WO2014029202A1

WO2014029202A1 - Hanging-type automatic access system

Info

Publication number: WO2014029202A1
Application number: PCT/CN2013/071103
Authority: WO
Inventors: 谢敏
Original assignee: 深圳市怡美工业设计有限公司
Priority date: 2012-08-24
Filing date: 2013-01-30
Publication date: 2014-02-27
Also published as: CN102785882A; CN102785882B

Abstract

A hanging-type automatic access system comprising a storage rack (100), object containers (200) hanged on the storage rack (100), an object placement and retrieval opening (300) provided at one end of the storage rack (100), and a conveyor mechanism (400) used for conveying objects between hanging positions of the object containers (200) and the object placement and retrieval opening (300), also comprising a control system for controlling the operation of the conveyor mechanism (400) and a photoelectric sensor system used for positioning and connected to the control system. The present invention is structurally simple. A container automatic adjustment hanging apparatus allows for automatic adjustment of the centers of gravity of the containers, ensures that the containers can be restored to the correct state via an automatic adjustment mechanism even if the positions are deviated or skewed during placement and retrieval processes, and ensures accurate placement and retrieval during subsequent placement and retrieval of the containers, thus ensuring normal operation of the system.

Description

Suspended automatic access system

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a conveying apparatus, and more particularly to an automatic access system for articles. BACKGROUND OF THE INVENTION There are various devices for accessing books and articles in the prior art, and a transmission device for a conventional mechanical sprocket and chain. A plurality of book boxes of the same size are fixedly mounted on the chain of the ring structure, and the motor drives the chain to rotate horizontally so that all the book boxes fixed on the chain move at the same time. When a selected book is transferred to the location of the launching agency, the launching agency pushes the book out and falls onto the conveyor belt below, and the books that fall on the conveyor belt are sent to the book outlet by the conveyor belt. Since the self-service borrower is a horizontal ring structure, it is necessary to rotate all the books of one layer with the ring device, so that the required book can be transferred to the book exit, and the heavy load of the mechanical moving part causes serious wear. The launching agency directly contacts the book in a push manner, which easily leads to damage to the book. The size of the push-out mechanism is difficult to grasp. If it is too large, it may be stuck on the frame. If it is too small, it may not be pushed to a thin book, resulting in unreliable work. Moreover, the above process of taking books cannot be reversed, and books cannot be returned from the exit to the book box. The method of moving the object directly by the robot arm requires that the thickness of the book must be similar. Otherwise, the problem may be caused by the clip being not tight or the book being pinched. The robot is also very easy to insert into the book during the process of inserting the book into the container. As a result, the damage of the book is caused. Therefore, the mechanism for picking up the book by the robot has high requirements for processing, debugging, transportation, and installation, and cannot meet the requirements of various sizes of the book, and the reliability is not high. SUMMARY OF THE INVENTION The hanging automatic access system provided by the present invention adopts a simple conveying mechanism and a precise positioning system, and the object container also adopts a technology of automatically adjusting the center of gravity and automatically returning the container, thereby solving the problem of occupying a large space in the prior art. The technical problem of shifting the position of the item. The hanging automatic access system provided by the present invention for solving the above technical problems includes a storage rack, an article container suspended on the storage rack, an item pick-and-place port disposed on one side of the storage rack, and a hanging container for the article container A transport mechanism for transporting articles between the location and the item pick-and-place port, a control system that controls operation of the transport mechanism, and a photoelectric sensing system coupled to the control system for positioning. A further improvement of the present invention is that the conveying mechanism includes a longitudinal conveying mechanism that is displaced in the longitudinal direction of the storage rack and a lateral conveying mechanism that is displaced in the direction of the short axis of the storage rack, and the lateral conveying mechanism is fixed to the longitudinal conveying mechanism. The longitudinal conveying mechanism includes a longitudinal rail disposed along a longitudinal axis of the storage rack and a first moving platform running on the rail, the lateral conveying mechanism including a vertical lifting mechanism and a horizontal rotating mechanism disposed on the first moving platform, a horizontal expansion mechanism disposed on the horizontal rotation mechanism and a container pick-and-place mechanism disposed on the horizontal expansion mechanism. A further improvement of the present invention is that: the storage rack may have more than one layer, each storage rack is provided with an independent longitudinal conveying mechanism and a lateral conveying mechanism, and the conveying mechanism further comprises a side disposed on the storage rack for a vertical conveying mechanism for conveying articles between the container pick-and-place mechanism and the article pick-and-place port, the vertical conveying mechanism comprising a vertical guide fixed at one end of the storage rack a rail and a second moving platform moving up and down along the vertical rail. A further improvement of the present invention is that: the article container comprises a container body, the upper portion of the container body is provided with an automatic adjusting suspension device for automatically adjusting the center of gravity thereof by the weight of the article and the container, and the storage rack is provided with the automatic adjustment suspension The device cooperates with the hanging portion of the container body. A still further improvement of the present invention is that the self-adjusting suspension device is at least one, and the automatic adjustment suspension device is disposed at the top of the container body. The self-adjusting suspension device includes a connecting portion connecting the container body and an adjusting portion connecting the connecting portion, the adjusting portion including a first surface and a second surface which are arranged on both sides of the connecting portion and inclined The first surface and the second surface are disposed opposite each other with a longitudinal axis of the article container, the hanging portion having a wedge-shaped configuration. The first surface and the second surface have the same curvature or a plane having the same inclination, and the two inclined surfaces of the hanging portion of the wedge structure are adapted to the first surface and the second surface. According to still another improvement of the present invention, there are two automatic adjusting suspension devices, and the two automatic adjusting suspension devices are respectively disposed at upper portions of both side surfaces of the container body. The self-adjusting suspension device includes a connecting portion connecting the container body and an adjusting portion connecting the connecting portion, the first surface of the adjusting portion is an inclined surface, and the first surface of the adjusting portion is a curved surface or a plane. According to still another improvement of the present invention, the object container is provided with a lifting hole, and the container pick-and-place mechanism is hook-shaped, and the container body is lifted by being inserted into the lifting hole. A further improvement of the present invention is that the self-adjusting suspension on the container of the article There is a limit stop at the end. The specific technical solution of the present invention adopts a modular design: including a horizontal conveying mechanism designed with multiple layers; one or more vertical conveying mechanisms; wherein:

Horizontal transport mechanism: includes a storage rack, a plurality of item containers, one or more pick and place devices, a photoelectric sensing system, and a control system. The object container is suspended on the storage rack, and the mechanical arm of the pick-and-place device can perform three-dimensional linear positioning movement and horizontal positioning rotation. The robotic arm is a functional component that moves the item container. Each conveying mechanism has its own photoelectric sensing system and control system; Vertical conveying mechanism: including vertical rails, movable platform mounted on vertical rails, photoelectric sensing system and control system, each vertical conveying mechanism has its own photoelectric Sensing system and control system. The control system of each module can communicate with the host computer, receive operation command information, and return to the working state of the device. The two modules can be combined in a variety of ways to meet different functional requirements. a one-dimensional vertical conveying mechanism comprising: a vertical rail and a carrying platform movably mounted on the vertical rail, the vertical rail being disposed in cooperation with the longitudinal rail to enable the article container to be movable from the first The platform is moved onto the carrying platform or operated in reverse, with the access of the item being placed adjacent to the vertical rail. Photoelectric sensing system: coupled to the three-dimensional (plus horizontal rotation) motion device and the one-dimensional vertical transport mechanism, respectively; a control system: coupled to the photoelectric sensing system. The beneficial technical effect of the present invention is that: according to the conveying mechanism of the present invention, the articles are placed in the corresponding article containers in a prescribed correspondence relationship, and the respective article containers are arranged in the multi-layer storage rack. In the specified position, a plurality of three-dimensional (plus horizontal rotation) motion devices are respectively arranged corresponding to the layers of the storage rack, and the one-dimensional vertical conveying mechanism is arranged in cooperation with the three-dimensional (plus horizontal rotation) motion device, and is controlled by the control system. Drive the three-dimensional (plus horizontal rotation) motion device and the one-dimensional vertical conveying mechanism to cooperate to complete the access to the container of the item, and put it to the designated entrance or exit, or reversely operate the empty item container or install a new refill The item container of the item is placed back to the specified position of the storage rack. On the one hand, by controlling the three-dimensional (plus horizontal rotation) motion device and the one-dimensional vertical conveying mechanism to closely cooperate, multiple layers can be operated in parallel to simultaneously take and place items, which greatly improves the work efficiency of self-service pick-and-place articles, and has high accuracy and reduction. Working time; compared with the conventional solution, the mechanical operation of the invention does not have the collective movement of the articles at the same time, the load is low, the energy consumption is low, the noise is low, and the mechanical strength requirement is lowered, and the equipment is not easily damaged; The operation does not use the pushing method to take the object, and in addition to the use of the container of the article, the motion executing mechanism does not directly contact the article, and the object to be taken and put is not subjected to friction and damage during the whole operation, thereby greatly reducing the risk of damage of the article; Moreover, by appropriately setting the size of the container of the article, various items can be accommodated, and the conventional solution can be avoided by using the robot arm to directly take the article, and the defects of various shapes and sizes of the article cannot be satisfied. In a particularly typical application, the item that is placed by the mechanism that hangs the automatic storage item is a book, the storage frame is a bookshelf, and the item container is a container for storing books. The mechanism for automatically storing articles by hanging is used for picking up and dropping books, which effectively overcomes the shortcomings of the existing library self-service borrowing and returning machine. The automatic adjustment suspension device of the product container can automatically adjust the center of gravity of the container, even if the position is deviated or skewed during the pick-and-place process, the automatic adjustment mechanism can ensure that the container is restored to the correct state, and the next time the container is taken and taken, it is guaranteed to be taken. Accurate, so as to ensure the normal operation of the system. DRAWINGS

1 is a schematic structural view of a suspended single-layer automatic storage system according to the present invention.

2 is a schematic structural view of a suspended multi-layer automatic storage system according to the present invention.

3 is a schematic view of a lateral conveying mechanism in the hanging automatic storage system of the present invention.

4 is a schematic view of a container suspension in the hanging automatic storage system of the present invention.

FIG. 5 is a schematic view of a vertical conveying mechanism in the hanging automatic storage system of the present invention.

Figure 6 is a perspective view showing the storage of the article container of the present invention on the storage rack.

Figure 7 is a perspective view of the container of the article of the present invention.

Figure 8 is a cross-sectional view showing the automatic adjustment suspension device of the present invention mounted on the top surface of the container. Figure 9 is a cross-sectional view showing the automatic adjustment suspension device of the present invention mounted on the side of the container. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Specific embodiments of the present invention will be described with reference to FIGS. 1 through 9. As can be seen from FIG. 1 to FIG. 5, the hanging automatic access system includes a storage rack 100, an article container 200 suspended from the storage rack 100, an article pick-and-place port 300 disposed at the end of the storage rack 100, and The transport mechanism 400 for transporting articles between the hanging position of the article container 200 and the article pick-and-place port 300 further includes a control system that controls the operation of the transport mechanism 400 and a photoelectric sensing system that is coupled to the control system for positioning. The conveying mechanism 400 includes a longitudinal conveying mechanism 410 that is displaced in the longitudinal direction of the storage rack 100 and a lateral conveying mechanism 420 that is displaced in the short-axis direction of the storage rack 100, and the lateral conveying mechanism 420 is disposed on the longitudinal conveying mechanism 410. The longitudinal transport mechanism 410 includes a longitudinal rail 411 disposed along a long axis direction of the storage rack 100 and a first moving platform 412 running on the rail 411. The lateral transport mechanism 420 includes a first mobile platform 412 The vertical lifting mechanism 422 and the horizontal rotating mechanism 421, the horizontal telescopic mechanism 423 provided on the horizontal rotating mechanism 421, and the container pick-and-place mechanism 424 provided on the horizontal telescopic mechanism 423. A preferred embodiment: the photoelectric system of the control system arranged according to a predetermined position controls the action of the conveying mechanism, the longitudinal rail is a slide rail, and the first moving platform is movably mounted on the longitudinal rail a sliding platform, the vertical lifting mechanism is directly mounted on the base of the first moving platform, the horizontal telescopic mechanism is mounted on the horizontal rotating mechanism, and the container pick-and-place mechanism is fixed on the horizontal telescopic mechanism. The storage rack has two rows of racks arranged in parallel, the longitudinal rails are disposed in parallel between the two rows of rack bodies, and the vertical lifting mechanism moves up and down to cause the horizontal telescopic mechanism to move up and down, and the horizontal rotating mechanism drives the level The telescoping mechanism is rotated horizontally to align the container pick and place mechanism with the location where the item container is to be handled. The storage rack 100 may have more than one layer, and each storage rack 100 is provided with a separate longitudinal transport mechanism 410 and a lateral transport mechanism 420. The transport mechanism 400 further includes a storage rack 100 for side access. A vertical transport mechanism 430 for transporting articles between the mechanism 423 and the article pick-and-place port 300 includes a vertical rail 431 and a second moving platform 432 that moves up and down along the vertical rail 431. The top of the article container is provided with a hanging portion, and an opening is provided below the hanging portion, and the container pick-and-place mechanism is an elongated member 424 on the horizontal telescopic mechanism that can be inserted into the opening. The present invention is described by taking an example for the storage of books. These embodiments are for better explanation and understanding of the present invention, and are non-limiting. The mechanism for hanging automatic storage of articles can be used for automatic automatic use of various articles. Take it out. Referring to FIG. 1 to FIG. 6, the automatic storage mechanism includes a longitudinal conveying mechanism 410, a vertical conveying mechanism 430, a storage rack 100, an article (storage) container 200 suspended on the storage rack 100, and can be used for three-dimensional linear motion and horizontal Rotating motion of the transverse transport mechanism 420 and control system. The control system includes a dedicated controller and a photoelectric sensing system coupled to the dedicated controller and disposed corresponding to a predetermined position of each of the book containers. The vertical conveying mechanism 430 includes a vertical rail 431 and a second moving platform 432 moving up and down along the vertical rail. The control system includes a controller dedicated to controlling the movement of the vertical conveying mechanism 430. The photoelectric sensing system corresponds to a predetermined position of each storage container. And set. The longitudinal transport mechanism 410 includes longitudinal rails that are mounted on the longitudinal rails and are movable back and forth along the horizontal direction of the illustration. The lateral conveying mechanism 420 has a mechanism for vertically moving the container pick-and-place mechanism (vertical lifting mechanism), a mechanism for horizontally rotating the container pick-and-place mechanism (horizontal rotating mechanism), and a mechanism for horizontally expanding and contracting the container pick-and-place mechanism (horizontal telescopic mechanism) The container pick-and-place mechanism directly accesses the book storage container (item container). The storage rack is a two-row rack body arranged in parallel, and the longitudinal rails are arranged in parallel between the two rows of rack bodies. Meanwhile, the first moving platform is equipped with a motor and a transmission mechanism for moving the container pick-and-place mechanism, so that the container pick-and-place mechanism can be respectively The contents of the two rows of shelves of the storage rack are operated. More preferably, the top of the article container is provided with a hanging portion, the lower portion of the hanging portion is provided with an opening, and the container pick-and-place mechanism is an elongated member 424 which is openable at the top end of the horizontal telescopic mechanism. In a preferred embodiment, the one-dimensional vertical transport mechanism 430 includes a vertical rail 431 and a movably carrying platform 432 mounted on the vertical rail, the vertical rail being disposed with the longitudinal rail to enable the item container to be accessible from the first mobile platform Move up to the load platform or reverse operation, and the book exit is set near the vertical rail. During operation, the dedicated controller cooperates with the positioning function of the photoelectric sensing system to control the first moving platform to slide along the longitudinal rails to move to a designated article container. The horizontal telescopic mechanism of the first mobile platform protrudes in a low position and is inserted into the hanging opening of the article container. The vertical lifting mechanism of the first moving platform rises to pick up the article container, and then the horizontal telescopic mechanism retracts, and the first moving platform edge Before the longitudinal rail is moved to the carrying platform of the one-dimensional vertical conveying mechanism 430, the horizontal rotating mechanism 421 is rotated by 90 degrees, the hanging direction of the article container is also rotated by 90 degrees, and the horizontal telescopic mechanism is extended, so that the article container advances to one-dimensional vertical Above the carrying platform 432 of the conveying mechanism, the vertical lifting mechanism is lowered, the article container is placed on the carrying platform, and the horizontal telescopic mechanism is retracted, and the carrying platform can be moved along the vertical rail to the front of the book opening. After the book is removed, the empty item container is reversed back to the shelf as described above. The use of this transport mechanism has significant advantages. On the one hand, by controlling the three-dimensional (plus horizontal rotation) motion device and the one-dimensional vertical conveying mechanism to closely match the book to send books, the work efficiency of the self-service borrowing book is greatly improved, the accuracy of the book is high, and the working time is reduced; Compared with the traditional scheme, there is no collective simultaneous movement of the whole layer of books in the mechanical operation, low load, low energy consumption, low noise, and reduced mechanical strength requirements, and the equipment is not easily damaged; meanwhile, due to the use of mobile The object container method is used for borrowing books, and the operating mechanism does not directly contact the book, so that the book can be not rubbed and damaged during the whole operation, thereby greatly reducing the risk of damage of the book; further, by appropriately setting the size of the container of the article, It can accommodate books of different thicknesses, which can avoid the drawbacks of traditional methods using robotic arms to directly access books, which cannot meet the requirements of book thickness variation. As can be seen from FIG. 6 to FIG. 9, the article container 200 includes a container body 210, and an upper portion of the container body 210 is provided with an automatic adjustment of its center of gravity by means of the weight of the article and the container. The suspension device 220 is provided with a hanging portion 110 that hangs the container body 210 in cooperation with the automatic adjustment suspension device 220. In the present invention, the center of gravity of the container is adjusted by the automatic adjusting suspension device 220, and the article container is placed on the storage rack 100 by hanging, and the center of gravity is automatically adjusted by the weight of the article and the container, and the left and right positions are automatically aligned to ensure accurate picking and discharging at a time. The automatic adjustment suspension device 220 can be designed as one, and the automatic adjustment suspension device 220 is disposed on the top of the container body 210. Alternatively, the automatic adjustment suspension device 220 is designed as two, and the two automatic adjustment suspension devices 220 are disposed on the top of the container body 210 or the upper portions of the two sides of the container body 210. The automatic adjusting suspension device 220 includes a connecting portion 221 that connects the container body 210 and an adjusting portion 222 that connects the connecting portion 221, and the adjusting portion 222 includes a first one that is arranged on both sides of the connecting portion 221 and is inclined. The surface 223 and the second surface 224, the first surface 223 and the second surface 224 are symmetrically arranged, and the hanging portion 110 has a wedge-shaped structure. In this embodiment, the double-sided tilting mode can be adopted. This method can only be applied to the case where the single or two automatic adjusting suspension devices are mounted on the top surface of the container, and has no practical significance for the case of being mounted on the side. The tilting method is more conducive to adjusting the position and the alignment is more accurate. The first surface 223 and the second surface 224 have the same curvature or a plane having the same inclination, and the two inclined surfaces of the hanging portion 110 of the wedge structure and the first surface 223 and the second surface 224 is suitable. There are two automatic adjusting suspension devices 220, and the two automatic adjusting suspension devices 220 are respectively disposed on upper portions of both sides of the container body 210. The self-adjusting suspension device 220 includes a connection portion connecting the container body 210 221 and an adjusting portion 222 that connects the connecting portion 221, and the first surface 223 of the adjusting portion 222 is an inclined surface. The automatic adjustment function of the present invention is realized by the inclined first surface 223 cooperating with the inclined surface on the storage rack hanger. When the robot feeds the container into the storage rack, it may be caused by the weight imbalance. At this time, under the action of the weight of the article and the container, the first surface 223 slides on the inclined surface on the storage rack under the action of gravity until the center of gravity is ensured to be vertical, thus ensuring The left and right positions of the container are kept consistent each time, which is convenient for the next pick and place operation. The upper part of the article container 220 is provided with a lifting hole 230. The lifting hole 230 can be designed on the upper part of the container body 210 (as shown in FIG. 7), or can be designed on the hollow part of the automatic adjusting suspension device 220 (such as 8 places). The container pick-and-place mechanism 424 has a hook shape and is inserted into the lifting hole 230 to lift the container body 210. In order to ensure smooth insertion into the storage rack during pick-and-place, the end of the automatic adjusting suspension device is treated by chamfering 225. In order to prevent the container body 210 from being excessively inserted, the end of the automatic adjusting suspension device is provided with a limit stop 226. Make sure that the insertion position of each container is consistent with each insertion.

The above is a further detailed description of the present invention in connection with the specific preferred embodiments, and the specific embodiments of the present invention are not limited to the description. It will be apparent to those skilled in the art that the present invention may be practiced without departing from the spirit and scope of the invention.

Claims

Claim

A hanging automatic access system, characterized in that the system comprises a storage rack (100), an article container (200) suspended on the storage rack (100), and is disposed at one end of the storage rack (100). a material pick-and-place port (300) and a transport mechanism (400) for transporting articles between the hanging position of the article container (200) and the article pick-and-place port (300), and a control system for controlling the operation of the transport mechanism (400) And a photoelectric sensing system connected to the control system for positioning.

2. The suspended automatic access system according to claim 1, wherein: said conveying mechanism (400) includes a longitudinal conveying mechanism (410) displaced along a long axis direction of the storage rack (100) and along the storage rack (100) a lateral transport mechanism (420) that is displaced in the short axis direction, and the lateral transport mechanism (420) is coupled to the longitudinal transport mechanism (410).

3. The suspended automatic access system according to claim 2, wherein: said longitudinal conveying mechanism (410) comprises a longitudinal rail (411) disposed along a longitudinal direction of the storage rack (100) and at the rail (411) The first mobile platform (412) running on it.

4. The suspended automatic access system according to claim 3, wherein: said lateral conveying mechanism (420) comprises a vertical lifting mechanism (422) disposed on the first moving platform (412) and a horizontal rotating mechanism ( 421), a horizontal expansion mechanism (423) provided on the horizontal rotation mechanism (421), and a container pick-and-place mechanism (424) provided on the horizontal expansion mechanism (423).

5. The suspended automatic access system according to claim 4, wherein: the storage rack (100) is a plurality of layers, and each storage rack (100) is provided with independent longitudinal conveyance. The mechanism (410) and the lateral conveying mechanism (420) further include a storage mechanism (100) disposed at the end of the storage rack (100) for the container pick-and-place mechanism (424) and the article pick-and-place port (300) a vertical transport mechanism (430) for transporting articles, the vertical transport mechanism (430) including a vertical rail (431) fixed to an end of the storage rack (100) and a second moving platform (432) moving up and down along the vertical rail (431) .

The hanging automatic access system according to any one of claims 1 to 5, characterized in that the article container (200) comprises a container body (210), and the upper portion of the container body (210) is provided with An automatic adjustment suspension device (220) for automatically adjusting the center of gravity of the article and the container, the storage rack (100) being provided with a hanging portion for hanging the container body (210) in cooperation with the automatic adjustment suspension device (220) (110).

7. The suspension automatic access system according to claim 6, wherein: the automatic adjustment suspension device (220) is at least one, and the automatic adjustment suspension device (220) is disposed on the container body (210). top.

8. The suspended automatic access system according to claim 7, wherein: the automatic adjustment suspension device (220) includes a connection portion (221) that connects the container body (210) and connects the connection portion (221) The adjusting portion (222), the adjusting portion (222) includes a first surface (223) and a second surface (224) which are arranged on both sides of the connecting portion (221) and inclined, the first surface ( 223) The second surface (224) is disposed opposite the longitudinal axis of the article container, and the hanging portion (110) has a wedge-shaped structure.

9. The suspended automatic access system according to claim 8, wherein: the first surface (223) and the second surface (224) have the same curvature or a plane having the same inclination, Two inclined surfaces of the hanging portion (110) of the wedge structure The first surface (223) coincides with the second surface (224). The hanging automatic access system according to claim 6, wherein: the automatic adjusting suspension device (220) is two, and the two automatic adjusting suspension devices (220) are respectively disposed on the container body (210). The upper part of the two sides. The suspended automatic access system according to claim 10, characterized in that: the automatic adjustment suspension device (220) includes a connecting portion (221) connecting the container body (210) and a connection connecting the connecting portion (221) The adjusting portion (222), the first surface (223) of the adjusting portion (222) is an inclined surface. The suspended automatic access system according to claim 11, wherein the first surface (223) of the adjusting portion (222) is a curved surface or a flat surface. The hanging automatic access system according to claim 6, wherein: the article container (200) is provided with a lifting hole (230) above, and the container pick-and-place mechanism (424) is hook-shaped, and the insertion is The container body (210) is lifted in the lifting hole (230). The overhead automatic access system according to claim 6, wherein: the end of the automatic adjustment suspension device (220) on the article container (200) is provided with a limit stop

(226).