WO2024007634A1 - 取送料装置、装卸单元及拣选系统 - Google Patents

取送料装置、装卸单元及拣选系统 Download PDF

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Publication number
WO2024007634A1
WO2024007634A1 PCT/CN2023/085171 CN2023085171W WO2024007634A1 WO 2024007634 A1 WO2024007634 A1 WO 2024007634A1 CN 2023085171 W CN2023085171 W CN 2023085171W WO 2024007634 A1 WO2024007634 A1 WO 2024007634A1
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WO
WIPO (PCT)
Prior art keywords
container
assembly
picking
component
vertical
Prior art date
Application number
PCT/CN2023/085171
Other languages
English (en)
French (fr)
Inventor
孙沁
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 CN202210803883.4A external-priority patent/CN117401327A/zh
Priority claimed from CN202221764543.7U external-priority patent/CN218260161U/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 WO2024007634A1 publication Critical patent/WO2024007634A1/zh

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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
    • 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
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/30—Belts or like endless load-carriers
    • 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
    • B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
    • B65G21/20—Means incorporated in, or attached to, framework or housings for guiding load-carriers, traction elements or loads supported on moving surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers

Definitions

  • the present invention generally relates to the technical field of warehousing equipment, and more specifically to a material picking and feeding device, a loading and unloading unit and a picking system.
  • shelf arrangement in the field of intensive warehousing is that the storage locations are closely arranged.
  • warehousing handling methods such as holding forks; moreover, the efficiency of warehousing handling and manual handling is relatively low.
  • a first aspect of the present invention provides a device for picking up and delivering containers.
  • the device for picking up and delivering containers includes:
  • a load-bearing assembly the load-bearing assembly is connected to the support frame, the load-bearing assembly has a load-bearing surface for carrying the container, and the outer areas of the two ends of the load-bearing surface along the first horizontal direction are respectively the first target position and the second target location;
  • a pick-and-place assembly located above the carrier assembly, the pick-and-place assembly having an engagement member for detachable connection to the container for positioning at the first target location and the One-way or two-way transfer of the container between the load-bearing components, and used for one-way or two-way transfer of the container between the second target location and the load-bearing component;
  • the rotating assembly having a rotation axis connected to the picking and placing assembly, for driving the picking and placing assembly to rotate around a first pivot axis perpendicular to the bearing surface, so that the engaging member can move towards the first target position or the second target position;
  • a vertical movement component connected to the support frame for moving the rotation component and the pick-and-place component in a vertical direction perpendicular to the load-bearing surface;
  • the lateral movement mechanism is used to move the joint member along the first horizontal direction relative to the support frame, the lateral movement mechanism is provided on the vertical movement component and/or the joint member .
  • the space at the lower part of the support frame is not occupied, which is helpful for picking up and delivering containers at a lower position on the shelf; due to the joint
  • the components are oriented in different directions through the rotation of the rotating assembly to achieve picking and feeding of the first target position or the second target position, which not only simplifies the structure of the pick-and-place assembly, but also helps to reduce the impact of the pick-and-place assembly along the first horizontal direction. Space occupation; and because the joint member rotates around the vertical first pivot axis, the space occupation in the vertical direction can be reduced, which is conducive to compacting the structure of the container pick-and-place device in the vertical direction.
  • the transverse movement mechanism is configured as a transverse movement component, and the transverse movement component is provided between the vertical movement component and the support frame for driving the vertical movement component, the rotation The assembly and the pick-and-place assembly move together along the first horizontal direction.
  • the lateral movement component includes:
  • Transverse guide rails are arranged on the support frame along the first horizontal direction;
  • a lateral movement member is movably connected to the lateral guide rail and is connected to the vertical movement assembly.
  • the vertical movement component includes:
  • the vertical guide rails are arranged on the transverse movement member along the vertical direction;
  • a vertical moving member movably connected to the vertical guide rail, the vertical moving member connected to the rotating assembly.
  • the transverse movement mechanism is configured as a transverse movement component, which is disposed between the rotation component and the vertical movement component for driving the rotation component and the pick-and-place component. Both move sideways together.
  • the vertical movement component includes:
  • the vertical guide rails are arranged on the support frame along the vertical direction;
  • a vertical movement member movably connected to the vertical guide rail, the vertical movement member being connected to the transverse movement assembly.
  • the lateral movement component includes:
  • a transverse guide rail, the transverse guide rail is provided on the vertical moving member along the first horizontal direction;
  • a lateral movement member movably connected to the lateral guide rail, the lateral movement member being connected to the rotating assembly.
  • the transverse movement mechanism includes a fixed member connected to the rotation shaft and a movable member telescopic in a horizontal direction relative to the fixed member, and the movable member is connected to the engagement member.
  • the pick-and-place assembly includes another lateral movement mechanism
  • the lateral movement mechanism includes a fixed member connected to the rotation shaft and a movable member that is telescopic in a horizontal direction relative to the fixed member, so The movable member is connected to the joint member for driving the joint member to move to a third target position, and for driving the joint member to move to a fourth target position, along the first horizontal direction, the third The third target position is further away from the support frame than the first target position, and the fourth target position is further away from the support frame than the second target position.
  • the device for picking up and delivering containers includes a first open end and a second open end;
  • the carrying assembly includes at least one conveyor belt configured to drive the container from the first open end and the second open end;
  • One of the second open ends moves to the other of the first open end and the second open end.
  • the device for picking up and delivering containers includes at least two conveyor belts, and at least two conveyor belts are spaced apart along a second horizontal direction perpendicular to the first horizontal direction.
  • the number of the conveyor belts is two, and the pick-and-place assembly is located between the two conveyor belts.
  • the top of the support frame has an escape notch, and the vertical moving component at least partially extends through the avoidance notch.
  • the vertical movement assembly is configured to move the access assembly between an avoidance position and an operating position, and the access assembly in the avoidance position at least partially extends through the avoidance gap and is located at The pick-and-place component in the operating position is located below the avoidance gap.
  • two sides of the conveyor belt are provided with anti-falling ribs, and the anti-falling ribs are configured to restrict containers on the load-bearing surface.
  • the device for picking up and delivering containers further includes a guide mechanism configured to guide the container on the conveyor belt toward the center of a second horizontal direction, the second horizontal direction being perpendicular to the first a horizontal direction and the vertical direction.
  • the anti-falling rib extends from the first open end to the second open end of the container device, and the anti-falling rib extends from the first open end to the third open end.
  • the middle area between the two open ends extends inward along the second horizontal direction to form the guide mechanism.
  • the engagement member is configured as a suction cup, a hook or a magnet.
  • the rotating component includes:
  • a linear cylinder comprising a cylinder and a piston rod movable in a direction perpendicular to the first pivot axis
  • gear the gear is connected to the rotating shaft and meshes with the rack.
  • the rotating component includes:
  • a linear cylinder comprising a cylinder and a piston rod movable in a direction perpendicular to the first pivot axis
  • connecting rod having a first end pivotably connected to the piston rod about a second pivot axis parallel to the first pivot axis;
  • the link is configured as a crank or a disc.
  • the rotating component includes:
  • the container pickup device further includes:
  • a sensor is provided at an end of the support frame along the first horizontal direction, and is used to detect height information of the container.
  • the container pickup device further includes:
  • controller connected to the sensor and to the vertical movement assembly, the controller configured to perform:
  • the vertical movement component is controlled to drive the pick-and-place component to move along the vertical direction by the vertical movement distance.
  • a second aspect of the present invention provides a loading and unloading unit, including a frame body on which the above-mentioned container pickup and delivery device is disposed, and the container pickup and delivery device is configured to be movably disposed on the frame body.
  • both the container picking and container delivering work can be completed, which improves the utilization rate and work efficiency of the equipment, reduces human labor, and effectively significantly reduce production costs.
  • the frame includes:
  • the extension direction of the X-axis track is parallel to the bearing surface of the container pickup device and perpendicular to the first horizontal direction;
  • the extension direction of the Y-axis track is parallel to the vertical direction
  • the Y-axis track is configured to be movably connected to the X-axis track along the extension direction of the X-axis track
  • the pick-up and delivery container A device is configured to be movably connected to the Y-axis track in the vertical direction.
  • the X-axis track includes a ground rail, and a lower end of the Y-axis track is movably connected to the ground rail.
  • the X-axis track further includes a sky rail, the sky rail is located above the ground rail, and the upper end of the Y-axis track is movably connected to the sky rail.
  • At least two Y-axis tracks there are at least two Y-axis tracks, and at least one container pickup device is provided on each Y-axis track.
  • a third aspect of the present invention provides a picking system, which includes:
  • a workstation area with picking stations provided in the workstation area;
  • shelf parking area configured for parking shelves, the shelf parking area being spaced apart from the workstation area along the first horizontal direction;
  • the loading and unloading unit is located at an interval between the workstation area and the shelf parking area, and the loading and unloading unit is configured to transfer containers between the workstation area and the shelf parking area.
  • the picking system of the third aspect of the present invention by applying the above-mentioned loading and unloading unit, it helps to meet the requirements of more efficient loading and unloading of goods in a more compact dense storage environment.
  • the workstation area further includes a conveyor line, which is used to receive the container transferred from the container pickup device; or, to transport the container located on the conveyor line to the pickup container. on the component.
  • a conveyor line which is used to receive the container transferred from the container pickup device; or, to transport the container located on the conveyor line to the pickup container. on the component.
  • Figure 1 is a perspective view of a device for picking up and delivering containers according to a preferred embodiment of the present invention
  • Figure 2 is another perspective view of the container pickup and delivery device shown in Figure 1;
  • Figure 3 is a top view of the container pickup and delivery device shown in Figure 1;
  • Figure 4 is a view of a usage state of the device for picking up and delivering containers shown in Figure 1, in which the suction cup extends out of the first open end and is coupled to the container;
  • Figure 5 is a view of another usage state of the container pickup and delivery device shown in Figure 1, in which the suction cup partially moves the container from the first open end to the bearing surface;
  • Figure 6 is a view of another usage state of the container pickup and delivery device shown in Figure 1, in which the container is completely located on the bearing surface, and the suction cup is in the avoidance position and faces the first open end;
  • Figure 7 is a view of another use state of the container pickup and delivery device shown in Figure 1, in which the container is completely located on the bearing surface, and the suction cup is in the avoidance position and faces the second open end;
  • Figure 8 is a view of another usage state of the container picking and delivering device shown in Figure 1, in which the suction cup completely pushes the container from the second open end to the outside of the container picking and delivering device;
  • Figure 9 is another usage state diagram of the container pickup and delivery device shown in Figure 1, in which the container is completely located outside the container pickup and delivery device;
  • Figure 10 is a side view of the connection structure of the pick and place assembly, the rotating assembly and the vertical moving member shown in Figure 1;
  • Figure 11 is a perspective view of the connection structure of the pick-and-place component, the rotating component and the vertical moving component shown in Figure 10;
  • Figure 12 is a perspective view of a container pickup and delivery device according to another preferred embodiment of the present invention.
  • Figure 13 is a top view of the container pickup and delivery device shown in Figure 12;
  • Figure 14 is a top view of a device for picking up and delivering containers according to yet another preferred embodiment of the present invention, in which there are three conveyor belts;
  • Figure 15 is a perspective view of the container pickup and delivery device shown in Figure 14;
  • Figure 16 is a perspective view of a device for picking up and delivering containers according to another preferred embodiment of the present invention, in which there is one conveyor belt;
  • Figure 17 is a perspective view of a loading and unloading unit with a container pickup and delivery device according to a preferred embodiment of the present invention.
  • Support frame 101 First open end
  • Second open end 103 Anti-fall rib
  • Opening 120 Movement mechanism
  • 121 Pick and place components 121a: Joystick
  • Proximity sensor 122 Lateral movement component
  • Rotating component 224a Linear cylinder
  • Frame 310 X-axis track
  • AX1 First pivot axis
  • AX2 Second pivot axis
  • AX3 Third pivot axis D1: First horizontal direction
  • D2 Second horizontal direction
  • D3 Vertical direction
  • first and second cited in this application are merely identifiers and do not have any other meaning, such as a specific order, etc.
  • first component does not by itself imply the presence of a “second component”
  • second component does not by itself imply the presence of a "first component”.
  • the word “if” may be interpreted as “when” or “when” or “in response to determination.”
  • Putting goods on shelves refers to putting the goods to be put into storage into the corresponding slots of the cargo container.
  • Goods off the shelf refers to taking out the goods to be shipped out of the corresponding cargo space of the cargo container.
  • the picking system refers to a system that selects target goods based on picking instructions.
  • the target goods refer to the goods on the picking order, and each type of goods is stored in a different container.
  • Containers are containers used to load goods in logistics, including but not limited to shelves, boxes, pallets, packaging boxes, etc.
  • the container pickup and delivery device according to the present invention will be introduced in detail below with reference to FIGS. 1 to 17 .
  • the pick-and-delivery container device is used to put goods on and off the shelves between dense shelves and workstations.
  • the present invention first provides a device for picking up and delivering containers, as shown in Figures 1 to 17.
  • the device for picking up and delivering containers according to the present invention includes a support frame 100, a bearing assembly and a movement mechanism 120.
  • the movement mechanism 120 includes a pick-and-place component 121, a rotation component 124, a vertical movement component 123, and a lateral movement mechanism.
  • the load-bearing component is connected to the support frame 100 .
  • the load-bearing assembly has a load-bearing surface for carrying the container 130 .
  • the outer areas of both ends of the bearing surface along the first horizontal direction D1 are respectively the first target position and the second target position.
  • the pick-and-place component 121 is located above the carrying component.
  • the pick and place assembly 121 has an engagement member for detachable connection to the container 130 for one-way or two-way transfer of the container 130 between a first target location and the carrier assembly, and for a second target location and the carrier assembly.
  • Containers 130 are passed one-way or two-way between components.
  • the rotating assembly 124 has a rotating shaft connected to the pick-and-place assembly 121 .
  • the rotation assembly 124 is used to drive the pick-and-place assembly 121 to rotate around a first pivot axis AX1 perpendicular to the bearing surface, so that the engagement member can move toward the first target position or the second target position.
  • the vertical movement assembly 123 is connected to the support frame 100 .
  • the vertical moving component 123 is used to move the rotating component 124 and the pick-and-place component 121 in a vertical direction perpendicular to the bearing surface to adjust the position of the pick-and-place component 121 in the vertical direction.
  • the transverse movement mechanism is used to move the joint member along the first horizontal direction D1 relative to the support frame 100, and the transverse movement mechanism is provided on the vertical movement component 123 and/or the joint member.
  • the device for picking up and delivering containers 130 of the present invention by arranging the picking and placing assembly 121 above the bearing assembly, the space at the lower part of the support frame 100 will not be occupied, which is helpful for picking up and delivering the container 130 at a lower position on the shelf; because The joint members are oriented in different directions through the rotation of the rotating assembly 124 to achieve picking and feeding of the first target position or the second target position, which not only simplifies the structure of the picking and placing assembly 121, but also helps to reduce the need for loading and unloading materials along the first target position.
  • the support frame 100 may include a bottom frame, a first side frame, a second side frame, and a top beam.
  • the base frame may be a horizontally arranged rectangular frame.
  • the chassis can be used to mount load-bearing components as detailed below.
  • the first side frame and the second side frame are respectively connected to both sides of the chassis along the second horizontal direction D2.
  • the first side frame and the second side frame are parallel to each other and perpendicular to the bottom frame respectively.
  • the first side frame and the second side frame may be configured as a U-shaped frame with the opening 112 facing downward.
  • There are two top beams, and the two top beams are connected between the first side frame and the second side frame along the second horizontal direction D2.
  • the two top beams respectively correspond to two ends of the chassis along the first horizontal direction D1.
  • the height of the top beam is consistent with the second side frame, and the top of the first side frame is higher than the top of the second side frame.
  • the second side frame may be used to mount the kinematic mechanism 120 described in detail below.
  • the support frame 100 may include a first open end 101 and a second open end 102 .
  • the first open end 101 and the second open end 102 are respectively located at both ends of the support frame 100 along the first horizontal direction D1.
  • the angle between the first open end 101 and the second open end 102 relative to the first pivot axis AX1 is 180 degrees.
  • the top of the support frame 100 has an escape notch 104 .
  • the vertical movement assembly 123 described in detail below may extend at least partially through the avoidance gap 104 .
  • the first pivot axis AX1 of the rotating assembly 124 which will be described in detail below, corresponds to the center position of the escape notch 104 along the second horizontal direction D2, and the size of the escape notch 104 can be consistent with the circumference of the engaging member 104, which will be described in detail below.
  • the pivot range of a pivot axis AX1 is adapted.
  • the engagement member in the escape position can be allowed to pivot within the escape notch 104, and can even be allowed to pivot about the first pivot axis AX1 when moving from the operating position to the escape position. rotation to improve the efficiency of adjusting the posture of the joint member, thereby helping to improve the working efficiency of the picking and feeding device in the process of loading and unloading goods.
  • the avoidance notch 104 is not necessary. By providing the avoidance notch 104, the size of the support frame 100 in the height direction can be reduced while the larger-sized container 130 can be avoided, thereby facilitating the support frame. 100 Compactization of the structure along the vertical direction D3.
  • the support frame 100 may not include a top beam.
  • the load-bearing assembly is connected to the support frame 100 above.
  • the carrying assembly has a carrying surface 111 for carrying the container 130 .
  • the outer areas of both ends of the bearing surface 111 along the first horizontal direction D1 are respectively the first target position and the second target position.
  • the first target position may be set corresponding to the first open end 101
  • the second target position may be set corresponding to the second open end 102
  • the first target position is closer to the first open end 101 than the second target position.
  • the first target position and the second target position may be corresponding container positions on the shelf.
  • the first target position and the second target position may be the same container position or different container positions, and are not limited here.
  • the carrying assembly may include at least one conveyor belt 110 .
  • the conveyor belt 110 is configured to drive the container 130 from one of the first open end 101 and the second open end 102 to the other of the first open end 101 and the second open end 102 .
  • the upper surface of the conveyor belt 110 forms a bearing surface 111 for bearing the container 130 .
  • conveyor belt 110 may be a single unitary annular member (as shown in Figure 16).
  • the size of the conveyor belt 110 along the second horizontal direction D2 perpendicular to the first horizontal direction D1 is adapted to the size of the container 130 along the second horizontal direction D2.
  • the pick-and-place assembly 121 which will be described in detail below, is disposed corresponding to the middle of the conveyor belt 110 along the second horizontal direction D2.
  • the upper surface of the conveyor belt 110 constitutes the above-mentioned bearing surface 111 .
  • the bearing surface 111 is a complete surface along the second horizontal direction D2.
  • the conveyor belt 110 may also be two annular members (as shown in Figures 1 to 3, and Figures 12 and 13).
  • the two conveyor belts 110 are spaced apart along the second horizontal direction D2, respectively corresponding to two ends of the support frame 100 along the second horizontal direction D2.
  • the pick and place assembly 121 is located between the two conveyor belts 110 .
  • the two conveyor belts 110 When carrying the container 130, the two conveyor belts 110 respectively correspond to the bottoms of both ends of the container 130 along the second horizontal direction D2.
  • the upper surfaces of the two conveyor belts 110 together constitute the above-mentioned bearing surface 111 . That is, in this embodiment, the bearing surface 111 is two surfaces separated along the second horizontal direction D2.
  • another conveyor belt 110 can be added between the two conveyor belts 110 to support the middle position of the bottom of the container 130. load. Therefore, the container 130 can be prevented from sinking into the opening 112 between the two conveyor belts 110 , and the container 130 can even be prevented from being detached from the opening 112 .
  • anti-fall ribs 103 may be provided on both sides of the conveyor belt 110 , and the anti-fall ribs 103 are provided at both ends of the support frame 100 along the second horizontal direction D2.
  • the anti-falling rib 103 extends from the first open end 101 to the second open end 102 of the container device.
  • the anti-fall rib 103 is configured to limit the container 130 on the load-bearing surface 111 , that is, to limit the movement of the container 130 on the load-bearing surface 111 along the second horizontal direction D2 , thereby preventing the container 130 from falling from both sides of the conveyor belt 110 Disengage from the conveyor belt 110.
  • the second horizontal direction D2 is perpendicular to the first horizontal direction D1 and the vertical direction D3.
  • the support frame 100 is also provided with a guide mechanism 103a.
  • the guide mechanism 103a may be located at both ends of the bearing surface 111 along the second horizontal direction D2.
  • the guide mechanism 103a is configured to guide the container 130 on the conveyor belt 110 toward the center of the second horizontal direction D2, so that the container 130 on the bearing surface 111 is located at the center of the bearing surface 111 along the second horizontal direction D2.
  • two anti-fall ribs 103 are provided, and the two anti-fall ribs 103 are respectively located on both sides of the bearing surface 111 along the second horizontal direction D2.
  • the guide mechanism 103 a may be configured as an opposite surface of two anti-fall ribs 103 .
  • the anti-fall rib 103 extends inward along the second horizontal direction D2 in the middle area between the first opening end 101 and the second opening end 102 to form a guide mechanism 103a.
  • the distance between two opposite surfaces of the two anti-fall ribs 103 decreases along the direction in which the container 130 moves to the load-bearing surface 111 .
  • Access assembly 121 has engagement members for detachable connection to container 130 .
  • the engagement member enables one-way or two-way transfer of the container 130 between a first target location and the load-bearing assembly, and one-way or two-way transfer of the container 130 between a second target location and the load-bearing assembly.
  • the engagement member can perform one-way transfer of the container 130 between the first target position and the carrier assembly, that is, the engagement member can receive and move the container 130 from the first target position to the carrier assembly, or push the container 130 on the carrier assembly to First target position.
  • the joint member can bidirectionally transfer the container 130 between the first target position and the carrier assembly, that is, the joint member can not only receive and move the container 130 from the first target position to the carrier assembly, but also push the container 130 on the carrier assembly to First target position.
  • the pick and place assembly 121 also includes a joystick 121a and a rotating frame 121c.
  • One end of the lever 121a in the rod length direction is connected to the rotating frame 121c, and the other end of the lever 121a in the rod length direction is connected to the engagement member.
  • the engagement member is configured as a suction cup 121b.
  • the suction force of the suction cup 121b is provided by a vacuum device and is connected to the outer surface of the suction cup 121b through the air pipe.
  • the suction cup 121b is connected to the container 130 by starting the vacuuming device to evacuate, and the vacuum is disconnected by closing the vacuuming device or closing the valve connected in series on the air flow pipe to realize the suction cup 121b. Detachment from container 130.
  • the engagement member may be configured as a hook.
  • structures such as ribs that can be connected with hooks may be provided on or near the end surface of the container 130 (for example, the side of the end surface) or on the upper edge of the container 130 . By providing a hook, the container 130 can be hooked to realize the connection between the pick-and-place assembly 121 and the container 130 .
  • the engagement member can be configured as a magnet.
  • an iron member or another magnet that can be magnetically attracted to the magnet may be provided on the container 130 .
  • An electromagnet is preferably used as the joining member. The electromagnet is electrically connected to the controller through the switch, and the controller controls the opening and closing of the switch to control the engagement and disengagement of the electromagnet from the container 130 .
  • the rotating assembly 124 has a rotating shaft 121d and is connected to the above pick-and-place assembly 121 through the rotating shaft 121d.
  • the rotation assembly 124 is used to drive the above-mentioned suction cup 121b to rotate around the first pivot axis AX1 perpendicular to the bearing surface 111, so that the engagement member can move toward the first target position or the second target position.
  • the rotary assembly 124 includes a linear cylinder 124a, a rack 124b, and a gear 124c.
  • the linear cylinder 124a includes a cylinder body and a piston rod movable in a direction perpendicular to the first pivot axis AX1.
  • Rack 124b is connected to the piston rod.
  • the gear 124c is connected to the rotation shaft 121d and meshes with the rack 124b. Among them, the axis of the gear 124c coincides with the axis of the rotation shaft 121d.
  • the rotary assembly 224 of this embodiment includes a linear cylinder 224a, a connecting rod and a connecting piece.
  • the linear cylinder 224a includes a cylinder and a piston rod movable in a direction perpendicular to the first pivot axis AX1.
  • a first end of link 224d is pivotally connected to the piston rod about a second pivot axis AX2 parallel to the first pivot axis AX1.
  • the first end of the link is pivotally connected to the second end of the link 224d about a third pivot axis AX3 parallel to the first pivot axis AX1.
  • the second end of the connecting piece is fixedly connected to the rotating shaft 121d.
  • the connector is configured as a disk 224e.
  • the third pivot axis AX3 does not coincide with the first pivot axis AX1.
  • the connecting piece can be configured as a crank.
  • the crank may be a rod.
  • the rotating assembly may include a motor or a rotating cylinder. That is, the rotation shaft 121d can be directly driven by the motor to rotate, thereby adjusting the rotation of the suction cup 121b to change the orientation of the suction cup 121b.
  • a reduction component such as a reduction gear set, can be added between the motor and the rotating shaft 121d to adjust the pivoting speed of the rotating shaft 121d to meet actual pickup requirements.
  • the rotating assembly may include a rotating cylinder. It is also possible that the rotation axis of the output part of the rotary cylinder coincides with the first pivot axis AX1 by connecting the output part of the rotary cylinder to the rotation shaft 121d. Activating the rotating cylinder can drive the rotating shaft 121d to rotate around the first pivot axis AX1, thereby changing the orientation of the joint member.
  • the rotary cylinder is a well-known technology in the art and will not be described in detail here.
  • the vertical movement assembly 123 is connected to a lateral movement mechanism that will be described in detail below.
  • the vertical moving component 123 is used to move the rotating component 124 and the pick-and-place component 121 in the vertical direction D3 perpendicular to the bearing surface 111 . That is, the vertical movement component 123 is used to realize that the driving rotation component 124 and the pick-and-place component 121 move together in the vertical direction, so that the height of the suction cup 121b on the pick-and-place component 121 is adapted to the height of the container 130, or the suction cup 121b Located in an avoidance position away from the container 130 .
  • the vertical movement component 123 at least partially extends through the avoidance gap 104 on the support frame 100 mentioned above, so that the vertical movement component 123 can drive the suction cup 121b when picking up and delivering a container 130 with a larger height. Move to a higher position to avoid the container 130 on the carrying surface 111 . At the same time, it may be helpful to reduce the size of the support frame 100 in the vertical direction.
  • the vertical movement assembly specifically includes a vertical guide rail 123a and a vertical movement member 123b.
  • the vertical guide rail 123a is provided along the vertical direction D3 to the lateral movement member 122b, which will be described in detail below.
  • the vertical moving member 123b is movably connected to the vertical guide rail 123a, and at the same time, the vertical moving member 123b is also connected to the rotating assembly 124.
  • the vertical movement assembly 123 is configured to move the access assembly 121 between the avoidance position and the operating position.
  • the pick-and-place component 121 When the pick-and-place component 121 is in the avoidance position, the pick-and-place component 121 can partially extend through the avoidance gap 104, or it can be completely located above the avoidance gap 104; when the pick-and-place component 121 is in the operating position, the pick-and-place component 121 is in the avoidance gap 104. below the notch 104, so that the height of the suction cup 121b is adapted to the height of the container 130, ensuring that the suction cup 121b can engage the container 130 and move the container 130 along the first horizontal direction D1.
  • the lateral movement mechanism is connected to the support frame 100 and can move in the first horizontal direction D1 relative to the support frame 100 , so that it can move in the first horizontal direction D1 relative to the support frame 100 .
  • the support frame 100 moves the engagement members.
  • the lateral movement mechanism is configured as a lateral movement assembly 122 .
  • the transverse movement component 122 is provided between the vertical movement component 123 and the support frame 100 for driving the vertical movement component 123, the rotation component 124 and the pick-and-place component 121 to move together along the first horizontal direction D1.
  • the lateral movement assembly 122 includes a lateral guide rail 122a and a lateral movement member 122b.
  • the transverse guide rail 122a is provided on the support frame 100 along the first horizontal direction D1.
  • the transverse movement member 122b is slidingly connected to the transverse guide rail 122a along the first horizontal direction D1, and the transverse movement member 122b is connected to the vertical movement assembly 123.
  • the positions of the transverse moving component 122 and the vertical moving component 123 can be interchanged. That is, in this modified embodiment, the transverse movement component 122 is disposed between the rotation component 124 and the vertical movement component 123 for driving both the rotation component 124 and the pick-and-place component 121 to move laterally together.
  • the vertical guide rail 123a of the vertical movement assembly 123 is provided on the support frame 100 along the vertical direction D3, and the vertical movement member 123b of the vertical movement assembly 123 is movably connected to the vertical guide rail 123a, The vertical movement member 123b is connected to the lateral movement assembly 122.
  • the transverse guide rail 122a of the transverse movement assembly 122 is disposed on the vertical movement member 123b along the first horizontal direction D1.
  • the transverse movement member 122b of the transverse movement assembly 122 is movably connected to the transverse guide rail 122a.
  • the transverse movement member 122b is connected to the rotation assembly 124.
  • a bearing component is provided on the bracket, and the container 130 is carried through the bearing surface 111 of the bearing component.
  • the outer areas of both ends of the bearing surface 111 along the first horizontal direction D1 are respectively the first target position and the second target position.
  • the container 130 is detachably connected by the engagement member of the pick-and-place assembly 121 above the carrier assembly for one-way or two-way transfer of the container 130 between the first target position and the carrier assembly, and for One-way or two-way transfer of the container 130 is performed between the second target position and the bearing assembly;
  • the rotation axis 121d of the rotating assembly 124 is connected to the pick-and-place assembly 121 to drive the pick-and-place assembly 121 to rotate around the first pivot perpendicular to the bearing surface 111
  • the axis AX1 rotates so that the engagement member can move toward the first target position or the second target position; it is connected to the support frame 100 through a vertical movement assembly 123 for movement in the vertical direction D3 perpendicular to the load-bearing surface 111 Rotate the assembly 124 and the pick-and-place assembly 121, so that the height of the pick-and-place assembly 121 can be adapted to the height of the container 130 to be picked up or to avoid the container 130 on the bearing surface
  • the container pick-up and delivery device of the present invention disposes the pick-and-place component 121 above the load-bearing component, thereby not occupying the space at the lower part of the support frame 100, and helping to pick up and deliver the container 130 at a lower position on the shelf; due to the joint components And through the rotation of the rotating assembly 124, it can be oriented in different directions to achieve picking and feeding of the first target position or the second target position, which not only simplifies the structure of the picking and placing assembly 121, but also helps to reduce the need for loading and unloading materials along the first horizontal direction.
  • the container pickup device of the present invention may further include a proximity sensor 121f.
  • the proximity sensor 121f is provided to the rotating frame 121c and is spaced apart from the first end of the joystick 121a along the length direction of the joystick 121a.
  • the proximity sensor 121f is used to generate a sensing signal when the first end of the joystick 121a approaches the proximity sensor 121f.
  • a controller such as a computer
  • data processing and analysis functions so that the induction signal of the proximity sensor 121f is received by the controller for analysis and processing to determine whether the joint member is reliably connected to the container on the shelf. 130 engage (butt), or push the container 130 into place on the shelf.
  • the pick and place assembly may also include two springs.
  • the rotating frame 121c has a mounting portion 121c1 protruding along the vertical direction D3, and a first end of the joystick 121a can move through the mounting portion 121c1 along the length direction of the joystick 121a.
  • the two springs are respectively located on both sides of the mounting part 121c1 and are respectively connected to the operating lever 121a. The two springs buffer the force from two containers in opposite directions when the joint member is stressed to prevent the joint member from being damaged.
  • some position sensors for sensing the position signal of the container 130 may also be provided on the support frame 100 .
  • the position sensor may be disposed at a position corresponding to the first open end 101 and the second open end 102 of the support frame 100 .
  • the position sensor can be implemented using a photoelectric induction switch in the existing technology.
  • the controller is also connected to the electronic control terminals of the vertical movement component 123, the lateral movement component 122, the rotation component 124, etc., to perform analysis, processing and judgment based on the information collected by the above-mentioned position sensing switch, proximity sensor and other sensors. Regulate the operating status of the vertical movement component 123, the lateral movement component 122, the rotation component 124, etc.
  • the same shelf can have different sized cargo spaces to carry containers of different volumes.
  • the container pickup and delivery device of this embodiment is to implement the operation of picking up and delivering containers to cargo spaces of different sizes on different shelves, it is also possible. It is necessary to obtain the size of the container for the corresponding cargo space in advance.
  • the container pickup and delivery device of this embodiment further includes a controller and a sensor for detecting height information of the container.
  • the sensor is arranged at an end (one end or both ends) of the support frame along the first horizontal direction.
  • a controller is connected to the sensor and connected to the vertical movement assembly, the controller being configured to:
  • the vertical movement component is controlled to drive the pick-and-place component to move along the vertical direction by the vertical movement distance.
  • the sensor used to detect the height information of the container detects the size of the container and controls the joint member to be adjusted to the appropriate pickup and delivery position to match containers of different sizes; on the other hand, it can also be used as an adjustment pickup and placement component to move to an avoidance position. basis, because when picking up and delivering containers of different heights, the actual height of the avoidance position may be different.
  • some sensors such as the above-mentioned sensors for detecting height information of containers
  • image acquisition devices may also be arranged at the opening 112 between the two conveyor belts 110 .
  • a camera can be set at the opening 112 to collect identification information of the container 130 and the like.
  • the suction cup 121b can be rotated around the rotation axis 121d in the following manner:
  • the linear cylinder 124a drives the rack 124b to move along the second horizontal direction D2, and the rack-and-pinion mechanism drives the suction cup rod (lever 121a) to achieve a reciprocating 180-degree rotation.
  • the implementation of picking up goods from the first open end 101 may be:
  • the suction cup 121b When the container pick-up and delivery device moves to the material pick-up position along with the conveyor line, the suction cup 121b is first rotated 180 degrees upward, so that the suction cup 121b faces the first opening end 101. The suction cup 121b is then lowered to the operating position by the vertical movement assembly 123 (see Figures 1 to 3). Then, the suction cup 121b is moved along the first horizontal direction D1 through the transverse moving assembly 122, so as to extend the suction cup 121b as a whole (for example, out of the first opening end 101).
  • the suction cup 121b rod is equipped with a spring and a proximity sensor 121f.
  • the rod of the suction cup 121b receives resistance and retracts, so that the rear end of the rod of the suction cup 121b is close to the proximity sensor 121f and excites the proximity sensor 121f to generate a sensing signal to adaptively pick up the container. s position.
  • the air between the suction cup 121b and the container may be evacuated, so that the suction cup 121b is reliably attached to the container.
  • the suction cup 121b retracts along the first horizontal direction D1 through the operation of the transverse moving assembly 122 to pull the container into the container pick-up and delivery device on the conveyor line (see Figure 5).
  • the suction cup 121b breaks the vacuum, causing the suction cup 121b to separate from the container.
  • the suction cup 121b retracts along the first horizontal direction D1 through the transverse movement component 122 and rises in the vertical direction to the avoidance position above the container through the vertical movement component 123 (see FIG. 5 ), thus completing the pickup.
  • the containers located in the container pickup and delivery device are sent to the target position preset by the system through the conveyor line.
  • delivery from the second open end 102 may be implemented as:
  • the suction cup 121b When the container pick-up and delivery device moves to the feeding position along with the conveyor line, the suction cup 121b is first rotated 180 degrees upward, so that the suction cup 121b faces the second open end 102 (see Figure 7).
  • the suction cup 121b is lowered to the operating position along the vertical direction D3 by the vertical movement assembly 123, and is moved along the first horizontal direction D1 toward the second open end 102 by the transverse movement assembly 122 until it is attached to the container 130, and then moves laterally
  • the assembly 122 moves the suction cup 121b along the first horizontal direction D1 until the container 130 is pushed out of the second open end 102 (see FIG. 8 ) and sent to a prescribed position on the dense shelf (or other structure for receiving the container 130 ).
  • the suction cup 121b is driven back through the transverse movement component 122, and the suction cup 121b is driven up through the vertical movement component 123 until it returns to the upper position of the container pickup device (see Figure 9), and
  • the implementation of picking up goods from the second open end 102 is the same as the implementation of picking up goods from the first open end 101 and will not be described again.
  • the delivery method from the first open end 101 is the same as the delivery method from the second open end 102 , and will not be described again here.
  • the container pickup and delivery device according to the second embodiment of the present invention has substantially the same structure as the material pickup and delivery device according to the first embodiment, except for the position of the transverse movement mechanism, in which structures with the same functions are given the same or similar structure. Drawing marks. Therefore, for the sake of brevity, only the different technical features are introduced in detail here.
  • the lateral movement mechanism is provided between the rotation shaft and the joint member.
  • the lateral movement mechanism can be provided between the rotation shaft and the pick-and-place assembly, or it can be a part of the pick-and-place assembly.
  • the transverse movement mechanism includes fixed components and movable components. Wherein, the fixed component is connected to the rotation shaft, the movable component is connected to the joint component, and the movable component is telescopic in the horizontal direction relative to the fixed component. That is, the distance between the engagement member and the rotation shaft is adjusted through the transverse movement mechanism located between the rotation shaft and the engagement member, thereby adjusting the extension and retraction of the engagement member.
  • the rotating assembly may be activated to drive the engagement member toward the first target position or the second target position to prevent the engagement member from interfering with other structures of the container pickup and delivery device.
  • the transverse displacement mechanism can be configured as a linear cylinder.
  • the cylinder body of the linear cylinder is connected to the rotation axis, and the piston rod of the linear cylinder is connected to the joint member.
  • the above two lateral movement mechanisms may be included. That is, two lateral movement mechanisms are used in combination to achieve a longer stroke.
  • a double extension position can also be realized to pick up and deliver containers at two positions at different distances in the first horizontal direction.
  • This embodiment can be applied to a shelf with a penetrating cargo space along the first horizontal direction.
  • one of the two lateral movement mechanisms adopts the lateral movement mechanism of the first embodiment.
  • the lateral movement mechanism of the first embodiment can drive the engagement member to move to the first target position, and can drive the engagement member to move to the first target position. Second target location.
  • the pick-and-place assembly includes another lateral movement mechanism.
  • the transverse movement mechanism of the pick-and-place assembly includes a fixed member connected to the rotation shaft and a movable member telescopic in a horizontal direction relative to the fixed member, and the movable member is connected to the joint member.
  • a lateral movement mechanism by the pick and place assembly is used to drive the engagement member to move to the third target position, and to drive the engagement member to move to the fourth target position.
  • the third target position is further away from the support frame than the first target position
  • the fourth target position is further away from the support frame than the second target position.
  • the structure of the transverse movement mechanism of the pick-and-place assembly may also be the same as the structure of the transverse movement mechanism of the first embodiment.
  • the process of picking up and delivering the container can be: first starting one of the two lateral moving mechanisms to drive the joint member to The container is transferred between the carrying assembly and the first target position; then, the two lateral movement mechanisms are activated simultaneously to drive the engagement member to transfer the container between the carrying assembly and the third target position.
  • the pick-and-delivery container device can help realize automatic picking up of goods on shelves with densely placed goods and no fork channels on the sides in automated dense storage. It can also be used for access with a large depth of field and low storage locations, so that the pickup and delivery device of the present invention can adapt to a more comprehensive intensive storage pickup and delivery environment.
  • the present invention also provides a loading and unloading unit, including a frame body 300.
  • the container pickup and delivery device of any of the above embodiments is provided on the rack body 300, and the container pickup and delivery device can be configured to be movably disposed on the rack body 300. That is, the container pickup device can move relative to the rack body 300 to a position corresponding to the first target position, or move relative to the rack body 300 to a position corresponding to the second target position.
  • the first target position may be a cargo space on the shelf 400 , or may be a position far away from the shelf 400 .
  • the loading and unloading unit of the present invention by applying the above-mentioned container picking and delivering device, it can complete the work of picking up and delivering containers, which improves the utilization rate and work efficiency of the equipment, reduces human labor, and effectively reduces costs. Cost of production.
  • the frame 300 includes an X-axis track 310 and a Y-axis track 320 .
  • the extension direction of the X-axis track 310 is parallel to the bearing surface of the container pickup device and perpendicular to the first horizontal direction D1.
  • the extending direction of the Y-axis rail 320 is parallel to the vertical direction D3.
  • the Y-axis rail 320 is configured to be movably connected to the X-axis rail 310 along the extending direction of the X-axis rail 310.
  • the container retrieval device is configured to be movably connected to the Y-axis track 320 in the vertical direction D3.
  • the position of the container pickup device along the extension direction of the X-axis rail 310 can be changed.
  • the container pickup and delivery device moves along the extension direction of the Y-axis rail 320 (vertical direction D3), the position of the container pickup and delivery device along the extension direction of the Y-axis rail 320 can be changed.
  • the X-axis rail 310 includes a ground rail, and the lower end of the Y-axis rail 320 is movably connected to the ground rail.
  • a column capable of sliding along the X-axis track 310 may be provided on the ground rail, and the Y-axis track 320 may be provided on the column.
  • the X-axis track 310 may further include a sky rail, the sky rail is located above the ground rail, and the upper end of the Y-axis rail 320 is movably connected to the sky rail.
  • the frame body 300 can be configured as a gantry (gantry), with the sky rail installed at the top of the gantry and the ground rail installed at the bottom of the gantry.
  • At least two Y-axis tracks 320 of the present invention can be provided.
  • Each Y-axis track 320 is provided with at least one container pick-up and delivery device.
  • the container pickup and delivery devices of the two Y-axis rails 320 can work together to achieve pickup and delivery at different positions of the X-axis rail 310.
  • two Y-axis rails 320 are provided, and one container pickup device is provided on each Y-axis rail 320 .
  • the loading and unloading unit of the present invention may further include a driving assembly for driving the Y-axis rail 320 to move along the extension direction of the X-axis rail 310 and driving the container pick-up and delivery device to move along the extension direction of the Y-axis rail 320 .
  • the driving assembly may include components such as a stepper motor, a screw rod, a nut, etc., or may be implemented with reference to other methods in the prior art, which will not be described again here.
  • the present invention also provides a picking system.
  • the loading and unloading unit shown in Figure 17 is a component of the picking system.
  • the selection system includes a workstation area, a shelf 400 docking area, and a loading and unloading unit according to any of the above embodiments or variations. Among them, there are picking stations in the workstation area.
  • the docking area of the shelf 400 is configured for docking the shelf 400 .
  • the docking area of the shelf 400 is spaced apart from the workstation area along the first horizontal direction D1 .
  • the loading and unloading unit is located at the interval between the workstation area and the shelf 400 docking area, and the loading and unloading unit is configured to transfer the container 130 between the workstation area and the shelf 400 docking area.
  • the workstation area also includes conveyor lines.
  • the conveying line is used to receive the containers 130 transferred from the container pickup and delivery device. Or, it is used to transport the containers 130 located on the conveyor line to the pick-and-deliver container 130 assembly.
  • the loading and unloading unit can not only complete the work of picking up containers, but also complete the work of delivering containers, which improves the utilization rate and work efficiency of the equipment, reduces human labor, effectively reduces production costs, and has outstanding advantages.
  • the picking system of the present invention by applying the above-mentioned loading and unloading unit, it helps to meet the requirements of more efficient loading and unloading of goods in a more compact and dense storage environment.

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Abstract

一种取送容器装置、装卸单元及拣选系统，取送容器装置包括支撑架（100）、承载组件、取放组件（121）、旋转组件（124）、竖向移动组件（123），以及横向移动机构（122），承载组件连接至支撑架，并具有承载表面（111）；位于承载组件的上方的取放组件具有用于可分离地连接至容器的接合构件；旋转组件具有连接至取放组件的转动轴（121d），用于驱动取放组件绕垂直于承载表面的第一枢转轴线（AX1）旋转；竖向移动组件用于沿竖向方向移动旋转组件和取放组件；横向移动机构用于沿第一水平方向（D1）移动接合构件，横向移动机构设置于竖向移动组件和/或接合构件上。该装置以更加简化的结构，实现两个相反方向的取送料，且由于取放组件位于承载表面的上方，有助于实现货架更低位置的取送料。

Description

取送料装置、装卸单元及拣选系统
本申请要求于2022年07月07日提交中国专利局、申请号为202221764543.7、发明名称为“取送料装置、装卸单元及拣选系统”和于2022年07月07日提交中国专利局、申请号为202210803883.4、发明名称为“取送料装置、装卸单元及拣选系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明总地涉及仓储设备的技术领域，更具体地涉及一种取送料装置、装卸单元及拣选系统。
背景技术
目前自动化的仓储系统，已经越来越多的应用在各种民用及工业的仓储领域，但是因为储存场地成本的不断增加，不断提出了高效率密集存储的方式。
密集仓储领域的货架排布特点是，库位紧密排布。在上料和下料时，不适合抱叉等入库式搬运的方法；而且，入库式搬运和人工搬运的效率都比较低。
因此，需要提供一种取送料装置、装卸单元及拣选系统，以至少部分地解决上述问题。
发明内容
在发明内容部分中引入了一系列简化形式的概念，这将在具体实施方式部分中进一步详细说明。本发明的发明内容部分并不意味着要试图限定出所要求保护的技术方案的关键特征和必要技术特征，更不意味着试图确定所要求保护的技术方案的保护范围。
为至少部分地解决上述问题，本发明第一方面提供一种取送容器装置，所述取送容器装置包括：
支撑架；
承载组件，所述承载组件连接至所述支撑架，所述承载组件具有用于承载容器的承载表面，所述承载表面沿第一水平方向的两端的外侧区域分别为第一目标位置和第二目标位置；
取放组件，所述取放组件位于所述承载组件的上方，所述取放组件具有用于可分离地连接至所述容器的接合构件，以用于在所述第一目标位置和所述承载组件之间进行单向或双向传递所述容器，且用于在所述第二目标位置和所述承载组件之间进行单向或双向传递所述容器；
旋转组件，所述旋转组件具有连接至所述取放组件的转动轴，用于驱动所述取放组件绕垂直于所述承载表面的第一枢转轴线旋转，以使得所述接合构件能够朝向所述第一目标位置或所述第二目标位置；
竖向移动组件，所述竖向移动组件连接至所述支撑架，用于沿垂直于所述承载表面的竖向方向移动所述旋转组件和所述取放组件；以及
横向移动机构，所述横向移动机构用于沿所述第一水平方向相对于所述支撑架移动所述接合构件，所述横向移动机构设置于所述竖向移动组件和/或所述接合构件。
根据本发明第一方面的取送容器装置，通过将取放组件设置在承载组件的上方，从而不会占用支撑架下部的空间，有助于对货架更低位置实现容器的取送；由于接合构件并通过旋转组件的旋转实现朝向不同方向，以实现对第一目标位置或第二目标位置的取送料，不仅简化了取放组件的结构，还有助于减小对沿第一水平方向的空间占用；又由于接合构件是绕竖直的第一枢转轴线旋转，从而可以减少对竖直方向的空间占用，进而有利于实现取放容器装置沿竖直方向的结构的紧凑化。
可选地，所述横向移动机构构造为横向移动组件，所述横向移动组件设置于所述竖向移动组件和所述支撑架之间，以用于驱动所述竖向移动组件、所述旋转组件和所述取放组件三者一起沿所述第一水平方向移动。
可选地，所述横向移动组件包括：
横向导轨，所述横向导轨沿所述第一水平方向设置于所述支撑架；
横向移动构件，所述横向移动构件可移动地连接至所述横向导轨，所述横向移动构件连接至所述竖向移动组件。
可选地，所述竖向移动组件包括：
竖向导轨，所述竖向导轨沿所述竖向方向设置于所述横向移动构件；
竖向移动构件，所述竖向移动构件可移动地连接至所述竖向导轨，所述竖向移动构件连接至所述旋转组件。
可选地，所述横向移动机构构造为横向移动组件，所述横向移动组件设置于所述旋转组件和所述竖向移动组件之间，以用于驱动所述旋转组件和所述取放组件两者一起横向移动。
可选地，所述竖向移动组件包括：
竖向导轨，所述竖向导轨沿所述竖向方向设置于所述支撑架；
竖向移动构件，所述竖向移动构件可移动地连接至所述竖向导轨，所述竖向移动构件连接至所述横向移动组件。
可选地，所述横向移动组件包括：
横向导轨，所述横向导轨沿所述第一水平方向设置于所述竖向移动构件；
横向移动构件，所述横向移动构件可移动地连接至所述横向导轨，所述横向移动构件连接至所述旋转组件。
可选地，所述横向移动机构包括连接至所述转动轴的固定构件和相对于所述固定构件沿水平方向能够伸缩的活动构件，所述活动构件连接至所述接合构件。
可选地，所述取放组件包括另一个所述横向移动机构，所述横向移动机构包括连接至所述转动轴的固定构件和相对于所述固定构件沿水平方向能够伸缩的活动构件，所述活动构件连接至所述接合构件，用于驱动所述接合构件移动至第三目标位置，并且用于驱动所述接合构件移动至第四目标位置，沿所述第一水平方向，所述第三目标位置比所述第一目标位置更远离所述支撑架，所述第四目标位置比所述第二目标位置更远离所述支撑架。
可选地，所述取送容器装置包括第一开口端和第二开口端；所述承载组件包括至少一个输送带，所述输送带构造为驱动所述容器从所述第一开口端和所述第二开口端中的一个移动至所述第一开口端和所述第二开口端中的另一个。
可选地，所述取送容器装置包括至少两条所述输送带，至少两条所述输送带沿垂直于所述第一水平方向的第二水平方向间隔设置。
可选地，所述输送带的数目为两条，所述取放组件位于两条所述输送带之间。
可选地，所述支撑架的顶部具有避让缺口，所述竖向移动组件至少部分地延伸穿过所述避让缺口。
可选地，所述竖向移动组件构造为在避让位置和操作位置之间移动所述取放组件，位于所述避让位置的所述取放组件至少部分地延伸穿过所述避让缺口，位于所述操作位置的所述取放组件位于所述避让缺口的下方。
可选地，所述输送带的两侧设置有防坠挡边，所述防坠挡边被构造为用于将容器限制在所述承载表面上。
可选地，所述取送容器装置还包括引导机构，所述引导机构构造为朝向第二水平方向的中心引导所述输送带上的所述容器，所述第二水平方向垂直于所述第一水平方向和所述竖向方向。
可选地，所述防坠挡边从所述取送容器装置的所述第一开口端延伸至所述第二开口端，所述防坠挡边在所述第一开口端至所述第二开口端之间的中部区域沿所述第二水平方向向内侧延伸形成所述引导机构。
可选地，所述接合构件构造为吸盘、挂钩或磁铁。
可选地，所述旋转组件包括：
直线气缸，所述直线气缸包括缸体和沿垂直于所述第一枢转轴线的方向能够移动的活塞杆；
齿条，所述齿条连接至所述活塞杆；以及
齿轮，所述齿轮连接于所述转动轴，并与所述齿条啮合。
可选地，所述旋转组件包括：
直线气缸，所述直线气缸包括缸体和沿垂直于所述第一枢转轴线的方向能够移动的活塞杆；
连杆，所述连杆的第一端绕平行于所述第一枢转轴线的第二枢转轴线可枢转地连接至所述活塞杆；以及
连接件，所述连接件的第一端绕平行于所述第一枢转轴线的第三枢转轴线可枢转地连接至所述连杆的第二端，所述连接件的第二端连接至所述枢转轴，所述连接件构造为曲柄或圆盘。
可选地，所述旋转组件包括：
电机，所述电机的输出轴连接至所述转动轴；或者
旋转气缸，所述旋转气缸的输出部连接至所述转动轴。
可选地，所述取送容器装置进一步包括：
传感器，所述传感器设置于所述支撑架的沿所述第一水平方向的端部，所述传感器用于检测所述容器的高度信息。
可选地，所述取送容器装置还包括：
控制器，所述控制器连接至所述传感器并连接至所述竖向移动组件，所述控制器配置为执行：
接收所述传感器检测的所述高度信息；
根据所述高度信息，确定所述取放组件沿所述竖向方向所需的竖向移动距离；
根据所述竖向移动距离，控制所述竖向移动组件带动所述取放组件沿所述竖向方向移动所述竖直移动距离。
本发明第二方面提供一种装卸单元，包括架体，所述架体上设置上述的取送容器装置，所述取送容器装置构造为可移动地设置于所述架体。
根据本发明第二方面的装卸单元，通过应用上述的取送容器装置，既能够完成取容器工作，又能够完成送容器的工作，提高了设备的利用率和工作效率，减轻了人力劳动，有效地降低了生产成本。
可选地，所述架体包括：
X轴轨道，所述X轴轨道的延伸方向平行于所述取送容器装置的承载表面，且垂直于所述第一水平方向；
Y轴轨道，所述Y轴轨道的延伸方向与所述竖向方向平行所述Y轴轨道构造为沿着X轴轨道的延伸方向可移动地连接至所述X轴轨道，所述取送容器装置构造为沿所述竖向方向可移动地连接至所述Y轴轨道。
可选地，所述X轴轨道包括地轨，所述Y轴轨道的下端可移动地连接至所述地轨。
可选地，所述X轴轨道进一步包括天轨，所述天轨位于所述地轨的上方，所述Y轴轨道的上端可移动地连接至所述天轨。
可选地，所述Y轴轨道至少设置有两个，每个所述Y轴轨道上设置有至少一个所述取送容器装置。
本发明第三方面提供一种拣选系统，所述拣选系统包括：
工作站区，所述工作站区内设置有拣选工位；
货架停靠区，所述货架停靠区构造为用于停靠货架，所述货架停靠区沿所述第一水平方向与所述工作站区间隔布置；以及
根据上述的装卸单元，所述装卸单元位于所述工作站区和所述货架停靠区的间隔处，所述装卸单元构造为能够将容器在所述工作站区与所述货架停靠区之间转移。
根据本发明第三方面的拣选系统，通过应用上述的装卸单元，有助于实现在更紧凑的密集存储环境中，适应更高效率的货物上架和货物下架需求。
可选地，所述工作站区还包括输送线，所述输送线用于接收取送容器装置中转运过来的所述容器；或者，用于将位于输送线上的所述容器输送至取送容器组件上。
附图说明
本发明实施方式的下列附图在此作为本发明的一部分用于理解本发明。附图中示出了本发明的实施方式及其描述，用来解释本发明的原理。在附图中，
图1为根据本发明的一种优选实施方式的取送容器装置的一个立体视图；
图2为图1所示的取送容器装置的另一个立体视图；
图3为图1所示的取送容器装置的俯视图；
图4为图1所示的取送容器装置的一个使用状态图，其中吸盘伸出第一开口端外并接合至容器；
图5为图1所示的取送容器装置的另一个使用状态图，其中吸盘将容器从第一开口端部分地移动至承载表面上；
图6为图1所示的取送容器装置的再一个使用状态图，其中容器完全位于承载表面上，且吸盘位于避让位置并朝向第一开口端；
图7为图1所示的取送容器装置的再一个使用状态图，其中容器完全位于承载表面上，且吸盘位于避让位置并朝向第二开口端；
图8为图1所示的取送容器装置的再一个使用状态图，其中吸盘将容器从第二开口端完全推出至取送容器装置的外部；
图9为图1所示的取送容器装置的再一个使用状态图，其中容器完全位于取送容器装置的外部；
图10为图1所示的取放组件、旋转组件和竖向移动构件的连接结构的侧视图；
图11为图10所示的取放组件、旋转组件和竖向移动构件的连接结构的立体视图；
图12为根据本发明的另一种优选实施方式的取送容器装置的立体视图；
图13为图12所示的取送容器装置的俯视图；
图14为根据本发明的再一种优选实施方式的取送容器装置的俯视图，其中输送带为三条；
图15为图14所示的取送容器装置的立体视图；
图16为本发明的再一种优选实施方式的取送容器装置的立体视图，其中输送带为一条；以及
图17为本发明的一种优选实施方式的具有取送容器装置的装卸单元的立体视图。
附图标记说明
100：支撑架        101：第一开口端
102：第二开口端    103：防坠挡边
103a：引导机构      104：避让缺口
110：输送带        111：承载表面
112：开口          120：运动机构
121：取放组件      121a：操纵杆
121b：吸盘         121c：旋转架
121c1：安装部      121d：转动轴
121f：接近传感器   122：横向移动组件
122a：横向导轨     122b：横向移动构件
123：竖向移动组件  123a：竖向导轨
123b：竖向移动构件 124：旋转组件
124a：直线气缸     124b：齿条
124c：齿轮         130：容器
224：旋转组件      224a：直线气缸
224d：连杆         224e：圆盘
300：架体          310：X轴轨道
320：Y轴轨道       400：货架
AX1：第一枢转轴线  AX2：第二枢转轴线
AX3：第三枢转轴线  D1：第一水平方向
D2：第二水平方向   D3：竖向方向
具体实施方式
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员来说显而易见的是，本发明实施方式可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明实施方式发生混淆，对于本领域公知的一些技术特征未进行描述。
在本文中，本申请中所引用的诸如“第一”和“第二”的序数词仅仅是标识，而不具有任何其它含义，例如特定的顺序等。而且，例如，术语“第一部件”其本身不暗示“第二部件”的存在，术语“第二部件”本身不暗示“第一部件”的存在。
在本文中，“上”、“下”、“前”、“后”、“左”、“右”等仅用于表示相关部分之间的相对位置关系，而非限定这些相关部分的绝对位置。
在本文中，“相等”、“相同”等并非严格的数学和/或几何学意义上的限制，还包含本领域技术人员可以理解的且制造或使用等允许的误差。
除非另有说明，本文中的数值范围不仅包括其两个端点内的整个范围，也包括含于其中的若干子范围。
取决于语境，词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
首先，对本发明一个或多个实施方式涉及的名词术语进行解释。
“货物上架”指的是将待入库的货物放入到货物容器的相应货位中。
“货物下架”指的是从货物容器的相应货位中取出待出库的货物。
拣选系统是指根据拣选指令来拣选目标货物系统，目标货物是指拣选订单上的货物，每一种货物存放在不同的容器内。
容器是物流中用于装载货物的容器，包括但不限于货架、料箱、托盘、包装箱等。
以下参照附图对本发明的优选实施方式进行说明。需要说明的是，本文中所使用的术语“上”、“下”以及类似的表述只是为了说明的目的，并非限制。
下面将结合图1至图17，对根据本发明的取送容器装置进行详细介绍。该取送容器装置用于实现在密集货架与工作站之间进行货物上架和货物下架。
第一实施方式
本发明首先提供一种取送容器装置，用于实现容器的传送，如图1至图17所示。根据本发明的取送容器装置包括支撑架100、承载组件和运动机构120。运动机构120包括取放组件121、旋转组件124、竖向移动组件123，以及横向移动机构。
其中，承载组件连接至支撑架100。承载组件具有用于承载容器130的承载表面。承载表面沿第一水平方向D1的两端的外侧区域分别为第一目标位置和第二目标位置。取放组件121位于承载组件的上方。取放组件121具有用于可分离地连接至容器130的接合构件，以用于在第一目标位置和承载组件之间进行单向或双向传递容器130，且用于在第二目标位置和承载组件之间进行单向或双向传递容器130。
旋转组件124具有连接至取放组件121的转动轴。旋转组件124用于驱动取放组件121绕垂直于承载表面的第一枢转轴线AX1旋转，以使得接合构件能够朝向第一目标位置或第二目标位置。竖向移动组件123连接至支撑架100。竖向移动组件123用于沿垂直于承载表面的竖向方向移动旋转组件124和取放组件121，以调节取放组件121沿竖向方向的位置。横向移动机构用于沿第一水平方向D1相对于支撑架100移动接合构件，横向移动机构设置于竖向移动组件123和/或接合构件。
根据本发明的取送容器130装置，通过将取放组件121设置在承载组件的上方，从而不会占用支撑架100下部的空间，有助于对货架更低位置实现容器130的取送；由于接合构件并通过旋转组件124的旋转实现朝向不同方向，以实现对第一目标位置或第二目标位置的取送料，不仅简化了取放组件121的结构，还有助于减小对沿第一水平方向D1的空间占用；又由于接合构件是绕竖直的第一枢转轴线AX1旋转，从而可以减少对竖直方向的空间占用，进而有利于实现取放容器130装置沿竖直方向的结构的紧 凑化。
下面将进一步分别讨论取送容器装置的各个部件：
支撑架100
如图1至图9，以及图12至图17中所示，支撑架100可以包括底架、第一侧框架、第二侧框架和顶端梁。其中，底架可以是水平布置的矩形框。底架可以用来安装下文将要详述的承载组件。第一侧框架和第二侧框架分别连接至底架的沿第二水平方向D2的两侧部。第一侧框架和第二侧框架相互平行且分别垂直于底架。第一侧框架和第二侧框架可以构造为开口112朝下的U形框。顶端梁设置两个，且两个顶端梁沿第二水平方向D2连接在第一侧框架和第二侧框架之间。两个顶端梁分别对应于底架的沿第一水平方向D1的两端。
在图示实施方式中，顶端梁的高度与第二侧框架一致，且第一侧框架的顶部高于第二侧框架的顶部。第二侧框架可以用来安装下文将要详述的运动机构120。
此外，支撑架100可以包括第一开口端101和第二开口端102。第一开口端101和第二开口端102分别位于支撑架100的沿第一水平方向D1的两端部。在图示实施方式中，第一开口端101与第二开口端102之间相对于第一枢转轴线AX1的角度为180度。
可选地，支撑架100的顶部具有避让缺口104。下文详述的竖向移动组件123可以至少部分地延伸穿过避让缺口104。下文将要详述的旋转组件124的第一枢转轴线AX1与避让缺口104的沿第二水平方向D2的中心位置向对应，并且，避让缺口104的大小可以与下文将要详述的接合构件绕第一枢转轴线AX1的枢转范围相适配。通过限定避让缺口104的位置和大小，能够允许位于避让位置的接合构件在避让缺口104内枢转，甚至还可以允许接合构件从操作位置向避让位置移动的过程中绕第一枢转轴线AX1枢转，以提高对接合构件的姿态进行调整的效率，进而有助于提高取送料装置在上货物下架过程中的工作效率。可以理解的是，避让缺口104不是必须的，通过设置避让缺口104可以在能够对较大尺寸的容器130进行避让的情况下，减少支撑架100的沿高度方向的尺寸，进而有助于支撑架100沿竖向方向D3的结构的紧凑化。
可以理解，作为在本发明的变形，支撑架100可以不包括顶端梁。
承载组件
如图1至图3，以及图12至图16中可见，承载组件连接至上文的支撑架100。承载组件具有用于承载容器130的承载表面111。承载表面111沿第一水平方向D1的两端的外侧区域分别为第一目标位置和第二目标位置。第一目标位置可以与第一开口端101对应设置，第二目标位置可以与第二开口端102对应设置，且第一目标位置比第二目标位置更靠近第一开口端101。
其中，该第一目标位置、第二目标位置可以为货架上相应的容器位。第一目标位置与第二目标位置可以是同一容器位，也可以是不同的容器位，在此不做限制。
此外，承载组件可以包括至少一个输送带110。输送带110构造为驱动容器130从第一开口端101和第二开口端102中的一个移动至第一开口端101和第二开口端102中的另一个。输送带110的上表面构成承载表面111，以用来承载容器130。
在图示实施方式中，输送带110可以是单个整体的环状构件(如图16所示)。该输送带110的沿垂直于第一水平方向D1的第二水平方向D2的尺寸与容器130沿第二水平方向D2的尺寸相适配。下文将详述的取放组件121对应输送带110沿第二水平方向D2的中部设置。该输送带110的上表面构成上文的承载表面111。在该实施方式中，承载表面111是沿第二水平方向D2完整的表面。
在图示实施方式中，输送带110还可以是两条环状构件(如图1至图3，以及图12和图13所示)。两条输送带110沿第二水平方向D2间隔设置，分别对应于支撑架100的沿第二水平方向D2的两端。取放组件121位于两条输送带110之间。在对容器130进行承载时，两条输送带110分别与容器130的沿第二水平方向D2的两端的底部对应。两条输送带110的上表面一同构成上文的承载表面111。即，在该实施方式中，承载表面111是沿第二水平方向D2分开的两个表面。在该实施方式的变形中，参阅14和图15，可以在两条输送带110之间再增设一条输送带110，以对容器130的底部的中间位置进行承 载。从而可以防止容器130陷入两条输送带110之间的开口112，甚至可以防止容器130从该开口112处脱离。
此外，输送带110的两侧设置可以设置有防坠挡边103，防坠挡边103设置在支撑架100沿第二水平方向D2的两端。防坠挡边103从取送容器装置的第一开口端101延伸至第二开口端102。防坠挡边103被构造为用于将容器130限制在承载表面111上，即限制容器130在承载表面111上沿第二水平方向D2移动的行程，进而防止容器130从输送带110的两侧脱离输送带110。第二水平方向D2垂直于第一水平方向D1和竖向方向D3。
此外，支撑架100上还设置有引导机构103a，引导机构103a可以是位于承载表面111的沿第二水平方向D2的两端。引导机构103a构造为朝向第二水平方向D2的中心引导输送带110上的容器130，使得承载表面111上的容器130位于承载表面111沿第二水平方向D2的中心位置。
例如在图示的实施方式中，防坠挡边103设置两个，两个防坠挡边103分别位于承载表面111的沿第二水平方向D2的两侧。引导机构103a可以构造为两个防坠挡边103的相向一表面。防坠挡边103在第一开口端101至第二开口端102之间的中部区域沿第二水平方向D2向内侧延伸形成引导机构103a。两个防坠挡边103的相向一表面的间距沿着容器130移至承载表面111的方向减小。
取放组件121
参阅图1至图9，图12至图17，取放组件121位于承载组件的上方。取放组件121具有用于可分离地连接至容器130的接合构件。接合构件能够在第一目标位置和承载组件之间进行单向或双向传递容器130，而且能够在第二目标位置和承载组件之间进行单向或双向传递容器130。接合构件能够在第一目标位置和承载组件之间进行单向传递容器130，即，接合构件能够从第一目标位置取容置并移动至承载组件上，或者将承载组件上的容器130推送至第一目标位置。接合构件能够在第一目标位置和承载组件之间双向传递容器130，即，接合构件既能够从第一目标位置取容置并移动至承载组件上，又能够将承载组件上的容器130推送至第一目标位置。
在图示的实施方式中，取放组件121还包括操纵杆121a和旋转架121c。操纵杆121a的杆长方向的一端连接至旋转架121c，操纵杆121a的杆长方向的另一端连接至接合构件。其中，接合构件构造为吸盘121b。吸盘121b的吸力由抽真空的装置提供，并通过气路管件连通至吸盘121b的朝向外侧的表面。从而在吸盘121b与容器130的表面接触后，通过启动抽真空装置抽真空实现吸盘121b与容器130的接合，通过关闭抽真空装置或者关闭串联在气流管件上的阀断开真空，以实现吸盘121b与容器130的脱离。
可以理解，作为本实施方式的变形，接合构件可以构造为挂钩。相应地，可以在容器130的端面上或者端面附近(例如端面的侧边)或者容器130的上沿设置筋板等能够与挂钩钩连的结构。通过设置挂钩可以钩住容器130，实现取放组件121与容器130的连接。
作为本实施方式的其他变形，接合构件可以构造为磁铁。相应地，可以在容器130上设置能够与磁铁通过磁性吸引的铁质构件或者另一个磁铁。接合构件优选采用电磁铁。电磁铁通过开关电连接至控制器，通过控制器控制开关的断开和闭合，实现控制电磁铁与容器130的接合和脱离。
旋转组件124
参阅图1至图11，以及图14至图17，旋转组件124具有转动轴121d，并通过转动轴121d连接至上文的取放组件121。旋转组件124用于驱动上文中的吸盘121b绕垂直于承载表面111的第一枢转轴线AX1旋转，以使得接合构件能够朝向第一目标位置或第二目标位置。
在图示实施方式中，旋转组件124包括直线气缸124a、齿条124b和齿轮124c。直线气缸124a包括缸体和沿垂直于第一枢转轴线AX1的方向能够移动的活塞杆。齿条124b连接至活塞杆。齿轮124c连接于转动轴121d，并与齿条124b啮合。其中，齿轮124c的轴线与转动轴121d的轴线重合。启动气缸，活塞杆做伸出和回缩运动，继而通过齿条124b、齿轮124c传递动力至转动轴121d，以带动转动轴121d实现正转和反转，最终改变接合构件的朝向，使得接合构件朝向第一目标位置或者第二目标位置。可以通过在吸盘121b移动的行程两端设置限位结构，以限制吸盘121b移动的范围。由于直线气缸124a 为本领域的公知技术，在此不对其进行详述。
参阅图12和图13，作为上述旋转组件的另一种实施方式，该实施方式的旋转组件224包括直线气缸224a、连杆和连接件。直线气缸224a包括缸体和沿垂直于第一枢转轴线AX1的方向能够移动的活塞杆。连杆224d的第一端绕平行于第一枢转轴线AX1的第二枢转轴线AX2可枢转地连接至活塞杆。连接件的第一端绕平行于第一枢转轴线AX1的第三枢转轴线AX3可枢转地连接至连杆224d的第二端。连接件的第二端固定连接至转动轴121d。在图示的实施方式中，连接件构造为圆盘224e。第三枢转轴线AX3不与第一枢转轴线AX1重合。可以理解的是，作为该实施方式的变形，连接件可以构造为曲柄。该曲柄可以是一个杆件。
可以理解，作为上述旋转组件的其他实施方式，旋转组件可以包括电机或者旋转气缸。即，可以通过电机直接驱动转动轴121d旋转，进而实现调节上文中的吸盘121b旋转以改变吸盘121b的朝向。电机与转动轴121d之间可以增设诸如减速齿轮组的减速组件，以调整转动轴121d枢转的速度符合实际取货要求。
还可以理解，作为上述旋转组件的其他实施方式，旋转组件可以包括旋转气缸。也可以通过将旋转气缸的输出部连接至转动轴121d，旋转气缸的输出部的旋转轴线与第一枢转轴线AX1重合。启动旋转气缸可以驱使转动轴121d绕第一枢转轴线AX1旋转，进而实现改变接合构件的朝向。旋转气缸为本领域的公知技术，在此不再详述。
竖向移动组件123
如图1至图9，以及图12至图17中可见，竖向移动组件123连接至下文将要详述的横向移动机构。竖向移动组件123用于沿垂直于承载表面111的竖向方向D3移动旋转组件124和取放组件121。即，竖向移动组件123用于实现驱动旋转组件124和取放组件121一起沿竖直方向移动，从而使得取放组件121上的吸盘121b的高度与容器130的高度适配，或者使得吸盘121b位于避开容器130的避让位置。
可选地，竖向移动组件123至少部分地延伸穿过上文中的支撑架100上的避让缺口104，从而能够在取送高度尺寸较大的容器130时，竖向移动组件123能够带动吸盘121b移动至更高的位置，以避开承载表面111上的容器130。同时，可以有助于减小支撑架100的沿竖直方向的尺寸。
在图示的实施方式中，竖向移动组件具体包括竖向导轨123a和竖向移动构件123b。竖向导轨123a沿竖向方向D3设置于下文将要详述的横向移动构件122b。竖向移动构件123b可移动地连接至竖向导轨123a，同时，竖向移动构件123b还连接至旋转组件124。竖向移动组件123构造为在避让位置和操作位置之间移动取放组件121。当取放组件121位于避让位置时，取放组件121可以部分地延伸穿过避让缺口104，也可以完全位于避让缺口104的上方；当取放组件121位于操作位置时，取放组件121位于避让缺口104的下方，以使得吸盘121b的高度与容器130的高度适应，确保吸盘121b能够沿第一水平方向D1接合容器130和移动容器130。
横向移动机构
如图1至图9，以及图12至图17所示，横向移动机构连接于支撑架100，并能够相对于支撑架100沿第一水平方向D1移动，从而能够沿第一水平方向D1相对于支撑架100移动接合构件。
在图示的实施方式中，横向移动机构构造为横向移动组件122。横向移动组件122设置于竖向移动组件123和支撑架100之间，以用于驱动竖向移动组件123、旋转组件124和取放组件121三者一起沿第一水平方向D1移动。
具体地，横向移动组件122包括横向导轨122a和横向移动构件122b。横向导轨122a沿第一水平方向D1设置于支撑架100。横向移动构件122b沿第一水平方向D1滑动连接至横向导轨122a，并且，横向移动构件122b连接至竖向移动组件123。
可以理解，在本实施方式的变形中，横向移动组件122的位置和竖向移动组件123的位置可以互换。即，在该变形的实施方式中，横向移动组件122设置于旋转组件124和竖向移动组件123之间，以用于驱动旋转组件124和取放组件121两者一起横向移动。具体地，竖向移动组件123的竖向导轨123a沿竖向方向D3设置于支撑架100，竖向移动组件123的竖向移动构件123b可移动地连接至竖向导轨123a， 竖向移动构件123b连接至横向移动组件122。横向移动组件122的横向导轨122a沿第一水平方向D1设置于竖向移动构件123b，横向移动组件122的横向移动构件122b可移动地连接至横向导轨122a，横向移动构件122b连接至旋转组件124。
根据本发明的取送容器装置，在支架上设置承载组件，通过承载组件的承载表面111承载容器130，承载表面111沿第一水平方向D1的两端的外侧区域分别为第一目标位置和第二目标位置；通过承载组件的上方的取放组件121的接合构件可分离地连接容器130，以在用于在第一目标位置和承载组件之间进行单向或双向传递容器130，且用于在第二目标位置和承载组件之间进行单向或双向传递容器130；通过旋转组件124的转动轴121d连接至取放组件121，以驱动取放组件121绕垂直于承载表面111的第一枢转轴线AX1旋转，从而使得接合构件能够朝向第一目标位置或第二目标位置；通过竖向移动组件123连接至支撑架100，用于在沿垂直于所述承载表面111的竖向方向D3上移动旋转组件124和取放组件121，从而能够使得取放组件121的高度与待取送的容器130的高度适配或者对承载表面111上的容器130进行避让；通过将横向移动机构设置于竖向移动组件123和/或接合构件，以通过横向移动机构沿第一水平方向D1相对于支撑架100移动接合构件，使得朝向第一目标位置的接合构件能够沿第一水平方向D1在承载表面111和第一目标位置之间移动，或者使得朝向第二目标位子的接合构件能够沿第一水平方向D1在承载表面111和第二目标位置之间移动，从而实现沿第一水平方向D1传递容器130。本发明的取送容器装置，通过将取放组件121设置在承载组件的上方，从而不会占用支撑架100下部的空间，有助于对货架更低位置实现容器130的取送；由于接合构件并通过旋转组件124的旋转实现朝向不同方向，以实现对第一目标位置或第二目标位置的取送料，不仅简化了取放组件121的结构，还有助于减小对沿第一水平方向D1的空间占用；又由于接合构件是绕竖直的第一枢转轴线AX1旋转，从而可以减少对竖直方向的空间占用，进而有利于实现取放容器130装置沿竖直方向的结构的紧凑化。
参阅图1至图11，以及图14至图17，本发明的取送容器装置还可以包括接近传感器121f。接近传感器121f设置至旋转架121c并与操纵杆121a的第一端沿操纵杆121a的长度方向间隔布置。接近传感器121f用于在操纵杆121a的第一端靠近接近传感器121f时产生感应信号。在实际应用时，需要配合具有数据处理和分析功能的控制器(例如计算机)进行使用，从而通过控制器接收接近传感器121f的感应信号进行分析处理，以判断接合构件是否可靠地与货架上的容器130接合(抵接)，或者将容器130在货架上推送到位。
取放组件还可以包括两个弹簧。同时在图示的实施方式中，旋转架121c上具有沿竖向方向D3凸出设置的安装部121c1，具有供操纵杆121a的第一端沿操纵杆121a的长度方向活动穿设在安装部121c1。两个弹簧分别位于安装部121c1的两侧，并分别与操纵杆121a相连。两个弹簧在接合构件受力时缓冲来自两个相反方向的容器的作用力，以防接合构件受到损坏。
可选地，还可以在支撑架100上设置一些用于感应容器130的到位信号的位置传感器。位置传感器可以设置在支撑架100的对应第一开口端101、第二开口端102的位置。位置传感器可以采用现有技术中的光电感应开关进行实施。同时，控制器还与竖向移动组件123、横向移动组件122和旋转组件124等的电控连接端连接，以根据上述位置感应开关、接近传感器等传感器采集的信息，进行分析处理和判断，以调控竖向移动组件123、横向移动组件122和旋转组件124等的运行状态。
例如，在实际应用中，同一货架可以具有不同尺寸的货位，以承载不同体积的容器。在对这样的货架的不同货位进行取送容器时，需要预先获取容器的高度，以便接合构件能够与待取送的容器对接。在另一些应用场合中，不同货架的货位尺寸也可能是不同的，同样，本实施方式的取送容器装置如果要实现对不同货架的不同尺寸的货位进行取送容器的操作是，也需要预先获取相应货位的容器的尺寸。对此，本实施方式的取送容器装置进一步包括控制器和用于检测容器的高度信息的传感器。该传感器设置于支撑架的沿第一水平方向的端部(一端或两端)。控制器连接至传感器并连接至竖向移动组件，控制器配置为执行：
接收传感器检测的高度信息；
根据高度信息，确定取放组件沿竖向方向所需的竖向移动距离；
根据竖向移动距离，控制竖向移动组件带动取放组件沿竖向方向移动竖直移动距离。
其中，用于检测容器的高度信息的传感器，一方面检测容器尺寸，控制接合构件调整到合适的取送位置，以匹配不同尺寸的容器；另一方面也可以作为调整取放组件移动到避让位置的依据，因为在取送不同高度尺寸的容器时，避让位置的实际高度可能是不同的。
进一步地，还可以在两个输送带110之间的开口112处布置一些传感器(比如上述的用于检测容器的高度信息的传感器)或图像采集装置。比如，可以在开口112处设置摄像头用于采集容器130的标识信息等。
在图示的实施方式中，吸盘121b绕转动轴121d旋转的实现方式可以为：
参阅图10和图11，通过直线气缸124a沿第二水平方向D2驱动齿条124b运动，通过齿轮齿条机构带动吸盘杆(操纵杆121a)实现往复180度旋转。
在图示的实施方式中，从第一开口端101取货的实现方式可以为：
当取送容器装置随输送线移动到取料位时，先将吸盘121b在上方进行旋转180度，让吸盘121b朝向第一开口端101。然后通过竖向移动组件123将吸盘121b下降至操作位置(参阅图1至图3)。再然后通过横向移动组件122将吸盘121b沿第一水平方向D1移动，以将吸盘121b整体伸出(例如伸出第一开口端101)。吸盘121b杆上装配弹簧和接近传感器121f。当吸盘121b伸出并抵靠容器时(参阅图4)，吸盘121b杆收到阻力而回缩，使得吸盘121b杆尾端靠近接近传感器121f并激发接近传感器121f产生感应信号，以自适应取容器的位置。在确定吸盘121b可靠接触容器时，可以对吸盘121b与容器之间的空气进行抽真空，以使得吸盘121b可靠地附接在容器上。此时，吸盘121b通过横向移动组件122的运行而沿第一水平方向D1回撤，以将容器拉至输送线上的取送容器装置内(参阅图5)，当容器到达外缘传感器的感应范围内(容器完全移至取送容器装置的输送表面的上部)时，吸盘121b破真空，使得吸盘121b与容器脱离。然后，吸盘121b通过横向移动组件122沿第一水平方向D1回撤并通过竖向移动组件123沿竖直方向上升至容器上方的避让位置(参阅图5)，至此完成取货。完成取货后，位于取送容器装置的容器由输送线送至系统预设的目标位置。
在图示的实施方式中，从第二开口端102送货的实现方式可以为：
当取送容器装置随输送线移动到送料位时，先将吸盘121b在上方进行旋转180度，让吸盘121b朝向第二开口端102(参阅图7)。吸盘121b通过竖向移动组件123运行而沿竖直方向D3下降至操作位置，并通过横向移动组件122沿第一水平方向D1朝第二开口端102，直至与容器130附接，再利用横向移动组件122沿第一水平方向D1移动吸盘121b直至将容器130推出第二开口端102(参阅图8)，并送到密集货架(或其他承接容器130的结构)的规定位置。然后，通过横向移动组件122带动吸盘121b回撤，并通过竖向移动组件123带动吸盘121b上升，直至返回取送容器装置的上方位置(参阅图9)，至此完成送货。
在图示的实施方式中，从第二开口端102取货的实现方式与第一开口端101取货的实现方式原理相同，不再赘述。同理，从第一开口端101送货的实现方式与第二开口端102送货的实现方式原理相同，在此也不再作描述赘述。
第二实施方式
根据本发明的第二实施方式的取送容器装置中，除了横向移动机构的位置以外，具有与根据第一实施方式的取送料装置大致相同的构造，其中相同功能的结构被赋予相同或类似的附图标记。因此，为叙述简洁，此处仅对区别的技术特征进行详细介绍。
横向移动机构设置在转动轴和接合构件之间，比如横向移动机构可以是设置在转动轴与取放组件之间，也可以是作为取放组件的一部分。横向移动机构包括固定构件和活动构件。其中，固定构件连接至转动轴，活动构件连接至接合构件，且活动构件相对于固定构件沿水平方向能够伸缩。即通过位于转动轴和接合构件之间的横向移动机构调节接合构件与转动轴之间的间距，实现调整接合构件伸出和退回。需要注意的是，在启动横向移动机构之前，可以先启动旋转组件驱动接合构件朝向第一目标位置或第二目标位置，以防接合构件与取送容器装置的其他结构发生干涉。
其中，横向移动机构可以构造为直线气缸。直线气缸的缸体连接至转动轴，直线气缸的活塞杆连接至接合构件。
可以理解的是，作为本实施方式的变形，可以包括上述两种横向移动机构。即，两个横向移动机构进行组合使用，从而可实现更长的行程。此外，还可以实现双伸位，以在第一水平方向的不同距离的两个位置取送容器。该实施方式可适用于货位沿第一水平方向贯通式的货架。例如，两个横向移动机构中的一个横向移动机构采用第一实施方式的横向移动机构，通过第一实施方式的横向移动机构可以驱使接合构件移动至第一目标位置，并且可以驱动接合构件移动至第二目标位置。同时，取放组件包括另一个横向移动机构。取放组件的横向移动机构包括连接至转动轴的固定构件和相对于固定构件沿水平方向能够伸缩的活动构件，活动构件连接至接合构件。通过取放组件的横向移动机构用于驱动接合构件移动至第三目标位置，并且用于驱动接合构件移动至第四目标位置。沿第一水平方向，第三目标位置比第一目标位置更远离支撑架，第四目标位置比第二目标位置更远离支撑架。其中，取放组件的横向移动机构的构造也可以和第一实施方式的横向移动机构的构造相同。
以在承载组件分别与第一目标位置和第三目标位置之间传递容器为例，取送容器的过程可以为：先启动两个横向移动机构中的一个横向移动机构，以驱使接合构件以在承载组件和第一目标位置之间传递容器；然后，同时启动两个横向移动机构，以驱使接合构件在承载组件和第三目标位置之间传递容器。
根据本发明的上述任意一种实施方式的取送容器装置，能够针对自动化密集存储中，货物摆放密集、且侧边没有货叉通道的货架，有助于实现自动化取货。还能针对大景深以及低库位的存取，从而使得本发明的取送料装置能够适应更全面的密集存储的取送货环境。
参阅图17，本发明还提供了一种装卸单元，包括架体300。架体300上设置上述任意一种实施方式的取送容器装置，取送容器装置可以构造为可移动地设置于架体300。即，取送容器装置可以相对于架体300移动至与第一目标位置相对应的位置，或者相对于架体300移动至与第二目标位置相对应的位置。其中，第一目标位置可以是货架400上的货位，也可以是远离货架400的位置。
根据本发明的装卸单元，通过应用上述的取送容器装置，既能够完成取容器工作，又能够完成送容器的工作，提高了设备的利用率和工作效率，减轻了人力劳动，有效地降低了生产成本。
具体地，架体300包括X轴轨道310和Y轴轨道320。X轴轨道310的延伸方向平行于取送容器装置的承载表面，且垂直于第一水平方向D1。Y轴轨道320的延伸方向与竖向方向D3平行Y轴轨道320构造为沿着X轴轨道310的延伸方向可移动地连接至X轴轨道310。取送容器装置构造为沿竖向方向D3可移动地连接至Y轴轨道320。取送容器装置沿X轴轨道310的延伸方向(可以是平行于第二水平方向D2)移动时，可以实现改变取送容器装置沿X轴轨道310的延伸方向的位置。取送容器装置沿Y轴轨道320的延伸方向(竖向方向D3)移动时，可以实现改变取送容器装置沿Y轴轨道320的延伸方向的位置。
在图示的实施方式中，X轴轨道310包括地轨，Y轴轨道320的下端可移动地连接至地轨。可选地，可以在地轨上设置能够沿X轴轨道310滑移的立柱，并将Y轴轨道320设置在立柱上。
可以理解，在图示的实施方式的变形中，X轴轨道310进一步可以包括天轨，天轨位于地轨的上方，Y轴轨道320的上端可移动地连接至天轨。在X轴轨道310包括天轨的应用场景中，架体300可以构造为门架(龙门架)，天轨安装在门架的顶部，地轨安装在门架的底部。
为了提高取送容器130的效率，本发明的Y轴轨道320至少可以设置两个。每个Y轴轨道320上设置有至少一个取送容器装置。两个Y轴轨道320的取送容器装置可以协同工作，实现在X轴轨道310的不同位置实现取送货。
例如，在图示的实施方式中，Y轴轨道320设置两个，每个Y轴轨道320上设置一个取送容器装置。
本发明的装卸单元还可以包括用于驱使Y轴轨道320沿X轴轨道310的延伸方向移动和驱使取送容器装置沿Y轴轨道320的延伸方向移动的驱动组件。驱动组件可以包括步进电机、丝杆和螺母等构件，也可以参照现有技术中的其他方式进行实施，在此不再赘述。
本发明还提供了一种拣选系统，如图17所示的装卸单元为拣选系统的组成部分。根据本发明的拣 选系统包括工作站区、货架400停靠区，以及根据上述任一种实施方式或变形的装卸单元。其中，工作站区内设置有拣选工位。货架400停靠区构造为用于停靠货架400，货架400停靠区沿第一水平方向D1与工作站区间隔布置。装卸单元位于工作站区和货架400停靠区的间隔处，装卸单元构造为能够将容器130在工作站区与货架400停靠区之间转移。
可选地，工作站区还包括输送线。输送线用于接收取送容器装置中转运过来的容器130。或者，用于将位于输送线上的容器130输送至取送容器130组件上。
装卸单元在拣选系统中，既能够完成取容器工作，又能够完成送容器的工作，提高了设备的利用率和工作效率，减轻了人力劳动，有效地降低了生产成本，具有突出的优越性。根据本发明的拣选系统，通过应用上述的装卸单元，有助于实现在更紧凑的密集存储环境中，适应更高效率的货物上架和货物下架需求。
除非另有定义，本文中所使用的技术和科学术语与本发明的技术领域的技术人员通常理解的含义相同。本文中使用的术语只是为了描述具体的实施目的，不是旨在限制本发明。本文中出现的诸如“设置”等术语既可以表示一个部件直接附接至另一个部件，也可以表示一个部件通过中间件附接至另一个部件。本文中在一个实施方式中描述的特征可以单独地或与其它特征结合地应用于另一个实施方式，除非该特征在该另一个实施方式中不适用或是另有说明。
本发明已经通过上述实施方式进行了说明，但应当理解的是，上述实施方式只是用于举例和说明的目的，而非意在将本发明限制于所描述的实施方式范围内。本领域技术人员可以理解的是，根据本发明的教导还可以做出更多种的变型和修改，这些变型和修改均落在本发明所要求保护的范围以内。

Claims (30)

  1. 一种取送容器装置，所述取送容器装置包括：
    支撑架(100)；
    承载组件，所述承载组件连接至所述支撑架(100)，所述承载组件具有用于承载容器的承载表面(111)，所述承载表面(111)沿第一水平方向(D1)的两端的外侧区域分别为第一目标位置和第二目标位置；
    取放组件(121)，所述取放组件(121)位于所述承载组件的上方，所述取放组件(121)具有用于可分离地连接至所述容器的接合构件，以用于在所述第一目标位置和所述承载组件之间进行单向或双向传递所述容器，且用于在所述第二目标位置和所述承载组件之间进行单向或双向传递所述容器；
    旋转组件(124)，所述旋转组件(124)具有连接至所述取放组件(121)的转动轴(121d)，用于驱动所述取放组件(121)绕垂直于所述承载表面(111)的第一枢转轴线(AX1)旋转，以使得所述接合构件能够朝向所述第一目标位置或所述第二目标位置；
    竖向移动组件(123)，所述竖向移动组件(123)连接至所述支撑架(100)，用于沿垂直于所述承载表面(111)的竖向方向(D3)移动所述旋转组件(124)和所述取放组件(121)；以及
    横向移动机构，所述横向移动机构用于沿所述第一水平方向(D1)相对于所述支撑架(100)移动所述接合构件，所述横向移动机构设置于所述竖向移动组件(123)和/或所述接合构件。
  2. 根据权利要求1所述的取送容器装置，所述横向移动机构构造为横向移动组件(122)，所述横向移动组件(122)设置于所述竖向移动组件(123)和所述支撑架(100)之间，以用于驱动所述竖向移动组件(123)、所述旋转组件(124)和所述取放组件(121)三者一起沿所述第一水平方向(D1)移动。
  3. 根据权利要求2所述的取送容器装置，所述横向移动组件(122)包括：
    横向导轨(122a)，所述横向导轨(122a)沿所述第一水平方向(D1)设置于所述支撑架(100)；
    横向移动构件(122b)，所述横向移动构件(122b)可移动地连接至所述横向导轨(122a)，所述横向移动构件(122b)连接至所述竖向移动组件(123)。
  4. 根据权利要求3所述的取送容器装置，所述竖向移动组件(123)包括：
    竖向导轨(123a)，所述竖向导轨(123a)沿所述竖向方向(D3)设置于所述横向移动构件(122b)；
    竖向移动构件(123b)，所述竖向移动构件(123b)可移动地连接至所述竖向导轨(123a)，所述竖向移动构件(123b)连接至所述旋转组件(124)。
  5. 根据权利要求1所述的取送容器装置，所述横向移动机构构造为横向移动组件(122)，所述横向移动组件(122)设置于所述旋转组件(124)和所述竖向移动组件(123)之间，以用于驱动所述旋转组件(124)和所述取放组件(121)两者一起横向移动。
  6. 根据权利要求5所述的取送容器装置，所述竖向移动组件(123)包括：
    竖向导轨(123a)，所述竖向导轨(123a)沿所述竖向方向(D3)设置于所述支撑架(100)；
    竖向移动构件(123b)，所述竖向移动构件(123b)可移动地连接至所述竖向导轨(123a)，所述竖向移动构件(123b)连接至所述横向移动组件(122)。
  7. 根据权利要求6所述的取送容器装置，所述横向移动组件(122)包括：
    横向导轨(122a)，所述横向导轨(122a)沿所述第一水平方向(D1)设置于所述竖向移动构件(123b)；
    横向移动构件(122b)，所述横向移动构件(122b)可移动地连接至所述横向导轨(122a)，所述横向移动构件(122b)连接至所述旋转组件(124)。
  8. 根据权利要求1所述的取送容器装置，所述横向移动机构包括连接至所述转动轴(121d)的固定构件和相对于所述固定构件沿水平方向能够伸缩的活动构件，所述活动构件连接至所述接合构件。
  9. 根据权利要求2至7中任一项所述的取送容器装置，所述取放组件(121)包括另一个所述横向移动机构，所述横向移动机构包括连接至所述转动轴(121d)的固定构件和相对于所述固定构件沿水平方向能够伸缩的活动构件，所述活动构件连接至所述接合构件，用于驱动所述接合构件移动至第三目标位置，并且用于驱动所述接合构件移动至第四目标位置，沿所述第一水平方向(D1)，所述第三目标位置比所述第一目标位置更远离所述支撑架(100)，所述第四目标位置比所述第二目标位置更远离所述支撑架(100)。
  10. 根据权利要求1所述的取送容器装置，所述取送容器装置包括第一开口端(101)和第二开口端(102)；所述承载组件包括至少一个输送带(110)，所述输送带(110)构造为驱动所述容器从所述第一开口端(101)和所述第二开口端(102)中的一个移动至所述第一开口端(101)和所述第二开口端(102)中的另一个。
  11. 根据权利要求10所述的取送容器装置，所述取送容器装置包括至少两条所述输送带(110)，至少两条所述输送带(110)沿垂直于所述第一水平方向(D1)的第二水平方向(D2)间隔设置。
  12. 根据权利要求11所述的取送容器装置，所述输送带(110)的数目为两条，所述取放组件(121)位于两条所述输送带(110)之间。
  13. 根据权利要求1所述的取送容器装置，所述支撑架(100)的顶部具有避让缺口(104)，所述竖向移动组件(123)至少部分地延伸穿过所述避让缺口(104)。
  14. 根据权利要求13所述的取送容器装置，所述竖向移动组件(123)构造为在避让位置和操作位置之间移动所述取放组件(121)，位于所述避让位置的所述取放组件(121)至少部分地延伸穿过所述避让缺口(104)，位于所述操作位置的所述取放组件(121)位于所述避让缺口(104)的下方。
  15. 根据权利要求10所述的取送容器装置，所述输送带(110)的两侧设置有防坠挡边(103)，所述防坠挡边(103)被构造为用于将容器限制在所述承载表面(111)上。
  16. 根据权利要求15所述的取送容器装置，所述取送容器装置还包括引导机构(103a)，所述引导机构(103a)构造为朝向第二水平方向(D2)的中心引导所述输送带(110)上的所述容器，所述第二水平方向(D2)垂直于所述第一水平方向(D1)和所述竖向方向(D3)。
  17. 根据权利要求16所述的取送容器装置，所述防坠挡边(103)从所述取送容器装置的所述第一开口端(101)延伸至所述第二开口端(102)，所述防坠挡边(103)在所述第一开口端(101)至所述第二开口端(102)之间的中部区域沿所述第二水平方向(D2)向内侧延伸形成所述引导机构(103a)。
  18. 根据权利要求1所述的取送容器装置，所述接合构件构造为吸盘、挂钩或磁铁。
  19. 根据权利要求1所述的取送容器装置，所述旋转组件(124)包括：
    直线气缸(224a)，所述直线气缸(224a)包括缸体和沿垂直于所述第一枢转轴线(AX1)的方向 能够移动的活塞杆；
    齿条，所述齿条连接至所述活塞杆；以及
    齿轮，所述齿轮连接于所述转动轴(121d)，并与所述齿条啮合。
  20. 根据权利要求1所述的取送容器装置，所述旋转组件(124)包括：
    直线气缸(224a)，所述直线气缸(224a)包括缸体和沿垂直于所述第一枢转轴线(AX1)的方向能够移动的活塞杆；
    连杆(224d)，所述连杆(224d)的第一端绕平行于所述第一枢转轴线(AX1)的第二枢转轴线(AX2)可枢转地连接至所述活塞杆；以及
    连接件，所述连接件的第一端绕平行于所述第一枢转轴线(AX1)的第三枢转轴线(AX3)可枢转地连接至所述连杆(224d)的第二端，所述连接件的第二端连接至所述枢转轴，所述连接件构造为曲柄或圆盘(224e)。
  21. 根据权利要求1所述的取送容器装置，所述旋转组件(124)包括：
    电机，所述电机的输出轴连接至所述转动轴(121d)；或者
    旋转气缸，所述旋转气缸的输出部连接至所述转动轴(121d)。
  22. 根据权利要求1所述的取送容器装置，所述取送容器装置进一步包括：
    传感器，所述传感器设置于所述支撑架(100)的沿所述第一水平方向(D1)的端部，所述传感器用于检测所述容器的高度信息。
  23. 根据权利要求22所述的取送容器装置，所述取送容器装置还包括：
    控制器，所述控制器连接至所述传感器并连接至所述竖向移动组件(123)，所述控制器配置为执行：
    接收所述传感器检测的所述高度信息；
    根据所述高度信息，确定所述取放组件(121)沿所述竖向方向(D3)所需的竖向移动距离；
    根据所述竖向移动距离，控制所述竖向移动组件(123)带动所述取放组件(121)沿所述竖向方向(D3)移动所述竖直移动距离。
  24. 一种装卸单元，包括架体(300)，所述架体(300)上设置权利要求1至23中任一项所述的取送容器装置，所述取送容器装置构造为可移动地设置于所述架体(300)。
  25. 根据权利要求24所述的装卸单元，所述架体(300)包括：
    X轴轨道(310)，所述X轴轨道(310)的延伸方向平行于所述取送容器装置的承载表面，且垂直于所述第一水平方向(D1)；
    Y轴轨道(320)，所述Y轴轨道(320)的延伸方向与所述竖向方向(D3)平行所述Y轴轨道(320)构造为沿着X轴轨道(310)的延伸方向可移动地连接至所述X轴轨道(310)，所述取送容器装置构造为沿所述竖向方向(D3)可移动地连接至所述Y轴轨道(320)。
  26. 根据权利要求25所述的装卸单元，所述X轴轨道(310)包括地轨，所述Y轴轨道(320)的下端可移动地连接至所述地轨。
  27. 根据权利要求26所述的装卸单元，所述X轴轨道(310)进一步包括天轨，所述天轨位于所述 地轨的上方，所述Y轴轨道(320)的上端可移动地连接至所述天轨。
  28. 根据权利要求25至27中任一项所述的装卸单元，所述Y轴轨道(320)至少设置有两个，每个所述Y轴轨道(320)上设置有至少一个所述取送容器装置。
  29. 一种拣选系统，所述拣选系统包括：
    工作站区，所述工作站区内设置有拣选工位；
    货架停靠区，所述货架停靠区构造为用于停靠货架(400)，所述货架停靠区沿所述第一水平方向(D1)与所述工作站区间隔布置；以及
    根据权利要求24至28中任一项所述的装卸单元，所述装卸单元位于所述工作站区和所述货架停靠区的间隔处，所述装卸单元构造为能够将容器在所述工作站区与所述货架停靠区之间转移。
  30. 根据权利要求29所述的拣选系统，所述工作站区还包括输送线，所述输送线用于接收取送容器装置中转运过来的所述容器；或者，用于将位于输送线上的所述容器输送至取送容器组件上。
PCT/CN2023/085171 2022-07-07 2023-03-30 取送料装置、装卸单元及拣选系统 WO2024007634A1 (zh)

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