• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Automatic container handling device and automatic packing system that contains it. The present invention refers to an automatic device for the handling of containers in systems for placing and removing containers for filling stations of said containers, preferably in logistics facilities of the type known as classifiers, in which it has at least one automatic device per level of the handling system for the automatic access and exchange of containers from the packing stations, where the automatic device allows the orientation of its container support base in different axes and angles to capture and position the container in the Orientation of the support structure of the nesting station, without the need for human intervention. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2829030A1
    申请号:ES201931054
    申请日:2019-11-27
    公开日:2021-05-28
    发明作者:Cespedes Antonio Lopez
    申请人:Montaje De Transp Y Sistemas Industriales S L；
    IPC主号:
    专利说明:

    [0004] The present invention refers to an automatic device for handling containers in container placement and extraction systems for filling stations of said containers, preferably in logistics facilities of the type known as classifiers.
    [0006] Background of the invention
    [0008] In the logistics sub-processes of packing, the containers are filled from a classifier, preferably automatically. In this context, the classifiers, or usually called “sorters”, consist of a conveyor belt or base that receives the elements to be distributed in the different containers and transports them through the nesting system, in order to be able to divert them from the classifier and their fitted in the corresponding container.
    [0010] The containers are distributed and collected from the nesting stations, or also called positioning nests, totally or partially manually, so that for the placement of the container in the positioning nest an operator needs to place manually from the container supply position voids to the positioning nest.
    [0012] This manual positioning of the empty container allows for the placement in the specific position of the container in the positioning nest, since it may be necessary for this nest to have a container support surface that makes the container position inclined, according to the nesting process and the pieces to be put into the container. This inclined position, contrary to that of the channel ramp that marks the trajectory of the packages, that is, of the elements to be distributed, from the classifier to the container, is necessary to guarantee the correct entry of said packages into the interior of the container.
    [0014] To remove the container from the positioning nest, it is necessary at least one instruction from the operator to be able to proceed with the automatic removal of the container towards the automated transport of the collection of full containers, which may require a greater need for intervention by the operator, needing an impulse or small transport of the full container, from the positioning nest to the automated collection transport.
    [0016] This makes, as has been seen, that manual intervention is always necessary in the placement of empty containers and partially manual in their extraction once full. This implies operational costs associated with the operator, as well as the possibility of human errors.
    [0018] Description of the invention
    [0020] The objective of the present invention is to provide an automatic container handling device, as well as to provide a logistics system for automatic container handling that contains it, which manages to solve the aforementioned drawbacks, presenting other advantages that will be described below.
    [0022] In the present description, descriptive terms of the invention are used taking as reference an operation of displacement of the automatic device in a horizontal plane, with which terms related to this displacement reference are used. In the possible case of changing the axis of displacement, the terms used must be associated in a corresponding manner with the type of displacements related to said new reference axis, without altering the sense of the invention.
    [0024] In accordance with the stated objective, according to a first aspect, the present invention is based on an automatic container handling device, where said containers are positioned in nesting stations. The present invention is characterized by the fact that the automatic device comprises, at least:
    [0025] - a frame, with one or more housings for the transport of one or more containers; - means for moving the device through a guiding system with access to the nesting stations;
    [0026] - a container exchange station with a motorized and tiltable support surface;
    [0027] - an electrical power supply system; Y
    [0028] - a control and communication system of the automatic device;
    [0030] Furthermore, the invention is characterized in that, at least, in the access position to a packing station, the container exchange station is positioned in a position lower than the support surface of the packing station.
    [0031] Also, characteristically, the motorized support surface, in addition to the displacement between the position of the automatic device and the nesting station, has an orientation system for said support surface that allows its support plane to be tilted, at least by means of two axes perpendicular to each other that form a plane parallel to said support plane and, where the first tilt operation is one of the following:
    [0032] - Inclination by pivoting with respect to an axis parallel to the delivery and collection direction;
    [0033] - Inclination by pivoting with respect to an axis perpendicular to the delivery and collection direction;
    [0034] and the second tilt is produced by pivoting with respect to said axis perpendicular to that of the first tilt operation.
    [0036] This configuration allows to have an automatic container handling device that, in addition to automatically providing and removing the container from the area corresponding to the nesting station, or positioning nest, allows the container to be positioned in the final position of use. , as well as carrying out the collection from said final position of use, with the inclinations of said container suitable for the design of the classifier and of said nesting station, without human intervention in the movement of said container.
    [0038] This advantageous device allows the automation of container delivery and collection systems to the packing stations, eliminating operator costs and possible human errors, and being able to adapt with a single device, the orientation requirements of the container position in the station. of nesting, to the specific design of said station without having to modify the configuration of the automatic container handling device.
    [0040] Container housings on the frame should be understood as both the space that the container positioned in the container exchange station can occupy, as well as additionally or alternatively, additional housings positioned in spaces of the automatic device intended to transport said containers. These alternative housings can alternatively be included in the same device, but outside the container exchange station itself, having displacement systems between said exchange station to other positions on the frame where said alternative housings are arranged.
    [0042] According to a preferred embodiment of the invention, the orientation system of the motorized support surface of the container exchange station additionally has a lifting path between the position of the automatic device, in its original position of movement by its guiding system between nesting stations, and the height of the container positioned in the nesting station.
    [0044] This allows to have an adaptation of the orientable support surface of the container exchange station of the automatic device that, in addition to its movement in the direction of delivery and collection of the container and, in addition to its possible modification of the inclination, allows to adapt at the height of the position of the nesting station, having a folded original displacement position that does not interfere with the movement of the automatic device itself by the guiding system between the different nesting stations, starting from said displacement position in which the exchange station and its support surface do not interfere with or hinder said movement of the device between different access positions to the different nesting stations.
    [0046] Optionally to the above, the orientation system of the motorized support surface of the container exchange station has a rotary movement with respect to the axis perpendicular to the two pivot axes for its inclination.
    [0048] This option allows a total adaptation of the support surface, not only to the inclination and height of the position of the container in the nesting station, but also allows it to be adapted to any orientation in said position in the nesting station.
    [0050] Preferably, the automatic device has two container exchange stations. This allows the removal of the full container and the replacement of an empty container to the nesting station to be carried out with the same automatic device, saving device movements on the same nesting station and with a device size that does not require storage spaces. own storage of containers and / or auxiliary mechanisms for placing more containers within the automatic device, simply an empty exchange station for the removal of the full container and an exchange station with an empty container to be replaced in the nesting station.
    [0051] Alternatively, the automatic device has more than two container exchange stations. This allows two or more operations to be carried out in the packing stations without carrying out the corresponding unloading of the containers from the automatic device after the dispatch system.
    [0053] With respect to this alternative embodiment of the invention, the motorized and tiltable support surface has means of movement in the direction of collection, delivery and collection of the container, as well as additional means of movement for possible accommodation in other alternative locations to that of the container exchange station, wherein these additional movement means perform said movement in the positioning direction between the additional housing in the frame and the container exchange station.
    [0055] This advantageously allows both the movement of delivery and collection in the exchange station, as well as the movement towards possible additional housings for the containers that exist in the frame of the automatic device, different from those existing in the exchange stations, being able to manage Automatically position containers in the device to be able to have additional containers in the device, in addition to those that can be located in the exchange station itself.
    [0057] Preferably, the control and communication system is connected to an external management system, to which it communicates, at least, its position in the guidance system with access to the nesting stations, as well as its status, in reference to the transport accommodation that has free or occupied, and receives the destination position and, at least, one action to be carried out from:
    [0058] - reception of the empty container from the part of the system that supplies them, - delivery of the empty container to the packing station,
    [0059] - collection of a full container from the packing station, or
    [0060] - dispatch of the full container following the dispatch system.
    [0062] This advantageous configuration allows the management of the position and actions to be carried out by the automatic device, so that its movements within the system are optimized according to the information supplied by the sensors and possible intervening parties in the system, which provide information to the management system. outside the device, which performs a global management of the sub-process of delivery and collection of containers to the packing stations, being able to coordinate two or more automatic devices in the same level of the guidance system that without colliding move by the same level and that provide service to the stations of embedded in said system level.
    [0064] According to a second aspect, the present invention proposes an automatic container handling system, of those that perform the delivery and collection of containers in packing stations, connecting said packing stations with the distribution of empty containers and with the dispatch of full containers.
    [0066] This system is characterized by the fact that the automatic handling system has a structure with one or more levels of nesting stations, having at least, for each level, one or more automatic container handling devices as indicated in the above features.
    [0068] The system is also characterized by the fact that each level of nesting stations contains, at least, one structure for holding said nesting stations, as well as guiding means for moving the automatic handling devices.
    [0070] The automatic handling system is also characterized by the fact that it has government means that communicate and coordinate with each of the installed automatic devices, receiving data on their position and status and sending data on their next destination and the location. action to be taken in said destination.
    [0072] This manages to configure an automatic container handling system that communicates the distribution of empty containers with the packing stations, as well as the withdrawal from the packing stations of the filled containers to the distribution line as a continuation of the usual logistics process, all of this. in an automated way that was not achieved in the state of the art.
    [0074] Brief description of the figures
    [0076] For a better understanding of what has been stated, some drawings are attached in which, schematically and only as a non-limiting example, a practical case of embodiment is represented.
    [0077] Figure 1 is a perspective view of an automatic container handling device, with two container exchange stations
    [0079] Figure 2 is a front elevation view of an automatic container handling device, in which the two positions of the support surface of the exchange station are shown, the initial one in a solid line and the one oriented in a broken line.
    [0081] Figure 3 is a side elevation view of an automatic container handling device, in which the two positions of the support surface of the exchange station are shown, the initial one in a solid line and the one oriented in a broken line.
    [0083] Figure 4 is a top plan view of an automatic container handling device.
    [0085] Figure 5 is a partial perspective view of an automatic container handling system, where two levels of packing stations and an automatic handling device are represented at each level, without showing the empty container supply system, nor the dispatch of those collected as full.
    [0087] Figure 6 is a front elevation view of the automatic container handling system depicted in Figure 4.
    [0089] Figure 7 is a side elevation view of the automatic container handling system depicted in Figure 4.
    [0091] Description of a preferred embodiment
    [0093] Various embodiments of the automatic container handling device of the present invention are described below, as well as the automatic container handling system that contains it, with reference to the figures indicated above.
    [0095] According to a preferred embodiment, both the automatic device (10) for handling containers (20), and the automatic system (100) for handling containers (20) containing the automatic device (10), are installed as part of a process logistics of container filling (20) from an automated sorter, not graphed in the figures, which automatically deposits packages or products from said sorter to a hopper that ends at the packing station (103), where the container (20 ) for filling.
    [0097] The empty containers (20) are supplied to the automatic device (10) by a system not represented in the figures, with which it is considered that the automatic system (100) for handling containers (20) has some type of communication and / or interaction that allows the empty containers (20) to be placed in the automatic device (10).
    [0099] On the other hand, the dispatch of the full containers (20) by the automatic device (10) is carried out towards a transport and dispatch system as a continuation of the logistics system, also not represented in the figures, which communicates with the automatic system ( 100) handling containers (20), managing the full containers (20) extracted from the packing stations (103) for their subsequent logistics management or the process in which they are located.
    [0101] As can be seen in Figures 1 to 4, the automatic device (10) for handling containers (20) is based on a frame (11) that moves by means of a system of wheels (12), or the like. , which allows the movement of the automatic device (10) on a system of rails (102), which acts as a guiding system for the automatic device (10) through a structure (101) that supports said rails (102), thus as it also supports nesting stations (103), as can be seen as a whole in Figures 5 to 7.
    [0103] Said frame (11) incorporates two exchange stations (13) in which there are two housings for containers (20). Each of these exchange stations (13) are based on two arms (14) parallel to each other and perpendicular to the direction of movement of the automatic device (10), where said arms (14) form a support surface for the containers ( 20), these arms (14) having motorized transport belts, said supporting surface for motorized movement in the direction of delivery and collection of the containers (20). Alternatively, the movable support surface of the exchange stations (13) can be constituted as movable and orientable elements alternative to the motorized conveyor belts.
    [0104] The exchange stations (13) have a motorized support surface orientation-inclination system formed by the parallel arms (14). This orientation system includes the inclination of the motorized support surface by pivoting with respect to an axis parallel (P) to the delivery and collection direction, as well as the inclination by pivoting with respect to a perpendicular axis (O) to the parallel axis. (P) of the first tilt operation.
    [0106] In addition to these possible inclinations, alternatively, the arms (14) can be raised with respect to the plane of movement of the automatic device (10).
    [0108] Also alternatively, the tilting operations can be performed first along an axis perpendicular (O) to the delivery and collection direction, while the second tilting action would be on an axis perpendicular (P) to the first in the same plane of the support surface.
    [0110] The automatic device (10) has a control and communication system that drives the movement of the automatic device (10) along the rail system (102), to move it from one position to another of the automatic container handling system (100) (20), as well as to drive the motorized belts of the arms (14) of the exchange stations (13), and to operate the possible elevations and inclinations resulting from the pivoting in the different axes (P, O) of the arms ( 14). This control and communication system, which governs the actions and movements of the automatic device (10) is in communication with a management system of the automatic system (100) for handling containers (20), which receives the position data and status of each of the automatic devices located at each level of the system and the status of each of the containers (20) in the nesting stations (103), orders the movement and the action to be performed on each automatic device (10 ), to make the movement management and productivity of container management (20) as efficient as possible. This control system can have greater connectivity with other elements, such as with the classification system in the "sorter".
    [0112] The automatic container handling system (100) is formed, as can be seen in Figures 5 to 7, in the present embodiment, by a structure (101) in which two levels are arranged as floors arranged in horizontal planes, one on top of another. Each of these levels has an automatic device (10) that moves along the system of rails (102) that allow movement and access to each of the nesting stations (103) that are supported by the structure (101 ) and where the containers (20) are located to receive the packages from the automatic sorter. These containers (20) positioned in the nesting stations (103) need to have the container (20) in an inclined position on two axes, for better reception of the packages after going down through a conduction hopper of said packages, which It is achieved with the exchange stations (103) indicated.
    [0114] Alternatively, there may be different levels within the structure of the automatic system (100) for handling containers (20), or even just one, the system having to manage the automatic devices (10) which may also alternatively be more than one per level.
    [0116] With these configurations, the automatic device (10), once it is located in an access area to a packing station (103), brought to it by order of the system management means to, for example, deliver a container ( 20) empty to the nesting station (103) of the system that requires said container (20), slightly raises the horizontal plane of the arms (14) of the exchange station (13), proceeding later to perform the two inclinations, one pivoting with respect to an axis parallel (P) to the delivery and collection direction, and a second pivoted with respect to a perpendicular axis (O) to the delivery and collection direction, in order to align with the container support housing (20) in the nesting station (103). In this position, the motorized means of the displacement belts of the arms (14) of the exchange station carry out the transfer of the container (20) of supposition in the automatic device (20) to the nesting station (103).
    [0118] Conversely, for its extraction, an inverse procedure will be followed, positioning the arms (14) on the inclinations corresponding to the container support housing (20) and by means of the corresponding elevation, it brings the motorized transport straps of each arm into contact. (14) from the exchange station, to be able to extract the container (20) from its position.
    [0120] The delivery of the full or empty containers (20) to the rest of the system is carried out by usual means, which can preferably be automatic, although alternatively it can be see human intervention partially or totally.
    [0122] In alternative embodiments, the motorized bearing surfaces can properly be platforms that move, lift or tilt, dispensing with arms.
    [0124] Also alternatively, there are extra housings for the arrangement of more containers (20) in the same automatic device (10) than can be located in each exchange station (13).
    [0126] The power supply, which is used in this embodiment by using brushes in the rail system (102), can alternatively be any of those known for indoor material transport systems.
    [0128] Although reference has been made to a specific embodiment of the invention, it is clear to a person skilled in the art that the automatic container handling device and the automatic system that contains it, described are susceptible to numerous variations and modifications, and that all the aforementioned details may be replaced by other technically equivalent ones, without departing from the scope of protection defined by the appended claims.
    权利要求:
    Claims (8)
    [1]
    1. Automatic container handling device, where said containers (20) are positioned in nesting stations (103), characterized in that the automatic device (10) comprises, at least:
    - a frame (11), with one or more housings for the transport of one or more containers (20);
    - means for moving the device (12) through a guiding system (102) with access to the nesting stations (103);
    - an exchange station (13) for containers (20) with a motorized and tiltable support surface (14);
    - an electrical power supply system; Y
    - a control and communication system of the automatic device;
    wherein at least, in the position of access to a nesting station (103), the exchange station (13) of containers (20) is positioned in a position lower than the support surface of the nesting station (103) ; Y
    wherein the motorized support surface (14), in addition to the displacement between the position of the automatic device (10) and the nesting station (103), has an orientation system of said support surface (14) that allows its inclination support plane, at least, by means of two axes (P, O) perpendicular to each other that form a plane parallel to said support plane and, where the first tilt operation is one of the following:
    - Inclination by pivoting with respect to a parallel axis (P) to the delivery and collection direction;
    - Inclination by pivoting with respect to a perpendicular axis (O) to the delivery and collection direction;
    and the second tilt is produced by pivoting with respect to said axis perpendicular to that of the first tilt operation.
    [2]
    2. Automatic container handling device, according to claim 1, wherein the orientation system of the motorized support surface (14) of the exchange station (13) of containers (20) additionally has a elevation path between the position of the automatic device (10), in its original position of movement by its guiding system (102) between nesting stations (103), and the height of the container (20) positioned in the nesting station ( 103).
    [3]
    3. Automatic container handling device, according to claim 1 or 2, wherein the orientation system of the motorized support surface (14) of the exchange station (13) of containers (20) has movement of rotation with respect to the axis perpendicular to the two pivot axes (P, O) for its inclination.
    [4]
    4. Automatic container handling device, according to claim 1, wherein the automatic device (10) has two exchange stations (13) for containers (20).
    [5]
    5. Automatic container handling device, according to claim 1, wherein the automatic device (10) has more than two exchange stations (13) for containers (20).
    [6]
    6. Automatic container handling device, according to claim 1, wherein the control and communication system is connected to an external management system, to which it communicates, at least, its position in the guidance system (102) with access to the packing stations (103), as well as their status, in reference to the transport housings that it has free or occupied, and receives the destination position and, at least, one action to be carried out from:
    - reception of the empty container (20) from the part of the system that supplies them, - delivery of the empty container (20) to the packing station (103),
    - collection of container (20) full from the packing station (103), or
    - dispatch of the full container (20) following the dispatch system.
    [7]
    7. Automatic container handling device, according to claim 1, wherein the motorized and tiltable support surface (14) has means of movement in the direction of collection, delivery and collection of the container (20), as well as of additional displacement means for housings in other alternative locations to the exchange station (13) of containers (20), where these additional displacement means perform said displacement in the positioning direction between the additional housing in the frame (11) and the exchange station (13) of containers (20).
    [8]
    8. Automatic container handling system, of those that perform the delivery and collection of containers (20) in packing stations (103), connecting said packing stations (103) with the distribution of empty containers (20) and with the dispatch of full containers (20) characterized by the fact that the automatic handling system (100) has a structure (101) with one or more levels of nesting stations (103), having at least, for each level, one or more automatic devices (10) for handling containers (20) as indicated in claims 1 to 7, where each level of nesting stations (103) contains at least one clamping structure (101) of said nesting stations (103), as well as guiding means (102) for moving the automatic handling devices (10), where the automatic system (100) for handling containers (20) has some governing means that communicate with each of the automatic devices receiving data on its position and status and sending data on its next destination and the action to perform in d icho destination.
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    同族专利:
    公开号 | 公开日
    ES2829030B2|2021-10-11|
    引用文献:
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    CN108438699A|2018-04-28|2018-08-24|上海托华机器人有限公司|A kind of automatic sorting shelf and automatic sorting AGV|
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