CN112209124A

CN112209124A - Loading and unloading mechanism, loading and unloading equipment, loading and unloading method, storage medium and electronic equipment

Info

Publication number: CN112209124A
Application number: CN201910618239.8A
Authority: CN
Inventors: 杨晓东; 卢孟璠; 赵斌; 崔拴栋; 马惠娟
Original assignee: Beijing Jingdong Zhenshi Information Technology Co Ltd
Current assignee: Beijing Jingdong Zhenshi Information Technology Co Ltd
Priority date: 2019-07-10
Filing date: 2019-07-10
Publication date: 2021-01-12

Abstract

The utility model relates to a goods handling technical field has proposed a loading and unloading mechanism, handling equipment, loading and unloading method and storage medium and electronic equipment, and the loading and unloading mechanism includes: the bearing assembly is used for placing an article; the fixing part is arranged on the bearing component and has a first state for fixing the article and a second state for releasing the article; at least part of the bearing component is rotatably arranged so that the article which is positioned on the bearing component and released by the fixing part is separated from the bearing component. Whole uninstallation process, when the article was in the uninstallation state, the carrier assembly rotated and predetermines the angle, and article slope this moment, control guarantee that fixed part release article accomplish the uninstallation of article promptly, and whole uninstallation process is comparatively high-efficient.

Description

Loading and unloading mechanism, loading and unloading equipment, loading and unloading method, storage medium and electronic equipment

Technical Field

The present disclosure relates to the field of cargo handling technologies, and in particular, to a handling mechanism, a handling apparatus, a handling method, a storage medium, and an electronic apparatus.

Background

At the present stage, most of the urban B2B is point-to-point road transportation, the road transportation time is long, and the one-time loading capacity is limited. The highway transportation time in urban logistics is long, and the truck transportation in cities is greatly limited by time, taking Beijing as an example, the trucks are forbidden to pass through roads within five loops (without five loops) when 6 hours to 23 hours per day; and (4) checking that the trucks with the mass of more than 8 tons (including 8 tons) are prohibited from passing through the main road of the five-loop. Meanwhile, the truck transportation does not meet the requirements of energy conservation and emission reduction under the novel city.

More and more cities have subways, the transportation capacity of the subways is large and high in speed, and the subways in the large cities communicate with business circles, transportation hubs and enterprises to form complete transportation networks. The existing article loading and unloading modes are in the forms of forklifts, conveyor belts and the like. The subway has large capacity and high speed, and can communicate commercial districts, traffic hubs, enterprises and the like in cities, but the subway has a single operation mode, only exerts the function of passenger transport and is in a non-peak period, has low passenger flow and is in a resource waste state, the development of the subway freight function can be considered, the road transportation burden is reduced, the urban logistics efficiency is improved, and the subway revenue is increased. But the subway stop time is short, and can only be controlled within 30s, and the existing loading and unloading equipment such as a forklift and a conveyor belt is slow and cannot load and unload goods in a short time.

Disclosure of Invention

It is a primary object of the present disclosure to overcome the above-mentioned problem of low cargo handling efficiency of the prior art, and to provide a handling mechanism, a handling apparatus, a handling method, a storage medium, and an electronic apparatus.

According to a first aspect of the present invention, there is provided a loading and unloading mechanism comprising: the bearing assembly is used for placing an article; the fixing part is arranged on the bearing component and has a first state for fixing the article and a second state for releasing the article; at least part of the bearing component is rotatably arranged so that the article which is positioned on the bearing component and released by the fixing part is separated from the bearing component.

In one embodiment of the present invention, at least a portion of the fixing portion is a magnetic member for generating a magnetic force with a magnetic portion of the article.

In one embodiment of the present invention, the attachment and detachment mechanism further comprises: the control part is connected with the magnetic part to control the fixing part to be switched between the first state and the second state.

In one embodiment of the invention, a load bearing assembly comprises: a support part on which the fixing part is disposed; a conveying part arranged on the supporting part; the conveying part is rotatably arranged so that the conveying part has an initial position and a discharge position, when the conveying part rotates from the initial position to the discharge position, the fixing part is switched from the first state to the second state, and the articles move along the extension direction of the conveying part until the articles are separated from the conveying part.

In one embodiment of the invention, the supporting part is an L-shaped plate body, and the fixing part and the conveying part are respectively arranged on two plate sections of the L-shaped plate body; wherein, the article breaks away from or enters the conveying part along one end of the L-shaped plate body far away from the fixing part.

In one embodiment of the invention, the conveying part is a roller conveying line, or a belt conveying line, or a chain conveying line, or consists of a plurality of rollers.

In one embodiment of the present invention, the attachment and detachment mechanism further comprises: the lifting part is in driving connection with the bearing component so as to drive at least part of the bearing component to rotate.

In one embodiment of the invention, the end of the carrier assembly has a port for the entry or exit of articles, and the lifting portion is located below the carrier assembly and is in driving connection with the side of the carrier assembly remote from the port.

In an embodiment of the present invention, the fixing portion is a plurality of fixing portions, the plurality of fixing portions are all disposed on the carrier assembly, the carrier assembly is used for placing a plurality of articles, and the plurality of fixing portions are disposed in one-to-one correspondence with the plurality of articles.

According to a second aspect of the present invention there is provided a loading and unloading apparatus comprising the above-described loading and unloading mechanism and a storage compartment for storing articles; the loading and unloading mechanism is arranged in the storage cargo hold so as to unload the goods positioned on the loading and unloading mechanism in the storage cargo hold to the outside of the storage cargo hold; and/or the handling mechanism is disposed outside of the storage compartment to unload items located thereon to the interior of the storage compartment.

In one embodiment of the invention, the loading and unloading mechanisms are arranged in pairs, the two loading and unloading mechanisms in the pair are respectively a first loading and unloading mechanism and a second loading and unloading mechanism, the first loading and unloading mechanism is arranged inside the cargo storage cabin, and the second loading and unloading mechanism is arranged outside the cargo storage cabin; when the article is in an unloading state, the first loading and unloading mechanism and the second loading and unloading mechanism are arranged oppositely.

In one embodiment of the invention, the storage compartment is adapted to be movably arranged along a predetermined track and the second handling mechanism is adapted to be arranged on the platform such that the first handling mechanism and the second handling mechanism are arranged opposite to each other when the storage compartment is moved to a predetermined position.

In one embodiment of the invention, a storage compartment comprises: a main body part, wherein the first assembling and disassembling mechanism is arranged in the main body part, and the main body part is provided with an opening; the cabin door is adjustably arranged on the body part in position so as to shield or release the opening; when the cargo storage space moves to a preset position, the hatch door releases the opening, so that the first loading and unloading mechanism and the second loading and unloading mechanism are arranged oppositely.

In one embodiment of the invention, the predetermined track is a rail and the storage compartment is a rail car or a cargo compartment associated with a rail car.

In one embodiment of the present invention, the first loading/unloading mechanism is provided in plurality, and the first loading/unloading mechanisms are provided in plurality at intervals inside the cargo storage space, and the second loading/unloading mechanism is provided in plurality at intervals on the platform.

According to a third aspect of the present invention, there is provided an article handling method comprising: controlling a bearing component of the loading and unloading mechanism to rotate so as to enable the article on the bearing component to be in an inclined state; and controlling the fixing part of the loading and unloading mechanism to release the article so that the article moves along the bearing component until the article is separated from the bearing component.

In one embodiment of the present invention, before controlling the rotation of the carrier assembly, the article loading and unloading method further comprises: receiving operation position information data of the cargo storage space on a preset track, judging the position information data, and controlling the bearing assembly to rotate when the position information data is consistent with first preset position information data; wherein, during the storage cargo hold moves along predetermineeing the track, bearing assembly rotates.

In one embodiment of the present invention, before controlling the fixing portion to release the article, the article handling method further includes: and receiving the running position information data of the cargo storage space on the preset track, and judging the position information data so as to control the fixing part to release the articles when the position information data is consistent with the second preset position information data.

In one embodiment of the invention, the first loading and unloading mechanism is arranged in the storage cargo hold, the second loading and unloading mechanism is arranged on the platform, and the specific method for controlling the operation of the loading and unloading mechanism comprises the following steps: controlling a first bearing component of a first loading and unloading mechanism to rotate; controlling a first fixing part of a first loading and unloading mechanism to release an article; receiving a first real-time distance between the article and a second fixing part of the second loading and unloading mechanism and a first real-time moving speed of the article, and analyzing the relation between the first real-time distance and the first real-time moving speed to control the second fixing part to adsorb or repel the article so that the article is contacted with the second fixing part at a first preset speed; and/or controlling a second bearing component of the second loading and unloading mechanism to rotate; controlling a second fixing part of the second loading and unloading mechanism to release the article; receiving a second real-time distance between the article and the first fixing part of the first loading and unloading mechanism and a second real-time moving speed of the article, and analyzing the relation between the second real-time distance and the second real-time moving speed to control the first fixing part to adsorb or repel the article so that the article is contacted with the first fixing part at a second preset speed.

According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the article handling method described above.

According to a fifth aspect of the present invention, there is provided an electronic apparatus comprising: a processor; and a memory for storing executable instructions for the processor; wherein the processor is configured to perform the above-described item loading and unloading method via execution of the executable instructions.

The loading and unloading mechanism of one embodiment of the invention can switch between the first state and the second state through at least part of the bearing component being rotatable and the fixing part, thereby rapidly unloading the articles on the bearing component. Whole uninstallation process, when the article was in the uninstallation state, the carrier assembly rotated and predetermines the angle, and article slope this moment, control guarantee that fixed part release article accomplish the uninstallation of article promptly, and whole uninstallation process is comparatively high-efficient.

Drawings

Various objects, features and advantages of the present disclosure will become more apparent from the following detailed description of preferred embodiments thereof, which is to be read in connection with the accompanying drawings. The drawings are merely exemplary illustrations of the disclosure and are not necessarily drawn to scale. In the drawings, like reference characters designate the same or similar parts throughout the different views. Wherein:

FIG. 1 is a schematic illustration of a static configuration of a handling apparatus according to an exemplary embodiment;

FIG. 2 is a side view of the handling apparatus of FIG. 1;

FIG. 3 is a top plan view of the handling apparatus of FIG. 1;

FIG. 4 is a schematic diagram illustrating the configuration of the loading state of a load handling apparatus according to one exemplary embodiment;

FIG. 5 is a side view of the handling apparatus of FIG. 4;

FIG. 6 is a schematic illustration of a loading station in an unloaded state according to an exemplary embodiment;

FIG. 7 is a side view of the handling apparatus of FIG. 6;

FIG. 8 is a schematic illustration of a fully opened door of a loading dock according to an exemplary embodiment;

FIG. 9 is a schematic illustration of a partially opened door of a loading dock according to an exemplary embodiment;

FIG. 10 is a schematic illustration of a fully closed door of a loading dock according to an exemplary embodiment;

FIG. 11 is a schematic illustration of an initial closing of a door of a loading dock according to an exemplary embodiment;

FIG. 12 is a schematic illustration of a structure showing a loading dock door closing according to an exemplary embodiment;

FIG. 13 is a schematic illustration of a fully closed port of a loading dock according to an exemplary embodiment;

FIG. 14 is a system diagram illustrating a handling device according to an exemplary embodiment;

FIG. 15 is a schematic flow diagram illustrating a method of loading and unloading items according to an exemplary embodiment;

FIG. 16 schematically illustrates a computer-readable storage medium in an exemplary embodiment of the disclosure;

fig. 17 schematically illustrates an electronic device in an exemplary embodiment of the disclosure.

The reference numerals are explained below:

10. a load bearing assembly; 11. a support portion; 12. a conveying section; 20. an article; 30. a fixed part; 40. a lifting portion; 50. a storage compartment; 51. a body portion; 511. an opening; 52. a cabin door; 60. presetting a track; 70. A station; 80. a system;

300. a program product; 600. an electronic device; 610. a processing unit; 620. a storage unit; 6201. a random access memory unit (RAM); 6202. a cache storage unit; 6203. a read only memory unit (ROM); 6204. a program/utility tool; 6205. a program module; 630. a bus; 640. a display unit; 650. an input/output (I/O) interface; 660. a network adapter; 700. and (4) an external device.

Detailed Description

Exemplary embodiments that embody features and advantages of the present disclosure are described in detail below in the specification. It is to be understood that the disclosure is capable of various modifications in various embodiments without departing from the scope of the disclosure, and that the description and drawings are to be regarded as illustrative in nature, and not as restrictive.

In the following description of various exemplary embodiments of the disclosure, reference is made to the accompanying drawings, which form a part hereof, and in which is shown by way of illustration various exemplary structures in which aspects of the disclosure may be practiced. Other specific arrangements of systems and steps, and structural and functional modifications may be made without departing from the scope of the present disclosure. Moreover, although the terms "over", "between", "within", and the like may be used in this specification to describe various example features and elements of the disclosure, these terms are used herein for convenience only, e.g., in accordance with the orientation of the examples in the drawings. Nothing in this specification should be construed as requiring a specific three dimensional orientation of structures in order to fall within the scope of this disclosure.

An embodiment of the present invention provides a mounting and dismounting mechanism, please refer to fig. 1 to 14, the mounting and dismounting mechanism includes: a carrier assembly 10, the carrier assembly 10 being for placement of an article 20; the fixing part 30, the fixing part 30 is arranged on the bearing component 10, the fixing part 30 has a first state of fixing the article 20 and a second state of releasing the article 20; wherein at least a portion of the carrier assembly 10 is rotatably disposed to allow the article 20, which is positioned on the carrier assembly 10 and released by the fixing portion 30, to be separated from the carrier assembly 10.

The loading and unloading mechanism of one embodiment of the present invention can be switched between the first state and the second state by at least partially rotating the carrier assembly 10 and the fixing portion 30, so that the article 20 on the carrier assembly 10 can be unloaded quickly. In the whole unloading process, when the article 20 is in an unloading state, the bearing assembly 10 rotates to a preset angle, the article 20 is inclined at the moment, the fixing part 30 is controlled to release the article 20, and then the unloading of the article 20 is completed, the whole unloading process is relatively efficient, and the problem of low article loading and unloading efficiency in the prior art is solved.

In one embodiment, since there is the fixing portion 30, that is, the fixing portion 30 can fix the article 20 when the article 20 is in the tilted state, the carrier assembly 10 can be in the tilted state, that is, the unloaded state, during the whole loading and unloading process, at this time, when the part for receiving the article 20 arrives, the fixing portion 30 is directly controlled to release the article 20, that is, the unloading of the article 20 is completed, and the receiving part can be free from waiting for the rotation process of the carrier assembly 10 during the whole receiving process, thereby shortening the whole loading and unloading time.

In one embodiment, the handling mechanism may be used for handling cargo in a ground facility, i.e., a ground-based mechanism such as a vehicle body. The loading and unloading mechanism can be used for loading and unloading goods between the containers, between the containers and the warehouse, or between two platforms. When it is used for ground facility, it can not rely on other independent motion, transport mechanism such as robot, unmanned aerial vehicle.

For a specific type of the fixing portion 30, at least a portion of the fixing portion 30 is a magnetic member for generating a magnetic force with a magnetic portion of the article 20. The articles 20 are unit containers, i.e., goods are loaded and unloaded in the unit containers, and the unit containers may be magnetic parts as a whole, such as iron boxes.

In one embodiment, the attachment and detachment mechanism further comprises: and a control part connected with the magnetic member to control the fixing part 30 to switch between the first state and the second state. The fixing portion 30 and the control portion constitute an electromagnetic device, and the direction of the magnetic force is changed by controlling the direction of the current to form a pushing force or a pulling force, i.e. the fixing portion 30 has a first state of fixing the article 20 and a second state of releasing the article 20. The magnitude of the magnetic force is changed by controlling the magnitude of the current, so that the unit container can slide to a specified position at a proper speed in the loading and unloading process.

With respect to the specific structure of the load bearing assembly 10, as shown in fig. 1 and 2, the load bearing assembly 10 includes: a support portion 11 on which the fixing portion 30 is provided; a conveying part 12, the conveying part 12 being provided on the support part 11; the conveying unit 12 is rotatably disposed so that the conveying unit 12 has an initial position and a discharge position, and when the conveying unit 12 is rotated from the initial position to the discharge position, the fixing unit 30 is switched from the first state to the second state, and the article 20 moves in the extending direction of the conveying unit 12 until the article is separated from the conveying unit 12.

In one embodiment, the carrying assembly 10 is composed of a support portion 11 and a conveying portion 12 mounted on the support portion 11, the support portion 11 is mainly used for carrying, and the conveying portion 12 is mainly used for conveying the article 20. When the conveying portion 12 is at the initial position, the supporting portion 11 is in a horizontal state, and the corresponding conveying portion 12 is also in a horizontal state. During the unloading process, the conveying part 12 is in the unloading position, the supporting part 11 is in an inclined state, and the corresponding conveying part 12 is also in an inclined state, and after the fixing part 30 is switched from the first state to the second state, the articles 20 move along the extending direction of the conveying part 12 until the articles are separated from the conveying part 12. The conveying section 12 may be a power mechanism or a simple transition element along which the articles 20 move.

Regarding the specific structure of the supporting portion 11, as shown in fig. 2, the supporting portion 11 is an L-shaped plate body, and the fixing portion 30 and the conveying portion 12 are respectively disposed on two plate sections of the L-shaped plate body; wherein the articles 20 are removed from or enter the transport section 12 along the end of the L-shaped plate remote from the fixed section 30.

In one embodiment, the supporting portion 11 is an L-shaped plate body including a first plate section and a second plate section, the fixing portion 30 and the conveying portion 12 are respectively disposed on the first plate section and the second plate section, when the conveying portion 12 is at the initial position, the second plate section is a horizontal plate body, the first plate section is a vertical plate body, and the article 20 is separated from or enters the conveying portion 12 along an end of the second plate section away from the fixing portion 30.

For the specific structure of the conveying part 12, the conveying part 12 is a roller conveying line, a belt conveying line, a chain conveying line, or consists of a plurality of rollers. When the conveying part 12 is a roller conveying line, a belt conveying line, or a chain conveying line, the conveying part 12 is a power mechanism, and the article 20 can be driven to move. When the conveying part 12 is a mechanism composed of a plurality of rollers, the rollers rotate when the article 20 moves, so as to reduce the friction between the two and ensure that the article 20 can move normally.

In one embodiment, as shown in fig. 4 to 7, the attachment and detachment mechanism further includes: a lifting portion 40, the lifting portion 40 being in driving connection with the carrier assembly 10 to drive at least a partial rotation of the carrier assembly 10. The lifting portion 40 can be an air cylinder, an oil cylinder, or a chain mechanism, and can drive the bearing assembly 10 to rotate.

In one embodiment, the end of carrier assembly 10 has a port for entry or exit of articles 20, and lift 40 is located below carrier assembly 10 and is in driving connection with the side of carrier assembly 10 away from the port.

In one embodiment, the carrying assembly 10 is composed of a support portion 11 and a conveying portion 12 mounted on the support portion 11, the support portion 11 is mainly used for carrying, and the conveying portion 12 is mainly used for conveying the article 20. The lifting unit 40 is located at the bottom of the support unit 11, and the conveying unit 12 is switched between the initial position and the unloading position by driving the support unit 11.

In one embodiment, the fixing portion 30 is a plurality of fixing portions 30, the plurality of fixing portions 30 are disposed on the carrier assembly 10, the carrier assembly 10 is used for placing a plurality of articles 20 thereon, and the plurality of fixing portions 30 are disposed corresponding to the plurality of articles 20 one by one. A plurality of articles 20 can be placed on a carrier assembly 10 such that at least one article 20 corresponds to at least one fastening portion 30 to secure the article 20.

In one embodiment, the carrier assembly 10 and the securing portion 30 may be one-to-one, i.e., one carrier assembly 10 is used for handling one article 20.

An embodiment of the present invention also provides a loading and unloading device, please refer to fig. 1 to 13, comprising the above-mentioned loading and unloading mechanism and a storage compartment 50 for storing the articles 20; wherein the loading and unloading mechanism is provided inside the storage compartment 50 to unload the items 20 located thereon inside the storage compartment 50 to the outside of the storage compartment 50; and/or the handling mechanism may be disposed outside of the storage compartment 50 to unload items 20 located thereon into the interior of the storage compartment 50.

In one embodiment, to load the items 20 into the storage compartment 50, a loading and unloading mechanism may be provided outside the storage compartment 50, such that the unloading of the items 20 into the interior of the storage compartment 50 is achieved by movement of the loading and unloading mechanism. Alternatively, to unload the items 20 within the storage compartment 50, the storage compartment 50 may be provided with a loading and unloading mechanism therein, the movement of which effects unloading of the items 20 to the exterior of the storage compartment 50. Alternatively, both the interior and exterior of the storage compartment 50 may be provided with a loading and unloading mechanism, which may be used to load the items 20 into the storage compartment 50 in one position and unload the items 20 from the storage compartment 50 to the exterior of the storage compartment 50 in another position, although the loading and unloading mechanism may be used as the mechanism for receiving the items 20, as shown in figures 4 and 6.

In one embodiment, the handling mechanisms are arranged in pairs, the two handling mechanisms in a pair being a first handling mechanism and a second handling mechanism, respectively, the first handling mechanism being arranged inside the storage compartment 50 and the second handling mechanism being arranged outside the storage compartment 50; wherein, when the article 20 is in the unloading state, the first loading and unloading mechanism and the second loading and unloading mechanism are arranged oppositely. The first and second attachment/detachment mechanisms may be of the same construction, and may of course be adapted, but the core components are substantially the same, i.e. they comprise the carrier assembly 10, the fixed portion 30 and the lifting portion 40.

In one embodiment, the articles 20, whether unloaded from the storage compartment 50 or loaded into the storage compartment 50, are loaded with the carrier assembly 10 of one of the handlers in the rotated position, i.e., with the conveyor section 12 in the discharge position, and the carrier assembly 10 of the other handler in the home position, i.e., with the conveyor section 12 in the home position, for receiving the articles 20 discharged from the conveyor section 12 in the discharge position.

In one embodiment, when the article 20 is unloaded, the conveying portions 12 of the two carrier assemblies 10 are substantially in an abutting state, i.e., to ensure that the article 20 can move unimpeded.

In one embodiment, the storage compartment 50 is adapted to be movably disposed along the preset track 60 and the second handling mechanism is adapted to be disposed on the platform 70 such that the first and second handling mechanisms are disposed opposite each other when the storage compartment 50 is moved to the preset position. The predetermined track 60 may be an existing transportation track, such as a subway track, a high-speed railway track, a common railway track, a magnetic levitation train track, or some other ejection track that transports with an ejection direction. The cargo storage compartment 50 may be a train with corresponding tracks or a container for holding the articles 20.

As for a specific structure of the cargo tank 50, as shown in fig. 9 to 13, the cargo tank 50 includes: a main body 51, the first attachment/detachment mechanism being provided in the main body 51, the main body 51 having an opening 511; a hatch 52, the hatch 52 being position-adjustably provided on the body portion 51 to block or release the opening 511; wherein the hatch 52 releases the opening 511 when the storage compartment 50 is moved to a predetermined position such that the first and second attachment mechanisms are positioned opposite one another.

In one embodiment, the cargo tank 50 is comprised of a body 51 and a hatch door 52, the body 51 having a cavity for receiving the items 20, and the hatch door 52 being adapted to substantially close an opening 511 in the body 51, whereby the hatch door 52 opens and closes upon the cargo tank 50 reaching the docking station 70, thereby enabling loading and unloading of the items 20.

In one embodiment, the door 52 may be opened or closed in a direction of moving up and down, as shown in fig. 11 to 13. Or may be opened or closed in a direction moving in the left-right direction.

Alternatively, the predetermined track 60 is a rail and the storage compartment 50 is a rail car or a cargo box coupled to a rail car. The rails may be subway rails, high-speed railway rails, ordinary railway rails, magnetic suspension train rails, or some ejection rails which are transported by using an ejection direction. The cargo storage compartment 50 may be a train car with corresponding tracks or a cargo box for carrying the articles 20.

In one embodiment, the first loading and unloading mechanisms are plural, and a plurality of the first loading and unloading mechanisms are provided at intervals inside the storage tank 50, and the second loading and unloading mechanisms are plural, and a plurality of the second loading and unloading mechanisms are provided at intervals on the platform 70. The first loading and unloading mechanisms and the second loading and unloading mechanisms are arranged in a one-to-one correspondence manner, and each pair of loading and unloading mechanisms can complete loading and unloading of one article 20.

An embodiment of the present invention also provides an article handling method, including: controlling the bearing assembly 10 of the loading and unloading mechanism to rotate so as to enable the article 20 on the bearing assembly 10 to be in an inclined state; the securing portion 30 of the control attachment mechanism releases the article 20 to allow the article 20 to move along the carrier assembly 10 until it is free of the carrier assembly 10.

In one embodiment, the article handling method is applied to the handling mechanism or the handling apparatus described above.

In one embodiment, prior to controlling the rotation of the carrier assembly 10, the article handling method further comprises: receiving the running position information data of the cargo storage compartment 50 on the preset track 60, and judging the position information data to control the bearing assembly 10 to rotate when the position information data is consistent with the first preset position information data; wherein the carrier assembly 10 rotates during the movement of the storage compartment 50 along the preset rails 60.

In one embodiment, before controlling the securing portion 30 to release the article 20, the article handling method further comprises: receives the traveling position information data of the cargo storage compartment 50 on the preset rail 60 and judges the position information data to control the fixing part 30 to release the article 20 when the position information data coincides with the second preset position information data. Wherein the storage compartment 50 is in a stopped state when the fixing portion 30 releases the article 20.

In one embodiment, where a first loading and unloading mechanism is located within the storage compartment 50 and a second loading and unloading mechanism is located on the platform 70, the specific method of controlling the operation of the loading and unloading mechanisms includes: controlling a first bearing component of a first loading and unloading mechanism to rotate; controlling the first fixing part of the first loading and unloading mechanism to release the article 20; receiving a first real-time distance between the article 20 and a second fixing part of the second loading and unloading mechanism and a first real-time moving speed of the article 20, and analyzing a relation between the first real-time distance and the first real-time moving speed to control the second fixing part to adsorb or repel the article 20, so that the article 20 is in contact with the second fixing part at a first preset speed; and/or controlling a second bearing component of the second loading and unloading mechanism to rotate; controlling the second fixing part of the second loading and unloading mechanism to release the article 20; receiving a second real-time distance between the article 20 and the first fixing portion of the first loading and unloading mechanism and a second real-time moving speed of the article 20, and analyzing a relationship between the second real-time distance and the second real-time moving speed to control the first fixing portion to adsorb or repel the article 20, so that the article 20 is in contact with the first fixing portion at a second preset speed.

The article 20 is a unit container in which goods are loaded and unloaded, and the unit container may be a magnetic part as a whole, such as an iron box.

In one embodiment, the attachment and detachment mechanism further comprises: and a control part connected with the magnetic member to control the fixing part 30 to switch between the first state and the second state. The fixing portion 30 and the control portion constitute an electromagnetic device, and the direction of the magnetic force is changed by controlling the direction of the current to form a pushing force or a pulling force, i.e. the fixing portion 30 has a first state of fixing the article 20 and a second state of releasing the article 20. The magnitude of the magnetic force is changed by controlling the magnitude of the current, so that the unit container can slide to a specified position at a proper speed in the loading and unloading process. When the sliding speed of the unit container during the loading process exceeds a critical value, the corresponding electromagnetic device generates a reverse thrust to reduce the sliding speed of the unit container, so as to prevent a large impact force from being generated on the side surface of the support portion 11 of the bearing assembly 10.

One specific embodiment for the specific application of the unloading mechanism:

in this embodiment, the cargo storage compartment 50 and the platform 70 are each provided with a plurality of unloading mechanisms, the articles 20 are unit containers, the goods are placed in the unit containers, the predetermined rail 60 is a subway rail, the lifting part 40 is a lifting device, i.e., a hydraulic device, and the carrier assembly 10 is a storage device. When the lifting device is in a stationary state, as shown in fig. 1 to 3. Wherein, the load of the storage cargo hold 50 is about 30t, and the size is: the length is about 19 m-22 m, the width is about 2.6 m-3.0 m, the height is about 3.8m, and 5-20 groups of unloading mechanisms are horizontally arranged in the cargo hold. In the resting state, the load bearing assemblies 10 in the cargo storage compartment 50 and the load bearing assemblies 10 on the platform 70 are at the same level and horizontally correspond.

Fig. 14 and 15 are a system diagram and a flow diagram for the loading and unloading process.

In the loading process, as shown in fig. 4 and 5, the unit containers are transported to the buffer (support portion 11), and loading information is input to the system 80. The subway is about to arrive at the subway station, the system 80 controls the magnetic adsorption device (the fixed part 30) to adsorb the unit container, the system 80 outputs information to the quick lifting device (the lifting part 40), and the quick lifting device is controlled to simultaneously lift one side of the unit container, the cargo temporary storage device, the magnetic adsorption device and the roller (the conveying part 12) to form an inclination angle.

After the subway store 50 arrives at the station, the storage compartment door (hatch 52) is shown in fig. 10 in a fully closed position, and the system 80 outputs information to the storage compartment door to control the storage compartment door to begin opening, as shown in fig. 9, until the storage compartment door 9 is fully opened, as shown in fig. 8. The duration of the cargo compartment door from the fully closed state to the fully open state is about 0.5s to 3 s. The system 80 outputs a signal to the magnetic attraction device to cause it to release the unit containers which enter the cargo storage compartment 50 via the rollers, the unit containers contact the magnetic attraction device via the rollers, and the system 80 outputs information to the magnetic attraction device to cause it to attract the unit containers. The system 80 outputs information to the storage compartment door, which is closed.

In the unloading process, as shown in fig. 6 and 7, when the unit container is about to reach the destination station, the system 80 outputs a signal to the fast lifting device to control the fast lifting device to simultaneously lift one side of the unit container, the temporary goods storage device, the magnetic adsorption device, and the rollers, so as to form an inclination angle. When the subway cargo storage compartment arrives at the destination station, the system 80 outputs information to the cargo storage compartment door to control the cargo storage compartment door to begin opening. The system 80 outputs a signal to the magnetic attraction device to enable the magnetic attraction device to release the unit container, the unit container leaves the cargo storage compartment through the roller, the unit container contacts the magnetic attraction device through the roller, and the system 80 outputs information to the magnetic attraction device to enable the magnetic attraction device to attract the unit container. The system 80 outputs information to the storage compartment door, which is closed.

In this embodiment, the freight car is located at the head or tail of the subway train, and corresponds to the fixed platform 70, and the L-shaped device on the platform is also fixed and cannot be moved freely. On the platform: the unit container is placed on an L-shaped device (support portion 11) by a forklift, a robot arm, or the like, and is fixed by magnetic attraction. The conveyor 12 is carried by rollers which, without their own power means, are inclined by means of L-shaped means and slide forward by slight thrust when the magnetic means release the unit-packed containers.

An embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the article handling method described above.

In some possible embodiments, aspects of the present invention may also be implemented in the form of a program product comprising program code for causing a terminal device to perform the steps according to various exemplary embodiments of the present invention described in the above-mentioned electronic prescription flow processing method section of this specification, when the program product is run on the terminal device.

Referring to fig. 16, a program product 300 for implementing the above method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited in this regard and, in the present document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).

An embodiment of the present invention also provides an electronic device including: a processor; and a memory for storing executable instructions for the processor; wherein the processor is configured to perform the above described security check method via execution of the executable instructions.

As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or program product. Thus, various aspects of the invention may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" system.

An electronic device 600 according to this embodiment of the invention is described below with reference to fig. 17. The electronic device 600 shown in fig. 17 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.

As shown in fig. 17, the electronic device 600 is embodied in the form of a general purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 that connects the various system components (including the storage unit 620 and the processing unit 610), a display unit 640, and the like.

Wherein the storage unit stores program code executable by the processing unit 610 to cause the processing unit 610 to perform steps according to various exemplary embodiments of the present invention described in the above-mentioned electronic prescription flow processing method section of the present specification.

The storage unit 620 may include readable media in the form of volatile memory units, such as a random access memory unit (RAM)6201 and/or a cache memory unit 6202, and may further include a read-only memory unit (ROM) 6203.

The memory unit 620 may also include a program/utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.

Bus 630 may be one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 600, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 600 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 650. Also, the electronic device 600 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 via the bus 630. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, or a network device, etc.) to execute the above-mentioned electronic prescription flow processing method according to the embodiments of the present disclosure.

Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and exemplary embodiments be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

Claims

1. An attachment/detachment mechanism, comprising:

a carrier assembly (10), the carrier assembly (10) being for placement of an item (20);

a securing portion (30), the securing portion (30) being disposed on the carrier assembly (10), the securing portion (30) having a first state securing the article (20) and a second state releasing the article (20);

wherein at least part of the carrier assembly (10) is rotatably arranged to disengage an article (20) located on the carrier assembly (10) and released by the securing portion (30) from the carrier assembly (10).

2. Handling mechanism according to claim 1, characterised in that at least part of said fixing portion (30) is a magnetic element for generating a magnetic force with a magnetic portion of said article (20).

3. The attachment and detachment mechanism of claim 2, further comprising:

a control part connected with the magnetic member to control the fixing part (30) to switch between the first state and the second state.

4. Handling mechanism according to claim 1, characterised in that said carriage assembly (10) comprises:

a support portion (11), the fixing portion (30) being provided on the support portion (11);

a conveying section (12), the conveying section (12) being provided on the support section (11);

wherein the conveying part (12) is rotatably arranged so that the conveying part (12) has an initial position and a discharge position, and when the conveying part (12) is rotated from the initial position to the discharge position, the fixing part (30) is switched from the first state to the second state, and the article (20) moves in the extension direction of the conveying part (12) until the article is separated from the conveying part (12).

5. A handling mechanism according to claim 4, characterised in that said support portion (11) is an L-shaped plate, said fixing portion (30) and said delivery portion (12) being provided on two segments of said L-shaped plate, respectively;

wherein the article (20) is released from or enters the conveying part (12) along one end of the L-shaped plate body away from the fixing part (30).

6. Handling mechanism according to claim 4, characterised in that said conveyor (12) is a roller conveyor, or a belt conveyor, or a chain conveyor, or consists of a plurality of rollers.

7. The attachment/detachment mechanism according to any one of claims 1 to 6, further comprising:

a lifting portion (40), the lifting portion (40) being in driving connection with the carrier assembly (10) to drive at least a partial rotation of the carrier assembly (10).

8. Handling mechanism according to claim 7, characterised in that the end of the carrier assembly (10) has a port for the entry or exit of the article (20), the lifting portion (40) being located below the carrier assembly (10) and being in driving connection with the side of the carrier assembly (10) remote from the port.

9. A loading and unloading mechanism according to any one of claims 1 to 6, characterised in that the fixing portions (30) are plural, the fixing portions (30) are all arranged on the bearing component (10), the bearing component (10) is used for placing a plurality of articles (20), and the fixing portions (30) are used for being arranged corresponding to the articles (20).

10. A handling arrangement, characterized by comprising a handling mechanism according to any of claims 1 to 9 and a storage compartment (50) for storing articles (20);

wherein the handling mechanism is arranged inside the storage compartment (50) to unload items (20) located thereon within the storage compartment (50) to the outside of the storage compartment (50); and/or the presence of a gas in the gas,

the handling mechanism is arranged outside the storage compartment (50) to unload items (20) located thereon into the interior of the storage compartment (50).

11. Handling unit according to claim 10, characterised in that said handling means are arranged in pairs, the two handling means in a pair being a first handling means arranged inside said storage compartment (50) and a second handling means arranged outside said storage compartment (50);

when the article (20) is in an unloading state, the first loading and unloading mechanism and the second loading and unloading mechanism are arranged oppositely.

12. Handling unit according to claim 11, c h a r a c t e r i z e d in that the storage compartment (50) is arranged to be movable along a predetermined track (60) and that the second handling means is arranged to be arranged on a platform (70) so that the first handling means and the second handling means are arranged opposite each other when the storage compartment (50) is moved to a predetermined position.

13. Handling unit according to claim 12, where said storage compartment (50) comprises:

a main body (51), wherein the first attachment/detachment mechanism is provided in the main body (51), and the main body (51) has an opening (511);

a hatch door (52), said hatch door (52) being position-adjustably arranged on said body portion (51) to block or release said opening (511);

wherein when the storage compartment (50) is moved to the predetermined position, the hatch (52) releases the opening (511) such that the first and second attachment mechanisms are oppositely disposed.

14. Handling unit according to claim 12, where said predetermined track (60) is a rail and said storage compartment (50) is a rail car or a container connected to said rail car.

15. Handling unit according to claim 12, c h a r a c t e r i z e d in that said first handling means are plural, and that a plurality of said first handling means are arranged at intervals inside said storage tank (50), and that said second handling means are plural, and that a plurality of said second handling means are arranged at intervals on said platform (70).

16. An article handling method, comprising:

controlling a bearing assembly (10) of a loading and unloading mechanism to rotate so as to enable an article (20) on the bearing assembly (10) to be in an inclined state;

controlling a fixing part (30) of the assembling and disassembling mechanism to release the article (20) so that the article (20) moves along the bearing component (10) until the article is separated from the bearing component (10).

17. The article handling method according to claim 16, wherein prior to controlling rotation of the carrier assembly (10), the article handling method further comprises:

receiving operation position information data of a cargo storage compartment (50) on a preset track (60), and judging the position information data so as to control the bearing assembly (10) to rotate when the position information data is consistent with first preset position information data;

wherein the bearing assembly (10) rotates during the movement of the storage compartment (50) along the preset track (60).

18. The article handling method according to claim 16, wherein before controlling the securing portion (30) to release the article (20), the article handling method further comprises:

receiving the running position information data of the cargo storage space (50) on a preset track (60), and judging the position information data so as to control the fixing part (30) to release the article (20) when the position information data is consistent with second preset position information data.

19. The article loading and unloading method according to claim 16, wherein a first loading and unloading mechanism is provided inside the storage tank (50), and a second loading and unloading mechanism is provided on the platform (70), and the specific method for controlling the operation of the loading and unloading mechanism comprises:

controlling a first bearing component of the first loading and unloading mechanism to rotate;

controlling a first fixing portion of the first attachment/detachment mechanism to release the article (20);

receiving a first real-time distance between the article (20) and a second fixing part of the second loading and unloading mechanism and a first real-time moving speed of the article (20), and analyzing the relation between the first real-time distance and the first real-time moving speed to control the second fixing part to adsorb or repel the article (20) so that the article (20) is in contact with the second fixing part at a first preset speed; and/or (c) and/or,

controlling a second bearing component of the second loading and unloading mechanism to rotate;

controlling a second fixing portion of the second attachment/detachment mechanism to release the article (20);

receiving a second real-time distance between the article (20) and a first fixing part of the first loading and unloading mechanism and a second real-time moving speed of the article (20), and analyzing a relation between the second real-time distance and the second real-time moving speed to control the first fixing part to adsorb or repel the article (20) so that the article (20) is in contact with the first fixing part at a second preset speed.

20. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out an article handling method according to any one of claims 16 to 19.

21. An electronic device, comprising:

a processor; and

a memory for storing executable instructions of the processor;

wherein the processor is configured to perform the item handling method of any of claims 16 to 19 via execution of the executable instructions.