Container handling device and method of handling a container

Abstract

The application discloses a container loading and unloading device, which comprises a placing disc, a pushing mechanism, a transfer mechanism, a loading mechanism and a storage cabin. The placing disc is provided with a placing position for placing a container. The transfer mechanism can be moved to the placing disc or the loading mechanism. When the transfer mechanism is moved to the placing disc, the pushing mechanism can push the container to move between the placing position and the transfer mechanism. When the transfer mechanism is moved to the loading mechanism, the loading mechanism can drive the container to move between the transfer mechanism and the storage cabin. The container loading and unloading device can realize online loading and unloading of the container, and can effectively avoid the risk of accidental injury of the operator when the operator is loading and unloading the container online.

Description

Technical Field

[0001] This invention belongs to the field of in vitro diagnostic technology, specifically relating to a container loading and unloading device and its loading and unloading method. Background Technology

[0002] In vitro diagnostic analyzers, such as biochemical analyzers, chemiluminescence analyzers, and coagulation analyzers, all require refrigerated reagents. Currently, most instruments on the market require shutdown when changing reagent containers, meaning the instrument cannot perform tests during this time. Shutdown also means a decrease in testing speed and the need for manual removal and loading of the reagent container. While prior patents CN 214669129U and CN106226544B can achieve automatic loading and unloading of reagent containers, they still have the following shortcomings: the reagent container storage mechanism needs to be rotated to a designated position, and this position must be rotated out from a certain part of the instrument. When operators manually place the reagent container into this storage mechanism, there is a risk of accidental injury due to the container being pinched during operation. Summary of the Invention

[0003] The purpose of this invention is to provide a container loading and unloading device that enables online loading and unloading of containers and fixes the loading or unloading position of the containers to reduce the risk of injury to operators when loading or unloading containers.

[0004] The following technical solutions are used to achieve the above objectives.

[0005] The first aspect of the present invention provides a container loading and unloading device, the container loading and unloading device comprising a placement tray, a pushing mechanism, a transfer mechanism, a loading mechanism, and a storage compartment;

[0006] The placement tray has a placement position for placing a container; the transfer mechanism can move to the placement tray or the loading mechanism; when the transfer mechanism moves to the placement tray, the pushing mechanism can push the container to move between the placement position and the transfer mechanism; when the transfer mechanism moves to the loading mechanism, the loading mechanism can drive the container to move between the transfer mechanism and the storage compartment.

[0007] In some embodiments, the placement tray also has an inlet end communicating with the placement position; the container loading and unloading device further includes a pushing mechanism, which is rotatably mounted on the placement tray about its own central axis, and when the pushing mechanism rotates, it can push the container to move between the inlet end and the placement position.

[0008] In some embodiments, the placement tray has a plurality of placement positions arranged in a row;

[0009] The pushing mechanism includes a first driving device and a plurality of rotating wheels. The first driving device is connected to each of the rotating wheels and drives the rotating wheels to rotate. Each rotating wheel is fitted with an elastic sleeve.

[0010] In some embodiments, the placement position corresponds to two of the rotating wheels that rotate in opposite directions. When two adjacent rotating wheels rotate toward each other, they can elastically push the container at the corresponding position between the inlet end and the placement position.

[0011] In some embodiments, the transfer mechanism includes a second drive device, a third drive device, and a support frame. The output end of the second drive device is connected to the third drive device and drives the third drive device to move along the placement position arrangement direction. The output end of the third drive device is connected to the support frame and drives the support frame to rotate to the placement position or the loading mechanism.

[0012] In some embodiments, the pushing mechanism includes a fourth driving device and a pusher connected to the output end of the fourth driving device. The fourth driving device drives the pusher to move along the placement position arrangement direction and the direction intersecting the placement position arrangement direction. The pusher is used to push the container to move between the placement position and the transfer mechanism.

[0013] In some embodiments, the end of the pusher is provided with a hook-shaped structure adapted to the container.

[0014] In some embodiments, a detection device is provided at the placement position for detecting the state of the placement position.

[0015] In some embodiments, the pushing mechanism is disposed above the placement tray, and the pushing mechanism is disposed in a height direction corresponding to the inlet end of the placement tray.

[0016] In some embodiments, the placement tray, pushing mechanism, conveying mechanism, transfer mechanism, and loading mechanism are all located above the storage compartment.

[0017] In some embodiments, the loading mechanism includes a lifting drive and a gripper; the storage compartment has a storage position, and the gripper is vertically aligned with the storage position; the transfer mechanism can move to a position below the gripper or vertically offset from the gripper; the output end of the lifting drive is connected to the gripper and drives the gripper to move up and down.

[0018] A second aspect of the present invention provides a container loading and unloading method, which, based on the container loading and unloading device described above, can be switched to a loading method or an unloading method:

[0019] The loading method includes the following steps:

[0020] Place the container in the designated spot on the tray;

[0021] The transfer mechanism moves to the placement tray, and the pushing mechanism pushes the container at the placement position to the transfer mechanism;

[0022] The transfer mechanism then moves to the loading mechanism, which moves the container on the transfer mechanism to the storage compartment;

[0023] The uninstallation method includes the following steps:

[0024] The transfer mechanism moves to the loading mechanism, and the loading mechanism moves the container in the storage compartment to the transfer mechanism;

[0025] The transfer mechanism then moves to the placement tray, and the pushing mechanism pushes the container at the transfer mechanism to the placement position for unloading.

[0026] The technical solution provided by this invention has the following advantages and effects:

[0027] This container loading and unloading device, through the coordinated operation of a placement tray, a pushing mechanism, a transfer mechanism, a loading mechanism, and a storage compartment, enables online loading and unloading of containers. Specifically, by placing a container in its designated position on the placement tray, the transfer mechanism moves to the placement tray, the pushing mechanism pushes the container from its placement position to the transfer mechanism, and then the transfer mechanism moves to the loading mechanism. The loading mechanism then moves the container from the transfer mechanism to the storage compartment to complete the loading operation. When unloading is required, the transfer mechanism moves to the loading mechanism, the loading mechanism moves the container from the storage compartment to the transfer mechanism, and then the transfer mechanism moves to the placement tray. The pushing mechanism then pushes the container from the transfer mechanism to its placement position to complete the unloading operation. Therefore, this container loading and unloading device can perform online loading operations, transferring containers from their placement position on the placement tray to the storage compartment, and online unloading operations, without affecting the normal operation of the instrument, thus improving automation. Furthermore, by fixing the placement position of the placement tray, which is the point of interaction with the operator, it effectively avoids the risk of accidental injury to the operator during online container loading and unloading, improving the convenience and safety of human-machine interaction. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the container loading and unloading device according to an embodiment of the present invention;

[0029] Figure 2 yes Figure 1 A front view structural diagram of a container loading and unloading device;

[0030] Figure 3 yes Figure 1 A partial structural diagram of the container loading and unloading device;

[0031] Figure 4 yes Figure 3 A schematic diagram of the container loading and unloading device from another angle;

[0032] Figure 5 yes Figure 1 A top view of the pushing mechanism.

[0033] Explanation of reference numerals in the attached figures:

[0034] 100. Container loading and unloading device;

[0035] 1. Placement tray; 11. Inlet end; 12. Placement position; 2. Pushing mechanism; 21. First drive device; 22. Rotating wheel; 23. Synchronous belt; 3. Pushing mechanism; 31. Fourth drive device; 32. Pushing component; 4. Transfer mechanism; 41. Second drive device; 42. Third drive device; 43. Bearing frame; 5. Loading mechanism; 52. Lifting drive device; 53. Grabbing component; 6. Storage compartment. Detailed Implementation

[0036] To facilitate understanding of the present invention, specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings.

[0037] Unless otherwise specified or defined, the terms "first," "second," etc., used in this document are for distinguishing names only and do not represent a specific number or order.

[0038] Unless otherwise stated or defined, the term “and / or” as used herein includes any and all combinations of one or more of the associated listed items.

[0039] It should be noted that in this article, "fixed to" or "connected to" can mean directly fixed to or connected to a component, or indirectly fixed to or connected to a component.

[0040] It should be noted that the container loading and unloading device 100 can be used for loading or unloading reagent containers in various biochemical experiments, and no particular limitations are imposed here. Specifically, in this embodiment, when the container loading and unloading device 100 is applied to in vitro diagnostic instruments, the container is generally a reagent boat.

[0041] This invention provides a container loading and unloading device 100, such as... Figures 1 to 4As shown, the container loading and unloading device 100 includes a storage compartment 6 and a placement tray 1, a pushing mechanism 3, a transfer mechanism 4, and a loading mechanism 5 disposed on the storage compartment 6; the placement tray 1 has a placement position 12. This placement position 12 is the position where the operator interacts with the container loading and unloading device 100, i.e., the position where the operator places the container when loading or unloading it. The placement tray 1 is fixed, and the pushing mechanism 3, transfer mechanism 4, and loading mechanism 5 work together to transfer the container to be loaded from the placement position 12 of the placement tray 1 to the storage compartment 6, or to transfer containers in the storage compartment 6 to the placement position 12 before disposal.

[0042] The transfer mechanism 4 can move to the placement tray 1 or the loading mechanism 5. When the transfer mechanism 4 moves to the placement tray 1, the pushing mechanism 3 can push the container between the placement position 12 and the transfer mechanism 4. The transfer mechanism 4 and the pushing mechanism 3 cooperate to serve as a conveying mechanism between the placement tray 1 and the loading mechanism 5. When the transfer mechanism 4 moves to the placement tray 1, the pushing mechanism 3 can push the container from the placement position 12 to the transfer mechanism 4, or push the container from the transfer mechanism 4 to the placement position 12.

[0043] When the transfer mechanism 4 moves to the loading mechanism 5, the loading mechanism 5 can drive the container to move between the transfer mechanism 4 and the storage chamber 6. The storage chamber 6 has a refrigeration capacity and can be used to preserve reagent containers.

[0044] Understandably, the loading and unloading process of the container loading and unloading device 100 includes a loading process and an unloading process, specifically including the following:

[0045] When it is necessary to load the container into storage compartment 6, the loading method includes the following steps:

[0046] Place the container in position 12 of placement tray 1;

[0047] The transfer mechanism 4 moves to the placement tray 1, and the pushing mechanism 3 pushes the container at the placement position 12 to move to the transfer mechanism 4.

[0048] Subsequently, the transfer mechanism 4 moves to the loading mechanism 5, and the loading mechanism 5 moves the container on the transfer mechanism 4 to the storage compartment 6;

[0049] The uninstallation method includes the following steps:

[0050] The transfer mechanism 4 moves to the loading mechanism 5, and the loading mechanism 5 moves the container in the storage compartment 6 to the transfer mechanism 4.

[0051] Subsequently, the transfer mechanism 4 moves to the placement tray 1, and the pushing mechanism 3 pushes the container at the transfer mechanism 4 to the placement position 12 for unloading.

[0052] In summary, the container loading and unloading device 100, through the coordinated operation of the placement tray 1, pushing mechanism 3, transfer mechanism 4, loading mechanism 5, and storage compartment 6, can perform container loading and unloading operations. Specifically, by placing the container on the placement position 12 of the placement tray 1, the transfer mechanism 4 moves to the placement tray 1, the pushing mechanism 3 pushes the container at the placement position 12 to the transfer mechanism 4, and then the transfer mechanism 4 moves to the loading mechanism 5. The loading mechanism 5 moves the container on the transfer mechanism 4 to the storage compartment 6 to complete the container loading operation. When it is necessary to unload the container, the transfer mechanism 4 moves to the loading mechanism 5, and the loading mechanism 5 moves the container in the storage compartment 6 to the transfer mechanism 6. Mechanism 4 is then moved to the placement tray 1, and the pushing mechanism 3 pushes the container at the transfer mechanism 4 to the placement position 12 to complete the unloading operation. Therefore, the container loading and unloading device 100 can realize the online loading of the container from the placement position 12 of the placement tray 1 to the storage compartment 6 and the online unloading of the container from the storage compartment 6 to the placement position 12 of the placement tray 1 without affecting the normal operation of the instrument, improving the degree of automation. Moreover, by fixing the position 12 of the placement tray 1, which is interacted with by the operator, the risk of accidental pinching of the operator during online loading and unloading of containers can be effectively avoided, improving the convenience and safety of human-machine interaction.

[0053] In some embodiments, such as Figures 1 to 4 As shown, the placement tray 1 also has an inlet end 11 communicating with the placement position 12; the container loading and unloading device 100 also includes a pushing mechanism 2, which is rotatably mounted on the placement tray 1 about its own central axis. When the pushing mechanism 2 rotates, it can push the container to move between the inlet end 11 and the placement position 12. It can be understood that the pushing mechanism 2 serves as a conveying mechanism between the inlet end 11 and the placement position 12. By fixing the position of the inlet end 11 and pushing the container from the inlet end 11 to the placement position 12 or from the placement position 12 to the inlet end 11 when the pushing mechanism 2 rotates about its own central axis, the risk of accidental pinching injury to the operator caused by the change in the position of the pushing mechanism 2 during online container loading and unloading can be effectively avoided. Furthermore, the placement position 12 of the placement tray 1, as well as components such as the pushing mechanism 3, the transfer mechanism 4, the loading mechanism 5, and the storage compartment 6, can all be covered inside a protective cover, with only the inlet end 11 of the placement tray 1 exposed. This can more effectively avoid the risk of accidental pinching injuries to operators when loading and unloading containers online.

[0054] Understandably, the loading and unloading process of the container loading and unloading device 100 includes a loading process and an unloading process, specifically including the following:

[0055] When it is necessary to load the container into storage compartment 6, the loading method includes the following steps:

[0056] The container is placed at the inlet end 11 of the placement tray 1, and the pushing mechanism 2 rotates relative to the placement tray 1 to elastically push the container at the inlet end 11 to the placement position 12.

[0057] The transfer mechanism 4 moves to the placement tray 1, and the pushing mechanism 3 pushes the container at the placement position 12 to move to the transfer mechanism 4;

[0058] Subsequently, the transfer mechanism 4 moves to the loading mechanism 5, and the loading mechanism 5 moves the container on the transfer mechanism 4 to the storage compartment 6;

[0059] The uninstallation method includes the following steps:

[0060] The transfer mechanism 4 moves to the loading mechanism 5, and the loading mechanism 5 moves the container in the storage compartment 6 to the transfer mechanism 4.

[0061] Then the transfer mechanism 4 moves to the placement tray 1, and the pushing mechanism 3 pushes the container at the transfer mechanism 4 to the placement position 12;

[0062] The pushing mechanism 2 rotates relative to the placement plate 1 to elastically push the container to the inlet end 11 for unloading.

[0063] In some embodiments, such as Figure 1 and Figure 2As shown, the placement tray 1 has multiple placement positions 12, arranged in a row. Specifically, in this embodiment, the placement positions 12 can be arranged in a row facing the operator in the left-right direction. The pushing mechanism 2 includes a first driving device 21 and multiple rotating wheels 22. The first driving device 21 is connected to each rotating wheel 22 and drives the rotating wheels 22 to rotate. The rotating wheels 22 are fitted with elastic sleeves. It should be noted that in existing in vitro diagnostic instruments, the testing instruments usually need to operate at high speeds. For example, when the machine's testing speed is 400 tests / hour, the reagent storage chamber usually needs to have about 35 storage positions, the diameter of the reagent storage chamber is usually not less than 500mm, and the container placement tray is also a rotating disk structure. Therefore, the rotation radius of the container placement tray often exceeds 250mm. The large rotation radius and high-speed movement often place high demands on the motion control of the device. Therefore, in this embodiment, by arranging the placement positions 12 of the placement tray 1 in rows, specifically in a straight line, the motion control requirements of the device can be reduced and the reliability of the structure can be improved. Specifically, in this embodiment, the placement tray 1 is provided with no less than three placement positions 12, preferably five. By optimizing the number of placement positions 12, the automation level of the instrument is improved, and a large number of containers can be replaced online simultaneously. In addition, by providing multiple rotating wheels 22, the rotating wheels 22 rotate to drive the pushing container from the inlet end 11 to the placement position 12, or from the placement position 12 to the inlet end 11. The rotating wheels 22 form an elastic structure, which can effectively avoid damage to the container when the pushing container moves between the inlet end 11 and the placement position 12. Preferably, the elastic sleeve on the rotating wheel 22 can be polyurethane or elastic rubber. In particular, the surface of the rotating wheel 22 can have microstructures such as patterns to improve the friction force.

[0064] In some embodiments, there are two rotating wheels 22 corresponding to the placement position 12, and they rotate in opposite directions. When two adjacent rotating wheels 22 rotate towards each other, they can elastically push the container at the corresponding position to move between the inlet end 11 and the placement position 12. The cooperating rotation of two adjacent rotating wheels 22 can drive the container at the corresponding position to move between the inlet end 11 and the placement position 12, enabling a large number of container replacements without affecting online testing. The container stops moving when it is pushed off the rotating wheels 22 by the rotation of the two adjacent rotating wheels 22.

[0065] In some embodiments, such as Figure 5As shown, the first drive device 21 is sequentially connected to each rotating wheel 22 via a timing belt 23. Understandably, the first drive device 21, such as a rotary motor, can sequentially connect adjacent rotating wheels 22 via the timing belt 23 to achieve opposite movements. This allows a single power source to push the container in the same direction from multiple positions, simplifying the structure. Of course, in other embodiments, the first drive device 21 can also achieve the rotation of each rotating wheel 22 through multi-stage gear transmission; no particular limitation is made here.

[0066] In some embodiments, such as Figure 1 As shown, the transfer mechanism 4 includes a second drive device 41, a third drive device 42, and a support frame 43. The output end of the second drive device 41 is connected to the third drive device 42 and drives the third drive device 42 to move along the arrangement direction of the placement position 12. The output end of the third drive device 42 is connected to the support frame 43 and drives the support frame 43 to rotate to the placement position 12 or the loading mechanism 5. Specifically, in this embodiment, the placement positions 12 are arranged in rows facing the operator in the left-right direction. Therefore, the second drive device 41, such as a linear motor or a synchronous belt drive module, drives the third drive device 42 to move left and right, and the third drive device 42, such as a rotary motor, drives the support frame 43 to rotate. Through the cooperation of the second drive device 41 and the third drive device 42, the support frame 43 can be rotated to any placement position 12 or the loading mechanism 5 for container loading or unloading operations. Specifically, the transfer mechanism 4 is not concentric with the storage compartment 6, but it has an intersection point with the loading mechanism 5.

[0067] In some embodiments, each placement position 12 is provided with a detection device, which is used to detect the state of the placement position 12. The detection device is used to detect whether the container has been placed in place. Specifically, when the operator inserts a new container into the inlet end 11 of the placement tray 1 and pushes it into the placement position 12 through the pushing mechanism 2, the detection device detects that the container has entered. At this time, it controls the pushing mechanism 3, the transfer mechanism 4 and the loading mechanism 5 to move and cooperate to load the container.

[0068] In some embodiments, such as Figure 3 and Figure 4As shown, the pushing mechanism 3 includes a fourth driving device 31 and a pushing member 32 connected to the output end of the fourth driving device 31. The fourth driving device 31 drives the pushing member 32 to move along the arrangement direction of the placement position 12 and the direction intersecting with the arrangement direction of the placement position 12. Specifically, the fourth driving device 31 drives the pushing member 32 to move along the arrangement direction of the placement position 12 and the direction perpendicular to the arrangement direction of the placement position 12. The pushing member 32 is used to push the container to move between the placement position 12 and the transfer mechanism 4. Specifically, in this embodiment, the placement position 12 is arranged in rows facing the operator in the left-right direction. Therefore, the fourth driving device 31 may include two linear motors. The two linear motors cooperate to drive the pushing member 32 to move left and right and back and forth, so as to control the pushing member 32 to push the container to move between any placement position 12 and the transfer mechanism 4.

[0069] In some embodiments, such as Figure 4 As shown, the end of the pusher 32 is provided with a hook-shaped structure adapted to the container. The hook-shaped structure of the pusher 32 is engaged into a specific structure of the container by the fourth drive device 31. This structure allows the container to be hooked and move with the pusher 32, thereby pushing the container to move between the placement position 12 and the transfer mechanism 4.

[0070] In some embodiments, such as Figure 1 As shown, the loading mechanism 5 includes a lifting drive device 52 and a gripper 53; the storage compartment 6 has storage positions, and the gripper 53 is vertically aligned with the storage positions; the transfer mechanism 4 can move to a position below the gripper 53 or vertically offset from the gripper 53; the output end of the lifting drive device 52 is connected to the gripper 53 and drives the gripper 53 to move up and down. The gripper 53 is a conventional gripping claw structure, which will not be described in detail here. Understandably, the position below the gripper 53 is the loading position, and the position vertically offset from the gripper 53 is the waiting position. When a container needs to be unloaded from a storage position in the storage compartment 6, the gripper 53 grips the container to be unloaded from the storage position. At this time, the transfer mechanism 4 is waiting in the waiting position. The lifting drive device 52, such as a lifting cylinder, first takes the container to be unloaded from the storage position and raises it to a certain height. Then, the transfer mechanism 4 rotates from the waiting position to the loading position, and then the lifting drive device 52 drives the gripper 53 to descend and perform the container unloading operation. When a container needs to be loaded into a storage position in the storage compartment 6, after the container is transferred to the transfer mechanism 4, the transfer mechanism 4 is rotated to the loading position. The lifting drive device 52 drives the gripper 53 to take out the container from the transfer mechanism 4 and raise it to a certain height. The transfer mechanism 4 rotates from the loading position to the waiting position, and the lifting drive device 52 drives the gripper 53 to descend to the storage position to place the container.

[0071] In some embodiments, such as Figure 1As shown, the placement tray 1, pushing mechanism 2, pushing mechanism 3, transfer mechanism 4 and loading mechanism 5 are all located above the storage compartment 6. Specifically, the placement tray 1, pushing mechanism 2, pushing mechanism 3 and transfer mechanism 4 are all fixed to the top of the storage compartment 6 by fixing plates. The loading mechanism 5 is located at the edge of the storage compartment 6 so that the surface space of the storage compartment 6 can be fully utilized. At the same time, the modular design of the structure also makes the overall structure more maintainable.

[0072] In some embodiments, such as Figure 3 As shown, the pushing mechanism 2 is positioned above the placement tray 1, and the pushing mechanism 2 is correspondingly positioned in the height direction to the inlet end 11 of the placement tray 1. This arrangement maximizes the use of structural space while preventing structural interference. Specifically, a gantry frame is provided on the fixing plate corresponding to the inlet end 11 of the placement tray 1, and the pushing mechanism 2 is fixed to the gantry frame. Furthermore, the pushing mechanism 3 is also spatially located above the placement tray 1 and is mounted on the gantry frame.

[0073] The following is a brief description of a container loading method of the container loading and unloading device 100 in one embodiment, including the following steps:

[0074] When the operator inserts the container into the inlet end 11 of the placement tray 1, the first drive device 21 drives each rotating wheel 22 to rotate via the synchronous belt 23. The rotating wheels 22 of each pair of adjacent wheels turn in opposite directions to push the reagent container into the placement position 12 of the placement tray 1. The detection device receives a signal to identify that the container is in place, and the pushing mechanism 3 and the transfer mechanism 4 are activated. The transfer mechanism 4 moves to the placement tray 1, and the fourth drive device 31 uses the pusher 32 to engage with the specific structure of the container so that the container is hooked and can move back and forth with the pusher 32. At this time, the reagent container can be pushed into the transfer mechanism 4. Subsequently, the transfer mechanism 4 moves to the loading position, and the lifting drive device 52 drives the gripper 53 to take out the container on the transfer mechanism 4 and raise it to a certain height. The transfer mechanism 4 rotates from the loading position to the waiting position, and the lifting drive device 52 drives the gripper 53 to descend to the storage position to place the container.

[0075] When it is necessary to unload the container from the storage location, the unloading method includes the following steps:

[0076] When a container needs to be unloaded from a storage location in storage compartment 6, gripper 53 grips the container to be unloaded from the storage location. At this time, transfer mechanism 4 is waiting in the waiting position. Lifting drive device 52 first takes the container to be unloaded from the storage location and raises it to a certain height. Then, transfer mechanism 4 rotates from the waiting position to the loading position. Then, lifting drive device 52 drives gripper 53 to descend and place the container on transfer mechanism 4.

[0077] Subsequently, the transfer mechanism 4 moves to the placement tray 1, and the fourth drive device 31 engages with the specific structure of the container through the pusher 32, so that the container is hooked and the reagent container is pushed into the placement position 12 of the placement tray 1;

[0078] The first driving device 21 drives each rotating wheel 22 to rotate via the synchronous belt 23. The rotating wheels 22 of each pair of adjacent wheels rotate in opposite directions to eject the reagent container. The container is pushed by the rotating wheel 22 until it just leaves the wheel and stops moving. At this time, the container moves to the inlet end 11 for unloading.

[0079] The above embodiments are not an exhaustive list based on the present invention, and there may be many other embodiments not listed. Any substitutions and improvements made without departing from the concept of the present invention are within the protection scope of the present invention.

Claims

1. A container loading and unloading device, characterized in that, The container loading and unloading device includes a placement tray, a pushing mechanism, a transfer mechanism, a loading mechanism, and a storage compartment; The placement tray is fixed above the storage compartment and has a placement position for placing a container. The transfer mechanism can move to the placement tray or the loading mechanism. When the transfer mechanism moves to the placement tray, the pushing mechanism can push the container between the placement position and the transfer mechanism. When the transfer mechanism moves to the loading mechanism, the loading mechanism can drive the container to move between the transfer mechanism and the storage compartment. The transfer mechanism includes a second drive device, a third drive device, and a support frame. The output end of the second drive device is connected to the third drive device and drives the third drive device to move along the placement position arrangement direction. The output end of the third drive device is connected to the support frame and drives the support frame to rotate to the placement position or the loading mechanism.

2. The container loading and unloading device as described in claim 1, characterized in that, The placement tray also has an inlet end that communicates with the placement position; the container loading and unloading device further includes a pushing mechanism, which is rotatably mounted on the placement tray about its own central axis, and when the pushing mechanism rotates, it can push the container to move between the inlet end and the placement position.

3. The container loading and unloading device as described in claim 2, characterized in that, The placement tray has multiple placement positions, which are arranged in a row. The pushing mechanism includes a first driving device and a plurality of rotating wheels. The first driving device is connected to each of the rotating wheels and drives the rotating wheels to rotate. Each rotating wheel is fitted with an elastic sleeve.

4. The container loading and unloading device as described in claim 3, characterized in that, The placement position corresponds to two rotating wheels that rotate in opposite directions. When two adjacent rotating wheels rotate towards each other, they can elastically push the container at the corresponding position to move between the inlet end and the placement position.

5. The container loading and unloading device according to any one of claims 1 to 4, characterized in that, The pushing mechanism includes a fourth driving device and a pushing member connected to the output end of the fourth driving device. The fourth driving device drives the pushing member to move along the placement position arrangement direction and the direction intersecting with the placement position arrangement direction. The pushing member is used to push the container to move between the placement position and the transfer mechanism.

6. The container loading and unloading device as described in claim 5, characterized in that, The end of the pusher is provided with a hook-shaped structure adapted to the container.

7. The container loading and unloading device according to any one of claims 1 to 4, characterized in that, A detection device is provided at the placement position, and the detection device is used to detect the state of the placement position.

8. The container loading and unloading device according to any one of claims 2 to 4, characterized in that, The pushing mechanism is disposed above the placement tray, and the pushing mechanism and the inlet end of the placement tray are disposed corresponding to each other in the height direction.

9. The container loading and unloading device as described in claim 8, characterized in that, The placement tray, pushing mechanism, conveying mechanism, transfer mechanism, and loading mechanism are all located above the storage compartment.

10. The container loading and unloading device according to any one of claims 1 to 4, characterized in that, The loading mechanism includes a lifting drive device and a gripper; the storage compartment has a storage position, and the gripper is vertically aligned with the storage position; the transfer mechanism can move to a position below the gripper or be vertically offset from the gripper; the output end of the lifting drive device is connected to the gripper and drives the gripper to move up and down.

11. A method for loading and unloading containers, characterized in that, Based on the container loading and unloading device as described in any one of claims 1 to 10, it is possible to switch to a loading method or an unloading method: The loading method includes the following steps: Place the container in the designated spot on the tray; The transfer mechanism moves to the placement tray, and the pushing mechanism pushes the container at the placement position to the transfer mechanism; The transfer mechanism then moves to the loading mechanism, which moves the container on the transfer mechanism to the storage compartment; The uninstallation method includes the following steps: The transfer mechanism moves to the loading mechanism, and the loading mechanism moves the container in the storage compartment to the transfer mechanism; The transfer mechanism then moves to the placement tray, and the pushing mechanism pushes the container at the transfer mechanism to the placement position for unloading.

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