TWI819400B - Method for unloading material, controling apparatus, apparatus for unloading material, and warehousing system - Google Patents

Abstract

The present invention provides a method for unloading material, a controlling apparatus, an apparatus for unloading material, and warehousing system. The method for unloading material is applied in the apparatus for unloading material. The apparatus for unloading material includes a storage unit and a mechanical arm that can move relative to the storage unit, where the storage unit is provided with a rotatable transporting member, and the transport member has a rolling surface in contact with a material. The method for unloading material includes: transporting, by using the mechanical arm, the material on a handling robot to the storage unit; detecting moving speed of the material in the storage unit; controlling, according to the moving speed, at least one of rotating state of the transporting member in the storage unit and moving speed of the mechanical arm to prevent the material entering into the storage unit from leaving the storage unit. The reliability of unloading material is high according to the present invention.

Description

Unloading method, control device, unloading device and storage system

The present invention relates to the field of intelligent warehousing technology, and in particular to an unloading method, a control device, an unloading device and a storage system.

With the rapid development of artificial intelligence technology, automation technology, and information technology, the intelligence of terminal logistics has also continued to increase, and intelligent warehousing is an important part of the logistics process. In smart warehousing, handling robots and unloading devices are the main equipment that can realize automated handling operations. Handling robots and unloading devices can reduce human heavy physical labor and improve the efficiency of handling operations.

At present, a handling robot generally includes a base and multiple handling robot shelves arranged on the base. Goods can be placed on the handling robot shelves. The unloading device includes a main body and multiple storage units provided on the main body. The storage units are used to store the items transported. Goods unloaded from robot shelves. When unloading, the handling robot approaches the unloading device so that the shelves of the handling robot correspond to the storage units one-to-one, and then the unloading device transports the goods loaded on the shelves of the handling robot to the corresponding storage unit.

However, when the goods loaded on the handling robot are transferred to the unloading device, the transfer speed may be relatively high. After the goods are transferred, the goods may be thrown and detached from the unloading device. This requires Additional repositioning of cargo on the unloading device results in lower unloading reliability.

In view of the above problems, embodiments of the present invention provide an unloading device and a storage system, which can prevent goods from falling from the unloading device and improve the unloading efficiency and reliability of the unloading device.

In order to achieve the above objects, embodiments of the present invention provide the following technical solutions:

The first aspect of the embodiment of the present invention provides a discharging method, which is applied to a discharging device. The discharging device includes a storage unit and a mechanical arm that can move relative to the storage unit. A rotatable transmission member is provided in the storage unit, and the transmission member has The rolling surface is in rolling contact with the goods. The method includes: using a robotic arm to transport the goods on the handling robot to the storage unit; detecting the moving speed of the goods in the storage unit; controlling the rotational state of the transmission part in the storage unit and the robotic arm according to the moving speed. At least one of the moving speeds to prevent goods entering the storage unit from leaving the storage unit.

A second aspect of the embodiment of the present invention provides a control device, including: a processor; and a storage device communicatively connected to the processor. The storage device stores executable code. When the executable code is executed by the processor, the processor is caused to execute the above Methods.

A third aspect of the embodiment of the present invention provides an unloading device, including a body and a control assembly. The body is provided with a storage unit for placing goods. The storage unit has a rotatable transmission member. The transmission member has a rolling surface that is in rolling contact with the goods. For driving goods in and out of the storage unit;

The control component includes a drive unit for driving the transmission member to rotate, a speed sensor for detecting the moving speed of the goods in the storage unit, and the above-mentioned control device. The drive unit and the speed sensor are both electrically connected to the control device, and the control device is used to detect the movement speed of the goods according to the goods. The moving speed controls the rotational state of the conveyor to prevent the goods entering the storage unit from escaping from the storage unit.

The fourth aspect of the embodiment of the present invention provides an unloading device, which includes a body, a mechanical arm and a control component. The body is provided with a storage unit for placing goods. The mechanical arm can move relative to the storage unit to drive the movement of the goods. The storage unit has a removable A rotating transmission member, the transmission member has a rolling surface in rolling contact with the goods, and is used to drive the goods in and out of the storage unit;

The control component includes a controller, a first drive unit for driving the transmission member to rotate, and a speed sensor for detecting the moving speed of the goods in the storage unit. The first drive unit and the speed sensor are both electrically connected to the controller. The controller Control the rotation state of the conveyor according to the moving speed of the goods to prevent the goods entering the storage unit from leaving the storage unit

A fifth aspect of the embodiment of the present invention provides a warehousing system, including a transport robot and the above-mentioned unloading device. The transport robot has a pallet, and the pallet and the storage unit of the unloading device are correspondingly arranged to perform unloading operations to the unloading device.

The embodiments of the present invention have the following advantages:

In this embodiment, a speed sensor is provided to detect the moving speed of the goods, and the controller controls at least one of the rotational state of the conveyor and the moving speed of the robotic arm according to the moving speed of the goods. Since the movement of the goods partly depends on the movement of the conveyor, Driven by rotation, when the controller changes the rotation state of the conveyor, it can indirectly adjust the moving speed of the goods, and/or the controller directly controls the moving speed of the robotic arm, which can prevent the goods from being thrown out of the storage unit due to moving too fast. and disengage, or avoid sending the goods out when the conveyor belt is not started on the delivery side of the unloading device. In this way, the goods will not fall, so the unloading efficiency and reliability are higher.

In addition to the technical problems solved by the embodiments of the present invention, the technical features constituting the technical solutions and the beneficial effects brought by the technical features of these technical solutions described above, there are also other problems that can be solved by the shelves and handling robots provided by the embodiments of the present invention. Other technical issues, other technical features included in the technical solution, and the beneficial effects brought by these technical features will be further described in detail in the specific implementation modes.

In smart warehousing, the unloading device is used to unload the goods loaded on the handling robot. During this process, it is easy for the goods to fall from the unloading device. This is because during the unloading process, the goods loaded on the handling robot are transferred to the unloading device at a preset transfer speed. When the goods enter the target position of the unloading device, if the goods do not stop and have a certain speed, , it may fall from the unloading device. At this time, manual work or additional mechanisms are required to reposition the fallen goods on the unloading device, resulting in low unloading efficiency.

On the other hand, the unloading device includes a unloading assembly. The unloading assembly can reciprocate relative to the body of the unloading device to pull the goods on the handling robot shelf to the storage unit of the unloading device. The unloading assembly is opposite to the unloading device. During the reciprocating movement of the above-mentioned body, it may collide with the body of the unloading device and other structural parts, causing the body to shake, and the stability and safety of the unloading device will be affected.

In addition, when the unloading assembly pulls the goods on the shelf of the handling robot, it may happen that the operating end of the unloading assembly does not move to the goods. Even if the unloading assembly moves back and forth with the operating end, The cargo cannot be moved, causing the unloading operation to fail and reducing the unloading efficiency of the unloading device.

In order to solve the above problems, this application proposes an unloading device, an unloading method and a storage system, which can complete the unloading operation safely and reliably.

In order to make the above purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without any creative work shall fall within the scope of protection of this application.

Embodiment 1

Figure 1 is an exploded structural schematic diagram of the unloading device provided in Embodiment 1 of the present application. Figure 2 is a schematic structural diagram of the unloading device provided in Embodiment 1 of the present application and the transport robot in a state of cooperation. Figure 3 is a schematic diagram of the structure of the unloading device provided in Embodiment 1 of the present application. 1. Provides a schematic structural diagram of another state in which the unloading device and the handling robot cooperate.

Referring to Figure 1, an embodiment of the present application provides an unloading device 100. The unloading device 100 includes a body 1 and a storage unit 2. The storage unit 2 is installed on the body 1, and the storage unit 2 is used to place goods (not shown); The storage unit 2 has a rotatable transmission member 21 , and the transmission member 21 has a rolling surface that is in rolling contact with the goods, so as to drive the goods in and out of the storage unit 2 .

In the embodiment of the present application, the unloading device 100 may also include a carrying frame 3 that can move relative to the body 1. The carrying frame 3 is provided with a mechanical arm 31 for driving the movement of goods. Furthermore, the robotic arm 31 is provided with a movable push rod 32, which can move to different positions relative to the robotic arm 31. When the movable push rod 32 is blocked on the entry and exit path J of the goods, it can drive the movement of the goods. Here, the movable push rod 32 can be moved to different positions relative to the robotic arm. For example, the movable push rod can be arranged horizontally and blocked on the entry and exit path J of the goods; for example, the movable push rod can be installed vertically and not blocked on the entry and exit path J. The entry and exit path of goods is J.

For example, the movable push rod 32 may be extended or shortened while rotating so as to block the entry and exit path J of the goods, or not block the entry and exit path J of the goods.

Referring to Figure 2, an example of a transport robot 200 used in conjunction with the present application is briefly introduced. The transport robot 200 includes a shelf 201, a mobile chassis 202, and a pickup device 203. Among them, the shelf 201 is installed on the mobile chassis 202. The shelf 201 may include a fixed bracket 204 and a plurality of pallets 205. The plurality of pallets 205 are arranged on the fixed bracket 204 at intervals in the vertical direction. Each pallet 205 is used for carrying goods. place goods. In addition, the mobile chassis 202 can be used to move the shelves 201 on the ground of the storage area. The picking device 203 can be installed on the fixed bracket 204 and used to place goods on the pallet 205 or take out the goods on the pallet 205 .

It can be understood that the transport robot 200 that can cooperate with the unloading device 100 of the present application includes but is not limited to the structure shown in Figure 2, and can also be other structures, but it is necessary to ensure that in the transport robot, each pallet 205 and the unloader Each storage unit 2 of the material device 100 is arranged in one-to-one correspondence, and the height of the cargo loading surface of the pallet 205 is approximately the same as the height of the cargo loading surface of the storage unit 2, so that the robotic arm 31 can extend into the vicinity of the cargo on the pallet 205. , perform unloading operations on goods.

The unloading process of the unloading device 100 of the present application will be described below with reference to FIGS. 2 and 3 .

The handling robot 200 is close to the unloading device 100 so that the pallet 205 of the handling robot 200 corresponds to the storage unit 2. At this time, the mechanical arm 31 drives the movable push rod 32 to extend toward the goods until the movable push rod 32 is located at the position where the goods are dragged out. On the rear side of the direction, the movable push rod 32 blocks the entry and exit path J of the goods relative to the robotic arm 31. The robotic arm 31 moves in a direction away from the transport robot 200, and the movable push rod 32 drives the goods to move toward the storage unit 2. , when the goods are transported to the rolling surface of the conveyor 21 of the storage unit 2 , the conveyor 21 drives the goods further into the storage unit 2 until the goods enter the storage position in the storage unit 2 .

In the embodiment of the present application, in order to solve the above-mentioned problems of poor unloading efficiency and poor stability and safety of the unloading device 100 . The unloading device 100 also includes a control component (not shown). The control component may include a controller, a sensor electrically connected to the controller, etc. The sensors in this application may include a speed sensor 15, a position sensor 39, and a movable push rod position detection at least one of the devices 61. In order to control the operating status of the conveying member 21 and the carrying frame 3, the control assembly may also include a first driving unit for driving the conveying member 21 to rotate; optionally, the control assembly may also include a first driving unit for driving the conveying frame 3 relative to The second driving unit 5 moves the body 1 .

The structure of each part of the unloading device 100 will be described in detail below.

Figure 4 is a schematic structural diagram of the main body of the unloading device provided in Embodiment 1 of the present application. Figure 5 is a schematic diagram of the lower structure of the main body of the unloading device provided in Embodiment 1 of the present application. Figure 6 is a schematic diagram of the lower structure of the main body of the unloading device provided in Embodiment 1 of the present application. Schematic view of the lower structure of the body in the unloading device from another angle.

Referring to Figures 4, 5, and 6, the body 1 includes a column 12 and a support frame 16. The support frame 16 is located on the rear side of the body 1 along the cargo entry and exit direction; the bottom of the support frame 16 and the column 12 jointly support the unloading device 100. The support frame 16 includes a support portion 160 extending along the ground.

In the above solution, the support frame 16 is provided so that the support frame 16 and the column 12 jointly support the unloading device 100. Compared with the prior art situation where only the column supports the unloading device, the mechanism for supporting the unloading device 100 is increased. Therefore, the support of the unloading device 100 is relatively stable. Furthermore, since the support portion 160 extends along the ground, the contact area between the support portion 160 and the ground can be increased, so the support for the unloading device 100 is more stable, thereby improving the unloading reliability of the unloading device 100 .

In the embodiment of the present application, the bottom of the support frame 16 and the upright column 12 jointly support the unloading device 100, in which the upright column 12 plays a main supporting role and the support frame 16 plays an auxiliary supporting role. It should be noted that in this application, the upright columns 12 may include multiple upright columns 12 , and the plurality upright columns 12 are arranged at intervals to support the unloading device 100 .

Referring to Figure 4, the front and rear sides along the cargo entry and exit direction are marked with solid arrows. For example, the columns in this application may include a front column 122 located on the front side of the body 1 along the cargo entry direction and a rear column 123 located on the rear side of the body 1 along the cargo entry direction. The support frame 16 may be connected to the rear column 123 .

In this way, when the goods enter the unloading device 100, it is easy to generate additional force on the body 1 in the entry and exit direction K of the goods. In other words, since the goods enter the unloading device 100 from front to back, the rear part of the unloading device 100 is subject to The force is relatively large. As mentioned above, the front column 122 and the rear column 123 are arranged at intervals on the entry and exit path of the goods, and the support frame 16 as an auxiliary support is provided on the rear column to provide auxiliary support to the rear side of the unloading device 100. Therefore, the unloading device 100 is made more stable. And it can effectively prevent the body from shaking in the entry and exit direction K of the above-mentioned goods.

The number of upright columns 12 can be set as needed. For example, in this application, there are two front upright columns 122 and two rear upright columns 123 as an example. The situation is similar when the number of front upright columns 122 and rear upright columns 123 is other. Here, No more details.

It can be understood that in this application, the upright column 12 can extend along a straight line as a whole like the rear upright column 123 , or it can also have an upper half and a lower half that do not extend along a straight line like the front upright column 122 . The extension direction of the upright column 12 can be along the vertical direction or can be arranged at an angle, which is not limited in this application.

In the embodiment of the present application, the support frame 16 may include a support portion 160 extending along the ground. Since the support portion 160 extends along the ground, the contact area between the support portion 160 and the ground can be increased, so the support for the unloading device 100 is more stable. Thereby, the unloading reliability of the unloading device 100 is improved.

Further, the support part 160 includes a first support part 161 and a second support part 162 that are connected to each other. The first support part 161 and the second support part 162 both extend along the ground, and the first support part 161 and the second support part 162 There is an angle between them. In this way, the first support part 161 and the second support part 162 can assist in supporting the column 12 at different angles, thereby providing better support to the unloading device.

It should be noted that the extension along the ground described in this application, for example, the support part 160 extends along the ground, specifically means that the extension direction of the support part 160 can be along the ground. The support portion 160 can support the unloading device 100 within a larger area. As for the specific support method of the support part 160, the support part 160 may be supported on the ground through the legs 164 provided at the bottom as shown in FIG. 4, or the bottom end surface of the support part 160 may be directly supported on the ground.

Wherein, when the support part 160 is supported on the ground through the legs 164, the column 12 can also be supported on the ground through the legs 164. It should be noted that the support part 160 needs to match the height of the column 12 after matching the legs. direction so that the storage unit provided on the body 1 is arranged approximately horizontally. Optionally, the legs 164 can be heavy-duty ear cups, fixed to the ground, for example, through expansion screws, or fixed to a buffer body or a fixed body that is relatively fixed to the ground.

In the embodiment of the present application, the first support portion 161 is connected to the rear pillar 123 , there are an even number of second support portions 162 , and the second support portions 162 are symmetrically arranged on both sides of the first support portion 161 . In this way, the second supporting part can support the unloading device more firmly.

FIG. 6 is a schematic diagram showing part of the main body from another angle, and for convenience of observation, the illustration of the storage unit is omitted in FIG. 6 . Referring to FIG. 6 , further, the extension direction of the first support part 161 and the cargo entry and exit direction K are perpendicular to each other, and the extension direction of the second support part 162 is parallel to the cargo entry and exit direction K. As mentioned above, the unloading device 100 is prone to rocking in the cargo entry and exit direction K during the unloading process. Therefore, the first support portion 161 extends along the cargo entry and exit direction K, which can better avoid this situation. The extension direction of the second support part 162 is parallel to the cargo entry and exit direction K, which can prevent the unloading device from shaking left and right.

Further, the first end 1621 of the second support part 162 is connected to the end of the first support part 161, and the second end 1622 of the second support part 162 extends along the ground. Specifically, the support portion 160 is a frame-shaped member extending around the circumferential direction of the body 1 , and the frame-shaped member has an opening on the front side of the cargo entry and exit direction K. In addition, the support part may also be a rod-shaped member.

In the embodiment of the present application, the second support part 162 may also be located outside the area surrounded by the plurality of columns 12 . In this way, outside the area surrounded by four uprights, such as the two front uprights 122 and the two rear uprights 123, which form a substantially quadrilateral, the second support portion 162 can play a better auxiliary supporting role.

Referring to Figures 5 and 6, the support frame also includes a third support portion 163. The third support portion includes a vertical extension section 1632 and a horizontal extension section 1631. The vertical extension section 1632 is connected to the upright column 12, such as the rear upright column 123. and extends along the length direction of the rear upright 123. The horizontal extension section 1631 and the vertical extension section 1632 are connected and extend toward the rear side of the body along the cargo entry and exit direction.

A buffer or fixture fixed relative to the ground may be provided on the rear side of the unloading device 100 so that the horizontal extension section 1631 is fixed on the ground or the fixture to provide auxiliary support to the unloading device 100 on the rear side. Specifically, the horizontal extension section 1631 may have a bottom end surface extending toward the outside of the body 1, and the bottom end surface is attached to and abuts the ground. In other words, the bottom end surface of the horizontal extension section 1631 can be in contact with the ground or the fastener, and the horizontal extension section 1631 is in surface contact with the ground or the fastener. In this way, the larger contact area provides more stable auxiliary support for the unloading device 100 .

A pressure sensor (not shown) is provided on the bottom surface of the support part 160 , and the pressure sensor is used to detect the pressure on the support part 160 . The pressure sensor can be electrically connected to the controller, and the controller is also used to adjust the support of the support portion 160 according to the pressure information detected by the pressure sensor. For example, the height of the support portion 160 can be adjusted.

In the embodiment of the present application, further, when the unloading device 100 and the transport robot 200 are used together, in order to avoid the mobile chassis 202 of the transport robot 200, the body 1 may also be provided with an escape groove 111.

Specifically, referring to FIG. 5 , the body 1 includes a plurality of uprights 12 , for example, two front uprights 122 and two rear uprights 123 . The two front uprights 122 and the two rear uprights 123 are spaced apart to form a space for use. Regarding the escape groove 111 of the mobile chassis 202 of the transport robot 200, it can be understood that the opening of the escape groove 111 can face the transport robot 200, that is, in the same direction as the opening of the cargo inlet 23 described below. It should be understood that the escape groove 111 here refers to the escape space, which can be an open space formed by the gaps between the columns 12 as mentioned above, or a relatively closed space formed by continuous escape chambers, as long as it can It is sufficient for the mobile chassis 202 of the transport robot 200 to enter, and this application does not limit this.

Furthermore, when there are two front uprights 122 and two rear uprights 123 , the distance between the two front uprights 122 is greater than the distance between the two rear uprights 123 . That is, the two front uprights 122 are in the lower part, and the distance between them is partially increased, which on the one hand facilitates the entry of the mobile chassis 202 of the handling robot 200 and on the other hand, increases the distance between the two front uprights 122 , the support for the unloading device 100 is also more stable.

Because the distance between the two rear uprights 123 is smaller than the distance between the two front uprights 122, in order to achieve the same support effect of the two rear uprights 123 as the front uprights 122, the second support portion 162 can be positioned on multiple uprights. outside the area enclosed by 12. That is, the end of the first support part 161 is closer to the outside than the rear pillar 123, and the intersection position of the first support part 161 and the second support part 162 is located in the area surrounded by the two front pillars 122 and the two rear pillars 123. outside.

In the embodiment of the present application, as mentioned above, when the transport robot 200 and the unloading device 100 face each other, it is possible that the transport robot 200 has not reached the preset unloading position, or has exceeded the preset unloading position, and the unloading device 100 will During the unloading operation, unloading failure is very likely to occur at this time, resulting in low unloading reliability.

In order to avoid this happening. The control component may also include a sensing unit, which is electrically connected to the controller. The sensing unit is provided on the body 1 and is used to send out sensing signals when the handling robot 200 moves to the unloading position opposite to the unloading device 100. The controller is used to send out a sensing signal according to the The induction signal controls the transport rack for unloading operation.

In the above solution, by setting up a sensing unit, when the handling robot 200 reaches the preset unloading position, the goods on the handling robot are located at the position corresponding to the storage unit, the sensing unit sends a sensing signal to the controller, and the unloading device 100 determines The unloading operation will be performed only after the handling robot 200 is in place, so there will be no unloading failure and the unloading reliability is high.

FIG. 7 is a partial enlarged view of position A in FIG. 1 .

Referring to Figures 1, 5, and 7, in the embodiment of the present application, as mentioned above, the bottom of the body 1 has an escape groove 111 for accommodating the chassis of the transportation robot. The sensing unit may include a first sensing unit 112, which is disposed in the avoidance slot 111. The first sensing unit 112 is used to send out a sensing signal when the mobile chassis 202 of the handling robot 200 is accommodated in the avoidance slot.

In this embodiment of the present application, the number of the first sensing unit 112 is at least one. For example, as shown in FIG. 7 , the first sensing unit 112 may be located at a position opposite to the mobile chassis 202 of the transport robot.

In some other examples, in order to make the judgment of the sensing unit more accurate, the number of first sensing units 112 is at least two, and different first sensing units 112 are arranged at different positions relative to the avoidance slot 11; the control unit is used to When at least one first sensing unit 112 , for example, all first sensing units 112 emit sensing signals, the transport rack is controlled to perform an unloading operation. This can avoid the situation where part of the first sensing unit 112 fails and cannot accurately measure the handling robot. Or even if the handling robot has reached the unloading position, but the handling robot is tilted or the posture is incorrect, when all the first sensing units 112 send out sensing signals, it proves that the handling robot has reached the unloading position and the posture is correct, which can make the sensing reliable. Sex is higher.

It can be understood that different first sensing units 112 can be respectively disposed on different sides of the avoidance groove 111 . The relative positions of the transport robot and the unloading device 100 can be detected at different circumferential positions of the transport robot as much as possible.

Referring to Figure 7, for example, the first sensing unit 112 may include a start switch 113. The start switch 113 is located in the avoidance slot and may be electrically connected to the controller. The start switch 113 is used when the handling robot moves to the avoidance slot 111. Touch the handling robot when inside to send a sensing signal to the controller.

In the embodiment of the present application, the start switch 113 includes a switch body 1131 and a detection rocker arm 1132. The first end of the detection rocker arm is rotatably connected to the switch body 1131, and the second end of the detection rocker arm 1132 extends into the avoidance groove 111, so as to Used to touch the handling robot, the switch body 1131 can send out a sensing signal when detecting the rotation of the rocker arm 1132.

It should be noted that in this application, the unloading operation may be, for example, a series of operations such as the transport rack 3 starting to move toward the transport robot 200 to transport goods.

In the embodiment of the present application, as a possible implementation, the first sensing unit 112 may include a proximity sensor, and the sensing area of the proximity sensor is located in the avoidance groove 111 . For example, the proximity sensor is an infrared proximity sensor or lidar.

In some other examples, the sensing unit may also include a second sensing unit located above the avoidance slot 111 for emitting a sensing signal when the pallet 205 of the handling robot faces the body 1 . Since the second sensing unit and the first sensing unit 112 are at different heights of the unloading device, it can be detected accordingly whether the structures at different height positions of the handling robot are reliably aligned and cooperate with the unloading device. This avoids the situation where the chassis of the handling robot is in the normal position but the pallet 205 has not moved into place. This can ensure reliable cooperation between the pallet 205 of the handling robot and the unloading device.

In the embodiment of the present application, there may be a plurality of second sensing units, and the plurality of second sensing units are spaced at different height positions of the body. In this way, it can be detected whether different parts (for example, different pallets 205 ) in the height direction of the transport robot are correctly aligned.

The following description will be made in connection with the case where the start switch 113 is provided. In FIG. 7 , a dotted line indicates the open state of the start switch 113 . Specifically, the delivery port of the pallet 205 of the handling robot 200 can be opposite to the cargo inlet 23 of the storage unit 2, and the movable push rod 32 of the robotic arm 31 can be moved to be located behind the cargo. The relative position of the unloading device 100 is defined as the unloading position of the unloading device 100 .

Referring to Figures 2, 3 and 7, the mobile chassis 202 of the handling robot 200 enters the avoidance slot 111, but before the handling robot 200 reaches the preset unloading position, the mobile chassis 202 does not contact the start switch 113, and the start switch 113 is in a closed state, and the unloading and handling robot 200 does not perform unloading operations. When the transport robot 200 reaches the preset unloading position, the mobile chassis 202 contacts the start switch 113 and triggers the start switch 113. The start switch 113 is in an open state and the unloading transport robot 200 performs unloading operations.

In the embodiment of the present application, with reference to FIG. 1 , the number of upright columns 12 is 4 for example. However, the present application is not limited thereto. The number of upright columns 12 may also be 6, 8, or other numbers.

In Figure 1, four upright columns 12 are arranged side by side. When viewed from above, the four upright columns 12 are approximately located at the four vertices of the rectangle. The storage unit 2 can be located between the four columns 12 and arranged on the four columns 12 .

FIG. 8 is a schematic three-dimensional structural diagram of a partial structure of the unloading device provided in Embodiment 1 of the present application. Referring to Figure 8 , a top frame 121 is also connected to the top of the column 12. The top frame 121 is connected between the four columns 12, which can improve the connection strength of the body 1 and prevent the columns 12 from shaking.

In order to better support the storage unit 2, the body 1 also includes an end connector 13. The end connector 13 is connected between two uprights 12 arranged along the cargo entry and exit direction. The two opposite ends of the storage unit 2 can be connected between two oppositely arranged end connectors 13.

Furthermore, the end connector 13 may also be connected with a guide member 131 , the guide member 131 is located on the inward side of the end connector 13 , and the guide member 131 extends along the incoming and outgoing direction of the goods. The guide member 131 has a guide surface 1311 facing the cargo to guide the cargo when the cargo enters and exits the storage unit 2 . With the storage unit 2 fixed between the end connections 13 , the guide 131 is located above the storage unit 2 .

The end of the guide surface 1311 along the incoming and outgoing direction of the goods is also provided with an inclined area 1312 and an inclined area 1313, wherein the inclined area 1312 is located close to the cargo inlet 23 and the inclined area 1313 is located close to the cargo outlet 24. When the two guide members 131 are disposed on the two opposite end connectors 13 , the inclined areas 1312 on the two guide surfaces 1311 are disposed oppositely, and the distance gradually decreases from the cargo inlet 23 toward the cargo outlet 24 . Furthermore, the inclined areas 1313 on the two guide surfaces 1311 are arranged oppositely, and the distance gradually decreases from the cargo outlet 24 toward the cargo inlet 23 to cooperate with other mechanisms other than the unloading device.

Referring to FIGS. 1 and 8 , a storage unit 2 for placing goods is provided on the body 1 , specifically between the columns 12 . When there are multiple storage units 2 , the storage units 2 are arranged in the vertical direction, for example, spaced on each of the uprights 12 in the height direction of the uprights 12 , so that the goods can be stored at different positions in the height direction. It can be understood that since the storage units 2 of each layer are spaced and stacked in the height direction, goods can be loaded on each layer of storage unit 2, and a space is formed between each layer of storage unit 2 and the adjacent next layer of storage unit 2. Loading space 22 for carrying cargo.

Furthermore, the storage unit 2 has a cargo inlet 23 and a cargo outlet 24 arranged oppositely on the entry and exit path of goods. Goods can enter the storage unit 2 through the goods inlet 23 and goods can leave the storage unit 2 through the goods outlet 24 .

It should be noted that the height of the storage unit 2 on each floor corresponds to the height of the pallet 205 on the handling robot 200, so that the goods on the pallet 205 can enter the storage unit 2 smoothly. In addition, the arrangement of the storage units 2 in the application is not limited to this, and multiple storage units 2 can also be provided in the width direction of the body 1 .

In the embodiment of the present application, the storage unit 2 has a rotatable transmission member 21, and the transmission member 21 has a rolling surface that is in rolling contact with the goods, so as to drive the goods in and out of the storage unit 2. Referring to Figure 8, as an optional embodiment, the transmission member 21 can be a rotating roller. When both ends of the rotating roller are rotatably supported by the above-mentioned end connectors 13, the roller surface of the rotating roller can rotate to form the above-mentioned rolling surface. And when there are multiple rotating rollers, the rotating axes of the multiple rotating rollers are arranged parallel to each other. Further, the plurality of rotating rollers may include linked driving rollers and driven rollers. The driving roller rotates under the driving of a driving device, such as the above-mentioned first driving device, and each driven roller also rotates accordingly, causing the transmission member 21 to rotate. .

For example, as another optional embodiment, the transmission member 21 can be a plurality of poly-V belt rollers 211 arranged side by side, and the plurality of poly-V belt rollers 211 are rotatably connected between two opposite end connectors 13 .

A V-belt groove 212 is provided near one end of the plurality of V-belt drums 211. The same poly-V belt is set on each two adjacent V-ribbed belt drums 211 at the position of the V-ribbed belt groove 212. Two poly-ribbed belts are mounted on each poly-ribbed belt roller 211 to link the plurality of v-ribbed belt grooves 212 . Among the plurality of V-belt rollers 211, at least one V-ribbed belt roller 211 is a driving roller and rotates under the drive of a driving device, such as the above-mentioned first driving device. All the driven rollers are driven to rotate together to realize the rotation of the transmission member 21 .

FIG. 9 is a partial enlarged view of B in FIG. 1 , and FIG. 10 is a partial enlarged view of C in FIG. 1 . Referring to Figures 9 and 10, in the embodiment of the present application, the unloading device 100 also includes a loading and unloading position detection sensor 25. The loading and unloading position detection sensor 25 is located at the cargo inlet 23. The loading and unloading position detection sensor 25 is used to detect whether the cargo is stretched. out to the outside of storage unit 2. Optionally, the loading and unloading position detection sensor 25 can be a photoelectric sensor.

Referring to Figures 1, 9, and 10, in the embodiment of the present application, the storage unit 2 includes a first storage unit 27 located at the top of the unloading device 100 and a second storage unit 28 located at the bottom of the unloading device 100. The first storage unit The second storage unit 27 is provided with a loading and unloading position detection sensor 25, and the second storage unit 28 is provided with a loading and unloading position detection sensor 26.

Specifically, referring to Figures 9 and 10, the loading and unloading position detection sensor 25 is provided on the top frame 121, the loading and unloading position detection sensor 26 is provided on the top of the avoidance slot 111, and the loading and unloading position detection sensor 25 and the loading and unloading position detection sensor 26 are arranged oppositely, like this, a loading and unloading sensor is provided above the first storage unit 27 with the highest height and below the second storage unit 28 with the lowest height. When the goods in the storage unit 2 at any position protrude from the storage unit 2, it can was detected. That is, if one of the multiple storage units 2 is performing an unloading operation, it will be detected by the loading and unloading sensor. In this way, the unloading device 100 can detect whether goods are passing through the loading and unloading sensors, thereby performing corresponding operations. For example, when the loading and unloading sensor detects that goods are passing through, it means that it is in normal unloading operation, and the transmission member 21 can rotate normally to drive the goods in and out of the storage unit 2 .

FIG. 11 is a schematic structural diagram of a storage unit on one level of the unloading device of FIG. 1 . Referring to Figure 11, in the embodiment of the present application, as mentioned above, the control component includes a controller, a first driving unit for driving the transmission member 21 to rotate, and a speed sensor for detecting the moving speed of the goods in the storage unit 2. 15. The first drive unit and the speed sensor 15 are both electrically connected to the controller. The controller is used to control at least one of the rotational state of the conveyor 21 and the moving speed of the robotic arm 31 according to the moving speed of the goods to prevent entry into the storage unit 2 The goods leave the storage unit 2.

It can be understood that in the above solution, the speed sensor 15 is provided to detect the moving speed of the goods, and the controller controls at least one of the rotational state of the conveyor 21 and the moving speed of the robotic arm 31 according to the moving speed of the goods. Since the goods The moving part is driven by the rotation of the transmission member 21. Therefore, when the controller changes the rotation state of the transmission member 21, it can indirectly adjust the moving speed of the goods, and/or the controller directly controls the moving speed of the robotic arm 31, both of which can prevent The goods are about to be sent out when the goods move too fast and are thrown out of the storage unit 2 and detached, or when the conveyor belt is not activated on the delivery side of the unloading device. In this way, the goods will not fall, so the reliability of unloading is higher.

In the embodiment of the present application, the speed sensor 15 may be disposed close to at least one of the cargo inlet 23 and the cargo outlet 24 . In this way, the moving speed of the goods at at least one position of the goods inlet 23 and the goods outlet 24 of the storage unit 2 is detected. Furthermore, the speed sensor 15 may be a photoelectric sensor.

Referring to FIG. 11 , this embodiment is explained by taking the speed sensor 15 provided at both the cargo outlet 24 and the cargo inlet 23 as an example. For the solution in which the cargo outlet 24 or the cargo inlet 23 is provided with the speed sensor 15 , as well as other components in the storage unit 2 The scheme of setting the position speed sensor 15 is similar to this and will not be described again here.

Referring to FIG. 11 , the speed sensor 15 includes a first speed sensor 151 located at the cargo inlet 23 and a second speed sensor 152 located at the cargo outlet 24 .

Optionally, the controller is used to control at least one of the rotational state of the conveyor 21 and the moving speed of the robotic arm 31 so that the moving speed of the goods detected by the second speed sensor 152 is less than a preset speed threshold, wherein, The preset speed threshold is the critical speed at which the goods will not leave the storage unit 2 .

For example, the controller is used to control at least one of the rotational state of the conveyor 21 and the moving speed of the robotic arm 31 so that the moving speed of the goods detected by the second speed sensor 152 is zero. In this way, when the goods reach the vicinity of the goods outlet 24, their speed is zero and they will not fall out of the goods outlet 24.

Referring to FIG. 11 , there are two first speed sensors 151 located at the cargo inlet 23 , and the two first speed sensors 151 are located at opposite positions to each other. For example, two first speed sensors 151 may be located on the end connection 13 close to the cargo inlet 23 .

Further, there are two second speed sensors 152 located at the cargo outlet 24, and the two second speed sensors 152 are located at opposite positions to each other. For example, two second speed sensors 152 may be located near the cargo outlet 24 of the end connection 13 . Arranging the speed sensors 15 in pairs in this way can make the speed measurement of the goods more accurate.

Figure 12 is a schematic three-dimensional structural diagram of the unloading device provided in Embodiment 1 of the present application.

The structure of the transport rack 3 is introduced below. Referring to Figures 1, 12, and 13, the transport rack 3 can move relative to the main body 1 along the incoming and outgoing direction of goods. In other words, the moving direction of the transporting rack 3 relative to the main body 1 is parallel to the incoming and outgoing direction of goods. So that the robotic arm 31 pushes the goods in and out of the storage unit 2

Optionally, the transport rack 3 may include two support frame bodies 33 respectively provided on both sides of the body 1 and a connecting beam 34 connected between the two support frame bodies 33. The transport rack 3 has a structure for driving the movement of goods. The robotic arm 31 is installed on the support frame 33 , and the robotic arm 31 is located at a position corresponding to above the pallet 205 on the transport robot 200 . In other words, the robotic arm 31 is disposed corresponding to the storage unit 2 . Both ends of the connecting beam 34 are connected to the two support frame bodies 33 respectively.

As shown in Figure 12, the robotic arm 31 and the connecting beam 34 are located inside the body 1, and the support frame body 33 is located outside the body 1. When the support frame body 33 moves toward the transport robot 200 relative to the body 1, it drives the robotic arm 31 to also extend toward the goods. out.

Optionally, there are multiple robotic arms 31 on the transport rack 3 , and they are arranged corresponding to the storage unit 2 . In FIG. 12 , one storage unit 2 corresponds to two robotic arms 31 , and the two robotic arms 31 are symmetrically located on both sides of the storage unit 2 . The application is not limited to this, and the robotic arms 31 can also be located in other positions.

Figure 14 is a partial enlarged view of E in Figure 12. Referring to Figure 14, in the embodiment of the present application, the robotic arm 31 is provided with movable parts. The movable parts can move to different positions relative to the robotic arm 31. The movable parts are blocked at When the goods are on the entry and exit path, the movable parts can be used to drive the goods to move in and out of the storage unit 2 . When the movable part is not blocked on the entry and exit path of the goods, that is, the movable part is located outside the entry and exit path of the goods, at this time, the movement of the robotic arm 31 will not interfere with the goods.

Here, here, the movable part can move to different positions relative to the robot arm 31. For example, the movable part can be arranged horizontally and block the entry and exit path J of the goods; for example, the movable part can be arranged vertically and not block the goods. On the entry and exit path J.

For example, the movable member may be extended or shortened while rotating, so as to block the entry and exit path J of the goods, or not block the entry and exit path J of the goods.

Furthermore, the movable part is rotatably provided at the end of the robot arm 31 , and the rotation axis of the movable part and the moving direction of the transport frame 3 are parallel to each other.

Specifically, the movable part is a movable push rod 32, the first end of the movable push rod 32 is rotatably connected to the mechanical arm 31, the second end of the movable push rod 32 is a free end, and the rod body of the movable push rod 32 is To push goods in and out of storage unit 2.

At this time, corresponding to Figure 14, the movable push rod 32 can rotate relative to the mechanical arm 31, and when the movable push rod 32 rotates to a horizontal position, the movable push rod 32 blocks the entry and exit path of the goods (refer to the middle diagram of Figure 14 The movable push rod 32 on the right side of the picture); when the movable push rod 32 rotates to the vertical position, the movable push rod 32 is not blocked on the entry and exit path of the goods (refer to the movable push rod 32 on the left side of the picture in Figure 14).

Furthermore, there are an even number of movable push rods 32 and they are respectively arranged on both sides of the storage unit 2 . This allows even force to be applied to the cargo.

Figure 15 is an exploded view of the partial structure of the connection between the transport rack and the slide rail in the unloading device provided in Embodiment 1 of the present application. Referring to Figure 15, for fixing the transport rack 3 and the body 1, for example, a slide rail can be provided on the body 1. Track 35 to achieve.

In the embodiment of the present application, the main body 1 includes a slide rail 35. The extension direction of the slide rail 35 is parallel to the incoming and outgoing direction of the goods. The transport rack 3 is disposed on the slide rail 35 and can move relative to the main body 1 along the slide rail 35.

Specifically, the body 1 also includes a slider 36 that matches the slide rail 35 , and the slider 36 can slide back and forth in the slide rail 35 . A connecting plate 331 is provided at the bottom end of the support frame 33. The connecting plate 331 is connected to the side of the slider 36 away from the slide rail 35. Therefore, the movement of the slider 36 along the slide rail 35 can drive the support frame 33, that is, transport Rack 3 moves. The slider 36 can realize linear movement along the slide rail 35 by being driven by the second driving unit 5 (see FIG. 13 ).

The second driving unit 5 may include, for example, a motor, a reducer, a drive shaft, a sprocket, a chain, etc. Among them, the output shaft of the motor is connected to the drive shaft through the reducer, the sprocket is connected to the drive shaft, the chain is tensioned on the sprocket, and the slider 36 is connected to the chain. In this way, the motor drives the drive shaft to rotate through the reducer, and the drive shaft drives the sprockets to rotate, causing the chain tensioned between the sprockets to produce a linear reciprocating displacement, driving the slider 36 to move on the slide rail 35 .

Further, referring to Figure 12, the top end of the transport frame 3 and the body 1 can be slidably connected. For example, the connecting beam 34 on the top of the transport frame 3 is provided with an upwardly extending roller 37 , and the wheel surface of the roller 37 can roll with the inner surface of the top frame 121 .

As mentioned above, with reference to Figures 13 and 15, in order to prevent the transport rack 3 from colliding with the structure on the body 1, causing the body 1 to shake, the control component of the present application is also provided with a position sensor 39, and the position sensor 39 is connected to the controller circuit. connection. The position sensor 39 is used to detect the position of the transport rack 3 relative to the body 1 , and the controller is used to control the movement state of the transport rack 3 relative to the body 1 based on the position detected by the position sensor 39 .

In the above solution, by arranging the position sensor 39, the position of the transport rack 3 relative to the main body 1 can be detected. As long as the position sensor 39 is installed at a position where it is easy to collide with the transport rack 3, the distance between the transport rack 3 and the main body 1 can be easily increased. When the location where a collision occurs is too close, the controller can promptly adjust the movement state of the transport rack 3 based on the information from the position sensor 39 to avoid collision events, thereby making the unloading device 100 more stable and safer.

Specifically, the position sensor 39 is located on the body 1 , and the controller is used to control the transport rack 3 to stop moving when the transport rack 3 moves to a position corresponding to the position sensor 39 . As mentioned above, when the transport rack 3 moves to the position corresponding to the position sensor 39, the transport rack 3 stops moving, that is, the speed of the transport rack 3 relative to the body 1 is zero. This can better prevent the transport rack 3 from colliding with the body 1. A collision occurs. And prevent the support frame body 33 in the transport frame 3 from moving outside the main body 1 .

In the embodiment of the present application, referring to FIGS. 13 and 15 , in order to cooperate with the position sensor 39 , the transport frame 3 is also provided with a detection piece 38 , and the detection piece 38 extends toward the front side of the movement direction of the transport frame 3 . The controller is used to control the transport rack 3 to stop moving when the transport rack 3 moves to a position where the detection part 38 is opposite to the position sensor 39 .

For example, the detection component 38 can be disposed on the connecting plate 331 at the bottom end of the support frame 33 and fixed relative to the slider 36 .

For example, as an optional method, the position sensor 39 is a photoelectric sensor, and the detection component 38 includes a light blocking component that can be positioned in front of the position sensor 39 .

Specifically, referring to Figures 13 and 15, when the body 1 includes a plurality of uprights 12 and the transport rack 3 can move between two adjacent uprights 12, the position sensor 39 is provided on the two adjacent uprights 12. .

Further, the position sensor 39 is located on the sides of the two adjacent columns 12 . The detection piece 38 has a detection part 381. When the transport frame 3 moves to a position corresponding to the position sensor 39, the detection part 381 is located laterally outside the column 12 and opposite to the position of the position sensor 39. When the position sensor 39 is a photoelectric sensor, the detection part 381 forms a light blocking member.

Optionally, the detection part 38 also includes a connection part 382. The connection part 382 is installed on the side of the transportation frame 3 and extends toward the outside of the transportation frame 3. The side of the connection part 382 away from the transportation frame 3 is connected to the detection part 381. . In this way, the detection part 381 is fixed to the bottom of the carrier through the connection part 382. Optionally, the connecting portion 382 is fixed on the connecting plate 331 at the bottom of the support frame body 33 .

In the embodiment of the present application, the position sensor 39 may include a first position sensor 391 and a second position sensor 392. The first position sensor 391 and the second position sensor 392 are respectively provided at opposite ends of the moving direction of the transport frame 3. The controller is used to control the transport rack 3 to stop moving when the transport rack 3 moves to a position corresponding to any one of the first position sensor 391 and the second position sensor 392 .

Take the situation shown in Figure 15 as an example. The column 12 on the left side of the figure is the column 12 close to the cargo inlet 23. The column 12 on the left side is provided with a first position sensor 391. The column 12 on the right side of the figure is A second position sensor 392 is provided on the right column 12 of the cargo outlet 24 . Correspondingly, the detection component 38 also includes a first detection component 383 and a second detection component 384 .

When the support frame 33 moves toward the cargo inlet 23 on the left, the mechanical arm 31 is driven to extend in the direction of the cargo, and the first detection part 383 is driven to move in a direction close to the first position sensor 391. When the first detection part 383 is When the detection part 381 is located on the side of the first position sensor 391, it is considered that the transport rack 3 has reached the extreme position, and if it continues to move to the left, there is a risk of collision with the left column 12. At this time, the controller controls the transport rack 3 to stop moving.

When the support frame 33 moves toward the cargo outlet 24 on the right, the mechanical arm 31 is driven to extend in a direction away from the transport robot 200, and the second detection part 384 is driven to move in a direction close to the second position sensor 392, waiting for the second detection. When the detection part 381 on the component 384 is located on the side of the second position sensor 392, it is considered that the transport rack 3 has reached the extreme position. If it continues to move to the right, there is a risk of collision with the right column 12. At this time, the controller controls the transport rack 3 to stop moving. .

In the embodiment of the present application, as another optional method, the position sensor 39 is a contact switch, and the detection component 38 can be in contact with the position sensor 39 . That is, when the detection part 38 and the position sensor 39 are at corresponding positions, the detection part 381 can be in contact with the position sensor 39 .

In the embodiment of the present application, as mentioned above, in order to further improve the unloading success rate of the unloading device 100, it is also necessary to monitor the movement state of the movable parts relative to the robotic arm.

Referring to FIG. 14 , at least one robot arm 31 is provided with a detection component 6 . The detection component 6 is used to detect the position of the movable part relative to the robot arm 31 . By arranging the detection component 6, the movement status of the movable parts relative to the robotic arm can be monitored. If it is detected that the movable parts are blocking the entry and exit path of the goods, control operations can be performed as needed. For example, the controller can perform control operations according to the movable parts. The movement state of the transport frame 3 is controlled relative to the position of the robot arm 31 .

Specifically, the controller can send control instructions to the movable parts, so that the movable parts change from not blocking the entry and exit path of the goods to blocking the entry and exit paths of the goods, or stop the unloading operation of the unloading device 100, etc., to effectively avoid The situation of failure of the unloading operation is eliminated, and the unloading efficiency of the unloading device 100 is improved.

In the embodiment of the present application, the detection component 6 includes a movable push rod position detector 61 . In order to better detect the position of the movable push rod 32 , the movable push rod position detector 61 is provided at the end of the mechanical arm 31 . Optionally, the movable push rod position detector 61 and the movable push rod 32 can be set in one-to-one correspondence. The movable push rod position detector 61 may be a photoelectric sensor or a contact switch, for example.

Further, the movable push rod position detector 61 corresponds to the position of the movable push rod 32 when it is not blocked on the entry and exit path of the goods. In other words, when the movable push rod 32 is in a position where the unloading operation cannot be performed, it can be detected by the movable push rod position detector 61 .

The installation of the movable push rod position detector 61 will be described with reference to FIG. 14 . As shown in Figure 14, the end of the robotic arm 31 on the left side of the figure and the end of the robotic arm 31 on the right side of the figure are both equipped with movable push rod position detectors 61, and the movable push rod 32 on the left side is not blocked. On the entry and exit path of goods, the movable push rod position detector 61 located on the left side will detect the unblocked position information and send it to the controller; the movable push rod 32 located on the right side is blocked on the entry and exit path of the goods. Then the movable push rod position detector 61 located on the right side will not send information to the controller, or will send position information to the controller that the movable push rod 32 on the right side is blocking the entry and exit path of the goods.

It should be noted that the movable push rod 32 mentioned in this application is blocked on the entry and exit path of goods, which means that the movable push rod 32 is in a horizontal state; and the movable push rod 32 is not blocked on the entry and exit path of goods. It means that the movable push rod 32 is in a vertical state and the goods cannot be unloaded.

It should be understood that during the above control process, when the movable push rod 32 is in an unblocked position where the unloading operation cannot be performed, it can be detected by the movable push rod position detector 61 and sent to the controller, and the controller can adjust the position as needed. The movement state of the transport frame 3 is controlled. When the movable push rod 32 is in the blocked position, for example, when the movable push rod 32 is horizontal, or in a position between unblocked and blocked, it is considered that the movable push rod 32 can still perform the unloading operation. Therefore, the controller will not The movement state of the transport frame 3 will be adjusted.

In this embodiment, for the case where multiple robotic arms 31 are provided on the unloading device 100, a detection component 6 can be provided for each robotic arm 31 as shown in Figure 1, or some of the robotic arms 31 can A detection component 6 is provided. For example, the robot arm 31 may include a first robot arm disposed on the top of the transport rack 3 and a second robot arm disposed on the bottom of the transport rack 3. Among the plurality of robot arms, at least the first robot arm and the second robot arm are both. A detection component 6 is provided.

Embodiment 2

This embodiment provides a warehousing system, including the transport robot 200 and the unloading device 100 of the first embodiment. As mentioned above, the transport robot 200 has a pallet 205, and the pallet 205 and the storage unit 2 of the unloading device 100 are arranged correspondingly. To perform unloading operation to the unloading device 100 . The pallet 205 and the storage unit 2 of the unloading device 100 are arranged correspondingly. Specifically, this means that the height of the pallet 205 and the height of the bottom of the storage unit 2 are approximately the same, and the installation positions are corresponding and relatively arranged.

It should be noted that the specific structure and function of the handling robot 200 have been described in Embodiment 1, and the specific structure and function of the unloading device 100 have also been described in detail in Embodiment 1, and will not be described again here.

It should be noted that the transport robot 200 of the present application is not limited to the transport robot 200 described in Embodiment 1, as long as it has a pallet 205 for loading goods, and the pallet 205 and the storage unit 2 of the unloading device 100 are arranged correspondingly. That’s it.

Embodiment 3

This embodiment provides a discharging method, which is applied to the discharging device 100 of the first embodiment. The discharging method can also be applied to the discharging device 100 of the second embodiment.

Figure 16 is a flow chart of the first unloading method provided in Embodiment 3 of the present application.

Referring to Figure 16, unloading methods include:

Step S100: Use the robotic arm to transport the goods on the handling robot to the storage unit;

In the above scheme, transporting the goods on the handling robot 200 to the storage unit 2 of the unloading device 100 refers to the entire process in which the mechanical arm 31 and the movable push rod 32 drive the goods to move to the storage unit 2 .

Specifically, the handling robot 200 approaches the unloading device 100 and reaches the preset unloading position. The support frame body 33 of the transport frame 3 drives the mechanical arm 31 and the movable push rod 32 to move towards the transport robot 200. When the movable push rod 32 reaches the rear of the goods, the movable push rod 32 rotates from the unblocked position to the blocked position, and moves toward the transport robot 200. Moving away from the direction of the transport robot 200 , the goods move toward the storage unit 2 of the unloading device 100 under the pulling force of the movable push rod 32 .

Step S200: Detect the moving speed of the goods in the storage unit.

Specifically, the moving speed of the goods at at least one position on the entry and exit path of the goods in the storage unit 2 can be detected.

Further, detecting the moving speed of the goods at at least one position on the goods entry and exit path of the storage unit 2 specifically includes: detecting the moving speed of the goods at at least two different positions on the goods entry and exit path. Since the speed of goods generally changes during transportation, measuring the moving speed of at least two different locations can detect the movement of goods more accurately.

In the embodiment of the present application, the movement speed of goods at at least two different positions on the entry and exit path of the goods is detected, which specifically includes:

Detect the moving speed of the goods at the first position and the second position; wherein the first position and the second position are successively set between the cargo inlet 23 and the cargo outlet 24 of the cargo entry and exit path, wherein the cargo inlet 23 and the cargo outlet 24 are opposite to each other. settings.

Specifically, a speed sensor 15 is provided on the body 1 at a position corresponding to the storage unit 2 , for example, two first speed sensors 151 are provided at the cargo inlet 23 , and the two first speed sensors 151 are located at opposite positions to each other. Two second speed sensors 152 are provided at the cargo outlet 24, and the two second speed sensors 152 are located at opposite positions to each other. In this way, during the movement of the goods towards the storage unit 2, the two first speed sensors 151 can measure the speed of the goods at the goods inlet 23, and the two second speed sensors 152 can measure the speed of the goods at the goods outlet 24. .

Of course, the situation at other positions between the cargo inlet 23 and the cargo outlet 24 where the first position and the second position are the cargo entry and exit paths is similar to the above, and will not be described again here.

Step S300: Control at least one of the rotational state of the conveyor in the storage unit and the moving speed of the robotic arm according to the moving speed to prevent goods entering the storage unit from escaping from the storage unit.

In the above solution, by detecting the moving speed of the goods in the storage unit 2 of the unloading device 100, the controller controls at least one of the rotational state of the conveyor 21 and the moving speed of the robotic arm 31 according to the moving speed of the goods, Since the moving part of the goods is driven by the rotation of the conveyor 21, when the controller changes the rotation state of the conveyor 21, it can indirectly adjust the moving speed of the goods, and/or the controller directly controls the moving speed of the robotic arm 31, which can Prevent the goods from moving too fast and detaching from the storage unit 2. There is no need to additionally place the dropped goods on the unloading device 100, so the unloading efficiency is high.

Specifically, controlling at least one of the rotation state of the transmission member 21 and the movement state of the robotic arm 31 in the storage unit 2 according to the movement speed specifically includes:

When the moving speed is greater than the preset delivery speed, the rotation speed of the conveying member 21 is reduced. It can be understood that when the moving speed of the goods is too fast, there is a risk of falling from the storage unit 2. At this time, reducing the rotation speed of the conveyor belt can reduce the moving speed of the goods and prevent the goods from falling.

Optionally, when the moving speed is lower than the preset delivery speed, the rotation speed of the conveying member 21 is increased. It can be understood that when the moving speed of the goods is lower than the preset delivery speed, the movement may stop before reaching the storage position of the storage unit 2. At this time, the rear end of the moving goods is located outside the storage unit 2, and there is no need to move the goods. To reduce the risk of falling in the storage unit 2, increasing the rotation speed of the conveyor belt at this time can increase the moving speed of the goods, allowing the goods to accurately reach the predetermined storage position.

When the moving speed of the goods is greater than the preset delivery speed, the rotation speed of the conveyor 21 is reduced to reduce the moving speed of the goods. When the moving speed of the goods is less than the preset delivery speed, the rotation speed of the conveyor 21 is increased. To increase the moving speed of the goods, the moving speed of the goods can be controlled near the preset delivery speed to ensure that the goods can reach the predetermined storage location, and neither the front end nor the rear end will exceed the storage unit 2, thus greatly reducing Reduce the risk of cargo falling.

In the embodiment of the present application, the transmission member 21 includes a plurality of rotating rollers arranged side by side, and the rotating shafts of the multiple rotating rollers are arranged parallel to each other; and the multiple rotating rollers include linked driving rollers and driven rollers.

Controlling at least one of the rotational state of the transmission member 21 in the storage unit 2 and the moving state of the robotic arm according to the moving speed specifically includes: controlling the rotational state of the driving roller according to the moving speed. Since the driving roller and the driven roller are linked, controlling the rotational state of the driving roller can cause the rotational state of the driven roller to change accordingly, and the rotational state of the entire transmission member 21 remains consistent.

Optionally, in the embodiment of the present application, controlling at least one of the rotational state of the conveyor 21 in the storage unit 2 and the moving speed of the robotic arm 31 according to the moving speed specifically includes:

When the moving speed is greater than the preset delivery speed, reduce the moving speed of the robotic arm in the incoming and outgoing direction of the goods. Since the movable parts on the robotic arm push the goods to move, it is understandable that when the moving speed of the goods is too fast, There is a risk of falling from the storage unit 2. At this time, reducing the moving speed of the mechanical arm in the direction of entry and exit of the goods can reduce the moving speed of the goods and prevent the goods from falling.

Optionally, when the moving speed is lower than the preset delivery speed, the moving speed of the robotic arm in the incoming and outgoing direction can be increased. It can be understood that when the moving speed of the goods is lower than the preset delivery speed, the movement may stop before reaching the storage position of the storage unit 2. At this time, the rear end of the moving goods is located outside the storage unit 2, and there is no need to move the goods. There is a risk of falling in the storage unit 2. At this time, increasing the moving speed of the robotic arm in the direction of entry and exit of the goods can increase the moving speed of the goods so that the goods can accurately reach the predetermined storage position.

When the moving speed of the goods is greater than the preset delivery speed, the moving speed of the robotic arm along the incoming and outgoing direction of the goods is reduced to reduce the moving speed of the goods. When the moving speed of the goods is less than the preset delivery speed, the moving speed of the robotic arm along the direction of the goods is increased. The moving speed in the incoming and outgoing direction is used to increase the moving speed of the goods, so that the moving speed of the goods can be controlled near the preset delivery speed to ensure that the goods can reach the predetermined storage location and that neither the front end nor the rear end will exceed the storage location. Unit 2, thus greatly reducing the risk of cargo falling.

Further, controlling at least one of the rotational state of the transmission member 21 in the storage unit 2 and the movement speed of the robotic arm 31 according to the movement speed may also include controlling the rotational state of the transmission member 21 in the storage unit 2 according to the movement speed, and controlling the mechanical The moving speed of arm 31.

At this time, when the moving speed is greater than the preset delivery speed, the rotation speed of the conveyor 21 is reduced, and the moving speed of the robotic arm in the goods entry and exit direction is reduced. It can be understood that when the goods move too fast, there is a risk of falling from the storage unit 2. At this time, the rotation speed of the conveyor belt is reduced, and the moving speed of the robot arm in the direction of the goods in and out is reduced, both at the same time. Function, it can reduce the moving speed of goods more efficiently and prevent goods from falling.

Optionally, when the moving speed is lower than the preset delivery speed, increase the rotation speed of the conveyor 21 and increase the moving speed of the robotic arm in the goods entry and exit direction. It can be understood that when the moving speed of the goods is lower than the preset delivery speed, the movement may stop before reaching the storage position of the storage unit 2. At this time, the rear end of the moving goods is located outside the storage unit 2, and there is no need to move the goods. The risk of falling in storage unit 2. At this time, increase the rotation speed of the conveyor belt and increase the moving speed of the mechanical arm in the direction of the goods in and out. The two work at the same time, which can increase the moving speed of the goods more efficiently and make the goods more accurate. Reach the intended storage location.

When the moving speed of the goods is greater than the preset delivery speed, the rotation speed of the conveyor 21 is reduced and the moving speed of the mechanical arm in the incoming and outgoing direction of the goods is reduced to reduce the moving speed of the goods; when the moving speed of the goods is less than the preset delivery speed When the cargo speed is high, increasing the rotation speed of the transmission member 21 and increasing the moving speed of the robotic arm in the direction of cargo entry and exit can increase the moving speed of the cargo, thereby controlling the moving speed of the cargo near the preset delivery speed. To ensure that the goods can reach the predetermined storage position, neither the front end nor the rear end will exceed the storage unit 2, thus greatly reducing the risk of the goods falling.

Optionally, after using the robotic arm 31 to transport the goods on the handling robot 200 to the storage unit 2, it also includes:

Detect whether the goods protrude to the outside of the storage unit 2. Specifically, whether the goods protrude to the outside of the storage unit 2 can be detected through a loading and unloading position detection sensor. The loading and unloading position sensor can be located at the cargo inlet 23. For example, some loading and unloading position detection sensors 25 are located above the topmost storage unit 2, and some loading and unloading position detection sensors 26 are located below the bottommost storage unit 2. Whether the unloading device 100 is performing an unloading operation can be known by detecting whether the goods protrude to the outside of the storage unit 2 .

Figure 17 is a flow chart of a control method for a robotic arm in the unloading method provided in Embodiment 3 of the present application. Referring to Figure 17 , optionally, the unloading device 100 includes a robotic arm 31 and a movable component provided on the robotic arm 31. The parts can be moved to different positions relative to the mechanical arm 31 to block or not block the entry and exit path of the goods. When the movable parts are blocked on the entry and exit path of the goods, the robotic arm 31 is used to drive the goods in and out of the storage unit 2, using Before the robot arm 31 moves the goods on the handling robot 200 to the storage unit 2, it also includes:

Step S101: Detect the position of the movable part relative to the robotic arm.

The detection component 6 can be provided on the robot arm 31 so that the detection component 6 detects the position of the movable part relative to the robot arm 31 .

Step S102: If the movable part is not blocked in the entry and exit path of the goods relative to the robotic arm, stop the unloading operation.

When the movable part is not blocked in the entry and exit path of the goods relative to the robotic arm 31, it proves that the movable part cannot drive the goods for unloading operation, so the unloading operation is controlled to stop.

Figure 18 is a flow chart of the anti-collision control method of the transport rack in the unloading method provided in Embodiment 3 of the present application. Referring to Figure 18, optionally, the unloading device 100 includes a transport rack 3, and a robotic arm 31 is located on the transport rack 3 , the transport rack 3 can move relative to the body 1 of the unloading device 100 to drive the goods in and out of the storage unit 2. The unloading method of the present application may also include:

Step S103: Detect the position information of the transport frame relative to the main body. The position information of the transport frame 3 relative to the main body 1 can be detected by providing a position sensor on the main body.

Step S104: Control the movement state of the carrying frame relative to the main body according to the detected position information.

In the above scheme, by detecting the position of the transport rack 3 relative to the main body 1, the position sensor 39 only needs to be placed at a position where a collision with the transport rack 3 is likely to occur. , the controller can promptly adjust the moving state of the transport rack 3 according to the information of the position sensor 39 to avoid collision events, thereby making the unloading device 100 more stable and safer.

Among them, the movement state of the carrying frame 3 relative to the body 1 is controlled according to the detected position information, which specifically includes: controlling the carrying frame 3 to stop moving when the carrying frame 3 moves to a preset position. In order to avoid collision with the body 1 structure, etc.

Figure 19 is a flow chart of another unloading method provided in Embodiment 3 of the present application. Referring to Figure 19 , in the implementation of the present application, before moving the goods on the handling robot 200 to the storage unit 2 of the unloading device 100, it also includes:

Step S105: Determine whether the handling robot is in the unloading position;

Step S106: If the transport robot is in the unloading position, receive the goods transported by the transport robot.

In order to confirm whether the transport robot 200 has reached the preset unloading position relative to the unloading device 100, it can be detected by the start switch 113 provided in the avoidance slot 111. When the mobile chassis 202 of the transfer robot 200 enters the avoidance slot 111, the control The transport rack 3 moves and performs unloading operations. The unloading operation may be, for example, a series of operations in which the transport rack 3 starts to move toward the transport robot 200 to transport goods, which will be described later.

Embodiment 4

Figure 20 is a structural block diagram of a control device provided in Embodiment 4 of the present application. Referring to Figure 20, this embodiment provides a control device 300. The control device 300 includes:

Processor 301; and a storage device 302 communicatively connected to the processor 301. The storage device 302 stores executable code. When the executable code is executed by the processor 301, the processor 301 is caused to perform unloading as described in Embodiment 3. method.

The unloading method has been described in detail in Embodiment 3 and will not be described again here.

Embodiment 5

This embodiment provides an unloading device 100, which includes a body 1 and a control assembly. The body 1 is provided with a storage unit 2 for placing goods. The storage unit 2 has a rotatable transmission member 21. The transmission member 21 has a rolling contact with the goods. The rolling surface is used to drive goods in and out of the storage unit 2; the control component includes a driving unit for driving the transmission member 21 to rotate, a speed sensor 15 for detecting the moving speed of the goods in the storage unit 2, and the control device 300 of the fourth embodiment. , the drive unit and the speed sensor 15 are both electrically connected to the control device 300. The control device 300 is used to control at least one of the rotational state of the conveyor 21 and the moving speed of the robotic arm according to the moving speed of the goods to prevent people from entering the storage unit 2. The goods leave the storage unit 2.

The structure and functional principles of the unloading device 100 have been described in detail in Embodiment 1 and will not be described again here.

Embodiment 6.

This embodiment provides a warehousing system, including the handling robot 200 of the first embodiment and the unloading device 100 of the fifth embodiment. As mentioned above, the handling robot 200 has a pallet 205, a storage unit of the pallet 205 and the unloading device 100. 2 is set correspondingly to perform unloading operation to the unloading device 100. The pallet 205 and the storage unit 2 of the unloading device 100 are arranged correspondingly. Specifically, this means that the height of the pallet 205 and the height of the bottom of the storage unit 2 are approximately the same, and the installation positions are corresponding and relatively arranged.

It should be noted that the specific structure and function of the handling robot 200 have been described in Embodiment 1, and the specific structure and function of the unloading device 100 have also been described in detail in Embodiment 5, and will not be described again here.

It should be noted that the transport robot 200 of the present application is not limited to the transport robot 200 described in Embodiment 1, as long as it has a pallet 205 for loading goods, and the pallet 205 and the storage unit 2 of the unloading device 100 are arranged correspondingly. That’s it.

Each embodiment or implementation mode in this specification is described in a progressive manner. Each embodiment focuses on its differences from other embodiments. The same and similar parts between various embodiments can be referred to each other.

In the description of this specification, reference to the description of the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" is intended to be in conjunction with the embodiments. or examples describe specific features, structures, materials, or characteristics that are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present application. Scope.

1: Ontology 100:Unloading device 111: Avoidance slot 112: First sensing unit 113:Start switch 1131:Switch body 1132: Detect rocker arm 12:Pillar 121:Top box 122:Front pillar 123:Rear pillar 13: End connector 131: Guide parts 1311:Guide surface 1312, 1313: Inclined area 15:Speed sensor 151: First speed sensor 152: Second speed sensor 16: Support frame 160:Support part 161: First support part 162: Second support part 1621:First end 1622:Second end 163:Third support part 1631: Horizontal extension section 1632:Vertical extension 164: Legs 2:Storage unit 200:Handling robot 201:Shelves 202:Mobile chassis 203: Pick-up device 204: Fixed bracket 205:Pallet 21:Transmission 211:Multi V-belt roller 212: wedge belt groove 22: Loading space 23: Import of goods 24:Export of goods 25, 26: Loading and unloading position detection sensor 27: First storage unit 28:Second storage unit 3:Transportation rack 300:Control device 301: Processor 302:Storage device 31: Robotic arm 32: Movable putter 33:Support frame 331:Connection board 34:Connecting beam 35:Slide rail 36: Slider 37:Roller 38:Test parts 381:Testing Department 382:Connection part 383: First detection piece 384: Second detection piece 39: Position sensor 391: First position sensor 392: Second position sensor 5: Second drive unit 6: Detect components 61: Movable push rod position detector J: path K: direction S100, S200, S300, S101, S102, S103, S104, S105, S106: steps

In order to more clearly explain the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be made below to the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are of the present invention. For some embodiments of the application, those of ordinary skill in the art can also obtain other drawings based on these drawings without exerting creative efforts. Figure 1 is a schematic exploded view of the unloading device provided in Embodiment 1 of the present application; Figure 2 is a schematic structural diagram of a state in which the unloading device and the transport robot provided in Embodiment 1 of the present application cooperate; Figure 3 is a schematic structural diagram of another state of cooperation between the unloading device and the transport robot provided in Embodiment 1 of the present application; Figure 4 is a schematic structural diagram of the main body of the unloading device provided in Embodiment 1 of the present application; Figure 5 is a schematic diagram of the lower structure of the body of the unloading device provided in Embodiment 1 of the present application; Figure 6 is a schematic view of the lower structure of the body of the unloading device provided in Embodiment 1 of the present application from another angle; Figure 7 is a partial enlarged view of A in Figure 1; Figure 8 is a schematic three-dimensional structural diagram of the partial structure of the unloading device provided in Embodiment 1 of the present application; Figure 9 is a partial enlarged view of B in Figure 1; Figure 10 is a partial enlarged view of C in Figure 1; Figure 11 is a schematic structural diagram of one of the storage units on one level of the unloading device of Figure 1; Figure 12 is a schematic three-dimensional structural diagram of the unloading device provided in Embodiment 1 of the present application; Figure 13 is a partial enlarged view of D in Figure 12; Figure 14 is a partial enlarged view of E in Figure 12; Figure 15 is an exploded view of the partial structure of the connection between the transport frame and the slide rail in the unloading device provided in Embodiment 1 of the present application; Figure 16 is a flow chart of the first unloading method provided in Embodiment 3 of the present application; Figure 17 is a flow chart of the control method of the robotic arm in the unloading method provided in Embodiment 3 of the present application; Figure 18 is a flow chart of the anti-collision control method of the transport rack in the unloading method provided in Embodiment 3 of the present application; Figure 19 is a flow chart of another unloading method provided in Embodiment 3 of the present application; Figure 20 is a structural diagram of a control device provided in Embodiment 4 of the present application.

S100, S200, S300: steps

Claims (38)

An unloading method, applied to a unloading device. The unloading device includes a storage unit and a mechanical arm that can move relative to the storage unit. A rotatable transmission member is provided in the storage unit, and the transmission member has a The rolling surface is in rolling contact with the goods. The unloading method includes: using the mechanical arm to transport the goods on the handling robot to the storage unit; detecting the movement of the goods on the goods entry and exit path of the storage unit. Moving speed at a first position and a second position, wherein the first position and the second position are sequentially disposed between the cargo inlet and the cargo outlet of the cargo entry and exit path. at, wherein the cargo inlet and the cargo outlet are arranged oppositely; and at least one of the rotational state of the conveyor in the storage unit and the moving speed of the robotic arm is controlled according to the moving speed to prevent entry into the The goods of the storage unit are released from the storage unit. The unloading method according to claim 1, wherein controlling at least one of the rotational state of the conveyor in the storage unit and the moving speed of the robotic arm according to the moving speed includes: when the moving speed When the moving speed is greater than the preset delivery speed, the rotation speed of the transmission member is reduced; and/or when the moving speed is less than the preset delivery speed, the rotation speed of the transmission member is increased. The unloading method according to claim 1, wherein the conveyor includes a plurality of rotating rollers arranged side by side, the rotating shafts of the plurality of rotating rollers are arranged parallel to each other, and the plurality of rotating rollers include linked driving rollers and Driven roller; wherein controlling at least one of the rotational state of the conveyor in the storage unit and the moving speed of the robotic arm according to the moving speed includes: controlling the rotation of the driving roller according to the moving speed. condition. The unloading method according to claim 1, wherein controlling at least one of the rotational state of the conveyor in the storage unit and the moving speed of the robotic arm according to the moving speed includes: when the moving speed When it is greater than the preset delivery speed, reduce the moving speed of the robotic arm along the goods entry and exit direction; and/or when the moving speed is less than the preset delivery speed, increase the movement speed of the robotic arm along the goods. Movement speed in and out of direction. The unloading method according to any one of claims 1 to 4, wherein the use of the robotic arm to transport the goods on the handling robot to the storage unit further includes: detecting whether the goods are extended. to the outside of the storage unit. The unloading method according to any one of claims 1 to 4, wherein the mechanical arm is provided with a movable part, the movable part can move to different positions relative to the mechanical arm, and the movable part is blocked at When the goods are on the entry and exit path, the robotic arm is used to drive the goods in and out of the storage unit, wherein the robotic arm is used to transport the goods on the handling robot to Before moving the storage unit, the method further includes: detecting the position of the movable component relative to the robotic arm; and stopping unloading if the movable component is not blocking the entry and exit path of the goods relative to the robotic arm. operate. The unloading method according to any one of claims 1 to 4, wherein the unloading device includes a carrying frame, the mechanical arm is located on the carrying frame, and the carrying frame can be relative to the body of the unloading device Moving to drive the goods in and out of the storage unit, the unloading method further includes: detecting position information of the transport rack relative to the body; and controlling the transport rack relative to the body according to the detected position information. mobile status. The unloading method according to claim 7, wherein controlling the movement state of the carrying frame relative to the body according to the detected position information includes: when the carrying frame moves to a preset position, controlling the movement of the carrying frame relative to the main body. The transport rack stops moving. The unloading method according to any one of claims 1 to 4, wherein before transporting the goods on the handling robot to the storage unit of the unloading device, the method further includes: determining whether the handling robot is in an unloading position; and if the handling robot is in the unloading position, receive the goods transported by the handling robot. A control device including: a processor; and A storage device that is communicatively connected to the processor. The storage device stores executable code. When the executable code is executed by the processor, the processor is caused to execute any one of claims 1-9. the method described. An unloading device includes a body and a control assembly. The body is provided with a storage unit for placing goods. The storage unit has a rotatable transmission member. The transmission member has a rolling surface that is in rolling contact with the goods. To drive the goods in and out of the storage unit; the control component includes a driving unit for driving the transmission member to rotate, a speed sensor for detecting the moving speed of the goods in the storage unit, and a request item 10. The control device described in 10. The drive unit and the speed sensor are both electrically connected to the control device. The control device is used to control the rotational state of the conveyor according to the moving speed of the goods to prevent The goods entering the storage unit exit the storage unit. An unloading device includes a body, a robotic arm and a control assembly. The body is provided with a storage unit for placing goods. The robotic arm can move relative to the storage unit to drive the movement of the goods. The storage unit It has a rotatable transmission member, and the transmission member has a rolling surface that is in rolling contact with the goods for driving the goods in and out of the storage unit; the control component includes a controller for driving the transmission member A rotating first drive unit and a speed sensor for detecting the moving speed of the goods in the storage unit, the first drive unit and the speed sensor are both electrically connected to the controller, and the controller is used to Control the conveyor according to the moving speed of the goods rotation state to prevent the goods entering the storage unit from escaping from the storage unit; wherein the storage unit has a cargo inlet and a cargo outlet arranged oppositely on the entry and exit path of the goods, and the speed sensor is close to the At least one of the cargo inlet and the cargo outlet is provided; wherein the speed sensor includes a first speed sensor located at the cargo inlet and a second speed sensor located at the cargo outlet. The unloading device of claim 12, wherein the controller is used to control the rotational state of the conveyor so that the moving speed of the goods detected by the second speed sensor is less than a preset speed threshold, wherein The preset speed threshold is the critical speed at which the goods will not escape from the storage unit. The unloading device according to claim 13, wherein the controller is used to control the rotation state of the conveyor so that the moving speed of the goods detected by the second speed sensor is zero. The unloading device according to claim 12, wherein there are a plurality of storage units, and the plurality of storage units are arranged in a vertical direction. The unloading device according to claim 12, wherein the conveying member is a rotating roller. The unloading device according to claim 16, wherein there are multiple rotating rollers, and the rotating axes of the multiple rotating rollers are arranged parallel to each other. The unloading device according to claim 12, further comprising a carrying frame that is movable relative to the body, and the robotic arm is located on the carrying frame. The unloading device according to claim 18, wherein the main body is provided with a slide rail, the extending direction of the slide rail is parallel to the incoming and outgoing direction of the goods, and the transport frame is disposed on the slide rail and can Move along the slide rail relative to the body. The unloading device according to claim 12, further comprising a loading and unloading position detection sensor, the loading and unloading position detection sensor is located at the cargo inlet, and the loading and unloading position detection sensor is used to detect whether the cargo extends to outside of the storage unit. The unloading device of claim 20, wherein the storage unit includes a first storage unit located at the top of the unloading device and a second storage unit located at the bottom of the unloading device, the first storage unit and The second storage unit is provided with the loading and unloading position detection sensor. The unloading device according to claim 18, wherein the bottom of the body has an escape groove for avoiding the mobile chassis of the transport robot, and the opening of the escape groove is in the same direction as the opening of the cargo inlet. The unloading device according to claim 22, wherein a start switch is provided in the avoidance slot, and the start switch is used to control the movement of the transport frame when the mobile chassis of the transport robot enters the avoidance slot. Carry out unloading operations. The unloading device according to claim 28, wherein the control component further includes a position sensor and a second driving unit for driving the movement of the carrying frame, and the position sensor and the second driving unit are both in conjunction with the The controller is electrically connected, and the position sensor is used to detect the position information of the carrying frame relative to the body, so The controller is also used to control the movement state of the carrying frame relative to the body according to the position information detected by the position sensor. The unloading device of claim 24, wherein the position sensor is located on the body, and the controller is used to control the transportation rack to stop when the transportation rack moves to a position corresponding to the position sensor. Move. The unloading device according to claim 25, wherein a detection piece is provided on the carrying frame, and the detection piece extends to the front side of the moving direction of the carrying frame; the controller is used to move the carrying frame when the carrying frame moves When the detection component reaches a position relative to the position sensor, the transport frame is controlled to stop moving. The unloading device according to claim 26, wherein the body includes a plurality of uprights, the transport frame can move between two adjacent uprights, and the position sensor is provided on the uprights. The unloading device according to claim 27, wherein the position sensor is located on the side of the column; the detection part has a detection part, and when the transport frame moves to a position corresponding to the position sensor, the The detection part is located on the side outside of the upright column and is opposite to the position of the position sensor. The unloading device according to claim 25, wherein the position sensor includes a first position sensor and a second position sensor, and the first position sensor and the second position sensor are respectively arranged in the moving direction of the carrying frame. opposite ends; the controller is used to move the carrying frame to the first position sensor When corresponding to the position of any one of the second position sensors, the transport frame is controlled to stop moving. The unloading device according to claim 18, wherein the mechanical arm is provided with a movable part, the movable part can move to different positions relative to the mechanical arm, and the movable part blocks the entry and exit of the goods. When on the path, the robotic arm is used to drive the goods in and out of the storage unit; at least one of the robotic arms is provided with a detection component, and the detection component is used to detect the movement of the movable part relative to the robotic arm. Location. The unloading device according to claim 30, wherein the movable member is rotatably arranged at the end of the mechanical arm, and the rotation axis of the movable member and the moving direction of the transport frame are parallel to each other. The unloading device according to claim 31, wherein the movable member is a movable push rod, the first end of the movable push rod is rotatably connected to the mechanical arm, and the second end of the movable push rod is a free end, and the rod body of the movable push rod is used to push the goods in and out of the storage unit. The unloading device according to claim 32, wherein when the movable push rod blocks the entry and exit path of the cargo, the movable push rod is arranged horizontally; the movable push rod does not block the cargo. When on the entry and exit path, the movable push rod is arranged vertically. The unloading device according to claim 33, wherein the detection component includes a movable push rod position detector, and the movable push rod position detector is provided at the end of the mechanical arm. The unloading device as claimed in claim 34, wherein the movable push rod position detector corresponds to the position when the movable push rod is not blocked on the entry and exit path of the goods. The unloading device according to claim 30, wherein the controller is further used to control the moving state of the carrying frame according to the position of the movable member relative to the robotic arm. The unloading device as claimed in claim 36, wherein the robotic arm includes a first robotic arm disposed on the top of the carrying frame and a second robotic arm disposed on the bottom of the carrying frame, the first robotic arm and The detection components are provided on each of the second robotic arms. A warehousing system, including a handling robot and the unloading device according to any one of claims 11-37, the handling robot having a pallet, the pallet and the storage unit of the unloading device being arranged correspondingly to provide The unloading device is used for unloading operations.

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