CN213922826U

CN213922826U - Limiting device, carrying device and conveying system

Info

Publication number: CN213922826U
Application number: CN202022351357.8U
Authority: CN
Inventors: 不公告发明人
Original assignee: Wuxi Lead Intelligent Equipment Co Ltd
Current assignee: Wuxi Lead Intelligent Equipment Co Ltd
Priority date: 2020-10-20
Filing date: 2020-10-20
Publication date: 2021-08-10
Anticipated expiration: 2030-10-20

Abstract

The utility model discloses a stop device, handling device and conveying system, wherein, conveying system includes base, carrier, first component, second component and third component. The carrier is used for carrying objects. The first element is arranged on the base. The second element is arranged on the carrier. At least one of the first element and the second element is movably connected to the base or the truck in a first direction. The first element and the second element are used for relatively moving in a first direction to form a first nesting matching structure so as to limit the position range of the truck. The third element is movably connected to the base in a second direction and is used for forming a second nesting matching structure with a part of the object so as to limit the position range of the object. In this way, the utility model discloses can reduce the positioning system's of carrier self required precision.

Description

Limiting device, carrying device and conveying system

Technical Field

The utility model belongs to the technical field of automation equipment, especially, relate to a stop device, handling device and conveying system.

Background

A conveying device (such as an AGV (automatic Guided Vehicle) can be used on an automatic production line to convey articles (such as trays) to a designated place, the articles are limited by a limiting device, and then the articles are further processed.

In order to position the object accurately, the positioning system of the handling device must have high precision so that it can be parked at the designated location accurately.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the main technical problem who solves provides a stop device, handling device and conveying system, under the prerequisite that satisfies the demand, reduces handling device self's positioning system's required precision to reduce handling device's cost.

In order to solve the technical problem, the utility model discloses a technical scheme be: there is provided a delivery system comprising:

a base;

the carrying vehicle is used for carrying the object;

the first element is arranged on the base;

the second element is arranged on the truck, at least one of the first element and the second element is movably connected to the base or the truck in the first direction, and the first element and the second element are used for relatively moving in the first direction to form a first nesting matching structure so as to limit the position range of the truck;

and the third element is movably connected to the base in the second direction and is used for forming a second nesting matching structure with a part of the object so as to limit the position range of the object.

Furthermore, a first groove is formed in the second element;

the end diameter of the first element is smaller than the opening diameter of the first groove, and at least one of the first element and the first groove is provided with a first inclined surface to guide the end of the first element to be inserted into the first groove so as to form a first nesting matching structure.

Furthermore, a second groove is formed in the object;

the diameter of the tail end of the third element is smaller than the opening diameter of the second groove, and at least one of the third element and the second groove is provided with a second inclined surface so as to guide the tail end of the third element to be inserted into the second groove, so that a second nesting matching structure is formed;

the fit clearance of the first nested mating arrangement is greater than the fit clearance of the second nested mating arrangement.

Further, comprising:

the first driver is arranged on the base;

the second driver is arranged on the base;

the first element is fixedly arranged at the driving end of the first driver, the first driver is used for driving the first element to move in a first direction, the third element is fixedly arranged at the driving end of the second driver, and the second driver is used for driving the third element to move in a second direction.

Further, comprising:

and the separating device is used for driving the object to move in the second direction so as to separate the object from the carrying vehicle.

Further, the separation device comprises:

the first movable part is movably connected to the base in the second direction and comprises a first end and a second end which are opposite to each other in the second direction, and the first end of the first movable part is used for abutting against an object;

the second movable part is movably connected to the base in a third direction and is in transmission fit with the second end of the first movable part so as to convert the first movement of the second movable part along the third direction into the second movement of the first movable part along the second direction;

and the third driver is used for driving the second movable piece to move.

Furthermore, the second movable piece is provided with a third inclined surface, and the height of the third inclined surface in the second direction has a drop height;

the second end of the first movable piece is used for being abutted to the third inclined surface.

Further, the second movable member has:

and the supporting surface is a plane perpendicular to the second direction, is connected to one end, closer to the first movable part, of the third inclined surface and is used for abutting against the second end of the first movable part.

Further, the first movable member includes:

the ejector rod is movably connected to the base in the second direction, and one end of the ejector rod is used for abutting against an object;

the roller is rotatably arranged at the other end of the ejector rod around the axis of the roller, and the roller is used for being abutted to the third inclined surface.

Furthermore, the end surface of the first end of the first movable piece is spherical.

For solving the technical problem, the utility model discloses a another technical scheme is: providing a spacing device comprising:

a base;

the first element is arranged on the base and used for relatively moving with a second element arranged on the carrier in a first direction to form a first nesting matching structure, and at least one of the first element and the second element is movably connected with the base or the carrier in the first direction to limit the position range of the carrier;

For solving the technical problem, the utility model discloses a another technical scheme is: provided is a conveyance device including:

the carrying vehicle is used for carrying the object;

the second element is arranged on the carrying vehicle and used for relatively moving with the first element arranged on the base in the first direction to form a first nesting matching structure, at least one of the first element and the second element is movably connected to the base or the carrying vehicle in the first direction to limit the position range of the carrying vehicle, and the base is provided with a third element which is movably connected to the base in the second direction and used for forming a second nesting matching structure with a part of the object to limit the position range of the object.

The utility model has the advantages that: be different from prior art's condition, the utility model discloses in, near carrier transport article to base back, tentatively spacing the carrier through first nested cooperation structure, then further spacing the article through the nested cooperation structure of second. The carrier does not need to be accurately parked to a designated place, and finally, the object can be placed at an accurate position. The accuracy requirement of the positioning system of the carrier (carrying device) is reduced, and the cost is reduced.

Drawings

FIG. 1 is a schematic diagram of a delivery system according to an embodiment of the present application;

FIG. 2 is a left side view of the stop assembly (including the separating assembly) of FIG. 1, shown on the left side;

FIG. 3 is a top view of the stop assembly shown on the left side of FIG. 1;

FIG. 4 is a left side view of the handling device of FIG. 1 (containing an article to be handled);

FIG. 5 is a schematic illustration of a first component relative to a second component in an embodiment of the present delivery system;

FIG. 6 is a top view of the article to be handled in FIG. 1;

FIG. 7 is a schematic structural diagram illustrating a state of movement of the third element relative to the object in an embodiment of the delivery system of the present application.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, 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 automatic production line can use the carrying device to carry the object to a designated place, and the object is further processed after being limited by the limiting device. Through automated operation, improve the handling efficiency of article.

The handling device may be in the form of an Automated Guided Vehicle (AGV) in combination with a skip. The skip includes structural subject and sets up in a plurality of gyro wheels of structural subject below. The structure body is used for bearing an object. The article to be carried is placed on the skip car, and the skip car is driven and guided to move by the AGV. An AGV is a transport vehicle equipped with an electromagnetic or optical automatic guide device and capable of traveling along a predetermined path. The industrial application is a carrier without driver, and a rechargeable battery is used as a power source. The AGV and the skip car can be of a split structure or an integrated structure.

The articles to be handled may be pallets. Pallets are vehicles that transform static goods into dynamic goods, a cargo platform. After the tray is conveyed to a designated place through the conveying system, products can be taken from and placed on the tray, or the tray can be removed.

The object to be handled may also be a workpiece to be processed. After the product is transported to a designated location by the conveyor system, the workpiece may be processed, for example, by assembling other components onto the workpiece.

At present, the AGV fixed point parking mode is: be equipped with the parking spot on the magnetism line that AGV used, when AGV drive skip to appointed parking spot, the system just controls AGV fixed point and parks. The accuracy that synthesizes AGV self positioning error, article put error and skip self installation error on the skip can lead to the parking stall can't satisfy high accuracy operation demand.

In the embodiment of the limiting device, the carrying device and the conveying system, the carrying vehicle (carrying device) does not need to be accurately parked to a designated place, and finally, the object can be accurately limited. The accuracy requirements for the positioning system of the truck itself can be reduced, thereby reducing the manufacturing cost thereof.

Fig. 1 is a schematic structural view of a conveying system according to an embodiment of the present invention in a use state, fig. 2 is a left side view of a position limiting device (including a separating device) located on the left side in fig. 1, fig. 3 is a top view of the position limiting device located on the left side in fig. 1, and fig. 4 is a left side view of a carrying device (including an article to be carried) in fig. 1.

For convenience of description, the terms "left", "right", "upper" and "lower" are used in the left, right, up and down directions of the drawings themselves, but do not limit the structure of the present application.

As shown in fig. 1 to 4, the conveying system 1000 may include one carrying device 100 and two position-limiting devices 200. The two position-limiting devices 200 are disposed at a predetermined position at intervals in the first direction. The carrying device 100 is used for carrying the object 10 to a designated place. The designated location may be considered the exact or target location where the item 10 is to be placed.

After the transporting device 100 transports the object 10 to a designated place, the two limiting devices 200 respectively limit the transporting device 100 from the left side and the right side, and then respectively limit the object 10.

Specifically, the handling device 100 may include a truck 110 and a second element 120 fixed to the truck 110. The cart 110 is used to carry the object 10. The second member 120 cooperates with the restraint device 200 to restrain the cart 110. The second element 120 and the truck 110 may be separate structures or may be an integral structure. The transport vehicle 110 in this embodiment specifically includes an AGV 112 and a skip 111. The second member 120 is disposed on the skip 111. In other embodiments, the cart 110 may also be an intelligent transporter with similar functionality.

The spacing device 200 may include a base 210, a first member 220, and a third member 230. The base 210 is a structural body and can be fixed on the working surface of the carrying device 100. For example, if the handling device 100 is moved on the ground, the base 210 may be fixed on the ground. The first element 220 is movably coupled to the base 210 in a first direction and cooperates with the second element 120 of the handling device 100 to restrain the cart 110 of the handling device 100. Specifically, the first element 220 is configured to move in a first direction relative to the second element 120 to form a first nesting fit to limit the range of positions of the cart 110. The third member 230 is movably coupled to the base 210 in a second orientation for engaging a portion of the article 10 to restrain the article 10. Specifically, the third element 230 is configured to move in a second direction relative to the article 10 to form a second nested configuration to limit the range of positions in which the article 10 is positioned.

The working process is as follows:

the truck 110 moves to the designated location with the object 10, and its actual location may be within the first area of the designated location accessory due to the positioning error of the truck 110 itself.

The first member 220 moves relative to the second member 120 to form a first nested mating configuration that confines the cart 110 within a second area of the designated location accessory, the second area being smaller than the first area.

The third element 230 moves relative to the article 10 to form a second nested configuration with a portion of the article 10 to retain the article 10.

In this embodiment, the first nesting structure limits the position of the cart 110 after the cart reaches a predetermined location (where a positional deviation may occur). The accuracy requirements for the positioning system of the truck 110 itself are reduced, thereby reducing the manufacturing cost of the truck 110.

In the above embodiment, the second element 120 may be movably connected to the cart 110 in the first direction, and the first element 220 is fixed to the base 210. Upon arrival of the cart 110 at the designated location (and possibly a positional deviation), the second member 120 is moved relative to the first member 220 to form a first nested configuration. Alternatively, the first member 220 is movably coupled to the base 210 in a first direction and the second member 120 is movably coupled to the cart 110 in the first direction. Upon arrival of the cart 110 at the designated location (and possibly a positional deviation), the first member 220 and the second member 120 move relative to one another to form a first nested configuration.

To achieve the first nested configuration, the first element 220 and the second element 120 are configured as follows:

as shown in fig. 4, the second element 120 is provided with a first groove 121. The first groove 121 is formed in a semi-surrounding shape, and a notch is formed below the first groove. The edge of the first groove 121 is provided with a first chamfer 122 and a second chamfer 123 on both sides in the third direction.

As shown in fig. 3, the end of the first member 220 is provided with a third chamfer 221 and a fourth chamfer 222 on both sides in the third direction.

FIG. 5 is a schematic structural view of a first component moving relative to a second component in an embodiment of the present delivery system.

As shown in fig. 5, the end diameter of the first element 220 is smaller than the opening diameter of the first groove 121, and at least one of the first element 220 and the first groove 121 is provided with a first slope to guide the end of the first element 220 to be inserted into the first groove 121, thereby forming a first nesting fit structure.

The third chamfer 221 corresponds to the first chamfer 122 during movement of the first member 220 towards the second member 120. The third chamfer 221 and the first chamfer 122 are used to guide the insertion of the first element 220 into the first groove 121, respectively. Likewise, fourth chamfer 222 corresponds to second chamfer 123. The fourth chamfer 222 and the second chamfer 123 are used to guide the insertion of the first element 220 into the first groove 121, respectively. The plurality of chamfers provided on the first and

second members

220 and 120 may each be considered as the first chamfers described above.

Referring to fig. 5, in the present embodiment, the end of the first element 220 is substantially rectangular (the cross section is rectangular), and the distance between two opposite sides of the first element 220 in the third direction can be regarded as the diameter of the end of the first element 220. The distance between two opposite sidewalls of the first groove 121 in the third direction can be regarded as the opening diameter of the first groove 121.

In other embodiments, the end of the first element 220 may be designed to be cylindrical, and the first groove 121 may be designed to be a cylindrical hole.

In this embodiment, the cart 110 is controlled to park to the first area by its own positioning system. The first region is: and offsetting an area formed by the preset value A on one side of the third direction and offsetting the preset value B on the other side of the third direction by taking the designated place as a center. Wherein, A is L0+ L1+ L3, B is L0+ L2+ L4. L0 is the mating clearance of the first nested mating arrangement, i.e., the single sided clearance of the end of the first element 220 and the first recess 121. L1 is the extension distance of the first chamfer 122 in the third direction. L3 is the extension distance of the third chamfer 221 in the third direction. L2 is the extension distance of the second chamfer 123 in the third direction. L4 is the distance that fourth chamfer 222 extends in the third direction. After the truck 110 is parked in the first area, the first nesting and matching structure limits the truck 110 to the second area. The second area is: the areas formed by L0 are offset on both sides in the third direction with the designated point as the center.

A sensor may be provided near a designated location to detect the presence of the cart 110 in the first area to control the movement of the first element 220 in the spacing device 200. This scheme is prior art and is not described here in detail.

To achieve the second nested configuration, the third element 230 and the article 10 are configured as follows:

fig. 6 is a top view of the article to be handled in fig. 1, and fig. 7 is a schematic structural view illustrating a state in which the third element is moved relative to the article in the embodiment of the conveying system of the present application.

As shown in fig. 6 and 7, the article 10 is provided with a second groove 11. In particular, the second groove 11 may be a cylindrical hole, the lower edge of which is provided with a fifth chamfer 1101. The end of the corresponding third element 230 may be cylindrical and provided with a sixth chamfer 231.

The diameter of the end of the third element 230 on the limiting device 200 is smaller than the opening diameter of the second groove 11, and at least one of the third element 230 and the second groove 11 is provided with a second slope to guide the end of the third element 230 to be inserted into the second groove 11, so as to form a second nested matching structure, and the matching gap of the first nested matching structure is larger than that of the second nested matching structure.

The fifth chamfer 1101 and the sixth chamfer 231 are used to guide the insertion of the third element 230 into the second groove 11. The fifth chamfer 1101 and the sixth chamfer 231 may both be considered the second chamfer described above. The fitting clearance of the second nested fitting structure is a single-side clearance L5 between the third element 230 and the second groove 11, and L5 is smaller than L0.

The article 10 is accurately retained by the second nesting fit.

As shown in fig. 2 and 3, to actuate the movement of the first and

third members

220, 230, the spacing device 200 further includes a first actuator 240 and a second actuator 250. The first driver 240 and the second driver 250 are both disposed at the base 210. The first element 220 is fixed at the driving end of the first driver 240. The first actuator 240 is used to drive the first element 220 to move in a first direction. The third element 230 is fixedly disposed at the driving end of the second driver 250. The second actuator 250 is used to actuate the third element 230 to move in the second direction. The first and

second actuators

240 and 250 may each be an air cylinder or an electric cylinder.

To ensure the accuracy of the moving path of the first and

third members

220 and 230, the first and

third members

220 and 230 may be movably coupled to the base 210 by a sliding rail slider structure, respectively.

In the present embodiment, two stopper devices 200 are provided on both the left and right sides in order to more favorably stopper the carrier 110 and the object 10, but the present invention is not limited thereto. The number and location of the spacing devices 200 can be set as desired.

In an application scenario, the object 10 needs to be separated from the cart 110 after it is stopped. For this purpose, as shown in fig. 1 to 3, the conveying system 1000 further includes a separating device 500, and the separating device 500 is used for moving the object 10 in the second direction.

In this application scenario, the second direction is the vertical direction (the direction of gravity).

In this embodiment, the separating device 500 is disposed on the base 210 of the limiting device 200. In other embodiments, the separation device 500 may be provided separately.

Specifically, the decoupling apparatus 500 includes a first movable member 510, a second movable member 520, and a third actuator 530. The first movable member 510 is movably coupled to the base 210 in a second direction. The second movable member 520 is movably coupled to the base 210 in a third direction. First movable member 510 includes opposing first and second ends in a second direction. A first end of first movable member 510 is adapted to abut article 10. The second end of first movable member 510 is in driving engagement with second movable member 520 to translate the first movement of second movable member 520 in the third direction to the second movement of first movable member 510 in the second direction. The third driver 530 is used for driving the second movable member 520 to move. The third driver 530 may be an air cylinder or an electric cylinder.

Both the first movable member 510 and the second movable member 520 may be movably connected to the base 210 via a sliding rail and slider structure, or may be connected to the base 210 via a guide post and guide bush structure.

Through the drive-fit arrangement, only a portion of the weight of the article 10 is transmitted in the third direction to the third driver 530. Compared with the case where the third driver 530 directly drives the first movable member 510 to move (in this case, the gravity of the object 10 is completely transmitted to the third driver 530), the third driver 530 in this embodiment is relatively less stressed, and the service life of the third driver can be prolonged.

In this embodiment, the third direction is perpendicular to the second direction. In other embodiments, the third direction may be at other angles to the second direction, such as 60 ° and 45 °, however, the effect of reducing the force is reduced.

The specific drive engagement of first movable member 510 and second movable member 520 is as follows:

as shown in fig. 2, the second movable member 520 has a third inclined surface 521. The third slope 521 has a step height in the second direction. The second end of the first movable member 510 is adapted to abut the third ramp 521. The third inclined surface 521 is a plane in this embodiment, and may also be an arc surface in other embodiments.

The working process is as follows:

the third actuator 530 drives the second movable member 520 to move leftward.

The second movable member 520 moves the first movable member 510 upward to jack up the object 10, so that the object 10 is separated from the truck 110.

Third actuator 530 drives second movable member 520 to the right and first movable member 510 is reset.

When the object 10 is in the lifted state, the second end (lower end) of the first movable member 510 abuts against the third inclined surface 521. A partial component of the weight of the object 10 is still transmitted to the third driver 530. To further reduce the force applied by the third actuator 530, the second movable member 520 further has a supporting surface 522, and the supporting surface 522 is a plane (horizontal plane) perpendicular to the second direction, and is connected to one end (upper end of the third inclined surface 521) of the third inclined surface 521 closer to the first movable member 510, and is used for abutting against the second end (lower end) of the first movable member 510.

During lifting, third actuator 530 drives second movable member 520 to move leftward until the second (lower) end of first movable member 510 abuts against support surface 522. At this time, the component of the gravity of the object 10 in the third direction is zero. The third driver 530 is not affected by the gravity of the article 10.

In addition, to reduce the resistance of the driving engagement of first movable member 510 and second movable member 520, first movable member 510 includes a top bar 511 and a roller 512. The top bar 511 is movably connected to the base 210 in the second direction, and one end (upper end) thereof is used for supporting the object 10. The roller 512 is rotatably disposed at the other end (lower end) of the top bar 511 around the axis thereof, and the roller 512 is configured to abut against the third inclined surface 521.

In order to make the object 10 uniformly stressed in the lifted state and stably lift the object 10, two separating devices 500 are disposed on each base 210, the two separating devices 500 are disposed at intervals in the third direction, and in addition, two first moving members 510 are disposed in each separating device 500, and the two first moving members 510 are disposed at intervals in the third direction. Each of the separation devices 500 simultaneously drives the movement of the two first movable members 510 via the second movable member 520. Thus, when the object 10 is lifted, four supporting points (first movable members 510) are provided at intervals in the third direction on each of the left and right sides.

In order to synchronize the operations of the separating devices 500 on the left and right sides of the object 10, when the third actuators 530 of the separating devices 500 are air cylinders, the air cylinders of the separating devices 500 are controlled to operate by sharing one solenoid valve.

In addition, the end surface of the first end of the first movable member 510 (the upper end of the top bar 511) is spherical, so that the first movable member 510 reliably abuts against the lower surface of the object 10.

In the present embodiment, a plurality of separating devices 500 are provided on both the left and right sides in order to stably support the object 10, but the present invention is not limited thereto. The number and location of the separating apparatus 500 may be set as desired.

As shown in fig. 1-4, the present application also provides a spacing device 200, which can be understood in conjunction with the delivery system 1000 described above.

The spacing device 200 includes a base 210, a first member 220, and a third member 230.

The first element 220 is disposed on the base 210. In this embodiment, the first element 220 is movably coupled to the base 210 in a first direction. In other embodiments, the first element 220 may be fixed to the base 210 (provided that the second element 120 of the handling device 100 is movably coupled to the truck 110 in the first direction). The first element 220 is used for relatively moving with the second element 120 disposed on the truck 110 in a first direction to form a first nesting matching structure, so as to limit the position range of the truck 110.

Third element 230 is movably coupled to base 210 in a second orientation for forming a second nested configuration with a portion of article 10 to limit the range of positions in which article 10 is positioned.

As shown in fig. 1-4, the present application further provides a handling device 100, which can be understood in conjunction with the above-described transport system 1000.

The handling device 100 comprises a handling vehicle 110 and a second element 120.

The cart 110 is used to carry the object 10.

The second element 120 is disposed on the truck 110. In this embodiment, the second element 120 is fixed to the cart 110, but in other embodiments, the second element 120 may be movably connected to the cart 110 in the first direction.

The second member 120 is configured to move relative to the first member 220 disposed on the base 210 in a first direction to form a first nesting fit structure to limit the range of positions of the cart 110.

In summary, the limiting device, the carrying device and the conveying system of the present embodiment have at least the following technical effects:

the precision requirement of the self-positioning system of the carrier is reduced, so that the cost is reduced.

The above description is only an embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes performed by the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields, are also included in the scope of the present invention.

Claims

1. A conveyor system, comprising:

a base;

a cart for carrying an object;

a first element disposed on the base;

a second element disposed on the truck, at least one of the first element and the second element being movably connected to the base or the truck in a first direction, the first element and the second element being configured to move relative to each other in the first direction to form a first nesting fit structure to limit a range of positions of the truck;

a third element movably coupled to the base in a second direction for forming a second nested engagement with a portion of the object to limit a range of positions the object is located.

2. The delivery system of claim 1,

the second element is provided with a first groove;

the end diameter of the first element is smaller than the opening diameter of the first groove, and at least one of the first element and the first groove is provided with a first inclined surface to guide the end of the first element to be inserted into the first groove so as to form the first nesting fit structure.

3. The delivery system of claim 2,

a second groove is formed in the object;

the diameter of the tail end of the third element is smaller than the opening diameter of the second groove, and at least one of the third element and the second groove is provided with a second inclined surface so as to guide the tail end of the third element to be inserted into the second groove, so that the second nested matching structure is formed;

4. The delivery system of claim 1, comprising:

the first driver is arranged on the base;

the second driver is arranged on the base;

the first element is fixedly arranged at the driving end of the first driver, the first driver is used for driving the first element to move in the first direction, the third element is fixedly arranged at the driving end of the second driver, and the second driver is used for driving the third element to move in the second direction.

5. The delivery system of any of claims 1 to 4, comprising:

the separating device is used for driving the object to move in the second direction so as to separate the object from the carrying vehicle.

6. The transport system of claim 5, wherein the separation device comprises:

the first movable piece is movably connected to the base in the second direction and comprises a first end and a second end which are opposite to each other in the second direction, and the first end of the first movable piece is used for abutting against the object;

the second movable piece is movably connected to the base in a third direction and is in transmission fit with the second end of the first movable piece so as to convert the first movement of the second movable piece along the third direction into the second movement of the first movable piece along the second direction;

and the third driver is used for driving the second movable piece to move.

7. The delivery system of claim 6,

the second movable piece is provided with a third inclined surface, and the height of the third inclined surface in the second direction has a drop height;

and the second end of the first movable piece is used for abutting against the third inclined surface.

8. The delivery system of claim 7, wherein the second movable member has:

and the supporting surface is a plane perpendicular to the second direction, is connected to one end, closer to the first movable part, of the third inclined plane, and is used for abutting against the second end of the first movable part.

9. The delivery system of claim 7, wherein the first movable member comprises:

the ejector rod is movably connected to the base in the second direction, and one end of the ejector rod is used for abutting against the object;

the roller is rotatably arranged at the other end of the ejector rod around the axis of the roller, and the roller is used for abutting against the third inclined surface.

10. The transport system of claim 6, wherein the end surface of the first end of the first movable member is spherical.

11. A stop device, comprising:

a base;

a first element disposed on the base for relative movement in a first direction with a second element disposed on a cart to form a first nested mating structure, at least one of the first element and the second element being movably coupled to the base or the cart in the first direction to limit a range of positions in which the cart is located;

12. A handling device, comprising:

a cart for carrying an object;

a second element disposed on the cart for relative movement with a first element disposed on a base in a first direction to form a first nested mating configuration, at least one of the first element and the second element being movably coupled to the base or the cart in the first direction to limit a range of positions in which the cart is located, a third element disposed on the base and movably coupled to the base in a second direction to form a second nested mating configuration with a portion of the object to limit the range of positions in which the object is located.