CN212244808U

CN212244808U - Transfer robot and transfer system having the same

Info

Publication number: CN212244808U
Application number: CN202020280361.7U
Authority: CN
Inventors: 陈叶广
Original assignee: Shenzhen Hairou Innovation Technology Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2020-03-09
Filing date: 2020-03-09
Publication date: 2020-12-29
Anticipated expiration: 2030-03-09

Abstract

The utility model provides a transfer robot and have this transfer robot's handling system. This transfer robot includes: a vertical frame arranged in a vertical direction; the storage mechanism comprises a plurality of storage assemblies for storing goods to be transported, and the plurality of storage assemblies are arranged on the vertical frame at intervals along the vertical direction; the blocking mechanism is provided with a blocking position and an avoiding position, the blocking mechanism is used for blocking the goods in the storage assembly from sliding out when being located at the blocking position, and the blocking mechanism is located when being located at the avoiding position, and the storage assembly can be moved into or out of the goods. So that transfer robot goods can not the roll-off storage component in handling, guarantee goods safety, avoid appearing the roll-off risk, improve handling efficiency.

Description

Transfer robot and transfer system having the same

Technical Field

The utility model relates to an intelligent storage technical field especially relates to a transfer robot and have this transfer robot's handling system.

Background

The intelligent storage is a link in the logistics process, and the application of the intelligent storage ensures the speed and the accuracy of data input in each link of goods warehouse management, ensures that enterprises timely and accurately master real data of the inventory, and reasonably keeps and controls the inventory of the enterprises. Through scientific coding, the batch, the shelf life and the like of the inventory goods can be conveniently managed. By using the warehouse location management function, the current positions of all the stored goods can be mastered in time, and the working efficiency of warehouse management is improved.

The transfer robot plays an important role in intelligent warehousing, and replaces manpower to transfer goods. At present, goods on a goods shelf of a transfer robot easily slide out of the goods shelf in the transfer process, so that the goods can be damaged on the one hand, and the transfer efficiency can be reduced on the other hand.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is necessary to provide a transfer robot and a transfer system having the same, which can prevent a load from slipping out during transfer of the load, in order to solve the problem that the load is likely to slip out of the transfer robot during transfer of the load.

The above purpose is realized by the following technical scheme:

a transfer robot comprising:

a vertical frame arranged in a vertical direction;

the storage mechanism comprises a plurality of storage assemblies for storing goods to be transported, and the plurality of storage assemblies are arranged on the vertical frame at the same intervals along the vertical direction; and

the blocking mechanism is provided with a blocking position and an avoiding position, the blocking mechanism is used for blocking the goods in the storage assembly to slide out when being located at the blocking position, and the blocking mechanism is located when being located at the avoiding position, and the storage assembly can move in or out the goods.

In one embodiment, the retaining mechanism can simultaneously retain the goods in each storage assembly.

In one embodiment, the blocking mechanism is multiple in number, and each blocking mechanism can block the cargoes in at least two storage assemblies at the same time.

In one embodiment, the storage assembly has an unloading end facing away from the upright frame, the backstop mechanism being movable into and out of the unloading end.

In one embodiment, the retaining mechanism abuts against a side wall or a bottom surface of the cargo when the retaining mechanism is in the retaining position.

In one embodiment, the retaining mechanism is disposed on at least one side of the storage assembly.

In one embodiment, the blocking mechanism comprises a movable blocking connector and a plurality of blocking assemblies respectively connected with the blocking connector, and at least one blocking assembly corresponds to the same storage assembly;

the blocking connecting piece can drive each blocking component to move into the loading and unloading end so as to block the goods in the storage component.

In one embodiment, the retaining assembly includes a retaining member fixedly disposed on the retaining connector, and movement of the retaining connector moves the retaining member into or out of the loading and unloading end.

In one embodiment, the retaining assembly comprises a swinging piece and a retaining piece, one end of the swinging piece is rotatably connected to the retaining connecting piece, the retaining piece is installed at the other end of the swinging piece, and the middle part of the swinging piece is rotatably installed at the loading and unloading end of the storage assembly;

the blocking connecting piece can drive the swinging piece to swing when lifted, so that the swinging piece drives the blocking piece to move into or out of the loading and unloading end.

In one embodiment, the retaining mechanism further comprises a retaining drive member, and an output end of the retaining drive member is connected with the retaining connection member to drive the retaining assembly to move into or out of the loading and unloading end.

In one embodiment, the bottom of the storage assembly has a free space for a loading and unloading mechanism of a handling system to reach into for loading or unloading the storage assembly.

In one embodiment, the storage assembly includes a first side plate and a second side plate disposed on the vertical frame, and the first side plate and the second side plate are disposed opposite to each other and enclose the activity space.

In one embodiment, the transfer robot further comprises a lifting mechanism capable of lifting in the vertical direction relative to the vertical frame and a transfer mechanism for transferring goods, the transfer mechanism is movably arranged in the vertical direction on the vertical frame and is connected with the lifting mechanism, and the transfer mechanism can be driven by the lifting mechanism to lift in the vertical direction so as to deliver the goods in the transfer mechanism to the corresponding storage component or shelf.

In one embodiment, the transfer robot further comprises a rotating mechanism disposed between the transfer mechanism and the lifting mechanism for driving the transfer mechanism to rotate relative to the lifting mechanism to align the transfer mechanism with the corresponding storage component.

In one embodiment, the carrying mechanism comprises a turnover piece and a pick-and-place piece telescopically arranged on the turnover piece, the pick-and-place piece can pick out goods and store the goods in the turnover piece, and the pick-and-place piece can push out the goods in the turnover piece.

In one embodiment, the transfer robot further comprises a movable chassis disposed at the bottom of the vertical frame.

A carrying system comprising a loading and unloading device and a carrying robot as claimed in any one of the above-mentioned features;

the loading and unloading device is used for conveying goods to the transfer robot or unloading the goods on the transfer robot, and comprises a vertical frame extending along the vertical direction and a plurality of loading and unloading mechanisms arranged on the vertical frame at intervals along the vertical direction, and the manner of arranging the plurality of loading and unloading mechanisms at intervals is the same as that of arranging the plurality of storage assemblies of the transfer robot at intervals;

when the transfer robot docks the loading/unloading device, the plurality of loading/unloading mechanisms can respectively convey the goods to the storage modules at different heights or unload the goods in the storage modules.

In one embodiment, the cargo handling mechanism comprises brackets, a handling assembly and a handling driving member, wherein the brackets are arranged on the stand at intervals along the vertical direction, the handling driving member and the handling assembly are respectively arranged on the corresponding brackets, the handling assembly is connected with the handling driving member, and the handling assembly is used for conveying cargos to the storage assembly or unloading cargos in the storage assembly.

In one embodiment, the loading and unloading device further comprises a movable base, and the base is arranged at the bottom of the stand.

In one embodiment, the carrying system further comprises a conveying device and a lifting device arranged between the loading and unloading device and the conveying device, wherein the lifting device moves in a lifting mode along a vertical direction to butt the loading and unloading mechanism and the conveying device;

the lifting device can receive the goods of the loading and unloading mechanism and transfer the goods to the conveying device; alternatively, the lifting device may take the goods from the conveying device and transfer the goods to the loading and unloading mechanism.

In one embodiment, the lifting device comprises a lifting frame along a vertical direction, a moving mechanism arranged on the lifting frame, and at least one layer of transfer mechanism arranged on the moving mechanism, wherein the moving mechanism can do lifting motion along the lifting frame and drive the transfer mechanism to move so as to receive or transfer goods to the loading and unloading mechanism.

In one embodiment, the transfer mechanism includes a transfer seat disposed on the moving mechanism and a transfer portion movably disposed on the transfer seat, the transfer portion can drive the cargo to move, and the transfer portion can receive or transfer the cargo to at least one of the loading and unloading mechanisms.

After the above-mentioned embodiment is adopted, the utility model discloses at least, following technological effect has:

the utility model discloses a transfer robot and have this transfer robot's handling system, when removing goods, blocking mechanism moves to the position of blocking, blocking mechanism can with the goods butt in the storage component, restriction goods roll-off storage component, the problem of the goods shelves of the easy roll-off transfer robot of goods when effectual solution is removing goods at present, make transfer robot goods can't roll-off storage component in handling, guarantee goods safety, the roll-off risk is avoided appearing, and the efficiency of transportation is improved, moreover, when transfer robot loads and unloads goods, blocking mechanism moves to dodging the position, at this moment, can load the goods in to each storage component, also can shift out the goods in each storage component, can not obstruct transfer robot's loading and unloading goods operation, and convenient use.

Drawings

Fig. 1 is a perspective view of a transfer robot according to an embodiment of the present invention;

fig. 2 is a partially enlarged view of the transfer robot shown in fig. 1;

fig. 3 is a perspective view of the transfer robot shown in fig. 1 applied to a transfer system;

FIG. 4 is a perspective view of a load handling device of one embodiment of the handling system of FIG. 3;

FIG. 5 is a partial schematic view of the load handling device of FIG. 4;

FIG. 6 is a perspective view of another embodiment of a load handling device of the handling system of FIG. 3;

FIG. 7 is a partial schematic view of the load handling device of FIG. 6;

fig. 8 is a perspective view of a cargo handling device according to yet another embodiment of the present invention;

fig. 9 is a perspective view of the cargo handling device shown in fig. 6 engaged with a transfer robot.

Wherein: 100-a handling robot; 110-a vertical frame; 120-a storage mechanism; 121-a storage component; 1213-a first side panel; 1214-a second side panel; 1215-a loading and unloading end; 140-a lifting mechanism; 150-a handling mechanism; 151-a turnaround; 152-a pick-and-place member; 160-a chassis; 170-a catch mechanism; 171-a barrier link; 172-a catch assembly; 1721-a pendulum; 1722-a barrier; 200-cargo; 400-a lifting device; 410-a lifting frame; 420-a moving mechanism; 430-a transport mechanism; 431-a transfer seat; 432-the transport portion; 500-a conveying device; 600-a load and unload device; 610-a vertical frame; 620-a load and unload mechanism; 621-a bracket; 622-handling assembly; 6221-a chain; 6222-bumps; 623-loading and unloading a driving piece; 624-synchronization lever; 625-a loading and unloading cross arm; 626-a push-pull assembly; 6261-a push-pull rod; 6262-push-pull motor; 630-adjusting the drive mechanism; 640-temporary storage racks; 641-temporary storage rollers.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the following embodiments are described in detail with reference to the accompanying drawings, and the transfer robot and the transfer system having the transfer robot of the present invention are described in further detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Referring to fig. 1 and 3, the present invention provides a transfer robot 100. The transfer robot 100 is applied to a transfer system and can transfer a load 200. It is understood that the cargo 200 may be the cargo 200 having the bracket 621, and the transfer robot 100 transfers the cargo 200 through the bracket 621; of course, the cargo 200 may be placed in a cargo box, and the transfer robot 100 transfers the cargo 200 through the cargo box. The cargo 200 mentioned below is the cargo 200 contained in the cargo box, and the cargo box can be loaded with the cargo 200, so as to realize the transportation of the cargo 200, the transfer robot 100 conveys the cargo box to the unloading position, and after the cargo 200 in the cargo box is unloaded, the cargo box can be conveyed back to the transfer robot 100, so as to realize the recycling of the cargo box, and the cost is reduced. Or a container with the goods 200, the transfer robot 100 delivers the container to the unloading position, and unloads the container with the goods 200 by the unloading device.

The transfer robot 100 plays an important role in the smart storage, so that the transfer of the goods 200 is realized, the transfer speed of the goods 200 is ensured, the transfer efficiency of the goods 200 is improved, and the consumption of human resources is reduced. The utility model discloses a transfer robot 100 can block goods 200 in handling, and restriction goods 200 roll-off transfer robot 100 guarantees goods 200 safety, avoids appearing the roll-off risk, improves handling efficiency. When loading or unloading the cargo, the transfer robot 100 no longer blocks the cargo 200, and the transfer robot 100 can perform the loading or unloading operation, which is convenient for use.

Referring to fig. 1 and 2, in an embodiment, the transfer robot 100 includes an upright frame 110, a storage mechanism 120, and a blocking mechanism 170. The vertical frame 110 is disposed in a vertical direction. The storage mechanism 120 includes a plurality of storage modules 121 for storing the goods 200 to be carried, and the plurality of storage modules 121 are disposed at the vertical frame 110 at the same intervals in the vertical direction. The blocking mechanism 170 has a blocking position and an escape position, the blocking mechanism 170 is configured to block the cargo 200 in the storage module 121 from sliding out when the blocking mechanism 170 is in the blocking position, and the storage module 121 is configured to move in and out of the cargo 200 when the blocking mechanism 170 is in the escape position.

The vertical frame 110 plays a bearing role, on which various components of the transfer robot 100 are mounted. When the transfer robot 100 transfers the goods 200, the vertical frame 110 may drive each component of the transfer robot 100 to move synchronously, so as to transfer the goods 200. The storage mechanism 120 is located on the vertical frame 110 and used for storing the goods 200, and the storage mechanism 120 can move synchronously with the vertical frame 110 to realize the transportation of the goods 200. The transfer robot 100 moves to the loading position, the goods 200 to be transferred are transferred to the storage mechanism 120 for storage, and then the transfer robot 100 moves from the loading position to the unloading position, and accordingly, the storage mechanism 120 moves with the vertical frame 110 to the unloading position, and at this time, the goods 200 in the storage mechanism 120 can be unloaded. The storage mechanism 120 can temporarily store the cargo 200 to be carried, improving the ability of the transportable robot 100 to carry the cargo 200.

The storage mechanism 120 includes a plurality of storage modules 121, and the plurality of storage modules 121 are disposed on the vertical frame 110 at the same interval. Each storage unit 121 can carry a container of goods 200, ensuring the storage capacity of the transfer robot 100. That is, the storage assemblies 121 are uniformly distributed in the vertical frame 110 in the vertical direction. The goods 200 to be transported can be transported to each storage module 121, and the transfer robot 100 drives the goods 200 in each storage module 121 to be transported to the unloading position. The storage module 121 is fixed to the vertical frame 110, the storage module 121 does not move, and the storage module 121 is loaded and unloaded by the loading and unloading device 600 of the transfer system and/or the transfer mechanism 150 of the transfer robot 100, which will be described later.

It is understood that after the goods 200 to be transported are stored in the storage assembly 121, the transfer robot 100 may travel a certain distance during the movement of the transfer robot 100 from the loading position to the unloading position, and the goods 200 stored in the storage assembly 121 may be dropped. Once the goods 200 in the storage module 121 fall, on one hand, the goods 200 may be damaged, resulting in economic loss, and on the other hand, a manual or intelligent picking device or the like is required to pick up the goods 200 and replace the goods 200 in the storage module 121 for transportation, which may affect the transportation efficiency of the goods 200.

For this reason, the transfer robot 100 of the present invention further includes a blocking mechanism 170, and the goods 200 in the storage module 121 are blocked by the blocking mechanism 170. This prevents the cargo 200 in the storage assembly 121 from slipping out. Specifically, the blocking mechanism 170 has a blocking position and an escape position. When the barricade mechanism 170 is in the stowed position, cargo 200 may be loaded into the storage assembly 121 or the cargo 200 may be removed from the storage assembly 121. When the blocking mechanism 170 is in the blocking position, the cargo 200 in the storage assembly 121 abuts against the blocking mechanism 170, and the blocking mechanism 170 can limit the cargo 200 in the storage assembly 121 from sliding out, so as to prevent the cargo 200 from falling.

Specifically, when the transfer robot 100 is at the carrying position, the blocking mechanism 170 is at the avoidance position, and at this time, the cargo 200 can be loaded into the storage module 121; after loading, the blocking mechanism 170 moves to the blocking position, and at this time, the blocking mechanism 170 can abut against the goods 200 in the storage assembly 121 to limit the goods 200 from sliding out of the storage assembly 121; subsequently, the transfer robot 100 may move from the loading position to the unloading position, during which the blocking mechanism 170 is always in the blocking position; when the retaining mechanism 170 is in the unloading position, the retaining mechanism 170 is moved from the retaining position to the avoidance position, and the cargo 200 in the storage assembly 121 can be removed. And, the transfer robot 100 reciprocates in this manner. It is understood that the blocking mechanism 170 may function as a blocking function regardless of whether or not there is any cargo in the storage module 121 during the movement of the transfer robot 100, or may function as a blocking function only when there is cargo in the transfer, i.e., when there is any cargo in the storage module 121.

When the transfer robot 100 of the above embodiment carries goods, the blocking mechanism 170 moves to the blocking position, and the blocking mechanism 170 can abut against the goods 200 in the storage assembly 121 to limit the goods 200 from sliding out of the storage assembly 121, thereby effectively solving the problem that the goods easily slide out of the rack of the transfer robot when carrying goods at present, so that the goods 200 cannot slide out of the storage assembly 121 during the carrying process of the transfer robot 100, ensuring the safety of the goods 200, avoiding the risk of sliding out, and improving the carrying efficiency.

In one embodiment, the transfer robot 100 further includes a movable chassis 160, and the chassis 160 is disposed at the bottom of the vertical frame 110. The movable chassis 160 can drive the transfer robot 100 to move, and the adaptation of the transfer robot 100 to actual working conditions is greatly improved. Specifically, the chassis 160 includes a tray frame, a travel driving assembly and a plurality of rotating wheels, the vertical frame 110 is disposed on the upper portion of the tray frame, the plurality of rotating wheels are disposed on the bottom of the tray frame, the travel driving assembly is disposed on the tray frame, and at least one rotating wheel is in transmission connection with the travel driving assembly. Further, at least two rotating wheels are respectively in transmission connection with the advancing driving assembly, and the at least two rotating wheels respectively in transmission connection with the advancing driving assembly are distributed on two sides of the disc frame along the advancing direction, so that the steering function of the chassis 160 is realized. The traveling driving assembly comprises at least two wheel driving motors, and at least two rotating wheels distributed on two sides of the tray frame along the traveling direction are respectively driven by the independent wheel driving motors. At least two rotating wheels distributed on both sides of the tray frame in the traveling direction are respectively driven by separate wheel driving motors, so that the transmission structure on the chassis 160 can be simplified.

In one embodiment, the rotating wheel includes a driving wheel and a driven wheel. Mounted to the bottom of the chassis 160 are a drive wheel and a driven wheel, which are rotatable relative to the chassis 160, respectively, and which together support the chassis 160, the drive wheel being driven by a wheel drive motor to move the chassis 160. The movable chassis 160 is provided so that the transfer robot 100 can transfer the cargo 200 between the loading position and the unloading position. The number of the driving wheels is two, the two driving wheels are symmetrically distributed, correspondingly, the number of the wheel driving motors is two, the two driving wheels are respectively driven by the two wheel driving motors, the rotating speeds of the two driving wheels can be different, and therefore the chassis 160 can rotate. The number of the driven wheels is four, the four driven wheels are distributed in a rectangular mode, the driven wheels can be universal wheels, and other wheel body structures with steering functions can be adopted. The number of driven wheels is not limited to four, and may be six, three, or the like, depending on the actual situation.

In this embodiment, the chassis 160 is further installed with a guiding device, which is a camera for recognizing a graphic code attached to the ground, so that the chassis 160 travels along a preset path. The graphic code can be a two-dimensional code, a bar code or some customized identification code and the like. In other embodiments, the guiding device is a laser guiding device for guiding the chassis 160 to travel along the laser beam, or the guiding device is a short wave receiving device for guiding the chassis 160 to travel along a predetermined path by receiving a predetermined short wave signal. It should be noted that in other embodiments, the chassis 160 may be omitted and the upright frame 110 may be fixedly mounted directly to the ground or other platform for carrying the cargo 200 between its stowed and stowed positions.

In one embodiment, the retaining mechanism 170 may simultaneously retain the cargo 200 in each storage module 121. That is, the arresting mechanism 170 may be simultaneously moved to an arresting position to arrest the cargo 200 in the storage module 121, and the arresting mechanism 170 may be simultaneously moved to an escape position to allow the storage module 121 to be loaded and unloaded. Of course, in other embodiments of the present invention, the number of the blocking mechanisms 170 is plural, and each blocking mechanism 170 can block the goods 200 in at least two storage assemblies 121 at the same time. It is understood that one retaining mechanism 170 may act on all of the cargo 200 in storage modules 121 simultaneously, or that multiple retaining mechanisms 170 may act on multiple storage modules 121. Illustratively, the number of retaining mechanisms 170 is two, wherein one retaining mechanism 170 is for retaining cargo 200 of one to three tiers of storage modules 121 and the other retaining mechanism 170 is for retaining cargo 200 of four to six tiers of storage modules 121. Of course, in other embodiments of the present invention, the number of retaining mechanisms 170 may be greater. The utility model discloses only explaining for the example that the cargo 200 that blocks all storage components 121 simultaneously with blocking mechanism 170, the theory of operation that a plurality of blocking mechanisms 170 are the same with the theory of operation that adopts a blocking mechanism 170, and this is not repeated repeatedly.

It should be noted that the position of the blocking mechanism 170 is not limited in principle, and may be movably disposed on the vertical frame 110, the chassis 160, and the storage assembly 121, as long as the blocking mechanism 170 can move to the avoiding position or the blocking position. In this embodiment, only the blocking mechanism 170 is disposed on the chassis 160 for illustration, and the operation principle of the blocking mechanism 170 disposed at other positions is substantially the same as the operation principle of the blocking mechanism 170 disposed on the chassis 160, which is not described herein again. Specifically, the catch mechanism 170 may be moved to a catch position or an escape position as the catch mechanism 170 is moved relative to the chassis 160. When the retaining mechanism 170 is movable to the retaining position, the retaining mechanism 170 may retain the cargo 200 in each storage module 121; when the blocking mechanism 170 is moved to the retracted position, the blocking mechanism 170 no longer blocks the storage assembly 121 and the cargo 200 is free to enter and exit the storage assembly 121.

In one embodiment, storage assembly 121 has an unloading end 1215 facing away from upright frame 110. The cargo 200 is loaded and unloaded from the loading and unloading end 1215 of the storage module 121. Illustratively, as shown in fig. 2, storage module 121 has an unloading end 1215 at an end remote from upright frame 110, such that when loaded, cargo 200 is moved from unloading end 1215 into storage module 121, and when unloaded, cargo 200 is moved from unloading end 1215 out of storage module 121. Alternatively, the loading and unloading end 1215 is an open-ended opening in the storage assembly 121, or other access port through which cargo 200 can enter and exit. Of course, in other embodiments of the present invention, the loading/unloading end 1215 may be provided at an end of the storage module 121 close to the vertical frame 110. This also enables loading and unloading of goods 200 into and from storage assembly 121.

Referring to fig. 1 and 2, in one embodiment, the backstop mechanism 170 can be moved into and out of the handling end 1215. That is, when the catch mechanism 170 is moved into the loading and unloading end 1215, the catch mechanism 170 is in the catch position, and at this time, the end of the cargo 200 abuts the catch mechanism 170, and the catch mechanism 170 catches the cargo 200 to restrict the cargo 200 from sliding out of the loading and unloading end 1215. When the blocking mechanism 170 is moved out of the loading and unloading end 1215, the blocking mechanism 170 is in the position of avoidance, and the loading and unloading end 1215 is unobstructed, allowing loading of cargo 200 onto the storage module 121 via the loading and unloading end 1215, and unloading of cargo 200 from the storage module 121 via the loading and unloading end 1215.

In one embodiment, the arresting mechanism 170 abuts a side wall or a bottom surface of the cargo 200 when the arresting mechanism 170 is in the arresting position. That is, the retaining position of the retaining mechanism 170 may be located on the bottom or side of the storage assembly 121. When the retaining mechanism 170 is moved to the retaining position, the retaining mechanism 170 may abut the cargo 200 in the storage assembly 121 at the side or bottom surface, and at this time, the cargo 200 is prevented from slipping out of the storage assembly 121 because the abutting force of the retaining mechanism 170 restricts the movement of the cargo 200 in the storage assembly 121. After the retaining mechanism 170 moves to the avoiding position, the retaining mechanism 170 is separated from the side surface or the bottom surface of the cargo 200 of the storage assembly 121, and the cargo 200 can move in the storage assembly 121, so that the cargo loading and unloading operation of the storage assembly 121 is realized.

In one embodiment, the retaining mechanism 170 is disposed on at least one side of the storage assembly 121. It will be appreciated that the retaining mechanism 170 may be disposed on one side of the storage assembly 121, as shown in fig. 1 and 2, in which case the retaining mechanism 170 may retain cargo 200 in the storage assembly 121 in the retaining position. Of course, in other embodiments of the present invention, the blocking mechanisms 170 may be located on both sides of the storage assembly 121. This may further trap cargo 200 in storage assembly 121. Further, the two retaining mechanisms 170 may be arranged symmetrically or asymmetrically, as long as they can retain the cargo 200 in the storage module 121.

For example, the embodiment is described only by taking the blocking mechanism 170 as an example that can move into or out of the loading and unloading end 1215, and the blocking mechanism 170 is disposed at one side of the storage component 121, and the operation principle of the blocking mechanism 170 in different layout forms mentioned in other embodiments is substantially the same as that of the blocking mechanism 170 in the embodiment, and thus the description is omitted here. At this time, the blocking position of the blocking mechanism 170 is located at the loading and unloading end 1215. After the catch mechanism 170 is moved to the loading and unloading end 1215, the catch mechanism 170 is positioned in the loading and unloading end 1215 and faces the cargo 200 to catch the cargo 200.

In one embodiment, the blocking mechanism 170 includes a movable blocking link 171 and a plurality of blocking members 172 respectively connected to the blocking link 171, at least one of the blocking members 172 corresponding to the same storage member 121. The damming connectors 171 move each damming member 172 into the loading and unloading end 1215 to dammed the cargo 200 in the storage assemblies 121. The barrier connectors 171 function as links for connecting the respective barrier assemblies 172. The barrier connectors 171 move to simultaneously move the plurality of barrier assemblies 172 so that the barrier assemblies 172 can be moved to and from the loading and unloading ends 1215 of the corresponding storage assemblies 121, respectively, or removed from the loading and unloading ends 1215 of the storage assemblies 121. Alternatively, the damming connector 171 includes, but is not limited to, a link or a long plate, etc.

The damming assembly 172 functions as a damming function for effecting a blockage of the cargo 200. When the catch member 171 moves the catch assembly 172 to the catch position, the catch assembly 172 is positioned just inside the loading and unloading end 1215, with the end of the cargo 200 facing the catch assembly 172, the catch assembly 172 restricts the cargo 200 from moving out of the storage assembly 121. After the catch member 171 has moved the catch assembly 172 to the clearance position, the catch assembly 172 is disengaged from the loading and unloading end 1215, and the end of the cargo 200 is free of any objects to be held and can be loaded or unloaded to the storage assembly 121.

It will be appreciated that the bypass position may be outside of the catch assembly 172, at the bottom of the storage assembly 121 or flush with the storage assembly 121. When the escape position is at the bottom of the storage assembly 121, the damming assembly 172 is positioned so as not to interfere with the movement of the next layer of cargo 200 in and out.

Optionally, the damming member 171 may be adapted to move up and down, and the damming member 171 may move up and down to move each of the damming members 172 synchronously so that the damming members 172 are positioned at the loading end 1215 or removed from the loading end 1215. In this case, the retracted position may be located at the bottom of the storage module 121 or at a position flush with the storage module 121. Of course, the blocking member 171 can also move horizontally, and the horizontal movement of the blocking member 171 can drive each blocking member 172 to move horizontally synchronously, so that the blocking member 172 is located at the loading and unloading end 1215 or moved out of the loading and unloading end 1215. In this case, the escape position may be located outside of the catch assembly 172. Of course, the backstop attachment 171 could also be a combination of one or more of other types of movement, such as a rotational movement, a swinging movement, a shifting movement, etc., as long as the movement of the backstop assembly 172 into and out of the loading and unloading end 1215 is accomplished. For example, the present invention is described with reference to the blocking member 171 moving up and down. Also, the retracted position is located at the bottom of the storage module 121 or at a position flush with the storage module 121.

In one embodiment, the damming assembly 172 includes a blocking member fixedly attached to the damming member 171, wherein movement of the damming member 171 moves the blocking member into and out of the loading and unloading end 1215. In this embodiment, the blocking member is fixedly disposed on the blocking connecting member 171, and the movement of the blocking connecting member 171 can directly drive the blocking member to move, so that the blocking member moves to the blocking position or the avoiding position. For example, when the blocking member is lifted by the blocking member 171, the blocking member can move to the loading and unloading end 1215 to block the cargo 200; when the blocking member is lowered by the blocking link 171, the blocking member can be moved to the escape position so as not to block the cargo 200. Alternatively, the blocking member may be a baffle, a stopper, a limit post, or the like capable of achieving blocking.

Referring to fig. 1 and 2, in one embodiment, the blocking assembly 172 includes a swing member 1721 and a blocking member 1722, one end of the swing member 1721 is rotatably connected to the blocking connection member 171, the other end of the swing member 1721 is provided with the blocking member 1722, and the middle of the swing member 1721 is rotatably mounted to the loading and unloading end 1215 of the storage assembly 121. The latch connector 171 can swing the swing member 1721 when it is lifted, so that the swing member 1721 can drive the latch member 1722 to move into or out of the loading/unloading end 1215.

That is, the damming link 171 effects switching between the damming and the retracted positions through indirect movement, such as swinging movement, of the damming assembly 172. Specifically, the blocking connection member 171 can drive one end of the swing member 1721 to move when moving, so as to swing relative to the storage module 121, and then the other end of the swing member 1721 can drive the blocking member 1722 to move, so that the blocking member 1722 moves to the avoiding position or the blocking position. The head of the swing member 1721 is rotatably connected to the blocking connection member 171, the middle of the swing member 1721 is rotatably connected to the storage module 121, and the tail of the swing member 1721 is connected to the blocking member 1722. The barrier 1722 is movable to a let position or a block position.

For example, when the blocking connection member 171 moves upward in the vertical direction, the blocking connection member 171 may drive the blocking member 1722 to move to the blocking position through the swing member 1721, and when the blocking connection member 171 moves downward in the vertical direction, the blocking connection member 171 may drive the blocking member 1722 to move to the avoiding position through the swing member 1721. Alternatively, the oscillating member 1721 is an oscillating rod and the blocking member 1722 is a blocking rod.

It should be noted that the essential spirit of the present invention lies in that the blocking connection member 171 and each blocking assembly 172 move, so that each blocking assembly 172 moves to the avoiding position or the blocking position corresponding to the storage assembly 121, respectively. Two forms of the damming assembly 172 are described in the two embodiments above; and, the setting of blocking subassembly 172 is various, can not be exhaustive, the utility model discloses a linkage mode is not limited to and is realized by above-mentioned specific structure.

In one embodiment, the catch mechanism 170 further includes a catch drive member having an output end coupled to the catch link 171 for driving the catch assembly 172 into and out of the loading and unloading end 1215. The blocking driving member is a power source for the movement of the blocking mechanism 170, and realizes the driving of the movement of the blocking moving member. And, the blocking driving member outputs a linear motion so that the blocking connecting member 171 can perform a lifting motion, and then the blocking connecting member 171 can drive the blocking assembly 172 to move so that the blocking assembly 172 moves to the avoiding position or the blocking position. Alternatively, the blocking driving member includes, but is not limited to, an air cylinder, a hydraulic cylinder, a linear motor or an electric push rod, and may be other linear driving units capable of outputting a linear motion. Illustratively, the damming drive is a linear motor. Illustratively, one end of the backstopping drive is disposed on the chassis 160. Of course, in other embodiments of the present invention, the rotating motor drives in cooperation with the protruding member.

In one embodiment, the bottom of the storage module 121 has a free space for the loading and unloading mechanism 620 of the handling system to reach into to load or unload the storage module 121. Since the storage module 121 cannot move during loading and unloading, other components such as the handling mechanism 150 or the loading and unloading device 600 are required to move the cargo 200 into the storage module 121 or take the cargo out of the storage module 121, which requires a space for the handling mechanism 150 and the auxiliary mechanism to extend into the bottom of the storage module 121, so as to facilitate loading and unloading of the storage module 121. When loading the storage module 121, the carrying mechanism 150 or the loading/unloading device 600 may be inserted into the active space to place the cargo 200 on the storage module 121 and then removed from the active space; when unloading the goods from the storage module 121, the carrying mechanism 150 or the loading/unloading device 600 may extend into the movable space to hold the goods 200 in the storage module 121 and move the goods 200 out of the storage module 121.

In one embodiment, the storage assembly 121 includes a first side plate 1213 and a second side plate 1214 disposed on the vertical frame 110, and the first side plate 1213 and the second side plate 1214 are disposed opposite to each other and enclose an activity space. The first side plate 1213 and the second side plate 1214 are disposed at the same height of the vertical frame 110, and the first side plate 1213 and the second side plate 1214 are disposed in parallel. In this way, the first side plate 1213 and the second side plate 1214 can be used to hold the bottom of the cargo 200 at two sides, and ensure that the cargo 200 is flat and free from deflection. The gap between the first side plate 1213 and the second side plate 1214 is a space, which is the above-mentioned space, and allows the carrying mechanism 150 or the cargo handling device 600 to extend into the space for cargo handling.

Of course, in other embodiments of the present invention, the storage component 121 includes a tray body for carrying the cargo 200, the tray body has an active space along the cargo 200 entering and exiting direction, and the size of the active space along the cargo 200 entering and exiting direction is smaller than the size of the tray body along the cargo 200 entering and exiting direction. That is, the active space at this time is the opening of the holder. The cargo 200 is carried by the pallets, and the active space of the pallets also allows the handling mechanism 150 or the loading and unloading device 600 to be inserted for loading and unloading operations.

In an embodiment, the transfer robot 100 further includes a lifting mechanism 140 capable of lifting in a vertical direction relative to the vertical frame 110 and a transfer mechanism 150 for transferring the goods 200, the transfer mechanism 150 is movably disposed in the vertical direction on the vertical frame 110 and connected to the lifting mechanism 140, and the transfer mechanism 150 can be driven by the lifting mechanism 140 to lift in the vertical direction so as to deliver the goods 200 in the transfer mechanism 150 to the corresponding storage component 121.

The transfer mechanism 150 is an operation execution terminal for realizing the transfer robot 100. In the loading position, the handling mechanism 150 may carry the cargo 200 to be handled and transport the cargo 200 into the storage assembly 121. Of course, the handling mechanism 150 can also take out the goods 200 in the storage module 121 when the goods 200 in the storage module 121 need to be unloaded individually in some occasions. Alternatively, the handling mechanism 150 includes, but is not limited to, a robot, an actuatable tow bar, or a flat surface with a conveying function, etc. The lifting mechanism 140 is used for realizing the lifting movement of the carrying mechanism 150, and it can drive the carrying mechanism 150 to do the lifting movement along the vertical direction.

The multi-layer shelf for loading the goods 200 is provided at the loading position, when the transfer robot 100 loads the goods at the loading position, the lifting mechanism 140 drives the transfer mechanism 150 to perform a lifting motion, so that the transfer mechanism 150 can pick up the goods from the shelf, and then the lifting assembly drives the transfer mechanism 150 to perform a lifting motion, so as to transfer the goods 200 in the transfer mechanism 150 to the storage assembly 121. The above-mentioned steps are repeated until each storage module 121 stores the goods 200. After loading, the blocking mechanism 170 moves to the blocking position to block the cargo 200 in each storage module 121, so as to prevent the cargo 200 from sliding out of the storage module 121. Subsequently, after the transfer robot 100 moves from the loading position to the unloading position, the blocking mechanism 170 moves to the avoidance position, and at this time, the cargo 200 in each storage unit 121 can be unloaded from the loading and unloading end 1215. After the unloading is completed, the transfer robot 100 returns to the loading position, and thus continuous transfer of the cargo 200 is performed in a reciprocating manner, thereby improving the transfer efficiency.

Optionally, the loading and unloading end 1215 is disposed on the same side as the carrying mechanism 150, and when the loading and unloading end 1215 performs loading and unloading operations, the carrying mechanism 150 needs to avoid the loading and unloading end 1215 so as to avoid the interference between the carrying mechanism 1215 and the loading and unloading device 600, thereby ensuring reliable loading and unloading. At this time, the transfer mechanism 150 may be raised to the highest position of the transfer robot 100, or may be higher than the loading/unloading device 600, or may be moved to the other side of the transfer robot 100. Alternatively, the loading/unloading end 1215 is provided on the opposite side of the carrying mechanism 150. The loading and unloading of the loading and unloading end 1215 is not affected by the conveying mechanism 150, and when the storage module 121 loads and unloads, the conveying mechanism 150 does not interfere with the loading and unloading device 600.

The lifting mechanism 140 is used for driving the carrying mechanism 150 to lift and lower in the vertical direction. In one embodiment, the lifting mechanism 140 includes a lifting power source and a lifting transmission assembly, which are respectively disposed on the vertical frame 110. The lifting transmission component is connected with a lifting power source and a carrying mechanism 150 in a transmission way. Specifically, the output end of the lifting power source is in transmission connection with the input end of the lifting transmission assembly, and the output end of the lifting transmission assembly is in transmission connection with the carrying mechanism 150. The lifting power source and the lifting transmission component are respectively arranged on the vertical frame 110, and the lifting power source and the lifting transmission component are in transmission connection relationship, so that the lifting mechanism 140 can be conveniently disassembled and assembled on the vertical frame 110. Optionally, the lifting power source outputs power in the form of rotation, linear motion or any other form of motion, and the final output of the lifting transmission assembly in transmission connection with the lifting power source is motion in the vertical direction. Optionally, the lifting power source comprises a driving motor, and the driving motor is in transmission connection with the input end of the lifting transmission assembly. The motor type lifting power source is more stable in operation. Further, the driving motor may rotate forward or backward, which facilitates the control of the lifting process of the lifting mechanism 140.

Alternatively, the lifting transmission assembly may be a telescopic rod structure, a chain transmission structure, a driving transmission structure, or the like, and may also be other structures capable of lifting the carrying mechanism 150. Illustratively, the lifting transmission assembly is a chain transmission structure, and includes a chain wheel and a chain, the chain is connected to the carrying mechanism 150, and the chain is vertically disposed on the vertical frame 110. When the output end of the lifting power source drives the chain wheel to rotate, the chain moves up and down along the vertical frame 110, and further drives the carrying mechanism 150 to move up and down.

It should be noted that the essence of the lifting transmission assembly lies in outputting the lifting motion to drive the carrying mechanism 150 to perform the lifting motion, thereby realizing the loading of the cargo 200. In the embodiment, the lifting transmission assembly is realized through a chain transmission structure; and, the structure that can realize going up and down sets up variously, can not exhale, the utility model discloses a lifting motion mode is not limited to and is realized by above-mentioned concrete structure.

In one embodiment, the transfer robot 100 further includes a rotating mechanism disposed between the transfer mechanism 150 and the lifting mechanism 140 for driving the transfer mechanism 150 to rotate relative to the lifting mechanism 140 so as to align the transfer mechanism 150 with the corresponding storage assembly 121.

The rotating mechanism is rotatably connected to the carrying mechanism 150, and the carrying mechanism 150 is rotatable relative to the rotating mechanism. When the carrying mechanism 150 is rotated by the rotating mechanism, the direction of the carrying mechanism 150 can be adjusted, so that the loading/unloading port of the carrying mechanism 150 can be adjusted. The carrying mechanism 150 carries the cargo 200 in and out through the loading/unloading port. When the transfer robot 100 is in the loading position, the rotating mechanism may drive the transfer mechanism 150 to rotate, such that the loading/unloading opening of the transfer mechanism 150 faces the shelf, and the goods 200 may be loaded in the transfer mechanism 150. When the transporting mechanism 150 transfers the goods 200 to the storage module 121, the rotating mechanism may drive the transporting mechanism 150 to rotate so that the loading/unloading opening of the transporting mechanism 150 faces the storage module 121, and at this time, the goods 200 in the transporting mechanism 150 may be transferred to the storage module 121.

Optionally, the rotating mechanism comprises a carrying bracket, a rotation gear arranged on the carrying bracket and a rotation motor fixedly arranged on the carrying bracket. The output end of the rotation motor is connected with a rotation gear, a carrying mechanism 150 is arranged on the rotation gear, and a carrying bracket is arranged on the lifting mechanism 140. The rotation motor can drive the rotation gear to rotate, and further drive the carrying mechanism 150 to rotate.

When the cargo handling apparatus 600 handles the cargo 200 to the transfer robot 100, the transfer mechanism 150 is raised to the highest position to avoid the cargo handling apparatus 600. It should be noted that the essence of the rotating mechanism is to output the rotating motion to drive the carrying mechanism 150 to rotate, so as to load and unload the cargo 200. In the embodiment, the rotating mechanism is realized by an autorotation motor and an autorotation gear; and, the structure that can realize the rotation sets up manifold, can not exhale, the utility model discloses a rotary motion mode is not limited to and is realized by above-mentioned concrete structure.

In an embodiment, the carrying mechanism 150 includes a transferring member 151 and a pick-and-place member 152 telescopically disposed on the transferring member 151, the pick-and-place member 152 can pick up the goods 200 and store the goods 200 in the transferring member 151, and the pick-and-place member 152 can push out the goods 200 in the transferring member 151. The pick-and-place member 152 is telescopically disposed in the turnover 151. In the loading position, the pick-and-place member 152 extends out of the transfer member 151, picks up the goods 200 on the shelves, and then the pick-and-place member 152 retracts into the transfer member 151 to temporarily store the goods 200 in the transfer member 151. Subsequently, the lifting mechanism 140 and the rotating mechanism drive the conveying mechanism 150 to move, so that the conveying mechanism 150 moves to the storage assembly 121 to be placed, at this time, the pick-and-place member 152 extends out of the turnover member 151, the pick-and-place member 152 moves the goods 200 out of the turnover member 151 and transfers the goods to the storage assembly 121, and after the transfer is completed, the pick-and-place member 152 retracts into the turnover member 151. Alternatively, the revolving unit 151 includes, but is not limited to, a turnover box, and the pick-and-place unit 152 includes, but is not limited to, a telescopic motor cooperating with a telescopic rod structure, a manipulator mechanism, and the like.

Referring to fig. 1 and 3, the present invention also provides a transfer system including a loading/unloading device 600 and the transfer robot 100 of the above embodiment. The cargo handling device 600 is used for transporting the cargo 200 to the transfer robot 100 or unloading the cargo 200 on the transfer robot 100, and the cargo handling device 600 includes a vertical frame 610 extending in the vertical direction and a plurality of cargo handling mechanisms 620 provided at intervals in the vertical direction on the vertical frame 610, and the manner in which the plurality of cargo handling mechanisms 620 are provided at intervals is the same as the manner in which the plurality of storage modules 121 are provided at intervals. When the transfer robot 100 docks the loading/unloading device 600, the plurality of loading/unloading mechanisms 620 can transport the loads 200 to the respective storage units 121 at different heights or unload the loads 200 in the respective storage units 121.

The loading and unloading device 600 can realize synchronous unloading or synchronous loading of the cargo 200. The loading/unloading device 600 is disposed at the unloading position or the loading position. When the loading and unloading device 600 is unloading, the loading and unloading device 600 is located at the unloading position; when the loading and unloading device 600 is loaded, the loading and unloading device 600 is located at the loading position. The present invention will be described by taking the case where the loading/unloading device 600 is located at the unloading position. The loading/unloading device 600 is located at the unloading position, and after the transfer robot 100 finishes loading at the loading position, the transfer robot 100 moves to the unloading position, and at this time, the transfer robot 100 and the loading/unloading device 600 are docked, and the loading/unloading device 600 can receive the cargo 200 in each storage unit 121 of the transfer robot 100. Of course, the reverse transportation of the cargo 200 can be realized at this position, that is, after the transfer robot 100 and the cargo handler 600 are docked, the cargo handler 600 can transfer the cargo 200 to each storage module 121.

Specifically, the stand 610 serves as a support for supporting the respective loading and unloading mechanisms 620 for transporting the cargo 200. The loading/unloading device 600 has the same number of loading/unloading mechanisms 620 as the number of storage modules 121. The plurality of cargo handling mechanisms 620 can transport the cargo 200 to the transfer robot 100 or can unload the cargo 200 from the transfer robot 100 at different heights, respectively, and thus the waiting time of the transfer robot 100 during the cargo handling process is greatly reduced. The loading and unloading mechanism 620 is located at a height corresponding to the height of the corresponding storage unit 121. When the transfer robot 100 is docked with the cargo handling apparatus 600, the storage modules 121 and the cargo handling mechanism 620 are at the same level, and the plurality of cargo handling mechanisms 620 can transport the cargos 200 to all the storage modules 121 on the transfer robot 100 at once, or the plurality of cargo handling mechanisms 620 can remove the cargos 200 in all the storage modules 121 on the transfer robot 100 at once. Of course, in a specific operating condition, one or more of the unloading mechanisms 620 in the unloading device 600 may simultaneously perform the transportation of the goods 200 to the transfer robot 100 or the unloading of the goods 200 from the transfer robot 100.

Each of the unloading mechanisms 620 is individually operable to carry the cargo 200 to the transfer robot 100 or unload the cargo 200 on the transfer robot 100. Referring to fig. 2 to 5, in an embodiment, the cargo handling mechanism 620 includes brackets 621, a handling assembly 622 and a handling driving member 623, the brackets 621 are disposed on the vertical frame 610 at intervals in a vertical direction, the handling driving member 623 and the handling assembly 622 are respectively disposed on the corresponding brackets 621, the handling assembly 622 is connected to the handling driving member 623, and the handling assembly 622 is used for conveying the cargo 200 to the storage assembly 121 or unloading the cargo 200 in the storage assembly 121. The handling drive 623 can allow the corresponding handling assembly 622 to perform the conveyance of the goods 200 to the transfer robot 100 or the unloading of the goods 200 on the transfer robot 100 alone.

Further, as shown in fig. 2 to 5, the loading and unloading assembly 622 includes a chain 6221 and a bump 6222, the chain 6221 is rotatably disposed on the bracket 621 along the loading and unloading direction, and the bump 6222 is fixedly disposed on the chain 6221. The loading and unloading driving piece 623 comprises a driving motor which is in transmission connection with a chain 6221; the chain 6221 can carry the cargo 200, and when the driving motor drives the chain 6221 to rotate, the bump 6222 pushes the bottom of the cargo 200 to push the cargo 200 to the transfer robot 100, or the bump 6222 pulls the bottom of the cargo 200 to pull the cargo 200 from the transfer robot 100 to the chain 6221, or the bump 6222 blocks the bottom of the cargo 200, and the cargo 200 is transferred to the chain 6221 when the transfer robot 100 is far away from the loading and unloading device 600. Specifically, the chain 6221 is disposed on two chain wheels disposed at an interval in the loading and unloading direction, the output shaft of the driving motor is in transmission connection with one of the chain wheels, the driving motor drives the chain 6221 to operate when rotating, and then the bump 6222 pushes the bottom of the cargo 200 to push the cargo 200 to the transfer robot 100, or the bump 6222 pulls the bottom of the cargo 200 to pull the cargo 200 from the transfer robot 100 to the chain 6221. Furthermore, the loading and unloading mechanism 620 comprises two sets of loading and unloading assemblies 622, the two sets of loading and unloading assemblies 622 are arranged on the bracket 621 in parallel and at intervals, and the driving motor is in transmission connection with the two chains 6221. Two sets of handling assemblies 622 can increase the smoothness of the cargo 200 handling process. In an embodiment of the present invention, as shown in fig. 5, the loading and unloading mechanism 620 further includes a synchronization rod 624, two chains 6221 are respectively connected to the synchronization rod 624, and the driving motor is connected to one chain 6221. Specifically, the synchronization rod 624 is connected to two spaced sprockets along a horizontal direction perpendicular to the loading and unloading direction, thereby ensuring that the two chains 6221 rotate synchronously.

In another embodiment, as shown in fig. 2, 3, 6 and 7, each of the load handling mechanisms 620 includes a plurality of load handling arms 625 and a push-pull assembly 626, one end of each of the plurality of load handling arms 625 is provided to the stand 610 at a vertical interval, and the push-pull assembly 626 is rotatably provided to the other end of the corresponding load handling arm 625. The push-pull assembly 626 has a push-pull position and a retracted position when rotated, and when rotated to the push-pull position, the push-pull assembly 626 transfers the load 200 to the transfer robot 100 or pulls down the load 200 on the transfer robot 100. When the push-pull assembly 626 is rotated to the retracted position, the push-pull assembly 626 clears the cargo 200. It will be appreciated that the push-pull assembly 626 may push or pull the top, middle, or bottom of the cargo 200 as the cargo 200 is pushed or pulled. In an embodiment of the present invention, two loading and unloading assemblies 620 are disposed at intervals in the same horizontal direction of the stand 610, and two push-pull assemblies 626 in the same horizontal direction are respectively rotated to the push-pull position or the avoiding position. Two push-pull assemblies 626 in the same horizontal direction drive both sides of the load 200 in the loading and unloading direction, respectively. The push-pull assembly 626 can synchronously push and pull the two sides of the goods 200, so that the stability of the goods 200 in the push-pull process can be effectively ensured. Further, the two push-pull assemblies 626 in the same horizontal direction push/pull both sides of the middle portion of the cargo 200 in the loading and unloading direction in synchronization. It will be appreciated that the two push-pull assemblies 626 in the same horizontal direction are rotated to the push-pull position or the off position synchronously or sequentially.

As an implementation manner, as shown in fig. 6 and 7, the push-pull assembly 626 includes a push-pull rod 6261 and a push-pull motor 6262, the push-pull motor 6262 is disposed at one end of the loading and unloading cross arm 625 far away from the stand 610, the push-pull rod 6261 is disposed at an output shaft of the push-pull motor 6262, and the push-pull motor 6262 drives the push-pull rod 6261 to rotate to a push-pull position or an avoidance position. The two push-pull rods 6261 can be rotated to push-pull positions by the push-pull motors 6262, respectively, to pull the cargo 200 from the transfer robot 100 or push the cargo 200 to the transfer robot 100.

In one embodiment, all the unloading mechanisms 620 in the unloading device 600 are simultaneously operated to achieve the transfer of the goods 200 to the transfer robot 100 at different heights or the unloading of the goods 200 on the transfer robot 100, or some of the unloading mechanisms 620 in the unloading device 600 are individually operated to achieve the transfer of the goods 200 to the transfer robot 100 at a designated height or the unloading of the goods 200 on the transfer robot 100. As shown in fig. 8 and 9, the cargo handling apparatus 600 may further include an adjustment driving mechanism 630, wherein the adjustment driving mechanism 630 drives the stand 610 to move toward or away from the transfer robot 100 in the cargo handling direction, and when the adjustment driving mechanism 630 drives the stand 610 to move toward the transfer robot 100, the cargo handling mechanism 620 transfers the cargo 200 to the transfer robot 100 or unloads the cargo 200 from the transfer robot 100. The cargo handling apparatus 600 according to the present embodiment can remove all the cargos 200 or designated cargos 200 from the transfer robot 100 at once, or can simultaneously transfer a plurality of cargos 200 to the transfer robot 100. As one way of accomplishing this, the adjustment drive mechanism 630 employs a drive structure in the form of a motor and a belt.

In an embodiment of the present invention, the loading and unloading device 600 further includes a temporary storage shelf 640, the vertical frame 610 is movably disposed on the temporary storage shelf 640 along the horizontal direction, and the adjusting driving mechanism 630 drives the vertical frame 610 to move along the horizontal direction relative to the temporary storage shelf 640. The temporary storage rack 640 includes a plurality of stages in the vertical direction, and the loading and unloading mechanism 620 pulls the loads 200 of different heights on the transfer robot 100 to the corresponding stages on the temporary storage rack 640, or the loading and unloading mechanism 620 pushes the loads 200 on the stages to the transfer robot 100. The temporary storage shelf 640 can temporarily store the load 200 unloaded from the transfer robot 100 by the loading/unloading device 600 or temporarily store the load 200 to be transferred which is transferred onto the transfer robot 100. As one way of accomplishing this, the buffer pallet 640 includes a plurality of layers of buffer rollers 641 arranged in a vertical direction, and each layer of buffer rollers 641 is capable of individually transporting the goods 200 in the loading and unloading direction. Optionally, each layer of buffer rollers 641 can carry multiple loads 200 simultaneously.

In one embodiment, the device 600 further includes a movable base that is disposed at the bottom of the stand 610. The loader 600 further includes a movable base that is disposed at the bottom of the stand 610. The movable base can drive the loading and unloading device 600 to move, and the adaptation of the loading and unloading device 600 to the actual working conditions is greatly improved. In this way, the loading/unloading device 600 can be easily moved to the loading position, the unloading position, or any other position to operate with the transfer robot 100. Alternatively, the structure of the base is identical to that of the chassis 160 of the transfer robot 100, and therefore, the description thereof is omitted.

Referring to fig. 1 and 3, in an embodiment, the handling system further includes a conveying device 500 and a lifting device 400 disposed between the loading and unloading device 600 and the conveying device 500, wherein the lifting device 400 moves up and down in a vertical direction to dock the loading and unloading mechanism 620 with the conveying device 500. The lifting device 400 can receive the goods 200 of the loading and unloading mechanism 620 and transfer the goods to the conveying device 500; alternatively, the lifting device 400 may receive the load 200 from the conveyor 500 and transfer the load to the loading/unloading mechanism 620.

The lifting device 400 is used to pick up the load 200 from the loading/unloading mechanism 620 or to transport the load 200 to the loading/unloading mechanism 620. Since the loading and unloading mechanisms 620 are arranged at intervals in the vertical direction, the lifting device 400 needs to move to the loading and unloading mechanism 620 at the corresponding position to perform corresponding operations in order to facilitate loading and unloading of the loading and unloading device 600. The conveying device 500 is used for conveying the goods 200, and can convey the goods 200 unloaded by the lifting device 400 away, and also can convey the goods 200 to be loaded to the lifting device 400. Alternatively, the conveying device 500 may be a conveyor belt structure, a flow line, a conveying roller structure, a roller structure, or the like, which can achieve horizontal conveyance. Illustratively, the conveying device 500 is a flow-line structure,

specifically, when unloading, the lifting device 400 is lifted to one of the loading and unloading mechanisms 620, and after the cargo 200 of the loading and unloading mechanism 620 is received, the lifting device 400 is lowered, and the cargo 200 is transferred to the conveying device 500 and is conveyed by the conveying device 500. The lift 400 then rises to the other loader 620, and so on until the load 200 on the loader 620 is removed. When loading, after the lifting device 400 descends and takes the goods 200 conveyed by the conveying device 500, the lifting device 400 ascends to the loading and unloading mechanism 620 on one side, and transfers the goods 200 to the loading and unloading mechanism 620; the elevator 400 then descends again to the conveyor 500, and so on until the loader mechanism 620 is loaded with the load 200.

In one embodiment, the lifting device 400 includes a lifting frame 410 along a vertical direction, a moving mechanism 420 disposed on the lifting frame 410, and at least one transfer mechanism 430 disposed on the moving mechanism 420, wherein the moving mechanism 420 can perform a lifting motion along the lifting frame 410 and drives the transfer mechanism 430 to move so as to pick up or transfer the goods 200 to the loading/unloading mechanism 620. The lifting frame 410 serves as a carrier for the moving mechanism 420 and the transferring mechanism 430. Optionally, the bottom of the lifting frame 410 may also be provided with rotating wheels to accommodate different applications. The transfer mechanism 430 is used to carry the cargo 200 and to effect transfer of the cargo 200 between a high position, such as the loading and unloading mechanism 620, and a low position, such as the transfer device 500. The moving mechanism 420 is disposed on the lifting frame 410 along the vertical direction, and can output the motion along the vertical direction to drive the transferring mechanism 430 to perform the lifting motion.

It can be understood that the moving mechanism 420 is used to realize the lifting motion of the transferring mechanism 430 along the vertical direction, and the specific structure of the moving mechanism 420 may be a telescopic rod structure, a chain transmission structure or a driving transmission structure, etc., and may also be other structures capable of performing the lifting motion of the carrying mechanism 150. For example, the specific structure of the moving mechanism 420 is the same as that of the lifting mechanism 140 of the transfer robot 100, and therefore, the detailed description thereof is omitted. Of course, the specific structure of the moving mechanism 420 may be different from the structure of the lifting mechanism 140 of the transfer robot 100, as long as the moving mechanism 420 can perform lifting motion.

Illustratively, the transfer mechanisms 430 are one deck in number, and the transfer mechanisms 430 pick up cargo 200 from one handling mechanism 620 at a time or deliver cargo 200 to one handling mechanism 620. Of course, in other embodiments of the present invention, when the transfer mechanism 430 is at least two layers, the at least two layers of transfer mechanism 430 can remove the cargo 200 of at least two cargo handling mechanisms 620 at a time, or can convey the cargo 200 to at least two cargo handling mechanisms 620, thereby improving the efficiency of cargo 200 turnover.

In one embodiment, the transferring mechanism 430 includes a transferring seat 431 disposed on the moving mechanism 420 and a transferring portion 432 movably disposed on the transferring seat 431, the transferring portion 432 can move the cargo 200, and the transferring portion 432 can receive or transfer the cargo 200 to the at least one loading and unloading mechanism 620. The transfer base 431 is used for carrying the transfer portion 432, so that the transfer portion 432 is mounted on the moving mechanism 420. When the moving mechanism 420 moves up and down, the transferring base 431 can drive the transferring part 432 to move up and down synchronously, so as to load and unload the goods 200.

Alternatively, the transfer part 432 may be a structure that can realize horizontal transportation, such as a conveyor belt structure, a flow line, a conveying roller structure, or a roller structure. Illustratively, the transferring part 432 is a roller structure, and specifically includes a plurality of rollers, and a rolling motor is built in each roller to drive the rollers to rotate, so as to transport the cargo 200. It should be noted that the structure for horizontally transporting the cargo 200 is various and cannot be exhaustive, and the transfer part 432 of the present invention is not limited to the specific structure.

The transfer portion 432 can access one cargo 200 at a time from the loading and unloading mechanism 620, as mentioned above. The transfer unit 432 may receive the cargos 200 of the plurality of loading and unloading mechanisms 620 at a time, and the moving mechanism 420 may receive the cargos 200 of the loading and unloading mechanisms 620 layer by layer, and after receiving, the cargos are transported to the transport device 500 and transported. Illustratively, the transfer portion 432 is driven by the moving mechanism 420 to ascend to the topmost part, after the transfer portion 432 receives a piece of cargo 200 of the loading and unloading mechanism 620, a layer of cargo 200 of the loading and unloading mechanism 620 is descended, after the transfer portion 432 is full or the piece of cargo 200 of the loading and unloading mechanism 620 is completely received, the moving mechanism 420 drives the transfer portion 432 to descend to the position of the conveying device 500, and the transfer portion 432 transfers all the cargo 200 thereon to the conveying device 500. Of course, the moving mechanism 420 can move from bottom to top layer by layer, and the principle thereof is substantially the same as the principle of moving from top to bottom, which is not described herein again.

Of course, the transfer portion 432 may receive a plurality of cargos 200 transferred by the transfer device 500 at a time and then transfer the cargos to each of the loading and unloading mechanisms 620 layer by layer, and the principle thereof is substantially the same as the unloading principle described above, and thus the description thereof is omitted.

The utility model discloses a transfer robot 100 and handling system thereof, during the shipment, blocking mechanism 170 moves to the position of blocking, blocking mechanism 170 can with the goods 200 butt in the storage component 121, restriction goods 200 roll-off storage component 121, make transfer robot 100 goods 200 can not roll-off storage component 121 in handling, guarantee goods 200 safety, the roll-off risk of avoiding appearing, and the efficiency of transportation is improved, and, when transfer robot 100 loads and unloads goods, blocking mechanism 170 moves to the position of dodging, at this moment, can load goods 200 in each storage component 121, also can shift out goods 200 in each storage component 121, can not obstruct transfer robot 100's the operation of loading and unloading goods, and convenient to use.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only represent some embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A transfer robot, characterized by comprising:

a vertical frame arranged in a vertical direction;

2. The transfer robot of claim 1, wherein the retaining mechanism simultaneously retains the cargo in each of the storage modules.

3. The transfer robot of claim 1, wherein the number of the retaining mechanisms is plural, and each of the retaining mechanisms simultaneously retains the cargo in at least two of the storage modules.

4. A transfer robot as claimed in claim 1, wherein the storage assembly has an unloading end facing away from the upright frame, the backstop mechanism being movable into and out of the unloading end.

5. The transfer robot of claim 1, wherein the arresting mechanism abuts against a side wall or a bottom surface of the cargo when the arresting mechanism is in the arresting position.

6. The transfer robot of claim 1, wherein the backstop mechanism is disposed on at least one side of the storage assembly.

7. A transfer robot as claimed in any one of claims 1 to 6, wherein the arresting mechanism comprises a movable arresting connection and a plurality of arresting assemblies respectively connected to the arresting connection, at least one of the arresting assemblies corresponding to the same storage assembly;

8. The transfer robot of claim 7, wherein the backstop assembly includes a blocking member fixedly attached to the backstop connector, wherein movement of the backstop connector moves the blocking member into and out of the load end.

9. The transfer robot of claim 7, wherein the backstop assembly comprises a swing member and a backstop member, one end of the swing member is rotatably connected to the backstop connection member, the other end of the swing member is provided with the backstop member, and the middle of the swing member is rotatably mounted to the loading and unloading end of the storage assembly;

10. The transfer robot of claim 7, wherein the blocking mechanism further comprises a blocking drive member having an output end coupled to the blocking link to drive the blocking assembly into and out of the load end.

11. A transfer robot according to any one of claims 1 to 6, wherein the bottom of the storage module has a free space for a loading and unloading mechanism of a transfer system to reach in to load or unload the storage module.

12. The transfer robot of claim 11, wherein the storage assembly includes a first side plate and a second side plate provided to the vertical frame, the first side plate and the second side plate being disposed opposite to each other and enclosing the movement space.

13. The transfer robot of any one of claims 1 to 6, further comprising a lifting mechanism capable of vertically lifting relative to the vertical frame, and a transfer mechanism for transferring the goods, wherein the transfer mechanism is movably arranged on the vertical frame in the vertical direction and is connected with the lifting mechanism, and the transfer mechanism can be driven by the lifting mechanism to vertically lift so as to deliver the goods in the transfer mechanism to the corresponding storage component.

14. The transfer robot of claim 13, further comprising a rotation mechanism disposed between the transfer mechanism and the lift mechanism for driving the transfer mechanism to rotate relative to the lift mechanism to align the transfer mechanism with the corresponding storage component or shelf.

15. The transfer robot of any one of claims 1 to 6, wherein the transfer mechanism comprises a transfer member and a pick-and-place member telescopically arranged in the transfer member, the pick-and-place member can pick out and store the goods in the transfer member, and the pick-and-place member can push out the goods in the transfer member.

16. A transfer robot as claimed in any one of claims 1 to 6, further comprising a movable chassis provided at the bottom of the vertical frame.

17. A transfer system comprising a loading and unloading device and the transfer robot according to any one of claims 1 to 16;

18. The handling system of claim 17, wherein the loading and unloading mechanism comprises a plurality of brackets, a loading and unloading assembly and a loading and unloading driving member, the plurality of brackets are arranged on the vertical frame at intervals along the vertical direction, the loading and unloading driving member and the loading and unloading assembly are respectively arranged on the corresponding brackets, the loading and unloading assembly is connected with the loading and unloading driving member, and the loading and unloading assembly is used for conveying goods to the storage assembly or unloading the goods in the storage assembly.

19. The handling system of claim 17, wherein the loading and unloading device further comprises a movable base disposed at the bottom of the stand.

20. The handling system according to any one of claims 17 to 19, further comprising a conveyor and a lifting device disposed between the loading and unloading device and the conveyor, the lifting device being vertically movable to engage the loading and unloading mechanism with the conveyor;

21. The handling system of claim 20, wherein the lifting device comprises a lifting frame extending in a vertical direction, a moving mechanism disposed on the lifting frame, and at least one transfer mechanism disposed on the moving mechanism, and the moving mechanism can move up and down along the lifting frame and drive the transfer mechanism to move so as to pick up or transfer goods to the loading and unloading mechanism.

22. Handling system according to claim 21, wherein the transfer means comprise a transfer seat arranged on the displacement means and a transfer part movably arranged on the transfer seat, wherein the transfer part is movable for moving the goods and wherein the transfer part is adapted to pick up or transfer the goods to at least one of the handling means.