Cargo handling systems, conveying devices and handling robots

Abstract

An embodiment of the present application provides a cargo loading and unloading system, a conveying device and a handling robot, including a handling robot and an inbound conveyor line, a loader and an outbound conveyor line arranged in sequence along a first direction; the loader includes an inbound device, a transfer device and an outbound device arranged in sequence along a first direction, and the handling robot is used to transport the cargo on the transfer device to the warehouse or to transport the cargo in the warehouse to the transfer device, so that through one handling robot, the cargo to be inbound can be transported to the warehouse, and the cargo to be outbound can be transported to the transfer device, which greatly improves the handling efficiency of the handling robot and the efficiency of cargo in and out of the warehouse, and can effectively reduce the warehouse space occupied during the process of cargo in and out of the warehouse, avoiding waste of space.

Description

Technical Field

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

[0002] As logistics transportation has higher and higher requirements for timeliness and labor costs are getting more and more expensive, automated logistics transportation equipment has been widely used. For example, the use of unloaders and matching handling robots has replaced traditional manual handling and improved warehouse picking efficiency.

[0003] Currently, automated logistics conveying equipment on the market generally adopts a single-in, single-out model. During the process of goods entering and leaving the warehouse, the goods to be entered are delivered to the handling robot through the warehousing equipment, and the handling robot transports the goods to the warehouse for storage. Alternatively, the handling robot transports the goods to be shipped out to the shipping equipment and then transports them out of the warehouse. However, using this method, at least two handling robots are required to complete the goods entry and exit, resulting in low handling efficiency of the handling robots. In addition, during the process of goods entering and leaving the warehouse, multiple handling robots need to occupy a large amount of warehouse space to transport goods, resulting in a waste of space. Summary of the Invention

[0004] The embodiments of the present invention provide a cargo loading and unloading system, a conveying device, and a handling robot, which can save transportation space in a warehouse.

[0005] In the first aspect, an embodiment of the present application provides a cargo loading and unloading system, including a handling robot and an inbound conveyor line, a loader and an outbound conveyor line arranged in sequence along a first direction; the loader includes an inbound device, a transfer device and an outbound device arranged in sequence along the first direction, and the handling robot is used to transport the cargo on the transfer device to the warehouse or to transport the cargo in the warehouse to the transfer device.

[0006] As a specific embodiment, the warehousing device, transfer device and out-of-warehouse device all include a drive component, a conveyor belt and multiple conveying components arranged in sequence along the second direction. In the warehousing device, transfer device and out-of-warehouse device, multiple conveying components are connected in sequence through conveyor belts, and the drive component is connected to the conveyor belt to drive the conveying component to move along the second direction, and the second direction is arranged to intersect with the first direction.

[0007] As a specific embodiment, the conveying assembly includes a first connecting rod, a second connecting rod and a plurality of rolling elements arranged in sequence along the first direction. The first connecting rod and the second connecting rod both extend along the first direction. The first connecting rod is rollingly connected to one end of the rolling element, and the second connecting rod is rollingly connected to the other end of the rolling element. The rolling element is used to convey goods along the first direction.

[0008] As a specific embodiment, the conveying assembly also includes at least two receiving plates, which are respectively fixed on the side of the first connecting rod away from the rolling element and the side of the second connecting rod away from the rolling element, and the receiving plates are used to receive the conveyor belt connected to the conveying assembly.

[0009] As a specific embodiment, the conveying assembly further includes at least two first limiters, which are respectively arranged on both sides of the conveying assembly along the first direction, and the first limiters are used to limit the movement of the goods along the first direction.

[0010] As a specific embodiment, the first limiting member includes a fixed portion, a limiting plate and a first driving member. The first driving member includes a driving portion. The fixed portion is fixedly arranged between two adjacent rolling members. One end of the limiting plate is rotatably connected to the fixed portion, and the other end of the limiting plate is rotatably connected to the driving portion. The first driving member drives the driving portion to extend or contract so that the limiting plate rotates out of or into the conveying surface of the conveying assembly.

[0011] As a specific embodiment, the warehousing device, the transfer device and the out-warehouse device all include a second driving member, a sliding member and a plurality of second limiting members. The second driving member is connected to the sliding member, and the sliding member extends along the second direction. The plurality of second limiting members are arranged in a one-to-one correspondence with the plurality of conveying components. One end of the second limiting member is fixed on the sliding member, and the other end of the second limiting member protrudes between two adjacent conveying components. The second driving member is used to drive the sliding member to slide along the second direction.

[0012] As a specific embodiment, there are multiple conveyor belts, and the driving assembly and the conveying assembly are connected through the multiple conveyor belts.

[0013] As a specific embodiment, the drive assembly includes a third drive member, a drive shaft, at least two transmission shafts and transmission belts correspondingly mounted on the transmission shafts. The transmission belts are also mounted on the drive shafts. Multiple conveyor belts are respectively fixed on the two transmission shafts. The third drive member drives the drive shaft and drives the transmission shaft to rotate, so that the conveyor belt curls or straightens on the transmission shaft and drives the conveying assembly to move along the second direction.

[0014] As a specific embodiment, the loader and unloader also includes a support frame corresponding to the warehousing device, the transfer device and the out-of-warehouse device one by one, the support frame includes at least four support rods and at least four connecting rods, each connecting rod is fixed between two adjacent support rods, and the four support rods are combined to form an internal conveying space, which is used to accommodate any one of the warehousing device, the transfer device and the out-of-warehouse device.

[0015] As a specific embodiment, the handling robot includes a transport component and a handling component arranged on the transport component, the handling component includes a positioning member and multiple placement members, one end of the positioning member is connected to the transport component and extends along the second direction, the multiple placement members are sequentially arranged on the positioning member along the second direction, the multiple placement members correspond one-to-one to the multiple conveying components in the transfer device, and the placement members are used to place the goods to be entered into the warehouse on the conveying component of the transfer device or to place the goods to be shipped out of the warehouse on the conveying component of the transfer device.

[0016] As a specific embodiment, the placement piece is movably arranged on the positioning piece, and the placement piece includes a third connecting rod and a plurality of placement rods arranged on the third connecting rod in sequence along the first direction. Before the transporting robot transports the goods on the conveying assembly of the transfer device, the plurality of placement rods of the placement piece are inserted one by one between two adjacent rolling elements in the conveying assembly.

[0017] In a second aspect, an embodiment of the present application further provides a conveying device, comprising any one of the warehousing device, transfer device or outbound device in any of the above-mentioned cargo loading and unloading systems.

[0018] In a third aspect, an embodiment of the present application further provides a transport robot for transporting goods to be stored on a transfer device of any of the above-mentioned cargo loading and unloading systems to a warehouse.

[0019] In a fourth aspect, an embodiment of the present application further provides a transport robot for transporting goods to be shipped out of a warehouse to a transfer device of any of the above-mentioned cargo loading and unloading systems.

[0020] The cargo loading and unloading system, conveying device and handling robot provided by the embodiments of the present application, during the process of goods entering the warehouse, the goods from the entering conveyor line are conveyed to the transfer device by the entering device, and the goods to be entered at the transfer device are transported to the warehouse by the handling robot, thereby completing the entering of the goods. At the same time, the handling robot can also transport the goods to be shipped out of the warehouse to the transfer device, and transport them to the outgoing device through the conveying component on the transfer device, and the outgoing device transports the goods to be shipped out to the outgoing conveyor line, thereby completing the outgoing of the warehouse goods. In this process, the entry and exit of the goods can be completed by only one handling robot, thereby reducing the warehouse space occupied by the goods during the entry and exit process, avoiding space waste, and since one handling robot can complete both the entry and exit actions, the handling efficiency of the handling robot and the entry and exit efficiency of the goods are greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1 is a structural diagram of a cargo loading and unloading system provided in some embodiments of the present application;

[0023] Figure 2 is a schematic structural diagram of a transport robot provided in some embodiments of the present application;

[0024] Figure 3 is a schematic structural diagram of a loading and unloading machine provided in some embodiments of the present application;

[0025] Figure 4 is a schematic structural diagram of a conveying assembly provided in some embodiments of the present application;

[0026] Figure 5 is a partially enlarged view of the first position-limiting member provided in some embodiments of the present application;

[0027] Figure 6 is a structural schematic diagram of a second position-limiting member of a loading and unloading machine provided in some embodiments of the present application;

[0028] Figure 7 This is another structural schematic diagram of a loading and unloading machine provided in some embodiments of the present application;

[0029] Figure 8 This is a flowchart of the warehousing of goods to be stored provided in some embodiments of the present application;

[0030] Figure 9 This is a flow chart for the shipment of goods to be shipped provided in some embodiments of the present application.

[0031] Description of reference numerals:

[0032] 10. Handling robot; 110. Transport assembly; 120. Handling assembly; 121. Positioning member; 122. Placement member; 1221. Third connecting rod; 1222. Placement rod;

[0033] 20. Warehouse conveyor line;

[0034] 30. Loader / Unloader; 310. Loading Device; 320. Transfer Device; 330. Unloading Device; 340. Drive Assembly; 341. Third Drive Component; 342. Drive Shaft; 343. Drive Shaft; 344. Drive Belt; 350. Conveyor Belt; 360. Conveyor Assembly; 361. First Connecting Rod; 362. Second Connecting Rod; 363. Rolling Component; 364. Receiving Plate; 365. First Limiting Component; 3651. Fixing Part; 3652. Limiting Plate; 3653. First Drive Component; 3654. Drive Unit; 370. Second Drive Component; 380. Sliding Member; 390. Second Limiting Component; 3100. Support Frame; 3101. Support Rod; 3102. Connecting Rod; 3103. Protective Plate; 3104. Protective Cover;

[0035] 40. Outbound conveyor line. DETAILED DESCRIPTION

[0036] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In the detailed description below, many specific details are proposed in order to provide a comprehensive understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.

[0037] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The embodiments will be described in detail below with reference to the accompanying drawings.

[0038] Figure 1 shows a schematic structural diagram of a cargo loading and unloading system provided by some embodiments of the present application, Figure 2 A schematic structural diagram of a handling robot provided in some embodiments of the present application.

[0039] like Figure 1 and Figure 2 As shown, an embodiment of the present application provides a cargo loading and unloading system, including a handling robot 10 and an inbound conveyor line 20, a loader 30 and an outbound conveyor line 40 arranged in sequence along a first direction; the loader includes an inbound device 310, a transfer device 320 and an outbound device 330 arranged in sequence along the first direction, and the handling robot is used to transport the cargo on the transfer device to the warehouse or to transport the cargo in the warehouse to the transfer device.

[0040] During the warehousing process, the goods to be entered on the inbound conveyor line 20 are transported to the transfer device 320 by the inbound device 310, and the goods to be entered located at the transfer device 320 are transported to the warehouse by the handling robot 10, thereby completing the warehousing of the goods to be entered. At the same time, the handling robot 10 transports the goods to be shipped out of the warehouse to the transfer device 320, and transports them to the outbound device 330 through the conveying component 360 on the transfer device 320. The outbound device 330 transports the goods to be shipped out to the outbound conveyor line 40, thereby completing the outbound transportation of the warehouse goods. In this process, only one handling robot 10 is required to complete the warehousing and outbound transportation of the goods, thereby reducing the warehouse space occupied by the goods in and out of the warehousing process and avoiding space waste. Moreover, since one handling robot 10 can both transport the goods to be entered to the warehouse and transport the goods to be shipped out to the transfer device 320, the handling efficiency of the handling robot 10 and the warehousing and outbound efficiency of the goods are greatly improved.

[0041] It can be understood that after the handling robot 10 transports the goods to be entered into the transfer device 320 to the warehouse, it can transport the goods to be shipped out of the warehouse to the transfer device 320, and transport the goods to be shipped out to the shipping device 330 through the transfer device 320, thereby realizing the shipping of the goods to be shipped out. Moreover, after the handling robot 10 transports the goods to be shipped out to the transfer device 320, it can transport the goods to be entered into the transfer device 320 to the warehouse, so that the handling robot 10 only needs to transport the goods back and forth between the transfer device 320 and the warehouse components for one trip to realize the shipping of the goods, thereby shortening the handling time of the handling robot 10 and improving the handling efficiency.

[0042] Figure 3 A schematic structural diagram of a loading and unloading machine provided in some embodiments of the present application is shown.

[0043] like Figure 3 As shown, as a specific embodiment, the warehousing device 310, the transfer device 320 and the outbound device 330 all include a drive component 340, a conveyor belt 350 and a plurality of conveying components 360 arranged in sequence along the second direction. In the warehousing device 310, the transfer device 320 and the outbound device 330, the plurality of conveying components 360 are connected in sequence through the conveyor belt 350, and the drive component 340 is connected to the conveyor belt 350 to drive the conveying component 360 to move along the second direction, and the second direction is arranged to intersect with the first direction.

[0044] It can be understood that the first direction and the second direction may be perpendicular to each other. For example, the first direction may be a horizontal direction, and the second direction may be a vertical direction.

[0045] In the warehousing device 310, the transfer device 320 and the outbound device 330, the lengths of the conveyor belts 350 between two adjacent conveying components 360 may be the same or different. Of course, the length of the conveyor belts 350 between two adjacent conveying components 360 must be greater than the height of the goods to be conveyed, so that the goods to be conveyed can be conveyed through the conveying component 360.

[0046] It can be understood that the specific number of conveying components 360 in the warehousing device 310, the transfer device 320 and the out-warehouse device 330 can be determined according to the number of goods to be transported. When the goods to be transported are large, in order to improve the transportation efficiency, more conveying components 360 can be set in the warehousing device 310, the transfer device 320 and the out-warehouse device 330. When the goods to be transported are small, in order to save resources, fewer conveying components 360 can be set in the warehousing device 310, the transfer device 320 and the out-warehouse device 330. For example, when there are a large number of goods to be transported, the multiple conveying components 360 in the warehousing device 310, the transfer device 320 and the outbound device 330 can be specifically 6, or 8, 10 or 12 or even more. When the goods to be transported are small, the corresponding conveying components 360 can also be 2, 3 or 4, etc. Of course, the number of conveying components 360 in the warehousing device 310, the transfer device 320 and the outbound device 330 needs to be specifically determined according to the driving capacity of the driving device and the transmission capacity of the conveyor belt 350.

[0047] In this embodiment, during the process of goods entering the warehouse, the driving component 340 drives multiple conveying components 360 in the warehouse entry device 310 to move along the second direction, so that the conveying component 360 closest to the driving component 340 is docked with the external warehouse entry conveyor line 20, so that the goods to be entered on the warehouse entry conveyor line 20 are transferred to the conveying component 360 closest to the driving component 340, and then the conveying component 360 is lifted along the second direction by the driving component 340, and the conveying component 360 next to the conveying component 360 closest to the driving component 340 is docked with the warehouse entry conveyor line 20. The conveying line 20 is docked and the transfer of the goods to be stored is completed, and so on, until all the conveying components 360 receive the goods to be stored from the storage conveyor line 20, thereby lifting the conveying component 360 through the driving component 340, so that the multiple conveying components 360 in the storage device 310 correspond one to one with the multiple conveying components 360 on the transfer device 320, thereby transporting the goods to be stored in the conveying component 360 of the storage device 310 to the conveying component 360 of the transfer device 320, and transporting them to the warehouse through the handling robot 10 in the transfer device 320.

[0048] During the outbound delivery of goods, the transport robot 10 transports the goods to be delivered in the warehouse to the conveying assembly 360 in the transfer device 320, and drives the conveying assembly 360 to move to the corresponding position along the second direction through the driving assembly 340, and corresponds one-to-one with the multiple conveying assemblies 360 in the outbound device 330, so that the goods to be delivered on the transfer device 320 are delivered to the outbound device 330, and when the conveying assembly 360 of the outbound device 330 receives the goods to be delivered from the transfer device 320, the driving assembly 340 of the outbound device 330 drives the conveying assembly of the outbound device 330 360 moves along the second direction, so that the conveying component 360 closest to the driving component 340 in the outbound device 330 is docked with the outbound conveyor line 40, so that the goods to be outbound on the conveying component 360 closest to the driving component 340 are transported to the outbound conveyor line 40, and then the driving component 340 continues to drive the conveying component 360 to move along the second direction, so that the other conveying components 360 located below the conveying component 360 closest to the driving component 340 are docked with the outbound conveyor line 40 in turn, so that the goods to be outbound on each conveying component 360 are transported to the outbound conveyor line 40, thereby realizing the outbound delivery of the goods to be outbound.

[0049] As a specific embodiment, the conveyor belts 350 in the warehousing device, the transfer device and the outbound device all include a conveying section (not shown in the figure) and multiple connecting sections (not shown in the figure). Multiple conveying components 360 are connected by the connecting sections. One end of the conveying section is connected to the driving component 340, and the other end of the conveying section is connected to the conveying component 360 close to the driving component 340, so that the conveying component 360 is driven by the driving component 340 to move along the second direction.

[0050] In order to improve the stability of the conveying components 360 in the warehousing device, the transfer device and the outbound device when moving along the second direction, the end of the conveying section connected to the conveying component 360 close to the driving component 340 can also extend toward the end away from the driving component 340 and be connected to the conveying component 360 away from the driving component 340 among the multiple conveying components 360, thereby improving the stability of the multiple conveying components 360 when moving along the second direction.

[0051] In order to improve the loading and unloading efficiency of the loader 30 , as a specific embodiment, there may be multiple transfer devices 320 , and the multiple transfer devices 320 are sequentially arranged along the first direction. Specifically, during the warehousing process, the warehousing device 310 receives the goods to be warehousing from the warehousing conveyor line 20, and conveys the goods to be warehousing to each conveying component 360 of each transfer device 320 in turn. When each conveying component 360 in each transfer device 320 receives the goods to be warehousing, the handling robot 10 transports the goods to be warehousing to the warehouse, so that the handling robot 10 can transport the goods on multiple transfer devices 320 to the warehouse through one warehousing action, thereby improving the efficiency of goods warehousing; during the outbound process, the handling robot 10 transports the goods to be outbound to each conveying component 360 of each transfer device 320, and the goods to be outbound in multiple transfer devices 320 are transported to the outbound device 330 in turn, and the outbound device 330 transports the goods to be outbound on each transfer device 320 to the outbound conveyor line 40 in turn, thereby reducing the number of times the handling robot 10 transports the goods to be outbound and improving the transportation efficiency.

[0052] Figure 4 A schematic structural diagram of a conveying assembly provided in some embodiments of the present application is shown.

[0053] like Figure 4 As shown, as a specific embodiment, the conveying assembly 360 includes a first connecting rod 361, a second connecting rod 362 and a plurality of rolling members 363 arranged in sequence along the first direction. The first connecting rod 361 and the second connecting rod 362 both extend along the first direction. The first connecting rod 361 is rollingly connected to one end of the rolling member 363, and the second connecting rod 362 is rollingly connected to the other end of the rolling member 363. The rolling member 363 is used to convey goods along the first direction.

[0054] Specifically, the rolling member 363 can be any other structure that can roll. For example, the rolling member 363 can be a roller, a wheel, a conveyor belt or a rolling shaft. For ease of understanding, the following embodiments are described using the rolling member 363 as a roller.

[0055] In this embodiment, since multiple rolling elements 363 are arranged in sequence along the first direction, during the rolling process of the rolling elements 363, the goods will be driven to move along the first direction, thereby realizing the automation of cargo transportation. During this process, the transportation of goods can be completed without human participation, thereby improving the transportation efficiency of goods and reducing labor costs.

[0056] In order to improve the efficiency of goods entering and leaving the warehouse and reduce the probability of mixing of goods to be entered and goods to be left during the entry and exit process, as a specific implementation method, the number of rollers 363 in each conveying component 360 of the transfer device 320 is greater than the number of rollers 363 in each conveying component 360 of the entry device 310, and the number of rollers 363 in each conveying component 360 of the transfer device 320 is greater than the number of rollers 363 in each conveying component 360 of the exit device 330.

[0057] Please continue to refer to Figure 4 As a specific embodiment, the conveying assembly 360 also includes at least two receiving plates 364, which are respectively fixed on the side of the first connecting rod 361 away from the rolling member 363 and the side of the second connecting rod 362 away from the rolling member 363. The receiving plates 364 are used to accommodate the conveyor belt 350 connected to the conveying assembly 360.

[0058] It is understandable that, in order to facilitate transportation, the height of the warehousing conveyor line 20 is generally not set high. Therefore, when the driving component 340 drives the multiple conveying components 360 in the warehousing device 310 to move along the second direction, and the conveying component 360 closest to the driving component 340 is docked with the external warehousing conveyor line 20, the distance between the two adjacent conveying components 360 in the other conveying components 360 located below the conveying component 360 closest to the driving component 340 may be less than the length of the conveyor belt 350 between the two adjacent conveying components 360, and even the other conveying components 360 located below the conveying component 360 closest to the driving component 340 may overlap with each other, thereby causing the conveyor belt 350 between the two adjacent conveying components 360 to bend, and the bending affects the service life of the transmission belt 344, and ultimately affects the conveying efficiency of the conveying component 360.

[0059] In order to improve the service life of the conveyor belt 350 and the conveying efficiency of the conveying assembly 360, the embodiment of the present application provides a receiving plate 364 on the side of the first connecting rod 361 of the conveying assembly 360 away from the rolling element 363 and on the side of the second connecting rod 362 away from the rolling element 363, so that when the distance between two adjacent conveying assemblies 360 is less than the length of the conveyor belt 350, the bent conveyor belt 350 can be received, thereby avoiding the conveyor belt 350 from breaking due to bending or other situations that affect the service life of the conveyor belt 350.

[0060] As a specific embodiment, the conveyor belt 350 can be directly connected to the first connecting rod 361 and the second connecting rod 362 of each conveying assembly 360 , or can be connected to the receiving plate 364 of each conveying assembly 360 .

[0061] As a specific embodiment, when the conveyor belt 350 is connected to the receiving plate 364 of each conveying component 360, an elastic member (not shown in the figure) is provided between the receiving plate 364 and the conveyor belt 350, so that the receiving plate 364 can protect the conveyor belt 350 during the process of receiving the conveyor belt 350 and prevent the conveyor belt 350 from bending.

[0062] As a specific embodiment, the number of receiving plates 364 in each conveying component 360 can be determined according to the number of conveyor belts 350. For example, when the number of conveyor belts 350 connected to the conveying component 360 is small, a small number of receiving plates 364 can be set to receive the conveyor belts 350. When the number of conveyor belts 350 connected to the conveying component 360 is large, more receiving plates 364 can be set to receive multiple conveyor belts 350 separately.

[0063] Please continue to refer to Figure 4 As a specific embodiment, the conveying component 360 also includes at least two first limit members 365, and the two first limit members 365 are respectively arranged on both sides of the conveying component 360 along the first direction, and the first limit members 365 are used to limit the movement of the goods along the first direction.

[0064] For the storage device 310, after the conveying component 360 of the storage device 310 receives the goods to be stored from the storage conveyor line 20, the driving component 340 in the storage device 310 lifts the conveying component 360 along the second direction, so that the conveying component 360 corresponds to the conveying component 360 in the transfer device 320 one by one. In order to prevent the goods to be stored on the conveying component 360 of the storage device 310 from moving to the conveying component 360 of the storage device 310 before being transported to the transfer device 320, The outside of the component 360, therefore, at least two first limiting members 365 are arranged along the first direction on the conveying component 360 of the warehousing device 310, so that in the warehousing device 310, when the conveying component 360 is lifted by the driving component 340, the position of the goods to be stored on the conveying component 360 of the warehousing device 310 is limited by the first limiting members 365, ensuring that the goods to be stored can be safely transported to the transfer device 320, and transported to the warehouse by the handling robot 10 in the transfer device 320.

[0065] For the transfer device 320, by setting at least two first limit members 365 on the conveying component 360 at intervals along the first direction, during the warehousing process, by activating the first limit member 365 downstream of the conveying component 360 set on the transfer device 320 along the first direction, the goods to be stored are prevented from being transported to the out-warehouse device 330; during the out-warehouse process, by activating the first limit member 365 above the conveying component 360 set on the transfer device 320 along the first direction, the goods to be stored are prevented from being mixed with the goods to be transported out of the warehouse during the out-warehouse process and being transported to the out-warehouse device 330.

[0066] For the outbound device 330, when the conveying component 360 of the outbound device 330 receives the goods to be outbound from the transfer device 320, the driving component 340 of the outbound device 330 drives the conveying component 360 to move along the second direction, so that each conveying component 360 in the outbound device 330 is docked with the outbound conveyor line 40 in sequence. At least two first limiting members 365 are set on each conveying component 360 along the first direction at intervals. Therefore, when the driving component 340 of the outbound device 330 drives the conveying component 360 to move along the second direction, the first limiting members 365 are used to limit the goods to be outbound on the conveying ship of the outbound device 330, so that the goods to be outbound will not move to the outside of the conveying component 360 of the outbound device 330 between the docking of the conveying component 360 of the outbound device 330 and the outbound conveyor line 40, thereby ensuring that the goods to be outbound on each conveying component 360 of the outbound device 330 can be safely transported to the outbound conveyor line 40.

[0067] It can be understood that, on each conveying component 360, the distance between two adjacent first limiting members 365 along the first direction is greater than the width or length of the goods to be conveyed, that is, the goods to be conveyed can at least be clamped between the two first limiting members 365, thereby ensuring the transportation of the goods to be conveyed while achieving the limitation of the goods.

[0068] It can be understood that there can be more than two first limit members 365 located on the conveying component 360. For example, four first limit members 365 are set on each conveying component 360, and the four first limit members 365 are set around the goods conveyed on the conveying component 360 to limit the movement of the goods on the conveying component 360 in all directions, thereby ensuring the safe transportation of the goods on the conveying component 360.

[0069] Of course, when there is only one first limit on the conveying component 360, the limiting effect can be achieved. For example, the first limit 365 is set downstream of the conveying component 360 along the first direction to prevent the goods to be conveyed in the conveying component 360 of the warehousing device 310 from moving to the outside of the corresponding conveying component 360 before the conveying component 360 of the warehousing device 310 and the conveying component 360 of the transfer device 320 are docked, or the goods to be conveyed in the conveying component 360 of the transfer device 320 are moved to the outside of the corresponding conveying component 360 before the conveying component 360 of the transfer device 320 and the conveying component 360 of the outbound device 330 are docked.

[0070] Figure 5 A partially enlarged view of the first limiting member provided in some embodiments of the present application is shown.

[0071] like Figure 5 As shown, as a specific embodiment, the first limiting member 365 includes a fixing portion 3651, a limiting plate 3652 and a first driving member 3653, the first driving member 3653 includes a driving portion 3654, the fixing portion 3651 is fixedly arranged between two adjacent rolling members 363, one end of the limiting plate 3652 is rotatably connected to the fixing portion 3651, and the other end of the limiting plate 3652 is rotatably connected to the driving portion 3654, and the first driving member 3653 drives the driving portion 3654 to extend or contract so that the limiting plate 3652 is rotated out of or into the conveying surface of the conveying assembly 360.

[0072] The conveying surface of the conveying component 360 refers to the surface formed during the process of the goods being conveyed on the conveying component 360. Specifically, since multiple rolling elements 363 are arranged at intervals along the first direction, and the first connecting rod 361 is rollingly connected to one end of the rolling element 363, and the second connecting rod 362 is rollingly connected to the other end of the rolling element 363, the multiple rolling elements 363 are located in the plane formed by the first connecting rod 361 and the second connecting rod 362, that is, the multiple rolling elements 363 are coplanar. Therefore, when the goods are conveyed by the rolling elements 363, the plane formed by the contact position of each rolling element 363 and the goods is the conveying surface.

[0073] It can be understood that the first driving member 3653 can be any one of a motor, a cylinder, a hydraulic cylinder, etc. Of course, the first driving member 3653 can also be any other driving element that can drive linear displacement motion. The first driving member 3653 can also be a combination structure of other driving elements and linear displacement components. For example, the first driving member 3653 can be a combination structure of a rotating motor and a linear guide rail, a screw, a connecting rod 142 mechanism, etc.

[0074] The limiting plate 3652 can be of any shape, for example, the limiting plate 3652 can be a sector plate, or a square plate, a triangular plate, or other regular or irregular shaped limiting plate 3652. The following takes the limiting plate 3652 as a sector plate as an example to describe the working mode of the first limiting member 365.

[0075] Specifically, the limiting plate 3652 has a first end, a second end and a third end, wherein the first end is rotatably connected to the fixing portion 3651, and the second end is rotatably connected to the driving portion 3654. When it is necessary to limit the goods on the conveying assembly 360, the driving portion 3654 is extended to push the second end of the limiting plate 3652 to move in a direction away from the driving portion 3654, so that the limiting plate 3652 rotates around the first end and the third end of the limiting plate 3652 is rotated to the conveying surface of the conveying assembly 360; when it is not necessary to limit the goods on the conveying assembly 360, the driving portion 3654 is contracted to drive the second end of the limiting plate 3652 to move in a direction close to the driving member, so that the limiting plate 3652 rotates around the first end and the third end of the limiting plate 3652 is rotated under the conveying surface of the corresponding conveying assembly 360.

[0076] It can be understood that the rotational connection between the limiting plate 3652 and the fixing part 3651 and the rotational connection between the limiting plate 3652 and the driving part 3654 can be achieved by one or more bolts, screws, and screws. Of course, achieving rotational connection by other means is also within the scope of protection of this application.

[0077] Figure 6 A schematic structural diagram of a second limiting member of a loading and unloading machine provided in some embodiments of the present application is shown.

[0078] like Figure 6 As shown, as a specific embodiment, the warehousing device 310, the transfer device 320 and the outbound device 330 all include a second driving member 370, a sliding member 380 and a plurality of second limiting members 390, the second driving member 370 is connected to the sliding member 380, the sliding member 380 extends along the second direction, and the plurality of second limiting members 390 are arranged in a one-to-one correspondence with the plurality of conveying components 360, one end of the second limiting member 390 is fixed on the sliding member 380, and the other end of the second limiting member 390 protrudes between two adjacent conveying components 360, and the second driving member 370 is used to drive the sliding member 380 to slide along the second direction.

[0079] Specifically, the second driving member 370 can be a drive motor or other linear displacement driving device. The sliding member 380 can be a sliding guide rail, a lead screw, or other linear displacement structure. For example, when the sliding member 380 is a sliding guide rail, one end of the second limiting member 390 is fixedly mounted on the sliding portion of the sliding guide rail. Driven by the second driving member 370, the sliding portion of the sliding guide rail moves in the second direction, thereby driving the second limiting member 390 to move in the second direction, thereby limiting the position of the cargo.

[0080] The second limiting member 390 includes but is not limited to one or more of a plate, a rod, and a block. For example, the second limiting member 390 can be a plate, one end of which is connected to the sliding part, and the other end of the plate protrudes between two adjacent conveying components 360.

[0081] In this embodiment, the second driving member 370 is connected to the sliding member 380, and the sliding member 380 is fixed to one end of the second limiting member 390, so that when the second driving member 370 drives the sliding member 380 to move along the second direction, the sliding member 380 drives the second limiting member 390 to move along the second direction. Specifically, when it is necessary to limit the goods on the conveying component 360, the second driving member 370 drives the sliding member 380 to move along the second direction, and the sliding member 380 drives the second limiting member 390 to move to the first position. At this time, the distance between the second limiting member 390 and the corresponding conveying component 360 is less than the height of the goods on the conveying component 360, thereby blocking the conveyance of the goods on the conveying component 360; when it is not necessary to limit the goods on the conveying component 360, the second driving member 370 drives the sliding member 380, so that the sliding member 380 drives the second limiting member 390 to move to the second position. At this time, the distance between the second limiting member 390 and the corresponding conveying component 360 is greater than the height of the conveyed goods, so that the goods can be conveyed to the downstream transfer device or outbound device.

[0082] As a specific embodiment, the multiple conveying components 360 of the warehousing device 310 correspond one-to-one with the multiple conveying components 360 of the transfer device 320, and the multiple conveying components 360 of the transfer device 320 also correspond one-to-one with the multiple conveying components 360 of the outbound device 330.

[0083] In this embodiment, the multiple conveying components 360 in the warehousing device 310 correspond one-to-one with the multiple conveying components 360 of the transfer device 320, so that the goods to be entered on each conveying component 360 in the warehousing device 310 can be conveyed to the conveying component 360 corresponding to the transfer device 320, and thus be transported to the warehouse by the handling robot 10 on each conveying component 360 of the transfer device 320; the multiple conveying components 360 of the transfer device 320 correspond one-to-one with the multiple conveying components 360 of the outbound device 330, so that the goods to be shipped out on the conveying component 360 of the transfer device 320 transported by the handling robot 10 can be transported to the conveying component 360 corresponding to the outbound device 330, thereby avoiding confusion of the goods during the transportation process and improving the efficiency of goods sorting.

[0084] To ensure the stability and safety of the connection between the drive assembly 340 and the conveyor assembly 360, as a specific embodiment, multiple conveyor belts 350 are provided, and the drive assembly 340 and the conveyor assembly 360 are connected via the multiple conveyor belts 350. Connecting the drive assembly 340 and the conveyor assembly 360 via the multiple conveyor belts 350 ensures the stability of the conveyor assembly 360 when conveying goods, reduces bumps and vibrations of the conveyed goods, and prevents the conveyor assembly 360 from tipping over or even overturning due to breakage of the conveyor belts 350 during the goods conveying process, thereby ensuring the safety of goods transportation.

[0085] Please continue to refer to Figure 4 As a specific embodiment, the driving assembly 340 includes a third driving member 341, a driving shaft 342, at least two transmission shafts 343 and a transmission belt 344 correspondingly sleeved on the transmission shaft 343. The transmission belt 344 is also sleeved on the driving shaft 342. A plurality of conveyor belts 350 are respectively fixed on the two transmission shafts 343. The third driving member 341 drives the driving shaft 342 and drives the transmission shaft 343 to rotate, so that the conveyor belt 350 curls or straightens on the transmission shaft 343 and drives the conveying assembly 360 to move along the second direction.

[0086] The third driving component 341 can be various driving devices such as a driving motor, a cylinder, a hydraulic cylinder, etc.

[0087] It can be understood that the third driving member 341 and the driving shaft 342 can be parallel transmission, that is, the third driving member 341 can directly drive the driving shaft 342 to rotate, and the third driving member 341 and the driving shaft 342 can also be right-angled transmission, that is, the third driving member 341 can drive the driving shaft 342 to rotate through a right-angle gear box. Specifically, the axis of the third driving member 341 is perpendicular to the driving shaft 342, and the axis of the third driving member 341 and the driving shaft 342 are meshed with each other.

[0088] In this embodiment, the driving shaft 342 is driven to rotate by the third driving member 341, and the driving shaft 343 is driven to rotate by the transmission belt 344, so that the multiple conveyor belts 350 connected to the transmission shaft 343 are curled or stretched during the rotation of the transmission shaft 343. When the conveyor belt 350 is curled, it drives the conveying assembly 360 connected to the conveyor belt 350 to move along the second direction close to the driving assembly 340. When the conveyor belt 350 is stretched, it drives the conveying assembly 360 connected to the conveyor belt 350 to move along the second direction away from the driving assembly 340, thereby realizing the position adjustment of the multiple conveying assemblies 360 in the warehousing device 310, the transfer device 320 and the out-of-warehouse device 330 in the second direction.

[0089] Please continue to refer to Figure 4 In order to improve the stability performance during the cargo transportation process, as a specific implementation method, the loader and unloader also include a support frame 3100 corresponding to the warehousing device, the transfer device and the out-of-warehouse device. The support frame 3100 includes at least four support rods 3101 and at least four connecting rods 3102. Each connecting rod 3102 is fixedly arranged between two adjacent support rods 3101. The four support rods 3101 are enclosed and combined to form an internal conveying space. The internal conveying space is used to accommodate any one of the warehousing device 310, the transfer device 320 and the out-of-warehouse device 330.

[0090] Figure 7 Another structural schematic diagram of the loading and unloading machine provided in some embodiments of the present application is shown.

[0091] like Figure 7 As shown, in order to protect the goods during transportation, as a specific implementation, a protective plate 3103 can be further provided between two adjacent support rods 3101 .

[0092] For example, with the extension direction of the rolling element 363 as the third direction, protective plates 3103 can be set on opposite sides of the warehousing device 310 along the third direction, and protective plates 3103 can also be set upstream of the warehousing device 310 along the first direction. Of course, in order to allow the goods to be stored on the warehousing conveyor line 20 to be transported to the warehousing device 310, an opening needs to be set at the position where the warehousing conveyor line 20 and the warehousing device 310 are connected, or the protective plate 3103 is not set at the connection position. For the transfer device 320, a protective plate 3103 can be set on one side of the transfer device 320 along the third direction, so that the handling robot 10 can handle goods on the side of the transfer device 320 where the protective plate is not set. The setting position of the protective plate 3103 of the outbound device 330 is basically the same as that of the warehousing device 310, and will not be described in detail here.

[0093] Please continue to refer to Figure 7As a specific embodiment, the loader 30 further includes a protective cover 3104 which is mounted on the drive assembly 340 of the warehousing device 310 , the transfer device 320 and the outbound device 330 to protect the drive assembly 340 .

[0094] Please refer again Figure 2 As a specific embodiment, the handling robot 10 includes a transport component 110 and a transport component 120 arranged on the transport component. The transport component 120 includes a positioning member 121 and a plurality of placement members 122. One end of the positioning member 121 is connected to the transport component and extends along the second direction. The plurality of placement members 122 are sequentially arranged on the positioning member 121 along the second direction. The plurality of placement members 122 correspond one-to-one to the plurality of conveying components 360 in the transfer device 320. The placement members 122 are used to place the goods to be entered into the warehouse on the conveying component 360 of the transfer device 320 or to place the goods to be exited from the warehouse on the conveying component 360 of the transfer device 320.

[0095] During the warehousing process, the transport assembly 110 is controlled to move to the corresponding position of the transfer device 320, so that the multiple storage elements 122 in the transport assembly 120 correspond one-to-one with the multiple conveying elements 360 of the transfer device 320. The storage elements 122 carry the goods to be stored on the multiple conveying elements 360 of the transfer device 320. Then, the transport assembly 110 is controlled to move to the warehouse, and the goods to be stored on the storage elements 122 are placed into the warehouse. During the outbound process, the goods to be stored are placed on the storage elements 122 of the transport assembly 120, and the transport assembly 110 is used to make the multiple storage elements 122 of the transport assembly 120 correspond to the multiple conveying elements 360 of the transfer device 320. The goods to be stored on the storage elements 122 are placed on the conveying elements 360 of the transfer device 320, thereby realizing the outbound of the goods to be stored.

[0096] It is understandable that the transport component 110 can be various transport vehicles, such as an AGV (Automated Guided Vehicle), or other equipment with guided transport functions.

[0097] In an embodiment of the present application, the transport robot 10 can simultaneously transport goods to be stored on multiple conveying components 360 of the transfer device 320, or can simultaneously place multiple goods to be shipped out on multiple conveying components 360 of the transfer device 320, thereby saving transport time and improving the efficiency of goods in and out of the warehouse.

[0098] Please continue to refer to Figure 2As a specific embodiment, the placement member 122 is movably arranged on the positioning member 121. The placement member 122 includes a third connecting rod 1221 and a plurality of placement rods 1222 sequentially arranged on the third connecting rod 1221 along the first direction. Before the transport robot 10 transports the goods on the conveying component 360 of the transfer device 320, the plurality of placement rods 1222 of the placement member 122 are inserted one by one between two adjacent rolling members 363 in the conveying component 360.

[0099] It can be understood that the positioning member 121 can be a structure such as a guide rail, a screw, a sliding rod, etc., and multiple storage members 122 are slidably arranged on the positioning member 121 in sequence along the second direction. The positioning member 121 can also be other structures that cooperate with the storage member 122 to enable the storage member 122 to move along the second direction.

[0100] It can be understood that the distance between two adjacent storage rods 1222 is smaller than the diameter of the rolling element 363 in each conveying assembly 360 of the transfer device 320, and the width of the storage rod 4222 along the first direction is smaller than the distance between two adjacent rolling elements 363 in each conveying assembly 360 of the transfer device 320. In other words, the storage rods 4222 of the storage member 422 can be inserted into the gap between the rolling elements 363 of the conveying assembly 360 of the transfer device 320, so that during the storage process, By controlling each placement piece 122 to move a preset distance along the second direction away from the transport component 110, the goods to be stored originally on the transfer device 320 are carried on each placement rod 1222. During the outbound process, by controlling the placement piece 122 to move a preset distance along the second direction close to the transport component 110, the goods to be stored originally on each placement rod 1222 are placed on each rolling piece 363 of the conveying component 360, thereby realizing the taking and placing of the goods on the conveying component 360 of the transfer device 320.

[0101] In a second aspect, an embodiment of the present application further provides a conveying device, comprising any one of the warehousing device 310, the transfer device 320 or the outbound device 330 in any of the above-mentioned cargo loading and unloading systems.

[0102] Figure 8 A flowchart for completing the warehousing of goods to be stored by using a handling robot is provided in some embodiments of the present application.

[0103] like Figure 2 and Figure 8 As shown, in a third aspect, an embodiment of the present application further provides a transport robot 10 for transporting the goods to be stored on the transfer device 320 of any of the above-mentioned cargo loading and unloading systems to the warehouse.

[0104] Specifically, the steps for warehousing the goods to be warehousing include:

[0105] S1, the driving component 340 drives the multiple conveying components 360 of the storage device 310 to dock with the storage conveyor line 20 in sequence along the second direction, and the goods to be stored on the storage conveyor line 20 are sequentially conveyed to the conveying components 360 of the storage device 310;

[0106] S2, the multiple conveying components 360 of the storage device 310 are docked one by one with the multiple conveying components 360 of the transfer device 320, and the goods to be stored in the storage device 310 are transported to the conveying components 360 of the transfer device 320;

[0107] S3, the transport assembly 110 of the transport robot 10 moves to the transfer device 320, and the multiple placement rods 1222 in the transport assembly 120 of the transport robot 10 are inserted one by one into the multiple rolling elements 363 in the transfer device 320;

[0108] S4, the placement member 122 of the transport robot 10 moves a preset distance away from the transport assembly 110 in the second direction, and the goods to be stored on the transfer device 320 are carried on the placement rod 1222 of the transport robot 10;

[0109] S5 , the transport component 110 of the transport robot 10 drives the transport component 120 to move to the warehouse.

[0110] The conveyor assembly 360 of the storage device 310 is driven by the driving component 340 to move along the second direction, so that the conveyor assembly 360 closest to the driving component 340 is docked with the external storage conveyor line 20, so that the goods to be stored on the storage conveyor line 20 are transferred to the conveyor assembly 360 closest to the driving component 340. Subsequently, the conveyor assembly 360 is continuously lifted along the second direction by the driving component 340, and the next conveyor assembly 360 of the conveyor assembly 360 closest to the driving component 340 is docked with the storage conveyor line 20, and the transfer of the goods to be stored is completed, and so on, until all the conveyor assemblies 360 in the storage device 310 receive the goods to be stored from the storage conveyor line 20, thereby lifting the conveyor assembly 360 by the driving component 340. The conveying component 360 corresponds one-to-one to the multiple conveying components 360 on the transfer device 320, so that the goods to be stored in the conveying component 360 of the warehousing device 310 are transported to the conveying component 360 of the transfer device 320. At this time, the transport component 110 in the transport robot 10 controls the transport robot 10 to move to the transfer device 320, and the respective placement rods 1222 in the transport component 120 of the transport robot 10 are inserted between the respective rolling elements 363 in the respective conveying components 360 of the transfer device 320. By controlling the respective placement elements 122 to move a preset distance away from the transport component 110 in the second direction, the goods to be stored originally located in the transfer device 320 are carried on the respective placement rods 1222 of the transport robot 10, and the transport component 120 of the transport robot 10 controls the transport robot 10 to move to the warehouse, thereby completing the storage of the goods to be stored.

[0111] Figure 9 A flowchart for completing the outbound delivery of goods using a handling robot is provided in some embodiments of the present application.

[0112] like Figure 2 and Figure 9 As shown, in a fourth aspect, an embodiment of the present application further provides a transport robot 10 for transporting goods to be shipped out of a warehouse to a transfer device 320 of any of the above-mentioned cargo loading and unloading systems.

[0113] Specifically, the steps for shipping goods include:

[0114] s1, the goods to be shipped out of the warehouse are placed on the placement rods 1222 of the multiple placement members 122 of the transport robot 10;

[0115] s2, the placement members 122 of the transport robot 10 move a preset distance in the second direction toward the transport assembly 110, and the goods to be shipped on the placement rods 1222 are placed on the conveying assemblies 360 of the transfer device 320;

[0116] s3, the driving assembly 340 of the transfer device 320 drives the conveying assembly 360 of the transfer device 320 to move in the second direction, and the multiple conveying assemblies 360 of the transfer device 320 are docked one by one with the multiple conveying assemblies 360 of the outbound device 330, and the goods to be stored are conveyed to the conveying assemblies 360 of the outbound device 330;

[0117] s4, the driving component 340 of the outbound device 330 drives the multiple conveying components 360 of the outbound device 330 to move along the second direction, so that the multiple conveying components 360 are docked with the outbound conveyor line 40 in turn, and the goods to be outbound on the conveying component 360 are transferred to the outbound conveyor line 40 to realize outbound delivery.

[0118] In this embodiment, during the outbound delivery of the goods to be delivered, the goods to be delivered are first carried on the respective placement rods 1222 of the handling robot 10, and the handling component 120 controls the handling robot 10 to move to the transfer device 320, and the respective placement rods 1222 are correspondingly inserted between the respective rolling elements 363 of the conveying component 360 of the transfer device 320. At this time, the respective placement elements 122 of the handling robot 10 move a preset distance along the second direction close to the transport component 110, and the goods to be delivered on the placement rods 1222 are placed on the respective conveying components 360 of the transfer device 320, and the conveying components 360 are driven by the driving component 340 to move along the second direction to the corresponding position, and correspond one-to-one with the multiple conveying components 360 in the outbound delivery device 330, so that the goods to be delivered on the transfer device 320 are delivered to the outbound delivery device 330. 0, and when the conveying component 360 of the outbound device 330 receives the goods to be outbound from the transfer device 320, the driving component 340 of the outbound device 330 drives the conveying component 360 of the outbound device 330 to move along the second direction, so that the conveying component 360 closest to the driving component 340 in the outbound device 330 is docked with the outbound conveyor line 40, so that the goods to be outbound on the conveying component 360 closest to the driving component 340 are transported to the outbound conveyor line 40, and then the driving component 340 continues to drive the conveying component 360 to move along the second direction, so that the other conveying components 360 below the conveying component 360 closest to the driving component 340 are docked with the outbound conveyor line 40 in turn, so that the goods to be outbound on each conveying component 360 are transported to the outbound conveyor line 40, thereby realizing the outbound of the goods to be outbound.

[0119] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A cargo handling system, characterized in that: It includes a handling robot and an inbound conveyor line, a loader and an outbound conveyor line arranged in sequence along a first direction; The loader and unloader includes an inbound device, a transfer device, and an outbound device sequentially arranged along the first direction; the transport robot is used to transport goods on the transfer device to the warehouse or transport goods from the warehouse to the transfer device; the inbound device, the transfer device, and the outbound device each include a plurality of conveying components sequentially arranged along the second direction; During the goods warehousing process, the plurality of conveying components in the warehousing device correspond one to one with the plurality of conveying components in the transfer device; During the goods outbound process, the plurality of conveying components in the transfer device correspond one-to-one to the plurality of conveying components in the outbound device; The storage device includes a drive assembly and a conveyor belt. In the storage device, a plurality of conveyor assemblies are sequentially connected by the conveyor belt. The drive assembly is connected to the conveyor belt to drive the conveyor assemblies to move along a second direction, and the second direction is arranged to intersect with the first direction. The conveying assembly further includes at least two receiving plates, and the receiving plates are used to receive the conveyor belt connected to the conveying assembly.

2. The cargo handling system according to claim 1, characterized in that: The transfer device and the outbound device both include a drive assembly and a conveyor belt. In the transfer device and the outbound device, multiple conveying assemblies are connected in sequence through the conveyor belt. The drive assembly is connected to the conveyor belt to drive the conveying assembly to move along a second direction, and the second direction is arranged to intersect with the first direction.

3. The cargo handling system according to claim 2, characterized in that: The conveying assembly includes a first connecting rod, a second connecting rod and a plurality of rolling elements arranged in sequence along the first direction. The first connecting rod and the second connecting rod both extend along the first direction. The first connecting rod is rollingly connected to one end of the rolling element, and the second connecting rod is rollingly connected to the other end of the rolling element. The rolling element is used to convey goods along the first direction.

4. The cargo handling system according to claim 3, characterized in that: The two receiving plates are respectively fixedly arranged on a side of the first connecting rod away from the rolling member and a side of the second connecting rod away from the rolling member.

5. The cargo handling system according to claim 3, characterized in that: The conveying assembly further includes at least two first position-limiting members, which are respectively arranged on both sides of the conveying assembly along the first direction, and the first position-limiting members are used to limit the movement of the goods along the first direction.

6. The cargo handling system according to claim 5, characterized in that: The first limiting member includes a fixed portion, a limiting plate and a first driving member. The first driving member includes a driving member. The fixed portion is fixedly arranged between two adjacent rolling members. One end of the limiting plate is rotatably connected to the fixed portion, and the other end of the limiting plate is rotatably connected to the driving member. The first driving member drives the driving member to extend or contract to allow the limiting plate to rotate out of or into the conveying surface of the conveying assembly.

7. The cargo handling system according to claim 3, characterized in that: The warehousing device, the transfer device and the out-warehouse device all include a second driving member, a sliding member and a plurality of second limiting members. The second driving member is connected to the sliding member, and the sliding member extends along the second direction. The plurality of second limiting members are arranged in a one-to-one correspondence with the plurality of conveying components. One end of the second limiting member is fixed on the sliding member, and the other end of the second limiting member protrudes between two adjacent conveying components. The second driving member is used to drive the sliding member to slide along the second direction.

8. The cargo handling system according to claim 1, wherein: There are multiple conveyor belts, and the driving component and the conveying component are connected through the multiple conveyor belts.

9. The cargo handling system according to claim 8, characterized in that: The driving assembly includes a third driving member, a driving shaft, at least two transmission shafts and transmission belts correspondingly mounted on the transmission shafts. The transmission belts are also mounted on the driving shafts. Multiple conveyor belts are respectively fixed on two of the transmission shafts. The third driving member drives the driving shaft and drives the transmission shaft to rotate, so that the conveyor belts curl or straighten on the transmission shaft and drive the conveying assembly to move along the second direction.

10. The cargo handling system according to claim 1, wherein: The loading and unloading machine also includes a support frame corresponding to the warehousing device, the transfer device and the out-warehouse device one by one, and the support frame includes at least four support rods and at least four connecting rods, each of the connecting rods is fixed between two adjacent support rods, and the four support rods are combined to form an internal conveying space, and the internal conveying space is used to accommodate any one of the warehousing device, the transfer device and the out-warehouse device.

11. The cargo handling system according to claim 3, wherein: The handling robot includes a transport component and a handling component arranged on the transport component, the handling component includes a positioning member and a plurality of placement members, one end of the positioning member is connected to the transport component and extends along the second direction, and the plurality of placement members are sequentially arranged on the positioning member along the second direction, and the plurality of placement members correspond one-to-one to the plurality of conveying components in the transfer device, and the placement members are used to place goods to be entered into the warehouse on the conveying component of the transfer device or to place goods to be exited from the warehouse on the conveying component of the transfer device.

12. The cargo handling system according to claim 11, wherein: The placing piece is movably arranged on the positioning piece, and the placing piece includes a third connecting rod and a plurality of placing rods sequentially arranged on the third connecting rod along the first direction. Before the transport robot transports the goods on the conveying component of the transfer device, the plurality of placing rods of the placing piece are inserted one by one between two adjacent rolling elements in the conveying component.

13. A transport robot, characterized in that: Used to transport the goods to be stored on the transfer device of the cargo loading and unloading system as described in any one of claims 3-12 to the warehouse.

14. A transport robot, characterized in that: Used to transport the goods to be shipped out of the warehouse to the transfer device of the cargo loading and unloading system as described in any one of claims 3-12.

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