CN213326548U

CN213326548U - Conveying equipment

Info

Publication number: CN213326548U
Application number: CN202022220664.2U
Authority: CN
Inventors: 乔智
Original assignee: Hangzhou Hikrobot Technology Co Ltd
Current assignee: Hangzhou Hikrobot Co Ltd
Priority date: 2020-09-30
Filing date: 2020-09-30
Publication date: 2021-06-01
Anticipated expiration: 2030-09-30

Abstract

The utility model discloses a handling equipment, it includes the equipment body, bears the weight of the mechanism and moves by the mechanism, it is used for bearing the weight of the transported object to bear the weight of the mechanism, bear the weight of the mechanism and pass through move by mechanism movable mounting in the equipment body, it includes rotary drive portion and rectilinear movement portion to move by the mechanism, rectilinear movement portion with rotary drive portion connects, the moving direction of rectilinear movement portion is on a parallel with the relative direction of bearing the weight of mechanism and goods shelves, perhaps, the moving direction has the edge the component of relative direction. Adopt above-mentioned haulage equipment can improve the interval between present haulage equipment and the goods shelves great, the problem that the packing box falls from the clearance between haulage equipment and the goods shelves appears easily.

Description

Conveying equipment

Technical Field

The utility model relates to a transportation equipment technical field especially relates to a haulage equipment.

Background

Handling equipment such as container handling robots are one of the common equipment in warehouse logistics scenarios. The handling device can be used for carrying the containers to move, transferring the containers to the goods shelf for storage, and taking the containers off the goods shelf and transferring the containers to a destination. In the process of taking and placing the container, the carrying device needs to be moved to one side of the goods shelf, in order to prevent the goods shelf from shifting or even toppling over caused by rubbing between the carrying device and the goods shelf, a preset distance needs to be reserved between the parking position of the carrying device and the goods shelf, and due to the fact that a certain distance is reserved between the carrying device and the goods shelf, the problem that the container falls from a gap between the carrying device and the goods shelf easily occurs in the process of taking and placing the container.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a handling equipment to it is great to improve the interval between present handling equipment and the goods shelves, the problem that the packing box falls from the clearance between handling equipment and the goods shelves appears easily.

In order to solve the above problem, the utility model adopts the following technical scheme:

a carrying device comprises a device body, a bearing mechanism and a moving and leaning mechanism, wherein the bearing mechanism is used for bearing a carried object, the bearing mechanism is movably mounted on the device body through the moving and leaning mechanism, the moving and leaning mechanism comprises a rotary driving part and a linear moving part, the linear moving part is connected with the rotary driving part, the moving direction of the linear moving part is parallel to the relative direction of the bearing mechanism and a goods shelf, or the moving direction has a component along the relative direction.

The utility model discloses a technical scheme can reach following beneficial effect:

the embodiment of the application discloses carrying equipment, wherein a moving and leaning mechanism is arranged on an equipment body, and a carrying mechanism can carry a carried object. The bearing mechanism is arranged on the equipment body through a moving and leaning mechanism, and the moving and leaning mechanism comprises a rotary driving part and a linear moving part which are connected with each other. In the process of carrying the conveyed object, the rotary driving part can drive the linear moving part to do linear motion along the moving direction, and the moving direction is parallel to the relative direction of the bearing mechanism and the goods shelf, or the moving direction has a component along the relative direction, so that when the carrying equipment stops at one side of the goods shelf, the bearing mechanism can be closer to the goods shelf by moving the linear moving part for a distance to the direction close to the goods shelf, namely, the distance between the bearing mechanism and the goods shelf can be reduced, further, in the process of taking and placing the conveyed object, the probability that the conveyed object falls from the gap between the bearing mechanism and the goods shelf can be reduced, the damage of the conveyed object due to falling can be prevented as much as possible, and the normal carrying operation can be ensured.

Drawings

The accompanying drawings, which are described herein, serve to provide a further understanding of the invention and constitute a part of this specification, and the exemplary embodiments and descriptions thereof are provided for explaining the invention without unduly limiting it. In the drawings:

fig. 1 is a schematic structural diagram of a conveying apparatus disclosed in an embodiment of the present invention;

fig. 2 is a schematic view of a part of a structure in a carrying apparatus according to an embodiment of the present invention;

fig. 3-6 are schematic views of the working process of the carrying device disclosed in the embodiment of the present invention.

Description of reference numerals:

100-equipment body, 110-base, 120-placing layer,

200-pick-and-place mechanism, 210-fork, 220-push rod,

300-a bearing mechanism,

400-moving and leaning mechanism, 410-rotary driving part, 420-linear moving part, 421-screw rod, 422-nut, 430-sliding component, 431-guide rail, 432-sliding block,

500-lifting mechanism,

600-a rotating mechanism,

700-a goods shelf,

800-the object to be transported.

Detailed Description

To make the purpose, technical solution and advantages of the present invention clearer, the following will combine the embodiments of the present invention and the corresponding drawings to clearly and completely describe the technical solution of the present invention. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The technical solutions disclosed in the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

As shown in fig. 1 to 6, an embodiment of the present invention discloses a carrying device, which includes a device body 100, a carrying mechanism 300, and a leaning mechanism 400.

The main body 100 is a main structure of the conveying apparatus, the main body 100 is a mounting base structure of other mechanisms in the conveying apparatus, and the moving mechanism 400 and the carrying mechanism 300 are both mounted and supported on the main body 100. The apparatus body 100 may be generally provided with rollers so that the movement flexibility of the carrying apparatus is relatively high, thereby improving the workability of the carrying apparatus. Correspondingly, the device body 100 may further be provided with a driving device such as a motor, so as to drive the roller to rotate through the driving device, thereby achieving the purpose of automatic movement.

In addition, the main body 100 may be provided with an automatic navigation mechanism such as an electromagnetic or optical mechanism so that the main body 100 can travel along a predetermined path to achieve the purpose of automatic conveyance. Of course, other mechanisms may be disposed on the device body 100 to achieve the corresponding purpose, and for the sake of brevity, they will not be described one by one here.

The carrying mechanism 300 may be a plate-shaped structure, so that the carrying mechanism 300 has high carrying stability, and the size of the carrying mechanism 300 may be designed according to the size of the object 800 to be carried, so as to ensure that the object 800 can be stably supported on the carrying mechanism 300. The carriage 300 is movably mounted on the apparatus body 100 by the reclining mechanism 400, so that the carriage 300 moves relative to the apparatus body 100 when the reclining mechanism 400 is actuated.

The reclining mechanism 400 includes a rotation driving part 410 and a linear movement part 420, wherein the rotation driving part 410 and the linear movement part 420 are connected to each other. The rotation driving part 410 may be a rotating motor, an internal combustion engine, or the like, and the linear moving part 420 may be a cam mechanism or an eccentric mechanism, and a cam or an eccentric is mounted on a rotating shaft of the rotation driving part 410, and the linear moving part 420 may convert a rotational motion into a linear motion as the rotating shaft rotates. When one of the rotation driving unit 410 and the linear movement unit 420 is connected to the apparatus body 100 and the other is connected to the carriage 300, the carriage 300 can be driven to move in the movement direction, which is the axial direction of the linear movement unit 420, when the rotation driving unit 410 operates. Compared with a linear driving mechanism, the combined mechanism of the rotary driving part 410 and the linear moving part 420 has better motion stability, higher controllability and relatively higher moving precision.

More specifically, the rotary driving part 410 may be fixedly mounted on the apparatus body 100 by a screw connection or the like, and the carriage 300 may be mounted on the linear moving part 420, in which case, the linear moving part 420 having a certain length may provide a relatively stable supporting function for the carriage 300, and ensure that the carriage 300 has a relatively high moving stability. The connection manner between the bearing mechanism 300 and the linear moving part 420 may be determined according to the specific configuration of the linear moving part 420.

In order to ensure that the translational leaning mechanism 400 can drive the carrying mechanism 300 to approach the shelf 700, during the process of designing and assembling the handling apparatus, it is necessary to make the axial direction of the linear moving portion 420, that is, the moving direction parallel to the relative direction of the carrying mechanism 300 and the shelf 700, or make the moving direction have a component in the aforementioned relative direction, in this case, when the rotational driving portion 410 drives the linear moving portion 420 to make a linear motion along the moving direction, the carrying mechanism 300 can be driven to approach the shelf 700, so as to reduce the distance between the shelf 700 and the carrying mechanism 300.

The embodiment of the present application discloses a carrying device, wherein a moving and leaning mechanism 400 is arranged on a device body 100, and a carrying mechanism 300 can carry a carried object 800. The carriage mechanism 300 is mounted on the apparatus body 100 by a reclining mechanism 400, and the reclining mechanism 400 includes a rotary driving part 410 and a linear moving part 420 connected to each other. In the process of transporting the object 800, the rotation driving unit 410 may drive the linear moving unit 420 to move linearly along the moving direction, and the moving direction is parallel to the relative direction of the loading mechanism and the shelf, or the moving direction has a component along the relative direction, so that when the transporting apparatus stops at one side of the shelf 700, the linear moving unit 420 moves a distance in the direction close to the shelf 700, so as to enable the loading mechanism 300 to be closer to the shelf 700, that is, the distance between the loading mechanism 300 and the shelf 700 may be reduced, and further, in the process of taking and placing the object 800, the probability that the object 800 falls from the gap between the loading mechanism 300 and the shelf 700 may be reduced, the object 800 may be prevented from being damaged due to falling as much as possible, and the normal operation of the transporting operation may be ensured.

Wherein, in the process of transporting the transported object, the component providing the transporting function is the pick-and-place mechanism 200, and optionally, the pick-and-place mechanism 200 is installed on the shelf 700. In another embodiment of the present application, the carrying apparatus includes a pick-and-place mechanism 200, the pick-and-place mechanism 200 is mounted and supported on the apparatus body 100, and further, the pick-and-place mechanism 200 is mounted on the carrying mechanism 300, which can make the pick-and-place mechanism 200 perform pick-and-place actions more easily, and improve the work efficiency of the pick-and-place process.

The pick-and-place mechanism 200 can pick and place the object 800, and specifically, the pick-and-place mechanism 200 can transfer the object 800 between the shelf 700 and the carrying mechanism 300 for the purpose of storing or taking out the object 800. More specifically, the pick-and-place mechanism 200 may be a clamping jaw, and the pick-and-place mechanism 200 may generate a grabbing and releasing action by cooperating with a driving component such as a clamping jaw cylinder, so as to achieve the purpose of picking and placing the transported object 800, and the pick-and-place mechanism 200 may be mounted on the carrying mechanism 300 through the aforementioned driving component.

Or, the pick-and-place mechanism 200 may also be a telescopic fork mechanism, the telescopic fork mechanism has an extended state and a retracted state, the telescopic fork mechanism includes two telescopic forks, the two telescopic forks may be respectively installed on two opposite sides of the carrying mechanism 300, and the extending directions of the two telescopic forks are the same. The front ends of the two telescopic forks are both provided with a shifting fork 210, and the shifting fork 210 is a hook-shaped structural member. In the process of transporting the object 800 to be transported on the shelf 700 to the carrying mechanism 300, the two telescopic forks extend out, the two shift forks 210 are lowered to hook the object 800 to be transported, and then the telescopic forks are retracted, so that the two shift forks 210 drive the object 800 to be transported to be transferred from the shelf 700 to the carrying mechanism 300, thereby completing a transportation and transfer process. When the pick-and-place mechanism 200 with the structure is adopted, the carried object 800 only generates sliding action in the moving process, and basically does not generate lifting and descending actions, so that the action difficulty of the telescopic fork mechanism can be reduced, and the carried object 800 can still be supported on the goods shelf 700 in the moving process, so that the work of the telescopic fork mechanism can be reduced, the energy consumption is reduced, and the cost is saved.

Alternatively, the linear moving part 420 includes a screw 421 and a nut 422, wherein the screw 421 is connected to the rotating shaft of the rotary driving part 410, specifically, the screw 421 and the rotating shaft can be connected together by a pin or the like, which ensures that the rotating shaft can drive the screw 421 to rotate together. Nut 422 and screw 421 threaded connection, and nut 422 is connected with bearing mechanism 300, thereby in the pivoted in-process of rotation axis, can make nut 422 produce linear motion, the direction of nut 422 motion can be confirmed according to the direction of rotation axis, can be through screw or bolted connection spare interconnect between nut 422 and the bearing mechanism 300, or, under the condition that nut 422 and bearing mechanism 300 are metallic structure, can also adopt the welded mode to fix bearing mechanism 300 and nut 422 as an organic whole, make nut 422 can drive bearing mechanism 300 and remove.

Under the condition of adopting the technical scheme, the linear moving part 420 has smaller friction resistance, the feeding amount of the linear moving part 420 is better controllable, the control precision is relatively higher, and the transmission efficiency is relatively higher. In addition, in order to improve the movement stability of the moving mechanism 400, the carrying mechanism 300 may be connected to the apparatus body 100 through two or more sets of linear moving portions 420, and the sets of linear moving portions 420 may be arranged at intervals along a direction perpendicular to the moving direction, and the plurality of linear moving portions 420 may be driven to move at the same time by the plurality of rotary driving portions 410, so as to ensure that the carrying mechanism 300 has higher movement stability.

In addition, a limiting structure may be disposed at an end of the screw 421 away from the rotation driving portion 410, so that when the nut 422 moves to the limiting structure along the screw 421, the position of the nut 422 can be limited by the limiting structure, and the nut 422 is prevented from sliding down from the screw 421, so as to prevent the bearing mechanism 300 from falling off from the apparatus body 100.

In another embodiment of the present application, the reclining mechanism 400 further includes a sliding assembly 430, the sliding assembly 430 includes a rail 431 and a slider 432, the slider 432 is slidably fitted with the rail 431, and the rail 431 extends along the moving direction, one of the rail 431 and the slider 432 is mounted on the apparatus body 100, and the other is mounted on the carrying mechanism 300, so that the carrying structure and the apparatus body 100 can be further connected with each other through the sliding assembly 430, and the sliding assembly 430 provides guiding and limiting effects for the moving process of the carrying mechanism 300, thereby improving the motion stability of the carrying mechanism 300. In addition, in the case that the moving leaning mechanism 400 includes the sliding assembly 430, only one screw 421 and one nut 422 may be provided, so as to prevent a movement difference between the plurality of sets of linear moving parts 420 from affecting the normal movement of the bearing mechanism 300.

Specifically, the guide rail 431 and the slide block 432 can be made of hard materials such as metal, and the slide block 432 and the guide rail 431 are guaranteed to have high structural strength so as to provide reliable guiding and limiting effects. Alternatively, the guide 431 is installed on the apparatus body 100, and the slider 432 is installed on the bearing mechanism 300, so as to reduce the overall weight of the bearing mechanism 300, improve the moving stability, and prevent the guide 431 from colliding with other components as the guide 431 with a large size moves with the bearing mechanism 300 when installed on the bearing mechanism 300. The guide rail 431 may be fixedly installed on the apparatus body 100 by a connection member such as a bolt assembly, and accordingly, the slider 432 may also be installed on the carrying mechanism 300 by a bolt assembly.

In order to further improve the motion stability of the carrying mechanism 300, optionally, the two opposite sides of the linear moving portion 420 are provided with the sliding assemblies 430, and the two sliding assemblies 430 can provide guiding and limiting effects for the carrying mechanism 300 at the same time by making the guide rails 431 in the two sliding assemblies 430 parallel to each other, which can further improve the motion stability of the carrying mechanism 300.

Specifically, the two sliding assemblies 430 may have the same structure and size, and the guide rails 431 of the two sliding assemblies 430 may be mounted on the apparatus body 100, and the sliding blocks 432 of the two sliding assemblies 430 may be mounted on the carrying mechanism 300. More specifically, two sliding assemblies 430 may be symmetrically disposed with respect to the linear moving part 420, which may further improve the motion stability of the carrying mechanism 300.

Optionally, the apparatus body 100 includes a base 110 and a plurality of product layers 120, the plurality of product layers 120 are stacked on the base 110, any two adjacent product layers 120 are spaced from each other, and each product layer 120 can contain the object 800 to be transported. Under the effect of a plurality of deposit layers 120, the amount of goods that the handling equipment once carried can be increased by a wide margin to can promote the overall performance of handling equipment. The side of the base 110 facing away from the object placing layers 120 may be provided with rollers, the supporting area of the object placing layers 120 and the size of the space between two adjacent object placing layers 120 may be determined according to the overall size of the object 800 to be transported, and in addition, the number of the object placing layers 120 may be determined according to the actual conditions of the weight of the object to be transported, the carrying capacity and the carrying plan of the carrying device, and the like, which is not limited herein. The material layer 120 may be made of hard materials such as metal, etc. to ensure that the material layer 120 has higher structural strength and supporting capability, so as to provide a stable supporting function for the object 800 to be transported.

Based on the above technical solution, the carrying mechanism 300 may only serve as a component providing a temporary carrying function, and after the pick-and-place mechanism 200 moves the object 800 from the shelf 700 onto the carrying mechanism 300, the pick-and-place mechanism 200 may also move the object 800 from the carrying mechanism 300 onto the storage layer 120, so that the storage layer 120 provides a carrying function for a long time. Alternatively, the number of the components of the carrying mechanism 300 and the like may be the same as that of the storage layers 120, so as to ensure that each storage layer 120 can be placed with the object 800, and ensure that the object 800 on each storage layer 120 can be transferred to other positions such as the shelf 700.

In order to reduce the number of parts in the entire transportation apparatus, reduce the overall cost of the transportation apparatus, and improve the operational flexibility of the transportation apparatus, optionally, the transportation apparatus further includes a lifting mechanism 500, and the reclining mechanism 400 is mounted on the apparatus body 100 through the lifting mechanism 500. In the case where the lifting mechanism 500 is provided, the number of the leaning mechanism 400, the carrying mechanism 300, and the pick-and-place mechanism 200 may be one, and in the transporting process, by causing the lifting mechanism 500 to drive the leaning mechanism 400 to move, the carrying mechanism 300 and the pick-and-place mechanism 200 may be lifted to a preset height, so as to store the object 800 to be transported at the preset height in the shelf 700, or take out the object 800 stored at the preset height in the shelf 700.

Specifically, the lifting mechanism 500 may be a lifting cylinder or a lifting hydraulic cylinder, or the lifting mechanism 500 may also be a linear motor, and the base of the lifting mechanism 500 is mounted on the apparatus body 100, and the moving mechanism 400 is mounted on the driving head of the lifting mechanism 500, so that when the lifting mechanism 500 operates, the moving mechanism 400, the carrying mechanism 300, and the pick-and-place mechanism 200 may be driven to move up and down, thereby completing the pick-and-place operation of the object 800 to be transported at different height positions.

As described above, the carriage mechanism 300 may be provided above the reclining mechanism 400, and the reclining mechanism 400 may be provided above the apparatus body 100, in which case the slider 432 may be supported on the top surface of the rail 431, and the slider 432 may be prevented from falling off the rail 431 by limiting the sizes of the slider 432 and the rail 431.

In the case that the apparatus body 100 includes a plurality of article placing layers 120 stacked on the base 110, since the article 800 to be transported needs to be stored above the apparatus body 100, neither the leaning mechanism 400 nor the carrying mechanism 300 can be disposed above the apparatus body 100, in this case, the carrying mechanism 300 can be connected to the outer side of the leaning mechanism 400 departing from the apparatus body 100 along the vertical direction, that is, the leaning mechanism 400 is located between the apparatus body 100 and the carrying mechanism 300 in the direction perpendicular to the vertical direction and the moving direction, so as to ensure that the carrying mechanism 300 can form a reliable connection relationship with the apparatus body 100.

With the above technical solution, in order to ensure that the bearing mechanism 300 can be stably installed on the apparatus body 100, optionally, in a direction perpendicular to the moving direction, the sliding block 432 and the guiding rail 431 can be in limit fit, so that the bearing mechanism 300 can be connected with the apparatus body 100 through the nut 422 and the screw 421, the limit fit relationship between the sliding block 432 and the guiding rail 431 in the above direction can also provide a certain stabilizing effect for the bearing mechanism 300, and since the linear moving portion 420 and the sliding assembly 430 have a certain interval, the connection reliability between the bearing mechanism 300 and the apparatus body 100 can be further improved.

Specifically, grooves may be formed on two side surfaces of the guide rail 431, and portions of the sliding block 432 located on two opposite sides of the guide rail 431 extend into the grooves to form a limiting relationship with the guide rail 431, which may also prevent the sliding block 432 from falling off from the guide rail 431, and may enable the sliding block 432 to form a limiting fit relationship with the guide rail 431 in a direction perpendicular to the moving direction. It should be noted that, when the support mechanism 300 is connected to the outside of the leaning mechanism 400, two side surfaces of the rail 431 are distributed along the vertical direction, and the top surface of the rail 431 is parallel to the vertical direction.

Optionally, the number of the sliding blocks 432 in the sliding assembly 430 is multiple, the multiple sliding blocks 432 are arranged at intervals along the moving direction, and the multiple sliding blocks 432 are all in sliding fit with the guide rail 431. Compared with the technical scheme that the sliding assembly 430 comprises one sliding block 432, in the case of adopting the technical scheme, the plurality of sliding blocks 432 matched with the guide rail 431 can prevent the bearing mechanism 300 and the equipment body 100 from rotating around the vertical direction, so that the connection relationship between the bearing mechanism 300 and the equipment body 100 is more stable. Specifically, the shapes and sizes of the plurality of sliders 432 may be made correspondingly identical, and the intervals between any two adjacent sliders 432 may be made equal.

Further, the carrying device disclosed in the embodiment of the present application may further include a rotating mechanism 600, the carrying mechanism 300 is connected to the moving and leaning mechanism 400 through the rotating mechanism 600, the rotating mechanism 600 may drive the carrying mechanism 300 to rotate around the vertical direction with respect to the device body 100, and in the process of taking and placing the object 800 to be carried from and to the shelf 700 and the carrying mechanism 300 by the taking and placing mechanism 200, even if the traveling direction and the taking and placing direction of the carrying device are inclined, when the carrying device moves to one side of the shelf 700, the rotating mechanism 600 may drive the carrying mechanism 300 to rotate around the vertical direction with respect to the device body 100, so that the taking and placing mechanism 200 may face the taking and placing opening of the shelf 700, and the object 800 to be carried may be moved between the shelf 700 and the carrying mechanism 300 by the taking and placing mechanism 200.

Specifically, the rotating mechanism 600 may include a rotating disc and a rotating motor, the rotating motor may drive the rotating disc to rotate, the carrying mechanism 300 may be installed on the rotating disc, the entire rotating mechanism 600 may be installed on the reclining mechanism 400, alternatively, the rotating mechanism 600 may be supported above the reclining mechanism 400, or the rotating mechanism 600 may also be installed outside the reclining mechanism 400 through other auxiliary installation mechanisms.

In the case that the carrying device includes the rotating mechanism 600, after the picking and placing mechanism 200 moves the object 800 on the shelf 700 onto the carrying mechanism 300, the object 800 can be directed toward the object layer 120 by rotating the rotating mechanism 600, and optionally, the object 800 can still be pulled onto the object layer 120 by using the above-mentioned fork 210, in another embodiment of the present application, in order to reduce the maximum angle of rotation required by the rotating mechanism 600 when the carrying mechanism carries the object 800 from the object layer 120 and the shelf 700 respectively, optionally, the picking and placing mechanism 200 can further include the push rod 220, as described above, the front ends of the two telescopic forks of the picking and placing mechanism 200 are both provided with the fork 210, further, the rear ends of the two telescopic forks are both provided with the push rod 220, the push rod 220 is also a hook-shaped structure, in the process of carrying the object 800 on the carrying mechanism 300 onto the object layer 120, the two pushing rods 220 are extended to transfer the object 800 on the carrying mechanism 300 to the object layer 120. In addition, in the case that the pick-and-place mechanism 200 is provided with the fork 210 and the push rod 220, taking the case that the apparatus body faces the shelf 700 as an example, when the object 800 to be transported on the storage layer 120 needs to be transferred onto the shelf 700, the maximum angle that the rotating mechanism 600 needs to rotate is only 90 °, which makes the rotating range of the rotating mechanism 600 relatively small, thereby improving the energy consumption of the components during the transportation process, and improving the stability and reliability during the transportation process.

Further, the rotation angle of the rotation mechanism 600 may be equal to or greater than 180 °, in this case, when the orientation of the conveying device and the access opening of the rack 700 is inclined, the rotation mechanism 600 may provide a wider rotation range, and the flexibility of accessing the conveyed object 800 between the rack 700 and the conveying device is improved.

In addition, in the case of adopting the above technical solution, the shelves 700 may be arranged in parallel, and the pick-and-place ports of the shelves 700 may be in the same arrangement direction as the shelves 700, for example, a plurality of shelves 700 may be arranged at intervals in the first direction, and the pick-and-place ports of each shelf 700 may be directed toward the first direction. In this case, the carrying device may move to one side of the shelf 700 and stop at a position close to the shelf 700, and rotate 90 ° by the rotating mechanism 600, so that the carrying mechanism 300 and the pick-and-place mechanism 200 face the pick-and-place opening, and under the action of the moving mechanism 400, the carrying mechanism 300 may be closer to the pick-and-place opening, and the pick-and-place mechanism 200 extends into the pick-and-place opening, so as to take out the transported object 800 and transfer the transported object 800 onto the carrying mechanism 300, or the transported object 800 carried on the carrying mechanism 300 may be pushed into the pick-and-place opening, so that the overall efficiency of picking and placing the transported object 800 is high, and the work difficulty is small.

The utility model discloses what the key description in the above embodiment is different between each embodiment, and different optimization characteristics are as long as not contradictory between each embodiment, all can make up and form more preferred embodiment, consider that the literary composition is succinct, then no longer describe here.

The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A carrying device is characterized by comprising a device body (100), a bearing mechanism (300) and a moving and leaning mechanism (400), wherein the bearing mechanism (300) is used for bearing a carried object (800), the bearing mechanism (300) is movably mounted on the device body (100) through the moving and leaning mechanism (400), the moving and leaning mechanism (400) comprises a rotary driving part (410) and a linear moving part (420), the linear moving part (420) is connected with the rotary driving part (410), the moving direction of the linear moving part (420) is parallel to the relative direction of the bearing mechanism (300) and a shelf, or the moving direction has a component along the relative direction.

2. The conveyance apparatus according to claim 1, wherein the rotary drive unit (410) is attached to the apparatus body (100), and the linear motion unit (420) is connected to the carriage mechanism (300);

the linear moving part (420) comprises a screw (421) and a nut (422), the screw (421) is connected with a rotating shaft of the rotary driving part (410), the nut (422) is in threaded connection with the screw (421), and the nut (422) is connected with the bearing mechanism (300).

3. The transfer apparatus according to claim 2, wherein the reclining mechanism (400) further comprises a slide assembly (430), the slide assembly (430) comprising a rail (431) and a slider (432), the rail (431) extending in the moving direction, the slider (432) being slidably engaged with the rail (431), one of the rail (431) and the slider (432) being mounted to the apparatus body (100) and the other being mounted to the carrying mechanism (300).

4. A handling device according to claim 3, characterized in that said slide assemblies (430) are arranged on opposite sides of said linear movement portion (420), and that the guide rails (431) of the two slide assemblies (430) are arranged in parallel.

5. The conveying apparatus according to claim 3, wherein the apparatus body (100) comprises a base (110) and a plurality of layer (120) stacked on the base (110), and any two adjacent layer (120) are spaced from each other.

6. The transfer apparatus according to claim 5, further comprising a lifting mechanism (500), wherein the reclining mechanism (400) is mounted to the apparatus body (100) by the lifting mechanism (500).

7. Handling equipment according to claim 5, characterized in that the carrying mechanism (300) is connected on the outer side of the leaning mechanism (400) facing away from the equipment body (100) in the vertical direction; in the direction perpendicular to the moving direction, the sliding block (432) is in limit fit with the guide rail (431).

8. The handling apparatus according to claim 7, wherein the slide assembly (430) comprises a plurality of the slides (432), the plurality of the slides (432) being spaced apart in the moving direction and each slidably engaging with the guide rail (431).

9. The handling apparatus according to claim 1, further comprising a pick and place mechanism (200), wherein the pick and place mechanism (200) is used for picking and placing the object (800) to be handled, and the pick and place mechanism (200) is mounted on the carrying mechanism (300);

the carrying equipment further comprises a rotating mechanism (600), the bearing mechanism (300) is connected with the moving and leaning mechanism (400) through the rotating mechanism (600), the rotating mechanism (600) can drive the bearing mechanism (300) to rotate around the vertical direction relative to the equipment body (100), and the relative direction is perpendicular to the advancing direction of the equipment body (100).

10. Handling equipment according to claim 9, characterized in that the turning angle of the turning mechanism (600) is equal to or larger than 180 °.