Loading and unloading equipment and methods

Abstract

The present invention relates to a loading and unloading device, which is used to deliver goods to a transport robot or unload goods from the transport robot. The loading and unloading device includes a stand and a plurality of loading and unloading components. The stand extends in a vertical direction. The plurality of loading and unloading components are arranged on the stand at equal intervals in the vertical direction, and the plurality of loading and unloading components can deliver goods to the transport robot or unload goods from the transport robot at different heights. The present invention also relates to a loading and unloading method applied to the above-mentioned loading and unloading device. The above-mentioned loading and unloading device and loading and unloading method, the plurality of loading and unloading components can deliver goods to the transport robot or unload goods from the transport robot at different heights, which greatly shortens the waiting time of the transport robot during the loading and unloading process, thereby significantly improving the loading and unloading efficiency of the transport robot, and ultimately improving the overall handling efficiency of the loading and unloading.

Description

Technical Field

[0001] The present invention relates to the technical field of warehousing logistics, and in particular to a cargo loading and unloading device and a cargo loading and unloading method. Background Art

[0002] Smart warehousing is a part of the logistics process. The application of smart warehousing ensures the speed and accuracy of data input in each link of cargo warehouse management, ensures that enterprises can grasp the real data of inventory in a timely and accurate manner, and reasonably maintain and control enterprise inventory. Through scientific coding, it is also convenient to manage the batches and shelf life of inventory goods. Using the storage location management function, you can also grasp the current location of all inventory goods in a timely manner, which is conducive to improving the work efficiency of warehouse management. Handling robots play an important role in smart warehousing. Handling robots replace manual handling of goods, but the robots used in current warehousing and logistics can only load and unload goods one by one, which greatly affects the handling efficiency of handling robots. Summary of the invention

[0003] Based on this, it is necessary to provide a loading and unloading device and a loading and unloading method for assisting the transport robot to achieve efficient loading and unloading of goods in order to address the problem of low efficiency in loading and unloading of goods by the current transport robot.

[0004] A loading and unloading device is used to deliver goods to a transport robot or unload goods from a transport robot, the loading and unloading device comprising:

[0005] A stand extending in a vertical direction;

[0006] A plurality of cargo loading and unloading components are arranged on the stand at equal intervals along the vertical direction. The plurality of cargo loading and unloading components can deliver cargo to the transport robot or unload cargo from the transport robot at different heights.

[0007] In one embodiment, each of the loading and unloading components includes a bracket, a loading and unloading structure and a first driving structure. A plurality of the brackets are arranged on the vertical frame at intervals along the vertical direction. The first driving structure and the loading and unloading structure are respectively arranged on the corresponding brackets. The loading and unloading structure is transmission-connected to the first driving structure. The loading and unloading structure is used to transport goods to the transport robot or unload goods from the transport robot.

[0008] In one embodiment, the loading and unloading structure includes a chain and a protrusion, the chain is rotatably arranged on the bracket along the loading and unloading direction, and the protrusion is fixedly arranged on the chain; the first driving structure includes a driving motor, and the driving motor is transmission-connected to the chain; the chain can carry goods, and when the chain rotates, the protrusion abuts against the bottom of the goods, thereby pushing the goods to the handling robot, or pulling the goods from the handling robot to the chain.

[0009] In one of the embodiments, when the chain rotates, the protrusion pushes the bottom of the cargo to push the cargo to the handling robot, or the protrusion pulls the bottom of the cargo to pull the cargo from the handling robot to the chain, or the protrusion blocks the bottom of the cargo, and the cargo is transferred to the chain when the handling robot moves away from the loading and unloading device.

[0010] In one embodiment, the cargo loading and unloading assembly includes two sets of the loading and unloading structures, which are arranged in parallel and at intervals on the bracket, and the driving motor is connected to the two chains in a transmission manner.

[0011] In one of the embodiments, the cargo loading and unloading assembly further comprises a synchronization rod, the two chains are respectively transmission-connected to the synchronization rod, and the output end of the drive motor is transmission-connected to one of the chains.

[0012] In one embodiment, the loading and unloading device also includes a second driving structure, which drives the frame to approach or move away from the transport robot along the loading and unloading direction. When the second driving structure drives the frame to approach or move away from the transport robot, the loading and unloading component delivers goods to the transport robot or unloads the goods from the transport robot.

[0013] In one embodiment, each of the loading and unloading components includes a loading and unloading cross arm and a push-pull structure, one end of a plurality of the loading and unloading cross arms are arranged on the vertical frame at intervals, and the push-pull structure is arranged at the other end of the corresponding loading and unloading cross arm; when the loading and unloading cross arm approaches or moves away from the transport robot along the loading and unloading direction, the push-pull structure pushes and pulls the goods to deliver the goods to the transport robot or unload the goods from the transport robot.

[0014] In one embodiment, the push-pull structure is rotatably arranged at the other end of the loading and unloading cross arm away from the vertical frame. When the push-pull structure rotates, it has a push-pull position and a second avoidance position. When the push-pull structure rotates to the push-pull position, it transports goods to the transport robot or pulls the goods off the transport robot; when the push-pull structure rotates to the second avoidance position, the push-pull structure avoids the goods.

[0015] In one embodiment, the push-pull structure includes a push-pull component and a push-pull motor. The push-pull motor is arranged at one end of the loading and unloading cross arm away from the vertical frame. The push-pull component is arranged on the output shaft of the push-pull motor. The push-pull motor drives the push-pull component to rotate to the push-pull position or the second avoidance position.

[0016] In one of the embodiments, two loading and unloading components are spaced apart in the same horizontal direction of the stand, and the two push-pull structures in the same horizontal direction are respectively rotated to the push-pull position or the second avoidance position; the two push-pull structures in the same horizontal direction respectively drive the two sides of the goods along the loading and unloading direction.

[0017] In one embodiment, the push-pull structure includes a push-pull component and a push-pull motor. The push-pull motor is arranged on the loading and unloading cross arm. One end of the push-pull component is rotatably connected to the loading and unloading cross arm. The push-pull component is connected to the output shaft of the push-pull motor through a transmission mechanism. The push-pull motor drives the push-pull component to rotate to the push-pull position or the second avoidance position.

[0018] In one embodiment, the transmission mechanism includes a crank and a connecting rod, the crank is arranged on the output shaft of the push-pull motor, one end of the connecting rod is rotationally connected to the crank, and the other end is rotationally connected to the push-pull component.

[0019] In one embodiment, the push-pull structure also includes a self-locking plate, which is arranged on the loading and unloading cross arm and located between the push-pull motor and the push-pull component. When the push-pull component rotates to the push-pull position, the connecting rod abuts against the self-locking plate, and the self-locking plate is used to limit the connecting rod from pushing the crank to rotate.

[0020] In one embodiment, there are two loading and unloading cross arms in each of the loading and unloading components, and the two loading and unloading cross arms are arranged in parallel and spaced apart. The push-pull component is connected between the two loading and unloading cross arms through a first rotating shaft, and a second rotating shaft parallel to the first rotating shaft is provided at one end of the push-pull component, and the connecting rod is rotatably connected to the second rotating shaft.

[0021] In one embodiment, the push-pull component is in a rod shape or a plate shape.

[0022] In one of the embodiments, the loading and unloading device also includes at least one temporary storage shelf, the upright frame is movably arranged on the temporary storage shelf in a horizontal direction, and the second driving structure drives the upright frame to move in a horizontal direction relative to the temporary storage shelf; the temporary storage shelf includes multiple layers of shelves in a vertical direction, and the loading and unloading component pulls the goods at different heights on the transport robot to the corresponding shelves on each layer of the temporary storage shelf, or the loading and unloading component pushes the goods on each layer of the shelves to the transport robot.

[0023] In one embodiment, the temporary storage rack includes multiple layers of temporary storage rollers arranged in a vertical direction, and each layer of temporary storage rollers can transport goods independently along the loading and unloading direction.

[0024] A cargo loading and unloading method, applied to the cargo loading and unloading device according to any one of the above solutions, the cargo loading and unloading method comprising:

[0025] S30 receives a second loading / unloading instruction;

[0026] S40: According to the second loading / unloading instruction, at least some of the loading / unloading components are operated separately to load / unload the goods, or at least some of the loading / unloading components are operated synchronously to load / unload the goods.

[0027] In one of the embodiments, in step S40: when at least part of the cargo loading and unloading components are in motion, the cargo is pulled from the transport robot to the cargo loading and unloading device; or when at least part of the cargo loading and unloading components are in motion, the cargo is blocked, and when the transport robot moves away from the cargo loading and unloading device, the cargo remains on the corresponding cargo loading and unloading components.

[0028] In one of the embodiments, in step S40, the loading and unloading device loads and unloads goods from an end of the transport robot that stores the pallet close to the transport component, or the loading and unloading device loads and unloads goods from an end of the transport robot that stores the pallet away from the transport component.

[0029] In one embodiment, each of the loading and unloading components includes a bracket, a loading and unloading structure and a drive motor, a plurality of the brackets are arranged on the vertical frame at intervals, and the drive motor and the loading and unloading structure are respectively arranged on the corresponding brackets; the loading and unloading structure includes a chain and a protrusion, the chain is rotatably arranged on the bracket along the loading and unloading direction, the protrusion is fixedly arranged on the chain, and the drive motor is transmission-connected to the chain; the chain can carry goods, and in step S40, the protrusion pushes the bottom of the goods to push the goods to the handling robot, or the protrusion pulls the bottom of the goods to pull the goods from the handling robot to the chain, or the protrusion blocks the bottom of the goods, and the goods are transferred to the chain when the handling robot is away from the loading and unloading device.

[0030] In one embodiment, when the chain rotates, it drives the protrusion to move so as to form a loading and unloading position and a first avoidance position, and when the protrusion is at the loading and unloading position, it can abut against the bottom of the cargo along the loading and unloading direction; the step S40 includes:

[0031] S41 determines one or more loading / unloading components that need to perform unloading actions according to the second loading / unloading instruction;

[0032] S42 controls the protrusion in the loading and unloading assembly that needs to perform the unloading action to move to a first avoidance position;

[0033] S43: after the transport robot moves to the position to be loaded and unloaded, controlling the protrusion in the loading and unloading assembly that needs to perform the unloading action to move to the loading and unloading position, so that the protrusion abuts against the bottom of the cargo;

[0034] S44: The chain drives the protrusion to move to pull the goods from the transport robot to the loading and unloading device, or the transport robot moves away from the loading and unloading device, and the goods remain on the corresponding loading and unloading component.

[0035] In one of the embodiments, in the step S42, it is determined whether there is cargo on the transport robot at the height corresponding to each of the loading and unloading components. If there is cargo at the corresponding height on the transport robot, the protrusions in each of the loading and unloading components at the corresponding height are controlled to move to the first avoidance position; or in the step S42, the protrusions in all of the loading and unloading components are controlled to rotate to the first avoidance position.

[0036] In one embodiment, the loading and unloading device also includes a second driving structure, which drives the frame to approach or move away from the transport robot along the loading and unloading direction, and when the second driving structure drives the frame to approach the transport robot, the loading and unloading component delivers goods to the transport robot or unloads goods from the transport robot; each of the loading and unloading components includes a loading and unloading cross arm and a push-pull structure, and one end of a plurality of the loading and unloading cross arms is arranged on the frame at intervals along the vertical direction, and the push-pull structure is rotatably arranged at the other end of the corresponding loading and unloading cross arm; in step S40, when the loading and unloading cross arm approaches or moves away from the transport robot along the loading and unloading direction driven by the second driving structure, the push-pull structure pushes and pulls the goods to deliver the goods to the transport robot or unload the goods from the transport robot, or the push-pull structure blocks the goods, and the goods are transferred to the loading and unloading device when the transport robot moves away from the loading and unloading device.

[0037] In one embodiment, the push-pull structure includes a push-pull component and a push-pull motor, the push-pull motor is arranged at one end of the loading and unloading cross arm away from the stand, and the push-pull component is arranged on the output shaft of the push-pull motor; when the push-pull motor drives the push-pull component to rotate, the push-pull component has a push-pull position or a second avoidance position, and when the push-pull component rotates to the push-pull position, it corresponds to the loading and unloading direction of the goods; the step S40 includes:

[0038] S45: determining one or more loading / unloading components that need to perform unloading actions according to the second loading / unloading instruction;

[0039] S46 controls the push-pull component in the loading and unloading assembly that needs to perform the unloading action to rotate to the second avoidance position;

[0040] S47 The transport robot moves to a position to be loaded and unloaded, and the second driving structure drives all the loading and unloading components to extend toward the transport robot, and controls the push-pull components in the loading and unloading components that need to perform unloading actions to move to the push-pull position, so that the push-pull components correspond to the goods;

[0041] S48 The loading and unloading component moves away from the transport robot along the loading and unloading direction under the drive of the second driving structure, and the push-pull component unloads the goods on the transport robot, or the push-pull component blocks the goods, and the goods are transferred to the loading and unloading device when the transport robot moves away from the loading and unloading device.

[0042] In one embodiment, the push-pull structure includes a push-pull component and a push-pull motor, the push-pull motor is arranged on the loading and unloading cross arm, one end of the push-pull component is rotatably connected to the loading and unloading cross arm, and the push-pull component is connected to the output shaft of the push-pull motor through a transmission mechanism; when the push-pull motor drives the push-pull component to rotate, it has a push-pull position or a second avoidance position, and when the push-pull component rotates to the push-pull position, it corresponds to the loading and unloading direction of the goods; the step S40 includes:

[0043] S45: determining one or more loading / unloading components that need to perform unloading actions according to the second loading / unloading instruction;

[0044] S46 controls the push-pull component in the loading and unloading assembly that needs to perform the unloading action to rotate to the second avoidance position;

[0045] S47 The transport robot moves to the position to be loaded and unloaded, and the second driving structure drives all the loading and unloading components to extend in the direction close to the transport robot, and controls the push-pull components in the loading and unloading components that need to perform the unloading action to move to the push-pull position, so that the push-pull components correspond to the goods;

[0046] S48 The loading and unloading component moves away from the transport robot along the loading and unloading direction under the drive of the second driving structure, and the push-pull component unloads the goods on the transport robot, or the push-pull component blocks the goods, and the goods are transferred to the loading and unloading device when the transport robot moves away from the loading and unloading device.

[0047] In one of the embodiments, in the step S46, it is determined whether there is cargo on the transport robot at the height corresponding to each of the loading and unloading components. If there is cargo at the corresponding height on the transport robot, the push-pull components in each of the loading and unloading components at the corresponding height are controlled to move to the second avoidance position; or in the step S46, the push-pull components in all the loading and unloading components are controlled to rotate to the second avoidance position.

[0048] In one of the embodiments, the loading and unloading device also includes at least one temporary storage shelf, the upright frame is movably arranged on the temporary storage shelf in a horizontal direction, and the second driving structure drives the upright frame to move horizontally relative to the temporary storage shelf; the temporary storage shelf includes multiple layers of shelves in a vertical direction; in step S40, the loading and unloading component pulls the goods at different heights on the transport robot to the corresponding shelves on each layer of the temporary storage shelf, or the loading and unloading component pushes the goods on each layer of the shelves to the transport robot.

[0049] In the above-mentioned loading and unloading device and method, the multiple loading and unloading components can deliver goods to the handling robot or unload goods on the handling robot at different heights, which greatly shortens the waiting time of the handling robot during the loading and unloading process, thereby significantly improving the loading and unloading efficiency of the handling robot. At the same time, the loading and unloading device can load and unload goods at a specified height or load and unload all goods at various heights at one time, which is highly flexible and ultimately improves the overall handling efficiency of loading and unloading. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0052] Figure 1 A schematic diagram of the structure of a cargo loading and unloading device provided in one embodiment of the present invention;

[0053] Figure 2 for Figure 1 The middle part of the structure is enlarged schematic diagram;

[0054] Figure 3 An embodiment of the present invention provides Figure 1 Schematic diagram of the structure of the handling robot corresponding to the intermediate loading and unloading device;

[0055] Figure 4 for Figure 3 The middle part of the structure is enlarged schematic diagram;

[0056] Figure 5 A schematic diagram of the structure of a loading and unloading system provided in one embodiment of the present invention;

[0057] Figure 6A schematic structural diagram of a cargo loading and unloading device provided in another embodiment of the present invention;

[0058] Figure 7 for Figure 6 The middle part of the structure is enlarged schematic diagram;

[0059] Figure 8 A schematic structural diagram of a cargo loading and unloading device provided in yet another embodiment of the present invention;

[0060] Fig. 9 A schematic structural diagram of a cargo loading and unloading device provided in yet another embodiment of the present invention;

[0061] Fig.10 for Fig. 9 A local enlarged schematic diagram of the middle A;

[0062] Fig.11 for Fig. 9 A partial enlarged schematic diagram of point B in the middle;

[0063] Fig.12 A schematic diagram of the structure of a cargo loading and unloading system provided by another embodiment of the present invention;

[0064] Fig.13 A schematic diagram of a method for loading and unloading cargo provided by an embodiment of the present invention;

[0065] Fig.14 A schematic diagram of specific steps of step S40 provided in one embodiment of the present invention;

[0066] Fig.15 A schematic diagram of specific steps of step S40 provided in another embodiment of the present invention.

[0067] Among them, 10-loading and unloading device; 100-stand, 200-loading and unloading assembly, 210-bracket, 220-chain, 230-bump, 240-driving motor, 250-synchronizing rod, 260-loading and unloading cross arm, 270-push-pull component, 271-first rotating shaft, 272-second rotating shaft, 280-push-pull motor, 281-motor mounting plate, 291-crank, 292-connecting rod, 293-self-locking plate, 30 0-second drive structure, 400-temporary storage shelf, 410-temporary storage roller, 500-lifting roller; 60-handling robot, 610-handling component, 620-vertical frame, 630-mobile chassis, 640-storage pallet, 641-first side plate, 642-second side plate, 643-loading and unloading end, 650-blocking component, 651-driving rod, 652-blocking rod; 70-conveyor line; 90-cargo. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. The following description of the specific implementation is merely exemplary, and it should be understood that the specific implementation described herein is only used to explain the present invention, and is by no means a limitation of the present invention and its application or usage.

[0069] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may also be a centered element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a centered element at the same time. On the contrary, when an element is referred to as being "directly on" another element, there is no intermediate element. On the contrary, when an element is referred to as being "directly" connected to another element, there is no intermediate element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0070] In the description of the present invention, it should be understood that the terms "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "top", "bottom", "inside" and "outside" etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0071] like Figure 1-2 and Figure 6-7As shown, an embodiment of the present invention provides a loading and unloading device 10, which is used to deliver goods 90 to a transport robot 60 or unload goods 90 from the transport robot 60. The loading and unloading device 10 includes a stand 100 and a plurality of loading and unloading components 200. The stand 100 extends in a vertical direction. The plurality of loading and unloading components 200 are arranged on the stand 100 at intervals in the vertical direction. The plurality of loading and unloading components 200 can deliver goods 90 to the transport robot 60 or unload goods 90 from the transport robot 60 at different heights. It can be understood that the spacing between the plurality of loading and unloading components 200 corresponds to the spacing between the storage cargo plates 640 on the transport robot 60. As a feasible method, a plurality of loading and unloading components 200 are arranged at equal intervals on the stand 100 along the vertical direction. The above-mentioned loading and unloading device 10, the plurality of loading and unloading components 200 can respectively deliver goods 90 to the handling robot 60 at different heights or unload the goods 90 on the handling robot 60, which greatly shortens the waiting time of the handling robot 60 during the loading and unloading process, thereby significantly improving the loading and unloading efficiency of the handling robot 60. At the same time, the loading and unloading device 10 can load and unload goods 90 at a specified height or load and unload all goods 90 at various heights at one time, with high flexibility, and ultimately improves the overall handling efficiency of loading and unloading. It can be understood that the goods 90 appearing in the present invention can also be an empty material box or a material box carrying goods 90. It should be noted that the handling robot 60 includes various mechanical equipment that can realize the transfer of goods, such as a device for conveying goods between two locations, a device with a sorting function, and a stacker with a stacking function.

[0072] It can be understood that the heights of the multiple loading and unloading components 200 correspond to the heights of the multiple storage pallets 640 on the transport robot 60, respectively, so that the multiple loading and unloading components 200 can deliver goods 90 to all storage pallets 640 on the transport robot 60 at one time, or the multiple loading and unloading components 200 can remove goods 90 from all storage pallets 640 on the transport robot 60 at one time. Of course, in a specific working condition, one or more loading and unloading components 200 in the loading and unloading device 10 can also deliver goods 90 to the transport robot 60 or remove goods 90 from the transport robot 60 at the same time.

[0073] like Figure 1-2As shown, in one embodiment of the present invention, each loading and unloading assembly 200 can act independently to realize the delivery of goods 90 to the transport robot 60 or the unloading of goods 90 on the transport robot 60. As an achievable manner, each loading and unloading assembly 200 includes a bracket 210, a loading and unloading structure and a first driving structure. A plurality of brackets 210 are arranged on the stand 100 at intervals in the vertical direction. The first driving structure and the loading and unloading structure are respectively arranged on the corresponding brackets 210. The loading and unloading structure is connected to the first driving structure in a transmission manner. The loading and unloading structure is used to deliver goods 90 to the transport robot 60 or unload goods 90 on the transport robot 60. The independent first driving structure in each loading and unloading assembly 200 can allow each loading and unloading assembly 200 to independently perform the delivery of goods 90 to the transport robot 60 or unload goods 90 on the transport robot 60.

[0074] Further, if Figure 2 As shown, the loading and unloading structure includes a chain 220 and a protrusion 230. The chain 220 is rotatably arranged on the bracket 210 along the loading and unloading direction, and the protrusion 230 is fixedly arranged on the chain 220. The first driving structure includes a driving motor 240, which is transmission-connected with the chain 220; the chain 220 can carry the goods 90. When the driving motor 240 drives the chain 220 to rotate, the protrusion 230 pushes the bottom of the goods 90 to push the goods 90 to the handling robot 60, or the protrusion 230 pulls the bottom of the goods 90 to pull the goods 90 from the handling robot 60 to the chain 220, or the protrusion 230 blocks the bottom of the goods 90, and when the handling robot 60 is away from the loading and unloading device 10, the goods are transferred to the chain 220 in the loading and unloading device 10. Specifically, the chain 220 is arranged on two sprockets arranged at intervals along the loading and unloading direction, and the output shaft of the drive motor 240 is connected to one of the sprockets. When the drive motor 240 rotates, the chain 220 is driven to run, and then the protrusion 230 pushes the bottom of the cargo 90 to push the cargo 90 to the transport robot 60, or the protrusion 230 pulls the bottom of the cargo 90 to pull the cargo 90 from the transport robot 60 to the chain 220.

[0075] Furthermore, the cargo loading and unloading assembly 200 includes two sets of unloading structures, which are arranged in parallel and at intervals on the bracket 210, and the drive motor 240 is connected to the two chains 220. The two sets of unloading structures can increase the stability of the cargo 90 during loading and unloading. Figure 2As shown, the loading and unloading assembly 200 further includes a synchronization rod 250, two chains 220 are respectively connected to the synchronization rod 250, and the drive motor 240 is connected to one chain 220. Specifically, the synchronization rod 250 is connected to two sprockets arranged at intervals in a horizontal direction perpendicular to the loading and unloading direction, thereby ensuring that the two chains 220 rotate synchronously. It can be understood that the chain 220 in the above embodiment only plays the role of transmission and carrying goods. In other embodiments of the present invention, a belt, a synchronous belt, etc. are used to replace the chain.

[0076] In one embodiment of the present invention, all the cargo loading and unloading components 200 in the cargo loading and unloading device 10 act synchronously to deliver cargo 90 to the transport robot 60 at different heights or unload cargo 90 from the transport robot 60, or some of the cargo loading and unloading components 200 in the cargo loading and unloading device 10 act individually to deliver cargo 90 to the transport robot 60 at a specified height or unload cargo 90 from the transport robot 60. Figure 6-8 As shown, as an achievable manner, the cargo loading and unloading device 10 further includes a second driving structure 300, which drives the stand 100 to approach or move away from the handling robot 60 along the cargo loading and unloading direction. When the second driving structure 300 drives the stand 100 to approach or move away from the handling robot 60, the cargo loading and unloading component 200 delivers cargo 90 to the handling robot 60 or removes cargo 90 from the handling robot 60. The cargo loading and unloading device 10 provided in this embodiment can remove all cargo 90 or designated cargo 90 from the handling robot 60 at one time, or synchronously deliver multiple cargoes 90 to the handling robot 60. As an achievable manner, the second driving structure 300 adopts a driving structure in the form of a motor and a belt.

[0077] In one embodiment of the present invention, Figure 6-7 As shown, each loading and unloading assembly 200 includes a loading and unloading cross arm 260 and a push-pull structure. One end of a plurality of loading and unloading cross arms 260 is arranged at intervals on the stand 100 in the vertical direction, and the push-pull structure is rotatably arranged at the other end of the corresponding loading and unloading cross arm 260. When the loading and unloading cross arm 260 approaches or moves away from the transport robot 60 in the loading and unloading direction, the push-pull structure pushes and pulls the goods 90 to deliver the goods 90 to the transport robot 60 or unload the goods 90 on the transport robot 60. When the push-pull structure rotates, it has a push-pull position and a second avoidance position. When the push-pull structure rotates to the push-pull position, the goods 90 are delivered to the transport robot 60 or the goods 90 on the transport robot 60 are pulled down. When the push-pull structure rotates to the second avoidance position, the push-pull structure avoids the goods 90.

[0078] It is understandable that when the push-pull structure pushes and pulls the goods 90, it can be the top, middle or bottom of the goods 90. In one embodiment of the present invention, two loading and unloading components 200 are arranged at intervals in the same horizontal direction of the stand 100, and the two push-pull structures in the same horizontal direction are rotated to the push-pull position or the second avoidance position respectively. The two push-pull structures in the same horizontal direction drive the two sides of the goods 90 respectively along the loading and unloading direction. The push-pull structure pushes and pulls the two sides of the goods 90 synchronously, which can effectively ensure the stability of the push-pull process of the goods 90. Further, the two push-pull structures in the same horizontal direction push / pull the two sides of the middle of the goods 90 synchronously along the loading and unloading direction. It is understandable that the two push-pull structures in the same horizontal direction are synchronously rotated to the push-pull position or the second avoidance position, or are successively rotated to the push-pull position or the second avoidance position. In other embodiments of the present invention, only one loading and unloading component 200 is arranged in the same height direction of the stand 100, and the loading and unloading component 200 pushes and pulls the goods 90 at the top or bottom of the goods 90.

[0079] As a feasible approach, Figure 7-8 As shown, the push-pull structure includes a push-pull component 270 and a push-pull motor 280. The push-pull motor 280 is arranged at one end of the loading and unloading cross arm 260 away from the stand 100. The push-pull component 270 is arranged on the output shaft of the push-pull motor 280. The push-pull component 270 is rod-shaped in this embodiment. The push-pull motor 280 drives the push-pull component 270 to rotate to the push-pull position or the second avoidance position. The two push-pull components 270 can be respectively rotated to the push-pull position under the drive of the push-pull motor 280, thereby pulling the goods 90 out of the handling robot 60 or pushing the goods 90 to the handling robot 60. It can be understood that the function of the push-pull motor 280 is to drive the push-pull component 270 to rotate. The push-pull component 270 is directly arranged on the output shaft of the push-pull motor 280, or the push-pull component 270 is connected to the output shaft of the push-pull motor 280 through a transmission mechanism, as long as the push-pull motor 280 can drive the push-pull component 270 to rotate to the push-pull position or the second avoidance position.

[0080] The push-pull structure can also be used as follows Figure 9-11 Another method shown in the figure includes a push-pull component 270 and a push-pull motor 280. The push-pull motor 280 is disposed on the loading and unloading cross arm 260. One end of the push-pull component 270 is rotatably connected to the loading and unloading cross arm 260. The push-pull component 270 is plate-shaped in this embodiment. The push-pull component 270 is connected to the output shaft of the push-pull motor 280 through a transmission mechanism. The push-pull motor 280 drives the push-pull component 270 to rotate to the push-pull position or the second avoidance position. Fig.11 As shown, when the push-pull component 270 is driven by the push-pull motor 280 to rotate to the push-pull position, the cargo 90 can be pulled out of the transport robot 60 or pushed into the transport robot 60 .

[0081] In this embodiment, the transmission mechanism specifically adopts a crank-connecting rod structure, the crank 291 is arranged on the output shaft of the push-pull motor 280, one end of the connecting rod 292 is rotatably connected to the crank 291, and the other end is rotatably connected to the push-pull component 270. Fig.10 and 11 As shown, when the push-pull motor 280 drives the crank 291 to rotate counterclockwise as shown in the figure, the connecting rod 292 drives the push-pull component 270 to rotate counterclockwise from the second avoidance position to the push-pull position as shown in the figure. When the push-pull component 270 pulls out or pushes the goods 90 at the push-pull position, the goods 90 will generate a reaction force on the push-pull component 270. In order to prevent the reaction force from causing the push-pull component 270 to rotate to the second avoidance position, it is necessary to lock the push-pull component 270 at the push-pull position. In this embodiment, the push-pull structure also includes a self-locking plate 293, which is arranged on the loading and unloading cross arm 260 and is located between the push-pull motor 280 and the push-pull component 270. Fig.11 As shown, when the push-pull component 270 rotates to the push-pull position, the connecting rod 292 abuts against the self-locking plate 293. At this time, the crank 291 and the connecting rod 292 are at a self-locking angle. When the push-pull component 270 is subjected to a reaction force to rotate toward the second avoidance position, the self-locking plate 293 restricts the connecting rod 292 from pushing the crank 291 to rotate counterclockwise, so that the push-pull component 270 remains in the push-pull position; when it is necessary to rotate the push-pull component 270 to the second avoidance position, the push-pull motor 280 is controlled to drive the crank 291 to rotate clockwise as shown in the figure, and the crank 291 drives the connecting rod 292 to swing to the side away from the self-locking plate, thereby releasing the self-locking state, and the connecting rod 292 drives the push-pull component 270 to rotate to the second avoidance position. Fig.10 In other embodiments of the present invention, other self-locking structures can be used to lock the push-pull component in the push-pull position, such as using a motor with a self-locking function, or other self-locking structures that cooperate with a transmission mechanism.

[0082] In this embodiment, in order to maintain the stable operation of the push-pull structure, there are two loading and unloading cross arms 260 in each loading and unloading assembly 200. The two loading and unloading cross arms 260 are arranged in parallel and spaced apart in the horizontal plane. One end of the two loading and unloading cross arms 260 is fixedly connected to the stand 100. The push-pull motor 280 is arranged between the two loading and unloading cross arms 260 through the motor mounting plate 281. The push-pull component 270 is connected between the two loading and unloading cross arms 260 through the first rotating shaft 271. One end of the push-pull component 270 is provided with a second rotating shaft 272 parallel to the first rotating shaft 271. The connecting rod 292 is rotatably connected to the second rotating shaft 272. The two ends of the self-locking plate 293 are respectively fixedly connected to the two loading and unloading cross arms 260. Fig.10 As shown, when the push-pull member 270 is located at the second avoidance position, the push-pull member 270 is substantially in the same horizontal plane as the loading and unloading cross arm 260 and is located above the cargo 90; Fig.11As shown, when the push-pull component 270 is in the push-pull position, the push-pull component 270 is basically in a vertical state with the loading and unloading cross arm 260. To ensure that the push-pull component 270 fits the side of the cargo 90, the push-pull component 270 can also maintain an angle slightly less than 90° with the loading and unloading cross arm 260 when in the push-pull position; a limiting groove is also provided at a position corresponding to the connecting rod 292 on the self-locking plate 293. When the dragging component 270 is in the push-pull position, the connecting rod 292 falls into the limiting groove of the self-locking plate 293 to prevent the connecting rod 292 from shaking.

[0083] In one embodiment of the present invention, the loading and unloading device 10 further includes at least one temporary storage shelf 400, the upright frame 100 is movably arranged on the temporary storage shelf 400 in the horizontal direction, and the second driving structure 300 drives the upright frame 100 to move in the horizontal direction relative to the temporary storage shelf 400. The temporary storage shelf 400 includes multiple layers of shelves in the vertical direction, and the loading and unloading component 200 pulls the goods 90 of different heights on the handling robot 60 to the corresponding shelves on each layer of the temporary storage shelf 400, or the loading and unloading component 200 pushes the goods 90 on each layer of the shelves to the handling robot 60. The temporary storage shelf 400 can temporarily store the goods 90 unloaded from the handling robot 60 by the loading and unloading device 10, or temporarily store the goods 90 to be transported to the handling robot 60. As an achievable manner, the temporary storage shelf 400 includes multiple layers of temporary storage rollers 410 arranged in the vertical direction, and each layer of temporary storage rollers 410 can transport goods 90 separately along the loading and unloading direction. Optionally, each layer of temporary storage rollers 410 can carry multiple goods 90 at the same time.

[0084] The present invention corresponds to the loading and unloading device 10 in each of the above embodiments, as shown in FIG. Figure 5 and Fig.12 As shown, an embodiment of the present invention further provides a loading and unloading system, comprising a transport robot 60 and a loading and unloading device 10 as described in any one of the above schemes, the loading and unloading device 10 being used to deliver goods 90 to the transport robot 60 or to unload the goods 90 on the transport robot 60. In the above-mentioned loading and unloading device 10 and the loading and unloading system, a plurality of the loading and unloading components 200 can deliver goods 90 to the transport robot 60 or unload the goods 90 on the transport robot 60 at different heights, which greatly shortens the waiting time of the transport robot 60 during the loading and unloading process, thereby significantly improving the loading and unloading efficiency of the transport robot 60, and ultimately improving the overall handling efficiency of the loading and unloading system.

[0085] In one embodiment of the present invention, the transport robot 60 receives the goods 90 transported by the cargo loading and unloading device 10 in the above embodiments, or the transport robot 60 allows the cargo loading and unloading device 10 in the above embodiments to move away the goods 90 carried by itself. Figure 3-4 and Fig.12As shown, the transport robot 60 includes a transport component 610, a vertical frame 620, a mobile chassis 630 and a multi-layer storage pallet 640. The vertical frame 620 is arranged on the mobile chassis 630, and the multi-layer storage pallets 640 are arranged at intervals on one side of the vertical frame 620 in the vertical direction. The transport component 610 is arranged on the other side of the vertical frame 620 in a manner that it can be lifted and lowered in the vertical direction. The transport component 610 can deliver goods 90 to each layer of the storage pallet 640, or the transport component 610 can take out the goods 90 on each layer of the storage pallet 640. It can be understood that the transport robot 60 provided in this embodiment allows multiple loading and unloading components 200 in the loading and unloading device 10 to perform loading and unloading of goods 90 synchronously, and also allows multiple loading and unloading components 200 in the loading and unloading device 10 to perform loading and unloading of goods 90 separately.

[0086] Corresponding to the loading and unloading assembly 200 of the push-pull structure, in one embodiment of the present invention, Fig.12 As shown, the loading and unloading assembly 200 directly completes the loading and unloading of the goods 90 from the loading and unloading end 643 of the storage pallet 640 on the conventional transport robot 60. At this time, the transport assembly 610 needs to avoid the loading and unloading device 10. As a feasible way, the transport assembly 610 is raised to the highest position to avoid the loading and unloading device 10. Optionally, when the transport robot 60 moves to the loading and unloading device 10 and the blocking rod 652 blocks the goods 90, the loading and unloading assembly 200 moves away from the transport robot 60 or the transport robot 60 moves away from the loading and unloading assembly 200, thereby completing the loading and unloading of the goods 90. It can be understood that when the loading and unloading assembly 200 loads and unloads goods from the end of the storage pallet 640 on the transport robot 60 away from the transport assembly 610, the transport assembly 610 does not need to avoid the loading and unloading device 10.

[0087] Corresponding to the loading and unloading assembly 200 of the chain 220 and the bump 230 structure, in one embodiment of the present invention, as Figure 3-5As shown, the storage pallet 640 includes a first side plate 641 and a second side plate 642, and the first side plate 641 and the second side plate 642 are arranged at the same height of the vertical frame 620, and the first side plate 641 and the second side plate 642 are arranged in parallel and spaced apart on the vertical frame 620, and the first side plate 641 and the second side plate 642 are respectively used to support the bottom of the goods 90 on both sides; the storage pallet 640 allows the loading and unloading device 10 to pull the goods 90 from the bottom of the goods 90, or the storage pallet 640 allows the loading and unloading device 10 to push the goods 90 to the storage pallet 640. The middle part of the storage pallet 640 of the split structure is a notch, allowing the chain 220 equipped with the protrusion 230 to extend into the bottom of the goods 90 through the middle part of the storage pallet 640. When the chain 220 rotates, the protrusion 230 pushes the bottom of the goods 90 to push the goods 90 to the handling robot 60, or the protrusion 230 pulls the bottom of the goods 90 to pull the goods 90 from the handling robot 60 to the chain 220. Optionally, when the handling robot 60 moves to the loading and unloading device 10 and the protrusion 230 blocks the goods 90, the chain 220 continues to rotate to complete the action of loading and unloading the goods 90, or the handling robot 60 moves away from the loading and unloading device 10 to complete the unloading process.

[0088] Optionally, the storage pallet 640 has a loading and unloading end 643, which is an end of the storage pallet 640 that is away from or close to the transport component 610 along the loading and unloading direction, and the loading and unloading device 10 completes the loading and unloading of the goods 90 from the loading and unloading end 643 of the storage pallet 640. In one embodiment of the present invention, the storage pallet 640 has a loading and unloading end 643 at one end close to the transport component 610, and when the loading and unloading device 10 loads and unloads the goods 90 to the transport robot 60, the transport component 610 rises to the highest position to avoid the loading and unloading device 10. In another embodiment of the present invention, Figure 3-4 As shown, the storage pallet 640 has a loading and unloading end 643 at one end away from the transport component 610. The transport robot 60 also includes a blocking component 650, which has a blocking position and a third avoidance position. When the blocking component 650 is in the blocking position, the loading and unloading end 643 is protruded to prevent the goods 90 on the storage pallet 640 from sliding out. When the blocking component 650 is in the third avoidance position, the loading and unloading end 643 is avoided. The transport component 610 can complete the loading and unloading of the goods 90 on the storage pallet from the end of the storage pallet 640 close to it. The blocking component 650 can effectively prevent the goods 90 from sliding out from the loading and unloading end 643 of the storage pallet 640 when the transport component 610 completes the loading and unloading of the storage pallet 640.

[0089] Optionally, the blocking components 650 corresponding to the storage pallets 640 may act synchronously or separately. In one embodiment of the present invention, the blocking components 650 corresponding to the storage pallets 640 may act synchronously. Figure 3-4As shown, the blocking assembly 650 includes a driving rod 651 and a plurality of blocking rods 652. The middle parts of the plurality of blocking rods 652 are respectively rotatably arranged at the loading and unloading end 643 of a storage cargo plate 640. The tail parts of the plurality of blocking rods 652 are respectively rotatably arranged at the driving rod 651. When the driving rod 651 drives the tail parts of the plurality of blocking rods 652 to move, the heads of the plurality of blocking rods 652 respectively protrude from the loading and unloading end 643 or avoid the loading and unloading end 643. Only when the blocking assembly 650 moves to the third avoidance position, the loading and unloading device 10 can load and unload the cargo 90 on the handling robot 60. As an achievable manner, when the driving rod 651 moves upward in the vertical direction, it drives the blocking rod 652 to move to the blocking position. When the driving rod 651 moves downward in the vertical direction, it drives the blocking rod 652 to move to the third avoidance position. The driving rod 651 is driven by a linear motor, or driven by a rotary motor in cooperation with the protrusion 230.

[0090] In one embodiment of the present invention, Figure 5 As shown, the loading and unloading system further includes a lifting assembly, which is disposed at one end of the loading and unloading assembly 200 away from the handling robot 60, and is used to successively receive the goods 90 unloaded by each loading and unloading assembly 200, or to successively transport the goods 90 to each loading and unloading assembly 200. As an achievable manner, Figure 5 As shown, the lifting assembly includes a lifting roller 500, which extends along the loading and unloading direction, and the lifting roller 500 can carry one or more goods 90 at the same time. The lifting assembly can receive the goods 90 on the temporary storage shelf 400 or the goods 90 on the loading and unloading assembly 200, and then transfer the goods 90 to the corresponding transportation line, thereby realizing the automation of the handling process of the goods 90. Alternatively, the lifting assembly can transport the goods 90 to the temporary storage shelf 400 or the loading and unloading assembly 200.

[0091] In one embodiment of the present invention, Figure 5 As shown, the loading and unloading system further includes a conveyor line 70, and the lifting assembly transports the goods 90 to the conveyor line 70, or the lifting assembly receives the goods 90 on the conveyor line 70, and the conveyor line 70 can transport the goods 90 to the corresponding destination. Further, the loading and unloading system further includes a fixed shelf, and the handling robot 60 moves the goods 90 on the fixed shelf, or the handling robot 60 moves the goods 90 to the fixed shelf. The fixed shelf is the starting point or end point for the transportation of the goods 90.

[0092] In the cargo loading and unloading systems of the above-mentioned various embodiments, the transport robot 60 carrying the cargo 90 on the storage pallet 640 moves to the cargo loading and unloading device 10, and the cargo loading and unloading component 200 in the cargo loading and unloading device 10 removes all or part of the cargo 90 on the transport robot 60, and then the cargo loading and unloading component 200 sequentially transports the removed cargo 90 to the lifting component, and the lifting component transports the cargo 90 to the conveyor line 70. The above process can also be reversed, and the transportation of the cargo 90 is still achieved.

[0093] like Fig.13 As shown, an embodiment of the present invention further provides a loading and unloading method, which is applied to the loading and unloading device 10 described in any one of the above embodiments, and the loading and unloading method includes: S30 receiving a second loading / unloading instruction; S40 according to the second loading / unloading instruction, at least part of the loading and unloading components 200 respectively operate to load / unload the goods 90, or at least part of the loading and unloading components 200 synchronously link to load / unload the goods 90. The loading and unloading method provided in this embodiment at least has the advantages of the corresponding loading and unloading device 10, which will not be described in detail here.

[0094] Optionally, during the loading and unloading process of the cargo 90, the cargo loading and unloading device 10 may independently complete the loading and unloading of the cargo 90, or the cargo loading and unloading device 10 and the handling robot 60 may cooperate to complete the loading and unloading of the cargo 90. In one embodiment of the present invention, in the step S40: when at least part of the cargo loading and unloading components 200 are in motion, the cargo 90 is pulled from the handling robot 60 to the cargo loading and unloading device 10; or when at least part of the cargo loading and unloading components 200 are in motion, the cargo 90 is blocked, and when the handling robot 60 is away from the cargo loading and unloading device 10, the cargo 90 remains on the corresponding cargo loading and unloading components 200; or when at least part of the cargo loading and unloading components 200 are in motion, the cargo 90 is pushed from the cargo loading and unloading device 10 to the handling robot 60. Further, in step S40, the cargo loading and unloading device 10 loads and unloads cargo 90 from the end of the cargo pallet 640 on the transport robot 60 that is close to the transport component 610, or the cargo loading and unloading device 10 loads and unloads cargo 90 from the end of the cargo pallet 640 on the transport robot 60 that is far from the transport component 610. When loading and unloading cargo 90 from the end close to the transport component 610, the transport component 610 will first rise to the highest position, thereby leaving space for the transport robot 60 to dock with the cargo loading and unloading device 10. The cargo loading and unloading method provided in this embodiment provides more ways of loading and unloading cargo, and improves adaptability to actual working conditions.

[0095] In one embodiment of the present invention, Figure 1-2As shown, each loading and unloading assembly 200 includes a bracket 210, a loading and unloading structure and a driving motor 240. A plurality of the brackets 210 are arranged on the stand 100 at intervals in the vertical direction. The driving motor 240 and the loading and unloading structure are respectively arranged on the corresponding brackets 210. The loading and unloading structure includes a chain 220 and a protrusion 230. The chain 220 is rotatably arranged on the bracket 210 along the loading and unloading direction. The protrusion 230 is fixedly arranged on the chain 220. The chain 220 is connected to the loading and unloading device 10 by transmission. The chain 220 can carry the cargo 90. In the step S40, the protrusion 230 pushes the bottom of the cargo 90 to push the cargo 90 to the handling robot 60, or the protrusion 230 pulls the bottom of the cargo 90 to pull the cargo 90 from the handling robot 60 to the chain 220, or the protrusion 230 blocks the bottom of the cargo 90, and the cargo 90 is transferred to the chain 220 when the handling robot 60 is away from the loading and unloading device 10. The loading and unloading structure in the form of the chain 220 and the protrusion 230 can realize the loading and unloading of the cargo 90 from the bottom of the cargo 90.

[0096] Specifically, when the chain 220 rotates, the protrusion 230 is driven to move to form a loading and unloading position and a first avoidance position. When the protrusion 230 is located at the loading and unloading position, it can abut against the bottom of the cargo 90 along the loading and unloading direction; Fig.14 As shown, the step S40 includes: S41 determining one or more of the loading and unloading components 200 that need to perform the unloading action according to the second loading / unloading instruction; S42 controlling the protrusion 230 in the loading and unloading component 200 that needs to perform the unloading action to move to the first avoidance position; S43 after the transport robot 60 moves to the position to be loaded and unloaded, controlling the protrusion 230 in the loading and unloading component 200 that needs to perform the unloading action to move to the loading and unloading position so that the protrusion 230 abuts against the bottom of the cargo 90; S44 the chain 220 drives the protrusion 230 to move to pull the cargo 90 from the transport robot 60 to the loading and unloading device 10, or the transport robot 60 moves away from the loading and unloading device 10, and the cargo 90 remains on the corresponding loading and unloading component 200.

[0097] During the loading and unloading process of the cargo 90, there will be cargo 90 that does not need to be unloaded from the handling robot 60 this time. Optionally, in the step S42, it is determined whether there is cargo 90 on the handling robot 60 at the height corresponding to each of the loading and unloading components 200. If there is cargo 90 at the corresponding height on the handling robot 60, the protrusions 230 in each of the loading and unloading components 200 at the corresponding height are controlled to move to the first avoidance position. Alternatively, in the step S42, the protrusions 230 in all the loading and unloading components 200 are controlled to rotate to the first avoidance position. The cargo loading and unloading method provided in this embodiment avoids the influence of the cargo 90 that does not need to be unloaded temporarily on the handling robot 60 on the loading and unloading process of the cargo 90.

[0098] It can be understood that the process of loading cargo into the transport robot 60 by the above-mentioned loading and unloading device 10 is the reverse process of the above-mentioned unloading process. Before the above-mentioned loading and unloading device 10 performs loading, at least one loading and unloading component 200 carries cargo 90, and the protrusion 230 abuts against the side of the cargo 90 close to the stand 100. In one embodiment of the present invention, the step S40 includes: S411 determining one or more of the loading and unloading components 200 that need to perform the loading action according to the second loading / unloading instruction; S422 controlling the protrusion 230 in the loading and unloading component 200 that needs to perform the loading action to abut against the side of the goods 90 close to the stand 100; S43 after the transport robot 60 moves to the loading and unloading position, controlling the protrusion 230 in the loading and unloading component 200 that needs to perform the loading action to move to the first avoidance position. During this process, the protrusion 230 moves in the direction close to the transport robot 60 driven by the chain 220 to push the goods 90 from the loading and unloading device 10 to the transport robot 60.

[0099] In another embodiment of the present invention, Figure 6-11As shown, the loading and unloading device 10 also includes a second driving structure 300, and the second driving structure 300 drives the stand 100 to approach or move away from the handling robot 60 along the loading and unloading direction. When the second driving structure 300 drives the stand 100 to approach the handling robot 60, the loading and unloading component 200 delivers the goods 90 to the handling robot 60 or unloads the goods 90 on the handling robot 60; each of the loading and unloading components 200 includes a loading and unloading cross arm 260 and a push-pull structure, and one end of a plurality of the loading and unloading cross arms 260 is arranged at intervals along the vertical direction. On the stand 100, the push-pull structure is rotatably arranged at the other end corresponding to the loading and unloading cross arm 260; in the step S40, when the loading and unloading cross arm 260 approaches or moves away from the handling robot 60 along the loading and unloading direction under the drive of the second driving structure 300, the push-pull structure pushes and pulls the goods 90 to deliver the goods 90 to the handling robot 60 or unloads the goods 90 on the handling robot 60, or the push-pull structure blocks the goods 90, and when the handling robot 60 moves away from the loading and unloading device 10, the goods 90 are transferred to the loading and unloading device 10. The loading and unloading method provided in this embodiment has at least the advantages of the corresponding loading and unloading device 10, which will not be described in detail here.

[0100] In one embodiment of the present invention, Figure 6-8 As shown, the push-pull structure includes a push-pull component 270 and a push-pull motor 280. The push-pull motor 280 is arranged at one end of the loading and unloading cross arm 260 away from the stand 100, and the push-pull component 270 is arranged on the output shaft of the push-pull motor 280; when the push-pull motor 280 drives the push-pull component 270 to rotate, it has a push-pull position or a second avoidance position. When the push-pull component 270 rotates to the push-pull position, it corresponds to the cargo 90 in the loading and unloading direction. When the push-pull component 270 is in the push-pull position, it can directly abut against the side of the cargo 90, or it can have a certain gap with the cargo 90. When the second driving structure 300 drives the stand 100 to translate, the push-pull component 270 abuts against the cargo 90; as shown Figure 9-11 As shown, the push-pull structure includes a push-pull component 270 and a push-pull motor 280. The push-pull motor 280 is arranged on the loading and unloading cross arm 260. One end of the push-pull component 270 is rotatably connected to the loading and unloading cross arm 260. The push-pull component 270 is connected to the output shaft of the push-pull motor 280 through a transmission mechanism. When the push-pull motor 280 drives the push-pull component 270 to rotate, it has a push-pull position or a second avoidance position. When the push-pull component 270 rotates to the push-pull position, it corresponds to the cargo 90 in the loading and unloading direction. When the push-pull component 270 is in the push-pull position, it can directly abut against the side of the cargo 90, or it can have a certain gap with the cargo 90. When the second driving structure 300 drives the stand 100 to translate, the push-pull component 270 abuts against the cargo 90. Fig.15As shown, the step S40 includes: S45 determining one or more of the loading and unloading components 200 that need to perform the unloading action according to the second loading / unloading instruction; S46 controlling the push-pull component 270 in the loading and unloading component 200 that needs to perform the unloading action to rotate to the second avoidance position; S47 the transport robot 60 moves to the position to be loaded and unloaded, the second driving structure 300 drives all the loading and unloading components 200 to extend in the direction close to the transport robot 60, and controls the push-pull component 270 in the loading and unloading component 200 that needs to perform the unloading action to move to the push-pull position so that the push-pull component 270 corresponds to the goods 90; S48 the loading and unloading component 200 moves away from the transport robot 60 along the loading and unloading direction driven by the second driving structure 300, the push-pull component 270 unloads the goods 90 on the transport robot 60, or the push-pull component 270 blocks the goods 90, and the goods 90 are transferred to the loading and unloading device 10 when the transport robot 60 moves away from the loading and unloading device 10.

[0101] During the loading and unloading process of the cargo 90, there will be cargo 90 that does not need to be unloaded from the handling robot 60 this time. Optionally, in the step S46, it is determined whether there is cargo 90 on the handling robot 60 at the height corresponding to each of the loading and unloading components 200. If there is cargo 90 at the corresponding height on the handling robot 60, the push-pull components 270 in each of the loading and unloading components 200 at the corresponding height are controlled to move to the second avoidance position. Or in the step S46, the push-pull components 270 in all the loading and unloading components 200 are controlled to rotate to the second avoidance position. The cargo loading and unloading method provided in this embodiment avoids the influence of the cargo 90 that does not need to be unloaded temporarily on the handling robot 60 on the loading and unloading process of the cargo 90.

[0102] In one embodiment of the present invention, Figure 7-8 As shown, the loading and unloading device 10 also includes at least one temporary storage shelf 400, the upright frame 100 is movably arranged on the temporary storage shelf 400 in the horizontal direction, and the second driving structure 300 drives the upright frame 100 to move in the horizontal direction relative to the temporary storage shelf 400. The temporary storage shelf 400 includes multiple layers of shelves in the vertical direction. In the step S40, the loading and unloading component 200 pulls the goods 90 of different heights on the handling robot 60 to the corresponding shelves on each layer of the temporary storage shelf 400, or the loading and unloading component 200 pushes the goods 90 on each layer of the shelves to the handling robot 60. The loading and unloading method provided in this embodiment has at least the advantages of the corresponding loading and unloading device 10, which will not be repeated here.

[0103] It can be understood that the process of loading the cargo into the transport robot 60 by the above-mentioned loading and unloading device 10 is the reverse process of the above-mentioned unloading process. Before the above-mentioned loading and unloading device 10 performs loading, at least one loading and unloading component 200 carries cargo 90, and the push-pull component 270 located in the push-pull position corresponds to the side of the cargo 90 close to the stand 100. When the push-pull component 270 is in the push-pull position, it can directly abut against the side of the cargo 90, or it can have a certain gap with the cargo 90. When the second driving structure 300 drives the stand 100 to translate, the push-pull component 270 abuts against the cargo 90. In one embodiment of the present invention, the step S40 includes: S455 determining one or more of the loading and unloading components 200 that need to perform loading actions according to the second loading / unloading instruction; S466 controlling the push-pull component 270 in the loading and unloading component 200 that needs to perform loading actions to rotate to a push-pull position or maintain it in a push-pull position; S477 the transport robot 60 moves to the position to be loaded and unloaded, and the second driving structure 300 drives all the loading and unloading components 200 to be pushed out in a direction close to the transport robot 60, and then the loading and unloading components 200, driven by the second driving structure 300, push the goods 90 to each storage pallet 640 on the transport robot 60 along the loading and unloading direction.

[0104] During the loading and unloading process of the cargo 90, there may be cargo 90 that does not need to be transported from the cargo loading and unloading device 10 to the transport robot 60. Optionally, in the step S466, the push-pull component 270 in the cargo loading and unloading assembly 200 that does not need to perform the loading action needs to be controlled to rotate to the second avoidance position or to remain at the second avoidance position; the cargo loading and unloading method provided in this embodiment avoids the influence of the cargo 90 on the cargo loading and unloading device 10 that does not need to be transported to the transport robot 60 temporarily on the cargo loading and unloading process.

[0105] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0106] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A cargo loading and unloading device, characterized in that: Used to deliver goods to the transport robot or unload goods from the transport robot, the loading and unloading device includes: A stand extending in a vertical direction; A plurality of loading and unloading components are arranged on the stand at equal intervals in the vertical direction, and the plurality of loading and unloading components can deliver goods to the transport robot or unload goods from the transport robot at different heights; a second driving structure, wherein the second driving structure drives the stand to approach or move away from the transport robot along the direction of loading and unloading, and when the second driving structure drives the stand to approach or move away from the transport robot, the loading and unloading assembly delivers goods to the transport robot or unloads goods from the transport robot; Each of the loading and unloading components comprises a loading and unloading cross arm and a push-pull structure, one end of a plurality of the loading and unloading cross arms is arranged at intervals on the vertical frame, and the push-pull structure is arranged at the other end of the corresponding loading and unloading cross arm; when the loading and unloading cross arm approaches or moves away from the transport robot along the loading and unloading direction, the push-pull structure pushes and pulls the goods to deliver the goods to the transport robot or unload the goods on the transport robot; The push-pull structure is rotatably arranged at the other end of the loading and unloading cross arm away from the stand, and the push-pull structure has a push-pull position when it rotates. When the push-pull structure rotates to the push-pull position, the goods are delivered to the transport robot or the goods on the transport robot are pulled down; The push-pull structure includes a push-pull component and a push-pull motor, one end of the push-pull component is rotatably connected to the loading and unloading cross arm, the push-pull component is connected to the output shaft of the push-pull motor through a transmission mechanism, and the push-pull motor drives the push-pull component to rotate to the push-pull position; The transmission mechanism comprises a crank and a connecting rod, wherein the crank is arranged on the output shaft of the push-pull motor, one end of the connecting rod is rotatably connected to the crank, and the other end is rotatably connected to the push-pull component; The push-pull structure further includes a self-locking plate, which is arranged on the loading and unloading cross arm and is located between the push-pull motor and the push-pull component. When the push-pull component rotates to the push-pull position, the connecting rod abuts against the self-locking plate, and the self-locking plate is used to limit the connecting rod from pushing the crank to rotate; A limiting groove is also provided at a position on the self-locking plate corresponding to the connecting rod. When the push-pull component is in the push-pull position, the connecting rod falls into the limiting groove of the self-locking plate.

2. The cargo loading and unloading device according to claim 1, characterized in that: The push-pull structure also has a second avoidance position when it rotates. When the push-pull structure rotates to the second avoidance position, the push-pull structure avoids the goods.

3. The cargo loading and unloading device according to claim 2, characterized in that: Two loading and unloading components are spaced apart on the same horizontal direction of the stand, and the two push-pull structures on the same horizontal direction are respectively rotated to the push-pull position or the second avoidance position; the two push-pull structures on the same horizontal direction respectively drive the two sides of the goods along the loading and unloading direction.

4. The cargo loading and unloading device according to claim 2, characterized in that: The push-pull motor is arranged on the loading and unloading cross arm, and the push-pull motor drives the push-pull component to rotate to the push-pull position or the second avoidance position.

5. The cargo loading and unloading device according to claim 1, characterized in that: There are two loading and unloading cross arms in each loading and unloading assembly, and the two loading and unloading cross arms are arranged in parallel and at intervals. The push-pull component is connected between the two loading and unloading cross arms through a first rotating shaft, and a second rotating shaft parallel to the first rotating shaft is arranged at one end of the push-pull component, and the connecting rod is rotatably connected to the second rotating shaft.

6. The cargo loading and unloading device according to claim 1, characterized in that: The push-pull component is in the shape of a rod or a plate.

7. The cargo loading and unloading device according to claim 1, characterized in that: The loading and unloading device also includes at least one temporary storage shelf, the upright frame is movably arranged on the temporary storage shelf along the horizontal direction, and the second driving structure drives the upright frame to move horizontally relative to the temporary storage shelf; the temporary storage shelf includes multiple layers of shelves along the vertical direction, and the loading and unloading component pulls the goods at different heights on the transport robot to the corresponding shelves on each layer of the temporary storage shelf, or the loading and unloading component pushes the goods on each layer of the shelves to the transport robot.

8. The cargo loading and unloading device according to claim 7, characterized in that: The temporary storage rack comprises multiple layers of temporary storage rollers arranged in a vertical direction, and each layer of temporary storage rollers can transport goods independently along the loading and unloading direction.

9. A method for loading and unloading cargo, characterized in that: Applicable to the cargo loading and unloading device according to any one of claims 1 to 8, the cargo loading and unloading method comprises: S30 receives a second loading / unloading instruction; S40: According to the second loading / unloading instruction, at least some of the loading / unloading components are operated separately to load / unload the goods, or at least some of the loading / unloading components are operated synchronously to load / unload the goods.

10. The method for loading and unloading cargo according to claim 9, characterized in that: In step S40: at least part of the cargo loading and unloading components pulls the cargo from the transport robot to the cargo loading and unloading device when in operation; or at least part of the cargo loading and unloading components blocks the cargo when in operation, and when the transport robot moves away from the cargo loading and unloading device, the cargo remains on the corresponding cargo loading and unloading components.

11. The method for loading and unloading cargo according to claim 10, characterized in that: In step S40, the loading and unloading device loads and unloads goods from the end of the pallet stored on the transport robot that is close to the transport component, or the loading and unloading device loads and unloads goods from the end of the pallet stored on the transport robot that is far from the transport component.

12. The method for loading and unloading cargo according to any one of claims 9 to 11, characterized in that: In step S40, when the loading and unloading cross arm approaches or moves away from the transport robot along the loading and unloading direction under the drive of the second driving structure, the push-pull structure pushes and pulls the goods to deliver the goods to the transport robot or unload the goods on the transport robot, or the push-pull structure blocks the goods, and the goods are transferred to the loading and unloading device when the transport robot moves away from the loading and unloading device.

13. The method for loading and unloading cargo according to claim 11, characterized in that: The push-pull motor is arranged on the loading and unloading cross arm, and when the push-pull motor drives the push-pull component to rotate, the push-pull component has a push-pull position or a second avoidance position, and when the push-pull component rotates to the push-pull position, the push-pull component corresponds to the cargo in the loading and unloading direction; The step S40 comprises: S45: determining one or more loading / unloading components that need to perform unloading actions according to the second loading / unloading instruction; S46 controls the push-pull component in the loading and unloading assembly that needs to perform the unloading action to rotate to the second avoidance position; S47 The transport robot moves to the position to be loaded and unloaded, and the second driving structure drives all the loading and unloading components to extend in the direction close to the transport robot, and controls the push-pull components in the loading and unloading components that need to perform the unloading action to move to the push-pull position, so that the push-pull components correspond to the goods; S48 The loading and unloading component moves away from the transport robot along the loading and unloading direction under the drive of the second driving structure, and the push-pull component unloads the goods on the transport robot, or the push-pull component blocks the goods, and the goods are transferred to the loading and unloading device when the transport robot moves away from the loading and unloading device.

14. The method for loading and unloading cargo according to claim 13, characterized in that: In the step S46, it is determined whether there is cargo on the transport robot at the height corresponding to each of the loading and unloading components. If there is cargo at the corresponding height on the transport robot, the push-pull components in each of the loading and unloading components at the corresponding height are controlled to move to the second avoidance position; or in the step S46, the push-pull components in all of the loading and unloading components are controlled to rotate to the second avoidance position.

15. The method for loading and unloading cargo according to claim 11, characterized in that: The loading and unloading device also includes at least one temporary storage shelf, the upright frame is movably arranged on the temporary storage shelf in a horizontal direction, and the second driving structure drives the upright frame to move in a horizontal direction relative to the temporary storage shelf; the temporary storage shelf includes multiple layers of shelves in a vertical direction; in step S40, the loading and unloading component pulls the goods at different heights on the transport robot to the corresponding shelves on each layer of the temporary storage shelf, or the loading and unloading component pushes the goods on each layer of the shelves to the transport robot.

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