Unloading method, control device, unloading device and storage system

Abstract

The present application provides an unloading method, a control device, an unloading device, and a warehousing system. The unloading method is applied to the unloading device, which includes a storage unit and a robotic arm that can move relative to the storage unit. The storage unit is provided with a rotatable conveying member, and the conveying member has a rolling surface that is in rolling contact with the goods. The unloading method includes: using the robotic arm to transport the goods on the handling robot to the storage unit; detecting the moving speed of the goods in the storage unit; and controlling at least one of the rotation state of the conveying member and the moving speed of the robotic arm in the storage unit according to the moving speed to prevent the goods entering the storage unit from escaping the storage unit. The unloading reliability of the present application is high.

Description

[0001] This application is a divisional application of the invention patent application with application number 202011205320.2 submitted to the China Patent Office, application date November 2, 2020, and invention name "Unloading method, control device, unloading device and storage system". Technical Field

[0002] The present application relates to the field of intelligent warehousing technology, and in particular to a unloading method, a control device, an unloading device and a warehousing system. Background Art

[0003] With the rapid development of artificial intelligence, automation, and information technology, the level of intelligence in terminal logistics is constantly increasing. Smart warehousing is a key part of the logistics process. In smart warehousing, handling robots and unloading devices are the main equipment that can realize automated handling operations. They can reduce heavy manual labor and improve the efficiency of handling operations.

[0004] Currently, a transport robot typically consists of a base and multiple transport robot shelves mounted on the base, on which cargo can be placed. A discharge device includes a main body and multiple storage units mounted on the main body, which are used to store cargo unloaded from the transport robot shelves. During unloading, the transport robot approaches the discharge device, aligning the transport robot shelves with the storage units. The discharge device then transfers the cargo from the transport robot shelves to the corresponding storage units.

[0005] However, when the goods carried by the handling robot are being transferred to the unloading device, the transfer speed may be too high. After the goods are transferred, the goods may be thrown out and detached from the unloading device, and the goods need to be placed back on the unloading device, resulting in low unloading reliability. Summary of the Invention

[0006] In view of the above problems, the embodiments of the present application provide a unloading method, a control device, an unloading device and a storage system, which can prevent goods from falling from the unloading device and improve the unloading efficiency and reliability of the unloading device.

[0007] In order to achieve the above objectives, the embodiments of the present application provide the following technical solutions:

[0008] A first aspect of an embodiment of the present application provides a unloading method, which is applied to an unloading device. The unloading device includes a storage unit and a robotic arm that can move relative to the storage unit. A rotatable conveying member is provided in the storage unit, and the conveying member has a rolling surface that is in rolling contact with the goods. The method includes: using the robotic arm to transport the goods on the handling robot to the storage unit; detecting the moving speed of the goods in the storage unit; and controlling at least one of the rotation state of the conveying member and the moving speed of the robotic arm in the storage unit according to the moving speed to prevent the goods entering the storage unit from escaping from the storage unit.

[0009] A second aspect of an embodiment of the present application provides a control device, comprising: a processor; and a memory communicatively connected to the processor, the memory storing executable code, which, when executed by the processor, causes the processor to execute the above method.

[0010] A third aspect of the present application provides a discharge device, comprising a main body and a control assembly, wherein the main body is provided with a storage unit for placing goods, the storage unit having a rotatable conveying member, the conveying member having a rolling surface that rolls in contact with the goods, and is used to drive the goods into and out of the storage unit;

[0011] The control component includes a drive unit for driving the conveyor to rotate, a speed sensor for detecting the moving speed of the goods in the storage unit, and the above-mentioned control device. The drive unit and the speed sensor are both electrically connected to the control device. The control device is used to control the rotation state of the conveyor according to the moving speed of the goods to prevent the goods entering the storage unit from escaping from the storage unit.

[0012] A fourth aspect of the present application provides a discharge device, comprising a main body, a robotic arm, and a control assembly. The main body is provided with a storage unit for placing goods. The robotic arm can move relative to the storage unit to drive the goods to move. The storage unit has a rotatable conveying member, and the conveying member has a rolling surface that rolls in contact with the goods to drive the goods into and out of the storage unit.

[0013] The control assembly includes a controller, a first drive unit for driving the conveyor to rotate, and a speed sensor for detecting the moving speed of the goods in the storage unit. The first drive unit and the speed sensor are both electrically connected to the controller. The controller is used to control the rotation state of the conveyor according to the moving speed of the goods to prevent the goods entering the storage unit from escaping the storage unit.

[0014] The fifth aspect of the embodiment of the present application provides a warehousing system, including a transport robot and the above-mentioned unloading device, the transport robot has a cargo plate, and the cargo plate and the storage unit of the unloading device are correspondingly arranged to perform unloading operations on the unloading device.

[0015] The embodiments of the present application have the following advantages:

[0016] In this embodiment, a speed sensor is provided to detect the moving speed of the cargo, and a controller controls at least one of the rotational state of the conveyor and the movement speed of the robotic arm based on the moving speed of the cargo. Since the moving portion of the cargo is driven by the rotation of the conveyor, the controller can indirectly adjust the moving speed of the cargo by changing the rotational state of the conveyor, and / or directly control the movement speed of the robotic arm. This can prevent the cargo from moving too fast and being thrown from the storage unit and detaching, or prevent the cargo from being delivered before the conveyor belt on the delivery side of the unloading device is activated. This prevents the cargo from falling, thereby improving unloading efficiency and reliability.

[0017] In addition to the technical problems solved by the embodiments of the present application described above, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, other technical problems that can be solved by the shelves and handling robots provided by the embodiments of the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] Figure 1 This is a schematic diagram of the exploded structure of the unloading device provided in the first embodiment;

[0020] Figure 2 This is a structural diagram of a state in which the unloading device and the handling robot provided in Example 1 of the present application cooperate;

[0021] Figure 3 A schematic structural diagram of another state of cooperation between the unloading device and the handling robot provided in Example 1 of the present application;

[0022] Figure 4 This is a schematic structural diagram of the main body of the unloading device provided in Example 1 of the present application;

[0023] Figure 5 A schematic diagram of the lower structure of the main body of the unloading device provided in Example 1 of the present application;

[0024] Figure 6 This is a schematic diagram of the lower structure of the main body of the unloading device provided in Example 1 of the present application from another angle;

[0025] Figure 7 for Figure 1 A local enlarged view of point A;

[0026] Figure 8 A schematic diagram of the three-dimensional structure of the partial structure of the unloading device provided in Example 1 of the present application;

[0027] Figure 9 for Figure 1 A local enlarged view of point B;

[0028] Figure 10 for Figure 1 A local enlarged view of point C;

[0029] Figure 11 for Figure 1 A schematic structural diagram of a storage unit on one layer of a discharging device;

[0030] Figure 12 A schematic diagram of the three-dimensional structure of the unloading device provided in Example 1 of the present application;

[0031] Figure 13 for Figure 12 A local enlarged view of point D;

[0032] Figure 14 for Figure 12 A local enlarged view of point E;

[0033] Figure 15 An exploded view of the local connection structure between the transport frame and the slide rail in the unloading device provided in Example 1 of the present application;

[0034] Figure 16 This is a flow chart of the first unloading method provided in Example 3 of the present application;

[0035] Figure 17 This is a flow chart of a method for controlling a robotic arm in a discharging method provided in Example 3 of the present application;

[0036] Figure 18 This is a flow chart of the anti-collision control method for the transport rack in the unloading method provided in Example 3 of the present application;

[0037] Figure 19 A flow chart of another unloading method provided in Example 3 of the present application;

[0038] Figure 20 This is a structural diagram of the control device provided in Example 4 of the present application.

[0039] Reference numerals:

[0040] 100 - unloading device; 200 - handling robot; 201 - shelf; 202 - mobile chassis; 203 - picking device; 204 - fixed bracket; 205 - cargo plate; 300 - control device; 301 - processor; 302 - memory;

[0041] 1-body; 111-avoidance groove; 112-first sensing unit; 113-start switch; 1131-switch body; 1132-detection rocker arm; 12-column; 121-top frame; 122-front column; 123-rear column; 13-end connecting piece; 131-guide piece; 1311-guide surface; 1312-tilted area; 15-speed sensor; 151-first speed sensor; 152-second speed sensor; 16-support frame; 160-support part; 161-first support part; 162-second support part; 1621-first end; 1622-second end; 163-third support part; 1631-horizontal extension section; 1632-vertical extension section; 164-support foot; 2-storage unit; 2 1-transmission member; 211-multi-V belt roller; 212-V belt groove; 22-loading space; 23-cargo inlet; 24-cargo outlet; 25, 26-loading and unloading position detection sensors; 27-first storage unit; 28-second storage unit; 3-transportation frame; 31-mechanical arm; 32-movable push rod; 33-support frame; 331-connecting plate; 34-connecting beam; 35-slide rail; 36-slider; 37-roller; 38-detection member; 381-detection part; 382-connecting part; 383-first detection member; 384-second detection member; 39-position sensor; 391-first position sensor; 392-second position sensor; 5-second drive unit; 6-detection component; 61-movable push rod position detector. DETAILED DESCRIPTION

[0042] In smart warehousing, unloading devices are used to unload goods from handling robots. During this process, goods are prone to falling off the unloading device. This is because during the unloading process, the goods on the handling robot are transported to the unloading device at a preset speed. Once the goods reach the target position of the unloading device, if they have not stopped and have a certain speed, they may fall off the unloading device. In this case, manual labor or additional mechanisms are required to replace the fallen goods on the unloading device, resulting in low unloading efficiency.

[0043] On the other hand, the unloading device includes a unloading assembly, which can move back and forth relative to the body of the unloading device to pull the goods on the handling robot shelf to the storage unit of the unloading device. In the process of reciprocating movement of the unloading assembly relative to the above-mentioned body, it may collide with the body of the unloading device and other structural parts, causing the body to shake, and the stability and safety of the unloading device will be affected.

[0044] In addition, when the unloading component pulls the goods on the handling robot shelf, it is possible that the operating end of the unloading component does not move to the goods. Even if the unloading component moves back and forth with the operating end, it cannot drive the goods to move, thereby causing the unloading operation to fail and reducing the unloading efficiency of the unloading device.

[0045] In order to solve the above problems, the present application proposes a unloading device, an unloading method and a storage system, which can complete the unloading operation safely and reliably.

[0046] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0047] Example 1

[0048] Figure 1 This is a schematic diagram of the exploded structure of the unloading device provided in Example 1 of the present application. Figure 2 This is a structural diagram of a state in which the unloading device and the handling robot provided in the first embodiment of the present application cooperate. Figure 3 This is a structural schematic diagram of another state of cooperation between the unloading device and the handling robot provided in Example 1 of the present application.

[0049] Reference Figure 1 An embodiment of the present application provides a unloading device 100, which includes a main body 1 and a storage unit 2. The storage unit 2 is installed on the main body 1 and is used to place goods (not shown); the storage unit 2 has a rotatable conveying member 21, and the conveying member 21 has a rolling surface that is in rolling contact with the goods, so as to drive the goods in and out of the storage unit 2.

[0050] In the embodiment of the present application, the unloading device 100 may further include a transport frame 3 that can move relative to the body 1, and the transport frame 3 has a mechanical arm 31 for driving the movement of the goods. Furthermore, the mechanical arm 31 is provided with a movable push rod 32, which can be moved to different positions relative to the mechanical arm 31. When the movable push rod 32 is blocked on the entry and exit path J of the goods, it can drive the movement of the goods. Here, the movable push rod 32 can be moved to different positions relative to the mechanical arm. For example, the movable push rod can be set horizontally and blocked on the entry and exit path J of the goods; for example, the movable push rod can be set vertically and not blocked on the entry and exit path J of the goods.

[0051] For example, the movable push rod 32 may be extended or shortened while rotating so as to block the entry and exit path of the goods, or not block the entry and exit path J of the goods.

[0052] Reference Figure 2 , briefly introduces an example of a transport robot 200 used in conjunction with the present application. The transport robot 200 includes a shelf 201, a mobile chassis 202, and a picking device 203. The shelf 201 is mounted on the mobile chassis 202. The shelf 201 may include a fixed bracket 204 and a plurality of pallets 205. The plurality of pallets 205 are arranged on the fixed bracket 204 at intervals in the vertical direction, and each pallet 205 is used to carry goods. In addition, the mobile chassis 202 can be used to enable the shelf 201 to move on the ground in the storage area. The picking device 203 can be mounted on the fixed bracket 204 and is used to place goods on the pallet 205 or take goods out of the pallet 205.

[0053] It is understood that the transport robot 200 that can cooperate with the unloading device 100 of the present application includes but is not limited to Figure 2 The structure shown may also be other structures, but it is necessary to ensure that in the transport robot, each cargo pallet 205 and each storage unit 2 of the unloading device 100 are arranged in a one-to-one correspondence, and the height of the cargo carrying surface of the cargo pallet 205 is roughly the same as the height of the cargo loading surface of the storage unit 2, so that the robotic arm 31 can be extended into the vicinity of the cargo on the cargo pallet 205 to perform unloading operations on the cargo.

[0054] The following combination Figure 2 、 Figure 3 The unloading process of the unloading device 100 of the present application is described.

[0055] The handling robot 200 approaches the unloading device 100, so that the cargo plate 205 of the handling robot 200 corresponds one to one with the storage unit 2. At this time, the robotic arm 31 drives the movable push rod 32 to extend toward the goods until the movable push rod 32 is located on the rear side of the dragging direction of the goods. The movable push rod 32 is relative to the robotic arm 31 and is blocked on the entry and exit path J of the goods. The robotic arm 31 moves in the direction away from the handling robot 200, and the movable push rod 32 drives the goods to move toward the storage unit 2. When the goods are transported to the rolling surface of the conveying member 21 of the storage unit 2, the conveying member 21 drives the goods further into the storage unit 2 until the goods enter the storage position in the storage unit 2.

[0056] In the embodiment of the present application, in order to solve the problem of poor unloading efficiency, poor stability and safety of the unloading device 100 as described above, the unloading device 100 further includes a control component (not shown), which may include a controller, a sensor electrically connected to the controller, etc. The sensor in the present application may include at least one of a speed sensor 15, a position sensor 39, and a movable push rod position detector 61. In order to control the operating status of the conveying member 21 and the transport rack 3, the control component may further include a first drive unit for driving the conveying member 21 to rotate; optionally, the control component may further include a second drive unit 5 for driving the transport rack 3 to move relative to the body 1.

[0057] The structure of each part of the unloading device 100 is described in detail below.

[0058] Figure 4 This is a schematic diagram of the structure of the main body of the unloading device provided in Example 1 of the present application. Figure 5 This is a schematic diagram of the lower structure of the body of the unloading device provided in Example 1 of the present application. Figure 6 This is a schematic diagram from another angle of the lower structure of the main body of the unloading device provided in Example 1 of the present application.

[0059] Reference Figure 4 、 Figure 5 、 Figure 6 The main body 1 includes a column 12 and a support frame 16, and the support frame 16 is located on the rear side of the main body 1 along the direction of cargo entry and exit; the bottom of the support frame 16 and the column 12 jointly support the unloading device 100, and the support frame 16 includes a support portion 160 extending along the ground.

[0060] In the above solution, by providing the support frame 16, the support frame 16 and the column 12 jointly support the unloading device 100. Compared with the prior art in which the unloading device is supported only by the column, the mechanism for supporting the unloading device 100 is increased, thereby providing more stable support for the unloading device 100. Furthermore, because the support portion 160 extends along the ground, the contact area between the support portion 160 and the ground can be increased, thereby providing more stable support for the unloading device 100, thereby improving the unloading reliability of the unloading device 100.

[0061] In the embodiment of the present application, the bottom of the support frame 16 and the column 12 jointly support the unloading device 100, wherein the column 12 plays a primary supporting role and the support frame 16 plays an auxiliary supporting role. It should be noted that in the present application, a plurality of columns 12 can be included, and the plurality of columns 12 are arranged at intervals to support the unloading device 100.

[0062] Reference Figure 4, with solid arrows indicating the front and rear sides along the direction of cargo entry and exit. For example, the pillars in this application may include a front pillar 122 located at the front side of the body 1 along the direction of cargo entry and exit, and a rear pillar 123 located at the rear side of the body along the direction of cargo entry and exit, and the support frame 16 may be connected to the rear pillar 123.

[0063] In this way, when the cargo enters the unloading device 100, additional force is likely to be generated on the main body 1 in the cargo entry and exit direction K. In other words, since the cargo enters the unloading device 100 from the front to the rear, the rear part of the unloading device 100 is subjected to a greater force. As described above, the front pillars 122 and the rear pillars 123 are arranged at intervals along the cargo entry and exit path, and the support frame 16 serving as an auxiliary support is arranged on the rear pillar to provide auxiliary support to the rear side of the unloading device 100, thereby making the unloading device 100 more stable and effectively preventing the main body from shaking in the cargo entry and exit direction K.

[0064] The number of columns 12 can be set as needed. For example, this application uses the example of two front columns 122 and two rear columns 123 for explanation. The case where the number of front columns 122 and rear columns 123 is other than the example is similar and will not be repeated here.

[0065] It is understood that in the present application, the pillar 12 can extend entirely along a straight line, like the rear pillar 123, or can have its upper and lower halves not extending along a straight line, like the front pillar 122. The extension direction of the pillar 12 can be vertical or inclined, and this application does not impose any restrictions on this.

[0066] In an embodiment of the present application, the support frame 16 may include a support portion 160 extending along the ground. Since the support portion 160 extends along the ground, the contact area between the support portion 160 and the ground can be increased, so the support for the unloading device 100 is more stable, thereby improving the unloading reliability of the unloading device 100.

[0067] Furthermore, the support portion 160 includes a first support portion 161 and a second support portion 162 connected to each other. The first support portion 161 and the second support portion 162 both extend along the ground, and there is an angle between the first support portion 161 and the second support portion 162. This allows the first support portion 161 and the second support portion 162 to assist in supporting the column 12 at different angles, thereby providing better support for the unloading device.

[0068] It should be noted that the term "extending along the ground" in this application, for example, the support portion 160 extending along the ground, specifically means that the extension direction of the support portion 160 can be along the ground. This allows the support portion 160 to support the discharge device 100 over a larger area. As for the specific support method of the support portion 160, it can be as follows: Figure 4In this way, the support portion 160 is supported on the ground by the support legs 164 provided at the bottom thereof, or the bottom end surface of the support portion 160 may be directly supported on the ground.

[0069] When the support portion 160 is supported on the ground via the support legs 164, the column 12 can also be supported on the ground via the support legs 164. It should be noted that the support portion 160, when in combination with the support legs, needs to match the height of the column 12 after the support legs are in combination, so that the storage unit provided on the body 1 is arranged approximately horizontally. Optionally, the support legs 164 can be heavy-duty foot cups with ears, for example, fixed to the ground via expansion screws, or to a buffer body or fixed body fixed relative to the ground.

[0070] In the embodiment of the present application, the first support portion 161 is connected to the rear column 123, and the second support portion 162 is an even number, and the second support portion 162 is symmetrically arranged on both sides of the first support portion 161. This makes the second support portion more stable in supporting the discharge device.

[0071] Figure 6 It is a schematic diagram showing a part of the main body from another angle, and for the convenience of observation, Figure 6 The storage unit is omitted in the figure. Figure 6 Furthermore, the extension direction of the first support portion 161 is perpendicular to the cargo inlet / outlet direction K, while the extension direction of the second support portion 162 is parallel to the cargo inlet / outlet direction K. As previously mentioned, the unloading device 100 is prone to rocking in the cargo inlet / outlet direction K during unloading. Therefore, extending the first support portion 161 along the cargo inlet / outlet direction K can effectively prevent this. The extension direction of the second support portion 162 is parallel to the cargo inlet / outlet direction K, thereby preventing the unloading device from rocking left and right.

[0072] Furthermore, the first end 1621 of the second support portion 162 is connected to the end of the first support portion 161, and the second end 1622 of the second support portion 162 extends along the ground. Specifically, the support portion 160 is a frame-shaped member extending around the circumference of the body 1, and the frame-shaped member has an opening on the front side in the cargo entry and exit direction K. Alternatively, the support portion can be a rod-shaped member.

[0073] In the embodiment of the present application, the second support portion 162 can also be located outside the area surrounded by the plurality of columns 12. In this way, the second support portion 162 can play a better auxiliary supporting role outside the area of ​​the substantially quadrilateral surrounded by four columns, such as the two front columns 122 and the two rear columns 123.

[0074] Reference Figure 5 、 Figure 6The support frame also includes a third support portion 163, which includes a vertical extension section 1632 and a horizontal extension section 1631. The vertical extension section 1632 is connected to the column 12, for example, connected to the rear column 123, and extends along the length direction of the rear column 123. The horizontal extension section 1631 is connected to the vertical extension section 1632 and extends toward the rear side of the body along the direction of cargo entry and exit.

[0075] A buffer or fixture fixed to the ground can be provided on the rear side of the discharge device 100, allowing the horizontal extension section 1631 to be fixed to the ground or fixture, providing auxiliary support for the discharge device 100 from the rear. Specifically, the horizontal extension section 1631 can have a bottom surface extending outward from the body 1, with the bottom surface contacting and abutting the ground. In other words, the bottom surface of the horizontal extension section 1631 can abut the ground or fixture, creating surface contact between the horizontal extension section 1631 and the ground or fixture. This creates a larger contact area, providing more stable auxiliary support for the discharge device 100.

[0076] A pressure sensor (not shown) is provided on the bottom surface of the support portion 160 to detect the pressure applied to the support portion 160. The pressure sensor can be electrically connected to a controller, which is further configured to adjust the support of the support portion 160, for example, the height of the support portion 160, based on the pressure information detected by the pressure sensor.

[0077] In the embodiment of the present application, further, when the unloading device 100 and the transport robot 200 are used in conjunction with each other, in order to avoid the mobile chassis 202 of the transport robot 200, an avoidance groove 111 may be further provided on the main body 1.

[0078] Specifically, refer to Figure 5 The main body 1 includes a plurality of columns 12, for example, two front columns 122 and two rear columns 123. The two front columns 122 and the two rear columns 123 are spaced apart to form an escape groove 111 for avoiding the mobile chassis 202 of the transport robot 200. It is understood that the opening of the escape groove 111 can face the transport robot 200, i.e., in the same direction as the opening of the cargo entrance 23 described later. It should be understood that the escape groove 111 here refers to an escape space, which can be an open space formed by the gap between the legs as described above, or a relatively closed space formed by a continuous escape chamber, as long as the mobile chassis 202 of the transport robot 200 can enter, and this application is not limited to this.

[0079] Furthermore, when there are two front columns 122 and two rear columns 123, the distance between the two front columns 122 is greater than the distance between the two rear columns 123. That is, the distance between the two front columns 122 is partially increased at the lower portion. This not only facilitates the entry of the mobile chassis 202 of the transport robot 200, but also increases the distance between the two front columns 122, providing more stable support for the unloading device 100.

[0080] Because the spacing between the two rear pillars 123 is smaller than the spacing between the two front pillars 122, in order to achieve the same support effect between the two rear pillars 123 as the front pillars 122, the second support portion 162 can be located outside the area enclosed by the plurality of pillars 12. In other words, the end of the first support portion 161 is positioned closer to the outside than the rear pillars, and the junction between the first support portion 161 and the second support portion 162 is located outside the area enclosed by the two front pillars 122 and the two rear pillars 123.

[0081] In the embodiment of the present application, as mentioned above, when the transport robot 200 and the unloading device 100 are facing each other, it is possible that the transport robot 200 has not yet reached the preset unloading position, or has exceeded the preset unloading position, and the unloading device 100 performs the unloading action. At this time, unloading failure is very likely to occur, resulting in low unloading reliability.

[0082] In order to avoid this situation, the control component may further include a sensing unit, which is electrically connected to the controller and is disposed on the body 1. The sensing unit is configured to emit a sensing signal when the transport robot 200 moves to a unloading position relative to the unloading device 100. The controller is configured to control the transport rack to perform unloading operations based on the sensing signal.

[0083] In the above scheme, by setting up a sensing unit, when the transport robot 200 reaches the preset unloading position, the goods on the transport robot are located at the position corresponding to the storage unit, and the sensing unit sends a sensing signal to the controller. The unloading device 100 will only perform the unloading operation after determining that the transport robot 100 is in place. Therefore, unloading failure will not occur, and the unloading reliability is high.

[0084] Figure 7 for Figure 1 A partial enlarged view of point A.

[0085] Reference Figure 1 、 Figure 5 、 Figure 7In the embodiment of the present application, as previously described, the bottom of the body 1 has an avoidance groove 111 for accommodating the chassis of the transport robot. The sensing unit may include a first sensing unit 112, which is disposed within the avoidance groove 111 and is configured to emit a sensing signal when the mobile chassis 202 of the transport robot 200 is accommodated within the avoidance groove.

[0086] In the embodiment of the present application, the number of the first sensing unit 112 is at least one. Figure 7 As shown, the first sensing unit 112 is located at a position opposite to the mobile chassis 202 of the transport robot.

[0087] In other examples, in order to make the judgment of the sensing unit more accurate, the number of the first sensing units 112 is at least two, and different first sensing units 112 are set at different positions relative to the avoidance groove 11; the control unit is used to control the transport rack to perform the unloading operation when at least one first sensing unit 112, for example, all first sensing units 112, send out a sensing signal. This can avoid the situation where some of the first sensing units 112 malfunction and the transport robot cannot be accurately measured. Or even if the transport robot has reached the unloading position, but the transport robot is tilted or has an incorrect posture, when all the first sensing units 112 send out a sensing signal, it proves that the transport robot has reached the unloading position and has a correct posture, which can make the sensing more reliable.

[0088] It is understandable that different first sensing units 112 may be respectively disposed on different sides of the avoidance groove 111. The relative position of the transport robot and the unloading device 100 may be detected at different circumferential positions of the transport robot as much as possible.

[0089] Reference Figure 7 Exemplarily, the first sensing unit 112 may include a start switch 113, which is located in the avoidance groove and can be electrically connected to the controller. The start switch 113 is used to touch the transport robot when the transport robot moves into the avoidance groove 111 to send a sensing signal to the controller.

[0090] In an embodiment of the present application, the starting switch 113 includes a switch body 1131 and a detection rocker arm 1132. The first end of the detection rocker arm is rotatably connected to the switch body 1131. The second end of the detection rocker arm 1132 extends into the avoidance groove 111 for touching the transport robot. The switch body 1131 can emit an induction signal when the detection rocker arm 1132 rotates.

[0091] It should be noted that, in the present application, the unloading operation may be, for example, a series of operations such as the transport rack 3 starting to move toward the transport robot 200 to transport the goods.

[0092] In the embodiment of the present application, as a possible implementation, the first sensing unit 112 may include a proximity sensor, and the sensing area of ​​the proximity sensor is located in the avoidance groove 111. Exemplarily, the proximity sensor is an infrared proximity sensor or a laser radar.

[0093] In some other examples, the sensing unit may further include a second sensing unit, which is located above the avoidance groove 111 and is used to emit a sensing signal when the cargo plate 205 of the transport robot is opposite to the body 1. Since the second sensing unit and the first sensing unit 112 are at different heights of the unloading device, it is possible to detect whether the structures of the transport robot at different heights are reliably aligned and coordinated with the unloading device. This avoids the situation where the chassis of the transport robot is in the normal position but the cargo plate 205 has not been moved into place. In this way, the cargo plate 205 of the transport robot can be reliably coordinated with the unloading device.

[0094] In the embodiment of the present application, there may be multiple second sensing units, and the multiple second sensing units are spaced apart and arranged at different height positions of the body, so as to detect whether different parts of the transport robot in the height direction (for example, different pallets 205) are correctly aligned.

[0095] The following describes the case where a start switch 113 is provided. Figure 7 In the figure, the dotted line indicates the on state of the start switch 113. Specifically, the relative position of the transport robot 200 and the unloading device 100 can be defined as the unloading position of the unloading device 100 when the delivery port of the cargo plate 205 of the transport robot 200 is opposite to the cargo inlet 23 of the storage unit 2 and the movable push rod 32 of the robot arm 31 is moved to be located behind the cargo.

[0096] Reference Figure 2 、 Figure 3 and Figure 7 , the mobile chassis 202 of the transport robot 200 enters the avoidance groove 111, but before the transport robot 200 reaches the preset unloading position, the mobile chassis 202 does not contact the start switch 113, the start switch 113 is in the off state, and the unloading transport robot 200 does not perform the unloading operation. When the transport robot 200 reaches the preset unloading position, the mobile chassis 202 contacts the start switch 113, triggering the start switch 113 to operate, the start switch 113 is in the on state, and the unloading transport robot 200 performs the unloading operation.

[0097] In the present application, refer to Figure 1 , the number of columns 12 is 4 as an example for description, but the present application is not limited thereto, and the number of columns 12 may also be 6, 8 or other numbers.

[0098] exist Figure 1 In the embodiment, four columns 12 are arranged in parallel. When viewed from above, the four columns 12 are roughly located at the four vertices of a rectangle. The storage unit 2 can be located between the four columns 12 and be arranged on the four columns 12.

[0099] Figure 8 This is a schematic diagram of the three-dimensional structure of the partial structure of the unloading device provided in Example 1 of this application. Figure 8 A top frame 121 is also connected to the top of the column 12. The top frame 121 is connected between the four columns 12, which can improve the connection strength of the body 1 and prevent the columns 12 from shaking.

[0100] In order to better support the storage unit 2, the main body 1 also includes an end connector 13, which is connected between two columns 12 arranged along the direction of goods entering and exiting. The two opposite ends of the storage unit 2 can be connected between the two oppositely arranged end connectors 13.

[0101] Furthermore, guide members 131 may be connected to the end connectors 13. Guide members 131 are located on the inward side of the end connectors 13 and extend along the direction in which goods enter and exit. Guide members 131 have guide surfaces 1311 facing the goods to guide the goods as they enter and exit the storage unit 2. When the storage unit 2 is secured between the end connectors 13, guide members 131 are located above the storage unit 2.

[0102] The ends of the guide surface 1311, along the direction of cargo entry and exit, are further provided with inclined regions 1312 and 1313. Inclined region 1312 is located near the cargo inlet 23, while inclined region 1313 is located near the cargo outlet 24. When two guide members 131 are provided on opposite end connectors 13, the inclined regions 1312 on the two guide surfaces 1311 are disposed opposite each other, with the spacing gradually decreasing from the cargo inlet 23 toward the cargo outlet 24. Furthermore, the inclined regions 1313 on the two guide surfaces 1311 are disposed opposite each other, with the spacing gradually decreasing from the cargo outlet 24 toward the cargo inlet 23, to facilitate interaction with other mechanisms besides the unloading device.

[0103] Reference Figure 1 、 Figure 8Storage units 2 for placing goods are disposed on the main body 1, specifically between the columns 12. When there are multiple storage units 2, the storage units 2 are arranged vertically, for example, spaced apart on each column 12 in the height direction of the column 12, so that goods can be stored at different height positions. It will be understood that because the storage units 2 of each layer are spaced apart and stacked in the height direction, each layer of storage units 2 can be loaded with goods, and a loading space 22 for loading goods is formed between each layer of storage units 2 and the adjacent storage units 2 of the next layer.

[0104] Furthermore, the storage unit 2 has a cargo inlet 23 and a cargo outlet 24 that are relatively arranged on the cargo entry and exit path. Cargo can enter the storage unit 2 from the cargo inlet 23, and cargo can leave the storage unit 2 from the cargo outlet 24.

[0105] It should be noted that the height of each storage unit 2 corresponds to the height of the cargo pallet 205 on the transport robot 200, so that the goods on the cargo pallet 205 can be smoothly loaded into the storage unit 2. In addition, the arrangement of the storage units 2 in the application is not limited to this, and multiple storage units 2 can be provided in the width direction of the body 1.

[0106] In the embodiment of the present application, the storage unit 2 has a rotatable conveying member 21, and the conveying member 21 has a rolling surface that is in rolling contact with the goods, so as to drive the goods into and out of the storage unit 2. Figure 8 As an optional embodiment, the conveying member 21 may be a rotating roller. When both ends of the rotating roller are rotatably supported by the aforementioned end connectors 13, the roller surface of the rotating roller can rotate, forming the aforementioned rolling surface. Furthermore, when there are multiple rotating rollers, the rotating axes of the multiple rotating rollers are arranged parallel to each other. Furthermore, the multiple rotating rollers may include linked active rollers and driven rollers. When the active roller is driven by a drive device, such as the aforementioned first drive device, the driven rollers also rotate accordingly, causing the conveying member 21 to rotate.

[0107] For example, as another optional embodiment, the conveying member 21 may be a plurality of multi-V belt rollers 211 arranged side by side, and the plurality of multi-V belt rollers 211 are rotatably connected between two opposite end connecting members 13 .

[0108] A plurality of multi-V belt rollers 211 are provided with a wedge groove 212 near one end thereof. A single multi-V belt is sleeved on each of two adjacent multi-V belt rollers 211 in the position of the wedge groove 212. Two multi-V belts are sleeved on each multi-V belt roller 211, so that the plurality of wedge grooves 212 are linked. At least one of the plurality of multi-V belt rollers 211 is a driving roller, which rotates under the drive of a drive device, such as the first drive device described above. Thus, the multi-V belt roller 211, acting as the driving roller, drives all of the driven rollers to rotate together via the multi-V belt, thereby rotating the conveyor 21.

[0109] Figure 9 for Figure 1 A partial enlarged view of point B, Figure 10 for Figure 1 A partial enlarged view of point C. Figure 9 、 Figure 10 In the embodiment of the present application, the unloading device 100 further includes a loading and unloading position detection sensor 25, which is located at the cargo inlet 23 and is used to detect whether the cargo extends outside the storage unit 2. Optionally, the loading and unloading position detection sensor 25 may be a photoelectric sensor.

[0110] Reference Figure 1 、 Figure 9 、 Figure 10 In an embodiment of the present application, the storage unit 2 includes a first storage unit 27 located at the top of the unloading device 100 and a second storage unit 28 located at the bottom of the unloading device 100. The first storage unit 27 is provided with a loading and unloading position detection sensor 25, and the second storage unit 28 is provided with a loading and unloading position detection sensor 26.

[0111] Specifically, refer to Figure 9 、 Figure 10 The loading and unloading position detection sensor 25 is set on the top frame 121, and the loading and unloading position detection sensor 26 is set on the top of the support 11. The loading and unloading position detection sensor 25 and the loading and unloading position detection sensor 26 are arranged opposite to each other. In this way, the loading and unloading position detection sensor 26 is set above the first storage unit 27 with the highest height and below the second storage unit 28 with the lowest height. When the goods in the storage unit 2 at any position protrude from the storage unit 2, it can be detected. That is, among the multiple storage units 2, if there is a storage unit 2 that performs an unloading operation, it can be detected by the loading and unloading position detection sensor 26. In this way, the unloading device 100 can detect whether there is goods passing through through the loading and unloading position detection sensor 26, and thus perform corresponding operations. For example, when the loading and unloading position detection sensor 26 detects that there is goods passing through, it means that it is in normal unloading operation, and the conveyor 21 can rotate normally to drive the goods in and out of the storage unit 2.

[0112] Figure 11 for Figure 1 Schematic diagram of the structure of the storage unit on one layer of the unloading device. Figure 11 In the embodiment of the present application, as described above, the control component includes a controller, a first drive unit for driving the conveyor 21 to rotate, and a speed sensor 15 for detecting the moving speed of the goods in the storage unit 2. The first drive unit and the speed sensor 15 are both electrically connected to the controller. The controller is used to control at least one of the rotation state of the conveyor 21 and the moving speed of the robotic arm 31 according to the moving speed of the goods to prevent the goods entering the storage unit 2 from escaping from the storage unit 2.

[0113] It is understood that in the above solution, the speed sensor 15 is provided to detect the moving speed of the goods, and the controller controls at least one of the rotation state of the conveyor 21 and the moving speed of the robotic arm 31 according to the moving speed of the goods. Since the moving part of the goods is driven by the rotation of the conveyor 21, the controller can indirectly adjust the moving speed of the goods by changing the rotation state of the conveyor 21, and / or directly control the moving speed of the robotic arm 31. Both can prevent the goods from being thrown out of the storage unit 2 and detaching due to excessive movement speed, or from being delivered when the conveyor belt on the delivery side of the unloading device is not started. In this way, the goods will not fall, and the reliability of unloading is higher.

[0114] In the embodiment of the present application, the speed sensor 15 can be disposed near at least one of the cargo inlet 23 and the cargo outlet 24. This allows detection of the speed of the cargo at at least one of the cargo inlet 23 and the cargo outlet 24 of the storage unit 2. Furthermore, the speed sensor 15 can be a photoelectric sensor.

[0115] Reference Figure 11 In this embodiment, the speed sensor 15 is provided at both the cargo outlet 24 and the cargo inlet 23 as an example for explanation. The scheme of providing the speed sensor 15 at the cargo outlet 24 or the cargo inlet 23, and the scheme of providing the speed sensor 15 at other positions of the storage unit 2 are similar and will not be repeated here.

[0116] Reference Figure 11 The speed sensor 15 includes a first speed sensor 151 located at the cargo inlet 23 and a second speed sensor 152 located at the cargo outlet 24 .

[0117] Optionally, the controller is used to control at least one of the rotation state of the conveyor 21 and the moving speed of the robotic arm 31 so that the moving speed of the goods detected by the second speed sensor 152 is less than a preset speed threshold, wherein the preset speed threshold is the critical speed at which the goods will not escape from the storage unit 2.

[0118] For example, the controller is configured to control at least one of the rotation state of the conveyor 21 and the movement speed of the robot arm 31 so that the movement speed of the cargo detected by the second speed sensor 152 is zero. In this way, when the cargo reaches the vicinity of the cargo exit 24, its speed is zero and the cargo does not fall out of the cargo exit 24.

[0119] Reference Figure 11 There are two first speed sensors 151 located at the cargo entrance 23 , and the two first speed sensors 151 are located at positions opposite to each other. For example, the two first speed sensors 151 can be located at a position of the end connector 13 close to the cargo entrance 23 .

[0120] Furthermore, two second speed sensors 152 are located at the cargo outlet 24, and the two second speed sensors 152 are located at positions opposite to each other. For example, the two second speed sensors 152 can be located at positions on the end connector 13 near the cargo outlet 24. Such a paired arrangement of speed sensors 15 can enable more accurate measurement of cargo speed.

[0121] Figure 12 This is a schematic diagram of the three-dimensional structure of the unloading device provided in Example 1 of the present application.

[0122] The structure of the transport rack 3 is described below. Figure 1 、 Figure 12 、 Figure 13 The transport rack 3 can move relative to the body 1 along the direction of goods entering and exiting. In other words, the direction of movement of the transport rack 3 relative to the body 1 is parallel to the direction of goods entering and exiting.

[0123] Optionally, the transport rack 3 may include two support frames 33, one disposed on either side of the main body 1, and a connecting beam 34 connected between the two support frames 33. The transport rack 3 includes a robotic arm 31 for moving cargo. The robotic arm 31 is mounted on the support frames 33 and is located at a position corresponding to above the cargo plate 205 on the transport robot 200. In other words, the robotic arm 31 is disposed corresponding to the storage unit 2. The ends of the connecting beam 34 are connected to the two support frames 33, respectively.

[0124] like Figure 12 As shown, the robotic arm 31 and the connecting beam 34 are located inside the body 1, and the support frame 33 is located outside the body 1. When the support frame 33 moves relative to the body 1 toward the transport robot 200, the robotic arm 31 is also extended toward the goods.

[0125] Optionally, there are multiple robotic arms 31 on the transport rack 3 , and they are arranged corresponding to the storage units 2 . Figure 12In the description, one storage unit 2 corresponds to two robotic arms 31 , and the two robotic arms 31 are symmetrically located on both sides of the storage unit 2 . However, the present application is not limited thereto, and the robotic arms 31 may also be located at other positions.

[0126] Figure 14 for Figure 12 The partial enlarged view of E, refer to Figure 14 In the embodiment of the present application, the robotic arm 31 is provided with a movable member that can move to different positions relative to the robotic arm 31. When the movable member is positioned in the path for the goods to enter or exit the storage unit 2, the movable member can be used to move the goods and move them in and out of the storage unit 2. When the movable member is not positioned in the path for the goods to enter or exit the storage unit 2, that is, when the movable member is located outside the path for the goods to enter or exit the storage unit 2, the movement of the robotic arm 31 will not interfere with the goods.

[0127] Here, the movable part can be moved to different positions relative to the robotic arm 31. For example, the movable part can be set horizontally and blocked on the entry and exit path J of the goods; for example, the movable part can be set vertically and not blocked on the entry and exit path J of the goods.

[0128] For example, the movable part may be extended or shortened while rotating so as to block the entry and exit path of the goods, or not block the entry and exit path J of the goods.

[0129] Furthermore, the movable member is rotatably provided at the end of the robotic arm 31 , and the rotation axis of the movable member and the moving direction of the transport rack 3 are parallel to each other.

[0130] Specifically, the movable part is a movable push rod 32 , a first end of the movable push rod 32 is rotatably connected to the mechanical arm 31 , a second end of the movable push rod 32 is a free end, and the rod body of the movable push rod 32 is used to push the goods in and out of the storage unit 2 .

[0131] At this time, corresponding to Figure 14 In the embodiment, the movable push rod 32 can rotate relative to the mechanical arm 31, and when the movable push rod 32 rotates to the horizontal position, the movable push rod 32 blocks the inlet and outlet path of the goods (refer to Figure 14 When the movable push rod 32 is rotated to the vertical position, the movable push rod 32 is not blocked on the inlet and outlet path of the goods (refer to Figure 14 The movable push rod 32 on the left side of the middle figure).

[0132] Furthermore, there are an even number of movable push rods 32, which are respectively arranged on both sides of the storage unit 2. This allows for uniform force to be applied to the goods.

[0133] Figure 15 This is an exploded view of the connection structure between the transport rack and the slide rail in the unloading device provided in Example 1 of the present application, with reference to Figure 15The fixing of the transport frame 3 and the main body 1 can be achieved by, for example, providing a slide rail 35 on the main body 1 .

[0134] In the embodiment of the present application, the main body 1 includes a slide rail 35 , the extension direction of the slide rail 35 is parallel to the direction of entry and exit of the goods, and the transport rack 3 is arranged on the slide rail 35 and can move relative to the main body 1 along the slide rail 35 .

[0135] Specifically, the body 1 further includes a slider 36 that cooperates with the slide rail 35. The slider 36 can slide back and forth in the slide rail 35. A connecting plate 331 is provided at the bottom end of the support frame 33. The connecting plate 331 is connected to the side of the slider 36 that is away from the slide rail 35. Thus, the movement of the slider 36 along the slide rail 35 can drive the support frame 33, that is, the transport frame 3, to move. The slider 36 can be driven by the second drive unit 5 (refer to Figure 13 ) is driven to achieve linear movement along the slide rail 35.

[0136] The second drive unit 5 may include, for example, a motor, a reducer, a drive shaft, a sprocket, and a chain. The motor's output shaft is connected to the drive shaft via the reducer, the sprocket is connected to the drive shaft, the chain is tensioned on the sprocket, and the slider 36 is connected to the chain. Thus, the motor drives the drive shaft through the reducer, which in turn drives the sprocket, causing the chain tensioned between the sprockets to move linearly back and forth, driving the slider 36 to move on the slide rail 35.

[0137] Further, refer to Figure 12 , a sliding connection can be made between the top of the transport frame 3 and the body 1. For example, a roller 37 extending upward is provided on the connecting beam 34 at the top of the transport frame 3, and the wheel surface of the roller 37 can be rolled with the inner side of the top frame 121.

[0138] As mentioned above, refer to Figure 13 、 Figure 15 To prevent the transport rack 3 from colliding with structures on the main body 1 and causing the main body 1 to shake, the control assembly of the present application is further provided with a position sensor 39, which is electrically connected to the controller. The position sensor 39 is used to detect the position of the transport rack 3 relative to the main body 1, and the controller is used to control the movement of the transport rack 3 relative to the main body 1 based on the position detected by the position sensor 39.

[0139] In the above scheme, by setting a position sensor 39, the position of the transport rack 3 relative to the main body 1 can be detected. As long as the position sensor 39 is set at a position where it is easy to collide with the transport rack 3, when the transport rack 3 is too close to the position where it is easy to collide with the main body 1, the controller can adjust the movement state of the transport rack 3 in time according to the information of the position sensor 39 to avoid the occurrence of collision events, thereby making the unloading device 100 more stable and safe.

[0140] Specifically, a position sensor 39 is located on the main body 1, and the controller is configured to control the transport rack 3 to stop moving when the transport rack 3 moves to a position corresponding to the position sensor 39. As described above, when the transport rack 3 moves to a position corresponding to the position sensor 39, the transport rack 3 stops moving, i.e., the speed of the transport rack 3 relative to the main body 1 is zero. This effectively prevents the transport rack 3 from colliding with the main body 1 and prevents the support frame 33 in the transport rack 3 from moving outside the main body 1.

[0141] In the present application, refer to Figure 13 、 Figure 15 To cooperate with the position sensor 39, the transport rack 3 is further provided with a detection member 38, which extends forward in the direction of movement of the transport rack 3. The controller is configured to control the transport rack 3 to stop moving when the detection member 38 is positioned opposite the position sensor 39.

[0142] The detection member 38 can be disposed on the connecting plate 331 at the bottom end of the support frame 33 , and fixed relative to the slider 36 , for example.

[0143] For example, as an optional manner, the position sensor 39 is a photoelectric sensor, and the detection member 38 includes a light blocking member that can be arranged in front of the position sensor 39 .

[0144] Specifically, refer to Figure 13 、 Figure 15 When the main body 1 includes a plurality of columns 12 and the transport frame 3 can move between two adjacent columns 12 , the position sensor 39 is set on the two adjacent columns 12 .

[0145] Furthermore, position sensors 39 are located to the sides of two adjacent columns 12. Detection member 38 includes a detection portion 381. When transport rack 3 moves to a position corresponding to position sensor 39, detection portion 381 is located to the outside of the column 12 and opposite the position of position sensor 39. If position sensor 39 is a photoelectric sensor, detection portion 381 forms a light blocker.

[0146] Optionally, the detection member 38 further includes a connecting portion 382, ​​which is mounted to the side of the transport frame 3 and extends outward from the transport frame 3. The side of the connecting portion 382 facing away from the transport frame 3 is connected to the detection portion 381. In this way, the detection portion 381 is fixed to the bottom of the transport member via the connecting portion 382. Optionally, the connecting portion 382 is fixed to the connecting plate 331 at the bottom of the support frame body 33.

[0147] In the embodiment of the present application, the position sensor 39 may include a first position sensor 391 and a second position sensor 392, which are respectively disposed at opposite ends of the moving direction of the transport rack 3. The controller is configured to control the transport rack 3 to stop moving when the transport rack 3 moves to a position corresponding to either the first position sensor 391 or the second position sensor 392.

[0148] by Figure 15 , the column 12 on the left side of the drawing is the column 12 near the cargo entrance 23, and is provided with a first position sensor 391. The column 12 on the right side of the drawing is the column 12 near the cargo exit 24, and is provided with a second position sensor 392. Correspondingly, the detection member 38 also includes a first detection member 383 and a second detection member 384.

[0149] When the support frame 33 moves toward the cargo entrance 23 on the left, it drives the robotic arm 31 to extend toward the cargo, and drives the first detection member 383 to move toward the direction close to the first position sensor 391. When the detection part 381 on the first detection member 383 is located to the side of the first position sensor 391, it is considered that the transport frame 3 has reached the limit position, and continuing to move to the left will risk colliding with the left column 12. At this time, the controller controls the transport frame 3 to stop moving.

[0150] When the support frame 33 moves toward the cargo outlet 24 on the left, it drives the robotic arm 31 to extend away from the transport robot 200, and drives the second detection member 384 to move toward the second position sensor 392. When the detection part 381 on the second detection member 384 is located to the side of the second position sensor 392, it is considered that the transport frame 3 has reached the limit position, and continuing to move to the right will risk colliding with the right column 12. At this time, the controller controls the transport frame 3 to stop moving.

[0151] In the embodiment of the present application, as another optional manner, the position sensor 39 is a contact switch, and the detection member 38 can contact the position sensor 39. That is, when the detection member 38 and the position sensor 39 are located at corresponding positions, the detection portion 381 can contact the position sensor 39.

[0152] In the embodiment of the present application, as mentioned above, in order to further improve the unloading success rate of the unloading device 100, it is also necessary to monitor the movement status of the movable part relative to the robotic arm.

[0153] Reference Figure 14At least one of the robotic arms 31 is provided with a detection assembly 6 for detecting the position of the movable member relative to the robotic arm 31. By providing the detection assembly 6, the movement state of the movable member relative to the robotic arm can be monitored. If the movable member is detected to be blocking the path for goods to enter or exit, control operations can be performed as needed. For example, the controller can control the movement state of the transport rack 3 based on the position of the movable member relative to the robotic arm 31.

[0154] Specifically, the controller can send control instructions to the movable part, so that the movable part changes from not blocking the entry and exit path of the goods to blocking the entry and exit path of the goods, or stops the unloading operation of the unloading device 100, etc., effectively avoiding the failure of the unloading operation and improving the unloading efficiency of the unloading device 100.

[0155] In the embodiment of the present application, the detection assembly 6 includes a movable push rod position detector 61. To better detect the position of the movable push rod 32, the movable push rod position detector 61 is disposed at the end of the robotic arm 31. Optionally, the movable push rod position detector 61 and the movable push rod 32 can be disposed in a one-to-one correspondence. The movable push rod position detector 61 can be, for example, a photoelectric sensor or a contact switch.

[0156] Further, the position of the movable push rod position detector 61 when not being arranged on the in-and-out path of goods of the movable push rod 32 is corresponding. In other words, when the movable push rod 32 was in the position that could not carry out unloading operation, it could be detected by the movable push rod position detector 61.

[0157] Reference Figure 14 The arrangement of the movable push rod position detector 61 is described. Figure 14 As shown, the end of the robotic arm 31 on the left side of the drawing and the end of the robotic arm 31 on the right side of the drawing are both provided with a movable push rod position detector 61, and the movable push rod 32 on the left side is not blocked on the entry and exit path of the goods, then the movable push rod position detector 61 on the left side will detect the unblocked position information and send it to the controller; if the movable push rod 32 on the right side blocks the entry and exit path of the goods, then the movable push rod position detector 61 on the right side will not send information to the controller, or will send the position information of the movable push rod 32 on the right side blocking the entry and exit path of the goods to the controller.

[0158] It should be noted that the movable push rod 32 mentioned in this application is blocked on the entry and exit path of the goods, which means that the movable push rod 32 is in a horizontal state; and the movable push rod 32 is not blocked on the entry and exit path of the goods, which means that the movable push rod 32 is in a vertical state and the goods cannot be unloaded.

[0159] It should be understood that during the above control process, when the movable push rod 32 is in the unblocked position where the unloading operation cannot be performed, it can be detected by the movable push rod position detector 61 and sent to the controller, and the controller controls the movement state of the transport rack 3 as needed. When the movable push rod 32 is in the blocked position, for example, when the movable push rod 32 is horizontal or in a position between the unblocked and blocked positions, it is considered that the movable push rod 32 is still capable of unloading operation, and therefore the controller will not adjust the movement state of the transport rack 3.

[0160] In this embodiment, if a plurality of robotic arms 31 are provided on the unloading device 100, the following can be done: Figure 1 As shown, each robotic arm 31 is provided with a detection assembly 6, and detection assemblies 6 may also be provided on some robotic arms 31. For example, the robotic arms 31 may include a first robotic arm provided at the top of the transport frame 3 and a second robotic arm provided at the bottom of the transport frame 3. Among the multiple robotic arms, at least the first robotic arm and the second robotic arm are provided with a detection assembly 6.

[0161] Example 2

[0162] This embodiment provides a warehousing system, including the handling robot 200 and the unloading device 100 of the first embodiment. As described above, the handling robot 200 has a cargo pallet 205, which is correspondingly disposed with the storage unit 2 of the unloading device 100 to perform unloading operations on the unloading device 100. The cargo pallet 205 and the storage unit 2 of the unloading device 100 are correspondingly disposed, specifically, the height of the cargo pallet 205 and the height of the bottom of the storage unit 2 are substantially the same, and the arrangement positions correspond and are relatively disposed.

[0163] It should be noted that the specific structure and function of the transport robot 200 have been described in the first embodiment, and the specific structure and function of the unloading device 100 have also been described in detail in the first embodiment, and will not be repeated here.

[0164] It should be noted that the handling robot 200 of the present application is not limited to the handling robot 200 described in the first embodiment, as long as it has a cargo plate 205 for carrying goods, and the cargo plate 205 and the storage unit 2 of the unloading device 100 are set correspondingly.

[0165] Example 3

[0166] This embodiment provides a discharging method, which is applied to the discharging device 100 of the first embodiment. The discharging method can also be applied to the discharging device 100 provided in the second embodiment.

[0167] Figure 16 This is a flow chart of the first unloading method provided in Example 3 of the present application.

[0168] Reference Figure 16 , unloading methods include:

[0169] S100, using a robotic arm to transport the goods on the transport robot to a storage unit;

[0170] In the above solution, transporting the goods on the transport robot 200 to the storage unit 2 of the unloading device 100 refers to the entire process of the robot arm 31 and the movable push rod 32 driving the goods to move to the storage unit 2.

[0171] Specifically, the transport robot 200 approaches the unloading device 100 and reaches the preset unloading position. The support frame 33 of the transport frame 3 drives the mechanical arm 31 and the movable push rod 32 to move toward the transport robot 200. When the movable push rod 32 reaches the rear of the cargo, it rotates from the unblocking position to the blocking position and moves away from the transport robot 200. At this time, the cargo is moved toward the storage unit 2 of the unloading device 100 under the pulling force of the movable push rod 32.

[0172] S200: Detect the moving speed of the goods in the storage unit.

[0173] Specifically, the moving speed of the goods at at least one position on the goods entry and exit path of the storage unit 2 may be detected.

[0174] Furthermore, detecting the speed of the cargo at at least one location along the cargo entry and exit path of the storage unit 2 specifically includes detecting the speed of the cargo at at least two different locations along the cargo entry and exit path. Since the speed of cargo generally changes during transportation, measuring the speed of the cargo at at least two different locations can more accurately detect the movement of the cargo.

[0175] In the embodiment of the present application, detecting the moving speed of the cargo at at least two different locations on the cargo entry and exit path specifically includes:

[0176] Detect the moving speed of the cargo at the first position and the second position; wherein the first position and the second position are sequentially arranged between the cargo inlet 23 and the cargo outlet 24 of the cargo entry and exit path, wherein the cargo inlet 23 and the cargo outlet 24 are arranged relative to each other.

[0177] Specifically, speed sensors 15 are installed on the main body 1 at locations corresponding to the storage units 2. For example, two first speed sensors 151 are installed at the cargo entrance 23, and the two first speed sensors 151 are located opposite each other. Furthermore, two second speed sensors 152 are installed at the cargo exit 24, and the two second speed sensors 152 are located opposite each other. In this way, as the cargo moves toward the storage units 2, the two first speed sensors 151 can measure the cargo's speed at the cargo entrance 23, and the two second speed sensors 152 can measure the cargo's speed at the cargo exit 24.

[0178] Of course, the situation where the first position and the second position are other positions between the cargo entrance 23 and the cargo exit 24 of the cargo entrance and exit path is similar to the above and will not be described in detail here.

[0179] S300: Control at least one of a rotation state of a conveying member and a moving speed of a robot arm in a storage unit according to a moving speed to prevent goods entering the storage unit from escaping from the storage unit.

[0180] In the above solution, by detecting the speed of movement of the cargo within the storage unit 2 of the unloading device 100, the controller controls at least one of the rotational state of the conveyor 21 and the movement speed of the robotic arm 31 according to the cargo's movement speed. Since the movement of the cargo is driven by the rotation of the conveyor 21, the controller can indirectly adjust the cargo's movement speed by changing the rotational state of the conveyor 21, and / or directly control the movement speed of the robotic arm 31, thereby preventing the cargo from moving too quickly and escaping from the storage unit 2. There is no need to re-place fallen cargo on the unloading device 100, thus improving unloading efficiency.

[0181] Specifically, controlling at least one of the rotation state of the conveying member 21 and the movement state of the robotic arm 31 in the storage unit 2 according to the movement speed specifically includes:

[0182] When the moving speed is greater than the preset delivery speed, the rotation speed of the conveyor 21 is reduced. It can be understood that when the moving speed of the goods is too fast, there is a risk of falling from the storage unit 2. At this time, reducing the rotation speed of the conveyor belt can reduce the moving speed of the goods and prevent the goods from falling.

[0183] Optionally, when the moving speed is less than the preset delivery speed, the rotation speed of the conveyor 21 is increased. It is understandable that when the moving speed of the goods is less than the preset delivery speed, the goods may stop moving before reaching the storage location of the storage unit 2. In this case, the rear end of the goods is located outside the storage unit 2 during movement, and there is a risk of the goods falling from the storage unit 2. In this case, increasing the rotation speed of the conveyor belt can increase the moving speed of the goods and ensure that the goods accurately reach the predetermined storage location.

[0184] When the moving speed of the goods is greater than the preset delivery speed, the rotation speed of the conveyor 21 is reduced to reduce the moving speed of the goods. When the moving speed of the goods is less than the preset delivery speed, the rotation speed of the conveyor 21 is increased to increase the moving speed of the goods. In this way, the moving speed of the goods can be controlled near the preset delivery speed to ensure that the goods can reach the predetermined storage position, and the front and rear ends will not exceed the storage unit 2, thereby greatly reducing the risk of the goods falling.

[0185] In the embodiment of the present application, the conveying member 21 includes a plurality of rotating rollers arranged side by side, and the rotating axes of the plurality of rotating rollers are arranged parallel to each other; and the plurality of rotating rollers include linked active rollers and driven rollers.

[0186] Controlling at least one of the rotational state of the conveyor member 21 and the movement state of the robotic arm in the storage unit 2 based on the movement speed specifically includes controlling the rotational state of the active roller based on the movement speed. Because the active roller and the driven roller are linked, controlling the rotational state of the active roller causes the rotational state of the driven roller to change accordingly, thereby maintaining a consistent rotational state for the entire conveyor member 21.

[0187] Optionally, in the embodiment of the present application, controlling at least one of the rotation state of the conveying member 21 in the storage unit 2 and the moving speed of the robotic arm 31 according to the moving speed specifically includes:

[0188] When the moving speed is greater than the preset delivery speed, the moving speed of the robot arm along the direction of the goods entering and exiting is reduced. Since the movable parts on the robot arm push the goods to move, it can be understood that when the goods move too fast, there is a risk of falling from the storage unit 2. At this time, reducing the moving speed of the robot arm along the direction of the goods entering and exiting can reduce the moving speed of the goods and prevent the goods from falling.

[0189] Optionally, when the moving speed is less than the preset delivery speed, the moving speed of the robot arm along the direction of cargo entry and exit can be increased. It is understood that when the moving speed of the cargo is less than the preset delivery speed, the cargo may stop moving before reaching the storage location of the storage unit 2. In this case, the rear end of the cargo is located outside the storage unit 2 during movement, and there is a risk of the cargo falling from the storage unit 2. In this case, increasing the moving speed of the robot arm along the direction of cargo entry and exit can increase the cargo moving speed and ensure that the cargo accurately reaches the predetermined storage location.

[0190] When the moving speed of the goods is greater than the preset delivery speed, the moving speed of the robot arm along the direction of the goods entering and exiting is reduced to reduce the moving speed of the goods. When the moving speed of the goods is less than the preset delivery speed, the moving speed of the robot arm along the direction of the goods entering and exiting is increased to increase the moving speed of the goods. In this way, the moving speed of the goods can be controlled near the preset delivery speed to ensure that the goods can reach the predetermined storage position, and its front and rear ends will not exceed the storage unit 2, thereby greatly reducing the risk of goods falling.

[0191] Furthermore, controlling at least one of the rotation state of the conveying member 21 in the storage unit 2 and the moving speed of the robotic arm 31 according to the moving speed may also include controlling the rotation state of the conveying member 21 in the storage unit 2 according to the moving speed and controlling the moving speed of the robotic arm 31.

[0192] At this point, when the moving speed exceeds the preset delivery speed, the rotation speed of the conveyor 21 is reduced, and the movement speed of the robotic arm in the direction of cargo entry and exit is also reduced. It is understood that when cargo moves too quickly, there is a risk of it falling from the storage unit 2. In this case, reducing the rotation speed of the conveyor belt and reducing the movement speed of the robotic arm in the direction of cargo entry and exit, both of which work together, can more efficiently reduce the speed of cargo movement and prevent it from falling.

[0193] Optionally, when the moving speed is less than the preset delivery speed, the rotational speed of the conveyor 21 is increased, and the movement speed of the robotic arm in the direction of cargo entry and exit is increased. It is understood that when the cargo's moving speed is less than the preset delivery speed, it may stop moving before reaching the storage location of the storage unit 2. In this case, the rear end of the cargo is located outside the storage unit 2 during movement, and there is a risk of it falling from the storage unit 2. In this case, increasing the rotational speed of the conveyor belt and increasing the movement speed of the robotic arm in the direction of cargo entry and exit, both of which work together, can more efficiently increase the cargo's moving speed, allowing the cargo to accurately reach the predetermined storage location.

[0194] When the moving speed of the goods is greater than the preset delivery speed, the rotation speed of the conveyor 21 is reduced and the moving speed of the robot arm along the direction of the goods entering and exiting is reduced to reduce the moving speed of the goods; when the moving speed of the goods is less than the preset delivery speed, the rotation speed of the conveyor 21 is increased and the moving speed of the robot arm along the direction of the goods entering and exiting is increased, which can increase the moving speed of the goods. In this way, the moving speed of the goods can be controlled near the preset delivery speed to ensure that the goods can reach the predetermined storage position, and its front and rear ends will not exceed the storage unit 2, thereby greatly reducing the risk of goods falling.

[0195] Optionally, after the cargo on the transport robot 200 is transported to the storage unit 2 by the robotic arm 31, the method further includes:

[0196] Detect whether the cargo extends outside the storage unit 2. Specifically, loading and unloading position detection sensors can be used to detect whether the cargo extends outside the storage unit 2. The loading and unloading position detection sensors can be located at the cargo entrance 23. For example, some loading and unloading position detection sensors 25 are located above the topmost storage unit 2, and some loading and unloading position detection sensors 26 are located below the bottommost storage unit 2. By detecting whether the cargo extends outside the storage unit 2, it can be determined whether the unloading device 100 is performing an unloading operation.

[0197] In summary, the main purposes that can be achieved by the loading and unloading position detection sensor during unloading work include: the loading and unloading position detection sensor is used to detect whether there is any cargo passing through. If so, it means that it is in normal unloading operation, and there is indeed cargo being normally transported from the handling robot to the storage unit; in addition, the loading and unloading position detection sensor can also be used to detect whether the cargo extends to the outside of the storage unit. If the cargo reaches the predetermined storage position, it will not exceed the entrance of the storage unit and be detected by the loading and unloading position detection sensor, thereby greatly reducing the risk of cargo falling. Otherwise, there is a risk of cargo falling, and the corresponding operation can be performed at this time.

[0198] Figure 17 This is a flow chart of the control method of the robotic arm in the unloading method provided in Example 3 of this application, refer to Figure 17 Optionally, the unloading device 100 includes a robotic arm 31 and a movable part provided on the robotic arm 31. The movable part can be moved to different positions relative to the robotic arm 31 to block or not block the entry and exit path of the goods. When the movable part blocks the entry and exit path of the goods, the robotic arm 31 is used to drive the goods in and out of the storage unit 2. Before using the robotic arm 31 to move the goods on the handling robot 200 to the storage unit 2, the following steps are also included:

[0199] S101. Detect the position of the movable part relative to the robotic arm.

[0200] A detection component 6 may be provided on the robotic arm 31 so as to detect the position of the movable part relative to the robotic arm 31 .

[0201] S102: If the movable part is not in the way of the goods entering or exiting the robot arm, the unloading operation is stopped.

[0202] When the movable part is not blocked on the entry and exit path of the goods relative to the robot arm 31, it is proved that the movable part cannot drive the goods to perform the unloading operation, so the unloading operation is controlled to stop.

[0203] Figure 18 This is a flowchart of the anti-collision control method of the transport rack in the unloading method provided in Example 3 of this application, with reference to Figure 18Optionally, the unloading device 100 includes a transport frame 3, a robotic arm 31 is located on the transport frame 3, and the transport frame 3 can move relative to the body 1 of the unloading device 100 to drive the goods into and out of the storage unit 2. The unloading method of the present application may also include:

[0204] S103, detecting the position information of the transport rack relative to the main body: The position information of the transport rack 3 relative to the main body 1 can be detected by arranging a position sensor on the main body.

[0205] S104: Control the movement state of the transport rack relative to the main body according to the detected position information.

[0206] In the above scheme, by detecting the position of the transport rack 3 relative to the main body 1, as long as the position sensor 39 is set at a position where it is easy to collide with the transport rack 3, when the transport rack 3 is too close to the position where it is easy to collide with the main body 1, the controller can adjust the movement state of the transport rack 3 in time according to the information of the position sensor 39 to avoid the occurrence of collision events, thereby making the unloading device 100 more stable and safe.

[0207] The movement state of the transport rack 3 relative to the body 1 is controlled according to the detected position information, specifically including: when the transport rack 3 moves to a preset position, the transport rack 3 is controlled to stop moving to avoid collision with the structure of the body 1.

[0208] Figure 19 This is a flow chart of another unloading method provided in Example 3 of this application, refer to Figure 19 In the implementation of this application, before the cargo on the transport robot 200 is moved to the storage unit 2 of the unloading device 100, the process also includes:

[0209] S105, determining whether the transport robot is in the unloading position;

[0210] S106: If the transport robot is at the unloading position, receive the goods delivered by the transport robot.

[0211] To confirm whether the transport robot 200 has reached the preset unloading position relative to the unloading device 100, a start switch 113 provided in the avoidance groove 111 can be used to detect that when the mobile chassis 202 of the transport robot 200 enters the avoidance groove 111, the transport rack 3 is controlled to move and unloading operations are performed. The unloading operation may include, for example, a series of operations such as the transport rack 3 starting to move toward the transport robot 200 to carry the goods, as described later.

[0212] Example 4

[0213] Figure 20 This is a structural block diagram of the control device provided in Example 4 of the present application, refer to Figure 20This embodiment provides a control device 300, which includes:

[0214] and a memory 302 in communication with the processor 301 , the memory 302 storing an executable code. When the executable code is executed by the processor 301 , the processor 301 executes the unloading method as described in Example 3.

[0215] The unloading method has been described in detail in Example 3 and will not be repeated here.

[0216] Example 5

[0217] This embodiment provides a unloading device 100, including a main body 1 and a control component. The main body 1 is provided with a storage unit 2 for placing goods. The storage unit 2 has a rotatable conveying member 21. The conveying member 21 has a rolling surface that is in rolling contact with the goods, so as to drive the goods in and out of the storage unit 2; the control component includes a driving unit for driving the conveying member 21 to rotate, a speed sensor 15 for detecting the moving speed of the goods in the storage unit 2, and a control device 300 of embodiment four. The driving unit and the speed sensor 15 are both electrically connected to the control device 300. The control device 300 is used to control at least one of the rotation state of the conveying member 21 and the moving speed of the robotic arm according to the moving speed of the goods, so as to prevent the goods entering the storage unit 2 from escaping from the storage unit 2.

[0218] The structure and functional principle of the unloading device 100 have been described in detail in the first embodiment and will not be repeated here.

[0219] Example 6.

[0220] This embodiment provides a warehousing system, including the transport robot 200 of the first embodiment and the unloading device 100 of the fifth embodiment. As described above, the transport robot 200 has a cargo pallet 205, which is correspondingly disposed with the storage unit 2 of the unloading device 100 to perform unloading operations on the unloading device 100. The cargo pallet 205 and the storage unit 2 of the unloading device 100 are correspondingly disposed, specifically, the height of the cargo pallet 205 and the height of the bottom of the storage unit 2 are substantially the same, and the arrangement positions correspond and are relatively disposed.

[0221] It should be noted that the specific structure and function of the transport robot 200 have been described in the first embodiment, and the specific structure and function of the unloading device 100 have also been described in detail in the fifth embodiment, and will not be repeated here.

[0222] It should be noted that the handling robot 200 of the present application is not limited to the handling robot 200 described in the first embodiment, as long as it has a cargo plate 205 for carrying goods, and the cargo plate 205 and the storage unit 2 of the unloading device 100 are set correspondingly.

[0223] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0224] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with an embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0225] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for unloading, characterized in that: Applied to a discharge device, the discharge device includes a storage unit and a robotic arm movable relative to the storage unit, and a loading and unloading position detection sensor and a speed sensor are provided at the entrance of the storage unit. The method includes: When it is determined that the transport robot is in the unloading position, the robotic arm is used to transport the cargo on the transport robot to the storage unit; detecting a moving speed of the cargo in the storage unit; controlling a moving speed of the robotic arm according to the moving speed to prevent the cargo entering the storage unit from escaping from the storage unit; After the robotic arm transports the cargo from the transport robot to the storage unit, the loading and unloading position detection sensor is used to detect the following two items: detecting whether the goods have passed through and entered the storage unit, detecting whether the cargo extends out of the storage unit; The robotic arm is provided with a movable part, and the movable part can move to different positions relative to the robotic arm. When it is determined that the transport robot is in the unloading position, the robotic arm is used to transport the goods on the transport robot to the storage unit, including: When it is determined that the transport robot is in the unloading position, the mechanical arm is moved toward the transport robot so that the movable part reaches the rear of the cargo; instructing the movable member to rotate from an unblocked position to a blocked position; detecting a position of the movable member relative to the robotic arm; and When it is detected that the movable part is blocked on the entry and exit path of the goods relative to the robotic arm, the robotic arm is moved in a direction away from the transport robot, so that the movable part drives the goods to move toward the storage unit.

2. The unloading method according to claim 1, characterized in that: When it is detected that the movable part is not blocked on the entry and exit path of the goods relative to the mechanical arm, the unloading operation is stopped.

3. The unloading method according to claim 1, characterized in that: When it is detected that the movable member is located at a position between the unblocked and blocked positions relative to the robot arm, it is determined that a blockage is formed, and the robot arm is moved in a direction away from the direction of transporting the robot.

4. The unloading method according to any one of claims 1 to 3, characterized in that: The unloading device includes a transport frame, the robotic arm is located on the transport frame, and the transport frame can move relative to the body of the unloading device to drive the goods into and out of the storage unit. The method further includes: Detecting position information of the transport rack relative to the main body; The moving state of the transport rack relative to the main body is controlled according to the detected position information.

5. The unloading method according to claim 4, characterized in that: The controlling of the movement state of the transport rack relative to the main body according to the detected position information specifically includes: When the transport rack moves to a preset position, the transport rack is controlled to stop moving.

6. A discharging device, applied to the discharging method according to any one of claims 1 to 5, characterized in that: include: a main body, wherein a storage unit is provided on the main body; a robotic arm, the robotic arm being movable relative to the storage unit to transport the cargo on the handling robot at the unloading position to the storage unit; a loading and unloading position detection sensor, which is arranged at the entrance of the storage unit and is used to detect whether the goods have passed through and entered the storage unit and whether the goods have extended to the outside of the storage unit; A speed sensor is provided at the entrance of the storage unit and is used to detect the moving speed of the goods in the storage unit.

7. The unloading device according to claim 6, characterized in that: The storage unit includes a first storage unit located at the top of the unloading device and a second storage unit located at the bottom of the unloading device. The loading and unloading position detection sensors are both provided on the first storage unit and the second storage unit.

8. The unloading device according to claim 6, characterized in that: Also includes: A movable member is provided on the robotic arm, and the movable member can be moved to different positions relative to the robotic arm so that the movable member blocks or does not block the entry and exit path of the goods; Wherein, at least one of the robotic arms is provided with a detection component, and the detection component is used to detect the position of the movable part relative to the robotic arm.

9. The unloading device according to claim 8, characterized in that: The movable member is rotatably arranged at the end of the mechanical arm, and the rotation axis of the movable member and the moving direction of the mechanical arm are parallel to each other.

10. The unloading device according to claim 9, characterized in that: The movable part is a movable push rod, the first end of the movable push rod is rotatably connected to the mechanical arm, the second end of the movable push rod is a free end, and the rod body of the movable push rod is used to push the goods in and out of the storage unit.

11. The unloading device according to claim 10, characterized in that: When the movable push rod is arranged on the entry and exit path of the goods, the movable push rod is arranged horizontally; When the movable push rod is not blocked on the entry and exit path of the goods, the movable push rod is vertically arranged.

12. The unloading device according to claim 11, characterized in that: The detection component includes a movable push rod position detector, and the movable push rod position detector is arranged at the end of the mechanical arm.

13. The unloading device according to claim 12, characterized in that: The movable push rod position detector corresponds to the position of the movable push rod when it is not blocked on the entry and exit path of the goods.

14. The unloading device according to any one of claims 8 to 13, characterized in that: There are multiple storage units, and the multiple storage units are arranged in a vertical direction.

15. The unloading device according to any one of claims 8 to 13, characterized in that: It also includes a transport frame that is movable relative to the body, and the robotic arm is located on the transport frame.

16. The unloading device according to claim 15, characterized in that: The main body is provided with a slide rail, the extension direction of the slide rail is parallel to the in-and-out direction of the goods, and the transport rack is provided on the slide rail and can move along the slide rail relative to the main body.

17. The unloading device according to claim 16, characterized in that: The bottom of the body is provided with an avoidance groove for avoiding the mobile chassis of the transport robot, and the opening of the avoidance groove is in the same direction as the opening of the cargo entrance.

18. The unloading device according to claim 17, characterized in that: A start switch is provided in the avoidance groove, and the start switch is used to control the movement of the transport rack and perform unloading operations when the mobile chassis of the transport robot enters the avoidance groove.

19. A warehousing system, characterized in that: It comprises a transport robot and the unloading device according to any one of claims 6 to 13, wherein the transport robot has a cargo plate, and the cargo plate and the storage unit of the unloading device are correspondingly arranged to perform unloading operations to the unloading device.

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