CN212244812U - Loading and unloading device and loading and unloading system - Google Patents

Abstract

The utility model relates to a loading and unloading goods device for carry the goods to transfer robot or lift the goods on the transfer robot off, loading and unloading goods device includes grudging post and a plurality of loading and unloading goods subassembly. The stand extends in the vertical direction. The plurality of loading and unloading assemblies are arranged on the vertical frame at intervals along the vertical direction, each loading and unloading assembly comprises an independent driving structure, and the plurality of loading and unloading assemblies can convey goods to the transfer robot or unload the goods on the transfer robot on different heights. The utility model discloses still relate to a loading and unloading goods system including loading and unloading goods device. According to the loading and unloading device and the loading and unloading system, the plurality of loading and unloading assemblies can convey goods to the transfer robot or unload the goods on the transfer robot at different heights, so that the waiting time of the transfer robot in the loading and unloading process is greatly shortened, the loading and unloading efficiency of the transfer robot is obviously improved, and the overall carrying efficiency of the loading and unloading system is finally improved.

Description

Loading and unloading device and loading and unloading system

Technical Field

The utility model relates to a storage logistics technical field especially relates to a loading and unloading goods device and loading and unloading goods 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, replaces manual goods transfer, but the robot used in the current warehousing logistics can only load and unload goods one by one, and the transfer efficiency of the transfer robot is greatly influenced.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is necessary to provide a cargo handling apparatus and a cargo handling system that assist a transfer robot in efficiently handling cargo, in order to solve the problem of low cargo handling efficiency of the conventional transfer robot.

A loading and unloading device for transporting goods to or from a transfer robot, comprising:

a stand extending in a vertical direction;

the loading and unloading assemblies are arranged on the vertical frame at intervals along the vertical direction, each loading and unloading assembly comprises an independent driving structure, and the plurality of loading and unloading assemblies can convey goods to the transfer robot or unload the goods on the transfer robot on different heights.

In one embodiment, each of the cargo handling assemblies includes a plurality of first driving structures and a plurality of first driving structures, the plurality of first driving structures and the plurality of first driving structures are respectively arranged on the vertical frame along the vertical direction, the cargo handling structures are in transmission connection with the corresponding first driving structures, and the cargo handling structures are used for conveying cargos to the transfer robot or unloading cargos on the transfer robot.

In one embodiment, each of the cargo handling assemblies further includes a plurality of brackets, the plurality of brackets are disposed on the vertical frame at intervals along the vertical direction, projections of the plurality of brackets in a horizontal plane are overlapped, and the first driving structure and the handling structure are respectively disposed on the corresponding brackets.

In one embodiment, the loading and unloading structure comprises a chain and a lug, the chain is rotatably arranged on the bracket along the loading and unloading direction, and the lug is fixedly arranged on the chain; the chain with first drive structure transmission is connected, the chain can bear the weight of the goods, first drive structure drive when the chain rotates, lug and goods bottom butt, and then push away the goods to transfer robot, perhaps draw the goods from transfer robot to the chain.

In one embodiment, the chain is rotated, the lug pushes the bottom of the goods to push the goods to the transfer robot, or the lug pulls the bottom of the goods to pull the goods from the transfer robot to the chain, or the lug blocks the bottom of the goods, and the goods are transferred to the chain when the transfer robot moves away from the loading and unloading device.

In one embodiment, the first driving structure comprises a driving motor, and the driving motor is in transmission connection with the chain.

In one embodiment, the loading and unloading assembly comprises two sets of loading and unloading structures, the two sets of loading and unloading structures are arranged on the bracket in parallel at intervals, and the first driving structure is in transmission connection with the two chains.

In one embodiment, the loading and unloading assembly further comprises a synchronizing rod, two chains are respectively in transmission connection with the synchronizing rod, and the output end of the first driving structure is in transmission connection with one chain.

A loading/unloading system comprising a transfer robot and the loading/unloading device according to any one of the above aspects, the loading/unloading device being configured to transport a load to the transfer robot or unload the load from the transfer robot.

In one embodiment, the loading and unloading system further comprises a lifting roller and a conveying line, the lifting roller is arranged at one end of the loading and unloading assembly, which is far away from the transfer robot, the lifting roller extends along the loading and unloading direction, and the lifting roller can simultaneously bear a plurality of at least one cargo; the lifting roller is used for receiving cargos unloaded by each loading and unloading assembly one by one, or the lifting roller is used for conveying the cargos to each loading and unloading assembly one by one; the lifting roller transports goods to the conveying line, or receives the goods on the conveying line.

According to the loading and unloading device and the loading and unloading system, the plurality of loading and unloading assemblies can convey goods to the transfer robot or unload the goods on the transfer robot at different heights, so that the waiting time of the transfer robot in the loading and unloading process is greatly shortened, and the loading and unloading efficiency of the transfer robot is obviously improved. Meanwhile, the loading and unloading device can load and unload cargos at a specified height or load and unload all cargos at each height at one time, so that the flexibility is high, and the overall carrying efficiency of the loading and unloading system is finally improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural view of a loading and unloading device according to an embodiment of the present invention;

FIG. 2 is an enlarged view of a portion of the structure of FIG. 1;

fig. 3 is a schematic structural view of a transfer robot corresponding to the loading and unloading device in fig. 1 according to an embodiment of the present invention;

FIG. 4 is an enlarged view of a portion of the structure of FIG. 3;

fig. 5 is a schematic structural view of a loading and unloading system according to an embodiment of the present invention;

fig. 6 is a schematic structural view of a cargo loading and unloading device according to another embodiment of the present invention;

FIG. 7 is an enlarged view of a portion of the structure of FIG. 6;

fig. 8 is a schematic structural view of a cargo loading and unloading device according to yet another embodiment of the present invention;

fig. 9 is a schematic structural view of a loading/unloading system according to another embodiment of the present invention.

Wherein, 10-a loading and unloading device; 100-a vertical frame, 200-a loading and unloading assembly, 210-a bracket, 220-a chain, 230-a bump, 240-a driving motor, 250-a synchronous rod, 260-a loading and unloading cross arm, 270-a push-pull rod, 280-a push-pull motor, 300-a second driving structure, 400-a temporary storage rack, 410-a temporary storage roller and 500-a lifting roller; 60-handling robot, 610-handling assembly, 620-vertical frame, 630-mobile chassis, 640-storage pallet, 641-first side plate, 642-second side plate, 643-loading and unloading end, 650-blocking assembly, 651-driving rod, 652-blocking rod; 70-a conveying line; 90-cargo.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. The following description of the embodiments is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. In contrast, when an element is referred to as being "directly connected" to another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

In the description of the present invention, it is to be understood that the terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely 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, are not to be construed as limiting the present invention.

As shown in fig. 1 to 2 and fig. 6 to 7, an embodiment of the present invention provides a cargo handling device 10 for transferring a cargo 90 to a transfer robot 60 or unloading the cargo 90 from the transfer robot 60, wherein the cargo handling device 10 includes a stand 100 and a plurality of cargo handling assemblies 200. The stand 100 extends in a vertical direction. The plurality of unloading and loading units 200 are provided at intervals in the vertical direction on the stand 100, and the plurality of unloading and loading units 200 can convey the load 90 to the transfer robot 60 or unload the load 90 on the transfer robot 60 at different heights. It will be appreciated that the spacing between the plurality of loader assemblies 200 corresponds to the spacing between the storage pallets 640 on the transfer robot 60. In a practical aspect, the plurality of the unloading and loading units 200 are disposed at equal intervals in the vertical direction on the vertical frame 100, and the unloading and loading device 10 can transport the goods 90 to the transfer robot 60 or unload the goods 90 from the transfer robot 60 at different heights, so that the waiting time of the transfer robot 60 during unloading and loading can be greatly reduced, and the unloading and loading efficiency of the transfer robot 60 can be significantly improved. Meanwhile, the loading and unloading device 10 can load and unload the cargos 90 at a specified height or load and unload all cargos 90 at each height at one time, so that the flexibility is high, and the overall carrying efficiency of the loading and unloading system is improved finally. It will be appreciated that the cargo 90 present in the present invention may also be an empty bin or a bin carrying the cargo 90. It should be noted that the transfer robot 60 includes various kinds of mechanical equipment that can perform the transfer of the goods, such as a device that conveys the goods between two positions, equipment having a sorting function, a stacker having a stacking function, and the like.

It is understood that the heights of the plurality of the loading and unloading assemblies 200 correspond to the heights of the plurality of storage pallets 640 of the transfer robot 60, and thus the plurality of the loading and unloading assemblies 200 can transport the goods 90 to all the storage pallets 640 of the transfer robot 60 at one time, or the plurality of the loading and unloading assemblies 200 can remove the goods 90 from all the storage pallets 640 of the transfer robot 60 at one time. Of course, in a specific operating condition, it is also possible that one or more of the loader assemblies 200 in the loader device 10 simultaneously effect the transfer of the load 90 to the transfer robot 60 or the unloading of the load 90 from the transfer robot 60.

As shown in fig. 1 to 2, in an embodiment of the present invention, each of the unloading and loading assemblies 200 can be independently operated to perform the transfer of the goods 90 to the transfer robot 60 or the unloading of the goods 90 from the transfer robot 60. In an achievable manner, each of the loading and unloading assemblies 200 includes a plurality of brackets 210 provided to the stand 100 at intervals in the vertical direction, a loading and unloading structure provided to the corresponding brackets 210, respectively, and a first driving structure in driving connection with the loading and unloading structure for conveying the goods 90 to the transfer robot 60 or unloading the goods 90 on the transfer robot 60. The independent first driving structure in each of the unloading and loading assemblies 200 can allow each of the unloading and loading assemblies 200 to individually perform the transfer of the goods 90 to the transfer robot 60 or the unloading of the goods 90 on the transfer robot 60. Alternatively, the projections of the plurality of carriers 210 in the horizontal plane may coincide, or the distribution of the plurality of carriers 210 in the horizontal plane may be adapted to the actual structure of the transfer robot 60, such as the projections of the plurality of carriers 210 in the horizontal plane may partially coincide or may not coincide at all.

Further, as shown in fig. 2, the loading and unloading structure includes a chain 220 and a protrusion 230, the chain 220 is rotatably disposed on the bracket 210 along the loading and unloading direction, and the protrusion 230 is fixedly disposed on the chain 220. The first driving structure comprises a driving motor 240, and the driving motor 240 is in transmission connection with the chain 220; the chain 220 can carry the goods 90, and when the driving motor 240 drives the chain 220 to rotate, the bump 230 pushes the bottom of the goods 90 to push the goods 90 to the transfer robot 60, or the bump 230 pulls the bottom of the goods 90 to pull the goods 90 from the transfer robot 60 to the chain 220, or the bump 230 blocks the bottom of the goods 90, and the goods are transferred to the chain 220 in the loading and unloading device 10 when the transfer robot 60 is far away from the loading and unloading device 10. Specifically, the chain 220 is disposed on two chain wheels spaced in the loading and unloading direction, the output shaft of the driving motor 240 is in transmission connection with one of the chain wheels, and the driving motor 240 drives the chain 220 to operate when rotating, so that the bump 230 pushes the bottom of the goods 90 to push the goods 90 to the transfer robot 60, or the bump 230 pulls the bottom of the goods 90 to pull the goods 90 from the transfer robot 60 to the chain 220. Further, the cargo handling assembly 200 includes two sets of loading and unloading structures, the two sets of loading and unloading structures are disposed on the bracket 210 in parallel and at intervals, and the driving motor 240 is in transmission connection with the two chains 220. The two sets of loading and unloading structures can increase the stability of the goods 90 in the loading and unloading process. In one embodiment of the present invention, as shown in fig. 2, the loading and unloading assembly 200 further includes a synchronization rod 250, two chains 220 are respectively connected to the synchronization rod 250 in a transmission manner, and the driving motor 240 is connected to one chain 220 in a transmission manner. Specifically, the synchronizing bar 250 connects two spaced sprockets along a horizontal direction perpendicular to the loading and unloading direction, thereby ensuring that the two chains 220 rotate synchronously. It is understood that the chain 220 in the above embodiments only plays a role of driving and carrying goods, and in other embodiments of the present invention, a belt, a synchronous belt, etc. are used instead of the chain.

In an embodiment of the present invention, all the unloading and loading assemblies 200 in the unloading and loading device 10 are simultaneously operated to transport the goods 90 to the transfer robot 60 at different heights or to unload the goods 90 from the transfer robot 60, or some of the unloading and loading assemblies 200 in the unloading and loading device 10 are individually operated to transport the goods 90 to the transfer robot 60 at a designated height or to unload the goods 90 from the transfer robot 60. As shown in fig. 6 to 8, as one mode of realization, the loading and unloading device 10 further includes a second driving structure 300, the second driving structure 300 drives the stand 100 to approach or separate from the transfer robot 60 in the loading and unloading direction, and the loading and unloading assembly 200 transfers the goods 90 to the transfer robot 60 or unloads the goods 90 on the transfer robot 60 when the second driving structure 300 drives the stand 100 to approach or separate from the transfer robot 60. The cargo handling apparatus 10 according to the present embodiment can remove all the cargos 90 or designated cargos 90 from the transfer robot 60 at once, or can simultaneously transfer a plurality of cargos 90 to the transfer robot 60. As an implementable manner, the second drive structure 300 employs a drive structure in the form of a motor and a belt.

In an embodiment of the present invention, as shown in fig. 6-7, each of the loading and unloading assemblies 200 includes a plurality of loading and unloading crossbars 260 and a push-pull structure, one end of each of the plurality of loading and unloading crossbars 260 is disposed at intervals along the vertical direction on the stand 100, and the push-pull structure is rotatably disposed at the other end of the corresponding loading and unloading crossbars 260. When the loading/unloading crossbar 260 approaches or separates from the transfer robot 60 in the loading/unloading direction, the push-pull structure pushes and pulls the load 90 to convey the load 90 to the transfer robot 60 or to unload the load 90 on the transfer robot 60. The push-pull structure has a push-pull position and an avoidance position when rotated, and when rotated to the push-pull position, the push-pull structure conveys the goods 90 to the transfer robot 60 or pulls down the goods 90 on the transfer robot 60. When the push-pull structure is rotated to the avoidance position, the push-pull structure avoids the cargo 90. It will be appreciated that the push-pull configuration may be to push or pull the top, middle, or bottom of the cargo 90 while pushing or pulling the cargo 90. In an embodiment of the present invention, two loading and unloading assemblies 200 are disposed at intervals in the same horizontal direction of the stand 100, and two push-pull structures in the same horizontal direction are respectively rotated to a push-pull position or an avoidance position. Two push-pull structures in the same horizontal direction drive both sides of the load 90 along the loading and unloading direction, respectively. The push-pull structure synchronously pushes and pulls the two sides of the goods 90, so that the stability of the push-pull process of the goods 90 can be effectively ensured. Further, the two push-pull structures in the same horizontal direction synchronously push/pull both sides of the middle portion of the article 90 along the loading and unloading direction. It can be understood that the two push-pull structures in the same horizontal direction synchronously rotate to the push-pull position or the avoidance position, or sequentially rotate to the push-pull position or the avoidance position.

In one implementation, as shown in fig. 7 to 8, the push-pull structure includes a push-pull rod 270 and a push-pull motor 280, the push-pull motor 280 is disposed at an end of the handling cross arm 260 away from the stand 100, the push-pull rod 270 is disposed at an output shaft of the push-pull motor 280, and the push-pull motor 280 drives the push-pull rod 270 to rotate to a push-pull position or an avoidance position. The two push-pull rods 270 can be rotated to the push-pull position by the push-pull motor 280, respectively, to pull the cargo 90 out of the transfer robot 60 or push the cargo 90 to the transfer robot 60. In an embodiment of the present invention, the loading and unloading device 10 further includes at least one temporary storage rack 400, the vertical frame 100 is movably disposed on the temporary storage rack 400 along the horizontal direction, and the second driving structure 300 drives the vertical frame 100 to move along the horizontal direction relative to the temporary storage rack 400. The temporary storage rack 400 includes a plurality of stages in a vertical direction, and the loading and unloading assembly 200 pulls the goods 90 of different heights on the transfer robot 60 to the corresponding stages on the temporary storage rack 400, or the loading and unloading assembly 200 pushes the goods 90 on the stages to the transfer robot 60. The temporary storage rack 400 can temporarily store the load 90 unloaded from the transfer robot 60 by the loading/unloading device 10, or temporarily store the load 90 to be transferred which is transferred onto the transfer robot 60. As one way of accomplishing this, the buffer store 400 comprises a plurality of vertically arranged buffer rolls 410, each layer of buffer rolls 410 being capable of transporting the goods 90 individually in the loading and unloading direction. Alternatively, each of the buffer rolls 410 can carry a plurality of goods 90 simultaneously.

The present invention corresponds to the loading and unloading device 10 in each of the above embodiments, as shown in fig. 5 and 9, an embodiment of the present invention further provides a loading and unloading system, including the transfer robot 60 and any one of the above solutions, in which the loading and unloading device 10 is used to transport the goods 90 to the transfer robot 60 or to unload the goods 90 from the transfer robot 60. In the loading and unloading device 10 and the loading and unloading system, the plurality of loading and unloading assemblies 200 can respectively convey the goods 90 to the transfer robot 60 at different heights or unload the goods 90 on the transfer robot 60, so that the waiting time of the transfer robot 60 in the loading and unloading process is greatly shortened, the loading and unloading efficiency of the transfer robot 60 is obviously improved, and the overall carrying efficiency of the loading and unloading system is finally improved.

In an embodiment of the present invention, the transfer robot 60 receives the goods 90 conveyed by the cargo handling device 10 in the above embodiments, or the transfer robot 60 allows the cargo handling device 10 in the above embodiments to carry away the goods 90 carried by itself. As an implementation manner, as shown in fig. 3 to 4 and fig. 9, the transfer robot 60 includes a transfer assembly 610, a vertical frame 620, a moving chassis 630 and a plurality of layers of storage pallets 640, the vertical frame 620 is disposed on the moving chassis 630, the plurality of layers of storage pallets 640 are respectively disposed on one side of the vertical frame 620 at intervals in the vertical direction, the transfer assembly 610 is disposed on the other side of the vertical frame 620 and can be lifted in the vertical direction, the transfer assembly 610 can convey the goods 90 to the layers of storage pallets 640, or the transfer assembly 610 can take out the goods 90 on the layers of storage pallets 640. It is understood that the transfer robot 60 according to the present embodiment allows the plurality of unloading and loading modules 200 in the unloading and loading apparatus 10 to operate synchronously to load and unload the cargo 90, and also allows the plurality of unloading and loading modules 200 in the unloading and loading apparatus 10 to operate respectively to load and unload the cargo 90.

In an embodiment of the present invention, corresponding to the loading and unloading assembly 200 with a push-pull structure, as shown in fig. 9, the loading and unloading assembly 200 directly finishes loading and unloading the cargo 90 from the loading and unloading end 643 of the storage pallet 640 on the conventional transfer robot 60, and at this time, the transfer assembly 610 needs to get away from the loading and unloading device 10, and as a practical way, the transfer assembly 610 is lifted to the highest position to get away from the loading and unloading device 10. Alternatively, when the transfer robot 60 moves to the loading and unloading device 10 and the blocking bars 652 block the cargo 90, the loading and unloading assembly 200 is moved away from the transfer robot 60 or the transfer robot 60 is moved away from the loading and unloading assembly 200, thereby completing the loading and unloading of the cargo 90. It will be appreciated that the transfer assembly 610 need not be cleared from the device 10 when the assembly 200 is being loaded or unloaded from the end of the storage pallet 640 remote from the transfer assembly 610 on the transfer robot 60.

Corresponding to the cargo handling assembly 200 with the structure of the chain 220 and the bump 230, in an embodiment of the present invention, as shown in fig. 3-5, the cargo storage plate 640 includes a first side plate 641 and a second side plate 642, the first side plate 641 and the second side plate 642 are disposed at the same height of the vertical frame 620, the first side plate 641 and the second side plate 642 are disposed in parallel and at an interval on the vertical frame 620, and the first side plate 641 and the second side plate 642 are respectively used for holding bottoms of two sides of the cargo 90; storage pallets 640 allow the handler 10 to pull the cargo 90 from the bottom of the cargo 90 or the storage pallets 640 allow the handler 10 to push the cargo 90 to the storage pallets 640. The middle portion of the storage pallet 640 of the split type structure is a notch allowing the chain 220 to which the protrusion 230 is assembled to extend into the bottom of the cargo 90 through the middle portion of the storage pallet 640, and when the chain 220 rotates, the protrusion 230 pushes the bottom of the cargo 90 to push the cargo 90 to the transfer robot 60, or the protrusion 230 pulls the bottom of the cargo 90 to pull the cargo 90 from the transfer robot 60 to the chain 220. Alternatively, when the transfer robot 60 moves to the loading and unloading device 10 and the protrusion 230 blocks the goods 90, the chain 220 continues to rotate to complete the loading and unloading of the goods 90, or the transfer robot 60 moves away from the loading and unloading device 10 to complete the unloading process.

Optionally, the storage pallet 640 has an unloading end 643, the unloading end 643 is an end of the storage pallet 640 away from or close to the carrying assembly 610 in the unloading direction, and the unloading device 10 finishes the loading and unloading of the cargo 90 from the unloading end 643 of the storage pallet 640. In an embodiment of the present invention, the storage pallet 640 has a loading/unloading end 643 at an end thereof adjacent to the carrying module 610, and when the loading/unloading device 10 loads and unloads the cargo 90 to the transfer robot 60, the carrying module 610 is raised to the highest position to avoid the loading/unloading device 10. In another embodiment of the present invention, as shown in fig. 3-4, the end of the storage pallet 640 remote from the handling assembly 610 has a loading and unloading end 643. The transfer robot 60 further includes a barricade assembly 650, the barricade assembly 650 having a barricade position and an escape position, the barricade assembly 650 protruding out of the loading and unloading end 643 when in the barricade position, preventing the cargo 90 on the storage pallet 640 from sliding out. The barrier assembly 650 is positioned in the stowed position to avoid the loading and unloading end 643. The handling assembly 610 is capable of completing the loading and unloading of goods 90 to the inventory pallet from the end of the storage pallet 640 adjacent thereto. The damming assembly 650 is effective to prevent the cargo 90 from sliding out of the handling end 643 of the storage pallet 640 when the handling assembly 610 is finished handling the storage pallet 640.

Optionally, the barrage assemblies 650 for each storage pallet 640 may be synchronized or may be individually actuated. In an embodiment of the present invention, the blocking assemblies 650 corresponding to the storage pallets 640 are synchronized. Specifically, as shown in fig. 3 to 4, the blocking assembly 650 includes a driving rod 651 and a plurality of blocking rods 652, wherein the middle portions of the plurality of blocking rods 652 are respectively rotatably disposed at the loading and unloading ends 643 of one storage cargo plate 640, the tails of the plurality of blocking rods 652 are respectively rotatably disposed at the driving rod 651, and when the driving rod 651 drives the tails of the plurality of blocking rods 652 to operate, the heads of the plurality of blocking rods 652 respectively protrude out of the loading and unloading ends 643 or retreat the loading and unloading ends 643. The loading/unloading device 10 can load and unload the load 90 to and from the transfer robot 60 only when the barrier assembly 650 is operated to the retracted position. As an implementation manner, when the driving rod 651 moves upward along the vertical direction, the blocking rod 652 is driven to move to the blocking position, when the driving rod 651 moves downward along the vertical direction, the blocking rod 652 is driven to move to the avoiding position, and the driving rod 651 is driven by a linear motor or a rotary motor in cooperation with the protrusion 230.

In an embodiment of the present invention, as shown in fig. 5, the cargo handling system further includes a lifting assembly disposed at an end of the cargo handling assembly 200 away from the transfer robot 60, the lifting assembly is configured to successively receive the cargos 90 unloaded from each cargo handling assembly 200, or the lifting assembly is configured to successively transport the cargos 90 to each cargo handling assembly 200. In an implementation, as shown in fig. 5, the lifting assembly includes a lifting roller 500, the lifting roller 500 extends along the loading and unloading direction, and the lifting roller 500 can simultaneously carry one or more cargoes 90. The lifting assembly can receive the goods 90 on the temporary storage shelf 400 or the goods 90 on the loading and unloading assembly 200, and then transfer the goods 90 to the corresponding transportation line, so that the automation of the carrying process of the goods 90 is realized. Or the lifting assembly can deliver the goods 90 to the staging rack 400 or the loading and unloading assembly 200.

In an embodiment of the present invention, as shown in fig. 5, the loading and unloading system further includes a conveying line 70, the lifting assembly transports the goods 90 to the conveying line 70, or the lifting assembly receives the goods 90 on the conveying line 70, and the conveying line 70 can convey the goods 90 to the corresponding destination. Further, the loading and unloading system includes a fixed shelf, and the transfer robot 60 carries out the goods 90 on the fixed shelf, or the transfer robot 60 transfers the goods 90 to the fixed shelf. The fixed shelf is the starting or ending point for the handling of the goods 90.

In the cargo handling system according to each of the above embodiments, the transfer robot 60 carrying the cargo 90 on the storage pallet 640 is moved to the cargo handling apparatus 10, the cargo handling assembly 200 in the cargo handling apparatus 10 completely or partially removes the cargo 90 on the transfer robot 60, and then the cargo handling assembly 200 sequentially transports the removed cargo 90 to the lifting assembly, which transports the cargo 90 to the conveyor line 70. The above process may be reversed and the transport of the cargo 90 still achieved.

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

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is 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 (10)

1. A loading/unloading device for transporting a load to or from a transfer robot, comprising:

a stand extending in a vertical direction;

the loading and unloading assemblies are arranged on the vertical frame at intervals along the vertical direction, each loading and unloading assembly comprises an independent driving structure, and the plurality of loading and unloading assemblies can convey goods to the transfer robot or unload the goods on the transfer robot on different heights.

2. The device according to claim 1, wherein each said loader assembly comprises a plurality of said first driving structures and a plurality of said loader structures provided to said vertical frame in a vertical direction, respectively, and said loader structures are drivingly connected to corresponding said first driving structures, and said loader structures are used for transporting goods to or unloading goods from the transfer robot.

3. A loading and unloading device as claimed in claim 2, wherein each loading and unloading assembly further comprises a plurality of brackets spaced apart vertically on the upright, the projections of the plurality of brackets in the horizontal plane coinciding, the first drive structure and the loading and unloading structure being provided on respective ones of the brackets.

4. A loading/unloading device as claimed in claim 3, wherein the loading/unloading structure comprises a chain rotatably mounted on the carriage in the loading/unloading direction and a projection fixedly mounted on the chain; the chain with first drive structure transmission is connected, the chain can bear the weight of the goods, first drive structure drive when the chain rotates, lug and goods bottom butt, and then push away the goods to transfer robot, perhaps draw the goods from transfer robot to the chain.

5. The device as claimed in claim 4 wherein said lug pushes the bottom of the load to push the load to the transfer robot when the chain is rotated, or pulls the bottom of the load to pull the load from the transfer robot to the chain, or the lug blocks the bottom of the load, the load being transferred to the chain when the transfer robot is away from the device.

6. The lift device of claim 4, wherein said first drive structure includes a drive motor, said drive motor being drivingly connected to said chain.

7. A loading and unloading device as claimed in any one of claims 4 to 6, wherein the loading and unloading assembly includes two sets of said loading and unloading structures arranged in parallel and spaced apart on said carriage, said first drive structure being drivingly connected to both of said chains.

8. The device of claim 7, further comprising a synchronizing bar, wherein each of said two chains is drivingly connected to said synchronizing bar, and wherein said output end of said first drive structure is drivingly connected to one of said chains.

9. A loading and unloading system comprising a transfer robot and the loading and unloading device according to any one of claims 1 to 8, for transferring a load to the transfer robot or unloading a load from the transfer robot.

10. The loading and unloading system according to claim 9, further comprising a lifting roller and a conveyor line, wherein the lifting roller is arranged at one end of the loading and unloading assembly away from the transfer robot, the lifting roller extends along the loading and unloading direction, and the lifting roller can simultaneously carry a plurality of cargos; the lifting roller is used for receiving cargos unloaded by each loading and unloading assembly one by one, or the lifting roller is used for conveying the cargos to each loading and unloading assembly one by one; the lifting roller transports goods to the conveying line, or receives the goods on the conveying line.

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