Loading and unloading device and loading and unloading method

Abstract

The present invention relates to a loading and unloading device for conveying goods to a handling robot or unloading the goods on the handling robot. The loading and unloading device includes a vertical frame and a plurality of loading and unloading components. The vertical frame extends in the vertical direction. The plurality of loading and unloading components are arranged on the vertical frame at equal intervals in the vertical direction, and the plurality of loading and unloading components can respectively convey goods to the handling robot or unload the goods on the handling robot at different heights. The present invention also relates to a loading and unloading method applied to the above loading and unloading device. For the above loading and unloading device and loading and unloading method, the plurality of loading and unloading components can respectively convey goods to the handling robot or unload the goods on the handling robot at different heights, greatly shortening 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, and ultimately enhancing the overall handling efficiency of loading and unloading.

Description

Technical Field

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

[0002] Intelligent warehousing is a link in the logistics process. The application of intelligent warehousing ensures the speed and accuracy of data input in all aspects of goods warehouse management, enables enterprises to timely and accurately grasp the real data of inventory, and reasonably maintain and control the inventory of enterprises. Through scientific coding, it is also convenient to manage the batches, shelf lives, etc. of the goods in stock. By using the warehouse location management function, the current locations of all the goods in stock can be grasped in a timely manner, which is conducive to improving the work efficiency of warehouse management. Handling robots play an important role in intelligent warehousing. Handling robots replace manual handling of goods. However, the robots currently used in warehousing logistics can only load and unload goods one by one, which greatly affects the handling efficiency of the handling robots. Summary of the Invention

[0003] Based on this, in view of the problem of low loading and unloading efficiency of the current handling robots, it is necessary to provide a loading and unloading device and a loading and unloading method that assist the handling robots to achieve efficient loading and unloading of goods.

[0004] A loading and unloading device is used to convey goods to a handling robot or unload the goods on the handling robot. The loading and unloading device includes:

[0005] An upright frame extending in the vertical direction;

[0006] A plurality of loading and unloading components are arranged on the upright frame at equal intervals in the vertical direction. The plurality of loading and unloading components can respectively convey goods to the handling robot or unload the goods on the handling 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. The plurality of brackets are arranged on the upright frame at intervals in 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 in transmission connection with the first driving structure. The loading and unloading structure is used to convey goods to the handling robot or unload the goods on the handling robot.

[0008] In one embodiment, the loading and unloading structure includes a chain and a convex block. The chain is rotatably arranged on the bracket along the loading and unloading direction. The convex block is fixedly arranged on the chain. The first driving structure includes a driving motor, and the driving motor is in transmission connection with the chain. The chain can carry goods. When the chain rotates, the convex block abuts against the bottom of the goods, and then pushes the goods to the handling robot or pulls the goods from the handling robot to the chain.

[0009] In one embodiment, when the chain rotates, the bump pushes the bottom of the goods to push the goods to the handling robot, or the bump pulls the bottom of the goods to pull the goods from the handling robot to the chain, or the bump blocks the bottom of the goods, and the goods are transferred to the chain when the handling robot moves away from the loading and unloading device.

[0010] In one embodiment, the loading and unloading assembly includes two sets of the loading and unloading structures, and the two sets of the loading and unloading structures are arranged in parallel and at intervals on the bracket, and the driving motor is in transmission connection with the two chains.

[0011] In one embodiment, the loading and unloading assembly further includes a synchronizing rod, and the two chains are respectively in transmission connection with the synchronizing rod, and the output end of the driving motor is in transmission connection with one of the chains.

[0012] In one embodiment, the loading and unloading device further includes a second driving structure, and the second driving structure drives the vertical frame to approach or move away from the handling robot in the loading and unloading direction. When the second driving structure drives the vertical frame to approach or move away from the handling robot, the loading and unloading assembly conveys the goods to the handling robot or unloads the goods on the handling robot.

[0013] In one embodiment, each loading and unloading assembly includes a loading and unloading cross arm and a pushing and pulling structure. One ends of a plurality of the loading and unloading cross arms are arranged at intervals in the vertical direction on the vertical frame, and the pushing and pulling 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 handling robot in the loading and unloading direction, the pushing and pulling structure pushes and pulls the goods to convey the goods to the handling robot or unloads the goods on the handling robot.

[0014] In one embodiment, the pushing and pulling structure is rotatably arranged at the other end of the corresponding loading and unloading cross arm away from the vertical frame. When the pushing and pulling structure rotates, it has a pushing and pulling position and a second avoiding position. When the pushing and pulling structure rotates to the pushing and pulling position, it conveys the goods to the handling robot or pulls down the goods on the handling robot; when the pushing and pulling structure rotates to the second avoiding position, the pushing and pulling structure avoids the goods.

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

[0016] In one embodiment, two of the loading and unloading assemblies are arranged at intervals in the same horizontal direction of the vertical frame, and the two pushing and pulling structures in the same horizontal direction are respectively rotated to the pushing and pulling position or the second avoidance position; the two pushing and pulling structures in the same horizontal direction drive the two sides of the goods along the loading and unloading direction respectively.

[0017] In one embodiment, the pushing and pulling structure includes a pushing and pulling member and a pushing and pulling motor. The pushing and pulling motor is arranged on the loading and unloading cross arm. One end of the pushing and pulling member is rotatably connected to the loading and unloading cross arm, and the pushing and pulling member is connected to the output shaft of the pushing and pulling motor through a transmission mechanism. The pushing and pulling motor drives the pushing and pulling member to rotate to the pushing and pulling 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 pushing and pulling motor. One end of the connecting rod is rotatably connected to the crank, and the other end is rotatably connected to the pushing and pulling member.

[0019] In one embodiment, the pushing and pulling structure further includes a self-locking plate. The self-locking plate is arranged on the loading and unloading cross arm and is located between the pushing and pulling motor and the pushing and pulling member. When the pushing and pulling member rotates to the pushing and pulling 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 loading and unloading assembly. The two loading and unloading cross arms are arranged in parallel at intervals. The pushing and pulling member is connected between the two loading and unloading cross arms through a first rotating shaft. One end of the pushing and pulling member is provided with a second rotating shaft parallel to the first rotating shaft, and the connecting rod is rotatably connected to the second rotating shaft.

[0021] In one embodiment, the pushing and pulling member is rod-shaped or plate-shaped.

[0022] In one embodiment, the loading and unloading device further includes at least one temporary storage rack. The vertical frame is movably arranged on the temporary storage rack in the horizontal direction, and the second driving structure drives the vertical frame to move horizontally relative to the temporary storage rack; the temporary storage rack includes multiple layers of shelves in the vertical direction. The loading and unloading assembly pulls the goods at different heights on the handling robot to the corresponding layers of the shelves on the temporary storage rack, or the loading and unloading assembly pushes the goods on each layer of the shelves to the handling robot.

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

[0024] A loading and unloading method, which is applied to the loading and unloading device described in any one of the above solutions. The loading and unloading method includes:

[0025] S30 Receive the second loading / unloading instruction;

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

[0027] In one embodiment, in the step S40: when at least some of the loading and unloading components act, the goods are pulled from the handling robot to the loading and unloading device; or when at least some of the loading and unloading components act, the goods are blocked, and when the handling robot moves away from the loading and unloading device, the goods remain on the corresponding loading and unloading components.

[0028] In one embodiment, in the step S40, the loading and unloading device loads and unloads the goods from one end of the storage pallet on the handling robot close to the handling component, or the loading and unloading device loads and unloads the goods from one end of the storage pallet on the handling robot far from the handling component.

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

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

[0031] S41 Judge one or more of the loading and unloading components that need to execute the unloading action according to the second loading / unloading instruction;

[0032] S42 Control the bump in the loading and unloading component that needs to execute the unloading action to move to the first avoidance position;

[0033] After the robot to be carried moves to the loading / unloading position, control the bump in the loading / unloading component that needs to perform the unloading action to move to the loading position, so that the bump abuts against the bottom of the goods;

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

[0035] In one embodiment, in the step S42, it is judged whether there are goods on the handling robot at the height corresponding to each loading / unloading component. If there are goods at the corresponding height on the handling robot, control the bumps in each loading / unloading component at the corresponding height to move to the first avoidance position; or in the step S42, control the bumps in all the loading / unloading components to rotate to the first avoidance position.

[0036] In one embodiment, the loading / unloading device further includes a second driving structure, and the second driving structure drives the vertical frame to approach or move away from the handling robot in the loading / unloading direction. When the second driving structure drives the vertical frame to approach the handling robot, the loading / unloading component conveys goods to the handling robot or unloads the goods on the handling robot; each loading / unloading component includes a loading / unloading cross arm and a pushing / pulling structure. One ends of a plurality of the loading / unloading cross arms are arranged at intervals in the vertical direction on the vertical frame, and the pushing / pulling structure is rotatably arranged at the other end of the corresponding loading / unloading cross arm; in the step S40, when the loading / unloading cross arm approaches or moves away from the handling robot in the loading / unloading direction under the drive of the second driving structure, the pushing / pulling structure pushes or pulls the goods to convey the goods to the handling robot or unloads the goods on the handling robot, or the pushing / pulling structure blocks the goods, and when the handling robot moves away from the loading / unloading device, the goods are transferred to the loading / unloading device.

[0037] In one embodiment, the pushing / pulling structure includes a pushing / pulling component and a pushing / pulling motor. The pushing / pulling motor is arranged at the end of the loading / unloading cross arm far from the vertical frame, and the pushing / pulling component is arranged on the output shaft of the pushing / pulling motor; when the pushing / pulling motor drives the pushing / pulling component to rotate, it has a pushing / pulling position or a second avoidance position. When the pushing / pulling component rotates to the pushing / pulling position, it corresponds to the goods in the loading / unloading direction; the step S40 includes:

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

[0039] S46 Control the pushing / pulling component in the loading / unloading component that needs to perform the unloading action to rotate to the second avoidance position;

[0040] S47 The handling robot moves to the loading / unloading position, the second driving structure drives all the loading / unloading components to extend towards the handling robot, and controls the pushing / pulling member in the loading / unloading component that needs to perform the unloading action to move to the pushing / pulling position so that the pushing / pulling member corresponds to the goods.

[0041] S48 The loading / unloading component moves away from the handling robot along the loading / unloading direction under the drive of the second driving structure, the pushing / pulling member unloads the goods on the handling robot, or the pushing / pulling member blocks the goods, and when the handling robot moves away from the loading / unloading device, the goods are transferred to the loading / unloading device.

[0042] In one embodiment, the pushing / pulling structure includes a pushing / pulling member and a pushing / pulling motor. The pushing / pulling motor is arranged on the loading / unloading cross arm. One end of the pushing / pulling member is rotatably connected to the loading / unloading cross arm, and the pushing / pulling member is connected to the output shaft of the pushing / pulling motor through a transmission mechanism. When the pushing / pulling motor drives the pushing / pulling member to rotate, it has a pushing / pulling position or a second avoidance position. When the pushing / pulling member rotates to the pushing / pulling position, it corresponds to the goods in the loading / unloading direction. The step S40 includes:

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

[0044] S46 Control the pushing / pulling member in the loading / unloading component that needs to perform the unloading action to rotate to the second avoidance position;

[0045] S47 The handling robot moves to the loading / unloading position, the second driving structure drives all the loading / unloading components to extend towards the handling robot, and controls the pushing / pulling member in the loading / unloading component that needs to perform the unloading action to move to the pushing / pulling position so that the pushing / pulling member corresponds to the goods.

[0046] S48 The loading / unloading component moves away from the handling robot along the loading / unloading direction under the drive of the second driving structure, the pushing / pulling member unloads the goods on the handling robot, or the pushing / pulling member blocks the goods, and when the handling robot moves away from the loading / unloading device, the goods are transferred to the loading / unloading device.

[0047] In one embodiment, in the step S46, judge whether there is goods on the handling robot at the height corresponding to each loading / unloading component respectively. If there is goods at the corresponding height on the handling robot, control the pushing / pulling member in each loading / unloading component at the corresponding height to move to the second avoidance position; or in the step S46, control the pushing / pulling member in all the loading / unloading components to rotate to the second avoidance position.

[0048] In one embodiment, the loading and unloading device further includes at least one temporary storage shelf. The vertical frame is movably arranged horizontally on the temporary storage shelf, and the second driving structure drives the vertical frame to move horizontally relative to the temporary storage shelf. The temporary storage shelf includes multiple layers of shelves in the vertical direction. In the step S40, the loading and unloading assembly pulls the goods at different heights on the handling robot to the corresponding layers of the temporary storage shelf, or the loading and unloading assembly pushes the goods on each layer of the shelf to the handling robot.

[0049] For the above-mentioned loading and unloading device and method, multiple loading and unloading assemblies can respectively convey goods to the handling robot at different heights or unload the goods on the handling robot, greatly shortening the waiting time of the handling robot during the loading and unloading process, and thus 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 each height at one time, with high flexibility, ultimately improving the overall handling efficiency of loading and unloading. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0052] Figure 1 Schematic structural diagram of the loading and unloading device provided by an embodiment of the present invention;

[0053] Figure 2 For Figure 1 Partial structural enlarged view;

[0054] Figure 3 For the handling robot structural diagram corresponding to the loading and unloading device in Figure 1 provided by an embodiment of the present invention;

[0055] Figure 4 For Figure 3 Partial structural enlarged view;

[0056] Figure 5 Schematic structural diagram of the loading and unloading system provided by an embodiment of the present invention;

[0057] Figure 6Schematic diagram of the loading and unloading device provided by another embodiment of the present invention;

[0058] Figure 7 For Figure 6 Partial enlarged schematic diagram of some structures in;

[0059] Figure 8 Schematic diagram of the loading and unloading device provided by still another embodiment of the present invention;

[0060] Figure 9 Schematic diagram of the loading and unloading device provided by yet another embodiment of the present invention;

[0061] Figure 10 For Figure 9 Partial enlarged schematic diagram of part A in;

[0062] Figure 11 For Figure 9 Partial enlarged schematic diagram of part B in;

[0063] Figure 12 Schematic diagram of the loading and unloading system provided by another embodiment of the present invention;

[0064] Figure 13 Schematic diagram of the loading and unloading method provided by an embodiment of the present invention;

[0065] Figure 14 Schematic diagram of the specific steps of step S40 provided by an embodiment of the present invention;

[0066] Figure 15 Schematic diagram of the specific steps of step S40 provided by another embodiment of the present invention.

[0067] Among them, 10 - loading and unloading device; 100 - vertical frame, 200 - loading and unloading component, 210 - bracket, 220 - chain, 230 - bump, 240 - driving motor, 250 - synchronizing rod, 260 - loading and unloading cross arm, 270 - pushing and pulling component, 271 - first rotating shaft, 272 - second rotating shaft, 280 - pushing and pulling motor, 281 - motor mounting plate, 291 - crank, 292 - connecting rod, 293 - self-locking plate, 300 - second driving structure, 400 - temporary storage rack, 410 - temporary storage roller, 500 - lifting roller; 60 - handling robot, 610 - handling component, 620 - vertical frame, 630 - moving 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 - goods. Detailed implementation manners

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

[0069] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intermediate 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 only for the purpose of illustration.

[0070] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is 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 thus should not be construed as a limitation to the present invention.

[0071] Such as Figure 1-2 and Figure 6-7As shown in the figure, an embodiment of the present invention provides a loading and unloading device 10 for transporting goods 90 to a handling robot 60 or unloading the goods 90 on the handling robot 60. The loading and unloading device 10 includes a vertical frame 100 and a plurality of loading and unloading components 200. The vertical frame 100 extends in the vertical direction. The plurality of loading and unloading components 200 are arranged at intervals in the vertical direction on the vertical frame 100, and the plurality of loading and unloading components 200 can respectively transport the goods 90 to the handling robot 60 or unload the goods 90 on the handling 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 pallets 640 on the handling robot 60. As a feasible way, the plurality of loading and unloading components 200 are arranged at equal intervals in the vertical direction on the vertical frame 100. For the above loading and unloading device 10, the plurality of loading and unloading components 200 can respectively transport the goods 90 to the handling robot 60 or unload the goods 90 on the handling robot 60 at different heights, greatly shortening the waiting time of the handling robot 60 during the loading and unloading process, and thus 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 the goods 90 at a specified height or load and unload all the goods 90 at each height at one time, with high flexibility, and finally improving the overall handling efficiency of loading and unloading. It can be understood that the goods 90 in the present invention can also be an empty bin or a bin carrying the goods 90. It should be noted that the handling robot 60 includes various mechanical devices that can realize the transfer of goods, such as devices for transporting goods between two positions, devices with sorting functions, and stackers with stacking functions, etc.

[0072] It can be understood that the heights of the plurality of loading and unloading components 200 respectively correspond to the heights of the plurality of storage pallets 640 on the handling robot 60. Furthermore, the plurality of loading and unloading components 200 can realize transporting the goods 90 to all the storage pallets 640 on the handling robot 60 at one time, or the plurality of loading and unloading components 200 can realize removing the goods 90 on all the storage pallets 640 on the handling robot 60 at one time. Of course, in a specific working condition, one or several of the loading and unloading components 200 in the loading and unloading device 10 can also simultaneously realize transporting the goods 90 to the handling robot 60 or unloading the goods 90 on the handling robot 60.

[0073] Such as Figure 1-2As shown, in an embodiment of the present invention, each loading and unloading component 200 can act independently to convey goods 90 to the handling robot 60 or unload the goods 90 on the handling robot 60. As a feasible implementation, each loading and unloading component 200 includes a bracket 210, a loading and unloading structure, and a first driving structure. A plurality of brackets 210 are arranged at intervals in the vertical direction on the vertical frame 100. The first driving structure and the loading and unloading structure are respectively arranged on the corresponding bracket 210. The loading and unloading structure is in transmission connection with the first driving structure, and the loading and unloading structure is used to convey the goods 90 to the handling robot 60 or unload the goods 90 on the handling robot 60. The independent first driving structure in each loading and unloading component 200 allows each loading and unloading component 200 to independently execute conveying the goods 90 to the handling robot 60 or unloading the goods 90 on the handling robot 60.

[0074] Further, as Figure 2 shown, the loading and unloading structure includes a chain 220 and a bump 230. The chain 220 is rotatably arranged on the bracket 210 along the loading and unloading direction, and the bump 230 is fixedly arranged on the chain 220. The first driving structure includes a driving motor 240, and the driving motor 240 is in transmission connection with the chain 220; the chain 220 can carry the goods 90. When the driving motor 240 drives the chain 220 to rotate, the bump 230 pushes the bottom of the goods 90 to push the goods 90 to the handling robot 60, or the bump 230 pulls the bottom of the goods 90 to pull the goods 90 from the handling robot 60 to the chain 220, or the bump 230 blocks the bottom of the goods 90, and the goods are transferred to the chain 220 in the loading and unloading device 10 when the handling robot 60 moves away from 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 driving motor 240 is in transmission connection with one of the sprockets. When the driving motor 240 rotates, it drives the chain 220 to run, and then the bump 230 pushes the bottom of the goods 90 to push the goods 90 to the handling robot 60, or the bump 230 pulls the bottom of the goods 90 to pull the goods 90 from the handling robot 60 to the chain 220.

[0075] Furthermore, the loading and unloading component 200 includes two sets of loading and unloading structures. The two sets of loading and unloading structures are arranged in parallel and at intervals on the bracket 210, and the driving motor 240 is in transmission connection with the two chains 220. The two sets of loading and unloading structures can increase the smoothness during the loading and unloading process of the goods 90. In an embodiment of the present invention, as Figure 2As shown, the loading and unloading assembly 200 further includes a synchronizing rod 250. Two chains 220 are respectively connected to the synchronizing rod 250 in a driving manner, and the driving motor 240 is connected to one of the chains 220 in a driving manner. Specifically, the synchronizing rod 250 connects two spaced sprockets in a horizontal direction perpendicular to the loading and unloading direction, thereby ensuring the synchronous rotation of the two chains 220. It can be understood that the chain 220 in the above embodiment only serves to transmit and carry the goods. In other embodiments of the present invention, a belt, a timing belt, etc. are used to replace the chain.

[0076] In an embodiment of the present invention, all the loading and unloading assemblies 200 in the loading and unloading device 10 act synchronously to convey the goods 90 to the handling robot 60 or unload the goods 90 on the handling robot 60 at different heights, or some of the loading and unloading assemblies 200 in the loading and unloading device 10 act independently to convey the goods 90 to the handling robot 60 or unload the goods 90 on the handling robot 60 at a specified height. As Figure 6-8 shown, as a feasible way, the loading and unloading device 10 further includes a second driving structure 300. The second driving structure 300 drives the vertical frame 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 vertical frame 100 to approach or move away from the handling robot 60, the loading and unloading assembly 200 conveys the goods 90 to the handling robot 60 or unloads the goods 90 on the handling robot 60. The loading and unloading device 10 provided in this embodiment can take down all the goods 90 or the specified goods 90 on the handling robot 60 at one time, or synchronously convey multiple goods 90 to the handling robot 60. As a feasible way, the second driving structure 300 adopts a driving structure in the form of a motor and a belt.

[0077] In an embodiment of the present invention, as Figure 6-7 shown, each loading and unloading assembly 200 includes a loading and unloading cross arm 260 and a pushing and pulling structure. One ends of a plurality of loading and unloading cross arms 260 are arranged at intervals in the vertical direction on the vertical frame 100, and the pushing and pulling 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 handling robot 60 along the loading and unloading direction, the pushing and pulling structure pushes and pulls the goods 90 to convey the goods 90 to the handling robot 60 or unload the goods 90 on the handling robot 60. When the pushing and pulling structure rotates, it has a pushing and pulling position and a second avoiding position. When the pushing and pulling structure rotates to the pushing and pulling position, it conveys the goods 90 to the handling robot 60 or pulls down the goods 90 on the handling robot 60. When the pushing and pulling structure rotates to the second avoiding position, the pushing and pulling structure avoids the goods 90.

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

[0079] As an achievable way, as Figure 7-8 shown, the push-pull structure includes a push-pull member 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 vertical frame 100, and the push-pull member 270 is arranged on the output shaft of the push-pull motor 280. The push-pull member 270 is rod-shaped in this embodiment. The push-pull motor 280 drives the push-pull member 270 to rotate to the push-pull position or the second avoidance position. The two push-pull members 270 can be respectively rotated to the push-pull position under the drive of the push-pull motor 280, so as to pull the goods 90 out of the handling robot 60 or push 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 member 270 to rotate. The push-pull member 270 is directly arranged on the output shaft of the push-pull motor 280, or the push-pull member 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 member 270 to rotate to the push-pull position or the second avoidance position.

[0080] The push-pull structure can also adopt another way as Figure 9-11 shown, including a push-pull member 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 member 270 is rotatably connected to the loading and unloading cross arm 260. The push-pull member 270 is plate-shaped in this embodiment. The push-pull member 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 member 270 to rotate to the push-pull position or the second avoidance position. As Figure 11 shown, when the push-pull member 270 is rotated to the push-pull position under the drive of the push-pull motor 280, it can pull the goods 90 out of the handling robot 60 or push the goods 90 to the handling 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. Figure 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. Figure 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. Figure 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. Figure 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; Figure 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 Figure 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 Figure 12As shown in the figure, the handling robot 60 includes a handling component 610, a vertical frame 620, a mobile chassis 630, and a multi-layer storage pallet 640. The vertical frame 620 is disposed on the mobile chassis 630. The multi-layer storage pallets 640 are respectively arranged at intervals in the vertical direction on one side of the vertical frame 620. The handling component 610 is vertically liftably disposed on the other side of the vertical frame 620. The handling component 610 can convey the goods 90 to each layer of the storage pallet 640, or the handling component 610 can take out the goods 90 on each layer of the storage pallet 640. It can be understood that the handling robot 60 provided in this embodiment allows multiple loading and unloading components 200 in the loading and unloading device 10 to perform the loading and unloading of the goods 90 synchronously, and also allows multiple loading and unloading components 200 in the loading and unloading device 10 to perform the loading and unloading of the goods 90 separately.

[0086] Corresponding to the loading and unloading component 200 in the form of a push-pull structure, in an embodiment of the present invention, as Figure 12 shown in the figure, the loading and unloading component 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 handling robot 60. At this time, the handling component 610 needs to avoid the loading and unloading device 10. As a feasible method, the handling component 610 rises to the highest position to avoid the loading and unloading device 10. Optionally, when the handling robot 60 moves to the loading and unloading device 10 and the blocking rod 652 blocks the goods 90, the loading and unloading component 200 moves away from the handling robot 60 or the handling robot 60 moves away from the loading and unloading component 200, thereby completing the loading and unloading of the goods 90. It can be understood that when the loading and unloading component 200 performs loading and unloading from the end of the storage pallet 640 on the handling robot 60 that is far from the handling component 610, the handling component 610 does not need to avoid the loading and unloading device 10.

[0087] Corresponding to the loading and unloading component 200 with the structure of the chain 220 and the bump 230, in an 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 pallet 640, and the tail parts of the plurality of blocking rods 652 are respectively rotatably arranged on the driving rod 651. When the driving rod 651 drives the tail parts of the plurality of blocking rods 652 to move, the head parts of the plurality of blocking rods 652 respectively protrude from or avoid the loading and unloading end 643. Only when the blocking assembly 650 moves to the third avoidance position can the loading and unloading device 10 perform the loading and unloading of the goods 90 on the handling robot 60. As an achievable way, 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 by a rotating motor cooperating with a convex block 230.

[0090] In an embodiment of the present invention, as Figure 5 shown, the loading and unloading system further includes a lifting assembly. The lifting assembly is arranged at one end of the loading and unloading assembly 200 away from the handling robot 60. The lifting assembly is used to sequentially receive the goods 90 unloaded by each loading and unloading assembly 200, or the lifting assembly is used to sequentially transport the goods 90 to each loading and unloading assembly 200. As an achievable way, as Figure 5 shown, the lifting assembly includes a lifting roller 500. The lifting roller 500 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 loading and unloading assembly 200, and then transfer the goods 90 to the corresponding transportation line, realizing the automation of the goods 90 handling process. Or the lifting assembly can transport the goods 90 to the temporary storage shelf 400 or the loading and unloading assembly 200.

[0091] In an embodiment of the present invention, as Figure 5 shown, the loading and unloading system further includes a conveyor line 70. 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. The conveyor line 70 can transport the goods 90 to the corresponding destination. Further, the loading and unloading system further includes a fixed shelf. The handling robot 60 takes out the goods 90 on the fixed shelf, or the handling robot 60 transports the goods 90 to the fixed shelf. The fixed shelf is the starting point or the end point of the goods 90 handling.

[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 Figure 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 component 200 includes a bracket 210, a loading and unloading structure, and a driving motor 240. A plurality of the brackets 210 are arranged at intervals in the vertical direction on the vertical frame 100, and 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 bump 230. The chain 220 is rotatably arranged on the bracket 210 along the loading and unloading direction, the bump 230 is fixedly arranged on the chain 220, and the driving motor 240 is in transmission connection with the chain 220. The chain 220 can carry the goods 90. In the step S40, the bump 230 pushes the bottom of the goods 90 to push the goods 90 to the handling robot 60, or the bump 230 pulls the bottom of the goods 90 to pull the goods 90 from the handling robot 60 to the chain 220, or the bump 230 blocks the bottom of 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 chain 220. The loading and unloading structure in the form of the chain 220 and the bump 230 can load and unload the goods 90 from the bottom of the goods 90.

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

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

[0098] It can be understood that the process of loading the handling 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 assembly 200 carries goods 90, and the bump 230 abuts against the side of the goods 90 close to the upright frame 100. In an embodiment of the present invention, the step S40 includes: S411 determining one or more of the loading and unloading assemblies 200 that need to perform the loading action according to the second loading / unloading instruction; S422 controlling the bump 230 in the loading and unloading assembly 200 that needs to perform the loading action to abut against the side of the goods 90 close to the upright frame 100; S43 after the handling robot 60 moves to the position to be loaded and unloaded, controlling the bump 230 in the loading and unloading assembly 200 that needs to perform the loading action to move to the first avoidance position. During this process, the bump 230 moves in the direction close to the handling robot 60 driven by the chain 220 to push the goods 90 from the loading and unloading device 10 to the handling robot 60.

[0099] In another embodiment of the present invention, as Figure 6-11As shown, the loading and unloading device 10 further includes a second driving structure 300. The second driving structure 300 drives the vertical frame 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 vertical frame 100 to approach the handling robot 60, the loading and unloading assembly 200 conveys the goods 90 to the handling robot 60 or unloads the goods 90 on the handling robot 60; each loading and unloading assembly 200 includes a loading and unloading cross arm 260 and a pushing and pulling structure. One ends of a plurality of the loading and unloading cross arms 260 are arranged at intervals in the vertical direction on the vertical frame 100, and the pushing and pulling structure is rotatably arranged at the other end of the corresponding 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 pushing and pulling structure pushes and pulls the goods 90 to convey the goods 90 to the handling robot 60 or unloads the goods 90 on the handling robot 60, or the pushing and pulling 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 corresponding to the loading and unloading device 10, which will not be elaborated here.

[0100] In an embodiment of the present invention, as Figure 6-8 shown, the pushing and pulling structure includes a pushing and pulling member 270 and a pushing and pulling motor 280. The pushing and pulling motor 280 is arranged at the end of the loading and unloading cross arm 260 away from the vertical frame 100, and the pushing and pulling member 270 is arranged on the output shaft of the pushing and pulling motor 280; when the pushing and pulling motor 280 drives the pushing and pulling member 270 to rotate, it has a pushing and pulling position or a second avoidance position. When the pushing and pulling member 270 rotates to the pushing and pulling position, it corresponds to the goods 90 in the loading and unloading direction. When the pushing and pulling member 270 is in the pushing and pulling position, it can directly abut against the side surface of the goods 90 or have a certain gap with the goods 90. When the second driving structure 300 drives the vertical frame 100 to translate, the pushing and pulling member 270 abuts against the goods 90; as Figure 9-11 shown, the pushing and pulling structure includes a pushing and pulling member 270 and a pushing and pulling motor 280. The pushing and pulling motor 280 is arranged on the loading and unloading cross arm 260. One end of the pushing and pulling member 270 is rotatably connected to the loading and unloading cross arm 260, and the pushing and pulling member 270 is connected to the output shaft of the pushing and pulling motor 280 through a transmission mechanism; when the pushing and pulling motor 280 drives the pushing and pulling member 270 to rotate, it has a pushing and pulling position or a second avoidance position. When the pushing and pulling member 270 rotates to the pushing and pulling position, it corresponds to the goods 90 in the loading and unloading direction. When the pushing and pulling member 270 is in the pushing and pulling position, it can directly abut against the side surface of the goods 90 or have a certain gap with the goods 90. When the second driving structure 300 drives the vertical frame 100 to translate, the pushing and pulling member 270 abuts against the goods 90. As Figure 15As shown in the figure, 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 member 270 in the loading and unloading component 200 that needs to perform the unloading action to rotate to the second avoidance position; S47 moving the handling robot 60 to the position to be loaded and unloaded, and the second driving structure 300 driving all the loading and unloading components 200 to extend in the direction close to the handling robot 60, and controlling the push-pull member 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 member 270 corresponds to the goods 90; S48 the loading and unloading component 200 moves away from the handling robot 60 along the loading and unloading direction under the drive of the second driving structure 300, and the push-pull member 270 unloads the goods 90 on the handling robot 60, or the push-pull member 270 blocks the goods 90, and the goods 90 are transferred to the loading and unloading device 10 when the handling robot 60 moves away from the loading and unloading device 10.

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

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

[0103] It can be understood that the process of loading the handling 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 the goods 90, and the pushing and pulling member 270 located at the pushing and pulling position corresponds to the side of the goods 90 close to the vertical frame 100. When the pushing and pulling member 270 is at the pushing and pulling position, it can directly abut against the side of the goods 90 or have a certain gap with the goods 90. When the second driving structure 300 drives the vertical frame 100 to translate, the pushing and pulling member 270 abuts against the goods 90. In an 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 the loading action according to the second loading / unloading instruction; S466 controlling the pushing and pulling member 270 in the loading and unloading component 200 that needs to perform the loading action to rotate to the pushing and pulling position or maintain at the pushing and pulling position; S477 the handling 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 the direction close to the handling robot 60, and then the loading and unloading components 200 push the goods 90 along the loading and unloading direction to the respective storage pallets 640 on the handling robot 60 under the drive of the second driving structure 300.

[0104] During the loading and unloading process of the goods 90, there will be goods 90 that do not need to be transported from the loading and unloading device 10 to the handling robot 60 this time. Optionally, in the step S466, it is also necessary to control the pushing and pulling member 270 in the loading and unloading component 200 that does not need to perform the loading action to rotate to the second avoidance position or maintain at the second avoidance position; the goods loading and unloading method provided in this embodiment avoids the influence of the goods 90 that do not need to be transported to the handling robot 60 temporarily on the goods loading and unloading process.

[0105] The technical features of the above-mentioned embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0106] The above-mentioned embodiments only represent several implementation manners of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent should be subject to the appended claims.

Claims

1. A loading and unloading device, characterized in that, it is used to convey goods to a handling robot or unload the goods on the handling robot. The loading and unloading device includes: A vertical frame extending in the vertical direction; A plurality of loading and unloading components arranged at equal intervals in the vertical direction on the vertical frame. The plurality of loading and unloading components can respectively convey goods to the handling robot or unload the goods on the handling robot at different heights; A second driving structure. When the second driving structure drives the vertical frame to approach or move away from the handling robot along the loading and unloading direction, the loading and unloading components convey goods to the handling robot or unload the goods on the handling robot; The loading and unloading device further includes at least one temporary storage rack. The vertical frame is movably arranged on the temporary storage rack in the horizontal direction, and the second driving structure drives the vertical frame to move horizontally relative to the temporary storage rack; Each loading and unloading component includes a loading and unloading cross arm and a pushing and pulling structure. One ends of the plurality of loading and unloading cross arms are arranged at intervals in the vertical direction on the vertical frame, and the pushing and pulling 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 handling robot along the loading and unloading direction, the pushing and pulling structure pushes and pulls the goods to convey the goods to the handling robot or unload the goods on the handling robot; The pushing and pulling structure is rotatably arranged at the other end of the corresponding loading and unloading cross arm away from the vertical frame. When the pushing and pulling structure rotates, it has a pushing and pulling position. When the pushing and pulling structure rotates to the pushing and pulling position, it conveys goods to the handling robot or pulls down the goods on the handling robot; The pushing and pulling structure includes a pushing and pulling member and a pushing and pulling motor. One end of the pushing and pulling member is rotatably connected to the loading and unloading cross arm, and the pushing and pulling member is connected to the output shaft of the pushing and pulling motor through a transmission mechanism. The pushing and pulling motor drives the pushing and pulling member to rotate to the pushing and pulling position; The transmission mechanism includes a crank and a connecting rod. The crank is arranged on the output shaft of the pushing and pulling motor, one end of the connecting rod is rotatably connected to the crank, and the other end is rotatably connected to the pushing and pulling member; The pushing and pulling structure further includes a self-locking plate. The self-locking plate is arranged on the loading and unloading cross arm and is located between the pushing and pulling motor and the pushing and pulling member. When the pushing and pulling member rotates to the pushing and pulling 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.

2. The loading and unloading device according to claim 1, characterized in that, When the pushing and pulling structure rotates, it further has a second avoidance position. When the pushing and pulling structure rotates to the second avoidance position, the pushing and pulling structure avoids the goods.

3. The loading and unloading device according to claim 2, characterized in that, Two of the loading and unloading components are arranged at intervals in the same horizontal direction of the vertical frame. The two pushing and pulling structures in the same horizontal direction respectively rotate to the pushing and pulling position or the second avoidance position; the two pushing and pulling structures in the same horizontal direction respectively drive both sides of the goods along the loading and unloading direction.

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

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

7. A loading and unloading method, characterized in that applied to the loading and unloading device according to any one of claims 1-6, the loading and unloading method includes: S30 Receive the second loading / unloading instruction; S40 According to the second loading / unloading instruction, at least some of the loading and unloading components act respectively to load / unload the goods, or at least some of the loading and unloading components are synchronously linked to load / unload the goods.

8. The loading and unloading method according to claim 7, characterized in that In the step S40: when at least some of the loading and unloading components act, the goods are pulled from the handling robot to the loading and unloading device; or when at least some of the loading and unloading components act to block the goods, when the handling robot moves away from the loading and unloading device, the goods remain on the corresponding loading and unloading components.

9. The loading and unloading method according to claim 8, characterized in that In the step S40, the loading and unloading device loads and unloads the goods from one end of the storage pallet on the handling robot close to the handling component, or the loading and unloading device loads and unloads the goods from one end of the storage pallet on the handling robot far from the handling component.

10. The loading and unloading method according to any one of claims 7-9, characterized in that In the step S40, when the loading and unloading cross arm approaches or moves away from the handling robot along the loading and unloading direction under the drive of the second drive structure, the push-pull structure pushes and pulls the goods to convey the goods to the handling robot or unloads the goods on the handling robot, or the push-pull structure blocks the goods, and when the handling robot moves away from the loading and unloading device, the goods are transferred to the loading and unloading device.

11. The loading and unloading method according to claim 9, 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, there is a push-pull position or a second avoidance position. When the push-pull component rotates to the push-pull position, it corresponds to the goods in the loading and unloading direction; The step S40 includes: S45 Judge one or more of the loading and unloading components that need to execute the unloading action according to the second loading / unloading instruction; S46 Control the push-pull component in the loading and unloading component that needs to execute the unloading action to rotate to the second avoidance position; The handling robot moves to the position to be loaded and unloaded, and the second driving structure drives all the loading and unloading components to extend towards the handling robot, and controls the push-pull component in the loading and unloading component that needs to perform the unloading action to move to the push-pull position so that the push-pull component corresponds to the goods. S48 The loading and unloading components move away from the handling 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 handling robot, or the push-pull component blocks the goods, and when the handling robot moves away from the loading and unloading device, the goods are transferred to the loading and unloading device.

12. The loading and unloading method according to claim 11, characterized in that in the step S46, it is judged whether there are goods on the handling robot at the height corresponding to each loading and unloading component. If there are goods at the corresponding height on the handling robot, control the push-pull components in each loading and unloading component at the corresponding height to move to the second avoidance position; or in the step S46, control the push-pull components in all the loading and unloading components to rotate to the second avoidance position.

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