CN218143672U

CN218143672U - Cargo handling equipment and double-box robot

Info

Publication number: CN218143672U
Application number: CN202222201141.2U
Authority: CN
Inventors: 乔智; 吴永海; 吴超
Original assignee: Hangzhou Hikrobot Co Ltd
Current assignee: Hangzhou Hikrobot Co Ltd
Priority date: 2022-08-19
Filing date: 2022-08-19
Publication date: 2022-12-27
Anticipated expiration: 2032-08-19

Abstract

The utility model discloses a cargo handling equipment and a double-box robot, wherein the cargo handling equipment comprises a handling mechanism and a storage mechanism; the carrying mechanism comprises a goods taking device and a first conveying device, wherein the goods taking device is used for carrying goods so that the goods can be transferred between the first conveying device and the shelf in a translation mode; the transmission direction of the first conveying device is intersected with the moving direction of the goods taking device; the storage mechanism is provided with a storage position, a second conveying device is correspondingly arranged on the storage position, and the conveying direction of the first conveying device is the same as that of the second conveying device; the first conveyor cooperates with the second conveyor to enable translational transfer of the cargo between the first conveyor and the storage location. Above-mentioned scheme can solve the great problem of whole volume of cargo handling equipment.

Description

Cargo handling equipment and double-box robot

Technical Field

The utility model relates to a storage logistics technical field especially relates to a cargo handling equipment and two punch-out equipment robots.

Background

The original warehouse logistics work needs to carry goods manually, which inevitably causes great labor intensity. Therefore, in the related art, the goods carrying equipment is adopted to carry goods, so that the warehousing efficiency is improved.

In the related art, a cargo handling apparatus includes a handling mechanism and a storage mechanism. When carrying goods, the goods carrying equipment is moved to the position of a goods shelf (goods shelf), the goods on the goods shelf are transferred to the storage mechanism through the carrying mechanism and then moved to the position to be carried, and the goods on the storage mechanism are unloaded to the goods shelf at the appointed position by the carrying mechanism.

However, in the above-mentioned goods taking and placing method, after the transporting mechanism takes the goods from the shelf, the goods needs to be rotated, the side of the goods departing from the goods taking mechanism faces the storage position of the storing mechanism, and then the goods is transported to the storage position for storage.

However, in order to prevent the goods from interfering or colliding with the storage mechanism during the rotation, the distance between the carrying mechanism and the storage mechanism needs to be set large, so that the overall volume of the goods carrying apparatus is large.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a cargo handling equipment and two punch-out equipment robots to solve the great problem of the whole volume of cargo handling equipment.

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

a cargo handling apparatus comprising:

the carrying mechanism comprises a goods taking device and a first conveying device, and the goods taking device is used for carrying goods so that the goods can be transferred between the first conveying device and the shelf in a translation mode; the transmission direction of the first conveying device is intersected with the moving direction of the goods taking device;

the storage mechanism is provided with a storage position, a second conveying device is correspondingly arranged on the storage position, and the conveying direction of the first conveying device is the same as that of the second conveying device; the first conveyor cooperates with the second conveyor to enable translational transfer of the cargo between the first conveyor and the storage location.

Optionally, the storage mechanism includes a first storage rack and a second storage rack, the first storage rack and the second storage rack both have storage locations, the storage locations are used for storing the goods, and the first storage rack and the second storage rack are distributed on the same side or two sides of the first conveying device along the conveying direction of the first conveying device; when the first storage rack and the second storage rack are distributed on the same side of the first conveying device along the conveying direction of the first conveying device, the first storage rack is located between the carrying mechanism and the second storage rack, or the first storage rack and the second storage rack face the first conveying device side by side.

Optionally, the cargo handling equipment further comprises a lifting mechanism, the lifting mechanism is connected with the handling mechanism, and the lifting mechanism is used for lifting the handling mechanism.

Optionally, first storage shelf with the second storage shelf all includes a plurality ofly the storage position, first storage shelf with a plurality of in the second storage shelf the storage position all is arranged along vertical direction interval, every the storage position corresponds and is provided with one second conveyor when goods handling device gets and puts goods, first conveyor and one of them the storage position corresponds second conveyor docks mutually.

Optionally, the storage positions of the same layer of the first storage rack and the second storage rack are arranged in a staggered manner.

Optionally, the cargo handling equipment further comprises a traveling mechanism and a base, and the handling mechanism and the storage mechanism are both arranged on the base; the base is arranged on the travelling mechanism, and the travelling mechanism drives the base to move.

Optionally, the cargo handling apparatus further comprises a rail and a base, and the handling mechanism and the storage mechanism are both disposed on the base; the base is in sliding fit with the rail, and the base can slide along the extending direction of the rail.

Optionally, the first conveying device includes a first transmission part and a first transmission part, and the first transmission part is connected with the first transmission part; the second conveying device comprises a third transmission part and a second transmission part, and the third transmission part is matched with the second transmission part;

the first conveying device further comprises a driving source and a second transmission part; the driving source is connected with the first transmission part through the first transmission part, and the first transmission part is matched with the second transmission part; the second transmission part can be matched with the third transmission part, so that the second transmission part drives the second transmission part through the third transmission part; or the second conveying device further comprises a driving source and a second transmission part, the driving source is connected with the second transmission part through the third transmission part, and the second transmission part is matched with the first transmission part; the second transmission part can be matched with the first transmission part, so that the second transmission part drives the first transmission part through the first transmission part.

Optionally, the first conveying portion includes a first roller set and a second roller set, each of the first roller set and the second roller set includes a plurality of rollers that are arranged at intervals along a conveying direction of the first conveying device and are parallel to each other, and the goods taking device is located between the first roller set and the second roller set.

Optionally, the extending direction of the rotation axes of the rollers in the first roller group and the second roller group is parallel to the conveying direction of the goods taking device.

Optionally, the first conveying device further includes a third roller set and a lifting mechanism, the third roller set includes a plurality of rollers that are arranged at intervals along the moving direction of the goods taking device and are parallel to each other, the first transmission portion is located between two adjacent rollers of the third roller set, the lifting mechanism is connected to the first transmission portion, and the lifting mechanism is used for lifting and lowering the first transmission portion, so that the surface of the first transmission portion is higher or lower than the surface of the roller in the third roller set.

Optionally, first storage frame with the second storage frame all includes support subject, second transmission portion includes transmission band, first transmission shaft and secondary drive axle, first transmission shaft with secondary drive axle all with support subject rotates to be connected, first transmission shaft with secondary drive axle parallels, the transmission band suit is in first transmission shaft with on the secondary drive axle, third transmission portion with support subject rotates to be connected, third transmission portion with first transmission shaft rotates to be connected.

Optionally, the goods taking device comprises a goods taking part, a first driving component and a second driving component, the goods taking part is arranged on the first driving component, the first driving component drives the goods taking part to move, the first driving component is connected with the second driving component, the second driving component drives the first driving component to move, and the moving direction of the first driving component is the same as the moving direction of the goods taking part.

Optionally, the goods taking part comprises a main body part and an adsorption part, the adsorption part is arranged on the main body part, the main body part is connected with the first driving assembly, the main body part is provided with a ventilation channel, the adsorption part is provided with a first through hole, and the ventilation channel is communicated with the first through hole.

Optionally, the first driving assembly includes a first driving motor, a first lead screw and a first guide rail, the first driving motor is fixed on the first guide rail, the first lead screw is rotatably connected with the first guide rail, and the extending direction of the first lead screw is parallel to that of the first guide rail, the goods taking part slides along the extending direction of the first guide rail relative to the first guide rail, the goods taking part is in transmission connection with the first lead screw, the first driving motor is connected with the first lead screw, and the first driving motor drives the goods taking part to move through the first lead screw;

the second driving assembly comprises a second driving motor, a second screw rod and a second guide rail, the second driving motor is fixed on the second guide rail, the second screw rod is rotatably connected with the second guide rail, the extending directions of the second screw rod and the second guide rail are parallel, the first guide rail slides along the extending direction of the second guide rail relative to the second guide rail, the extending direction of the first guide rail is parallel to the extending direction of the second guide rail, the first guide rail is in transmission connection with the second screw rod, the second driving motor is connected with the second screw rod, and the second driving motor drives the first guide rail to move through the second screw rod.

Optionally, the carrying mechanism includes a mounting bracket, the goods taking device and the first conveying device are both disposed on the mounting bracket, the lifting mechanism is connected to the mounting bracket, the lifting mechanism drives the goods taking device and the first conveying device to lift through the mounting bracket, the mounting bracket is provided with a first guide portion, the first storage rack and/or the second storage rack is provided with a second guide portion, and the first guide portion and the second guide portion are in sliding fit along the lifting direction of the mounting bracket.

Optionally, store the mechanism and still include position detection spare, the storage position is provided with position detection spare, position detection spare is used for detecting the storage is gone up to store the position information of goods, in order to detect whether the goods is deviated from preset position on the storage position.

Optionally, the position detecting element includes a first position detecting element and a second position detecting element, and the first position detecting element and the second position detecting element are arranged at intervals along the conveying direction of the second conveying device.

The double-box robot comprises the cargo carrying equipment, and the cargo carried by the double-box robot is a box.

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

the utility model discloses an among the cargo handling equipment, get the goods device and be used for getting goods to make the goods transmit between with first conveyor through getting the goods device, and the goods can transmit between the storage position that first conveyor and second conveyor correspond. In this scheme, get the goods device and be responsible for getting goods from goods shelves, and first conveyor and second conveyor are responsible for carrying out the translation transmission with the goods, and first conveyor's transmission direction is the same with second conveyor's transmission direction, consequently gets and puts the goods in-process, and the goods need not to rotate to make the goods need not to dodge cargo handling equipment's component structure, consequently cargo handling equipment's volume is less.

Drawings

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

fig. 1 to fig. 3 are schematic structural views of a cargo handling apparatus according to an embodiment of the present invention;

fig. 4 is a top view of a cargo handling apparatus according to an embodiment of the present invention;

fig. 5 and fig. 6 are schematic structural views of a conveying mechanism in the cargo conveying apparatus according to the embodiment of the present invention;

fig. 7 to 9 are schematic structural views of a cargo taking device in the cargo handling apparatus according to an embodiment of the present invention;

fig. 10 is a schematic structural view of a storage mechanism in the cargo handling apparatus according to an embodiment of the present invention.

Description of reference numerals:

100-conveying mechanism, 110-goods taking device, 111-goods taking part, 1111-main body part, 1112-adsorption part, 112-first driving component, 1121-first driving motor, 1122-first screw rod, 1123-first guide rail, 113-second driving component, 1131-second driving motor, 1132-second screw rod, 1133-second guide rail, 120-first conveying device, 121-first transmission part, 122-second transmission part, 123-first transmission part, 1231-first roller group, 1232-second roller group, 130-mounting bracket, 200-storage mechanism, 210-storage position, 220-second conveying device, 221-third transmission part, 222-second transmission part, 2221-conveying belt, 2222-first transmission shaft, 2223-second transmission shaft, 222230-bracket main body, 201-first storage bracket, 202-second storage bracket, 400-shelf and 500-base.

Detailed Description

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

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

As shown in the figures 1 to 10, the embodiment of the utility model discloses a cargo handling equipment, cargo handling equipment can replace artifical transport goods to can reduce artifical intensity of labour, improve storage material efficiency. The disclosed cargo handling apparatus includes a handling mechanism 100 and a storage mechanism 200.

The handling mechanism 100 comprises a pick device 110 and a first conveyor device 120, and the pick device 110 is used for handling goods so that the goods can be transferred between the first conveyor device 120 and the rack 400 in a translation manner. The conveying direction of the first conveying device 120 intersects with the moving direction of the goods taking device 110, and the conveying direction of the goods by the first conveying device 120 and the conveying direction of the goods by the goods taking device 110 are in two intersecting directions. The above-described cargo-handling equipment is mated to the pallet 400.

The storage mechanism 200 has a storage level 210, and the storage level 210 is used for storing goods. The storage mechanism 200 is a mechanism for storing goods in the goods handling apparatus itself, and the goods handling apparatus takes out the goods on the shelf 400, stores the goods in the storage mechanism 200, moves to the next shelf 400, and places the goods stored in the storage mechanism 200 on the shelf 400, thereby realizing the handling of the goods.

The storage mechanism 200 includes a first storage rack 201 and a second storage rack 202, the first storage rack 201 and the second storage rack 202 both have a storage level 210, and the first storage rack 201 and the second storage rack 202 are distributed on the same side or both sides of the first conveyor 120 along the conveying direction of the first conveyor 120.

In the specific operation process, the goods handling equipment comprises two operations of picking and placing goods, wherein the picking process refers to the process of transferring the goods from the goods shelf 400 to the storage mechanism 200 of the goods handling equipment. The put process refers to a process in which goods are transferred from the storage mechanism 200 of the goods handling apparatus onto the racks 400.

The load handling apparatus may move the load handling apparatus to the first target position corresponding to the rack 400 prior to picking and placing the load. The first target position is a position where the cargo handling apparatus takes or puts the cargo.

During the picking process, the picking device 110 is controlled to pick the goods and move the goods from the shelves 400 to the second target position of the first conveyor 120. Alternatively, the second target position may be a middle position of the first conveying device 120, and may also be other positions of the first conveying device 120, which is not limited herein.

The first conveyor 120 is activated to convey the cargo from the second target location of the first conveyor 120 to the storage location 210 of the storage mechanism 200.

During the put process, the goods are taken out of the stocker 210, placed on the first conveyor 120, and the first conveyor 120 is activated to convey the goods to the second target position of the first conveyor 120. Here, the goods can be pushed into the edge position of the first conveying device 120 by a human or other external force (e.g., a mechanical structure such as a mechanical arm), when the goods contacts the first conveying device 120, the first conveying device 120 drives the goods to move, so that the goods are transferred onto the first conveying device 120, and the first conveying device 120 continues to move, so as to convey the goods to the second target position. And then the goods taking device 110 is controlled to take the goods from the second target position, and the goods are conveyed to the shelf for storage.

In the embodiment disclosed in the present application, the first storage frame 201 and the second storage frame 202 are distributed on two sides or the same side of the first conveying device 120 along the conveying direction of the first conveying device 120, and the storage mechanism 200 is a dual-material frame structure, so that more storage locations 210 can be expanded, the storage and carrying capacity of the cargo carrying equipment is further improved, and the carrying efficiency is further improved.

In addition, the first storage rack 201 and the second storage rack 202 are distributed on two sides of the first conveying device 120 along the conveying direction of the first conveying device 120, and the first conveying device 120 can convey towards two sides, so that the conveying path of the goods can be reduced, and the conveying efficiency of the goods conveying equipment is further improved.

In the above embodiment, as shown in fig. 2 and 3, when the first storage rack 201 and the second storage rack 202 are along the same side of the first conveyor 120, the first conveyor 120 can perform goods transportation toward the same side. When the first storage rack 201 and the second storage rack 202 are located along the same side of the first conveying device 120, two arrangement manners are provided, as shown in fig. 2, the first arrangement manner is that the first storage rack 201 is located between the carrying mechanism 100 and the second storage rack 202, that is, the goods are first transferred to the first storage rack 201, and then the goods on the first storage rack 201 need to be transferred to the second storage rack 202 for storage. At this time, every time the second storage rack 202 stores the goods at the storage level 210 of the same layer as the first storage rack 201 during the transportation of the goods, the storage level 210 of the second storage rack 202 is stored first, and the storage level 210 on the first storage rack 201 is stored. However, when goods are released from the storage mechanism 200 in such an arrangement, in the case where the goods are stored in the first storage rack 201, the goods on the first storage rack 201 need to be released first, and then the goods on the second storage rack 202 need to be released.

The second arrangement is that the first storage rack 201 and the second storage rack 202 face the first conveying device 120 side by side, at this time, the first storage rack 201 and the second storage rack 202 can both realize goods transmission with the first conveying device 120, and when the goods are transmitted, the goods taking device 110 has two first target positions, and the two first target positions correspond to the first storage rack 201 and the second storage rack 202 respectively. In the second arrangement, the first storage rack 201 and the second storage rack 202 can be independently operated during the process of putting goods and picking goods.

In another alternative of the second arrangement, as shown in fig. 3, the first conveyor 110 may move along the arrangement direction of the first storage rack 201 and the second storage rack 202, so that the first conveyor is abutted with one of the storage racks.

In the above embodiment, the carrying mechanism 100 may rotate the goods by a certain angle and then transmit the goods to the storage location 210, or the carrying mechanism 100 may also transmit the goods to the storage location in a manner of translation transmission, that is, the carrying mechanism does not rotate the goods during carrying.

For example, the picking device 110 rotates the goods by 90 ° after picking the goods, and then conveys the goods through the first conveyor 120. Or the goods taking device may not rotate after taking the goods, and the goods are conveyed by the first conveying device 120.

In another alternative embodiment, the storage level 210 may be provided with the second conveyor 220, and the conveying direction of the first conveyor 120 and the conveying direction of the second conveyor 220 may be the same. The first conveyor 120 cooperates with the second conveyor 220 to allow the transfer of goods in translation between the first conveyor 120 and the stocker 210.

During the picking process, the picking device 110 is controlled to pick the goods and move the goods from the shelves 400 to the second target position of the first conveyor 120. The first conveyor 120 and the second conveyor 220 are started to convey the goods from the second target position of the first conveyor 120 to the edge of the second conveyor 220, a part of the goods can be overlapped on the second conveyor 220, the second conveyor 220 receives the goods, the goods are transferred from the first conveyor 120 to the second conveyor 220, and the second conveyor 220 moves continuously and conveys the goods to the third target position to store the goods on the storage position 210. Alternatively, the third target position may be a middle position of the second conveyor 220. Of course, other positions of the second conveying device 220 are also possible, and the present disclosure is not limited thereto.

At this time, the goods are transferred onto the second transfer device 220 by the first transfer device 120, and then the second transfer device 220 transfers the goods to the third target position for storage. The second conveying device 220 is used for both receiving the goods conveyed by the conveying mechanism 100 or conveying the goods to the conveying mechanism 100 by the storage mechanism 200 and supporting the goods, that is, when the goods are stored at the storage position 210 of the storage mechanism 200, the goods are placed on the second conveying device 220, that is, the storage mechanism 200 itself has a conveying function.

During the putting process, the first conveyor 120 and the second conveyor 220 are started, the goods are conveyed from the third target position of the second conveyor 220 to the edge of the first conveyor, a part of the goods can be overlapped on the first conveyor 120, the goods are transferred to the first conveyor 120 by the second conveyor 220, and the first conveyor 120 moves continuously and transfers the goods to the second target position. At this time, since the storage mechanism 200 itself has a transfer function, during the cargo putting process, the second conveyor 220 is reversed to transfer the cargo onto the first conveyor 120, and the first conveyor 120 is also reversed to receive the cargo and transfer the cargo to the second target position, i.e., the position where the cargo can be grabbed by the cargo picker 110. The above-mentioned reverse rotation of the first conveyor 120 and the second conveyor 220 is relative to the rotation direction of the first conveyor 120 and the second conveyor 220 during the fetching process of the storage rack on the same side.

In the embodiment disclosed in the application, storage mechanism self has transmission ability to need not the manual intervention transmission, improved haulage equipment's transmission efficiency. In addition, the goods taking device 110 is responsible for grabbing goods, and the first conveying device 120 and the second conveying device 220 are responsible for carrying out translation transmission on the goods, so that the goods do not need to rotate in the goods taking and placing process, the goods do not need to avoid the composition structure of the goods carrying equipment, and the size of the goods carrying equipment is small. Meanwhile, the size of the cargo handling equipment is small, so that the space of a roadway required for conveying the cargoes is small, the space of the roadway of the warehousing system can be reduced, the space utilization rate of the warehousing system is improved, and the warehousing cost is reduced.

In order to improve the storage capacity, the rack 400 is generally arranged with a plurality of storage positions in a vertical direction. In this embodiment, the picking and placing positions of the carrying mechanism 100 are fixed, and the carrying mechanism 100 is opposite to the material inlet and outlet of the shelf 400, where the material inlet and outlet may be a storage position of the shelf 400. In the goods taking process, goods can be carried to the positions of the material inlet and the material outlet of the goods shelf 400 through manual work or other external force, then the carrying mechanism 100 takes the goods, and after the carrying mechanism 100 takes the goods, the next goods is carried to the material inlet and the material outlet through manual work or other external force. In the process of placing goods, the goods discharged from the material inlet/outlet are sequentially carried to the storage position of the shelf 400 by manual work or other external force. In the embodiment, external force is needed to assist in taking and putting goods, so that the operation difficulty is high.

Based on this, in another alternative embodiment, the cargo handling apparatus may further include a lifting mechanism, which is connected to the handling mechanism 100, and the lifting mechanism may be used to lift the handling mechanism 100.

In the above embodiment, in the process of picking up the goods, the carrying mechanism 100 is first lifted to the storage location to be picked up by the lifting mechanism, then the goods on the storage location are taken out by the goods picking device 110, then the carrying mechanism 100 is lifted to the location corresponding to the storage location 210 by the lifting mechanism, and then the goods are conveyed from the second target location to the third target location.

In the process of placing the goods, the goods on the storage positions 210 are first conveyed from the third target position to the second target position, and then the carrying mechanism 100 is lifted by the lifting mechanism to a position corresponding to one of the storage positions. The goods are then moved from the second target location to the storage location by the pickup device 110.

In this scheme, elevating system can go up and down to the position of transport mechanism 100 to can remove transport mechanism 100 to the position that corresponds with different storage positions, and then reduced the degree of difficulty of cargo handling.

Alternatively, the lifting mechanism may be a chain block (the chain block may also be referred to as a chain block, a hand block, a jack, or a chain block), or the lifting mechanism may also be a combined structure of a pulley and a chain, although the lifting mechanism may also be other structures without limitation herein.

In order to further improve the warehousing capacity, in another alternative embodiment, each of the first storage rack 201 and the second storage rack 202 may include a plurality of storage positions 210, and the plurality of storage positions 210 in each of the first storage rack 201 and the second storage rack 202 may be arranged at intervals along the vertical direction. One second conveyor 220 is provided for each storage level 210. When the goods handling device takes in and out the goods, the first conveyor 120 is butted against the second conveyor 220 corresponding to one of the stock locations 210. The first conveyor 120 is coupled to the second conveyor 220 corresponding to one of the storage locations 210, which means that the first conveyor 120 and the second conveyor 220 corresponding to one of the storage locations 210 are at the same height, and the goods can be transferred between the first conveyor 120 and the second conveyor 220.

In this scheme, the quantity of storage position 210 can be a plurality of, has consequently further increased cargo handling equipment's capacity to make cargo handling equipment can carry more goods simultaneously, improved cargo handling equipment's handling efficiency. In addition, the material storage position is expanded along the height direction of the cargo handling equipment, so that the length direction and the width direction of the cargo handling equipment are favorably reduced, the space of a roadway required by the cargo handling equipment is smaller, and the space of the roadway of the warehousing system is further reduced.

In the above embodiment, during the picking process, after the picking device 110 picks the goods and moves the goods from the rack 400 to the second target position of the first conveyor 120, the carrying mechanism 100 is lifted to find the storage position 210 for storing the goods and store the goods in the storage position 210. In the process of putting goods, the carrying mechanism 100 is lifted to find the storage location 210 to be put, and the goods in the storage location 210 are conveyed into the first conveying device 120, and then the carrying mechanism 100 is lifted to lift the carrying mechanism 100 to the position of the shelf 400 where the goods are to be stored.

In the above embodiment, the heights of the storage locations 210 on the same layer of the first storage rack 201 and the second storage rack 202 may be the same, and at this time, if a malfunction occurs, the goods that should be originally transferred into the first storage rack 201 are easily transferred into the second storage rack 202, or the goods that should be originally transferred into the second storage rack 202 are also easily transferred into the first storage rack 201, which causes disorder in goods storage.

To this end, in another alternative embodiment, the storage positions 210 of the same layer of the first storage rack 201 and the second storage rack 202 are arranged in a staggered manner. Optionally, one of the storage levels 210 of the first storage rack 201 is at a different height than the corresponding (e.g., same level) storage level 210 of the second storage rack 202.

In this scheme, when taking place the maloperation, because the storage position 210 of the same layer of first storage frame 201 and second storage frame 202 is crisscross arranges, consequently should transmit the goods that first storage frame 201 into when second storage frame 202 by second storage frame 202 outside, can not enter into second storage frame 202, consequently improved the security and the reliability of goods transmission.

In an alternative embodiment, the cargo handling apparatus may further comprise a traveling mechanism, and both the handling mechanism 100 and the storage mechanism 200 may be disposed on the base. The base 500 may be disposed on a traveling mechanism, and the traveling mechanism may drive the base 500 to move. In this scheme, running gear passes through the base and drives transport mechanism and store the mechanism and remove to the transport of goods is carried out to the cargo handling equipment of being convenient for, reduces artifical intervention to the cargo handling, thereby reduces operating personnel's intensity of labour.

In this case, the traveling mechanism may be an Automated Guided Vehicle (AGV), or may be a universal wheel mechanism, although the traveling mechanism may also be other structures, which is not limited herein.

In another alternative embodiment, the cargo handling apparatus may further comprise a rail and a base 500, wherein the handling mechanism 100 and the storage mechanism 200 are both disposed on the base 500; the base 500 is slidably engaged with the rail, and the base 500 is slidable along the extending direction of the rail. In this scheme, the track can be laid on the ground in tunnel, and goods handling equipment moves along orbital extending direction for goods handling equipment is difficult to deviate its route of travel at the in-process that moves.

In the above embodiment, the first conveyor 120 and the second conveyor 220 can be driven separately, and in this case, the first conveyor 120 and the second conveyor 220 can have independent driving sources, which results in large energy consumption of the cargo-handling apparatus.

Based on this, in another alternative embodiment, the first conveying device 120 may include a first transmission part 121 and a first transmission part 123, and the first transmission part 121 is connected with the first transmission part 123. The first transfer part 123 is used to carry and transfer goods. The first transmission part 121 is used to drive the first transmission part. The second conveying device 220 may include a third transmission part 221 and a second transmission part 222, and the third transmission part 221 is engaged with the second transmission part 222. The second transfer part 222 is used to carry and transfer the goods, and the third transfer part 221 is used to drive the second transfer part 222.

The first conveying device 120 may further include a driving source and a second transmission part 122, the driving source may be connected to the first transmission part 123 through a first transmission part 121, and the first transmission part 121 is engaged with the second transmission part 122. The second transmission part 122 may cooperate with the third transmission part 221, such that the second transmission part 122 drives the second transmission part 222 through the third transmission part 221.

The transmission path of the driving source is two paths, wherein one path is that the driving source drives the first transmission part 123 to rotate through the first transmission part 121, and the other path is that the driving source drives the second transmission part 222 to rotate through the first transmission part 121, the second transmission part 122 and the third transmission part 221. At this time, the driving source can simultaneously drive the first and

second transfer portions

123 and 222 to transfer the goods, so that the first and second conveying

devices

120 and 220 can share the driving source, thereby simplifying the structure and operation of the goods-handling apparatus and reducing the energy consumption of the goods-handling apparatus.

Or, in another alternative embodiment, the second conveying device 220 may further include a driving source and a second transmission part 122, and the driving source may be connected with the second transmission part 222 through a third transmission part 221. The third transmission part 221 is connected to the second transmission part 122, and the second transmission part 122 can cooperate with the first transmission part 121, so that the second transmission part 122 drives the first transmission part 222 through the first transmission part 121. The effect achieved by the scheme is the same as that achieved by the scheme, and the detailed description is omitted.

Alternatively, the first transmission part 123 may be a transmission belt, a chain, etc., the first transmission part 121 may include a driving wheel and a driven wheel, the transmission belt or the chain may be wound around the driving wheel and the driven wheel, the driving source drives the driving wheel to rotate, and the driving wheel drives the driven wheel to rotate through the transmission belt or the chain.

The second transmission part 122 and the third transmission part 221 may be both gear sets, and the second transmission part 222 may be a belt transmission mechanism, a chain transmission mechanism, or a roller transmission mechanism, which is not limited herein. The second transmission portion 122 is disposed coaxially with the driving wheel, the driving wheel drives the second transmission portion 122 to rotate, and the second transmission portion 122 drives the third transmission portion 221 to rotate, so as to drive the second transmission portion 222 to rotate. The second transmission part 122 and the third transmission part 221 may also be a combination structure of a gear set and a sheave, and the sheave on the second transmission part 122 is matched with the sheave on the third transmission part 221. Of course, the first conveying device 120 and the second conveying device 220 may have other structures, and the structure is not limited herein.

When the first storage rack 201 and the second storage rack 202 are on the same side and in the first arrangement, the first conveyor 120 may drive the second conveyor 220 of the first storage rack 201 to move, and the second conveyor 220 of the second storage rack 202 may be driven by the second conveyor 220 of the first storage rack 201.

In another alternative embodiment, the first conveying device 120 further includes a third roller set and a lifting mechanism, the third roller set may include a plurality of rollers that are spaced apart and parallel to each other along the moving direction of the goods taking device 110, and the first transmission part 123 is located between two adjacent rollers of the third roller set. A lifting mechanism is connected to the first transfer part 123, and the lifting mechanism may be used to lift the first transfer part 123 so that the surface of the first transfer part 123 is higher or lower than the surface of the rollers in the third roller set.

In a specific operation, when the picking device 110 picks or puts goods from or on the shelf 400, the surface of the first transfer part 123 needs to be lower than the surface of the roller of the third roller set, so that the transfer of the goods is not hindered. When the first conveying device conveys the goods, the lifting mechanism lifts the first conveying part 123, so that the goods loaded on the third roller set can be in contact with the first conveying part 123, and the goods can be conveyed.

In this scheme, the third roller group includes that a plurality of moving direction intervals along getting goods device 110 are arranged, can increase the support area of first conveyor to the goods to avoid the goods to drop from first conveyor at the in-process of transmission, and then improved the security and the reliability of goods transmission.

The lifting device may be a pneumatic cylinder, a hydraulic cylinder, a linear motor, or other structures, which is not limited herein.

In another alternative embodiment, the first transmission part 123 may include a first roller set 1231 and a second roller set 1232, each of the first roller set 1231 and the second roller set 1232 may include a plurality of rollers that are spaced apart along the transmission direction of the first conveying device 120 and are parallel to each other, and the goods taking device 110 may be located between the first roller set 1231 and the second roller set 1232.

In this scheme, adopt the cylinder to carry out the goods transmission, the compound mode of cylinder is various, therefore the transmission mode is comparatively nimble. In addition, the goods taking device 110 is located between the first roller set 1231 and the second roller set 1232, and at this time, the first conveying part 123 supports two sides of the goods, so that compared with a supporting mode for one side of the goods, the goods can be prevented from falling off from the first conveying part 123 by adopting a supporting mode for two sides, and the safety and the reliability of goods conveying are improved.

Alternatively, the first transmission part 121 may include a driving pulley, a driven pulley, and a transmission belt. The driving source is connected with the driving wheel, the driven wheel is connected with one of the rollers, the driving source drives the driving wheel to rotate, the driving wheel drives the driven wheel to rotate through the transmission belt, and the driven wheel drives one of the rollers to rotate, so that the transmission operation of the first conveying device 120 is realized.

Each of the rollers in the above embodiments may be provided with a driving source and a first transmission part 121 to drive the rollers. Of course, two adjacent rollers may be connected by a belt or a chain, so that all the rollers of the roller set rotate, and only one or a small number of driving sources and the first transmission part 121 may be provided to drive all the rollers to rotate.

In the above embodiment, the extending direction of the rotation axes of the rollers in the first roller set 1231 and the second roller set 1232 may be perpendicular to the conveying direction of the goods-taking device 110. At this time, the transport direction of the first roller set 1231 and the second roller set 1232 is parallel to the moving direction of the pickup device 110. At this time, the goods taking device 110 takes goods forward, and the first roller set 1231 and the second roller set 1232 convey the goods backward, so that the goods are blocked when the goods taking device 110 protrudes from the rollers of the first roller set 1231 and the second roller set 1232, and therefore, the goods taking device 110 needs to be lowered to a position below the rollers of the first roller set 1231 and the second roller set 1232. In this case, the position of the pickup device 110 relative to the first conveying device 120 needs to be adjusted, so that an adjusting device needs to be added to the conveying mechanism 100, which makes the structure of the conveying mechanism 100 complicated.

In this regard, in another alternative embodiment, the axes of rotation of the rollers in the first and second roller sets 1231, 1232 extend in a direction parallel to the direction of transport of the pickup device 110. At this time, the transmission direction of the first roller set 1231 and the second roller set 1232 is perpendicular to the moving direction of the goods taking device 110, that is, when the goods taking device 110 takes goods forward, the first roller set 1231 and the second roller set 1232 transport the goods to two adjacent sides, so that the goods will not be blocked by the goods taking device 110, and the goods taking device 110 does not need to be lifted or lowered, thereby simplifying the structure of the transporting mechanism 100.

In an alternative embodiment, the first magazine 201 and the second magazine 202 may each include a rack body 230, wherein the rack body 230 has the above-mentioned storage positions 210 thereon. The second transmission part 222 may include a transmission belt 2221, a first transmission shaft 2222 and a second transmission shaft 2223, the first transmission shaft 2222 and the second transmission shaft 2223 are both rotatably connected to the bracket main body 230, the first transmission shaft 2222 is parallel to the second transmission shaft 2223, and the transmission belt 2221 may be sleeved on the first transmission shaft 2222 and the second transmission shaft 2223. Specifically, fixed synchronizing wheel that is provided with on first transmission shaft 2222 and the second transmission shaft 2223, synchronizing wheel and first transmission shaft 2222 and second transmission shaft 2223 rotate together, and transmission band 2221 suit is on synchronizing wheel. The third transmission part 221 is rotatably connected to the holder main body 230, and the third transmission part 221 is rotatably connected to the first transmission shaft 2222. In this scheme, the storage mechanism 200 has a simple structure, is convenient to manufacture, and has a low cost.

Alternatively, the third transmission part 221 may include a sheave rotatably connected to the bracket body 230 through a shaft, and a belt, the belt is sleeved on the shaft and the first transmission shaft 2222, when the second transmission part 122 drives the sheave to rotate, the sheave drives the shaft to rotate, and the shaft drives the first transmission shaft 2222 to rotate through the belt.

In the above embodiment, the lifting mechanism may be provided on the stand main body 230, thereby further simplifying the structure of the cargo handling apparatus.

In another alternative embodiment, the goods picking device 110 may include a goods picking portion 111, a first driving assembly 112 and a second driving assembly 113, the goods picking portion 111 may be disposed on the first driving assembly 112, the first driving assembly 112 may drive the goods picking portion 111 to move, and the first driving assembly 112 may be connected to the second driving assembly 113. The second driving assembly 113 may drive the first driving assembly 112 to move, and the moving direction of the first driving assembly 112 may be the same as the moving direction of the goods taking part 111. The first driving assembly 112 can drive the goods taking part 111 to move independently.

This scheme can increase the removal stroke of getting goods portion 111 to the extension is got goods portion 111 and is snatched the distance of goods, thereby makes to get goods device 110 and can snatch the goods of long distance, improves the ability of getting goods device 110.

In addition, by providing the first driving assembly 112 and the second driving assembly 113, the moving rate at which the first driving assembly 112 drives the goods taking part 111 and the moving rate at which the second driving assembly 113 drives the goods taking part 111 are different. At this time, the second driving assembly 113 can drive the goods taking part 111 to move rapidly, so that the moving speed of the goods taking part 111 is increased. When the goods taking part 111 approaches the designated position for placing goods, the goods taking part 111 can be driven to move slowly by the first driving component 112, so that the goods can be prevented from colliding with other parts due to too high moving speed. In this case, the moving speed of the goods taking device 110 can be increased, and the safety and reliability of goods transmission can be improved.

In the above embodiment, the first driving assembly 112 and the second driving assembly 113 may be powered structures such as an air cylinder, a hydraulic cylinder, a linear motor, and the like, and of course, the first driving assembly 112 and the second driving assembly 113 may also be powered structures other than these structures, which is not limited herein.

In the above embodiment, the goods taking part 111 may take the goods by using a hook or a claw. At this time, a specific hanging part needs to be installed on the goods or a specific clamping position needs to be set, so that the goods taking device 110 can only carry the goods, and more types of goods are difficult to be compatible.

In another alternative embodiment, the goods taking part 111 includes a main part 1111 and a suction part 1112, the suction part 1112 may be disposed on the main part 1111, and the main part 1111 may be connected to the first driving assembly 112. The main body 1111 may be formed with a ventilation channel, and the suction member 1112 may be formed with a first through hole, the ventilation channel being communicated with the first through hole.

This scheme can ventilate or bleed the ventilation channel, and when bleeding the ventilation channel, the ventilation channel is the negative pressure, and the goods can adsorb on adsorbate 1112 this moment. When the ventilation channel is ventilated, positive pressure is present in the ventilation channel, so that desorption of the cargo is achieved. The goods taking part 111 with the structure has lower requirements on the type, the material and the shape of the goods, so that more types of goods can be compatible, and the compatibility of the carrying mechanism 100 is improved.

The pickup unit 111 disclosed in the present application is not limited to the above configuration, and may pick up a product by electrostatic adsorption.

In another alternative embodiment, the number of the suction members 1112 may be at least two, at least two suction members 1112 may be respectively located on two opposite sides of the main body portion 1111, and the at least two suction members 1112 may be arranged along the moving direction of the goods taking portion 111.

In this embodiment, at least two suction members 1112 may be respectively located on opposite sides of the main body portion 1111, so that the goods taking portion 111 may grab the goods in two opposite directions, thereby increasing the goods taking direction of the goods taking device 110. At this moment, when the goods handling device is taking and putting goods on two opposite shelves 400, only the goods handling device 110 is required to be moved towards different directions, and the goods handling device and the handling mechanism 100 are not required to be integrally rotated, so that the space of a roadway of the warehousing system is further reduced, the space utilization rate of the warehousing system is further improved, and the warehousing cost is reduced.

In another alternative embodiment, the first driving assembly 112 may include a first driving motor 1121, a first lead screw 1122, and a first guide rail 1123, the first driving motor 1121 may be fixed on the first guide rail 1123, and specifically, a mounting plate may be disposed on the first guide rail 1123, and the first driving motor 1121 is mounted on the mounting plate. The first lead screw 1122 may be rotatably connected to the first guide rail 1123, and the extending directions of the first lead screw 1122 and the first guide rail 1123 may be parallel. The goods taking part 111 can slide along the extending direction of the first guide rail 1123 relative to the first guide rail 1123, the goods taking part 111 is in transmission connection with the first lead screw 1122, the first driving motor 1121 can be connected with the first lead screw 1122, and the first driving motor 1121 can drive the goods taking part 111 to move through the first lead screw 1122.

The second driving assembly 113 may include a second driving motor 1131, a second lead screw 1132 and a second guide rail 1133, and the second driving motor 1131 may be fixed on the second guide rail 1133, and in particular, the second driving motor may be fixed on the mounting bracket 130 for carrying the second guide rail. The second lead screw 1132 can be rotatably connected with the second guide rail 1133, and the extension directions of the second lead screw 1132 and the second guide rail 1133 are parallel, and the first guide rail 1123 slides along the extension direction of the second guide rail 1133 relative to the second guide rail 1133. The extending direction of the first guide rail 1123 is parallel to the extending direction of the second guide rail 1133, the first guide rail 1123 is in transmission connection with the second lead screw 1132, the second driving motor 1131 is connected with the second lead screw 1132, and the second driving motor 1131 can drive the first guide rail 1123 to move through the second lead screw 1132.

In this scheme, lead screw and guide rail have good guiding performance, therefore can further improve the removal precision of get goods device 110.

In the above embodiment, the carrying mechanism 100 is likely to shake during the lifting process, the goods on the carrying mechanism 100 is likely to be thrown out, or the carrying mechanism 100 is likely to collide with other mechanisms.

Based on this, in another alternative embodiment, the carrying mechanism 100 may include a mounting bracket 130, and both the goods taking device 110 and the first conveying device 120 may be disposed on the mounting bracket 130, and the lifting mechanism is connected to the mounting bracket 130. The lifting mechanism may drive the goods taking device 110 and the first conveying device 120 to lift and lower through the mounting bracket 130, and the mounting bracket 130 may be provided with a first guiding portion. The first magazine 201 and/or the second magazine 202 may be provided with a second guide. The first guide portion and the second guide portion may be slidably fitted in the ascending and descending direction of the mounting bracket 130.

In this scheme, in the in-process that transport mechanism 100 goes up and down, first guide part and second guide part can lead and spacing transport mechanism 100 to can avoid transport mechanism 100 to take place to rock, thereby improved the security and the reliability of transport mechanism 100 transport goods.

In the above embodiments, the first guide portion and the second guide portion may be guide tracks, or may also be matching structures of the guide grooves and the guide protrusions, and specific structures of the first guide portion and the second guide portion are not limited herein.

In another alternative embodiment, the storage mechanism 200 may further include a position detector, and the storage level 210 may be provided with a position detector, which may be used to detect the position information of the goods stored on the storage level 210 to detect whether the goods deviates from the preset position on the storage level 210. The preset position is the third target position in the above.

Alternatively, the position detecting member 240 may be a photoelectric sensor, and when the goods on the storage level 210 deviate from the preset position, a light source of the photoelectric sensor is shielded, so that the photoelectric sensor is triggered to send an alarm signal to indicate that the goods deviate from the preset position and risk of falling. When the cargo on the storage level 210 is in the preset position, the photosensor is not triggered.

Alternatively, the photosensor is triggered when the cargo on the storage level 210 is at a preset position; when the cargo on the storage level 210 deviates from the preset position, the photosensor is not triggered.

In another alternative embodiment, the position detecting member may be provided with a first position detecting member and a second position detecting member, and the first position detecting member and the second position detecting member may be arranged at intervals along the conveying direction of the second conveyor 220. In this embodiment, the first position detector may be located on a side close to the first conveyor 120, and the second position detector may be located on a side away from the first conveyor 120. At this time, when the goods are transferred from the first conveyor 120 to the second conveyor 220, the first position detector is triggered. The second conveyor 220 continues to convey the goods, and when the first position detector is deactivated, the goods reach a preset third target position, and thus the second conveyor 220 stops conveying.

When the first position detection piece breaks down, the second conveying device 220 does not stop conveying the goods under the condition that the first position detection piece is in the trigger state, so that the second position detection piece is triggered, and when the second position detection piece is in the trigger state, the second conveying device 220 stops conveying, so that the second conveying device 220 is prevented from continuously conveying the goods, the risk that the goods fall from the storage position 210 is avoided, and the reliability and the safety of the goods carrying equipment are further improved.

In order to improve the gripping accuracy of the goods, in another alternative embodiment, the handling mechanism 100 may further include a positioning device connected to the goods taking device 110, and the positioning device is used for determining the position information of the goods on the shelf. In this scheme, through the positional information of discernment goods on the goods shelves, fix a position the goods, carry out the goods again and snatch, can improve the precision of snatching of goods, prevent the condition that the goods from getting goods device 110 and drop. The acquired position information may include information such as the storage position of the goods on the shelf and the distance between the goods and the picking device 110.

Optionally, positioner can fix a position for the module of making a video recording, shoots the position photo of goods to position information at goods place is discerned according to the position photo of goods. Or the positioning device may also be a laser positioning device, and the laser positioning device positions the position of the cargo, and certainly, other components may also be used to obtain the position information of the cargo, which is not limited herein.

Based on the cargo handling equipment that this application embodiment disclosed, this application embodiment still discloses a two box feeder robots, two box feeder robots that disclose include any embodiment of the above cargo handling equipment.

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

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

Claims

1. A cargo handling apparatus, comprising:

a handling mechanism (100), wherein the handling mechanism (100) comprises a goods taking device (110) and a first conveying device (120), the goods taking device (110) is used for handling goods, so that the goods can be transferred between the first conveying device (120) and a shelf (400) in a translation mode; the transmission direction of the first conveying device (120) intersects with the moving direction of the goods taking device (110);

the storage mechanism (200) is provided with a storage position (210), a second conveying device (220) is correspondingly arranged on the storage position (210), and the conveying direction of the first conveying device (120) is the same as that of the second conveying device (220); the first conveyor (120) cooperates with the second conveyor (220) to enable translational transfer of the cargo between the first conveyor (120) and the storage location (210).

2. The cargo handling equipment according to claim 1, wherein the storage mechanism (200) further comprises a position detector, the storage location (210) being provided with the position detector for detecting position information of the cargo stored on the storage location (210) to detect whether the cargo deviates from a preset position on the storage location (210).

3. The cargo-handling installation according to claim 1, wherein the storage mechanism (200) comprises a first storage rack (201) and a second storage rack (202), the first storage rack (201) and the second storage rack (202) each having a storage location (210), the storage locations (210) being for storing the cargo, the first storage rack (201) and the second storage rack (202) being distributed on two sides or on the same side of the first conveyor (120) in the transport direction of the first conveyor (120);

when the first storage rack (201) and the second storage rack (202) are distributed on the same side of the first conveying device (120) along the conveying direction of the first conveying device (120), the first storage rack (201) is located between the carrying mechanism (100) and the second storage rack (202), or the first storage rack (201) and the second storage rack (202) face the first conveying device (120) side by side.

4. The cargo handling apparatus according to claim 3, further comprising a lifting mechanism (300), the lifting mechanism (300) being connected to the handling mechanism (100), the lifting mechanism (300) being adapted to lift the handling mechanism (100).

5. The cargo handling apparatus according to claim 4, wherein the first storage rack (201) and the second storage rack (202) each include a plurality of storage locations (210), the plurality of storage locations (210) in the first storage rack (201) and the second storage rack (202) are arranged at intervals along a vertical direction, each storage location (210) is correspondingly provided with one of the second conveying devices (220), and when the cargo handling device takes and places cargo, the first conveying device (120) is abutted to the second conveying device (220) corresponding to one of the storage locations (210).

6. The cargo handling apparatus according to claim 5, wherein the storage locations (210) of the same level of the first and second storage racks (201, 202) are staggered.

7. The cargo handling apparatus according to claim 1, further comprising a travelling mechanism and a base (500), the handling mechanism (100) and the storage mechanism (200) being provided to the base; the base (500) is arranged on the travelling mechanism, and the travelling mechanism drives the base (500) to move.

8. The cargo handling apparatus of claim 1, further comprising a rail and a base (500), wherein the handling mechanism (100) and the storage mechanism (200) are each provided to the base (500); the base (500) is matched with the rail in a sliding mode, and the base (500) can slide along the extending direction of the rail.

9. The load handling device according to claim 1, wherein the first conveyor (120) comprises a first transmission (121) and a first transmission (123), the first transmission (121) being connected to the first transmission (123); the second conveying device (220) comprises a third transmission part (221) and a second transmission part (222), and the third transmission part (221) is matched with the second transmission part (222);

the first conveying device (120) further comprises a driving source and a second transmission part (122); the driving source is connected with the first transmission part through the first transmission part (121), and the first transmission part (121) is matched with the second transmission part (122); the second transmission part (122) can be matched with the third transmission part (221) so that the second transmission part (122) drives the second transmission part (222) through the third transmission part (221); or, the second conveying device (220) further comprises a driving source and a second transmission part (122), the driving source is connected with the second transmission part (222) through a third transmission part (221), the third transmission part (221) is connected with the second transmission part (122), and the second transmission part (122) is matched with the first transmission part (121); the second transmission part (122) can be matched with the first transmission part (121) so that the second transmission part (122) drives the first transmission part (123) through the first transmission part (121).

10. The cargo handling apparatus of claim 9, wherein the first transfer portion (123) comprises a first roller set (1231) and a second roller set (1232), wherein the first roller set (1231) and the second roller set (1232) each comprise a plurality of rollers spaced apart along a transfer direction of the first conveyor device (120) and parallel to each other, and wherein the pick-up device (110) is positioned between the first roller set (1231) and the second roller set (1232).

11. The cargo handling apparatus of claim 10, wherein the axes of rotation of the rollers of the first and second roller sets (1231, 1232) extend in a direction parallel to the direction of transport of the pick device (110).

12. The cargo handling apparatus according to claim 9, wherein the first conveyor device (120) further comprises a third roller set comprising a plurality of rollers spaced apart along the moving direction of the pickup device (110) and parallel to each other, the first transfer portion (123) is located between two adjacent rollers of the third roller set, and a lifting mechanism is connected to the first transfer portion (123), and the lifting mechanism is configured to lift the first transfer portion (123) such that the surface of the first transfer portion (123) is higher or lower than the surface of the rollers of the third roller set.

13. The cargo handler according to claim 9, wherein the storage mechanism (200) comprises a rack body (230), the second transporting portion (222) comprises a belt (2221), a first transmission shaft (2222) and a second transmission shaft (2223), the first transmission shaft (2222) and the second transmission shaft (2223) are both rotatably connected to the rack body (230), the first transmission shaft (2222) is parallel to the second transmission shaft (2223), the belt (2221) is sleeved on the first transmission shaft (2222) and the second transmission shaft (2223), the third transmission portion (221) is rotatably connected to the rack body (230), and the third transmission portion (221) is rotatably connected to the first transmission shaft (2222).

14. The cargo handling apparatus according to claim 1, wherein the pickup device (110) comprises a pickup portion (111), a first driving assembly (112) and a second driving assembly (113), the pickup portion (111) is disposed on the first driving assembly (112), the first driving assembly (112) drives the pickup portion (111) to move, the first driving assembly (112) is connected to the second driving assembly (113), the second driving assembly (113) drives the first driving assembly (112) to move, and the moving direction of the first driving assembly (112) is the same as the moving direction of the pickup portion (111).

15. The cargo handling apparatus of claim 14, wherein the cargo taking part (111) can pick up the cargo by at least one of a hook, a claw, and a magnetic attraction, the cargo taking part (111) comprises a main body part (1111) and an absorbing part (1112), the absorbing part (1112) is disposed on the main body part (1111), the main body part (1111) is connected to the first driving component (112), the main body part (1111) is opened with an air channel, the absorbing part (1112) is opened with a first through hole, and the air channel is communicated with the first through hole.

16. The cargo handling apparatus according to claim 14, wherein the first driving assembly (112) comprises a first driving motor (1121), a first lead screw (1122) and a first guide rail (1123), the first driving motor (1121) is fixed on the first guide rail (1123), the first lead screw (1122) is rotatably connected to the first guide rail (1123), the first lead screw (1122) is parallel to the extending direction of the first guide rail (1123), the cargo taking part (111) slides along the extending direction of the first guide rail (1123) relative to the first guide rail (1123), the cargo taking part (111) is in transmission connection with the first lead screw (1122), the first driving motor (1121) is connected to the first lead screw (1122), and the first driving motor (1121) drives the cargo taking part (111) to move through the first lead screw (1122);

the second driving assembly (113) comprises a second driving motor (1131), a second lead screw (1132) and a second guide rail (1133), the second driving motor (1131) is fixed on the second guide rail (1133), the second lead screw (1132) is rotatably connected with the second guide rail (1133), the extending directions of the second lead screw (1132) and the second guide rail (1133) are parallel, the first guide rail (1123) slides relative to the second guide rail (1133) along the extending direction of the second guide rail (1133), the extending direction of the first guide rail (1123) is parallel to the extending direction of the second guide rail (1133), the first guide rail (1123) is in transmission connection with the second lead screw (1132), the second driving motor (1131) is connected with the second lead screw (1132), and the second driving motor (1131) drives the first guide rail (1123) to move through the second lead screw (1132).

17. The cargo handling apparatus according to claim 4, wherein the handling mechanism (100) includes a mounting bracket (130), the pickup device (110) and the first conveying device (120) are both disposed on the mounting bracket (130), the lifting mechanism (300) is connected to the mounting bracket (130), the lifting mechanism (300) drives the pickup device (110) and the first conveying device (120) to lift through the mounting bracket (130), the mounting bracket (130) is provided with a first guide portion, the first storage rack (201) and/or the second storage rack (202) is provided with a second guide portion, and the first guide portion and the second guide portion are slidably engaged with each other along a lifting direction of the mounting bracket (130).

18. The cargo handling apparatus according to claim 2, wherein the position detecting member comprises a first position detecting member and a second position detecting member, the first position detecting member and the second position detecting member being arranged at intervals along a transport direction of the second conveyor (220).

19. A double bin robot comprising the cargo handling apparatus of any one of claims 1 to 18, wherein the cargo handled by said double bin robot is a bin.