CN110498261A

CN110498261A - Handling facilities and handling method

Info

Publication number: CN110498261A
Application number: CN201811519335.9A
Authority: CN
Inventors: 王力展; 任云超
Original assignee: Guangdong Tianbrew Intelligent Equipment Co Ltd; Foshan Haitian Flavoring and Food Co Ltd
Current assignee: Guangdong Tianbrew Intelligent Equipment Co Ltd; Foshan Haitian Flavoring and Food Co Ltd
Priority date: 2018-12-12
Filing date: 2018-12-12
Publication date: 2019-11-26

Abstract

The present invention relates to a kind of handling facilities and handling methods, wherein handling facilities include: carrying mechanism (6)；Supporting plate (2) is used for loaded object；Support platform (1) is configured as placing supporting plate (2) when needing to load object；It with the first bindiny mechanism, is configured as when needing to load object, mechanism (6) to be handled drives supporting plate (2) movement and is in disengaged condition after supporting plate (2) is placed on support platform (1)；And when needing to shift object, mechanism (6) to be handled is in the lock state after reaching the position that can be connect with supporting plate (2).Such handling facilities can be on the basis of meeting handling object functional requirement, carrying mechanism is prevented to be damaged during loading object, and by the switching of the state of the first bindiny mechanism be easy to that supporting plate is made rapidly to be in different connection status from carrying mechanism, the degree of automation of supporting plate dismounting can be improved.

Description

Handling facilities and handling method

Technical field

The present invention relates to automatic material flow technical field more particularly to a kind of handling facilities and handling method.

Background technique

Currently, each field human cost rises steadily, and various industries are all in automation-enabled with the development of China's economic Equipment is come replace repeatability or heavy manual work.With deepening continuously for automation application, fixture tradition is automated Fixed installation mode be difficult to meet the application demand of existing object multi-size.

In automatic material flow technology, need to be widely used in handling facilities, handling facilities are used to object piling up container Perhaps it is unloaded from container or compartment in compartment or by object.Handling facilities are equipped with the supporting plate for loaded object, When loading object, supporting plate can be separated with carrying mechanism, when needing article transfer to destination, then by supporting plate and be carried Mechanism combines.

In order to meet such demand, mechanical arm has obtained more and more applications by Quick Release fast-assembling clamp tool operation. However, due to supporting plate or the clamp tool accuracy of manufacture is low and weight is big in handling facilities field, all adopted in many applications With manual or semi-automatic dismounting supporting plate.According to the mode dismounted manually, due to supporting plate more heaviness to dismount manually it is time-consuming Arduously, it is typically necessary and carrys out locking screw pair by spanner, be unfavorable for the demand of automation.According to semi-automatic dismounting supporting plate, Since supporting plate or the clamp tool accuracy of manufacture are low, positioning accuracy is relatively low, is unfavorable for realizing fast assembling-disassembling.These factors are all given certainly Dynamic compound Flow Technique proposes biggish challenge.

Summary of the invention

The purpose of the present invention is to propose to a kind of handling facilities and handling method, the dismounting of handling facilities supporting plate oneself can be improved Dynamicization degree.

According to an aspect of the invention, it is proposed that a kind of handling facilities, comprising:

Carrying mechanism；

Supporting plate is used for loaded object；

Support platform is configured as placing supporting plate when needing to load object；With

First bindiny mechanism has the disengaged condition for separating carrying mechanism with supporting plate and connects carrying mechanism and supporting plate The lock state connect is configured as when needing to load object, and mechanism to be handled drives supporting plate to move and be placed in supporting plate and holds Disengaged condition is in after holding in the palm on platform；And when needing to shift object, mechanism to be handled reaches the position that can be connect with supporting plate It is in the lock state after setting.

Further, further include the second bindiny mechanism, there is the disengaged condition for separating supporting plate with support platform and make The lock state that supporting plate is connect with support platform, be configured as supporting plate is placed in need to load object on support platform when at In lock state, and disengaged condition is in when needing to shift object.

Further, the first bindiny mechanism is independently arranged with the second bindiny mechanism, is configured as a connection machine wherein When structure needs to switch to lock state, another bindiny mechanism is first made to be in disengaged condition.

Further, it is equipped with linkage mechanism between the first bindiny mechanism and the second bindiny mechanism, is configured as wherein one Mechanical linkage is carried out when a bindiny mechanism's switching state, is switched to opposite state to trigger another bindiny mechanism.

Further, further include control unit, be configured as the movement of control carrying mechanism, and control the first connection machine At least one of structure and the second bindiny mechanism carry out state switching.

Further, carrying mechanism is configured as after supporting plate is placed on support platform by moving from supporting plate.

Further, the first bindiny mechanism includes:

First driving part；

First positioning region, is located on supporting plate；With

Second positioning region is operably connect with the output end of the first driving part；

Wherein, the first driving part is configured as tying the first positioning region and the second positioning region by itself output end motion It closes or is detached from, to realize the connection and disengagement of carrying mechanism and supporting plate.

Further, carrying mechanism is equipped with the first bindiny mechanism at left and right sides of pallet length direction, or carries Mechanism is equipped with the first bindiny mechanism along the middle position in pallet length direction.

Further, the first positioning region is the first hole being located on supporting plate, and the second positioning region is the first pin shaft, the first driving Component is configured as being embedded in pin shaft by itself output end motion or being detached from the first hole, to realize the company of carrying mechanism and supporting plate It connects and disengages.

Further, the bottom of supporting plate is equipped with otic placode, and the first hole is located on otic placode；

Carrying mechanism includes main part and interconnecting piece, and interconnecting piece is located at main part bottom end, and interconnecting piece is equipped with pin shaft bracket, Pin shaft bracket is equipped with third hole；

First driving part is located on interconnecting piece, is configured as moving to pin shaft bracket in carrying mechanism and is aligned with otic placode Afterwards, the first pin shaft is made to be embedded in the first hole and third hole.

Further, carrying mechanism is configured as after supporting plate is placed on support platform, makes pin by moving downward Bracing strut and otic placode are detached from, to leave supporting plate.

Further, interconnecting piece includes extension board and two mounting plates, and extension board is located at main part bottom end, and to main part The left and right sides extends, and two mounting plates are respectively provided at the left and right side of extension board, and otic placode is located on the inside of mounting plate, the first driving portion Part is located on the lateral wall of mounting plate, is configured as being embedded in the first hole and third hole when moving in itself output end horizontal direction.

Further, the first positioning region includes the first pin and the second pin, is located at supporting plate connection along the length direction of supporting plate End, and setting is spaced in the plane for being parallel to supporting plate；And

Second positioning region includes the first hook and second hook, at least one is movably located at carrying mechanism bottom end, is configured To close the first hook and the first pin card by the first hook and/or second hook movement, and second hook and the second pin card are closed, to realize The connection of carrying mechanism and supporting plate.

Further, the first hook and/or second hook are rotatably arranged at the bottom end of carrying mechanism, and pivot center is along supporting plate Length direction setting.

Further, the first hook and second hook are configured as entering in the channel being spaced between the first pin and the second pin real Now engage.

Further, the first hook is fixedly installed, and second hook is rotationally set in the plane perpendicular to pallet length direction It sets, the second pins position sells the side far from supporting plate in first.

Further, the first bindiny mechanism further includes the actuator block being located on supporting plate, and actuator block is equipped with lozenges；

Wherein, the first driving part is for driving actuator block to move in the plane locating for supporting plate along supporting plate width direction；The Two hooks are equipped with force section, in actuator block movement, being moved on lozenges by force section to rotate second hook, with reality The engaging and disengaging of existing second hook and the second pin.

Further, holding tank and supporting table are additionally provided in actuator block, lozenges is connected between holding tank and supporting table, In the state of the disengaging of carrying mechanism and supporting plate, force application part is in holding tank；When carrying mechanism needs are connect with supporting plate, Force section reaches supporting table along lozenges, with the state for keeping second hook and the second pin card to close.

Further, force section is to be located at the close idler wheel that one end is connect with carrying mechanism in second hook, for passing through rolling It moves and is moved on lozenges.

Further, multiple rolling elements are equipped between the bottom and supporting plate of actuator block.

Further, installation position is equipped in support platform, the second bindiny mechanism includes:

Second driving part, is located in installation position；

Third positioning region, is located on supporting plate；With

4th positioning region is located at the output end of the second driving part；

Wherein, the second driving part is configured as tying third positioning region and the 4th positioning region by itself output end motion It closes or is detached from, to realize the connection and disengagement of supporting plate Yu support platform.

Further, third positioning region is the second hole, and the 4th positioning region is the second pin shaft, and the second driving part is configured as The second pin shaft is set to be embedded in or be detached from the second hole by itself exporting end motion, to realize the connection of supporting plate and support platform and take off It opens.

It further, further include incidence regulating mechanism, for adjusting the inclination angle of supporting plate, under Loading conditions, supporting plate is in Horizontality；In the case where shifting operating condition, supporting plate is in horizontality or free end updip state；Under Unloading Condition, supporting plate is in Horizontality or free end declined state；

Before needing for supporting plate to be placed on support platform, supporting plate is in horizontality；It is left in supporting plate loaded object After support platform, supporting plate keeps horizontality or rotation to free end updip state.

According to another aspect of the invention, it is proposed that a kind of handling method of handling facilities based on the above embodiment, comprising:

When needing to load object, makes carrying mechanism that supporting plate be driven to move and supporting plate is placed on support platform, later The first bindiny mechanism is set to be in disengaged condition；

When needing to shift object, so that carrying mechanism is reached the position that can be connect with supporting plate, make the first connection machine later Structure is in the lock state.

Further, supporting plate is being placed on support platform, and the first bindiny mechanism is in after disengaged condition, is being loaded and unloaded Method further include:

It is in the lock state the second bindiny mechanism, to realize that the connection between supporting plate and support platform positions.

Further, after loading object is complete, before locking the first bindiny mechanism by carrying mechanism and supporting plate, handling Method further include:

The second bindiny mechanism is set to be in disengaged condition, to realize the separation of supporting plate Yu support platform.

Further, under Loading conditions, supporting plate is in horizontality；In the case where shifting operating condition, supporting plate is in horizontality Or free end updip state；Under Unloading Condition, supporting plate is in horizontality or free end declined state；Handling method also wraps It includes:

Before needing for supporting plate to be placed on support platform, supporting plate is made to be in horizontality；Or

After supporting plate loaded object leaves support platform, supporting plate is made to keep horizontality or rotation to free end updip shape State.

Based on the above-mentioned technical proposal, the handling facilities of the embodiment of the present invention are placed in when needing to load object to supporting plate After on support platform, the first bindiny mechanism, which is in disengaged condition, separates carrying mechanism with supporting plate, prevents supporting plate in tote The power being subject to during part passes to carrying mechanism and is damaged；When needing to shift object, the first bindiny mechanism is in lock State is determined so that carrying mechanism is connect with supporting plate.Such handling facilities under different operating conditions by switching supporting plate and carrying mechanism Connection status on the basis of capable of loading and unloading object functional requirement in meeting logistics progress, prevents carrying mechanism from loading object It is damaged in the process, and is easy to be in supporting plate and carrying mechanism rapidly not by the switching of the state of the first bindiny mechanism The degree of automation of supporting plate dismounting can be improved in same connection status, improves disassembly efficiency.

Detailed description of the invention

The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:

Fig. 1 is supporting plate and support platform and to connect the partial side that arm is connect in the first embodiment of handling facilities of the present invention Figure；

Fig. 2 is that the first embodiment of handling facilities of the present invention is in front view when needing to load object；

Fig. 3 is that the first embodiment of handling facilities of the present invention is in front view when needing to shift object；

Fig. 4 and Fig. 5 is that the structure of the supporting plate to be placed such as support platform in the second embodiment of handling facilities of the present invention is shown It is intended to；

Fig. 6 is that carrying mechanism is ready to pass through that the first bindiny mechanism separates supporting plate and the state being placed on support platform is shown It is intended to；

Fig. 7 is the cross-sectional view of carrying mechanism and poppet attachment portion position；

Fig. 8 is the structural schematic diagram of the first bindiny mechanism in the second embodiment of handling facilities of the present invention；

Fig. 9 is the status diagram that carrying mechanism separates the first bindiny mechanism close to after support platform；

Figure 10 is that the first bindiny mechanism separation butt front edge of board falls in the status diagram on support platform；

Figure 11 is that supporting plate is fully seated at the status diagram on support platform；

Figure 12 is that supporting plate is connect by the second bindiny mechanism with support platform, and the state that intermediate flipped striker plate is put down is shown It is intended to；

Figure 13 is that the object of organizing apparatus station is pushed out to supporting plate station, and the state that intermediate flipped striker plate is lifted Schematic diagram；

Figure 14 is moved to above supporting plate for carrying mechanism prepares to take away supporting plate, and the state that the second bindiny mechanism is detached from is shown It is intended to；

Figure 15 is that carrying mechanism is moved to the position that the first pin is aligned in height with the first hook；

Figure 16 is the status diagram of the first hook and the first pin cooperation；

Figure 17 is the status diagram that carrying mechanism is connect by the first bindiny mechanism with supporting plate；

Figure 18 is that carrying mechanism drives supporting plate and object to reach the status diagram for piling up target position；

Figure 19 is the status diagram after supporting plate is removed from support platform.

Description of symbols:

1, support platform；11, installation position；12, universal ball bearing；13, intermediate flipped striker plate；14, baffle；2, supporting plate； 21, otic placode；22, the first hole；23, the second hole；3, the first driving part；4, the first pin shaft；5, pin shaft bracket；51, third hole；6, Carrying mechanism；6 ', telescopic device；61, main part；62, interconnecting piece；621, extension board；622, mounting plate；7, the second driving portion Part；8, the second pin shaft；10, push rod；

91, the first pin；92, the second pin；93, the first hook；94, second hook；941, force section；95, actuator block；951, wedge-shaped Face；952, holding tank；953, supporting table；96, rolling element.

Specific embodiment

The present invention described further below.In the following paragraphs, the different aspect of embodiment is defined in more detail.So The various aspects of restriction can be combined with any other one aspect or many aspects, can not be combined unless explicitly stated otherwise.Especially, It is considered as preferred or advantageous any feature can be considered as preferred or advantageous feature group with other one or more It closes.

The terms descriptions merely for convenience such as " first " that occurs in the present invention, " second " have same names to distinguish Different building blocks, be not offered as successively or primary-slave relation.

In the description of the present invention, the orientation or position of the instructions such as "upper", "lower", "left", "right", " preceding " and " rear " are used Setting relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention, rather than indication or suggestion Signified device must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as protecting the present invention Protect the limitation of range.

Firstly, the present invention provides a kind of handling facilities as shown in Fig. 1 to Figure 19, in a schematical embodiment, Including carrying mechanism 6, supporting plate 2, support platform 1 and the first bindiny mechanism.Wherein, supporting plate 2 is used for loaded object, and supporting plate 2 is removable It is connected to the bottom end of carrying mechanism 6 with unloading, supporting plate 2 can be placed in target position, carrying mechanism by the swing of carrying mechanism 6 6 may include mechanical arm.Support platform 1 is configured as placing supporting plate 2 when needing to load object, to provide conjunction to load object Suitable operation height.

First bindiny mechanism has the disengaged condition for keeping carrying mechanism 6 isolated with supporting plate 2, and makes carrying mechanism 6 and support The lock state that plate 2 connects, is configured as when needing to load object, and mechanism 6 to be handled drives the movement of supporting plate 2 and by supporting plate 2 In disengaged condition after being placed on support platform 1, so that carrying mechanism 6 is separated with supporting plate 2；And it is needing to shift object When, mechanism 6 to be handled is in the lock state after reaching the position that can be connect with supporting plate 2, so that carrying mechanism 6 and supporting plate 2 Connection, carrying mechanism 6 can drive the transfer of the movement realization object of supporting plate 2.

The handling facilities of this embodiment of the invention can realize the separation and connection of carrying mechanism 6 Yu supporting plate 2, need to load When object, after being placed on support platform 1 to supporting plate 2, carrying mechanism 6 and supporting plate 2 are in discrete state, to prevent supporting plate 2 The power being subject to during loading object passes to carrying mechanism 6 and is damaged, and is easy to that supporting plate 2 and support platform 1 is quasi- Determine position；When needing to shift object, carrying mechanism 6 and supporting plate 2 are in connection status, to drive supporting plate 2 to arrive article transfer Aiming station.Such handling facilities, can be full by the connection status of switching supporting plate 2 and carrying mechanism 6 under different operating conditions On the basis of loading and unloading object functional requirement in sufficient logistics progress, carrying mechanism 6 is prevented to be damaged during loading object, and And be easy to make supporting plate 2 from carrying mechanism 6 rapidly in different connection status by the switching of the state of the first bindiny mechanism, it can The degree of automation of supporting plate dismounting is improved, disassembly efficiency is improved.

As shown in Figure 1, handling facilities of the invention further include the second bindiny mechanism, having divides supporting plate 2 with support platform 1 From disengaged condition and the lock state that connect supporting plate 2 with support platform 1, be configured as supporting plate 2 being placed in support It is in the lock state when needing to load object on platform 1, to position supporting plate 2, prevents from sending out supporting plate 2 when loading object The raw changing of the relative positions or offset；And disengaged condition is in when needing to shift object, so that supporting plate 2 is separated with support platform 1, carrying mechanism 6 can smoothly take away the supporting plate 2 for carrying object.

The embodiment can overcome supporting plate itself to manufacture by the way that the first bindiny mechanism and the second bindiny mechanism to be used cooperatively Precision is low and the very much not easy-to-dismount disadvantage of weight, it can be achieved that the automatic positioning of handling facilities supporting plate and automatic fast assembling-disassembling, favorably In realization automatic material flow.

Adding the second bindiny mechanism has two aspect advantages.On the one hand, when needing to load object, it can be improved loading object When supporting plate 2 place stability also carrying mechanism 6 can be prevented to be damaged so that object to be fitly placed on supporting plate 2. On the other hand, when needing to shift object, since the second bindiny mechanism is to the positioning action of supporting plate 2, carrying mechanism 6 can be successfully The position that can be connect with supporting plate 2 is reached, and the supporting plate 2 for carrying object is taken away.

In some embodiments, handling facilities of the invention further include control unit, such as controller, are configured as controlling The movement of carrying mechanism 6, and control at least one of the first bindiny mechanism and the second bindiny mechanism carry out state switching.

By the way that control unit is arranged, it can further improve the degree of automation of cargo handling process, realize the online quick of supporting plate It positions and is connect with the automatically lock of carrying mechanism, by the way that the switching time of the motion path of carrying mechanism and bindiny mechanism is pre- It, can be by the entire cargo handling process of control unit comprehensively control, under different operating conditions, to realize automatically there are in control unit The switching of the state of one bindiny mechanism and the second bindiny mechanism, can further increase the degree of automation that supporting plate dismounting can be improved, To improve the operating efficiency of cargo handling process.Subsequent embodiment is illustrated so that control unit carries out automatically controlling as an example.

Alternatively, different buttons can also be set on handling facilities, for example, respectively control carrying mechanism movement and The state of bindiny mechanism switches, and when needing to be implemented a certain function under different operating conditions, can operate corresponding button.

In some embodiments, the first bindiny mechanism is arranged in structure independently of each other with the second bindiny mechanism, is configured For need will a bindiny mechanism switches to lock state wherein when, so that another bindiny mechanism is in disengaged condition.

The opportunity of Liang Ge bindiny mechanism state switching can be automatically controlled by control unit, can also be real by operator's trigger button It is existing.Liang Ge bindiny mechanism is in opposite state, can not only guarantee that handling operation is gone on smoothly, moreover it is possible to make carrying mechanism 6 with The connection of supporting plate 2 is positioned on support platform 1 with supporting plate 2 and is independent of each other, and is reduced and is wanted when dismounting to supporting plate 2 to positioning accuracy It asks, and prevents from damaging carrying mechanism 6.

Liang Ge bindiny mechanism is independently arranged by the embodiment, reliability of structure can be improved, such as in the second bindiny mechanism When failure can not switch to lock state, on the basis positioned on support platform 1 by other measures guarantee supporting plate 2 On, still it is able to achieve tote part；When the first bindiny mechanism, which breaks down, to switch to disengaged condition, it is still able to achieve transfer Part, so that the operation of handling facilities is gone on smoothly.In addition, pass through control unit Shi Liangge bindiny mechanism's state in which on the contrary, Control flexibly, and is delayed convenient for setting to adjust the time interval between each action link.

In further embodiments, it is equipped with linkage mechanism between the first bindiny mechanism and the second bindiny mechanism, is configured as Mechanical linkage is carried out when bindiny mechanism's switching state wherein, is switched to opposite shape to trigger another bindiny mechanism State, Liang Ge bindiny mechanism synchronization action.

For example, needing that the first bindiny mechanism is made to be switched to lock state, when connecting supporting plate 2 with carrying mechanism 6, control For component while acting the first bindiny mechanism, linkage mechanism drives the movement of the second bindiny mechanism, cuts the second bindiny mechanism It is changed to disengaged condition, separates supporting plate 2 with support platform 1, to guarantee subsequent can normally shift object.

It is needing that the second bindiny mechanism is made to be switched to lock state, when connecting supporting plate 2 with support platform 1, control unit While acting the second bindiny mechanism, linkage mechanism drives the movement of the first bindiny mechanism, is switched to the first bindiny mechanism Disengaged condition separates supporting plate 2 with carrying mechanism 6, to prevent the stress of the supporting plate 2 during positioning supporting plate 2 or loading object It is transferred to carrying mechanism 6.

The embodiment can simplified control link, even if occur control mistake or operator carelessness and omit unlock link, Also it can need that one of bindiny mechanism is made to switch to lock state to unlock another reliably, prevent to carrying mechanism It causes to damage.

In some embodiments, control unit is configured as after supporting plate 2 is placed on support platform 1, makes carrying implement Structure 6 moves from supporting plate 2.It after supporting plate 2 is placed on support platform 1, needs to position supporting plate 2, be positioned in supporting plate 2 During, or during loading object on supporting plate 2, if carrying mechanism 6 is still contacted with supporting plate 2, will will hold in the palm The stress of plate 2 is transferred to carrying mechanism 6, and carrying mechanism 6 is made to leave supporting plate 2 under Loading conditions, can avoid inaccurate due to positioning Or the stress of cargo handling process causes carrying mechanism 6 to be damaged.

In some embodiments, carrying mechanism 6 is equipped with the first connection machine along the middle position of 2 length direction of supporting plate Structure.In further embodiments, as shown in Figures 2 and 3, the left and right sides of carrying mechanism 6 is equipped with the first bindiny mechanism, due to The weight after being mounted in object of supporting plate 2 is larger, and the connection type of such carrying mechanism 6 and supporting plate 2 can increase coupling stiffness, makes to carry 6 stress of mechanism is more balanced, improves the functional reliability of carrying mechanism 6, and prevents the phenomenon that supporting plate 2 tilts.

In some embodiments, the first bindiny mechanism includes: the first driving part 3, the first positioning region and the second positioning region, Wherein, the first positioning region is located on supporting plate 2, and the second positioning region is located at the output end of the first driving part 3.First driving part 3 It is configured as combining or disengaging the first positioning region with the second positioning region by itself output end motion, to realize carrying mechanism 6 With the connection and disengagement of supporting plate 2.

Handling facilities and its working method of the invention are illustrated below by two specific embodiments, first implements Such as shown in Fig. 1~3, second embodiment is as shown in Fig. 4~19.

In the first embodiment, as shown in Figure 1, the first positioning region is the first hole 22 being located on supporting plate 2, the second positioning region For the first pin shaft 4, the first driving part 3 is configured as making the first pin shaft 4 be embedded in or be detached from first by itself output end motion Hole 22, to realize the connection and disengagement of carrying mechanism 6 Yu supporting plate 2.For example, the first driving part 3 can be straight line driving mechanism, Such as cylinder, hydraulic stem or electronic screw rod.Such connection type structure is simple, can be quickly between lock state and disengaged condition Switching.

Due to 2 thinner thickness of supporting plate, for the ease of the first hole 22 is arranged, as shown in Figure 1, can be equipped in the bottom of supporting plate 2 Otic placode 21, otic placode 21 are arranged perpendicular to 2 bottom of supporting plate, and the first hole 22 is located on otic placode 21.Such set-up mode will not influence support The primary structure of plate 2, moreover it is possible to 2 weight of supporting plate be kept to be basically unchanged.The mode that carrying mechanism 6 is connect with 2 bottom of supporting plate, connection Part will not occupy the space at 2 top of supporting plate, can integrally smoothly in handling facilities after arranging on the supporting plate of downstream to object Ground is shifted the enterprising luggage of supporting plate 2 onto and is unloaded, and the quantity of single treatment object can be improved, and reduce when arranging object to placement position It is required that.

Carrying mechanism 6 includes main part 61 and interconnecting piece 62 combined with Figure 1 and Figure 2, and interconnecting piece 62 is located at 61 bottom of main part End, interconnecting piece 62 are equipped with pin shaft bracket 5, and pin shaft bracket 5 is equipped with third hole 51；First driving part 3 is located at interconnecting piece 62 On, it is configured as after carrying mechanism 6 is aligned to pin shaft bracket 5 with otic placode 21 from 2 moved beneath of supporting plate, keeps the first pin shaft 4 embedding Enter the first hole 22 and third hole 51, to realize the connection of carrying mechanism 6 Yu supporting plate 2.

Specifically, each pin shaft bracket 5 can be correspondingly arranged two otic placodes 21, length direction of two otic placodes 21 along supporting plate 2 Interval setting, pin shaft bracket 5 can be moved upward between two otic placodes 21, so that the first pin shaft 4 is embedded in the first hole 22 and third Hole 51.

By setting interconnecting piece 62, it can make carrying mechanism 6 that there is the position connecting with supporting plate 2, it is larger in 2 length of supporting plate When, it can make the position connecting with supporting plate 2 that there is biggish distance by the way that interconnecting piece 62 is arranged, improve the stability of connection And reliability.Moreover, the fastness that supporting plate 2 is connect with carrying mechanism 2 can be increased by setting pin shaft bracket 5.

On this basis, carrying mechanism 6 is configured as after supporting plate 2 is placed on support platform 1, by moving downward It is detached from pin shaft bracket 5 and otic placode 21, to leave supporting plate 2.The implementation that carrying mechanism 6 moves is being automatically controlled by control unit In example, control unit is used for after supporting plate 2 is placed on support platform 1, and moving downward carrying mechanism 6 makes pin shaft bracket 5 It is detached from otic placode 21, to realize that carrying mechanism 6 leaves supporting plate 2, can avoid carrying mechanism 6 and hit during decline, with Protect carrying mechanism 6.

Such as Fig. 1 to Fig. 3, interconnecting piece 62 includes that extension board 621 and two mounting plates 622, extension board 621 are located at main part 61 Bottom end, and to extending at left and right sides of main part 61, in order to increase the intensity of carrying mechanism 6, extension board 621 may extend in unilateral side Length apart from 2 free end a quarter of supporting plate.Two mounting plates 622 are located at the left and right side of extension board 621, ear vertically respectively Plate 21 is located at 622 inside of mounting plate, and pin shaft bracket 5 is between mounting plate 622 and otic placode 21.First driving part 3 is located at peace On the lateral wall of loading board 622, it is configured as being embedded in the first hole 22 and third hole 51 when moving in itself output end horizontal direction.

In some embodiments, as shown in Figure 1, being equipped with installation position 11 in support platform 1, the second bindiny mechanism includes: the Two driving parts 7, third positioning region and the 4th positioning region, wherein the second driving part 7 is located in installation position 11, third positioning In portion on supporting plate 2, the 4th positioning region is located at the output end of the second driving part 7.Second driving part 7 is configured as by certainly Body output end motion combines or disengages third positioning region with the 4th positioning region, with realize supporting plate 2 and support platform 1 connection and It disengages.

As depicted in figs. 1 and 2, third positioning region is the second hole 23, and the 4th positioning region is the second pin shaft 8, the second driving portion Part 7 is configured as being embedded in the second pin shaft 8 by itself output end motion or being detached from the second hole 23, to realize supporting plate 2 and support The connection and disengagement of platform 1.For example, the second driving part 7 can be straight line driving mechanism, such as cylinder, hydraulic stem or electronic Screw rod.Such connection type structure is simple, can quickly switch between lock state and disengaged condition.

Specifically, installation position 11 can be the vertical hole location opened up from 1 bottom of support platform, to install from bottom to up The output end of two driving parts 7, the second driving part 7 is arranged upward, and the second hole 23 is located on supporting plate 2 and the second driving portion vertically The corresponding position of the output end of part 7.In order to improve the fastness of the positioning of supporting plate 2, can be arranged between supporting plate 2 and support platform 1 Four group of first bindiny mechanism.

On the basis of the various embodiments described above, the rack on carrying mechanism 6 and handling facilities forms four-bar mechanism, supporting plate 2 are located at four-bar mechanism far from the rod piece of rack, drive support for loaded object on supporting plate 2 to swing by four-bar mechanism Plate 2 reaches the target position of loading or unloading, and the length of at least one rod piece of four-bar mechanism is used to form in carrying mechanism 6 It is adjustable, to lower the inclination angle for the plate 2 that puts one's child in a boarding nursery in different operating conditions.Moreover, the size at the inclination angle of supporting plate 2 can be according to the stroke of rod piece Accurate control is, it can be achieved that continuously adjust.

Length-adjustable rod piece forms incidence regulating mechanism and is loading for adjusting the inclination angle of supporting plate 2 in four-bar mechanism Under operating condition, supporting plate 2 is in horizontality；In the case where shifting operating condition, supporting plate 2 is in horizontality or free end updip state；It is unloading It carries under operating condition, supporting plate 2 is in horizontality or free end declined state.

Before needing for supporting plate 2 to be placed on support platform 1, supporting plate 2 is in horizontality, so that supporting plate 2 is smoothly It is placed on support platform 1, reduces impact.After 2 loaded object of supporting plate leaves support platform 1, supporting plate 2 keeps horizontality Or rotation makes object that carrying mechanism occur in time in the handling process and shakes or collide to free end updip state, It is not easy to fall and damage from supporting plate 2, and improves Articles transfer efficiency.

Below with reference to Fig. 1 to Fig. 3, to illustrate the operating principle and process of handling facilities of the present invention.

1, original state, supporting plate 2 are rotated by free end declined state to horizontality, and are placed on support platform 1, such as The output end of Fig. 2, the second driving part 7 stretch out, to drive the second pin shaft 8 (taper pin can be used) to move upwards to be embedded in the second hole 23, realize the positioning of supporting plate 2 and support platform 1；

2, after supporting plate 2 has loaded object, such as Fig. 3, the output end of the second driving part 7 is retracted, with drive the second pin shaft 8 to Lower movement realizes the separation of supporting plate 2 and support platform 1 to be detached from the second hole 23；

3, carrying mechanism 6 rises below supporting plate 2, such as Fig. 3, matches the otic placode 21 of 2 lower section of supporting plate with the positioning of pin shaft bracket 5 It closes, so that the first hole 22 and third hole 51 are aligned；

4, the output end of such as Fig. 3, the first driving part 3 stretch out, and the first pin shaft 4 sequentially passes through the first hole 22 on otic placode 21 With the third hole 51 on pin shaft bracket 5, to realize the connection of supporting plate 2 Yu carrying mechanism 6；

5, carrying mechanism 6 by supporting plate 2 be transferred to target position unloading after, come back to original position, by supporting plate 2 from free end to Under shape turn to horizontality, and be placed on support platform 1, meanwhile, as the output end of Fig. 2, the first driving part 3 contract It returns, the third hole 51 on the first hole 22 and pin shaft bracket 5 for exiting the first pin shaft 4 on otic placode 21；

6, decline carrying mechanism 6, be detached from pin shaft bracket 5 and otic placode 21；

7, the output end of such as Fig. 2, the second driving part 7 stretch out, to drive the second pin shaft 8 to move upwards to be embedded in the second hole 23, realize the positioning of supporting plate 2 and support platform 1；

8, it repeats steps 2 through 7.

Secondly, the present invention also provides a kind of handling method, can handling facilities based on the above embodiment, illustrate at one In the embodiment of property, comprising:

When needing to load object, makes carrying mechanism 6 that supporting plate 2 be driven to move and supporting plate 2 is placed on support platform 1, The first bindiny mechanism is set to be in disengaged condition later；

When needing to shift object, so that carrying mechanism 6 is reached the position that can be connect with supporting plate 2, make the first connection later Mechanism is in the lock state.

Such handling method can met by the connection status of switching supporting plate 2 and carrying mechanism 6 under different operating conditions On the basis of loading and unloading object functional requirement in logistics progress, carrying mechanism 6 is prevented to be damaged during loading object, and It is easy to mention supporting plate 2, rapidly in different connection status, can from carrying mechanism 6 by the state switching of the first bindiny mechanism The degree of automation of high supporting plate dismounting, improves disassembly efficiency.

In some embodiments, it is placed on support platform 1 by supporting plate 2, and the first bindiny mechanism is in disengaged condition Later, handling method further include:

It is in the lock state the second bindiny mechanism, to realize that the connection between supporting plate 2 and support platform 1 positions.

The embodiment, which adds the second bindiny mechanism, two aspect advantages: on the one hand, when needing to load object, can be improved The stability that supporting plate 2 is placed when loading object, so that object to be fitly placed on supporting plate 2；On the other hand, it is needing to shift When object, since the second bindiny mechanism is to the positioning action of supporting plate 2, carrying mechanism 6, which can be reached successfully, to be connect with supporting plate 2 Position, so that the supporting plate 2 for carrying object is taken away.

Further, after loading object is complete, before locking the first bindiny mechanism by carrying mechanism 6 and supporting plate 2, dress Discharging method further include:

The second bindiny mechanism is set to be in disengaged condition, to realize the separation of supporting plate 2 Yu support platform 1.

The embodiment can reduce the requirement to positioning accuracy when making carrying mechanism 6 reach the position connecting with supporting plate 2, And carrying mechanism 6 is prevented to be damaged, thus make carrying mechanism 6 that can successfully reach the position that can be connect with supporting plate 2, it will The supporting plate 2 for carrying object is taken away.

In some embodiments, under Loading conditions, supporting plate 2 is in horizontality；In the case where shifting operating condition, supporting plate 2 is in Horizontality or free end updip state；Under Unloading Condition, supporting plate 2 is in horizontality or free end declined state；Handling Method further include:

Before needing for supporting plate 2 to be placed on support platform 1, supporting plate 2 is made to be in horizontality, so that supporting plate 2 is steady Ground is placed on support platform 1, reduces impact；Or

After 2 loaded object of supporting plate leaves support platform 1, keep supporting plate 2 on horizontality or rotation to free end Incline state, object is made in time there is a phenomenon where carrying mechanism shakes or collision, to be also not easy to fall from supporting plate 2 in the handling process It falls and damages, and improve Articles transfer efficiency.

In some embodiments, after supporting plate 2 is placed on support platform 1, handling method further include: make carrying implement Structure 6 declines to leave supporting plate 2；Or

When needing to shift after the completion of object loads, handling method further include: so that carrying mechanism 6 is moved to 2 bottom of supporting plate, And rise to the position that the first bindiny mechanism can be made to connect carrying mechanism 6 with supporting plate 2.

The embodiment can be such that pin shaft bracket 5 is successfully detached from between two otic placodes 21 by the control decline of carrying mechanism 6, Carrying mechanism 6 can be prevented to be damaged during supporting plate 2 positions and loads object.When needing to shift object, pass through Control carrying mechanism 6 rising can make pin shaft bracket 5 smoothly enter insertion two otic placodes 21 between realize positioning, so as to supporting plate 2 are attached.It is such make carrying mechanism 6 leave and reach with the mode of 2 link position of supporting plate, can make full use of under supporting plate 2 Side space, support platform 1 can inwardly retract at the connecting pin of supporting plate 2.

In a second embodiment, as shown in Fig. 4~Figure 19, the first positioning region includes the first pin 91 and the second pin 92, equal edge The length direction of supporting plate 2 is located at 2 connecting pin of supporting plate, and setting is spaced in the plane for being parallel to supporting plate 2；And second positioning region Including the first hook 93 and second hook 94, at least one of the first hook 93 and second hook 94 are movably located at 6 bottom of carrying mechanism End is configured as moving by the first hook 93 and/or second hook 94, engages the first hook 93 with the first pin 91, and second hook 94 Engage with the second pin 92, to realize the connection of carrying mechanism 6 Yu supporting plate 2.

The embodiment realizes that carrying mechanism 6 and 2 connection structure of supporting plate can be improved connection reliability using hook and pin cooperation, It can reduce to cooperation required precision, and be easily achieved unhook.

As shown in figure 8, the first hook 93 and/or second hook 94 are rotatably arranged at the bottom end of carrying mechanism 6, and pivot center Length direction along supporting plate 2 is arranged.Such structure can reduce two hooks the space occupied in entire movement travel, and drop The low requirement to hook and pin alignment precision.Alternatively, the first hook 93 and/or second hook 94 can also be by along 2 width sides of supporting plate The bottom end of carrying mechanism 6 is located to mobile mode.

As shown in figure 15, the first hook 93 and second hook 94 are configured as being spaced between the first pin 91 and the second pin 92 logical Enter in road and realizes engaging.Such structure can make full use of the space between the first pin 91 and the second pin 92, reduces first and connects The volume that connection mechanism is occupied in 2 connecting pin of supporting plate；And in the case where occupying given volume, it can increase by the first pin 91 and second Spacing distance between pin 92 prevents supporting plate 2 from shaking to increase connective stability and reliability.Alternatively, first Hook 93 and second hook 94 can also be realized from the outside of the first pin 91 and the second pin 92 to be engaged.

Referring still to Figure 15, the fixed setting of the first hook 93, second hook 94 can turn in the plane perpendicular to 2 length direction of supporting plate It is arranged dynamicly, the second pin 92 is located at the first side of the pin 91 far from supporting plate 2.Since the side far from 2 connecting pin of supporting plate has more Big space, therefore drive second hook 94 to move convenient for setting supplementary structure；It is removed in addition, can be increased by one stay hook of setting The stability of mechanism 6 and the positioning of supporting plate 2 is transported, a movable hook, which is only arranged, can reduce connection difficulty, and improve connection reliability.

As shown in Figure 16 and Figure 17, the first bindiny mechanism further includes the actuator block 95 being located on supporting plate 2, is set in actuator block 95 There is lozenges 951.Wherein, the first driving part 3 is for driving actuator block 95 in the plane locating for supporting plate 2 along 2 width side of supporting plate To movement, cylinder, electric pushrod or hydraulic cylinder etc. can be used.Second hook 94 is equipped with force section 941, for transporting in actuator block 95 When dynamic, move on lozenges 951 by force section 941 makes the rotation of second hook 94, to realize second hook 94 and the second pin 92 Engaging and disengaging.Such structure forces second hook 94 to rotate by lozenges 951, can make the rotation process of second hook 94 more Steadily.

Further, as shown in figure 17, holding tank 952 and supporting table 953 are additionally provided in actuator block 95, lozenges 951 connects It connects between holding tank 952 and supporting table 953.In the state of the disengaging of carrying mechanism 6 and supporting plate 2, force section 941, which is located at, to hold It receives in slot 952；When the needs of carrying mechanism 6 are connect with supporting plate 2, force section 941 reaches supporting table 953 along lozenges 951, to protect Hold the state that second hook 94 engages with the second pin 92.Such structure can make second by setting holding tank 952 and supporting table 953 Hook 94 is reliably held at the state for being detached from or engaging in the second pin 92, conducive to the connection or disengaging to carrying mechanism 6 and supporting plate 2 State is kept.

Referring still to Figure 17, force section 941 is to be located at the close idler wheel that one end is connect with carrying mechanism 6 in second hook 94, is used It is moved on lozenges 951 in by rolling.Such structure can reduce rubbing of being subject to when force section 941 is moved along lozenges 951 Power is wiped, keeps the rotation of second hook 94 more flexible, and improves the service life of the first bindiny mechanism.

Ground is adapted with idler wheel, holding tank 952 can be arc groove, and supporting table 953 can be parallel to the flat of supporting plate 2 Face.

Under the action of the first driving part 3, relative motion occurs between 95 meeting of actuator block and supporting plate 2.It rubs to reduce It wipes, improves service life, multiple rolling elements 96 are equipped between the bottom and supporting plate 2 of actuator block 95, so that actuator block 95 and supporting plate 2 Between form rolling friction, improve the ride comfort that actuator block 95 moves.

Below by the embodiment of Fig. 4~Figure 19, to illustrate the course of work that second embodiment corresponds to handling facilities.

As shown in Figure 4 and Figure 5, support platform 1 waits carrying mechanism 6 to discharge supporting plate 2, under current state, in rack in Between overturning striker plate 13 it is in a vertical state, the object of organizing apparatus station II is blocked, at subsequent intermediate flipped striker plate 13 When horizontality, the object of organizing apparatus station II can be pushed out to supporting plate station I.Have on support platform 1 and in groups (arranges) Universal ball bearing 12 can effectively reduce friction and shock when supporting plate 2 picks and places with support platform 1.Meanwhile it also reducing to carrying implement The reaction force of structure 6 can protect the driving part of carrying mechanism 6.It is equipped with baffle 14 in the front of support platform 1, in object When being pushed out to supporting plate station I from organizing apparatus station II, object can be prevented to fall down from 2 front end of supporting plate.

Further, there are also include the second driving part 7 and the second pin shaft 8 for support platform 1.Wherein, the second driving part 7 It can be cylinder, hydraulic cylinder, elevator or other linear drive apparatus.Second pin shaft 8 is connected to the second driving part 7, is used for The positioning of supporting plate 2 and support platform 1 is at least arranged 2.

As shown in fig. 6, carrying mechanism 6 is prepared for that supporting plate 2 is separated and is placed in support by the first bindiny mechanism to put down On platform 1.Specifically, by the movement of carrying mechanism 6, rotation, back-and-forth motion and elevating movement including its four-bar mechanism are mobile To support platform 1 top holding plane about 5mm height.At this point, the second driving part 7 is in retracted mode, the second pin shaft 8 It is retracted mode, does not cooperate with supporting plate 2 and position.In addition, push rod 10 is additionally provided on supporting plate 2, for object to be pushed to from supporting plate 2 Target car position.In Fig. 6, the rear of carrying mechanism 6 is equipped with telescopic device 6 ', and for driving, length can in carrying mechanism 6 The rod piece of tune is flexible, to change the angle of supporting plate 2.Fig. 7 is the cross-sectional view of carrying mechanism 6 and 2 connecting portion of supporting plate, Fig. 8 the The structural schematic diagram of one bindiny mechanism.

As shown in figure 9, carrying mechanism 6 is close to after support platform 1, the separation of the first bindiny mechanism, and carrying mechanism 6 is to support 2 negative side of plate moves horizontally, then moves up, and separates with supporting plate 2 and gets out of the way object Transfer pipe.When the first driving part 3 contracts The direction of Hui Shi, actuator block 95 towards close supporting plate 2 are mobile, and act on force section 941, so that connecting with force section 941 Second hook 94 rotate, final force section 941 is located in holding tank 951, so that the second pin 92 be made to separate with second hook 94.

As shown in Figure 10, after separation, the second pin 92 loses coupling mechanism force with second hook 94.The balance of supporting plate 2 itself is broken, First hook 93 and the first pin 91 also lose coupling mechanism force, are fallen on support platform 1 automatically.But at this point, the supporting plate 2 fallen not It can accurately position.Figure 11 is the status diagram that supporting plate 2 is fully seated on support platform 1.

As shown in figure 12, the second pin shaft of the second driving part 7 driving 8 cooperates with the second hole 23 on supporting plate 2, makes supporting plate 2 It is accurately located on support platform 1, realizes the connection of the second bindiny mechanism.Meanwhile intermediate flipped striker plate 13 being lowered into Horizontality.

As shown in figure 13, the object of organizing apparatus station II is pushed out to supporting plate station I, until being stopped by baffle 14.Together When, intermediate flipped striker plate 13 is raised up to vertical state.

As shown in figure 14, carrying mechanism 6 is moved to 2 top of supporting plate, and the second driving part 7 of the second bindiny mechanism drives Dynamic second pin shaft 8 is separated with the second hole 23 on supporting plate 2.Further, the second hook 94 of the first bindiny mechanism is in disengaging Position.At this moment the first driving part 3 is in retracted mode.

As shown in figure 15, the first hook 93 is moved to the position with the cooperation of the first pin 91.Specifically, it is moved before and after carrying mechanism 6 Dynamic down position of having good positioning, which, which is the first hook 93, and second hook 94 moves down will not collide the first pin 91 and the second pin 92 position.Carrying mechanism 6 first moves down, and is moved to 91 center of the first pin and flushes with 93 center of the first hook.

As shown in figure 16, carrying mechanism 6 is moved horizontally to 91 side of the first pin again, cooperates the first hook 93 and the first pin 91. When moving horizontally, supporting plate 2 may be made to generate slight sliding when the first hook 93 and the first pin 91 contact.But because support platform There is the universal ball bearing 12 (arranged) in groups to support supporting plate 2 on 1, so that the friction of sliding is reduced.The first pin 91 acts on the simultaneously The active force of one hook 93 is smaller.It is also smaller with the indirect rigidly connected 6 driving device active force of carrying mechanism of the first hook 93, it can protect Protect carrying mechanism 6.

As shown in figure 17, the first driving part 3 stretches out, and the direction for pushing actuator block 95 to be directed away from supporting plate 2 is mobile, force Portion 941 deviates from out of holding tank 952, and moves up along lozenges 951, until reaching supporting table 953.At this point, second hook 94 and second pin 92 cooperate, the first bindiny mechanism is in connection status, connect supporting plate 2 with carrying mechanism 6.

Later, as shown in figure 18, carrying mechanism 6 drives supporting plate 2 and object to reach and piles up target position, and passes through push rod 10 Effect object is pushed out to target position.Figure 19 is the status diagram that supporting plate 2 is removed from support platform 1.

A kind of handling facilities provided by the present invention and handling method are described in detail above.It is used herein Principle and implementation of the present invention are described for specific embodiment, and the explanation of above example is only intended to help to manage Solve method and its core concept of the invention.It should be pointed out that for those skilled in the art, not departing from , can be with several improvements and modifications are made to the present invention under the premise of the principle of the invention, these improvement and modification also fall into this hair In bright scope of protection of the claims.

Claims

1. a kind of handling facilities characterized by comprising

Carrying mechanism (6)；

Supporting plate (2) is used for loaded object；

Support platform (1) is configured as placing supporting plate (2) when needing to load object；With

First bindiny mechanism has the disengaged condition for separating the carrying mechanism (6) with supporting plate (2) and makes the carrying implement The lock state that structure (6) is connect with supporting plate (2), is configured as when needing to load object, drives institute to the carrying mechanism (6) In the disengaged condition after stating supporting plate (2) movement and supporting plate (2) being placed on the support platform (1)；And it is needing When shifting object, the locking shape is in after reaching the position that can be connect with the supporting plate (2) to the carrying mechanism (6) State.

2. handling facilities according to claim 1, which is characterized in that further include the second bindiny mechanism, having makes the support The disengaged condition and the lock state for connecting the supporting plate (2) with support platform (1) that plate (2) is separated with support platform (1), It is configured as being in the lock state when being placed in the supporting plate (2) and needing to load object on the support platform (1), And the disengaged condition is in when needing to shift object.

3. handling facilities according to claim 2, which is characterized in that first bindiny mechanism connect machine with described second Structure is independently arranged, and when being configured as that a bindiny mechanism needs to switch to the lock state wherein, first makes another connection Mechanism is in the disengaged condition.

4. handling facilities according to claim 2, which is characterized in that first bindiny mechanism connect machine with described second It is equipped with linkage mechanism between structure, is configured as carrying out mechanical linkage when bindiny mechanism's switching state wherein, it is another to trigger One bindiny mechanism is switched to opposite state.

5. handling facilities according to claim 2, which is characterized in that further include control unit, be configured as described in control The movement of carrying mechanism (6), and at least one of control first bindiny mechanism and the second bindiny mechanism carry out state Switching.

6. handling facilities according to claim 1, which is characterized in that the carrying mechanism (6) is configured as in the support Plate (2) is placed on the support platform (1) later by moving from the supporting plate (2).

7. handling facilities according to claim 1, which is characterized in that first bindiny mechanism includes:

First driving part (3)；

First positioning region is located on the supporting plate (2)；With

Second positioning region is operably connect with the output end of first driving part (3)；

Wherein, first driving part (3) is configured as making first positioning region and second by itself output end motion Positioning region combines or disengages, to realize the connection and disengagement of the carrying mechanism (6) Yu supporting plate (2).

8. handling facilities according to claim 1, which is characterized in that the carrying mechanism (6) is along the supporting plate (2) length First bindiny mechanism or carrying mechanism (6) are equipped at left and right sides of direction along the supporting plate (2) length direction Meta position has installed first bindiny mechanism.

9. handling facilities according to claim 7, which is characterized in that first positioning region is to be located at the supporting plate (2) On the first hole (22), second positioning region be the first pin shaft (4), first driving part (3) be configured as by from Body output end motion makes the pin shaft (4) to be embedded in or be detached from first hole (22), to realize the carrying mechanism (6) and supporting plate (2) connection and disengagement.

10. handling facilities according to claim 9, which is characterized in that the bottom of the supporting plate (2) is equipped with otic placode (21), First hole (22) is located on the otic placode (21)；

The carrying mechanism (6) includes main part (61) and interconnecting piece (62), and the interconnecting piece (62) is located at the main part (61) bottom end, the interconnecting piece (61) are equipped with pin shaft bracket (5), and the pin shaft bracket (5) is equipped with third hole (51)；

First driving part (3) is located on the interconnecting piece (62), is configured as moving to institute in the carrying mechanism (6) It states after pin shaft bracket (5) is aligned with otic placode (21), first pin shaft (4) is made to be embedded in first hole (22) and third hole (51)。

11. handling facilities according to claim 10, which is characterized in that the carrying mechanism (6) is configured as described After supporting plate (2) is placed on the support platform (1), keep the pin shaft bracket (5) and otic placode (21) de- by moving downward From to leave the supporting plate (2).

12. handling facilities according to claim 10, which is characterized in that the interconnecting piece (62) includes extension board (621) With two mounting plates (622), the extension board (621) is located at the main part (61) bottom end, and left to the main part (61) Right two sides extend, and two mounting plates (622) are respectively provided at the left and right side of the extension board (621), the otic placode (21) On the inside of the mounting plate (622), first driving part (3) is located on the lateral wall of the mounting plate (622), is matched It is set to when being moved in itself output end horizontal direction and is embedded in first hole (22) and third hole (51).

13. handling facilities according to claim 7, which is characterized in that

First positioning region includes the first pin (91) and the second pin (92), and the length direction along the supporting plate (2) is located at support Plate (2) connecting pin, and the interval setting in the plane for being parallel to the supporting plate (2)；And

Second positioning region includes the first hook (93) and second hook (94), at least one is movably located at the carrying mechanism (6) bottom end is configured as moving by first hook (93) and/or second hook (94), make first hook (93) with it is described First pin (91) engaging, and the second hook (94) engages with second pin (92), to realize the carrying mechanism (6) and support The connection of plate (2).

14. handling facilities according to claim 13, which is characterized in that first hook (93) and/or second hook (94) It is rotatably arranged at the bottom end of the carrying mechanism (6), and pivot center is arranged along the length direction of the supporting plate (2).

15. handling facilities according to claim 13, which is characterized in that first hook (93) and second hook (94) are matched It is set to enter out of channel that be spaced between first pin (91) and the second pin (92) and realizes engaging.

16. handling facilities according to claim 13, which is characterized in that first hook (93) fixed setting, described the Two hooks (94) can be rotatably set in the plane perpendicular to supporting plate (2) length direction, and second pin (92) is located at the first pin (91) far from the side of the supporting plate (2).

17. handling facilities according to claim 16, which is characterized in that first bindiny mechanism further include be located at it is described Actuator block (95) on supporting plate (2), the actuator block (95) are equipped with lozenges (951)；

Wherein, first driving part (3) is for driving in the actuator block (95) plane locating for supporting plate (2) along supporting plate (2) width direction moves；The second hook (94) is equipped with force section (941), for leading to when the actuator block (95) move Crossing the force section (941) and moving on lozenges (951) rotates second hook (94), to realize the second hook (94) and institute State the engaging and disengaging of the second pin (92).

18. handling facilities according to claim 17, which is characterized in that be additionally provided with holding tank on the actuator block (95) (952) and supporting table (953), the lozenges (951) is connected between the holding tank (951) and supporting table (952), in institute In the state of the disengaging for stating carrying mechanism (6) and the supporting plate (2), the force section (941) is located at the holding tank (952) It is interior；When the carrying mechanism (6) need to connect with the supporting plate (2), the force section (941) reaches along lozenges (951) The supporting table (953), with the state for keeping the second hook (94) to engage with second pin (92).

19. handling facilities according to claim 17, which is characterized in that the force section (941) is to be located at described second The close idler wheel that one end is connect with carrying mechanism (6) on hook (94), for being moved on the lozenges (951) by rolling.

20. handling facilities according to claim 17, which is characterized in that the bottom of the actuator block (95) and the supporting plate (2) multiple rolling elements (96) are equipped between.

21. handling facilities according to claim 2, which is characterized in that be equipped with installation position in the support platform (1) (11), second bindiny mechanism includes:

Second driving part (7) is located in the installation position (11)；

Third positioning region is located on the supporting plate (2)；With

4th positioning region is located at the output end of second driving part (7)；

Wherein, second driving part (7) is configured as positioning third positioning region with the 4th by itself output end motion Portion combines or disengages, to realize the connection and disengagement of the supporting plate (2) Yu support platform (1).

22. handling facilities according to claim 21, which is characterized in that the third positioning region is the second hole (23), institute Stating the 4th positioning region is the second pin shaft (8), and second driving part (7) is configured as making by itself output end motion described Second pin shaft (8) is embedded in or is detached from second hole (23), to realize the connection of the supporting plate (2) and support platform (1) and take off It opens.

23. handling facilities according to claim 1, which is characterized in that it further include incidence regulating mechanism, it is described for adjusting The inclination angle of supporting plate (2), under Loading conditions, the supporting plate (2) is in horizontality；In the case where shifting operating condition, at the supporting plate (2) In horizontality or free end updip state；Under Unloading Condition, the supporting plate (2) is in horizontality or free end has a down dip shape State；

Before needing for supporting plate (2) to be placed on support platform (1), the supporting plate (2) is in horizontality；In the supporting plate (2) after loaded object leaves the support platform (1), the supporting plate (2) keeps horizontality or rotation to free end updip State.

24. a kind of handling method based on any handling facilities of claim 1~23 characterized by comprising

When needing to load object, makes carrying mechanism (6) that supporting plate (2) to be driven to move and supporting plate (2) is placed in support platform (1) On, so that first bindiny mechanism is in disengaged condition later；

When needing to shift object, so that the carrying mechanism (6) is reached the position that can be connect with the supporting plate (2), make later First bindiny mechanism is in the lock state.

25. handling method according to claim 24, which is characterized in that the supporting plate (2) is being placed in the support On platform (1), and the first bindiny mechanism is in after disengaged condition, the handling method further include:

It is in the lock state the second bindiny mechanism, to realize that the connection between the supporting plate (2) and the support platform (1) is fixed Position.

26. handling method according to claim 25, which is characterized in that after loading object is complete, make described first to connect Before connection mechanism locks carrying mechanism (6) and supporting plate (2), the handling method further include:

The second bindiny mechanism is set to be in disengaged condition, to realize the separation of the supporting plate (2) Yu the support platform (1).

27. handling method according to claim 24, which is characterized in that under Loading conditions, the supporting plate (2) is in water Level state；In the case where shifting operating condition, the supporting plate (2) is in horizontality or free end updip state；It is described under Unloading Condition Supporting plate (2) is in horizontality or free end declined state；The handling method further include:

Before needing for supporting plate (2) to be placed on support platform (1), the supporting plate (2) is made to be in horizontality；Or

After the supporting plate (2) loaded object leaves the support platform (1), make the supporting plate (2) keep horizontality or It rotates to free end updip state.

28. handling method according to claim 24, which is characterized in that the supporting plate (2) is being placed in the support After on platform (1), the handling method further include: the carrying mechanism (6) is made to leave the supporting plate by rising or falling (2)。