CN115123761B - Cargo handling device, cargo handling system and unloading method - Google Patents
Cargo handling device, cargo handling system and unloading method Download PDFInfo
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- CN115123761B CN115123761B CN202110323798.3A CN202110323798A CN115123761B CN 115123761 B CN115123761 B CN 115123761B CN 202110323798 A CN202110323798 A CN 202110323798A CN 115123761 B CN115123761 B CN 115123761B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/24—Unloading land vehicles
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Abstract
The application provides a cargo handling device, a cargo handling system and a unloading method, wherein the cargo handling device comprises a trolley, and the trolley is provided with a bearing surface for bearing cargos; the protection component is used for limiting cargoes on the bearing surface, and comprises a first protection piece located on at least one side of the bearing surface and a first telescopic piece fixed on the first protection piece, wherein the first protection piece forms a first limiting surface towards one side of the cargoes, the first telescopic piece has a telescopic direction, the telescopic direction is parallel to the first limiting surface, and the telescopic direction has a component parallel to the bearing surface. According to the application, the first protection piece is arranged on the back of the trolley, when the other goods handling device is unloaded, the first telescopic piece stretches into the back of the goods and performs anti-tilting protection on the back of the goods, so that the other goods handling device can normally leave after the unloading is completed, and the phenomenon that the goods are dropped and damaged in the leaving process of the goods handling device after the goods are transferred and unloaded is effectively avoided.
Description
Technical Field
The application relates to the technical field of logistics storage, in particular to a cargo carrying device, a cargo carrying system and a cargo unloading method.
Background
At present, in logistics storage technical field, often face the process of goods handling such as on-the-spot production goods are put, loading, adopt the manual work to carry out the goods and shift and put and have the problem that inefficiency intensity of labour is big, and adopt unmanned carrier (Automated Guided Vehicle, AGV for short) to wrap up easy drop in the transportation, especially drop more easily at unmanned carrier decline discharge and the in-process that leaves after the discharge, cause potential safety hazard and the phenomenon that goods damaged, influence the site space and use on the goods on the pallet.
Disclosure of Invention
The application provides a cargo handling device, a cargo handling system and a cargo unloading method, and aims to solve the technical problem that cargoes are easy to fall down and damage in the cargo unloading process of the existing cargo handling device.
In a first aspect, the present application provides a cargo handling device comprising:
the trolley is provided with a bearing surface for bearing goods;
The protection component is fixed on the trolley and used for limiting cargoes on the bearing surface, and comprises a first protection piece located on at least one side of the bearing surface and a first telescopic piece fixed on the first protection piece, wherein the first protection piece forms a first limiting surface towards one side of the cargoes, the first telescopic piece has a telescopic direction, the telescopic direction is parallel to the first limiting surface, and the telescopic direction has a component parallel to the bearing surface.
In some embodiments, the first protecting member is a protecting plate, a first limiting surface is formed on one surface of the protecting plate facing the goods, and an avoidance groove for guiding the first telescopic member to extend into the space between the goods and the protecting plate is formed on the surface of the first limiting surface of the protecting plate.
In some embodiments, the first telescoping member includes a fixed portion and a telescoping portion, the side of the shield plate defines a cavity for receiving the first telescoping member, the fixed portion is located within the cavity of the shield plate, and the telescoping portion telescopes from the cavity toward the exterior of the shield plate.
In some embodiments, the protective assembly further comprises a second protective member disposed toward both sides of the cargo;
The second guard has a transverse through slot for the first telescoping member to pass transversely therethrough, and the second guard is connected to the first guard.
In some embodiments, the second guard includes a plurality of guard bars arranged horizontally, one end of the guard bar adjacent to the first guard is connected to the first guard, and a transverse through slot is formed between adjacent guard bars through which the first telescoping member passes.
In some embodiments, the cart includes a first fork and a second fork with a discharge slot therebetween.
In some embodiments, the bearing surface is an inclined surface which is obliquely arranged, and the included angle between the bearing surface and the horizontal plane is 5-10 degrees
In a second aspect, the present application provides a cargo handling system, the system comprising: at least two cargo handling devices as described in the first aspect, a field bus, and a controller, the cargo handling devices being communicatively coupled to the controller.
In a third aspect, the present application provides a method of unloading, the method being applied to a cargo handling system according to the second aspect, the method comprising:
Controlling the first cargo handling device and the second cargo handling device to reach a destination and to be arranged side by side, wherein the first cargo handling device and the second cargo handling device carry cargos to be placed;
controlling the first telescopic piece of the first cargo handling device to extend towards the second cargo handling device, enabling the first telescopic piece to extend into the back surface of the cargo carried by the second cargo handling device, and performing anti-tilting protection on the back surface of the cargo;
the first and/or second load handling devices are controlled to move such that the second load handling devices complete the discharge process.
In some embodiments, the step of controlling the first and second load handling devices to arrive at the destination in a side-by-side arrangement includes:
Controlling the second cargo handling device to move to the destination, and then controlling the first cargo handling device to move to the destination and side by side with the second cargo handling device; or alternatively
The first and second cargo handling devices are controlled to move side by side and to the destination.
In some embodiments, the step of controlling movement of the first and/or second cargo handling devices such that the second cargo handling device completes the discharge process comprises:
controlling the first cargo handling device to move along a first direction, wherein the first direction is the direction that the back of the cargo points to the front of the cargo; and/or
And controlling the second cargo handling device to move along a second direction, wherein the second direction is the direction that the front side of the cargo points to the back side of the cargo.
In some embodiments, after the second cargo handling device completes the unloading process, the method further comprises:
Controlling the first and second cargo handling devices to be arranged side by side again;
Controlling the first telescopic piece of the second cargo handling device to extend towards the first cargo handling device, enabling the first telescopic piece to extend into the back surface of the cargo carried by the first cargo handling device, and performing anti-tilting protection on the back surface of the cargo;
The first and/or second load handling devices are controlled to move such that the first load handling device completes the discharge process.
According to the application, the first protection piece is arranged on the back of the trolley, so that the phenomenon that the goods topple backwards in the transferring process is effectively avoided, and meanwhile, when the other goods handling device is unloaded, the first expansion piece stretches into the back of the goods and performs anti-toppling protection on the back of the goods, so that the other goods handling device can normally leave after the unloading is completed, and the phenomenon that the goods fall down and damage of the goods handling device in the leaving process after the goods are transferred and unloaded is effectively avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a cargo-carrying device provided in an embodiment of the present application;
FIG. 2 is a schematic illustration of a cargo handling device according to an embodiment of the present application;
FIG. 3 is a schematic illustration of two cargo handling devices cooperatively unloading as provided in an embodiment of the application;
FIG. 4 is a schematic view of a first guard and cart provided in an embodiment of the application;
FIG. 5 is a schematic view of a first guard and cart provided in an embodiment of the application;
FIG. 6 is a schematic flow chart of a discharge method provided in an embodiment of the application;
FIG. 7 is a schematic illustration of a scenario featuring the unloading of a cargo handling device according to an embodiment of the present application;
FIG. 8 is a schematic illustration of a discharge operation provided in an embodiment of the present application;
FIG. 9 is a schematic illustration of a discharge operation provided in an embodiment of the present application;
Fig. 10 is a schematic illustration of a discharge operation provided in an embodiment of the present application.
Wherein, 10 trolleys, 11 first forks, 12 second forks, 13 moving wheels and 101 bearing surfaces;
20 protection components, 21 first protection components, 211 protection boards, 212 first telescopic components, 213 first limiting surfaces, 214 avoidance grooves, 22 second protection components, 221 protection rods and 222 transverse through grooves;
30 pallets; 40 cargo.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to fall within the scope of the application.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more features. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present application, the term "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described as "exemplary" in this disclosure is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, details are set forth for purposes of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known structures and processes have not been described in detail so as not to obscure the description of the application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.
Currently, in order to improve efficiency of a cargo moving process such as cargo placement and loading on a production site, an unmanned carrier (AGV) is increasingly receiving attention of enterprises, wherein the unmanned carrier is equipped with an electromagnetic or optical automatic guiding device and can travel along a specified guiding path so as to automatically complete the cargo moving process such as cargo placement and loading on the production site. Taking an example of setting up a traveling route of the unmanned carrier by using the electromagnetic track, the electromagnetic track is stuck on the floor, and the unmanned carrier moves, loads or unloads according to information brought by the electromagnetic track.
However, the unmanned carrier is adopted, so that the condition that the goods fall in the transportation process often exists, and meanwhile, the unmanned carrier is easy to touch the goods to cause the goods to fall in the descending unloading and leaving process of the unmanned carrier. Accordingly, in view of this phenomenon, embodiments of the present application provide a cargo handling device, a cargo handling system, and a unloading method, which are suitable for anti-toppling protection of various cargo handling devices (e.g., a scooter, a cart, a forklift, etc.), and are particularly suitable for anti-toppling protection of an unmanned carrier, as described in detail below.
First, referring to fig. 1 and fig. 2, fig. 1 is a schematic diagram of a cargo 40 carried by a cargo handling device according to an embodiment of the present application, and fig. 2 is a schematic diagram of a structure of the cargo handling device according to an embodiment of the present application. Wherein, cargo handling device includes:
A cart 10, the cart 10 having a load-bearing surface 101 for bearing a cargo 40;
The protection component 20, the protection component 20 is fixed on the dolly 10 for carry out spacingly to the goods 40 that are located on the loading face 101, the protection component 20 is including being located the first protector 21 of loading face 101 at least one side and being fixed in the first extensible member 212 on the first protector 21, and the first protector 21 forms first spacing face 213 towards one side of goods 40, and first extensible member 212 has flexible direction, flexible direction and the parallel arrangement of first spacing face 213, and flexible direction has the component parallel with loading face 101.
According to the application, the first protection piece 21 is arranged on the back of the trolley 10, so that the phenomenon that the goods 40 topples backwards in the transferring process is effectively avoided, meanwhile, when another goods handling device is unloaded, the first expansion piece 212 stretches into the back of the goods 40 and performs anti-toppling protection on the back of the goods 40, so that the goods 40 can normally leave after the other goods handling device is unloaded, and the phenomenon that the goods 40 fall down and are damaged in the leaving process after the goods 40 are transferred and unloaded by the goods handling device is effectively avoided.
The cart 10 has a carrying surface 101 for carrying the goods 40 to be transported, and the moving wheel 13 is installed under the cart 10 for facilitating the movement of the cart 10, it can be understood that for an unmanned cart, the cart 10 may also have a driving mechanism for driving the moving wheel 13 to move, such as a driving motor and a transmission gear, and meanwhile, for facilitating the automatic navigation to carry the goods 40, the cart 10 may also have an automatic guiding device such as electromagnetic or optical, so that the cart 10 can travel along a specified guiding path.
In some embodiments of the present application, to facilitate the unloading of the cargo 40 by the cart 10, the cart 10 may also have a lifting mechanism by which the cargo 40 is loaded or unloaded. As an example, as shown in fig. 2, the cart 10 includes a first fork 11 and a second fork 12, a discharge slot is formed between the first fork 11 and the second fork 12, a moving wheel 13 is disposed at the bottoms of the first fork 11 and the second fork 12, a cargo 40 is stacked on a pallet 30, a space into which the first fork 11 and the second fork 12 extend is formed at the lower portion of the pallet 30, when loading the cargo 40, a lifting mechanism lowers the first fork 11 and the second fork 12, the first fork 11 and the second fork 12 extend into the bottom of the pallet 30 by moving the moving wheel 13, then the first fork 11 and the second fork 12 are lifted, and finally the pallet 30 loaded with the cargo 40 is placed on the cart 10, thereby completing the loading process of the cargo 40; when the cargo 40 is discharged, the lifting mechanism lowers the first fork 11 and the second fork 12, the pallet 30 contacts the ground or the stacking platform, and the first fork 11 and the second fork 12 are withdrawn by moving the moving wheel 13, thereby completing the discharging process of the trolley 10.
The protection assembly 20 is used for protecting at least the back side of the cargo 40 on the trolley 10 against toppling, in particular, the protection assembly 20 is fixed on the trolley 10 and is used for limiting the cargo 40 located on the carrying surface 101, wherein the protection assembly 20 comprises a first protection member 21 located on at least one side of the carrying surface 101 (such as the back side of the cargo 40 as shown in fig. 1) and a first telescopic member 212 fixed on the first protection member 21, and the side of the first protection member 21 facing the cargo 40 forms a first limiting surface 213 to block toppling of the cargo 40 from the first limiting surface 213.
The first telescopic member 212 has a preset telescopic direction, which is disposed parallel to the first limiting surface 213, and the telescopic direction has a component parallel to the bearing surface 101, and illustratively, the telescopic direction may be parallel to a horizontal plane, so that the telescopic direction of the first telescopic member 212 horizontally extends toward the lateral direction of the cart 10, so that the first telescopic member 212 extends from the lateral side into the back of the cargo 40 transported by the cargo handling device when another cargo handling device is unloaded, and performs anti-tilting protection on the back of the cargo 40. Referring to fig. 3, fig. 3 is a schematic diagram illustrating the cooperative unloading of two cargo handling devices according to an embodiment of the present application, in which the back side of the cargo 40 is protected by the first extending member 212 when the cargo handling devices are unloaded, so that the cargo 40 will not topple backward during the unloading and withdrawing processes of the cargo handling devices, thereby achieving the purpose of anti-toppling protection of the back side of the cargo 40.
As an example, referring to fig. 4, fig. 4 shows a schematic structural diagram of the first protection member 21 and the trolley 10 according to an embodiment of the present application, where the first protection member 21 may be a vertically disposed protection plate 211, and a side of the protection plate 211 facing the cargo 40 forms a first limiting surface 213, that is, a surface of the protection plate 211 faces a back side of the trolley 10, and the surface of the protection plate 211 resists the back side of the cargo 40 to avoid the cargo 40 from toppling during the transportation of the cargo 40. It can be appreciated that the first guard 21 may also be a guard rail composed of a plurality of guard bars 221, and the guard rail resists the back of the cargo 40, so as to avoid the cargo 40 from toppling over during the transportation of the cargo 40.
In some embodiments of the present application, for example, for the embodiment in which the first protection member 21 is the protection plate 211, as shown in fig. 4, the protection plate 211 has, on the surface of the first limiting surface 213, a avoiding groove 214 for guiding the first telescopic member 212 to extend into the space between the cargo 40 and the protection plate 211, when two cargo 40 transportation devices are arranged side by side, the back surface of the cargo 40 abuts against the first limiting surface 213 of the first protection member 21, and the first telescopic member 212 extends into the back surface of the cargo 40 through the avoiding groove 214, so that the first protection member 21 can extend into the back surface of the cargo 40 while resisting the back surface of the cargo 40, thereby performing anti-toppling protection during unloading.
Specifically, the relief groove 214 may be a groove with a square, rectangular, trapezoidal or circular cross section. As an example, referring to fig. 5, fig. 5 shows a schematic structural diagram of the first protection member 21 and the trolley 10 in the embodiment of the present application, where the avoidance groove 214 is an inverted trapezoidal groove, where the inverted trapezoidal groove refers to a bottom edge of the trapezoid being located at the first limiting surface 213, that is, the trapezoid opening faces the back of the cargo 40, and the telescopic portion of the first telescopic member 212 is engaged with the avoidance groove 214, that is, the cross section of the first telescopic member 212 is trapezoid, and the wider bottom edge of the first telescopic member faces the back of the cargo 40, so that the contact area between the first telescopic member 212 and the back of the cargo 40 can be increased, and the first telescopic member 212 can better perform anti-toppling protection on the cargo 40.
It should be noted that the first telescopic member 212 may be configured to implement a telescopic function by using various telescopic devices, such as a hydraulic telescopic rod, an air telescopic rod, an electric telescopic rod, or a screw telescopic mechanism, and as an example, the first telescopic member 212 includes a fixing portion and a telescopic portion, a cavity for accommodating the first telescopic member 212 is formed on a side surface of the protection plate 211, the fixing portion is located in the cavity of the protection plate 211, and the telescopic portion stretches from the cavity toward the outside of the protection plate 211, so that the first telescopic member 212 is completely hidden inside the first protection member 21, thereby being beneficial to the reduction of the volume of the cargo handling device.
Further, to achieve anti-toppling protection for both sides of the cargo 40 on the cart 10, in some embodiments of the present application, the protection assembly 20 may further include second protection members 22 disposed on both sides of the cart 10, and during the transportation of the cargo 40 by the cart 10, the cargo 40 is prevented from toppling to the left and right sides due to the protection of the second protection members 22 on both sides, so as to further reduce the risk of toppling of the cargo 40 transported by the cargo handling device.
Specifically, the second protection member 22 may be a protection plate vertically disposed on the trolley 10, where the surface of the protection plate faces the side surface of the trolley 10, and the two sides of the cargo 40 are resisted by the plate surface of the protection plate, so as to avoid the cargo 40 from toppling during the cargo 40 transportation process. It will be appreciated that the second guard 22 may also be a guard rail comprising a plurality of guard bars 221, which may be used to block the sides of the cargo 40, thereby avoiding the cargo 40 from being located on both sides during transportation of the cargo 40.
In order that the cargo handling device may be normally withdrawn by the second guard 22 after the first guard 212 extends into the back side of the cargo 40, in some embodiments of the application, the second guard 22 has a transverse channel 222 through which the first guard 212 passes, for example, a guard rail in which the second guard 22 is comprised of a plurality of guard bars 221, and the transverse channel 222 through which the first guard 212 passes is formed between adjacent guard bars 221. In some embodiments, to achieve the fixation of the second guard 22, the second guard 22 is connected to the first guard 21, e.g., the guard bar 221 is connected to the first guard 21 adjacent to one end of the first guard 21. It will be appreciated that when the second guard 22 is a guard plate, the second guard 22 may be provided with a plurality of transverse through slots 222 to achieve the purpose that the first telescopic member 212 may pass through the second guard 22.
In some embodiments of the present application, a plurality of guard bars 221 may be disposed between adjacent lateral through grooves 222, for example, as shown in fig. 1, two guard bars 221 are disposed between adjacent lateral through grooves 222, and further, since the first guard 21 does not pass through the two guard bars 221, the two guard bars 221 may be connected to each other, so that the structural strength of the guard bars 221 is further enhanced, and the situation that the guard bars 221 cannot bear the acting force generated by dumping the cargo 40 is avoided.
Further, on the basis of preventing the cargo 40 from toppling on the back side and the left and right sides in the above embodiment, in order to avoid the cargo 40 from toppling forward during the transportation process, as shown in fig. 4 or fig. 5, the trolley 10 has a bearing surface 101 inclined to the first protection member 21, and because the bearing surface 101 has a backward inclined angle, when the cargo 40 is prevented from being on the bearing surface 101, the cargo 40 slides backward and abuts against the first protection member 21, thereby avoiding the phenomenon that the cargo 40 topples forward. The bearing surface 101 may have an angle of 5 ° with respect to the horizontal plane, but is not limited thereto, and may be, for example, 5 ° to 10 °.
It should be noted that the foregoing description of the cargo handling device is only for clarity of the verification process of the present application, and those skilled in the art may make equivalent modifications to the device described above under the guidance of the present application, for example, the cargo handling device may further include a communication device to exchange information with an electromagnetic track on the ground to obtain movement, loading or unloading instructions.
In order to better implement the cargo handling device, the application further provides a unloading method applied to a cargo handling system, based on the cargo handling device provided in the embodiment of the application, the cargo handling system includes at least two cargo handling devices according to any of the embodiments described above, referring to fig. 6, fig. 6 shows a schematic flow chart of the unloading method in the embodiment of the application, where the unloading method includes:
Step S601, controlling the first cargo handling device and the second cargo handling device to reach a destination and arrange side by side, wherein the first cargo handling device and the second cargo handling device carry cargos 40 to be placed;
The destination refers to a discharge location of the goods 40, for example, in the case of an express delivery car as shown in fig. 7, the destination may be a boxcar, a designated storage location, etc., where the goods 40 to be placed may be stacked express packages. It will be appreciated that the loading of the load 40 onto the pallet 10 is completed prior to unloading, and in particular, the loading of the load 40 may be accomplished by lowering the first fork 11 and the second fork 12 via the lifting mechanism, then extending the first fork 11 and the second fork 12 into the bottom of the pallet 30, and finally completing the load loading process after lifting.
In some embodiments of the present application, the first and second cargo handling devices are controlled to reach the destination side by an electromagnetic or optical automatic guiding device, such as an electromagnetic rail attached to the floor, and the first and second cargo handling devices move and act according to the information brought by the electromagnetic rail. As an example, the second cargo handling device may be controlled to move to the destination and then the first cargo handling device may be controlled to move to the destination and side by side with the second cargo handling device; as another example, the first and second cargo handling devices may also be controlled to move side-by-side and to the destination at the same time.
Step 602, controlling the first telescopic member 212 of the first cargo handling device to extend towards the second cargo handling device, wherein the first telescopic member 212 extends into the back surface of the cargo 40 carried by the second cargo handling device and performs anti-tilting protection on the back surface of the cargo 40;
after the first and second load handling devices reach the destination and are aligned side by side, the first telescoping member 212 of the first load handling device may be controlled to extend toward the second load handling device. As an example, when the first telescopic member 212 is a hydraulic telescopic rod, the pump may be controlled to supply the hydraulic telescopic rod with the liquid, thereby driving the first telescopic member 212 to expand and contract. It can be appreciated that the timing of the expansion and contraction of the first expansion and contraction member 212 can be determined by the sensing device, for example, when the first and second cargo handling devices are moved to the destination, the electromagnetic track at the location corresponding to the ground indicates the expansion and contraction of the first expansion and contraction member 212, and for example, when the laser correlation sensors respectively provided for the first and second cargo handling devices are aligned, the expansion and contraction of the first expansion and contraction member 212 can be controlled.
In step S603, the first cargo handling device and/or the second cargo handling device are controlled to move, so that the second cargo handling device completes the unloading process.
After the first telescoping member 212 of the first cargo handling device is extended toward the second cargo handling device, it is determined to begin the unloading process of the second cargo handling device. Specifically, the unloading process for implementing the second cargo handling device may include:
Controlling the first cargo handling device to move along a first direction, wherein the first direction is a direction in which the back surface of the cargo 40 points to the front surface of the cargo 40; and/or
The second cargo handling device is controlled to move in a second direction, the second direction being a direction in which the front of the cargo 40 is directed toward the back of the cargo 40.
As shown in fig. 8, taking the movement of the second cargo handling device as an example, the first cargo handling device is fixed, the second cargo handling device lifting mechanism lowers the first fork 11 and the second fork 12, the second cargo handling device moves backward after the pallet 30 of the cargo 40 to be stacked falls to the ground, and the first fork 11 and the second fork 12 are pulled out of the pallet 30, thereby completing the unloading process.
As another example, as shown in fig. 9, the first cargo handling device is moved and the second cargo handling device is stationary, pushing the cargo 40 down the cart 10 of the second cargo handling device by the first telescoping member 212 of the first cargo handling device. As yet another example, as shown in fig. 10, it is also possible that the first and second cargo handling devices are simultaneously moved in opposite directions, thereby pushing the cargo 40 down the cart 10 of the second cargo handling device by the relative movement.
After completing the unloading process of the second cargo handling device, to facilitate the anti-toppling unloading process of the first cargo handling device, in some embodiments of the application, the method further comprises:
Controlling the first and second cargo handling devices to be arranged side by side again;
controlling the first telescopic member 212 of the second cargo handling device to extend towards the first cargo handling device, wherein the first telescopic member 212 extends into the back surface of the cargo 40 carried by the first cargo handling device and performs anti-tilting protection on the back surface of the cargo 40;
The first and/or second load handling devices are controlled to move such that the first load handling device completes the discharge process.
Finally, the unloading process is finished through the cooperation process of the first cargo handling device and the second cargo handling device, so that the two cargo handling devices can normally leave after unloading, and the phenomenon that the cargo handling devices leave the cargo 40 to fall down and damage in the process of transferring and unloading the cargo 40 is effectively avoided.
In order to better implement the cargo handling device according to the embodiments of the present application, there is further provided a cargo handling system, above the cargo handling device, the cargo handling system including a controller, a bus, and the cargo handling device according to any of the above embodiments, wherein:
The controller is a control center of the cargo handling system, and is connected to various parts of the whole system by various interfaces and lines, and performs various functions of the device by running or executing stored programs, thereby performing overall control of the system and realizing the cargo 40 handling process. Optionally, the controller may include one or more processing cores; the controller may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose controllers, digital signal controllers (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, employing Programmable logic controller (PLC controller), or the like.
Buses are a communication network of the cargo handling system that allow communication between portions of the system to facilitate the transfer of information and/or data. Optionally, the industrial communication network may include wired communications, such as field bus, industrial ethernet, industrial internet (TSN), etc., and may also include wireless communications, such as narrowband internet of things (Narrow Band Internet of Things, NB-IoT), etc.
The cargo handling device is a device that performs the handling of the cargo 40, and is connected to the controller via a bus to receive a control command from the controller. Specifically, the cargo handling device comprises a trolley 10, wherein a moving wheel 13 is arranged below the trolley 10, and the trolley 10 is used for carrying cargoes 40 to be transported; the protection assembly 20, the protection assembly 20 includes a first protection piece 21 surrounding the back side of the trolley 10, a telescopic first telescopic piece 212 is arranged on the first protection piece 21, and the first telescopic piece 212 stretches towards the side surface of the trolley 10, so that the first telescopic piece 212 stretches into the back surface of the goods 40 when another goods carrying device is unloaded, and the back surface of the goods 40 is protected from tilting.
It is noted that the above description of the cargo handling system is only for clarity of illustration of the verification process of the present application, and those skilled in the art may make equivalent modifications to the system described above under the guidance of the present application, for example, the cargo handling system may further include a display to display the location, amount of electricity, load capacity, etc. of each cargo handling device.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and the portions of one embodiment that are not described in detail in the foregoing embodiments may be referred to in the foregoing detailed description of other embodiments, which are not described herein again.
While the basic concepts have been described above, it will be apparent to those skilled in the art that the foregoing detailed disclosure is by way of example only and is not intended to be limiting. Although not explicitly described herein, various modifications, improvements and adaptations of the application may occur to one skilled in the art. Such modifications, improvements, and modifications are intended to be suggested within the present disclosure, and therefore, such modifications, improvements, and adaptations are intended to be within the spirit and scope of the exemplary embodiments of the present disclosure.
Meanwhile, the present application uses specific words to describe embodiments of the present application. Reference to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic is associated with at least one embodiment of the application. Thus, it should be emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various positions in this specification are not necessarily referring to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of the application may be combined as suitable.
It should be noted that in the foregoing description of embodiments of the application, various features are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure aiding in the understanding of one or more of the embodiments. This method of disclosure does not imply that the subject application requires more features than are set forth in the claims. Indeed, less than all of the features of a single embodiment disclosed above.
The foregoing has outlined some of the more detailed description of a cargo handling device, cargo handling system, and method of unloading according to embodiments of the present application, wherein specific examples are provided herein to illustrate the principles and embodiments of the present application, and wherein the above examples are provided to assist in understanding the method and core concepts of the present application; meanwhile, as those skilled in the art will vary in the specific embodiments and application scope according to the ideas of the present application, the present description should not be construed as limiting the present application in summary.
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