CN208199728U - Cargo transfer means - Google Patents
Cargo transfer means Download PDFInfo
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- CN208199728U CN208199728U CN201820555859.2U CN201820555859U CN208199728U CN 208199728 U CN208199728 U CN 208199728U CN 201820555859 U CN201820555859 U CN 201820555859U CN 208199728 U CN208199728 U CN 208199728U
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Abstract
The utility model relates to a kind of cargo transfer means and the transfer methods of cargo.The cargo transfer means include warehousing case, the traction component that can be slided and visual sensing component, and warehousing case is for loading cargo；Traction component can connect and be automatically separated automatically with warehousing case, and traction component is able to drive the sliding of warehousing case, lead and cargo can be movable into and out to warehousing case；Visual sensing component is mounted on traction component, and visual sensing component can acquire image, wherein traction component can work according to image.The degree of automation of above mentioned goods transfer device is higher.
Description
Technical field
The utility model relates to a kind of cargo transfer means and the transfer methods of cargo.
Background technique
With the high speed development of economy and network technology, shopping online is more and more prevailing, and consequent is package express delivery
The swift and violent increase of quantity, can no longer meet current needs by manpower transport, therefore, also occur a large amount of carrying at present
Robot, however current transfer robot still needs hand fit at work, the degree of automation is lower.
Utility model content
Based on this, it is necessary to which providing one kind being capable of the higher cargo transfer means of the degree of automation.
In addition, also providing a kind of transfer method of cargo.
A kind of cargo transfer means, comprising:
Warehousing case, for loading cargo；
The traction component that can be slided can connect and be automatically separated automatically with the warehousing case, the traction component energy
It enough drives the warehousing case to slide, and the cargo can be movable into and out to the warehousing case；And
Visual sensing component is mounted on the traction component, and the visual sensing component can acquire image, wherein
The traction component can work according to described image.
Since the traction component that can be slided of above mentioned goods transfer device can be with the warehousing case for loading cargo certainly
It is dynamic to connect and be automatically separated, and traction component can also drive warehousing case to slide and cargo is movable into and out warehousing case,
And traction component can work according to the image that visual sensing component acquires, so that when needing to start cargo transfer work
When, traction component can be autonomous to find warehousing case and automatic with warehousing case under conditions of the image that visual sensing component acquires
Connection drives the sliding of warehousing case, independently finds cargo, the autonomous loading for realizing cargo and unloading, independently completes to shift work
It is automatically separated later with warehousing case, entire cargo transfer process is almost not necessarily to manually, and the degree of automation is higher.
The traction component includes the pedestal for capableing of universal sliding, traction main body and machinery in one of the embodiments,
Arm, the pedestal can carry out sliding work according to described image, and the traction main body is fixed on the base, and can
It is slided with the pedestal, the traction main body can connect and be automatically separated automatically with the warehousing case, the mechanical arm installation
In the traction main body, the mechanical arm can grab and unload the cargo, and the mechanical arm can be according to the figure
As work.
The traction main body includes columnar body and is set in the columnar body, energy in one of the embodiments,
It is enough around the loop connecting portion that the columnar body rotates, the both ends of the columnar body respectively with the pedestal and the mechanical arm
It is fixedly connected, the loop connecting portion can connect and be automatically separated automatically with the warehousing case.
The warehousing case includes case ontology, traveling wheel and the supporting element that can be stretched in one of the embodiments, described
Case ontology is for loading the cargo, and the traveling wheel is mounted on the case ontology, and the supporting element is mounted on the case sheet
On body, the supporting element can support jointly the case ontology with the traveling wheel, wherein the traction component can with it is described
Case ontology is connected and is automatically separated automatically, and the cargo can be movable into and out the case ontology by the traction component, described
When traction component is connect with the case ontology, the supporting element shortens and supports the traction component and the traveling wheel jointly
The case ontology.
The warehousing case includes case ontology and the multiple supporting elements that can be stretched, the case in one of the embodiments,
Ontology is for loading the cargo, and multiple supporting elements are mounted on the case ontology, and multiple supporting elements can be common
Support the case ontology；The traction component includes the pedestal for capableing of universal sliding, traction main body, mechanical arm and support base, institute
Sliding work can be carried out according to described image by stating pedestal, and the traction main body is fixed on the base, and can be with institute
Pedestal sliding is stated, the mechanical arm is mounted in the traction main body, and the mechanical arm can grab and unload the cargo, and
The mechanical arm can work according to described image, and the support base is connect with the traction body rotation, the support base energy
Enough carry the warehousing case；Wherein, multiple supporting elements shorten, and the warehousing case is enable to be located on the support base,
So that the warehousing case is connect with the support base, multiple supporting element elongations, and make the warehousing case and the support base
Separation.
It in one of the embodiments, further include transfer assembly, the transfer assembly includes cargo access case and transfer
Structure, the cargo access case have the accommodating cabin that can accommodate the warehousing case and the access port for accessing the cargo, institute
Stating transfer device can be by the warehousing case in the goods movement at the access port to the accommodating cabin, and can
At the goods movement to the access port in the warehousing case in the accommodating cabin.
When the warehousing case is housed in the accommodating cabin in one of the embodiments, the warehousing case and the goods
Object accesses case electrical connection；When the traction component is connect with the warehousing case, the warehousing case is electrically connected with the traction component.
The warehousing case is multiple in one of the embodiments, and multiple warehousing casees can be housed in the appearance
It sets in cabin, the traction component is selectively connect with warehousing case described in one of them, and the transfer device can be deposited described
It takes the goods movement at mouth into multiple warehousing casees, and the cargo in multiple warehousing casees can be moved
It moves to the access port.
The transfer device includes guide rod, slide bar, telescopic arm and grippers in one of the embodiments, described to lead
It is fixed in the cargo access case to bar, and extends towards the direction close to the access port, the slide bar is mounted on described lead
Intersect on bar, and with the guide rod, the slide bar can be slided along the extending direction of the guide rod, the telescopic arm
One end is connect with the slide bar, and can be slided along the extending direction of the slide bar, and the grippers are mounted on the telescopic arm
The other end, the grippers can grab and unload the cargo, and the grippers can extend into positioned at the accommodating cabin
In the interior warehousing case.
It in one of the embodiments, further include warehousing cabinet, the warehousing cabinet can store the cargo, the warehousing cabinet
The cargo in the warehousing cabinet can be transferred at the access port, and can be by the goods at the access port
Object is transferred to the inside of the warehousing cabinet.
The warehousing cabinet includes cabinet body and parcel shelf in one of the embodiments, and the cabinet body can store the goods
Object offers pass-through on the cabinet body, and the parcel shelf is mounted on the cabinet body, and is arranged close to the pass-through, institute
Parcel shelf is stated for carrying the cargo, the parcel shelf can be housed in the cabinet body, additionally it is possible to be stretched from the pass-through
Out, so that the cargo on the parcel shelf can pass in and out the cabinet body with the parcel shelf, and enable the parcel shelf
It is stretched in the cargo access case from the access port.
A kind of transfer method of cargo, includes the following steps:
With finding goal-selling；
Traction component sliding, and drive the warehousing case connecting with the traction component with sliding into the goal-selling
Place；
The traction component by the cargo from the warehousing case with being moved to the goal-selling；
Find predeterminated position；And
The traction component drives the warehousing case to slide into predeterminated position.
The predeterminated position is the accommodating cabin that cargo accesses case in one of the embodiments,；The traction component drives
The step of warehousing case slides into predeterminated position specifically: the traction component drives the warehousing case to slide into the accommodating
In cabin；
It further include the step by the goods movement into the warehousing case in the searching goal-selling the step of before
Rapid: the cargo is accessed the goods movement at the access port of case to the warehousing being housed in the accommodating cabin by transfer device
Step in case；
When the warehousing case is housed in the accommodating cabin, the cargo access case can charge to the warehousing case, institute
When stating traction component and connecting with the warehousing case, the warehousing case can power to the traction component；
The warehousing case be it is multiple, after the step of traction component drives the warehousing case to slide into predeterminated position,
Further include the steps that replacing the warehousing case: the traction component divides automatically with the warehousing case that the traction component is connect
From then being connect automatically with one in warehousing case described in remaining.
The predeterminated position is the accommodating cabin that cargo accesses case in one of the embodiments,；The traction component drives
The step of warehousing case slides into predeterminated position specifically: the traction component drives the warehousing case to slide into the accommodating
In cabin；
It further include moving into the cargo in warehousing cabinet to store in the searching goal-selling the step of before,
Step by the goods movement into the warehousing case again；
Wherein, described that the cargo is moved into warehousing cabinet the step of being stored are as follows: to find the cargo, the traction
Component moves into the cargo in the warehousing case；The traction component drives the warehousing case to slide into the accommodating cabin
Interior, the cargo in the warehousing case is transferred to the access port by the transfer device, and then the warehousing cabinet will be described
Cargo is transferred in the warehousing cabinet and is stored；
The step by the goods movement into the warehousing case are as follows: the warehousing cabinet stores up lift-on-lift-off goods for described
Object is transferred at the access port of cargo access case, and then transfer device is by the goods movement to being housed in the accommodating cabin
Step in the interior warehousing case.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the cargo transfer means of an embodiment；
Fig. 2 is the exploded view of cargo transfer means shown in FIG. 1；
Fig. 3 is the structural schematic diagram of another angle when the lid of the warehousing case of cargo transfer means shown in FIG. 1 is closed；
Fig. 4 is another angle of the traction component of cargo transfer means shown in FIG. 1, visual sensing component and warehousing case
Structural schematic diagram；
Fig. 5 is the structural schematic diagram of another state of traction component shown in Fig. 4, visual sensing component and warehousing case；
Fig. 6 is the structural schematic diagram of traction component shown in fig. 5 and visual sensing component；
Fig. 7 is that the cargo of the transfer assembly of cargo transfer means shown in FIG. 1 accesses the structural schematic diagram of case；
Fig. 8 is the structural schematic diagram of another angle of the transfer device of the transfer assembly of cargo transfer means shown in Fig. 2；
Fig. 9 is the structural schematic diagram when warehousing case of the cargo transfer means of another embodiment is connect with traction component；
Figure 10 is the structural schematic diagram of another state of warehousing case shown in Fig. 9；
Figure 11 is the structural schematic diagram of traction component shown in Fig. 9.
Specific embodiment
The utility model is more fully retouched below with reference to relevant drawings for the ease of understanding the utility model,
It states.The preferred embodiment of the utility model is given in attached drawing.But the utility model can come in many different forms
It realizes, however it is not limited to embodiment described herein.On the contrary, purpose of providing these embodiments is makes to the utility model
The understanding of disclosure is more thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement are for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model
The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.
As shown in Figures 1 and 2, the cargo transfer means 10 of an embodiment, for the transfer of cargo 20, cargo transfer
Device 10 can be used in logistic industry, and the cargo transfer means 10 can also realize carry out sending automatically within a certain area part and
The function of addressee.The cargo transfer means 10 include warehousing case 100, traction component 200 and visual sensing component 300.
Also referring to Fig. 3, warehousing case 100 is for loading cargo 20.Warehousing case 100 is equipped with advance data interface 120
With postposition data-interface.Postposition data-interface can be electrically connected with power supply or other equipment, to realize filling to warehousing case 100
Electricity, alternatively, the data with other equipment are transmitted.Advance data interface 120 with other equipment for being electrically connected, so that warehousing case
100 can power to other equipment；Alternatively, carrying out data transmission between other equipment；Alternatively, enable warehousing case 100 to
While other equipment are powered, carry out data transmission between other equipment.
Specifically, warehousing case 100 includes case ontology 130, traveling wheel 140 and the supporting element 150 that can be stretched.Case ontology
130 for loading cargo 20, and traveling wheel 140 is mounted on case ontology 130, and supporting element 150 is mounted on case ontology 130, support
Part 150 can support jointly case ontology 130 with traveling wheel 140.Advance data interface 120 and postposition data-interface are respectively positioned on case sheet
On body 130.
Specifically, case ontology 130 is the cuboid of a side opening 132, and case ontology 130 has opposite with opening 132
Bottom wall (figure do not mark) and four end to end side walls are connect with bottom wall.Advance data interface 120 and postposition data-interface difference
It is located therein on two opposite side walls.Traveling wheel 140 is mounted on bottom wall, is mounted on support on the opposite side wall of another two
Part 150.Traveling wheel 140 is arranged close to the side wall setting of postposition data-interface 120, and supporting element 150 has been arranged close to preposition number
It is arranged according to the side wall of interface.
Specifically in the illustrated embodiment, traveling wheel 140 is two, and two traveling wheels 140 are arranged on bottom wall；Support
Part 150 is two, and is separately positioned on the opposite side wall of another two described previously.
It should be noted that the quantity of supporting element 150 and traveling wheel 140 is not limited to two, installation site is also not necessarily limited to
For position described above, the quantity and installation site of supporting element 150 and traveling wheel 140 can according to the shape of case ontology 130 into
Row setting, only needs the steady of guard box ontology 130, for example, can be set two on previously described another two side wall
Above supporting element 150；Alternatively, supporting element 150 can be one, at this point, supporting element 150 is arranged on bottom wall, alternatively, support
Part 150 is arranged on the side wall for being provided with postposition data-interface.Warehousing case 100 is also not necessarily limited to as above-mentioned supporting way, for example, can
To be not provided with supporting element 150, at this point it is possible to directly replace supporting element 150 with traveling wheel 140.
Further, the flexible of supporting element 150 is automatically controlled according to need of work, in order to realize cargo transfer means 10
Automation.
Further, warehousing case 100 further includes lid 160, and lid 160 is arranged on case ontology 130, and lid 160 can
Block the opening 132 of case ontology 130.Specifically, lid 160 is two, and two lids 160 are opposite with two of them respectively
Side wall rotation connection, two lids 160 can cooperate the opening 132 for blocking case ontology 130 jointly.
It is appreciated that lid 160 is also not necessarily limited to be two, it can also be one, alternatively, lid 160 also can be omitted；Case
The shape of ontology 130 is not limited to cuboid, and can also be positive cube shape, cylindricality and Else Rule or irregular shape.
Further, lid 160 is by electric control, to realize the opening and closing of lid 160, in order to realize that cargo turns
The automation of moving device 10.It, can be in case in order to avoid pedestrian opens the picking object 20 directly in warehousing case 100 in lid 160
Inductor (not shown) is arranged at the opening 132 of ontology 130 to sound an alarm if sensing is pedestrian's voluntarily picking.
It can be slided with Fig. 5, traction component 200 referring to Figure 4 together, traction component 200 can be automatic with warehousing case 100
It connects and is automatically separated, traction component 200 is able to drive the sliding of warehousing case 100, and cargo 20 can be movable into and out storage
Container 100.Specifically, traction component 200 can connect and be automatically separated automatically with case ontology 130, and can be by cargo 20
It is movable into and out in case ontology 130；And traction component 200, when connecting with case ontology 130, supporting element 150 shortens and makes draw groups
Part 200 and traveling wheel 140 support case ontology 130 jointly.
Referring to Figure 6 together, specifically, when traction component 200 is connect with warehousing case 100, traction component 200 and warehousing
Case 100 is electrically connected, so that warehousing case 100 can power to traction component 200, or, enabling warehousing case 100 and traction component
Carry out data transmission between 200, alternatively, enabling warehousing case 100 while so that warehousing case 100 is charged to traction component 200
It is enough to carry out data transmission between traction component 200.More specifically, traction component 200 be equipped with can be with advance data interface
The electric connector 210 of 120 docking, when electric connector 210 is docked with advance data interface 120, traction component 200 and warehousing case
100 electrical connections.At this point, traction component 200 can control the opening and closing of the lid 160 of warehousing case 100.
It should be noted that supplying to realize that the power supply of traction component 200 is not limited by warehousing case 100 it
Electricity can also install battery on traction component 200, be powered by battery to traction component 200.
Specifically, one in traction component 200 and warehousing case 100 offers lockhole 220, another is equipped with can be with
The electronic lock 170 that lockhole 220 matches realizes traction component 200 and warehousing case by the cooperation of electronic lock 170 and lockhole 220
100 automatically lock and automatic unlocking, to realize that traction component 200 connect and is automatically separated automatically with warehousing case 100.More specifically
Ground, electronic lock 170 are arranged on case ontology 130, and lockhole 220 is provided on traction component 200.
It should be noted that realizing that the automatically lock and automatic unlocking of traction component 200 and warehousing case 100 are not limited to
It, can also be by the way of electromagnetism actuation using the form of electronic lock 170.
Wherein, control module (not shown) is provided in traction component 200, control module is the control of traction component 200
Component and information processing apparatus.When traction component 200 is connect with warehousing case 100, control module is electrically connected with warehousing case 100.
Specifically, electric connector 210 is electrically connected with control module, when traction component 200 is connect with warehousing case 100, electric connector
210 dock with advance data interface 120.The opening and closing of control module control lid 160.
Specifically, traction component 200 includes pedestal 230, traction main body 240 and mechanical arm 250.
Pedestal 230 universal can slide.Specifically, the mode for realizing the universal sliding of pedestal 230 can be to be equipped with master
The pedestal of driving wheel and universal wheel can also be realized by crawler belt.Wherein, control module is electrically connected with pedestal 230, so that control
Module can control the work of pedestal 230.
Traction main body 240 is fixed on pedestal 230, and can be slided with pedestal 230, and traction main body 240 can be with storage
Container 100 is connected and is automatically separated automatically.Specifically, traction main body 240 can connect automatically with case ontology 130 and divide automatically
From.Lockhole 220 is provided in traction main body 240.The inside of traction main body 240 is arranged in control module.
Further, traction main body 240 include columnar body 242 and be set in columnar body 242, can be around column master
The loop connecting portion 244 that body 242 rotates, one end of columnar body 242 are fixedly connected with pedestal 230, and loop connecting portion 244 can
It is fixedly connected with warehousing case 100, when realizing that traction main body 240 is connect with warehousing case 100, warehousing case 100 can be led around traction
Body 240 rotates, and slides in order to which traction component 200 turns to.Wherein, control module is arranged in columnar body 242.Lockhole 220
It is provided in loop connecting portion 244.Electric connector 210 is arranged in loop connecting portion 244, by the way that electric connector 210 to be arranged
In loop connecting portion 244, in order to 244 opposed cylinder main body 242 of loop connecting portion rotation when, advance data interface 120
Stable connection still is able to electric connector 210.
It should be noted that control module is not limited to setting in traction main body 240, for example, control module can also be set
It sets in pedestal 230.
Mechanical arm 250 is mounted in traction main body 240, and mechanical arm 250 can grab and unload cargo 20.Specifically, machine
Tool arm 250 is fixedly connected with columnar body 242 far from one end of pedestal 230, so that mechanical arm 250 can also pass through pedestal 230
360 ° of realization level rotations of rotation.Loop connecting portion 244 is between mechanical arm 250 and pedestal 230.Control module and mechanical arm
250 electrical connections, so that control module can control the work of mechanical arm 250.
It should be noted that traction main body 240 be not limited to include columnar body 242 and loop connecting portion 244 knot
Structure, for example, traction main body 240 can also be arranged to include columnar body 242 and one end and columnar body by traction main body 240
The extended segment (not shown) of 242 one end rotation connection, at this point, traction main body 240 one end and pedestal 230 far from extended segment
It is fixedly connected, the extending direction of extended segment (not shown) is overlapped with the extending direction of columnar body 242, lockhole 220 and electrical connection
Device 210 is arranged in columnar body 242, is also able to achieve when traction component 200 drives warehousing case 100 to slide, advance data
Interface 120 is stably connected with electric connector 210.At this point, mechanical arm 250 is mounted on extended segment, then, mechanical arm 250
Can opposed cylinder main body 242 be rotated by 360 °.Alternatively, extended segment can stretch, so that the height of mechanical arm 250 can also be adjusted
Section.
It is slided to realize that traction component 200 is able to drive warehousing case 100, traction component 200 and warehousing case 100 are not yet
It is limited to for above structure, for example, warehousing case 100 is not provided with traveling wheel 140, i.e. warehousing case 100 includes case ontology 130 and can
Flexible multiple supporting elements 150, multiple supporting elements 150 can support case ontology 130 jointly, and traction component 200 further includes and bottom
The support base that seat 230 or traction main body 240 are rotatablely connected, support base include the movable pulley of support plate and installation on the supporting plate,
Support plate can carry warehousing case 100, and when warehousing case 100 is located in support plate 100, multiple supporting elements 150 shorten, so that traction
Component 200 is able to drive the sliding of warehousing case 100, and multiple supporting elements 150 extend, so that warehousing case 100 divides with traction component 200
From at this point, the bottom of side and warehousing case 100 of the support base far from movable pulley is respectively arranged with the data-interface and object that can be docked
Manage fixed mechanism.Alternatively, the supporting element 150 of warehousing case 100 may be that can not stretch, at this point, support plate is that can rise
Drop, support plate declines, and slides and extend into the bottom of warehousing case 100 with pedestal 230, and support plate rises so that on warehousing case
It rises, and makes supporting element 150 and surface separation, and warehousing case 100 is loaded to support plate.
Further, mechanical arm 250 is multi-degree-of-freemechanical mechanical arm, and mechanical arm 250 can stretch.Specifically, mechanical arm
250 include multiple support arms 252 being successively rotatablely connected and the gripper with a support arm 252 rotation connection for being located at end
254, the support arm 252 far from gripper 254 is fixedly connected with traction main body 240, and the support arm 252 close to gripper 254 can be stretched
Contracting.It is connected by motor between two neighboring support arm 252 and between support arm and gripper 254, and motor and gripper
254 are electrically connected with control module.Specifically in the illustrated embodiment, having holding tank on the packing case of cargo 20, (figure is not
Mark), in order to which gripper 254 is grabbed.
Specifically in the illustrated embodiment, mechanical arm 250 is 5-dof robotic manipulator 250 (4 rotational freedoms and 1 shifting
Dynamic freedom degree).It should be noted that mechanical arm 250 is also not necessarily limited to as 5-dof robotic manipulator 250, such as can also be for 6 freely
Mechanical arm 250 is spent, the freedom degree of mechanical arm 250 can be set as needed.
Visual sensing component 300 is mounted on traction component 200, and visual sensing component 300 can acquire image, draw groups
Part 200 can work according to image.I.e. traction component 200 collectively forms a similar intelligence with visual sensing component 300
The structure of robot.Specifically, visual sensing component 300 is mounted on the one end of columnar body 242 far from pedestal 230, so as to
The image needed for more convenient acquisition.Mechanical arm 250 can work according to the image that visual sensing component 300 acquires, bottom
Seat 230 can be according to the image slide of acquisition.More specifically, the control mould of visual sensing component 300 and control traction component 200
Block electrical connection, visual sensing component 300 can be by the image transmitting of acquisition to control module, and control module is according to image control bottom
250 work of seat 230 and mechanical arm.And control module can beat on and off according to the lid 160 of image control warehousing case 100
It closes.
Wherein, visual sensing component 300 is visual sensor.
Visual sensing component 300 can not only acquire image, in order to traction component 200 find goal-selling, warehousing
Case 100 and cargo 20 etc., additionally it is possible to the work of mechanical arm 250 is monitored, and is capable of detecting whether the presence of someone or barrier,
In order to get around people and barrier, and controls mechanical arm 250 and stop working when someone is in certain distance, with
Avoid the damage of mechanical arm 250, and the safety of protection people and goods 20.
The lid 160 of case ontology 130 can be opened and closed according to image.
Further, traction component 200 further includes alarm (not shown), and alarm can be according to visual sensing component
The image alarm of 300 acquisitions.I.e. when in 300 acquired image of visual sensing component someone close to and in the certain distance,
Alarm issues alarm, to remind staff or pedestrian.Specifically, alarm is electrically connected with control module.
Wherein, alarm is combined aural and visual alarm etc..In alarm mounting seat 230 or traction main body 240.
Also referring to Fig. 1, Fig. 2 and Fig. 7, further, cargo transfer means 10 further include transfer assembly 400, transfer
Component 400 includes cargo access case 410 and transfer device 420.Cargo access case 410 has the appearance that can accommodate warehousing case 100
Set cabin 412 and the access port 414 for accessing cargo 20；Cargo 20 at access port 414 can be moved to by transfer device 420
It accommodates in the warehousing case 100 in cabin 412, in order to collect cargo 20 into warehousing case 100, transfer device 420 can also be incited somebody to action
The cargo 20 in warehousing case 100 in accommodating cabin 412 is moved at access port 414, in order to people or other automatic material flows
Equipment is in 414 picking of access port.
Specifically in the illustrated embodiment, cargo accesses the substantially cuboid of case 410.Cargo access case 410 can move
It is dynamic, in order to facilitate the transfer of cargo access case 410.Wherein, access port 414 is two, and two access ports 414 are oppositely arranged.
Two access ports 414 are located at the both ends of cargo access case 410.Transfer device 420 is housed in cargo access case 410.
Specifically, when warehousing case 100 is housed in accommodating cabin 412, warehousing case 100 is electrically connected with cargo access case 410,
So that cargo access case 410 can charge to warehousing case 100, or it is able to carry out cargo access case 410 with warehousing case 100
Data transmission, or while so that cargo access case 410 is charged warehousing case 100, realize cargo access case 410 and warehousing
Case 100 is able to carry out data transmission.More specifically, being equipped with the number that can be docked with postposition data-interface in cargo access case 410
According to interface (not shown), and warehousing case 100 is housed in when accommodating in cabin 412, and postposition data-interface is docked with data interface.
By the docking of data interface and postposition data-interface, to realize being electrically connected for cargo access case 410 and warehousing case 100.
When further, in order to guarantee that warehousing case 100 is housed in accommodating cabin 412, postposition data-interface and data grafting
Mouth can be docked steadily, prevented warehousing case 100 during the charging process, can be relatively moved with cargo storage box 410, goods
Automatic connection and isolated physical coupling mechanisms can be set in object access case 410 and warehousing case 100, for example, electromagnetic adsorption mechanism
Deng.
Further, warehousing case 100 is multiple, and multiple warehousing casees 100 can be housed in accommodating cabin 412, draw groups
Part 200 is selectively connect with one of warehousing case 100, and transfer device 420 can be mobile by the cargo 20 at access port 414
Extremely in multiple warehousing casees 100, and the cargo 20 in multiple warehousing casees 100 can be moved at access port 414.By setting
Multiple warehousing casees 100 are set, connect a wherein warehousing case 100 in traction component 200 in order to which cargo transfer means 10 can be realized
While carrying out sending part and addressee, remaining warehousing case 100, which is housed in accommodating cabin 412, carries out handling goods work, improves cargo
20 transfer efficiency.
Further, in order to guarantee that cargo accesses the safety of the cargo in case 410, side is additionally provided on cargo access case 410
Slide 416 can block accommodating cabin 412 with door 418, side sliding door 416 is blocked, and access port 414 can be blocked by blocking door 418.Side
Slide 416 can block accommodating cabin 412 when storage bin 100 is not housed in accommodating cabin 412.Wherein, block 418 quantity of door with
The quantity of access port 414 is corresponding.
Specifically in the illustrated embodiment, warehousing case 100 is two.It should be noted that the quantity of warehousing case 100 is not
It is limited to be two, or one or three or more, the quantity of warehousing case 100 can according to need setting.At this point, accommodating
Cabin 412 corresponds to two, and side sliding door 416 is two.
Further, cargo access case 410 can also store cargo 20, i.e. cargo access case 410 has the function of warehousing.
Also referring to Fig. 8, specifically, transfer device 420 includes guide rod 422, slide bar 424, telescopic arm 426 and crawl
Part 428.
Guide rod 422 is fixed in cargo access case 410, and is extended towards the direction close to access port 414.Specifically, it leads
It extends respectively to the both ends of bar 422 close to two access ports 414.
Slide bar 424 is mounted on guide rod 422, and is intersected with guide rod 422, and slide bar 424 being capable of prolonging along guide rod 422
Stretch direction sliding.
Specifically, guide rod 422 is two, and two 422 parallel interval of guide rod settings are sliding in cargo access case 410
The both ends of bar 424 are able to slidably be contained in two guide rods 422.
One end of telescopic arm 426 is connect with slide bar 424, and telescopic arm 426 can be slided along the extending direction of slide bar 424.When
When warehousing case 100 is housed in accommodating cabin 412, telescopic arm 426 can slide into 132 top of opening of warehousing case 100.
Grippers 428 are mounted on the other end of telescopic arm 426, and grippers 428 can grab and unload cargo 20, crawl
Part 428 can extend into the warehousing case 100 being located in accommodating cabin 412, and grippers 428 is enable to grab in warehousing case 100
Cargo 20, alternatively, cargo 20 is moved in warehousing case 100.Wherein, grippers 428 can be with the extending direction of telescopic arm 426
It is rotated for axis, thus in order to grab the cargo 20 that various angles are placed.
It should be noted that transfer device 420 is not limited to above structure, for example, transfer device 420 includes guide rod
422 and manipulator (not shown), manipulator can be slidably arranged on guide rod 422, manipulator can grab and unload loading
Grippers 428 are arranged in object 20, arm end, and grippers 428 can extend into the warehousing case 100 being located in accommodating cabin 412.
Please again together refering to fig. 1 and Fig. 2, further, cargo transfer means 10 further include warehousing cabinet 500, warehousing cabinet
500 can store cargo 20, and the cargo 20 in warehousing cabinet 500 can be transferred at access port 414 by warehousing cabinet 500, in order to
Cargo 20 in warehousing cabinet 500 is transferred in warehousing case 100 by transfer device 420, and warehousing cabinet 500 can also be by access port 414
The cargo 20 at place is transferred to the inside of warehousing cabinet 500, in order to which the cargo 20 that will be collected in warehousing case 100 is stored to warehousing cabinet
In 500.The quantity in stock of cargo 20 can be increased by the way that warehousing cabinet 500 is arranged, in order to meet logistics peak period to warehousing space
Demand, meanwhile, above-mentioned setting can also realize the automatic dispatching of the cargo 20 in warehousing cabinet 500.
Wherein, warehousing cabinet 500 is common warehousing cabinet, or moveable shipping platform, for example, automatic Pilot goods
Vehicle, alternatively, can also be unmanned plane warehousing platform.
Specifically, one of access port 414 is used to carry out cargo 20 with warehousing cabinet 500 to transmit, another access port 414
For carrying out the transmitting of cargo 20 with other equipment or with people, to realize the use function of increasing cargo transfer means 10.
It should be noted that the effect of two access ports 414 is not limited to above-mentioned effect, two access ports 414 are ok
Transmitted for carrying out cargo 20 with warehousing cabinet 500, and realize the transfer of the cargo 20 between different warehousing cabinets 500, when need by
When cargo 20 in one warehousing cabinet 500 is transferred in another warehousing cabinet 500, two warehousing cabinets 500 are accessed with two respectively
Mouth 414 docks, and carries out carrying out cargo transfer by transfer device 420；The quantity of access port 414 is not limited to two, can also be with
Be one, the access port 414 be applied not only to warehousing cabinet 500 carry out cargo 20 transmit, be also used to other equipment or and people into
Crudely-made articles object 20 transmits, at this point, at least one of case 410 and warehousing cabinet 500 can be accessed by mobile cargo to realize that cargo is deposited
Take docking between case 410 and warehousing cabinet 500.Alternatively, the quantity of access port 414 can also be three or more, access port 414
Quantity can be increased and decreased according to demand.
Specifically, warehousing cabinet 500 includes cabinet body 510 and parcel shelf 520, and cabinet body 510 can store cargo 20, cabinet body 510
On offer pass-through 530, parcel shelf 520 is mounted on cabinet body 510, and is arranged close to pass-through 530, and parcel shelf 520 is used for
Bearing goods 20, parcel shelf 520 can be housed in cabinet body 510, additionally it is possible to be stretched out from pass-through 530, so that on parcel shelf 520
Cargo 20 can with parcel shelf 520 pass in and out cabinet body 510, and enable parcel shelf 520 from access port 414 stretch to cargo access
In case 410.
It should be noted that parcel shelf 520 can be housed in cabinet body 510, can also be folded in the outer of cabinet body 510
On wall；Realize that the cargo 20 in warehousing cabinet 500 passes in and out cabinet body 510 and is not limited to by the way of above-mentioned parcel shelf 520, it can also be
On cabinet body 510 be arranged manipulator mode by cargo 20 from cabinet body 510 take out and will be in 20 cabinet body 510 of cargo；Alternatively, also
The extensible member (not shown) for capableing of goods clamping 20 can be set in cabinet body 510, and extensible member is located at pass-through 530, stretches
Part can stretch out cabinet body 510 from pass-through 530, so that extensible member is able to drive cargo 20 and passes in and out cabinet body 510, and enable extensible member
It is enough to be stretched in cargo access case 410 from access port 414.
Alternatively, conveyer belt is arranged between case 410 and warehousing cabinet 500 by accessing in cargo, the both ends of transmission belt are prolonged respectively
Access port 414 and pass-through 530 are extended to, realizes that cargo accesses the biography of the cargo 20 in case 410 and warehousing cabinet 500 by conveyer belt
It is defeated.
Further, cover board 540 is additionally provided on cabinet body 510, cover board 540, which can cover, to be located on pass-through 530, and can
Cover pass-through 530.
Further, warehousing cabinet 500 can move, in order to facilitate the transfer of warehousing cabinet 500.
Above mentioned goods transfer device 10 at least has the advantage that
(1) due to the traction component 200 that can be slided of above mentioned goods transfer device 10 can with for loading cargo 20
Warehousing case 100 connect and be automatically separated automatically, and traction component 200 can also drive warehousing case 100 to slide and by goods
Object 20 is movable into and out warehousing case 100, and traction component 200 works according to the image that visual sensing component 300 acquires, and makes
When the proper transfer work for needing to start cargo 20, the condition for the image that traction component 200 is acquired in visual sensing component 300
Under, it is autonomous to find warehousing case 100, and connect automatically with warehousing case 100, drive warehousing case 100 to slide, and at designated place certainly
The main loading for realizing cargo 20 and unloading are automatically separated after completing transfer work with warehousing case 100,20 turns of entire cargo
Journey is moved past almost to be not necessarily to manually, the degree of automation is higher, realize that cargo dispenses entirely autonomously and be offloaded to designated position, or from
Designated position loads and collects cargo, and user need to only collect cargo from designated position, or cargo is placed in designated position, and nothing
It needs user or staff to assist the handling of cargo, saves the waiting time and raising coordinated to collect goods with user and wasted and use
Family arranges to collect the flexibility ratio of ETCD estimated time of commencing discharging.And visual sensing component 300 traction component 200 work when play navigation avoidance it is same
When, additionally it is possible to guarantee the safety of row people and goods 20 to a certain extent.
(2) by being housed in warehousing case 100 in accommodating cabin 412 when, warehousing case 100 is electrically connected with cargo access case 410
It connects；When traction component 200 is connect with warehousing case 100, warehousing case 100 is electrically connected with traction component 200, can be used to implement warehousing
Case 100 is powered to traction component 200, is carried out data transmission between warehousing case 100 and traction component 200, and cargo accesses case 410
It charges to warehousing case 100, cargo access case 410 carries out data transmission with warehousing case 100, in order to carry out in traction component 200
While cargo 20 is sent with charge free and collects work, realize that warehousing case 100 powers to traction component 200 and cargo access case 410 is right
The charging of remaining warehousing case 100 saves charging so that traction component 200 is not necessarily to interrupt cargo in order to charge and send and collect work with charge free
Time, work so as to continual, improve traction unit be used for cargo 20 shift efficiency.
Meanwhile by the way that multiple warehousing casees 100 are arranged so that part warehousing case 100 charge in cargo access case 410 it is same
When, cargo 20 or unloading cargo 20 are loaded, partially carries out transfer cargo 20 outside cargo access case 410 with traction component 200,
Traction component 200 can be effectively saved in order to cooperate 100 handling goods 20 of warehousing case and the required waiting time, realized simultaneously
It works warehousing case 100 continual handling goods, improves the transfer efficiency of cargo 20.
(3) it is docked by the way that cargo is accessed case 410 with warehousing cabinet 500, the quantity in stock of cargo 20 can not only be increased, so as to
In meeting the needs of logistics peak period is to warehousing space, but also realize the automatic dispatching of the cargo 20 in warehousing cabinet 500.
In addition, being carried out by protruding into parcel shelf 520 in access port 414, then by the transfer device 420 of above structure
Crawl allows cargo to access case 410 when docking with warehousing cabinet 500 there are a certain distance and azimuthal error, reduces pair
Connect required required precision.
(4) because traction component 200 grabs and unload cargo 20 by using mechanical arm 250, cargo can be independently picked and placed,
It can be realized cargo 20 to be intensively stacked in warehousing case 100, realize that space makes full use of in warehousing case 100, makes cargo storage
Space is more compact, and (each compartment can only store a cargo, big with the current autonomous distributed robot using compartment design
Partial picture lower compartment has redundant space waste) it compares, improve the utilization rate of the storage space of warehousing case 100.
The transfer method of the cargo 20 of one embodiment shifts for a kind of cargo 20 based on above mentioned goods transfer device 10
Method, the transfer method of the cargo 20 can be used in sending with charge free, collect and storing for cargo 20, and this method comprises the following steps:
Step S31: cargo 20 is moved into warehousing cabinet 500 and is stored.
In the present embodiment, step S31 specifically: find cargo 20, cargo 20 is moved into warehousing by traction component 200
In case 100；Traction component 200 drives warehousing case 100 to slide into the accommodating cabin 412 of cargo access case 410, transfer device 420
Cargo 20 in warehousing case 100 is transferred to the access port 414 of cargo access case 410, then warehousing cabinet 500 transmits cargo 20
It is stored into warehousing cabinet 500.
Specifically, the cargo 20 in warehousing case 100 is transferred to the access port of cargo access case 410 by transfer device 420
414, cargo 20 is transferred to the step of being stored in warehousing cabinet 500 by warehousing cabinet 500 specifically: in warehousing cabinet 500, be located at
It is protruded into cargo access case 410 on parcel shelf 520 at pass-through 530 from the access port 414 of cargo access case 410, transfer
Cargo 20 in warehousing case 100 is transferred on parcel shelf 520 by structure 420, and then parcel shelf 520 retracts in warehousing cabinet 500, cargo
20 with parcel shelf 520 enter warehousing cabinet 500 in stored.
Specifically, it finds cargo 20 and image is acquired to realize by visual sensing component 300.At this point, traction component 200 will
Cargo 20 move into warehousing case 100 in step are as follows: traction component 200 according to image slide to cargo 20 at, traction component 200
Mechanical arm 250 grabs cargo 20, and cargo 20 is loaded into warehousing case 100.
Step S32: cargo 20 is moved in warehousing case 100.
In the present embodiment, step S32 are as follows: the cargo 20 in warehousing cabinet 500 is transferred to cargo and accessed by warehousing cabinet 500
At the access port 414 of case 410, then cargo 20 is moved to the accommodating cabin for being housed in cargo access case 410 by transfer device 420
In warehousing case 100 in 412.
Specifically, the cargo 20 in warehousing cabinet 500 is transferred at the access port 414 of cargo access case 410 by warehousing cabinet 500
The step of specifically: warehousing cabinet 500 by the cargo 20 in warehousing cabinet 500 be transferred to it is in warehousing cabinet 500, be located at pass-through 530
On the parcel shelf 520 at place, parcel shelf 520 protrudes into cargo access case 410 from the access port 414 of cargo access case 410.
It should be noted that realizing that the cargo 20 in warehousing cabinet 500 is transferred to cargo access case 410 by warehousing cabinet 500
At access port 414 and cargo 20 is transferred to the mode stored in warehousing cabinet 500 and is not limited to using above-mentioned by warehousing cabinet 500
Mode accesses in case 410 for example, it is also possible to which the cargo 20 in warehousing cabinet 500 is transferred to cargo by manipulator；Pass through machine
The cargo 20 of the access port 414 of cargo access case 410 is transferred in warehousing cabinet 500 by tool hand.Alternatively, by accessing case in cargo
Conveyer belt is set between 410 and warehousing cabinet 500, and the both ends of transmission belt extend respectively to access port 414 and pass-through 530, warehousing
Cargo 20 in cabinet 500 drives to cargo by conveyer belt and accesses in case 410；Cargo 20 in cargo access case 410 passes through biography
Send V belt translation into warehousing cabinet 500.
In addition, cargo 20 to be moved in warehousing case 100 to the cargo 20 being not limited in transfer warehousing cabinet 500, at another
In embodiment, step S32 can be with are as follows: transfer device 420 is mobile by the cargo 20 at the access port 414 of cargo access case 410
In warehousing case 100 in the accommodating cabin 412 for being housed in cargo access case 410.So, the cargo 20 at access port 414 can be with
It is that other equipment shift the cargo 20 to come, is also possible to the cargo 20 manually placed, at this point, warehousing cabinet 500 also can be omitted.
If being appreciated that only short-range transfer cargo 20, step S32 can be different from aforesaid way, at this point, step
S32 can be with are as follows: finds cargo 20, traction component 200 moves into cargo 20 in warehousing case 100.Incited somebody to action in traction component 200
After cargo 20 moves into warehousing case 100, next step, i.e., step S33 described below, without again by goods are directly carried out
Object 20 moves into warehousing cabinet 500 the step of being stored, i.e., step S31 described above can be omitted.
If storing cargo 20 in warehousing case 100, then, step S31 and step S32 can be omitted.
Step S33: with finding goal-selling.
It specifically, is goal-selling to send place with charge free.
It specifically, is that image is acquired by visual sensing component 300 to realize with finding goal-selling.
Step S34: traction component 200 slides, and it is default to drive the warehousing case 100 connecting with traction component 200 to slide into
Target is located in.
Specifically, the image slide that traction component 200 is acquired according to visual sensor.
Step S35: traction component 200 by cargo 20 from warehousing case 100 with being moved to goal-selling.
In the present embodiment, step S35 are as follows: the mechanical arm 250 of traction component 200 grabs cargo 20, and cargo 20 is unloaded
With being loaded onto goal-selling.
Step S36: predeterminated position is found.
Specifically, predeterminated position is the accommodating cabin 412 that cargo accesses case 410.
Step S37: traction component 200 drives warehousing case 100 to slide into predeterminated position.
In the present embodiment, step S37 specifically: traction component 200 drives warehousing case 100 to slide into accommodating cabin 412
It is interior.
Specifically, when warehousing case 100 is housed in accommodating cabin 412, cargo accesses case 410 and can charge to warehousing case 100,
When traction component 200 is connect with warehousing case 100, warehousing case 100 can power to traction component 200.And warehousing case 100, cargo
It can also carry out data transmission between access case 410 and traction component 200, in order to which warehousing case 100, cargo access 410 and of case
The preferably cooperating of traction component 200.
Further, warehousing case 100 is multiple, at this point, connecting when traction component 200 works with one of warehousing case 100
It connects, work is sent and collected to crudely-made articles object 20 of going forward side by side with charge free, remaining warehousing case 100 charges in cargo access case 410.This
When, it can also realize that part warehousing case 100 and traction component 200 carried out cargo 20 sends and collect work with charge free, partially be located at and hold
Warehousing case 100 and cargo the access cooperation of case 410 set in cabin 412 carry out the handling of cargo 20, are used for save traction component 200
The time of cargo 20 handling and charging is waited, the working efficiency that traction component 200 is used to shift cargo 20 is improved.At this point, step
Searching cargo 20 in S31, the step that traction component 200 moves into cargo 20 in warehousing case 100 can be with transfer device 420
Cargo 20 in warehousing case 100 is transferred to the step of cargo accesses access port 414 of case 410 while being carried out, alternatively, step
Searching cargo 20 in S31, traction component 200 by cargo 20 move into warehousing case 100 in step can with step S32 simultaneously into
Row；Step S32 can be carried out simultaneously with step S33~step S37.If traction component 200 is multiple, then, step S31, walk
Rapid S32 can be carried out simultaneously with step S33~step S37.
Further, the transfer method of cargo 20 further includes step S38: replacement warehousing case 100.
In the present embodiment, warehousing case 100 is multiple, step S38 are as follows: traction component 200 connects with traction component 200
The warehousing case 100 connect is automatically separated, and is then moved, then is connect automatically with one in remaining warehousing case 100.I.e. and draw groups
The cargo 20 in warehousing case 100 that part 200 connects has been dispatched completion, alternatively, the electricity of warehousing case 100 has arrived default electricity
(electricity is low), traction component 200 are just automatically separated with the warehousing case 100, and be already equipped with need shift cargo 20 its
Its warehousing case 100 or other warehousing casees 100 of charging complete connect automatically, then carry out transfer work again.At this point,
One step S38 is set while step S31；One step S38 is set after step S37.
It is appreciated that when warehousing case 100 only one when, then be not necessarily to step S38, at this point, step S37 traction component 200
Warehousing case 100 is driven to slide into after predeterminated position, traction component 200 can not be separated with warehousing case 100, directly to carry out
Cargo 20 is loaded while charging.
The transfer method of above mentioned goods 20 can be realized by using the transfer device of above mentioned goods 20 and independently be loaded and unloaded
Loading object 20, without artificial dress picking object 20.Simultaneously, moreover it is possible to which work while realizing multiple warehousing case 100 makes the dress of cargo 20
It carries, unload and sends with charge free and collect and synchronous can carry out, improve the efficiency of the transfer of cargo 20, so that, the transfer side of above mentioned goods 20
Method 20 transfer efficiency of cargo with higher.
The structure of the cargo transfer means of another embodiment is roughly the same with the structure of cargo transfer means 10, and difference exists
In the warehousing case 600 of the cargo transfer means of present embodiment and the structure of warehousing case 100 are different, the structure of traction component 700
It is different from the structure of traction component 200.
As shown in FIG. 9 and 10, warehousing case 600 is not provided with traveling wheel, but multiple supporting elements 610 that can be stretched,
Multiple supporting elements 610 jointly (scheme not by support case ontology 620, the bottom setting data-interface (not shown) and lockhole of case ontology 620
Show).
Also referring to Figure 11, the structure of the structure of the traction main body 720 of traction component 700 and traction main body 240 is slightly
Difference, traction main body 720 is not docked with the data-interface of case ontology 620, and also not direct and 620 physical connection of case ontology.
At this point, traction component 700 further includes support base 740, support base 740 and traction main body 720 are rotatablely connected, and support base 740 can
Carry warehousing case 600.Multiple supporting elements 610 shorten, and warehousing case 600 is enable to be located on support base 740, so that warehousing case
600 connect with support base 740, and multiple supporting elements 610 extend, and separate warehousing case 600 with support base 740.Wherein, support base
The electric connector 750 that can be docked with the data-interface of case ontology 620 is provided on 740 and can be with the lock of case ontology 620
The electronic lock 760 of hole locking.
Specifically, support base 740 includes support plate 742 and the movable pulley 744 being mounted in support plate 742, support plate 742
It is rotatablely connected with traction main body 720, support plate 742 can carry warehousing case 600, and multiple supporting elements 610 shorten, and make warehousing case
600 can be located in support plate 742, so that warehousing case 600 is connect with support plate 742, multiple supporting elements 610 extend, and make to store up
Container 600 is separated with support plate 742.Wherein, electric connector 750 and electronic lock 760 are arranged at support plate 742.
The traction component 700 and warehousing case 600 of the cargo transfer means of present embodiment realize automatic connect and separation
Concrete operations are as follows:
When warehousing case 600 needs to connect with traction component 700, the support plate 742 of traction component 700 slides into case ontology
620 bottom, supporting element 610 shorten, and and surface separation, warehousing case 600 is located in support plate 742, as shown in figure 9, warehousing
The data-interface of case 600 is docked with electric connector 750, and the lockhole on electronic lock 760 and case ontology is locked, at this point, draw groups
Part 700 is able to drive the sliding of warehousing case 600.
When warehousing case 600 needs to separate with traction component 700, support member 610 extend, and with ground face contact, support case sheet
Body 620, case ontology 620 are separated with support plate 742, and the data-interface of warehousing case 600 is separated with electric connector 750, and electronic lock
760 with case ontology on lockhole unlock, support plate 740 towards far from warehousing case 600 direction slide, realize traction component 700 with
The separation of warehousing case 600.
Since the structure of the cargo transfer means of present embodiment is roughly the same with the structure of cargo transfer means 10, because
This, the cargo transfer means of present embodiment also have the effect of that cargo transfer means 10 are similar.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (10)
1. a kind of cargo transfer means characterized by comprising
Warehousing case, for loading cargo；
The traction component that can be slided can connect and be automatically separated automatically with the warehousing case, and the traction component being capable of band
The warehousing case sliding is moved, and the cargo can be movable into and out to the warehousing case；And
Visual sensing component is mounted on the traction component, and the visual sensing component can acquire image, wherein described
Traction component can work according to described image.
2. cargo transfer means according to claim 1, which is characterized in that the traction component includes that universal can slide
Pedestal, traction main body and mechanical arm, the pedestal sliding work can be carried out according to described image, the traction main body is fixed
On the base, it and can be slided with the pedestal, the traction main body can be connect automatically with the warehousing case and oneself
Dynamic separation, the mechanical arm are mounted in the traction main body, and the mechanical arm can grab and unload the cargo, and described
Mechanical arm can work according to described image.
3. cargo transfer means according to claim 1, which is characterized in that the warehousing case includes case ontology, traveling wheel
And the supporting element that can be stretched, the case ontology is for loading the cargo, and the traveling wheel is mounted on the case ontology, institute
It states supporting element to be mounted on the case ontology, the supporting element can support jointly the case ontology with the traveling wheel, wherein
The traction component can connect and be automatically separated automatically with the case ontology, and the traction component can move into the cargo
With the removal case ontology, when the traction component is connect with the case ontology, the supporting element shortens and makes the draw groups
Part and the traveling wheel support the case ontology jointly.
4. cargo transfer means according to claim 1, which is characterized in that the warehousing case includes case ontology and can stretch
Multiple supporting elements of contracting, for loading the cargo, multiple supporting elements are mounted on the case ontology case ontology, more
A supporting element can support the case ontology jointly；The traction component includes the pedestal for capableing of universal sliding, traction master
Body, mechanical arm and support base, the pedestal can carry out sliding work according to described image, and the traction main body is fixed on described
It on pedestal, and can be slided with the pedestal, the mechanical arm is mounted in the traction main body, and the mechanical arm can grab
The cargo is taken and unloads, and the mechanical arm can work according to described image, the support base and the traction main body turn
Dynamic connection, the support base can carry the warehousing case；Wherein, multiple supporting elements shorten, and enable the warehousing case
Enough it is located on the support base, so that the warehousing case is connect with the support base, multiple supporting element elongations, and make described
Warehousing case is separated with the support base.
5. cargo transfer means according to claim 1, which is characterized in that it further include transfer assembly, the transfer assembly
Case and transfer device are accessed including cargo, and the cargo access case has and can accommodate the accommodating cabin of the warehousing case and for depositing
Take the access port of the cargo, the transfer device can will be in the goods movement at the access port to the accommodating cabin
The warehousing case in, and can be by the goods movement in the warehousing case in the accommodating cabin to the access port
Place.
6. cargo transfer means according to claim 5, which is characterized in that the warehousing case is housed in the accommodating cabin
When, the warehousing case is electrically connected with cargo access case；When the traction component is connect with the warehousing case, the warehousing case
It is electrically connected with the traction component.
7. cargo transfer means according to claim 5 or 6, which is characterized in that the warehousing case be it is multiple, it is multiple described
Warehousing case can be housed in the accommodating cabin, and the traction component is selectively connect with warehousing case described in one of them,
The transfer device can be by the goods movement at the access port into multiple warehousing casees, and can will be multiple
At the goods movement to the access port in the warehousing case.
8. cargo transfer means according to claim 5, which is characterized in that the transfer device include guide rod, slide bar,
Telescopic arm and grippers, the guide rod is fixed in the cargo access case, and is extended towards the direction close to the access port,
The slide bar is mounted on the guide rod, and is intersected with the guide rod, and the slide bar can be along the extension of the guide rod
Direction sliding, one end of the telescopic arm is connect with the slide bar, and can be slided along the extending direction of the slide bar, described to grab
Pickup is mounted on the other end of the telescopic arm, and the grippers can grab and unload the cargo, and the grippers energy
It enough protrudes into the warehousing case in the accommodating cabin.
9. cargo transfer means according to claim 5, which is characterized in that further include warehousing cabinet, the warehousing cabinet can
The cargo is stored, the cargo in the warehousing cabinet can be transferred at the access port by the warehousing cabinet, Yi Jineng
The enough inside that the cargo at the access port is transferred to the warehousing cabinet.
10. cargo transfer means according to claim 9, which is characterized in that the warehousing cabinet includes cabinet body and parcel shelf,
The cabinet body can store the cargo, and pass-through is offered on the cabinet body, and the parcel shelf is mounted on the cabinet body, and
It is arranged close to the pass-through, for carrying the cargo, the parcel shelf can be housed in the cabinet body parcel shelf,
It can also be stretched out from the pass-through, so that the cargo on the parcel shelf can pass in and out the cabinet with the parcel shelf
Body, and the parcel shelf is enable to stretch in the cargo access case from the access port.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820555859.2U CN208199728U (en) | 2018-04-17 | 2018-04-17 | Cargo transfer means |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820555859.2U CN208199728U (en) | 2018-04-17 | 2018-04-17 | Cargo transfer means |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208199728U true CN208199728U (en) | 2018-12-07 |
Family
ID=64524678
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820555859.2U Withdrawn - After Issue CN208199728U (en) | 2018-04-17 | 2018-04-17 | Cargo transfer means |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208199728U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108557452A (en) * | 2018-04-17 | 2018-09-21 | 深圳市卓派自动化技术有限公司 | The transfer method of cargo transfer means and cargo |
-
2018
- 2018-04-17 CN CN201820555859.2U patent/CN208199728U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108557452A (en) * | 2018-04-17 | 2018-09-21 | 深圳市卓派自动化技术有限公司 | The transfer method of cargo transfer means and cargo |
| CN108557452B (en) * | 2018-04-17 | 2024-05-28 | 深圳市卓派自动化技术有限公司 | Goods transferring device and goods transferring method |
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