 150 to the second lifting mechanism.
  • the second lifting mechanism can be adjusted to dock with the second conveying mechanism 21 through lifting action, and then the second external conveying device 150 transfers the container to the second conveying mechanism 21 for storage.
  • the second lifting mechanism is docked with the second conveying mechanism 21 of different layers, thereby realizing the transfer of the container from the second external conveying device 150 to the second conveying mechanism 21 of different layers.
  • the first lifting mechanism includes a first lifting mechanism 111, and the first lifting mechanism 111 includes a first transport assembly 1111, and the first transport assembly 1111 is used to receive the container 101 from the first external conveying device 140 and transfer the cargo The box 101 is transferred to the multi-layer first conveying mechanism 11 or receives the cargo box 101 conveyed by the first conveying mechanism 11 .
  • the first conveying mechanism 11 and the second conveying mechanism 21 are arranged at intervals, and the first conveying mechanism 11 is on the left side of the second conveying mechanism 21 .
  • the first lifting mechanism 111 is arranged on the left side of the first conveying mechanism 11, and the first lifting mechanism 111 is provided with a first transportation component 1111, and the first transportation component 1111 can move up and down on the first lifting mechanism 111, thereby Transfer multiple cargo boxes 101 to the multi-layer first conveying mechanism 11 or receive the cargo boxes 101 conveyed by the first conveying mechanism 11 . Therefore, the container transfer system 100 of the embodiment of the present disclosure can transfer the container 101 to the first conveying mechanism 11 by using the first lifting mechanism 111 , thereby saving the transportation cost of the container 101 and improving the transportation efficiency of the container 101 .
  • first external conveying devices 140 there may be one or more first external conveying devices 140 docked with the first lifting mechanism 111 .
  • the first lifting mechanism 111 can be docked with a first external conveying device 140, and the plurality of first transportation components 1111 on the first lifting mechanism 111 respectively receive the external cargo boxes on the first external conveying device 140; or the first The lifting mechanism 111 can be docked with a plurality of first external conveying devices 140, and a part of the plurality of first transportation components 1111 on the first lifting mechanism 111 receives an external container on one of the first external conveying devices 140, and the first lifting Another part of the plurality of first transport components 1111 on the mechanism 111 receives the outer cargo box on another first external conveying device 140, and the plurality of first external conveying devices 140 are in the height direction (the up-down direction shown in the figure)
  • the projections of the plurality of first external conveying devices 140 on a plane perpendicular to the height direction coincide.
  • the second lifting mechanism further includes a second lifting mechanism 221, and the second lifting mechanism 221 includes a second transport assembly for receiving the container 101 from the second external conveying device 150 and transferring the container 101 is transferred to the multi-layer second conveying mechanism 21 or receives the container 101 conveyed by the second conveying mechanism 21 .
  • the second conveying mechanism 21 is on the right side of the first conveying mechanism 11 .
  • the second lifting mechanism 221 is arranged on the right side of the second conveying mechanism 21, and the second lifting mechanism 221 is provided with a second transportation assembly, and the second transportation assembly can move along the up and down direction on the second lifting mechanism 221, thereby moving multiple
  • the container 101 on the second external conveying device 150 is transferred to the multi-layer second conveying mechanism 21 or receives the container 101 delivered by the second conveying mechanism 21.
  • the container 101 can be transported to the second conveying mechanism 21 by using the second lifting mechanism 221 , thereby saving the cost of transporting the container 101 and improving the transport efficiency of the container 101 .
  • the second lifting mechanism 221 can be docked with a second external conveying device 150, and a plurality of second transportation components on the second lifting mechanism 221 respectively receive the external cargo boxes on the second external conveying device 150; or the second lifting The mechanism 221 can be docked with a plurality of second external conveying devices 150, and a part of the plurality of second transportation components on the second lifting mechanism 221 receives an external container on one of the second external conveying devices 150, and the second lifting mechanism 221 Another part of the plurality of second transportation components on the upper part receives the outer cargo box on another second outer conveying device 150, and the plurality of second outer conveying devices 150 are arranged at intervals in the height direction (up and down direction shown in the figure), And the projections of the plurality of second external conveying devices 150 on a plane perpendicular to the height direction coincide.
  • the first lifting mechanism further includes a third lifting mechanism 112, and the third lifting mechanism 112 includes a third transportation component, and the third transportation component is used to receive the container 101 provided by the first transportation component 1111 and move the container 101 is transferred to the multi-layer first conveying mechanism 11 , or, the third transportation component is used to receive the container 101 on the multi-layer first conveying mechanism 11 and transfer the container 101 to the first transportation component 1111 .
  • the third lifting mechanism 112 is between the first lifting mechanism 111 and the first conveying mechanism 11, and the first lifting mechanism 111 transfers the container 101 to the third lifting mechanism 112, and the third lifting mechanism 112 then The container 101 is transferred to the first conveying mechanism 11, Alternatively, the first conveying mechanism 11 transfers the container 101 to the third lifting mechanism 112 , and the third lifting mechanism 112 transfers the container 101 to the first lifting mechanism 111 .
  • a third lifting mechanism 112 is added between the first lifting mechanism 111 and the first conveying device 1 , and the third lifting mechanism 112 can be docked with the first conveying mechanism 11 and the first lifting mechanism 111 respectively.
  • the third lifting mechanism 112 runs to a corresponding height to receive the first conveying mechanism 11
  • the first lifting mechanism 111 can run to the height of the cargo 101 with the third lifting mechanism 112 in advance, so as to receive the cargo box 101 from the third lifting mechanism 112 and transfer the cargo box 101 to the first external Delivery device 140 .
  • the first lifting mechanism 111 can just run to the height where the cargo box 101 is loaded with the third lifting mechanism 112 .
  • the first lifting mechanism 111 receives the container 101 on the first external conveying device 140 and transfers the container 101 to the third lifting mechanism 112
  • the first lifting mechanism 111 receives the first external conveyor at a corresponding height in advance.
  • the third lifting mechanism 112 can run to the height of the container 101 equipped with the first lifting mechanism 111 in advance, so as to receive the container 101 from the first lifting mechanism 111 and lift the container 101 Transfer to the first conveying mechanism 11 , specifically, when the first lifting mechanism 111 receives the container 101 is completed, the third lifting mechanism 112 can just run to the height of the container 101 loaded with the first lifting mechanism 111 .
  • the container transfer system of the embodiment of the present disclosure can improve the transfer efficiency of the container 101 and save working time.
  • the second lifting mechanism further includes a fourth lifting mechanism 223, and the fourth lifting mechanism 223 includes a fourth transportation component, and the fourth transportation component is used to receive the cargo box 101 provided by the second transportation component and lift the cargo box 101 Transfer to the second multi-layer conveying mechanism 21, or the fourth transportation component is used to receive the cargo box 101 on the multi-layer second conveying mechanism 21 and transfer the cargo box 101 to the second transportation component.
  • the fourth lifting mechanism 223 is between the second lifting mechanism 221 and the second conveying mechanism 21, and the second lifting mechanism 221 transfers the container 101 to the fourth lifting mechanism 223, and the fourth lifting mechanism The mechanism 223 then transfers the container 101 to the second conveying mechanism 21 .
  • a fourth lifting mechanism 223 is added between the second lifting mechanism 221 and the second conveying device 2, and the fourth lifting mechanism 223 is respectively docked with the second lifting mechanism 221 and the second conveying mechanism 21, so that the container 101 can be raised. High transfer efficiency, saving working time.
  • the second lifting mechanism 221 transfers the container 101 to the fourth lifting mechanism 223
  • the fourth lifting mechanism 223 transfers the container 101 to the second conveying mechanism 21 .
  • a fourth lifting mechanism 223 is added between the second lifting mechanism 221 and the second conveying device 2, and the fourth lifting mechanism 223 is respectively docked with the second lifting mechanism 221 and the second conveying mechanism 21, so that the container 101 can be raised. High transfer efficiency, saving working time.
  • the first lifting mechanism 111 reaches the corresponding height in advance to receive the second external conveyor.
  • the fourth lifting mechanism 223 can run to the height of the container 101 equipped with the second lifting mechanism 221 in advance, so as to receive the container 101 from the second lifting mechanism 221 and lift the container 101 Transfer to the second conveying mechanism 21 , specifically, when the second lifting mechanism 221 receives the container 101 , the fourth lifting mechanism 223 can just run to the height of the second lifting mechanism 221 containing the container 101 .
  • the structure of the first lifting mechanism 111 is shown in FIG. 8 , and the structures of the second lifting mechanism 221 , the third lifting mechanism 112 , and the fourth lifting mechanism 223 are the same as that of the first lifting mechanism 111 .
  • the third transport component of the third lifting mechanism 112 receives the cargo box on the multi-layer first conveying mechanism 21 and transfers the cargo box to the first transport mechanism 21.
  • the first transport component 1111 transports the container to the first external conveying device 140
  • the first external transport device 140 transports the container to the work station.
  • the second external conveying device 15 transports the container from the work station to the second transport assembly of the fourth lifting mechanism 223, the second transport assembly transfers the container to the fourth transport assembly, and the fourth transport assembly transports the container to the multi-layer On the second delivery mechanism 21.
  • the container transfer system 100 includes a detection component 7, and the detection component 7 is arranged in the first conveying mechanism 11, the second conveying mechanism 21, the first transport component 1111, and the second transport component At least one of the detection components 7 is used to detect whether there are foreign objects and/or whether the container 101 is in place.
  • the foreign objects may be items leaked from the cargo box 101 , or fragments scattered after the cargo box 101 is damaged.
  • the presence of these foreign objects can easily damage the device and/or equipment at the location, thereby affecting the operation of the container transfer system 101.
  • System 100 acts as a shield.
  • the detection assembly 7 is arranged on one of the first conveying mechanism 11, the second conveying mechanism 21, the first transportation assembly 1111, and the second transportation assembly, or the detection assembly 7 is arranged on two of the four. on, or the detection component 7 is set on three of the four, or the detection The detection assembly 7 is arranged on each of them, and Fig. 17 shows the structure of the detection assembly 7 on the first transportation assembly 1111 as an example only, when the detection assembly 7 is arranged on the first conveying mechanism 11 or the second conveying mechanism 21 or the first conveying mechanism 21 When on the second transportation assembly, it is the same as the structure shown in Figure 17.
  • the container transfer system 100 of the embodiment of the present disclosure can use the detection component 7 to detect the position of the container 101 on the four so as to obtain the position information of the container 101 at any time, or use the detection component 7 to detect whether there is a foreign object on the four to To prevent foreign objects from affecting the operation of the container transfer system 100 , thereby protecting the container transfer system 100 .
  • the detection component 7 is a plurality of photoelectric sensors.
  • the detection component 7 transmits the detected information to the control server 160 , and the control server 160 controls the operation of the container transfer system 100 according to the information detected by the detection component 7 .
  • the detection component 7 includes a first detection part 71 and/or a second detection part 72 .
  • the first detection part 71 is used to detect whether the container 101 is in place during the conveying process.
  • the second detection piece 72 is located at one side of the first detection piece 71 in the conveying direction of the cargo box 101, and the second detection piece 72 is used to detect the position of the cargo box 101 and whether there are foreign objects.
  • the second detection piece 72 and the first detection The distance of the elements 71 in the conveying direction is smaller than the dimension of the container 101 in the conveying direction.
  • the first detection part 71 is used to detect whether the cargo box 101 has moved to its place.
  • the first detection part 71 on 11 first detects whether the container 101 is in place, if the container 101 is in place, then the first conveying mechanism 11 continues to run; if the container 101 is not in place, then the first conveying mechanism 11 continues to wait for the arrival of the container 101 .
  • the conveying direction of the container 101 is the direction in which the container 101 moves, for example, the container 101 on the first conveying mechanism 11 or on the first transport assembly 1111 moves along the left-right direction.
  • the second detection part 72 and the first detection part 71 are arranged in sequence from left to right.
  • the first detection part 71 and the second detection part 72 are arranged in sequence along the left-right direction.
  • the container transfer system 100 of the embodiment of the present disclosure when the container 101 passes the detection assembly 7 during the movement process, since the distance between the second detection part 72 and the first detection part 71 is smaller than the distance between the container 101 in the left and right direction The size, so the first detection part 71 and the second detection part 72 can detect the container 101 at the same time.
  • the position of the container 101 can be determined by judging whether the information sent by two adjacent detection parts to the control server 160 is consistent.
  • the detection piece cannot detect the cargo box 101, which solves the problem of blind spots in the delivery process of the cargo box 101, thereby facilitating real-time monitoring of the cargo box
  • the position of 101 improves the work efficiency of the container transfer system 100 .
  • the detection component 7 can be used to detect whether there are foreign objects on the first conveying mechanism 11, the first transporting component 1111, the second conveying mechanism 21 and the second transporting component. For example, when the container 101 is moving, a certain If the signal sent by the detection part to the controller does not change for a long time, it can be judged that there is a foreign object at the detection part or the detection part is faulty, and then the next step of inspection is carried out to avoid foreign matter blocking and damaging the container transfer system 100 conditions, thereby improving the life of the container transfer system 100.
  • the at least two second detection members 72 there are at least two second detection members 72 , and the at least two second detection members 72 are arranged at intervals along the height direction of the container 101 (the up-and-down direction as shown in FIG. 17 ).
  • a plurality of second detection elements 72 disposed on the first conveying mechanism 11 are arranged at intervals along the vertical direction.
  • any second detection part 72 detects that the cargo box 101 passes by, it can send the information that the cargo box 101 is detected to the control server 160 .
  • the other second detection parts can still send information about the passing of the container 101 to the control server 160 . Therefore, the reliability of the detection assembly 7 can be improved by using a plurality of second detection parts 72 , thereby improving the working efficiency of the container transfer system 100 .
  • the detection assembly 7 also includes a third detection part 73.
  • the third detection part 73 is located on the other side of the first detection part 71 in the conveying direction.
  • the third detection part 73 is used to detect the position of the container 101 and Whether there is foreign matter, the distance between the third detection part 73 and the first detection part 71 in the conveying direction is smaller than the size of the container 101 in the conveying direction.
  • the first detection piece 71 is arranged between the second detection piece 72 and the third detection piece 73, and on the first conveying mechanism 11 or on the first transportation assembly 1111, the second detection piece 72 , the first detection element 71 and the third detection element 73 are arranged in sequence along the direction from left to right.
  • the third detection part 73 , the first detection part 71 and the second detection part 72 are arranged in sequence along the left-right direction.
  • the container transfer system 100 of the embodiment of the present disclosure when the container 101 passes the detection assembly 7 during the movement, since the distance between the third detection part 73 and the first detection part 71 is smaller than the distance between the container 101 in the left and right direction size, so the first detection part 71 and the third detection part 73 can detect the container 101 at the same time, and the detection part will not be detected when the container 101 moves between two adjacent detection parts. In the case of the container 101, the problem of the blind area in the transfer process of the container 101 is solved, and the working efficiency of the container transfer system 100 is facilitated.
  • the at least two third detection members 73 there are at least two third detection members 73 , and the at least two third detection members 73 are arranged at intervals along the height direction of the container 101 .
  • a plurality of third detecting elements 73 disposed on the first conveying mechanism 11 are arranged at intervals along the vertical direction.
  • the third detection parts 73 detects that the cargo box 101 passes by, it can send the information that the cargo box 101 is detected to the control server 160 .
  • the other third detection parts can still send information about the passage of the container 101 to the control server 160 . Therefore, the reliability of the detection assembly 7 can be improved by using a plurality of third detection members 73 , and thus the working efficiency of the container transfer system 100 can be improved.
  • the distance between the second detection member 72 and the third detection member 73 in the conveying direction is 1.1-1.9 times the size of the container 101 in the conveying direction.
  • the second detection piece 72 and the third detection piece 73 are arranged along the left-right direction, and the distance between the second detection piece 72 and the third detection piece 73 in the left-right direction is 1.1 times and 1.3 times the size of the container 101 in the left-right direction , 1.4 times, 1.9 times, etc.
  • by controlling the second detection component 72 and the third detection component 73 within the above range it can not only ensure the normal transmission of the container 101, but also reduce the volume of the mechanism where the detection component 7 is located, and reduce the occupied space.
  • the first conveying device 1 includes a first transfer mechanism
  • the second conveying device 2 includes a second transfer mechanism
  • the first transfer mechanism is configured to transfer the container from the temporary storage mechanism 41 to the first conveying mechanism.
  • the mechanism 11 may transfer the container from the first conveying mechanism 11 to the temporary storage mechanism 41
  • the second transfer mechanism is configured to transfer the container from the second conveying mechanism 21 to the temporary storage mechanism 41 or transfer the container from the temporary storage mechanism 41 Transfer to the second conveying mechanism 21.
  • both the first transfer mechanism and the second transfer mechanism can be jacking forks, for example, the first transfer mechanism lifts the container from the temporary storage mechanism 41, and then lifts the container from the temporary storage The mechanism 41 is transferred to the first conveying mechanism 11 .
  • the second transfer mechanism lifts the container from the second conveying mechanism 21 , and then transfers the container from the second conveying mechanism 21 to the temporary storage mechanism 41 .
  • the first transfer mechanism and the second transfer mechanism of the present disclosure can not only use the form of jacking forks, but also can use any other form, which is not limited in the present disclosure, as long as the function of transferring the container can be achieved.
  • the first conveying device and the second conveying device realize the transfer of the container from the container handling equipment to the first conveying device, and from the second conveying device to the container handling equipment through their respective transfer devices.
  • the container transfer system 100 further includes a transfer device 3, the transfer device 3 can be arranged between the first conveying device 1 and the second conveying device 2, and the first conveying device and the second conveying device can The transfer of the container from the container handling device to the first conveying device or the second conveying device, and the transfer from the second conveying device or the first conveying device to the container handling device are realized by the same transfer device.
  • the transfer device is arranged between the first conveying device 1 and the second conveying device 2, and the transfer device is configured to transfer the container from the temporary storage mechanism 41 to the first conveying mechanism 11 or the second conveying mechanism 21, and transfer the container to the first conveying mechanism 11 or the second conveying mechanism 21. Transfer from the second conveying mechanism 21 or the first conveying mechanism 11 to the temporary storage mechanism 41 .
  • the transfer device 3 is located on the same side of the first conveying device 1 and the second conveying device 2, and the transfer device 3 is used to transfer the container 101 on the multi-layer temporary storage mechanism 41 to the corresponding On the first conveying mechanism 11 and/or the second conveying mechanism 21, or transfer the container 101 on the multi-layer first conveying mechanism 11 and/or the second conveying mechanism 21 to the corresponding temporary storage mechanism 41.
  • the transfer device 3 is located in front or behind the first conveying device 1 and the second conveying device 2, and the transfer device 3 has three position states:
  • the transfer device 3 is used to transfer the container 101 between the container handling equipment 4 and the first conveying device 1 . That is, the transfer device 3 can transfer a plurality of cargo boxes 101 on a plurality of temporary storage mechanisms 41 to corresponding plurality of first conveying mechanisms 11, or the transfer device 3 can transfer a plurality of cargo boxes 101 on a plurality of first conveying mechanisms 11.
  • the box 101 is transferred to a plurality of corresponding temporary storage mechanisms 41 .
  • three temporary storage mechanisms 41 of the container handling equipment 4 store three cargo boxes 101
  • the transfer device 3 can transfer the three cargo boxes 101 to the three first conveying mechanisms 11 .
  • the transfer device 3 is used to transfer the container 101 between the container handling equipment 4 and the second conveying device 2 . That is, the transfer device 3 can transfer a plurality of cargo boxes 101 on a plurality of temporary storage mechanisms 41 to corresponding plurality of second conveying mechanisms 21, or the transfer device 3 can transfer a plurality of cargo boxes 101 on a plurality of second conveying mechanisms 21.
  • the box 101 is transferred to a plurality of corresponding temporary storage mechanisms 41 .
  • three temporary storage mechanisms 41 of the container handling equipment 4 store three container boxes 101
  • the transfer device 3 can transfer the three container boxes 101 to the three second conveying mechanisms 21 .
  • the transfer device 3 is between the container handling equipment 4 and the first conveying device 1, and between the container handling equipment 4 and the second conveying device. Transfer the container 101 between 2.
  • the container transfer system can have the following embodiments:
  • the transfer device 3 can transfer a part of the plurality of cargo boxes 101 on the plurality of temporary storage mechanisms 41 to the corresponding second conveying mechanism 21, and the transfer device 3 transfers a part of the plurality of cargo boxes 101 The other part corresponds to the first conveying mechanism 11.
  • the transfer device 3 can transfer the multiple cargo boxes 101 on the multiple first conveying mechanisms 11 to the corresponding multiple temporary storage mechanisms 41, while the transfer device 3 transfers the multiple second conveying mechanisms 21 A plurality of cargo boxes 101 above are transferred to corresponding plurality of temporary storage mechanisms 41 .
  • 5 cargo boxes 101 are stored on 5 temporary storage mechanisms 41 of the cargo box handling equipment 4, and the transfer device 3 can be used to transfer the 2 cargo boxes 101 to the 2 first conveying mechanisms 11, and the transfer device 3 can Three cargo boxes 101 are transferred to three second conveying mechanisms 21 .
  • the transfer device 3 transfers the container 101 on the temporary storage mechanism 41 to the corresponding first conveying mechanism 11, while the transfer device 3 transfers the container 101 on the second conveying mechanism 21 to the corresponding Temporary storage mechanism 41 on.
  • the temporary storage mechanism 41 that transfers the container 101 to the first conveying mechanism 11 and the temporary storage mechanism 41 that receives the container 101 from the second conveying mechanism 21 may be of the same container handling equipment, or they may be different. Container handling equipment.
  • the transfer device 3 can transfer some of the containers 101 on the same container handling equipment 4 to the corresponding first conveying mechanism 11 and transfer some of the containers 101 on the second conveying mechanism 21 to the same container handling equipment Alternatively, the transfer device 3 can transfer the container 101 on one container handling device 4 to the corresponding first conveying mechanism 11 and transfer the container 101 on the second conveying mechanism 21 to another container handling device 4 superior. What needs to be explained here is that the above-mentioned one container handling device 4 can leave first after docking the container 101 with the first conveying mechanism 11, and the above-mentioned another container handling device 4 moves to the docking position of the second conveying mechanism 21 and then The container on the second conveying mechanism 21 is received.
  • the working process of the container transfer system 100 in the embodiment of the present disclosure will be described below by taking the process of placing the container 101 by the container handling device 4 as an example.
  • multiple temporary storage mechanisms 41 of the container handling equipment 4 carry multiple cargo boxes 101 and move between the first conveying device 1 and the second conveying device 2; then, use the transfer device 3 to transfer the multiple cargo boxes 101 onto the first conveying device 1 and/or the second conveying device 2 .
  • the action sequence of taking the cargo box 101 by the cargo box handling device 4 is opposite to that of putting the cargo box 101, so it will not be repeated here.
  • the transfer device 3 can transfer multiple cargo boxes 101 at a time, wherein the quantity of cargo boxes 101 transferred by the transfer device 3 can be less than or equal to the quantity of the same batch of cargo boxes 101 . For example, if the transfer device 3 needs to transfer 5 cargo boxes 101, the transfer device 3 can transfer all of them at one time, or transfer them in 2, 3 or 4 times.
  • the container transfer system 100 of the embodiment of the present disclosure separates the transfer device 3 from the conveying device, and one transfer device 3 can correspond to at least two conveying devices, so that multiple transfer devices 3 can be transferred from the container handling equipment 4 at a time.
  • the container 101 is transferred to the first conveying device 1 and/or the second conveying device 2, or a plurality of containers 101 can be transferred from the first conveying device 1 and/or the second conveying device 2 to the container handling equipment 4 at a time,
  • the transshipment efficiency is high, and the cost of transferring the container 101 is low.
  • the container transfer system 100 of the embodiment of the present disclosure has no structural restrictions on the moving direction of the container 101 .
  • the moving direction of the container 101 is not limited. For example, if the container 101 moves from the temporary storage mechanism 41 of the container handling equipment On the first conveying mechanism 11, it is not limited that the container 101 can only be moved from the temporary storage mechanism 41 of the container handling equipment 4 to the first conveying mechanism 11. In other scenarios, the container 101 can also be moved from the first conveying mechanism 11 Move up to the temporary storage mechanism 41.
  • the two different locations where the container 101 can be stored on the container transfer system 100 of the embodiment of the present disclosure as the first location and the second location.
  • the container transfer system 100 of the embodiment of the present disclosure defines the two different locations where the container 101 can be stored on the container transfer system 100 of the embodiment of the present disclosure as the first location and the second location.
  • the transfer device may be a jacking fork.
  • the transfer device When the container handling equipment 4 transports the container to the docking station, the transfer device lifts the container from the temporary storage mechanism 41 and then moves to Docking with the first conveying mechanism 11 , thereby transferring the container to the first conveying mechanism 11 .
  • the transfer device can also move to dock with the second conveying mechanism 21 , lift the container from the second conveying mechanism 21 , and then transfer the container to the temporary storage mechanism 41 .
  • the transfer of the container between the first conveying device, the second conveying device and the container handling equipment 4 is realized through the same transfer device, which can greatly simplify the overall structure of the system and improve the transfer efficiency of the container.
  • the transfer device 3 includes a bracket 31 and a transfer assembly 32, the transfer assembly 32 is arranged on the bracket 31, and the transfer assembly 32 can move along a first direction relative to the bracket 31 (as shown in FIG. 6 left and right direction) to move relative to the first conveying mechanism 11 and the second conveying mechanism 21 respectively, the transfer assembly 32 can move along the height direction of the support 31 (the up and down direction as shown in FIG. 6 ) relative to the support 31, so as to The container 101 on the temporary storage mechanism 41 is transferred to the transfer assembly 32, or the container 101 on the transfer assembly 32 is placed on the first conveying mechanism 11 or the second conveying mechanism 21, and the transfer assembly 32 includes a plurality of edge brackets. 31 height direction (as shown in Figure 6 shown in the up and down direction) butt joints arranged at intervals, such as the jacking fork 320 shown in FIG. 41 corresponds.
  • the docking parts on the transfer assembly 32 can respectively dock with the temporary storage mechanism 41, the first conveying mechanism 11, and the second conveying mechanism 21, wherein the docking parts can be in the form of the jacking fork 320 in FIG. It is a mechanical arm or other means that can transfer the cargo box.
  • the transfer device 3 is located on the same side of the first transport device 111 and the second transport device 112 , as shown in FIG. 5 , the transfer device 3 is located on the front side of the first transport device 111 and the front side of the second transport device 112 .
  • the transfer assembly 32 moves along the height direction of the bracket 31 , the container 101 on the temporary storage mechanism 41 can be lifted or pulled up, thereby transferring the container 101 to the transfer assembly 32 .
  • the way to realize the transfer of the cargo box 101 is not limited to the above-mentioned way of lifting or pulling up, as long as the cargo box 101 can be placed on the transfer assembly 32 .
  • the transfer assembly 32 can move in the up-down direction and the left-right direction relative to the support 31.
  • the transfer assembly 32 includes a plurality of jacking forks 320 arranged at intervals in the up-down direction, the jacking forks 320, the first conveying mechanism 11,
  • the numbers of the second delivery mechanism 21 and the temporary storage mechanism 41 are the same, each jacking fork 320 corresponds to a temporary storage mechanism 41 , and each temporary storage mechanism 41 corresponds to a first delivery mechanism 11 or a second delivery mechanism 21 .
  • the jacking fork 320 moves toward the direction close to the first conveying mechanism 11 so as to transfer the container 101 .
  • the jacking fork 320 moves toward the direction close to the second conveying mechanism 21 so as to transfer the container 101 .
  • the following describes the moving process of the jacking fork 320 by taking the scene where the container handling equipment 4 puts the container 101 on the first conveying mechanism 11 as an example.
  • the container handling equipment 4 moves to a position docked with the jacking fork 320, and the jacking fork 320 is located below the container 101 on the temporary storage mechanism 41401 of the container handling equipment 4, and then the jacking fork 320 moves upward to lift Container 101, separate the container 101 from the temporary storage mechanism 41, and the container handling equipment 4 withdraws backward until the movement of the jacking fork 320 in the left and right direction is not affected.
  • the jacking fork 320 moves toward the direction close to the first conveying mechanism 11, and when the container 101 moves above the first conveying mechanism 11, the jacking fork 320 moves downward, and the container 101 is placed on the first conveying mechanism 11. superior.
  • using the transfer assembly 32 can improve the efficiency of the container transfer system 100 for transporting the container 101 , thereby saving the cost of transporting the container 101 .
  • the bracket 31 includes a guide rail assembly 310
  • the transfer assembly 32 further includes a moving part 321 and a support part 322.
  • the moving part 321 is arranged on the guide rail assembly 310 and moves along the guide rail assembly 310 in a first direction (as shown in FIG. 6 left and right directions)
  • the supporting member 322 is connected with the moving member 321 and can move along the height direction of the support 31 (up and down direction as shown in FIG. .
  • the guide rail assembly 310 is arranged on the bracket 31 , the moving part 321 is connected with the guide rail assembly 310 , and the moving part 321 can move in the left and right directions relative to the guide rail assembly 310 .
  • the supporting member 322 is disposed on the moving member 321 , and the supporting member 322 can move up and down relative to the moving member 321 .
  • the jacking fork 320 is arranged on the supporting member 322 , so that the jacking fork 320 can move in the up-down direction and left-right direction relative to the bracket 31 , so as to facilitate the transfer of the container 101 .
  • the transfer device 3 further includes a first drive assembly 33 , the first drive assembly 33 is connected to the moving member 321 for driving the moving member 321 along the rail assembly 310 in a first direction. (left and right direction as shown in Figure 6) to move up.
  • the position of the moving part 321 in the left and right direction can be controlled by the first driving assembly 33, and then the position of the jacking fork 320 in the left and right direction can be controlled.
  • the transfer device 3 has a high degree of automation, and it is convenient to improve the handling efficiency of the container 101.
  • the first drive assembly 33 includes a synchronous belt 334, a pulley 333 and a first drive motor 330
  • the synchronous belt 334 is connected to the bracket 31
  • the pulley 333 is connected to the moving part 321 and is rotatable relative to the moving part 321
  • the pulley 333 is engaged with the timing belt 334 and can move along the timing belt 334 in a first direction (the left and right directions shown in FIG. 6 )
  • the first driving motor 330 is connected with the pulley 333 to drive the pulley 333 to rotate.
  • the timing belt 334 is fixed on the support 31 and does not move with the moving part 321
  • the pulley 333 is engaged with the timing belt 334
  • the pulley 333 is fixed on the moving part 321 and can move along with the moving part 321.
  • the output end of the first driving motor 330 is connected with the pulley 333, and when the first driving motor 330 is in operation, it can drive the pulley 333 to rotate, thereby driving the moving part 321 to move in the left-right direction, and then driving the jacking fork 320 to move in the left-right direction .
  • the container transfer system 100 of the disclosed embodiment utilizes the first drive motor 330, the synchronous belt 334 and the pulley 333 to facilitate the control of the position of the jacking fork 320 in the left and right direction, and the position of the pulley 333 and the synchronous belt 334
  • the transmission ratio is accurate and the operation is stable, which is conducive to improving the position accuracy of the jacking fork 320 .
  • the timing belt 334 includes a first timing belt 3341 and a second timing belt 3342, and the first timing belt 3341 and the second timing belt
  • the step belt 3342 is arranged at intervals in the height direction of the support 31 (up and down direction as shown in Figure 6), and the pulley 333 includes a first pulley 3331 and a second pulley 3332, and the first pulley 3331 and the second pulley 3332 Both are connected with the moving part 321 and are rotatable relative to the moving part 321.
  • the first pulley 3331 is engaged with the first synchronous belt 3341
  • the second pulley 3332 is engaged with the second synchronous belt 3342
  • the first drive motor 330 is engaged with the first belt.
  • the wheel 3331 is connected to the second pulley 3332 .
  • the first synchronous belt 3341 and the second synchronous belt 3342 are spaced vertically, and the first pulley 3331 and the second pulley 3332 are spaced vertically.
  • the first timing belt 3341 and the first pulley 3331 are arranged at the upper end of the bracket 31
  • the second timing belt 3342 and the second pulley 3332 are arranged at the lower end of the bracket 31 .
  • the first driving motor 330 is used to drive the first pulley 3331 and the second pulley 3332 to rotate, thereby driving the moving member 321 to move in the left-right direction, and then controlling the position of the jacking fork 320 in the left-right direction.
  • the moving part 321 runs smoothly during the moving process, which is beneficial to improve the reliability of the container transfer system 100 .
  • the first driving assembly 33 further includes a first driving shaft 331 and a second driving shaft 332 .
  • the first driving shaft 331 extends along the height direction of the support 31 (the up-and-down direction as shown in FIG. 6 ) and is connected with the first driving motor 330 and the first pulley 3331.
  • the moving part 321 is rotatable.
  • the second driving shaft 332 extends along the height direction of the bracket 31 (the up-down direction as shown in FIG. 6 ) and is arranged sequentially with the first driving shaft 331 in the height direction of the bracket 31 (the up-down direction as shown in FIG. 6 ).
  • the two driving shafts 332 are connected with the first driving motor 330 and the second pulley 3332 , and the second driving shaft 332 is connected with the moving part 321 and can rotate relative to the moving part 321 .
  • the first pulley 3331 is located at the upper end of the support 31, the second pulley 3332 is located at the lower end of the support 31, and the first drive motor 330 is located between the first pulley 3331 and the second pulley 3332. between.
  • a first driving shaft 331 is provided above the first driving motor 330 , and the first driving shaft 331 is used to connect the first driving motor 330 and the first pulley 3331 .
  • a second driving shaft 332 is provided below the first driving motor 330 , and the second driving shaft 332 is used to connect the first driving motor 330 and the second pulley 3332 .
  • the first drive motor 330 When the first drive motor 330 rotates, it can simultaneously drive the first driving shaft 331 and the second driving shaft 332 to rotate, thereby simultaneously driving the first pulley 3331 and the second pulley 3332 to rotate, thereby ensuring the upper end and the lower end of the moving part 321 Move synchronously in the left and right directions.
  • the first pulley 3331 and the second pulley 3332 can be simultaneously driven to rotate by one first drive motor 330 , which has a compact structure and low cost.
  • the first driving assembly 33 further includes a first coupling 3311 , the first driving shaft 331 includes a plurality of first shaft segments 3310 , and adjacent first shaft segments 3310 are connected through the first coupling 3311 .
  • the first drive shaft 331 is connected to the first drive motor 330 through a first coupling 3311, and the first drive shaft 331 includes a plurality of first shaft segments 3310 connected in sequence in the up and down direction, Two adjacent first shaft segments 3310 are connected through a first coupling 3311 .
  • the bracket 31 of the container transfer system 100 in the embodiment of the present disclosure is relatively high, and the first driving shaft 331 is divided into multiple sections. Compared with the setting of the first driving shaft 331 as a whole section, it can avoid the problem caused by the excessive length of the first driving shaft 331. swinging or twisting, so as to avoid damage to the motor, and the force of each first shaft section 3310 is uniform, which is beneficial to improve the synchronization between the upper end and the lower end of the moving part 321 .
  • the first driving assembly 33 further includes a second coupling 3321
  • the second drive shaft 332 includes a plurality of second shaft segments 3320
  • adjacent second shaft segments 3320 are connected through the second coupling 3321 .
  • the second driving shaft 332 is connected to the second driving motor 340 through a second coupling 3321 .
  • the second driving shaft 332 includes a plurality of second shaft sections 3320 connected in sequence in the up and down direction, and two adjacent second shaft sections 3320 are connected by a second coupling 3321 .
  • the bracket 31 of the container transfer system 100 in the embodiment of the present disclosure is relatively high, and the second driving shaft 332 is divided into multiple sections. Compared with the setting of the second driving shaft 332 as a whole section, it can avoid the problem caused by the excessive length of the second driving shaft 332. swinging or twisting, so as to avoid damage to the motor, and the force of each second shaft segment 3320 is uniform, which is conducive to improving the synchronization between the upper end and the lower end of the moving part 321 .
  • the device 3 further includes a second driving assembly 34, and the second driving assembly 34 is used to drive the supporting member 322 relative to the moving member 321 along the height direction of the bracket 31 (as shown in FIG. 6 in the up and down directions) to move.
  • the second driving assembly 34 can drive the supporting member 322 to move upwards so as to lift the container 101, and the second driving assembly 34 can drive the supporting member 322 to move downwards so as to put down the container 101, thus utilizing the second driving assembly 34 to facilitate the handling of the cargo Box 101.
  • the second drive assembly 34 includes a transmission member 341, a rotating member 342 and a second drive motor 340, the rotating member 342 is rotatable relative to the transmission member 341, and the rotating member 342 A protruding portion 343 is formed on the outer periphery, and the protruding portion 343 can abut against and move away from the support member 322 .
  • the second driving motor 340 is connected with the transmission member 341 to drive the rotating member 342 to rotate.
  • the second driving motor 340 drives the transmission member 341 , and then drives the rotating member 342 to rotate.
  • a protruding portion 343 is provided on the outer periphery of the movable member 342 to form a cam-like structure.
  • the second driving assembly 34 drives the protrusion 343 to contact the support 322, thereby pushing the support 322 upwards, and then driving the jacking fork 320 to move upwards, thereby facilitating jacking
  • the fork 320 lifts the cargo box 101 .
  • the second drive assembly 34 drives the protrusion 343 away from the support 322, and the support 322 falls, thereby driving the jacking fork 320 to move downward, thereby facilitating the jacking fork 320 to put down the container 101.
  • the lifting fork 320 can be controlled to move in the up and down direction by using the second driving assembly 34 to drive the rotating member 342 to rotate, and the structure is compact and occupies a small space.
  • the transmission member 341 is a worm gear mechanism.
  • the second driving assembly 34 further includes a swing shaft 344, the axis of the swing shaft 344 is parallel to the axis of the rotating member 342, the swing shaft 344 is connected with the protrusion 343, and the outer peripheral surface of the swing shaft 344 can be connected with the The support 322 abuts and moves away.
  • the second drive assembly 34 is arranged under the support member 322 , and a swing shaft 344 is provided at the end of the protruding portion 343 away from its rotation center, and the swing shaft 344 is along the axial direction of the rotating member 342
  • the pendulum shaft 344 can rotate together with the protruding portion 343 .
  • the second drive assembly 34 drives the swing shaft 344 to contact the support member 322, thereby pushing the support member 322 upwards, and then driving the jacking fork 320 to move upwards, thereby facilitating the lifting of the fork 320 lifts cargo box 101 .
  • the second drive assembly 34 drives the swing shaft 344 away from the support 322, and the support 322 falls, thereby driving the jacking fork 320 to move downward, thereby facilitating the jacking fork 320 to put down the container 101 . Therefore, the container transfer system 100 of the embodiment of the present disclosure can increase the structural strength of the contact portion between the protrusion 343 and the support member 322 by using the swing shaft 344 , which is beneficial to improve the reliability of the container transfer system 100 .
  • the second drive assembly 34 also includes a first limit sensor and a second limit sensor, the support member 322 moves between the loading position and the unloading position, and when the support member 322 moves upward to the loading position, trigger The first limit sensor and the second drive assembly 34 stop running.
  • the second limit sensor is triggered, and the second driving assembly 34 stops running.
  • the first conveying device 1 and the second conveying device 2 are arranged at intervals in the first direction (the left-right direction as shown in FIG. Between the first conveying device 1 and the second conveying device 2 , it is used to guide the movement of the container handling equipment 4 .
  • a guide device 5 is provided between the first conveying device 1 and the second conveying device 2, whereby the guide device 5 is used to guide and limit the moving direction of the container handling equipment 4, thereby It is convenient for the container handling equipment 4 to move smoothly between the first conveying device 1 and the second conveying device 2 .
  • the guide device 5 includes a first guide assembly 51 and a second guide assembly 52 that are arranged oppositely and at intervals in the first direction, the first guide assembly 51 is arranged adjacent to the first conveying device 1 , and the second guide assembly 52 Arranged adjacent to the second conveying device 2 , the container handling device 4 may be located between the first guide assembly 51 and the second guide assembly 52 .
  • the first guide assembly 51 is arranged on the left side of the second guide assembly 52 , and the first guide assembly 51 and the second guide assembly 52 are arranged on the ground.
  • the first guide assembly 51 and the second guide assembly 52 can limit the movement of the container handling equipment 4 in the left and right directions, so as to prevent the container handling equipment 4 from colliding with the first conveying device 1 or the second conveying device 2, thereby It is convenient to guide the container handling equipment 4 to move in the front-rear direction, thereby facilitating the smooth movement of the container handling equipment 4 between the first conveying device 1 and the second conveying device 2 .
  • each of the first guide assembly 51 and the second guide assembly 52 includes a base plate 501 and a guide plate 502, the guide plate 502 is disposed on the base plate 501 and can be positioned relative to the base plate 501 in the first direction. Adjustment, the container handling equipment 4 can be located between the guide plate 502 of the first guide assembly 51 and the guide plate 502 of the second guide assembly 52 and can move along the length direction of the guide plate 502 (the front and rear direction as shown in Figure 1 ) .
  • both the base plate 501 and the guide plate 502 extend along the front-rear direction, and the base plate 501 is fixed on the ground.
  • the guide device 5 in this embodiment can adjust the distance between the first guide assembly 51 and the second guide assembly 52 by adjusting the relative position between the guide plate 502 and the base plate 501 in the left-right direction, so as to facilitate the adaptation to cargo boxes of different sizes.
  • the handling device 4 facilitates the movement of the container handling device 4 .
  • the substrate 501 is provided with first positioning holes arranged at intervals along the first direction
  • the guide plate 502 is provided with second positioning holes extending along the first direction and penetrating the guide plate 502 along the thickness direction of the guide plate 502 .
  • the hole 5021, each of the first guide assembly 51 and the second guide assembly 52 also includes a fastener (not shown), the fastener can pass through the second positioning hole 5021 and any one of the first positioning holes to connect Base plate 501 and guide plate 502.
  • the plurality of first positioning holes are divided into multiple groups, the multiple groups of first positioning holes are arranged at intervals along the front and rear directions, and the plurality of first positioning holes in the same group are arranged at intervals along the left and right directions.
  • a plurality of second positioning holes 5021 are arranged at intervals on the guide plate 502 along the front-rear direction, Each second positioning hole 5021 extends in a waist shape along the left and right directions.
  • Each second positioning hole 5021 corresponds to a group of first positioning holes, and a fastener connects a second positioning hole 5021 and one of a group of first positioning holes.
  • This design has a simple structure and is convenient for adjusting the guide plate 502 and the first positioning hole. The relative position of the substrate 501.
  • each of the first guide assembly 51 and the second guide assembly 52 further includes a stopper, the stopper is arranged on the base plate 501 and abuts against the guide plate 502, and the first guide assembly 51 , the stopper is located on the side of the guide plate 502 away from the second guide assembly 52 , and in the second guide assembly 52 , the stopper is located on the side of the guide plate 502 away from the first guide assembly 51 .
  • the first guide assembly 51 is arranged on the left side of the second guide assembly 52, and on the first guide assembly 51, the stopper 503 is arranged on the left side of the guide plate 502 and against the guide plate 502 to avoid The guide plate 502 moves to the left.
  • the stopper 503 is disposed on the right side of the guide plate 502 and abuts against the guide plate 502 to prevent the guide plate 502 from moving to the right.
  • the stopper 503 can prevent the guide member from loosening, thereby restricting the movement of the guide plate 502 in the left and right directions, which is beneficial to guide the movement of the container handling device 4 .
  • the guide device 5 in the embodiment of the present disclosure can strengthen and fix the position of the guide plate 502 by using a plurality of stoppers 503, so as to avoid the movement of the guide plate 502, thereby facilitating the movement of the container handling equipment 4 to a designated position, and improving the cargo capacity.
  • each of the first guide assembly 51 and the second guide assembly 52 further includes a plurality of guide wheels 504, the plurality of guide wheels 504 are arranged on the side of the guide plate 502 away from the base plate 501, and the plurality of guide wheels 504 The wheels 504 are arranged at intervals along the length direction of the guide plate 502 (the front-rear direction as shown in FIG. 15 ), and the guide wheels 504 can cooperate with the guide plate 502 to guide the container handling equipment 4 to move.
  • a guide wheel 504 is arranged on the right side of the guide plate 502 so as to be adjacent to the container handling device 4 .
  • a guide wheel 504 is arranged on the left side of the guide plate 502 so as to be adjacent to the container handling device 4 .
  • the guide wheel 504 can rotate relative to the guide plate 502, so as to facilitate the movement of the container handling equipment 4, and has a certain buffering effect when the container handling equipment 4 deviates from the course and impacts the guide device 5, so as to protect the container handling equipment 4 while also The guide device 5 can be protected.
  • the container transfer system 100 further includes a positioning device 6 , which is provided on the first conveying device 1 and/or the second conveying device 2 for positioning the container handling equipment 4 .
  • a positioning device 6 is provided on the first conveying device 1 and/or the second conveying device 2 for positioning the container handling equipment 4 .
  • the first conveying device 1 is provided with a positioning device 6, or the second conveying device 2 is provided with a second conveying device 2, or both the first conveying device 1 and the second conveying device 2 are provided with a positioning device 6.
  • the positioning device 6 includes a first positioning component 61 and a second positioning component 62 arranged opposite and spaced apart in a first direction (the left-right direction as shown in FIG. 6 ), the first positioning component 61 is arranged at the second On a conveying device 1, the second positioning assembly 62 is arranged on the second conveying device 2, and at least a part of the first positioning assembly 61 and at least a part of the second positioning assembly 62 can move toward or back to each other, so as to move in the container handling equipment 4 Position the container handling device 4 when it stops.
  • a part of the first positioning component 61 and a part of the second positioning component 62 can move toward or away from the container handling device 4 .
  • a part on the first positioning assembly 61 and a part on the second positioning assembly 62 move towards the direction of the container handling equipment 4 Move so as to clamp the container handling equipment 4, thereby not only the position of the container handling equipment 4 can be fixed, but also the movement of the container handling equipment 4 can be avoided during the process of transferring the container 101, thereby improving the transfer efficiency of the container 101.
  • each of the first positioning assembly 61 and the second positioning assembly 62 includes a third driving motor 603, a transmission assembly 604 and a positioning plate 605, the third driving motor 603 is connected with the transmission assembly 604, and the transmission assembly 604 is connected with the positioning plate 605 to drive the positioning plate 605 to move in the first direction (the left and right direction as shown in FIG. 6 ). Therefore, the positioning device 6 in this embodiment can drive the positioning plate 605 to move in the left and right directions by using the third driving motor 603 , so as to facilitate the clamping and loosening of the container handling equipment 4 .
  • the transmission assembly 604 is a screw and a slider
  • the third driving motor 603 is connected to the screw
  • the positioning plate 605 is fixed on the slider.
  • each of the first positioning assembly 61 and the second positioning assembly 62 includes a positioning sensor, and the position of the container handling device 4 can be detected by using the positioning sensor, so as to facilitate precise positioning of the container handling device 4 Location.
  • each of the first positioning assembly 61 and the second positioning assembly 62 further includes a base 602 and a mounting plate 601, and a third driving motor 603, a transmission assembly 604, and a positioning plate 605 are arranged on the base 602.
  • the mounting plate 601 is arranged at the bottom of the base 602
  • the mounting plate 601 of the first positioning assembly 61 is connected with the first conveying device 1
  • the mounting plate 601 of the second positioning assembly 62 is connected with the second conveying device 2 .
  • the third driving motor 603 and the transmission assembly 604 are fixed on the base 602 , and the positioning plate 605 is arranged on the transmission assembly 604 .
  • a mounting plate 601 is provided below the base 602, and a through hole is provided on the mounting plate 601.
  • the mounting plate 601 can fix the first positioning component 61 on the first conveying device 1 , and fix the second positioning component 62 on the second conveying device 2 .
  • the container handling device 4 is further configured to move the container to the storage area 170 for storage when receiving the container, refer to FIG. 4 .
  • the case will be transported back to the storage area 170 by the case handling equipment 4.
  • the case can be moved from the work station At 130, the container is transported back to its original position in the inventory area 170, and it can also be transported to other carrier 171 positions in the inventory area 170.
  • the storage location of the cargo box is determined according to the heat value of the cargo box.
  • the heat value of the cargo box refers to the shipment volume or frequency of goods in the cargo box, and the high heat value of the cargo box means that the shipment volume or frequency of goods in the cargo box is large. For example, the higher the heat value of the cargo box, the closer it needs to be placed on the carrier 171 to the workstation 130 .
  • the first conveying device 1 , the second conveying device 2 and the container handling equipment 4 have a one-to-one correspondence;
  • one docking station can only be connected to one container handling device 4, that is to say, one container handling device 4 can transport the container to the workstation 130 through the first conveying device 1, and
  • the containers sent by the workstation 130 can be received by the second conveying device 2, and the container transfer system provided by the embodiment of the present disclosure enables one container handling device 4 to complete two tasks at the same location, which improves work efficiency.
  • the terms "one implementation”, “some embodiments”, “one way to implement”, “specific examples”, or “some examples” refer to specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present invention.
  • the schematic representations of the above terms are not necessarily directed to the same embodiment or example.
  • the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
  • those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

一种货箱转移系统，包括倒货箱机构（110）和货箱搬运设备（4），其中，倒货箱机构（110）包括第一输送装置（1）和第二输送装置（2），第一输送装置（1）和第二输送装置（2）相对设置，且第一输送装置（1）和第二输送装置（2）之间设置有容纳货箱搬运设备（4）的接驳位，货箱搬运设备（4），被配置为响应于货箱存取指令在行进至接驳位的情况下，与第一输送装置（1）或第二输送装置（2）对接，通过第一输送装置（1）或第二输送装置（2）将货箱（101）输送至工作站（130），以及通过第二输送装置（2）或第一输送装置（1）接收工作站（130）发送的货箱（101），以使货箱搬运设备（4）在同一个位置就可以完成将目标货箱（101）输送至工作站（130）和从工作站（130）接收已经被拣选的目标货箱（101），该货箱转移系统很大程度地提高了倒货箱机构（110）和货箱搬运设备（4）的对接效率。

Description

货箱转移系统
相关申请的交叉引用
本公开要求申请号为202230246032.X且申请日为2022年01月29日的中国专利申请、申请号为202230246257.5且申请日为2022年01月29日的中国专利申请、申请号为202230246010.3且申请日为2022年01月29日的中国专利申请、申请号为202210112937.2且申请日为2022年01月29日的中国专利申请的优先权和权益，上述中国专利申请的全部内容在此通过引用并入本公开。
技术领域
本公开涉及仓储技术领域，具体地，涉及一种货箱转移系统。
背景技术
机器人可接受指令或系统预先设置的程序，自动执行货物转移、搬运等操作。相关技术中，机器人能够实现一次搬运多个货箱，且将货箱置于机器人的不同层的暂存机构上。在机器人转移货箱时，机器人将货箱从不同暂存机构上取出，并放置在目标位置。
然而，相关技术中，机器人转移货箱时，需要将货箱逐个从不同暂存机构上取出。换言之，机器人转移货箱时，只能一次转移一个货箱，转运效率低，为满足输送线效率要求，需投入更多的机器人，增大了投入成本。
发明内容
本公开旨在至少在一定程度上解决相关技术中的技术问题之一。为此，本公开的实施例提出一种货箱转移系统，该系统提高了转移效率，降低了投入成本。
本公开提供了一种货箱转移系统，所述系统包括倒货箱机构和货箱搬运设备，所述倒货箱机构包括第一输送装置和第二输送装置，所述第一输送装置和所述第二输送装置相对设置，且所述第一输送装置和所述第二输送装置之间设置有接驳位；所述货箱搬运设备，被配置为响应于货箱存取指令在行进至所述接驳位的情况下，与所述第一输送装置和/或所述第二输送装置对接，通过所述第一输送装置或所述第二输送装置将所述货箱输送至工作站；和/或通过所述第二输送装置或所述第一输送装置接收所述工作站发送的货箱。
本公开实施例的货箱转移系统，通过转移装置一次可以转移多个货箱，转运效率高，转移货箱的成本低。
附图说明
图1是本公开一实施例提供的货箱转移系统的系统结构正视图。
图2是本公开一实施例提供的货箱转移系统的系统结构俯视图。
图3是本公开一实施例提供的货箱转移系统的系统结构示意图。
图4是本公开一实施例提供的货箱转移系统的整体示意图。
图5是本公开实施例的货箱转移系统的爆炸示意图。
图6是本公开实施例的货箱转移系统的结构示意图，其中货箱搬运设备未示出。
图7是本公开实施例的货箱转移系统的第一输送装置的结构示意图。
图8是本公开实施例的货箱转移系统的第一提升机构的结构示意图。
图9是本公开实施例的货箱转移系统的转移装置的结构示意图。
图10是图9中A处的结构示意图。
图11是图9中B处的结构示意图。
图12是图9的后视示意图。
图13是图12中C处的结构示意图。
图14是本公开实施例的货箱转移系统的第二驱动组件的结构示意图。
图15是本公开实施例的货箱转移系统的导向装置的结构示意图。
图16是本公开实施例的货箱转移系统的定位装置的结构示意图。
图17是本公开实施例的货箱转移系统的第一提升机构上的检测组件的局部示意图。
附图标记：
货箱转移系统100；货箱101；倒货箱机构110；工作站130；第一外部输送装置140；第二外部输送装置150；控制服务器160；库存区域170；载具171；
第一输送装置1；第一输送机构11；第一提升机构111；第一运输组件1111；第三提升机构112；
第二输送装置2；第二输送机构21；第二提升机构221；第四提升机构223；
转移装置3；支架31；导轨组件310；转移组件32；顶升叉320；移动件321；支撑件322；第一驱动组件33；第一驱动电机330；第一主动轴331；第一轴段3310；第一联轴器3311；第二主动轴332；第二轴段3320；第二联轴器3321；带轮333；第一带轮3331；第二带轮3332；同步带334；第一同步带3341；第二同步带3342；第二驱动组件34；第二驱动电机340；传动件341；转动件342；凸出部343；摆轴344；
货箱搬运设备4；暂存机构41；
导向装置5；基板501；导向板502；第二定位孔5021；止档件503；导向轮504；第二导向组件52；第一导向组件51；
定位装置6；第一定位组件61；第二定位组件62；安装板601；基座602；第三驱动电机603；传动组件604；定位板605；
检测组件7；第一检测件71；第二检测件72；第三检测件73。
具体实施方式
下面详细描述本公开的实施例，所述实施例的示例在附图中示出。下面通过参考附图描述的实施例是示例性的，旨在用于解释本公开，而不能理解为对本公开的限制。在本公开中，提供了一种货箱转移系统，在下面的实施例中逐一进行详细说明。
参见图1，图1示出了本公开一实施例提供的一种货箱转移系统的系统结构图。
图1中的一种货箱转移系统，包括倒货箱机构110和货箱搬运设备4，其中，倒货箱机构110包括第一输送装置1和第二输送装置2，第一输送装置1和第二输送装置2相对设置，且第一输送装置1和第二输送装置2之间设置有用于与货箱搬运设备4对接的接驳位，货箱搬运设备4，被配置为响应于货箱存取指令，行进至接驳位，与第一输送装置1和/或第二输送装置2对接，通过第一输送装置1或第二输送装置2将货箱输送至工作站，通过第二输送装置2或第一输送装置1接收工作站发送的货箱。
第一输送装置、第二输送装置是倒货箱机构的两个部分，倒货箱机构中的第一输送装置1或第二输送装置2用于与货箱搬运设备4匹配，以将货箱搬运设备4上的货箱转移至对应的输送装置上，并通过对应的输送装置将货箱输送至工作站。倒货箱机构中的第二输送装置2或第一输送装置1用来接收工作站输送的货箱，并与货箱搬运设备4配合，以将货箱转移至货箱搬运设备4上。
本公开倒货箱机构主要用于将货箱搬运设备4搬运过来的多个货箱同时输送到工作站中，或者将工作站处理完毕的多个货箱同时转移至货箱搬运设备上。这种倒货箱机构可以采用本领域技术人员所熟知的结构，在此不再具体说明。
具体地，参见图2，倒货箱机构110的第一输送装置1和第二输送装置2中间相隔固定的距离，第一输送装置1和第二输送装置2中间相隔的位置可以为接驳位，与接驳位对应的地下表面设置有标志，货箱搬运设备4依据接驳位地下的标志可以停靠在确定的位置，在货箱搬运设备4从库存区域170将货箱移动至接驳位的情况下，与第一输送装置1对接，通过第一输送装置1将货箱输送至工作站，并且可以在该接驳位通过第二输送装置2接收工作站发送的货箱。
本公开实施例中，接驳位可以为使货箱搬运设备4与第一输送装置1或第二输送装置2对接的空间位置，接驳位可以为通过地面设置的标志确定，例如，货箱搬运设备4上设置有图像识别装置，在接驳位的地下表面设置有图像标志，其中，标志可以为一个二维码，通过货箱搬运设备4的图像识别装置识 别到二维码，并根据识别的二维码图像信息调整货箱搬运设备4的位置，以使货箱搬运设备4准确的到达接驳位。接驳位也可以通过其他方式确定，可以达到位置识别功能即可，本公开不进行限定。
货箱搬运设备4是可以移动货箱或货箱的设备，可以为能够搬运物体的货箱搬运设备，在货箱搬运设备4为能够搬运物体的货箱搬运设备时，可以使用本领域的常规技术手段，例如：货箱搬运设备4为搬运货箱搬运设备。
货箱是货箱搬运设备4从库存区域170取出并通过第一输送装置1输送至工作站的货箱，货箱是工作站将货箱处理完成后并通过第二输送装置2输送至货箱搬运设备4的货箱，货箱和货箱可以为任意可以存放货物的货箱，例如，塑料或纸质的货箱、托盘、物品自身的包装箱等。货箱搬运设备4可以取出货箱或存放货箱。
工作站可以包括货物拣选区，在货箱被输送至工作站后，在工作站由人工或自动化设备从货箱中拣选订单任务所需的商品。自动化设备例如可以包括自动化机械臂，通过机械臂把商品从货箱中取出。
库存区域170是存放货箱和货箱的区域，在库存区域170中设置有多个库存载具，每个库存载具上设置有多个货箱位，每个货箱位能够存放一个货箱或货箱，在库存区域170的多个库存载具之间形成通道，货箱搬运设备4可在该通道中通行，以将货箱从库存载具上取出，或者将货箱存放到库存载具上。
本公开的货箱转移系统，货箱搬运设备可以在接驳位同时实现与第一输送装置、第二输送装置的对接，以将目标货箱输送至工作站，或者从工作站接收被拣选完成的目标货箱。例如当货箱搬运设备在接驳位将货箱转移至第一输送装置后，可以直接在该接驳位接收来自第二输送装置的货箱。相对于传统货箱搬运设备需要在不同倒货箱机构之间往返移动的方式而言，本公开的货箱转移系统，节省了货箱搬运设备前往不同倒货箱机构的往返时间，提高了货箱转运的效率。另外，由于货箱搬运设备不需要在倒货箱机构之间往返运动，由此可减少货箱搬运设备在地面上通行的次数，降低了系统为货箱搬运设备规划通行路径的负担。
在本公开一个实施方式中，第一输送装置1被配置为从货箱搬运设备4获取货箱，并将货箱输送至工作站，或者接收从工作站输送的货箱，并将货箱输送至货箱搬运设备4。
第二输送装置2被配置为接收工作站输送的货箱，并将货箱输送至货箱搬运设备4，或者从货箱搬运设4备获取货箱，并将货箱输送至工作站。
在一种可实现的方式中，第一输送装置1可以将货箱搬运设备4上的货箱输送至工作站，同样的，第二输送装置2接收工作站发送过来的货箱。举例来说，货箱搬运设备4为搬运货箱搬运设备，货箱为需要进行拣选的货箱，货箱为拣选完成的货箱，搬运货箱搬运设备从库存区域170将需要进行拣选的货箱移动至接驳位，第一输送装置1获取在接驳位的搬运货箱搬运设备上的货箱，并输送至工作站。在经过人工拣选之后，将其从工作站输送出来，第二输送装置2接收从工作站输送来的货箱，并将货箱输送至搬运货箱搬运设备。
在本公开的具体可实现实施例中，第二输送装置2和第一输送装置1在第一方向(如图6所示的左右方向)上间隔布置，货箱搬运设备4可位于第一输送装置1和第二输送装置2之间，21，第二输送装置2具有多层第二输送机构21，多层第二输送机构21与多层暂存机构41对应，第二输送机构21用于输送货箱101。具体地，第一输送装置1和第二输送装置2在左右方向上间隔布置，货箱搬运设备4可以移动至第一输送装置1和第二输送装置2之间。多层第二输送机构21在上下方向上间隔设置，每一个第二输送机构21可以对应一个暂存机构41，即第二输送机构21的数量与暂存机构41的数量一致。货箱101可以从第二输送机构21移动至暂存机构41上，或者从暂存机构41移动至第二输送机构21上。
本公开实施例通过设置至少两个输送装置，可以使得货箱搬运设备4在同一地点既能完成放货又可以完成接货，避免了货箱搬运设备4在一个地点放货后需要再移动到另一个地点取货，提高了货箱转移的效率。
在本公开一个实施方式中，货箱转移系统还包括：控制服务器160，相应地，货箱搬运设备4，进一步被配置为：接收控制服务器160发送的货箱存取指令，其中，货箱存取指令中携带有目标货箱信息，基于目标货箱信息从库存区域170获取货箱。
在一种可实现的方式中，控制服务器160可以为本地的控制服务器160，也可以为远程的控制服务 器160，其中，本地的控制服务器160可以为货箱搬运设备4中内置的控制服务器160，远程的控制服务器160可以为通过网络与货箱搬运设备4通信连接的控制服务器160，此处，网络可以为采用同轴电缆、双绞线和光纤连接的有线网络，也可以为无需布线就能实现各种通信设备互联的无线网络，例如，WIFI、蓝牙(Bluetooth)、近场通信(Near Field Communication，NFC)、红外(Infrared)等，本公开实施例对此不作限制。货箱搬运设备4通过网络可以接收到控制服务器160发出的货箱存取指令，货箱存取指令中携带有目标货箱信息，其中，目标货箱信息可以为需要搬运的货箱的信息，例如，目标货箱信息中包括货箱的位置信息，货箱搬运设备4根据目标货箱信息中的位置信息到达货箱存放的位置并将货箱取出，即获取到货箱。
图3是本公开一实施例提供的一种货箱转移系统的结构示意图，第一输送装置1可以是入站装置，第二输送装置2可以是出站装置，货箱搬运设备4行进至接驳位，通过入站装置将货箱输送至工作站，通过出站装置接收工作站发送的货箱。
本公开的一个实施例中，货箱转移系统还包括：第一外部输送装置140和第二外部输送装置150，第一外部输送装置140设置在第一输送装置1和工作站之间，第二外部输送装置150设置在第二输送装置2和工作站之间，第一外部输送装置140，被配置为接收第一输送装置1从货箱搬运设备4获取的货箱，并将货箱输送至工作站，或者，被配置为接收从工作站输送的货箱，并将所货箱输送至货箱搬运设备4。
第二外部输送装置150，被配置为接收工作站输送的货箱，并将货箱输送至第二输送装置2，或者被配置为从货箱搬运设备4获取货箱，并将货箱输送至所述工作站。
如图3所示，第一外部输送装置140接收入站装置从货箱搬运设备4获取的货箱，并将货箱输送至工作站，第二外部输送装置150接收工作站输送的货箱，并将货箱输送至出站装置。
在本公开一种可实现的方式中，第一外部输送装置140和第二外部输送装置150均可以为输送线，第一外部输送装置140可以为设置在第一输送装置1和工作站之间的入站输送线，第二外部输送装置150可以为设置在第二输送装置2和工作站之间的出站输送线，入站输送线接收第一输送装置1输送过来的货箱，并将货箱输送至工作站130，同样的，出站输送线接收工作站130输送过来的货箱，并将货箱输送至第二输送装置2。通过设置第一外部输送装置140和第二外部输送装置150提高了货箱和货箱的输送速度，提高了货箱转运的效率。
在本公开一个实施方式中，如图5所示，货箱搬运设备4包括至少一层暂存机构41，暂存机构41用于暂存货箱101，第一输送装置1包括至少一层第一输送机构11，第二输送装置2包括至少一层第二输送机构21，暂存机构41用于存放一个所述货箱101，第一输送机构11用于存放一个货箱101，第二输送机构21用于存放一个货箱101；且所述暂存机构41、第一输送机构11和第二输送机构12的层数相同。
在一种可实现的方式中，货箱搬运设备4包括多层暂存机构41，多层暂存机构41沿着上下方向间隔设置，每一层暂存机构41用于暂时存放货箱101第一输送装置1包括多层第一输送机构11，第二输送装置2包括多层第二输送机构21，且暂存机构41的层数与第一输送机构11和第二输送机构21的层数相同，例如，暂存机构41层数有六层，相应的，第一输送机构11和第二输送机构21同样是六层，在第一输送装置1获取货箱搬运设备4的货箱和第二输送装置2向货箱搬运设备4输送货箱时，货箱搬运设备4可以同时将多个货箱转移至多层第一输送机构11上，或者将不同层第二输送机构21的多个货箱同时转移到货箱搬运设备4上。
在本公开一个实施方式中，第一输送装置1包括第一升降机构，第二输送装置2包括第二升降机构，第一升降机构被配置为将每层第一输送机构11存放的货箱输送至第一外部输送装置140，或者将货箱从第一外部输送装置140输送至每层第一输送机构11。
第二升降机构被配置为将货箱从第二外部输送装置150输送至每层第二输送机构21，或者将每层第二输送机构21存放的货箱输送至第二外部输送装置150。
在一种可实现的方式中，如图3和图5、图6所示，第一升降机构用于将每层第一输送机构11存放的货箱输送至第一外部输送装置140上。具体地，第一升降机构通过升降可以与第一输送机构11进行 对接，第一升降机构在接收到第一输送机构11上的货箱后，调整至与第一外部输送装置140对应的高度，由此可将货箱传输至第一外部输送装置140上，之后第一外部输送装置140将货箱输送至工作站130。
基于相同的道理，第二升降机构用于将第二外部输送装置150上的货箱输送至第二输送机构21上。具体地，第二升降机构可以调整至与第二外部输送装置150对应的高度，由此可将货箱由第二外部输送装置150传输至第二升降机构上。之后，第二升降机构可以通过升降的动作调整至与第二输送机构21进行对接，之后第二外部输送装置150将货箱传输至第二输送机构21进行存放。第二升降机构通过与不同层的第二输送机构21进行对接，由此实现了货箱从第二外部输送装置150到不同层第二输送机构21的转移。
在一些实施例中，第一升降机构包括第一提升机构111，第一提升机构111包括第一运输组件1111，第一运输组件1111用于从第一外部输送装置140接收货箱101并将货箱101转移到多层第一输送机构11上或接收第一输送机构11输送的货箱101。
如图5所示，在左右方向上，第一输送机构11与第二输送机构21间隔设置，第一输送机构11在第二输送机构21的左侧。第一提升机构111设在第一输送机构11的左侧，第一提升机构111上设有第一运输组件1111，第一运输组件1111可以在第一提升机构111上沿着上下方向移动，从而将多个货箱101转移到多层第一输送机构11上或接收第一输送机构11输送的货箱101。由此，本公开实施例的货箱转移系统100利用第一提升机构111可以将货箱101搬运至第一输送机构11上，从而节省货箱101搬运成本，提高货箱101的搬运效率。
其中，与第一提升机构111对接的第一外部输送装置140可以为一个或多个。换言之，第一提升机构111可以与一个第一外部输送装置140对接，第一提升机构111上的多个第一运输组件1111分别接收该第一外部输送装置140上的外部货箱；或者第一提升机构111可以与多个第一外部输送装置140对接，第一提升机构111上的多个第一运输组件1111中的一部分接收其中一个第一外部输送装置140上的外部货箱，第一提升机构111上的多个第一运输组件1111中的另一部分接收另一个第一外部输送装置140上的外部货箱，多个第一外部输送装置140在高度方向(图中所示上下方向)上间隔设置，且多个第一外部输送装置140在正交于高度方向的平面内的投影重合。
在一些实施例中，第二升降机构还包括第二提升机构221，第二提升机构221包括第二运输组件，第二运输组件用于从第二外部输送装置150接收货箱101并将货箱101转移到多层第二输送机构21上或接收第二输送机构21输送的货箱101。
如图5和图8所示，第二输送机构21在第一输送机构11的右侧。第二提升机构221设在第二输送机构21的右侧，第二提升机构221上设有第二运输组件，第二运输组件可以在第二提升机构221上沿着上下方向移动，从而将多个第二外部输送装置150上的货箱101转移到多层第二输送机构21上或接收第二输送机构21输送的货箱101。由此，利用第二提升机构221可以将货箱101搬运至第二输送机构21上，从而节省货箱101搬运成本，提高货箱101的搬运效率。
其中，与第二提升机构221对接的第二外部输送装置150可以为一个或多个。换言之，第二提升机构221可以与一个第二外部输送装置150对接，第二提升机构221上的多个第二运输组件分别接收该第二外部输送装置150上的外部货箱；或者第二提升机构221可以与多个第二外部输送装置150对接，第二提升机构221上的多个第二运输组件中的一部分接收其中一个第二外部输送装置150上的外部货箱，第二提升机构221上的多个第二运输组件中的另一部分接收另一个第二外部输送装置150上的外部货箱，多个第二外部输送装置150在高度方向(图中所示上下方向)上间隔设置，且多个第二外部输送装置150在正交于高度方向的平面内的投影重合。
在一些实施例中，第一升降机构还包括第三提升机构112，第三提升机构112包括第三运输组件，第三运输组件用于接收第一运输组件1111提供的货箱101并将货箱101转移到多层第一输送机构11上，或者，第三运输组件用于接收多层第一输送机构11上的货箱101并将货箱101转移到第一运输组件1111上。
如图5所示，第三提升机构112在第一提升机构111与第一输送机构11之间，第一提升机构111将货箱101转移至第三提升机构112上，第三提升机构112再将货箱101转移至第一输送机构11上， 或者，第一输送机构11将货箱101转移到第三提升机构112上，第三提升机构112再将货箱101转移至第一提升机构111上。由此，在第一提升机构111与第一输送装置1之间增设第三提升机构112，第三提升机构112可分别与第一输送机构11和第一提升机构111对接。
例如在第三提升机构112接收第一输送机构11上的货箱101并将货箱101转移至第一提升机构111的场景中，第三提升机构112运行到相应高度接收第一输送机构11上的货箱101时，第一提升机构111可以提前运行到与第三提升机构112装有货物101的高度，以便从第三提升机构112上接收货箱101并将货箱101转移至第一外部输送装置140。具体地，第三提升机构112接收货箱101完成的同时，第一提升机构111可以刚好运行至与第三提升机构112装有货箱101的高度。
同样地，在第一提升机构111接收第一外部输送装置140上的货箱101并将货箱101转移至第三提升机构112的场景中，第一提升机构111预先到相应高度接收第一外部输送装置140上的货箱101时，第三提升机构112可以提前运行到与第一提升机构111装有货箱101的高度，以便从第一提升机构111上接收货箱101并将货箱101转移到第一输送机构11上，具体地，第一提升机构111接收货箱101完成的同时，第三提升机构112可以刚好运行至与第一提升机构111装有货箱101的高度。
因此，本公开实施例的货箱转移系统可以提高货箱101的转移效率，节省工作时间。
在一些实施例中，第二升降机构还包括第四提升机构223，第四提升机构223包括第四运输组件，第四运输组件用于接收第二运输组件提供的货箱101并将货箱101转移到多层第二输送机构21上，或者第四运输组件用于接收多层第儿输送机构21上的货箱101并将货箱101转移到第二运输组件上。
如图5和图8所示，第四提升机构223在第二提升机构221与第二输送机构21之间，第二提升机构221将货箱101转移至第四提升机构223上，第四提升机构223再将货箱101转移至第二输送机构21上。由此，在第二提升机构221与第二输送装置2之间增设第四提升机构223，第四提升机构223分别与第二提升机构221和第二输送机构21对接，从而可以提高货箱101的转移效率，节省工作时间。
如图5所示，第二提升机构221将货箱101转移至第四提升机构223上，第四提升机构223再将货箱101转移至第二输送机构21上。由此，在第二提升机构221与第二输送装置2之间增设第四提升机构223，第四提升机构223分别与第二提升机构221和第二输送机构21对接，从而可以提高货箱101的转移效率，节省工作时间。
同样地，在第二提升机构221接收第二外部输送装置150上的货箱101并将货箱101转移至第四提升机构223的场景中，第一提升机构111预先到相应高度接收第二外部输送装置150上的货箱101时，第四提升机构223可以提前运行到与第二提升机构221装有货箱101的高度，以便从第二提升机构221上接收货箱101并将货箱101转移到第二输送机构21上，具体地，第二提升机构221接收货箱101完成的同时，第四提升机构223可以刚好运行至与第二提升机构221装有货箱101的高度。
可选地，第一提升机构111的结构如图8所示，第二提升机构221、第三提升机构112、和第四提升机构223的结构与第一提升机构111的结构相同。
在一种可实现的方式中，如图3和图5、图6所示，第三提升机构112的第三运输组件接收多层第一输送机构21上的货箱并将货箱转移到第一运输组件1111上，第一运输组件1111将货箱输送至第一外部输送装置140，第一外部输送装置140将货箱输送至工作站。第二外部输送装置15将货箱从工作站输送至第四提升机构223的第二运输组件，第二运输组件将货箱转移至第四运输组件上，第四运输组件将货箱输送至多层第二输送机构21上。
在一些实施例中，如图17所示，货箱转移系统100包括检测组件7，检测组件7设在第一输送机构11、第二输送机构21、第一运输组件1111、第二运输组件中的至少一个上，检测组件7用于检测是否有异物和/或货箱101是否到位。这里需要说明的是，异物可以是货箱101中漏出的物品，也可以是货箱101破损后散落的碎片等。在货箱转移系统100运行过程中，这些异物的存在容易损坏所在位置的装置和/或设备，进而影响货箱转移系统101的运行，通过检测组件7检测这些异物是否存在，可以对货箱转移系统100起到防护作用。
具体地，检测组件7设在第一输送机构11、第二输送机构21、第一运输组件1111、第二运输组件四者中的一者上，或者检测组件7设在四者中的两者上，或者检测组件7设在四者中的三者上，或者检 测组件7设在每一者上，图17仅作为实例展示出了检测组件7在第一运输组件1111上的结构，当检测组件7设在第一输送机构11或第二输送机构21或第二运输组件上的时候，与图17所示的结构相同。
本公开实施例的货箱转移系统100，利用检测组件7可以检测货箱101在四者上的位置以便于随时获取货箱101的位置信息，或者利用检测组件7检测四者上是否有异物以避免异物影响货箱转移系统100的运行，进而保护货箱转移系统100。可选地，检测组件7为多个光电传感器。
需要说明的是，检测组件7将检测到的信息传递给控制服务器160，控制服务器160根据检测组件7检测到的信息控制货箱转移系统100的运行。
在一些实施例中，如图17所示，检测组件7包括第一检测件71和/或第二检测件72。第一检测件71用于检测货箱101在输送过程中是否到位。第二检测件72位于第一检测件71在货箱101的输送方向上的一侧，第二检测件72用于检测货箱101的位置以及是否有异物，第二检测件72和第一检测件71在输送方向上的距离小于货箱101在输送方向上的尺寸。
具体地，第一检测件71用于检测货箱101是否移动到位，例如，以第一输送机构11为例，当货箱101移动至第一输送机构11上的时候，设在第一输送机构11上的第一检测件71首先检测货箱101是否到位，如果货箱101到位，则第一输送机构11继续运行；如果货箱101没有到位，则第一输送机构11继续等待货箱101到来。
货箱101的输送方向即为货箱101移动的方向，例如在第一输送机构11或者在第一运输组件1111上的货箱101沿着左右方向移动。在第一输送机构11或者在第一运输组件1111上，第二检测件72和第一检测件71沿着从左至右的方向依次布置。在第二输送机构21或者在第二运输组件上，第一检测件71和第二检测件72沿着左右方向依次布置。
本公开实施例的货箱转移系统100在工作时，货箱101在移动过程中经过检测组件7时，由于第二检测件72和第一检测件71之间的距离小于货箱101在左右方向的尺寸，所以第一检测件71和第二检测件72可以同时检测到货箱101。由此，通过判断相邻的两个检测件向控制服务器160输送的信息是否一致，即可确定货箱101的位置。而且，不会出现货箱101移动至相邻的两个检测件之间的时检测件检测不到货箱101的情况，解决了货箱101传递过程中的盲区问题，从而便于实时监测货箱101的位置，提高了货箱转移系统100的工作效率。
此外，利用检测组件7可以检测到第一输送机构11、第一运输组件1111、第二输送机构21和第二运输组件上是否有异物遮挡，例如，当货箱101在移动过程中，某个检测件向控制器发出的信号长时间不会发生变化，即可判断该检测件处有异物或者是该检测件出现故障，然后进行下一步的检查工作，避免出现异物堵塞损坏货箱转移系统100的情况，从而提高货箱转移系统100的寿命。
在一些实施例中，如图17所示，第二检测件72为至少两个，至少两个第二检测件72沿货箱101的高度方向(如图17所示的上下方向)间隔布置。具体地，以第一输送机构11为例，设在第一输送机构11上的多个第二检测件72沿着上下方向间隔布置。任意一个第二检测件72检测到货箱101经过时，均可以向控制服务器160发出检测到货箱101的信息。当其中一个第二检测件72损坏或者失效时，其他的第二检测仍然可以向控制服务器160发出货箱101经过的信息。由此，利用多个第二检测件72可以提高检测组件7的可靠性，进而提高货箱转移系统100的工作效率。
在一些实施例中，检测组件7还包括第三检测件73第三检测件73位于第一检测件71在输送方向上的另一侧，第三检测件73用于检测货箱101的位置以及是否有异物，第三检测件73和第一检测件71在输送方向上的距离小于货箱101在输送方向上的尺寸。
具体地，如图17所示，第一检测件71设在第二检测件72和第三检测件73之间，在第一输送机构11或者在第一运输组件1111上，第二检测件72、第一检测件71和第三检测件73沿着从左至右的方向依次布置。在第二输送机构21或者在第二运输组件上，第三检测件73、第一检测件71和第二检测件72沿着左右方向依次布置。
本公开实施例的货箱转移系统100在工作时，货箱101在移动过程中经过检测组件7时，由于第三检测件73和第一检测件71之间的距离小于货箱101在左右方向的尺寸，所以第一检测件71和第三检测件73可以同时检测到货箱101，不会出现货箱101移动至相邻的两个检测件之间的时检测件检测不到 货箱101的情况，解决了货箱101传递过程中的盲区问题，便于货箱转移系统100的工作效率。
在一些实施例中，如图17所示，第三检测件73为至少两个，至少两个第三检测件73沿货箱101的高度方向间隔布置。具体地，以第一输送机构11为例，设在第一输送机构11上的多个第三检测件73沿着上下方向间隔布置。任意一个第三检测件73检测到货箱101经过时，均可以向控制服务器160发出检测到货箱101的信息。当其中一个第三检测件73损坏或者失效时，其他的第三检测仍然可以向控制服务器160发出货箱101经过的信息。由此，利用多个第三检测件73可以提高检测组件7的可靠性，进而提高货箱转移系统100的工作效率。
在一些实施例中，如图17所示，第二检测件72和第三检测件73在输送方向上的距离为货箱101在输送方向上的尺寸的1.1-1.9倍。例如，第二检测件72和第三检测件73沿着左右方向布置，第二检测件72和第三检测件73在左右方向的距离为货箱101在左右方向的尺寸的1.1倍、1.3倍、1.4倍、1.9倍等。本公开实施例通过将第二检测组件72和第三检测组件73控制在上述范围内，既能保证货箱101的正常传输，还能减少检测组件7所在机构的体积，减少占用空间。
在本公开一个实施方式中，第一输送装置1包括第一转移机构，第二输送装置2包括第二转移机构，第一转移机构被配置为将货箱从暂存机构41转移至第一输送机构11或将货箱从第一输送机构11转移至暂存机构41，第二转移机构被配置为将货箱从第二输送机构21转移至暂存机构41或将货箱从暂存机构41转移至第二输送机构21。
在一种可实现的方式中，第一转移机构和第二转移机构均可以为顶升叉，例如，第一转移机构将货箱从暂存机构41上抬起，之后将货箱从暂存机构41转移至第一输送机构11上。同样的，第二转移机构将货箱从第二输送机构21上抬起，之后将货箱从第二输送机构21转移至暂存机构41上。
本公开的第一转移机构和第二转移机构不仅可以使用顶升叉的形式，还可以使用其他任意一种形式，本公开不进行限定，只要可以达到转移货箱的功能即可。
在上述的实施例中，第一输送装置、第二输送装置通过各自的转移装置实现了货箱从货箱搬运设备至第一输送装置、从第二输送装置至货箱搬运设备的转移。
在本公开的一个实施方式中，货箱转移系统100还包括转移装置3，转移装置3可以设置在第一输送装置1和第二输送装置2之间，第一输送装置和第二输送装置可以通过同一个转移装置实现货箱从货箱搬运设备至第一输送装置或第二输送装置的转移、从第二输送装置或第一输送装置至货箱搬运设备的转移。该转移装置设置在第一输送装置1和第二输送装置2之间，转移装置被配置为将货箱从暂存机构41转移至第一输送机构11或第二输送机构21，以及将货箱从第二输送机构21或第一输送机构11转移至暂存机构41。
在一个可实现的具体实施例中，转移装置3位于第一输送装置1和第二输送装置2的同一侧，且转移装置3用于将多层暂存机构41上的货箱101转移到对应的第一输送机构11和/或第二输送机构21上，或者，将多层第一输送机构11和/或第二输送机构21上的货箱101转移到对应的暂存机构41上。
如图6和图5所示，转移装置3位于第一输送装置1和第二输送装置2的前方或者后方，转移装置3有三种位置状态：
第一种，转移装置3用于在货箱搬运设备4和第一输送装置1之间转移货箱101。即转移装置3可以将多个暂存机构41上的多个货箱101转移至对应的多个第一输送机构11上，或者转移装置3可以将多个第一输送机构11上的多个货箱101转移至对应的多个暂存机构41上。例如，货箱搬运设备4的3个暂存机构41上存放有3个货箱101，利用转移装置3可以将3个货箱101转移至3个第一输送机构11上。
第二种，转移装置3用于在货箱搬运设备4和第二输送装置2之间转移货箱101。即转移装置3可以将多个暂存机构41上的多个货箱101转移至对应的多个第二输送机构21上，或者转移装置3可以将多个第二输送机构21上的多个货箱101转移至对应的多个暂存机构41上。例如，货箱搬运设备4的3个暂存机构41上存放有3个货箱101，利用转移装置3可以将3个货箱101转移至3个第二输送机构21上。
第三种，转移装置3同时在货箱搬运设备4和第一输送装置1之间、货箱搬运设备4与第二输送装 置2之间转移货箱101。其中对于第三种位置状态，货箱转移系统可以有以下几种实施例：
在一种实施例中，转移装置3可以将多个暂存机构41上的多个货箱101中的一部分转移至对应的第二输送机构21上，转移装置3将多个货箱101中的另一部分对应的第一输送机构11上。
在另一个实施例中，转移装置3可以将多个第一输送机构11上的多个货箱101转移至对应的多个暂存机构41上，同时转移装置3将多个第二输送机构21上的多个货箱101转移至对应的多个暂存机构41上。例如，货箱搬运设备4的5个暂存机构41上存放有5个货箱101，利用转移装置3可以将2个货箱101转移至2个第一输送机构11上，利用转移装置3可以将3个货箱101转移至3个第二输送机构21上。
在再一个实施例中，转移装置3将暂存机构41上的货箱101转移至对应的第一输送机构11上，同时转移装置3将第二输送机构21上的货箱101转移到对应的暂存机构41上。这里需要说明的是，向第一输送机构11转移货箱101的暂存机构41和从第二输送机构21接收货箱101的暂存机构41可以是同一货箱搬运设备的，也可以是不同货箱搬运设备的。换言之，转移装置3可以将同一货箱搬运设备4上的部分货箱101转移到对应的第一输送机构11上且将第二输送机构21上的部分货箱101转移到该同一货箱搬运设备上；或者，转移装置3可以一个货箱搬运设备4上的货箱101转移到对应的第一输送机构11上且将第二输送机构21上的货箱101转移到另一个货箱搬运设备4上。这里需要说明的是，上述一个货箱搬运设备4将货箱101跟第一输送机构11对接完成后可以先离开，上述另一个货箱搬运设备4再移动至于第二输送机构21的对接位以接收第二输送机构21上的货箱。
下面以货箱搬运设备4放货箱101的过程为例，描述本公开实施例的货箱转移系统100的工作过程。首先，货箱搬运设备4的多个暂存机构41载着多个货箱101移动至第一输送装置1和第二输送装置2之间；然后，利用转移装置3将多个货箱101转移至第一输送装置1和/或第二输送装置2上。货箱搬运设备4取货箱101的动作与放货箱101的动作顺序相反，此处不再赘述。
需要说明的是，转移装置3一次可以转移多个货箱101，其中转移装置3转移货箱101的数量可以小于或等于同一批货箱101的数量。例如，转移装置3需要转移5个货箱101，转移装置3可以1次全部转移完毕，或者分2次、3次、4次转移完毕。
本公开实施例的货箱转移系统100，将转移装置3独立于输送装置，且一个转移装置3可以对应至少两个输送装置，以通过转移装置3可以从货箱搬运设备4上一次转移多个货箱101至第一输送装置1和/或第二输送装置2，或者可以从第一输送装置1和/或第二输送装置2上一次转移多个货箱101至货箱搬运设备4上，转运效率高，转移货箱101的成本低。需要说明的是，本公开的实施例的货箱转移系统100在结构上对货箱101的移动方向并无限制。具体地，下文在描述货箱101在移动过程中的场景时，并非对货箱101的移动方向进行限定，例如，如果下文描述货箱101从货箱搬运设备4的暂存机构41上移动至第一输送机构11上，并非限制货箱101只能从货箱搬运设备4的暂存机构41上移动至第一输送机构11上，在其他场景中货箱101也可以从第一输送机构11上移动至暂存机构41上。
下文为了便于描述本公开的技术方案，只选取了部分场景进行描述。例如，定义本公开实施例的货箱转移系统100上两个可以存放货箱101的不同位置为第一位置和第二位置。在描述货箱101从第一位置移动至第二位置时，即代表货箱101也可以从第二位置移动至第一位置。
在本公开一个具体的实施方式中，转移装置可以为顶升叉，货箱搬运设备4将货箱运送至接驳位时，转移装置将货箱从暂存机构41上抬起，之后运动至与第一输送机构11对接，由此将货箱转移至第一输送机构11上。转移装置也可以运动至与第二输送机构21对接，将货箱从第二输送机构21上抬起后，再将货箱转移至暂存机构41上。本公开实施例，通过同一转移装置实现了货箱在第一输送装置、第二输送装置与货箱搬运设备4间的转移，可以大大简化系统的整体结构，提高了货箱的转移效率。
在本公开的另一个具体的实施例中，转移装置3包括支架31和转移组件32，转移组件32设在支架31上，转移组件32相对于支架31可沿第一方向(如图6所示的左右方向)移动，以分别与第一输送机构11和第二输送机构21相对，转移组件32相对于支架31可沿支架31的高度方向(如图6所示的上下方向)移动，以将暂存机构41上的货箱101转移到转移组件32上，或者将转移组件32上的货箱101放置在第一输送机构11或第二输送机构21上，且转移组件32包括多个沿支架31的高度方向(如图6 所示的上下方向)间隔布置的对接件，例如图6中所示的顶升叉320，多个对接件与多个第一输送机构11、多个第二输送机构21、多个暂存机构41对应。
需要说明的是，转移组件32上的对接件可以分别与暂存机构41、第一输送机构11、第二输送机构21对接，其中对接件可以为图6中顶升叉320的形式，还可以是机械臂等其他能够转移货箱的方式。
具体地，转移装置3位于第一输送装置111和第二输送装置112的同一侧，如图5所示，转移装置3位于第一输送装置111的前侧和第二输送装置112的前侧。转移组件32沿支架31的高度方向移动时，可以将暂存机构41上的货箱101抬起或拉起，从而将货箱101转移到转移组件32上。可以理解的是，实现货箱101转移的方式并不限于上述抬起或拉起的方式，只要能将货箱101到转移组件32上即可。
如图9所示，转移组件32可以相对支架31在上下方向和左右方向上移动，转移组件32包括多个在上下方向间隔设置的顶升叉320，顶升叉320、第一输送机构11、第二输送机构21、暂存机构41四者的数量一致，每一个顶升叉320对应一个暂存机构41，每一个暂存机构41对应一个第一输送机构11或第二输送机构21。
货箱101在第一输送机构11与转移装置3之间转移时，顶升叉320向靠近第一输送机构11的方向移动以便于转移货箱101。货箱101在第二输送机构21与转移装置3之间转移时，顶升叉320向靠近第二输送机构21的方向移动以便于转移货箱101。
下面以货箱搬运设备4向第一输送机构11上放货箱101的场景为例描述顶升叉320的移动过程。首先，货箱搬运设备4运动至与顶升叉320对接的位置，顶升叉320位于货箱搬运设备4的暂存机构41401上的货箱101的下方，然后顶升叉320向上移动抬起货箱101，将货箱101与暂存机构41分离，货箱搬运设备4向后退出，直至不影响顶升叉320在左右方向上的移动。然后，顶升叉320向靠近第一输送机构11的方向移动，待货箱101移动至第一输送机构11上方时，顶升叉320向下移动，将货箱101放在第一输送机构11上。由此，利用转移组件32可以提高货箱转移系统100搬运货箱101的效率，进而节省货箱101搬运成本。
在一些实施例中，支架31包括导轨组件310，转移组件32还包括移动件321和支撑件322，移动件321设在导轨组件310上且沿导轨组件310在第一方向(如图6所示的左右方向)上移动，支撑件322与移动件321相连且相对于移动件321可沿支架31的高度方向(如图6所示的上下方向)移动，顶升叉320设在支撑件322上。
如图9和图10所示，导轨组件310设在支架31上，移动件321与导轨组件310相连，移动件321相对导轨组件310可以在左右方向上移动。支撑件322设在移动件321上，支撑件322可以相对移动件321在上下方向上移动。顶升叉320设在支撑件322上，由此，顶升叉320可以相对支架31在上下方向和左右方向上移动，从而方便转移货箱101。
在一些实施例中，如图9至图13所示，转移装置3还包括第一驱动组件33，第一驱动组件33与移动件321相连用于驱动移动件321沿导轨组件310在第一方向(如图6所示的左右方向)上移动。利用第一驱动组件33可以控制移动件321在左右方向的位置，进而控制顶升叉320在左右方向的位置，由此，转移装置3的自动化程度高，便于提高货箱101搬运效率。
在一些实施例中，第一驱动组件33包括同步带334、带轮333和第一驱动电机330，同步带334与支架31相连，带轮333与移动件321相连且相对于移动件321可转动，带轮333与同步带334啮合且可沿同步带334在第一方向(如图6所示的左右方向)上移动，第一驱动电机330与带轮333相连以驱动带轮333转动。
如图9至图11所示，同步带334固定在支架31上且不随移动件321移动，带轮333与同步带334啮合，带轮333固定在移动件321上且可以随着移动件321在左右方向上移动。第一驱动电机330的输出端与带轮333相连，第一驱动电机330运转时，可以带动带轮333转动，从而驱动移动件321在左右方向移动，进而驱动顶升叉320在左右方向上移动。由此，本公开实施例的货箱转移系统100利用第一驱动电机330、同步带334和带轮333，便于控制顶升叉320在左右方向的位置，而且，带轮333和同步带334的传动比准确，运行平稳，有利于提高顶升叉320的位置精度。
在一些实施例中，同步带334包括第一同步带3341和第二同步带3342，第一同步带3341和第二同 步带3342在支架31的高度方向(如图6所示的上下方向)上间隔布置，带轮333包括第一带轮3331和第二带轮3332，第一带轮3331和第二带轮3332均与移动件321相连且相对于移动件321可转动，第一带轮3331与第一同步带3341啮合，第二带轮3332与第二同步带3342啮合，第一驱动电机330与第一带轮3331和第二带轮3332相连。
如图9至图11所示，第一同步带3341和第二同步带3342在上下方向间隔设置，第一带轮3331和第二带轮3332在上下方向间隔设置。例如，第一同步带3341和第一带轮3331设在支架31的上端，第二同步带3342和第二带轮3332设在支架31的下端。利用第一驱动电机330驱动第一带轮3331和第二带轮3332转动，从而驱动移动件321在左右方向上移动，进而控制顶升叉320在左右方向的位置。由此，利用第一同步带3341和第二同步带3342，移动件321在移动过程运行平稳，有利于提高货箱转移系统100的可靠性。
在一些实施例中，第一驱动组件33还包括第一主动轴331和第二主动轴332。
第一主动轴331沿支架31的高度方向(如图6所示的上下方向)延伸且与第一驱动电机330和第一带轮3331相连，第一主动轴331与移动件321相连且相对于移动件321可转动。
第二主动轴332沿支架31的高度方向(如图6所示的上下方向)延伸且与第一主动轴331在支架31的高度方向(如图6所示的上下方向)上依次布置，第二主动轴332与第一驱动电机330和第二带轮3332相连，第二主动轴332与移动件321相连且相对于移动件321可转动。
如图9至图11所示，第一带轮3331设在支架31上端，第二带轮3332设在支架31下端，第一驱动电机330设在第一带轮3331与第二带轮3332之间。在第一驱动电机330的上方设有第一主动轴331，第一主动轴331用于连接第一驱动电机330和第一带轮3331。在第一驱动电机330的下方设有第二主动轴332，第二主动轴332用于连接第一驱动电机330和第二带轮3332。当第一驱动电机330转动时，可以同时带动第一主动轴331和第二主动轴332转动，从而同时带动第一带轮3331和第二带轮3332转动，进而保证移动件321的上端和下端在左右方向上同步移动。由此，利用一个第一驱动电机330即可同时驱动第一带轮3331与第二带轮3332转动，结构紧凑，成本低。
在一些实施例中，第一驱动组件33还包括第一联轴器3311，第一主动轴331包括多个第一轴段3310，相邻第一轴段3310通过第一联轴器3311相连。
如图9和图10所示，第一主动轴331与第一驱动电机330之间通过第一联轴器3311相连，第一主动轴331包括多个在上下方向依次连接第一轴段3310，相邻的两个第一轴段3310之间通过第一联轴器3311相连。本公开实施例的货箱转移系统100的支架31较高，第一主动轴331分成多段设置，与第一主动轴331为一整段设置相比，可以避免第一主动轴331过长造成的摆动或者扭断等现象，从而避免损坏电机，而且每个第一轴段3310的受力均匀，有利于提高移动件321上端和下端的同步性。
在一些实施例中，第一驱动组件33还包括第二联轴器3321，第二主动轴332包括多个第二轴段3320，相邻第二轴段3320通过第二联轴器3321相连。
如图9和图11所示，第二主动轴332与第二驱动电机340之间通过第二联轴器3321相连。第二主动轴332包括多个在上下方向依次连接第二轴段3320，相邻的两个第二轴段3320之间通过第二联轴器3321相连。本公开实施例的货箱转移系统100的支架31较高，第二主动轴332分成多段设置，与第二主动轴332为一整段设置相比，可以避免第二主动轴332过长造成的摆动或者扭断等现象，从而避免损坏电机，而且每个第二轴段3320的受力均匀，有利于提高移动件321上端和下端的同步性。
在一些实施例中，如图11至图13所示，装置3还包括第二驱动组件34，第二驱动组件34用于驱动支撑件322相对于移动件321沿支架31的高度方向(如图6所示的上下方向)移动。第二驱动组件34可以驱动支撑件322向上移动以便搬起货箱101，第二驱动组件34可以驱动支撑件322向下移动以便放下货箱101，由此，利用第二驱动组件34便于搬运货箱101。
在一些实施例中，如图13和图14所示，第二驱动组件34包括传动件341、转动件342和第二驱动电机340，转动件342相对于传动件341可转动，转动件342的外周具有凸出部343，凸出部343可与支撑件322抵接和远离，第二驱动电机340与传动件341相连以驱动转动件342转动。
如图14所示，第二驱动电机340带动传动件341，进而带动转动件342转动。需要说明的是，在转 动件342的外周设有凸出部343以形成类似凸轮的结构，第二驱动电机340转动时，凸出部343与支撑件322呈现周期性的接触和分离。当转移装置3需要抬起货箱101时，第二驱动组件34驱动凸出部343与支撑件322接触，从而将支撑件322向上顶推，进而带动顶升叉320向上移动，从而便于顶升叉320抬起货箱101。当转移装置3需要放下货箱101时，第二驱动组件34驱动凸出部343远离支撑件322，支撑件322下落，从而带动顶升叉320向下移动，进而便于顶升叉320放下货箱101。由此，利用第二驱动组件34驱动转动件342转动，即可控制顶升叉320在上下方向移动，结构小巧，占用空间小。
可选地，传动件341为蜗轮蜗杆机构。
在一些实施例中，第二驱动组件34还包括摆轴344，摆轴344的轴向与转动件342的轴向平行，摆轴344与凸出部343相连，摆轴344的外周面可与支撑件322抵接和远离。
如图13和图14所示，第二驱动组件34设在支撑件322的下方，在凸出部343远离其转动中心的一端设有摆轴344，摆轴344沿着转动件342的轴向方向延伸，摆轴344可随着凸出部343一起转动。当转移装置3需要抬起货箱101时，第二驱动组件34驱动摆轴344与支撑件322接触，从而将支撑件322向上顶推，进而带动顶升叉320向上移动，从而便于顶升叉320抬起货箱101。当转移装置3需要放下货箱101时，第二驱动组件34驱动摆轴344远离支撑件322，支撑件322下落，从而带动顶升叉320向下移动，进而便于顶升叉320放下货箱101。由此，本公开实施例的货箱转移系统100利用摆轴344可以增大凸出部343与支撑件322接触部位的结构强度，有利于提高货箱转移系统100的可靠性。
可选地，第二驱动组件34还包括第一限位传感器和第二限位传感器，支撑件322在搬货位置和卸货位置之间移动，当支撑件322向上移动至搬货位置时，触发第一限位传感器，第二驱动组件34停止运行。当支撑件322向下移动至卸货位置时，触发第二限位传感器，第二驱动组件34停止运行。
在一些实施例中，第一输送装置1和第二输送装置2在第一方向(如图1所示的左右方向)上间隔布置，货箱转移系统100还包括导向装置5，导向装置5设在第一输送装置1和第二输送装置2之间，以用于导引货箱搬运设备4移动。
如图5和图15所示，在第一输送装置1和第二输送装置2之间设有导向装置5，由此，利用导向装置5便于引导和限制货箱搬运设备4的移动方向，从而便于货箱搬运设备4顺利移动至第一输送装置1和第二输送装置2之间。
在一些实施例中，导向装置5包括在第一方向上相对且间隔布置的第一导向组件51和第二导向组件52，第一导向组件51邻近第一输送装置1布置，第二导向组件52邻近第二输送装置2布置，货箱搬运设备4可位于第一导向组件51和第二导向组件52之间。
如图15所示，第一导向组件51设置第二导向组件52的左侧，第一导向组件51和第二导向组件52设在地面上。由此，利用第一导向组件51和第二导向组件52可以限制货箱搬运设备4在左右方向上的移动，避免货箱搬运设备4撞上第一输送装置1或第二输送装置2，从而便于引导货箱搬运设备4在前后方向上移动，进而便于货箱搬运设备4顺利移动至第一输送装置1和第二输送装置2之间。
在一些实施例中，第一导向组件51和第二导向组件52中的每一者包括基板501和导向板502，导向板502设在基板501上且相对于基板501在第一方向上位置可调，货箱搬运设备4可位于第一导向组件51的导向板502和第二导向组件52的导向板502之间且可沿导向板502的长度方向(如图1所示的前后方向)移动。
如图15所示，基板501和导向板502均沿着前后方向延伸，基板501固定在地面上。本实施例中的导向装置5通过调节导向板502与基板501在左右方向上的相对位置，可以调节第一导向组件51和第二导向组件52之间的距离，进而便于适应不同大小的货箱搬运设备4，方便货箱搬运设备4的移动。
在一些实施例中，基板501上设有沿第一方向间隔布置的第一定位孔，导向板502上设有沿第一方向延伸且沿导向板502的厚度方向贯穿导向板502的第二定位孔5021，第一导向组件51和第二导向组件52中的每一者还包括紧固件(未示出)，紧固件可穿过第二定位孔5021和任意一个第一定位孔以连接基板501和导向板502。
如图15所示，多个第一定位孔分为多组，多组第一定位孔沿着前后方向间隔布置，在同一组内的多个第一定位孔沿着左右方向间隔布置。多个第二定位孔5021在导向板502上沿着前后方向间隔布置， 每个第二定位孔5021沿着左右方向延伸成腰型。每个第二定位孔5021对应一组第一定位孔，一个紧固件连接一个第二定位孔5021和一组第一定位孔中的一个，由此设计，结构简单，便于调节导向板502与基板501的相对位置。
在一些实施例中，第一导向组件51和第二导向组件52中的每一者还包括止挡件，止挡件设在基板501上且与导向板502抵接，第一导向组件51中，止挡件位于导向板502远离第二导向组件52的一侧，第二导向组件52中，止挡件位于导向板502远离第一导向组件51的一侧。
如图15所示，第一导向组件51设在第二导向组件52的左侧，在第一导向组件51上，止挡件503设在导向板502的左侧且抵住导向板502，避免导向板502向左移动。在第二导向组件52上，止挡件503设在导向板502的右侧且抵住导向板502，避免导向板502向右移动。由此，利用止挡件503可以避免导向件松动，从而限制导向板502在左右方向的移动，进而有利于引导货箱搬运设备4的移动。
在一些实施例中，止挡件503为多个，多个止挡件503沿基板501的长度方向间隔布置。由此，本公开实施例中的导向装置5利用多个止挡件503可以加强固定导向板502的位置，从而避免导向板502活动，进而便于货箱搬运设备4移动至指定的位置，提高货箱搬运设备4的位置精度。
在一些实施例中，第一导向组件51和第二导向组件52中的每一者还包括多个导向轮504，多个导向轮504设在导向板502远离基板501的一侧，多个导向轮504沿导向板502的长度方向(如图15所示的前后方向)间隔布置，导向轮504可与导向板502共同作用以引导货箱搬运设备4移动。
如图15所示，在第一导向组件51上，导向轮504设在导向板502的右侧以邻近货箱搬运设备4设置。在第二导向组件52上，导向轮504设在导向板502的左侧以邻近货箱搬运设备4设置。导向轮504可以相对导向板502转动，从而便于引导货箱搬运设备4移动，且在货箱搬运设备4偏离航线对导向装置5冲击时有一定的缓冲作用，保护货箱搬运设备4的同时也能保护导向装置5。
在一些实施例中，货箱转移系统100还包括定位装置6，定位装置6设在第一输送装置1和/或第二输送装置2上，用于对货箱搬运设备4进行定位。例如，在第一输送装置1上设有定位装置6，或者在第二输送装置2上设有第二输送装置2，或者在第一输送装置1和第二输送装置2上均设有定位装置6。
在一些实施例中，定位装置6包括在第一方向(如图6所示的左右方向)上相对且间隔布置的第一定位组件61和第二定位组件62，第一定位组件61设在第一输送装置1上，第二定位组件62设在第二输送装置2上，第一定位组件61的至少部分和第二定位组件62的至少部分可相向或背向移动，以在货箱搬运设备4停止时对货箱搬运设备4进行定位。
如图6所示，第一定位组件61上的一部分和第二定位组件62上的一部分可以向靠近或者远离货箱搬运设备4的方向移动。当货箱搬运设备4移动至在第一输送装置1和第二输送装置2之间时，第一定位组件61上的一部分和第二定位组件62上的一部分向靠近货箱搬运设备4的方向移动以便夹紧货箱搬运设备4，从而不仅可以固定货箱搬运设备4的位置，而且可以在转移货箱101的过程中，避免货箱搬运设备4移动，进而提高货箱101转移效率。
在一些实施例中，第一定位组件61和第二定位组件62中的每一者包括第三驱动电机603、传动组件604和定位板605，第三驱动电机603与传动组件604相连，传动组件604与定位板605相连以带动定位板605在第一方向(如图6所示的左右方向)上移动。由此，本实施例中的定位装置6利用第三驱动电机603可以驱动定位板605在左右方向上移动，从而便于夹紧和松开货箱搬运设备4。
可选地，传动组件604为丝杠和滑块，第三驱动电机603与丝杠相连，定位板605固定在滑块上。
可选地，第一定位组件61和第二定位组件62中的每一者包括还包括定位传感器，利用定位传感器可以检测到货箱搬运设备4的位置，从而便于精准定位货箱搬运设备4的位置。
在一些实施例中，第一定位组件61和第二定位组件62中的每一者还包括基座602和安装板601，第三驱动电机603、传动组件604和定位板605设在基座602上，安装板601设在基座602的底部，第一定位组件61的安装板601与第一输送装置1相连，第二定位组件62的安装板601和第二输送装置2相连。
如图16所示，第三驱动电机603和传动组件604固定在基座602上，定位板605设在传动组件604上。在基座602的下面设有安装板601，安装板601上设有通孔，由此，本实施例中的定位装置6利用 安装板601可以将第一定位组件61固定在第一输送装置1上、将第二定位组件62固定在第二输送装置2上。
本公开的实施例中，货箱搬运设备4，进一步被配置为在接收到货箱的情况下，将货箱移动至库存区域170进行存放，参考图4。
在一种可实现的方式中，当在工作站130完成对货箱的订单任务后，还会由货箱搬运设备4将货箱搬运回库存区域170，在实际应用中，可以将货箱从工作站130处搬运回货箱在库存区域170的原始位置，也可以将其搬运至库存区域170的其他载具171位置。例如根据货箱的热度值来确定货箱的储存位置。货箱的热度值是指货箱中货物的出货量或出货频次，货箱的热度值高是指货箱中货物的出货量大或者出货频次高。例如，货箱的热度值越高，则需要将其放置在距离工作站130越近的载具171上。
在本公开一个实施方式中，第一输送装置1、第二输送装置2以及货箱搬运设备4为一一对应关系；且一个接驳位被配置为用于与一个货箱搬运设备4。
在一种可实现的方式中，一个接驳位只能对接一个货箱搬运设备4，也就是说，一个货箱搬运设备4既可以通过第一输送装置1将货箱输送至工作站130，又可以将通过第二输送装置2接收工作站130发送的货箱，本公开实施例提供的货箱转移系统使得一个货箱搬运设备4可以在同一位置完成两个任务，提高了工作效率。
在本公开中，术语“一个实施方式”、“一些实施例”、“一种可实现的方式”、“具体示例”、或“一些示例”等意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。

Claims (28)

  1. 一种货箱转移系统，其中，所述系统包括倒货箱机构和货箱搬运设备，所述倒货箱机构包括第一输送装置和第二输送装置，所述第一输送装置和所述第二输送装置相对设置，且所述第一输送装置和所述第二输送装置之间设置有接驳位；
    所述货箱搬运设备，被配置为响应于货箱存取指令在行进至所述接驳位的情况下，与所述第一输送装置和/或所述第二输送装置对接，通过所述第一输送装置或所述第二输送装置将所述货箱输送至工作站；和/或通过所述第二输送装置或所述第一输送装置接收所述工作站发送的所述货箱。
  2. 根据权利要求1所述的系统，其中，所述系统还包括：控制服务器；
    相应地，所述货箱搬运设备，进一步被配置为：
    接收所述控制服务器发送的货箱存取指令，其中，所述货箱存取指令中有目标货箱信息；
    基于所述目标货箱信息从库存区域获取所述货箱。
  3. 根据权利要求1所述的系统，其中，所述第一输送装置，被配置为从所述货箱搬运设备获取所述货箱，并将所述货箱输送至所述工作站，或者接收从所述工作站输送的所述货箱，并将所述货箱输送至所述货箱搬运设备；
    所述第二输送装置，被配置为接收所述工作站输送的所述货箱，并将所述货箱输送至所述货箱搬运设备，或者从所述货箱搬运设备获取所述货箱，并将所述货箱输送至所述工作站。
  4. 根据权利要求3所述的系统，其中，所述系统还包括：第一外部输送装置和第二外部输送装置，所述第一外部输送装置设置在所述第一输送装置和所述工作站之间，所述第二外部输送装置设置在所述第二输送装置和所述工作站之间；
    所述第一外部输送装置，被配置为接收所述第一输送装置从所述货箱搬运设备获取的所述货箱，并将所述货箱输送至所述工作站，或者接收从所述工作站输送的所述货箱，并将所述货箱输送至所述第一输送装置；
    所述第二外部输送装置，被配置为接收所述工作站输送的所述货箱，并将所述货箱输送至所述第二输送装置，或者接收所述第二输送装置从所述货箱搬运设备获取的所述货箱，并将所述货箱输送至所述工作站。
  5. 根据权利要求4所述的系统，其中，所述货箱搬运设备包括至少一层暂存机构，所述第一输送装置包括至少一层第一输送机构，所述第二输送装置包括至少一层第二输送机构，所述暂存机构用于存放一个所述货箱，所述第一输送机构用于存放一个所述货箱，所述第二输送机构用于存放一个所述货箱；且所述暂存机构、所述第一输送机构和所述第二输送机构的层数相同。
  6. 根据权利要求5所述的系统，其中，所述第一输送装置包括第一升降机构，所述第二输送装置包括第二升降机构；
    所述第一升降机构，被配置为将每层所述第一输送机构存放的所述货箱输送至所述第一外部输送装置，或者将所述货箱从所述第一外部输送装置输送至每层所述第一输送机构；
    所述第二升降机构，被配置为将所述货箱从所述第二外部输送装置输送至每层所述第二输送机构，或者将每层所述第二输送机构存放的所述货箱输送至所述第二外部输送装置。
  7. 根据权利要求6所述的系统，所述第一升降机构包括第一提升机构，所述第一提升机构包括第一运输组件，所述第一运输组件用于从所述第一外部输送装置接收所述货箱并将所述货箱转移到多层所述第一输送机构上或接收所述第一输送机构输送的货箱；
    和/或，所述第二升降机构包括第二提升机构，所述第二提升机构包括第二运输组件，所述第二运输组件用于从所述第二外部输送装置接收货箱并将所述货箱转移到多层所述第二输送机构上或接收所述第二输送机构输送的货箱。
  8. 根据权利要求7所述的系统，其特征在于，所述第一升降机构还包括第三提升机构，所述第三提升机构包括第三运输组件，所述第三运输组件用于接收所述第一运输组件提供的货箱并将所述货箱转 移到多层所述第一输送机构上或接收多层所述第一输送机构上的货箱并将所述货箱转移到所述第一运输组件上；
    和/或，所述第二升降机构还包括第四提升机构，所述第四提升机构包括第四运输组件，所述第四运输组件用于接收所述第二运输组件提供的货箱并将所述货箱转移到多层所述第二输送机构上或接收多层所述第二输送机构上的货箱并将所述货箱转移到所述第二运输组件上。
  9. 根据权利要求7所述的系统，其中，还包括检测组件，所述检测组件设在所述第一输送机构、所述第二输送机构、第一运输组件、所述第二运输组件中的至少一个上，所述检测组件用于检测是否有异物和/或所述货箱是否到位，所述检测组件包括：
    第一检测件，所述第一检测件用于检测所述货箱在输送过程中是否到位；
    第二检测件，所述第二检测件位于所述第一检测件在所述货箱的输送方向上的一侧，所述第二检测件用于检测所述货箱的位置以及是否有异物，所述第二检测件和所述第一检测件在所述输送方向上的距离小于所述货箱在所述输送方向上的尺寸。
  10. 根据权利要求9所述的系统，其中，所述检测组件还包括第三检测件，所述第三检测件位于所述第一检测件在所述输送方向上的另一侧，所述第三检测件用于检测所述货箱的位置以及是否有异物，所述第三检测件和所述第一检测件在所述输送方向上的距离小于所述货箱在所述输送方向上的尺寸。
  11. 根据权利要求5所述的系统，其中，所述第一输送装置包括第一转移机构，所述第二输送装置包括第二转移机构；
    所述第一转移机构，被配置为将所述货箱从所述暂存机构转移至所述第一输送机构，或者将所述货箱从所述第一输送机构转移至所述暂存机构；
    所述第二转移机构，被配置为将所述货箱从所述第二输送机构转移至所述暂存机构，或者将所述货箱从所述暂存机构转移至所述第二输送机构。
  12. 根据权利要求5所述的系统，其中，还包括：转移装置；
    所述转移装置设置在所述第一输送装置和所述第二输送装置之间；
    所述转移装置被配置为将所述货箱从所述暂存机构转移至所述第一输送机构或所述第二输送机构，以及将所述货箱从所述第二输送机构或所述第一输送机构转移至所述暂存机构。
  13. 根据权利要求12所述的系统，其中，所述转移装置位于所述第一输送装置和所述第二输送装置的同一侧，所述转移装置包括：
    支架；
    转移组件，所述转移组件设在所述支架上，所述转移组件相对于所述支架可沿所述第一方向移动，以分别与所述第一输送机构和所述第二输送机构相对，所述转移组件相对于所述支架可沿所述支架的高度方向移动，以将所述暂存机构上的货箱转移到所述转移组件上或将所述转移组件上的货箱放置在所述第一输送机构或所述第二输送机构上，且所述转移组件包括多个沿所述支架的高度方向间隔布置的对接件，多个所述对接件与多个所述第一输送机构、多个所述第二输送机构、多个所述暂存机构对应。
  14. 根据权利要求13所述的系统，其中，所述支架包括导轨组件，所述转移组件还包括移动件和支撑件，所述移动件设在所述导轨组件上且沿所述导轨组件在所述第一方向上移动，所述支撑件与所述移动件相连且相对于所述移动件可沿所述支架的高度方向移动，所述对接件设在所述支撑件上。
  15. 根据权利要求14所述的系统，其中，所述转移装置还包括第一驱动组件，所述第一驱动组件与所述移动件相连用于驱动所述移动件沿所述导轨组件在所述第一方向上移动，所述第一驱动组件包括：
    同步带，所述同步带与所述支架相连；
    带轮，所述带轮与所述移动件相连且相对于所述移动件可转动，所述带轮与所述同步带啮合且可沿所述同步带在所述第一方向上移动；
    第一驱动电机，所述第一驱动电机与所述带轮相连以驱动所述带轮转动。
  16. 根据权利要求15所述的系统，其中，所述同步带包括第一同步带和第二同步带，所述第一同 步带和所述第二同步带在所述支架的高度方向上间隔布置，所述带轮包括第一带轮和第二带轮，所述第一带轮和所述第二带轮均与所述移动件相连且相对于所述移动件可转动，所述第一带轮与所述第一同步带啮合，所述第二带轮与所述第二同步带啮合，所述第一驱动电机与所述第一带轮和所述第二带轮相连。
  17. 根据权利要求16所述的系统，其中，所述第一驱动组件还包括：
    第一主动轴，所述第一主动轴沿所述支架的高度方向延伸且与所述第一驱动电机和所述第一带轮相连，所述第一主动轴与所述移动件相连且相对于所述移动件可转动；
    第二主动轴，所述第二主动轴沿所述支架的高度方向延伸且与所述第一主动轴在所述支架的高度方向上依次布置，所述第二主动轴与所述第一驱动电机和所述第二带轮相连，所述第二主动轴与所述移动件相连且相对于所述移动件可转动。
  18. 根据权利要求14所述的系统，其中，所述转移装置还包括第二驱动组件，所述第二驱动组件用于驱动所述支撑件相对于所述移动件沿所述支架的高度方向移动，所述第二驱动组件包括：
    转动件和传动件，所述转动件相对于所述传动件可转动，所述转动件的外周具有凸出部，所述凸出部可与所述支撑件抵接和远离；
    第二驱动电机，所述第二驱动电机与所述传动件相连以驱动所述转动件转动。
  19. 根据权利要求18所述的系统，其中，所述第二驱动组件还包括摆轴，所述摆轴的轴向与所述转动件的轴向平行，所述摆轴与所述凸出部相连，所述摆轴的外周面可与所述支撑件抵接和远离。
  20. 根据权利要求1-19中任一项所述的系统，其中，所述第一输送装置和所述第二输送装置在第一方向上间隔布置，所述系统还包括导向装置，所述导向装置设在所述第一输送装置和所述第二输送装置之间，以用于导引所述货箱搬运设备移动，所述导向装置包括在所述第一方向上相对且间隔布置的第一导向组件和第二导向组件，所述第一导向组件邻近所述第一输送装置布置，所述第二导向组件邻近所述第二输送装置布置，所述货箱搬运设备可位于所述第一导向组件和所述第二导向组件之间。
  21. 根据权利要求20所述的系统，其中，所述第一导向组件和所述第二导向组件中的每一者包括基板和导向板，所述导向板设在所述基板上且相对于所述基板在所述第一方向上位置可调，所述货箱搬运设备可位于所述第一导向组件的导向板和所述第二导向组件的导向板之间且可沿所述导向板的长度方向移动。
  22. 根据权利要求21所述的系统，其中，所述基板上设有沿所述第一方向间隔布置的第一定位孔，所述导向板上设有沿所述第一方向延伸且沿所述导向板的厚度方向贯穿所述导向板的第二定位孔，所述第一导向组件和所述第二导向组件中的每一者还包括紧固件，所述紧固件可穿过所述第二定位孔和任意一个所述第一定位孔以连接所述基板和所述导向板；和/或所述第一导向组件和所述第二导向组件中的每一者还包括止挡件，所述止挡件设在所述基板上且与所述导向板抵接，所述第一导向组件中，所述止挡件位于所述导向板远离所述第二导向组件的一侧，所述第二导向组件中，所述止挡件位于所述导向板远离所述第一导向组件的一侧。
  23. 根据权利要求21所述的系统，其中，所述第一导向组件和所述第二导向组件中的每一者还包括多个导向轮，多个所述导向轮设在所述导向板远离所述基板的一侧，多个所述导向轮沿所述导向板的长度方向间隔布置，所述导向轮可与所述导向板共同作用以引导所述货箱搬运设备移动。
  24. 根据权利要求1-23中任一项所述的系统，其中，还包括定位装置，所述定位装置设在所述第一输送装置和第二输送装置上，用于对所述货箱搬运设备进行定位，所述定位装置包括在所述第一方向上相对且间隔布置的第一定位组件和第二定位组件，所述第一定位组件设在所述第一输送装置上，所述第二定位组件设在所述第二输送装置上，所述第一定位组件的至少部分和所述第二定位组件的至少部分可相向或背向移动，以在所述货箱搬运设备停止时对所述货箱搬运设备进行定位。
  25. 根据权利要求24所述的系统，其中，所述第一定位组件和所述第二定位组件中的每一者包括第三驱动电机、传动组件和定位板，所述第三驱动电机与所述传动组件相连，所述传动组件与所述定位板相连以带动所述定位板在所述第一方向上移动，所述第一定位组件和所述第二定位组件中的每一者还包括基座和安装板，所述第三驱动电机、所述传动组件和所述定位板设在所述基座上，所述安装板设在所述基座的底部，所述第一定位组件的安装板与第一输送装置相连，所述第二定位组件的安装板和所述 第二输送装置相连。
  26. 根据权利要求1所述的系统，其中，所述货箱搬运设备，进一步被配置为在接收到所述货箱的情况下，将所述货箱移动至库存区域进行存放。
  27. 根据权利要求1至26中任一项所述的系统，其中，所述第一输送装置、所述第二输送装置以及所述货箱搬运设备为一一对应关系；且一个所述接驳位能够容纳一个所述货箱搬运设备。
  28. 根据权利要求1所述的系统，其中，所述货箱搬运设备从库存区域搬运所述货箱，在将所述货箱通过所述第一输送装置输送至工作站后，通过所述第二输送装置接收所述工作站发送的所述货箱，并将所述货箱移动至所述库存区域进行存放。
PCT/CN2023/073046 2022-01-29 2023-01-19 货箱转移系统 WO2023143346A1 (zh)

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
CN202220246257.5 2022-01-29
CN202220246010 2022-01-29
CN202220246010.3 2022-01-29
CN202220246257 2022-01-29
CN202210112937.2A CN116553041A (zh) 2022-01-29 2022-01-29 货箱转移系统
CN202210112937.2 2022-01-29
CN202220246032.X 2022-01-29
CN202220246032.XU CN217457336U (zh) 2022-01-29 2022-01-29 容器转移系统

Publications (1)

Publication Number Publication Date
WO2023143346A1 true WO2023143346A1 (zh) 2023-08-03

Family

ID=87470784

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/073046 WO2023143346A1 (zh) 2022-01-29 2023-01-19 货箱转移系统

Country Status (1)

Country Link
WO (1) WO2023143346A1 (zh)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1135117A (ja) * 1997-07-11 1999-02-09 Yokin Kofun Yugenkoshi 資材納入・ピックアップシステム
CN111470242A (zh) * 2020-03-09 2020-07-31 深圳市海柔创新科技有限公司 搬运机器人、搬运系统及其搬运方法
CN111634597A (zh) * 2020-03-09 2020-09-08 深圳市海柔创新科技有限公司 装卸货装置及装卸货方法
CN212244809U (zh) * 2020-03-09 2020-12-29 深圳市海柔创新科技有限公司 搬运机器人及具有该搬运机器人的搬运系统
CN113682710A (zh) * 2021-08-24 2021-11-23 北京京东乾石科技有限公司 一种缓存装置、出入库系统及出入库方法
CN217457336U (zh) * 2022-01-29 2022-09-20 北京极智嘉科技股份有限公司 容器转移系统

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1135117A (ja) * 1997-07-11 1999-02-09 Yokin Kofun Yugenkoshi 資材納入・ピックアップシステム
CN111470242A (zh) * 2020-03-09 2020-07-31 深圳市海柔创新科技有限公司 搬运机器人、搬运系统及其搬运方法
CN111634597A (zh) * 2020-03-09 2020-09-08 深圳市海柔创新科技有限公司 装卸货装置及装卸货方法
CN212244809U (zh) * 2020-03-09 2020-12-29 深圳市海柔创新科技有限公司 搬运机器人及具有该搬运机器人的搬运系统
CN113682710A (zh) * 2021-08-24 2021-11-23 北京京东乾石科技有限公司 一种缓存装置、出入库系统及出入库方法
CN217457336U (zh) * 2022-01-29 2022-09-20 北京极智嘉科技股份有限公司 容器转移系统

Similar Documents

Publication Publication Date Title
WO2022022203A1 (zh) 转运装置、机器人、分拣系统及分拣方法
US11254515B2 (en) Cargo handling apparatus
CN216735893U (zh) 容器装卸装置、仓储系统
WO2022206420A1 (zh) 物流分拣系统
WO2021254018A1 (zh) 自动播种墙
US11584595B2 (en) Case reorientation system and method
WO2023061223A1 (zh) 容器装卸装置、仓储系统及取放容器方法
US7806648B2 (en) Transportation system and transportation method
EP3450362B1 (en) Device for loading a group of products on a pallet
WO2022170924A1 (zh) 一种物流系统及物流运输方法
CN114435829A (zh) 搬运机器人
JP2020075791A (ja) 箱体積付システム
WO2023143346A1 (zh) 货箱转移系统
CN115259017B (zh) 载物架及含该载物架的移动式顶升输送机
JP2010254436A (ja) 箱の姿勢整列装置
WO2020173217A1 (zh) 自动入库系统、仓储物流系统及自动入库方法
US11281172B1 (en) Inventory handling apparatus
JP2010275044A (ja) 箱の搬送姿勢変更装置
CN116022494A (zh) 容器装卸装置、仓储系统及取放容器方法
TW202241781A (zh) 載物架及含該載物架之移動式頂升輸送機
CN210392403U (zh) 一种堆垛系统
CN213494996U (zh) 输送装置、分拣设备及分拣系统
CN217050086U (zh) 搬运机器人
CN110603212B (zh) 堆码机工作站
CN215853235U (zh) 一种输送系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23746227

Country of ref document: EP

Kind code of ref document: A1