WO2023284115A1

WO2023284115A1 - Continuous lifting item handling system and method for controlling same

Info

Publication number: WO2023284115A1
Application number: PCT/CN2021/120094
Authority: WO
Inventors: 朱俊达
Original assignee: 杭州慧仓信息科技有限公司
Priority date: 2021-07-13
Filing date: 2021-09-24
Publication date: 2023-01-19
Also published as: CN113479538A

Abstract

A continuous lifting item handling system and a method for controlling same. The continuous lifting item handling system comprises continuous lifting mechanisms (1), an item handling mechanism and an item handling robot (3). The continuous lifting mechanisms each comprise a rack (11), rotary lifting assemblies (12) and lifting track sections (13), wherein each lifting track section is provided with a first positioning member (5) that matches the item handling robot. A rotary guide track (14) that matches the lifting track sections to guide the lifting track sections is arranged on the rack. The item handling mechanism comprises an item storage and sorting destination and multiple layers of fixed guide rails (21). The item handling robot comprises a vehicle body and a positioning device (32) provided on the vehicle body. The positioning device cooperates with the first positioning members to position the item handling robot, such that the vibrations can be significantly reduced, thereby reducing the loosening of a fastener, achieving the aim of increasing a maintenance period, and improving the operation efficiency.

Description

Continuous lifting article handling system and control method thereof

technical field

The invention relates to a sorting system, in particular to a continuous lifting article processing system and a control method thereof.

Background technique

With the continuous development of the warehousing industry, more and more industries and enterprises have used the three-dimensional warehouse, and the lifting equipment is one of the main facilities of the three-dimensional warehouse, and it is an indispensable part of the modern industrial warehouse, logistics center and distribution center. For example, the CN108438705A previously applied by our company discloses a continuous lifting article processing system with a multi-buffer chain lifting mechanism. Although the operating efficiency of the entire system has been significantly improved, due to the use of a chain lifting mechanism and no corresponding reduction in vibration Measures, resulting in excessive vibration of this structure during operation, resulting in excessive noise during overall operation, and long-term operation can easily lead to loosening of some fasteners, resulting in high maintenance and repair costs in the later period.

Therefore, there is an urgent need for a continuous lifting article processing system and a control method thereof that can significantly reduce noise and vibration during operation.

Contents of the invention

The object of the present invention is to provide a continuous lifting article processing system and a control method thereof for the above-mentioned problems existing in the prior art.

In order to achieve the above invention, the present invention adopts the following technical solutions: the continuous lifting article processing system includes 1, including a continuous lifting mechanism, an article processing mechanism and an article processing robot; the continuous lifting mechanism includes a frame, and is located on the frame The rotary lifting assembly on the top and a plurality of lifting track sections for docking with the article processing robot for the article processing robot to drive in. The lifting track sections are evenly spaced on the turning part of the rotary lifting assembly, and the rotary The part includes a belt structure or a chain structure, each of the lifting track sections is provided with a first positioning piece that cooperates with the article handling robot, and the frame is provided with a first positioning piece that cooperates with the lifting track sections to realize lifting The rotary guide track guided by the track section, each of the lifting track sections is provided with a guide device, and the rotary guide track is provided with a guide groove for the guide device to move; the article processing mechanism includes an article storage and picking destination and a multi-layer Fixed guide rails, the fixed guide rails of each layer can be docked with the lifting track section for the article processing robot to enter and exit; the article processing robot includes a car body and a positioning device arranged on the car body, through the positioning device and The first positioning member cooperates to realize the positioning of the article processing robot.

Working principle and beneficial effects: 1. Compared with the way in which the lifting track section is directly fixed on the chain and rotates with the chain in the prior art, this application cooperates the guide device of the lifting track section with the rotary guide track to make it rotate When moving, it always moves along the rotary guide track, which significantly reduces the shaking of the lifting track section when the rotary lifting assembly is constantly running and stopping. The noise is smaller, so that the fasteners of the system are not easy to loosen, which reduces the failure rate and increases the maintenance cycle;

2. Compared with the prior art, this application realizes the positioning of the article handling robot through the cooperation of the positioning device of the article handling robot and the first positioning member, and also realizes the judgment of whether there is an article handling robot in the lifting track section, one The positioning device realizes multiple functions and saves costs.

3. Through the sliding friction connection between the guide device and the guide groove, the lifting track section can slide smoothly in the guide groove, which not only reduces the occurrence of vibration, makes the lifting track section more stable, but also effectively reduces the friction force and reduces the rotation lifting Blocking and loss of kinetic energy of components.

Further, the fixed guide rails on each layer are provided with a plurality of second positioning parts, and the positioning of the object processing robot is realized through the cooperation of the second positioning parts and the positioning device.

Further, the guide device is a guide pulley or a guide block. This solution can be a rolling friction fit or a sliding friction fit, preferably a guide pulley with a rolling friction fit, which has a smaller friction force, making the movement of the lifting track segment smoother and reducing kinetic energy loss.

Further, at least two surfaces of the guide groove are in contact with each of the guide pulleys. This solution can significantly improve the multiple degrees of freedom of the guide pulley to a certain extent, so that the guide pulley can only slide in the guide groove, so when the lifting track section rotates along the guide groove, there will be no large shaking, and the stability will be significantly improved. Vibration generation is further reduced.

Further, there are four guide wheels at the left end and right end of each lifting track segment, and two of them are arranged at the left and right ends of the guide groove. This scheme makes the hoisting track section run more stably.

Further, the rotary guide track includes two vertical tracks and two arc tracks, and the guide grooves are formed by splicing the two vertical tracks and the two arc tracks. This solution can facilitate the processing and assembly of the rotary guide track, especially when the radian design of the arc track is unreasonable, it is easy to cause a large friction sound and shaking when the lifting track section passes by, so the rotary guide track is divided into Four parts, one of the tracks can be replaced separately, especially to facilitate the testing and modification of the arc track, so as to quickly test the arc track with the best arc.

Further, the rotary lifting assembly includes a rotary synchronous belt, a transmission pulley and a rotating shaft, and the rotary part is composed of the rotary synchronous belt and the transmission pulley to realize the rotary motion, and each of the lifting track segments is uniform along the track direction of the rotary synchronous belt. are arranged at intervals, and the driving motor drives the rotating shaft to drive the transmission pulley to rotate. This solution improves the existing chain drive to a synchronous belt drive, which can significantly improve the stability, make the drive more stable, lower the noise and have a long service life, and can withstand certain impacts, so it can significantly improve the performance of the rotary lifting component. Stability, reducing vibration, making the hoisting track segment more stable when turning.

Further, a reversing reducer is provided between the driving motor and the transmission pulley. This scheme, through the cooperation of the drive motor and the reversing reducer, facilitates the location arrangement of the drive motor, and also enables the drive motor to easily drive the operation of the rotary lifting assembly.

Further, a charging track parallel to the length direction of the item storage and picking destination is provided on the item storage and picking destination, and the item processing robot during driving is charged through the charging track. This solution can charge the object handling robot while the object handling robot is running, without taking out the object handling robot for charging, which significantly reduces maintenance costs, does not require additional charging waiting time, and maintains the advantages of the object handling robot at all times. Significantly improved the operating efficiency of the system.

The control method of the continuous lifting article handling system includes the following steps:

S100. The object handling robot receives an instruction from the control terminal and travels to the entrance of the continuous lifting mechanism, wherein the instruction includes at least the target number of layers;

S200. The control terminal acquires the location of the object processing robot;

S300, when the control terminal obtains that the object processing robot is located at the entrance of the continuous lifting mechanism;

S400, the continuous lifting mechanism stops for the object handling robot to drive into the lifting track section;

S500. After the object handling robot enters the lifting track section, the positioning device cooperates with the first positioning part to stop and send an in-position signal to the control terminal;

S600. The control terminal receives the in-position signal to control the continuous lifting mechanism to continue to lift, wherein the continuous lifting mechanism stops once every time it runs, and the running distance is the distance between two adjacent lifting track sections;

S700. When the hoisting track section where the object handling robot is located is hoisted to the target number of floors, the control end controls the continuous hoisting mechanism to stop;

S800. The article handling robot drives out to the target floor, and the article handling robot travels to a designated position along the fixed guide rail of the target floor.

Through the above method, the entry and exit of the object processing robot can be realized conveniently, so that multiple object processing robots can quickly reach different target layers to perform tasks, reducing the waiting time of the object processing robot and improving the operating efficiency.

Further, each of the article processing robots is equipped with a conveyor belt, the conveying direction of which is parallel to the width direction of the object storage and picking destination, and when the article processing robot travels to the set point of the target number of floors, it passes through the conveying belt. The belt transports the goods to the outside of the item storage and picking destination. In this solution, each item handling robot can use the conveyor belt to transport the goods to the storage and picking destination, especially when the conveyor belt runs fast, the inertia of the goods can be used to throw the goods out of the storage and picking destination. There is no need to additionally set up other picking structures, which reduces equipment costs and enables the item handling robot to more flexibly perform loading and unloading operations at multiple locations of the item storage and picking destination.

Description of drawings

Fig. 1 is a perspective view of the system of the present invention;

Fig. 2 is the top view of Fig. 1;

Fig. 3 is a side view of Fig. 1;

Fig. 4 is a perspective view of the continuous lifting mechanism in Fig. 1;

Fig. 5 is an internal structural diagram of the rotary lifting assembly in Fig. 4;

Figure 6 is an enlarged view of A in Figure 5;

Fig. 7 is a side view of Fig. 4;

Fig. 8 is a perspective view of the object handling robot of the present invention;

Fig. 9 is a flowchart of the control method of the present invention;

Fig. 10 is a schematic diagram of another embodiment of the rotary guide track.

In the figure, 1. Continuous lifting mechanism; 2. Shelf; 3. Object handling robot; 4. Goods introduction line; 5. Positioning parts; 6. Driving motor; 7. Reversing reducer; 1. Rack; 12. Rotary lifting component; 13. Lifting track section; 14. Rotary guide track; 21. Fixed guide rail; 22. Storage bucket; 23. Camera; 24. Human-computer interaction panel; 25. Scanning gun; 26, charging track; 31, conveyor belt; 32, sensor; 33, distance sensor; 35, baffle; 121, rotary synchronous belt; 122, transmission pulley; 123, rotating shaft; 131, limit baffle; Pulley; 141, guide groove; 1411, vertical track; 1412, arc track.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments of the present invention belong to the protection scope of the present invention.

Those skilled in the art should understand that, in the disclosure of the present invention, the terms "vertical", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientation or positional relationship indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present invention and simplified description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, so the above terms should not be construed as limiting the present invention.

Example 1

As shown in Figures 1-3, the continuous lifting article handling system includes a continuous lifting mechanism 1, an article handling mechanism, and a plurality of article handling robots 3, wherein the article handling mechanism includes an article handling destination, a shelf 2, and a The multi-layer fixed guide rails 21 capable of moving back and forth along the length direction of the shelf 2 for the article processing robot 3 and the cargo introduction line 4 docked with one of the fixed guide rails 21, each layer of fixed guide rails 21 are provided with inclined storage on both sides. The bucket 22 and the storage bucket 22 are arranged in an array along the length direction of the fixed guide rail 21, which can be conveniently taken by the staff. The cargo introduction line 4 is provided with a camera 23, a human-computer interaction panel 24 and a code scanning gun 25, etc., and the human-computer interaction panel The control terminal can be integrated in 24, such as the existing X86 control board or ARM control board, etc., to realize the network control function, to control the camera 23, the code scanning gun 25, the object handling robot 3 and the continuous lifting mechanism 1, according to the set When the program is running, the barcode scanning gun 25 is used to scan the barcode of the goods, so as to obtain which storage bucket 22 the goods need to be sent to or which storage bucket 22 the goods should be classified into, and the empty items can be dispatched through the control terminal The processing robot 3 transports the goods to the corresponding storage bins 22 on the target floor. Wherein, the item processing destination may be a plurality of storage bins 22 .

Please refer to Fig. 8, in the present embodiment, each article handling robot 3 is all provided with conveyer belt 31, and the conveying direction of this conveyer belt 31 is parallel with the width direction of shelf 2, and article handling robot 3 travels to the setting of target floor number. When the point is fixed, the goods are transported to the outside of the shelf 2 through the conveyor belt 31. When the goods introduction line 4 transports the goods to the article processing robot 3, the conveyor belt 31 on the article handling robot 3 runs a certain distance to move the goods to The middle position of the article handling robot 3 makes it difficult for the goods to touch the shelf 2, which can greatly reduce the risk of goods falling. In this solution, each article handling robot 3 can use the conveyor belt 31 to transport the goods to the outside of the shelf 2, especially when the conveyor belt 31 runs fast, the inertia of the goods can be used to throw the goods out of the shelf 2, without additional settings Other picking structures reduce equipment costs, and also enable the item handling robot 3 to more flexibly perform loading and unloading operations at multiple positions on the shelf 2 .

Referring to Figures 4-7, specifically, the continuous lifting mechanism 1 includes a frame 11, a rotary lifting assembly 12 mounted on the frame 11, and a plurality of lifting track segments 13 arranged at even intervals on the rotary lifting assembly 12, Each lifting track section 13 is provided with a positioning member 5 cooperating with the sensor 32 of the object handling robot 3, and the frame 11 is provided with a lifting track for the lifting track section 13 to rotate from top to bottom or from bottom to top. The lifting track is provided with a rotary guide track 14 that cooperates with the lifting track section 13, and each lifting track section 13 performs a rotary motion along the track of the rotary guiding track 14, wherein the lifting track section 13 is divided into two parts, and the rotary lifting assembly 12 is in the The left and right ends of the frame 11 are provided with one respectively, so the lifting track section 13 is also arranged on the two rotary lifting assemblies 12 respectively, and the two lifting track sections 13 form a complete track, so each lifting track section 13 is only the main A short board is needed to support the wheels of the object handling robot 3, which greatly saves the space occupied, especially when the lifting track section 13 rotates with the rotary lifting assembly 12, the space occupied by the bottom of the rotary lifting assembly 12 Smaller, and therefore the volume of the rack 11 can be designed to be smaller.

In this embodiment, the first positioning member and the second positioning member are the same part, so they are both denoted as a positioning member 5 , and the positioning device is a common sensor 32 in this embodiment.

In this embodiment, the object handling robot 3 is provided with a touch switch or a photoelectric sensor 32, through which the touch switch or the photoelectric sensor cooperates with the positioning member 5, such as contact or reflected light, or visual recognition, to realize the positioning and positioning of the article handling robot 3. Position sensing, each fixed guide rail 21 on the shelf 2 is also equipped with a positioning piece 5, such as the entrance of each rotary lifting assembly 12, such as the place where it is docked with the goods introduction line 4, can realize the article handling robot 3 position sensing, thereby greatly facilitating the control of each item handling robot 3, and there is no need to install multiple sensors 32 on the item handling robot 3, which greatly reduces the design cost of the item handling robot 3. The sensor in the present application can be a variety of sensors, such as photoelectric sensors, limit switches, visual sensors, etc., so the positioning member 5 can be a baffle, a baffle, an image mark or a two-dimensional code, etc., in this embodiment The types of the sensor and the positioning member 5 are not limited.

In this embodiment, each lifting track segment 13 is provided with a limit stopper 131, through which the limit stopper 131 is used to limit the stroke of the article processing robot 3, in order to reduce the number of items between the article handling robot 3 and the limit stopper 131. For the noise generated during impact, a silicone pad or a rubber pad can be pasted on the limit baffle 131, or a silicone pad or a rubber pad can be pasted on the side where the object handling robot 3 contacts the limit baffle 131, so that the noise can be greatly reduced.

In this embodiment, the wheels of each object handling robot 3 are rubber wheels, which can greatly reduce the noise on the fixed guide rail 21. More preferably, a rubber layer can be provided on the fixed guide rail 21 to further reduce noise.

Specifically, the article handling robot 3 can travel back and forth between the fixed guide rail 21 and the lifting rail section 13 and achieve positioning through the positioning member 5 .

Preferably, the shelf 2 is provided with a charging track 26 parallel to the length direction of the shelf 2, and the article processing robot 3 is charged through the charging track 26 during driving. This solution can charge the item handling robot 3 while the item handling robot 3 is running, without taking out the item handling robot 3 for recharging, which significantly reduces maintenance costs, does not require additional charging waiting time, and keeps the item handling robot 3 It has always been an advantage, which can significantly improve the operating efficiency of the system.

Specifically, at least one guide pulley 132 is provided at the left and right ends of each lifting track section 13, and the rotary guide track 14 is provided with a guide groove 141 for the guide pulley 132 to slide. 132 contacts. Through the sliding friction connection between the guide pulley 132 and the guide groove 141, the lifting track section 13 can slide smoothly in the guide groove 141, and also to a certain extent, the multiple degrees of freedom of the guide pulley 132 can be significantly improved, so that the guide pulley 132 can only The guide groove 141 slides, so when the lifting rail segment 13 rotates along the guide groove 141, there will be no large shaking, the stability is significantly improved, the vibration is further reduced, and the hindrance and kinetic energy loss of the rotary lifting assembly 12 are reduced. Of course, the guide block can also be used instead of the guide pulley 132, but the friction of the guide block is larger than the rolling friction of the guide pulley 132, so it needs to be well lubricated.

Preferably, the number of guide wheels at the left end and the right end of each lifting track section 13 is four, and two pairs are arranged at the left and right ends of the guide groove 141 . This solution makes the lifting track section 13 more stable during operation.

In this embodiment, the rotary guide rail 14 includes two vertical rails 1411 and two arc-shaped rails 1412 , and the guide groove 141 is formed by splicing the two vertical rails 1411 and the two arc-shaped rails 1412 . This solution can facilitate the processing and assembly of the rotary guide track, especially when the arc design of the arc track 1412 is unreasonable, it is easy to cause a large friction sound and shaking when the lifting track section 13 passes by, so the rotary guide track Divided into four parts, one of the tracks can be replaced separately, especially to facilitate the testing and modification of the arc track 1412, so as to quickly test out the arc track 1412 with the best arc.

In other embodiments, each vertical rail 1411 can be divided into left and right halves, and can be assembled together by screws or buckles, or the outward side of the vertical rail 1411 can be screwed or disengaged The ribs are disassembled by buckling or the like, so that the guide pulley 132 in the vertical rail 1411 can be easily disassembled, thereby reducing the difficulty of assembly and maintenance.

Referring to Fig. 10, another embodiment of the rotary guide rail 14 is shown in the figure, the guide pulley 132 directly abuts against the surface of the rotary guide rail 14, and slides along the outer surface contour of the rotary guide rail 14, which can greatly It is convenient to disassemble and assemble the lifting track section 13, and is easy to maintain. The rubber guide pulley 132 with good damping performance is used to improve the damping effect, but the guiding effect is not as good as the above-mentioned embodiment.

Preferably, the rotary lifting assembly 12 includes a rotary synchronous belt 121, a transmission pulley 122 and a rotating shaft 123, and the rotary motion is formed by the rotary synchronous belt 121 and the transmission pulley 122. Each lifting track segment 13 tracks along the rotary synchronous belt 121 The directions are arranged at even intervals, and the driving motor 6 drives the rotating shaft 123 to drive the transmission pulley 122 to rotate. This solution improves the existing chain drive to a synchronous belt drive, which can significantly improve the stability, make the drive more stable, have lower noise and long service life, and can withstand certain impacts, so it can significantly improve the rotary lifting assembly 12 stability, reduce vibration, and make the lifting track section 13 more stable when turning. Of course, if the chain transmission mode is still adopted, the revolving guide track 14 of the present application can also play a significant damping effect, and the structure of the revolving synchronous belt 121 can further reduce the vibration without adding lubricating oil, etc. In particular, a plurality of shock-absorbing feet 8 are installed at the bottom of the frame 11, which further reduces the vibration of the frame 11 and reduces noise.

In this embodiment, a reversing reducer 7 is provided between the drive motor 6 and the transmission pulley 122, and the number of reversing reducers 7 is two. Therefore, one drive motor 6 can be used to simultaneously lift two rotating assemblies 12 drives. In this solution, through the cooperation of the drive motor 6 and the reversing reducer 7 , the location arrangement of the drive motor 6 is more convenient, and the drive motor 6 can easily drive the operation of the rotary lifting assembly 12 .

In this embodiment, the continuous lifting mechanism 1 is respectively arranged at both ends of the length direction of the shelf 2, one for lifting the object processing robot 3, and one for the lowering of the object processing robot 3, only the rotation of the two continuous lifting mechanisms 1 The direction is opposite, the principle is the same.

As can be seen in Fig. 8, a baffle plate 35 that can be turned over is provided at both ends of the conveyor belt of the article handling robot 3, and the goods are prevented from coming out by the baffle plate 35.

Example 2

Please refer to Fig. 9, the control method of the continuous lifting article handling system includes the following steps:

S100. The object handling robot 3 receives an instruction from the control terminal and travels to the entrance of the continuous lifting mechanism 1, wherein the instruction includes at least the target number of layers;

In this step, after the parameters are input on the man-machine interaction panel 24, or after the bar code of the goods is recognized by the barcode scanning gun 25 on the goods introduction line 4, the control terminal allocates the storage bucket 22 and sends this command to the goods handling robot 3 After receiving the instruction, the article handling robot 3 drives to the goods introduction line 4 to carry out the material loading operation, the goods introduction line 4 sends the goods to the conveyor belt of the article handling robot 3, and the conveyor belt of the article handling robot 3 runs for a certain distance to transport the goods Move the middle position of the article handling robot 3, and then move to the entrance of the continuous lifting mechanism 1, and each time the article handling robot 3 stops, the sensor 32 cooperates with the positioning part 5 to realize positioning, and docks with the goods introduction line 4 On the fixed guide rail 21, many article processing robots 3 that have completed tasks are waiting in line, and the instructions from the control end are so continuously received and run. After completing the tasks, return to the initial position by means of the continuous lifting mechanism 1 and wait.

S200. The control terminal acquires the location of the item processing robot 3;

In this step, the position of the article handling robot 3 is as above, realized by the cooperation of the sensor 32 and the positioning member 5, and it can be installed at the place where each article handling robot 3 needs to stop, and each article handling robot 3 is also provided with a distance sensor 3332, used for sensing the front and rear distances of the item handling robot 3, when the distance between the item handling robot 3 and the previous item handling robot 3 is too close, the item handling robot 3 slows down or stops to prevent two adjacent item handling robots 3 from colliding.

S300, when the control terminal obtains that the object processing robot 3 is located at the entrance of the continuous lifting mechanism 1;

In this step, it is also realized through the cooperation of the sensor 32 and the positioning member 5. When the sensor 32 of the object handling robot 3 senses the positioning member 5 arranged at the entrance of the continuous lifting mechanism 1, it stops waiting for the command of the control terminal and sends the signal of the control terminal being in place. In this way, the control terminal can obtain the in-position signal and can control the rotary lifting assembly 12 to stop so that the object handling robot 3 can drive in.

S400, the rotary lifting assembly 12 in the continuous lifting mechanism 1 stops for the object handling robot 3 to drive into the lifting track section 13;

In this step, since the rotary lifting assembly 12 is actually driven by the drive motor 6 and stops once every step, that is, the rotary lifting assembly 12 can lift the lifting track section 13 for a certain distance at each step, and this distance is the distance between two adjacent lifting rails. The height distance of the track section 13, so as long as the rotary lifting assembly 12 stops once, it can stop at the position docked with the fixed guide rail 21, thereby facilitating the entry of the article processing robot 3.

S500. After the object handling robot 3 drives into the lifting track section 13, it coordinates with the positioning member 5 through the sensor 32 to stop and then sends an in-position signal to the control terminal;

In this step, the sensor 32 of the object processing robot 3 stops after sensing the positioning member 5, and may continue to move forward due to inertia, so the object processing robot 3 can be well prevented from moving excessively under the action of the limit baffle 131. Make it stop at the correct position.

S600. The control terminal receives the in-position signal to control the rotary lifting assembly 12 to continue to lift, wherein the rotary lifting assembly 12 stops every time it runs, and the running distance is the distance between two adjacent lifting track sections 13;

In this step, the principle is as described above, which can facilitate the positioning of the rotary lifting assembly 12 .

S700. When the lifting track section 13 where the object handling robot 3 is located is lifted to the target number of floors, the control end controls the rotary lifting assembly 12 to stop;

In this step, the control end records the number of floors entered by the object handling robot 3 as the initial floor, so the difference between the target number of floors minus the initial floor is the number of floors that the object handling robot 3 needs to upgrade, so after the object handling robot 3 enters , control the number of times that the rotary lifting component runs this number of layers to transport the object processing robot 3 to the target layer. If there are other object processing robots 3 to enter or go out, first execute the instructions of other object processing robots 3, and the object processing robot 3 The robot 3 still waits to be promoted to the target layer, and the rotary hoisting assembly 12 still pauses once every time it runs, but when the article processing robot 3 enters and exits, the rotary hoisting assembly 12 pauses for a slightly longer time, which can facilitate the entry and exit of the article processing robot 3.

In the same way, the same principle applies when the object handling robot 3 needs to descend.

S800. The article handling robot 3 drives out to the target floor, and the article handling robot 3 travels to a designated position along the fixed guide rail of the target floor.

After the article handling robot 3 runs to the designated position, it can drive the goods through the conveyor belt 31 and throw the goods onto the storage bucket 22 by using the inertia.

Through the above method, the entry and exit of the object processing robot 3 can be realized conveniently, so that multiple object processing robots 3 can quickly reach different target layers to perform tasks, reduce the waiting time of the object processing robot 3, and have higher operating efficiency.

The part not described in detail in the present invention is prior art, so it is not described in detail in the present invention.

It can be understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element The quantity can be multiple, and the term "a" cannot be understood as a limitation on the quantity.

Although this article uses a lot of continuous lifting mechanism 1, shelf 2, article handling robot 3, goods introduction line 4, positioning parts 5, drive motor 6, reversing reducer 7, shock absorbing feet 8, rack 11, and rotary Lifting component 12, lifting track section 13, rotary guide track 14, fixed guide rail 21, storage bucket 22, camera 23, human-computer interaction panel 24, code scanning gun 25, charging track 26, conveyor belt 31, sensor 32, rotary synchronization Terms such as belt 121, driving pulley 122, rotating shaft 123, limit baffle 131, guide pulley 132, guide groove 141, vertical track 1411, arc track 1412, but do not exclude the possibility of using other terms. These terms are used only for the purpose of describing and explaining the essence of the present invention more conveniently; interpreting them as any kind of additional limitation is against the spirit of the present invention.

The present invention is not limited to the above-mentioned best implementation mode, anyone can draw other various forms of products under the inspiration of the present invention, but no matter make any changes in its shape or structure, all those with the same or similar features as the present application Approximate technical solutions all fall within the protection scope of the present invention.

Claims

The continuous lifting article handling system is characterized in that it includes a continuous lifting mechanism, an article handling mechanism and an article handling robot;

The continuous lifting mechanism includes a frame, a rotary lifting assembly arranged on the frame, and a plurality of lifting track sections for docking with the article processing robot for the article processing robot to drive in. The lifting track section Evenly spaced on the turning part of the rotary lifting assembly, each of the lifting track sections is provided with a first positioning member that cooperates with the article handling robot, and the frame is provided with the lifting track section to achieve The rotary guide track for guiding the lifting track section, each of the lifting track sections is provided with a guide device, and the rotary guide track is provided with a guide groove for the guide device to move;

The article processing mechanism includes an article storage and picking destination and multi-layer fixed guide rails, and each layer of the fixed guide rail can be docked with the lifting track section for the article processing robot to enter and exit;

The article processing robot includes a car body and a positioning device arranged on the car body, and the positioning of the article processing robot is realized through the cooperation of the positioning device and the first positioning member.
The continuous lifting article processing system according to claim 1, wherein a plurality of second positioning members are arranged on the fixed guide rails of each layer, and the second positioning members cooperate with the positioning device to realize the Positioning of the item handling robot described above.
The continuous lifting article processing system according to claim 1, wherein the guide device is a guide pulley or a guide block.
The continuous lifting article processing system according to claim 3, characterized in that, at least one guide pulley is provided at the left and right ends of each said lifting track section, and said guide groove has at least two surfaces connected to each said guide pulley contact.
The continuous lifting article processing system according to claim 4, wherein the rotary guide track includes two vertical tracks and two arc tracks, and the guide is formed by splicing the two vertical tracks and the two arc tracks. groove.
The continuous lifting article processing system according to claim 1, wherein the rotary lifting assembly includes a rotary synchronous belt, a transmission pulley, and a rotating shaft, and the rotary part that realizes rotary motion is composed of the rotary synchronous belt and the transmission pulley, Each of the lifting track segments is evenly spaced along the track direction of the rotary synchronous belt, and the driving motor drives the rotating shaft to drive the transmission pulley to rotate.
The continuous lifting article processing system according to claim 6, wherein a reversing reducer is arranged between the driving motor and the transmission pulley.
The continuous lifting article processing system according to any one of claims 1-7, characterized in that, the article storage and picking destination is provided with a charging track parallel to the length direction of the article storing and picking destination, through which the charging track Charge the item handling robot while driving.
The control method of the continuous lifting article handling system is characterized in that it comprises the following steps:

The article handling robot receives the command from the control terminal and travels to the entrance of the continuous lifting mechanism, where the command includes at least the target floor number;

The control terminal acquires the location of the item processing robot;

When the control end acquires that the object handling robot is located at the entrance of the continuous lifting mechanism;

The continuous lifting mechanism stops for the object handling robot to drive into the lifting track section;

After the article handling robot enters the lifting track section, it stops by the positioning device and the first positioning part, and sends an in-position signal to the control end;

The control end receives the in-position signal to control the continuous lifting mechanism to continue to lift, wherein the continuous lifting mechanism stops once every time it runs, and the running distance is the distance between two adjacent lifting track sections; the lifting track section where the object processing robot is located is lifted to the target When the number of floors is reached, the control terminal controls the continuous lifting mechanism to stop;

The article handling robot drives out to the target floor, and the article handling robot travels to the designated position along the fixed guide rail of the target floor.
The control method of the continuous lifting article processing system according to claim 9, wherein each of the article handling robots is provided with a conveyor belt, and the conveying direction of the conveyor belt is parallel to the width direction of the article storage and picking destination , when the item handling robot travels to the set point of the target number of floors, it will transport the goods to the outside of the item storage and picking destination through the conveyor belt.