KR-102964384-B1 - Container loading and unloading devices, storage systems, and container withdrawal and drop methods

KR102964384B1KR 102964384 B1KR102964384 B1KR 102964384B1KR-102964384-B1

Abstract

In a container loading/unloading device, a storage system, and a container unloading/dropping method, the container loading/unloading device comprises at least two loading/unloading units spaced apart in the horizontal X-axis direction, and each loading/unloading unit comprises a support assembly (81) extending in the vertical Y-axis direction; and at least one container unloading/dropping assembly that moves in the Y-axis direction along the support assembly (81) by being controlled by a driving assembly; the container unloading/dropping assembly comprises a unloading/dropping assembly (3) and a bearing assembly (2), and the unloading/dropping assembly (3) unloads/drops a container from a carrier; the carrier is equipped with at least two rows and at least two columns of container storage units, and one container storage unit comprises at least one storage location, and one storage location can accommodate at least one container; and at least two loading/unloading units are configured to load/unload containers on the same carrier. The container loading/unloading device performs container unloading/dropping simultaneously through at least two loading/unloading units, thereby effectively improving work efficiency.

Inventors

리, 홍보
쑨, 친
이엔, 찌에

Assignees

베이징 긱플러스 테크놀러지 씨오., 엘티디.

Dates

Publication Date: 20260512
Application Date: 20220928
Priority Date: 20211015

Claims (20)

In a container loading and unloading device, It includes at least two loading/unloading units spaced apart in the horizontal X-axis direction, and each of the said loading/unloading units, A support assembly extending in the vertical Y-axis direction; It includes at least one container withdrawal and delivery assembly that is controlled by a driving assembly and moves along the Y-axis direction along the support assembly; The above container withdrawal delivery assembly includes a withdrawal drop assembly, a bearing assembly, and a detection device, and the withdrawal drop assembly is configured to move along the Z-axis direction to withdraw a container from a carrier and load it onto the bearing assembly, or to unload a container from the bearing assembly and place it on the carrier; the carrier is provided with at least two rows and at least two columns of container storage units in a plane having X-axis and Y-axis, and one container storage unit includes at least one storage location along the Z-axis direction, and one storage location can accommodate at least one container; The detection device detects the position of the container and generates a detection signal when the container is detected; when the container moves to a second position, the detection device generates a detection signal and controls the withdrawal drop assembly through the detection signal so that the container is unloaded into the bearing assembly; the second position is installed at a position communicating with the first movement trajectory and the second movement trajectory, or at a position adjacent to a position communicating with the second movement trajectory from the first movement trajectory; A container loading and unloading device characterized in that at least two of the above-mentioned loading and unloading units are configured to load and unload containers on the same carrier.
In paragraph 1, At least two loading and unloading units are installed and arranged spaced apart in the horizontal X-axis direction, The above at least two loading and unloading units are configured to load and unload containers on the same carrier, and The above at least two loading and unloading units are controlled independently, and The above at least two loading and unloading units, The number of the above loading/unloading units corresponds one-to-one with the number of rows of container storage units on the same carrier, and the different loading/unloading units correspond to different rows of the same carrier; or A container loading and unloading device characterized by being configured such that the above-mentioned loading and unloading unit is configured to move along the X-axis direction, and the same above-mentioned loading and unloading unit corresponds to a different column of the same carrier; and comprising at least one of these configurations.
In paragraph 1, The above support assembly includes a column, a sliding rail is installed on the column, and the container withdrawal and delivery assembly is slidably coupled to the column through the sliding rail. The support assembly further comprises a door frame assembly, wherein one end of the support assembly is connected to the upper part of the door frame assembly, and the other end is connected to the lower part of the door frame assembly or to another support surface. The above container unloading and loading device is characterized by the container unloading and dropping assembly withdrawing a container by at least one of suction, push, clamping, grab, hooking, hugging, and lifting methods.
In paragraph 1, The above bearing assembly is configured to bear a container; and the bearing assembly has a receiving space formed to accommodate the container; The above-described withdrawal drop assembly is configured to take a container out of a first target position and load it onto the bearing assembly, or to unload a container from the bearing assembly and place it at a second target position; The movement assembly is configured to drive the pull-out drop assembly to move along a first movement trajectory and a second movement trajectory; In the first movement trajectory, the movement assembly drives the pull-out drop assembly to move within the receiving space of the bearing assembly, thereby loading and unloading a container; A container loading and unloading device characterized in that, in a second movement trajectory, the movement assembly drives the withdrawal drop assembly to detach from the receiving space of the bearing assembly, so that the container enters the receiving space and is borne by the bearing assembly.
In paragraph 4, The above-described moving assembly includes a guide mechanism and a sliding mechanism, wherein the guide mechanism includes a first guide portion and a second guide portion connected together; and the sliding mechanism is configured to move along the first guide portion and the second guide portion; A container loading and unloading device characterized in that the first guide part and the second guide part each limit the first movement trajectory and the second movement trajectory of the sliding mechanism.
In paragraph 5, The first guide portion is configured to extend linearly in a horizontal direction, and the second guide portion is located in a direction different from the first guide portion; In the process of the above sliding mechanism moving along the first guide portion, the withdrawal drop assembly is configured to move along a straight direction in the receiving space of the bearing assembly; A container loading and unloading device characterized in that the above sliding mechanism is configured to move along a first guide section to a second guide section, and then the withdrawal drop assembly moves in a manner such that it gradually disengages from the receiving space of the bearing assembly.
In paragraph 5, A container loading and unloading device characterized in that the second guide part is configured to be located below the first guide part; the moving assembly is configured to move to a designated position along the second guide part, and then the withdrawal drop assembly is configured to move below the bearing assembly to avoid the receiving space of the bearing assembly.
In Paragraph 7, The first guide part and the second guide part are located on the same plane; and the sliding mechanism is, A fixed part that moves linearly along a direction parallel to the plane where the first guide part and the second guide part are located, controlled by a driving assembly; Slidingly coupled together with the fixed part; including a sliding part that is guided coupled to a first guide part and a second guide part; A container loading and unloading device characterized in that the above-mentioned withdrawal drop assembly is installed on the above-mentioned sliding part.
In paragraph 4, A container loading and unloading device characterized in that the above-described withdrawal drop assembly includes a suction plate mechanism, and the suction plate mechanism is configured to be coupled to the end surface of the container.
In paragraph 1, It further includes a position limiting mechanism configured to position limit both sides of a container located in a bearing assembly, and A container loading and unloading device characterized in that the above position limiting mechanism includes a first position limiting member and a second position limiting member installed at a distance from each other; and the first position limiting member and the second position limiting member are configured to move in the X-axis direction oppositely or orientedly with respect to the bearing assembly to adjust the distance between the first position limiting member and the second position limiting member.
In Paragraph 10, A container loading and unloading device characterized by including a first base, wherein the first position limiting member and the second position limiting member are slidably coupled to the first base, and further including an electric drive mechanism that drives the first position limiting member and the second position limiting member to move along the X-axis direction on the first base.
In Paragraph 11, A container loading and unloading device characterized in that the above-described electric drive mechanism includes an electric drive belt that is controlled by a pulley and extends in the X-axis direction, and the first position limiting member and the second position limiting member are each connected to both sides of the electric drive belt spacing.
In Paragraph 10, A container loading and unloading device characterized by a position limiting mechanism installed at an upper position of the bearing assembly and configured to limit the upper area of the container.
In paragraph 1, A container loading and unloading device characterized by further including a rotation mechanism configured such that a pull-out drop assembly and a bearing assembly rotate around the Y-axis.
In Paragraph 14, A container loading and unloading device characterized in that the above-described rotation mechanism includes a second base and a rotating support member rotatably connected to the second base, and the bearing assembly and the pull-out drop assembly are connected relatively to the rotating support member.
In paragraph 1, A container loading and unloading device characterized by including a first sensor for determining whether there is a container at the storage location of the carrier when the above-described container withdrawal delivery assembly withdraws a container from the carrier and/or determining whether the storage location of the carrier is empty when placing a container at the storage location of the carrier.
In Paragraph 16, A container loading and unloading device characterized by including a second sensor for determining the attitude deviation between the container withdrawal and delivery assembly and the container on the carrier.
In Paragraph 17, The container loading and unloading device is also characterized by adjusting the attitude of the container loading and unloading device according to the attitude deviation between the container loading and unloading device and the corresponding container determined by the second sensor, in order to eliminate the attitude deviation.
In storage systems, It includes a work station, a carrier docking area, and a work station area where a container loading and unloading device according to any one of claims 1 to 18 is installed; The above carrier docking area is configured to dock a carrier; A storage system characterized by the above-described container loading and unloading device being located between the work station and the carrier docking area, and configured to transport containers between the work station and the carrier located in the carrier docking area.
In Paragraph 19, The above work station area further includes a transport line, the transport line includes a transport line inlet and a transport line outlet, and the work station is located on the transport path of the transport line; and the container loading and unloading device is installed at the transport line inlet and the transport line outlet, respectively; The container loading and unloading device located at the entrance of the above transport line is for taking a container out of a carrier located in the carrier docking area and placing it on the transport line; A storage system characterized by a container loading and unloading device located at the exit of the above-mentioned transport line for taking a container out of the transport line and placing it on a carrier located in the carrier docking area.

Description

Container loading and unloading devices, storage systems, and container withdrawal and drop methods (Related Applications) The present application is filed with the Chinese Intellectual Property Administration on October 15, 2021, with application number 202111205928X, titled "Container unloading delivery assembly, loading/unloading device, picking system and container pickup method"; filed with the Chinese Intellectual Property Administration on October 15, 2021, with application number 2021224971703, titled "Container unloading delivery assembly, loading/unloading device, picking system"; filed with the Chinese Intellectual Property Administration on October 26, 2021, with application number 202111250978.X, titled "Container loading/unloading device, storage system and container unloading drop method"; and filed with the Chinese Intellectual Property Administration on October 26, 2021, with application number 202122589107.2, titled "The invention Claiming priority to a Chinese patent application titled "Container Loading and Unloading Device, Storage System," the entire contents of which are incorporated into the present application by reference. The present disclosure relates to the field of logistics, more specifically, to a container loading and unloading device; the present disclosure also relates to a storage system including said container loading and unloading device and a container unloading and dropping method. Currently, automated storage systems are being increasingly applied in various civil and industrial storage sectors. Instead of manually sorting goods on carriers, transport devices such as stackers are used to move back and forth along the roadways between carriers. However, existing transport devices like stackers suffer from slow transport speeds and low operational efficiency, which prevents them from meeting the demands for advancement in storage systems. The present disclosure provides a container loading and unloading device, a storage system, and a container unloading and dropping method to solve problems existing in the prior art. According to a first aspect of the present disclosure, a container loading and unloading device is provided, comprising at least two loading and unloading units spaced apart in the horizontal X-axis direction, wherein each of the loading and unloading units is, A support assembly extending in the vertical Y-axis direction; At least one container withdrawal and delivery assembly that is controlled by a driving assembly and moves along the Y-axis direction along the support assembly; The above container withdrawal delivery assembly includes a withdrawal drop assembly and a bearing assembly, wherein the withdrawal drop assembly is configured to move along the Z-axis direction to withdraw a container from a carrier and load it onto the bearing assembly, or to unload a container from the bearing assembly and place it on the carrier; the carrier is provided with at least two rows and at least two columns of container storage units in a plane having X-axis and Y-axis, and one container storage unit includes at least one storage location along the Z-axis direction, and one storage location can accommodate at least one container; At least two loading and unloading units are configured to load and unload containers on the same carrier. In one embodiment of the present disclosure, the number of loading and unloading units corresponds one-to-one with the number of rows of container storage units on the same carrier, and different loading and unloading units correspond to different rows of the same carrier. In one embodiment of the present disclosure, the loading and unloading unit is configured to move along the X-axis direction, and the same loading and unloading unit corresponds to different columns of the same carrier. In one embodiment of the present disclosure, the support assembly includes a column, a sliding rail is installed on the column, and the container withdrawal and delivery assembly is slidably coupled to the column through the sliding rail. In one embodiment of the present disclosure, each of the loading and unloading units is controlled independently. In one embodiment of the present disclosure, a door frame assembly is further included, wherein one end of the support assembly is connected to the upper part of the door frame assembly, and the other end is connected to the lower part of the door frame assembly or to another support surface. In one embodiment of the present disclosure, the container withdrawal delivery assembly withdraws and drops a container by at least one of suction, push, clamping, grab, hooking, hugging, and lifting. In one embodiment of the present disclosure, the moving assembly is configured to move along a second guide portion such that the pull-out drop assembly is lower than the bearing surface of the bearing assembly. In one embodiment of the present disclosure, the first guide portion and the second guide portion are guid