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EP-4737358-A1 - CONTAINER RETRIEVAL AND PLACEMENT SYSTEM AND METHOD, A CONTAINER TRANSPORT DEVICE, AND CONTAINER RETRIEVAL AND PLACEMENT APPARATUS

EP4737358A1EP 4737358 A1EP4737358 A1EP 4737358A1EP-4737358-A1

Abstract

The embodiments of the present application provides a workbin picking up and placing system and method, a workbin transporting device, and a workbin picking up and placing apparatus. The system includes a workbin transporting device and a control platform; the workbin transporting device includes a controller, a travelling chassis, a workbin temporary storage mechanism and a workbin picking up and placing apparatus; the controller of the workbin transporting device is communicatively connected with the control platform; the controller is electrically connected with the travelling chassis, the telescopic fork assembly and the shift fork pair assembly; the controller is configured for receiving a picking up instruction or a placing instruction sent by the control platform, and controlling the movement of the travelling chassis and the working states of the telescopic fork assembly and the shift fork pair assembly based on the picking up instruction or the placing instruction, wherein the shift fork pair assembly includes a rear shift fork pair, a middle shift fork pair and a front shift fork pair which are sequentially provided, and at least the middle shift fork pair and the front shift fork pair are movably connected with the outer fork plate, so that the controller can separately control the working states of the middle shift fork pair and the front shift fork pair, thereby expanding the scope of application of the workbin picking up and placing system.

Inventors

  • QIAO, Zhi
  • WU, CHAO
  • WANG, ZHENG

Assignees

  • Hangzhou Hikrobot Co., Ltd.

Dates

Publication Date
20260506
Application Date
20240419

Claims (20)

  1. A workbin picking up and placing system, comprising: a workbin transporting device (1) and a control platform (70); wherein the workbin transporting device (1) comprises a controller (80), a travelling chassis (10), a workbin temporary storage mechanism (30) and a workbin picking up and placing apparatus (40); the controller (80) of the workbin transporting device (1) is communicatively connected with the control platform (70); the workbin picking up and placing apparatus (40) comprises a bearing part (41), a telescopic fork assembly (42) and a shift fork pair assembly (43); the telescopic fork assembly (42) is provided at both sides of the bearing part (41); the shift fork pair assembly (43) is provided on an outer fork plate of the telescopic fork assembly (42) and comprises a rear shift fork pair (431), a middle shift fork pair (432) and a front shift fork pair (433) which are sequentially provided, and at least the middle shift fork pair (432) and the front shift fork pair are movably connected with the outer fork plate; the controller (80) is electrically connected with the travelling chassis (10), the telescopic fork assembly (42) and the shift fork pair assembly (43); the controller (80) is configured for receiving a picking up instruction or a placing instruction sent by the control platform (70), and controlling the traveling chassis (10) to move based on the picking up instruction or the placing instruction, to enable the workbin transporting device (1) to move to a picking up target shelf or a placing target shelf; determining a target moving out position to which the outer fork plate moves out in a direction of the shelf or in a direction of the workbin temporary storage mechanism (30) and determining at least two target shift fork pairs among the three shift fork pairs, based on a size information of a target workbin and a position information and an angle information of the target workbin on the picking up shelf or the placing target shelf; controlling, after the outer fork plate is moved out to the target moving out position, the target shift fork pairs to rotate, to enable the telescopic fork assembly (42) to clamp and pick up the target workbin; moving the target workbin from the picking up target shelf to the bearing part (41) of the workbin picking up and placing apparatus (40) and moving the target workbin to the workbin temporary storage mechanism (30), or moving the target workbin from the workbin temporary storage mechanism (30) to the bearing part (41) of the workbin picking up and placing apparatus (40) and moving the target workbin to the target placing shelf.
  2. The workbin picking up and placing system according to claim 1, wherein the workbin transporting device (1) further comprises a gantry (20); the workbin temporary storage mechanism (30) is provided at a first side of the gantry (20); the workbin picking up and placing device (40) is provided at a second side of the gantry (20); the rear shift fork pair (431), the middle shift fork pair (432) and the front shift fork pair (433) are sequentially provided along a first direction (L) away from the gantry (20).
  3. The workbin picking up and placing system according to claim 1, wherein the telescopic fork assembly (42) comprises telescopic forks (421) which are provided oppositely on both sides of the bearing part (41) and transmission mechanisms which are provided oppositely on both sides of the bearing part (41), and each of the telescopic forks (421) comprises an inner fixed plate (4211) connected with the gantry (20) and at least one-stage fork plate slidably connected with the inner fixed plate (4211), and the transmission mechanisms are configured for driving the at least one-stage fork plate to perform a reciprocating telescopic movement; wherein a fork plate which can be telescoped farthest from the gantry (20) is the outer fork plate; the controller (80) controls the fork plate of the telescopic fork (421) to telescope in two directions along the horizontal direction through the transmission mechanisms, to perform the reciprocating telescopic movement.
  4. The workbin picking up and placing system according to claim 1, wherein, a plurality of through holes are provided on the outer fork plate, at least the middle shift fork pair (432) is accommodated in the through holes, and the controller (80) controls the shift fork pair to move out from one of the through holes; a clamping distance between the rear shift fork pair (431) and the front shift fork pair (433), between the rear shift fork pair (431) and the middle shift fork pair (432), or between the middle shift fork pair (432) and the front shift fork pair (433) is changed by changing a position of the through hole where the shift fork pair is located when moving out.
  5. The workbin picking up and placing system according to claim 4, wherein, at least one of the rear shift fork pair (431), the middle shift fork pair (432) and the front shift fork pair (433) is movably connected with the outer fork plate through an electric telescopic rod; the controller (80) is further electrically connected with the electric telescopic rod to control telescoping of the electric telescopic rod, to change the clamping distance between the rear shift fork pair (431) and the middle shift fork pair (432), between the rear shift fork pair (431) and the front shift fork pair (433) or between the middle shift fork pair (432) and the front shift fork pair (432) is changed.
  6. The workbin picking up and placing system according to claim 1, wherein for at least two shift fork pairs among the shift fork pairs, at least two groups of each of the least two shift fork pairs are provided at intervals along a height direction (H) of the outer fork plate; the controller (80) separately controls each group of the two shift fork pairs.
  7. The workbin picking up and placing system according to claim 1, wherein a front end of the workbin picking up and placing apparatus (40) is also provided with a code reading camera; the controller (80) obtains the size information of the target workbin and positioning information of the picking up target shelf or the placing target shelf from the picking up instruction or the placing instruction; and obtains the position information and the angle information of the target workbin on the picking up shelf or the placing target shelf by the code reading camera scanning an information code of the picking up target shelf or the placing target shelf.
  8. The workbin picking up and placing system according to claim 1, wherein the bearing part (41) is one of an unpowered guide plate, a powered belt assembly or a roller assembly.
  9. The workbin picking up and placing system according to claim 8, wherein the bearing part (41) is the powered belt assembly or the roller assembly, and the controller (80) is further electrically connected with a power assembly of the belt assembly or the roller assembly to control the belt assembly or the roller assembly to drive the target workbin thereon to move.
  10. A workbin picking up and placing method, which is applied to the controller (80) of the workbin picking up and placing system according to any one of claims 1-9, comprising: receiving the picking up instruction or the placing instruction sent by the control platform (70); controlling the traveling chassis (10) to move based on the picking up instruction or the placing instruction, to enable the workbin transporting device (1) to move to the picking up target shelf or the placing target shelf; based on the size information of the target workbin and the position information and the angle information of the target workbin on the picking up shelf or the placing target shelf, determining the target moving out position to which the outer fork plate moves out in the direction of the shelf or in the direction of the workbin temporary storage mechanism (30) and determining the at least two target shift fork pairs among the three shift fork pairs; after the outer fork plate is moved out to the target moving out position, controlling the target shift fork pairs to rotate, to enable the telescopic fork assembly (42) to clamp and pick up the target workbin; moving the target workbin from the picking up target shelf to the bearing part (41) of the workbin picking up and placing apparatus (40) and moving the target workbin to the workbin temporary storage mechanism (30); or moving the target workbin from the workbin temporary storage mechanism (30) to the bearing part (41) of the workbin picking up and placing apparatus (40) and moving the target workbin to the target placing shelf.
  11. The workbin picking up and placing method according to claim 10, wherein, at least one of the rear shift fork pair (431), the middle shift fork pair (432) and the front shift fork pair (433) is movably connected with the outer fork plate through an electric telescopic rod; the controller (80) is further electrically connected with the electric telescopic rod; before controlling, after the outer fork plate is moved out to the target moving out position, the target shift fork pairs to rotate to enable the telescopic fork assembly (42) to clamp and pick up the target workbin, the method further comprises: controlling the electric telescopic rod based on the size information of the target workbin, so that the clamping distance between the rear shift fork pair (431) and the front shift fork pair (433), between the rear shift fork pair (431) and the front shift fork pair (433) or between the middle shift fork pair (432) and the front shift fork pair (433) matches with a size of the target workbin.
  12. The workbin picking up and placing method according to claim 10, wherein, if the target workbin is two workbins horizontally placed on the picking up target shelf or the workbin temporary storage mechanism (30) in a front-rear direction, the target shift fork pairs comprise the rear shift fork pair (431), the middle shift fork pair (432) and the front shift fork pair (433); wherein controlling, after the outer fork plate is moved out to the target moving out position, the target shift fork pairs to rotate to enable the telescopic fork assembly (42) to clamp and pick up the target workbin comprises: after the outer fork plate is moved out to the target moving out position, locating the middle shift fork pair between the two workbins, and controlling each target shift fork pair to rotate to enable the telescopic fork assembly (42) to clamp and pick up the target workbin; if the target workbin is a workbin with a first size matching with a size of the bearing part (41), the target shift fork pairs comprise the rear shift fork pair (431) and the front shift fork pair (433); controlling, after the outer fork plate is moved out to the target moving out position, the target shift fork pairs to rotate to enable the telescopic fork assembly (42) to clamp and pick up the target workbin comprises: after the outer fork plate is moved out to the target moving out position, controlling each target shift fork pair to rotate, to enable the telescopic fork assembly (42) to clamp and pick up the target workbin; if the target workbin is a workbin with a second size smaller than the size of the bearing part (41), it is determined, based on a target position of the target workbin on the workbin temporary storage mechanism (30), that the target shift fork pairs comprise the rear shift fork pair (431) and the middle shift fork pair (432), or comprise the middle shift fork pair (432) and the front shift fork pair (432); controlling the target shift fork pairs to rotate after the outer fork plate is moved out to the target moving out position, to enable the telescopic fork assembly (42) to clamp and pick up the target workbin comprises: after the outer fork plate is moved out to the target moving out position, controlling each target shift fork pair to rotate, to enable the telescopic fork assembly (42) to clamp and pick up the target workbin.
  13. The workbin picking up and placing method according to claim 10, wherein, for at least two shift fork pairs among the shift fork pairs, at least two groups of each of the at least two shift fork pairs are provided at intervals along the height direction (H) of the outer fork plate; if at least two groups of the front shift fork pair (433) and at least two groups of the rear shift fork pair (431) are provided at intervals along the height direction (H) of the outer fork plate, two workbins placed up and down on the picking up target shelf can be clamped, and the workbins are workbins with a first size matching with a size of the bearing part (41); if at least two groups of the front shift fork pair (433) and at least two groups of the middle shift fork pair (432) are provided or at least two groups of the rear shift fork pair (431) and at least two groups of the middle shift fork pair (432) are provided at intervals along the height direction (H) of the outer fork plate, two workbins placed up and down on the picking up target shelf can be clamped, and the workbins are workbins with a second size smaller than a size of the bearing part (41).
  14. The workbin picking up and placing method according to claim 10, wherein an front end of the workbin picking up and placing apparatus (40) is further provided with a code reading camera; the controller (80) obtains the size information of the target workbin and positioning information of the picking up target shelf or the placing target shelf from the picking up instruction or the placing instruction; and obtains the position information and the angle information of the target workbin on the picking up shelf or the placing target shelf by the code reading camera scanning an information code of the picking up target shelf or the placing target shelf.
  15. The workbin picking up and placing method according to claim 10, wherein the bearing part (41) is a powered belt assembly or a roller assembly, and the controller (80) is further electrically connected with a power assembly of the belt assembly or the roller assembly to control the belt assembly or the roller assembly to drive the target workbin thereon to move.
  16. A workbin transporting device, comprising: a travelling chassis (10); a gantry (20) provided on the travelling chassis (10), and a workbin temporary storage mechanism (30) provided on a first side of the gantry (20); a workbin picking up and placing apparatus (40) provided on a second side of the gantry (20), wherein the workbin picking up and placing apparatus (40) is configured for clamping a workbin from outside and placing the workbin into the workbin temporary storage mechanism (30) or placing the workbin in the workbin temporary storage mechanism (30) on the outside; the workbin picking up and placing apparatus (40) comprises a bearing part (41), a telescopic fork assembly (42) and a shift fork pair assembly (43); wherein, the bearing part (41) is connected with the gantry (20) for bearing a workbin; the telescopic fork assembly (42) comprises telescopic forks (421) which are provided oppositely on both sides of the bearing part (41) and transmission mechanisms which are provided oppositely on both sides of the bearing part (41), wherein each of the telescopic fork (421) comprises an inner fixed plate (4211) connected with the gantry (20) and at least one-stage fork plate slidably connected with the inner fixed plate (4211), and the transmission mechanisms are configured for driving the at least one-stage fork plate to perform a reciprocating telescopic movement; the shift fork pair assembly (43) is provided on an outer fork plate farthest from the inner fixed plate (4211) when the telescopic fork (421) is moved out, and the shift fork pair assembly (43) at least comprises a rear shift fork pair (431), a middle shift fork pair (432) and a front shift fork pair (433) which are sequentially provided on the outer fork plate along a first direction (L) away from the gantry (20); at least the middle shift fork pair (432) and the front shift fork pair (433) are movably connected with the outer fork plate, and the middle shift fork pair (432) and the front shift fork pair (433) can switch between a first position parallel to the outer fork plate and a second position perpendicular to the outer fork plate.
  17. The workbin transporting device according to claim 16, wherein a plurality of temporary storage mechanisms (30) are provided at intervals along a height direction (H) of the gantry (20) assembly; the workbin transporting device further comprises a lifting and descending assembly (60) which is slidably connected with the gantry (20), and the inner fixed plate (4211) and the bearing part (41) are connected with the gantry (20) through the lifting and descending assembly (60), to enable the lifting and descending assembly (60) to drive the workbin picking up and placing apparatus (40) to move along the height direction (H) of the gantry (20), so as to adapt to heights of the temporary storage mechanisms (30) at different heights.
  18. The workbin transporting device according to claim 16, wherein, a plurality of through holes are provided on the outer fork plate, and at least the middle shift fork pair (432) is accommodated in the through holes, wherein each of the through hole corresponds to an installation position; the installation position of one or two of the rear shift fork pair (431), the middle shift fork pair (432) and the front shift fork pair (433) are changed to change a clamping distance between the rear shift fork pair (431) and the front shift fork pair (433), between the rear shift fork pair (431) and the middle shift fork pair (432), or between the middle shift fork pair (432) and the front shift fork pair (433).
  19. The workbin transporting device according to claim 18, wherein the front shift fork pair (433) is located at an end of the outer fork plate on a side away from the gantry (20), the rear shift fork pair (431) is located at an end of the outer fork plate on a side close to the gantry (20), and the through holes are configured to accommodate the middle shift fork pair (432); the installation position of the middle shift fork pair (432) is changed to change the clamping distance between the rear shift fork pair (431) and the middle shift fork pair (432), and between the middle shift fork pair (432) and the front shift fork pair (433).
  20. The workbin transporting device according to claim 19, wherein at least one of the rear shift fork pair (431), the middle shift fork pair (432) and the front shift fork pair (433) is movably connected with the outer fork plate through a telescopic rod to change the clamping distance between the rear shift fork pair (431) and the front shift fork pair (433), between the rear shift fork pair (431) and the middle shift fork pair (432), or between the middle shift fork pair (432) and the front shift fork pair (433).

Description

The present application claims the priorities to Chinese Patent Application No. 202310801610.0 filed with the China National Intellectual Property Administration on June 30, 2023 and entitled "WORKBIN PICKING UP AND PLACING SYSTEM AND METHOD, WORKBIN TRANSPORTING DEVICE AND WORKBIN PICKING UP AND PLACING APPARATUS", and Chinese Patent Application No. 202321713003.0 filed with the China National Intellectual Property Administration on June 30, 2023 and entitled "WORKBIN TRANSPORTING DEVICE AND WORKBIN PICKING UP AND PLACING APPARATUS", which are incorporated herein by reference in their entirety. Technical Field The present application relates to the technical field of warehouse logistics, in particular to a workbin picking up and placing system and method, a workbin transporting device and a workbin picking up and placing apparatus. Background At present, in the warehouse logistics technology, a workbin transporting device is generally used to automatically place a workbin on a shelf, or pick up the workbin from the shelf and transport the workbin to other locations. The workbin transporting device is usually an automated guided vehicle, which is provided with a workbin picking up and placing apparatus. The workbin picking up and placing apparatus can place a workbin on the storage space of the vehicle body on a shelf or pick up the workbin from the shelf and place the workbin on the storage space of the vehicle body. The common type of the workbin picking up and placing apparatus generally includes two shift fork pairs, namely a front shift fork pair and a rear shift fork pair. The rear shift fork pair can push a workbin on the storage space of the vehicle body into a shelf or push a workbin picked up from a shelf into the storage space of the vehicle body. The front shift fork pair is generally arranged to be able to swing up and down, and cooperates with the rear shift fork pair to prevent the workbin from deviating during the movement. Generally, the workbin picking up and placing is only for fixed models of workbins, which leads to a limited scope of application of the workbin picking up and placing apparatus. Summary The embodiments of the present application aim to provide a workbin picking up and placing system and method, a workbin transporting device and a workbin picking up and placing apparatus, to expand the scope of application of the workbin picking up and placing system. The specific technical solutions are as follows. In a first aspect of the embodiments of the present application, it is provided a workbin picking up and placing system, including: a workbin transporting device and a control platform; wherein the workbin transporting device includes a controller, a travelling chassis, a workbin temporary storage mechanism and a workbin picking up and placing apparatus; the controller of the workbin transporting device is communicatively connected with the control platform; the workbin picking up and placing apparatus includes a bearing part, a telescopic fork assembly and a shift fork pair assembly; the telescopic fork assembly is provided at both sides of the bearing part; the shift fork pair assembly is provided on an outer fork plate of the telescopic fork assembly and includes a rear shift fork pair, a middle shift fork pair and a front shift fork pair which are sequentially provided, and at least the middle shift fork pair and the front shift fork pair are movably connected with the outer fork plate; the controller is electrically connected with the travelling chassis, the telescopic fork assembly and the shift fork pair assembly; the controller is configured for receiving a picking up instruction or a placing instruction sent by the control platform, and controlling the traveling chassis to move based on the picking up instruction or the placing instruction, to enable the workbin transporting device to move to a picking up target shelf or a placing target shelf; determining a target moving out position to which the outer fork plate moves out in a direction of the shelf or in a direction of the workbin temporary storage mechanism and determining at least two target shift fork pairs among the three shift fork pairs, based on a size information of a target workbin and a position information and an angle information of the target workbin on the picking up shelf or the placing target shelf; controlling, after the outer fork plate is moved out to the target moving out position, the target shift fork pairs to rotate, to enable the telescopic fork assembly to clamp and pick up the target workbin; moving the target workbin from the picking up target shelf to the bearing part of the workbin picking up and placing apparatus and moving the target workbin to the workbin temporary storage mechanism, or moving the target workbin from the workbin temporary storage mechanism to the bearing part of the workbin picking up and placing apparatus and moving the target workbin to the target placing shelf. In