CN217437664U

CN217437664U - Handling equipment and warehousing system

Info

Publication number: CN217437664U
Application number: CN202123382182.8U
Authority: CN
Inventors: 冯宇
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2021-12-29
Filing date: 2021-12-29
Publication date: 2022-09-16
Anticipated expiration: 2031-12-29

Abstract

The utility model discloses a haulage equipment and warehouse system. The carrying equipment comprises a base, a tray, a lifting assembly and a limiting piece, wherein the base is provided with a mounting plate; the tray is used for bearing the container; the bottom end of the lifting assembly is connected to the base, and the top end of the lifting assembly is connected to the tray so as to drive the tray to move between a lifting position and a withdrawing position; the retainer is pivotally connected to at least one of the mounting plate and the tray between a rest position and an actuated position, the retainer abutting the other of the mounting plate and the tray during movement of the tray from the raised position to the retracted position to pivot the retainer from the rest position to the actuated position, the retainer in the actuated position being at least partially positioned above the tray to inhibit movement of the container on the tray. According to the utility model discloses a haulage equipment can last the removal of the container on the restriction tray, guarantees that the container is in the middle of and accurate for the position of tray. And the universality is strong, and the device is suitable for various bins and materials.

Description

Handling equipment and warehousing system

Technical Field

The utility model relates to a material storage technical field, more specifically, the utility model relates to a haulage equipment and warehouse system.

Background

The existing tray of a movable robot such as an AGV does not have a positioning and centering function when lifting a bin on a shelf. This can result in errors accumulating after multiple cycles of picking and placing, causing the AGV to pick and place the bin on the rack inaccurately, or even the bin falls off the rack. A small number of AGV trays are provided with positioning pins, but the bins need to be customized again, and the cost is high.

Therefore, there is a need for a handling apparatus and a warehousing system that at least partially solve the problems of the prior art.

SUMMERY OF THE UTILITY MODEL

In the summary section a series of concepts in a simplified form is introduced, which will be described in further detail in the detailed description section. The inventive content of the present application does not imply any attempt to define the essential features and characteristics of the claimed solution, nor does it imply any attempt to determine the scope of the claimed solution.

According to the utility model discloses a first aspect provides a haulage equipment, haulage equipment includes:

a base having a mounting plate;

a tray for carrying containers;

the lifting assembly is connected to the base at the bottom end and connected to the tray at the top end so as to drive the tray to move between a lifting position and a withdrawing position; and

a stop pivotally connected to at least one of the mounting plate and the tray between a rest position and an actuated position, the stop abutting the other of the mounting plate and the tray during movement of the tray from the raised position to the retracted position to pivot the stop from the rest position to the actuated position, the stop in the actuated position being at least partially above the tray to prevent movement of the container on the tray.

According to the utility model discloses a handling equipment, including the locating part, the locating part sets up in at least one of them department in mounting panel and tray, along with the tray from lifting the position to the removal of withdrawing the position, the locating part can with another butt of mounting panel and tray to from the rest position pivot to actuating position, and the locating part that is located actuating position is located the side of tray and upwards extrudees out the tray, thereby can continuously restrict the removal of the container on the tray, guarantees that the container is centered and accurate for the position of tray. And the universality is strong, and the device is suitable for various bins and materials.

Optionally, the limiting member includes a first limiting member pivotably connected to the mounting plate about a first pivot axis, the first limiting member located at the actuating position is at least partially located at an outer side of the tray in a first direction, the first pivot axis extends in a second direction perpendicular to the first direction, and a bottom surface of the tray is configured to abut against the first limiting member.

Optionally, the tray includes a first recessed portion recessed from an edge of the tray in the first direction, and a mating portion located inside the first recessed portion in the first direction, a bottom surface of the mating portion being configured to abut against the first stopper.

Optionally, the first retaining member includes a first retaining claw for retaining the container on the tray, and when the first retaining member is located at the actuating position, the first retaining claw is higher than the tray.

Optionally, the first limiting member further includes a first roller for abutting against the bottom surface of the tray, and the first pivot is located between the first roller and the first limiting claw.

Optionally, the first limiting claw has a first side surface for limiting a container and a first guide surface connected to the first side surface, and an included angle between the first guide surface and the first side surface is greater than 90 degrees.

Optionally, the first limiting member includes a first portion located between the first roller and the first pivot shaft, and a second portion located between the first limiting claw and the first pivot shaft, and a length of the first portion is smaller than a length of the second portion.

Optionally, a top surface of the first portion and a top surface of the second portion are not coplanar, the top surface of the first portion of the first stop in the actuated position being lower than the top surface of the second portion.

Optionally, the mounting plate has a first support seat on an upper surface thereof to support the first pivot shaft.

Optionally, a projection of the first support saddle in a plane of the tray is at least partially located within the first recess.

Optionally, the outer periphery of the mounting plate has a mounting plate avoiding portion recessed inward in a first direction for accommodating the first limiting claw of the first limiting member located at the rest position.

Optionally, the limiting member comprises a second limiting member pivotably connected to the tray about a second pivot axis, and the second pivot axis extends in the first direction.

Optionally, the mounting plate comprises a protrusion on an upper surface of the mounting plate;

the protruding part is used for being abutted against the second limiting part.

Optionally, the second limiting member includes a first end and a second end opposite to the first end, the first end is connected to the tray through the second pivot shaft, the second end has a second roller and a second limiting claw, and when the second limiting member is located at the actuating position, the second limiting claw is higher than the tray.

Optionally, the tray comprises a body portion and a second recessed portion recessed from an end of the body portion in a second direction, the second retaining member in the actuated position being at least partially located in the second recessed portion; and/or

The tray has a second support base to support the second pivot shaft.

Optionally, the second limiting claw has a second side surface for limiting the container and a second guide surface connected to the second side surface, and an included angle between the second guide surface and the second side surface is greater than 90 degrees.

Optionally, the first end of the second limiting member has a cam portion, the cam portion extends in a direction opposite to the extending direction of the second limiting claw, and the cam portion is used for limiting the rest position of the second limiting member.

Optionally, the mounting plate has a through hole therethrough through which the lifting assembly extends.

Optionally, the limiting members include four first limiting members respectively connected to four corners of the mounting plate.

Optionally, the position limiting members include two second position limiting members disposed at two ends of the tray along a second direction perpendicular to the first direction.

According to a second aspect of the present invention, there is provided a storage system comprising a storage area, a pick-and-place device and a handling device as described in any one of the above; the storage rack is provided with a plurality of layers, each layer is provided with at least two goods positions in the depth direction, a space between the storage racks forms a first roadway, the position of the bottom layer of at least one surface, adjacent to the first roadway, of the storage racks is provided with a row of bottom layer goods positions, at least part of the bottom layer goods positions of the storage racks are provided with containers, and at least part of the high-rise goods positions of other high-rise layers of the storage racks except the bottom layer are provided with containers;

the picking and placing device is configured to take out the target container from the high-level goods space of the storage shelf and place the target container into the idle bottom-level goods space, or take out the target container from the bottom-level goods space and place the target container into the idle high-level goods space;

the carrying device is configured to take out the target container from the bottom cargo space or put the target container into the bottom cargo space, and carry the target container between the bottom cargo space and the destination point.

Optionally, the destination point is a workstation.

Optionally, the carrying device is further configured to, when the target container is carried to a workstation, lift the target container to a preset height by using the lifting assembly, so that the operating end at the workstation takes out goods from the target container or puts goods into the target container.

According to the utility model discloses a warehouse system includes foretell haulage equipment, haulage equipment includes the locating part, the locating part sets up in mounting panel and tray one department, along with the tray from lifting position to the removal of withdrawing the position, the locating part can with another butt of mounting panel and tray to from the rest position pivot to actuating position, and the locating part that is located actuating position is located the side of tray and upwards extrudees out of the tray, thereby can continuously restrict the removal of the container on the tray, guarantee that the container is centered and accurate for the position of tray. This scheme is through making the container all place between two parties for the tray at every turn, can avoid the container to drop from the tray on the one hand, and on the other hand can also prevent that handling equipment from getting a lot of from the goods position cycle and put the container after, the error accumulation for when putting into the goods position with the container, cause the slope of container, even drop from the goods position. In addition, this scheme commonality is strong, is applicable to various workbins and material.

Drawings

The following drawings of the present invention are used herein as part of the present invention for understanding the present invention. There are shown in the drawings, embodiments and descriptions of the invention, which are used to explain the principles and devices of the invention. In the drawings there is shown in the drawings,

fig. 1 is a schematic diagram of a warehouse handling scheduling system according to an embodiment of the present invention;

fig. 2 is a schematic view of a pick-and-place apparatus of the warehouse handling scheduling system shown in fig. 1;

figures 3 and 4 are side and perspective views, respectively, of the pick-and-place device shown in figure 2;

fig. 5 is a schematic perspective view of a handling apparatus according to an embodiment of the present invention;

FIG. 6 is a schematic perspective view of the handling apparatus (raised position) shown in FIG. 5;

FIG. 7 is another perspective view of the handling apparatus shown in FIG. 6, partially exploded to show the structures of the first and second position limiters;

FIG. 8 is a front view of the handling apparatus (raised position) shown in FIG. 7;

FIG. 9 is a side view of the handling apparatus (raised position) shown in FIG. 7;

FIG. 10 is another side view of the handling apparatus shown in FIG. 9 with the first stop member in a rest position;

FIG. 11 is a further side view of the transfer apparatus shown in FIG. 10 (retracted position) with the first stop in the actuated position;

FIG. 12 is another side view of the handling apparatus shown in FIG. 8 with the second stop member in a rest position; and

fig. 13 is another side view of the handling apparatus (retracted position) shown in fig. 12, wherein the second stop is in the actuated position.

Description of the reference numerals

100: the carrying device 110: base seat

111: mounting plate 112: projecting part

113: first support seat 114: through hole

115: mounting plate avoiding portion 120: tray

121: the body portion 122: first concave part

123: the fitting portion 124: second concave portion

125: second support seat 126: second support seat hole

130: the lifting assembly 131: power assembly

132: scissor fork assembly 140: first position limiting part

141: first portion 141a the top surface of the first portion

142: second portion 142 a: top surface of the second part

143: first roller 144: first limit claw

144 a: first guide surface 144 b: first side surface

145: first pivot shaft 146: first pivot axis hole

147: first roller hole 148: first roller shaft

150: second stopper 151: first end

152: second end 153: second roller

154: second stopper claw 154 a: second guide surface

154 b: second side surface 155: second pivotal axis

156: second pivot shaft hole 157: second roller hole

158: second roller shaft 159: cam part

200: the control center 210: goods space

220: the moving wheel 300: material box

212: the target container 102: pick-and-place equipment

106: destination point 108: storage shelf

101: the container conveyance mechanism 103: lifting mechanism

104: the cache shelf 105: drive unit

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that embodiments of the invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring embodiments of the present invention.

Ordinal words such as "first" and "second" are referred to herein merely as labels, and do not have any other meaning, e.g., a particular order, etc. Also, for example, the term "first component" does not itself imply the presence of "second component", and the term "second component" does not itself imply the presence of "first component".

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It is to be understood that the terms "upper", "lower", and the like are used herein for purposes of illustration only and are not to be construed as limiting.

The utility model discloses a haulage equipment and including this haulage equipment's warehouse system. Hereinafter, a handling apparatus and a warehousing system according to preferred embodiments of the present invention will be described in detail with reference to fig. 1 to 13.

Fig. 1 is a schematic diagram of a warehouse handling scheduling system provided in an embodiment of the present specification, the system being configured to implement picking and handling of goods in a warehouse, and the system including: one or more control centers 200, one or more pick-and-place devices 102, one or more handling devices 100 and one or more destination points 106, the warehouse through which the handling scheduling is performed by the system is composed of at least one storage rack 108, and each storage rack 108 in the warehouse is provided with multiple levels, the control centers 200 are in communication with the pick-and-place devices 102 and the handling devices 100, respectively.

In one or more embodiments of the present disclosure, the destination point 106 in the warehouse may be a location where a shelf for temporarily storing containers is located, or a location where a picking station is located, or a location where an ex-warehouse access point is located, or the destination point 106 may be a workstation, which is not limited in this description, and for convenience of description, the destination point 106 is described as a workstation in the following.

In addition, the space between each storage rack 108 in the warehouse forms a first lane, and each layer of the storage racks 108 is provided with at least two cargo spaces in the depth direction. In this specification, the depth direction of the storage rack 108 refers to a direction from a position adjacent to the first lane in the storage rack 108 to a position not adjacent to the first lane, and as shown in a schematic cross-sectional view of fig. 1, it can be seen that 3 positions are provided in the depth direction of each storage rack.

In this description the storage shelves 108 are provided with a row of floor slots 210 at the floor of at least one side adjacent to the first lane, as shown in fig. 1. The high-rise storage rack 108 is provided with high-rise cargo space, and at least part of the bottom cargo space 210 in the bottom layer of the storage rack 108 is provided with containers in which goods are stored when the warehouse is operated. At least some of the high levels of the storage shelves 108, other than the bottom level, have containers disposed therein.

In one or more embodiments provided herein, the floor of the storage rack 108 is not provided with a second lane formed by the space of the floor cargo space 210, and the second lane is used for the conveying apparatus 100 to travel, so it is necessary to pass through the floor of the storage rack 108.

In one or more embodiments provided in the present specification, the control center 200 may specifically be a warehouse server, and is configured to determine a cargo space where the cargo is placed after being put into the warehouse, a location to which the cargo needs to be transported when the cargo is taken out of the warehouse, and determine a transportation task. Of course, how to determine the cargo space of the warehouse, the placement position of the warehouse, and the generation of the transportation task are all tasks that the server of the intelligent warehouse needs to execute at present, and a mature solution exists, so that no limitation is imposed on how to determine the transportation task process by the control center 200 in this specification.

In one or more embodiments provided in the present specification, the number of the control centers 200 may be one or more, and for convenience of description, the control centers 200 are described as one in the following.

The control center 200 is configured to determine, according to a transportation task, a pick-and-place device 102 and/or a transportation device 100 that perform the transportation task, and send instructions for performing the pick-and-place task and the transportation task to the determined pick-and-place device 102 and the determined transportation device 100, respectively.

In one or more embodiments provided herein, the pick-and-place device 102 in the system travels in a first lane and is configured to retrieve a target container 212 indicated by a command from the high-level bay of the storage rack 108 and place the target container into an empty bottom-level bay 210 or retrieve the target container 212 indicated by the command from the bottom-level bay 210 and place the target container into the high-level bay 210 according to the command sent by the control center 200.

In one or more embodiments provided in the present specification, the handling device 100 in the system travels in the first lane and/or the second lane, and is configured to take out the target container 212 indicated by the instruction from the bottom cargo space 210 or put in the target container 212 indicated by the instruction to the bottom cargo space 210 according to the instruction sent by the control center 200, and handle the target container 212 indicated by the instruction between the bottom cargo space 210 and the destination 106.

In one or more embodiments, the handling apparatus 100 of the system is further configured to lift the target container 212 to a preset height by using a lifting assembly (described in detail below) when the target container 212 arrives at the workstation, so that the handling end at the workstation can take out the goods from the target container 212 or put the goods into the target container 212. The lifting assembly may perform the lifting operation after the handling apparatus 100 arrives at the workstation, or may perform the lifting operation in advance before the handling apparatus 100 arrives at the workstation. The "operation end" referred to in the present specification may be an operator, or may be an automated operation device, such as a robot arm or the like.

In this specification, the transport task includes at least: a process of transporting the target container 212 containing the goods from the cargo space to the destination point 106, i.e., a process of delivering the goods out of the warehouse, and a process of transporting the target container 212 containing the goods from the destination point 106 to the cargo space, i.e., a process of delivering the goods into the warehouse. It can be seen that in the system provided in the present specification, since the pick-and-place apparatus 102 can carry the carrier between the bottom cargo space and the upper cargo space, the pick-and-place apparatus 102 can be mainly used for performing the position switching of the target container 212 between the bottom cargo space and the upper cargo space, that is, the movement of the target container 212 in the vertical direction. The transporting apparatus 100 is mainly used for transporting the target container 212 between the different cargo space on the bottom floor and the target point 106, that is, the target container 212 moves in the horizontal direction.

Further, the pick-and-place device 102 has a high center of gravity because it needs to pick and place a container in a high cargo space, and its traveling speed is generally set low for safety, while the transport device 100 is used only for transporting a container in a bottom cargo space, and therefore has a low center of gravity and a traveling speed higher than that of the pick-and-place device 102. In addition, the conveying equipment 100 can run in the first roadway and the second roadway, so that the container can be conveyed while avoiding running in the same roadway as the picking and placing equipment 102 to the greatest extent, and the conveying efficiency is improved.

That is to say, the system provided in the present specification, through the arrangement of the storage rack 108, makes the warehouse include a first lane and a second lane, and utilizes the pick-and-place device 102 and the handling device 100 with different emphasis points to cooperatively execute tasks, so that the pick-and-place device 102 can be more mainly used for handling the target container 212 in the vertical direction, thereby avoiding the horizontal handling of the pick-and-place device 102 between the storage rack 108 and the destination point 106, and the handling device 100 completes the horizontal handling of the container between the bottom goods space and the destination point 106, and splits the handling task into a plurality of stages of different device execution, thereby improving the overall operating efficiency of the warehouse.

Based on the system shown in fig. 1, the storage shelves arranged in the warehouse take the space between the storage shelves as a first tunnel, the space penetrating through the bottom layer of the storage shelves without the bottom goods position at the bottom layer of the storage shelves is taken as a second tunnel, the picking and placing equipment runs in the first tunnel, the conveying equipment runs in the first tunnel and/or the second tunnel, and the picking and placing equipment and the conveying equipment are mixed to convey goods in the warehouse. The running speed of the carrying equipment capable of running at the bottom layer is not influenced by the height of the carrying equipment, and the running roadway of the carrying equipment can be different from that of the taking and placing equipment, so that the carrying equipment capable of running fast and the taking and placing equipment capable of carrying vertically cooperate to execute tasks, the problem caused by the slow running of the taking and placing equipment is avoided, and the carrying efficiency and the working efficiency of the warehouse are improved.

In addition, it should be further noted that the warehouse and the related method in the present specification are not only suitable for sorting and transporting goods in a warehousing scene, but also suitable for sorting and transporting goods such as finished products, semi-finished products or semi-finished products in a factory production scene, and the sorted goods are used for realizing a certain production link or for a certain production node. The present specification does not specifically limit a specific application scenario.

In this specification, the carrier is used for carrying cargo, but the specification is not limited to the specific form of the container, for example, the container may be a bin or the like, as long as the container can contain or support cargo.

Further, in the present specification, the occupancy rate of each floor of the cargo space, that is, the ratio of the cargo space where the containers are arranged to the total number of the cargo space, may be configured as needed. The occupancy rate of the high-rise goods space of the high-rise can be set between 0 and 100 percent, and the occupancy rate of the bottom goods space of the bottom layer can be set between 0 and 100 percent.

Fig. 2-4 are schematic views of the pick-and-place apparatus provided in the present specification, and it can be seen that the pick-and-place apparatus 102 includes a pick-and-place mechanism, which includes a container conveying mechanism 101 (i.e., a container conveying mechanism when the container is a container), and the container conveying mechanism 101 can be extended and retracted to take out the container from or place the container into a plurality of extended cargo spaces. The pick and place mechanism is mounted on the lifting mechanism 103 and is movable in a vertical direction to pick and place containers in alignment with the positions of the different layers. Fig. 3 shows that the pick-and-place device is provided with a buffer shelf 104, and the buffer shelf 104 is provided with a plurality of buffer positions in the height direction. The pick-and-place mechanism of the pick-and-place device 102 may rotate 90 degrees after taking out a container, and place the container in any free buffer position of the buffer shelf. The bottom of the pick-and-place apparatus is provided with a driving unit 105 capable of driving the pick-and-place apparatus to rotate or travel.

Further, since the pick-and-place device 102 may be configured with a buffer shelf including a plurality of buffer locations in this specification, when an obstructing container is located outside the target container 212, the pick-and-place device 102 is further configured to, when it is determined that the target container 212 indicated by the pick-and-place instruction is not located in the upper level cargo space adjacent to the first lane, take out and place the at least one obstructing container outside the upper level cargo space where the target container is located in the at least one buffer location on the buffer shelf of the pick-and-place device 102 according to the pick-and-place instruction, and then take out the target container 212.

That is, the buffer shelf of the pick-and-place device 102 may be used for buffering the target containers 212 corresponding to a plurality of pick-and-place tasks that need to be picked and placed, and may also temporarily store the blocking containers in the storage shelf 108 when picking and placing the target containers 212. Therefore, the picking and placing device 102 provided with the cache shelf can realize picking and placing tasks of a plurality of picking and placing devices 102 without the cache shelf, the control center 200 can send fewer picking and placing instructions according to the picking and placing tasks, the number of the picking and placing devices 102 operating in the warehouse can be fewer, and the traffic pressure of a first roadway is reduced.

Hereinafter, a carrying apparatus 100 according to a preferred embodiment of the present invention will be described in detail with reference to fig. 5 to 13.

Fig. 5 shows a handling device 100 according to a preferred embodiment of the invention. The handling device 100 according to the preferred embodiment of the present invention is particularly suitable for use in the logistics storage industry, for example, and may be used for docking goods or containers containing goods with shelves or conveying equipment. The term "container" as used herein includes bins 300 and other materials such as those having a rectangular parallelepiped shape.

In a preferred embodiment, the handling device 100 is an AGV (Automated Guided Vehicle). In other embodiments, the handling device 100 may also be an AMR or other autonomously movable mobile robot, which can be set by a person skilled in the art according to actual needs. The bottom of the carrier device 100 has moving wheels 220 for movement.

In the illustrated embodiment, the handling apparatus 100 includes a base 110, a tray 120, a lift assembly 130, and a restraint.

The base 110 may be configured to include a side wall and have a mounting plate 111. The mounting plate 111 is positioned above the side wall. In the illustrated embodiment, the mounting plate 111 extends in a substantially horizontal direction and is configured with a through hole 114, the through hole 114 penetrating the mounting plate 111 in the height direction D3.

The bottom end of the lift assembly 130 is disposed in the base 110, and the lift assembly 130 extends through the through hole 114 of the mounting plate 111. The illustrated lifting assembly 130 includes a power assembly 131 and a scissor fork assembly 132 coupled to the power assembly 131. The top end of the scissor fork assembly 132 is attached to the tray 120. Scissor fork assembly 132 may be of a construction conventional in the art. Further, the lift assembly 130 can be raised and lowered by the power assembly 131 such that the tray 120 at the top of the lift assembly 130 can be moved between a raised position (fig. 6, 7, 8, and 9) and a retracted position (fig. 5). In an embodiment not shown, the lift assembly 130 may also be other telescoping mechanisms such as a sleeve, a cylinder, etc.

A stop is pivotally connected to one of the mounting plate 111 and the tray 120, the stop abutting the other of the mounting plate 111 and the tray 120 during movement of the tray 120 from the raised position to the retracted position such that the stop pivots from the rest position to the actuated position, the stop in the actuated position being at least partially above the tray 120 to prevent movement of cargo on the tray 120.

According to the utility model discloses a handling equipment, including the locating part, the locating part sets up in mounting panel and tray one department, along with the tray from lifting the position to the removal of withdrawing the position, the locating part can with another butt of mounting panel and tray to from the rest position pivot to actuating position, and the locating part that is located actuating position is located the side of tray and protrudes out the tray to the top, thereby can continuously restrict the removal of the goods on the tray, guarantee that the goods is in the centre and accurate for the position of tray. And the universality is strong, and the device is suitable for various bins and materials.

The stoppers include a first stopper 140 pivotably coupled to the mounting plate 111 about a first pivot axis 145, and the first stopper 140 in the actuated position is at least partially located outside of the tray 120 in the first direction D1. The first pivot axle 145 extends in a second direction D2. The bottom surface of the tray 120 can abut against the first stopper 140. The first limiting member 140 is substantially L-shaped.

In the present application, the first direction D1 is perpendicular to the second direction D2. The first direction D1 and the second direction D2 are both perpendicular to the height direction D3.

Referring to fig. 6 and 7, in the illustrated embodiment, the tray 120 includes a body portion 121 and a first recessed portion 122 recessed from the body portion 121 along a first direction D1, and a mating portion 123 located inside the first recessed portion 122 along the first direction D1. The mating portion 123 is adjacent to the first recessed portion 122. The body portion 121 of the tray 120 is configured to be substantially rectangular. In the illustrated embodiment, the mating portion 123 is located at an end of the body portion 121 in the second direction D2. The matching portion 123 is used for abutting against the first limiting member 140. In the illustrated embodiment, each end of the tray portion in the first direction is provided with two engagement portions 123, respectively.

As can be seen in fig. 10 and 11, in the process of moving the tray 120 from the lifted position to the retracted position, the engaging portion 123 of the tray 120 moving from the top to the bottom can abut against the first stopper 140, so that the first stopper 140 pivots about the first pivot shaft 145. When the tray 120 moves to the retracted position, the first stopper 140 pivots to the actuating position (fig. 11). Thus, as will be described in detail below, the first limiting member 140 can limit the cargo.

Of course, in an embodiment not shown, the first recess 122 described above may not be provided. For example, the tray may be configured to have a through hole or the bottom surface of the tray may have a recess recessed upward in the height direction D3, whereby a portion of the first retaining member located at the actuating position may be received. In an embodiment not shown, the above-described recess or recess may not be provided.

The first limiting member 140 includes a first roller 143 for abutting against the engaging portion 123, and a first limiting claw 144 for limiting the goods on the tray 120. The first limiting claw 144 of the first limiting member 140 located at the actuating position (fig. 11) is higher than the tray 120, and the first pivot 145 is located between the first roller 143 and the first limiting claw 144. Thus, the first limiting member 140 can be constructed as a lever structure.

In the illustrated embodiment, the projection of the first roller 143 of the first position-limiting member 140 in the height direction D3 on the plane of the tray 120 is at least partially located in the engaging portion 123, so that the engaging portion 123 and the first roller 143 can abut against each other during the movement of the tray 120 in the height direction D3 from the lifting position to the retracting position (i.e., downward).

Further, the first limiting member 140 is provided with a first pivot hole 146. The first pivot shaft 145 extends through the first pivot shaft hole 146. The mounting plate 111 is provided with a first support 113. The first pivot shaft 145 is provided to the first support base 113. Further, as shown in fig. 5, a projection of the first supporting seat 113 in a plane in which the tray 120 is located is at least partially located in the first recess 122. The structure of the carrier apparatus 100 can be further made compact.

The first limiting member 140 is further provided with a first roller hole 147 for the first roller shaft 148 to extend through. Two first rollers 143 are respectively located at both ends of the first roller shaft 148. The first roller 143 is adapted to contact the engaging portion 123 to roll on a lower surface of the engaging portion 123, thereby smoothly converting a linear movement of the tray 120 from the lifted position to the retracted position along the height direction D3 into a pivotal movement of the first stopper 140 about the first pivot shaft 145.

With continued reference to fig. 7, optionally, the first holding jaw 144 has a first side surface 144b for holding the goods and a first guide surface 144a connected to the first side surface 144b, and an included angle between the first guide surface 144a and the first side surface 144b is greater than 90 degrees. For example, the included angle may be 120 to 150 degrees.

It will be appreciated that, with reference to fig. 10 and 11, during the pivoting of the first limiting member 140 from the rest position (fig. 10) to the actuated position (fig. 11), the angle of the first guide surface 144a of the first limiting pawl 144 with respect to the vertical direction (height direction D3) gradually decreases.

In this way, when there is a shift in the position of the bin 300 or the goods located on the tray 120, during the pivoting of the first limiting member 140 from the rest position to the actuated position, the first guide surface 144a of the first limiting pawl 144 can first contact the bin 300 or the goods and provide a force to the bin 300 or the goods in the first direction D1 towards the middle position of the tray 120, thereby assisting in centering the bin 300 or the goods.

Referring to fig. 5 to 7, and fig. 10 and 11, the first limiting member 140 includes a first portion 141 located between the first roller 143 and the first pivot 145, and a second portion 142 located between the first limiting pawl 144 and the first pivot 145, and a length of the first portion 141 is smaller than a length of the second portion 142. In this way, the first roller 143 of the first limiting member 140 located at the rest position may be located at a position higher than the top surface (the first guide surface 144a) of the first limiting claw 144, so as to avoid the first limiting claw 144 being higher than the tray 120 when the first roller 143 of the first limiting member 140 is not abutted against the tray, thereby avoiding the first limiting claw 144 from undesirably interfering with the goods or the bin 300. In addition, the first and

second portions

141 and 142 may be configured such that the first roller moves in the height direction D3 with a stroke smaller than that of the first stopping pawl 144 of the second portion 142 in the height direction D3. So that the structure at the mounting plate 111 can be made compact.

Further, as can be seen in fig. 7, 10 and 11, the top surface 141a of the first portion 141 is not coplanar with the top surface 142a of the second portion 142. The top surface 141a of the first portion 141 of the first stop 140 in the actuated position is lower than the top surface 142a of the second portion 142. In this manner, the first retention pawl 144 in the actuated position may be further raised above the first roller. It is further preferred that the difference in height between the top surface 141a of the first portion 141 and the top surface 142a of the second portion 142 is substantially equal to the thickness of the mating portion 123 of the tray 120. In this way, as shown in fig. 5 and 11, the mating portion 123 of the tray 120 abuts against the first roller 143, such that the first stopper 140 is located at the actuating position, and the second portion 142 can enter at least partially into the first recess 122, at which time the top surface 141a of the second portion 142 can be substantially coplanar with the top surface of the mating portion 123, so as to jointly support the bottom of the cargo 300.

As can be seen in fig. 6, the outer periphery of the tray 120 has a first recessed portion 122 recessed inwardly in the first direction D1 for receiving the second portion 142 of the first retaining member 140 in the actuated position. In the illustrated embodiment, four first stoppers 140 are respectively located at four corners of the mounting plate 111, and correspondingly, four corners of the tray 120 have four first recesses 122. The second portion 142 of the first retaining member 140 in the actuating position may be at least partially located in the first recess 122, thereby further making the structure of the handling apparatus 100 compact.

Also optionally, the outer periphery of the mounting plate 111 has a mounting plate escape 115 recessed inward in the first direction D1 for receiving the first retaining pawl 144 of the first retaining member 140 in the rest position. In this way, as can be seen in fig. 10, at least a part of the second portion 142 of the first limiting member 140 and at least a part of the first limiting pawl 144 may extend below the mounting plate 111 through the mounting plate escape portion 115, so that the structure of the first limiting member 140 and the mounting plate 111 may be further made compact.

During the movement of the tray 120 from the retracted position to the lifted position along the height direction D3, the engaging portion 123 moves upward and away from the first roller 143 of the first limiting member 140, and the first limiting member 140 can pivot from the actuating position to the rest position under the action of gravity.

The edge of the mounting plate 111 close to the mounting plate avoiding portion 115 can be used to support the first limiting member 140 located at the rest position, so as to limit the pivot angle of the rest position of the first limiting member 140 relative to the actuating position, and ensure that the first limiting member 140 can pivot normally.

The second limiting member 150 will now be discussed with reference to the drawings.

In the illustrated embodiment, the mounting plate 111 includes a projection 112 on an upper surface of the mounting plate 111. The projection 112 projects upward from the mounting plate 111. In the illustrated embodiment, the projection may be configured as a block member such as a stop. The second limiting member 150 is pivotally connected to the tray 120 about a second pivot shaft 155, and the second pivot shaft 155 extends along the first direction D1. The protruding portion 112 is used for abutting against the second limiting member 150. As can be seen in fig. 5 to 7, two second stoppers 150 are respectively located at both ends of the tray 120 in the first direction D1.

Further, the second limiting member 150 includes a first end 151 and a second end 152 opposite to the first end 151, the first end 151 is connected to the tray 120 through a second pivot shaft 155, the second end 152 has a second roller 153 and a second limiting claw 154, and the second limiting claw 154 in the actuating position (fig. 13) is higher than the tray 120. Unlike the lever structure of the first limiting member 140, the pivot axis of the second limiting member 150 is located at the end of the second limiting member 150.

Optionally, the tray 120 includes a body portion 121 and a second recessed portion 124 recessed from an end of the body portion 121 along the second direction D2, and the second stopper 150 in the actuating position is at least partially located in the second recessed portion 124. In the illustrated embodiment, the second recessed portion 124 is located between two mating portions 123 along the first direction D1.

Referring to fig. 7, the tray 120 has a second support 125 to support the second pivot shaft 155. In the illustrated embodiment, the second bearing 125 has a second bearing hole 126 for receiving an end of the second pivot shaft 155. The second shoe aperture 126 is located at least partially below the body portion 121 (the mating portion 123 of the illustrated embodiment). Further, second support seat 125 may be configured as a U-shaped structure that may be received at an innermost end of second recess 124 in second direction D2.

With continued reference to fig. 7, the second limiting member 150 is generally configured in an L-shape, and has a second pivot shaft hole 156 at the first end 151 thereof for extending the second pivot shaft 155 therethrough. The second end of the second limiting member 150 has a second roller hole 157 for the second roller shaft 158 to extend through. Two second rollers 153 are respectively disposed at both ends of the second roller shaft 158. The second roller 153 is for contacting the projection 112 to roll on the upper surface of the projection 112. Thereby smoothly converting the linear movement of the tray 120 in the height direction D3 from the lifted position to the retracted position into the pivotal movement of the second stopper 150 about the second pivot shaft 155.

In the illustrated embodiment, the projection of the second roller 153 of the second position-limiting member 150 in the height direction D3 on the plane of the mounting plate 111 is at least partially located in the projection of the protruding portion 112 on the plane of the mounting plate 111, so that the protruding portion 112 and the second roller 153 can abut during the movement of the tray 120 in the height direction D3 from the lifting position to the retracted position (i.e., downward).

Further, referring to fig. 7, a cam portion 159 protruding in the radial direction of the second pivot shaft 155 is provided at the first end 151 of the second stopper 150, and the extending direction of the cam portion 159 is opposite to the extending direction of the second stopper claw 154. The cam portion 159 is used to abut against the tray 120 to define the rest position of the second limiting member 150 (fig. 12), and prevent it from being opened excessively, so that the second limiting member 150 can be ensured to pivot normally.

During the movement of the tray 120 from the retracted position to the lifted position along the height direction D3, the second roller 153 of the second limiting member 150 moves upward and away from the protrusion 112, and the second limiting member 150 can pivot from the actuating position to the rest position under the action of gravity. The cam portion 159 can abut against the tray 120 to define the rest position of the second stopper.

With continued reference to fig. 7, optionally, the second restraint pawl 154 has a second side surface 154b for restraining the cargo and a second guide surface 154a connected to the second side surface 154b, the angle between the second guide surface 154a and the second side surface 154b being greater than 90 degrees. For example, the included angle may be 120 to 150 degrees.

It will be appreciated that, with reference to fig. 12 and 13, during the pivoting of the second limiting member 150 from the rest position to the actuated position, the angle of the second guide surface 154a of the second limiting pawl 154 with respect to the vertical direction (height direction D3) gradually decreases.

In this way, when there is a shift in the position of the bin 300 or the goods located on the tray 120, during the pivoting of the second limiting member 150 from the rest position to the actuated position, the second guide surface 154a of the second limiting pawl 154 can first contact the bin 300 or the goods and provide a force to the bin 300 or the goods in the second direction D2 towards the middle position of the tray 120, thereby contributing to the centering of the bin 300 or the goods.

It should be noted that, although the first limiting member 140 and the second limiting member 150 are shown in the illustrated embodiment, in an embodiment that is not shown, the handling apparatus 100 may include only the first limiting member 140 or only the second limiting member 150.

In addition, the present invention does not limit whether the height of the boundary (initial) abutting position between the first stopper 140 and the fitting portion 123 is the same as the height of the boundary (initial) abutting position between the second stopper 150 and the protruding portion 112. In other words, the first limiting member 140 can be abutted with the matching portion 123 first, and then the second limiting member 150 is abutted with the protruding portion 112; alternatively, the second limiting member 150 may be abutted with the protruding portion 112 first, and then the first limiting member 140 is abutted with the matching portion 123; alternatively, the first limiting member 140 abuts against the matching portion 123, and the second limiting member 150 abuts against the protruding portion 112.

Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Terms such as "part," "member," and the like, when used herein, can refer to either a single part or a combination of parts. Terms such as "mounted," "disposed," and the like, as used herein, may refer to one component as being directly attached to another component or one component as being attached to another component through intervening components. Features described herein in one embodiment may be applied to another embodiment, either alone or in combination with other features, unless the feature is otherwise inapplicable or otherwise stated in the other embodiment.

The present invention has been described in terms of the above embodiments, but it is to be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the invention to the described embodiments. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many more modifications and variations are possible in light of the teaching of the present invention and are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A handling apparatus, characterized by comprising:

a base (110) having a mounting plate (111);

a tray (120) for carrying containers;

a lifting assembly (130) having a bottom end connected to the base and a top end connected to the tray for moving the tray between a lifted position and a retracted position; and

2. The transfer apparatus of claim 1, wherein the stop comprises a first stop (140) pivotally connected to the mounting plate about a first pivot axis (145), the first stop in the actuated position being at least partially located outside of the tray in a first direction, the first pivot axis extending in a second direction perpendicular to the first direction, the bottom surface of the tray being configured to abut the first stop.

3. The transfer apparatus according to claim 2, wherein the tray includes a first recessed portion (122) recessed from an edge of the tray in the first direction, and an engaging portion (123) located inside the first recessed portion in the first direction, a bottom surface of the engaging portion being for abutment with the first stopper.

4. The transfer apparatus of claim 2, wherein the first stop comprises a first stop pawl (144) for stopping the container on the tray, the first stop pawl being higher than the tray when the first stop is in the actuated position.

5. The transfer apparatus according to claim 4, wherein the first stopper further comprises a first roller (143) for abutting against the bottom surface of the tray, and the first pivot shaft is located between the first roller and the first stopper claw.

6. The transfer apparatus of claim 4, wherein the first restraint pawl has a first side surface (144b) for restraining a container and a first guide surface (144a) connected to the first side surface, the first guide surface being at an angle greater than 90 degrees to the first side surface.

7. The conveying apparatus according to claim 5, wherein said first stopper includes a first portion (141) between said first roller and said first pivot shaft, and a second portion (142) between said first stopper claw and said first pivot shaft, and a length of said first portion is smaller than a length of said second portion.

8. The transfer apparatus of claim 7, wherein a top surface of the first portion and a top surface of the second portion are not coplanar, the top surface of the first portion of the first stop in the actuated position being lower than the top surface of the second portion.

9. A carrier device according to claim 3, characterised in that the upper surface of the mounting plate has a first support seat (113) to support the first pivot shaft.

10. A carrier device according to claim 9, characterised in that the projection of the first support seat in the plane of the tray is at least partly located in the first recess.

11. The handling apparatus according to any one of claims 4 to 8,

the periphery of the mounting plate is provided with a mounting plate avoiding part (115) which is recessed inwards along the first direction and is used for accommodating the first limiting claw of the first limiting part positioned at the rest position.

12. The transfer apparatus of claim 1,

the stop includes a second stop (150) pivotably connected to the tray about a second pivot axis (155) extending in a first direction.

13. The transfer apparatus of claim 12,

the mounting plate includes a projection (112) on an upper surface of the mounting plate;

the protruding part is used for being abutted against the second limiting part.

14. A handling device according to claim 12, characterized in that the second stop comprises a first end (151) connected to the tray by the second pivot axis and a second end (152) opposite the first end, the second end having a second roller (153) and a second stop claw (154), the second stop claw being higher than the tray when the second stop is in the activated position.

15. The transfer apparatus of claim 14,

the tray comprises a body portion (121) and a second recessed portion (124) recessed from an end of the body portion in a second direction, the second retaining member in the actuated position being at least partially located in the second recessed portion; and/or

The tray has a second support seat (125) to support the second pivot shaft.

16. Handling device according to claim 14 or 15,

the second limiting claw (154) is provided with a second side surface (154b) for limiting the container and a second guide surface (154a) connected with the second side surface, and the included angle between the second guide surface and the second side surface is larger than 90 degrees.

17. The transfer apparatus according to claim 14, wherein the second limiting member has a cam portion (159) at the first end thereof, the cam portion extending in a direction opposite to an extending direction of the second limiting pawl, the cam portion defining a rest position of the second limiting member.

18. The transfer apparatus of claim 1 wherein the mounting plate has a through hole (114) therethrough through which the lift assembly extends.

19. The transfer apparatus of claim 2, wherein the stops comprise four first stops (140) attached at four corners of the mounting plate, respectively.

20. The transfer apparatus according to claim 12, wherein the stoppers comprise two second stoppers (150) provided at both ends of the tray in a second direction perpendicular to the first direction.

21. A storage system comprising a storage area, a pick and place device and a handling device according to any of claims 1-20; the storage rack is provided with a plurality of layers, each layer is provided with at least two goods positions in the depth direction, a space between the storage racks forms a first roadway, the position of the bottom layer of at least one surface, adjacent to the first roadway, of the storage racks is provided with a row of bottom layer goods positions, at least part of the bottom layer goods positions of the storage racks are provided with containers, and at least part of the high-rise goods positions of other high-rise layers of the storage racks except the bottom layer are provided with containers;

the handling device is configured to take out target containers from the bottom cargo space or put target containers into the bottom cargo space, and handle the target containers between the bottom cargo space and a destination point.

22. The warehousing system of claim 21, wherein the destination point is a workstation.

23. The stocker system according to claim 22, wherein the handling apparatus is further configured to lift the target container to a predetermined height using the lifting assembly when the target container is handled to the workstation, so that the handling end at the workstation removes the goods from the target container or puts the goods into the target container.