CN114435817A

CN114435817A - Discharging method, control device, discharging device and storage system

Info

Publication number: CN114435817A
Application number: CN202111250787.3A
Authority: CN
Inventors: 陈叶广; 孔哲; 赖文哲; 严智凯
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2020-11-02
Filing date: 2020-11-02
Publication date: 2022-05-06
Also published as: CN112320184B; CN112320184A; WO2022089634A1; TWI819400B; TW202222660A

Abstract

The application provides a discharging method, a control device, a discharging device and a storage system. The unloading method is applied to an unloading device, the unloading device comprises a storage unit and a mechanical arm capable of moving relative to the storage unit, a rotatable conveying member is arranged in the storage unit, the conveying member is provided with a rolling surface in rolling contact with goods, and the unloading method comprises the following steps: transporting the goods on the transfer robot to a storage unit by using the mechanical arm; detecting the moving speed of the goods in the storage unit; and controlling at least one of a rotation state of the transfer member in the storage unit and a moving speed of the robot arm according to the moving speed to prevent the goods entering the storage unit from being separated from the storage unit. The reliability of this application unloading is higher.

Description

Discharging method, control device, discharging device and storage system

The application is a divisional application of an invention patent application with the name of 'unloading method, control device, unloading device and storage system', wherein the application number of the application is 202011205320.2 and the application date is 11/02/2020.

Technical Field

The application relates to the technical field of intelligent warehousing, in particular to a discharging method, a control device, a discharging device and a warehousing system.

Background

With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of end logistics is continuously improved, and intelligent warehousing is an important link in the logistics process. In the intelligent storage, a transfer robot and a discharging device are main equipment capable of realizing automatic transfer operation, heavy physical labor of human can be reduced through the transfer robot and the discharging device, and the efficiency of the transfer operation is improved.

At present, a transfer robot generally comprises a base and a plurality of transfer robot shelves arranged on the base, wherein goods can be placed on the transfer robot shelves; the unloading device comprises a body and a plurality of storage units arranged on the body, wherein the storage units are used for storing goods unloaded from the goods shelf of the transfer robot. When unloading, the transfer robot approaches the unloading device, so that the goods shelves of the transfer robot correspond to the storage units one by one, and then the unloading device conveys the goods loaded on the goods shelves of the transfer robot to the corresponding storage units.

However, in the process of transferring the goods loaded on the transfer robot to the unloading device, there may be a case where the transfer speed is high, and after the transfer of the goods is completed, the goods may be thrown out of and separated from the unloading device, and additional re-loading of the goods onto the unloading device is required, which results in low unloading reliability.

Disclosure of Invention

In view of the foregoing problems, embodiments of the present application provide a discharging method, a control device, a discharging device, and a warehousing system, which can prevent goods from falling off from the discharging device, and can improve discharging efficiency and reliability of the discharging device.

In order to achieve the above object, the embodiments of the present application provide the following technical solutions:

in a first aspect, an embodiment of the present application provides a discharging method applied to a discharging device, where the discharging device includes a storage unit and a mechanical arm movable relative to the storage unit, a rotatable conveying member is disposed in the storage unit, and the conveying member has a rolling surface in rolling contact with a cargo, and the method includes: transporting the goods on the transfer robot to a storage unit by using the mechanical arm; detecting the moving speed of the goods in the storage unit; and controlling at least one of a rotation state of the transfer member in the storage unit and a moving speed of the robot arm according to the moving speed to prevent the goods entering the storage unit from being separated from the storage unit.

A second aspect of the embodiments of the present application provides a control apparatus, including: a processor; and a memory communicatively coupled to the processor, the memory storing executable code that, when executed by the processor, causes the processor to perform the above-described method.

A third aspect of the embodiment of the application provides a discharging device, which comprises a body and a control assembly, wherein a storage unit for placing goods is arranged on the body, the storage unit is provided with a rotatable conveying piece, and the conveying piece is provided with a rolling surface which is in rolling contact with the goods and is used for driving the goods to enter and exit the storage unit;

the control assembly comprises a driving unit for driving the conveying member to rotate, a speed sensor for detecting the moving speed of the goods in the storage unit and the control device, the driving unit and the speed sensor are electrically connected with the control device, and the control device is used for controlling the rotating state of the conveying member according to the moving speed of the goods so as to prevent the goods entering the storage unit from being separated from the storage unit.

A fourth aspect of the embodiment of the present application provides a discharging device, including a body, a mechanical arm and a control assembly, wherein a storage unit for placing goods is arranged on the body, the mechanical arm is movable relative to the storage unit to drive the goods to move, the storage unit is provided with a rotatable conveying member, the conveying member is provided with a rolling surface in rolling contact with the goods to drive the goods to enter and exit the storage unit;

the control assembly comprises a controller, a first driving unit and a speed sensor, the first driving unit is used for driving the conveying member to rotate, the speed sensor is used for detecting the moving speed of the goods in the storage unit, the first driving unit and the speed sensor are electrically connected with the controller, the controller is used for controlling the rotating state of the conveying member according to the moving speed of the goods so as to prevent the goods entering the storage unit from being separated from the storage unit

A fifth aspect of the embodiments of the present application provides a storage system, including a transfer robot and the above-mentioned discharging device, where the transfer robot has a pallet, and the pallet and a storage unit of the discharging device are correspondingly disposed to perform a discharging operation on the discharging device

The embodiment of the application has the following advantages:

in this embodiment, the moving speed of the goods is detected by arranging the speed sensor, the controller controls at least one of the rotating state of the conveying member and the moving speed of the mechanical arm according to the moving speed of the goods, and the moving part of the goods is driven by the rotation of the conveying member, so that when the rotating state of the conveying member is changed by the controller, the moving speed of the goods can be indirectly adjusted, and/or the moving speed of the mechanical arm is directly controlled by the controller, so that the goods can be prevented from being thrown out of the storage unit and being separated from the storage unit due to the excessively high moving speed of the goods, or the goods can be prevented from being sent out when the conveyor belt is not started on the delivery side of the unloading device. Therefore, the goods cannot fall off, and the unloading efficiency and reliability are high.

In addition to the technical problems solved by the embodiments of the present application, the technical features constituting the technical solutions, and the advantages brought by the technical features of the technical solutions described above, other technical problems solved by the rack and the transfer robot provided by the embodiments of the present application, other technical features included in the technical solutions, and advantages brought by the technical features will be further described in detail in the detailed description.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is an exploded schematic view of a discharging device provided in the first embodiment;

fig. 2 is a schematic structural diagram of a state in which a discharging device and a transfer robot according to an embodiment of the present disclosure are engaged;

fig. 3 is a schematic structural diagram of another state in which the tripper device and the transfer robot according to the first embodiment of the present disclosure are engaged;

fig. 4 is a schematic structural diagram of a body in a discharging device provided in an embodiment of the present application;

fig. 5 is a schematic view of a lower structure of a body in a discharging device provided in an embodiment of the present application;

FIG. 6 is a schematic view of another angle of the lower structure of the body of the discharging device provided in the first embodiment of the present application;

FIG. 7 is an enlarged view of a portion of FIG. 1 at A;

fig. 8 is a schematic perspective view of a partial structure of a discharging device provided in an embodiment of the present application;

fig. 9 is a partial enlarged view at B of fig. 1;

fig. 10 is a partial enlarged view at C of fig. 1;

FIG. 11 is a schematic view of the structure of a storage unit of one of the layers of the discharging device of FIG. 1;

fig. 12 is a schematic perspective view of a discharging device provided in an embodiment of the present application;

fig. 13 is a partial enlarged view of fig. 12 at D;

fig. 14 is a partial enlarged view at E of fig. 12;

fig. 15 is an exploded view of a partial structure of a connection between a truck and a slide rail in a discharge device according to an embodiment of the present application;

fig. 16 is a flowchart of a first discharging method provided in the third embodiment of the present application;

fig. 17 is a flowchart of a control method of a robot arm in a discharging method according to a third embodiment of the present application;

fig. 18 is a flowchart of a collision avoidance control method for a truck in a discharging method according to a third embodiment of the present application;

fig. 19 is a flowchart of another discharging method provided in the third embodiment of the present application;

fig. 20 is a block diagram of a control device according to a fourth embodiment of the present application.

Reference numerals:

100-a discharge device; 200-a transfer robot; 201-a shelf; 202-moving the chassis; 203-a pick-up device; 204-a fixed support; 205-pallet; 300-a control device; 301-a processor; 302-a memory;

1-body; 111-avoidance slots; 112-a first sensing unit; 113-start switch; 1131 — switch body; 1132-detection rocker arm; 12-a column; 121-top frame; 122-front pillar; 123-rear upright post; 13-end connectors; 131-a guide; 1311-a guide surface; 1312-inclined areas; 15-a speed sensor; 151-first speed sensor; 152-a second speed sensor; 16-a support frame; 160-a support; 161-a first support; 162-a second support; 1621-a first end; 1622-a second end; 163-a third support; 1631-a horizontally extending section; 1632-a vertically extending section; 164-a leg; 2-a storage unit; 21-a conveyor; 211-v-ribbed belt rollers; 212-wedge groove; 22-a placement space; 23-cargo import; 24-a cargo outlet; 25. 26-a feeding and discharging position detection sensor; 27-a first storage unit; 28-a second storage unit; 3-a carrying frame; 31-a robotic arm; 32-a movable push rod; 33-a support frame body; 331-a connecting plate; 34-a connecting beam; 35-a slide rail; 36-a slide block; 37-a roller; 38-a detection member; 381-a detection section; 382-a connecting part; 383-a first detection member; 384-a second detection member; 39-position sensor; 391-a first position sensor; 392-a second position sensor; 5-a second drive unit; 6-a detection component; 61-movable ram position detector.

Detailed Description

In the smart storage, the discharge device is used for unloading the goods loaded on the transfer robot, and the problem that the goods fall off from the discharge device easily occurs in the process. This is because, during unloading, the goods loaded on the transfer robot is transferred to the unloading device at a predetermined transfer speed, and when the goods enters the target position of the unloading device, if the goods is not stopped and has a certain speed, the goods may fall off the unloading device, and at this time, a manual or additional mechanism is required to replace the fallen goods on the unloading device, which results in a low unloading efficiency.

On the other hand, the discharging device comprises a discharging assembly, the discharging assembly can move back and forth relative to the body of the discharging device so as to pull the goods on the goods shelf of the transfer robot to the storage unit of the discharging device, and in the process that the discharging assembly moves back and forth relative to the body, the discharging assembly possibly collides with structural members such as the body of the discharging device, the body is caused to shake, and the stability and the safety of the discharging device can be influenced.

In addition, when the unloading assembly pulls and conveys the goods on the goods shelf of the transfer robot, the operation end of the unloading assembly may not move to the goods, and even if the unloading assembly carries the operation end to reciprocate, the goods cannot be driven to move, so that the unloading operation fails, and the unloading efficiency of the unloading device is reduced.

In order to solve the problems, the application provides a discharging device, a discharging method and a storage system, which can complete the discharging operation safely and reliably.

In order to make the aforementioned objects, features and advantages of the embodiments of the present application more comprehensible, embodiments of the present application are described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Example one

Fig. 1 is an exploded schematic structural view of a discharging device provided in a first embodiment of the present application, fig. 2 is a schematic structural view of a state where the discharging device provided in the first embodiment of the present application is engaged with a transfer robot, and fig. 3 is a schematic structural view of another state where the discharging device provided in the first embodiment of the present application is engaged with the transfer robot.

Referring to fig. 1, the present embodiment provides a discharging device 100, where the discharging device 100 includes a body 1 and a storage unit 2, the storage unit 2 is mounted on the body 1, and the storage unit 2 is used for placing goods (not shown); the storage unit 2 has a rotatable conveyor 21, and the conveyor 21 has a rolling surface in rolling contact with the goods for moving the goods into and out of the storage unit 2.

In the embodiment of the present application, the discharging device 100 may further include a conveying frame 3 capable of moving relative to the body 1, and the conveying frame 3 has a mechanical arm 31 for moving the goods. Further, be provided with movable push rod 32 on the arm 31, movable push rod 32 can move to different positions for arm 31, and movable push rod 32 keeps off when establishing on the business turn over route J of goods, can drive the goods and remove. Here, the movable push rod 32 can be moved to different positions relative to the mechanical arm, for example, the movable push rod can be horizontally arranged and blocked on the in-out path J of the goods; for example, the movable push rod can be vertically arranged and is not blocked on the access path J of the goods.

For example, the movable push rod 32 may be extended or shortened while being rotated to block the passage of the cargo or not to block the passage of the cargo.

Referring to fig. 2, briefly describing an example of a transfer robot 200 used in conjunction with the present application, the transfer robot 200 includes a rack 201, a moving chassis 202, and a pickup device 203. Wherein, the shelf 201 is installed on the moving chassis 202, the shelf 201 may include a fixed bracket 204 and a plurality of pallets 205, the plurality of pallets 205 are arranged on the fixed bracket 204 at intervals in the vertical direction, and each pallet 205 is used for loading goods. In addition, a mobile chassis 202 may be used to enable movement of the shelves 201 on the floor of the storage area. The pickup device 203 may be mounted on the fixed bracket 204 and used to place goods on the pallet 205 or to pick up goods on the pallet 205.

It is understood that the transfer robot 200 capable of cooperating with the discharging device 100 of the present application includes, but is not limited to, the structure shown in fig. 2, and may also be other structures, but it is required to ensure that each pallet 205 and each storage unit 2 of the discharging device 100 are arranged in a one-to-one correspondence in the transfer robot, and the height of the cargo carrying surface of the pallet 205 is approximately the same as the height of the cargo carrying surface of the storage unit 2, so that the mechanical arm 31 can extend into the vicinity of the cargo on the pallet 205 to perform the discharging operation on the cargo.

The unloading process of the unloading apparatus 100 of the present application will be described with reference to fig. 2 and 3.

The transfer robot 200 is close to the unloading device 100, so that the pallet 205 of the transfer robot 200 corresponds to the storage unit 2 one by one, at this time, the mechanical arm 31 drives the movable push rod 32 to extend towards the goods, until the movable push rod 32 is located at the rear side of the pulling-out direction of the goods, the movable push rod 32 is arranged on the in-and-out path J of the goods for the mechanical arm 31, the mechanical arm 31 moves towards the direction deviating from the transfer robot 200, the movable push rod 32 drives the goods to move towards the storage unit 2, when the goods are conveyed to the rolling surface of the conveying part 21 of the storage unit 2, the conveying part 21 drives the goods to further enter the storage unit 2, until the goods enter the storage position in the storage unit 2.

In the embodiment of the present application, in order to solve the problems of poor unloading efficiency and poor stability and safety of the unloading device 100 as described above. The discharge apparatus 100 further includes a control assembly (not shown) which may include a controller, a sensor electrically connected to the controller, etc., wherein the sensor may include at least one of the speed sensor 15, the position sensor 39, and the movable push rod position detector 61. In order to control the operation states of the conveying member 21 and the carrier 3, the control assembly may further include a first driving unit for driving the conveying member 21 to rotate; optionally, the control assembly may further comprise a second driving unit 5 for driving the movement of the truck 3 relative to the body 1.

The structure of each part of the discharging device 100 will be described in detail below.

Fig. 4 is a schematic structural diagram of a body in a discharging device provided in the first embodiment of the present application, fig. 5 is a schematic structural diagram of a lower portion of the body in the discharging device provided in the first embodiment of the present application, and fig. 6 is a schematic structural diagram of another angle of the lower portion of the body in the discharging device provided in the first embodiment of the present application.

Referring to fig. 4, 5 and 6, the body 1 includes a pillar 12 and a support frame 16, and the support frame 16 is located at the rear side of the body 1 in the cargo access direction; the bottom of the support frame 16 and the upright 12 together support the discharge device 100, and the support frame 16 includes a support portion 160 extending along the ground.

In the above scheme, by arranging the support frame 16, the support frame 16 and the upright post 12 support the discharging device 100 together, and compared with the prior art in which the discharging device is supported only by the upright post, the mechanism for supporting the discharging device 100 is increased, so that the discharging device 100 is supported stably. Further, since the support portion 160 extends along the ground, the contact area between the support portion 160 and the ground can be increased, so that the support of the discharging device 100 is more stable, thereby improving the discharging reliability of the discharging device 100.

In the embodiment of the present application, the bottom of the support frame 16 and the upright 12 support the discharge device 100 together, wherein the upright 12 plays a main supporting role, and the support frame 16 plays an auxiliary supporting role. It should be noted that, in the present application, the upright 12 may include a plurality of upright 12, and a plurality of upright 12 are spaced apart to support the discharging device 100.

Referring to fig. 4, the front and rear sides in the cargo access direction are marked with solid arrows. For example, the pillar in the present application may include a front pillar 122 located at a front side of the body 1 in the cargo access direction and a rear pillar 123 located at a rear side of the body in the cargo access direction, and the support frame 16 may be connected to the rear pillar 123.

In this way, during the process of loading the cargo into the unloading device 100, additional force is easily generated to the body 1 in the loading and unloading direction K of the cargo, in other words, the cargo is loaded into the unloading device 100 from the front to the back, so the force applied to the rear part of the unloading device 100 is large, and as described above, the front upright 122 and the rear upright 123 are arranged at intervals on the loading and unloading path of the cargo, and the supporting frame 16 as an auxiliary support is arranged on the rear upright to provide the auxiliary support for the rear side of the unloading device 100, so the unloading device 100 is more stable. And can effectively avoid the body to produce on the business turn over direction K of above-mentioned goods and rock.

The number of the upright columns 12 can be set according to needs, for example, the application is described by taking two front upright columns 122 and two rear upright columns 123 as an example, and the number of the front upright columns 122 and the rear upright columns 123 is similar to that in other cases, and is not described again here.

It will be appreciated that in the present application, the posts 12 may extend generally in a straight line, as with the rear posts 123, or the upper and lower halves may not extend in a straight line, as with the front posts 122. The extending direction of the upright 12 may be vertical or inclined, which is not limited in this application.

In the embodiment of the present application, the supporting frame 16 may include a supporting portion 160 extending along the ground, and since the supporting portion 160 extends along the ground, the contact area between the supporting portion 160 and the ground may be increased, so that the supporting of the discharging device 100 is more stable, thereby improving the discharging reliability of the discharging device 100.

Further, the supporting portion 160 includes a first supporting portion 161 and a second supporting portion 162 connected to each other, the first supporting portion 161 and the second supporting portion 162 both extend along the ground, and an included angle is formed between the first supporting portion 161 and the second supporting portion 162. This enables the first support portion 161 and the second support portion 162 to support the upright 12 at different angles, thereby providing a better support effect for the discharging device.

It should be noted that, in the present application, the support portion 160 extends along the ground, for example, the extending direction of the support portion 160 may be along the ground. So that the support portion 160 can support the discharge apparatus 100 over a wide area. As for a specific supporting manner of the supporting portion 160, as shown in fig. 4, the supporting portion 160 may be supported on the ground by a supporting leg 164 provided at the bottom thereof, or the bottom end surface of the supporting portion 160 may be directly supported on the ground.

When the supporting portion 160 is supported on the ground by the supporting leg 164, the upright post 12 may also be supported on the ground by the supporting leg 164, and it should be noted that the supporting portion 160 is matched with the supporting leg, and the height direction of the supporting leg matched with the upright post 12 is required to be matched, so that the storage unit arranged on the body 1 is arranged approximately horizontally. Alternatively, the feet 164 may be heavy duty eared cups that are secured to the ground, such as by expansion screws or the like, or to a cushioning or mounting body that is secured against the ground.

In the embodiment of the present application, the first supporting portions 161 are connected to the rear pillars 123, the number of the second supporting portions 162 is even, and the second supporting portions 162 are symmetrically disposed at both sides of the first supporting portions 161. This makes the support of the discharge device by the second support portion more stable.

Fig. 6 is a schematic view showing a part of the body from another angle, and the illustration of the storage unit is omitted in fig. 6 for the convenience of observation. Referring to fig. 6, further, the extending direction of the first supporting portion 161 and the cargo access direction K are perpendicular to each other, and the extending direction of the second supporting portion 162 is parallel to the cargo access direction K. As described above, since the discharge device 100 is likely to shake in the cargo loading and unloading direction K during the unloading process, the first support portion 161 is extended in the cargo loading and unloading direction K, which can be avoided. The extending direction of the second supporting portion 162 is parallel to the cargo in-out direction K, so that the left and right shaking of the discharging device can be avoided.

Further, a first end 1621 of the second support 162 is connected to an end of the first support 161, and a second end 1622 of the second support 162 extends along the ground. Specifically, the support portion 160 is a frame-like member extending around the circumferential direction of the body 1, and the frame-like member has an opening on the front side in the cargo access direction K. In addition, the supporting part can also be a rod-shaped piece.

In the embodiment of the present application, the second supporting portion 162 may also be located outside the area surrounded by the plurality of columns 12. In this way, the second support portion 162 can play a better auxiliary support role outside the range of the area where four columns, for example, the two front columns 122 and the two rear columns 123, enclose a substantially quadrilateral.

Referring to fig. 5 and 6, the support frame further includes a third support portion 163, the third support portion includes a vertical extension 1632 and a horizontal extension 1631, the vertical extension 1632 is connected to the pillar 12, for example, connected to the rear pillar 123 and extends along the length direction of the rear pillar 123, and the horizontal extension 1631 is connected to the vertical extension 1632 and extends toward the rear side of the body along the cargo access direction.

A buffer member, a fixing member, or the like fixed to the ground may be provided at the rear side of the discharging device 100, and the horizontally extending section 1631 may be fixed to the ground or the fixing member to support the discharging device 100 at the rear side. Specifically, the horizontal extension 1631 may have a bottom end surface extending to the outside of the body 1, and the bottom end surface is attached to and abutted against the ground. In other words, the bottom end surface of the horizontal extension 1631 can abut against the ground or the fixing member, and the horizontal extension 1631 is in surface contact with the ground or the fixing member, so that the larger contact area is more stable for the auxiliary support of the discharging device 100.

A pressure sensor (not shown) is provided on the bottom surface of the support portion 160, and the pressure sensor detects the pressure applied to the support portion 160. The pressure sensor may be electrically connected to a controller, which is also used to adjust the support of the support 160, e.g. the height of the support 160, based on the pressure information detected by the pressure sensor.

In the embodiment of the present application, when the unloading device 100 and the transfer robot 200 are used in cooperation, the body 1 may further be provided with an avoidance groove 111 for avoiding the moving chassis 202 of the transfer robot 200.

Specifically, referring to fig. 5, the body 1 includes a plurality of columns 12, for example, two front columns 122 and two rear columns 123, and the two front columns 122 and the two rear columns 123 are spaced apart from each other to form an escape groove 111 for escaping from the moving chassis 202 of the transfer robot 200, and it is understood that the opening of the escape groove 111 may face the transfer robot 200, that is, the opening direction of the cargo inlet 23 described later is the same. It should be understood that the evacuation groove 111 herein refers to an evacuation space, and may be an open space formed by the gap between the legs as described above, or may be a relatively closed space formed by a continuous evacuation chamber, as long as the evacuation groove can be accessed by the moving chassis 202 of the transfer robot 200, and the present application is not limited thereto.

Further, when there are two front pillars 122 and two rear pillars 123, the interval between the two front pillars 122 is greater than the interval between the two rear pillars 123. That is, the distance between the two front pillars 122 is locally increased at the lower portion, so that the moving chassis 202 of the transfer robot 200 can be easily accessed, and the distance between the two front pillars 122 is increased, so that the discharging device 100 can be stably supported.

Just as the distance between the two rear uprights 123 is smaller than the distance between the two front uprights 122, in order to achieve the same supporting effect of the two rear uprights 123 as the front uprights 122, the second supporting portion 162 may be located outside the region surrounded by the plurality of uprights 12. That is, the end of the first support 161 is located outside the rear pillar, and the boundary position between the first support 161 and the second support 162 is located outside the region surrounded by the two front pillars 122 and the two rear pillars 123.

In the embodiment of the present invention, as described above, when the transfer robot 200 and the unloading device 100 are opposed to each other, there is a possibility that the transfer robot 200 does not reach the preset unloading position or exceeds the preset unloading position, and the unloading device 100 performs the unloading operation, and at this time, the unloading failure is likely to occur, which results in low unloading reliability.

To avoid this. The control assembly may further include a sensing unit electrically connected to the controller, the sensing unit being disposed on the body 1 and configured to send a sensing signal when the transfer robot 200 moves to the unloading position relative to the unloading apparatus 100, and the controller being configured to control the carrier to perform the unloading operation according to the sensing signal.

In the above-described scheme, by providing the sensing unit, when the transfer robot 200 reaches the preset unloading position, the goods on the transfer robot are located at the position corresponding to the storage unit, the sensing unit sends a sensing signal to the controller, and the unloading device 100 performs the unloading operation after determining that the transfer robot 100 is in position, so that the unloading failure does not occur, and the unloading reliability is high.

Fig. 7 is a partially enlarged view of a portion a of fig. 1.

Referring to fig. 1, 5, and 7, in the embodiment of the present application, as described above, the bottom of the body 1 has the escape groove 111 for accommodating the chassis of the transfer robot. The sensing unit may include a first sensing unit 112, the first sensing unit 112 is disposed in the avoidance groove 111, and the first sensing unit 112 is configured to send a sensing signal when the moving chassis 202 of the transfer robot 200 is received in the avoidance groove.

In the embodiment of the present application, the number of the first sensing units 112 is at least one. For example, as shown in fig. 7, the first sensing unit 112 may be located at a position opposite to the moving chassis 202 of the transfer robot.

In other examples, in order to make the determination of the sensing units more accurate, the number of the first sensing units 112 is at least two, and different first sensing units 112 are disposed at different positions relative to the avoidance slot 11; the control unit is used for controlling the carrying rack to carry out unloading operation when at least one first sensing unit 112, for example, all the first sensing units 112 send out sensing signals. This can prevent the occurrence of a situation in which the transfer robot cannot be accurately measured due to, for example, a failure of a part of the first sensing units 112. Or even if the transfer robot has reached the unloading position, the transfer robot may be tilted or have an incorrect posture, and when all the first sensing units 112 send out sensing signals, it is verified that the transfer robot has reached the unloading position and has an accurate posture, so that the reliability of sensing can be improved.

It is understood that different first sensing units 112 may be respectively disposed at different sides of the escape slot 111. The relative positions of the transfer robot and the tripper device 100 can be detected at different positions in the circumferential direction of the transfer robot as much as possible.

Referring to fig. 7, for example, the first sensing unit 112 may include a start switch 113, the start switch 113 is located in the avoidance slot and may be electrically connected to the controller, and the start switch 113 is configured to touch the transfer robot when the transfer robot moves into the avoidance slot 111 to send a sensing signal to the controller.

In this application embodiment, starting switch 113 includes switch body 1131 and detection rocking arm 1132, detects the first end and the switch body 1131 rotatable coupling of rocking arm, and the second end that detects rocking arm 1132 stretches into in dodging groove 111 to be used for touching transfer robot, switch body 1131 can send inductive signal when detecting rocking arm 1132 and rotate.

In the present application, the unloading operation may be a series of operations such as starting the movement of the carrier 3 toward the transfer robot 200 to transfer the load.

In the embodiment of the present application, as a possible implementation manner, the first sensing unit 112 may include a proximity sensor, and a sensing area of the proximity sensor is located in the avoidance groove 111. Illustratively, the proximity sensor is an infrared proximity sensor or a lidar.

In other examples, the sensing unit may further include a second sensing unit located above the escape groove 111 for emitting a sensing signal when the pallet 205 of the transfer robot is opposite to the body 1. Since the second sensing unit and the first sensing unit 112 are located at different heights of the unloading device, it is possible to detect whether the structures at different height positions of the transfer robot are reliably aligned and matched with the unloading device. The situation that the chassis of the transfer robot is in a normal position but the pallet 205 is not moved in place is avoided. This ensures a reliable fit of the pallet 205 of the transfer robot with the discharge device.

In this embodiment, the second sensing units can be a plurality of, and a plurality of second sensing units are arranged at different height positions of the body at intervals. This makes it possible to detect whether or not different portions (for example, different pallets 205) in the height direction of the transfer robot are correctly aligned.

Next, description will be made with reference to a case where the start switch 113 is provided, and in fig. 7, the on state of the start switch 113 is shown by a broken line. Specifically, when the delivery port of the pallet 205 of the transfer robot 200 and the load inlet 23 of the storage unit 2 are opposed to each other and the movable pushing rod 32 of the robot arm 31 is movable to be located behind the load, the relative position of the transfer robot 200 and the unloading device 100 is defined as the unloading position of the unloading device 100.

Referring to fig. 2, 3, and 7, the moving chassis 202 of the transfer robot 200 enters the escape slot 111, but when the transfer robot 200 has not reached the predetermined unloading position, the moving chassis 202 does not contact the start switch 113, the start switch 113 is in the off state, and the unloading transfer robot 200 does not perform the unloading operation. When the transfer robot 200 reaches the preset unloading position, the mobile chassis 202 contacts the start switch 113, and triggers the start switch 113 to operate, the start switch 113 is turned on, and the unloading transfer robot 200 performs the unloading operation.

In the embodiment of the present application, with reference to fig. 1, the number of the columns 12 is described as 4, but the present application is not limited thereto, and the number of the columns 12 may be 6, 8, or another number.

In fig. 1, 4 columns 12 are juxtaposed, and the 4 columns 12 are located at approximately four vertices of a rectangle in plan view. The storage unit 2 may be located between 4 columns 12 and disposed on 4 columns 12.

Fig. 8 is a schematic perspective view of a partial structure of a discharging device according to an embodiment of the present application. Referring to fig. 8, the top frame 121 is further connected to the tops of the columns 12, and the top frame 121 is connected between the 4 columns 12, so that the connection strength of the body 1 can be improved, and the columns 12 are prevented from shaking.

For better support of the storage unit 2, the body 1 further comprises end connectors 13, the end connectors 13 being connected between two uprights 12 arranged in the goods access direction, two opposite ends of the storage unit 2 being connectable between two oppositely arranged end connectors 13.

Further, a guide 131 may be connected to the end connector 13, the guide 131 is located on an inward side of the end connector 13, and the guide 131 extends along the cargo access direction. The guide 131 has a guide surface 1311 facing the goods to guide the goods when the goods enter and exit the storage unit 2. The guide 131 is located above the storage unit 2 with the storage unit 2 fixed between the end connectors 13.

The end of the guiding surface 1311 in the cargo in-and-out direction is further provided with an inclined area 1312 and an inclined area 1313, wherein the inclined area 1312 is disposed near the cargo inlet 23 and the inclined area 1313 is disposed near the cargo outlet 24. In the case where two guides 131 are provided on the opposite end connections 13, the inclined regions 1312 on the two guide surfaces 1311 are disposed opposite to each other, and the pitch gradually decreases from the cargo inlet 23 toward the cargo outlet 24. Further, the inclined regions 1313 of the two guide surfaces 1311 are disposed opposite to each other, and the distance decreases gradually from the cargo outlet 24 toward the cargo inlet 23, so as to cooperate with other mechanisms than the discharging device.

Referring to fig. 1 and 8, a storage unit 2 for placing goods is provided on a body 1, specifically, between respective columns 12. When the storage unit 2 has a plurality of storage units, the storage units 2 are arranged in the vertical direction, for example, on the respective columns 12 at intervals in the height direction of the columns 12, so that the goods can be stored at different positions in the height direction. It is understood that since the storage units 2 of each layer are arranged in a stacked manner at intervals in the height direction, the storage units 2 of each layer can be loaded with the goods, and a loading space 22 for loading the goods is formed between each storage unit 2 of each layer and the adjacent storage unit 2 of the next layer.

Further, the storage unit 2 has a goods inlet 23 and a goods outlet 24 which are oppositely arranged on the goods entrance and exit path, goods can enter the storage unit 2 from the goods inlet 23, and goods can be separated from the storage unit 2 from the goods outlet 24.

It should be noted that the set height of each layer of the storage units 2 corresponds to the set height of the pallet 205 on the transfer robot 200 one to one, so that the goods on the pallet 205 can smoothly enter the storage units 2. In addition, the arrangement of the storage unit 2 is not limited to this, and a plurality of storage units 2 may be provided in the width direction of the body 1.

In the embodiment of the present application, the storage unit 2 has a rotatable conveying member 21, and the conveying member 21 has a rolling surface in rolling contact with the goods, so as to drive the goods into and out of the storage unit 2. Referring to fig. 8, as an alternative embodiment, the transferring member 21 may be a rotating roller, and a roller surface of the rotating roller may rotate while both ends of the rotating roller are rotatably supported by the end connection members 13, and form the rolling surface. And when the number of the rotating rollers is plural, the rotating shafts of the plural rotating rollers are arranged in parallel with each other. Further, the plurality of rotating rollers may include a driving roller and a driven roller which are linked, the driving roller is driven by a driving device, such as the first driving device described above, and each driven roller is rotated along with the driving roller, so that the conveying member 21 is rotated.

For example, as another alternative embodiment, the transferring member 21 may be a plurality of v-ribbed rollers 211 arranged side by side, the plurality of v-ribbed rollers 211 being rotatably connected between the two opposite end links 13.

The positions, close to one end, of the multiple V-ribbed belt rollers 211 are provided with V-ribbed belt grooves 212, the same V-ribbed belt is sleeved on every two adjacent V-ribbed belt rollers 211 at the V-ribbed belt grooves 212, and two V-ribbed belts are sleeved on each V-ribbed belt roller 211 so that the V-ribbed belt grooves 212 are linked. At least one of the plurality of v-ribbed belt rollers 211 is a driving roller, and is driven to rotate by a driving device, for example, the first driving device, so that the v-ribbed belt roller 211 serving as the driving roller drives all the driven rollers to rotate together by the v-ribbed belt, thereby realizing the rotation of the conveying member 21.

Fig. 9 is a partial enlarged view of fig. 1 at B, and fig. 10 is a partial enlarged view of fig. 1 at C. Referring to fig. 9 and 10, in the embodiment of the present application, the discharging device 100 further includes a loading and unloading position detecting sensor 25, the loading and unloading position detecting sensor 25 is located at the cargo inlet 23, and the loading and unloading position detecting sensor 25 is configured to detect whether the cargo extends to the outside of the storage unit 2. Alternatively, the loading/unloading position detection sensor 25 may be a photoelectric sensor.

Referring to fig. 1, 9 and 10, in the embodiment of the present application, the storage unit 2 includes a first storage unit 27 located at the top of the discharging device 100 and a second storage unit 28 located at the bottom of the discharging device 100, the first storage unit 27 is provided with a loading and unloading position detecting sensor 25, and the second storage unit 28 is provided with a loading and unloading position detecting sensor 26.

Specifically, referring to fig. 9 and 10, the loading/unloading position detecting sensor 25 is disposed on the top frame 121, the loading/unloading position detecting sensor 26 is disposed on the top of the support 11, and the loading/unloading position detecting sensor 25 and the loading/unloading position detecting sensor 26 are disposed opposite to each other, so that the loading/unloading position detecting sensor 26 is disposed above the first storage unit 27 with the highest height and below the second storage unit 28 with the lowest height, and the goods in the storage unit 2 at any position can be detected when protruding out of the storage unit 2. That is, if one storage unit 2 among the plurality of storage units 2 is unloaded, the unloading position can be detected by the loading/unloading position detecting sensor 26. Thus, the unloading apparatus 100 can detect whether the goods pass through the loading/unloading position detecting sensor 26, and accordingly, the corresponding operation can be performed. For example, when the loading/unloading position detecting sensor 26 detects the passing of the goods, it is indicated that the conveying member 21 can rotate normally to move the goods into and out of the storage unit 2 in the normal unloading operation.

Fig. 11 is a schematic structural view of a storage unit of one layer in the discharging device of fig. 1. Referring to fig. 11, in the embodiment of the present application, as described above, the control assembly includes a controller, and further includes a first driving unit for driving the conveying member 21 to rotate and a speed sensor 15 for detecting a moving speed of the goods in the storage unit 2, the first driving unit and the speed sensor 15 are electrically connected to the controller, and the controller is configured to control at least one of a rotating state of the conveying member 21 and a moving speed of the robot arm 31 according to the moving speed of the goods, so as to prevent the goods entering the storage unit 2 from being separated from the storage unit 2.

It can be understood that, in the above-mentioned solution, the speed sensor 15 is arranged to detect the moving speed of the goods, the controller controls at least one of the rotating state of the conveying member 21 and the moving speed of the mechanical arm 31 according to the moving speed of the goods, and since the moving part of the goods is driven by the rotation of the conveying member 21, when the controller changes the rotating state of the conveying member 21, the moving speed of the goods can be indirectly adjusted, and/or the controller directly controls the moving speed of the mechanical arm 31, the goods can be prevented from being thrown out and separated from the storage unit 2 due to too fast moving speed, or the goods can be delivered when the conveyor belt is not started at the delivery side of the discharging device. Therefore, the goods cannot fall off, and the unloading reliability is high.

In the present embodiment, the speed sensor 15 may be disposed near at least one of the cargo inlet 23 and the cargo outlet 24. This detects the moving speed of the goods at least one position of the goods inlet 23 and the goods outlet 24 of the storage unit 2. Further, the speed sensor 15 may be a photoelectric sensor.

Referring to fig. 11, the present embodiment is described by taking an example in which the cargo outlet 24 and the cargo inlet 23 are both provided with the speed sensor 15, and a scheme in which the cargo outlet 24 or the cargo inlet 23 is provided with the speed sensor 15 and a scheme in which the speed sensor 15 is provided at other positions of the storage unit 2 are similar to this, and are not described again here.

Referring to fig. 11, the speed sensor 15 includes a first speed sensor 151 located at the cargo inlet 23 and a second speed sensor 152 located at the cargo outlet 24.

Optionally, the controller is configured to control at least one of the rotation state of the conveying member 21 and the moving speed of the mechanical arm 31, so that the moving speed of the cargo detected by the second speed sensor 152 is less than a preset speed threshold, where the preset speed threshold is a critical speed at which the cargo does not leave the storage unit 2.

For example, the controller is configured to control at least one of the rotation state of the conveyor 21 and the moving speed of the robot arm 31 so that the moving speed of the cargo detected by the second speed sensor 152 is zero. Thus, when the cargo reaches the vicinity of the cargo outlet 24, its velocity is zero and does not fall out of the cargo outlet 24.

Referring to fig. 11, the first speed sensors 151 located at the cargo inlet 23 are two, and the two first speed sensors 151 are located at positions opposite to each other. For example, two first speed sensors 151 may be located at a position of the end connection 13 near the cargo inlet 23.

Further, two second speed sensors 152 are provided at the cargo outlet 24, and the two second speed sensors 152 are provided at positions opposite to each other. For example, two second speed sensors 152 may be located at a position of the end connector 13 near the cargo outlet 24. Such paired placement of the speed sensors 15 may allow more accurate speed measurement of the cargo.

Fig. 12 is a schematic perspective view of a discharging device according to an embodiment of the present application.

The structure of the carrier 3 will be described. Referring to fig. 1, 12, and 13, the carrier 3 is movable relative to the body 1 in the cargo loading and unloading direction, in other words, the moving direction of the carrier 3 relative to the body 1 is parallel to the cargo loading and unloading direction. So that the robot arm 31 pushes the goods into and out of the storage unit 2

Alternatively, the carrying frame 3 may include two support frame bodies 33 respectively disposed at both sides of the body 1 and a connection beam 34 connected between the two support frame bodies 33, the carrying frame 3 has a robot arm 31 for driving the goods to move, the robot arm 31 is mounted on the support frame bodies 33, and the robot arm 31 is located at a position corresponding to above the pallet 205 on the carrying robot 200, in other words, the robot arm 31 is disposed corresponding to the storage unit 2. Both ends of the connecting beam 34 are connected to the two support frames 33, respectively.

As shown in fig. 12, the robot arm 31 and the connecting beam 34 are located inside the body 1, the support frame 33 is located outside the body 1, and when the support frame 33 moves toward the transfer robot 200 relative to the body 1, the robot arm 31 is driven to extend toward the goods.

Optionally, a plurality of robot arms 31 are provided on the carrier 3, and are provided corresponding to the storage units 2. In fig. 12, an example is illustrated in which one storage unit 2 corresponds to two robots 31, and the two robots 31 are symmetrically located at two sides of the storage unit 2, but the present application is not limited thereto, and the robots 31 may be located at other positions.

Fig. 14 is a partial enlarged view of a portion E in fig. 12, and referring to fig. 14, in an embodiment of the present application, a movable member is disposed on the mechanical arm 31, the movable member can move to different positions relative to the mechanical arm 31, and when the movable member is blocked on an in-out path of the goods, the movable member can be used to drive the goods to move and enter and exit the storage unit 2. When the movable member is not arranged on the in-and-out path of the goods in a blocking manner, that is, the movable member is positioned outside the in-and-out path of the goods, at this time, the movement of the mechanical arm 31 does not interfere with the goods.

Here, the movable member may be moved to different positions relative to the mechanical arm 31, for example, the movable member may be horizontally disposed and block on the in-out path J of the cargo; for example, the movable piece is vertically arranged and is not blocked on the access path J of the goods.

For example, the movable member may be extended or shortened while rotating to block the passage of the cargo or not to block the passage of the cargo.

Further, the movable member is rotatably provided at an end portion of the robot arm 31, and a rotation axis of the movable member and a moving direction of the carrier 3 are parallel to each other.

Specifically, the movable member is a movable push rod 32, a first end of the movable push rod 32 is rotatably connected to the mechanical arm 31, a second end of the movable push rod 32 is a free end, and a rod body of the movable push rod 32 is used for pushing goods to enter and exit the storage unit 2.

At this time, corresponding to fig. 14, when the movable push rod 32 can rotate relative to the mechanical arm 31 and the movable push rod 32 rotates to a horizontal position, the movable push rod 32 is blocked on the in-out path of the goods (refer to the movable push rod 32 on the right side of the drawing in fig. 14); when the movable push rod 32 is rotated to the vertical position, the movable push rod 32 is not stopped on the entry and exit path of the goods (refer to the movable push rod 32 on the left side of the drawing in fig. 14).

Further, the movable push rods 32 are provided in an even number and are respectively disposed at both sides of the storage unit 2. This allows for uniform application of force to the cargo.

Fig. 15 is an exploded view of a partial structure of a connection between a truck and a slide rail in the discharge apparatus according to the first embodiment of the present invention, and referring to fig. 15, the fixing of the truck 3 and the body 1 can be realized by providing a slide rail 35 on the body 1, for example.

In the embodiment of the present application, the body 1 includes the slide rail 35, the extending direction of the slide rail 35 is parallel to the entering and exiting direction of the goods, and the transportation frame 3 is disposed on the slide rail 35 and can move along the slide rail 35 relative to the body 1.

Specifically, the body 1 further includes a sliding block 36 engaged with the sliding rail 35, and the sliding block 36 can slide in the sliding rail 35 in a reciprocating manner. The bottom end of the support frame body 33 is provided with a connecting plate 331, the connecting plate 331 is connected to one side of the sliding block 36 departing from the sliding rail 35, and the sliding block 36 can drive the support frame body 33, namely the carrying frame 3, to move along the sliding rail 35. The slider 36 can be linearly moved along the slide rail 35 by driving of the second driving unit 5 (see fig. 13).

The second drive unit 5 may include, for example, a motor, a reducer, a drive shaft, a sprocket, a chain, and the like. Wherein, the output shaft of motor passes through the reduction gear and is connected with the drive shaft, and the sprocket is connected on the drive shaft, and the chain tensioning is on the sprocket, and slider 36 is connected with the chain. Thus, the motor drives the driving shaft to rotate through the speed reducer, the driving shaft drives the chain wheels to rotate, the chain tensioned between the chain wheels generates linear reciprocating displacement, and the sliding block 36 is driven to move on the sliding rail 35.

Further, referring to fig. 12, the top end of the carrier 3 and the body 1 may be slidably coupled. For example, the connecting beam 34 on the top of the carrier 3 is provided with a roller 37 extending upward, and the wheel surface of the roller 37 can be in rolling engagement with the inner side surface of the top frame 121.

As described above, referring to fig. 13 and 15, in order to prevent the truck 3 from colliding with the structure on the body 1 and causing the body 1 to shake, the control unit of the present application is further provided with the position sensor 39, and the position sensor 39 is electrically connected to the controller. The position sensor 39 is used for detecting the position of the carrier 3 relative to the body 1, and the controller is used for controlling the moving state of the carrier 3 relative to the body 1 according to the position detected by the position sensor 39.

In the above-described embodiment, the position sensor 39 is provided to detect the position of the carrier 3 with respect to the main body 1, and if the position sensor 39 is provided at a position where the carrier 3 is likely to collide with the carrier, the controller can adjust the moving state of the carrier 3 in time based on the information of the position sensor 39 when the carrier 3 is too close to the position of the main body 1 where the collision is likely to occur, thereby avoiding the occurrence of a collision event, and improving the stability and safety of the discharge device 100.

Specifically, the position sensor 39 is located on the body 1, and the controller is configured to control the carrier 3 to stop moving when the carrier 3 moves to a position corresponding to the position sensor 39. As described above, when the carrier 3 moves to the position corresponding to the position sensor 39, the carrier 3 stops moving, that is, the speed of the carrier 3 relative to the main body 1 is zero, so that the collision of the carrier 3 with the main body 1 can be avoided more favorably. And prevents the support frame body 33 in the carrier 3 from moving out of the body 1.

In the embodiment of the present application, referring to fig. 13 and 15, in order to be used in cooperation with the position sensor 39, the carrier 3 is further provided with the detector 38, and the detector 38 protrudes to the front side in the moving direction of the carrier 3. And the controller is used for controlling the carrier 3 to stop moving when the carrier 3 moves to the position where the detecting member 38 is opposite to the position sensor 39.

The detecting member 38 may be disposed on a connecting plate 331 at the bottom end of the support frame 33, and fixed opposite to the slider 36.

For example, as an alternative, the position sensor 39 is a photoelectric sensor, and the detecting member 38 includes a light blocking member that blocks the light that is provided in front of the position sensor 39.

Specifically, referring to fig. 13 and 15, when the body 1 includes a plurality of columns 12 and the carrier 3 is movable between two adjacent columns 12, the position sensors 39 are provided on the two adjacent columns 12.

Further, the position sensor 39 is located at the side of two adjacent columns 12. The detector 38 has a detection portion 381, and when the carriage 3 moves to a position corresponding to the position sensor 39, the detection portion 381 is located laterally outside the column 12 and faces the position sensor 39. When the position sensor 39 is a photoelectric sensor, the detection portion 381 forms a light blocking member.

Optionally, the detecting element 38 further includes a connecting portion 382, the connecting portion 382 is installed at a side of the carrier 3 and extends out of the carrier 3, and a side of the connecting portion 382 away from the carrier 3 is connected to the detecting portion 381. Thus, the detection unit 381 is fixed to the bottom of the carrier by the connection unit 382. Alternatively, the connection portion 382 is fixed to the connection plate 331 at the bottom of the support frame 33.

In the embodiment of the present application, the position sensor 39 may include a first position sensor 391 and a second position sensor 392, and the first position sensor 391 and the second position sensor 392 are respectively disposed at two opposite ends in the moving direction of the carrier 3. The controller is configured to control the movement of the carrier 3 to be stopped when the carrier 3 moves to a position corresponding to any one of the first position sensor 391 and the second position sensor 392.

Taking the case shown in fig. 15 as an example, the upright 12 on the left side of the figure is the upright 12 near the cargo inlet 23, the first position sensor 391 is provided on the upright 12 on the left side, the upright 12 on the right side of the figure is the upright 12 near the cargo outlet 24, and the second position sensor 392 is provided on the upright 12 on the right side. Correspondingly, the detecting member 38 also includes a first detecting member 383 and a second detecting member 384.

When the support frame body 33 moves towards the left cargo inlet 23, the mechanical arm 31 is driven to extend towards the direction of the cargo, the first detection piece 383 is driven to move towards the direction close to the first position sensor 391, when the detection part 381 on the first detection piece 383 is located on the side of the first position sensor 391, the carrying frame 3 is considered to reach the limit position, then the left movement is continued, the risk of collision with the left upright 12 exists, and at the moment, the controller controls the carrying frame 3 to stop moving.

When the support frame 33 moves toward the left goods outlet 24, the mechanical arm 31 is driven to extend away from the transfer robot 200, and the second detection member 384 is driven to move toward the second position sensor 392, when the detection portion 381 on the second detection member 384 is located on the side of the second position sensor 392, the transfer frame 3 is considered to have reached the limit position, and then the movement is continued to be moved rightward to have a risk of collision with the right upright 12, and at this time, the controller controls the transfer frame 3 to stop moving.

In the embodiment of the present application, as another alternative, the position sensor 39 is a contact switch, and the detecting member 38 may contact the position sensor 39. That is, when the detecting member 38 and the position sensor 39 are located at the corresponding positions, the detecting portion 381 may contact the position sensor 39.

In the embodiment of the present application, as described above, in order to further improve the unloading success rate of the unloading device 100, the moving state of the movable member relative to the mechanical arm needs to be monitored.

Referring to fig. 14, at least one of the robot arms 31 is provided with a detection device 6, and the detection device 6 is used for detecting the position of the moving member relative to the robot arm 31. Through setting up detection element 6, can monitor the moving state of moving part relative to the arm, if detect the moving part fender establish on the business turn over route of goods, can control the operation as required, for example, the controller can be according to the moving state of moving part relative to the position control handling frame 3 of arm 31.

Specifically, the controller can send a control instruction to the movable member, so that the movable member is changed from being arranged on the in-out path of the goods without being blocked into being arranged on the in-out path of the goods, or the unloading operation of the unloading device 100 is stopped, and the like, thereby effectively avoiding the condition of failure of the unloading operation and improving the unloading efficiency of the unloading device 100.

In the embodiment of the present application, the detecting assembly 6 includes a movable push rod position detector 61, and in order to better detect the position of the movable push rod 32, the movable push rod position detector 61 is disposed at the end of the robot arm 31. Alternatively, the movable push rod position detectors 61 and the movable push rods 32 may be provided in one-to-one correspondence. The movable push rod position detector 61 may be, for example, a photoelectric sensor or a contact switch.

Further, the movable push rod position detector 61 corresponds to a position of the movable push rod 32 when not stopped on the entrance and exit path of the cargo. In other words, when the movable push rod 32 is at a position at which the unloading operation is not possible, it can be detected by the movable push rod position detector 61.

The installation of the movable push rod position detector 61 will be described with reference to fig. 14. As shown in fig. 14, the end of the mechanical arm 31 on the left side of the drawing and the end of the mechanical arm 31 on the right side of the drawing are both provided with a movable push rod position detector 61, and the movable push rod 32 on the left side is not blocked on the in-and-out path of the goods, so that the movable push rod position detector 61 on the left side sends the detected position information which is not blocked to the controller; the movable push rod 32 on the right is arranged on the inlet and outlet path of the goods in a blocking mode, and the movable push rod position detector 61 on the right does not send information to the controller or sends position information that the movable push rod 32 on the right is arranged on the inlet and outlet path of the goods in a blocking mode to the controller.

It should be noted that, the movable push rod 32 mentioned in the present application is blocked on the access path of the goods, which means that the movable push rod 32 is in a horizontal state; the movable push rod 32 is not arranged on the inlet and outlet path of the goods in a blocking manner, which means that the movable push rod 32 is in a vertical state and cannot carry out unloading operation on the goods.

It should be understood that, in the above control process, when the movable push rod 32 is in the non-blocked position where the unloading operation cannot be performed, the movable push rod position can be detected by the movable push rod position detector 61 and sent to the controller, and the controller controls the moving state of the carrier 3 as needed. When the movable push rod 32 is in the blocking position, for example, when the movable push rod 32 is horizontal, or is located between the non-blocking position and the blocking position, it is considered that the movable push rod 32 can still perform the unloading operation, and therefore, the controller will not adjust the moving state of the carrier 3.

In the present embodiment, in the case where a plurality of robot arms 31 are provided in the discharge apparatus 100, the detection unit 6 may be provided for each robot arm 31 as shown in fig. 1, or the detection unit 6 may be provided in some of the robot arms 31. For example, the robot arm 31 may include a first robot arm disposed at the top of the carrier 3 and a second robot arm disposed at the bottom of the carrier 3, and the detection assembly 6 is disposed on at least both of the first robot arm and the second robot arm among the plurality of robot arms.

Example two

The present embodiment provides a storage system, which includes the transfer robot 200 and the unloading apparatus 100 of the first embodiment, as described above, the transfer robot 200 has the pallet 205, and the pallet 205 and the storage unit 2 of the unloading apparatus 100 are correspondingly arranged to perform the unloading operation to the unloading apparatus 100. The pallet 205 and the storage unit 2 of the discharge device 100 are correspondingly arranged, specifically, the height of the pallet 205 is approximately the same as the height of the bottom of the storage unit 2, and the arrangement positions are corresponding and opposite to each other.

It should be noted that the specific structure and function of the transfer robot 200 have been described in the first embodiment, and the specific structure and function of the unloading device 100 have also been described in detail in the first embodiment, and are not described again here.

It should be noted that the transfer robot 200 of the present application is not limited to the transfer robot 200 described in the first embodiment, as long as it has a pallet 205 for placing goods thereon, and the pallet 205 and the storage unit 2 of the discharge device 100 are provided correspondingly.

EXAMPLE III

The present embodiment provides a discharging method, which is applied to the discharging device 100 of the first embodiment, and the discharging method can also be applied to the discharging device 100 of the second embodiment.

Fig. 16 is a flowchart of a first discharging method provided in the third embodiment of the present application.

Referring to fig. 16, the discharging method includes:

s100, transporting goods on the transfer robot to a storage unit by using a mechanical arm;

in the above-described embodiment, the process of transferring the goods on the transfer robot 200 to the storage unit 2 of the unloading apparatus 100 refers to the entire process of moving the goods to the storage unit 2 by the robot arm 31 and the movable push rod 32.

Specifically, the transfer robot 200 approaches the discharge device 100 and reaches a predetermined discharge position. The support frame body 33 of the carrying frame 3 drives the mechanical arm 31 and the movable push rod 32 to move towards the carrying robot 200, when the movable push rod 32 reaches the rear of the goods, the movable push rod 32 rotates from the non-blocking position to the blocking position and moves in the direction away from the carrying robot 200, and at the moment, the goods move towards the storage unit 2 of the unloading device 100 under the action of the pulling force of the movable push rod 32.

S200, detecting the moving speed of the goods in the storage unit.

Specifically, the moving speed of the goods at least one position on the goods in and out path of the storage unit 2 can be detected.

Further, detecting the moving speed of the goods at least one position on the goods in and out path of the storage unit 2 specifically includes: the moving speed of the goods at least two different positions on the goods in-out path is detected. Since the speed of the goods generally changes during the transportation process, the moving condition of the goods can be detected more accurately by measuring the moving speed of at least two different positions.

In this application embodiment, detect the moving speed of goods in two at least different positions on goods business turn over route, specifically include:

detecting the moving speed of the goods at the first position and the second position; wherein the first position and the second position are arranged in sequence between the goods inlet 23 and the goods outlet 24 of the goods access route, wherein the goods inlet 23 and the goods outlet 24 are arranged opposite to each other.

Specifically, the speed sensor 15 is provided at a position on the body 1 corresponding to the storage unit 2, for example, two first speed sensors 151 are provided at the cargo inlet 23, and the two first speed sensors 151 are located at positions opposite to each other. And two second speed sensors 152 are provided at the cargo outlet 24, with the two second speed sensors 152 being located opposite to each other. Thus, during the movement of the goods towards the storage unit 2, the two first speed sensors 151 can measure the speed of the goods at the goods inlet 23, and the two second speed sensors 152 can measure the speed of the goods at the goods outlet 24.

Of course, the first and second positions are similar to those described above for other positions between the cargo inlet 23 and the cargo outlet 24 of the cargo access path and will not be described in detail here.

And S300, controlling at least one of the rotation state of the conveying member in the storage unit and the moving speed of the mechanical arm according to the moving speed so as to prevent the goods entering the storage unit from being separated from the storage unit.

In the above-mentioned solution, by detecting the moving speed of the goods in the storage unit 2 of the unloading device 100, the controller controls at least one of the rotating state of the conveying member 21 and the moving speed of the mechanical arm 31 according to the moving speed of the goods, and since the moving part of the goods is driven by the rotation of the conveying member 21, when the controller changes the rotating state of the conveying member 21, the moving speed of the goods can be indirectly adjusted, and/or the controller directly controls the moving speed of the mechanical arm 31, and the goods can be prevented from being separated from the storage unit 2 due to the excessively fast moving speed. The falling goods do not need to be additionally placed on the discharging device 100 again, so that the discharging efficiency is high.

Specifically, controlling at least one of the rotation state of the conveyor 21 and the movement state of the robot arm 31 in the storage unit 2 according to the movement speed includes:

when the moving speed is greater than the preset delivery speed, the rotational speed of the conveyor 21 is reduced. It can be understood that when the moving speed of the goods is too fast, there is a risk of falling from the storage unit 2, and at this time, the rotating speed of the conveyor belt is reduced, so that the moving speed of the goods can be reduced, and the goods are prevented from falling.

Alternatively, when the moving speed is less than the preset delivery speed, the rotating speed of the conveyor 21 is increased. It can be understood that when the moving speed of the goods is less than the preset delivery speed, the goods may stop moving without reaching the storage position of the storage unit 2, and at this time, the rear end of the goods moving is located outside the storage unit 2, so that the goods may be in risk of falling from the storage unit 2, and at this time, the rotating speed of the conveyor belt is increased, so that the moving speed of the goods may be increased, and the goods may accurately reach the preset storage position.

When the goods moving speed is greater than the preset goods delivery speed, the rotating speed of the conveying part 21 is reduced so as to reduce the moving speed of the goods, and when the moving speed of the goods is less than the preset goods delivery speed, the rotating speed of the conveying part 21 is increased so as to increase the moving speed of the goods, so that the moving speed of the goods can be controlled to be close to the preset goods delivery speed, the goods can reach the preset storage position, and the front end and the rear end of the goods cannot exceed the storage unit 2, so that the risk that the goods fall off is greatly reduced.

In the embodiment of the present application, the conveying member 21 includes a plurality of rotating rollers arranged side by side, and rotating shafts of the plurality of rotating rollers are arranged in parallel with each other; and the plurality of rotating rollers comprise a driving roller and a driven roller which are linked.

Controlling at least one of the rotation state of the conveyor 21 and the movement state of the robot arm in the storage unit 2 according to the movement speed specifically includes: and controlling the rotation state of the driving roller according to the moving speed. Since the drive roller and the driven roller are linked, controlling the rotation state of the drive roller enables the rotation state of the driven roller to be changed accordingly, and the rotation state of the entire conveying member 21 is kept consistent.

Optionally, in this embodiment of the application, controlling at least one of the rotation state of the conveying member 21 in the storage unit 2 and the moving speed of the robot arm 31 according to the moving speed specifically includes:

when the moving speed is greater than the preset goods delivery speed, the moving speed of the mechanical arm in the goods entering and exiting direction is reduced, and the moving part on the mechanical arm pushes the goods to move, so that the risk of dropping from the storage unit 2 is realized when the moving speed of the goods is too high, the moving speed of the mechanical arm in the goods entering and exiting direction is reduced, the moving speed of the goods can be reduced, and the goods are prevented from dropping.

Optionally, when the moving speed is lower than the preset delivery speed, the moving speed of the mechanical arm along the cargo in-and-out direction may be increased. It can be understood that when the moving speed of the goods is less than the preset goods delivery speed, the goods may stop moving without reaching the storage position of the storage unit 2, at this time, the rear end part of the goods moving is located outside the storage unit 2, and there is a risk of falling from the storage unit 2, and at this time, the moving speed of the mechanical arm in the goods entering and exiting direction is increased, so that the moving speed of the goods can be increased, and the goods can accurately reach the preset storage position.

When the goods moving speed is higher than the preset goods delivery speed, the moving speed of the mechanical arm in the goods in-out direction is reduced so as to reduce the moving speed of the goods, when the moving speed of the goods is lower than the preset goods delivery speed, the moving speed of the mechanical arm in the goods in-out direction is increased so as to increase the moving speed of the goods, therefore, the moving speed of the goods can be controlled to be near the preset goods delivery speed, the goods can reach the preset storage position, the front end and the rear end of the goods cannot exceed the storage unit 2, and the risk that the goods fall off is greatly reduced.

Further, controlling at least one of the rotation state of the conveyance member 21 in the storage unit 2 and the movement speed of the robot arm 31 in accordance with the movement speed may further include controlling the rotation state of the conveyance member 21 in the storage unit 2 in accordance with the movement speed and controlling the movement speed of the robot arm 31.

At this time, when the moving speed is greater than the preset delivery speed, the rotational speed of the conveyor 21 is reduced, and the moving speed of the robot arm in the cargo in-and-out direction is reduced. It can be understood that, when the moving speed of goods is too fast, there is the risk of dropping from storage unit 2, reduces the slew velocity of conveyer belt this moment to reduce the moving speed of arm along goods business turn over direction, the two acts on simultaneously, can reduce the moving speed of goods more efficiently, avoids the goods to drop.

Alternatively, when the moving speed is less than the preset delivery speed, the rotational speed of the conveyor 21 is increased and the moving speed of the robot arm in the cargo in-and-out direction is increased. It can be understood that when the moving speed of the goods is less than the preset goods delivery speed, the goods may stop moving without reaching the storage position of the storage unit 2, and at this time, the rear end of the goods moving is located outside the storage unit 2, so that the goods may fall from the storage unit 2, and at this time, the rotating speed of the conveyor belt is increased, and the moving speed of the mechanical arm in the goods entering and exiting direction is increased, and the moving speed of the goods can be increased more efficiently by the two actions, so that the goods can accurately reach the preset storage position.

When the moving speed of the goods is higher than the preset goods delivery speed, the rotating speed of the conveying member 21 is reduced, and the moving speed of the mechanical arm along the goods in-out direction is reduced, so that the moving speed of the goods is reduced; when the moving speed of goods is less than preset delivery speed, the rotating speed of the conveying part 21 is increased, the moving speed of the mechanical arm in the goods entering and exiting direction is increased, the moving speed of the goods can be controlled to be close to the preset delivery speed, the goods can reach a preset storage position, the front end and the rear end of the goods cannot exceed the storage unit 2, and therefore the risk that the goods fall off is greatly reduced.

Alternatively, after the storage unit 2 to which the load on the transfer robot 200 is transferred by the robot arm 31, the method further includes:

it is detected whether the goods protrude to the outside of the storage unit 2. Specifically, whether goods extend out of the storage unit 2 or not can be detected through a loading and unloading position detection sensor. It is possible to locate the loading/unloading position detecting sensor at the cargo inlet 23, for example, a part of the loading/unloading position detecting sensor 25 is located above the topmost storage unit 2, and a part of the loading/unloading position detecting sensor 26 is located below the bottommost storage unit 2. Whether the discharging apparatus 100 is performing the discharging operation can be known by detecting whether the goods are protruded to the outside of the storage unit 2.

In summary, when the loading and unloading position detecting sensor is used for unloading, the main achievable purposes include: the loading and unloading position detection sensor is used for detecting whether goods pass through or not, if so, the normal unloading operation is performed, and the goods are actually and normally conveyed to the storage unit from the conveying robot; in addition, go up unloading position detection sensor and also can be used for detecting whether the goods stretches out to the outside of memory cell, if the goods reaches predetermined storage position, can not surpass the import of memory cell and be detected by last unloading position detection sensor to greatly reduced the risk that the goods dropped, otherwise, then have the risk that the goods dropped, can carry out corresponding operation this moment.

Fig. 17 is a flowchart of a control method of a robot arm in a discharging method provided by the third embodiment of the present application, referring to fig. 17, and optionally, the discharging device 100 includes the robot arm 31 and a movable element disposed on the robot arm 31, the movable element is movable to different positions relative to the robot arm 31 to block or unblock the movable element on an in-out path of a cargo, when the movable element is blocked on the in-out path of the cargo, the robot arm 31 is configured to drive the cargo to enter and exit the storage unit 2, and before the robot arm 31 is used to move the cargo on the transfer robot 200 to the storage unit 2, the method further includes:

s101, detecting the position of the movable piece relative to the mechanical arm.

A detection assembly 6 may be provided on the robot arm 31 to detect the position of the movable member relative to the robot arm 31 by the detection assembly 6.

And S102, if the movable piece is not arranged on the inlet and outlet path of the goods in a blocking mode relative to the mechanical arm, stopping the unloading operation.

When the movable member is not positioned on the in-out path of the goods relative to the mechanical arm 31, it is proved that the movable member cannot drive the goods to carry out the unloading operation, and therefore the unloading operation is controlled to stop.

Fig. 18 is a flowchart of a collision avoidance control method for a truck in a discharging method provided in the third embodiment of the present application, referring to fig. 18, optionally, the discharging device 100 includes a truck 3, the robot arm 31 is located on the truck 3, and the truck 3 can move relative to the body 1 of the discharging device 100 to drive a cargo to enter or exit the storage unit 2, where the discharging method of the present application may further include:

s103, detecting the position information of the conveying frame relative to the body. The positional information of the carrier 3 with respect to the body 1 can be detected by providing a position sensor on the body.

And S104, controlling the moving state of the conveying frame relative to the body according to the detected position information.

In the above-described embodiment, by detecting the position of the carrier 3 with respect to the body 1, if the position sensor 39 is provided at a position where the carrier 3 is likely to collide with, when the carrier 3 is too close to the position of the body 1 where the collision is likely to occur, the controller can adjust the moving state of the carrier 3 in time based on the information of the position sensor 39, thereby avoiding the occurrence of a collision event, and improving the stability and safety of the discharge apparatus 100.

Wherein, according to the detected position information, the moving state of the carrying frame 3 relative to the body 1 is controlled, which specifically comprises: when the carrier 3 moves to the preset position, the carrier 3 is controlled to stop moving. To avoid collision with the body 1 structure and the like.

Fig. 19 is a flowchart of another unloading method according to a third embodiment of the present application, and referring to fig. 19, in this application, before moving the goods on the transfer robot 200 to the storage unit 2 of the unloading apparatus 100, the method further includes:

s105, judging whether the carrying robot is in a discharging position;

and S106, receiving the goods conveyed by the conveying robot when the conveying robot is at the unloading position.

In order to confirm whether or not the transfer robot 200 has reached a predetermined unloading position with respect to the tripper device 100, it is detected by the start switch 113 provided in the escape slot 111, and when the moving chassis 202 of the transfer robot 200 enters the escape slot 111, the movement of the carrier 3 is controlled to perform the unloading operation. The unloading operation may be a series of operations such as starting the movement of the later-described carrier rack 3 toward the transfer robot 200 to transfer the load.

Example four

Fig. 20 is a block diagram of a control device according to a fourth embodiment of the present invention, and referring to fig. 20, the present embodiment provides a control device 300, where the control device 300 includes:

a processor 301; and a memory 302 communicatively coupled to the processor 301, the memory 302 storing executable code that, when executed by the processor 301, causes the processor 301 to perform the unloading method as described in embodiment three.

The unloading method has been described in detail in the third embodiment, and is not described herein again.

EXAMPLE five

The embodiment provides a discharging device 100, which comprises a body 1 and a control assembly, wherein a storage unit 2 for placing goods is arranged on the body 1, the storage unit 2 is provided with a rotatable conveying member 21, and the conveying member 21 is provided with a rolling surface which is in rolling contact with the goods and is used for driving the goods to enter and exit the storage unit 2; the control assembly comprises a driving unit for driving the conveying member 21 to rotate, a speed sensor 15 for detecting the moving speed of the goods in the storage unit 2 and the control device 300 of the fourth embodiment, wherein the driving unit and the speed sensor 15 are electrically connected with the control device 300, and the control device 300 is used for controlling at least one of the rotating state of the conveying member 21 and the moving speed of the mechanical arm according to the moving speed of the goods so as to prevent the goods entering the storage unit 2 from leaving the storage unit 2.

The structural and functional principles of the discharge device 100 have been described in detail in the first embodiment, and are not described in detail here.

Example six.

The present embodiment provides a storage system including the transfer robot 200 of the first embodiment and the discharge device 100 of the fifth embodiment, as described above, the transfer robot 200 has the pallet 205, and the pallet 205 and the storage unit 2 of the discharge device 100 are correspondingly disposed to perform a discharge operation to the discharge device 100. The pallet 205 and the storage unit 2 of the discharge device 100 are correspondingly arranged, specifically, the height of the pallet 205 is approximately the same as the height of the bottom of the storage unit 2, and the arrangement positions are corresponding and opposite to each other.

It should be noted that the specific structure and function of the transfer robot 200 have been described in the first embodiment, and the specific structure and function of the discharge device 100 have also been described in detail in the fifth embodiment, which are not described herein again.

The embodiments or implementation modes in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.

In the description herein, references to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A discharging method applied to a discharging apparatus including a storage unit and a robot arm movable relative to the storage unit, the storage unit being provided at an entrance with a loading/unloading position detecting sensor, the method comprising:

when the carrying robot is judged to be at the unloading position, the mechanical arm is used for conveying the goods on the carrying robot to the storage unit;

wherein, the goods on the transfer robot are transported to the storage unit by the mechanical arm, and the loading and unloading position detection sensor at least detects at least one of the following items:

detecting whether the goods pass through to enter the storage unit;

detecting whether the goods protrude to the outside of the storage unit.

2. A method of discharging material, the method being applied to a discharge apparatus comprising a storage unit and a robotic arm movable relative to the storage unit, the robotic arm having a movable member disposed thereon, the movable member being movable to different positions relative to the robotic arm, the method comprising:

when the carrying robot is judged to be in the unloading position, the mechanical arm is moved towards the direction of the carrying robot, and the movable piece reaches the rear of the goods;

indicating the movable piece to rotate from the non-blocking position to the blocking position;

detecting the position of the movable piece relative to the mechanical arm; and

when the movable piece is detected to be arranged on an in-out path of the goods in a blocking mode relative to the mechanical arm, the mechanical arm moves towards the direction deviating from the direction for carrying the robot, and therefore the movable piece drives the goods to move towards the storage unit.

3. The discharging method according to claim 2, wherein the discharging operation is stopped when it is detected that the movable member is not positioned on the path of the load in and out with respect to the robot arm.

4. The discharging method according to any one of claims 2, wherein when it is detected that the movable member is not positioned between the entry and exit paths for the load and positioned between the entry and exit paths for the load with respect to the robot arm, it is determined that the positioning is established, and the robot arm is moved in a direction away from the direction in which the robot is carried.

5. The method of discharging as claimed in any one of claims 2 to 4, wherein the discharge device comprises a truck, the robotic arm being located on the truck, the truck being movable relative to the body of the discharge device to move the goods into and out of the storage unit, the method further comprising:

detecting the position information of the carrying frame relative to the body;

and controlling the moving state of the carrying frame relative to the body according to the detected position information.

6. The discharging method according to claim 5, wherein the controlling the moving state of the truck relative to the body according to the detected position information specifically comprises:

and when the carrying frame moves to a preset position, controlling the carrying frame to stop moving.

7. A discharge apparatus, comprising:

the device comprises a body, a storage unit and a control unit, wherein the body is provided with the storage unit;

a robot arm movable relative to the storage unit to transfer the goods on the transfer robot in the unloading position to the storage unit;

and the feeding and discharging position detection sensor is arranged at an inlet of the storage unit and used for detecting whether the goods pass through and enter the storage unit or detecting whether the goods extend out of the outer side of the storage unit.

8. The discharging device according to claim 7, wherein the storage units comprise a first storage unit located at the top of the discharging device and a second storage unit located at the bottom of the discharging device, and the loading and unloading position detection sensors are arranged on both the first storage unit and the second storage unit.

9. A discharge apparatus, comprising:

the goods storage device comprises a body, wherein a storage unit for storing goods is arranged on the body;

a robotic arm movable relative to the storage unit;

the movable piece is arranged on the mechanical arm and can move to different positions relative to the mechanical arm so as to enable the movable piece to be arranged on an in-out path of goods in a blocking or non-blocking mode;

at least one mechanical arm is provided with a detection assembly, and the detection assembly is used for detecting the position of the movable piece relative to the mechanical arm.

10. The discharging device according to claim 9, wherein said movable member is rotatably provided at an end portion of said mechanical arm, and a rotation axis of said movable member and a moving direction of said mechanical arm are parallel to each other.

11. The discharge apparatus as claimed in claim 10, wherein the movable member is a movable push rod, a first end of the movable push rod is rotatably connected to the mechanical arm, a second end of the movable push rod is a free end, and a rod body of the movable push rod is used for pushing the goods into and out of the storage unit.

12. The discharging device according to claim 11, wherein when the movable pushing rod is arranged on the inlet and outlet path of the cargo, the movable pushing rod is horizontally arranged;

when the movable push rod is not arranged on the inlet and outlet path of the goods in a blocking mode, the movable push rod is vertically arranged.

13. The discharge apparatus of claim 12, wherein said detection assembly comprises a movable ram position detector disposed at an end of said robotic arm.

14. The discharge apparatus as claimed in claim 13, wherein said movable push rod position detector corresponds to a position where said movable push rod is not positioned on the in-out path of the cargo.

15. The discharge apparatus according to any one of claims 9 to 14, wherein said storage unit is plural, and said plural storage units are arranged in a vertical direction.

16. The discharge device of any one of claims 9 to 14, further comprising a truck movable relative to the body, the robotic arm being located on the truck.

17. The discharging device according to claim 16, wherein the body is provided with a slide rail, the extension direction of the slide rail is parallel to the entering and exiting direction of the goods, and the carrying frame is provided on the slide rail and can move along the slide rail relative to the body.

18. The discharging device according to claim 17, wherein the bottom of the body is provided with an avoidance groove for avoiding a moving chassis of a transfer robot, and an opening of the avoidance groove is in the same direction as an opening of the cargo inlet.

19. The discharging device according to claim 18, wherein a start switch is provided in the escape slot, and the start switch is configured to control the movement of the carrier and perform the discharging operation when the moving chassis of the transfer robot enters the escape slot.

20. A storage system comprising a transfer robot and a discharge device according to any one of claims 9 to 14, the transfer robot having a pallet, the pallet and a storage unit of the discharge device being disposed correspondingly to each other to perform a discharge operation to the discharge device.