WO2024104195A1 - 卸料设备及物流系统 - Google Patents

卸料设备及物流系统 Download PDF

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Publication number
WO2024104195A1
WO2024104195A1 PCT/CN2023/129602 CN2023129602W WO2024104195A1 WO 2024104195 A1 WO2024104195 A1 WO 2024104195A1 CN 2023129602 W CN2023129602 W CN 2023129602W WO 2024104195 A1 WO2024104195 A1 WO 2024104195A1
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WO
WIPO (PCT)
Prior art keywords
unloading
push
pull member
fork assembly
fork
Prior art date
Application number
PCT/CN2023/129602
Other languages
English (en)
French (fr)
Inventor
李育
陈代荣
Original Assignee
深圳市海柔创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Publication of WO2024104195A1 publication Critical patent/WO2024104195A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/12—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/12—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like
    • B65G1/127—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like the circuit being confined in a vertical plane

Definitions

  • the utility model relates to the technical field of warehousing logistics, in particular to a unloading device and a logistics system.
  • the handling robot in order to improve the handling efficiency of the handling robot, the handling robot can carry multiple goods at the same time.
  • the handling robot unloads the loaded goods, the handling robot needs to dock with the target device and then unload the goods one by one, or the loaded goods need to be removed one by one manually.
  • the utility model provides a material unloading device and a logistics system to solve the technical problem that the current cargo unloading efficiency of a handling robot is low, resulting in low transfer efficiency of the entire material system.
  • the present application provides a unloading device for unloading materials from a handling device, the unloading device comprising a support frame and at least two unloading layers, the at least two unloading layers being spaced apart along a height direction of the support frame, each unloading layer having at least one transfer mechanism; the transfer mechanism comprising a fork assembly and a push-pull member, the fork assembly being telescopically disposed on the unloading layer, the push-pull member being disposed on the fork assembly, and the push-pull member being configured to drive the material on the handling device to move when the fork assembly is retracted relative to the unloading layer.
  • the unloading equipment provided in this application can be docked with the handling equipment, and the handling equipment can be transported by the transfer mechanism.
  • the materials on the equipment are unloaded to the unloading layer, and multiple unloading layers can unload materials at the same time, thereby improving the unloading efficiency of materials and further improving the warehousing and transportation efficiency of the logistics system.
  • the push-pull member and the fork assembly may be rotatably connected, and when the push-pull member is rotated to a first position relative to the fork assembly, the push-pull member may abut against a side of the material facing away from the transfer mechanism.
  • the push-pull member can rotate according to the telescopic state of the fork assembly, thereby avoiding interference of the push-pull member during the picking process.
  • the push-pull member when the fork assembly is extended relative to the unloading layer, can rotate from the second position to the first position, wherein the second position is that the push-pull member is retracted to the bottom side of the fork assembly.
  • Such an arrangement can make the push-pull member close to the fork assembly during the extension of the fork assembly, thereby improving space utilization and avoiding interference of the push-pull member during the picking process.
  • the fork assembly has a slide groove
  • the push-pull member is movably arranged in the slide groove, and when the push-pull member extends from the slide groove, the push-pull member can rotate from the third position to the first position, wherein the third position is that the push-pull member and the fork assembly extend in the same direction.
  • the push-pull member can be retracted in the slide slot, and after the fork assembly is extended, the push-pull member can move and rotate relative to the fork assembly so as to abut against the material.
  • the fork assembly when the fork assembly is extended relative to the unloading layer, the fork assembly can be located at the bottom side of the material; and/or, when the push-pull member is located at the first position, the push-pull member can be perpendicular to the fork assembly.
  • Such an arrangement can avoid interference between the fork assembly and the handling equipment during the extension and retraction process, and can also ensure the reliability of the abutment between the push-pull member and the material.
  • each unloading layer may include a conveying mechanism, which extends in the same direction as the fork assembly, and when the push-pull member drives the material to move to the unloading layer, the conveying mechanism is used to support the material.
  • Such a setting can improve the smoothness of material movement during the unloading process.
  • the conveying mechanism may include two flow bars, the two flow bars are arranged in parallel, and the transfer mechanism is arranged between the two flow bars.
  • Such an arrangement can reduce the friction between the material movement process and the conveying mechanism, thereby reducing the resistance faced by the transfer mechanism when driving the material to move.
  • the fork assembly may include a fork body and a first drive unit, the fork body may be movably connected to the side of the conveying mechanism, the first drive unit may be arranged at one end of the fork body facing the handling equipment, and the push-pull member is rotatably connected to the output end of the first drive unit.
  • Such an arrangement can ensure smooth rotation of the push-pull member relative to the fork body.
  • the unloading layer may further include a transmission member and a second drive unit, the fork body is connected to the transmission member, and the second drive unit is configured to drive the transmission member to drive the fork body to telescopically move relative to the conveying mechanism.
  • Such an arrangement can ensure smooth telescopic movement of the entire fork assembly.
  • the present application provides a logistics system, which includes a handling device and the unloading device in the above technical solution.
  • the handling device is used to transport materials.
  • the handling device has a storage unit, and the handling device can be docked with the unloading device so that the unloading device unloads materials from the storage unit.
  • the storage unit may include two support parts that are arranged in parallel and spaced apart in the horizontal direction.
  • the transfer mechanism of the unloading layer may enter between the two support parts.
  • the present application provides a unloading device and a logistics system, wherein the unloading device is used to unload materials from the handling equipment of the logistics system, the unloading device includes a support frame and at least two unloading layers, the at least two unloading layers are spaced apart along the height direction of the support frame, and each unloading layer has at least one transfer mechanism; the transfer mechanism includes a fork assembly and a push-pull member, the fork assembly is telescopically arranged on the unloading layer, the push-pull member is arranged on the fork assembly, and the push-pull member is configured to drive the material on the handling equipment to move when the fork assembly is retracted, and multiple unloading layers can perform unloading operations on materials at the same time, thereby improving the unloading efficiency of materials, and thereby improving the warehousing and transportation efficiency of the logistics system.
  • the transfer mechanism includes a fork assembly and a push-pull member, the fork assembly is telescopically arranged on the
  • FIG1 is a schematic structural diagram of a discharge device provided in an embodiment of the present application.
  • FIG2 is a schematic diagram of a fork assembly of a unloading device provided in an embodiment of the present application in an extended state;
  • FIG. 3 is a schematic diagram of a push-pull member of a discharging device provided in an embodiment of the present application rotating from a second position to a first position;
  • FIG. 4 is a schematic diagram of a push-pull member of a discharging device provided in an embodiment of the present application rotating from a third position to a first position;
  • FIG5 is a schematic diagram of the docking of the unloading equipment and the handling equipment provided in an embodiment of the present application
  • FIG6 is a schematic diagram of the unloading process after the unloading equipment is docked with the handling equipment according to an embodiment of the present application;
  • FIG. 7 is a schematic diagram of the structure of the handling equipment in the logistics system provided in an embodiment of the present application.
  • connection should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be the internal communication of two components.
  • connection should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be the internal communication of two components.
  • an embodiment of the present application provides a unloading device and a logistics system.
  • the unloading equipment cooperates with the handling equipment in the logistics system. While the handling equipment can simultaneously handle multiple materials, the unloading equipment can also simultaneously unload multiple material boxes from the handling equipment, thereby improving the unloading efficiency of the material boxes, and further improving the warehousing and transportation efficiency of the logistics system.
  • the unloading equipment provided in the embodiment of the present application can be applied to the logistics distribution of industrial production lines, the warehousing and unloading of inventory products in the manufacturing industry, the warehousing and unloading of products in the retail industry, and can also be applied to different fields such as the express warehousing and unloading of e-commerce logistics, and the products or goods involved in the transportation can be industrial parts, electronic accessories or products, medicines, clothing accessories, food, books, etc., and it can be docked with a handling robot or with other handling equipment in the logistics system.
  • the embodiment of the present application does not make specific limitations on this.
  • the materials unloaded by the unloading equipment can be goods or material boxes containing goods, and the shape of the goods can be regular or irregular. They will all be named "materials" below and will not be described in detail.
  • Figure 1 is a schematic diagram of the structure of the unloading equipment provided in an embodiment of the present application
  • Figure 2 is a schematic diagram of the extended state of the fork assembly of the unloading equipment provided in an embodiment of the present application
  • Figure 3 is a schematic diagram of the push-pull member of the unloading equipment provided in an embodiment of the present application rotating from the second position to the first position
  • Figure 4 is a schematic diagram of the push-pull member of the unloading equipment provided in an embodiment of the present application rotating from the third position to the first position
  • Figure 5 is a schematic diagram of the docking of the unloading equipment and the handling equipment provided in an embodiment of the present application
  • Figure 6 is a schematic diagram of the unloading process after the unloading equipment and the handling equipment are docked
  • Figure 7 is a schematic diagram of the structure of the handling equipment in the logistics system provided in an embodiment of the present application.
  • an embodiment of the present application provides a unloading device 100, which is used to unload materials 300 from a handling device 200, wherein the unloading device 100 includes a support frame 110 and at least two unloading layers 120, and the at least two unloading layers 120 are spaced apart along the height direction of the support frame 110, and each unloading layer 120 has at least one transfer mechanism 121, and the transfer mechanism 121 can move the material 300 on the handling device 200 to the unloading layer 120, thereby completing the unloading operation.
  • the handling equipment 200 can be a movable device such as a handling robot. Taking the handling robot as an example, the handling robot can obtain materials 300 and transport materials 300, and the handling robot can store multiple materials 300 at the same time. The handling robot can move relative to the unloading layer 120 of the unloading equipment 100 to facilitate the docking of the transfer mechanism 121 and the handling robot.
  • the transfer mechanism 121 includes a fork assembly 122 and a push-pull member 123.
  • the fork assembly 122 is telescopically disposed on the unloading layer 120.
  • the push-pull member 123 is disposed on the fork assembly 122.
  • the push-pull member 123 is configured to drive the material 300 on the handling equipment 200 to move when the fork assembly 122 is retracted, so that the material 300 can be moved from the handling equipment 200 to the unloading layer 120 under the drive of the push-pull member 123.
  • the fork assembly 122 can extend or retract from the unloading layer 120, and the push-pull member 123 can move relative to the fork assembly 122.
  • the push-pull member 123 can move or rotate relative to the fork assembly 122, so that the push-pull member 123 can be expanded or retracted relative to the fork assembly 122, wherein, when the fork assembly 122 extends relative to the unloading layer 120, the fork assembly 122 moves toward the direction of the handling equipment 200.
  • the push-pull member 123 moves with the fork assembly 122, and the push-pull member 123 is in a retracted state to avoid interference between the push-pull member 123 and the material 300 on the handling equipment 200, and when the fork assembly 122 is retracted relative to the unloading layer 120, the push-pull member 123 can be expanded relative to the fork assembly 122, so that during the retraction of the fork assembly 122, the expanded push-pull member 123 can drive the material 300 to move from the handling equipment 200 to the unloading layer 120.
  • the unloading layers 120 of the unloading equipment 100 provided in the embodiment of the present application can be two, three or more.
  • multiple unloading layers 120 can be opposite to the transporting equipment 200, and when the material 300 on the transporting equipment 200 is unloaded to the unloading layer 120 through the transfer mechanism 121, multiple unloading layers 120 can simultaneously perform the operation of unloading the material 300, thereby improving the unloading efficiency of the material 300, and further improving the warehousing and transportation efficiency of the logistics system.
  • the push-pull member 123 and the fork assembly 122 can be rotatably connected.
  • the push-pull member 123 can abut against the side of the material 300 away from the transfer mechanism 121, so that when the fork assembly 122 retracts, the push-pull member 123 can drive the material 300 to move to the unloading layer.
  • the push-pull member 123 when the push-pull member 123 is in the first position relative to the fork assembly 122, the push-pull member 123 is in an expanded state relative to the fork assembly 122, and when the fork assembly 122 moves and retracts, the push-pull member 123 moves synchronously with the fork assembly 122 in the expanded state, and the material 300 is in the moving path of the push-pull member 123, so that the push-pull member 123 can drive the material 300 to move.
  • the push-pull member 123 When the fork assembly 122 extends toward the handling equipment 200 relative to the unloading layer 120, in order to avoid interference between the push-pull member 123 and the material 300, that is, to avoid the material 300 being in the path where the push-pull member 123 moves along with the fork assembly 122, the push-pull member 123 can be in a retracted state relative to the fork assembly 122.
  • the deployment and retraction of the push-pull member 123 relative to the fork assembly 122 can be achieved by rotating the push-pull member 123, and the push-pull member 123 can be rotated according to the telescopic state of the fork assembly 122 to avoid the push-pull member 123 During the picking process, interference occurs with material 300.
  • the manner and process of unfolding and folding the push-pull member 123 relative to the fork assembly 122 can be achieved through different specific structures, which are explained below through different examples.
  • the push-pull member 123 when the fork assembly 122 is extended relative to the unloading layer 120, the push-pull member 123 can be rotated from the second position to the first position, wherein the second position is that the push-pull member 123 is folded to the bottom side of the fork assembly 122, that is, the second position is the retracted position of the push-pull member 123, and the first position is the extended position of the push-pull member 123.
  • the fork assembly 122 can extend from below the material 300, and after the fork assembly 122 is extended, the push-pull member 123 can be flipped upward from the bottom side of the fork assembly 122, that is, the push-pull member 123 is flipped from the side of the fork assembly 122 away from the material 300 to the side of the material 300.
  • the fork assembly 122 can extend in the horizontal reverse direction, and the fork assembly 122 can be retracted and retracted in the horizontal direction.
  • the push-pull member 123 When the push-pull member 123 is in the second position, the push-pull member 123 extends in the horizontal direction, and the push-pull member 123 is attached to the bottom of the fork assembly 122. At this time, the angle between the push-pull member 123 and the fork assembly 122 is approximately 0°. However, when the push-pull member 123 is unfolded, the push-pull member 123 can be rotated 270° relative to the fork assembly 122, so that the push-pull member 123 extends upward in the vertical direction. At this time, the angle between the push-pull member 123 and the fork assembly 122 is approximately 90°.
  • the push-pull member 123 is in the second position, i.e., close to the fork assembly 122, when the fork assembly 122 extends from the unloading layer 120, thereby improving space utilization and avoiding interference between the push-pull member 123 and the material 300 during the picking process.
  • the fork assembly 122 may have a slide groove, and the push-pull member 123 may be movably disposed in the slide groove, and when the push-pull member 123 extends out of the slide groove, the push-pull member 123 may rotate from the third position to the first position, wherein when in the third position, the push-pull member 123 and the fork assembly 122 extend in the same direction.
  • the fork assembly 122 can be extended relative to the unloading layer 120 and extend to the bottom of the material 300 on the handling equipment 200. Since the push-pull member 123 is located in the slide groove on the fork assembly 122, the push-pull member 123 will extend a certain distance together with the fork assembly 122. After the fork assembly 122 is extended, the push-pull member 123 can extend from the slide groove, that is, the push-pull member 123 can be extended a certain distance relative to the fork assembly 122 along the extension direction of the fork assembly 122.
  • the fork assembly 122 and the push-pull member 123 form a two-stage extension structure.
  • the fork assembly 122 is a first-stage extension mechanism relative to the unloading layer 120
  • the push-pull member 123 is a first-stage extension mechanism relative to the fork assembly 122.
  • It is a second-level extension structure, and when the push-pull member 123 extends from the slide slot, the third position of the push-pull member 123 is the position of the push-pull member 123 relative to the fork device when it is extended. At this time, the push-pull member 123 and the fork device are located on the same extension line.
  • the fork device extends in the horizontal direction.
  • the push-pull member 123 When the push-pull member 123 is located at the third position, the push-pull member 123 extends in the horizontal direction.
  • the push-pull member 123 rotates from the third position to the first position, the push-pull member 123 flips upward at a certain angle and abuts against the material 300.
  • the rotation angle includes but is not limited to 30°, 50°, 70°, 90°, etc. It only needs to abut against the material 300. Taking the rotation angle of 90° as an example, the push-pull member 123 can be perpendicular to the fork assembly 122, so that the push-pull member 123 can be blocked on the side of the material 300.
  • the push-pull member 123 can push the material 300 to move.
  • the fork assembly 122 when the fork assembly 122 is extended relative to the unloading layer 120, the fork assembly 122 can be located on the bottom side of the material 300.
  • the material 300 can be stored in the storage unit 210 of the handling equipment 200, and the platform of the storage unit 210 supporting the material 300 can have a gap in the middle for the fork assembly 122 to be inserted when it is extended or retracted.
  • the push-pull member 123 can be plate-shaped. When the push-pull member 123 is located in the first position, the push-pull member 123 can have an angle with the length direction of the fork assembly 122.
  • the push-pull member 123 can be perpendicular to the length direction of the fork assembly 122, or the angle between the push-pull member 123 and the fork assembly can also be 30°, 50°, 70°, etc. It only needs to abut against the material 300, and the push-pull assembly is located on the side of the material 300 in the horizontal direction.
  • the push-pull member 123 can drive the material 300 to move, thereby ensuring the reliability of the abutment between the push-pull member 123 and the material 300.
  • the push-pull member 123 can ensure the stability of the material 300 movement process in a similar manner, which will not be repeated here.
  • the specific structure of the unloading layer 120 is described below.
  • each unloading layer 120 may include a conveying mechanism 124, the conveying mechanism 124 and the fork assembly 122 extend in the same direction, and when the push-pull member 123 drives the material 300 to move to the unloading layer 120, the conveying mechanism 124 is used to support the material 300, and can improve the smoothness of movement of the material 300 during the unloading process.
  • the conveying mechanism 124 can be arranged horizontally, and the conveying mechanism 124 and the fork assembly 122 together form the bearing surface of the unloading layer 120.
  • the fork assembly 122 can be extended and retracted relative to the conveying mechanism 124, and when the fork assembly 122 is extended, the push-pull member 123 can abut against the side of the material 300 away from the conveying mechanism 124. When the fork assembly 122 is retracted, the push-pull member 123 can drive the material 300 box to move from the handling equipment 200 to the conveying mechanism 124.
  • the conveying mechanism 124 may include two smooth bars 1241, which are arranged in parallel, and the transfer mechanism 121 is arranged between the two smooth bars 1241, so as to reduce the friction between the material 300 and the conveying mechanism 124 during the movement process, thereby reducing the resistance faced by the transfer mechanism 121 when driving the material 300 to move.
  • the conveying mechanism 124 may include a plurality of rotatably arranged rollers, which are parallel to each other and divided into two groups, respectively forming two smooth strips 1241, and the rollers of each smooth strip 1241 are arranged along the extension and retraction direction of the fork assembly 122.
  • the push-pull member 123 drives the material 300 to move to the conveying mechanism 124, the friction of the material 300 can be reduced by the rolling of the rollers.
  • the roller can be an active roller or a passive roller.
  • the transmission direction of the roller can be consistent with the moving direction of the material 300, thereby providing auxiliary force for the movement of the material 300, so as to reduce the force required for the push-pull member 123 to drive the material 300 to move, and improve the smoothness of the movement of the material 300;
  • the roller is a passive roller, the material 300 moves under the drive of the push-pull member 123, and there is rolling friction between the roller and the material 300, which can reduce the resistance to the movement of the material 300.
  • the material 300 can be further conveyed to the inside of the support frame 110 through the conveying mechanism 124.
  • a conveying channel is provided inside the support, and it can be connected to the conveyor line, shelf or other logistics equipment, so that the material 300 can be transferred to the next logistics process.
  • the following describes the driving method of the fork assembly 122 to extend and retract relative to the unloading layer 120 and the driving method of the push-pull member 123 to move relative to the fork assembly 122.
  • the fork assembly 122 may include a fork body 1221 and a first drive unit 1222.
  • the fork body 1221 can be movably connected to the side of the conveying mechanism 124.
  • the first drive unit 1222 can be arranged at one end of the fork body 1221 facing the handling equipment 200, and the push-pull member 123 is rotatably connected to the output end of the first drive unit 1222.
  • the first driving unit 1222 can drive the push-pull member 123 to rotate relative to the fork body 1221.
  • the first driving unit 1222 can be a motor, and the output shaft of the motor can be connected to the push-pull member 123 through a coupling and a rotating shaft, thereby ensuring the smooth rotation of the push-pull member 123 relative to the fork body 1221.
  • the first drive unit 1222 can move in the slide groove synchronously with the push-pull member 123, or the first drive unit 1222 can be fixedly installed at the end of the slide groove and cooperate with the push-pull member 123 through a clutch.
  • the first drive unit 1222 can drive the push-pull member 123 to rotate.
  • the unloading layer 120 may include a transmission member and a second drive unit, the fork body 1221 is connected to the transmission member, and the second drive unit is configured to drive the transmission member to drive the fork body 1221 to telescopically move relative to the conveying mechanism 124 to ensure the smoothness of the overall telescopic movement of the fork assembly 122.
  • the second drive unit may be a motor arranged on the unloading layer 120, and the transmission member may include a transmission wheel and a flexible member, for example, it may be a pulley and a transmission belt, or it may be a sprocket and a chain, or it may be a linear moving module.
  • the embodiment of the present application does not make specific limitations on this.
  • the second drive unit can drive the transmission member to transmit, and the fork assembly 122 can move as a whole with the transmission member.
  • An embodiment of the present application provides a logistics system, which includes a transport device 200 and the unloading device 100 in the above technical solution.
  • the transport device 200 is used to transport materials 300.
  • the transport device 200 has a storage unit 210, and the transport device 200 can be docked with the unloading device 100 so that the unloading device 100 unloads the material 300 from the storage unit 210.
  • the storage unit 210 may include two support parts arranged in parallel and spaced apart in the horizontal direction.
  • the transfer mechanism 121 of the unloading layer 120 can enter between the two support parts.
  • the support part can be a smooth strip, etc., so as to reduce the friction force when the material 300 moves.
  • the two support parts are located on opposite sides of the fork assembly 122 to avoid interference between the extension and retraction picking process of the fork assembly 122 and the storage unit 210.
  • the unloading layer 120 is arranged at intervals along the height direction of the support frame 110, and the storage units 210 can be arranged at intervals along the height direction of the main body of the handling equipment 200.
  • the handling robot may include a chassis 220, a robot body 230 and a picking mechanism 240.
  • the robot body 230 is set on the chassis 220, and the chassis 220 can be moved on the ground.
  • the robot body 230 has a plurality of storage units 210, and the picking mechanism 240 is used to put the material 300 into the storage unit 210.
  • the picking mechanism 240 is arranged to move along the height direction of the robot body 230.
  • the picking mechanism 240 can move to the bottom or top of the robot body 230 to avoid interference.
  • the intervals between adjacent unloading layers 120 match the interval sizes of adjacent storage units 210. In the logistics process, only a single unloading process and time are required to complete the unloading operation of the material 300 for all storage units 210 of the handling robot.
  • the logistics system can be applied to the outbound delivery of inventory products in manufacturing factories, the outbound delivery of inventory products in the retail industry, and can also be applied to different fields such as express delivery and sorting of e-commerce logistics.
  • the products or goods involved in the transportation may be industrial parts, electronic accessories or products, clothing accessories, food, etc., and the embodiments of the present application do not make specific limitations on this.

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  • Warehouses Or Storage Devices (AREA)

Abstract

一种卸料设备及物流系统，卸料设备（100）用于从物流系统的搬运设备上卸取物料（300），卸料设备（100）包括支撑架（110）和至少两个卸料层（120），至少两个卸料层（120）沿支撑架（110）的高度方向间隔设置，每个卸料层（120）具有至少一个转运机构（121）；转运机构（121）包括货叉组件（122）和推拉件（123），货叉组件（122）可伸缩地设置于卸料层（120），推拉件（123）设置于货叉组件（122）上，且推拉件（123）被配置为在货叉组件（122）相对于卸料层（120）缩回时，带动搬运设备（200）上的物料（300）移动，多个卸料层（120）可同时卸取物料（300），提高卸货效率，进而提高物流系统的出入库以及输送效率。

Description

卸料设备及物流系统
本申请要求于2022年11月15日提交中国专利局、申请号为202223040204.7、申请名称为“卸料设备及物流系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本实用新型涉及仓储物流技术领域，特别涉及一种卸料设备及物流系统。
背景技术
随着人工智能和自动化技术的发展，各类自动化设备被广泛应用在工业、生活等各个领域内，而搬运机器人在运输、物流等行业发挥着重要的作用。物流系统中，当需要出入货或者转运货物时，搬运机器人需要将装载的货物放置到输送线或货架上。
相关技术中，为了提高搬运机器人的搬运效率，搬运机器人可以同时搬运多个货物，在搬运机器人将装载的货物卸下时，需要搬运机器人和目标设备对接后逐一卸取货物，或者由人工将装载的货物逐一取下。
然而，目前对搬运机器人的货物卸取效率低，导致整个物料系统的转运效率低。
实用新型内容
本实用新型提供一种卸料设备及物流系统，以解决目前对搬运机器人的货物卸取效率低，导致整个物料系统的转运效率低的技术问题。
第一方面，本申请提供一种卸料设备，用于从搬运设备上卸取物料，卸料设备包括支撑架和至少两个卸料层，至少两个卸料层沿支撑架的高度方向间隔设置，每个卸料层具有至少一个转运机构；转运机构包括货叉组件和推拉件，货叉组件可伸缩地设置于卸料层，推拉件设置于货叉组件上，且推拉件被配置为在货叉组件相对于卸料层缩回时带动搬运设备上的物料移动。
本申请提供的卸料设备可以与搬运设备对接，并且通过转运机构将搬运 设备上的物料卸取至卸料层，并且多个卸料层可以同时进行卸取物料的操作，从而提高物料的卸货效率，进而提高物流系统的出入库以及输送效率。
作为一种可选的实施方式，推拉件与货叉组件可以转动连接，推拉件相对于货叉组件转动至第一位置时，推拉件可以抵接于物料背离转运机构的一侧。
如此设置，推拉件可以根据货叉组件伸缩状态进行旋转，避免推拉件在取货过程中产生干涉。
作为一种可选的实施方式，当货叉组件相对于卸料层伸出时，推拉件可从第二位置旋转至第一位置，其中，第二位置为推拉件收拢于货叉组件的底侧。
如此设置，可以使得推拉件在货叉组件伸出过程中贴近货叉组件，提高空间利用率，避免推拉件在取货过程中产生干涉。
作为一种可选的实施方式，货叉组件具有滑槽，推拉件移动设置于滑槽中，且当推拉件从滑槽中伸出时，推拉件可从第三位置旋转至第一位置，其中，第三位置为推拉件与货叉组件沿相同方向延伸。
如此设置，在货叉组件伸出过程中，推拉件可以收拢在滑槽内，而当货叉组件伸出后，推拉件可以移动并相对于货叉组件旋转从而可以与物料抵接。
作为一种可选的实施方式，货叉组件相对于卸料层伸出时，货叉组件可以位于物料的底侧；和/或，推拉件位于第一位置时，推拉件可以垂直于货叉组件。
如此设置，可以避免货叉组件伸缩过程中与搬运设备产生干涉，此外，可以保证推拉件与物料抵接的可靠性。
作为一种可选的实施方式，每个卸料层均可以包括传送机构，传送机构与货叉组件沿相同方向延伸，且推拉件带动物料移动至卸料层时，传送机构用于支撑物料。
如此设置，可以提高物料在卸货过程中移动的顺畅性。
作为一种可选的实施方式，传送机构可以包括两个流利条，两个流利条平行设置，转运机构设置于两个流利条之间。
如此设置，可以减小物料移动过程与传送机构的摩擦力，进而减小转运机构在带动物料移动时所面对的阻力。
作为一种可选的实施方式，货叉组件可以包括货叉主体和第一驱动单元，货叉主体可以移动连接于传送机构的侧方，第一驱动单元可以设置于货叉主体朝向搬运设备的一端，且推拉件与第一驱动单元的输出端转动连接。
如此设置，可以保证推拉件相对于货叉主体转动的顺畅性。
作为一种可选的实施方式，卸料层还可以包括传动件和第二驱动单元，货叉主体与传动件连接，第二驱动单元被配置为驱动传动件传动，以带动货叉主体相对于传送机构伸缩移动。
如此设置，可以保证货叉组件整体伸缩移动的顺畅性。
第二方面，本申请提供一种物流系统，该物流系统包括搬运设备和上述技术方案中的卸料设备，搬运设备用于搬运物料，搬运设备具有存放单元，且搬运设备可以可与卸料设备对接，以使卸料设备从存放单元中卸取物料。
作为一种可选的实施方式，存放单元可以为至少两个，且存放单元与卸料设备的卸料层一一对应设置，以使各个卸料层的转运机构分别从对应的存放单元中同步卸取所述物料。
作为一种可选的实施方式，存放单元可以包括两个沿水平方向平行间隔设置的支撑部，存放单元与卸料层对接时，卸料层的转运机构可以进入两个支撑部之间。
本申请提供一种卸料设备及物流系统，其中，卸料设备用于从物流系统的搬运设备上卸取物料，卸料设备包括支撑架和至少两个卸料层，至少两个卸料层沿支撑架的高度方向间隔设置，每个卸料层具有至少一个转运机构；转运机构包括货叉组件和推拉件，货叉组件可伸缩地设置于卸料层，推拉件设置于货叉组件上，且推拉件被配置为在货叉组件缩回时带动搬运设备上的物料移动，多个卸料层可以同时进行卸取物料的操作，提高物料的卸货效率，进而提高物流系统的出入库以及输送效率。
除了上面所描述的本申请实施例解决的技术问题、构成技术方案的技术特征以及由这些技术方案的技术特征所带来的有益效果外，本申请提供的卸料设备及物流系统所能解决的其他技术问题、技术方案中包含的其他技术特征以及这些技术特征带来的有益效果，将在具体实施方式中作出进一步详细的说明。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的卸料设备的结构示意图；
图2为本申请实施例提供的卸料设备的货叉组件伸出状态的示意图；
图3为本申请实施例提供的卸料设备的推拉件从第二位置旋转至第一位置的示意图；
图4为本申请实施例提供的卸料设备的推拉件从第三位置旋转至第一位置的示意图；
图5为本申请实施例提供的卸料设备与搬运设备对接的示意图；
图6为本申请实施例提供的卸料设备与搬运设备对接后卸货过程的示意图；
图7为本申请实施例提供的物流系统中搬运设备的结构示意图。
附图标记说明：
100-卸料设备；110-支撑架；120-卸料层；121-转运机构；122-货叉组件；
1221-货叉主体；1222-第一驱动单元；123-推拉件；124-传送机构；1241-流利条；
200-搬运设备；210-存放单元；220-底盘；230-机器人主体；240-取货机
构；
300-物料。
具体实施方式
为使本实用新型实施例的目的、技术方案和优点更加清楚，下面将结合本实用新型实施例中的附图，对本实用新型实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本实用新型一部分实施例，而不是全部的实施例。基于本实用新型中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本实用新型保护的范围。
首先，本领域技术人员应当理解的是，这些实施方式仅仅用于解释本申 请的技术原理，并非旨在限制本申请的保护范围。本领域技术人员可以根据需要对其作出调整，以便适应具体的应用场合。
其次，需要说明的是，在本申请的描述中，术语“内”、“外”等指示的方向或位置关系的术语是基于附图所示的方向或位置关系，这仅仅是为了便于描述，而不是指示或暗示装置或构件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，还需要说明的是，在本申请的描述中，除非另有明确的规定和限定，术语“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是两个构件内部的连通。对于本领域技术人员而言，可根据具体情况理解上述术语在本申请中的具体含义。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本公开的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
随着人工智能和自动化技术的发展，各类机器人被广泛应用在工业、生活等各个领域内，而搬运机器人在运输、物流等行业发挥着重要的作用。物流系统中，当需要出入货或者转运货物时，搬运机器人需要将装载的货物放置到输送线或货架上。而为了提高搬运机器人的搬运效率，搬运机器人可以同时搬运多个货物，在搬运机器人将装载的货物卸下时，需要搬运机器人和目标设备对接后逐一卸取货物，或者由人工将装载的货物逐一取下，例如，在与输送线对接时，需要逐一将物料箱卸至输送线上。因此，目前对搬运机器人的货物卸取效率低，导致整个物料系统的转运以及出入库效率低。
针对上述问题，本申请实施例提供一种卸料设备及物流系统，通过卸料设备配合物流系统中的搬运设备，在搬运设备可以同时搬运多个物料的同时，卸料设备也可以从搬运设备上同时卸取多个物料箱，从而提高物料箱的卸货效率，进而提高物流系统的出入库以及输送效率。
为了便于理解首先对本申请实施例的应用场景进行说明。
本申请实施例提供的卸料设备可以应用于工业生产线的物流配送、制造业库存产品的出入库、零售业产品的出入库，也可以应用于电商物流的快递出入库等不同领域，且涉及运输的产品或货物可以是工业零部件、电子配件或产品、药物、服装饰品、食品、书籍等，并且，其可以与搬运机器人对接，也可以与物流系统中的其他搬运设备对接，本申请实施例对此不做具体限定，此外，卸料设备所卸取的物料可以是货物，也可以存储装有货物的物料箱，且货物的形状可以为规则形状，也可以是不规则的异形结构，下面将都命名为“物料”，不再具体赘述。
图1为本申请实施例提供的卸料设备的结构示意图，图2为本申请实施例提供的卸料设备的货叉组件伸出状态的示意图，图3为本申请实施例提供的卸料设备的推拉件从第二位置旋转至第一位置的示意图，图4为本申请实施例提供的卸料设备的推拉件从第三位置旋转至第一位置的示意图，图5为本申请实施例提供的卸料设备与搬运设备对接的示意图，图6为本申请实施例提供的卸料设备与搬运设备对接后卸货过程的示意图，图7为本申请实施例提供的物流系统中搬运设备的结构示意图。
如图1至图7所示，本申请实施例提供一种卸料设备100，该卸料设备100用于从搬运设备200上卸取物料300，其中，卸料设备100包括支撑架110和至少两个卸料层120，至少两个卸料层120沿支撑架110的高度方向间隔设置，每个卸料层120具有至少一个转运机构121，转运机构121可以将搬运设备200上的物料300移动至卸料层120，从而完成卸货操作。
可以理解的是，搬运设备200可以为搬运机器人等可以移动的设备，以搬运机器人为例，搬运机器人可以在获取物料300和对物料300进行运送，且搬运机器人可以同时存储多个物料300，搬运机器人可以通过移动与卸料设备100的卸料层120相对，以便于转运机构121与搬运机器人对接。
在一些实施例中，转运机构121包括货叉组件122和推拉件123，货叉组件122可伸缩地设置于卸料层120，推拉件123设置于货叉组件122上，且推拉件123被配置为在货叉组件122缩回时带动搬运设备200上的物料300移动，以使得物料300可以在推拉件123的带动下从搬运设备200移动至卸料层120。
可以理解的是，货叉组件122可以从卸料层120上伸出或者缩回，而推拉件123可以相对于货叉组件122活动，例如，推拉件123可以相对于货叉组件122移动或者转动，从而使得推拉件123可以相对于货叉组件122展开或者收起，其中，当货叉组件122相对于卸料层120伸出时，货叉组件122向搬运设备200的方向移动，在这一过程中，推拉件123随货叉组件122一起移动，且推拉件123处于收起状态，以避免推拉件123与搬运设备200上的物料300产生干涉，而当货叉组件122相对于卸料层120缩回时，推拉件123可以相对于货叉组件122展开，从而在货叉组件122缩回的过程中，展开的推拉件123可以带动物料300从搬运设备200上移动至卸料层120上。
需要说明的是，本申请实施例提供的卸料设备100的卸料层120可以为两个、三个或者更多个，在卸料设备100与搬运设备200对接时，多个卸料层120均可以与搬运设备200相对，并且通过转运机构121将搬运设备200上的物料300卸取至卸料层120时，多个卸料层120可以同时进行卸取物料300的操作，从而提高物料300的卸货效率，进而提高物流系统的出入库以及输送效率。
下面首先对推拉件123以及货叉组件122卸取物料300的卸货过程以及具体结构进行详细说明。
请继续参照图1至图7，在一种可能的实现方式中，推拉件123与货叉组件122可以转动连接，推拉件123相对于货叉组件122转动至第一位置时，推拉件123可以抵接于物料300背离转运机构121的一侧，从而当货叉组件122缩回时，推拉件123可以带动物料300向卸货层移动。
可以理解的是，推拉件123相对于货叉组件122处于第一位置时，推拉件123相对于货叉组件122处于展开状态，在货叉组件122移动缩回时，推拉件123在展开状态随货叉组件122同步移动，物料300处于推拉件123的移动路径上，从而推拉件123可以带动物料300进行移动。
而在货叉组件122相对于卸料层120向搬运设备200伸出时，为了避免推拉件123与物料300产生干涉，即避免物料300处于推拉件123随货叉组件122移动的路径上，推拉件123可以相对于货叉组件122处于收起状态，推拉件123相对于货叉组件122的展开和收起可以通过推拉件123的转动实现，且推拉件123可以根据货叉组件122伸缩状态进行旋转，避免推拉件123 在取货过程中与物料300产生干涉。
本申请的卸货设备中，推拉件123相对于货叉组件122的展开和收起方式和过程可以通过不同的具体结构实现，下面通过不同的示例进行说明。
作为一种可选的实施方式，当货叉组件122相对于卸料层120伸出时，推拉件123可从第二位置旋转至第一位置，其中，第二位置为推拉件123收拢于货叉组件122的底侧，即第二位置为推拉件123的收起位置，第一位置为推拉件123的展开位置。
其中，货叉组件122可以从物料300的下方伸出，推拉件123在货叉组件122伸出后，可以从货叉组件122的底侧向上方翻转，即推拉件123从货叉组件122背离物料300的一侧，翻转至物料300的侧方。
示例性的，货叉组件122可以沿水平反向延伸，且货叉组件122沿水平方向伸缩，当推拉件123处于第二位置时，推拉件123沿水平方向延伸，且推拉件123贴合于货叉组件122的底部，此时推拉件123与货叉组件122的夹角近似为0°，而但推拉件123展开时，推拉件123可以相对于货叉组件122旋转270°，使得推拉件123沿竖直方向向上延伸，此时推拉件123与货叉组件122的夹角近似为90°。
需要说明的是，推拉件123在货叉组件122从卸料层120伸出的过程中处于第二位置，即贴近货叉组件122，从而可以提高空间利用率，避免推拉件123在取货过程中与物料300产生干涉。
在另一种可能的实现方式中，货叉组件122可以具有滑槽，推拉件123可以移动设置于滑槽中，且当推拉件123从滑槽中伸出后，推拉件123可从第三位置旋转至第一位置，其中，当处于第三位置时，推拉件123与货叉组件122沿相同方向延伸。
其中，货叉组件122可以相对于卸料层120伸出，且伸至搬运设备200上的物料300的下方，而由于推拉件123位于货叉组件122上的滑槽中，推拉件123会随货叉组件122一起伸出一段距离，在货叉组件122伸出后，推拉件123可以从滑槽中伸出，即推拉件123可以相对于货叉组件122沿货叉组件122的伸出方向再伸出一定距离。
可以理解的是，货叉组件122与推拉件123形成两级伸出结构，货叉组件122相对于卸料层120为第一级伸出机构，推拉件123相对于货叉组件122 为第二级伸出结构，而当推拉件123从滑槽伸出时，推拉件123的第三位置是推拉件123相对于货叉装置伸出时的位置，此时，推拉件123与货叉装置位于同一延长线上。
示例性的，货叉装置沿水平方向延伸，当推拉件123位于第三位置时，推拉件123沿水平方向延伸，而当推拉件123从第三位置旋转至第一位置时，推拉件123向上方翻转一定角度，并和物料300抵接，转动的角度包括但不限于30°、50°、70°、90°等，只需与物料300抵接即可，以旋转角度为90°为例，可以使得推拉件123垂直于货叉组件122，从而推拉件123可以挡设于物料300的侧方，在货叉组件122缩回时，推拉件123可以推动物料300移动。
需要说明的是，货叉组件122相对于卸料层120伸出时，货叉组件122可以位于物料300的底侧，示例性的，物料300可以存放在搬运设备200的存放单元210中，存放单元210支撑物料300的平台中间可以具有供货叉组件122伸缩时插入的间隙。
示例性的，推拉件123可以呈板状，当推拉件123位于第一位置时，推拉件123可以与货叉组件122的长度方向具有夹角，例如，推拉件123可以垂直于货叉组件122的长度方向，或者推拉件123与货叉组件的夹角也可以是30°、50°、70°等，只需与物料300抵接即可，并且推拉组件位于物料300沿水平方向的侧方，当货叉组件122沿水平方向移动缩回时，推拉件123可以带动物料300移动，可以保证推拉件123与物料300抵接的可靠性。
当物料300为轮胎时，由于轮胎呈环形，推拉件123和轮胎抵接时，推拉件123和轮胎的外圈切线重合，可以使得推拉件123移动时对轮胎的推力经过轮胎的圆心，进而推拉件123对轮胎的抵接力可以推动轮胎沿直线方向从搬运装置移动至卸料层120，避免轮胎往侧方偏移。当然，对于其他异形结构的物料300，推拉件123可以通过类似的方式保证物料300移动过程的稳定性，在此不再赘述。
下面对卸料层120的具体结构进行说明。
请继续参照图1至图7，在一种可能的实现方式中，每个卸料层120均可以包括传送机构124，传送机构124与货叉组件122沿相同方向延伸，且推拉件123带动物料300移动至卸料层120时，传送机构124用于支撑物料 300，并且可以提高物料300在卸货过程中移动的顺畅性。
可以理解的是，传送机构124可以水平设置，传送机构124与货叉组件122共同形成卸料层120的承载面，货叉组件122可以相对于传送机构124进行伸缩，且在货叉组件122伸出时，推拉件123可以抵接在物料300背离传送机构124的一侧，当货叉组件122缩回时，推拉件123可以带动物料300箱从搬运设备200上移动至传送机构124上。
在一些实施例中，传送机构124可以包括两个流利条1241，两个流利条1241平行设置，转运机构121设置于两个流利条1241之间，从而可以减小物料300移动过程与传送机构124的摩擦力，进而减小转运机构121在带动物料300移动时所面对的阻力。
示例性的，传送机构124可以包括多个转动设置的滚筒，多个滚筒相互平行且分为两组，分别形成两个流利条1241，每个流利条1241的滚筒均沿货叉组件122的伸缩方向排布，在推拉件123带动物料300移动至传送机构124上时，通过滚筒的滚动可以减小物料300移动的摩擦力。
需要说明的是，滚筒可以为主动式滚筒，也可以为被动式滚筒，当滚筒为主动式滚筒时，滚筒的传动方向可以与物料300的移动方向一致，从而为物料300的移动提供辅助力，以减小推拉件123带动物料300移动所需的力，提高物料300移动的顺畅性；当滚筒为被动式滚筒时，物料300在推拉件123的带动下移动，滚筒与物料300之间为滚动摩擦，可以起到减小物料300移动阻力的效果。
此外，当物料300被取放至卸料层120后，可以通过传送机构124的传送将物料300继续传送至支撑架110内部，支撑内部设置有传送的通道，并且可以与输送线、货架或者其他物流设备对接，以使物料300可以被转运至下一步物流流程中。
下面对货叉组件122相对于卸料层120伸缩的驱动方式，以及推拉件123相对于货叉组件122活动的驱动方式分别进行说明。
请继续参照图1至图7，在一种可能的实现方式中，货叉组件122可以包括货叉主体1221和第一驱动单元1222，货叉主体1221可以移动连接于传送机构124的侧方，第一驱动单元1222可以设置于货叉主体1221朝向搬运设备200的一端，且推拉件123与第一驱动单元1222的输出端转动连接。
可以理解的是，第一驱动单元1222可以驱动推拉件123相对于货叉主体1221转动，例如，第一驱动单元1222的可以为电机，电机的输出轴可以与推拉件123通过联轴器和转轴连接，从而可以保证推拉件123相对于货叉主体1221转动的顺畅性。
需要说明的是，当推拉件123移动设置在货叉主体1221的滑槽中时，第一驱动单元1222可以与推拉件123同步在滑槽中进行移动，或者，第一驱动单元1222可以固定安装于滑槽的端部，并且通过离合器与推拉件123配合，当推拉件123从滑槽伸出，到达第三位置时，第一驱动单元1222可以驱动推拉件123转动。
在一些实施例中，卸料层120可以包括传动件和第二驱动单元，货叉主体1221与传动件连接，第二驱动单元被配置为驱动传动件传动，以带动货叉主体1221相对于传送机构124伸缩移动，以保证货叉组件122整体伸缩移动的顺畅性。
示例性的，第二驱动单元可以是设置在卸料层120上的电机，传动件可以包括传动轮和柔性件，例如，可以是带轮和传动带，或者可以是链轮和链条，或者可以是直线移动模组，本申请实施例对此不做具体限定，第二驱动单元可以驱动传动件进行传动，而货叉组件122可以整体随传动件进行移动。
请继续参照图1至图7，本申请实施例提供一种物流系统，该物流系统包括搬运设备200和上述技术方案中的卸料设备100，搬运设备200用于搬运物料300，搬运设备200具有存放单元210，且搬运设备200可以可与卸料设备100对接，以使卸料设备100从存放单元210中卸取物料300。
其中，存放单元210可以为至少两个，且存放单元210与卸料设备100的卸料层120一一对应设置，以使各个卸料层120的转运机构121分别从对应的存放单元210中同步卸取所述物料300。
可以理解的是，存放单元210可以包括两个沿水平方向平行间隔设置的支撑部，存放单元210与卸料层120对接时，卸料层120的转运机构121可以进入两个支撑部之间，支撑部可以为流利条等，从而可以减小物料300移动时的摩擦力，转运机构121的货叉组件122进行伸缩时，两个支撑部位于货叉组件122的相对两侧，避免货叉组件122的伸缩取货过程与存放单元210产生干涉。
需要说明的是，卸料层120沿支撑架110的高度方向间隔排布，存放单元210可以沿搬运设备200的主体的高度方向间隔排布，以搬运机器人为例，搬运机器人可以包括底盘220、机器人主体230和取货机构240，机器人主体230设置在底盘220上，底盘220可以在地面进行移动，机器人主体230具有多个存放单元210，取货机构240用于将物料300取放至存放单元210中，取货机构240沿机器人主体230的高度方向移动设置，当搬运机器人与卸料设备100对接时，取货机构240可以移动至机器人主体230的底端或者顶端，以避免产生干涉，相邻卸料层120的间隔与相邻存放单元210的间隔尺寸相匹配，在物流过程中，只需要单次卸料的流程和时间，即可对搬运机器人的所有存放单元210完成物料300的卸取操作。
此外，对于本实施例提供的物流系统的应用场景，根据具体货物的类型，其可以应用于制造业工厂库存产品的出库、零售业库存产品的出库，也可以应用于电商物流的快递出库分拣等不同领域，且涉及运输的产品或货物可以是工业零部件、电子配件或产品、服装饰品、食品等，而本申请实施例对此不作具体限定。
最后应说明的是：以上各实施例仅用以说明本实用新型的技术方案，而非对其限制；尽管参照前述各实施例对本实用新型进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本实用新型实施例技术方案的范围。

Claims (12)

  1. 一种卸料设备，其特征在于，所述卸料设备用于从搬运设备上卸取物料，所述卸料设备包括支撑架和至少两个卸料层，所述至少两个卸料层沿所述支撑架的高度方向间隔设置，每个所述卸料层具有至少一个转运机构；
    所述转运机构包括货叉组件和推拉件，所述货叉组件可伸缩地设置于所述卸料层，所述推拉件设置于所述货叉组件上，且所述推拉件被配置为在所述货叉组件相对于所述卸料层缩回时，带动所述搬运设备上的所述物料移动。
  2. 根据权利要求1所述的卸料设备，其特征在于，所述推拉件与所述货叉组件转动连接，所述推拉件相对于所述货叉组件转动至第一位置时，所述推拉件抵接于所述物料背离所述转运机构的一侧。
  3. 根据权利要求2所述的卸料设备，其特征在于，当所述货叉组件相对于所述卸料层伸出时，所述推拉件可从第二位置旋转至所述第一位置，其中，所述推拉件位于所述第二位置时，所述推拉件收拢于所述货叉组件的底侧。
  4. 根据权利要求2所述的卸料设备，其特征在于，所述货叉组件具有滑槽，所述推拉件移动设置于所述滑槽中，且当所述推拉件从所述滑槽中伸出时，所述推拉件可从第三位置旋转至所述第一位置，其中，所述推拉件位于所述第三位置时，所述推拉件与所述货叉组件沿相同方向延伸。
  5. 根据权利要求2-4任一项所述的卸料设备，其特征在于，所述货叉组件相对于所述卸料层伸出时，所述货叉组件位于所述物料的底侧；和/或，所述推拉件呈板状，且所述推拉件位于所述第一位置时，所述推拉件与所述货叉组件的长度方向具有夹角。
  6. 根据权利要求2-4任一项所述的卸料设备，其特征在于，每个所述卸料层均包括传送机构，所述传送机构与所述货叉组件沿相同方向延伸，且所述推拉件带动所述物料移动至所述卸料层时，所述传送机构用于支撑所述物料。
  7. 根据权利要求6所述的卸料设备，其特征在于，所述传送机构包括两个流利条，两个所述流利条平行设置，所述转运机构设置于两个所述流利条之间。
  8. 根据权利要求6所述的卸料设备，其特征在于，所述货叉组件包括货叉主体和第一驱动单元，所述货叉主体移动连接于所述传送机构的侧方，所 述第一驱动单元设置于所述货叉主体朝向所述搬运设备的一端，且所述推拉件与所述第一驱动单元的输出端转动连接。
  9. 根据权利要求8所述的卸料设备，其特征在于，所述卸料层还包括传动件和第二驱动单元，所述货叉主体与所述传动件连接，所述第二驱动单元被配置为驱动所述传动件传动，以带动所述货叉主体相对于所述传送机构伸缩移动。
  10. 一种物流系统，其特征在于，包括搬运设备和权利要求1-9任一项所述的卸料设备，所述搬运设备用于搬运物料，所述搬运设备具有存放单元，且所述搬运设备可与所述卸料设备对接，以使所述卸料设备从所述存放单元中卸取所述物料。
  11. 根据权利要求10所述的物流系统，其特征在于，所述存放单元为至少两个，且所述存放单元与所述卸料设备的卸料层一一对应设置，以使各个所述卸料层的转运机构分别从对应的所述存放单元中同步卸取所述物料。
  12. 根据权利要求11所述的物流系统，其特征在于，所述存放单元包括两个沿水平方向平行间隔设置的支撑部，所述存放单元与所述卸料层对接时，所述卸料层的所述转运机构可以进入两个所述支撑部之间。
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