WO2022206263A1

WO2022206263A1 - Material conveying method and device

Info

Publication number: WO2022206263A1
Application number: PCT/CN2022/078737
Authority: WO
Inventors: 高玉蓉
Original assignee: 深圳市海柔创新科技有限公司
Priority date: 2021-03-31
Filing date: 2022-03-02
Publication date: 2022-10-06
Also published as: CN113071846B; TW202239687A; TWI837603B; CN113071846A

Abstract

A material (103) conveying method and device. The method comprises: controlling a first layer in a first discharging layer (1023) to take the material (103) from a to-be-taken discharging layer when there is an idle discharging layer and a to-be-taken discharging layer in the at least two second discharging layers (1024), and simultaneously controlling a second layer in the first discharging layer (1023) to discharge the material (103) to the idle discharging layer; and controlling the first layer to put the material (103) into a delivery transport layer (1011). The material (103) conveying method and device can enable the first layer in the first discharging layer (1023) to take material (103) from the to-be-taken discharging layer, and the second layer in the first discharging layer (1023) puts the material (103) into the idle discharging layer, such that the material (103) taking and the material (103) discharging are taken simultaneously, thereby effectively improving the conveying efficiency of the material (103).

Description

Material conveying method and equipment

This application claims the priority of the Chinese patent application with the application number CN202110352702.6 and the application name "Material Conveying Method and Equipment", which was submitted to the Chinese Patent Office on March 31, 2021, the entire contents of which are incorporated into this application by reference .

technical field

The embodiments of the present application relate to the technical field of material handling, and in particular, to a material conveying method and equipment.

Background technique

Smart warehousing is an important part of the logistics process. Robots can replace manual handling of materials and play an important role in intelligent warehousing. In order to avoid the long waiting time of the robot, multiple materials on the conveyor can be stored on the unloader in advance, so that the robot can take the materials from the unloader. In addition, there can also be materials placed by robots on the unloader, so the unloader also needs to put the materials on the conveyor.

How to improve the material conveying efficiency of the unloader has become an urgent problem to be solved.

SUMMARY OF THE INVENTION

Embodiments of the present application provide a material conveying method and equipment, so as to improve the conveying efficiency of the unloader.

In the first aspect, an embodiment of the present application provides a material conveying method, which is applied to an unloading device. The unloading device includes a conveyor and an unloader, and the conveyor includes an upper and lower parallel arrangement of a delivery transmission layer and a delivery layer. The transport layer, the unloader includes a first support frame and a second support frame arranged adjacently, two layers of first discharge layers arranged at intervals along the first direction of the first support frame, and two layers of the first discharge layer along the first direction of the first support frame. at least two second discharge layers arranged at intervals in the first direction of the support frame, the first discharge layers can move along the first direction, and the first direction is perpendicular to the delivery transmission layer and the Pickup transport layer;

The method includes:

When there are idle discharge layers and to-be-taken discharge layers in the at least two second discharge layers, controlling the first layer of the first discharge layers to take materials from the to-be-taken discharge layers, At the same time, controlling the second layer in the first discharge layer to put materials into the idle discharge layer;

The first layer is controlled to put the material into the delivery transmission layer.

Optionally, the method further includes:

Renew the empty discharge layer and the to-be-taken discharge layer according to the second direction, and enter the time when there are free discharge layers and to-be-taken discharge layers in the at least two second discharge layers , control the first layer of the first unloading layer to take materials from the unloading layer to be taken, and control the second layer of the first unloading layer to put materials into the idle unloading layer. step, the second direction is the direction in which the pickup transport layer faces the delivery transport layer.

Optionally, the controlling the first layer to put the material into the delivery transmission layer includes:

The first layer is controlled to put the material into the delivery transmission layer, and at the same time, the second layer is controlled to take the material from the pickup transmission layer.

Optionally, the unloading layer to be taken is the first second unloading layer in which the material to be taken is determined from the second unloading layers according to the second direction, and the free unloading layer is: According to the second direction, the first second discharge layer without material is determined from the second discharge layers, and the direction of the empty discharge layer toward the to-be-taken discharge layer is the same as that of the first discharge layer. Both directions are the same.

Optionally, the method further includes:

When there are materials to be taken in each of the second discharge layers, controlling the two first discharge layers to take materials simultaneously from the two second discharge layers respectively;

controlling one of the first discharge layers to put the materials into the delivery transmission layer;

The other first discharge layer is controlled to put the material into the delivery transmission layer, and at the same time, the idle first discharge layer is controlled to take the material from the pickup transmission layer.

Optionally, the method further includes:

When there are materials to be taken in each of the second discharge layers, controlling one layer of the first discharge layers to take materials from one layer of the second discharge layers;

The first discharge layer of the first layer is controlled to put the material into the delivery transmission layer, while another layer of the first discharge layer takes the material from the pickup transmission layer.

Optionally, the method further includes:

When there are two free unloading layers and there is no material layer to be taken, control the two layers of the first unloading layer to take materials from the picking and transporting layer in turn, and put them into the two free layers at the same time. in the second discharge layer.

In a second aspect, an embodiment of the present application provides an unloading device, including: a conveyor and a unloader, and a first controller;

The conveyor comprises a delivery transmission layer and a delivery transmission layer arranged in parallel up and down, and the unloader comprises a first support frame and a second support frame arranged adjacently, along the first direction of the first support frame Two layers of first discharge layers arranged at intervals and at least two layers of second discharge layers arranged at intervals along the first direction of the second support frame, the first discharge layers can move along the first direction, the first direction is perpendicular to the delivery transport layer and the pickup transport layer;

The first controller is used to:

The first discharge layer that takes the material is controlled to put the material into the delivery transmission layer.

Optionally, the first controller is also used for:

Optionally, two layers of the idle discharge layer and the to-be-taken discharge layer are adjacent or not adjacent.

In a third aspect, embodiments of the present application provide a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when a processor executes the computer-executable instructions, a computing device is enabled to implement the first aspect the method described.

In a fourth aspect, an embodiment of the present application provides a computer program, where the computer program is used to implement the method described in the first aspect.

The material conveying method and device provided in this embodiment can control the first layer in the first discharge layer to be removed from the to-be-taken discharge layer when there are at least two second discharge layers in the unloaded layer and the to-be-taken discharge layer. The material is taken from the material layer, and at the same time, the second layer in the first discharge layer is controlled to put the material into the empty discharge layer; the first layer is controlled to put the material into the delivery transmission layer. In the embodiment of the present application, the first layer of the first discharge layer can take materials from the to-be-taken discharge layer, and at the same time, the second layer of the first discharge layer can put materials into the free discharge layer. In this way, taking materials and placing materials are carried out at the same time, which can effectively improve the material conveying efficiency.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present application, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

Fig. 1 exemplarily shows a side view of the unloading device provided by the embodiment of the present application;

FIG. 2 exemplarily shows a top view of the unloader in the unloader provided by the embodiment of the present application;

FIG. 3 exemplarily shows a top view of the conveyor in the unloading device provided by the embodiment of the present application;

FIG. 4 exemplarily shows a top view of a connecting device in a conveyor provided by an embodiment of the present application;

Figures 5 and 6 exemplarily show the side views of the connection device in Figure 4 in two states;

FIG. 7 exemplarily shows a top view of another connection device in the conveyor provided by the embodiment of the present application;

Figures 8 and 9 exemplarily show side views of the connection device in Figure 7 in two states;

FIG. 10 exemplarily shows a flowchart of steps of a material conveying method provided by an embodiment of the present application;

Figures 11 and 12 exemplarily show the relationship between the two second directions and the unloader and the conveyor provided by the embodiments of the present application.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

This application can be applied to material handling scenarios. Materials can include, but are not limited to: cargo and totes. Materials are usually stored on several levels of shelves in a warehouse. When it needs to be shipped from the warehouse, the robot can take the material from the warehouse shelf and put it on the conveyor. The conveyor can transfer the material to the workbench, so that the workbench can pick the material, the selected material is the material to be shipped, and the remaining material can be transferred to the robot by the conveyor, so that the robot can put it back into the warehouse. on the shelf.

Among them, the robot may include: a support frame, a pick-and-place device, a storage layer and a chassis. The pick-and-place device can slide up and down along the support frame to adjust the height of the pick-and-place device. In the process of adjusting the height of the pick-and-place device, the pick-and-place device can be docked with the rack to transfer materials between the racks, or docked with one of the storage layers to transfer materials with the storage layer, Or, docking with the conveyor for material transfer between the conveyor and the conveyor.

The chassis of the above robot may have moving means to move the robot on the ground.

The embodiments of the present application do not limit the specific structure of the robot.

In order to prevent the robot from waiting for a long time, an unloader can be set up next to the conveyor, so that the unloader can store the material on the conveyor in advance, so that the robot can obtain the material from the unloader. The unloader can also receive the material that the robot picks up from the shelves and place it on the conveyor. The embodiments of the present application provide a method and equipment for conveying materials, so as to improve the material transmission efficiency of a conveyor.

Fig. 1 exemplarily shows a side view of the unloading device provided by the embodiment of the present application, Fig. 2 exemplarily shows a top view of the unloader 102 in the unloading device provided by the embodiment of the present application, and Fig. 3 exemplarily shows A top view of the conveyor 101 in the unloading device provided in the embodiment of the present application is shown. In FIG. 1, for the convenience of illustration, there is a certain distance between the conveyor 101 and the unloader 102. In practical applications, when the two transport materials 103, the distance is less than a preset threshold to avoid the material 103 between them. slide.

1 to 3, the unloading equipment includes: a conveyor 101 and an unloader 102. The conveyor 101 includes a delivery transmission layer 1011 and a delivery transmission layer 1012 arranged in parallel up and down, and the unloader 102 includes adjacent The first support frame 1021 and the second support frame 1022 are arranged, the two first discharge layers 1023 are arranged at intervals along the first direction of the first support frame 1021 , and the at least two layers are arranged at intervals along the first direction of the second support frame 1022 . Two second discharge layers 1024, the first discharge layer 1023 can move along the first direction, and the first direction is perpendicular to the delivery transmission layer 1011 and the delivery transmission layer 1012; the two first discharge layers 1023 are used for simultaneous The material 103 is transported with the two second unloading layers 1024, or, the material 103 is transported with the delivery transport layer 1011 and the pickup transport layer 1012 at the same time.

It can be seen that the first direction is the height direction of the unloader 102 . FIG. 1 exemplarily shows four layers of second discharge layers 1024. In practical applications, the number of second discharge layers 1024 can be flexibly changed, which is not limited in the embodiment of the present application.

The conveyor 101 and the unloader 102 are arranged adjacent to each other, and the first unloading layer 1023 is located between the second unloading layer 1024 and the conveyor 101 . In this way, the first unloading layer 1023 can transfer the materials 103 obtained from the second unloading layer 1024 to the delivery transport layer 1011, and can also transfer the materials 103 obtained from the pickup transport layer 1012 to the second unloading layer layer 1024, thereby realizing the transfer of material 103 between the conveyor 101 and the unloader 102.

FIG. 1 also shows the support frame 1010 for fixing the delivery transport layer 1011 and the delivery transport layer 1012. Correspondingly, it can be seen from FIG. 3 that the support frame 1010 is located on the delivery transport layer 1011 and the delivery transport layer 1012. around. Referring to FIG. 2 , the first support frame 1021 is located around the first discharge layer 1023 , and the second support frame 1022 is located around the second discharge layer 1024 . In this way, the support frame 1010 can be prevented from affecting the picking and placing of the materials 103 on the delivery transport layer 1011 and the pickup transport layer 1012, the first support frame 1021 can be prevented from affecting the picking and placing of the materials 103 on the first discharge layer 1023, and the second support can be avoided. The rack 1022 affects the picking and placing of the material 103 on the second discharge layer 1024 . Of course, the positions and numbers of the support frame 1010 , the first support frame 1021 and the second support frame 1022 can be set flexibly, as long as the picking and placing of the material 103 is not affected.

It can also be seen from FIG. 2 that the first discharge layer 1023 is provided with a transfer mechanism 10231 , and the second discharge layer 1024 is provided with a transfer mechanism 10241 . The transfer mechanism 10231 and the transfer mechanism 10241 are used to transfer the material 103 by rotation. It can also be seen from FIG. 3 that there is a transfer mechanism 10111 on the delivery transport layer 1011 for transporting the material 103 through rotation. It can be understood that when the pickup transport layer 1012 is located above the delivery transport layer 1011, the top view shows the structure of the pickup transport layer 1012, and the structure of the pickup transport layer 1012 is the same as the structure of the delivery transport layer 1011. , and will not be repeated here.

For the above-mentioned unloading equipment, optionally, the distance between two adjacent second unloading layers 1024 and the distance between the delivery transport layer 1011 and the delivery transport layer 1012 are the same.

The distance between the two adjacent second discharge layers 1024 is the same, that is to say, the height of each second discharge layer 1024 is fixed, which is the same as the distance between the delivery transmission layer 1011 and the delivery transmission layer 1012. the same distance. In this way, the two layers of the first discharge layers 1023 and the two layers of the second discharge layers 1024 can be conveniently connected, or the two layers of the first discharge layers 1023 can be connected to the delivery transmission layer 1011 and the delivery transmission layer 1012.

The distance between the two first discharge layers 1023 is a multiple of the distance between two adjacent second discharge layers 1024, and the distance between the two first discharge layers 1023 is variable. Therefore, the distance between the two first discharge layers 1023 is at least the distance between two adjacent second discharge layers 1024 , that is, the multiple is 1. At this time, the two first discharge layers 1023 are butted with two adjacent second discharge layers 1024 . Of course, when the multiple is 1, the two first discharge layers 1023 may also be docked with the delivery transmission layer 1011 and the delivery transmission layer 1012 respectively.

When the multiple is 2, the two first discharge layers 1023 can be butted with the second discharge layer 1024 separated by one layer in the middle. For example, if the second discharge layers 1024 of the conveyor 101 are in sequence: L21, L22, L23, L24 and L25, the second discharge layers 1024 with one layer in between can be L21 and L23.

Optionally, the first discharge layer 1023 , the second discharge layer 1024 , the delivery transmission layer 1011 , and the delivery transmission layer 1012 have the same transmission speed for the material 103 .

It can be understood that when the first unloading layer 1023, the second unloading layer 1024, the delivery transport layer 1011, and the delivery transport layer 1012 all have transfer mechanisms, the rotation speeds of these transfer mechanisms are the same.

The first unloading layer 1023, the second unloading layer 1024, the delivery transmission layer 1011, and the delivery transmission layer 1012 have the same transmission speed for the material 103. When the material 103 is transported on the delivery transmission layer 1011 and the delivery transmission layer 1012, it is avoided that the material 103 is turned over due to different rotation speeds.

The conveyor 101 in the above-mentioned unloading equipment is used to transfer the received materials 103 to the workstation, and after the workstation is selected, the remaining materials 103 are transferred out. The material 103 received by the conveyor 101 may be placed by the robot or the unloader 102 , and the conveyor 101 may transfer the remaining material 103 to the robot or the unloader 102 .

The first end of the delivery transmission layer 1011 of the conveyor 101 is used to place the material 103, the first end of the delivery transmission layer 1012 is used to pick up the material 103, and the delivery transmission layer 1011 is used to transfer the material 103 from the delivery to the delivery. The first end of the layer 1011 is transported to the second end of the release transport layer 1011 , and the pickup transport layer 1012 is used to transport the material 103 from the second end of the pickup transport layer 1012 to the first end of the pickup transport layer 1012 .

In addition to the delivery transport layer 1011 and the pickup transport layer 1012 , the above-mentioned conveyor 101 also includes a connecting device 1013 for transferring the material 103 from the second end of the delivery transport layer 1011 to the second end of the pickup transport layer 1012 .

FIG. 4 exemplarily shows a top view of a connection device 1013 in the conveyor 101 provided by the embodiment of the present application, and FIGS. 5 and 6 exemplarily show the connection device 1013 corresponding to FIG. 4 in two connection states. side view. Referring to FIG. 4 , the above-mentioned connecting device 1013 includes: a first storage layer 10131, a first transfer mechanism 10132, and a rotating fixing device 10133. The first end of the first storage layer 10131 is fixedly connected to the rotating fixing device 10133. A storage layer 10131 moves between the second end of the delivery transport layer 1011 and the second end of the pickup transport layer 1012 ; the first transfer mechanism 10132 is disposed on the first storage layer 10131 for transporting the material 103 .

Referring to FIG. 5 , the second end of the first storage layer 10131 is connected to the second end of the delivery transmission layer 1011 . As shown in FIG. 6 , the second end of the first storage layer 10131 is connected to the delivery transmission layer 1012 the second end of the connection.

In the above-mentioned FIG. 5 , the material 103 can be placed on the first transfer mechanism 10132 to transfer the material 103 through the rotation of the first transfer mechanism 10132 . The rotation direction of the first transfer mechanism 10132 can be changed.

The rotation fixing device 10133 can be used to fix the first end of the first storage layer 10131 so that the first end cannot move, and the first storage layer 10131 can be around the rotation fixing device 10133 and perpendicular to the direction of the first storage layer 10131 rotate. During the rotation of the first storage layer 10131 , the second end of the first storage layer 10131 will move along with it, so as to be between the second end of the pickup transport layer 1012 and the second end of the delivery transport layer 1011 switch. That is, the second end of the first storage layer 10131 can be connected to the second end of the pickup transport layer 1012, and can also be switched to be connected to the second end of the delivery transport layer 1011, and can be switched to be connected to the pickup again. The second end of the transport layer 1012 is connected.

Referring to FIG. 4 , FIG. 5 and FIG. 6 , in order to prevent the material 103 on the first storage layer 10131 from slipping off, a baffle 10134 may also be provided at the first end of the first storage layer 10131 .

In order to realize the movement of the first storage layer 10131 between the second end of the delivery transport layer 1011 and the second end of the pickup transport layer 1012, three ways can be adopted.

In the first mode, the first storage layer 10131 moves between the second end of the delivery transport layer 1011 and the second end of the pickup transport layer 1012 under the action of its own elastic force and the gravity of the material 103 thereon.

Wherein, when there is no material 103 on the first storage layer 10131 due to its own elastic force, the second end of the first storage layer 10131 is connected to the second end of the pickup transmission layer 1012 . After the material 103 on the pickup transport layer 1012 is transferred to the first storage layer 10131 , the gravity of the material 103 causes the second end of the first storage layer 10131 to descend to connect with the second end of the delivery transport layer 1011 . After the material 103 on the first storage layer 10131 is transferred to the delivery transport layer 1011 , the second end of the first storage layer 10131 returns to the second end of the pickup transport layer 1012 again. so cycle.

The embodiment of the present application can realize the movement of the second end of the first storage layer 10131 through its own elastic force and the gravity of the material 103 , avoiding the use of other control structures or components, and helping to simplify the structure of the first storage layer 10131 .

In the second method, the above-mentioned connecting device 1013 not only includes the first storage layer 10131, the first transfer mechanism 10132 and the rotating fixing device 10133, but also includes: a second controller and a material 103 quantity detection device, which detects the material 103 quantity. The device is used to detect the amount of material 103 on the first storage layer 10131, and the second controller is used for controlling the first The second end of the storage layer 10131 is connected to the second end of the pickup transmission layer 1012, or, when the amount of the material 103 on the first storage layer 10131 is less than the preset material 103 amount threshold, the first storage layer 10131 is controlled The second end of is connected to the second end of the delivery transmission layer 1011 .

Wherein, the amount of the material 103 may be the weight of the material 103 or the quantity of the material 103, and accordingly, the detection device for the amount of the material 103 may be a pressure sensor or an image acquisition device.

The pressure sensor can be arranged at the bottom of the first storage layer 10131 to detect the pressure of the material 103 on the first storage layer 10131 to the first storage layer 10131 , and the pressure is the weight of the material 103 .

The image capturing device faces the first storage layer 10131 to capture an image of the material 103 on the first storage layer 10131 and identify the quantity of the material 103 from the image of the material 103 .

The above-mentioned material 103 quantity detection device is electrically connected to the second controller, so as to send the material 103 quantity to the second controller, and the second controller can control the movement of the first storage layer 10131 according to the material 103 quantity. In addition, when the material 103 quantity detection device is an image acquisition device, the image acquisition device can also send the image of the material 103 to the second controller, so that the second controller can identify the quantity of the material 103 and control the first storage The movement of layer 10131.

In the third mode, the above-mentioned connecting device 1013 includes, in addition to the first storage layer 10131, the first transfer mechanism 10132 and the rotation fixing device 10133, a second controller for controlling the first storage layer 10131 The two ends are alternately connected to the second end of the pickup transport layer 1012 and the second end of the delivery transport layer 1011 in a preset time period, respectively.

Wherein, the preset time period may be determined according to the transmission speed of the delivery transmission layer 1012 and the delivery transmission layer 1011 . When the transmission speed is high, the preset time period can be set to be small; when the transmission speed is low, the preset time period can be set to be large.

Further, the transmission speed and the length of the first storage layer 10131 can also be determined. When the transmission speed is fixed, if the length of the first storage layer 10131 is longer, the preset time period can be set larger, and if the length of the first storage layer 10131 is smaller, the preset time period can be set smaller.

In practical applications, the functional relationship between the preset time period, the transmission speed, and the length of the first storage layer 10131 can be constructed based on experience. For example, the functional relationship may be a linear function, which may be a linear function of the ratio of the length of the first storage layer 10131 to the transmission speed.

After the preset time period is determined according to the above method, the second end of the first storage layer 10131 may alternate with the second end of the pickup transport layer 1012 and the second end of the delivery transport layer 1011 respectively according to the preset time period connect. For example, when the preset time period is 1 minute, the second end of the first storage layer 10131 may be connected to the second end of the pickup transport layer 1012 within the first minute, and the first storage layer 1012 may be connected within the second minute. The second end of the cargo layer 10131 is connected to the second end of the delivery transport layer 1011, and the second end of the first storage layer 10131 is connected to the second end of the pickup transport layer 1012 within the third minute, and the cycle is repeated.

It should be noted that, in the above three methods, when the second end of the first storage layer 10131 is connected to the second end of the pickup and transport layer 1012, the transmission direction of the first storage layer 10131 is away from the pickup and transport. layer 1012 so that the material 103 is transferred from the pickup transfer layer 1012 to the first storage layer 10131 . When the second end of the first storage layer 10131 is connected to the second end of the delivery transmission layer 1011, the transmission direction of the first storage layer 10131 is toward the delivery transmission layer 1011, so that the material 103 can be transported from the first storage layer 1011. 10131 is transmitted to the release transport layer 1011. Therefore, after switching the second end of the first storage layer 10131 between the second end of the pickup transport layer 1012 and the second end of the delivery transport layer 1011, it is necessary to switch the rotation direction of the first transfer mechanism 10132, and switch The front and rear rotation directions are opposite.

In order to move the second end of the first storage layer 10131, the second controller can be electrically connected with the rotating fixture 10133, so that the rotating fixture 10133 rotates the first storage layer 10131, and the rotation direction and angle are preset of.

FIG. 7 exemplarily shows a top view of another connection device 1013 in the conveyor 101 provided in the embodiment of the present application, and FIGS. 8 and 9 exemplarily show the connection device 1013 corresponding to FIG. 7 in two states. side view. The connecting device 1013 in FIGS. 7 to 9 is a lift.

As can be seen from FIG. 7 , the elevator includes: four support frames 10136, a second storage layer 10135 arranged on the support frames 10136, and a transfer mechanism 10137 provided on the second storage layer 10135, and the transfer mechanism 10137 can be rotated by rotating Material 103 is transported.

Referring to FIG. 8 or FIG. 9 , the second storage layer 10135 can slide up and down along the support frame 10136 . In the process of sliding up and down, it can be docked with the second end of the delivery transmission layer 1011 or the second end of the delivery transmission layer 1012 . In FIG. 8 , the second end of the second storage layer 10135 is butted with the second end of the pickup transport layer 1012 , and in FIG. 9 , the second end of the second storage layer 10135 is connected to the second end of the delivery transport layer 1011 . Two-end docking. In this way, when docking with the second end of the delivery transport layer 1011, the material 103 is obtained from the second end of the delivery transport layer 1011, and then the elevator slides down to dock with the second end of the delivery transport layer 1012 to Put the material 103 into the second end of the pick-up transmission layer 1012, and then the elevator slides up again to dock with the second end of the delivery transmission layer 1011, so as to obtain the material 103 from the second end of the delivery transmission layer 1011 again, so cycle.

It can be understood that when the second end of the second storage layer 10135 is docked with the second end of the delivery transmission layer 1011, the rotation direction of the transfer mechanism 10137 on the second storage layer 10135 is away from the delivery transmission layer 1011 ; When the second end of the second storage layer 10135 is docked with the second end of the pickup and transport layer 1012, the rotation direction of the transfer mechanism 10137 on the second storage layer 10135 is toward the pickup and transport layer 1012.

It should be noted that the delivery transport layer 1011 shown in FIG. 8 or FIG. 9 is located above the pickup transport layer 1012 . In practical applications, the delivery transport layer 1011 may also be located below the pickup transport layer 1012 .

The above-mentioned conveyor 101 and the unloader 102 can transfer materials 103 . The unloader 102 can transfer the material 103 located on the second unloading layer 1024 to the delivery transmission layer 1011 of the conveyor 101 through the first unloading layer 1023 , and the unloader 102 can pass the first unloading layer 1023 to take the material 103 . The material 103 on the cargo transfer layer 1012 is transferred to the second discharge layer 1024 .

Optionally, the above-mentioned unloading device further includes a first controller, which is used to: control the two first unloading layers 1023 and the two second unloading layers 1024 to carry out material 103 transmission at the same time, or, simultaneously with the delivery transmission layer 1011. The pickup and delivery layer 1012 performs material 103 transmission.

The above-mentioned two first discharge layers 1023 are used to transfer materials 103 with the two second discharge layers 1024 at the same time, including: the two first discharge layers 1023 are used to simultaneously release materials to the two second discharge layers 1024 into the material 103; or, the two first discharge layers 1023 are used to take the material 103 from the two second discharge layers 1024 at the same time; or, one of the first discharge layers 1023 is used for the second discharge layer The material 103 is put into the discharge layer 1024 , while another second discharge layer 1024 is used to take the material 103 from another second discharge layer 1024 .

Among them, the first unloading layer 1023, the second unloading layer 1024, the delivery transmission layer 1011, and the delivery transmission layer 1012 all have transfer mechanisms, and the first controller is electrically connected to these transfer mechanisms to control the transfer mechanism. Material 103 is transported in the transport direction.

When the rotation direction of the transfer mechanism controlling one first discharge layer 1023 and the other first discharge layer 1023 is opposite, the rotation direction of the transfer mechanism of the second discharge layer 1024 and the first discharge layer 1023 connected to it is opposite to the rotation direction At the same time, one layer of the first discharge layer 1023 can take the material 103 from the butted second discharge layer 1024 , while another first discharge layer 1023 can put the material 103 on the butted second discharge layer 1024 .

When the rotation direction of the transfer mechanism controlling the two first discharge layers 1023 is the same, the rotation direction of the transfer mechanism of the second discharge layer 1024 and its docking first discharge layer 1023 is the same, and the rotation direction is toward the first discharge layer At 1023, the two first discharge layers 1023 can be made to simultaneously take the material 103 from the two second discharge layers 1024.

When the rotation direction of the transfer mechanism controlling the two first unloading layers 1023 is the same, the rotation direction of the transfer mechanism of the second unloading layer 1024 and the first unloading layer 1023 connected to it is the same, and the rotation direction is toward the second unloading layer At 1024, the two first discharge layers 1023 can be made to simultaneously discharge the material 103 to the two second discharge layers 1024.

When the rotation directions of the transfer mechanisms controlling one first unloading layer 1023 and the other first unloading layer 1023 are opposite to each other, one first unloading layer 1023 can be made to pick up materials from the docked pickup transmission layer 1012 103 , and at the same time another first discharge layer 1023 puts materials 103 on the docked delivery transmission layer 1011 .

Optionally, the above device further includes: a detector electrically connected to the first controller for detecting the docking relationship between the first unloading layer 1023, the delivery transport layer 1011 and the pickup transport layer 1012; the first control It is also used to control the transmission direction of the first discharge layer 1023 docked with the delivery transmission layer 1011 toward the delivery transmission layer 1011, and to control the transmission direction of the first discharge layer 1023 docked with the pickup transmission layer 1012. Facing the pickup transport layer 1012.

Wherein, the docking relationship may be whether the first unloading layer 1023, the delivery transmission layer 1011 and the delivery transmission layer 1012 are in the same horizontal position. When the first discharge layer 1023 and the delivery transmission layer 1011 are at the same horizontal position, the first discharge layer 1023 is butted with the delivery transmission layer 1011 . When the first unloading layer 1023 is at the same horizontal position as the pickup and transport layer 1012 , the first unloading layer 1023 is butted with the pickup and transport layer 1012 . Therefore, the detector can be a device that detects the height of the first discharge layer 1023, and when the height is close to the preset height of the delivery transport layer 1011, it is determined that the first discharge layer 1023 is connected to the delivery transport layer 1011; When the height is close to the preset height of the pickup and transport layer 1012 , it is determined that the first unloading layer 1023 is docked with the pickup and transport layer 1012 .

When the detector detects that the first unloading layer 1023 is docked with the delivery transmission layer 1011, it sends a first signal to the first controller, and the first controller controls the first unloading layer 1023 when it receives the first signal. The transfer direction of the transfer mechanism is toward the delivery transport layer 1011 , so that the first discharge layer 1023 transfers the material 103 to the delivery transport layer 1011 .

When the detector detects that the first unloading layer 1023 is docked with the pickup transmission layer 1012, it sends a second signal to the first controller, and the first controller controls the first unloading layer 1023 when receiving the second signal. The transfer direction of the transfer mechanism is away from the pickup transport layer 1012 to receive the material 103 on the pickup transport layer 1012 .

Optionally, the first controller is further configured to control the delivery transport layer 1011 and/or the pickup transport layer 1012 to transfer the material 103 to the workstation according to the order of work efficiency corresponding to the at least one workstation.

Among them, the work efficiency can be the amount of materials 103 picked by the workstation per unit time.

Specifically, for each material 103, the material 103 may be preferentially transferred to the workstation with the highest work efficiency. Of course, when the amount of the material 103 to be processed at the workstation with the highest work efficiency is greater than the preset value, the material 103 is transferred to the workstation with the next highest work efficiency.

In practical applications, workstations can be allocated for materials 103 in combination with work efficiency and the amount of materials 103 to be processed. First, for each material 103, the comprehensive score of each workstation can be calculated according to the work efficiency and the amount of the material 103 to be processed. For example, the comprehensive score can be the ratio of the work efficiency and the amount of the material 103 to be processed; The material 103 is transferred to the workstation with the highest comprehensive score; finally, after the material 103 is transferred to the workstation with the highest comprehensive score, the amount of the material to be processed 103 of the workstation with the highest comprehensive score is updated to pass the update for the next material 103 The amount of materials to be processed 103 calculates the comprehensive score of the workstation.

In this embodiment of the present invention, workstations can be allocated through work efficiency to ensure that materials 103 are picked as soon as possible.

Optionally, the first controller is further configured to control the delivery transmission layer 1011 and/or the delivery transmission layer 1012 to transmit different materials 103 corresponding to the same order to different workstations.

It can be understood that when different materials 103 of the same order are transferred to different workstations, the synchronization of picking of different materials 103 of the order can be ensured as much as possible. Ideally, different items 103 of the same order are picked by different workstations in the same time period. Since different materials 103 of the same order need to be placed in a compartment for temporary storage after being picked, all materials 103 of the order will be packaged out of the warehouse after all materials 103 of the order have been picked, so that different materials of the same order will be packaged. 103 being picked in the same time period can shorten the time occupied by the order for the slot, which helps to prevent the subsequent order from having no slot available for use.

The material conveying method and device in the embodiments of the present application will be described in detail below.

FIG. 10 exemplarily shows a flow chart of steps of a material conveying method provided by an embodiment of the present application. Referring to Figure 10, the method includes:

S201: When there are idle unloading layers and unloading layers to be taken in at least two second unloading layers, control the first layer of the first unloading layer to take materials from the unloading layer to be taken, and control the first unloading layer to take materials at the same time. The second layer in the discharge layer puts material into the free discharge layer.

Wherein, the idle discharge layer and the to-be-taken discharge layer are adjacent or not adjacent. For example, in one case, among the second unloading layers L21 to L25 in FIG. 11 or 12, L21 is the unloading unloading level, L24 is the unloading unloading level to be taken, and the idle unloading level and the unloading unloading level to be taken are different. adjacent. For another example, in another case, among the second unloading layers L21 to L25 in FIG. 11 or FIG. 12 , L22 is the free unloading layer, L23 is the unloading layer to be taken, the idle unloading layer and the unloading layer to be taken and unloaded. The layers are adjacent.

The free discharge layer is the second discharge layer where there is no material. The free discharge layer can be the second discharge layer where no material has been placed, or the first discharge layer on which the material has been placed on the delivery transmission layer 1011. Two unloading layers.

The unloading layer to be taken is the second discharge layer where the material to be taken is stored. It should be noted that the material to be picked up is the material that needs to be placed in the delivery transport layer 1011, and the material to be picked up needs to be distinguished from the material taken from the delivery transport layer and placed on the second discharge layer.

It should be noted that the materials in the second layer are taken from the pickup transport layer.

S202: Control the first layer to put the material into the delivery transmission layer 1011.

Optionally, if there is no material available on the first end of the pickup transport layer, the first layer is controlled to put the materials into the delivery transport layer 1011 . If there are materials available on the first end of the pickup transport layer, while the first layer is controlled to put the materials into the delivery transport layer 1011, the second layer can be controlled to pick up materials from the pickup transport layer. In this way, the material conveyance time between the first discharge layer and the conveyor can be shortened, and the material conveyance efficiency between the conveyor and the discharger can be further improved.

In the embodiment of the present application, after controlling the first layer to put the material into the delivery transmission layer 1011 and taking the material from the delivery transmission layer at the same time, the process can be performed again between the first discharge layer and the second discharge layer. Material transfer. This cycle is performed until the materials in the second discharge layer are completely put into the delivery transmission layer 1011 .

It can be understood that the process of material transfer between the first discharge layer and the second discharge layer can be different each time, and it needs to be determined according to whether there are unloaded discharge layers to be taken and free discharge layers in the second discharge layer. . When there are idle unloading layers and unloading layers to be taken in the second unloading layer, the steps from S201 to S202 may be executed cyclically until there is no unloading unloading layer to be taken or there is no idle unloading layer in the second unloading layer .

Specifically, the idle unloading layer and the unloading layer to be taken can be updated according to the second direction, and when there are idle unloading layers and unloading layers to be taken in at least two second unloading layers, the first unloading layer is controlled. The first layer in the layer takes materials from the unloading layer to be taken, and at the same time controls the second layer in the first unloading layer to put materials into the empty unloading layer. The direction of the cargo transport layer 1011.

In the embodiment of the present application, the update direction of the idle unloading layer and the unloading layer to be taken is consistent with the direction in which the pickup transport layer faces the delivery transport layer 1011 .

When the pickup transport layer is located above the delivery transport layer 1011, the second direction is downward, and materials can be picked up and placed from the highest empty unloading layer and the highest unloading layer to be taken from the second unloading layer. After the material taken from the unloading layer to be taken is put into the delivery transport layer 1011, the idle unloading layer and the unloading layer to be taken can be updated downward, and the material transfer with the second unloading layer can be performed again. so cycle.

For example, as shown in FIG. 11 , the second discharge layer includes five layers: L21 to L25, the first discharge layer includes two layers: L11 and L12, and the conveyor includes a pickup transport layer TL and a delivery transport layer DL.

As can be seen from Figure 12, the second direction is downward. Therefore, during the first material transfer with the second unloading layer, if L25 is a free unloading layer and L24 is a unloading layer to be taken, materials can be put into L25 and materials can be taken from L24 at the same time.

After the material transfer with the second unloading layer for the first time, the idle unloading layer and the unloading layer to be taken can be updated downward, so that the L24 below L25 is the new free unloading layer, and the L23 below L24 is the new free unloading layer. New unloading layer to be taken. In this way, when the material is transferred with the second discharge layer for the second time, the material taken from TL is put into L24, and the material is taken from L23 at the same time.

After the material transfer with the second discharge layer for the second time, the idle discharge layer and the to-be-taken discharge layer can be updated downward, so that L23 below L24 is a new free discharge layer, and L22 below L23 is a new free discharge layer. New unloading layer to be taken. In this way, when the material is transferred with the second discharge layer for the third time, the material taken from TL is put into L23, and the material is taken from L22 at the same time.

After the material transfer with the second discharge layer for the third time, the free discharge layer and the discharge layer to be taken can be updated downward, so that L22 below L23 is a new free discharge layer, and L21 below L22 is a new free discharge layer. New unloading layer to be taken. In this way, when the material is transferred with the second discharge layer for the fourth time, the material taken from TL is put into L22, and the material is taken from L21 at the same time.

After the material transfer with the second discharge layer for the fourth time, there is only an idle discharge layer L21 in the second discharge layer, and it is impossible to take and place materials simultaneously with the second discharge layer.

When the pickup transport layer is located below the delivery transport layer, the second direction is upward, and materials can be picked up and placed from the lowest idle unloading layer and the lowest unloading unloading layer of the second unloading layer. After the material taken from the unloading layer to be taken is put into the delivery transmission layer, the idle unloading layer and the unloading layer to be taken can be updated upwards, and the material transfer with the second unloading layer is carried out again, and the cycle is like this .

For example, as shown in FIG. 12 , the second discharge layer includes five layers: L21 to L25, the first discharge layer includes two layers: L11 and L12, and the conveyor includes a pickup transport layer TL and a delivery transport layer DL.

It can be seen from Figure 12 that the second direction is upward, so when the material is conveyed with the second discharge layer for the first time, if L21 is the free discharge layer and L22 is the unloading layer to be taken, the Put material into L22 and take material from L22 at the same time.

After the material transfer with the second unloading layer for the first time, the idle unloading layer and the unloading layer to be taken can be updated upwards, so that L22 above L21 is a new free unloading layer, and L23 above L22 is a new unloading layer. the unloading layer to be taken. In this way, when the material is transferred with the second discharge layer for the second time, the material taken from TL is put into L22, and the material is taken from L23 at the same time.

After the second material transfer with the second discharge layer, the free discharge layer and the to-be-taken discharge layer can be updated upward, so that L23 above L22 is the new free discharge layer, and L24 above L23 is the new free discharge layer. the unloading layer to be taken. In this way, when the material is transferred with the second discharge layer for the third time, the material taken from TL is put into L23, and the material is taken from L24 at the same time.

After the material transfer with the second unloading layer for the third time, the idle unloading layer and the unloading layer to be taken can be updated upward, so that the L24 above L23 is the new free unloading layer, and the L25 above L24 is the new unloading layer. the unloading layer to be taken. In this way, when the material is transferred with the second discharge layer for the fourth time, the material taken from TL is put into L24, and the material is taken from L25 at the same time.

After the material transfer with the second discharge layer for the fourth time, there is only an idle discharge layer L25 in the second discharge layer, and it is impossible to take and place materials simultaneously with the second discharge layer.

It can be understood that the simultaneous picking and placing of materials between the first discharge layer and the second discharge layer in the above-mentioned FIGS. 11 and 12 needs to depend on the delivery transport layer and the pick-up transport layer. The material put into the empty discharge layer by the second layer in the first discharge layer is the material taken from the pick-up transport layer, and the first layer in the first discharge layer needs to be empty in order to The material is taken from the unloading layer, so the first layer needs to put the material taken from the unloading layer to be taken last time into the delivery transmission layer. In this way, after each simultaneous picking and placing of materials with the second unloading layer, the first unloading layer needs to simultaneously pick and place materials with the delivery transport layer and the pickup transport layer. For example, for Figure 11, after the first material transfer with the second discharge layer, the material taken from L24 is put into the DL, and at the same time, the material is taken from the TL.

As can be seen from Figure 11 or Figure 12 above, in the initial state, the unloading layer to be taken is the first second unloading layer determined from the second unloading layers according to the second direction where the material to be taken is stored, and the unloading layer is idle. The discharge layer is the first second discharge layer determined from the second discharge layers according to the second direction without material, and the direction of the idle discharge layer toward the to-be-taken discharge layer is the same as the second direction.

For example, for FIG. 11 , in the initial state, L25 is a free unloading layer, and there are materials to be taken from L21 to L24. The unloading layer to be taken is the first second discharge layer L24 from top to bottom where the material to be taken is present, and the idle discharge layer is the first second discharge layer L25 from top to bottom where no material exists. For another example, for FIG. 12 , in the initial state, L21 is an idle discharge layer, and there are materials to be taken out in L22 to L25 . The unloading layer to be taken is the first second discharge layer L22 from bottom to top where the material to be taken is present, and the free discharge layer is the first second discharge layer L21 from bottom to top where no material exists.

It can be seen that the condition for simultaneously taking and placing materials between the first discharge layer and the second discharge layer is that there are idle discharge layers and to-be-taken discharge layers in the second discharge layer. However, there is a scenario where there are materials to be picked up in each of the second unloading layers. In this case, materials can be picked up from the second unloading level in two ways.

The first method can control a first discharge layer to take materials from a second discharge layer; control the first discharge layer of this layer to put the materials into the delivery transmission layer, while the other layer is the first discharge layer. The unloading level picks up the material from the pick-up transport level.

For example, for Figure 11, there are materials to be taken from L21 to L25. Therefore, during the material transfer between the first and second discharge layers, L11 can take the material from L25; when the material is transferred between the first and the conveyor, L11 will put the material taken from L25 into into the DL layer, and at the same time, L12 takes materials from the TL.

After the material transfer with the second discharge layer for the first time, there is a free discharge layer L25, and the discharge layers L21 to L24 to be taken. At this time, the first free unloading layer L25 from top to bottom can be used as the free unloading layer, and the first unloading layer L24 to be taken can be used as the unloading layer to be taken. When the material layer is transported, L12 puts the material taken from TL into L25, and L11 takes the material from L24 at the same time. When the material is transferred between the conveyor for the second time, L11 puts the material taken from L24 into the DL layer, and at the same time, L12 takes the material from TL.

After the second material transfer with the second unloading layer, the idle unloading layer and the unloading layer to be taken can be updated downward, so that the L24 below L25 is the new free unloading layer, and the L23 below L24 is the new free unloading layer. New unloading layer to be taken. In this way, during the third material transfer with the second discharge layer, L12 puts the material taken from TL into L24, and L11 takes material from L23 at the same time. When the material is transferred between the conveyor for the third time, L11 puts the material taken from L23 into the DL layer, and at the same time, L12 takes the material from TL.

After the material transfer with the second unloading layer for the third time, the idle unloading layer and the unloading layer to be taken can be updated downward, so that L23 under L24 is a new idle unloading layer, and L22 under L23 is a new idle unloading layer. New unloading layer to be taken. In this way, during the fourth material transfer with the second discharge layer, L12 puts the material taken from TL into L23, and L11 takes material from L22 at the same time. During the fourth time of material transfer with the conveyor, L11 puts the material taken from L22 into the DL layer, and at the same time, L12 takes the material from TL.

After the fourth material transfer with the second unloading layer, the idle unloading layer and the unloading layer to be taken can be updated downward, so that L22 below L23 is a new free unloading layer, and L21 below L22 is New unloading layer to be taken. In this way, during the fifth material transfer with the second discharge layer, L12 puts material taken from TL into L22, and L11 takes material from L21 at the same time. When the material is transferred between the fourth time and the conveyor, L11 puts the material taken from L21 into the DL layer, and at the same time, L12 takes the material from TL.

After the material transfer with the second discharge layer for the fifth time, there is only an idle discharge layer L21 in the second discharge layer, and it is impossible to take and place materials simultaneously with the second discharge layer. At this point, L11 or L12 can take material from the TL layer and put it into L21.

For another example, for FIG. 12 , there are materials to be taken from L21 to L25. Therefore, L12 can take the material from L21 during the material transfer between the first and the second discharge layer; when the material is transferred between the first and the conveyor, L12 will put the material taken from L21 into into the DL layer, and at the same time, L11 takes materials from the TL.

After the material transfer with the second discharge layer for the first time, there is an idle discharge layer L21, and the discharge layers to be taken are L22 to L25. At this time, the first free unloading layer L21 from the bottom to the top can be used as the free unloading layer, and the first unloading layer L22 to be taken can be used as the unloading layer to be taken. In this way, during the second material transfer with the second discharge layer, L11 puts the material taken from TL into L21, and L12 takes material from L22 at the same time. When the material is transferred between the conveyor for the second time, L12 will put the material taken from L22 into the DL layer, and at the same time, L11 will take the material from TL.

After the second material transfer with the second unloading layer, the idle unloading layer and the unloading layer to be taken can be updated upwards, so that L22 above L21 is the new free unloading layer, and L23 above L22 is the new unloading layer. the unloading layer to be taken. In this way, when the material is transferred with the second discharge layer for the third time, L11 puts the material taken from TL into L22, and L12 takes material from L23 at the same time. When the material is transferred between the conveyor for the third time, L12 will put the material taken from L23 into the DL layer, and at the same time, L11 will take the material from TL.

After the material transfer with the second discharge layer for the third time, the free discharge layer and the to-be-taken discharge layer can be updated upward, so that L23 above L22 is a new free discharge layer, and L24 above L23 is a new free discharge layer. the unloading layer to be taken. In this way, during the fourth material transfer with the second discharge layer, L11 puts the material taken from TL into L23, while L12 takes material from L24. When the material is transferred between the fourth time and the conveyor, L12 will put the material taken from L24 into the DL layer, and at the same time, L11 will take the material from TL.

After the fourth material transfer with the second unloading layer, the idle unloading layer and the unloading layer to be taken can be updated upward, so that the L24 above L23 is the new free unloading layer, and the L25 above L24 is the new unloading layer. the unloading layer to be taken. In this way, during the fifth material transfer with the second discharge layer, L11 puts the material taken from TL into L24, and L12 takes material from L25 at the same time. When the material is transferred between the fourth time and the conveyor, L12 will put the material taken from L25 into the DL layer, and at the same time, L11 will take the material from TL.

After the material transfer with the second discharge layer for the fifth time, there is only an idle discharge layer L25 in the second discharge layer, and it is impossible to take and place materials simultaneously with the second discharge layer. At this point, the material can be taken from the TL layer and put into the L25.

It can be seen that in the first method, when the materials in the first discharge layer are put into the delivery transmission layer, the goods can be picked up from the delivery transmission layer at the same time, so as to further improve the material conveying efficiency.

The second method can control the two first unloading layers to take materials from the two second unloading layers respectively; control one of the first unloading layers to put the materials into the delivery transmission layer; control the other one. The first unloading layer puts the material into the delivery transmission layer, and at the same time, controls the idle first unloading layer to take the material from the picking transmission layer.

For example, for Figure 11, there are materials to be taken from L21 to L25. Therefore, during the material transfer between the first and second discharge layers, L11 takes material from L24 and L12 takes material from L25 at the same time. After that, L12 puts the material on the DL first, then the L11 puts the material on the DL, and at the same time, the L12 takes the material from the TL.

After the material transfer with the second discharge layer for the first time, there are free discharge layers L24 and L25, and the discharge layers L21 to L23 to be taken. At this time, the first free unloading layer L25 from top to bottom can be used as the free unloading layer, and the first unloading layer L23 to be taken can be used as the unloading layer to be taken. In this way, during the second material transfer with the second discharge layer, L12 puts the material taken from TL into L25, and L11 takes material from L23 at the same time. When the material is transferred between the conveyor for the second time, L11 will put the material taken from L23 into the DL layer, and at the same time, L12 will take the material from TL.

After the material transfer with the second discharge layer for the second time, the free discharge layer and the discharge layer to be taken can be updated downward, so that the L24 below L25 is the new free discharge layer, and the L22 below L23 is the new free discharge layer. New unloading layer to be taken. In this way, during the third material transfer with the second discharge layer, L12 puts the material taken from TL into L24, and L11 takes material from L22 at the same time. When the material is transferred between the conveyor for the third time, L11 puts the material taken from L22 into the DL layer, and at the same time, L12 takes the material from TL.

After the material transfer with the second discharge layer for the third time, the free discharge layer and the to-be-taken discharge layer can be updated downward, so that the L23 below L24 is the new free discharge layer, and the L21 below L22 is the new free discharge layer. New unloading layer to be taken. In this way, during the fourth material transfer with the second discharge layer, L12 puts the material taken from TL into L23, and L11 takes material from L21 at the same time. When the material is transferred between the fourth time and the conveyor, L11 puts the material taken from L21 into the DL layer, and at the same time, L12 takes the material from TL.

After the fourth material transfer with the second unloading layer, there are idle unloading layers L21 and L22 in the second unloading layer, and there is no material layer to be taken, so it is impossible to achieve simultaneous taking with the second unloading layer. Put the material.

For another example, for FIG. 12 , there are materials to be taken from L21 to L25. Therefore, during the material transfer between the first and second discharge layers, L11 takes material from L21 and L12 takes material from L22 at the same time. When the material is transferred between the conveyor for the first time, the L11 first puts the material on the DL, then the L12 puts the material on the DL, and at the same time, the L11 takes the material from the TL.

After the material transfer with the second discharge layer for the first time, there are free discharge layers L21 and L22, and the discharge layers L23 to L25 to be taken. At this time, the first free unloading layer L21 from the bottom to the top can be used as the free unloading layer, and the first unloading layer L23 to be taken can be used as the unloading layer to be taken. In this way, during the second material transfer with the second discharge layer, L11 puts the material taken from TL into L21, and L12 takes material from L23 at the same time. When the material is transferred between the conveyor for the second time, L12 puts the material taken from L23 into the DL layer, and at the same time, L11 takes the material from TL.

After the material transfer with the second discharge layer for the second time, the free discharge layer and the to-be-taken discharge layer can be updated upward, so that L22 above L21 is a new free discharge layer, and L24 above L23 is a new free discharge layer. the unloading layer to be taken. In this way, when the material is transferred with the second discharge layer for the third time, L11 puts the material taken from TL into L22, and at the same time, L12 takes material from L24. When the material is transferred between the conveyor for the third time, L12 will put the material taken from L24 into the DL layer, and at the same time, L11 will take the material from TL.

After the material transfer with the second discharge layer for the third time, the free discharge layer and the to-be-taken discharge layer can be updated upward, so that L23 above L22 is the new free discharge layer, and L25 above L24 is the new free discharge layer. the unloading layer to be taken. In this way, during the fourth material transfer with the second discharge layer, L11 puts the material taken from TL into L23, and L12 takes material from L25 at the same time. When the material is transferred between the fourth time and the conveyor, L12 will put the material taken from L25 into the DL layer, and at the same time, L11 will take the material from TL.

After the material transfer with the second discharge layer for the fourth time, there are only free discharge layers L24 and L25 in the second discharge layer, and there is no material layer to be taken. Pick and place material.

In order to improve the efficiency of material conveying, when there are two free unloading layers and there is no material layer to be taken, the two first unloading layers are controlled to take materials from the picking transmission layer in turn, and put them into two idle layers at the same time. in the second discharge layer.

For example, as shown in Fig. 11, when there are remaining free unloading layers L21 and L22, materials can be taken from TL through L11 and L12 in turn, and put into L21 and L22 at the same time.

It can be seen that the second method can take materials from two second discharge layers at a time in the initial state, which helps to improve the material conveying efficiency. In addition, when the materials in the two second discharge layers are put into the delivery transmission layer, the goods can be picked up from the delivery transmission layer at the same time, so as to further improve the material conveying efficiency.

An embodiment of the present application further provides a discharging device, comprising: a conveyor, a discharging machine, and a first controller; the conveyor includes a delivery transport layer and a delivery transport layer arranged in parallel up and down, and the discharging transport layer is arranged in parallel. The machine includes a first support frame and a second support frame arranged adjacently, two layers of first discharge layers arranged at intervals along the first direction of the first support frame and spaced along the first direction of the second support frame At least two second discharge layers are provided, the first discharge layer can move along the first direction, and the first direction is perpendicular to the delivery transmission layer and the pickup transmission layer; the The first controller is configured to: control the first layer of the first discharge layers to be removed from the to-be-taken discharge layer when there are idle discharge layers and a to-be-taken discharge layer in the at least two second discharge layers Take materials from the material layer, and at the same time control the second layer in the first discharge layer to put materials into the idle discharge layer; control the first discharge layer that has taken the material to put the materials into Describe the delivery transport layer.

Optionally, the first controller is also used for:

The unloading equipment provided in the embodiments of the present application is a device embodiment corresponding to the method embodiment, and has the same technical effect as the method embodiment. For detailed description, refer to the method embodiment, which will not be repeated here.

Embodiments of the present application also provide a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when the processor executes the computer-executable instructions, the computing device is made to implement the aforementioned material conveying method.

The embodiment of the present application also provides a computer program, and the computer program is used to implement the aforementioned material conveying method.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. scope.

Claims

A material conveying method is characterized in that, it is applied to unloading equipment, the unloading equipment includes a conveyor and an unloading machine, the conveyor includes a delivery transmission layer and a delivery transmission layer arranged in parallel up and down, and the The unloader includes a first support frame and a second support frame arranged adjacently, two first discharge layers arranged at intervals along the first direction of the first support frame, and a first discharge layer along the second support frame. at least two second discharge layers arranged at intervals in the direction, the first discharge layers can move along the first direction, and the first direction is perpendicular to the delivery transmission layer and the pickup transmission layer;

The method includes:

When there are idle discharge layers and to-be-taken discharge layers in the at least two second discharge layers, controlling the first layer of the first discharge layers to take materials from the to-be-taken discharge layers, At the same time, controlling the second layer in the first discharge layer to put materials into the idle discharge layer;

The first layer is controlled to put the material into the delivery transmission layer.
The method according to claim 1, wherein the method further comprises:

Renew the empty discharge layer and the to-be-taken discharge layer according to the second direction, and enter the time when there are free discharge layers and to-be-taken discharge layers in the at least two second discharge layers , control the first layer of the first unloading layer to take materials from the unloading layer to be taken, and control the second layer of the first unloading layer to put materials into the idle unloading layer. step, the second direction is the direction in which the pickup transport layer faces the delivery transport layer.
The method according to claim 1 or 2, wherein the controlling the first layer to put the material into the delivery transmission layer comprises:

The first layer is controlled to put the material into the delivery transmission layer, and at the same time, the second layer is controlled to take the material from the pickup transmission layer.
The method according to claim 2, wherein the unloading layer to be taken is the first second unloading layer in which the material to be taken exists and is determined from the second unloading layer according to the second direction layer, the free discharge layer is the first second discharge layer determined from the second discharge layer according to the second direction without material, and the free discharge layer faces the to-be-taken The direction of the discharge layer is the same as the second direction.
The method according to claim 1, wherein the method further comprises:

When there are materials to be taken in each of the second discharge layers, controlling the two first discharge layers to take materials simultaneously from the two second discharge layers respectively;

controlling one of the first discharge layers to put the materials into the delivery transmission layer;

The other first discharge layer is controlled to put the material into the delivery transmission layer, and at the same time, the idle first discharge layer is controlled to take the material from the pickup transmission layer.
The method according to claim 1, wherein the method further comprises:

When there are materials to be taken in each of the second discharge layers, controlling one layer of the first discharge layers to take materials from one layer of the second discharge layers;

The first discharge layer of the first layer is controlled to put the material into the delivery transmission layer, while another layer of the first discharge layer takes the material from the pickup transmission layer.
The method according to claim 1, wherein the method further comprises:

When there are two free unloading layers and there is no material layer to be taken, control the two layers of the first unloading layer to take materials from the picking and transporting layer in turn, and put them into the two free layers at the same time. in the second discharge layer.
An unloading device, characterized in that it comprises: a conveyor, a unloader and a first controller;

The conveyor comprises a delivery transmission layer and a delivery transmission layer arranged in parallel up and down, and the unloader comprises a first support frame and a second support frame arranged adjacently, along the first direction of the first support frame Two layers of first discharge layers arranged at intervals and at least two layers of second discharge layers arranged at intervals along the first direction of the second support frame, the first discharge layers can move along the first direction, the first direction is perpendicular to the delivery transport layer and the pickup transport layer;

The first controller is used for:

When there are idle discharge layers and to-be-taken discharge layers in the at least two second discharge layers, controlling the first layer of the first discharge layers to take materials from the to-be-taken discharge layers, At the same time, controlling the second layer in the first discharge layer to put materials into the idle discharge layer;

The first discharge layer that takes the material is controlled to put the material into the delivery transmission layer.
A computer-readable storage medium, characterized in that, computer-executable instructions are stored in the computer-readable storage medium, and when a processor executes the computer-executable instructions, the computing device is made to implement any one of claims 1 to 7. the method described.
A computer program, characterized in that the computer program is used to implement the method according to any one of claims 1 to 7.