CN108557452B

CN108557452B - Goods transferring device and goods transferring method

Info

Publication number: CN108557452B
Application number: CN201810345318.1A
Authority: CN
Inventors: 周鹏跃
Original assignee: Shenzhen Zhuopai Automation Technology Co ltd
Current assignee: Shenzhen Zhuopai Automation Technology Co ltd
Priority date: 2018-04-17
Filing date: 2018-04-17
Publication date: 2024-05-28
Anticipated expiration: 2038-04-17
Also published as: CN118597776A; CN108557452A

Abstract

The invention relates to a cargo transferring device and a cargo transferring method. The goods transferring device comprises a goods storage box, a traction assembly and a visual sensing assembly, wherein the traction assembly and the visual sensing assembly can slide, and the goods storage box is used for loading goods; the traction assembly can be automatically connected with and separated from the storage container, can drive the storage container to slide, and can move cargoes into and out of the storage container; the visual sensing assembly is mounted on the traction assembly, the visual sensing assembly can collect images, and the traction assembly can work according to the images. The cargo transferring device is high in automation degree.

Description

Goods transferring device and goods transferring method

Technical Field

The invention relates to a cargo transferring device and a cargo transferring method.

Background

With the high-speed development of economy and network technology, online shopping is more and more popular, and the quantity of packages delivered is increased rapidly, so that the current needs cannot be met by means of manual transportation, a large number of transportation robots are also arranged at present, however, the current transportation robots still need manual cooperation during work, and the degree of automation is low.

Disclosure of Invention

Accordingly, it is necessary to provide a cargo transferring device that can be automated to a high degree.

In addition, a method for transferring goods is also provided.

A cargo transferring device comprising:

A cargo box for loading cargo;

The traction assembly can slide and can be automatically connected with and separated from the storage container, the traction assembly can drive the storage container to slide, and the goods can be moved into and out of the storage container; and

The visual sensing assembly is installed on the traction assembly, and can acquire images, wherein the traction assembly can work according to the images.

Because above-mentioned goods transfer device's gliding traction element can be with be used for loading the automatic connection and the autosegregation of storage box of goods to traction element can also drive the storage box and slide and move into and remove the goods into and out the storage box, and traction element can work according to the image that vision sensing assembly gathered, make when needing to begin goods transfer work, traction element can independently look for the storage box under the condition of vision sensing assembly gathered image, and with the storage box automatic connection, drive the storage box and slide, independently look for the goods, independently realize the loading and the uninstallation of goods, independently with storage box autosegregation after accomplishing transfer work, whole goods transfer process almost need not the manual work, degree of automation is higher.

In one embodiment, the traction assembly comprises a base capable of universally sliding, a traction body and a mechanical arm, wherein the base can slide according to the image, the traction body is fixed on the base and can slide along with the base, the traction body can be automatically connected with and separated from the storage box, the mechanical arm is mounted on the traction body, the mechanical arm can grab and unload the goods, and the mechanical arm can work according to the image.

In one embodiment, the traction body comprises a columnar body and an annular connecting part which is sleeved on the columnar body and can rotate around the columnar body, two ends of the columnar body are respectively fixedly connected with the base and the mechanical arm, and the annular connecting part can be automatically connected with and separated from the cargo storage box.

In one embodiment, the storage container comprises a container body, travelling wheels and a telescopic supporting member, wherein the container body is used for loading the goods, the travelling wheels are installed on the container body, the supporting member is installed on the container body, the supporting member can support the container body together with the travelling wheels, the traction assembly can be automatically connected with and separated from the container body, the traction assembly can move the goods into and out of the container body, and when the traction assembly is connected with the container body, the supporting member is shortened to enable the traction assembly and the travelling wheels to support the container body together.

In one embodiment, the storage container comprises a container body and a plurality of telescopic supporting pieces, wherein the container body is used for loading the goods, the supporting pieces are arranged on the container body, and the supporting pieces can jointly support the container body; the traction assembly comprises a base capable of universally sliding, a traction main body, a mechanical arm and a supporting seat, wherein the base can conduct sliding operation according to the image, the traction main body is fixed on the base and can slide along with the base, the mechanical arm is installed on the traction main body, the mechanical arm can grab and unload goods, the mechanical arm can work according to the image, the supporting seat is rotationally connected with the traction main body, and the supporting seat can bear the cargo box; wherein a plurality of the supporting members are shortened to enable the storage container to be located on the supporting seat so that the storage container is connected with the supporting seat, and a plurality of the supporting members are extended to enable the storage container to be separated from the supporting seat.

In one embodiment, the transfer assembly further comprises a transfer assembly comprising a cargo access box having a receiving compartment capable of receiving the cargo storage box and an access port for accessing the cargo, and a transfer mechanism capable of moving the cargo at the access port into the cargo storage box within the receiving compartment and moving the cargo in the cargo storage box within the receiving compartment to the access port.

In one embodiment, the cargo box is electrically connected to the cargo access box when the cargo box is received in the receiving compartment; when the traction assembly is connected with the storage container, the storage container is electrically connected with the traction assembly.

In one embodiment, the plurality of storage containers are each receivable in the receiving bay, the traction assembly is selectively coupled to one of the storage containers, and the transfer mechanism is configured to move the cargo at the access opening into the plurality of storage containers and to move the cargo at the plurality of storage containers to the access opening.

In one embodiment, the transfer mechanism comprises a guide rod, a slide rod, a telescopic arm and a grabbing piece, wherein the guide rod is fixed in the goods storage box and extends towards the direction close to the storage opening, the slide rod is installed on the guide rod and is intersected with the guide rod, the slide rod can slide along the extending direction of the guide rod, one end of the telescopic arm is connected with the slide rod and can slide along the extending direction of the slide rod, the grabbing piece is installed at the other end of the telescopic arm, the grabbing piece can grab and unload goods, and the grabbing piece can stretch into the storage box located in the accommodating cabin.

In one embodiment, the system further comprises a storage container capable of storing the cargo, the storage container capable of transferring the cargo within the storage container to the access port, and capable of transferring the cargo at the access port to the interior of the storage container.

In one embodiment, the storage container comprises a container body and a storage plate, the container body can store the goods, a transmission port is formed in the container body, the storage plate is installed on the container body and is close to the transmission port, the storage plate is used for bearing the goods, the storage plate can be contained in the container body and can extend out of the transmission port, so that the goods on the storage plate can enter and exit the container body along with the storage plate, and the storage plate can extend into the goods storage box from the storage port.

A method of transferring cargo, comprising the steps of:

searching a preset target place;

the traction assembly slides and drives a storage box connected with the traction assembly to slide to the preset target place;

The traction assembly moving the cargo from the storage box to the preset destination;

Searching a preset position; and

The traction assembly drives the storage container to slide to a preset position.

In one embodiment, the predetermined location is a receiving compartment of a cargo access box; the step of the traction assembly driving the cargo storage box to slide to a preset position specifically comprises the following steps: the traction assembly drives the storage container to slide into the accommodating cabin;

Before the step of finding the preset destination, the method further comprises the step of moving the cargo into the storage box: a step of moving the goods at the access opening of the goods access box to the goods storage box accommodated in the accommodation compartment by a transfer mechanism;

when the storage container is contained in the containing cabin, the goods storage box can charge the storage container, and when the traction assembly is connected with the storage container, the storage container can supply power for the traction assembly;

The number of the storage containers is multiple, and the step of replacing the storage containers after the step of sliding the traction assembly to the preset position by the storage containers is further included. The tractor assembly is automatically separated from the storage containers to which it is attached and then automatically attached to one of the remaining storage containers.

Before the step of searching the preset target place, the method further comprises the steps of moving the goods into a storage container for storage and then moving the goods into the storage container;

wherein, the step of moving the goods into a storage container for storage is as follows: searching for the cargo, and moving the cargo into the storage container by the traction assembly; the traction assembly drives the cargo storage box to slide into the accommodating cabin, the transfer mechanism transfers the cargoes in the cargo storage box to the access port of the cargo storage box, and then the cargo storage box transfers the cargoes into the cargo storage box for storage;

the step of moving the cargo into the storage box is: the goods in the goods storage container is transferred to the access port by the goods storage container, and then the goods are moved to the goods storage container accommodated in the accommodating cabin by the transferring mechanism.

Drawings

FIG. 1 is a schematic diagram of a cargo transferring device according to an embodiment;

FIG. 2 is an exploded view of the cargo transferring device shown in FIG. 1;

FIG. 3 is a schematic view of the cargo transferring device of FIG. 1 in another angular configuration with the lid of the cargo box closed;

FIG. 4 is a schematic view of another angle configuration of the traction assembly, the vision sensing assembly, and the cargo box of the cargo transferring device of FIG. 1;

FIG. 5 is a schematic view of the traction assembly, visual sensing assembly and cargo box of FIG. 4 in another configuration;

FIG. 6 is a schematic view of the traction assembly and visual sensing assembly of FIG. 4;

FIG. 7 is a schematic view of the structure of a cargo access box of the transfer assembly of the cargo transferring device shown in FIG. 1;

FIG. 8 is a schematic view of another angle of the transfer mechanism of the transfer assembly of the cargo transferring device shown in FIG. 2;

FIG. 9 is a schematic view of the cargo box of another embodiment cargo transferring device shown coupled to a traction assembly;

FIG. 10 is a schematic view of the structure of the cargo box of FIG. 9 in another state;

fig. 11 is a schematic view of the traction assembly shown in fig. 9.

Detailed Description

In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

As shown in fig. 1 and 2, the cargo transferring device 10 according to an embodiment is used for transferring cargos 20, the cargo transferring device 10 can be used in the logistics industry, and the cargo transferring device 10 can also realize the function of automatically delivering and receiving cargos in a certain area. The cargo transferring device 10 includes a cargo box 100, a traction assembly 200, and a visual sensing assembly 300.

Referring also to fig. 3, the cargo box 100 is used for loading cargo 20. The cargo box 100 is provided with a front data interface 120 and a rear data interface (not shown). The rear data interface can be electrically connected to a power source or other device to enable charging of the tote 100 or data transfer with other devices. The front data interface 120 is used to electrically connect with other equipment to enable the tote 100 to power the other equipment; or data transmission is carried out between the device and other devices; or to enable the storage box 100 to provide power to other devices while simultaneously providing data transfer between other devices.

Specifically, the storage container 100 includes a container body 130, road wheels 140, and a telescopic support 150. The case body 130 is used for loading the goods 20, the traveling wheels 140 are mounted on the case body 130, the supporting member 150 is mounted on the case body 130, and the supporting member 150 can support the case body 130 together with the traveling wheels 140. The front data interface 120 and the rear data interface are both located on the box body 130.

Referring to fig. 4, specifically, the box body 130 has a rectangular parallelepiped shape with an opening 132 at one side, and the box body 130 has a bottom wall (not shown) opposite to the opening 132 and four end-to-end side walls connected to the bottom wall. The front data interface 120 and the rear data interface are located on two of the opposing sidewalls, respectively. The road wheel 140 is mounted on the bottom wall and the other two opposite side walls are each mounted with a support 150. The road wheel 140 is disposed adjacent to the side wall provided with the rear data interface 120 and the support 150 is disposed adjacent to the side wall provided with the front data interface 120.

In the illustrated embodiment, the number of the walking wheels 140 is two, and the two walking wheels 140 are both arranged on the bottom wall; the support members 150 are two and are respectively disposed on the other two opposite side walls as described above.

It should be noted that the number of the supporting members 150 and the traveling wheels 140 is not limited to two, and the installation positions are not limited to the above-mentioned positions, and the number and the installation positions of the supporting members 150 and the traveling wheels 140 may be set according to the shape of the case body 130, so long as the stability of the case body 130 is ensured, for example, more than two supporting members 150 may be disposed on the other two side walls as described above; or the support 150 may be one, in which case the support 150 is provided on the bottom wall, or the support 150 is provided on the side wall provided with the rear data interface. The cargo box 100 is not limited to the above-described supporting method, and for example, the supporting member 150 may not be provided, and in this case, the traveling wheel 140 may be directly used instead of the supporting member 150.

Further, the telescoping of the support 150 is automatically controlled according to the operational requirements in order to facilitate automation of the cargo transferring device 10.

Further, the cargo box 100 further includes a cover 160, where the cover 160 is disposed on the box body 130, and the cover 160 can block the opening 132 of the box body 130. Specifically, the two covers 160 are respectively rotatably connected to two opposite side walls of the two covers 160, and the two covers 160 can cooperate to block the opening 132 of the box body 130.

It is understood that the cover 160 is not limited to two, but may be one, or the cover 160 may be omitted; the shape of the case body 130 is not limited to a rectangular parallelepiped shape, but may be a square, a column, and other regular or irregular shapes.

Further, the cover 160 is electrically controlled to open and close the cover 160, so as to facilitate automation of the cargo transferring device 10. To avoid pedestrians from opening the cover 160 to directly pick up the cargo 20 in the cargo box 100, an inductor (not shown) may be provided at the opening 132 of the box body 130, and if a pedestrian picks up the cargo by himself, an alarm may be given.

Referring also to fig. 5, the draft gear assembly 200 is capable of sliding, the draft gear assembly 200 is capable of automatically connecting and disconnecting with the cargo box 100, the draft gear assembly 200 is capable of sliding the cargo box 100 and moving the cargo 20 into and out of the cargo box 100. Specifically, the traction assembly 200 is capable of automatically attaching and detaching from the tank body 130 and moving the cargo 20 into and out of the tank body 130; and when the traction assembly 200 is connected with the case body 130, the supporting member 150 is shortened so that the traction assembly 200 and the traveling wheels 140 support the case body 130 together.

Referring to fig. 6, specifically, when the traction assembly 200 is connected to the cargo storage tank 100, the traction assembly 200 is electrically connected to the cargo storage tank 100, so that the cargo storage tank 100 can supply power to the traction assembly 200, or the cargo storage tank 100 can perform data transmission with the traction assembly 200, or the cargo storage tank 100 can charge the traction assembly 200, and simultaneously, the cargo storage tank 100 can perform data transmission with the traction assembly 200. More specifically, the draft assembly 200 is provided with an electrical connector 210 capable of interfacing with the lead data interface 120, and the draft assembly 200 is electrically connected to the cargo box 100 when the electrical connector 210 interfaces with the lead data interface 120. At this time, the traction assembly 200 can control the opening and closing of the cover 160 of the cargo box 100.

In order to realize that the power supply of the traction assembly 200 is not limited to the power supply by the cargo box 100, a battery may be mounted on the traction assembly 200, and the power supply of the traction assembly 200 may be performed by the battery.

Specifically, one of the traction assembly 200 and the cargo box 100 is provided with a locking hole 220, the other is provided with an electronic lock 170 which can be matched with the locking hole 220, and the automatic locking and the automatic unlocking of the traction assembly 200 and the cargo box 100 are realized through the matching of the electronic lock 170 and the locking hole 220, so that the automatic connection and the automatic separation of the traction assembly 200 and the cargo box 100 are realized. More specifically, the electronic lock 170 is disposed on the case body 130, and the locking hole 220 is opened on the traction assembly 200.

It should be noted that, the automatic locking and unlocking of the traction assembly 200 and the cargo box 100 are not limited to the form of the electronic lock 170, and may also be implemented by electromagnetic attraction.

Wherein, a control module (not shown) is disposed in the traction assembly 200, and the control module is a control component and an information processing component of the traction assembly 200. When the traction assembly 200 is connected to the cargo box 100, the control module is electrically connected to the cargo box 100. Specifically, the electrical connector 210 is electrically connected to the control module, and the electrical connector 210 interfaces with the front data interface 120 when the draft assembly 200 is connected to the cargo box 100. The control module controls the opening and closing of the cover 160. The telescoping operation of the support 150 may also be controlled by the control module.

Specifically, the traction assembly 200 includes a base 230, a traction body 240, and a robotic arm 250.

The base 230 is capable of universal sliding. Specifically, the universal sliding manner of the base 230 may be a base with a driving wheel and a universal wheel, or may be realized by a crawler. The control module is electrically connected to the base 230, so that the control module can control the base 230 to work.

The traction body 240 is fixed to the base 230 and can slide with the base 230, and the traction body 240 can be automatically coupled to and decoupled from the cargo box 100. Specifically, the traction body 240 can be automatically coupled to and decoupled from the tank body 130. The locking hole 220 is formed in the traction body 240. The control module is disposed inside the traction body 240.

Further, the traction body 240 includes a columnar body 242 and an annular connecting portion 244 sleeved on the columnar body 242 and capable of rotating around the columnar body 242, one end of the columnar body 242 is fixedly connected with the base 230, the annular connecting portion 244 can be fixedly connected with the cargo storage box 100, so that when the traction body 240 is connected with the cargo storage box 100, the cargo storage box 100 can rotate around the traction body 240 to facilitate the steering sliding of the traction assembly 200. Wherein the control module is disposed within the columnar body 242. The lock hole 220 is formed in the annular connecting portion 244. The electrical connector 210 is disposed on the annular connecting portion 244, and the electrical connector 210 is disposed on the annular connecting portion 244, so that the front data interface 120 and the electrical connector 210 can be stably connected when the annular connecting portion 244 rotates relative to the cylindrical body 242.

It should be noted that the control module is not limited to being disposed in the traction body 240, and for example, the control module may be disposed in the base 230.

The robot arm 250 is mounted on the traction body 240, and the robot arm 250 is capable of gripping and unloading the cargo 20. Specifically, the mechanical arm 250 is fixedly connected to an end of the columnar body 242 away from the base 230, so that the mechanical arm 250 can also rotate by 360 ° horizontally through the rotation of the base 230. The annular connection 244 is located between the robot arm 250 and the base 230. The control module is electrically connected to the mechanical arm 250, so that the control module can control the mechanical arm 250 to work.

It should be noted that, the traction body 240 is not limited to a structure including the columnar body 242 and the annular connection portion 244, for example, the traction body 240 may be further configured to include the columnar body 242 and an extension section (not shown) with one end rotationally connected to one end of the columnar body 242, at this time, one end of the traction body 240 away from the extension section is fixedly connected to the base 230, the extension direction of the extension section (not shown) coincides with the extension direction of the columnar body 242, and the lock hole 220 and the electrical connector 210 are both disposed on the columnar body 242, so that stable connection between the front data interface 120 and the electrical connector 210 can be realized when the traction assembly 200 drives the cargo box 100 to slide. At this time, the robot arm 250 is mounted on the extension section, and then the robot arm 250 can also be rotated 360 ° with respect to the column body 242. Or the extension can be telescopic so that the height of the robotic arm 250 can also be adjusted.

In order to realize that the traction assembly 200 can drive the storage container 100 to slide, the traction assembly 200 and the storage container 100 are not limited to the above structure, for example, the storage container 100 is not provided with the travelling wheels 140, that is, the storage container 100 includes the container body 130 and a plurality of telescopic supporting members 150, the supporting members 150 can jointly support the container body 130, the traction assembly 200 further includes a supporting seat rotatably connected with the base 230 or the traction body 240, the supporting seat includes a supporting plate and a sliding wheel mounted on the supporting plate, the supporting plate can bear the storage container 100, when the storage container 100 is located on the supporting plate 100, the supporting members 150 are shortened, so that the traction assembly 200 can drive the storage container 100 to slide, the supporting members 150 are extended, so that the storage container 100 is separated from the traction assembly 200, and at this time, a side of the supporting seat away from the sliding wheel and the bottom of the storage container 100 are respectively provided with a data interface and a physical fixing mechanism which can be docked. Alternatively, the support member 150 of the cargo box 100 may not be retractable, in which case the support plate is liftable and falls down to extend into the bottom of the cargo box 100 as the base 230 slides, and the support plate rises to raise the cargo box to separate the support member 150 from the ground, thereby loading the cargo box 100 onto the support plate.

Further, the mechanical arm 250 is a multi-degree-of-freedom mechanical arm, and the mechanical arm 250 can stretch and retract. Specifically, the mechanical arm 250 includes a plurality of support arms 252 rotatably connected in sequence and a gripper 254 rotatably connected to one of the support arms 252 at an end, the support arm 252 far from the gripper 254 is fixedly connected to the traction body 240, and the support arm 252 near the gripper 254 can be extended and contracted. The two adjacent support arms 252 and the support arms and the mechanical claws 254 are connected through motors, and the motors and the mechanical claws 254 are electrically connected with the control module. In particular, in the illustrated embodiment, the package of goods 20 has a gripping slot (not shown) thereon to facilitate gripping by the gripper 254.

Specifically in the illustrated embodiment, the robotic arm 250 is a 5-degree-of-freedom robotic arm 250 (4 rotational degrees of freedom and 1 translational degree of freedom). The robot arm 250 is not limited to a 5-degree-of-freedom robot arm, and may be a 6-degree-of-freedom robot arm 250, for example, and the degree of freedom of the robot arm 250 may be set as needed.

The vision sensing assembly 300 is mounted on the traction assembly 200, the vision sensing assembly 300 is capable of capturing images, and the traction assembly 200 is capable of operating in accordance with the images. That is, the traction assembly 200 and the vision sensing assembly 300 together form a structure similar to a smart robot. Specifically, the visual sensing assembly 300 is mounted on an end of the cylindrical body 242 remote from the base 230, so as to more conveniently capture a desired image. The robotic arm 250 is capable of operating in accordance with the images captured by the vision sensing assembly 300, and the base 230 is capable of sliding in accordance with the captured images. More specifically, the vision sensing assembly 300 is electrically connected to a control module that controls the traction assembly 200, and the vision sensing assembly 300 is capable of transmitting the acquired images to the control module, which controls the operation of the base 230 and the robot 250 according to the images. And the control module can control the opening and closing of the cover 160 of the magazine 100 according to the image.

Wherein the visual sensing component 300 is a visual sensor.

The vision sensing assembly 300 can not only collect images in order for the traction assembly 200 to find a preset destination, the cargo box 100, the cargo 20, etc., but also monitor the operation of the robot arm 250 and detect the presence of a person or obstacle in order to bypass the person or obstacle, and control the robot arm 250 to stop operating when the person approaches and is within a certain distance in order to avoid damage to the robot arm 250 and to protect the safety of the person and the cargo 20.

The cover 160 of the case body 130 can be opened and closed according to the image.

Further, the traction assembly 200 also includes an alarm (not shown) that can alarm based on the image captured by the visual sensing assembly 300. I.e., when a person approaches and is within a certain distance from the image captured by the vision sensing assembly 300, the alarm gives an alarm to remind a worker or a pedestrian. Specifically, the alarm is electrically connected with the control module.

Wherein, the alarm is an audible and visual alarm and the like. The alarm is mounted on the base 230 or traction body 240.

Referring to fig. 1,2 and 7, further, the cargo transferring device 10 further includes a transferring assembly 400, and the transferring assembly 400 includes a cargo access box 410 and a transferring mechanism 420. The cargo access box 410 has a receiving compartment 412 capable of receiving the cargo box 100 and an access opening 414 for accessing the cargo 20; the transfer mechanism 420 is capable of moving the cargo 20 at the access port 414 into the storage box 100 within the holding compartment 412 to facilitate collection of the cargo 20 into the storage box 100, and the transfer mechanism 420 is also capable of moving the cargo 20 in the storage box 100 within the holding compartment 412 to the access port 414 to facilitate retrieval of the cargo at the access port 414 by a person or other automated logistics equipment.

In particular, in the illustrated embodiment, the cargo access box 410 is generally rectangular. The cargo access box 410 is movable to facilitate transfer of the cargo access box 410. Wherein, the number of the access ports 414 is two, and the two access ports 414 are oppositely arranged. Two access ports 414 are located at each end of the cargo access box 410. The transfer mechanism 420 is housed in the cargo access box 410.

Specifically, when the cargo box 100 is accommodated in the accommodation compartment 412, the cargo box 100 is electrically connected to the cargo access box 410, so that the cargo access box 410 can charge the cargo box 100, or the cargo access box 410 and the cargo box 100 can perform data transmission, or the cargo access box 410 can charge the cargo box 100, and meanwhile, the cargo access box 410 and the cargo box 100 can perform data transmission. More specifically, a data interface (not shown) is provided within the cargo access box 410 that is capable of interfacing with a rear data interface, and the rear data interface interfaces with the data interface when the storage box 100 is received in the receiving compartment 412. The electrical connection of the cargo access box 410 to the cargo storage box 100 is accomplished by interfacing the data interface with the post data interface.

Further, in order to ensure that the post-data interface and the data interface can be stably docked when the cargo box 100 is accommodated in the accommodation compartment 412, the cargo box 100 is prevented from moving relative to the cargo storage box 410 during charging, and the cargo storage box 410 and the cargo box 100 may be provided with a physical connection mechanism, such as an electromagnetic adsorption mechanism, for example, which is automatically connected and separated.

Further, the plurality of storage containers 100, each of the plurality of storage containers 100 being receivable in the receiving bay 412, the traction assembly 200 being selectively coupled to one of the storage containers 100, the transfer mechanism 420 being capable of moving the cargo 20 at the access opening 414 into the plurality of storage containers 100, and of moving the cargo 20 in the plurality of storage containers 100 to the access opening 414. Through setting up a plurality of storage containers 100 to the goods transfer device 10 can realize sending and receiving in the connection of traction assembly 200 one of them storage container 100, and other storage containers 100 accept and carry out loading and unloading work in holding cabin 412, improves the transfer efficiency of goods 20.

Further, in order to ensure the safety of the cargo in the cargo access box 410, the cargo access box 410 is further provided with a side sliding door 416 and a shielding door 418, the side sliding door 416 can shield the accommodating cabin 412, and the shielding door 418 can shield the access opening 414. The side sliding door 416 can shield the accommodation compartment 412 when the storage box 100 is not accommodated in the accommodation compartment 412. Wherein the number of shutter gates 418 corresponds to the number of access ports 414.

In particular, in the illustrated embodiment, the cargo box 100 is two. The number of the storage containers 100 is not limited to two, but may be one, or three or more, and the number of the storage containers 100 may be set as needed. At this time, there are two corresponding accommodation chambers 412, and there are two side sliding doors 416.

Further, the cargo access box 410 is also capable of storing cargo 20, i.e., the cargo access box 410 has a cargo storage function.

Referring to fig. 8, the transfer mechanism 420 includes a guide bar 422, a slide bar 424, a telescopic arm 426, and a gripping member 428.

The guide bar 422 is fixed within the cargo access box 410 and extends in a direction toward the access opening 414. Specifically, both ends of the guide bar 422 extend to be adjacent to the two access ports 414, respectively.

The slide bar 424 is mounted on the guide bar 422 and intersects the guide bar 422, and the slide bar 424 is capable of sliding along the extending direction of the guide bar 422.

Specifically, the two guide rods 422 are disposed in the cargo access box 410 at intervals in parallel, and both ends of the slide rod 424 are slidably received in the two guide rods 422, respectively.

One end of the telescopic arm 426 is connected to the slide bar 424, and the telescopic arm 426 is slidable along the extending direction of the slide bar 424. When the cargo box 100 is received in the receiving compartment 412, the telescoping arm 426 can slide over the opening 132 of the cargo box 100.

A gripping member 428 is mounted at the other end of the telescopic arm 426, the gripping member 428 being capable of gripping and unloading the cargo 20, the gripping member 428 being capable of extending into the cargo box 100 within the receiving compartment 412, such that the gripping member 428 is capable of gripping the cargo 20 in the cargo box 100 or moving the cargo 20 into the cargo box 100. The gripping member 428 can rotate about the extending direction of the telescopic arm 426, so as to grip the cargo 20 placed at various angles.

It should be noted that the transfer mechanism 420 is not limited to the above-described structure, and for example, the transfer mechanism 420 includes a guide bar 422 and a manipulator (not shown) slidably disposed on the guide bar 422, the manipulator is capable of gripping and unloading the cargo 20, the gripper 428 is disposed at the end of the manipulator, and the gripper 428 is capable of extending into the cargo box 100 located in the accommodation compartment 412.

Referring again to fig. 1 and 2, further, the cargo transferring apparatus 10 further includes a storage container 500, the storage container 500 is capable of storing the cargo 20, the storage container 500 is capable of transferring the cargo 20 in the storage container 500 to the access port 414, so that the transferring mechanism 420 transfers the cargo 20 in the storage container 500 to the storage container 100, and the storage container 500 is capable of transferring the cargo 20 at the access port 414 to the interior of the storage container 500, so that the cargo 20 collected in the storage container 100 is stored in the storage container 500. The storage amount of the goods 20 can be increased by arranging the storage container 500 so as to meet the demand of the logistics peak period on the storage space, and meanwhile, the automatic distribution of the goods 20 in the storage container 500 can be realized by the arrangement.

The storage container 500 is a common storage container, and may be a movable freight platform, for example, an autopilot truck, or may be a storage platform for an unmanned aerial vehicle.

Specifically, one of the access ports 414 is used for transferring cargo 20 with the storage container 500, and the other access port 414 is used for transferring cargo 20 with other equipment or with people, thereby achieving an increased use function of the cargo transferring device 10.

It should be noted that the function of the two access ports 414 is not limited to the above, and both the two access ports 414 may be used to transfer the cargo 20 with the storage containers 500 and transfer the cargo 20 between different storage containers 500, and when the cargo 20 in one storage container 500 needs to be transferred to another storage container 500, the two storage containers 500 are respectively docked with the two access ports 414, and the transfer mechanism 420 is used to transfer the cargo; the number of the access ports 414 is not limited to two, but may be one, and the access ports 414 are used not only for transferring the cargo 20 with the storage container 500, but also for transferring the cargo 20 with other devices or with people, and at this time, the docking between the cargo access box 410 and the storage container 500 may be achieved by moving at least one of the cargo access box 410 and the storage container 500. Or the number of the access ports 414 can be more than three, and the number of the access ports 414 can be increased or decreased according to requirements.

Specifically, the storage container 500 includes a container body 510 and a storage board 520, the container body 510 can store the goods 20, the container body 510 is provided with a transfer port 530, the storage board 520 is mounted on the container body 510 and is close to the transfer port 530, the storage board 520 is used for carrying the goods 20, the storage board 520 can be accommodated in the container body 510 and can also extend from the transfer port 530, so that the goods 20 on the storage board 520 can enter and exit the container body 510 along with the storage board 520, and the storage board 520 can extend into the goods storage box 410 from the access port 414.

It should be noted that, the storage board 520 may be accommodated in the cabinet 510, and may be folded and disposed on an outer wall of the cabinet 510; the manner of realizing the entry and exit of the goods 20 in the storage container 500 into and from the container body 510 is not limited to the manner of adopting the above-mentioned object placing plate 520, and the goods 20 can be taken out from the container body 510 and the goods 20 can be placed in the container body 510 by arranging a mechanical arm on the container body 510; or a telescopic member (not shown) capable of clamping the goods 20 can be arranged in the cabinet 510, the telescopic member is located at the transmission port 530, and the telescopic member can extend out of the cabinet 510 from the transmission port 530, so that the telescopic member can drive the goods 20 to enter and exit the cabinet 510, and can extend into the goods storage box 410 from the storage port 414.

Or by providing a conveyor belt between the cargo access box 410 and the storage container 500, both ends of the conveyor belt extend to the access opening 414 and the transfer opening 530, respectively, by which the transport of the cargo 20 in the cargo access box 410 and the storage container 500 is achieved.

Further, the cabinet 510 is further provided with a cover 540, and the cover 540 can cover the transfer port 530 and shield the transfer port 530.

Further, the storage container 500 can be moved to facilitate transfer of the storage container 500.

The above-described cargo transferring device 10 has at least the following advantages:

(1) Since the slidable traction assembly 200 of the cargo transferring device 10 can be automatically connected to and automatically separated from the storage box 100 for loading the cargo 20, and the traction assembly 200 can also drive the storage box 100 to slide and move the cargo 20 into and out of the storage box 100, and the traction assembly 200 works according to the image collected by the vision sensing assembly 300, when the transfer work of the cargo 20 needs to be started, the traction assembly 200 automatically searches for the storage box 100 under the condition of the image collected by the vision sensing assembly 300 and is automatically connected with the storage box 100, drives the storage box 100 to slide, and automatically realizes the loading and unloading of the cargo 20 at a designated place, and is automatically separated from the storage box 100 after the transfer work is completed, the whole cargo 20 transferring process almost does not need manual work, the automation degree is high, the cargo is completely and autonomously distributed and unloaded to the designated position, or the cargo is loaded and unloaded from the designated position, the user only needs to collect the cargo from the designated position, or the cargo is placed at the designated position, the user does not need to assist the user or the user to collect the cargo, the waiting time wasted by the user and the cargo is saved, and the flexibility of the cargo collecting time is improved. And the vision sensing assembly 300 plays a role in navigation and obstacle avoidance when the traction assembly 200 works, and meanwhile, the safety of pedestrians and cargoes 20 can be guaranteed to a certain extent.

(2) By accommodating the cargo box 100 in the accommodation compartment 412, the cargo box 100 is electrically connected to the cargo access box 410; when the traction assembly 200 is connected with the storage container 100, the storage container 100 is electrically connected with the traction assembly 200, and can be used for realizing that the storage container 100 supplies power to the traction assembly 200, data transmission is performed between the storage container 100 and the traction assembly 200, the goods access box 410 charges the storage container 100, and the goods access box 410 performs data transmission with the storage container 100, so that when the traction assembly 200 performs goods 20 dispatch and collection work, the power supply to the traction assembly 200 by the storage container 100 is realized, and the goods access box 410 charges the rest storage containers 100, so that the traction assembly 200 does not need to interrupt the goods dispatch and collection work for charging, the charging time is saved, the continuous work can be performed, and the efficiency of the traction unit for transferring the goods 20 is improved.

Meanwhile, by arranging a plurality of storage containers 100 so that a part of the storage containers 100 can charge the goods in the goods storing and taking box 410 and simultaneously load the goods 20 or unload the goods 20, and a part of the goods 20 are transferred outside the goods storing and taking box 410 along with the traction assembly 200, the waiting time required by the traction assembly 200 for loading and unloading the goods 20 in order to match with the storage containers 100 can be effectively saved, meanwhile, uninterrupted loading and unloading work of the storage containers 100 is realized, and the transfer efficiency of the goods 20 is improved.

(3) By docking the cargo access box 410 with the storage container 500, not only can the inventory of the cargo 20 be increased so as to meet the demand for storage space during peak logistics hours, but also the automatic delivery of the cargo 20 in the storage container 500 can be achieved.

In addition, the object placing plate 520 stretches into the access port 414, and then the object placing plate is grabbed by the transferring mechanism 420 with the structure, so that a certain distance and orientation error exist when the object placing box 410 is in butt joint with the storage container 500, and the accuracy requirement for butt joint is reduced.

(4) Because the traction assembly 200 can pick up and unload the cargoes 20 by adopting the mechanical arm 250, the cargoes can be independently picked and put, the cargoes 20 can be densely stacked in the storage container 100, the full utilization of the space in the storage container 100 is realized, the storage space of the cargoes is more compact, and compared with the existing autonomous delivery robot adopting a compartment design (each compartment can only store one cargoes, and the compartment has redundant space waste under most conditions), the utilization rate of the storage space of the storage container 100 is improved.

The method for transferring the cargo 20 according to an embodiment is a method for transferring the cargo 20 based on the cargo transferring device 10, wherein the method for transferring the cargo 20 can be used for sending, receiving and storing the cargo 20, and the method comprises the following steps:

step S31: the cargo 20 is moved into the storage container 500 for storage.

In this embodiment, step S31 specifically includes: looking for cargo 20, the draft assembly 200 moves the cargo 20 into the cargo box 100; the traction assembly 200 drives the cargo box 100 to slide into the accommodation compartment 412 of the cargo access box 410, the transfer mechanism 420 transfers the cargo 20 in the cargo box 100 to the access opening 414 of the cargo access box 410, and then the cargo box 500 transfers the cargo 20 into the cargo box 500 for storage.

Specifically, the transferring mechanism 420 transfers the cargo 20 in the cargo box 100 to the access opening 414 of the cargo access box 410, and the steps of the cargo box 500 transferring the cargo 20 to the cargo box 500 for storage are specifically as follows: the storage plate 520 located at the transfer port 530 within the storage container 500 extends from the access port 414 of the cargo access box 410 into the cargo access box 410, the transfer mechanism 420 transfers the cargo 20 in the storage container 100 onto the storage plate 520, and then the storage plate 520 retracts into the storage container 500, with the cargo 20 entering the storage container 500 with the storage plate 520 for storage.

Specifically, the search for cargo 20 is accomplished by the visual sensing assembly 300 capturing images. At this time, the traction assembly 200 moves the cargo 20 into the cargo box 100 as follows: the traction assembly 200 slides to the cargo 20 according to the image, and the robot arm 250 of the traction assembly 200 grips the cargo 20 and loads the cargo 20 into the cargo box 100.

Step S32: the cargo 20 is moved into the cargo box 100.

In the present embodiment, step S32 is: the storage container 500 transfers the cargo 20 in the storage container 500 to the access opening 414 of the cargo access box 410, and the transfer mechanism 420 then moves the cargo 20 into the storage container 100 housed within the receiving compartment 412 of the cargo access box 410.

Specifically, the steps of the storage container 500 delivering the cargo 20 in the storage container 500 to the access opening 414 of the cargo access box 410 are specifically: the storage container 500 transfers the cargo 20 within the storage container 500 to a storage plate 520 within the storage container 500 at a transfer port 530, the storage plate 520 extending into the cargo access box 410 from the access port 414 of the cargo access box 410.

It should be noted that, the manner of implementing the storage container 500 to transfer the cargo 20 in the storage container 500 to the access port 414 of the cargo access box 410 and the manner of transferring the cargo 20 into the storage container 500 by the storage container 500 for storage is not limited to the above manner, for example, the cargo 20 in the storage container 500 may be transferred into the cargo access box 410 by a manipulator; the cargo 20 at the access opening 414 of the cargo access box 410 is transferred into the storage container 500 by a robot. Or by providing a conveyor belt between the cargo access box 410 and the storage container 500, both ends of the conveyor belt extend to the access port 414 and the transfer port 530, respectively, and the cargo 20 in the storage container 500 is transferred into the cargo access box 410 by the conveyor belt; the cargo 20 within the cargo access box 410 is transferred to the storage container 500 by a conveyor belt.

In addition, the movement of the cargo 20 into the cargo box 100 is not limited to the transfer of the cargo 20 in the cargo box 500, and in another embodiment, the step S32 may be: the transfer mechanism 420 moves the cargo 20 at the access opening 414 of the cargo access box 410 into the storage box 100 housed within the receiving compartment 412 of the cargo access box 410. The cargo 20 at the access opening 414 may be the cargo 20 transferred by other devices or may be the cargo 20 manually placed, and the storage container 500 may be omitted.

It will be appreciated that if the cargo 20 is transferred only at a short distance, the step S32 may be different from the above manner, and the step S32 may be: looking for cargo 20, the draft assembly 200 moves the cargo 20 into the cargo box 100. I.e. after the traction assembly 200 has moved the cargo 20 into the storage container 100, the next step, i.e. step S33 described below, is directly performed without the need for a further step of moving the cargo 20 into the storage container 500 for storage, i.e. step S31 described above, may be omitted.

If the cargo 20 is stored in the cargo box 100, both the step S31 and the step S32 may be omitted.

Step S33: searching for a preset target place.

Specifically, the preset destination is a dispatch place.

Specifically, finding the preset target is accomplished by capturing an image by the vision sensing assembly 300.

Step S34: the traction assembly 200 slides and drives the cargo box 100 connected to the traction assembly 200 to slide to a preset target location.

Specifically, the traction assembly 200 slides in accordance with the images acquired by the vision sensor.

Step S35: the draft assembly 200 moves the cargo 20 out of the cargo box 100 to a predetermined destination.

In the present embodiment, step S35 is: the robotic arm 250 of the traction assembly 200 grips the cargo 20 and unloads the cargo 20 to a predetermined destination.

Step S36: searching for a preset position.

Specifically, the predetermined location is the receiving compartment 412 of the cargo access box 410.

Step S37: the traction assembly 200 moves the cargo box 100 to slide to a predetermined position.

In this embodiment, step S37 specifically includes: the traction assembly 200 moves the cargo box 100 into the receiving compartment 412.

Specifically, the cargo access box 410 is capable of charging the cargo storage box 100 when the cargo storage box 100 is received in the receiving compartment 412, and the cargo storage box 100 is capable of powering the traction assembly 200 when the traction assembly 200 is connected to the cargo storage box 100. And data transmission can also be performed between the cargo box 100, the cargo access box 410 and the traction assembly 200 to facilitate better cooperation of the cargo box 100, the cargo access box 410 and the traction assembly 200.

Further, the plurality of cargo tanks 100 is provided, and at this time, when the traction assembly 200 is operated, it is connected to one of the cargo tanks 100, and the work of delivering and collecting the cargo 20 is performed, and the remaining cargo tanks 100 are charged in the cargo storage and retrieval tank 410. At this time, the goods 20 can be sent and received by the part of the storage containers 100 and the traction assembly 200, and the part of the storage containers 100 located in the accommodating cabin 412 and the goods storage and retrieval box 410 cooperate to load and unload the goods 20, so that the time for waiting for loading and unloading the goods 20 by the traction assembly 200 is saved, and the working efficiency of the traction assembly 200 for transferring the goods 20 is improved. At this time, the step of searching for the cargo 20 in step S31, the step of moving the cargo 20 into the storage box 100 by the traction assembly 200 may be performed simultaneously with the step of transferring the cargo 20 in the storage box 100 to the access port 414 of the cargo access box 410 by the transfer mechanism 420, or the step of searching for the cargo 20 in step S31, the step of moving the cargo 20 into the storage box 100 by the traction assembly 200 may be performed simultaneously with step S32; step S32 may be performed simultaneously with steps S33 to S37. If there are a plurality of traction modules 200, step S31 and step S32 may be performed simultaneously with step S33 to step S37.

Further, the transferring method of the cargo 20 further includes step S38: the storage container 100 is replaced.

In the present embodiment, the number of the storage containers 100 is plural, and step S38 is: the tractor assembly 200 is automatically separated from the storage containers 100 to which the tractor assembly 200 is attached, and then moved to be automatically attached to one of the remaining storage containers 100. I.e. the cargo 20 in the storage container 100 connected to the traction assembly 200 has been dispatched or the storage container 100 has reached a predetermined level (low level), the traction assembly 200 is automatically separated from the storage container 100 and automatically connected to other storage containers 100 already containing the cargo 20 to be transferred or other storage containers 100 already charged, and then the transfer work is performed. At this time, step S31 is provided with one step S38 at the same time; step S38 is provided after step S37.

It will be appreciated that when there is only one cargo box 100, step S38 is not required, and after the traction assembly 200 drives the cargo box 100 to slide to the preset position in step S37, the traction assembly 200 and the cargo box 100 may not be separated to directly charge the cargo 20.

The method for transferring the goods 20 can realize autonomous loading and unloading of the goods 20 by using the device for transferring the goods 20, and people are not required to take the goods 20. Meanwhile, the simultaneous operation of a plurality of cargo tanks 100 can be realized, so that the loading, unloading, sending and receiving of the cargos 20 can be synchronously performed, the efficiency of transferring the cargos 20 is improved, and the method for transferring the cargos 20 has higher transferring efficiency of the cargos 20.

The cargo transferring device of the other embodiment has a structure substantially identical to that of the cargo transferring device 10, except that the cargo box 600 and the cargo box 100 of the cargo transferring device of the present embodiment have different structures, and the traction assembly 700 has a structure different from that of the traction assembly 200.

As shown in fig. 9 and 10, the cargo box 600 is not provided with travelling wheels, but a plurality of telescopic supporting members 610, the plurality of supporting members 610 support the box body 620 together, and a data interface (not shown) and a lock hole (not shown) are provided at the bottom of the box body 620.

Referring to fig. 11 together, the structure of the traction body 720 of the traction assembly 700 is slightly different from that of the traction body 240, and the traction body 720 is not interfaced with the data interface of the case body 620 and is not directly physically connected with the case body 620. At this time, the traction assembly 700 further includes a support base 740, the support base 740 is rotatably connected with the traction body 720, and the support base 740 is capable of carrying the cargo box 600. The plurality of braces 610 are shortened to enable the cargo box 600 to rest on the support base 740 to connect the cargo box 600 to the support base 740, and the plurality of braces 610 are lengthened to separate the cargo box 600 from the support base 740. Wherein, the supporting seat 740 is provided with an electric connector 750 capable of being docked with the data interface of the box body 620 and an electronic lock 760 capable of being locked with the lock hole of the box body 620.

Specifically, the support base 740 includes a support plate 742 and a sliding wheel 744 mounted on the support plate 742, the support plate 742 is rotatably connected to the traction body 720, the support plate 742 is capable of carrying the cargo box 600, the plurality of support members 610 is shortened to enable the cargo box 600 to be positioned on the support plate 742, so that the cargo box 600 is connected to the support plate 742, and the plurality of support members 610 is extended to separate the cargo box 600 from the support plate 742. Wherein the electrical connector 750 and the electronic lock 760 are both disposed on the support plate 742.

The specific operations of the traction assembly 700 and the cargo box 600 of the cargo transferring device of the present embodiment for achieving automatic connection and disconnection are as follows:

When the cargo box 600 and the traction assembly 700 need to be connected, the support plate 742 of the traction assembly 700 slides to the bottom of the box body 620, the support member 610 is shortened and separated from the ground, the cargo box 600 is located on the support plate 742, as shown in fig. 9, the data interface of the cargo box 600 is docked with the electrical connector 750, and the electronic lock 760 is locked with the lock hole on the box body 620, at this time, the traction assembly 700 can drive the cargo box 600 to slide.

When the cargo storage box 600 and the traction assembly 700 need to be separated, the supporting member 610 is extended and contacts with the ground, the box body 620 is supported, the box body 620 is separated from the supporting plate 742, the data interface of the cargo storage box 600 is separated from the electric connector 750, the electronic lock 760 is unlocked from the lock hole on the box body 620, and the supporting plate 740 slides in a direction away from the cargo storage box 600, so that the traction assembly 700 and the cargo storage box 600 are separated.

Since the structure of the cargo transferring device of the present embodiment is substantially the same as that of the cargo transferring device 10, the cargo transferring device of the present embodiment also has similar effects to the cargo transferring device 10.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims

1. A cargo transferring device, comprising:

A cargo box for loading cargo;

the traction assembly can slide and can be automatically connected with and separated from the storage container, the traction assembly can drive the storage container to slide, and the goods can be moved into and out of the storage container;

the visual sensing assembly is arranged on the traction assembly and can acquire images, and the traction assembly can work according to the images; and

The transfer assembly comprises a goods storage and retrieval box and a transfer mechanism, wherein the goods storage and retrieval box is provided with a containing cabin capable of containing the goods in the goods storage and retrieval box and a storage and retrieval opening used for storing and retrieving the goods, and the transfer mechanism can move the goods at the storage and retrieval opening into the goods in the containing cabin and can move the goods in the goods storage and retrieval box in the containing cabin to the storage and retrieval opening.

2. The cargo transferring device according to claim 1, wherein the traction assembly comprises a base capable of universally sliding, a traction body and a mechanical arm, the base is capable of sliding according to the image, the traction body is fixed on the base and capable of sliding with the base, the traction body is capable of automatically connecting and automatically separating from the storage box, the mechanical arm is mounted on the traction body, the mechanical arm is capable of grabbing and unloading the cargo, and the mechanical arm is capable of working according to the image.

3. The cargo transferring device according to claim 2, wherein the traction body comprises a columnar body and an annular connecting part sleeved on the columnar body and capable of rotating around the columnar body, two ends of the columnar body are fixedly connected with the base and the mechanical arm respectively, and the annular connecting part can be automatically connected with and separated from the cargo storage box; when the annular connecting part is connected with the storage container, the storage container can rotate around the traction main body so as to facilitate the steering sliding of the traction assembly.

4. The cargo transferring apparatus of claim 2 wherein the cargo box comprises a box body for loading the cargo and road wheels mounted on the box body.

5. The cargo transferring device of claim 1, wherein the cargo box comprises a box body for loading the cargo, road wheels mounted on the box body, and a retractable support mounted on the box body, the support being capable of supporting the box body in combination with the road wheels, wherein the traction assembly is capable of being automatically connected and disconnected from the box body, the traction assembly is capable of moving the cargo into and out of the box body, and the support is shortened when the traction assembly is connected to the box body so that the traction assembly and the road wheels collectively support the box body.

6. The cargo transferring apparatus according to claim 1, wherein the cargo box comprises a box body for loading the cargo and a plurality of support members that are retractable, the plurality of support members being mounted on the box body, the plurality of support members being capable of supporting the box body together; the traction assembly comprises a base capable of universally sliding, a traction main body, a mechanical arm and a supporting seat, wherein the base can conduct sliding operation according to the image, the traction main body is fixed on the base and can slide along with the base, the mechanical arm is installed on the traction main body, the mechanical arm can grab and unload the goods, the mechanical arm can work according to the image, and the supporting seat can bear the storage box; wherein a plurality of the supporting members are shortened to enable the storage container to be located on the supporting seat so that the storage container is connected with the supporting seat, and a plurality of the supporting members are extended to enable the storage container to be separated from the supporting seat.

7. The cargo transferring device of claim 6, wherein the support base is rotatably coupled to the traction body.

8. The cargo transferring device of claim 1, wherein the cargo box comprises a box body for loading the cargo and a plurality of supports that are capable of collectively supporting the box body; the traction assembly comprises a base capable of universally sliding, a traction main body, a mechanical arm and a supporting seat, wherein the base can perform sliding work according to the image, the traction main body is fixed on the base and can slide along with the base, the mechanical arm is installed on the traction main body, the mechanical arm can grab and unload the goods, and the mechanical arm can work according to the image; the support base comprises a support plate which can bear the cargo box and can be lifted; the supporting plate descends and slides along with the base to extend into the bottom of the storage container; the support plate is raised to raise the cargo box and the support member is separated from the ground, and the cargo box is loaded onto the support plate.

9. The cargo transferring device according to claim 8, wherein,

The supporting seat is rotationally connected with the base or the traction main body; the supporting seat also comprises a sliding wheel arranged on the supporting plate.

10. The cargo transferring device of claim 1, wherein the cargo box further comprises a cover and a box body; the box body is cuboid with an opening at one side, and is provided with a bottom wall opposite to the opening and four end-to-end side walls connected with the bottom wall; the cover body is arranged on the box body, and the cover body can cover the opening of the box body;

the traction assembly can control the opening and closing of the cover body of the storage container;

The traction assembly is internally provided with a control module, and the control module is a control part and an information processing part of the traction assembly; when the traction assembly is connected with the storage container, the control module is electrically connected with the storage container and used for controlling the opening and closing of the cover body;

An inductor is arranged at the opening of the box body, and if the inductor senses that the pedestrian automatically takes goods, an alarm is given;

the cargoes can be densely stacked in the storage container so as to fully utilize the space in the storage container; the traction assembly further includes a robotic arm capable of gripping and unloading the cargo.

11. The cargo transferring device of claim 1, wherein the cargo can be densely packed in the storage box to fully utilize the space within the storage box; the traction assembly further includes a robotic arm capable of gripping and unloading the cargo.

12. The cargo transferring apparatus of claim 1 wherein the cargo storage box is electrically connected to the traction assembly when the traction assembly is connected to the cargo storage box to enable the cargo storage box to power the traction assembly, or to enable data transfer between the cargo storage box and the traction assembly, or to enable the cargo storage box to enable data transfer between the cargo storage box and the traction assembly while the cargo storage box is charging the traction assembly;

When the storage box is contained in the containing cabin, the storage box is electrically connected with the goods storage box, so that the goods storage box can charge the storage box, or the goods storage box and the storage box can carry out data transmission, or the goods storage box can charge the storage box, and meanwhile, the goods storage box and the storage box can carry out data transmission.

13. The cargo transferring device of any one of claims 1 to 12 wherein there are a plurality of said cargo storage boxes each receivable in said receiving bay, said traction assembly being selectively connectable to one of said cargo storage boxes, said transfer mechanism being capable of moving said cargo at said access opening into said plurality of said cargo storage boxes and of moving said cargo in said plurality of said cargo storage boxes to said access opening.

14. The cargo transferring apparatus according to any one of claims 1 to 12, wherein the cargo access box is movable to facilitate transfer of the cargo access box.

15. The cargo transferring apparatus according to any one of claims 1 to12, wherein a side sliding door is further provided on the cargo access box, the side sliding door being capable of shielding the accommodation compartment when the cargo storage box is not accommodated in the accommodation compartment.

16. The cargo transferring device according to any one of claims 1 to 12, wherein the transferring mechanism comprises a guide bar fixed in the cargo access box and extending in a direction approaching the access opening, a slide bar mounted on the guide bar and intersecting the guide bar, the slide bar being slidable in an extending direction of the guide bar, a telescopic arm having one end connected to the slide bar and slidable in an extending direction of the slide bar, and a gripping member mounted on the other end of the telescopic arm, the gripping member being capable of gripping and unloading the cargo, and the gripping member being capable of extending into the cargo storage box located in the accommodation compartment; or alternatively

The transfer mechanism comprises a guide rod and a manipulator, wherein the manipulator can be arranged on the guide rod in a sliding manner, the manipulator can grab and unload cargoes, the tail end of the manipulator is provided with a grabbing piece, and the grabbing piece can extend into the cargo storage box in the accommodating cabin.

17. The cargo transferring device of any one of claims 1 to 12, further comprising a storage container capable of storing the cargo, the storage container capable of transferring the cargo within the storage container to the access port, and capable of transferring the cargo at the access port to an interior of the storage container.

18. The cargo transferring device of claim 17, wherein the storage container is an automated driving truck or a storage platform for an unmanned aerial vehicle.

19. The cargo transferring device according to claim 17, wherein the storage container comprises a container body and a storage plate, the container body is capable of storing the cargo, a transfer port is formed in the container body, the storage plate is mounted on the container body and is arranged close to the transfer port, the storage plate is used for bearing the cargo, the storage plate can be accommodated in the container body and can also extend out of the transfer port, so that the cargo on the storage plate can enter and exit the container body along with the storage plate, and the storage plate can extend into the cargo storage box from the access port; or alternatively

The storage container comprises a container body and a telescopic piece which is arranged in the container body and can clamp goods, the container body can store the goods, a transmission opening is formed in the container body, the telescopic piece can extend out of the container body from the transmission opening, the telescopic piece can drive the goods to enter and exit the container body, and the telescopic piece can extend into the goods storage box from the storage opening.

20. A method of transferring cargo, comprising the steps of:

searching a preset target place;

The traction assembly moving cargo from the storage box to the preset destination;

Searching a preset position; and

The traction assembly drives the cargo storage box to slide to a preset position;

The preset position is a containing cabin of the goods storage box; the step of the traction assembly driving the cargo storage box to slide to a preset position specifically comprises the following steps: the traction assembly drives the storage container to slide into the accommodating cabin;

The goods storage boxes are multiple, part of the goods storage boxes are matched with the goods storage boxes to carry out goods loading and unloading when the goods storage boxes and the traction assemblies carry out goods dispatching and collecting work.

21. The method of transferring cargo of claim 20, wherein,

Before the step of finding the preset destination, the method further comprises the step of moving the cargo into the storage box: the transfer mechanism moves the goods at the goods storing and taking port of the goods storing and taking box to the goods storing box contained in the containing cabin.

22. The method of transferring cargo of claim 20, wherein the step of the traction assembly moving the cargo from the cargo box to the predetermined destination is specifically: and the mechanical arm of the traction assembly grabs the goods and unloads the goods to a preset target place.

23. The method of claim 20, wherein the predetermined destination is a dispatch location.

24. The method of transferring cargo of claim 20 wherein said cargo storage box is capable of charging said cargo storage box when said cargo storage box is received in said receiving compartment; when the traction assembly is connected with the storage container, the storage container can supply power to the traction assembly;

And part Chu Huoxiang of the cargo storage boxes are charged in the cargo storage boxes, and meanwhile, part of the cargo storage boxes carry out cargo transfer outside the cargo storage boxes along with the traction components.

25. The method of transferring cargo of claim 20, wherein,

The step of moving the cargo into the storage box is: the goods in the goods storage container is transferred to the place of the goods storage and retrieval box by the goods storage container, and then the goods are moved into the goods storage box accommodated in the accommodating cabin by the transferring mechanism.

26. A method of transferring cargo according to any one of claims 20 to 25, wherein the cargo in the storage box to which the traction assembly is connected has been dispatched or the capacity of the storage box has reached a predetermined capacity, the traction assembly being automatically separated from the storage box and automatically connected to other storage boxes already containing the cargo to be transferred or to other storage boxes already charged, and then performing the transfer operation; and/or

After the step that the traction assembly drives the storage container to slide to the preset position, the method further comprises the step of replacing the storage container: the tractor assembly is automatically separated from the storage containers to which it is attached and then automatically attached to one of the remaining storage containers.