CN117622742A - Cargo handling equipment and double-bin robot - Google Patents

Abstract

The invention discloses a cargo handling device and a double-bin robot, wherein the cargo handling device comprises a handling mechanism and a storage mechanism; the carrying mechanism comprises a goods taking device and a first conveying device, wherein the goods taking device is used for carrying goods so that the goods can be transferred in a translation mode between the first conveying device and a goods shelf; the transmission direction of the first conveying device is intersected with the moving direction of the goods taking device; the storage mechanism comprises a first storage rack and a second storage rack, wherein the first storage rack and the second storage rack are respectively provided with a storage level, the storage levels are used for storing goods, and the first storage rack and the second storage rack are distributed on the same side or two sides of the first conveying device along the conveying direction of the first conveying device. The problem that the transport efficiency of cargo handling equipment is lower can be solved to above-mentioned scheme.

Description

Cargo handling equipment and double-bin robot

Technical Field

The invention relates to the technical field of warehouse logistics, in particular to cargo handling equipment and a double-bin robot.

Background

The original warehouse logistics work needs to carry goods manually, which causes great labor intensity. Therefore, the related art adopts the cargo handling equipment to carry cargoes so as to improve the storage efficiency.

In the related art, a cargo handling apparatus includes a handling mechanism and a storage mechanism. When carrying goods, remove goods handling equipment to the position that goods shelves are located, transport the goods on the goods shelves to storage mechanism through transport mechanism on, then move to the position of wanting to carry, transport mechanism unloads the goods on the storage mechanism to the goods shelves of appointed position again.

However, the storage mechanism in the related art has a single position, and the number of stored goods is small, thus making the handling efficiency of the goods handling apparatus low.

Disclosure of Invention

The invention discloses cargo handling equipment and a double-bin robot, which are used for solving the problem of lower handling efficiency of the cargo handling equipment.

In order to solve the problems, the invention adopts the following technical scheme:

a cargo handling device comprising:

a handling mechanism comprising a pick device for handling a load such that the load is translatable between the first conveyor and a shelf, and a first conveyor; the transmission direction of the first conveying device is intersected with the moving direction of the goods taking device;

the storage mechanism comprises a first storage rack and a second storage rack, wherein the first storage rack and the second storage rack are respectively provided with a storage level used for storing goods, and the first storage rack and the second storage rack are distributed on the same side or two sides of the first conveying device along the conveying direction of the first conveying device.

Optionally, the storage level is correspondingly provided with a second conveying device, and the conveying direction of the first conveying device is the same as that of the second conveying device; the first conveyor cooperates with the second conveyor such that the cargo can be transferred translationally between the first conveyor and the storage level.

Optionally, the cargo handling device further comprises a lifting mechanism, wherein the lifting mechanism is connected with the handling mechanism, and the lifting mechanism is used for lifting the handling mechanism.

Optionally, the first storage rack and the second storage rack each include a plurality of storage levels, the first storage rack and the plurality of storage levels in the second storage rack are all arranged at intervals along a vertical direction, each storage level is correspondingly provided with one second conveying device, and when the goods handling device takes and puts goods, the first conveying device is butted with the second conveying device corresponding to one storage level.

Optionally, the storage positions of the same layer of the first storage rack and the second storage rack are staggered.

Optionally, the cargo handling device further comprises a travelling mechanism and a base, wherein the handling mechanism and the storage mechanism are both arranged on the base; the base is arranged on the travelling mechanism, and the travelling mechanism drives the base to move.

Optionally, the cargo handling device further comprises a track and a base, and the handling mechanism and the storage mechanism are both arranged on the base; the base is in sliding fit with the rail, and the base can slide along the extending direction of the rail.

Optionally, the first conveying device comprises a first transmission part and a first transmission part, and the first transmission part is connected with the first transmission part; the second conveying device comprises a third transmission part and a second transmission part, and the third transmission part is matched with the second transmission part;

the first conveying device further comprises a driving source and a second transmission part; the driving source is connected with the first transmission part through the first transmission part, and the first transmission part is matched with the second transmission part; the second transmission part can be matched with the third transmission part, so that the second transmission part drives the second transmission part through the third transmission part; or, the second conveying device further comprises a driving source and a second transmission part, wherein the driving source is connected with the second transmission part through the third transmission part, and the second transmission part is matched with the first transmission part; the second transmission part can be matched with the first transmission part, so that the second transmission part drives the first transmission part through the first transmission part.

Optionally, the first conveying part includes a first roller set and a second roller set, the first roller set and the second roller set each include a plurality of rollers that are arranged at intervals along the conveying direction of the first conveying device and are parallel to each other, and the goods taking device is located between the first roller set and the second roller set.

Optionally, the extension direction of the rotation axes of the rollers in the first roller set and the second roller set is parallel to the conveying direction of the pick device.

Optionally, the first conveying device further includes a third roller set and a lifting mechanism, the third roller set includes a plurality of rollers that are arranged at intervals along a moving direction of the pick-up device and are parallel to each other, the first transmission portion is located between two adjacent rollers of the third roller set, the lifting mechanism is connected with the first transmission portion, and the lifting mechanism is used for lifting the first transmission portion, so that a surface of the first transmission portion is higher than or lower than a surface of a roller in the third roller set.

Optionally, the first storage rack and the second storage rack each include a support main body, the second transmission part includes a transmission belt, a first transmission shaft and a second transmission shaft, the first transmission shaft and the second transmission shaft are both in rotational connection with the support main body, the first transmission shaft is parallel to the second transmission shaft, the transmission belt is sleeved on the first transmission shaft and the second transmission shaft, the third transmission part is in rotational connection with the support main body, and the third transmission part is in rotational connection with the first transmission shaft.

Optionally, the goods taking part can adopt at least one mode of hanging buckle, claw and magnetic attraction to clamp goods; or, get goods device and include get goods portion, first drive assembly and second drive assembly, get goods portion set up in first drive assembly, first drive assembly drive get goods portion and remove, first drive assembly with second drive assembly is connected, second drive assembly drive first drive assembly removes, first drive assembly's direction of movement with get goods portion's direction of movement is the same.

Optionally, the goods taking part comprises a main body part and an adsorption part, the adsorption part is arranged on the main body part, the main body part is connected with the first driving assembly, the main body part is provided with a ventilation channel, the adsorption part is provided with a first through hole, and the ventilation channel is communicated with the first through hole.

Optionally, the first driving assembly includes a first driving motor, a first screw rod and a first guide rail, the first driving motor is fixed on the first guide rail, the first screw rod is rotationally connected with the first guide rail, the first screw rod is parallel to the extending direction of the first guide rail, the goods taking part slides along the extending direction of the first guide rail relative to the first guide rail, the goods taking part is in transmission connection with the first screw rod, the first driving motor is connected with the first screw rod, and the first driving motor drives the goods taking part to move through the first screw rod;

The second driving assembly comprises a second driving motor, a second screw rod and a second guide rail, wherein the second driving motor is fixed on the second guide rail, the second screw rod is rotationally connected with the second guide rail, the second screw rod is parallel to the extending direction of the second guide rail, the first guide rail slides relative to the second guide rail along the extending direction of the second guide rail, the extending direction of the first guide rail is parallel to the extending direction of the second guide rail, the first guide rail is in transmission connection with the second screw rod, the second driving motor is connected with the second screw rod, and the second driving motor drives the first guide rail to move through the second screw rod.

Optionally, the handling mechanism includes the installing support, get goods device with a conveyor all set up in the installing support, elevating system with the installing support is connected, elevating system passes through the installing support drives get goods device with a conveyor goes up and down, the installing support is provided with first guide, first storage part and/or second storage rack is provided with second guide, first guide with second guide is followed the lift direction sliding fit of installing support.

Optionally, the storage mechanism further includes a position detecting member, the storage level is provided with the position detecting member, and the position detecting member is configured to detect position information of the goods stored on the storage level, so as to detect whether the goods deviate from a preset position on the storage level.

Optionally, the position detecting member includes a first position detecting member and a second position detecting member, where the first position detecting member and the second position detecting member are arranged at intervals along the conveying direction of the first conveying device.

The double-bin robot comprises the cargo handling equipment, and cargoes handled by the double-bin robot are bins.

The technical scheme adopted by the invention can achieve the following beneficial effects:

in the cargo handling equipment disclosed by the invention, the first material storage rack and the second material storage rack are distributed on two sides of the first conveying device along the conveying direction of the first conveying device, and the storage mechanism increases the storage level of the storage mechanism, so that the storage and handling capacity of the cargo handling equipment are further improved, and the handling efficiency is further improved. In addition, first storage frame and second storage frame distribute in the both sides of first conveyor along a conveyor's direction of transmission, and first conveying mechanism can be transmitted towards both sides, can reduce the transmission path of goods, further improves cargo handling equipment's transport efficiency.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:

fig. 1 to 3 are schematic structural views of a cargo handling device according to an embodiment of the present invention;

FIG. 4 is a top view of a cargo handling device according to an embodiment of the present disclosure;

FIGS. 5 and 6 are schematic views showing a handling mechanism in a cargo handling apparatus according to an embodiment of the present invention;

fig. 7 to 9 are schematic structural views of a pick-up device in a cargo handling apparatus according to an embodiment of the present invention;

fig. 10 is a schematic structural view of a storage mechanism in a cargo handling device according to an embodiment of the present invention.

Reference numerals illustrate:

100-handling mechanism, 110-pick device, 111-pick part, 1111-main part, 1112-suction device, 112-first drive assembly, 1121-first drive motor, 1122-first screw, 1123-first rail, 113-second drive assembly, 1131-second drive motor, 1132-second screw, 1133-second rail, 120-first conveyor, 121-first drive part, 122-second drive part, 123-first transfer part, 1231-first cylinder set, 1232-second cylinder set, 130-mounting bracket, 200-storage mechanism, 210-storage level, 220-second conveyor, 221-third drive part, 222-second transfer part, 2221-conveyor belt, 2222-first drive shaft, 2223-second drive shaft, 230-bracket main body, 201-first storage rack, 202-second storage rack, 400-storage rack, 500-base.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments of the present invention and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The technical scheme disclosed by each embodiment of the invention is described in detail below with reference to the accompanying drawings.

As shown in fig. 1 to 10, the embodiment of the invention discloses a cargo handling device, which can replace manual handling of cargoes, so that the manual labor intensity can be reduced, and the efficiency of storage materials can be improved. The disclosed cargo handling device includes a handling mechanism 100 and a storage mechanism 200.

The handling mechanism 100 comprises a pick device 110 and a first conveyor 120, the pick device 110 being configured to handle the cargo so that the cargo can be transferred translationally between the first conveyor 120 and the pallet 400. The conveying direction of the first conveying device 120 intersects the moving direction of the pick device 110, and the direction in which the first conveying device 120 conveys the goods and the direction in which the pick device 110 conveys the goods are in the intersecting two directions. The cargo handling devices described above are associated with the shelves 400.

The storage mechanism 200 has a storage level 210, the storage level 210 being used for storing goods. The storage mechanism 200 is a mechanism by which the cargo handling apparatus itself stores the cargo, and the cargo handling apparatus takes out the cargo on the shelf 400, stores the cargo in the storage mechanism 200, and then moves to the next shelf 400, and places the cargo stored in the storage mechanism 200 in the shelf 400, thereby achieving the handling of the cargo.

The storage mechanism 200 includes a first storage rack 201 and a second storage rack 202, where the first storage rack 201 and the second storage rack 202 each have a storage level 210, and the first storage rack 201 and the second storage rack 202 are distributed on the same side or both sides of the first conveying device 120 along the conveying direction of the first conveying device 120.

In particular operations, the load handling apparatus includes both pick and place operations, where pick refers to the transfer of loads from the pallet 400 to the storage mechanism 200 of the load handling apparatus. The loading process refers to a process in which the goods are transferred onto the shelves 400 by the storage mechanism 200 of the goods handling apparatus.

The cargo handling device may move the cargo handling device to a first target location corresponding to the shelf 400 prior to picking and placing the cargo. The first target location herein refers to a location where the cargo handling device takes or places a cargo.

During the picking process, the picking device 110 is controlled to pick and move the goods from the pallet 400 to the second target position of the first conveyor 120. Alternatively, the second target location may be a middle location of the first conveyor 120, although other locations of the first conveyor 120 are also possible, and are not limited herein.

The first conveyor 120 is activated to transfer the cargo from the second target location of the first conveyor 120 to the storage location 210 of the storage mechanism 200.

During the loading process, the cargo is removed from the storage location 210 and placed on the first conveyor 120, and the first conveyor 120 is activated to deliver the cargo to the second target location of the first conveyor 120. Here, the goods may be pushed into the edge position of the first conveying device 120 by a manual force or other external force (such as a mechanical structure such as a mechanical arm), when the goods contact with the first conveying device 120, the first conveying device 120 may drive the goods to move, so as to transfer the goods onto the first conveying device 120, and the first conveying device 120 continues to move to convey the goods to the second target position. The pick device 110 is then controlled to pick from the second target location and deliver the goods to the shelves for storage.

In the embodiment disclosed in the application, the first storage rack 201 and the second storage rack 202 are distributed on two sides or the same side of the first conveying device 120 along the conveying direction of the first conveying device 120, and the storage mechanism 200 is of a double-rack structure, so that more storage materials 210 can be expanded, thereby further improving the storage and conveying capacity of the cargo conveying device and further improving the conveying efficiency.

In addition, the first storage rack 201 and the second storage rack 202 are distributed on two sides of the first conveying device 120 along the conveying direction of the first conveying device 120, and the first conveying device 120 can convey towards two sides, so that the conveying path of cargoes can be reduced, and the conveying efficiency of the cargo conveying device is further improved.

In the above embodiment, as shown in fig. 2 and 3, when the first and second racks 201 and 202 are along the same side of the first conveyor 120, the first conveyor 120 may perform cargo transfer toward the same side. When the first storage rack 201 and the second storage rack 202 are arranged along the same side of the first conveying device 120, as shown in fig. 2, the first arrangement is that the first storage rack 201 is located between the handling mechanism 100 and the second storage rack 202, that is, the goods are transferred to the first storage rack 201 first, and then the goods on the first storage rack 201 need to be transferred back to the second storage rack 202 for storage. At this time, each time the second magazine 202 stores the cargo at the same level of the storage level 210 as the first magazine 201 when the cargo is transferred, the storage level 210 of the second magazine 202 is stored first, and the storage level 210 on the first magazine 201 is stored. However, when the goods are discharged from the storage mechanism 200 in this arrangement, in the case where the goods are stored in the first storage rack 201, the goods on the first storage rack 201 need to be discharged first, and then the goods on the second storage rack 202 need to be discharged.

The second arrangement is that the first storage rack 201 and the second storage rack 202 face the first conveying device 120 side by side, at this time, the first storage rack 201 and the second storage rack 202 can both realize the cargo transmission with the first conveying device 120, and when transporting cargo, the cargo taking device 110 has two first target positions, and the two first target positions respectively correspond to the first storage rack 201 and the second storage rack 202. In the second arrangement, the first storage rack 201 and the second storage rack 202 may be independently performed during the process of placing and taking.

In another arrangement, as shown in fig. 3, the first conveying device 110 may move along the arrangement direction of the first storage rack 201 and the second storage rack 202, so that the first conveying device is abutted with one of the storage racks.

In the above embodiment, the handling mechanism 100 may rotate a certain angle and then translate and transfer the goods to the storage level 210, or the handling mechanism 100 may also use a translational and transfer mode to transfer the goods to the storage level, that is, the handling mechanism does not rotate the goods.

For example, the pickup device 110 rotates the cargo by 90 ° after picking up the cargo, and then conveys the cargo by the first conveying device 120. Or the pick device may not rotate after picking, and the first conveyor 120 may be used to convey the goods therebetween.

In another alternative embodiment, the storage level 210 may be correspondingly provided with the second conveying device 220, and the conveying direction of the first conveying device 120 may be the same as the conveying direction of the second conveying device 220. The first conveyor 120 cooperates with the second conveyor 220 such that cargo can be transferred translationally between the first conveyor 120 and the storage level 210.

During the picking process, the picking device 110 is controlled to pick and move the goods from the pallet 400 to the second target position of the first conveyor 120. The first conveyor 120 and the second conveyor 220 are activated to convey the cargo from the second target location of the first conveyor 120 to the edge of the second conveyor 220, a portion of the cargo may overlap the second conveyor 220, the second conveyor 220 receives the cargo, at which time the cargo is transferred from the first conveyor 120 to the second conveyor 220, and the second conveyor 220 continues to move and convey the cargo to the third target location for storage on the storage level 210. Alternatively, the third target location may be a mid-position of the second conveyor 220. Of course, other locations of the second conveyor 220 are possible and are not limited herein.

At this time, the cargo is transferred from the first transfer device 120 to the second transfer device 220, and then the second transfer device 220 transfers the cargo to the third target location for storage. The second conveying device 220 is used for both receiving the goods conveyed by the conveying mechanism 100 by the storage mechanism 200 and conveying the goods to the conveying mechanism 100, and for supporting the goods, that is, the goods are placed on the second conveying device 220 when they are stored in the storage level 210 of the storage mechanism 200, that is, the storage mechanism 200 itself has a conveying function.

In the process of placing the goods, the first conveying device 120 and the second conveying device 220 are started, the goods are conveyed to the edge of the first conveying device from the third target position of the second conveying device 220, a part of the goods can be overlapped on the first conveying device 120, at the moment, the goods are transferred to the first conveying device 120 from the second conveying device 220, the first conveying device 120 continues to move, and the goods are conveyed to the second target position. At this time, since the storage mechanism 200 itself has a transfer function, the second conveyor 220 is reversed to convey the goods to the first conveyor 120 during the loading process, and the first conveyor 120 is also reversed to receive the goods and convey the goods to the second target location, that is, the location where the pick-up device 110 can grasp the goods. The above-described reverse rotation of the first conveyor 120 and the second conveyor 220 is described with respect to the rotational direction of the first conveyor 120 and the second conveyor 220 during the picking process of the same side of the magazine.

In the embodiment of the application, the storage mechanism has the transmission capability, so that manual intervention transmission is not needed, and the transmission efficiency of the carrying equipment is improved. In addition, the pick device 110 is responsible for grabbing the cargo, and the first and second delivery devices 120 and 220 are responsible for translational transfer of the cargo, so that the cargo does not need to rotate during picking and placing, so that the cargo does not need to avoid the constituent structure of the cargo handling device, and the volume of the cargo handling device is small. Meanwhile, as the size of the cargo handling equipment is smaller, the roadway space required for transporting cargoes is smaller, so that the space of the roadway of the warehousing system can be reduced, the space utilization rate of the warehousing system is improved, and the warehousing cost is reduced.

To increase the storage capacity, the shelves 400 are typically arranged with a plurality of storage locations in a vertical direction. In this embodiment, the picking and placing positions of the transporting mechanism 100 are fixed, the transporting mechanism 100 is opposite to the material inlet and outlet of the shelf 400, and the material inlet and outlet may be one storage position of the shelf 400. In the process of picking up the goods, the goods can be carried to the position of the material inlet and outlet of the goods shelf 400 by manual or other external force, then the carrying mechanism 100 picks up the goods, and after the carrying mechanism 100 picks up the goods, the next goods is carried to the material inlet and outlet by manual or other external force. During the loading process, the goods loaded out of the loading and unloading port are sequentially carried to the storage position of the goods shelf 400 by manual or other external force. In the above embodiment, the auxiliary picking and placing are performed manually by external force, so that the operation difficulty is high.

Based on this, in another alternative embodiment, the cargo handling device may further include a lift mechanism coupled to the handling mechanism 100, which may be used to lift the handling mechanism 100.

In the above embodiment, in the process of picking up the goods, the carrying mechanism 100 is lifted to the storage location where the goods are to be picked up by the lifting mechanism, then the goods on the storage location are picked up by the picking up device 110, then the carrying mechanism 100 is lifted to the location corresponding to the storage location 210 by the lifting mechanism, and then the goods are transported from the second target location to the third target location.

During the process of placing goods, firstly, the goods on the storage level 210 are transported from the third target position to the second target position, and then the carrying mechanism 100 is lifted to a position corresponding to one of the storage levels by the lifting mechanism. And then the goods are moved from the second target position to the storage position by the goods taking device 110.

In this scheme, elevating system can go up and down to the position of transport mechanism 100 to can remove transport mechanism 100 to the position that corresponds with the storage position of difference, and then reduce the degree of difficulty of goods transport.

Alternatively, the lifting mechanism may be a chain block (the chain block may also be referred to as a chain block, a hand hoist, a jin of a chain hoist), or the lifting mechanism may be a combined structure of a pulley and a chain, although the lifting mechanism may be other structures, which are not limited herein.

To further increase the storage capacity, in another alternative embodiment, each of the first and second storage racks 201 and 202 may include a plurality of storage levels 210, and the plurality of storage levels 210 in each of the first and second storage racks 201 and 202 may be arranged at intervals in the vertical direction. Each storage level 210 is provided with a respective second conveyor 220. When the goods handling device takes and places goods, the first conveying device 120 is abutted with the second conveying device 220 corresponding to one of the storage positions 210. The abutting of the first conveying device 120 with the second conveying device 220 corresponding to one of the storage levels 210 is understood to mean that the first conveying device 120 and the second conveying device 220 corresponding to one of the storage levels 210 are at the same height, and the first conveying device 120 and the second conveying device 220 can be used for conveying goods.

In this scheme, the quantity of storage level 210 can be a plurality of, has consequently further increased the capacity of cargo handling equipment to make cargo handling equipment can carry more goods simultaneously, improved cargo handling equipment's transport efficiency. In addition, the storage level is expanded along the height direction of the cargo handling equipment, so that the sizes of the cargo handling equipment in the length direction and the width direction are reduced, the roadway space required by the cargo handling equipment is smaller, and the roadway space of a warehouse system is further reduced.

In the above embodiment, in the process of picking, after the picking device 110 picks up the goods, the carrying mechanism 100 is lifted to find the storage level 210 where the goods are stored after the goods are moved from the shelf 400 to the second target position of the first conveying device 120, and the goods are stored in the storage level 210. In the process of placing goods, the lifting and transporting mechanism 100 finds the storage level 210 to be placed, and transports the goods in the storage level 210 into the first transporting device 120, and then lifts and lowers the transporting mechanism 100 to the position where the goods are to be stored on the shelf 400.

In the above embodiment, the height of the storage level 210 of the same layer of the first storage rack 201 and the second storage rack 202 may be the same, and in this case, if a malfunction occurs, the goods that should be originally transferred into the first storage rack 201 are easily transferred into the second storage rack 202, or the goods that should be originally transferred into the second storage rack 202 are also easily transferred into the first storage rack 201, which causes disorder in the storage of the goods.

To this end, in an alternative embodiment, the storage levels 210 of the same layer of the first and second storage racks 201, 202 are staggered. Optionally, one of the storage levels 210 of the first magazine 201 is at a different height than the storage level 210 of the second magazine 202 corresponding thereto (e.g., of the same tier).

In this scheme, when misoperation occurs, since the storage levels 210 of the same layer of the first storage rack 201 and the second storage rack 202 are staggered, when the goods which should be originally transferred into the first storage rack 201 are transferred to the second storage rack 202, the goods are blocked by the second storage rack 202 and cannot enter the second storage rack 202, so that the safety and reliability of the goods transfer are improved.

In an alternative embodiment, the cargo handling device may further include a walking mechanism, and both the handling mechanism 100 and the storage mechanism 200 may be provided on the base. The base 500 may be disposed on a travelling mechanism, and the travelling mechanism may drive the base 500 to move. In this scheme, running gear passes through the base and drives transport mechanism and storage mechanism and remove to the goods handling equipment of being convenient for carries out the transport of goods, reduces the manual work to the intervention of goods transport, thereby reduces operating personnel's intensity of labour.

At this time, the travelling mechanism may be an automatic guided vehicle (Automated Guided Vehicle, AGV), or may be a universal wheel mechanism, although the travelling mechanism may be other structures, which are not limited herein.

In another alternative embodiment, the cargo handling device may further include a track and a base 500, with both the handling mechanism 100 and the storage mechanism 200 being disposed on the base 500; the base 500 is slidably engaged with the rail, and the base 500 is slidably movable along the extending direction of the rail. In this scheme, the track can be laid on the ground in tunnel, and the cargo handling equipment removes along the extending direction of track for cargo handling equipment is difficult to deviate its route of travel in the in-process that removes.

In the above embodiment, the first conveyor 120 and the second conveyor 220 may be separately driven, and in this case, the first conveyor 120 and the second conveyor 220 may have independent driving sources, thus causing greater energy consumption of the cargo handling device.

Based on this, in another alternative embodiment, the first conveying device 120 may include a first transmission part 121 and a first transmission part 123, and the first transmission part 121 is connected with the first transmission part 123. The first conveying part 123 is used for carrying and conveying goods. The first transmission part 121 is used for driving the first transmission part. The second conveying device 220 may include a third transmission part 221 and a second transmission part 222, and the third transmission part 221 is matched with the second transmission part 222. The second transmission part 222 is used for carrying and transmitting goods, and the third transmission part 221 is used for driving the second transmission part 222.

The first conveying device 120 may further include a driving source and a second transmission part 122, the driving source may be connected to the first transmission part 123 through the first transmission part 121, and the first transmission part 121 is matched with the second transmission part 122. The second transmission part 122 may cooperate with the third transmission part 221 such that the second transmission part 122 drives the second transmission part 222 through the third transmission part 221.

The transmission path of the driving source is two paths, wherein one path is that the driving source drives the first transmission part 123 to rotate through the first transmission part 121, and the other path is that the driving source drives the second transmission part 222 to rotate through the first transmission part 121, the second transmission part 122 and the third transmission part 221. At this time, the driving source can simultaneously drive the first and second transmission parts 123 and 222 to transmit the goods, and thus the first and second conveying devices 120 and 220 can share the driving source, thereby simplifying the structure and operation of the goods handling device and reducing the energy consumption of the goods handling device.

Alternatively, in another alternative embodiment, the second conveying device 220 may further include a driving source and a second transmission part 122, and the driving source may be connected to the second transmission part 222 through a third transmission part 221. The third transmission part 221 is connected to the second transmission part 122, and the second transmission part 122 may be matched with the first transmission part 121, so that the second transmission part 122 drives the first transmission part 222 through the first transmission part 121. The effect achieved by this scheme is the same as that achieved by the above scheme, and will not be described in detail herein.

Alternatively, the first transmission part 123 may be a conveyor belt, a chain, etc., and the first transmission part 121 may include a driving wheel and a driven wheel, on which the conveyor belt or the chain may be wound, and the driving source drives the driving wheel to rotate, and the driving wheel drives the driven wheel to rotate through the conveyor belt or the chain.

The second transmission portion 122 and the third transmission portion 221 may be gear sets, and the second transmission portion 222 may be a transmission belt mechanism, a chain transmission mechanism, or a roller transmission mechanism, which is not limited herein. The second transmission part 122 is coaxially arranged with the driving wheel, the driving wheel drives the second transmission part 122 to rotate, and the second transmission part 122 drives the third transmission part 221 to rotate, so that the second transmission part 222 is driven to rotate. The second transmission part 122 and the third transmission part 221 may also be a combined structure of a gear set and a sheave, and the sheave on the second transmission part 122 is matched with the sheave on the third transmission part 221. Of course, the first conveying device 120 and the second conveying device 220 may have other structures, which are not limited herein.

When the first storage rack 201 and the second storage rack 202 are on the same side and are in the first arrangement, the first conveying device 120 can drive the second conveying device 220 of the first storage rack 201 to move, and the second conveying device 220 of the second storage rack 202 can drive the second conveying device 220 of the first storage rack 201.

In another alternative embodiment, the first conveying device 120 further includes a third roller set and a lifting mechanism, where the third roller set may include a plurality of rollers arranged at intervals along the moving direction of the pick device 110 and parallel to each other, and the first conveying portion 123 is located between two adjacent rollers of the third roller set. A lifting mechanism is connected to the first transfer part 123, and the lifting mechanism may be used to lift the first transfer part 123 for making the surface of the first transfer part 123 higher or lower than the surface of the drum in the third drum set.

In particular operation, when the pick device 110 picks up or places a good from the shelf 400, the surface of the first transfer portion 123 needs to be lower than the surface of the drums in the third drum set so as not to impede the transfer of the good. When the first conveying device conveys the goods, the lifting mechanism lifts the first conveying part 123, so that the goods borne on the third roller set can be in contact with the first conveying part 123, and the goods can be conveyed.

In this scheme, the third cylinder group includes a plurality of removal direction interval arrangements along getting goods device 110, can increase the support area of first conveyor to the goods to avoid the goods to drop from first conveyor at the in-process of transmission, and then improved the security and the reliability of goods transmission.

The lifting device may be a pneumatic cylinder, a hydraulic cylinder, a linear motor, etc., and of course may be other structures, which are not limited herein.

In another alternative embodiment, the first conveying part 123 may include a first drum set 1231 and a second drum set 1232, and each of the first drum set 1231 and the second drum set 1232 may include a plurality of drums spaced apart in a conveying direction of the first conveying device 120 and parallel to each other, and the picking device 110 may be located between the first drum set 1231 and the second drum set 1232.

In this scheme, adopt the cylinder to carry out cargo transportation, the combination mode of cylinder is various, therefore the transmission mode is comparatively nimble. In addition, the pick device 110 is located between the first roller set 1231 and the second roller set 1232, and at this time, the first conveying portion 123 supports two sides of the goods, and for a single-side supporting manner of the goods, the two-side supporting manner is adopted to prevent the goods from falling from the first conveying portion 123, thereby improving the safety and reliability of the goods conveying.

Alternatively, the first transmission part 121 may include a driving wheel, a driven wheel, and a transmission belt. The driving source is connected with the driving wheel, the driven wheel is connected with one of the rollers, the driving source drives the driving wheel to rotate, the driving wheel drives the driven wheel to rotate through the transmission belt, and the driven wheel drives one of the rollers to rotate, so that the transmission operation of the first conveying device 120 is realized.

Each of the rollers in the above embodiments may be provided with a driving source and a first transmission part 121 to drive it. Of course, two adjacent rollers can be connected by a belt or a chain, so that all rollers of the roller group can rotate, and only one or a small number of driving sources and the first transmission part 121 can be arranged to drive all rollers to rotate.

In the above embodiment, the extending direction of the rotation axes of the drums in the first drum set 1231 and the second drum set 1232 may be perpendicular to the conveying direction of the pick device 110. At this time, the transfer direction of the first drum set 1231 and the second drum set 1232 is parallel to the moving direction of the picking apparatus 110. At this time, the picking apparatus 110 picks up goods forward, and the first and second drum sets 1231 and 1232 convey goods backward, so that when the picking apparatus 110 protrudes from the drums of the first and second drum sets 1231 and 1232, the picking apparatus 110 is blocked from being lowered to a position under the drums of the first and second drum sets 1231 and 1232. At this time, the position of the pick device 110 relative to the first conveying device 120 needs to be adjusted, and therefore an adjusting device needs to be added to the conveying mechanism 100, which makes the structure of the conveying mechanism 100 complex.

Based on this, in another alternative embodiment, the axes of rotation of the rollers in the first roller set 1231 and the second roller set 1232 extend in a direction parallel to the conveying direction of the pick device 110. At this time, the conveying direction of the first roller set 1231 and the second roller set 1232 is perpendicular to the moving direction of the picking apparatus 110, that is, when the picking apparatus 110 picks up the goods forward, the first roller set 1231 and the second roller set 1232 convey the goods to the two adjacent sides, so that the picking apparatus 110 does not block the goods, and thus the picking apparatus 110 does not need to be lifted, so that the structure of the handling mechanism 100 is simple.

In an alternative embodiment, both the first and second storage racks 201, 202 may comprise a rack body 230, in which case the rack body 230 has the storage level 210 described above. The second transmission part 222 may include a transmission belt 2221, a first transmission shaft 2222 and a second transmission shaft 2223, where the first transmission shaft 2222 and the second transmission shaft 2223 are rotatably connected to the bracket body 230, the first transmission shaft 2222 is parallel to the second transmission shaft 2223, and the transmission belt 2221 may be sleeved on the first transmission shaft 2222 and the second transmission shaft 2223. Specifically, the first transmission shaft 2222 and the second transmission shaft 2223 are fixedly provided with a synchronizing wheel, the synchronizing wheel rotates together with the first transmission shaft 2222 and the second transmission shaft 2223, and the transmission belt 2221 is sleeved on the synchronizing wheel. The third transmission part 221 is rotatably connected to the bracket main body 230, and the third transmission part 221 is rotatably connected to the first transmission shaft 2222. In this scheme, the storage mechanism 200 has a simple structure, is convenient to manufacture, and has low cost.

Alternatively, the third transmission part 221 may include a sheave, a rotating shaft, and a driving belt, where the sheave is rotatably connected to the bracket body 230 through the rotating shaft, the driving belt is sleeved on the rotating shaft and the first driving shaft 2222, and when the second transmission part 122 drives the sheave to rotate, the sheave drives the rotating shaft to rotate, and the rotating shaft drives the first driving shaft 2222 to rotate through the driving belt.

In the above-described embodiment, the lifting mechanism may be provided on the rack main body 230, thereby further simplifying the structure of the cargo handling apparatus.

In another alternative embodiment, the pick device 110 may include a pick device 111, a first drive assembly 112, and a second drive assembly 113, where the pick device 111 may be disposed on the first drive assembly 112, the first drive assembly 112 may drive the pick device 111 to move, and the first drive assembly 112 may be connected to the second drive assembly 113. The second driving assembly 113 may drive the first driving assembly 112 to move, and the moving direction of the first driving assembly 112 may be the same as the moving direction of the picking part 111. The first driving assembly 112 can independently drive the pick-up portion 111 to move.

This scheme can increase the removal stroke of getting goods portion 111 to lengthen the distance that gets goods portion 111 snatched the goods, thereby make get goods device 110 can snatch the goods of remote distance, improve the getting ability of getting goods device 110.

In addition, by providing the first driving unit 112 and the second driving unit 113, the moving speed of the first driving unit 112 to drive the pick head 111 is different from the moving speed of the second driving unit 113 to drive the pick head 111. At this time, the second driving assembly 113 can drive the pick-up portion 111 to move rapidly, so as to increase the moving speed of the pick-up portion 111. When the pick-up part 111 approaches to the designated position where the pick-up part is placed, the pick-up part 111 can be slowly driven to move by the first driving assembly 112, so that the goods are prevented from colliding with other components due to the excessively high moving speed. At this time, the moving rate of the pickup device 110 can be increased, and the safety and reliability of the transfer of the goods can be improved.

In the above embodiment, the first driving assembly 112 and the second driving assembly 113 may be power structures such as an air cylinder, a hydraulic cylinder, a linear motor, etc., and of course, the first driving assembly 112 and the second driving assembly 113 may be other structures, which is not limited herein.

In the above embodiment, the cargo taking portion 111 may take the cargo by means of a hanging buckle or a claw. At this time, a specific hanging portion needs to be installed on the goods or a specific clamping position needs to be set, so that the goods taking device 110 can only carry such goods, and is difficult to be compatible with more types of goods.

In an alternative embodiment, the pick-up section 111 includes a main body 1111 and an absorbent member 1112, the absorbent member 1112 may be disposed on the main body 1111, and the main body 1111 may be coupled to the first drive assembly 112. The body 1111 may be provided with a ventilation passage, and the adsorption member 1112 may be provided with a first through hole, the ventilation passage being in communication with the first through hole.

This scheme can ventilate or bleed to the passageway, and when the passageway bleeds, the passageway of ventilating is negative pressure, and the goods can adsorb on the adsorption piece 1112 this moment. When the ventilation channel is ventilated, positive pressure is arranged in the ventilation channel, so that desorption of goods is realized. The goods taking part 111 with the structure has lower requirements on the type, the material and the shape of goods, so that more types of goods can be compatible, and the compatibility of the conveying mechanism 100 is improved.

The pickup section 111 disclosed in the present application is not limited to the above-described structure, and may pick up goods by electrostatic adsorption.

In another alternative embodiment, the number of the adsorbing members 1112 may be at least two, the at least two adsorbing members 1112 may be respectively located on opposite sides of the main body 1111, and the at least two adsorbing members 1112 may be arranged along the moving direction of the pick-up portion 111.

In this embodiment, at least two suction members 1112 may be respectively located on opposite sides of the main body 1111, so that the picking portion 111 may pick the goods in opposite directions, thereby increasing the picking direction of the picking device 110. At this time, when the goods handling device is picking and placing goods on two opposite shelves 400, only the goods picking device 110 needs to be moved towards different directions, and the whole rotation of the goods handling device and the handling mechanism 100 is not needed, so that the space of the roadway of the warehousing system is further reduced, the space utilization rate of the warehousing system is further improved, and the warehousing cost is reduced.

In another alternative embodiment, the first driving assembly 112 may include a first driving motor 1121, a first screw 1122, and a first guide rail 1123, and the first driving motor 1121 may be fixed on the first guide rail 1123, and in particular, a mounting plate may be provided on the first guide rail 1123, and the first driving motor 1121 is mounted on the mounting plate. The first screw 1122 may be rotatably connected to the first guide rail 1123, and the extending directions of the first screw 1122 and the first guide rail 1123 may be parallel. The pickup portion 111 is slidably movable along the extending direction of the first guide rail 1123 with respect to the first guide rail 1123, the pickup portion 111 is in driving connection with the first screw 1122, the first driving motor 1121 is connectable with the first screw 1122, and the first driving motor 1121 can drive the pickup portion 111 to move through the first screw 1122.

The second driving assembly 113 may include a second driving motor 1131, a second screw 1132, and a second rail 1133, and the second driving motor 1131 may be fixed to the second rail 1133, and in particular, the second driving motor may be fixed to the mounting bracket 130 for carrying the second rail. The second screw rod 1132 may be rotatably connected to the second guide rail 1133, and the extending directions of the second screw rod 1132 and the second guide rail 1133 are parallel, and the first guide rail 1123 slides along the extending direction of the second guide rail 1133 relative to the second guide rail 1133. The extending direction of the first guide rail 1123 is parallel to the extending direction of the second guide rail 1133, the first guide rail 1123 is in transmission connection with the second screw rod 1132, the second driving motor 1131 is connected with the second screw rod 1132, and the second driving motor 1131 can drive the first guide rail 1123 to move through the second screw rod 1132.

In this case, the screw and the guide rail have good guiding performance, so that the moving accuracy of the pickup device 110 can be further improved.

In the above embodiment, the carrying mechanism 100 is easy to shake during lifting, the goods on the carrying mechanism 100 are easy to be thrown out, or the carrying mechanism 100 is easy to collide with other mechanisms.

In this regard, in an alternative embodiment, the handling mechanism 100 may include a mounting bracket 130, and the pick device 110 and the first conveyor 120 may each be disposed on the mounting bracket 130, with the lift mechanism being coupled to the mounting bracket 130. The lifting mechanism can drive the goods taking device 110 and the first conveying device 120 to lift through the mounting bracket 130, and the mounting bracket 130 can be provided with a first guiding part. The first magazine 201 and/or the second magazine 202 may be provided with a second guide. The first guide portion and the second guide portion may be slidably fitted in the lifting direction of the mounting bracket 130.

In this scheme, at the in-process that transport mechanism 100 goes up and down, first guiding part and second guiding part can lead and spacing transport mechanism 100 to can avoid transport mechanism 100 to take place to rock, thereby improve the security and the reliability of transport mechanism 100 transport goods.

In the above embodiment, the first guide portion and the second guide portion may be guide rails, or may be a mating structure of a guide groove and a guide protrusion, and the specific structure of the first guide portion and the second guide portion is not limited herein.

In another alternative embodiment, the storage mechanism 200 may further comprise a position detecting member, and the storage level 210 may be provided with a position detecting member, and the position detecting member may be used to detect position information of the goods stored on the storage level 210, so as to detect whether the goods deviate from a preset position on the storage level 210. The preset position is the third target position.

Alternatively, the position detecting member 240 may be a photoelectric sensor, and when the cargo on the storage level 210 deviates from the preset position, the light source of the photoelectric sensor is blocked, so that the photoelectric sensor is triggered, thereby sending an alarm signal to prompt that the cargo deviates from the preset position, and there is a risk of dropping. When the cargo on the storage level 210 is at the preset position, the photosensor is not triggered.

Alternatively, when the cargo on the storage level 210 is at a preset position, the photosensor is triggered; when the cargo on the storage level 210 deviates from the preset position, the photoelectric sensor is not triggered.

In another alternative embodiment, the position detecting member may be provided with a first position detecting member and a second position detecting member, which may be arranged at intervals along the conveying direction of the second conveying device 220. In this aspect, the first position detecting member may be located on a side proximate to the first conveyor 120, and the second position detecting member may be located on a side facing away from the first conveyor 120. At this time, when the cargo is transferred from the first conveyor 120 to the second conveyor 220, the first position detecting member is triggered. The second conveyor 220 continues to convey the goods, and when the first position detecting member releases the trigger state, the goods reach a preset third target position, so that the second conveyor 220 stops conveying.

When the first position detecting member fails, the second conveying device 220 does not stop conveying the goods under the condition that the first position detecting member releases the triggering state, so that the second position detecting member is triggered, and when the second position detecting member is in the triggering state, the second conveying device 220 stops conveying, thereby avoiding the continuous conveying of the goods by the second conveying device 220, avoiding the falling risk of the goods from the storage level 210, and further improving the reliability and safety of the goods handling equipment.

In order to improve the gripping accuracy of the goods, in another alternative embodiment, the handling mechanism 100 may further comprise a positioning device, which is connected to the goods taking device 110, and which is used for determining the position information of the goods on the shelves. In this scheme, through the positional information of discernment goods on the goods shelves, fix a position the goods, carry out the goods again and snatch, can improve the snatch precision of goods, prevent the condition that the goods dropped from getting goods device 110. The location information obtained here may include information such as the storage location of the goods on the shelf, the distance of the pick device 110 from the goods, and the like.

Optionally, the positioning device can position the camera module, and take a position picture of the goods, so that the position information of the goods is identified according to the position picture of the goods. Or the positioning device can also be a laser positioning device, the laser positioning device can position the goods, and other components can be used for acquiring the position information of the goods, so that the method is not limited in the present disclosure.

Based on the cargo handling device disclosed in the embodiments of the present application, the embodiments of the present application further disclose a double-tank robot, where the disclosed double-tank robot includes the cargo handling device described in any of the embodiments above.

The foregoing embodiments of the present invention mainly describe differences between the embodiments, and as long as there is no contradiction between different optimization features of the embodiments, the embodiments may be combined to form a better embodiment, and in view of brevity of line text, no further description is provided herein.

The foregoing is merely exemplary of the present invention and is not intended to limit the present invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are to be included in the scope of the claims of the present invention.

Claims (19)

1. A cargo handling device, comprising:

-a handling mechanism (100), the handling mechanism (100) comprising a pick device (110) and a first conveyor (120), the pick device (110) being adapted to handle a load such that the load is translatable between the first conveyor (120) and a pallet (400); the conveying direction of the first conveying device (120) is intersected with the moving direction of the goods taking device (110);

the storage mechanism (200), the storage mechanism (200) includes first storage frame (201) and second storage frame (202), first storage frame (201) with second storage frame (202) all have storage material level (210), storage material level (210) are used for storing the goods, first storage frame (201) with second storage frame (202) are followed the direction of transmission of first conveyor (120) distributes in the homonymy or the both sides of first conveyor (120).

2. The cargo handling device according to claim 1, wherein the storage level (210) is provided with a second conveying means (220) for each, the conveying direction of the first conveying means (120) being the same as the conveying direction of the second conveying means (220); the first conveyor (120) cooperates with the second conveyor (220) such that the goods can be transferred translationally between the first conveyor (120) and the storage level (210).

3. The cargo handling device according to claim 2, further comprising a lifting mechanism coupled to the handling mechanism (100), the lifting mechanism being configured to lift the handling mechanism (100).

4. A cargo handling device according to claim 3, wherein the first storage rack (201) and the second storage rack (202) each comprise a plurality of storage levels (210), the storage levels (210) in the first storage rack (201) and the second storage rack (202) are arranged at intervals in the vertical direction, each storage level (210) is correspondingly provided with one second conveying device (220), and when the cargo handling device takes and places a cargo, the first conveying device (120) is in butt joint with the second conveying device (220) corresponding to one storage level (210).

5. The cargo handling device according to claim 4, wherein the storage levels (210) of the same layer of the first storage rack (201) and the second storage rack (202) are staggered.

6. The cargo handling apparatus of claim 1, further comprising a walking mechanism and a base (500), wherein the handling mechanism (100) and the storage mechanism (200) are both disposed on the base; the base (500) is arranged on the travelling mechanism, and the travelling mechanism drives the base (500) to move.

7. The cargo handling apparatus of claim 1, further comprising a track and a base (500), wherein the handling mechanism (100) and the storage mechanism (200) are both disposed on the base (500); the base (500) is in sliding fit with the rail, and the base (500) can slide along the extending direction of the rail.

8. The cargo handling device according to claim 2, wherein the first conveyor means (120) comprises a first transmission portion (121) and a first transfer portion (123), the first transmission portion (121) being connected to the first transfer portion (123); the second conveying device (220) comprises a third transmission part (221) and a second transmission part (222), and the third transmission part (221) is matched with the second transmission part (222);

The first conveying device (120) further comprises a driving source and a second transmission part (122); the driving source is connected with the first transmission part through the first transmission part (121), and the first transmission part (121) is matched with the second transmission part (122); the second transmission part (122) can be matched with the third transmission part (221) so that the second transmission part (122) drives the second transmission part (222) through the third transmission part (221); or, the second conveying device (220) further comprises a driving source and a second transmission part (122), the driving source is connected with the second transmission part (222) through the third transmission part (221), the third transmission part (221) is connected with the second transmission part (122), and the second transmission part (122) is matched with the first transmission part (121); the second transmission part (122) can be matched with the first transmission part (121) so that the second transmission part (122) drives the first transmission part (123) through the first transmission part (121).

9. The load handling apparatus of claim 8 wherein the first conveying section (123) includes a first roller set (1231) and a second roller set (1232), the first roller set (1231) and the second roller set (1232) each include a plurality of rollers arranged at intervals in a conveying direction of the first conveying device (120) and parallel to each other, and the pick-up device (110) is located between the first roller set (1231) and the second roller set (1232).

10. The load handling apparatus of claim 9 wherein the axes of rotation of the rollers in the first roller set (1231) and the second roller set (1232) extend in a direction parallel to the direction of transport of the pick device (110).

11. The load handling apparatus according to claim 8, wherein the first conveyor (120) further comprises a third roller set comprising a plurality of rollers arranged at intervals in the direction of movement of the pick device (110) and parallel to each other, the first conveyor (123) being located between two adjacent rollers of the third roller set, and a lifting mechanism connected to the first conveyor (123) for lifting the first conveyor (123) for bringing the surface of the first conveyor (123) higher or lower than the surface of the rollers of the third roller set.

12. The load handling apparatus of claim 8, wherein the first storage rack (201) and the second storage rack (202) each include a support body (230), the second transmission portion (222) includes a transmission belt (2221), a first transmission shaft (2222), and a second transmission shaft (2223), the first transmission shaft (2222) and the second transmission shaft (2223) are each rotatably connected to the support body (230), the first transmission shaft (2222) is parallel to the second transmission shaft (2223), the transmission belt (2221) is sleeved on the first transmission shaft (2222) and the second transmission shaft (2223), the third transmission portion (221) is rotatably connected to the support body (230), and the third transmission portion (221) is rotatably connected to the first transmission shaft (2222).

13. The cargo handling device according to claim 1, wherein the pick up means (110) comprises a pick up portion (111), a first drive assembly (112) and a second drive assembly (113), the pick up portion (111) is disposed on the first drive assembly (112), the first drive assembly (112) drives the pick up portion (111) to move, the first drive assembly (112) is connected with the second drive assembly (113), the second drive assembly (113) drives the first drive assembly (112) to move, and a moving direction of the first drive assembly (112) is the same as a moving direction of the pick up portion (111).

14. The cargo handling apparatus of claim 13 wherein the apparatus further comprises a plurality of storage devices,

the goods taking part (111) adopts a hanging buckle to take goods; or alternatively

The goods taking part (111) adopts a claw to take goods; or alternatively

The goods taking part (111) adopts magnetism to take goods; or alternatively

Pick-up portion (111) include main part (1111) and adsorption piece (1112), adsorption piece (1112) set up in main part (1111), main part (1111) with first drive assembly (112) are connected, ventilation channel has been seted up to main part (1111), first through-hole has been seted up to adsorption piece (1112), ventilation channel with first through-hole is linked together.

15. The load handling apparatus according to claim 13, wherein the first drive assembly (112) includes a first drive motor (1121), a first lead screw (1122), and a first guide rail (1123), the first drive motor (1121) is fixed to the first guide rail (1123), the first lead screw (1122) is rotatably connected to the first guide rail (1123), and the extending directions of the first lead screw (1122) and the first guide rail (1123) are parallel, the pick-up section (111) slides with respect to the first guide rail (1123) in the extending direction of the first guide rail (1123), the pick-up section (111) is drivingly connected to the first lead screw (1122), the first drive motor (1121) is connected to the first lead screw (1122), and the first drive motor (1121) drives the pick-up section (111) to move through the first lead screw (1122);

the second driving assembly (113) comprises a second driving motor (1131), a second screw rod (1132) and a second guide rail (1133), the second driving motor (1131) is fixed on the second guide rail (1133), the second screw rod (1132) is rotationally connected with the second guide rail (1133), the second screw rod (1132) is parallel to the extending direction of the second guide rail (1133), the first guide rail (1123) slides relative to the second guide rail (1133) along the extending direction of the second guide rail (1133), the extending direction of the first guide rail (1123) is parallel to the extending direction of the second guide rail (1133), the first guide rail (1123) is in transmission connection with the second screw rod (1132), the second driving motor (1131) is connected with the second screw rod (1132), and the second driving motor (1131) drives the first screw rod (1123) to move through the second guide rail (1132).

16. A cargo handling device according to claim 3, wherein the handling mechanism (100) comprises a mounting bracket (130), the pick-up device (110) and the first conveying device (120) are both arranged on the mounting bracket (130), the lifting mechanism is connected with the mounting bracket (130), the lifting mechanism drives the pick-up device (110) and the first conveying device (120) to lift through the mounting bracket (130), the mounting bracket (130) is provided with a first guiding part, the first storage rack (201) and/or the second storage rack (202) are provided with a second guiding part, and the first guiding part and the second guiding part are in sliding fit along the lifting direction of the mounting bracket (130).

17. The cargo handling device according to claim 1, wherein the storage mechanism (200) further comprises a position detecting member, the storage level (210) being provided with the position detecting member for detecting position information of the cargo stored on the storage level (210) to detect whether the cargo deviates from a preset position on the Chu Liaowei (210).

18. The cargo handling device according to claim 17, wherein the position detecting members include a first position detecting member and a second position detecting member, the first position detecting member and the second position detecting member being arranged at intervals along a transport direction of the first transporting means (120).

19. A double-bin robot comprising the cargo handling device of any one of claims 1 to 18, the cargo handled by the double-bin robot being a bin.