CN217050085U - Cargo handling device, cargo conveying equipment and warehousing system - Google Patents

Abstract

The utility model discloses a cargo handling device, goods conveying equipment and warehouse system. The cargo handling device comprises a stand, a plurality of arms provided on the stand and arranged in pairs, adjacent two pairs of arms being arranged at a distance from each other in a vertical direction, each pair of arms being arranged at a distance from each other and opposite to each other in a transverse direction of the stand, the plurality of arms being synchronously movable in a longitudinal direction of the stand between an extended position away from the stand and a retracted position close to the stand, a stop rod mounted on at least one arm of each pair of arms and pivotable between a stop position and a release position, and a link member connected to the stop rod mounted on each arm to drive all the stop rods to rotate synchronously. The utility model discloses a cargo handling device of embodiment has advantages such as handling efficiency height, handling cost are low and simple structure.

Description

Cargo handling device, cargo conveying equipment and warehousing system

Technical Field

The utility model relates to a storage technical field specifically relates to cargo handling device, goods conveying equipment and warehouse system.

Background

The intelligent storage is a link in the logistics process, the application of the intelligent storage ensures the speed and the accuracy of each link of the goods warehouse management, and the goods handling is usually completed manually or by using simple mechanical equipment. The manual carrying has the defects of high labor intensity and high cost, the simple mechanical equipment is basically special equipment, only can disperse goods in a specific area, and has low efficiency, large occupied area and poor adaptability to different working conditions. Therefore, the efficiency of the warehousing and logistics process is restricted by the existing cargo handling mode.

SUMMERY OF THE UTILITY MODEL

The present invention has been made based on the discovery and recognition of the following technical problems existing in the related art by the inventors.

In the related art, a warehousing system using a robot to transport goods is proposed, for example, in the goods sorting process of warehouse logistics, the robot carries a plurality of containers, the containers stay and wait at a sorting station, and a loading and unloading device conveys the containers one by one from the robot to the sorting station, so that the robot stays and waits for a long time, and is low in efficiency and high in cost.

A handling system may include a stand and a loading and unloading device, which may include a plurality of loading and unloading mechanisms, each of which may include a push-pull rod for driving a container, each push-pull rod corresponding to a push-pull motor for driving the push-pull rod to rotate. Because each push-pull rod of the loading and unloading device is driven by a separate driving motor, the structure is complex, the cost is high, and the synchronous control of a plurality of push-pull rods is complex.

The present invention aims at solving at least one of the technical problems in the related art to a certain extent.

Therefore, the embodiment of the utility model provides a simple structure, with low costs cargo handling device.

The embodiment of the utility model also provides a goods conveying equipment including the cargo handling device of above-mentioned embodiment.

The embodiment of the utility model provides a still provide the warehouse system including the goods conveying equipment of above-mentioned embodiment.

The utility model discloses cargo handling device includes:

erecting a frame;

a plurality of arms provided on the stand and arranged in pairs, adjacent two pairs of arms being arranged at a distance from each other in a vertical direction, each pair of arms being arranged at a distance from and opposite to each other in a lateral direction of the stand, the plurality of arms being synchronously movable between an extended position away from the stand and a retracted position close to the stand in a longitudinal direction of the stand;

a stop bar mounted on at least one arm of each pair of arms and pivotable between a stop position and a release position;

the linkage component is connected with at least one part of the stop rod to drive the stop rod to synchronously rotate.

The utility model discloses a cargo handling device of embodiment has advantages such as handling efficiency height, handling cost are low and simple structure.

In some embodiments, the linkage member is connected to all of the stop bars to drive all of the stop bars to rotate in unison.

In some embodiments, the stop bar is mounted on each arm of each pair of arms, the stop bars on each pair of arms opposing each other in a transverse direction of the stand.

In some embodiments, the stop bars mounted on each arm comprise a distal stop bar adjacent the distal end of the arm and a proximal stop bar adjacent the proximal end of the arm, the two distal stop bars on each pair of arms opposing each other in the lateral direction of the stand and the two proximal stop bars on each pair of arms opposing each other in the lateral direction of the stand.

In some embodiments, the arm is provided with an avoidance slot adjacent the proximal end of the arm, the proximal stop bar being pivotable between the stop position and the release position via the avoidance slot, the distal stop bar exceeding the distal end of the arm in a direction away from the stand in the longitudinal direction of the stand to be pivotable between the stop position and the release position.

In some embodiments, in the stop position, the stop bar is in a horizontal state and in the release position the stop bar is in a vertical state.

In some embodiments, the arm is a telescopic arm mounted on the stand.

In some embodiments, the cargo-handling device further comprises an arm link provided on the stand and movable in the longitudinal direction of the stand, a proximal end of the arm being connected to the arm link, and a distal end of the arm extending from the arm link in the longitudinal direction of the stand in a direction away from the stand.

In some embodiments, the arm is integrally formed with the arm link, the arm and the arm link are each plate-shaped, a thickness direction of the arm coincides with a transverse direction of the stand, and a length direction of the arm coincides with a longitudinal direction of the stand.

In some embodiments, each pair of arms comprises a first arm and a second arm, the arm links comprising a first arm link and a second arm link spaced apart and disposed opposite each other in a transverse direction of the stand, the first arm being connected to the first arm link and the second arm being connected to the second arm link.

In some embodiments, the arm link is driven to move in the longitudinal direction of the stand by one arm driver or a plurality of arm drivers arranged at intervals in the vertical direction.

In some embodiments, the arm drive is a linear motor, a lead screw drive, a rack and pinion drive, a belt drive, a chain drive, a pneumatic cylinder, or a hydraulic cylinder.

In some embodiments, the linkage member includes a driving rod and a plurality of connecting rods connected to the driving rod, the connecting rods are respectively connected to the corresponding stopper rods, and the driving rod is movable in a vertical direction to drive all the stopper rods to rotate synchronously via the plurality of connecting rods.

In some embodiments, the arm is provided with a mounting block on which the stop bar is pivotally mounted, the stop bar being provided with an arcuate guide slot in which the link bar is slidably fitted.

In some embodiments, the drive rod comprises a first drive rod and a second drive rod, a plurality of the links are arranged in a plurality of pairs, each pair of links comprises first and second laterally spaced and opposing links along the riser,

each pair of arms comprising a first arm and a second arm, each arm of each pair of arms being provided with the stop bar thereon, the stop bar on each arm comprising a distal stop bar adjacent a distal end of the arm and a proximal stop bar adjacent a proximal end of the arm, the two distal stop bars on each pair of arms being opposed to each other in a lateral direction of the stand and the two proximal stop bars on each pair of arms being opposed in the lateral direction of the stand,

the first connecting rod is connected with the first driving rod and the first arm, the second connecting rod is connected with the second driving rod and the second arm, and the first driving rod and the second driving rod are driven by a single driving rod driver or driven by a plurality of driving rod drivers respectively.

In some embodiments, the goods handling device further comprises a plurality of pick-and-place conveyors provided on the stand at a distance from each other in the vertical direction and in one-to-one correspondence with the plurality of pairs of arms, the pick-and-place conveyors being adapted to convey goods in the longitudinal direction of the stand, each of the pick-and-place conveyors being located below the pair of arms corresponding thereto, wherein in the extended position, the distal ends of the arms extend beyond the pick-and-place conveyors.

In some embodiments, the cargo handling device further comprises a lifting frame which is arranged in the vertical frame and is movable along the vertical direction, the lifting frame comprises a lifting frame body and a plurality of transfer conveyors, the plurality of transfer conveyors correspond to at least one part of the plurality of picking and placing conveyors one by one, and the plurality of transfer conveyors are arranged in the lifting frame body at intervals along the vertical direction and are suitable for being respectively aligned with the at least one part of the picking and placing conveyors synchronously.

In some embodiments, any one of the pick-and-place conveyor and the transfer conveyor is a conveyor belt, a conveyor chain, or a conveyor roller bed.

The utility model discloses goods conveying equipment includes:

a carrier having a conveyor for conveying goods in a longitudinal direction of the carrier;

a self-driven robot for handling goods;

the goods handling device is used for transferring goods between the self-driven robot and the conveying frame, the goods handling device is arranged at least one end of the conveying frame along the longitudinal direction of the conveying frame, and the goods handling device is the goods handling device in any one embodiment.

The utility model discloses a goods conveying equipment of embodiment has advantages such as handling efficiency height, handling cost are low and simple structure.

In some embodiments, the cargo handling devices are respectively disposed at both ends of the conveyor frame and are aligned with the conveyor frame.

In some embodiments, the cargo conveying apparatus further comprises a picking station provided at one side of the carriage for picking the cargo by a human or a robot arm.

The warehousing system of the embodiment of the utility model comprises the cargo handling device of any one of the above embodiments.

The utility model discloses warehouse system has simple structure, work efficiency height and area advantage such as little.

Drawings

Fig. 1 is a schematic perspective view of a cargo conveying apparatus according to an embodiment of the present invention.

Fig. 2 is a perspective view of another perspective view of the cargo conveying apparatus according to the embodiment of the present invention.

Fig. 3 is a schematic top view of a cargo conveying apparatus according to an embodiment of the present invention.

Fig. 4 is an exploded schematic view of the cargo conveying apparatus of an embodiment of the present invention, with all containers removed.

Fig. 5 is a schematic perspective view of a cargo handling device according to an embodiment of the present invention.

Fig. 6 is a perspective view of another perspective view of a cargo handling device in accordance with an embodiment of the present invention.

Fig. 7 is a partially enlarged schematic view of a portion a in fig. 5.

Reference numerals:

a cargo handling device 100;

a stand 1;

an arm 2; an avoidance slot 20; a first arm 21; a second arm 22; a mounting block 23; an arm link 24; a first arm link 241; a second arm connector 242;

a stopper rod 3; the first stopper lever 31; a first distal stop rod 311; first near stop bar 312; a second stop bar 32, a second distal stop bar 321, a second proximal stop bar 322; an arc-shaped guide groove 33;

a link member 4; a drive lever 41; a first drive lever 411; a second drive rod 412; a connecting rod 42; the first link 421; a second link 422;

a pick-and-place conveyor 5; a lifting frame 6; a relay conveyor 61;

the cargo conveying apparatus 200; a conveyance rack 201; a self-propelled robot 202; a robot arm 203; a picking station 204; a shelf 205;

the cargo 300.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are exemplary intended for explaining the present invention, and should not be construed as limiting the present invention.

In the present invention, it should be noted that the term "goods" should be understood in a broad sense, and means the objects that can be handled, including the goods that can be handled individually, such as the goods with outer packing, the liquid goods contained in the container, and also including various goods containers for containing goods, such as pallets, containers, etc., and various goods containers for containing goods, such as containers for containing goods.

As shown in fig. 1 to 7, a cargo handling device 100 according to an embodiment of the present invention includes a stand 1, a plurality of arms 2, a stopper bar 3, and a link member 4.

For convenience of description, hereinafter, the up-down direction in fig. 5 is taken as the vertical direction, the left-right direction in fig. 5 is taken as the longitudinal direction of the stand 1, and the front-back direction in fig. 5 is taken as the lateral direction of the stand 1.

A plurality of arms 2 are provided on the stand 1 and arranged in pairs, as shown in fig. 5, the plurality of arms 2 are arranged in a plurality of pairs. Adjacent pairs of arms 2 are arranged at a distance from each other in the vertical direction (up-down direction as shown in fig. 5). Each pair of arms 2 is arranged oppositely in the lateral direction (the front-rear direction as viewed in fig. 5) of the stand 1, and the two arms 2 in each pair are arranged at intervals in the front-rear direction. In other words, as shown in fig. 5, each pair of arms 2 includes a first arm 21 and a second arm 22, the first arm 21 and the second arm 22 are arranged oppositely in the front-rear direction, two adjacent first arms 21 are arranged at intervals in the vertical direction, and two adjacent second arms 22 are arranged at intervals in the vertical direction.

The plurality of arms 2 are synchronously movable in the longitudinal direction of the stand 1 (the left-right direction as viewed in fig. 5) between an extended position away from the stand 1 and a retracted position close to the stand 1. In other words, the plurality of first arms 21 and the plurality of second arms 22 are movable in the left-right direction with respect to the stand 1, and when the plurality of first arms 21 and the plurality of second arms 22 are moved to the left to the position farthest from the stand 1, this position is the extended position; the plurality of first arms 21 and the plurality of second arms 22 move to the right to the position closest to the stand 1, which is the retracted position.

The stop bar 3 is mounted on at least one arm 2 of each pair of arms 2, i.e. the stop bar 3 is mounted on one arm 2 of each pair of arms 2 or on both arms 2 of each pair of arms 2. In other words, in each pair of arms, the stop rod 3 is mounted on the first arm 21, the stop rod is mounted on the second arm 22, or the stop rods 3 are mounted on both the first arm 21 and the second arm 22.

The stop lever 3 is movable between a stop position and a release position. The stop position means that the stop bars 3 are extended into the space between the respective pair of arms 2 to stop the goods 300; the release position refers to the stop lever 3 leaving the space between the respective pair of arms 2. For example, when the stop rod 3 is in the stop position, the extending direction of the stop rod 3 coincides with the front-back direction, in other words, the stop rod 3 coincides with the transverse direction of the stand 1 and is orthogonal to the longitudinal direction of the stand 1; when the stop rod 3 is at the release position, the stop rod 3 is aligned with the up-down direction.

The link members 4 are connected to all the stopper bars 3 so that all the stopper bars 3 are driven to rotate synchronously between the stopping position and the releasing position by the link members 4. Or the link member 4 is connected to the partial stop rods 3 so that the partial stop rods 3 are driven to rotate synchronously between the stop position and the release position by the link member 4, and the remaining part of the stop rods 3 is not driven by the link member 4, for example, the remaining part of the stop rods 3, each of the stop rods 3 is driven by a stop rod motor, or a plurality of stop rods 3 provided on the same pair of arms 2 are moved synchronously.

Briefly describing the operation of the cargo handling apparatus 100 according to the embodiment of the present invention, each pair of arms 2 and the stop lever 3 of the pair of arms 2 is responsible for handling a cargo 300.

If the number of loads 300 to be handled is less than the number of pairs of arms 2, only part of the arms 2 need to handle the load. Before transferring the load 300, each pair of arms 2 is in the retracted position, the stop bars 3 on the arms 2 responsible for handling the load 300 are in the release position, and the remaining stop bars 3 can be in the release position or in the stop position. When the load 300 is taken, the plurality of arms 2 are moved to the extended position, at which time the first and second arms 21 and 22 of each pair of arms 2 responsible for carrying the load 300 are located at the front and rear sides of the load 300, respectively. Then, the stopper rods 3 of the arms 2 responsible for carrying the load 300 are rotated from the release position to the stopper positions, and finally, the pairs of arms 2 are synchronously moved toward the stand 1 to the retracted position, and in this process, the arms 2 responsible for carrying the load 300 move the stopper rods 3 thereon in a direction approaching the stand 1 at the same time, thereby moving the load 300 to the load handling apparatus 100.

If the number of loads 300 to be handled is equal to the number of pairs of arms 2, all arms 2 need to handle the load. Before transferring the cargo 300, each pair of arms 2 is in the retracted position and all the stop bars 3 are in the release position. When the load 300 is taken, the pairs of arms 2 are moved to the extended position, in which the first and second arms 21 and 22 of each pair of arms 2 are located at the front and rear sides of the load 300, respectively. Then, all the stopper rods 3 are turned from the release position to the stopper position, and finally, each pair of arms 2 is synchronously moved toward the stand 1 to the retracted position, and in the process, all the stopper rods 3 follow the arms 2 while being moved in the direction approaching the stand 1, thereby moving the cargo 300 onto the cargo-handling device 100.

In the cargo handling device 100 according to the embodiment of the present invention, the pairs of arms 2 are movable between the extended position and the retracted position in synchronization, and the linking member 4 can rotate all the stopper rods 3 between the stopping position and the releasing position in synchronization, so that a plurality of cargo 300 can be handled at a time at intervals in the vertical direction, the handling efficiency is high, the handling cost is reduced, and the working strength of the operator is reduced; moreover, all the stop rods 3 synchronously rotate through the linkage part 4, and an independent driving part is not required to be arranged for each stop rod 3, so that the number of parts is reduced, and the control and operation are simple and the structure is simple.

Therefore, the cargo handling device 100 of the embodiment of the present invention has the advantages of high handling efficiency, low handling cost, control, operation and simple structure.

In some embodiments, the link member 4 is connected to all the stop rods 3, so that all the stop rods 3 are driven by the link member 4 to rotate synchronously between the stop position and the release position. Therefore, all the stop rods 3 can be driven to rotate by one linkage part 4, and the device is simple in structure and convenient to operate.

In some embodiments, the stop rod 3 is in a horizontal state in the stop position and the stop rod 3 is in a vertical state in the release position. Specifically, in the stop position, the stop rod 3 extends into the space between the first arm 21 and the second arm 22 to stop the cargo 300, and the stop rod 3 is in a horizontal state, that is, the extending direction of the stop rod 3 is orthogonal to the extending direction of the arm 2; in the release position, the stop rod 3 extends in the same direction as the up-down direction.

In some embodiments, the arm 2 is a telescopic arm mounted on the stand 1. For example, the arm 2 has a plurality of stages, and the multi-stage arm 2 can be extended and contracted in the right and left direction. When the arm 2 needs to be in the retracted position, the multi-section arm 2 is retracted; when the arm 2 is required to be in the extended position, the multi-segmented arm 2 is extended. Therefore, the length of the arm 2 can be adjusted to match the length of the goods 300, and the device is flexible and convenient. And when the arm 2 is in the retracted position, the occupied volume is small, thereby saving the space of a warehouse.

In some embodiments, as shown in fig. 5, a stop bar 3 is provided on each arm 2 of each pair of arms 2, i.e. a first stop bar 31 is provided on the first arm 21 and a second stop bar 32 is provided on the second arm 22. The stop bars 3 of each pair of arms 2 are oppositely arranged in the transverse direction (the front-rear direction as shown in fig. 5) of the stand 1, that is, the first stop bar 31 of the first arm 21 and the second stop bar 32 of the second arm 22 are oppositely arranged in the front-rear direction. Therefore, the goods 300 are moved by the first stop rod 3 on the first arm 21 and the second stop rod 32 on the second arm 22, and the force applied to the goods 300 is uniform in the front-back direction, so that the goods 300 can be moved smoothly, and the carrying efficiency of the goods handling device 100 is improved.

In some embodiments, as shown in fig. 5, two stop bars 3 are provided on each arm 2, i.e. the first stop bar 31 includes a first far stop bar 311 and a first near stop bar 312, the first far stop bar 311 is provided at the far end of the first arm 21 (left end of the first arm 21), and the first near stop bar 312 is provided at the near end of the first arm 21 (right end of the first arm 21); the second stopper rod 32 includes a second distal stopper rod 321 and a second proximal stopper rod 322, the second distal stopper rod 321 being provided at the distal end of the second arm 22 (the left end of the second arm 22), and the second proximal stopper rod 322 being provided at the proximal end of the second arm 22 (the right end of the second arm 22). The first far stop rod 311 of the first arm 21 and the second far stop rod 321 of the second arm 22 are oppositely arranged in the transverse direction (the front-back direction shown in fig. 5) of the stand 1, and the first near stop rod 312 of the first arm 21 and the second near stop rod 322 of the second arm 22 are oppositely arranged in the transverse direction (the front-back direction shown in fig. 5) of the stand 1. Thus, the first and second far stopper rods 311 and 321 facilitate movement of the cargo 300 in a direction approaching the stand 1 (rightward), and the first and second near stopper rods 312 and 322 facilitate movement of the cargo 300 in a direction away from the stand 1 (leftward).

In some embodiments, an avoidance slot 20 is provided at the right end of the first arm 21 so that the first near stop bar 312 can rotate between the stop position and the release position through the avoidance slot 20. An avoidance slot 20 is provided at the right end of the second arm 22 so that the second near stop bar 322 can rotate between the stop position and the release position through the avoidance slot 20.

The first distal stop rod 311 exceeds the distal end of the first arm 21 in the direction away from the stand 1 in the longitudinal direction of the stand 1, i.e., the first distal stop rod 311 is provided to the left of the first arm 21 in the left-right direction, and may not be blocked by the first arm 21 when the first distal stop rod 311 rotates between the stop position and the release position; the second distal stop rod 321 exceeds the distal end of the second arm 22 in a direction away from the stand 1 in the longitudinal direction of the stand 1, that is, in the left-right direction, the second distal stop rod 321 is provided to the left of the second arm 22, and the second distal stop rod 321 may be rotated between the stop position and the release position without being blocked by the second arm 22. Thus, the first distal stop rod 311, the second distal stop rod 321, the first proximal stop rod 312 and the second proximal stop rod 322 can be conveniently rotated between the stop position and the release position, thereby facilitating the operation of the cargo handling device 100.

In some embodiments, as shown in fig. 5 and 6, the cargo-handling device 100 further includes an arm link 24, and the arm link 24 is provided on the stand 1 and is movable in the longitudinal direction (the left-right direction as shown in fig. 5) of the stand 1. Specifically, the arm link 24 includes a first arm link 241 and a second arm link 242, the right end of the first arm 21 is connected to the first arm link 241, the left end of the first arm 21 extends leftward from the position of the first arm link 241, the right end of the second arm 22 is connected to the second arm link 242, and the right end of the second arm 22 extends leftward from the position of the second arm link 242.

Therefore, the cargo handling device 100 does not need to be moved, the first arm 21 can be driven to move between the extended position and the retracted position by controlling the movement of the first arm connecting member 24 in the left-right direction, and the second arm 22 can be driven to move between the extended position and the retracted position by controlling the movement of the second arm connecting member 242 in the left-right direction, so that the cargo handling device 100 can move the cargo 300, and the working efficiency of the cargo handling device 100 can be improved.

In other embodiments, as shown in fig. 5 and 6, the first arm link 241 and the second arm link 242 are oppositely disposed in the front-rear direction, and two pairs of the first arm link 241 and the second arm link 242 are provided, for example, as shown in fig. 5, one pair of the arm links 241 is provided at the upper end of the stand 1, and the other pair of the arm links 241 is provided at the lower end of the stand 1. It will be appreciated that in other embodiments, there are multiple pairs of first arm links 241 and second arm links 242, with multiple pairs of arm links 24 corresponding one-to-one with multiple pairs of arms 2.

In some embodiments, the arm 2 is integrally formed with the arm connector 24, and the arm 2 and the arm connector 24 are both plate-shaped, i.e., the first arm 21 and the first arm connector 241 are formed by one plate, and the second arm 22 and the second arm connector 242 are formed by one plate. The thickness direction of the arm 2 coincides with the lateral direction (the front-rear direction as shown in fig. 5) of the stand 1, the longitudinal direction of the arm 2 coincides with the longitudinal direction (the left-right direction as shown in fig. 5) of the stand 1, that is, the thickness direction of the first arm 21 and the second arm 22 coincides with the front-rear direction, and the longitudinal direction of the first arm 21 and the second arm 22 coincides with the left-right direction. Thus, the first arm 21 and the first arm connecting member 241 are integrally formed, and the second arm 22 and the second arm connecting member 242 are integrally formed, so that the cargo handling device 100 is convenient to process and has high structural strength, thereby being beneficial to improving the reliability of the cargo handling device 100.

In some embodiments, the first arm link 241 and the second arm link 242 are driven by an arm driver (not shown), the arm driver is used to drive the first arm link 241 to move in the left-right direction, so as to drive the first arm 21 to move in the left-right direction, and the arm driver is used to drive the second arm link 242 to move in the left-right direction, so as to drive the second arm 22 to move in the left-right direction, so as to facilitate the first arm 21 and the second arm 22 to move the cargo 300 in the left-right direction.

In other embodiments, the first arm link 241 and the second arm link 242 are each driven by a plurality of arm drivers (not shown in the drawings) arranged at intervals in the left-right direction, for example, the arm drivers are provided in 2, 3, 4, 5, or the like. From this, can select for use the quantity of arm driver according to the weight of goods 300 to satisfy operating condition's demand, and then guarantee the efficiency that goods handling device 100 transported goods 300.

In some embodiments, the arm drive is a linear motor, a lead screw drive, a rack and pinion drive, a belt drive, a chain drive, a pneumatic cylinder, or a hydraulic cylinder. From this, can select for use the arm driver of different structures according to factors such as the weight of goods 300, or the size in space to guarantee the steady operation of cargo handling device 100, and then improve cargo handling device 100's work efficiency.

In the related art, each stop rod needs to be driven by a separate driving motor, so that the cargo handling device has a complex structure and high cost, and the synchronous control of a plurality of stop rods is complex.

In some embodiments, as shown in fig. 5 and 6, the link member 4 includes a driving rod 41 extending in the up-down direction and a plurality of links 42 extending in the left-right direction, the driving rod 41 and the plurality of links 42 are connected and the plurality of links 42 are arranged on the driving rod 41 at intervals. Each link 42 is connected to the corresponding stop rod 3, for example, the link 42 is connected to the stop rod 3 on the first arm 21 to drive the stop rod 3 on the first arm 21 to rotate, or the link 42 is connected to the stop rod 3 on the second arm 22 to drive the stop rod 3 on the second arm 22 to rotate. Therefore, the driving rod 41 is controlled to move up and down to drive the connecting rods 42 to move, so that all the stop rods 3 are driven to synchronously rotate, and the structure is simple and the operation is convenient.

In some embodiments, as shown in fig. 5 to 7, the arm 2 is provided with mounting blocks 23, i.e. the mounting blocks 23 are provided on the first arm 21 and the second arm 22. The stop lever 3 is pivotably mounted on the mounting block 23, i.e. the stop lever 3 is hinged to the mounting block 23, so that the stop lever 3 rotates between a stop position and a release position. The stop rod 3 is provided with an arc-shaped guide groove 33, the connecting rod 42 penetrates through the arc-shaped guide groove 33 and can slide in the arc-shaped guide groove 33, when the connecting rod 42 slides to one end of the arc-shaped guide groove 33, the stop rod 3 is located at a stop position, and when the connecting rod 42 slides to the other end of the arc-shaped guide groove 33, the stop rod 3 is located at a release position. Therefore, the control connecting rod 42 slides in the arc-shaped guide groove 33, so that the stop rod 3 can be driven to rotate between the stop position and the release position, the structure is simple, and the goods 300 can be conveniently conveyed by the goods loading and unloading device 100.

It should be noted that the mounting block 23 may be bonded, welded or bolted to the first arm 21 and the second arm 22. The mounting block 23 is in a cuboid or square shape, and hinge holes are formed in the mounting block 23 and the stop rod 3, so that the mounting block 23 is hinged to the stop rod 3. It is to be understood that the shape of the mounting block 23 is not limited thereto as long as the mounting block 23 can be connected to the stop rod 3 without affecting the rotation of the stop rod 3, and for example, the mounting block 23 may also be a semicircular plate member.

In some embodiments, as shown in fig. 5 and 6, the drive rod 41 includes a first drive rod 411 and a second drive rod 412. A first drive lever 411 is provided in the front of the upright 1, and further, the first drive lever 411 is provided at the right end of the plurality of first arms 22 and is movable up and down with respect to the first arms 22; the second driving lever 412 is provided at the rear of the stand 1, and further, the second driving lever 412 is provided at the right end of the plurality of second arms 22 and is movable up and down with respect to the second arms 22.

The link 42 has a plurality of links 42, the plurality of links 42 are arranged in a plurality of pairs in the up-down direction, and two adjacent pairs of links 42 are arranged at intervals in the up-down direction, and each pair of links 42 includes a first link 421 and a second link 422 which are arranged at an interval and oppositely in the lateral direction (the front-rear direction as viewed in fig. 5) of the stand 1. The first link 421 is arranged in front of the stand 1, further, the extending direction of the first link 421 is consistent with the extending direction of the first arm 21, the right end of the first link 421 is connected to the first driving rod 411, and the first link 421 is matched with the arc-shaped guide groove 33 of the first far stop rod 311 and the arc-shaped guide groove 33 of the first near stop rod 312; the second link 422 is disposed at the rear of the stand 1, further, the extending direction of the second link 422 is the same as the extending direction of the first arm 21, the right end of the second link 422 is connected to the second driving rod 412, and the second link 422 is engaged with the arc-shaped guide groove 33 of the second far stop rod 321 and the arc-shaped guide groove 33 of the second near stop rod 322.

Therefore, the first driving rod 411 drives the first connecting rods 421 to move, and further drives the first far stop rods 311 and the first near stop rods 312 to synchronously rotate; the second driving rod 412 is utilized to drive the second connecting rods 422 to move, so that the second far stop rods 321 and the second near stop rods 322 are driven to synchronously rotate, and the structure is simple and the operation is convenient.

It should be noted that the first driving rod 411 and the second driving rod 412 are both driven by driving rod drivers (not shown in the figures), the number of the driving rod drivers can be selected according to actual working conditions, and if the number of the connecting rods 42 and the stoppers 3 is large, a plurality of driving rod drivers may be provided, for example, the first driving rod 411 and the second driving rod 412 may be driven by 2, 3 or 4 driving rod drivers to move in the vertical direction, so as to ensure the smooth operation of the cargo handling device 100. If the number of the link rods 42 and the stopper rods 3 is small, 1 driving rod driver may be provided to ensure smooth operation of the cargo-handling device 100. It will be appreciated that the first and second drive levers 411, 412 can be driven by the same drive lever driver, and thus the structure is simpler and the stop levers on the paired arms 2 can be rotated better in synchronism.

In some embodiments, as shown in fig. 5 and 6, the cargo handling device 100 further includes a plurality of pick-and-place conveyors 5, the pick-and-place conveyors 5 are arranged on the upright frame 1 at intervals in the up-down direction, the right end of the pick-and-place conveyor 5 is fixedly connected with the upright frame 1, each pick-and-place conveyor 5 corresponds to one pair of arms 2, and each pick-and-place conveyor 5 is arranged below the corresponding pair of arms 2. When the cargo handling device 100 transports the cargo 300, the first arm 21, the second arm 22, and the stopper rod 3 are disposed on the outer circumferential side of the cargo 300 so as to move the cargo 300 onto the pick-and-place conveyor 5, and the pick-and-place conveyor 5 conveys the cargo 300 toward the stand 1 or away from the stand 1 to convey the cargo 200. Thus, the plurality of pick-and-place conveyors 5 are engaged with the plurality of first arms 21 and the plurality of second arms 22, so that the cargo handling device 100 can handle the cargo 300 conveniently.

When the cargo handling apparatus 100 needs to handle the cargo 300, as shown in fig. 5, there is no relative movement between the pick-and-place conveyor 5 and the stand 1 in the left-right direction, and during the movement of the first arm 21 and the second arm 22 from the retracted position to the extended position, the first arm 21 and the second arm 22 move leftward relative to the pick-and-place conveyor 5, and the left end of the first arm 21 and the left end of the second arm 22 go beyond the left end of the pick-and-place conveyor 5, so that the cargo 300 is carried from the self-propelled robot to the cargo handling apparatus 100, for example, or the cargo 300 is carried from the cargo handling apparatus 100 to the self-propelled robot.

In some embodiments, as shown in fig. 5 and 6, the cargo-handling device 100 further comprises a crane 6, and the crane 6 is movable in the up-and-down direction with respect to the stand 1. The crane 6 includes a crane body and a plurality of transfer conveyors 61 arranged at intervals in the up-down direction. The plurality of transfer conveyors 61 may correspond to at least a portion of the plurality of pick-and-place conveyors 5.

When the cargo handling device 100 is in operation, the plurality of transfer conveyors 61 and the plurality of pick-and-place conveyors 5 may be simultaneously aligned to simultaneously move the plurality of cargos 300 from the pick-and-place conveyors 5 to the transfer conveyors 61 or simultaneously move the plurality of cargos 300 from the transfer conveyors 61 to the pick-and-place conveyors 5. Therefore, when the plurality of cargos 300 are moved to the transfer conveyor 61, the plurality of cargos 300 can be simultaneously moved in the vertical direction along with the crane 6, and the plurality of cargos 300 can be conveniently and simultaneously transferred, so that the carrying efficiency of the cargo handling device 100 is improved.

For example, the transfer conveyor 61 is provided with 3, and 3 transfer conveyors 61 may be simultaneously aligned with 3 pick-and-place conveyors 5 one by one, thereby simultaneously transferring 3 cargoes 300. Further, 3 transfer conveyors 61 may be sequentially opposed to the conveyance rack 201, for example, the lowermost transfer conveyor 61 is first aligned with the conveyance rack 201, thereby moving the lowermost cargo 300 onto the conveyance rack 201; then the lowermost transfer conveyor 61 is moved downward so that the intermediate transfer conveyor 61 is aligned with the conveyance rack 201, thereby moving the second cargo 300 onto the conveyance rack 201; finally, the intermediate transfer conveyor 61 moves downward so that the uppermost transfer conveyor 61 is aligned with the carrier 201 to move the uppermost load 300 onto the carrier 201, whereby 3 loads 300 can be simultaneously moved from the self-driven robot 202 onto the carrier 201, and the carrying efficiency is high.

It is understood that the number of the relay conveyors 61 may also be 2, 4, 5, etc.

In some embodiments, either of the pick-and-place conveyor 5 and the transfer conveyor 61 is a conveyor belt, a conveyor chain, or a conveyor table. Therefore, the picking and placing conveyor 5 and the transfer conveyor 61 can be selected according to actual working conditions, so that the operation reliability of the cargo handling device 100 is ensured, and the efficiency of transporting the cargo 300 is improved. For example, when the cargo-handling device 100 is subjected to a hot and dusty harsh environment, the pick-and-place conveyor 5 and the transfer conveyor 61 both use conveyor chains. When the cargo-handling device 100 is operated in a clean and dustless environment, the pick-and-place conveyor 5 and the transfer conveyor 61 are both conveyor belts.

The following describes a cargo conveying apparatus 200 according to an embodiment of the present invention.

As shown in fig. 1 to 7, a cargo conveying apparatus 200 according to an embodiment of the present invention includes a conveying rack 201, a self-propelled robot 202, and a cargo handling device 100.

The conveying frame 201 has a conveyor for conveying the goods 300 along the longitudinal direction (left and right direction in fig. 2) of the conveying frame 201, the conveyor is, for example, a roller conveyor, a conveying belt or a conveying chain, but the conveyor may be other types of conveying devices. The autonomous robot 202 is used to handle the cargo 300.

The cargo-handling device 100 is used to transfer cargo 300 between the self-propelled robot 202 and the carrier 201, and the cargo-handling device 100 is provided at least one end of the carrier 201 in the longitudinal direction (the left-right direction as viewed in fig. 1) of the carrier 201.

The self-driven robot 202 delivers the goods 300 to the goods-handling device 100, and the goods-handling device 100 transfers the goods 300 from the self-driven robot 202 to the carrier 201. The cargo-handling devices 100 are provided at the left end of the conveyor frame 201, or the cargo-handling devices 100 are provided at the right end of the conveyor frame 201, or there are two cargo-handling devices 100, and the two cargo-handling devices 100 are provided at the left and right ends of the conveyor frame 201, respectively.

The utility model discloses goods conveying equipment 200 utilizes goods conveying equipment 200 can follow from driving robot 202 with goods 300 to transfer to carriage 201 on at the during operation, can transport a plurality of goods 300 simultaneously moreover to improve the efficiency of carrying goods 300, and then reduce the cost of labor of carrying goods 300. Therefore, the cargo handling device 100 of the embodiment of the present invention has the advantages of high handling efficiency, low handling cost, etc.

In some embodiments, as shown in fig. 1-3, the cargo-handling devices 100 are disposed at the left and right ends of the conveyor 201, respectively, and the two cargo-handling devices 100 are aligned with the conveyor 201, which is more space-saving than a configuration in which the cargo-handling devices 100 are disposed at one side (e.g., the upper side in fig. 3) of the conveyor 201 to form a U-shaped arrangement.

In some embodiments, as shown in fig. 1-4, the carriage 201 is a picking carriage with a picking station 204 located on one side of the carriage 201. As the items 300 move to the picking station 204, the worker may pick the desired item 300. Or, be equipped with the arm 203 at picking station 204, the arm 203 can pick appointed goods 300 at picking station 204, therefore, the utility model discloses goods conveying equipment 200 can pick goods 300 from carriage 201 as required to satisfy the different requirements of goods 300 in the transportation, and then improve goods conveying equipment 200's operation flexibility.

In some embodiments, as shown in fig. 1-4, the cargo conveyor apparatus 200 further comprises a rack 205, and the rack 205 is used to store the cargo 300. The robotic arm 203 may move the items 300 on the shelves 205 to the carriers 201 or move the items 300 on the carriers 201 to the shelves 205.

In one particular example, the carriers 201 may be picking racks and the shelves 205 are shelves that temporarily store the goods 300.

The warehousing system of the embodiment of the present invention includes the cargo handling device 100 according to any of the above embodiments. In the related art, a warehousing system using a robot to transport goods 300 is proposed, but during the picking process of goods 300 in warehousing logistics, the self-propelled robot 202 carries a plurality of containers, stays at a picking station for waiting, and the goods loading and unloading device 100 transfers the containers one by one from the robot to the picking station, so that the robot stays for a long waiting time, and is low in efficiency and high in cost.

In contrast, the utility model discloses warehouse system, utilize goods handling device 100 and self-driven robot 202 can shift a plurality of goods 300 to the order picker simultaneously, and self-driven robot 202's latency is short, and work efficiency is high, and is with low costs.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

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

In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.

While embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations of the above embodiments may be made by those of ordinary skill in the art without departing from the scope of the present invention.

Claims (22)

1. A cargo handling device, comprising:

erecting a frame;

a plurality of arms provided on the stand and arranged in pairs, adjacent pairs of the arms being arranged at a distance from each other in a vertical direction, each pair of the arms being arranged at a distance from and opposite to each other in a lateral direction of the stand, the plurality of arms being synchronously movable in a longitudinal direction of the stand between an extended position away from the stand and a retracted position close to the stand;

a stop bar mounted on at least one arm of each pair of arms and pivotable between a stop position and a release position;

the linkage component is connected with at least one part of the stop rod to drive the stop rod to rotate synchronously.

2. The cargo handling device of claim 1 wherein the linkage member is connected to all of the stop bars to drive the stop bars to rotate in unison.

3. The cargo handling device of claim 1 or 2 wherein the stop bar is mounted on each arm of each pair of arms, the stop bars on each pair of arms being opposed to each other in a transverse direction of the stand.

4. The cargo handling device of claim 3 wherein the stop bars mounted on each arm include a distal stop bar adjacent a distal end of the arm and a proximal stop bar adjacent a proximal end of the arm, the two distal stop bars on each pair of arms opposing each other in a lateral direction of the riser and the two proximal stop bars on each pair of arms opposing each other in the lateral direction of the riser.

5. The cargo handling device of claim 4, wherein the arm is provided with an avoidance slot adjacent a proximal end of the arm, the proximal stop bar being pivotable between the stop position and the release position via the avoidance slot, the distal stop bar exceeding the distal end of the arm in a direction away from the stand in a longitudinal direction of the stand to be pivotable between the stop position and the release position.

6. The cargo handling device of claim 1 or 2, wherein in the stop position the stop bar is in a horizontal state and in the release position the stop bar is in a vertical state.

7. The cargo handling device of claim 1 or 2 wherein the arms are telescoping arms mounted on the stand.

8. The cargo handling device of claim 1 or 2 further comprising an arm link provided on the stand and movable in the longitudinal direction of the stand, the arm being connected at a proximal end thereof to the arm link, and extending from the arm link in the longitudinal direction of the stand in a direction away from the stand at a distal end thereof.

9. The cargo handling device of claim 8 wherein the arms are integrally formed with the arm connectors, the arms and the arm connectors are each plate-shaped, the thickness direction of the arms coincides with the lateral direction of the stand, and the length direction of the arms coincides with the longitudinal direction of the stand.

10. The cargo handling device of claim 8, wherein each pair of arms includes a first arm and a second arm, and wherein the arm links include a first arm link and a second arm link spaced apart and oppositely disposed along the lateral direction of the riser, the first arm being connected to the first arm link and the second arm being connected to the second arm link.

11. The cargo handling device of claim 8 wherein the arm linkage is driven by one arm drive or a plurality of arm drives spaced apart in a vertical direction for movement in a longitudinal direction of the stand.

12. The cargo handling device of claim 11 wherein the arm drive is a linear motor, a lead screw drive, a rack and pinion drive, a belt drive, a chain drive, a pneumatic cylinder, or a hydraulic cylinder.

13. The cargo handling device of claim 1 or 2, wherein the linkage member comprises a drive rod and a plurality of links connected to the drive rod, the links being connected to corresponding stop bars, respectively, and the drive rod being movable in a vertical direction to drive all the stop bars to rotate synchronously via the plurality of links.

14. The cargo handling device of claim 13 wherein the arm is provided with a mounting block and the stop bar is pivotally mounted on the mounting block, the stop bar being provided with an arcuate guide slot within which the link bar is slidably engaged.

15. The cargo handling device of claim 13, wherein the drive rod includes a first drive rod and a second drive rod, a plurality of the links are arranged in a plurality of pairs, each pair of links includes first and second laterally spaced and opposing links along the upright,

each pair of arms comprising a first arm and a second arm, each arm of each pair of arms being provided with said stop bar thereon, said stop bar on each arm comprising a distal stop bar adjacent a distal end of said arm and a proximal stop bar adjacent a proximal end of said arm, the two distal stop bars on each pair of arms being opposed to each other in a lateral direction of said stand and the two proximal stop bars on each pair of arms being opposed in the lateral direction of said stand,

the first connecting rod is connected with the first driving rod and the first arm, the second connecting rod is connected with the second driving rod and the second arm, and the first driving rod and the second driving rod are driven by a single driving rod driver or driven by a plurality of driving rod drivers respectively.

16. The cargo handling device of claim 14 or 15 further comprising a plurality of pick-and-place conveyors provided on the stand in vertically spaced relation to one another and in one-to-one correspondence with the plurality of pairs of arms, the pick-and-place conveyors being for conveying cargo in a longitudinal direction of the stand, each of the pick-and-place conveyors being located beneath a corresponding pair of arms, wherein in the extended position, distal ends of the arms extend beyond the pick-and-place conveyors.

17. The cargo handling device of claim 16, further comprising a crane disposed within the vertical frame and movable in a vertical direction, the crane including a crane body and a plurality of transfer conveyors, the plurality of transfer conveyors corresponding one-to-one with at least some of the plurality of pick-and-place conveyors, the plurality of transfer conveyors disposed within the crane body at intervals in the vertical direction and adapted to be respectively aligned in synchronization with the at least some of the pick-and-place conveyors.

18. The cargo handling device of claim 17 wherein any of the pick-and-place conveyor and the transfer conveyor is a conveyor belt, a conveyor chain, or a conveyor roller bed.

19. A cargo conveying apparatus, comprising:

a carrier having a conveyor for conveying goods in a longitudinal direction of the carrier;

a self-driven robot for handling goods;

cargo handling apparatus for transferring cargo between the self-propelled robot and the carriage, the cargo handling apparatus being provided at least one end of the carriage in the longitudinal direction of the carriage, the cargo handling apparatus being according to any one of claims 1-18.

20. The cargo conveying apparatus according to claim 19, wherein the cargo-handling devices are respectively provided at both ends of the conveyor frame and are aligned with the conveyor frame.

21. The cargo conveying apparatus according to claim 19, wherein the carrier is a picking rack, and the cargo conveying apparatus further comprises a picking station provided at one side of the carrier for picking the cargo by a human or a robot arm.

22. A storage system comprising a cargo handling device according to any of claims 1-18.

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