CN214987904U - Cargo handling device and warehousing system - Google Patents

Abstract

The utility model provides a cargo handling device and warehouse system. The goods handling device comprises a support, a storage unit and a walking frame, wherein the walking frame can move towards a goods outlet relative to the support, the walking frame is provided with a plurality of mechanical arms corresponding to the storage unit and a moving part arranged on the mechanical arms, the moving part can move to an unfolding position or a folding position relative to the mechanical arms, and when the moving part is in the unfolding position, the moving part is used for abutting against the goods in the storage unit so as to convey the goods from the outer side of the storage unit into the storage unit and then to the outer side of the goods outlet when the mechanical arms move relative to the support; at least one mechanical arm is provided with a detection assembly, the detection assembly is used for detecting the position state of the moving part, and the position state of the moving part comprises at least one of the position of the moving part relative to the mechanical arm and the position of the moving part relative to the goods. The utility model discloses at the handling in-process of goods, degree of automation is better, the operating efficiency is higher.

Description

Cargo handling device and warehousing system

Technical Field

The utility model relates to an intelligent storage technical field especially relates to a goods handling device and warehouse system.

Background

Warehousing is generated along with the generation of material storage and is developed along with the development of industrial technology, and the warehousing is an important pillar of logistics activities and an important link of the development of modern industry.

In the existing warehousing systems, mechanization and automation have been implemented in part, for example, a transfer robot may be used to transport goods to different shelves for warehousing, or a transfer robot may be used to transport goods on shelves to the warehouse exit for ex-warehouse. However, even if mechanization and automation are achieved to some extent, some of the work is manually assisted. For example, when the goods arrive at the entrance of the warehousing system, the transfer robot or the like needs to be manually loaded, when the goods need to be taken out of the warehouse, the goods on the transfer robot needs to be manually taken to be taken out of the warehouse, or when the goods on the transfer robot are distributed to different production lines, the goods on the transfer robot needs to be manually unloaded to the different production lines. When the pallet on the transfer robot has more than one deck and the height of the pallet is high, the pallet needs to be loaded and unloaded layer by layer for many times.

In the warehousing system, the loading and unloading process of the goods needs to be completed manually, so that the automation degree is low and the operation efficiency is poor.

SUMMERY OF THE UTILITY MODEL

In view of the above problem, the embodiment of the utility model provides a cargo handling device and warehouse system can accomplish the material loading of goods and the process of unloading automatically, and degree of automation is higher, and the operating efficiency has also obtained the improvement.

In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:

the embodiment of the utility model provides a first aspect provides a cargo handling device, including support, storage unit and walking frame, storage unit sets up on the support, and storage unit is provided with the goods export; the moving frame can move towards the goods outlet relative to the support, a plurality of mechanical arms corresponding to the storage unit and a moving part arranged on the mechanical arms are arranged on the moving frame, the moving part can move to an unfolding position or a folding position relative to the mechanical arms, and when the moving part is in the unfolding position, the moving part is used for being abutted against the goods in the storage unit, so that when the mechanical arms move relative to the support, the goods are conveyed into the storage unit from the outer side of the storage unit and then conveyed to the outer side of the goods outlet; at least one mechanical arm is provided with a detection assembly, the detection assembly is used for detecting the position state of the moving part, and the position state of the moving part comprises at least one of the position of the moving part relative to the mechanical arm and the position of the moving part relative to the goods.

The embodiment of the utility model provides an aspect provides a storage system, including transfer robot and foretell cargo handling device, transfer robot has the pallet, and the storage unit of pallet and cargo handling device corresponds the setting to carry out cargo handling operation with cargo handling device.

The embodiment of the utility model provides a have following advantage:

through adopting cargo handling device to carry out material loading or unload, because be equipped with in the cargo handling device with the roll conveying piece of goods rolling contact, the roll conveying piece rotates then can produce traction force to the goods. When the cargo handling device is used in cooperation with mechanisms such as a transfer robot and a production line, the cargo can be conveyed from the outside of the storage unit into the storage unit for automatic unloading by utilizing the traction force generated on the cargo by controlling the rotation of the rolling conveying member, and then the cargo in the storage unit is conveyed to the outside of the cargo outlet for automatic loading. In the process, the goods are not required to be loaded and unloaded manually, so that the automation degree is higher, and the operation efficiency is higher.

Drawings

Fig. 1 is an exploded view of a cargo handling apparatus according to an embodiment of the present disclosure;

fig. 2 is a schematic structural view of a state in which the cargo handling apparatus and the transfer robot according to an embodiment of the present invention are engaged;

fig. 3 is a schematic structural view of a bracket in the cargo handling device according to an embodiment of the present application;

FIG. 4 is an enlarged view of a portion of FIG. 3 at A;

fig. 5 is a partial structural view of a bracket of the cargo handling apparatus according to an embodiment of the present invention;

FIG. 6 is a partial enlarged view of FIG. 1 at B;

fig. 7 is an exploded view of a partial structure of a traveling frame and a slide rail of a cargo handling apparatus according to an embodiment of the present disclosure;

FIG. 8 is a schematic view of another configuration of a cargo handling device according to an embodiment of the present application;

fig. 9 is a schematic structural view of a walking frame and a robot arm in another structure of the cargo-handling device according to an embodiment of the present invention;

fig. 10 is a schematic view illustrating a cargo handling manner of a storage unit in the cargo handling apparatus according to an embodiment of the present application;

fig. 11 is a schematic view illustrating another cargo handling manner of a storage unit in the cargo handling apparatus according to the first embodiment of the present application;

fig. 12 is a schematic view illustrating a first cargo handling manner of the cargo handling apparatus according to an embodiment of the present application;

fig. 13 is a schematic view of a second cargo handling method of the cargo handling apparatus according to an embodiment of the present application;

fig. 14a is a schematic view of a third cargo handling method of the cargo handling apparatus according to the first embodiment of the present application;

fig. 14b is a schematic view illustrating a fourth cargo handling manner of the cargo handling apparatus according to the first embodiment of the present application;

fig. 15 is a schematic view illustrating a fifth cargo handling manner of the cargo handling apparatus according to the first embodiment of the present application;

fig. 16 is a flowchart of a cargo handling control method according to a third embodiment of the present application;

fig. 17 is a block diagram of a control device according to a fourth embodiment of the present application.

Description of reference numerals:

100. 500-a cargo handling device; 200-a transfer robot; 201-a shelf; 202-moving the chassis; 203-a pick-up device; 204-a fixed support; 205-pallet; 300-a control device; 301-a processor; 302-a memory;

1-a scaffold; 11-upright post; 12-a support frame; 120-a first support; 121-front pillar; 122-rear pillars; 123-a central pillar; 124-top frame; 13-avoidance groove; 14-end connectors; 141-a guide; 2. 504-a storage unit; 22-a rolling conveyor; 23-a placement space; 24-a first storage unit; 25-a second storage unit; 3-a detection component; 31. 502-cargo import; 32. 503-cargo outlet; 33-a first sensing unit; 331-start switch; 332-a switch bracket; 333-detecting the rocker arm; 34-a first position detection sensor; 35-a second position detection sensor; 36-a stop structure; 37-a cargo conveying channel; 5. 501-a mechanical arm; 51. 505-a moving part; 52-a movable push rod; 53-a first movable member; 54-a second movable member; 6-a walking frame; 61-support the frame body; 611-connecting plates; 62-connecting beams; 63-a slide rail; 64-a slide block; 8-a speed sensor; 81-a first speed sensor; 82-a second speed sensor; 83-third speed sensor; 84-a fourth speed sensor; 90-a feeding and discharging position detection sensor; 91-a first position sensor; 92-a second position sensor; 93-a lifting mechanism; 931-a load-bearing platform; 932 — lifting module.

Detailed Description

In the existing warehousing system, as an important link, logistics robots such as a transfer robot can be used for conveying goods to different shelves or taking the goods out of the shelves, however, the loading and unloading of the transfer robot are still completed by manpower, so that the loading or unloading of the pallets on the transfer robot is carried out for more than one layer, or the pallets are higher in height, and therefore, the automation degree of the logistics process is lower, and the operation efficiency is poorer.

In order to solve the problems, the application provides a cargo handling control method, a control device, a cargo handling device and a warehousing system, the cargo handling device automatically finishes loading and unloading of cargos, the automation degree is high, and the operation efficiency is high.

In order to make the aforementioned objects, features and advantages of the embodiments of the present application more comprehensible, embodiments of the present application are described in detail below with reference to the accompanying drawings.

Example one

Fig. 1 is an exploded schematic view of a cargo handling device according to an embodiment of the present disclosure, and fig. 2 is a schematic view of a state in which the cargo handling device according to the embodiment of the present disclosure is engaged with a transfer robot.

Referring to fig. 1 and 2, the present application provides a cargo handling device 100, which includes a support 1 and a storage unit 2 disposed on the support 1, wherein the storage unit 2 is provided with a cargo outlet 32 and a rolling conveying member 22, the rolling conveying member 22 has an outer contour surface capable of rolling contact with cargo in the storage unit 2, and the rolling conveying member 22 is configured to rotate around its rotation axis to cooperate with a cargo handling mechanism to convey cargo from the outside of the storage unit 2 to the inside of the storage unit 2, and then convey the cargo to the outside of the cargo outlet 32. I.e. the goods are transported outside the storage unit 2 through the goods outlet 32.

In the above scheme, the cargo handling device 100 is used for loading or unloading, and since the rolling conveying member 22 in rolling contact with the cargo is arranged in the cargo handling device 100, the rolling conveying member 22 can generate traction force on the cargo when rotating. When the cargo handling apparatus 100 is used in cooperation with the transfer robot 200, a production line, or the like, the rolling conveyor 22 is controlled to rotate to generate a traction force on the cargo, so that the cargo is conveyed from the outside of the storage unit 2 into the storage unit 2 to be automatically unloaded, and the cargo in the storage unit 2 is conveyed to the outside of the cargo outlet 32 to be automatically loaded. In the process, the goods are not required to be loaded and unloaded manually, so that the automation degree is higher, and the operation efficiency is higher.

In the present embodiment, in order to rotate the rolling conveyor 22 around its own rotation axis, the cargo-handling device 100 further includes a driving assembly including a first driving device (not shown) disposed on the storage unit 2, the first driving device being connected to the rolling conveyor 22 and configured to drive the rolling conveyor 22 to rotate. The cargo-handling device 100 further includes a controller electrically connected to the first drive device for controlling the first drive device such that the first drive device drives the rolling conveyor 22 to rotate along its own axis of rotation.

In the embodiment of the present application, the cargo handling mechanism may be a device used in cooperation with the cargo-handling device 100, for example, the cargo handling mechanism may be the handling robot 200 or a production line. In other examples, a cargo handling mechanism may be provided on the cargo-handling device 100, for example, the cargo handling mechanism includes a robot arm 5 movable relative to the storage unit 2, and the robot arm 5 is configured to move the cargo by moving itself. In some examples, the robot arm 5 is provided with at least one movable element 51, and the movable element 51 is movable relative to the robot arm 5 to block the goods at the side of the conveying direction K.

In order to move the robot arm 5, in the embodiment of the present application, the cargo-handling device 100 further includes the traveling frame 6, and the traveling frame 6 is located on the side of the rack 1. The robot 5 is connected to a walking frame 6, and the walking frame 6 can move relative to the support 1 to drive the robot 5 to move relative to the storage unit 2.

In addition, the cargo-handling device 100 according to the embodiment of the present application further includes a lifting mechanism (not shown), and the storage unit 2 is connected to the bracket 1 through the lifting mechanism, and the lifting mechanism is configured to drive the storage unit 2 to ascend or descend.

Referring to fig. 2, an example of a transfer robot 200 used in conjunction with the present application will be described. The transfer robot 200 includes a rack 201, a moving chassis 202, and a pickup device 203. Wherein, the shelf 201 is installed on the moving chassis 202, the shelf 201 may include a fixed bracket 204 and a plurality of pallets 205, the plurality of pallets 205 are arranged on the fixed bracket 204 at intervals in the vertical direction, and each pallet 205 is used for loading goods. In addition, a mobile chassis 202 may be used to enable movement of the shelves 201 on the floor of the storage area. The pickup device 203 may be mounted on the fixed bracket 204 and used to place goods on the pallet 205 or to pick up goods on the pallet 205.

It is understood that the transfer robot 200 capable of cooperating with the cargo handling apparatus 100 of the present application includes, but is not limited to, the structure shown in fig. 2, and may also be another structure, but it is required to ensure that each pallet 205 and each storage unit 2 of the cargo handling apparatus 100 are arranged in one-to-one correspondence in the transfer robot 200, and the height of the cargo carrying surface of the pallet 205 is substantially the same as the height of the cargo carrying surface of the storage unit 2, so that the cargo can be smoothly moved between the storage unit 2 and the pallet 205.

The loading and unloading process of the cargo-handling device 100 of the present application is described below with reference to fig. 2.

In the unloading process, the transfer robot 200 moves from the position shown in fig. 2 in the direction approaching the cargo handling apparatus 100, and when the transfer robot 200 reaches the unloading position, that is, when the fixed bracket 204 of the transfer robot 200 reaches the vicinity of the cargo inlet of the cargo handling apparatus 100, the pallet 205 of the transfer robot 200 and the storage unit 2 correspond to each other one by one, and at this time, the robot arm 5 and the movable element 51 move and are located at the front side Q in the conveying direction K of the cargo, and the movable element 51 is stopped at the side of the cargo in the conveying direction K. The robot arm 5 then moves the movable member 51 toward the cargo handling device 100 and the rolling conveyor 22 rotates, at which time the cargo starts moving from the pallet 205 toward the storage unit 2 under the combined action of the traction force generated by the dragging of the movable member 51 and the rotation of the rolling conveyor 22 until the cargo completely enters the storage unit 2, and the unloading process is completed. In this case, the loads on the pallets 205 on the respective floors of the respective transfer robots 200 can be simultaneously transferred to the storage units 2. The transfer robot 200 is located on the side of the cargo outlet 32 or may still be located on the side of the cargo inlet 31 during the loading process of the transfer robot 200, and is used in cooperation with the cargo handling apparatus 100, the loading process of the transfer robot 200 is just opposite to the above process, and when the storage unit 2 is sent out from the side (the side of the cargo inlet 31) opposite to the cargo outlet 32, for example, the movable member 51 is in the unfolded state and located on the rear side H of the cargo, and can be moved from the rear side H toward the front side Q by the driving of the robot arm 5, and the movable member 51 abuts against the rear side H of the cargo and pushes the cargo until the cargo enters the cargo plate 205 of the transfer robot, thereby realizing loading. And will not be described in detail herein.

In the embodiment of the present application, stability, safety, and the like of the cargo handling device 100 are improved in order to improve handling efficiency of the cargo handling device 100. The cargo-handling device 100 further includes a control unit (not shown), the control unit may include the aforementioned controller, a sensor electrically connected to the controller, and the like, and the sensor in this application may include at least one of a speed sensor, a position sensor, and a loading/unloading position sensor. Furthermore, in order to move the robot arm 5, the drive assembly may further comprise a second drive means for driving the travelling carriage 6 to move relative to the support 1.

The structure of each part of the cargo-handling device 100 will be described in detail below.

Fig. 3 is a schematic structural diagram of the bracket 1 in the cargo handling apparatus 100 according to an embodiment of the present application.

Referring to fig. 3, the stand 1 includes columns 11 and support frames 12, which may be located in spaces between the columns 11 when the number of the columns 11 is plural. The bottom of the support frame 12 and the upright 11 together support the cargo-handling device 100, and the support frame 12 includes a support portion 120 extending along the ground.

In the above scheme, the support frame 12 is arranged, so that the support frame 12 and the upright post 11 support the cargo handling device 100 together, wherein the upright post 11 plays a main supporting role, and the support frame 12 plays an auxiliary supporting role. Compared with the prior art in which the cargo-handling device 100 is supported only by the upright 11, the number of mechanisms for supporting the cargo-handling device 100 is increased, and further, since the first support portion 120 extends along the ground, the contact area between the support portion 120 and the ground can be increased, so that the cargo-handling device 100 is stably supported.

Referring to fig. 3, a front side Q in the cargo conveying direction K is indicated by an arrow, and a direction opposite to the front side is a rear side H. For example, the pillar 11 in the present application may include a front pillar 121 located on the front side of the rack 1 in the cargo conveying direction and a rear pillar 122 located on the rear side of the rack 1 in the cargo conveying direction. The number of the upright columns 11 can be set according to needs, for example, the application takes two front upright columns 121 and two rear upright columns 122 as an example to explain, and the description is omitted here for the case that the number is other.

The support frame 12 further comprises a center pillar 123; the center pillar 123 is used for supporting the middle portion of the bracket 1, is located between the front pillar 121 and the rear pillar 122, and is used for supporting the portion of the bracket 1 located between the front pillar 121 and the rear pillar 122. In the embodiment of the present invention, when the cargo-handling device 100 and the transfer robot 200 are used in cooperation, the support 1 may further be provided with an avoidance groove 13 for avoiding the moving chassis 202 of the transfer robot 200.

Specifically, referring to fig. 3, the number of the avoidance grooves 13 may be two, and the avoidance grooves 13 are respectively located on one side of the goods outlet 32 and the goods inlet 31 (the goods inlet is an opening on the side of the storage unit away from the goods outlet), and the avoidance groove 13 on the side of the goods inlet 31 is described as an example, when the support 1 includes a plurality of uprights 11, for example, two front uprights 121 and two center uprights 123, and two rear uprights 122, the two front uprights 121 and the two center uprights 123 are spaced apart, and the two center uprights 123 and the two rear uprights 122 are spaced apart, so as to form the avoidance groove 13 for avoiding the moving chassis 202 of the transfer robot 200, it can be understood that the opening of the avoidance groove 13 may face the transfer robot 200, that is, the opening direction of the goods outlet 32 or the goods inlet 31 is the same. It should be understood that the evacuation groove 13 herein refers to an evacuation space, and may be an open space formed by a gap between the pillars as described above, or may be a relatively closed space formed by a continuous evacuation chamber, as long as the evacuation groove can be accessed by the moving chassis 202 of the transfer robot 200, which is not limited in the present application.

In the embodiment of the present application, when the transfer robot 200 and the cargo-handling device 100 are opposed to each other, there is a possibility that the transfer robot 200 does not reach a predetermined loading or unloading position, and the cargo-handling device 100 performs a loading and unloading operation, and in this case, a loading and unloading failure is likely to occur, and the loading and unloading reliability is low. In order to avoid this, the control assembly may further include a sensing unit electrically connected to the controller, the sensing unit being disposed on the support frame 1 for emitting a sensing signal when the transfer robot moves to a loading position or a unloading position opposite to the cargo-handling device 100, so that the controller controls the driving assembly to perform the loading or unloading operation according to the sensing signal.

Fig. 4 is a partially enlarged view of a portion a of fig. 3, and fig. 5 is a partially schematic structural view of a bracket of a cargo handling device according to an embodiment of the present invention. Referring to fig. 3 and 4, in the embodiment of the present application, as described above, the bottom of the bracket 1 has the avoidance groove 13. The sensing unit may include a first sensing unit 33, the first sensing unit 33 is disposed in the avoidance groove 13, and the first sensing unit 33 is configured to emit a sensing signal when the moving chassis 202 of the transfer robot 200 is received in the avoidance groove 13. In the embodiment of the present application, the number of the first sensing units 33 is at least one. For example, as shown in fig. 3, the first sensing unit 33 may be located at a position opposite to the moving chassis 202 of the transfer robot 200.

In other examples, in order to make the determination of the sensing units more accurate, the number of the first sensing units 33 is at least two, and different first sensing units 33 are disposed at different positions relative to the avoidance slot 13; the controller is used for controlling the walking frame 6 to carry out loading and unloading operations when at least one first sensing unit 33, for example, all the first sensing units 33 send out sensing signals. This prevents the occurrence of a situation in which the transfer robot 200 cannot be accurately measured due to, for example, a failure in part of the first sensing units 33.

Referring to fig. 3 and 4, for example, the first sensing unit 33 may include an activation switch 331, the activation switch 331 is located in the avoidance slot 13 and may be electrically connected to the controller, and the activation switch 331 is configured to touch the transfer robot 200 when the transfer robot 200 moves into the avoidance slot 13 to send a sensing signal to the controller.

In this embodiment, the start switch 331 includes a switch bracket 332 and a detection rocker arm 333, a first end of the detection rocker arm 333 is rotatably connected to the switch bracket 332, a second end of the detection rocker arm 333 is located in the avoiding groove 13 for touching the transfer robot 200, and the switch bracket 332 may send out a sensing signal when the detection rocker arm 333 rotates. As shown in fig. 4, the on and off positions of the start switch 331 are shown. In the embodiment of the present application, the first sensing unit 33 may include a proximity sensor, and a sensing region of the proximity sensor is located in the avoidance groove 13. Illustratively, the proximity sensor is an infrared proximity sensor or a lidar.

In the following description, the case where the start switch 331 is provided is described, in which the moving chassis 202 of the transfer robot 200 enters the escape groove 13, but when the transfer robot 200 has not reached the predetermined loading/unloading position, the moving chassis 202 does not contact the start switch 331, the start switch 331 is in an off state, and the transfer robot 200 does not perform the loading/unloading operation. When the transfer robot 200 reaches the predetermined loading/unloading position, the movable chassis 202 contacts the start switch 331, and triggers the start switch 331 to operate, the start switch 331 is turned on, and the transfer robot 200 performs the loading/unloading operation.

With continued reference to fig. 3, a top frame 124 is also attached to the top of the columns 11, the top frame 124 being attached between the four columns 11. For a better support of the storage unit 2, the support 1 further comprises an end connection 14, the end connection 14 being connected between two uprights 11 arranged in the goods output direction K, and two opposite ends of the storage unit 2 can be connected between two oppositely arranged end connections 14.

Further, a guide member 141 may be further connected to the end connector 14, the guide member 141 being located inside the end connector 14, and the guide member 141 extending along the conveying direction K of the goods and guiding the goods when the goods are delivered out of the storage unit 2 or the goods enter the storage unit 2. In the case where storage unit 2 is fixed to end connector 14, guide 141 is located at a position above the bottom of storage unit 2.

In the present embodiment, 4 columns, that is, two front columns 121 and two rear columns 122 are arranged in parallel, and the 4 columns are located at approximately four vertices of a rectangle in a plan view. The storage unit 2 may be located between 4 columns and disposed on the 4 columns.

When the storage unit 2 has a plurality of storage units, the storage units 2 are arranged in a vertical direction, for example, at intervals in the height direction of the column 11, so that the goods can be stored at different positions in the height direction. It is understood that since the storage units 2 of each layer are arranged at intervals in the height direction and stacked, the storage units 2 of each layer can be loaded with the goods, and a loading space 23 for loading the goods is formed between each storage unit 2 of each layer and the storage unit 2 of the next adjacent layer.

It should be noted that the set height of each layer of the storage units 2 corresponds to the set height of the pallet 205 on the transfer robot 200 one to one, so that the goods on the storage units 2 can smoothly enter the pallet 205. In addition, the arrangement of the storage units 2 in the present application is not limited to this, and a plurality of storage units 2 may be provided in the width direction of the rack 1. In the embodiment of the present application, the length of the storage unit 2 in the conveying direction K of the goods is greater than or equal to the length of the goods in the direction. So that the goods can be completely accommodated in the storage unit 2.

In the embodiment of the present application, the number of the rolling conveyors 22 in each storage unit 2 is plural, the plural rolling conveyors 22 are arranged side by side along the conveying direction of the goods, and the rotation axes of the plural rolling conveyors 22 are parallel to each other. In addition, the rolling conveyor 22 has an outer contoured surface in rolling contact with the goods for moving the goods into and out of the storage unit 2. Illustratively, the rolling conveyor 22 is a rotating roller or a conveyor belt. When the rolling transfer member 22 is a rotating roller, both ends of the rotating roller are rotatably supported by the end-portion connecting member 14, and the roller surface of the rotating roller is rotatable and forms the outer contour surface capable of rolling. And when the number of the rotating rollers is plural, the rotating shafts of the plural rotating rollers are arranged in parallel with each other.

Further, the rolling conveyors 22 may include a driving rolling conveyor and a driven rolling conveyor, the driving rolling conveyor is connected to the first driving device and driven by the first driving device to rotate around its rotation axis, and the driven rolling conveyor and the driving rolling conveyor are linked to each other and driven by the driving rolling conveyor to rotate. For example, the rolling transfer 22 may be a plurality of cooperating v-ribbed rollers rotatably connected between the two opposing end connections 14. And the adjacent V-ribbed belt rollers realize linkage through V-ribbed belts, so that the V-ribbed belt rollers serving as the active rolling conveying pieces can drive the other V-ribbed belt rollers to rotate together.

In this embodiment, the cargo handling apparatus 100 may further include a lifting mechanism, each storage unit 2 may be connected to the support 1 through the lifting mechanism, and the lifting mechanism is configured to drive the storage unit 2 to ascend or descend, so that the cargo outlets 32 are located at different heights. The lifting mechanism may be, for example, a lifting mechanism driven by an air cylinder.

In some embodiments, referring to fig. 11 described later, the cargo handler 100 further includes a lifting mechanism 93, the lifting mechanism 93 having a carrying platform 931 abutting the cargo outlet 32 of the storage unit 2 and/or the outlet 31 on a side opposite to the cargo outlet 32, and a lifting module 932 for adjusting the height of the carrying platform 931 to convey the cargo to and/or from between the storage unit 2 and the external conveyor line equipment. Thus, when there is a gap between the goods outlet 32 or the goods inlet and the external transportation line equipment, the bearing platform 931 can play a role of auxiliary bearing, preventing the goods from being stuck in the gap.

With continued reference to fig. 3, the cargo handling apparatus 100 further includes a loading/unloading position detecting sensor 90, the loading/unloading position detecting sensor 90 is disposed on the bracket 1, and the loading/unloading position detecting sensor 90 is located at the cargo inlet 31 and/or the cargo outlet 32, and is configured to detect whether the cargo extends to the outside of the storage unit 2. For example, the loading/unloading position detection sensors 90 may be respectively located in the uppermost storage unit and the lowermost storage unit in the vertical direction. Optionally, the loading and unloading position detection sensor may be a reflective photoelectric sensor. Illustratively, when the loading/unloading position detecting sensor 90 detects the passing of the goods, which is described as being in the normal loading/unloading operation, the rolling conveyor 22 can normally rotate to move the goods into and out of the storage unit 2.

In an embodiment of the application, the control assembly comprises, in addition to the controller, a sensor unit, where the sensor unit is adapted to detect the position of the load and/or the speed of movement of the load. The first driving device and the sensor unit are electrically connected with the controller, and the controller is used for controlling the rotating state of the rolling conveying piece 22 according to the motion state of the goods so as to match with the goods carrying mechanism to convey the goods from the outer side of the storage unit 2 into the storage unit 2 and then to the outer side of the goods outlet 32. It should be noted that the motion state of the cargo includes at least one of the following: the position of the goods, the moving speed of the goods and the moving direction of the goods.

In the embodiment of the present application, the sensor unit includes at least one of the speed sensor 8 and the position sensor. For example, the sensor unit includes a speed sensor 8 electrically connected to the controller, and the speed sensor 8 is provided in the storage unit 2. Referring to fig. 5, the speed sensors 8 are two in number and are respectively provided at a position of the end connection 14 close to the cargo outlet 32 and at a position of the end connection 14 away from the cargo outlet 32. In addition, as for the kind of the speed sensor 8, a sensor commonly used in the art may be employed, and the speed sensor 8 is exemplified by a photoelectric sensor.

In the cargo-handling device 100 of the present application, there are two types of cargo access for one of the storage units 2. Goods enter the storage unit 2 through the goods outlet 32, and are conveyed out of the storage unit 2 through the goods outlet 32; alternatively, the goods enter the storage unit 2 from the side of the storage unit 2 opposite to the goods outlet 32, and are output to the outside of the storage unit 2 through the goods outlet 32. Therefore, the detection of the cargo speed is also described in the case where the cargo inlet 31 and the cargo outlet 32 of the storage unit 2 are oppositely disposed.

As one embodiment, referring to fig. 10 described later, the goods enter the storage unit 2 from the goods exit 32, and the two sets of speed sensor 8 units include a first speed sensor 81 and a second speed sensor 82, the first speed sensor 81 being located between the second speed sensor 82 and the goods exit 32; at this time, the moving speed of the goods detected by the first speed sensor 81 is greater than, less than or equal to the moving speed of the goods detected by the second speed sensor 82, and the controller is configured to control the rotation state of the rolling conveyor 22 according to the speed of the goods. It will be appreciated, among other things, that the second speed sensor 82 is located on the opposite side of the storage unit 2 from the cargo outlet 32. The arrangement is that the speed of the goods near the goods outlet 32 is higher than that of the goods far from the goods outlet 32, or the goods are kept at a stable speed, so that when the goods are unloaded, the speed of the goods at the goods outlet 32 is higher than that of the goods far from the goods outlet 32, or the goods are kept at a stable speed value or interval, or the moving speed is increased when the speed of the goods is slow, and the goods can smoothly enter the storage unit 2 from the freight robot 200; during loading, the speed of the cargo away from the cargo outlet 32 is lower than that of the cargo outlet 32, and the cargo speed is faster and faster during loading, or the cargo speed is kept at a stable speed value or interval, or the moving speed is increased when the cargo speed is lower, so that the cargo can smoothly enter the transfer robot 200 from the storage unit 2. Here, the rotation state of the rolling conveyor 22 includes at least one of: the rotational speed of the rolling conveyor 22, the rotational direction of the rolling conveyor 22, and the start-stop status of the rolling conveyor 22.

As another embodiment, referring to fig. 11 described later, the goods enter the storage unit 2 through the goods inlet 31, and the sensor unit may include a third speed sensor 83 and a fourth speed sensor 84, and the third speed sensor 83 and the fourth speed sensor 84 are sequentially disposed between the goods inlet 31 and the goods outlet 32 at intervals.

With continued reference to fig. 5, in the present embodiment, the cargo-handling device 100 further includes a first position sensor 91, and the first position sensor 91 is disposed on the storage unit 2 and is configured to detect the position of the cargo in the storage unit 2. Specifically, the first position sensor 91 is located at a position close to the rear side H of the end connector 14 in each storage unit 2, and both the second driving device and the first position sensor 91, which will be described later, are electrically connected to the controller, and the controller is configured to control the rotation state of the rolling conveyor 22 according to the position of the cargo, so as to cooperate with the cargo handling mechanism to convey the cargo from the outside of the storage unit 2 into the storage unit 2 and to the outside of the cargo outlet 32. In the above scheme, according to the position system rolling conveying piece 22's of goods in storage unit 2 rotation state, for example in the material loading process, can be, when the goods just started to move, the rear end of goods on the direction of delivery K of goods is longer apart from the distance of goods export 32, can control rolling conveying piece 22's slew velocity is slower, treat that the goods will shift out storage unit 2, the rear end of goods on the direction of delivery K of goods is nearer apart from the distance of goods export 32, can control rolling conveying piece 22 rising speed, so that the goods more smoothly shifts out storage unit 2.

The structure of the robot arm 5 and the traveling frame 6 will be described with reference to fig. 1. Referring to fig. 1, as mentioned above, the robot arm 5 is movable relative to the storage unit 2, and the robot arm 5 is configured to move the goods by its own movement. That is, the robot arm 5 is used to transport the goods from the outside of the storage unit 2 into the storage unit 2 and to the outside of the goods outlet 32 via the storage unit 2 when the robot arm 5 moves relative to the storage unit 2.

In addition, the robot 5 is disposed corresponding to the storage unit 2, and illustratively, two robots 5 may be disposed corresponding to each storage unit 2, and the two robots 5 are symmetrically disposed on both sides of the storage unit 2 in the horizontal direction. The present application is not limited thereto, and the number of robot arms 5 may be other and may be located at other positions. The robot arm 5 may extend in the conveying direction of the goods, and in general, the moving direction of the robot arm 5 may be in the horizontal direction.

In the embodiment of the present application, the mechanical arm 5 is provided with the movable element 51, the movable element 51 is movable relative to the mechanical arm 5 to block the goods on the conveying path, and the movable element 51 is used for pushing the goods when the mechanical arm 5 moves relative to the storage unit 2.

Specifically, the movable element 51 on the mechanical arm 5 can move to different positions relative to the mechanical arm 5, and when the movable element 51 is arranged on the conveying path of the goods in a blocking manner, the movable element 51 can push the goods to move. When the movable element 51 is not positioned on the conveying path of the goods, that is, the movable element 51 is positioned outside the conveying path of the goods, the movement of the mechanical arm 5 does not interfere with the goods.

In this embodiment, the movable member 51 may be a movable push rod 52, a first end of the movable push rod 52 is rotatably connected to the mechanical arm 5, a second end of the movable push rod 52 is a free end, a second end of the movable push rod 52 is rotatable around a rotating shaft, and when the movable push rod 52 is located at the unfolding position, the movable push rod 52 is used for abutting against a side end of the goods and pushing the goods along with the movement of the mechanical arm 5, so that the goods are conveyed from the outside of the storage unit 2 to the inside of the storage unit 2 and to the outside of the goods outlet 32 when the mechanical arm 5 moves relative to the support 1.

In other words, the movable push rod 52 is rotatable with respect to the robot arm 5, and the rotational axis of the movable piece 51 is parallel to the conveying direction of the goods. The movable member 51 is rotatable relative to the mechanical arm 5 to an extended position or a folded position. When the movable element 51 is in the extended position, i.e., the horizontal position, the movable element 51 is positioned on the conveyance path of the load (see the movable push rod 52 on the right in fig. 1), and the movable element 51 is configured to abut against the load in the storage unit 2 to push the load when the arm 5 moves relative to the bracket 1. When the movable member 51 is in the folded position, i.e., the vertical position, the movable member 51 is not disposed on the conveying path of the goods (refer to the movable push rod 52 on the left side of the drawing in fig. 1), and the movable member 51 does not interact with the goods, i.e., does not interfere with the goods.

In the embodiment of the present application, the movable member 51 is disposed at an end of the robot arm 5 away from the traveling frame 6. For example, when the robot arm 5 moves relative to the storage unit 2, the end of the robot arm 5 provided with the movable member 51 moves from the end of the storage unit 2 away from the cargo outlet 32 to the cargo outlet 32.

In addition to the movable push rod 52, the movable element 51 may be extended or shortened while rotating, for example, to be positioned on the conveying path of the goods or not. Further, the movable push rods 52 are provided in an even number and are respectively disposed at both sides of the storage unit 2. This allows for uniform application of force to the cargo.

In the embodiment of the present application, the cargo-handling device 100 may further include a traveling frame 6. The walking frame 6 is partially arranged on the side of the bracket 1, the mechanical arm 5 can be connected to the walking frame 6, and the walking frame 6 can move relative to the bracket 1 so as to drive the mechanical arm 5 to move relative to the storage unit 2.

Referring to fig. 1, the traveling frame 6 may include two support frame bodies 61 respectively disposed at both sides of the rack 1 and a connection beam 62 connected between the two support frame bodies 61, and the robot arm 5 moving the goods is disposed on the traveling frame 6, illustratively, the robot arm 5 is mounted on the connection beam 62, and the robot arm 5 is located at a position corresponding to above the pallet 205 on the transfer robot 200, in other words, the robot arm 5 is disposed corresponding to the storage unit 2. Both ends of the connecting beam 62 are connected to the two support frame bodies 61, respectively.

In this application embodiment, arm 5, tie-beam 62 are located 1 inboards of support, support the support body 61 and lie in support 1 side, support the support body 61 for support 1 when moving towards transfer robot 200, drive arm 5 and also stretch out towards the goods.

Fig. 7 is an exploded view of a partial structure of a connection between a traveling rack and a slide rail in a cargo handling device according to an embodiment of the present disclosure. Referring to fig. 7, the fixing of the walking frame 6, for example, the support frame body 61 and the support frame 1, may be achieved by providing a slide rail 63 on the support frame 1, for example. In this embodiment, the support 1 includes the slide rail 63, and the extending direction of the slide rail 63 is parallel with the conveying direction K of the goods, and the support frame body 61 is disposed on the slide rail 63 and can move relative to the support 1 along the slide rail 63. The slide rail 63 may be installed on an outer side portion of the storage unit located lowermost.

In addition, the bracket 1 further comprises a sliding block 64 matched with the sliding rail 63, and the sliding block 64 can slide in the sliding rail 63 in a reciprocating mode. The bottom end of the support frame body 61 is provided with a connecting plate 611, the connecting plate 611 is connected to one side of the sliding block 64 departing from the sliding rail 63, and the sliding block 64 can drive the support frame body 61, namely the walking frame 6, to move along the sliding rail 63. The slider 64 can be driven by the second driving device to linearly move along the slide rail 63.

In the embodiment of the present application, as mentioned above, the second driving device of the driving assembly is disposed on the support 1, and the second driving device is electrically connected to the controller to drive the robot arm 5 to move relative to the storage unit 2 under the control of the controller.

The second driving means may comprise, for example, a motor, a reducer, a driving shaft, a sprocket, a chain, and the like. Wherein, the output shaft of the motor is connected with the driving shaft through the reducer, the chain wheel is connected with the driving shaft, the chain is tensioned on the chain wheel, and the sliding block 64 is connected with the chain. Thus, the motor drives the driving shaft to rotate through the speed reducer, the driving shaft drives the chain wheels to rotate, the chain tensioned between the chain wheels generates linear reciprocating displacement, and the sliding block 64 is driven to move on the sliding rail 63.

Referring to fig. 7, in order to prevent the walking frame 6 from colliding with the structure on the bracket 1, which may cause the bracket 1 to shake, the control assembly of the present application is further provided with a second position sensor 92, and the second position sensor 92 is electrically connected with the controller. The second position sensor 92 is used for detecting the position of the walking frame 6 relative to the support 1, and the controller is used for controlling the moving state of the walking frame 6 relative to the support 1 according to the position detected by the second position sensor 92.

In the above-mentioned solution, the second position sensor 92 is provided to detect the position of the walking frame 6 relative to the support 1, and when the walking frame 6 moves to the position corresponding to the second position sensor 92, the controller may adjust the moving state of the walking frame 6 in time according to the information of the second position sensor 92, for example, control the walking frame 6 to stop moving, that is, the speed of the walking frame 6 relative to the support 1 is zero, avoid the occurrence of collision event, and prevent the support frame body 61 of the walking frame 6 from moving out of the support 1. Thereby making the cargo-handling device 100 highly stable and safe.

In the embodiment of the present application, referring to fig. 7, in order to cooperate with the second position sensor 92, the walking frame 6 is further provided with a detecting member 65, and two end portions of the detecting member 65 may respectively extend toward the front upright 121 and the rear upright 122 on two sides of the walking frame 6. The second position sensor 92 is located at a position corresponding to the detecting member 65. And the controller is configured to control the traveling frame 6 to stop moving when the traveling frame 6 moves to a position where the detecting member 65 faces the second position sensor 92.

The detecting member 65 may be disposed on a connecting plate 611 at the bottom end of the support frame 61, and fixed relative to the slider 64, for example. In addition, as an alternative, the second position sensor 92 is a photoelectric sensor, and the detecting member 65 includes a light blocking member that can block the light blocking member disposed in front of the position sensor.

Taking the situation shown in fig. 7 as an example, when the supporting frame body 61 moves towards the cargo inlet 31 of the front side Q, the mechanical arm 5 and the cargo are driven to extend towards the cargo inlet 31, and the detecting member is driven to move towards the direction close to the second position sensor 92, when the detecting member is located at the side of the second position sensor 92, it is considered that the traveling frame 6 has reached the limit position, and then the detecting member continues to move leftwards, so that there is a risk of collision with the front upright 121, and at this time, the controller controls the traveling frame 6 to stop moving. Similarly, when the support frame 61 is moved in the direction of the rear side H of the cargo outlet 32, the description thereof is omitted.

In the embodiment of the present application, as described above, in order to further improve the loading success rate of the cargo handling apparatus 100, it is also necessary to monitor the moving state of the movable member 51 relative to the robot arm 5.

Referring to fig. 1 and 6, at least one of the robot arms 5 is provided with a detection component 3, and the detection component 3 is used for detecting a position state of the movable element 51, where the position state of the movable element 51 includes at least one of a position of the movable element 51 relative to the robot arm 5 and a position of the movable element 51 relative to the cargo. As described above, the second driving device is used for driving the traveling frame 6 to move relative to the bracket 1, and the detection assembly 3 and the second driving unit are electrically connected to the controller, and the controller is used for controlling the moving state of the traveling frame 6 according to the position state of the movable member 51.

In the embodiment of the present application, in the case where a plurality of robot arms 5 are provided in the cargo-handling device 100, the detection unit 3 may be provided to correspond to at least some of the movable members 51 of the robot arms 5. In other words, as shown in fig. 1, the detecting unit 3 may be provided for each robot arm 5, or the detecting unit 3 may be provided for some of the robot arms 5.

By providing the detection device 3, the position of the movable member 51 with respect to the robot arm 5 and the position of the movable member 51 with respect to the cargo can be monitored. For example, if the detection component 3 detects that the movable element 51 is located on the output path of the cargo, a control operation, such as controlling the moving state of the traveling frame 6, may be performed as required. Or, if the detecting component 3 detects that the end of the mechanical arm 5 has not reached the rear side of the cargo, the movable member 51 may be controlled to be in the folded position as required, so as to avoid interference with the cargo.

Specifically, the controller may send a control command to the movable element 51, so that the movable element 51 is changed from being not blocked on the conveying path of the goods (corresponding to the folded state of the movable push rod 52) to being blocked on the conveying path of the goods (corresponding to the unfolded state of the movable push rod 52), or the loading operation of the cargo handling device 100 is stopped, and the like, thereby effectively avoiding the situation of failure of the loading operation and improving the loading efficiency of the cargo handling device 100. Alternatively, the controller may send a control command to the movable element 51 to enable the movable element 51 to continue to maintain the state of not being placed on the cargo conveying path K.

Referring to fig. 1 and 6, in the embodiment of the present application, the detecting assembly 3 includes a first position detecting sensor 34, in order to better detect the position of the movable element 51, the first position detecting sensor 34 is disposed at an end portion of the robot arm 5, and the first position detecting sensor 34 corresponds to the unfolding position or the folding position of the movable push rod 52. In the drawings of the present application, the first position detection sensor 34 is described as corresponding to the folded position of the movable push rod 52, but the present application is not limited thereto, and the first position detection sensor 34 may be corresponding to the unfolded position of the movable push rod 52. In fig. 6, the first position detection sensor 34 is provided at an end portion of the robot arm 5, and when the movable element 51 is in the folded position, that is, when the movable push rod 52 is rotated to the vertical position, the first position detection sensor 34 can detect the position, that is, when the movable element 51 is in the position where the attachment/detachment operation is not possible, the first position detection sensor 34 can detect the position. The controller can perform corresponding control according to the detected information. Illustratively, the first position detection sensor 34 is a photosensor or a touch switch.

In addition, in the embodiment of the present application, the number of the moving members 51 may be multiple, the multiple moving members 51 are respectively and symmetrically disposed on two horizontal sides of the storage unit 2, and each of the moving members 51 is correspondingly provided with one first position detection sensor 34. Corresponding to the case where two robot arms 5 are provided in fig. 1 and 6, each robot arm 5 is provided with a movable member 51, and the end of each robot arm 5 is provided with a first position detecting sensor 34.

In the state shown in fig. 6, the end of the mechanical arm 5 on the left side of the drawing and the end of the mechanical arm 5 on the right side of the drawing are both provided with the first position detection sensor 34, and the movable element 51 on the left side is in the folded state, so that the first position detection sensor 34 on the left side sends the detected information that the movable element 51 is in the folded state to the controller; the movable element 51 on the right side is in the expanded state, and the first position detection sensor 34 on the right side transmits information that the movable element 51 on the right side is in the expanded state to the controller.

It should be noted that, the state of the movable member 51 in the extended state mentioned in the present application means that the movable push rod 52 is in the horizontal state; the condition that the movable piece 51 is in the folded state means that the movable push rod 52 is in the vertical state and the cargo cannot be loaded and unloaded.

It should be understood that, in the above control process, when the movable push rod 52 is in the folded state, it can be detected by the first position detecting sensor 34 and sent to the controller, and the controller controls the moving state of the walking frame 6 as required. When the movable pushing rod 52 is in the unfolded state, for example, when the movable pushing rod 52 is horizontal or rotated to a position between the folded and unfolded state, it is considered that the movable pushing rod 52 can still perform the loading operation, and therefore, the controller will not adjust the moving state of the walking frame 6.

In the present embodiment, in order to prevent the movable piece 51 from interfering with the cargo when the movable piece does not reach the rear side of the cargo, the position of the end of the robot arm 5 with respect to the cargo needs to be detected. Referring to fig. 6, the detecting assembly 3 may further include a second position detecting sensor 35, the second position detecting sensor 35 is disposed on the arm 5, and a position of the second position detecting sensor 35 corresponds to a position of the movable member 51, and the second position detecting sensor 35 is configured to detect whether the movable member 51 is located outside an end portion of the cargo.

The second position detection sensor 35 and the movable element 51 are located at the same position of the robot arm 5 in the conveyance direction of the cargo. For example, the second position detection sensor 35 may be located at an end portion of the robot arm 5 on a side of the robot arm 5 near the cargo so as to detect a relative position of the movable member 51 at the end portion of the robot arm 5 and the cargo. It is to be understood that the second position detection sensor 35 may be located at the bottom or top of the robot arm 5, or the like, as long as it can detect whether the movable piece 51 at the end of the robot arm 5 is located at the rear side of the cargo. The second position detection sensor 35 is also a photosensor or a contact switch, similar to the first position detection sensor 34.

Fig. 8 is a schematic view of another structure of the cargo handling device according to the first embodiment of the present application. Fig. 9 is a schematic structural diagram of a walking frame and a mechanical arm of another structure of the cargo handling device according to an embodiment of the present application. The cargo handling device 500 shown in fig. 8 and 9 is obtained by modifying the structure of the robot arm, the moving part, and the detecting element on the basis of the cargo handling device 100 shown in fig. 1, and the rest is the same as the cargo handling device 100 shown in fig. 1, and only the modified part will be described in detail below, and the rest will not be described again since the detailed description is given above.

In the embodiment of the present application, the movable members may also be multiple, that is, the movable members 505 may be disposed on the traveling frame in both directions along the cargo conveying direction K. Referring to fig. 8 and 9, unlike the structure shown in fig. 1, the robot 501 has a long length, and the support frame 61 is connected to an intermediate position of the robot 501, so that the robot 501 has two ends facing the goods outlet 503 and the goods inlet 502, respectively, a first end and a second end, and a movable member 505 is correspondingly connected to each of the two ends of the robot 501.

Specifically, the plurality of movable members 505 may include a first movable member 53 and a second movable member 54, where the first movable member 53 and the second movable member 54 are respectively disposed at two opposite ends of the same mechanical arm 501 along the extending direction, that is, at a first end and a second end of one mechanical arm. The first movable member 53 is disposed at a second end of the robot arm 501, and is configured to push the goods from the outside of the storage unit 504 into the storage unit 504 when the robot arm 501 moves relative to the storage unit 504; the second movable member 54 is disposed at a first end of the robot arm 501, and is configured to push the goods from the inside of the storage unit 504 to the outside of the goods outlet 503 when the robot arm 501 moves relative to the storage unit 504.

At least one of the first movable member 53 and the second movable member 54 is provided with the detection element 3. Illustratively, the first movable member 53 and the second movable member 54 are respectively provided with the detection component 3. In the above-described cargo handler 500, the cargo enters the storage unit 504 through the cargo outlet 503, and one end of the robot arm 501 may protrude outside the cargo outlet 503. And one end of the mechanical arm 501, which can extend out of the goods outlet 503, is provided with a first movable member 53.

It should be noted that, when the first movable member 53 is in the extended position, the second movable member 54 is in the extended position or the folded position, specifically, the first movable member 53 may push the goods outside the storage unit into the storage unit, and the second movable member 54 is located at the other end of the mechanical arm 501, and the state of the second movable member 54 does not affect the first movable member 53. When the second movable member 54 is in the extended position, the first movable member 53 is in the folded position, specifically, the second movable member 54 may push the goods in the storage unit 504 to the outside of the storage unit 504, and at this time, the first movable member 53 is in the folded position, so as to avoid affecting the output operation of the goods.

As another possible way, the goods enter the storage unit 504 from the side of the storage unit 504 opposite to the goods outlet 503, and the storage unit 504 has the goods inlet 502 disposed opposite to the goods outlet 503. In this case, the movable member 505 may be disposed at an end of the robot arm 501, and the end of the robot arm 501 where the movable member 505 is disposed has a movable range from the outside of the cargo inlet 502 to the cargo outlet 503. It is understood that the movable member 505 may be disposed at one end of the robot arm 501, or may be disposed at both ends of the robot arm 501 as shown in fig. 8.

The moving stroke of the robot arm 501 in the conveying direction K of the goods is greater than or equal to the length of the storage unit 504 in the direction, and the movable member 505 is used to push the goods from the outside of the goods inlet 502 to the outside of the goods outlet 503 via the storage unit 504 when the robot arm 501 moves relative to the storage unit 504.

In the embodiment of the present application, the movable range of the movable member 505 relative to the storage unit 504 is from the outer side of the cargo inlet 502 to the cargo outlet 503; and when the movable piece 505 is positioned outside the cargo inlet 502, the distance between the movable piece 505 and the cargo inlet 502 is greater than or equal to the length of the cargo in the cargo conveying direction K.

It is understood that, in the case that the movable member 505 includes the first movable member 53 and the second movable member 54, the connection manner of the first movable member 53 and the second movable member 54 with the mechanical arm 501 is similar to the connection manner of the movable member 51 in the cargo handling device 100 of fig. 1, for example, the movable member 505 may also be a movable push rod, a first end of the movable push rod is connected to the mechanical arm 501, a second end of the movable push rod can rotate around the rotating shaft, and when the movable push rod is located at the unfolding position, the movable push rod can abut against a side end of the cargo and push the cargo with the movement of the mechanical arm 501. The respective rotation axes of the first movable member 53 and the second movable member 54 are parallel to the conveying direction of the goods, and the like.

Next, several processes of loading and unloading the cargo with the cargo-handling device 100, 500 of the present application will be described, for example, the cargo-handling device 100 is taken as an example for description, and the loading and unloading manner of the cargo-handling device 500 is similar to that, and will not be described again here. In the present application, it should be noted that, no matter from which port of the storage unit the goods enter the storage unit, the goods are conveyed from the goods outlet to the outside of the storage unit.

In the above-described scheme, the case where the goods enter from the goods outlet 32 or the case where the goods enter from the side opposite to the goods can be classified into one storage unit according to the difference of the goods entrance ports. It is understood that one storage unit 2 here may be any one of the storage units 2 in the cargo handling apparatus 100. In the following, possible loading and unloading schemes in a memory unit 2 are described for two cases.

Fig. 10 is a schematic view of a cargo handling manner of one storage unit in the cargo handling apparatus according to the first embodiment of the present application, and fig. 11 is a schematic view of another cargo handling manner of one storage unit in the cargo handling apparatus according to the first embodiment of the present application. It should be noted that, in these figures, the goods in the storage unit 2 are shown by dotted lines, and the situation before the goods enter the storage unit 2 is shown by solid lines, wherein, the solid arrow indicates the direction of the goods entering the storage unit 2; the case where the goods are sent out from the storage unit 2 is indicated by a single-dot chain line, where a single-dot chain line arrow indicates a direction in which the goods are sent out from the storage unit 2, and reference numeral "J" indicates that the goods enter the storage unit, and reference numeral "C" indicates that the goods are sent out from the storage unit.

First is the case of cargo entering from the cargo outlet 32. As shown in fig. 10, the goods can enter the storage unit 2 from the goods outlet 32 of the storage unit 2, and the goods are conveyed to the outside of the storage unit 2 through the goods outlet 32 of the same storage unit 2. Wherein the rolling transfer element 22 is bidirectionally rotatable about its own axis of rotation. The goods enter the storage unit 2 through the goods outlet 32, and the goods output through the goods outlet 32 specifically means: when the rolling conveyor 22 is rotated in a direction away from the goods outlet 32, goods are conveyed into the storage unit 2 via the goods outlet 32; for the goods output, the goods are transported from the storage unit 2 to the outside of the goods outlet 32 when the rolling conveyor 22 is rotated in the direction toward the goods outlet 32.

Of course, for such cargo handling as described above, the end of the storage unit 2 opposite the cargo outlet 32 may be a closed end; alternatively, the end of the storage unit 2 opposite the goods outlet 32 may also be provided with a stop structure 36, the stop structure 36 being adapted to abut the goods. This prevents the cargo from falling from the side opposite to the cargo outlet 32.

Secondly, it is the case that the cargo enters from the side opposite to the cargo outlet 32. As shown in fig. 11, the goods may enter the storage unit 2 from the side opposite to the goods outlet 32 of the storage unit 2, and the goods are transported to the outside of the storage unit 2 through the goods outlet 32 of the storage unit 2. Wherein the rolling transfer element 22 can rotate unidirectionally around its own axis of rotation. The goods enter the storage unit 2 from the side opposite to the goods outlet 32, and the goods output from the goods outlet 32 specifically means: when the rolling conveyor 22 is rotated in a direction toward the goods outlet 32, the goods are conveyed into the storage unit 2 via the side opposite to the goods outlet 32; for the goods output, the rolling conveyor 22 is still rotated in the direction towards the goods outlet 32, and the goods are transported from the storage unit 2 to the outside of the goods outlet 32.

Of course, in the above-described cargo handling system, both ends of the storage unit 2 need to be opened. As described above, the storage unit 2 has the goods inlet 31 disposed opposite to the goods outlet 32 so that the goods enter the storage unit 2 through the goods inlet 31, a goods conveying passage 37 penetrating the storage unit 2 may be formed between the goods inlet 31 and the goods outlet 32, and the rolling transfer member 22 is correspondingly disposed in the goods conveying passage 37. Here, the cargo inlet 31 may form the opening of the side opposite to the cargo outlet 32 as described above.

In the embodiment of the present application, the number of the storage units 2 in one cargo-handling device 100 may be one or more, and a plurality of the storage units 2 may be arranged in the vertical direction. For the case where one storage unit 2 is included in one cargo-handling device 100, the examples of fig. 10 and 11 can be referred to. In the case where a plurality of storage units 2 are included in one cargo handling apparatus 100, both possibilities of fig. 10 and fig. 11 may exist for each storage unit 2, and it should be noted that many different permutation combinations of the plurality of storage units 2 in one cargo handling apparatus 100 are included in the scope of the present application.

Fig. 12 is a schematic view of a first cargo handling mode of a cargo handling device according to a first embodiment of the present application, fig. 13 is a schematic view of a second cargo handling mode of the cargo handling device according to the first embodiment of the present application, fig. 14a is a schematic view of a third cargo handling mode of the cargo handling device according to the first embodiment of the present application, fig. 14b is a schematic view of a fourth cargo handling mode of the cargo handling device according to the first embodiment of the present application, and fig. 15 is a schematic view of a fifth cargo handling mode of the cargo handling device according to the first embodiment of the present application.

In the embodiment of the present application, when the cargo-handling device 100 includes a plurality of storage units, a handling scheme of two storage units provided on the rack 1 is taken as an example for description, and a handling scheme including other numbers of storage units can be obtained by analog permutation and combination according to the schemes of fig. 10 to 15, and will not be described again here. It should be noted that fig. 12 to 15 only illustrate two storage units, and the description thereof is similar to the case where the cargo-handling device 100 includes other numbers of storage units, and is not repeated here.

Specifically, the plurality of memory cells 2 includes at least one first memory cell 24 and at least one second memory cell 25, and the first memory cell 24 may be located above the second memory cell 25. The following description will be made by taking several cases.

Referring to fig. 12, the goods corresponding to the first storage unit 24 enter the first storage unit 24 through the goods outlet 32, and are conveyed to the outside of the first storage unit 24 through the goods outlet 32; the goods corresponding to the second storage unit 25 enter the second storage unit 25 through the goods outlet 32, and are conveyed to the outside of the second storage unit 25 through the goods outlet 32. In practical applications, the goods outlet 32 of each storage unit 2 may be used in cooperation with the transfer robot 200 to unload the goods on the transfer robot 200 into the storage unit 2 of the goods loading and unloading device 100, so as to unload the transfer robot 200; and the goods in the storage unit 2 of the goods-handling device 100 are transported to another transfer robot 200 or a production line, so that the loading of the another transfer robot 200 or the production line is realized. It will be understood that when the cargo-handling apparatus 100 includes other numbers of storage units 2, all of the storage units 2 may enter the storage unit 2 through the cargo outlet 32 and exit the storage unit 2 through the cargo outlet 32.

Referring to fig. 13, the goods corresponding to the first storage unit 24 enter the first storage unit 24 from a side (e.g., the goods inlet 31) of the first storage unit 24 opposite to the goods outlet 32, and are conveyed to the outside of the first storage unit 24 via the goods outlet 32; the cargo corresponding to the second storage unit 25 enters the second storage unit 25 from a side (e.g., the cargo inlet 31) of the second storage unit 25 opposite to the cargo outlet 32, and is conveyed to the outside of the second storage unit 25 via the cargo outlet 32. In practical applications, the cargo inlets 31 of the storage units 2 may be used in cooperation with the transfer robot 200 to unload the cargo on the transfer robot 200 into the storage unit 2 of the cargo-handling device 100, so as to unload the transfer robot 200, and to transport the cargo in the storage unit 2 of the cargo-handling device 100 to another transfer robot 200 or a production line, so as to load the other transfer robot 200 or the production line. It will be understood that when the cargo-handling apparatus 100 includes other numbers of storage units 2, all of the storage units 2 may enter the storage unit 2 through the cargo entrance 31 and exit the storage unit 2 through the cargo exit 32.

Referring to fig. 14a, the goods corresponding to the first storage unit 24 enter the first storage unit 24 from the goods outlet 32 of the first storage unit 24, and are conveyed to the outside of the first storage unit 24 through the goods outlet 32; the cargo corresponding to the second storage unit 25 enters the second storage unit 25 from the side opposite to the cargo outlet 32 (the cargo inlet 31) and is transported to the outside of the second storage unit 25 via the cargo outlet 32 of the second storage unit 25. In practical applications, it may be that the goods outlet 32 of the first storage unit 24 is used in cooperation with the transfer robot 200 to unload the goods on the transfer robot 200 into the first storage unit 24 of the goods handling device 100, to realize unloading of the transfer robot 200, and to re-convey the goods in the first storage unit 24 of the goods handling device 100 to another transfer robot located at the goods outlet 32; the goods inlet 31 of the second storage unit 25 is used in cooperation with the transfer robot 200 to unload the goods on the transfer robot 200 into the second storage unit 25 of the goods handling device 100, so that the transfer robot 200 is unloaded, and the goods in the second storage unit 25 are conveyed into the production line at the goods outlet 32, so that the transfer robot 200 and the production line are loaded in different directions.

Referring to fig. 14b, the goods corresponding to the first storage unit 24 enter the first storage unit 24 from the goods outlet 32 of the first storage unit 24, and are transported to the outside of the first storage unit 24 through the goods outlet 32; the goods corresponding to the second storage unit 25 enter the second storage unit 25 from the goods outlet 32 of the second storage unit 25 and are conveyed to the outside of the second storage unit 25 via the side (the goods inlet 31) opposite to the goods outlet 32. In practical applications, it may be that the goods outlet 32 of the first storage unit 24 is used in cooperation with the transfer robot 200 to unload the goods on the transfer robot 200 into the first storage unit 24 of the goods handling device 100, to realize unloading of the transfer robot 200, and to re-convey the goods in the first storage unit 24 of the goods handling device 100 to another transfer robot located at the goods outlet 32; the goods outlet 32 of the second storage unit 25 is used in cooperation with the transfer robot 200 to unload the goods on the transfer robot 200 into the second storage unit 25 of the goods handling device 100, so that the transfer robot 200 is unloaded, and the goods in the second storage unit 25 are conveyed into the production line at the goods inlet 31, so that the transfer robot 200 and the production line are loaded in different directions. Referring to fig. 15, the goods corresponding to the first storage unit 24 enter the first storage unit 24 from the goods outlet 32 of the first storage unit 24 and are conveyed to the outside of the first storage unit 24 through the goods inlet 31; the cargo corresponding to the second storage unit 25 enters the second storage unit 25 from the side (cargo entrance 31) of the second storage unit 25 opposite to the cargo exit 32, and is transported to the outside of the second storage unit 25 via the cargo exit 32 of the second storage unit 25. In practical applications, the goods outlet 32 of the first storage unit 24 may be used in cooperation with the transfer robot 200 to unload the goods on the transfer robot 200 into the first storage unit 24 of the goods handling device 100, so as to unload the transfer robot 200, and to transport the goods in the first storage unit 24 of the goods handling device 100 to another transfer robot 200 again, so as to load the another transfer robot 200; the cargo inlet 31 of the second storage unit 25 may be used in cooperation with the second transfer robot 200 to unload the cargo on the second transfer robot 200 into the second storage unit 25 of the cargo-handling device 100, to unload the second transfer robot 200, and to transport the cargo in the second storage unit 25 of the cargo-handling device 100 to the production line, to load the production line. Therefore, the two storage units can independently operate, namely the loading and the unloading of the two storage units are independently operated in a time-sharing mode, and cannot be influenced mutually.

It can be understood that in the solution shown in fig. 15, the rolling conveyors 22 corresponding to the storage units actually rotate independently of each other, so that the storage units can convey corresponding goods independently, and the rotation directions of the rolling conveyors 22 corresponding to the storage units are the same or different.

Example two

The present embodiment provides a storage system including the transfer robot 200 and the cargo handling apparatus 100, 500 of the first embodiment, and as described above, the transfer robot 200 has the pallet 205, and the pallet 205 and the storage unit 2, 504 of the cargo handling apparatus 100, 500 are provided correspondingly to perform the cargo handling operation to the cargo handling apparatus 100, 500. The storage units 2 and 504 of the pallet 205 and the cargo handling device 100 are correspondingly arranged, specifically, the height of the pallet 205 is approximately the same as the height of the bottoms of the storage units 2 and 504, and the arrangement positions are correspondingly and oppositely arranged.

It should be noted that the specific structure and function of the transfer robot 200 have been described in the first embodiment, and the specific structure and function of the cargo-handling device 100, 500 have also been described in detail in the first embodiment, and are not described again here. It should be noted that the transfer robot 200 of the present application is not limited to the transfer robot 200 described in the first embodiment, as long as it has a pallet 205 for placing the cargo thereon, and the pallet 205 and the storage unit 2 of the cargo-handling device 100 are provided correspondingly.

EXAMPLE III

The embodiment provides a cargo handling control method. The cargo handling control method of the present embodiment may be applied to the cargo handling apparatus 100, 500 of the first embodiment, or may be applied to the warehousing system provided in the second embodiment.

Fig. 16 is a flowchart of a cargo handling control method according to a third embodiment of the present application. Referring to fig. 16, the method includes:

s100, receiving a cargo loading and unloading instruction;

s200, controlling the rotation state of the rolling conveying piece according to the goods loading and unloading instruction so as to be matched with the goods conveying mechanism to convey the goods outside the storage unit to the outside of the goods outlet through the storage unit 2.

In the above scheme, the cargo loading and unloading device is adopted for automatic loading or unloading, the rolling conveying member rotates to generate traction force on the cargo, so that the cargo can be conveyed into the storage unit from the outer side of the storage unit for automatic unloading by controlling the rotating state of the rolling conveying member 22, and the cargo in the storage unit is conveyed to the outer side of the cargo outlet 32 for automatic loading. In the process, the goods are not required to be loaded and unloaded manually, so that the automation degree is higher, and the operation efficiency is higher.

The matching of the cargo carrying mechanism to convey the cargo outside the storage unit to the outside of the cargo outlet 32 through the storage unit means that the cargo outside the storage unit is conveyed into the storage unit and the cargo inside the storage unit is conveyed to the outside of the storage unit through the cargo outlet 32.

In practical control, the control device controls the rotation state of the rolling transfer member 22 according to the cargo handling control command so as to cooperate with the cargo handling mechanism to convey the cargo outside the storage unit to the outside of the cargo outlet 32 via the inside of the storage unit, and comprises: the rolling conveyor 22 is controlled to rotate in a direction toward the goods outlet 32 according to the goods handling control instruction to convey the goods from the storage unit to the outside of the goods outlet 32.

Specifically, taking the example of loading the transfer robot 200, the transfer robot 200 approaches the cargo handling device and reaches a predetermined loading position. The rolling transfer member 22 may be controlled to rotate toward the goods outlet 32, so as to generate a traction force on the goods toward the goods outlet 32, and the goods may move toward the pallet 205 of the transfer robot 200 under the traction force, thereby performing the loading operation.

In the embodiment of the present application, before controlling the rolling transfer element 22 to rotate in the direction toward the goods outlet 32 according to the goods loading and unloading control command to convey the goods from the storage unit 2 to the outside of the goods outlet 32, the method further includes: the rolling conveyor 22 is controlled to rotate in a direction away from the cargo outlet 32 to transport cargo from the cargo outlet 32 into the storage unit.

Specifically, the example of unloading the cargo robot will be described. The transfer robot 200 approaches the cargo handler and reaches a preset unloading position. The rolling conveyor 22 can be controlled to rotate in a direction away from the goods outlet 32 to generate a traction force on the goods toward the side away from the goods outlet 32, and the goods are moved by the pallet 205 of the transfer robot 200 into the goods outlet 32 and into the storage unit 2 under the traction force to discharge the transfer robot 200.

In other examples, controlling the rotation state of the rolling conveyor according to the cargo handling instruction to cooperate with the cargo handling mechanism to transport the cargo outside the storage unit 2 to the outside of the cargo outlet 32 via the inside of the storage unit 2 includes:

the rotating state of the rolling transmission member 22 is controlled according to at least one of the position of the goods in the storage unit and the moving speed of the goods, so as to cooperate with the goods carrying mechanism to convey the goods outside the storage unit to the outside of the goods outlet 32 through the storage unit.

In the above-mentioned solution, the rotation state of the rolling conveyor 22 is controlled according to the position of the goods in the storage unit, for example, the loading of the material robot is taken as an example for explanation. When the goods just start to move, the distance from the rear end part of the goods to the goods outlet 32 is long, the rotating speed of the rolling conveying member 22 can be controlled to be slow, when the goods are to be moved out of the storage unit, the distance from the rear end part of the goods to the goods outlet 32 is close to 0, and the rolling conveying member 22 can be controlled to be fast, so that the goods can be moved out of the storage unit and smoothly enter the goods plate 205 of the transfer robot 200. The position of the goods in the storage unit can here be detected by a first position sensor 91 according to the first embodiment.

The rolling state of the rolling conveyor 22 is controlled according to the moving speed of the goods, for example, the moving speed of the goods can be controlled within a proper range, so as to avoid the situation that the goods cannot be completely moved out of the storage unit or the speed is too high when the goods are moved out of the storage unit. It should be understood that the rotation state of the rolling conveyor 22 may be controlled according to the position of the goods in the storage unit; or the rotation state of the rolling conveyor 22 according to the control of the moving speed of the goods; or simultaneously controls the rotation state of the rolling conveyor 22 according to both the position of the goods in the storage unit and the moving speed of the goods.

In the embodiment of the present application, before controlling the rotation state of the rolling conveyor 22 according to at least one of the position of the cargo in the storage unit and the moving speed of the cargo, the method further includes: the moving speed of the goods is detected.

And the moving speed of the goods is detected, comprising the following steps: the speed of movement of the goods in at least two different positions within the storage unit is detected. For example, as described in the first embodiment, in the case where the goods enter the storage unit 2 from the goods outlet 32, the speed sensor 8 may include the first speed sensor 81 and the second speed sensor 82, the second speed sensor 82 may be located on the side of the storage unit 2 facing away from the goods outlet 32, and the first speed sensor 81 may be located between the second speed sensor 82 and the goods outlet 32. During the movement of the cargo toward the cargo outlet 32, the first speed sensor 81 may measure the speed of the cargo near the cargo outlet 32, and the second speed sensor 82 may measure the speed of the cargo at a predetermined position on the side away from the cargo outlet 32.

In addition, as described above, the driving rolling conveyor and the driven rolling conveyor included in the rolling conveyor 22 may be connected by a belt or the like. Therefore, according to the rotation state of the rolling conveying piece controlled by the goods loading and unloading instruction, the goods outside the storage unit are conveyed to the outside of the goods outlet 32 through the storage unit by matching with the goods conveying mechanism, and the device comprises: and controlling the rotation state of the driving rolling conveying element so that the driving rolling conveying element and the driven rolling conveying element jointly convey the goods.

In other examples, as mentioned above, the cargo handling mechanism is located in the cargo handling apparatus, and the cargo handling mechanism includes a robot arm that is movable relative to the storage unit, and the robot arm is configured to move the cargo by moving the robot arm, i.e., the movable member of the robot arm also provides power for conveying the cargo. The cargo handling control method at this time further includes:

the movement state of the robot arm is controlled so that the robot arm and the rolling conveyor 22 together transport the goods outside the storage unit to the outside of the goods outlet 32 via the inside of the storage unit.

Specifically, controlling the moving state of the robot arm may include: the speed of movement of the robotic arm and/or the position of the robotic arm relative to the storage unit is controlled. The speed of movement of the robot arm, similarly to the speed of rotation of the roller conveyor 22, directly positively affects the speed of movement of the load. The position of the robotic arm relative to the storage unit also affects the position of the cargo relative to the storage unit.

In addition, as mentioned above, the movable member can rotate to different positions relative to the mechanical arm to unfold or fold, and when the movable member is in the unfolded state, the mechanical arm can drive the goods to move, so that the moving state of the mechanical arm is controlled, so that the mechanical arm and the rolling transfer member 22 together transport the goods outside the storage unit to the outside of the goods outlet 32 via the inside of the storage unit, further comprising:

the position of at least part of the movable piece relative to the mechanical arm is changed, so that the movable piece is arranged on the side of the goods along the conveying direction in a blocking mode.

In the embodiment of the present application, as mentioned above, the storage units are multiple, and the multiple storage units are arranged in the vertical direction, and each storage unit has two situations that goods enter the storage unit from the goods outlet 32 and goods enter the storage unit from the side away from the goods outlet 32, so that under the situation of having multiple storage units, the storage units in the same goods handling device can have different control methods.

Exemplarily, according to the goods loading and unloading order control roll transfer member's rotation state to cooperate the goods handling mechanism to carry the goods outside the storage unit to the goods export 32 outside via the storage unit in, specifically still include:

the rotating state of the rolling conveying piece is controlled so as to match the cargo carrying mechanism to enable the cargos corresponding to all the storage units to enter the storage units through the cargo outlet 32, or enable the cargos corresponding to all the storage units to enter the storage units through the side, opposite to the cargo outlet 32, of the storage units.

In some other examples, the plurality of memory cells includes at least one first memory cell and at least one second memory cell; and according to the rotation state of the goods loading and unloading order control roll conveying spare to the goods that cooperate the goods handling mechanism outside with the memory cell is carried to the goods export 32 outsides in the memory cell, include:

the rotating state of the rolling conveying piece is controlled, so that goods corresponding to the first storage unit are conveyed from the goods outlet to the first storage unit by matching with the goods conveying mechanism, conveyed to the outer side of the first storage unit through the goods outlet, conveyed to the second storage unit from one side, opposite to the goods outlet, of the second storage unit, and conveyed to the outer side of the second storage unit through the goods outlet.

Or comprises the following steps: controlling the rotation state of the rolling conveying piece to match with the cargo handling mechanism, conveying the cargo corresponding to the first storage unit from the cargo outlet into the first storage unit, and conveying the cargo to the outer side of the first storage unit through the cargo outlet; and the goods corresponding to the second storage unit enter the second storage unit from the goods outlet of the second storage unit and are conveyed to the outer side of the second storage unit through the side, opposite to the goods outlet, of the second storage unit.

Alternatively, the rolling conveyors 22 corresponding to the respective storage units may rotate independently of each other so that the respective storage units transport the corresponding goods independently, and the rotation directions of the rolling conveyors 22 corresponding to the respective storage units may be the same or different.

Example four

Fig. 17 is a block diagram of a control device according to a fourth embodiment of the present application. Referring to fig. 17, the present embodiment provides a control device 300, the control device 300 including:

a processor 301; and a memory 302 communicatively connected to the processor 301, the memory 302 storing executable code, the executable code, when executed by the processor 301, causing the processor 301 to execute the cargo handling control method according to the third embodiment.

The cargo handling control method has already been described in detail in the third embodiment, and is not described herein again.

EXAMPLE five

The embodiment provides a cargo handling device, which comprises a support 1 and a control assembly, wherein a storage unit for placing cargos is arranged on the support 1, a cargo outlet and a rolling conveying piece 22 are arranged on the storage unit, and the rolling conveying piece 22 is provided with an outer contour surface capable of being in rolling contact with the cargos in the storage unit 2;

the control assembly comprises a driving unit for driving the rolling conveying member 22 to rotate and the control device 300 of the fourth embodiment, the driving unit is electrically connected with the control device 300, and the control device 300 is used for controlling the rotating state of the rolling conveying member so as to cooperate with the goods carrying mechanism to convey the goods to the outer side of the goods outlet through the storage unit.

The structure and functional principle of the constituent members in the cargo handling device provided in this embodiment are the same as or similar to those of the cargo handling device provided in the first embodiment, and the cargo handling device has already been described in detail in the first embodiment, and therefore, the detailed description thereof is omitted. The detailed structure and functional principle of the control device 300 have been described in detail in the fourth embodiment, and are not repeated herein.

EXAMPLE six

The present embodiment provides a storage system including the transfer robot 200 of the first embodiment and the cargo-handling device of the fifth embodiment, and as described above, the transfer robot 200 has the pallet 205, and the pallet 205 and the storage unit of the cargo-handling device are disposed correspondingly to each other, so as to perform the cargo-handling operation with the cargo-handling device. The storage units of the pallet 205 and the cargo handling device are correspondingly arranged, specifically, the height of the pallet 205 is approximately the same as the height of the bottom of the storage unit, and the arrangement positions are corresponding and are oppositely arranged.

It should be noted that the specific structure and function of the transfer robot 200 have been described in the first embodiment, and the specific structure and function of the cargo-handling device have been described in detail in the fifth embodiment, which are not described again here.

It should be noted that the transfer robot 200 of the present application is not limited to the transfer robot 200 described in the first embodiment, as long as it has a pallet 205 for placing the goods thereon, and the pallet 205 and the storage unit 2 of the goods handling device are provided correspondingly.

Claims (18)

1. The cargo handling device is characterized by comprising a support, a storage unit and a walking frame, wherein the storage unit is arranged on the support and is provided with a cargo outlet;

the moving frame can move towards the goods outlet relative to the support, a plurality of mechanical arms corresponding to the storage unit and a moving part arranged on the mechanical arms are arranged on the moving frame, the moving part can move to an unfolding position or a folding position relative to the mechanical arms, and when the moving part is in the unfolding position, the moving part is used for abutting against the goods in the storage unit, so that when the mechanical arms move relative to the support, the goods are conveyed into the storage unit from the outer side of the storage unit and then conveyed to the outer side of the goods outlet;

at least one mechanical arm is provided with a detection assembly, the detection assembly is used for detecting the position state of the movable member, and the position state of the movable member comprises at least one of the position of the movable member relative to the mechanical arm and the position of the movable member relative to the goods.

2. The cargo handling device according to claim 1, wherein the robot arm extends in a conveying direction of the cargo, the movable member is at least one and is provided at least one end of the robot arm in the extending direction, and at least a part of the movable member is provided with the detection member.

3. The cargo handling device according to claim 2, wherein the movable member is a plurality of movable members, and the plurality of movable members includes a first movable member and a second movable member, the first movable member and the second movable member are respectively provided at opposite ends of the robot arm in an extending direction, and at least one of the first movable member and the second movable member is provided with the detection element.

4. The cargo handling device of claim 3 wherein the detection assembly is disposed in correspondence with each of the first and second movable members.

5. The cargo handling device of claim 3 wherein the cargo enters the storage unit through the cargo outlet, and one end of the robotic arm is extendable outside the cargo outlet;

the one end that can stretch out to the goods export outside of arm is provided with first moving part, and the other end is provided with the second moving part.

6. The cargo handling device of claim 5 wherein when the first movable member is in the extended position, the second movable member is in either the extended position or the collapsed position;

when the second movable member is in the unfolded position, the first movable member is in the folded position.

7. The cargo handling device of claim 2 wherein the cargo enters the storage unit from a side of the storage unit opposite the cargo outlet, and the storage unit has a cargo inlet disposed opposite the cargo outlet;

the moving part set up in the tip of arm, just the arm be provided with the home range of the tip of moving part is by from the goods import outside to the goods exit.

8. The cargo handling device of any of claims 1-7 wherein the movable member is pivotally connected to the robotic arm and the axis of rotation of the movable member is parallel to the direction of conveyance of the cargo.

9. The cargo handling device of claim 8, wherein the movable member is a movable push rod, a first end of the movable push rod is connected to the mechanical arm, a second end of the movable push rod is rotatable around the rotation axis, and when the movable push rod is located at the deployed position, the movable push rod is configured to abut against a side end of the cargo and push the cargo along with movement of the mechanical arm.

10. The cargo handling device of claim 9, wherein the detection assembly includes a first position detection sensor disposed at an end of the mechanical arm, and the first position detection sensor corresponds to the deployed position or the collapsed position of the movable push rod.

11. The cargo handling device of claim 10, wherein the first position detection sensor corresponds to a folded position of the movable push rod.

12. The cargo handling device of claim 10, wherein the first position detection sensor is a photosensor or a contact switch.

13. The cargo handling device according to claim 10, wherein the movable member is provided in plurality, and the plurality of movable members are respectively provided symmetrically on both horizontal sides of the storage unit, and each of the movable members is provided with one of the first position detection sensors.

14. The cargo handling device of claim 10, wherein the detection assembly further includes a second position detection sensor provided on the robot arm, and a position of the second position detection sensor corresponds to a position of the movable member, the second position detection sensor being configured to detect whether the movable member is located outside an end of the cargo.

15. The cargo handling device according to claim 14, wherein the second position detecting sensor and the movable member are located at the same position of the robot arm in a conveying direction of the cargo.

16. The cargo handling device of claim 14, wherein the second position detection sensor is a photosensor or a contact switch.

17. The cargo handling device of any of claims 1 to 7 wherein a plurality of the storage units are arranged in a vertical orientation; the mechanical arm arranged on the walking frame is arranged corresponding to the storage unit.

18. A warehousing system characterized by comprising a transfer robot and a cargo-handling device as recited in any one of claims 1 to 17, the transfer robot having a pallet arranged to correspond to a storage unit of the cargo-handling device for performing a cargo-handling operation with the cargo-handling device.

Images