CN111634597B

CN111634597B - Loading and unloading device and loading and unloading method

Info

Publication number: CN111634597B
Application number: CN202010520140.7A
Authority: CN
Inventors: 陈叶广; 孔哲
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2020-03-09
Filing date: 2020-06-09
Publication date: 2021-09-28
Anticipated expiration: 2040-06-09
Also published as: TWI804823B; TW202134149A; CN113697350A; CN111634597A; CN113548360A

Abstract

The invention relates to a loading and unloading device which is used for conveying goods to a transfer robot or unloading the goods on the transfer robot. The stand extends in the vertical direction. The plurality of loading and unloading assemblies are arranged on the vertical frame at equal intervals along the vertical direction, and can convey goods to the transfer robot or unload the goods on the transfer robot on different heights respectively. The invention also relates to a goods loading and unloading method applied to the goods loading and unloading device. According to the loading and unloading device and the loading and unloading method, the plurality of loading and unloading assemblies can convey goods to the transfer robot or unload the goods on the transfer robot at different heights, so that the waiting time of the transfer robot in the loading and unloading process is greatly shortened, the loading and unloading efficiency of the transfer robot is obviously improved, and the overall carrying efficiency of the loading and unloading goods is finally improved.

Description

Loading and unloading device and loading and unloading method

Technical Field

The invention relates to the technical field of warehouse logistics, in particular to a loading and unloading device and a loading and unloading method.

Background

The intelligent storage is a link in the logistics process, and the application of the intelligent storage ensures the speed and the accuracy of data input in each link of goods warehouse management, ensures that enterprises timely and accurately master real data of the inventory, and reasonably keeps and controls the inventory of the enterprises. Through scientific coding, the batch, the shelf life and the like of the inventory goods can be conveniently managed. By using the warehouse location management function, the current positions of all the stored goods can be mastered in time, and the working efficiency of warehouse management is improved. The transfer robot plays an important role in intelligent warehousing, replaces manual goods transfer, but the robot used in the current warehousing logistics can only load and unload goods one by one, and the transfer efficiency of the transfer robot is greatly influenced.

Disclosure of Invention

In view of the above, it is necessary to provide a cargo handling apparatus and a cargo handling method for assisting a transfer robot to efficiently handle cargo, in order to solve the problem of low cargo handling efficiency of the conventional transfer robot.

A loading and unloading device for transporting goods to or from a transfer robot, comprising:

a stand extending in a vertical direction;

and a plurality of loading and unloading assemblies which are arranged on the vertical frame at equal intervals along the vertical direction and can respectively convey goods to the transfer robot or unload the goods on the transfer robot at different heights.

In one embodiment, each of the cargo handling assemblies includes a plurality of brackets, a loading and unloading structure and a first driving structure, the brackets are arranged on the stand at intervals along the vertical direction, the first driving structure and the loading and unloading structure are respectively arranged on the corresponding brackets, the loading and unloading structure is in transmission connection with the first driving structure, and the loading and unloading structure is used for conveying goods to the transfer robot or unloading the goods on the transfer robot.

In one embodiment, the loading and unloading structure comprises a chain and a lug, the chain is rotatably arranged on the bracket along the loading and unloading direction, and the lug is fixedly arranged on the chain; the first driving structure comprises a driving motor, and the driving motor is in transmission connection with the chain; the chain can bear the weight of the goods, when the chain rotates, the lug is abutted to the bottom of the goods, so that the goods are pushed to the transfer robot, or the goods are pulled to the chain from the transfer robot.

In one embodiment, the chain is rotated, the lug pushes the bottom of the goods to push the goods to the transfer robot, or the lug pulls the bottom of the goods to pull the goods from the transfer robot to the chain, or the lug blocks the bottom of the goods, and the goods are transferred to the chain when the transfer robot moves away from the loading and unloading device.

In one embodiment, the loading and unloading assembly comprises two sets of loading and unloading structures, the two sets of loading and unloading structures are arranged on the bracket in parallel at intervals, and the driving motor is in transmission connection with the two chains.

In one embodiment, the loading and unloading assembly further comprises a synchronizing rod, the two chains are respectively in transmission connection with the synchronizing rod, and the output end of the driving motor is in transmission connection with one chain.

In one embodiment, the loading and unloading device further comprises a second driving structure, the second driving structure drives the stand to approach or depart from the transfer robot along the loading and unloading direction, and when the second driving structure drives the stand to approach or depart from the transfer robot, the loading and unloading assembly conveys goods to the transfer robot or unloads the goods on the transfer robot.

In one embodiment, each loading and unloading assembly comprises a loading and unloading cross arm and a push-pull structure, one end of each loading and unloading cross arm is arranged on the vertical frame at intervals along the vertical direction, and the push-pull structure is arranged at the other end corresponding to the loading and unloading cross arms; when the loading and unloading cross arm is close to or far away from the transfer robot along the loading and unloading direction, the push-pull structure pushes and pulls the goods to convey the goods to the transfer robot or unload the goods on the transfer robot.

In one embodiment, the push-pull structure is rotatably arranged at the other end, away from the stand, of the corresponding loading and unloading cross arm, the push-pull structure has a push-pull position and a second avoidance position when rotating, and the push-pull structure conveys goods to the transfer robot or pulls down the goods on the transfer robot when rotating to the push-pull position; when the push-pull structure rotates to the second avoidance position, the push-pull structure avoids the goods.

In one embodiment, the push-pull structure comprises a push-pull component and a push-pull motor, the push-pull motor is arranged at one end, far away from the stand, of the loading cross arm, the push-pull component is arranged at an output shaft of the push-pull motor, and the push-pull motor drives the push-pull component to rotate to a push-pull position or a second avoidance position.

In one embodiment, two loading and unloading assemblies are arranged on the stand at intervals in the same horizontal direction, and two push-pull structures in the same horizontal direction rotate to a push-pull position or a second avoidance position respectively; two push-pull structures in the same horizontal direction respectively drive two sides of the goods along the goods loading and unloading direction.

In one embodiment, the push-pull structure comprises a push-pull component and a push-pull motor, the push-pull motor is arranged on the loading and unloading cross arm, one end of the push-pull component is rotatably connected to the loading and unloading cross arm, the push-pull component is connected with an output shaft of the push-pull motor through a transmission mechanism, and the push-pull motor drives the push-pull component to rotate to the push-pull position or the second avoidance position.

In one embodiment, the transmission mechanism comprises a crank and a connecting rod, the crank is arranged on an output shaft of the push-pull motor, one end of the connecting rod is rotatably connected with the crank, and the other end of the connecting rod is rotatably connected with the push-pull component.

In one embodiment, the push-pull structure further comprises a self-locking plate, the self-locking plate is arranged on the loading and unloading cross arm and is located between the push-pull motor and the push-pull component, when the push-pull component rotates to the push-pull position, the connecting rod abuts against the self-locking plate, and the self-locking plate is used for limiting the connecting rod to push the crank to rotate.

In one embodiment, the number of the loading and unloading cross arms in each loading and unloading assembly is two, the two loading and unloading cross arms are arranged in parallel at intervals, the push-pull component is connected between the two loading and unloading cross arms through a first rotating shaft, one end of the push-pull component is provided with a second rotating shaft parallel to the first rotating shaft, and the connecting rod is rotatably connected with the second rotating shaft.

In one embodiment, the push-pull member is rod-shaped or plate-shaped.

In one embodiment, the loading and unloading device further comprises at least one temporary storage rack, the vertical frame is movably arranged on the temporary storage rack along the horizontal direction, and the second driving structure drives the vertical frame to move along the horizontal direction relative to the temporary storage rack; the temporary storage goods shelf comprises a plurality of layers of goods shelves along the vertical direction, the goods of different heights on the transfer robot are pulled to the corresponding layers of goods shelves on the temporary storage goods shelf by the goods loading and unloading assembly, or the goods on the layers of goods shelves are pushed to the transfer robot by the goods loading and unloading assembly.

In one embodiment, the buffer storage rack comprises a plurality of layers of buffer rollers arranged in the vertical direction, and each layer of buffer rollers can transport goods individually in the loading and unloading direction.

A loading and unloading method applied to the loading and unloading device according to any one of the above aspects, the loading and unloading method comprising:

s30 receiving a second load/unload command;

s40, according to the second loading/unloading command, at least some of the loading/unloading units operate to load/unload the cargo, or at least some of the loading/unloading units operate in synchronization with each other to load/unload the cargo.

In one embodiment, in the step S40: at least part of the loading and unloading assemblies are used for pulling the goods from the transfer robot to the loading and unloading device when acting; or at least part of the loading and unloading assemblies block the goods when in action, and the goods are left on the corresponding loading and unloading assemblies when the transfer robot is far away from the loading and unloading device.

In one embodiment, in step S40, the unloading and loading device loads and unloads the goods from the end of the storage pallet on the transfer robot close to the transfer module, or the unloading and loading device loads and unloads the goods from the end of the storage pallet on the transfer robot far from the transfer module.

In one embodiment, each loading and unloading assembly comprises a bracket, an unloading and loading structure and a driving motor, wherein a plurality of brackets are arranged on the stand at intervals along the vertical direction, and the driving motor and the unloading and loading structure are respectively arranged on the corresponding brackets; the loading and unloading structure comprises a chain and a lug, the chain is rotatably arranged on the bracket along the loading and unloading direction, the lug is fixedly arranged on the chain, and the driving motor is in transmission connection with the chain; the chain can carry the goods, and in the step S40, the protrusion pushes the bottom of the goods to push the goods to the transfer robot, or the protrusion pulls the bottom of the goods to pull the goods from the transfer robot to the chain, or the protrusion blocks the bottom of the goods, and the goods are transferred to the chain when the transfer robot is far away from the loading and unloading device.

In one embodiment, the chain drives the lug to move when rotating so as to form a loading and unloading position and a first avoidance position, and the lug can be abutted against the bottom of the goods along the loading and unloading direction when being positioned at the loading and unloading position; the step S40 includes:

s41 determining one or more loading/unloading assemblies that need to perform an unloading operation according to the second loading/unloading command;

s42, controlling the lug in the loading and unloading assembly needing to execute unloading action to move to a first avoidance position;

s43, after the to-be-carried robot moves to the to-be-loaded and unloaded position, the lug in the loading and unloading assembly which needs to execute the unloading action is controlled to move to the loading and unloading position, so that the lug is abutted against the bottom of the goods;

s44 the chain drives the lug to move so as to pull the goods from the transfer robot to the loading and unloading device, or the transfer robot is far away from the loading and unloading device, and the goods are left on the corresponding loading and unloading component.

In one embodiment, in step S42, it is determined whether goods are present on the transfer robot at a height corresponding to each of the loading and unloading assemblies, and if goods are present on the transfer robot at a height corresponding to each of the loading and unloading assemblies, the bump in each of the loading and unloading assemblies at the corresponding height is controlled to move to a first avoidance position; alternatively, in step S42, the cams of all the loading and unloading modules are controlled to rotate to a first retracted position.

In one embodiment, the loading and unloading device further comprises a second driving structure, the second driving structure drives the stand to approach or depart from the transfer robot along the loading and unloading direction, and when the second driving structure drives the stand to approach the transfer robot, the loading and unloading assembly conveys goods to the transfer robot or unloads the goods on the transfer robot; each loading and unloading assembly comprises a loading and unloading cross arm and a push-pull structure, one end of each loading and unloading cross arm is arranged on the vertical frame at intervals along the vertical direction, and the push-pull structure is rotatably arranged at the other end corresponding to the loading and unloading cross arms; in step S40, when the load handling arm is driven by the second driving mechanism to approach or separate from the transfer robot in the load handling direction, the push-pull mechanism pushes or pulls the load to or from the transfer robot, or the push-pull mechanism receives the load, and the load is transferred to the load handling device when the transfer robot is separated from the load handling device.

In one embodiment, the push-pull structure comprises a push-pull component and a push-pull motor, the push-pull motor is arranged at one end of the loading cross arm far away from the stand, and the push-pull component is arranged at an output shaft of the push-pull motor; the push-pull motor drives the push-pull component to rotate, and the push-pull component has a push-pull position or a second avoidance position, and corresponds to the goods in the goods loading and unloading direction when rotating to the push-pull position; the step S40 includes:

s45 determining one or more loading/unloading assemblies that need to perform an unloading operation according to the second loading/unloading command;

s46, controlling the push-pull component in the loading and unloading assembly to rotate to a second avoidance position;

s47, the transfer robot moves to a loading and unloading position, the second driving structure drives all the loading and unloading assemblies to extend towards the direction close to the transfer robot, and the push-pull components in the loading and unloading assemblies needing to execute the unloading action are controlled to move to the push-pull positions, so that the push-pull components correspond to the goods;

s48 shows that the load/unload unit is moved away from the transfer robot in the load/unload direction by the second driving mechanism, and the push-pull member unloads the load from the transfer robot, or the push-pull member receives the load, and the load is transferred to the load/unload device when the transfer robot is moved away from the load/unload device.

In one embodiment, the push-pull structure comprises a push-pull component and a push-pull motor, the push-pull motor is arranged on the loading and unloading cross arm, one end of the push-pull component is rotatably connected with the loading and unloading cross arm, and the push-pull component is connected with an output shaft of the push-pull motor through a transmission mechanism; the push-pull motor drives the push-pull component to rotate, and the push-pull component has a push-pull position or a second avoidance position, and corresponds to the goods in the goods loading and unloading direction when rotating to the push-pull position; the step S40 includes:

s46, controlling the push-pull member of the loading and unloading assembly to rotate to the second avoidance position;

s47 the transfer robot moves to the unloading position, the second driving structure drives all the unloading and loading assemblies to extend toward the direction close to the transfer robot, and controls the push-pull members in the unloading and loading assemblies that need to execute the unloading motion to move to the push-pull positions, so that the push-pull members correspond to the goods;

In one embodiment, in step S46, it is determined whether or not a load is present on the transfer robot at a height corresponding to each of the loading and unloading modules, and if a load is present at a height corresponding to the transfer robot, the push-pull member in each of the loading and unloading modules at the corresponding height is controlled to move to the second avoidance position; alternatively, in step S46, the push-pull members of all the loading and unloading modules are controlled to rotate to the second retracted position.

In one embodiment, the loading and unloading device further comprises at least one temporary storage rack, the vertical frame is movably arranged on the temporary storage rack along the horizontal direction, and the second driving structure drives the vertical frame to move along the horizontal direction relative to the temporary storage rack; the temporary storage shelf comprises a plurality of layers of shelves along the vertical direction; in step S40, the unloading and loading unit pulls the items of different heights on the transfer robot to the corresponding shelves on the temporary storage shelf, or pushes the items on the shelves to the transfer robot.

According to the loading and unloading device and the loading and unloading method, the plurality of loading and unloading assemblies can convey goods to the transfer robot or unload the goods on the transfer robot at different heights, so that the waiting time of the transfer robot in the loading and unloading process is greatly shortened, and the loading and unloading efficiency of the transfer robot is obviously improved. Meanwhile, the loading and unloading device can load and unload cargos at a specified height or load and unload all cargos at each height at one time, so that the flexibility is high, and the overall carrying efficiency of the loaded and unloaded cargos is finally improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural view of a cargo handling device according to an embodiment of the present invention;

FIG. 2 is an enlarged view of a portion of the structure of FIG. 1;

fig. 3 is a schematic structural view of a transfer robot corresponding to the loading and unloading device of fig. 1 according to an embodiment of the present invention;

FIG. 4 is an enlarged view of a portion of the structure of FIG. 3;

fig. 5 is a schematic structural view of a loading/unloading system according to an embodiment of the present invention;

FIG. 6 is a schematic view of a loading/unloading device according to another embodiment of the present invention;

FIG. 7 is an enlarged view of a portion of the structure of FIG. 6;

FIG. 8 is a schematic view of a loading/unloading device according to yet another embodiment of the present invention;

FIG. 9 is a schematic view of a loading/unloading device according to another embodiment of the present invention;

FIG. 10 is an enlarged view of a portion of FIG. 9 at A;

FIG. 11 is an enlarged view of a portion of FIG. 9 at B;

FIG. 12 is a schematic view of a loading/unloading system according to another embodiment of the present invention;

FIG. 13 is a schematic view of a loading/unloading method according to an embodiment of the present invention;

fig. 14 is a schematic diagram illustrating a specific step of step S40 according to an embodiment of the present invention;

fig. 15 is a schematic diagram of the specific step of step S40 according to another embodiment of the present invention.

Wherein, 10-a loading and unloading device; 100-vertical frame, 200-loading and unloading assembly, 210-bracket, 220-chain, 230-lug, 240-driving motor, 250-synchronous rod, 260-loading and unloading cross arm, 270-push-pull component, 271-first rotating shaft, 272-second rotating shaft, 280-push-pull motor, 281-motor mounting plate, 291-crank, 292-connecting rod, 293-self-locking plate, 300-second driving structure, 400-temporary storage shelf, 410-temporary storage roller and 500-lifting roller; 60-handling robot, 610-handling assembly, 620-vertical frame, 630-mobile chassis, 640-storage pallet, 641-first side plate, 642-second side plate, 643-loading and unloading end, 650-blocking assembly, 651-driving rod, 652-blocking rod; 70-a conveying line; 90-cargo.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. The following description of the embodiments is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.

It will be understood that when an element is referred to as being "secured 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. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. In contrast, when an element is referred to as being "directly connected" to another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

In the description of the present invention, it is to be understood that the terms "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner and are not to be construed as limiting the present invention.

As shown in fig. 1 to 2 and 6 to 7, an embodiment of the present invention provides a loading and unloading device 10 for transferring a load 90 to a transfer robot 60 or unloading the load 90 from the transfer robot 60, the loading and unloading device 10 including a stand 100 and a plurality of loading and unloading assemblies 200. The stand 100 extends in a vertical direction. The plurality of unloading and loading units 200 are provided at intervals in the vertical direction on the stand 100, and the plurality of unloading and loading units 200 can convey the load 90 to the transfer robot 60 or unload the load 90 on the transfer robot 60 at different heights. It will be appreciated that the spacing between the plurality of loader assemblies 200 corresponds to the spacing between the storage pallets 640 on the transfer robot 60. In a practical aspect, the plurality of the unloading and loading units 200 are disposed at equal intervals in the vertical direction on the vertical frame 100, and the unloading and loading device 10 can transport the goods 90 to the transfer robot 60 or unload the goods 90 from the transfer robot 60 at different heights, so that the waiting time of the transfer robot 60 during unloading and loading can be greatly reduced, and the unloading and loading efficiency of the transfer robot 60 can be significantly improved. Meanwhile, the loading and unloading device 10 can load and unload the cargos 90 at a specified height or load and unload all cargos 90 at each height at one time, so that the flexibility is high, and the overall carrying efficiency of the loading and unloading cargos is improved finally. It will be appreciated that the present invention contemplates that the cargo 90 may also be an empty bin or a bin carrying the cargo 90. It should be noted that the transfer robot 60 includes various kinds of mechanical equipment that can perform the transfer of the goods, such as a device that conveys the goods between two positions, equipment having a sorting function, a stacker having a stacking function, and the like.

It is understood that the heights of the plurality of the loading and unloading assemblies 200 correspond to the heights of the plurality of storage pallets 640 of the transfer robot 60, and thus the plurality of the loading and unloading assemblies 200 can transport the goods 90 to all the storage pallets 640 of the transfer robot 60 at one time, or the plurality of the loading and unloading assemblies 200 can remove the goods 90 from all the storage pallets 640 of the transfer robot 60 at one time. Of course, in a specific operating condition, it is also possible that one or more of the loader assemblies 200 in the loader device 10 simultaneously effect the transfer of the load 90 to the transfer robot 60 or the unloading of the load 90 from the transfer robot 60.

As shown in fig. 1-2, in one embodiment of the present invention, each of the loader and unloader assemblies 200 is individually operable to effect transfer of a load 90 to the transfer robot 60 or unloading of a load 90 from the transfer robot 60. In an achievable manner, each of the loading and unloading assemblies 200 includes a plurality of brackets 210 provided to the stand 100 at intervals in the vertical direction, a loading and unloading structure provided to the corresponding brackets 210, respectively, and a first driving structure in driving connection with the loading and unloading structure for conveying the goods 90 to the transfer robot 60 or unloading the goods 90 on the transfer robot 60. The independent first driving structure in each of the unloading and loading assemblies 200 can allow each of the unloading and loading assemblies 200 to individually perform the transfer of the goods 90 to the transfer robot 60 or the unloading of the goods 90 on the transfer robot 60.

Further, as shown in fig. 2, the loading and unloading structure includes a chain 220 and a protrusion 230, the chain 220 is rotatably disposed on the bracket 210 along the loading and unloading direction, and the protrusion 230 is fixedly disposed on the chain 220. The first driving structure comprises a driving motor 240, and the driving motor 240 is in transmission connection with the chain 220; the chain 220 can carry the goods 90, and when the driving motor 240 drives the chain 220 to rotate, the bump 230 pushes the bottom of the goods 90 to push the goods 90 to the transfer robot 60, or the bump 230 pulls the bottom of the goods 90 to pull the goods 90 from the transfer robot 60 to the chain 220, or the bump 230 blocks the bottom of the goods 90, and the goods are transferred to the chain 220 in the loading and unloading device 10 when the transfer robot 60 is far away from the loading and unloading device 10. Specifically, the chain 220 is disposed on two chain wheels spaced in the loading and unloading direction, the output shaft of the driving motor 240 is in transmission connection with one of the chain wheels, and the driving motor 240 drives the chain 220 to operate when rotating, so that the bump 230 pushes the bottom of the goods 90 to push the goods 90 to the transfer robot 60, or the bump 230 pulls the bottom of the goods 90 to pull the goods 90 from the transfer robot 60 to the chain 220.

Further, the cargo handling assembly 200 includes two sets of loading and unloading structures, the two sets of loading and unloading structures are disposed on the bracket 210 in parallel and at intervals, and the driving motor 240 is in transmission connection with the two chains 220. The two sets of loading and unloading structures can increase the stability of the goods 90 in the loading and unloading process. In one embodiment of the present invention, as shown in fig. 2, the loading and unloading assembly 200 further includes a synchronization rod 250, two chains 220 are respectively connected to the synchronization rod 250 in a transmission manner, and a driving motor 240 is connected to one chain 220 in a transmission manner. Specifically, the synchronizing bar 250 connects two spaced sprockets along a horizontal direction perpendicular to the loading and unloading direction, thereby ensuring that the two chains 220 rotate synchronously. It is to be understood that the chain 220 in the above embodiment serves only to drive and carry the goods, and in other embodiments of the present invention, a belt, a timing belt, etc. are used instead of the chain.

In an embodiment of the present invention, all the unloading assemblies 200 in the unloading and loading device 10 are simultaneously operated to realize the transportation of the goods 90 to the transfer robot 60 at different heights or the unloading of the goods 90 on the transfer robot 60, or some of the unloading assemblies 200 in the unloading and loading device 10 are individually operated to realize the transportation of the goods 90 to the transfer robot 60 at a designated height or the unloading of the goods 90 on the transfer robot 60. As shown in fig. 6 to 8, as one mode of realization, the loading and unloading device 10 further includes a second driving structure 300, the second driving structure 300 drives the stand 100 to approach or separate from the transfer robot 60 in the loading and unloading direction, and the loading and unloading assembly 200 transfers the goods 90 to the transfer robot 60 or unloads the goods 90 on the transfer robot 60 when the second driving structure 300 drives the stand 100 to approach or separate from the transfer robot 60. The cargo handling apparatus 10 according to the present embodiment can remove all the cargos 90 or designated cargos 90 from the transfer robot 60 at once, or can simultaneously transfer a plurality of cargos 90 to the transfer robot 60. As an implementable manner, the second drive structure 300 employs a drive structure in the form of a motor and a belt.

In one embodiment of the present invention, as shown in fig. 6-7, each of the load handling assemblies 200 includes a plurality of load handling cross arms 260 having one end spaced apart in the vertical direction from the stand 100 and a push-pull structure rotatably disposed at the other end of the corresponding load handling cross arm 260. When the loading/unloading crossbar 260 approaches or separates from the transfer robot 60 in the loading/unloading direction, the push-pull structure pushes and pulls the load 90 to convey the load 90 to the transfer robot 60 or to unload the load 90 on the transfer robot 60. The push-pull structure has a push-pull position and a second avoidance position when rotated, and when rotated to the push-pull position, the push-pull structure conveys the goods 90 to the transfer robot 60 or pulls down the goods 90 on the transfer robot 60. When the push-pull structure is rotated to the second avoidance position, the push-pull structure avoids the cargo 90.

It will be appreciated that the push-pull configuration may be to push or pull the top, middle, or bottom of the cargo 90 while pushing or pulling the cargo 90. In an embodiment of the present invention, two loading and unloading assemblies 200 are disposed at intervals in the same horizontal direction of the stand 100, and the two push-pull structures in the same horizontal direction are respectively rotated to the push-pull position or the second retracted position. Two push-pull structures in the same horizontal direction drive both sides of the load 90 along the loading and unloading direction, respectively. The push-pull structure synchronously pushes and pulls the two sides of the goods 90, so that the stability of the push-pull process of the goods 90 can be effectively ensured. Further, the two push-pull structures in the same horizontal direction synchronously push/pull both sides of the middle portion of the article 90 along the loading and unloading direction. It can be understood that the two push-pull structures in the same horizontal direction synchronously rotate to the push-pull position or the second avoidance position, or sequentially rotate to the push-pull position or the second avoidance position. In other embodiments of the present invention, only one loading and unloading assembly 200 is installed in the same height direction of the stand 100, and the loading and unloading assembly 200 pushes and pulls the top or bottom of the load 90 when pushing and pulling the load 90.

In one implementation, as shown in fig. 7 to 8, the push-pull structure includes a push-pull member 270 and a push-pull motor 280, the push-pull motor 280 is disposed at one end of the horizontal arm 260 away from the stand 100, the push-pull member 270 is disposed at an output shaft of the push-pull motor 280, the push-pull member 270 is rod-shaped in this embodiment, and the push-pull motor 280 drives the push-pull member 270 to rotate to the push-pull position or the second retracted position. The two push-pull members 270 can be rotated to the push-pull position by the push-pull motor 280, respectively, to pull the goods 90 out of the transfer robot 60 or push the goods 90 to the transfer robot 60. It can be understood that the push-pull motor 280 is used to drive the push-pull member 270 to rotate, the push-pull member 270 is directly disposed on the output shaft of the push-pull motor 280, or the push-pull member 270 is connected to the output shaft of the push-pull motor 280 through a transmission mechanism, as long as the push-pull motor 280 can drive the push-pull member 270 to rotate to the push-pull position or the second avoidance position.

The push-pull structure may also adopt another mode as shown in fig. 9 to 11, and includes a push-pull member 270 and a push-pull motor 280, the push-pull motor 280 is disposed on the detachable cross arm 260, one end of the push-pull member 270 is rotatably connected to the detachable cross arm 260, the push-pull member 270 is plate-shaped in this embodiment, the push-pull member 270 is connected to an output shaft of the push-pull motor 280 through a transmission mechanism, and the push-pull motor 280 drives the push-pull member 270 to rotate to the push-pull position or the second avoidance position. As shown in fig. 11, when the push-pull member 270 is rotated to the push-pull position by the driving of the push-pull motor 280, it is possible to pull the goods 90 out of the transfer robot 60 or push the goods 90 to the transfer robot 60.

In this embodiment, the transmission mechanism specifically adopts a crank-link structure, the crank 291 is disposed on the output shaft of the push-pull motor 280, one end of the link 292 is rotatably connected to the crank 291, and the other end is rotatably connected to the push-pull member 270. As shown in fig. 10 and 11, when the push-pull motor 280 drives the crank 291 to rotate counterclockwise as shown, the link 292 drives the push-pull member 270 to rotate counterclockwise as shown from the second retracted position to the push-pull position. When the push-pull member 270 pulls or pushes the load 90 at the push-pull position, the load 90 generates a reaction force on the push-pull member 270, and in order to avoid the reaction force from rotating the push-pull member 270 to the second avoidance position, the push-pull member 270 needs to be locked at the push-pull position. As shown in fig. 11, when the push-pull member 270 rotates to the push-pull position, the connecting rod 292 abuts against the self-locking plate 293, at this time, the crank 291 and the connecting rod 292 are at a self-locking included angle, and when the push-pull member 270 receives a reaction force of rotating to the second avoidance position, the self-locking plate 293 limits the connecting rod 292 to push the crank 291 to rotate counterclockwise, so that the push-pull member 270 is kept at the push-pull position; when the push-pull member 270 needs to be rotated to the second avoidance position, the push-pull motor 280 is controlled to drive the crank 291 to rotate clockwise as shown in the figure, the crank 291 drives the connecting rod 292 to swing to the side away from the self-locking plate, the self-locking state is released, and the connecting rod 292 drives the push-pull member 270 to rotate to the second avoidance position as shown in fig. 10. In other embodiments of the present invention, other self-locking structures may be adopted to lock the push-pull member at the push-pull position, for example, a motor with a self-locking function, or other self-locking structures cooperating with the transmission mechanism may be adopted.

In the present embodiment, in order to maintain the stable operation of the push-pull structure, two load handling arms 260 are provided for each load handling assembly 200, the two load handling arms 260 are provided in parallel with each other at an interval in the horizontal plane, one ends of the two load handling arms 260 are fixedly connected to the stand 100, the push-pull motor 280 is provided between the two load handling arms 260 through the motor mounting plate 281, the push-pull member 270 is connected between the two load handling arms 260 through the first rotating shaft 271, one end of the push-pull member 270 is provided with the second rotating shaft 272 parallel to the first rotating shaft 271, the link 292 is rotatably connected to the second rotating shaft 272, and both ends of the self-locking plate 293 are fixedly connected to the two load handling arms 260, respectively. As shown in fig. 10, when the push-pull member 270 is in the second retracted position, the push-pull member 270 is substantially in the same horizontal plane as the load handling cross arm 260 and above the load 90; as shown in fig. 11, when the push-pull member 270 is located at the push-pull position, the push-pull member 270 is substantially perpendicular to the loading and unloading cross arm 260, and in order to ensure that the push-pull member 270 is attached to the side of the cargo 90, the push-pull member 270 may also maintain an included angle slightly smaller than 90 ° with the loading and unloading cross arm 260 at the push-pull position; the position corresponding to the connecting rod 292 on the self-locking plate 293 is further provided with a limiting groove, and when the dragging member 270 is located at the push-pull position, the connecting rod 292 falls into the limiting groove of the self-locking plate 293, so that the connecting rod 292 is prevented from shaking.

In an embodiment of the present invention, the loading and unloading apparatus 10 further includes at least one temporary storage rack 400, the upright 100 is movably disposed on the temporary storage rack 400 in a horizontal direction, and the second driving mechanism 300 drives the upright 100 to move in the horizontal direction with respect to the temporary storage rack 400. The temporary storage rack 400 includes a plurality of stages in a vertical direction, and the loading and unloading assembly 200 pulls the goods 90 of different heights on the transfer robot 60 to the corresponding stages on the temporary storage rack 400, or the loading and unloading assembly 200 pushes the goods 90 on the stages to the transfer robot 60. The temporary storage rack 400 can temporarily store the load 90 unloaded from the transfer robot 60 by the loading/unloading device 10, or temporarily store the load 90 to be transferred which is transferred onto the transfer robot 60. As one way of accomplishing this, the buffer store 400 comprises a plurality of vertically arranged buffer rolls 410, each layer of buffer rolls 410 being capable of transporting the goods 90 individually in the loading and unloading direction. Alternatively, each of the buffer rolls 410 can carry a plurality of goods 90 simultaneously.

The present invention corresponds to the cargo handling apparatus 10 in each of the above embodiments, and as shown in fig. 5 and 12, an embodiment of the present invention further provides a cargo handling system including a transfer robot 60 and the cargo handling apparatus 10 according to any one of the above embodiments, wherein the cargo handling apparatus 10 is configured to transfer a cargo 90 to the transfer robot 60 or to remove the cargo 90 from the transfer robot 60. In the loading and unloading device 10 and the loading and unloading system, the plurality of loading and unloading assemblies 200 can respectively convey the goods 90 to the transfer robot 60 at different heights or unload the goods 90 on the transfer robot 60, so that the waiting time of the transfer robot 60 in the loading and unloading process is greatly shortened, the loading and unloading efficiency of the transfer robot 60 is obviously improved, and the overall carrying efficiency of the loading and unloading system is finally improved.

In an embodiment of the present invention, the transfer robot 60 receives the goods 90 conveyed by the cargo handling apparatus 10 in the above embodiments, or the transfer robot 60 allows the cargo handling apparatus 10 in the above embodiments to carry away the goods 90 carried by itself. As an implementation manner, as shown in fig. 3 to 4 and fig. 12, the transfer robot 60 includes a transfer assembly 610, a vertical frame 620, a moving chassis 630 and a plurality of layers of storage pallets 640, the vertical frame 620 is disposed on the moving chassis 630, the plurality of layers of storage pallets 640 are respectively disposed on one side of the vertical frame 620 at intervals in the vertical direction, the transfer assembly 610 is disposed on the other side of the vertical frame 620 and can be lifted in the vertical direction, the transfer assembly 610 can convey the goods 90 to the layers of storage pallets 640, or the transfer assembly 610 can take out the goods 90 on the layers of storage pallets 640. It is understood that the transfer robot 60 according to the present embodiment allows the plurality of unloading and loading modules 200 in the unloading and loading apparatus 10 to operate synchronously to load and unload the cargo 90, and also allows the plurality of unloading and loading modules 200 in the unloading and loading apparatus 10 to operate respectively to load and unload the cargo 90.

In one embodiment of the present invention, corresponding to the load and unload assembly 200 of the push-pull configuration, as shown in fig. 12, the load and unload assembly 200 directly loads and unloads the cargo 90 from the load and unload end 643 of the storage pallet 640 of the conventional transfer robot 60, and the transfer assembly 610 needs to be cleared of the load and unload device 10, and in a practical manner, the transfer assembly 610 is raised to the uppermost position to clear the load and unload device 10. Alternatively, when the transfer robot 60 moves to the loading and unloading device 10 and the blocking bars 652 block the cargo 90, the loading and unloading assembly 200 is moved away from the transfer robot 60 or the transfer robot 60 is moved away from the loading and unloading assembly 200, thereby completing the loading and unloading of the cargo 90. It will be appreciated that the transfer assembly 610 need not be cleared from the device 10 when the assembly 200 is being loaded or unloaded from the end of the storage pallet 640 remote from the transfer assembly 610 on the transfer robot 60.

Corresponding to the assembly 200 for loading and unloading goods with the structure of the chain 220 and the bump 230, in an embodiment of the present invention, as shown in fig. 3 to 5, the storage pallet 640 includes a first side plate 641 and a second side plate 642, the first side plate 641 and the second side plate 642 are disposed at the same height of the vertical frame 620, the first side plate 641 and the second side plate 642 are disposed in parallel and at an interval on the vertical frame 620, and the first side plate 641 and the second side plate 642 are respectively used for holding bottoms of two sides of the goods 90; storage pallets 640 allow the handler 10 to pull the cargo 90 from the bottom of the cargo 90 or the storage pallets 640 allow the handler 10 to push the cargo 90 to the storage pallets 640. The middle portion of the storage pallet 640 of the split type structure is a notch allowing the chain 220 to which the protrusion 230 is assembled to extend into the bottom of the cargo 90 through the middle portion of the storage pallet 640, and when the chain 220 rotates, the protrusion 230 pushes the bottom of the cargo 90 to push the cargo 90 to the transfer robot 60, or the protrusion 230 pulls the bottom of the cargo 90 to pull the cargo 90 from the transfer robot 60 to the chain 220. Alternatively, when the transfer robot 60 moves to the loading and unloading device 10 and the protrusion 230 blocks the goods 90, the chain 220 continues to rotate to complete the loading and unloading of the goods 90, or the transfer robot 60 moves away from the loading and unloading device 10 to complete the unloading process.

Optionally, the storage pallet 640 has an unloading end 643, the unloading end 643 is an end of the storage pallet 640 away from or close to the carrying assembly 610 in the unloading direction, and the unloading device 10 finishes the loading and unloading of the cargo 90 from the unloading end 643 of the storage pallet 640. In one embodiment of the present invention, the storage plate 640 has a load port 643 at an end thereof adjacent to the transfer module 610, and when the load handling device 10 handles the load 90 to the transfer robot 60, the transfer module 610 is raised to the uppermost position to avoid the load handling device 10. In another embodiment of the present invention, as shown in fig. 3-4, the storage pallet 640 has an unloading end 643 at an end thereof remote from the carrier assembly 610. The transfer robot 60 further includes a barricade assembly 650, the barricade assembly 650 having a barricade position and a third escape position, the barricade assembly 650 protruding beyond the loading and unloading end 643 when in the barricade position, preventing the cargo 90 on the storage pallet 640 from sliding out. The barrier assembly 650 is positioned in the third, retracted position clear of the loading and unloading end 643. The handling assembly 610 is capable of completing the loading and unloading of goods 90 to the inventory pallet from the end of the storage pallet 640 adjacent thereto. The damming assembly 650 is effective to prevent the cargo 90 from sliding out of the handling end 643 of the storage pallet 640 when the handling assembly 610 is finished handling the storage pallet 640.

Optionally, the barrage assemblies 650 for each storage pallet 640 may be synchronized or may be individually actuated. In one embodiment of the present invention, the barrage assemblies 650 for each storage pallet 640 are synchronized. Specifically, as shown in fig. 3 to 4, the blocking assembly 650 includes a driving rod 651 and a plurality of blocking rods 652, wherein the middle portions of the plurality of blocking rods 652 are respectively rotatably disposed at the loading and unloading ends 643 of one storage cargo plate 640, the tails of the plurality of blocking rods 652 are respectively rotatably disposed at the driving rod 651, and when the driving rod 651 drives the tails of the plurality of blocking rods 652 to operate, the heads of the plurality of blocking rods 652 respectively protrude out of the loading and unloading ends 643 or retreat the loading and unloading ends 643. The loading/unloading device 10 can load and unload the load 90 to and from the transfer robot 60 only when the barrier assembly 650 is operated to the third retracted position. As an implementation manner, when the driving rod 651 moves upward in the vertical direction, the blocking rod 652 is driven to move to the blocking position, when the driving rod 651 moves downward in the vertical direction, the blocking rod 652 is driven to move to the third avoiding position, and the driving rod 651 is driven by a linear motor or a rotary motor in cooperation with the protrusion 230.

In an embodiment of the present invention, as shown in fig. 5, the cargo handling system further includes a lifting unit disposed at an end of the cargo handling unit 200 remote from the transfer robot 60, the lifting unit being configured to sequentially receive the cargos 90 unloaded from each of the cargo handling units 200, or the lifting unit being configured to sequentially transfer the cargos 90 to each of the cargo handling units 200. In an implementation, as shown in fig. 5, the lifting assembly includes a lifting roller 500, the lifting roller 500 extends along the loading and unloading direction, and the lifting roller 500 can simultaneously carry one or more cargoes 90. The lifting assembly can receive the goods 90 on the temporary storage shelf 400 or the goods 90 on the loading and unloading assembly 200, and then transfer the goods 90 to the corresponding transportation line, so that the automation of the carrying process of the goods 90 is realized. Or the lifting assembly can deliver the goods 90 to the staging rack 400 or the loading and unloading assembly 200.

In one embodiment of the present invention, as shown in fig. 5, the handling system further includes a conveying line 70, the lifting assembly transports the goods 90 to the conveying line 70, or the lifting assembly receives the goods 90 on the conveying line 70, and the conveying line 70 can convey the goods 90 to the corresponding destination. Further, the loading and unloading system includes a fixed shelf, and the transfer robot 60 carries out the goods 90 on the fixed shelf, or the transfer robot 60 transfers the goods 90 to the fixed shelf. The fixed shelf is the starting or ending point for the handling of the goods 90.

In the cargo handling system according to each of the above embodiments, the transfer robot 60 carrying the cargo 90 on the storage pallet 640 is moved to the cargo handling apparatus 10, the cargo handling assembly 200 in the cargo handling apparatus 10 completely or partially removes the cargo 90 on the transfer robot 60, and then the cargo handling assembly 200 sequentially transports the removed cargo 90 to the lifting assembly, which transports the cargo 90 to the conveyor line 70. The above process may be reversed and the transport of the cargo 90 still achieved.

As shown in fig. 13, an embodiment of the present invention further provides a cargo handling method applied to the cargo handling apparatus 10 according to any one of the above embodiments, the cargo handling method including: s30 receiving a second load/unload command; s40, according to the second load/unload command, at least some of the load/unload units 200 operate to load/unload the load 90, respectively, or at least some of the load/unload units 200 operate in synchronization to load/unload the load 90. The cargo handling method provided in this embodiment at least has the advantages corresponding to the cargo handling device 10, and will not be described herein again.

Alternatively, in the process of loading and unloading the cargo 90, the cargo handling apparatus 10 itself may finish loading and unloading the cargo 90 independently, or the cargo handling apparatus 10 may finish loading and unloading the cargo 90 in cooperation with the transfer robot 60. In an embodiment of the present invention, in step S40: at least part of the loading and unloading assemblies 200 are operated to pull the goods 90 from the transfer robot 60 to the loading and unloading device 10; or at least part of the loading and unloading assemblies 200 are operated to block the goods 90, and when the transfer robot 60 is far away from the loading and unloading device 10, the goods 90 are left on the corresponding loading and unloading assemblies 200; or at least a part of the loading/unloading unit 200 pushes the load 90 from the loading/unloading device 10 to the transfer robot 60 when it is operated. Further, in step S40, the cargo handling apparatus 10 loads and unloads the cargo 90 from the end of the transfer robot 60 where the storage pallet 640 is close to the transfer module 610, or the cargo handling apparatus 10 loads and unloads the cargo 90 from the end of the transfer robot 60 where the storage pallet 640 is far from the transfer module 610. When the cargo 90 is loaded or unloaded from the end near the carrier module 610, the carrier module 610 first rises to the uppermost position, thereby allowing room for the docking of the carrier robot 60 with the loading/unloading device 10. The goods loading and unloading method provided by the embodiment provides more goods loading and unloading modes, and improves the adaptability to the actual working conditions.

In an embodiment of the present invention, as shown in fig. 1-2, each of the loader assemblies 200 includes a bracket 210, a loading and unloading structure, and a driving motor 240, wherein a plurality of the brackets 210 are disposed at intervals in the vertical direction on the stand 100, and the driving motor 240 and the loading and unloading structure are respectively disposed on the corresponding brackets 210; the loading and unloading structure comprises a chain 220 and a lug 230, the chain 220 is rotatably arranged on the bracket 210 along the loading and unloading direction, the lug 230 is fixedly arranged on the chain 220, and the driving motor 240 is in transmission connection with the chain 220; the chain 220 can carry the goods 90, and in the step S40, the protrusion 230 pushes the bottom of the goods 90 to push the goods 90 to the transfer robot 60, or the protrusion 230 pulls the bottom of the goods 90 to pull the goods 90 from the transfer robot 60 to the chain 220, or the protrusion 230 blocks the bottom of the goods 90, and the goods 90 are transferred to the chain 220 when the transfer robot 60 is far away from the loading and unloading device 10. A handling structure in the form of a chain 220 and a lug 230 enables handling of the load 90 from the bottom of the load 90.

Specifically, the chain 220 drives the lug 230 to move when rotating, so as to form a loading and unloading position and a first avoidance position, and the lug 230 can be abutted against the bottom of the cargo 90 along the loading and unloading direction when being located at the loading and unloading position; as shown in fig. 14, the step S40 includes: s41 determining one or more of the loading/unloading assemblies 200 that require an unloading operation according to the second loading/unloading command; s42 controlling the movement of the cam 230 of the loading and unloading assembly 200 to a first retracted position; s43, after the transfer robot 60 moves to the position to be loaded or unloaded, controlling the bump 230 of the loading/unloading assembly 200 that needs to perform the unloading operation to move to the loading/unloading position, so that the bump 230 abuts against the bottom of the load 90; s44 the chain 220 drives the cam 230 to move so as to pull the goods 90 from the transfer robot 60 to the loading and unloading device 10, or the transfer robot 60 moves away from the loading and unloading device 10, and the goods 90 remain on the corresponding loading and unloading assembly 200.

In the process of loading and unloading the cargo 90, there is a cargo 90 that does not need to be unloaded from the transfer robot 60 this time. Alternatively, in the step S42, it is determined whether or not the transfer robot 60 has the cargo 90 at the height corresponding to each of the loading and unloading units 200, and if the transfer robot 60 has the cargo 90 at the height corresponding to the cargo, the bump 230 in each of the loading and unloading units 200 at the corresponding height is controlled to move to the first retracted position. Alternatively, in step S42, the rotation of the cams 230 in all the loading and unloading assemblies 200 is controlled to a first retracted position. The cargo handling method according to the present embodiment avoids the influence of the cargo 90 that is temporarily not required to be unloaded by the transfer robot 60 on the cargo handling process of the cargo 90.

It is understood that the process of loading the cargo handling apparatus 10 onto the transfer robot 60 is the reverse of the unloading process, and before the cargo handling apparatus 10 performs loading, the cargo 90 is loaded on at least one of the cargo handling assemblies 200, and the protrusion 230 abuts against the side of the cargo 90 close to the stand 100. In an embodiment of the present invention, the step S40 includes: s411 determining one or more of the loading/unloading assemblies 200 that need to perform a loading operation according to the second loading/unloading command; s422 controls the lug 230 of the loading and unloading assembly 200 to be loaded to abut against the side of the cargo 90 close to the upright 100; s43 after the transfer robot 60 moves to the position to be loaded and unloaded, the bump 230 of the loading and unloading assembly 200 required to perform the loading operation is controlled to move to the first retracted position, in which the bump 230 moves toward the transfer robot 60 under the driving of the chain 220 to push the cargo 90 from the loading and unloading device 10 to the transfer robot 60.

In another embodiment of the present invention, as shown in fig. 6 to 11, the unloading and loading device 10 further includes a second driving structure 300, the second driving structure 300 drives the stand 100 to approach or depart from the transfer robot 60 along the unloading and loading direction, and when the second driving structure 300 drives the stand 100 to approach the transfer robot 60, the unloading and loading assembly 200 transfers the goods 90 to the transfer robot 60 or unloads the goods 90 on the transfer robot 60; each of the load handling assemblies 200 includes a plurality of load handling cross arms 260 and a push-pull structure, one end of each of the plurality of load handling cross arms 260 is vertically spaced apart from the vertical frame 100, and the push-pull structure is rotatably disposed at the other end corresponding to the load handling cross arm 260; in step S40, when the load handling arm 260 is driven by the second drive mechanism 300 to approach or separate from the transfer robot 60 in the load handling direction, the push-pull mechanism pushes or pulls the load 90 to transfer the load 90 to the transfer robot 60 or to unload the load 90 from the transfer robot 60, or the push-pull mechanism blocks the load 90, and the load 90 is transferred to the load handling device 10 when the transfer robot 60 separates from the load handling device 10. The cargo handling method provided in this embodiment at least has the advantages corresponding to the cargo handling device 10, and will not be described herein again.

In an embodiment of the present invention, as shown in fig. 6 to 8, the push-pull structure includes a push-pull member 270 and a push-pull motor 280, the push-pull motor 280 is disposed at one end of the loading and unloading cross arm 260 away from the stand 100, and the push-pull member 270 is disposed at an output shaft of the push-pull motor 280; the push-pull motor 280 drives the push-pull component 270 to rotate, so that the push-pull component 270 has a push-pull position or a second avoidance position, the push-pull component 270 rotates to the push-pull position, so that the push-pull component corresponds to the goods 90 in the loading and unloading direction, the push-pull component 270 can be directly abutted against the side surface of the goods 90 in the push-pull position, or a certain gap can be formed between the push-pull component 270 and the goods 90, and when the second driving structure 300 drives the stand 100 to translate, the push-pull component 270 is abutted against the goods 90; as shown in fig. 9-11, the push-pull structure includes a push-pull member 270 and a push-pull motor 280, the push-pull motor 280 is disposed on the detachable cross arm 260, one end of the push-pull member 270 is rotatably connected to the detachable cross arm 260, and the push-pull member 270 is connected to an output shaft of the push-pull motor 280 through a transmission mechanism; the push-pull motor 280 drives the push-pull component 270 to rotate, so that the push-pull component 270 has a push-pull position or a second avoidance position, the push-pull component 270 rotates to the push-pull position, so that the push-pull component corresponds to the goods 90 in the loading and unloading direction, the push-pull component 270 can be directly abutted against the side surface of the goods 90 in the push-pull position, or a certain gap can be formed between the push-pull component 270 and the goods 90, and when the second driving structure 300 drives the stand 100 to translate, the push-pull component 270 is abutted against the goods 90. As shown in fig. 15, the step S40 includes: s45 determining one or more of the loading/unloading assemblies 200 that require an unloading operation according to the second loading/unloading command; s46, controlling the push-pull member 270 of the loading and unloading assembly 200 to rotate to a second retracted position; s47 the transfer robot 60 moves to the unloading position, the second driving structure 300 drives all the unloading and loading assemblies 200 to extend in the direction close to the transfer robot 60, and controls the push-pull members 270 in the unloading and loading assemblies 200 to move to the push-pull positions, so that the push-pull members 270 correspond to the goods 90; s48 the loading and unloading module 200 is driven by the second driving mechanism 300 to move away from the transfer robot 60 in the loading and unloading direction, and the push-pull member 270 unloads the load 90 on the transfer robot 60, or the push-pull member 270 receives the load 90 and transfers the load 90 to the loading and unloading device 10 when the transfer robot 60 moves away from the loading and unloading device 10.

In the process of loading and unloading the cargo 90, there is a cargo 90 that does not need to be unloaded from the transfer robot 60 this time. Alternatively, in the step S46, it is determined whether or not the load 90 is present on the transfer robot 60 at the height corresponding to each of the loading and unloading modules 200, and if the load 90 is present at the height corresponding to the transfer robot 60, the push-pull member 270 of each of the loading and unloading modules 200 corresponding to the height is controlled to move to the second retracted position. Alternatively, in step S46, the push-pull member 270 of all the loading/unloading assemblies 200 is controlled to rotate to the second retracted position. The cargo handling method according to the present embodiment avoids the influence of the cargo 90 that is temporarily not required to be unloaded by the transfer robot 60 on the cargo handling process of the cargo 90.

In an embodiment of the present invention, as shown in fig. 7 to 8, the loading and unloading device 10 further includes at least one temporary storage rack 400, the upright 100 is movably disposed on the temporary storage rack 400 in a horizontal direction, and the second driving mechanism 300 drives the upright 100 to move in the horizontal direction relative to the temporary storage rack 400. The temporary storage rack 400 includes a multi-deck rack in a vertical direction. In step S40, the loading and unloading module 200 pulls the loads 90 of different heights on the transfer robot 60 to the corresponding shelves on the temporary storage shelf 400, or the loading and unloading module 200 pushes the loads 90 on the shelves to the transfer robot 60. The cargo handling method provided in this embodiment at least has the advantages corresponding to the cargo handling device 10, and will not be described herein again.

It should be understood that the loading and unloading process of the loading and unloading device 10 to the transfer robot 60 is the reverse process of the unloading process, before the loading and unloading device 10 performs the loading, the load 90 is loaded on at least one loading and unloading assembly 200, the push-pull member 270 located at the push-pull position corresponds to the side of the load 90 close to the upright 100, the push-pull member 270 may directly abut against the side surface of the load 90 at the push-pull position, or may have a certain gap with the load 90, and when the second driving mechanism 300 drives the upright 100 to translate, the push-pull member 270 abuts against the load 90. In an embodiment of the present invention, the step S40 includes: s455 determining one or more of the loading and unloading assemblies 200 that need to perform a loading operation according to the second loading/unloading command; s466 controls the push-pull member 270 of the loading and unloading assembly 200 to be rotated to the push-pull position or maintained at the push-pull position; s477 the transfer robot 60 moves to the position to be loaded and unloaded, the second driving mechanism 300 drives all the loading and unloading assemblies 200 to push out in the direction approaching the transfer robot 60, and the loading and unloading assemblies 200 push the loads 90 to the storage plates 640 on the transfer robot 60 in the loading and unloading direction by the driving of the second driving mechanism 300.

During the process of loading and unloading the cargo 90, there is a cargo 90 that is not required to be conveyed from the loading and unloading device 10 to the transfer robot 60 this time. Optionally, in step S466, the push-pull member 270 of the loading and unloading assembly 200 that does not need to perform a loading operation needs to be controlled to rotate to or maintain at the second retracted position; the cargo handling method according to this embodiment avoids the influence of the cargo 90 that is temporarily not required to be transferred to the transfer robot 60 in the cargo handling apparatus 10 on the cargo handling process.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A loading/unloading device for transporting a load to or from a transfer robot, comprising:

a stand extending in a vertical direction;

a plurality of loading and unloading assemblies which are arranged on the vertical frame at equal intervals along the vertical direction and can respectively convey goods to the transfer robot or unload the goods on the transfer robot at different heights;

the second driving structure drives the stand to approach or depart from the transfer robot along the loading and unloading direction, and when the second driving structure drives the stand to approach or depart from the transfer robot, the loading and unloading assembly conveys goods to the transfer robot or unloads the goods on the transfer robot;

each loading and unloading assembly comprises a loading and unloading cross arm and a push-pull structure, one end of each loading and unloading cross arm is arranged on the vertical frame at intervals along the vertical direction, and the push-pull structure is arranged at the other end corresponding to the loading and unloading cross arms; when the loading and unloading cross arm is close to or far away from the transfer robot along the loading and unloading direction, the push-pull structure pushes and pulls the goods to convey the goods to the transfer robot or unload the goods on the transfer robot;

the push-pull structure is rotatably arranged at the other end, far away from the vertical frame, of the corresponding loading and unloading cross arm, the push-pull structure is provided with a push-pull position when rotating, and when the push-pull structure rotates to the push-pull position, goods are conveyed to the transfer robot or the goods on the transfer robot are pulled down;

the push-pull structure comprises a push-pull component and a push-pull motor, one end of the push-pull component is rotatably connected with the loading and unloading cross arm, the push-pull component is connected with an output shaft of the push-pull motor through a transmission mechanism, and the push-pull motor drives the push-pull component to rotate to a push-pull position;

the transmission mechanism comprises a crank and a connecting rod, the crank is arranged on an output shaft of the push-pull motor, one end of the connecting rod is rotatably connected with the crank, and the other end of the connecting rod is rotatably connected with the push-pull component;

the push-pull structure further comprises a self-locking plate, the self-locking plate is arranged on the loading and unloading cross arm and is located between the push-pull motor and the push-pull component, when the push-pull component rotates to the push-pull position, the connecting rod is abutted to the self-locking plate, and the self-locking plate is used for limiting the connecting rod to push the crank to rotate.

2. The loading or unloading device of claim 1, wherein said push-pull structure is also rotatable to a second stowed position, said push-pull structure stowing cargo when rotated to said second stowed position.

3. A loading and unloading device as claimed in claim 2, wherein two loading and unloading assemblies are provided at intervals in the same horizontal direction of the vertical frame, and the two push-pull structures in the same horizontal direction are respectively rotated to the push-pull position or the second retracted position; the two push-pull structures in the same horizontal direction respectively drive two sides of the goods along the goods loading and unloading direction.

4. The loading and unloading device according to claim 2, wherein said push-pull motor is provided to said loading and unloading crossbar, said push-pull motor driving said push-pull member to rotate to said push-pull position or said second retracted position.

5. A loading and unloading device as claimed in claim 1, wherein there are two loading and unloading arms in each loading and unloading assembly, the two loading and unloading arms are spaced apart in parallel, the push-pull member is connected between the two loading and unloading arms by a first pivot, one end of the push-pull member is provided with a second pivot parallel to the first pivot, and the connecting rod is pivotally connected to the second pivot.

6. A handling device as claimed in claim 1, characterised in that the push-pull member is rod-shaped or plate-shaped.

7. The device of claim 1, further comprising at least one staging rack, wherein the upright is movably disposed in the staging rack in a horizontal direction, and wherein the second drive mechanism drives the upright to move in the horizontal direction relative to the staging rack; the temporary storage goods shelf comprises a plurality of layers of goods shelves along the vertical direction, the goods of different heights on the transfer robot are pulled to the corresponding layers of goods shelves on the temporary storage goods shelf by the goods loading and unloading assembly, or the goods on the layers of goods shelves are pushed to the transfer robot by the goods loading and unloading assembly.

8. The device according to claim 7, characterized in that the buffer storage rack comprises several layers of vertically arranged buffer rollers, each layer of which can transport goods individually in the loading and unloading direction.

9. A method of loading and unloading goods, which is applied to the loading and unloading device according to any one of claims 1 to 8, the method comprising:

s30 receiving a second load/unload command;

10. The method of loading/unloading according to claim 9, wherein in step S40: at least part of the loading and unloading assemblies are used for pulling the goods from the transfer robot to the loading and unloading device when acting; or at least part of the loading and unloading assemblies block the goods when in action, and the goods are left on the corresponding loading and unloading assemblies when the transfer robot is far away from the loading and unloading device.

11. The method of handling cargo of claim 10, wherein in step S40, the device is configured to handle cargo from one end of the storage pallet on the transfer robot near the transfer module, or from one end of the storage pallet on the transfer robot far from the transfer module.

12. A loading/unloading method according to any one of claims 9 to 11, wherein in step S40, when the loading/unloading arm approaches or moves away from the transfer robot in the loading/unloading direction by the drive of the second drive mechanism, the push-pull mechanism pushes or pulls the load to transfer the load to or from the transfer robot, or the push-pull mechanism blocks the load, and the load is transferred to the loading/unloading device when the transfer robot moves away from the loading/unloading device.

13. The method of loading and unloading goods according to claim 11, wherein the push-pull motor is provided to the loading and unloading crossbar, the push-pull motor has a push-pull position or a second escape position when driving the push-pull member to rotate, and the push-pull member rotates to the push-pull position corresponding to the goods in the loading and unloading direction; the step S40 includes:

14. The method of handling cargo according to claim 13, wherein in step S46, it is determined whether or not a load is present on the transfer robot at a height corresponding to each of the handling units, and if a load is present at a height corresponding to the transfer robot, the push-pull member in each of the handling units corresponding to the height is controlled to move to the second evacuation position; alternatively, in step S46, the push-pull members of all the loading and unloading modules are controlled to rotate to the second retracted position.

15. The method of loading and unloading of claim 11, wherein said loading and unloading apparatus further comprises at least one buffer storage rack, said vertical frame is movably disposed in the horizontal direction on said buffer storage rack, and said second driving mechanism drives said vertical frame to move in the horizontal direction with respect to said buffer storage rack; the temporary storage shelf comprises a plurality of layers of shelves along the vertical direction; in step S40, the unloading and loading unit pulls the items of different heights on the transfer robot to the corresponding shelves on the temporary storage shelf, or pushes the items on the shelves to the transfer robot.