Container transfer system

Abstract

The application discloses a kind of container transfer systems, the container transfer system includes robot, first conveying device, second conveying device and transfer device, robot has multilayer temporary storage mechanism, first conveying device has multilayer first conveying mechanism, multilayer first conveying mechanism corresponds with multilayer temporary storage mechanism, second conveying device and first conveying device are arranged at interval in first direction, robot is located between first conveying device and second conveying device, second conveying device has multilayer second conveying mechanism, multilayer second conveying mechanism corresponds with multilayer temporary storage mechanism, transfer device is located at the same side of first conveying device and second conveying device, transfer device is used to transfer the container on multilayer temporary storage mechanism to corresponding first conveying mechanism and / or second conveying mechanism, or the container on multilayer first conveying mechanism and / or second conveying mechanism is transferred to corresponding temporary storage mechanism.The container transfer system of the embodiment of the application is efficient in transferring container.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of warehousing, in particular to a cargo box transfer system. BACKGROUND

[0002] The robot can receive instructions or system pre-set programs to automatically perform cargo transfer, carrying and other operations. In the related art, the robot can carry multiple cargo boxes at a time and place the cargo boxes on different layer temporary storage mechanisms of the robot. When the robot transfers the cargo boxes, the robot takes the cargo boxes from the different temporary storage mechanisms and places them at target positions.

[0003] However, in the related art, when the robot transfers the cargo boxes, the robot needs to take the cargo boxes from the different temporary storage mechanisms one by one. In other words, when the robot transfers the cargo boxes, the robot can only transfer one cargo box at a time, and the transfer efficiency is low. In order to meet the efficiency requirements of the conveying line, more robots need to be invested, which increases the investment cost. SUMMARY

[0004] The present application aims to at least solve one of the technical problems in the related art. To this end, an embodiment of the present application proposes a cargo box transfer system that improves transfer efficiency and reduces investment cost.

[0005] The cargo box transfer system according to an embodiment of the present application comprises:

[0006] a robot, the robot having a plurality of temporary storage mechanisms for temporarily storing cargo boxes;

[0007] a first conveying device, the first conveying device having a plurality of first conveying mechanisms corresponding to the plurality of temporary storage mechanisms, the first conveying mechanisms being used for conveying cargo boxes;

[0008] a second conveying device, the second conveying device and the first conveying device being arranged in a first direction, the robot being located between the first conveying device and the second conveying device, the second conveying device having a plurality of second conveying mechanisms corresponding to the plurality of temporary storage mechanisms, the second conveying mechanisms being used for conveying cargo boxes;

[0009] a transfer device, the transfer device being located on the same side of the first conveying device and the second conveying device, and the transfer device being used for transferring the cargo boxes on the plurality of temporary storage mechanisms to the corresponding first conveying mechanisms and / or second conveying mechanisms, or transferring the cargo boxes on the plurality of first conveying mechanisms and / or second conveying mechanisms to the corresponding temporary storage mechanisms.

[0010] The cargo box transfer system according to an embodiment of the present application can transfer multiple cargo boxes at a time through the transfer device, has high transfer efficiency, and has low cost for transferring cargo boxes.

[0011] In some embodiments, the transferring device comprises:

[0012] a support frame;

[0013] a transferring assembly arranged on the support frame, the transferring assembly being movable relative to the support frame in the first direction to be opposite to the first conveying mechanism and the second conveying mechanism respectively, the transferring assembly being movable relative to the support frame in the height direction of the support frame to transfer the containers on the temporary storage mechanism to the transferring assembly or to place the containers on the transferring assembly on the first conveying mechanism or the second conveying mechanism, and the transferring assembly comprising a plurality of docking members arranged in the height direction of the support frame, the plurality of docking members corresponding to the plurality of first conveying mechanisms, the plurality of second conveying mechanisms and the plurality of temporary storage mechanisms.

[0014] In some embodiments, the support frame comprises a guide rail assembly, the transferring assembly further comprising a moving member arranged on the guide rail assembly and moving in the first direction along the guide rail assembly, and a support member connected to the moving member and movable relative to the moving member in the height direction of the support frame, the docking members being arranged on the support member.

[0015] In some embodiments, the transferring device further comprises a first driving assembly connected to the moving member for driving the moving member to move in the first direction along the guide rail assembly.

[0016] In some embodiments, the first driving assembly comprises:

[0017] a synchronous belt connected to the support frame;

[0018] a pulley connected to the moving member and rotatable relative to the moving member, the pulley being engaged with the synchronous belt and movable along the synchronous belt in the first direction;

[0019] a first driving motor connected to the pulley to drive the pulley to rotate.

[0020] In some embodiments, the synchronous belt comprises a first synchronous belt and a second synchronous belt arranged in the height direction of the support frame, the pulley comprises a first pulley and a second pulley, the first pulley and the second pulley are both connected to the moving member and rotatable relative to the moving member, the first pulley is engaged with the first synchronous belt, the second pulley is engaged with the second synchronous belt, and the first driving motor is connected to the first pulley and the second pulley.

[0021] In some embodiments, the first driving assembly further comprises:

[0022] a first driving shaft extending along the height direction of the support frame and connected with the first driving motor and the first pulley, the first driving shaft being connected with the moving member and rotatable relative to the moving member;

[0023] a second driving shaft extending along the height direction of the support frame and arranged in sequence with the first driving shaft along the height direction of the support frame, the second driving shaft being connected with the first driving motor and the second pulley, the second driving shaft being connected with the moving member and rotatable relative to the moving member.

[0024] In some embodiments, the first driving assembly further comprises:

[0025] a first coupling, the first driving shaft comprising a plurality of first shaft segments, adjacent first shaft segments being connected by the first coupling;

[0026] and / or a second coupling, the second driving shaft comprising a plurality of second shaft segments, adjacent second shaft segments being connected by the second coupling.

[0027] In some embodiments, the transfer device further comprises a second driving assembly for driving the support member to move relative to the moving member along the height direction of the support frame.

[0028] In some embodiments, the second driving assembly comprises:

[0029] a rotating member and a transmission member, the rotating member being rotatable relative to the transmission member, the rotating member having a protrusion on its outer periphery, the protrusion being ablatable against and away from the support member;

[0030] a second driving motor connected with the transmission member to drive the rotating member to rotate.

[0031] In some embodiments, the second driving assembly further comprises a swing shaft, the swing shaft being parallel to the rotating member in axial direction, the swing shaft being connected with the protrusion, the swing shaft having an outer surface ablatable against and away from the support member.

[0032] In some embodiments, the first conveying device further comprises a first lifting mechanism, the first lifting mechanism comprising a first transport assembly for receiving an external container and transferring the container to a plurality of layers of the first conveying mechanism or receiving a container conveyed by the first conveying mechanism;

[0033] And / or, the second conveying device further comprises a second lifting mechanism, the second lifting mechanism comprising a second transport assembly for receiving an external container and transferring the container to a plurality of layers of the second conveying mechanism or receiving a container conveyed by the second conveying mechanism.

[0034] In some embodiments, the first conveying device further comprises a third lifting mechanism, the third lifting mechanism comprising a third transport assembly for receiving a container provided by the first transport assembly and transferring the container to a plurality of layers of the first conveying mechanism or receiving a container on the plurality of layers of the first conveying mechanism and transferring the container to the first transport assembly.

[0035] And / or, the second conveying device further comprises a fourth lifting mechanism, the fourth lifting mechanism comprising a fourth transport assembly for receiving a container provided by the second transport assembly and transferring the container to a plurality of layers of the second conveying mechanism or receiving a container on the plurality of layers of the second conveying mechanism and transferring the container to the second transport assembly.

[0036] In some embodiments, the container transfer system comprises a detection assembly provided on at least one of the first conveying mechanism, the second conveying mechanism, the first transport assembly, and the second transport assembly, the detection assembly being configured to detect whether there is a foreign object and / or whether the container is in place.

[0037] In some embodiments, the detection assembly comprises:

[0038] a first detection member configured to detect whether the container is in place during conveying; and / or

[0039] a second detection member located on one side of the first detection member in a conveying direction of the container, the second detection member being configured to detect a position of the container and whether there is a foreign object, a distance between the second detection member and the first detection member in the conveying direction being less than a dimension of the container in the conveying direction.

[0040] In some embodiments, there are at least two second detection members, the at least two second detection members being arranged at intervals along a height direction of the container.

[0041] In some embodiments, the detection assembly further comprises a third detection member located on another side of the first detection member in the conveying direction, the third detection member being configured to detect a position of the container and whether there is a foreign object, a distance between the third detection member and the first detection member in the conveying direction being less than a dimension of the container in the conveying direction.

[0042] In some embodiments, the third detection member is at least two, and the at least two third detection members are arranged at intervals along the height direction of the container.

[0043] In some embodiments, the distance between the second detection member and the third detection member in the conveying direction is 1.1-1.9 times the size of the container in the conveying direction.

[0044] In some embodiments, the container transfer system further comprises a guide device arranged between the first conveying device and the second conveying device for guiding the movement of the robot.

[0045] In some embodiments, the guide device comprises a first guide assembly and a second guide assembly arranged opposite and at intervals in the first direction, the first guide assembly is arranged adjacent to the first conveying device, the second guide assembly is arranged adjacent to the second conveying device, and the robot can be located between the first guide assembly and the second guide assembly.

[0046] In some embodiments, each of the first guide assembly and the second guide assembly comprises a base plate and a guide plate arranged on the base plate and adjustable in position in the first direction relative to the base plate, and the robot can be located between the guide plate of the first guide assembly and the guide plate of the second guide assembly and can move along the length direction of the guide plate.

[0047] In some embodiments, the base plate is provided with first positioning holes arranged at intervals in the first direction, and the guide plate is provided with second positioning holes extending in the first direction and penetrating through the guide plate in the thickness direction of the guide plate,

[0048] Each of the first guide assembly and the second guide assembly further comprises a fastener which can pass through the second positioning hole and any one of the first positioning holes to connect the base plate and the guide plate.

[0049] In some embodiments, each of the first guide assembly and the second guide assembly further comprises a stopper arranged on the base plate and abutting against the guide plate, in the first guide assembly, the stopper is located on the side of the guide plate away from the second guide assembly, and in the second guide assembly, the stopper is located on the side of the guide plate away from the first guide assembly.

[0050] In some embodiments, the stopper is a plurality of, and the plurality of stoppers are arranged at intervals along the length direction of the base plate.

[0051] In some embodiments, each of the first and second guiding assemblies further comprises a plurality of guiding wheels arranged on a side of the guiding plate distal to the base plate, the guiding wheels being spaced along a length direction of the guiding plate and configured to guide the robot in cooperation with the guiding plate.

[0052] In some embodiments, the case transfer system further comprises a positioning device arranged on the first and / or second conveying device and configured to position the robot.

[0053] In some embodiments, the positioning device comprises a first positioning assembly and a second positioning assembly arranged opposite and spaced apart in the first direction, the first positioning assembly being arranged on the first conveying device and the second positioning assembly being arranged on the second conveying device, at least a portion of the first positioning assembly and at least a portion of the second positioning assembly being movable towards or away from each other to position the robot when the robot is stopped.

[0054] In some embodiments, each of the first and second positioning assemblies comprises a third driving motor, a transmission assembly and a positioning plate, the third driving motor being connected to the transmission assembly, the transmission assembly being connected to the positioning plate to drive the positioning plate to move in the first direction.

[0055] In some embodiments, each of the first and second positioning assemblies further comprises a base and a mounting plate, the third driving motor, the transmission assembly and the positioning plate being arranged on the base, the mounting plate being arranged on a bottom of the base, the mounting plate of the first positioning assembly being connected to the first conveying device and the mounting plate of the second positioning assembly being connected to the second conveying device. BRIEF DESCRIPTION OF DRAWINGS

[0056] Figure 1 is a structural schematic view of a case transfer system according to an embodiment of the present application, wherein a robot is not shown.

[0057] Figure 2 is an exploded schematic view of a case transfer system according to an embodiment of the present application.

[0058] Figure 3 is a structural schematic view of a first conveying device of a case transfer system according to an embodiment of the present application.

[0059] Figure 4 is a structural schematic view of a first lifting mechanism of a case transfer system according to an embodiment of the present application.

[0060] Figure 5 is a structural schematic view of a transfer device of a case transfer system according to an embodiment of the present application.

[0061] Figure 6 is a structural schematic view of the first driving assembly in the embodiment of the present application. Figure 5

[0062] Figure 7 is a structural schematic view of the second driving assembly in the embodiment of the present application. Figure 5

[0063] Figure 8 is a rear view schematic view of the embodiment of the present application. Figure 5

[0064] Figure 9 is a structural schematic view of the third driving assembly in the embodiment of the present application. Figure 8

[0065] Figure 10 is a structural schematic view of the fourth driving assembly in the embodiment of the present application.

[0066] Figure 11 is a structural schematic view of the guiding device in the embodiment of the present application.

[0067] Figure 12 is a structural schematic view of the positioning device in the embodiment of the present application.

[0068] Figure 13 is a partial schematic view of the detection assembly on the first lifting mechanism in the embodiment of the present application.

[0069] Reference signs:

[0070] Container transfer system 100; container 101;

[0071] First conveying device 1; first conveying mechanism 11; first lifting mechanism 12; first transport assembly 120; third lifting mechanism 13;

[0072] Second conveying device 2; second conveying mechanism 21; second lifting mechanism 22; fourth lifting mechanism 23;

[0073] Transfer device 3; support 31; guide rail assembly 310; transfer assembly 32; jacking fork 320; moving piece 321; supporting piece 322;

[0074] First driving assembly 33; first driving motor 330; first driving shaft 331; first shaft segment 3310; first coupling 3311; second driving shaft 332; second shaft segment 3320; second coupling 3321; pulley 333; first pulley 3331; second pulley 3332; synchronous belt 334; first synchronous belt 3341; second synchronous belt 3342;

[0075] ​​​​Second driving assembly 34; second driving motor 340; transmission member 341; rotating member 342; protruding part 343; swing shaft 344;

[0076] Robot 4; temporary storage mechanism 41;

[0077] Guide device 5; base plate 501; guide plate 502; second positioning hole 5021; stopper 503; guide wheel 504; second guide assembly 52; first guide assembly 51;

[0078] Positioning device 6; first positioning assembly 61; second positioning assembly 62; mounting plate 601; base 602; third driving motor 603; transmission assembly 604; positioning plate 605;

[0079] Detection assembly 7; first detection member 71; second detection member 72; third detection member 73. DETAILED DESCRIPTION

[0080] Embodiments of the present application are described in detail below with reference to the accompanying drawings. The embodiments described below are exemplary and are intended to explain the present application, and should not be understood as limiting the present application. As Figures 1-13 As shown in the drawings, the container transfer system 100 of the embodiment of the present application comprises a robot 4, a first conveying device 1, a second conveying device 2 and a transfer device 3. For the convenience of description, the following is described in the up-down direction, left-right direction and front-rear direction of the container transfer system 100. Figure 1 As shown in the drawings, the container transfer system 100 of the embodiment of the present application comprises a robot 4, a first conveying device 1, a second conveying device 2 and a transfer device 3. For the convenience of description, the following is described in the up-down direction, left-right direction and front-rear direction of the container transfer system 100.

[0081] The robot 4 has a plurality of temporary storage mechanisms 41 for temporarily storing the containers 101. Specifically, the plurality of temporary storage mechanisms 41 are arranged at intervals along the up-down direction, and each temporary storage mechanism 41 is used for temporarily storing the containers 101.

[0082] The first conveying device 1 has a plurality of first conveying mechanisms 11 corresponding to the plurality of temporary storage mechanisms 41, and the first conveying mechanisms 11 are used for conveying the containers 101. Specifically, the plurality of first conveying mechanisms 11 are arranged at intervals along the up-down direction, and each first conveying mechanism 11 can correspond to one temporary storage mechanism 41, i.e. the number of the first conveying mechanisms 11 is consistent with the number of the temporary storage mechanisms 41. The containers 101 can be moved from the first conveying mechanisms 11 to the temporary storage mechanisms 41, or from the temporary storage mechanisms 41 to the first conveying mechanisms 11.

[0083] The second conveying device 2 and the first conveying device 1 are in the first direction (e.g. the left-right direction) of the container transfer system 100. Figure 1The robot 4 can be located between the first conveying device 1 and the second conveying device 2, and the second conveying device 2 has a plurality of second conveying mechanisms 21 corresponding to the plurality of temporary storage mechanisms 41, and the second conveying mechanisms 21 are used for conveying the boxes 101. Specifically, the first conveying device 1 and the second conveying device 2 are arranged in the left-right direction, and the robot 4 can be moved between the first conveying device 1 and the second conveying device 2. The plurality of second conveying mechanisms 21 are arranged in the up-down direction, and each second conveying mechanism 21 can correspond to a temporary storage mechanism 41, that is, the number of the second conveying mechanisms 21 is consistent with the number of the temporary storage mechanisms 41. The box 101 can be moved from the second conveying mechanism 21 to the temporary storage mechanism 41, or from the temporary storage mechanism 41 to the second conveying mechanism 21.

[0084] The embodiment of the present application can make the robot 4 complete both the delivery and the pick-up at the same place by arranging at least two conveying devices, so as to avoid the robot 4 from moving to another place to pick up the goods after delivering the goods at one place, and improve the efficiency of the box transfer.

[0085] The transfer device 3 is located at the same side of the first conveying device 1 and the second conveying device 2, and the transfer device 3 is used for transferring the box 101 on the plurality of temporary storage mechanisms 41 to the corresponding first conveying mechanisms 11 and / or second conveying mechanisms 21, or transferring the box 101 on the plurality of first conveying mechanisms 11 and / or second conveying mechanisms 21 to the corresponding temporary storage mechanisms 41.

[0086] As shown in Figure 1 and Figure 2 The transfer device 3 is located in front of or behind the first conveying device 1 and the second conveying device 2, and the transfer device 3 has three position states:

[0087] Firstly, the transfer device 3 is used for transferring the box 101 between the robot 4 and the first conveying device 1. That is, the transfer device 3 can transfer a plurality of boxes 101 on a plurality of temporary storage mechanisms 41 to a plurality of corresponding first conveying mechanisms 11, or the transfer device 3 can transfer a plurality of boxes 101 on a plurality of first conveying mechanisms 11 to a plurality of corresponding temporary storage mechanisms 41. For example, the 3 temporary storage mechanisms 41 of the robot 4 store 3 boxes 101, and the transfer device 3 can transfer the 3 boxes 101 to the 3 first conveying mechanisms 11.

[0088] Second, the transfer device 3 is used to transfer the containers 101 between the robot 4 and the second conveying device 2. That is, the transfer device 3 can transfer the containers 101 on the multiple temporary storage mechanisms 41 to the corresponding multiple second conveying mechanisms 21, or the transfer device 3 can transfer the containers 101 on the multiple second conveying mechanisms 21 to the corresponding multiple temporary storage mechanisms 41. For example, there are 3 containers 101 on the 3 temporary storage mechanisms 41 of the robot 4, and the 3 containers 101 can be transferred to the 3 second conveying mechanisms 21 by the transfer device 3.

[0089] Third, the transfer device 3 simultaneously transfers the containers 101 between the robot 4 and the first conveying device 1, and between the robot 4 and the second conveying device 2. For the third position state, the container transfer system can have the following embodiments:

[0090] In one embodiment, the transfer device 3 can transfer a part of the multiple containers 101 on the multiple temporary storage mechanisms 41 to the corresponding second conveying mechanisms 21, and the transfer device 3 can transfer another part of the multiple containers 101 to the corresponding first conveying mechanisms 11.

[0091] In another embodiment, the transfer device 3 can transfer the multiple containers 101 on the multiple first conveying mechanisms 11 to the corresponding multiple temporary storage mechanisms 41, and at the same time, the transfer device 3 can transfer the multiple containers 101 on the multiple second conveying mechanisms 21 to the corresponding multiple temporary storage mechanisms 41. For example, there are 5 containers 101 on the 5 temporary storage mechanisms 41 of the robot 4, and the transfer device 3 can transfer 2 containers 101 to 2 first conveying mechanisms 11, and the transfer device 3 can transfer 3 containers 101 to 3 second conveying mechanisms 21.

[0092] In another embodiment, the transfer device 3 transfers the totes 101 on the temporary storage mechanism 41 to the corresponding first conveying mechanism 11, while the transfer device 3 transfers the totes 101 on the second conveying mechanism 21 to the corresponding temporary storage mechanism 41. It should be noted that the temporary storage mechanism transferring the totes 101 to the first conveying mechanism 11 and the temporary storage mechanism receiving the totes 101 from the second conveying mechanism 21 can be the same robot or different robots. In other words, the transfer device 3 can transfer some of the totes 101 on the same robot 4 to the corresponding first conveying mechanism 11 and transfer some of the totes 101 on the second conveying mechanism 21 to the same robot 4; or the transfer device 3 can transfer the totes 101 on one robot 4 to the corresponding first conveying mechanism 11 and transfer the totes 101 on another robot 4 to the second conveying mechanism 21. It should be noted that the above-mentioned one robot 4 can leave after the totes 101 are docked with the first conveying mechanism 11, and the above-mentioned another robot 4 can move to the docking position of the second conveying mechanism 21 to receive the totes 101 on the second conveying mechanism 21.

[0093] The working process of the tote transfer system 100 according to the embodiments of the present application will be described below by taking the process of the robot 4 putting the totes 101 as an example. First, the multiple temporary storage mechanisms 41 of the robot 4 move with the multiple totes 101 to the position between the first conveying device 1 and the second conveying device 2; then, the multiple totes 101 are transferred to the first conveying device 1 and / or the second conveying device 2 by the transfer device 3. The action of the robot 4 taking the totes 101 is opposite to the action of the robot 4 putting the totes 101, which will not be described herein.

[0094] It should be noted that the transfer device 3 can transfer multiple totes 101 at a time, and the number of totes 101 transferred by the transfer device 3 can be less than or equal to the number of totes 101 in the same batch. For example, the transfer device 3 needs to transfer 5 totes 101, and the transfer device 3 can transfer all the totes 101 at a time, or transfer the totes 101 in 2 times, 3 times, or 4 times.

[0095] The box transfer system 100 of the embodiment of the present application separates the transfer device 3 from the conveying device, and one transfer device 3 can correspond to at least two conveying devices, so that a plurality of boxes 101 can be transferred from the robot 4 to the first conveying device 1 and / or the second conveying device 2 at a time or can be transferred from the first conveying device 1 and / or the second conveying device 2 to the robot 4 at a time by the transfer device 3, which is high in transfer efficiency and low in cost of transferring the boxes 101. It should be noted that the box transfer system 100 of the embodiment of the present application is not limited in the moving direction of the boxes 101 in structure. Specifically, when the scenarios of the boxes 101 in the moving process are described below, the moving direction of the boxes 101 is not limited, for example, if the boxes 101 are described below to move from the temporary storage mechanism 41 of the robot 4 to the first conveying mechanism 11, it is not limited that the boxes 101 can only move from the temporary storage mechanism 41 of the robot 4 to the first conveying mechanism 11, and in other scenarios, the boxes 101 can also move from the first conveying mechanism 11 to the temporary storage mechanism 41.

[0096] In order to facilitate the description of the technical solutions of the present application, only some scenarios are selected for description below. For example, two different positions of the box transfer system 100 of the embodiment of the present application where the boxes 101 can be stored are defined as a first position and a second position. When the boxes 101 are described to move from the first position to the second position, it means that the boxes 101 can also move from the second position to the first position.

[0097] In some embodiments, the transfer device 3 includes a support 31 and a transfer assembly 32, the transfer assembly 32 is arranged on the support 31, and the transfer assembly 32 is movable relative to the support 31 along a first direction (such as the left-right direction as shown in the figure) to be opposite to the first conveying mechanism 11 and the second conveying mechanism 21 respectively. Figure 1 The transfer assembly 32 is movable relative to the support 31 along the height direction (such as the up-down direction as shown in the figure) of the support 31 to transfer the boxes 101 on the temporary storage mechanism 41 to the transfer assembly 32 or to place the boxes 101 on the transfer assembly 32 on the first conveying mechanism 11 or the second conveying mechanism 21. Figure 1 The transfer assembly 32 is movable relative to the support 31 along the height direction (such as the up-down direction as shown in the figure) of the support 31 to transfer the boxes 101 on the temporary storage mechanism 41 to the transfer assembly 32 or to place the boxes 101 on the transfer assembly 32 on the first conveying mechanism 11 or the second conveying mechanism 21. Figure 1 The transfer assembly 32 includes a plurality of docking pieces arranged at intervals along the height direction (such as the up-down direction as shown in the figure) of the support 31, for example, the jacking forks 320 as shown in the figure. Figure 1 The plurality of docking pieces correspond to the plurality of first conveying mechanisms 11, the plurality of second conveying mechanisms 21 and the plurality of temporary storage mechanisms 41.

[0098] It should be noted that the docking pieces on the transfer assembly 32 can be respectively docked with the temporary storage mechanism 101, the first conveying mechanism 11 and the second conveying mechanism 21, wherein the docking pieces can be the jacking forks 320 as shown in the figure. Figure 1The lifting fork 320 can also be a mechanical arm or other means capable of transferring the container.

[0099] Specifically, when the transfer assembly 32 moves along the height direction of the support 31, the container 101 on the temporary storage mechanism 41 can be lifted or pulled up, so as to be transferred to the transfer assembly 32. It can be understood that the manner of transferring the container 101 is not limited to the lifting or pulling up manner described above, as long as the container 101 can be transferred to the transfer assembly 32.

[0100] As shown in Figure 5 , the transfer assembly 32 can move relative to the support 31 in the up-down direction and the left-right direction, and the transfer assembly 32 includes a plurality of lifting forks 320 arranged in the up-down direction, the number of the lifting forks 320, the first conveying mechanism 11, the second conveying mechanism 21 and the temporary storage mechanism 41 is consistent, each lifting fork 320 corresponds to one temporary storage mechanism 41, and each temporary storage mechanism 41 corresponds to one first conveying mechanism 11 or one second conveying mechanism 21.

[0101] When the container 101 is transferred between the first conveying mechanism 11 and the transfer device 3, the lifting fork 320 moves towards the first conveying mechanism 11 to facilitate the transfer of the container 101. When the container 101 is transferred between the second conveying mechanism 21 and the transfer device 3, the lifting fork 320 moves towards the second conveying mechanism 21 to facilitate the transfer of the container 101.

[0102] The movement process of the lifting fork 320 will be described below taking the scenario that the robot 4 places the container 101 on the first conveying mechanism 11 as an example. First, the robot 4 moves to a position in abutment with the lifting fork 320, the lifting fork 320 is located below the container 101 on the temporary storage mechanism 401 of the robot 4, then the lifting fork 320 moves upward to lift the container 101, separates the container 101 from the temporary storage mechanism 41, and the robot 4 withdraws backward until it does not affect the movement of the lifting fork 320 in the left-right direction. Then, the lifting fork 320 moves towards the first conveying mechanism 11, and when the container 101 moves above the first conveying mechanism 11, the lifting fork 320 moves downward to place the container 101 on the first conveying mechanism 11. In this way, the transfer assembly 32 can improve the efficiency of the container transfer system 100 in handling the container 101, thereby saving the handling cost of the container 101.

[0103] In some embodiments, the support 31 includes a guide rail assembly 310, and the transfer assembly 32 further includes a moving piece 321 and a supporting piece 322, the moving piece 321 is arranged on the guide rail assembly 310 and moves along the guide rail assembly 310 in a first direction (such as the left-right direction as shown in Figure 1 , and the supporting piece 322 is connected to the moving piece 321 and can move relative to the moving piece 321 in the height direction of the support 31 (such as the up-down direction as shown in Figure 1The docking member is arranged on the support member 322.

[0104] As shown in Figure 5 and Figure 6 The guide rail assembly 310 is arranged on the bracket 31, and the moving member 321 is connected with the guide rail assembly 310 and can move in the left-right direction relative to the guide rail assembly 310. The support member 322 is arranged on the moving member 321, and the support member 322 can move in the up-down direction relative to the moving member 321. The jacking fork 320 is arranged on the support member 322, so that the jacking fork 320 can move in the up-down direction and the left-right direction relative to the bracket 31, thereby facilitating the transfer of the container 101.

[0105] In some embodiments, as shown in Figures 5 to 9 The transfer device 3 further comprises a first driving assembly 33 connected with the moving member 321 for driving the moving member 321 to move in the first direction (e.g. the left-right direction as shown in Figure 1 The position of the moving member 321 in the left-right direction can be controlled by the first driving assembly 33, and the position of the jacking fork 320 in the left-right direction can be controlled in turn, so that the transfer device 3 has a high degree of automation and facilitates the improvement of the container 101 handling efficiency.

[0106] In some embodiments, the first driving assembly 33 comprises a synchronous belt 334, a pulley 333 and a first driving motor 330. The synchronous belt 334 is connected with the bracket 31, the pulley 333 is connected with the moving member 321 and can rotate relative to the moving member 321, the pulley 333 is engaged with the synchronous belt 334 and can move in the first direction (e.g. the left-right direction as shown in Figure 1 The first driving motor 330 is connected with the pulley 333 to drive the pulley 333 to rotate.

[0107] As shown in Figures 5 to 7 The synchronous belt 334 is fixed on the bracket 31 and does not move with the moving member 321, the pulley 333 is engaged with the synchronous belt 334, and the pulley 333 is fixed on the moving member 321 and can move in the left-right direction with the moving member 321. The output end of the first driving motor 330 is connected with the pulley 333, and when the first driving motor 330 operates, it can drive the pulley 333 to rotate, thereby driving the moving member 321 to move in the left-right direction, and in turn driving the jacking fork 320 to move in the left-right direction. Thus, the container transfer system 100 of the embodiment of the present application utilizes the first driving motor 330, the synchronous belt 334 and the pulley 333 to facilitate the control of the position of the jacking fork 320 in the left-right direction, and the transmission ratio of the pulley 333 and the synchronous belt 334 is accurate and the operation is stable, which is conducive to improving the position accuracy of the jacking fork 320.

[0108] In some embodiments, the timing belt 334 includes a first timing belt 3341 and a second timing belt 3342, wherein the first timing belt 3341 and the second timing belt 3342 are aligned in the height direction of the bracket 31 (e.g., ...). Figure 1 As shown in the vertical direction, the pulleys 333 are arranged at intervals. The pulleys 333 include a first pulley 3331 and a second pulley 3332. Both the first pulley 3331 and the second pulley 3332 are connected to the moving member 321 and can rotate relative to the moving member 321. The first pulley 3331 is engaged with the first synchronous belt 3341, and the second pulley 3332 is engaged with the second synchronous belt 3342. The first drive motor 330 is connected to the first pulley 3331 and the second pulley 3332.

[0109] like Figures 5 to 7 As shown, the first synchronous belt 3341 and the second synchronous belt 3342 are spaced apart in the vertical direction, and the first pulley 3331 and the second pulley 3332 are also spaced apart in the vertical direction. For example, the first synchronous belt 3341 and the first pulley 3331 are located at the upper end of the bracket 31, and the second synchronous belt 3342 and the second pulley 3332 are located at the lower end of the bracket 31. The first drive motor 330 drives the first pulley 3331 and the second pulley 3332 to rotate, thereby driving the moving part 321 to move in the left and right direction, and thus controlling the position of the lifting fork 320 in the left and right direction. Therefore, by using the first synchronous belt 3341 and the second synchronous belt 3342, the moving part 321 runs smoothly during the movement process, which helps to improve the reliability of the cargo box transfer system 100.

[0110] In some embodiments, the first drive component 33 further includes a first drive shaft 331 and a second drive shaft 332.

[0111] The first drive shaft 331 is along the height direction of the bracket 31 (e.g.) Figure 1 The first drive shaft 331 extends in the vertical direction and is connected to the first drive motor 330 and the first pulley 3331. The first drive shaft 331 is connected to the moving part 321 and is rotatable relative to the moving part 321.

[0112] The second drive shaft 332 is along the height direction of the bracket 31 (e.g.) Figure 1 Extending in the vertical direction shown) and in the height direction of the first drive shaft 331 in the bracket 31 (e.g., as shown in the vertical direction) and resonating with the first drive shaft 331 in the height direction of the bracket 31 (e.g. Figure 1 Arranged sequentially in the up-down direction (as shown), the second drive shaft 332 is connected to the first drive motor 330 and the second pulley 3332, and the second drive shaft 332 is connected to the moving part 321 and can rotate relative to the moving part 321.

[0113] like Figures 5 to 7As shown, a first pulley 3331 is located at the upper end of the bracket 31, and a second pulley 3332 is located at the lower end of the bracket 31. A first drive motor 330 is positioned between the first pulley 3331 and the second pulley 3332. A first drive shaft 331 is located above the first drive motor 330, connecting the first drive motor 330 and the first pulley 3331. A second drive shaft 332 is located below the first drive motor 330, connecting the first drive motor 330 and the second pulley 3332. When the first drive motor 330 rotates, it simultaneously drives the first drive shaft 331 and the second drive shaft 332 to rotate, thereby simultaneously driving the first pulley 3331 and the second pulley 3332 to rotate, thus ensuring that the upper and lower ends of the moving part 321 move synchronously in the left and right directions. Therefore, a single first drive motor 330 can simultaneously drive the first pulley 3331 and the second pulley 3332 to rotate, resulting in a compact structure and low cost.

[0114] In some embodiments, the first drive assembly 33 further includes a first coupling 3311, and the first drive shaft 331 includes a plurality of first shaft segments 3310, with adjacent first shaft segments 3310 connected by the first coupling 3311.

[0115] like Figure 5 and Figure 6 As shown, the first drive shaft 331 is connected to the first drive motor 330 via a first coupling 3311. The first drive shaft 331 includes multiple first shaft segments 3310 connected sequentially in the vertical direction, and adjacent first shaft segments 3310 are connected via the first coupling 3311. In this embodiment of the invention, the support 31 of the cargo box transfer system 100 is relatively high, and the first drive shaft 331 is divided into multiple segments. Compared with the first drive shaft 331 being a single piece, this avoids the swaying or breakage caused by an excessively long first drive shaft 331, thereby preventing damage to the motor. Moreover, the force on each first shaft segment 3310 is uniform, which helps to improve the synchronization between the upper and lower ends of the moving part 321.

[0116] In some embodiments, the first drive assembly 33 further includes a second coupling 3321, and the second drive shaft 332 includes a plurality of second shaft segments 3320, with adjacent second shaft segments 3320 connected by the second coupling 3321.

[0117] like Figure 5 and Figure 7As shown, the second driving shaft 332 is connected with the second driving motor 340 through the second coupling 3321. The second driving shaft 332 comprises a plurality of second shaft segments 3320 connected in sequence in the up-down direction, and two adjacent second shaft segments 3320 are connected through the second coupling 3321. The support 31 of the container transfer system 100 of the embodiment is high, and the second driving shaft 332 is divided into multiple segments, compared with the case that the second driving shaft 332 is provided as a whole, the phenomenon of swing or breakage caused by the second driving shaft 332 being too long can be avoided, thereby avoiding damage to the motor, and the stress of each second shaft segment 3320 is uniform, which is conducive to improving the synchronism of the upper end and the lower end of the moving piece 321.

[0118] In some embodiments, as shown in Figures 7 to 9 The device 3 further comprises a second driving assembly 34 for driving the support 322 to move relative to the moving piece 321 along the height direction of the support 31, i.e. the up-down direction as shown. Figure 1 The second driving assembly 34 can drive the support 322 to move upward to lift the container 101, and the second driving assembly 34 can drive the support 322 to move downward to put down the container 101, thereby facilitating the handling of the container 101 by using the second driving assembly 34.

[0119] In some embodiments, as shown in Figure 9 and Figure 10 The second driving assembly 34 comprises a transmission member 341, a rotating member 342 and a second driving motor 340, the rotating member 342 is rotatable relative to the transmission member 341, the rotating member 342 has a protruding portion 343 on the outer periphery, the protruding portion 343 can abut against and be away from the support 322, and the second driving motor 340 is connected with the transmission member 341 to drive the rotating member 342 to rotate.

[0120] As shown in Figure 10As shown, the second drive motor 340 drives the transmission component 341, which in turn drives the rotating component 342 to rotate. It should be noted that a protrusion 343 is provided on the outer periphery of the rotating component 342 to form a cam-like structure. When the second drive motor 340 rotates, the protrusion 343 periodically contacts and separates from the support component 322. When the transfer device 3 needs to lift the cargo box 101, the second drive assembly 34 drives the protrusion 343 to contact the support component 322, thereby pushing the support component 322 upwards, which in turn drives the lifting fork 320 to move upwards, thus facilitating the lifting fork 320 to lift the cargo box 101. When the transfer device 3 needs to lower the cargo box 101, the second drive assembly 34 drives the protrusion 343 away from the support component 322, causing the support component 322 to fall, which in turn drives the lifting fork 320 to move downwards, thus facilitating the lifting fork 320 to lower the cargo box 101. Therefore, by using the second drive component 34 to drive the rotating component 342 to rotate, the lifting fork 320 can be controlled to move in the vertical direction. The structure is compact and occupies little space.

[0121] Optionally, the transmission component 341 is a worm gear mechanism.

[0122] In some embodiments, the second drive assembly 34 further includes a swing shaft 344, the axial direction of which is parallel to the axial direction of the rotating member 342. The swing shaft 344 is connected to the protrusion 343, and the outer peripheral surface of the swing shaft 344 can abut against and move away from the support member 322.

[0123] like Figure 9 and Figure 10 As shown, the second drive assembly 34 is located below the support member 322. A swing shaft 344 is provided at the end of the protrusion 343 away from its rotation center. The swing shaft 344 extends along the axial direction of the rotating member 342 and can rotate together with the protrusion 343. When the transfer device 3 needs to lift the cargo box 101, the second drive assembly 34 drives the swing shaft 344 to contact the support member 322, thereby pushing the support member 322 upwards, which in turn drives the lifting fork 320 to move upwards, thus facilitating the lifting fork 320 to lift the cargo box 101. When the transfer device 3 needs to lower the cargo box 101, the second drive assembly 34 drives the swing shaft 344 away from the support member 322, causing the support member 322 to fall, which in turn drives the lifting fork 320 to move downwards, thus facilitating the lifting fork 320 to lower the cargo box 101. Therefore, the cargo box transfer system 100 of this embodiment of the invention can increase the structural strength of the contact area between the protrusion 343 and the support member 322 by using the swing shaft 344, which is beneficial to improving the reliability of the cargo box transfer system 100.

[0124] Optionally, the second drive assembly 34 further includes a first limit sensor and a second limit sensor. As the support member 322 moves between the loading position and the unloading position, when the support member 322 moves upward to the loading position, the first limit sensor is triggered, and the second drive assembly 34 stops operating. When the support member 322 moves downward to the unloading position, the second limit sensor is triggered, and the second drive assembly 34 stops operating.

[0125] In some embodiments, the first conveying device 1 further includes a first lifting mechanism 12, which includes a first transport component 120 for receiving an external cargo box 101 and transferring the cargo box 101 onto the multi-layer first conveying mechanism 11 or receiving a cargo box transported by the first conveying mechanism 11.

[0126] like Figure 2 As shown, in the left-right direction, the first conveying mechanism 11 and the second conveying mechanism 21 are spaced apart, with the first conveying mechanism 11 to the left of the second conveying mechanism 21. A first lifting mechanism 12 is located to the left of the first conveying mechanism 11, and a first transport component 120 is provided on the first lifting mechanism 12. The first transport component 120 can move vertically on the first lifting mechanism 12, thereby transferring multiple cargo boxes 101 to the multi-layer first conveying mechanism 11 or receiving cargo boxes 101 transported by the first conveying mechanism 11. Therefore, the cargo box transfer system 100 of this embodiment of the invention utilizes the first lifting mechanism 12 to transport cargo boxes 101 to the first conveying mechanism 11, thereby saving cargo box 101 handling costs and improving cargo box 101 handling efficiency.

[0127] It should be noted that the cargo box transfer system 100 according to the embodiment of the present invention may further include an external conveying mechanism, which conveys the external cargo box and transports the external cargo box to the first transport component 120 of the first lifting mechanism 12, so as to transport the external cargo box to the first conveying mechanism 11 through the first lifting mechanism 21.

[0128] The external conveying mechanism that docks with the first lifting mechanism 12 can be one or more. In other words, the first lifting mechanism 12 can dock with one external conveying mechanism, and multiple first transport components 120 on the first lifting mechanism 12 can respectively receive external cargo boxes from the external transport mechanism; or the first lifting mechanism 12 can dock with multiple external conveying mechanisms, and a portion of the multiple first transport components 120 on the first lifting mechanism 12 can receive external cargo boxes from one of the external transport mechanisms, while another portion of the multiple first transport components 120 on the first lifting mechanism 12 can receive external cargo boxes from another external transport mechanism. The multiple external conveying mechanisms are spaced apart in the height direction (the vertical direction shown in the figure), and the projections of the multiple external conveying mechanisms in a plane orthogonal to the height direction coincide.

[0129] In some embodiments, the second conveying device 2 further comprises a second lifting mechanism 22, the second lifting mechanism 22 comprising a second transport assembly for receiving the external containers 101 and transferring the containers 101 to the multi-layer second conveying mechanism 21 or receiving the containers 101 conveyed by the second conveying mechanism 21.

[0130] As shown in Figure 2 and Figure 4 , the second conveying mechanism 21 is on the right side of the first conveying mechanism 11. The second lifting mechanism 22 is arranged on the right side of the second conveying mechanism 21, and the second lifting mechanism 22 is provided with a second transport assembly, which can move along the up-down direction on the second lifting mechanism 22, thereby transferring a plurality of external containers 101 to the multi-layer second conveying mechanism 21 or receiving the containers 101 conveyed by the second conveying mechanism 21. Thus, the second lifting mechanism 22 can be used to carry the containers 101 to the second conveying mechanism 21, thereby saving the container 101 carrying cost and improving the carrying efficiency of the containers 101.

[0131] Among them, the external conveying mechanism that interfaces with the second lifting mechanism 22 can be one or more. In other words, the second lifting mechanism 22 can interface with one external conveying mechanism, and the plurality of second transport assemblies on the second lifting mechanism 22 respectively receive the external containers on the external conveying mechanism; or the second lifting mechanism 22 can interface with a plurality of external conveying mechanisms, and a part of the plurality of second transport assemblies on the second lifting mechanism 22 receive the external containers on one of the external conveying mechanisms, and another part of the plurality of second transport assemblies on the second lifting mechanism 22 receive the external containers on another external conveying mechanism, the plurality of external conveying mechanisms are arranged in the height direction (up-down direction shown in the figure) and the projections of the plurality of external conveying mechanisms in the plane orthogonal to the height direction coincide.

[0132] In some embodiments, the first conveying device 1 further comprises a third lifting mechanism 13, the third lifting mechanism 13 comprising a third transport assembly for receiving the containers 101 provided by the first transport assembly 120 and transferring the containers 101 to the multi-layer first conveying mechanism 11, or the third transport assembly for receiving the containers on the multi-layer first conveying mechanism 11 and transferring the containers to the first transport assembly 120.

[0133] As shown in Figure 2As shown, the third lifting mechanism 13 is between the first lifting mechanism 12 and the first conveying mechanism 11, the first lifting mechanism 12 transfers the container 101 to the third lifting mechanism 13, and the third lifting mechanism 13 transfers the container 101 to the first conveying mechanism 11, or the first conveying mechanism 11 transfers the container 101 to the third lifting mechanism 13, and the third lifting mechanism 13 transfers the container 101 to the first lifting mechanism 12. Thus, the third lifting mechanism 13 is added between the first lifting mechanism 12 and the first conveying device 1, and the third lifting mechanism 13 can be docked with the first conveying mechanism 11 and the first lifting mechanism 12, respectively.

[0134] For example, in the scenario that the third lifting mechanism 13 receives the container 101 on the first conveying mechanism 11 and transfers the container 101 to the first lifting mechanism 12, when the third lifting mechanism 13 operates to the corresponding height to receive the container 101 on the first conveying mechanism 11, the first lifting mechanism 12 can operate to the height where the third lifting mechanism 13 is loaded with the container 101 in advance, so as to receive the container 101 from the third lifting mechanism 13 and transfer the container 101 to the external conveying mechanism. Specifically, when the third lifting mechanism 13 finishes receiving the container 101, the first lifting mechanism 12 can just operate to the height where the third lifting mechanism 13 is loaded with the container 101.

[0135] Similarly, in the scenario that the first lifting mechanism 12 receives the container 101 on the external conveying mechanism and transfers the container 101 to the third lifting mechanism 13, when the first lifting mechanism 12 operates to the corresponding height to receive the container 101 on the external conveying mechanism in advance, the third lifting mechanism 13 can operate to the height where the first lifting mechanism 12 is loaded with the container 101 in advance, so as to receive the container 101 from the first lifting mechanism 12 and transfer the container 101 to the first conveying mechanism 11. Specifically, when the first lifting mechanism 12 finishes receiving the container 101, the third lifting mechanism 13 can just operate to the height where the first lifting mechanism 12 is loaded with the container 101.

[0136] Therefore, the container transfer system of the embodiment of the present application can improve the transfer efficiency of the container 101 and save working time.

[0137] In some embodiments, as Figure 13As shown, the container transfer system 100 comprises a detection assembly 7 arranged on at least one of the first conveying mechanism 11, the second conveying mechanism 21, the first transport assembly 120 and the second transport assembly, and the detection assembly 7 is configured to detect whether there is a foreign matter and / or whether the container 101 is in place. It should be noted that the foreign matter can be an article leaked from the container 101 or a fragment scattered after the container 101 is damaged. During the operation of the container transfer system 100, the existence of the foreign matter can easily damage the device and / or equipment at the location, and further affect the operation of the container transfer system 101. By detecting whether the foreign matter exists through the detection assembly 7, the container transfer system 100 can be protected.

[0138] Specifically, the detection assembly 7 is arranged on one of the first conveying mechanism 11, the second conveying mechanism 21, the first transport assembly 120 and the second transport assembly, or the detection assembly 7 is arranged on two of them, or the detection assembly 7 is arranged on three of them, or the detection assembly 7 is arranged on each of them. Figure 13 Only the structure of the detection assembly 7 on the first transport assembly 120 is shown as an example, and when the detection assembly 7 is arranged on the first conveying mechanism 11 or the second conveying mechanism 21 or the second transport assembly, the structure is the same as Figure 13 the structure shown.

[0139] The container transfer system 100 of the embodiment of the present application can detect the position of the container 101 on the four assemblies through the detection assembly 7 to obtain the position information of the container 101 at any time, or detect whether there is a foreign matter on the four assemblies through the detection assembly 7 to avoid the influence of the foreign matter on the operation of the container transfer system 100, and further protect the container transfer system 100.

[0140] Optionally, the detection assembly 7 is a plurality of photoelectric sensors.

[0141] It should be noted that the container transfer system 100 further comprises a controller, and the detection assembly 7 transmits the detected information to the controller, and the controller controls the operation of the container transfer system 100 according to the information detected by the detection assembly 7.

[0142] In some embodiments, as Figure 13 shown, the detection assembly 7 comprises a first detection member 71 and / or a second detection member 72.

[0143] The first detection member 71 is configured to detect whether the container 101 is in place during the conveying process.

[0144] The second detection member 72 is located on one side of the first detection member 71 in the conveying direction of the container 101, and the second detection member 72 is configured to detect the position of the container 101 and whether there is a foreign matter. The distance between the second detection member 72 and the first detection member 71 in the conveying direction is less than the size of the container 101 in the conveying direction.

[0145] Specifically, the first detection member 71 is configured to detect whether the container 101 is in place. For example, when the container 101 moves to the first conveying mechanism 11, the first detection member 71 arranged on the first conveying mechanism 11 first detects whether the container 101 is in place. If the container 101 is in place, the first conveying mechanism 11 continues to run. If the container 101 is not in place, the first conveying mechanism 11 continues to wait for the container 101.

[0146] The conveying direction of the container 101 is the direction in which the container 101 moves, for example, the container 101 on the first conveying mechanism 11 or the first conveying assembly 120 moves along the left-right direction. On the first conveying mechanism 11 or the first conveying assembly 120, the second detection member 72 and the first detection member 71 are arranged in sequence along the direction from left to right. On the second conveying mechanism 21 or the second conveying assembly, the first detection member 71 and the second detection member 72 are arranged in sequence along the left-right direction.

[0147] When the container 101 passes through the detection assembly 7 during movement, the first detection member 71 and the second detection member 72 can simultaneously detect the container 101 because the distance between the first detection member 71 and the second detection member 72 is less than the size of the container 101 in the left-right direction. Thus, the position of the container 101 can be determined by judging whether the information transmitted by the adjacent two detection members to the controller is consistent. Moreover, the situation that the container 101 moves between the adjacent two detection members and the detection member cannot detect the container 101 does not occur, thereby solving the problem of the blind area during the transmission of the container 101, facilitating real-time monitoring of the position of the container 101, and improving the working efficiency of the container transfer system 100.

[0148] In addition, the detection assembly 7 can detect whether there is foreign matter blocking on the first conveying mechanism 11, the first conveying assembly 120, the second conveying mechanism 21, and the second conveying assembly. For example, when the container 101 moves, if the signal transmitted by a detection member to the controller does not change for a long time, it can be judged that there is foreign matter at the detection member or the detection member is faulty, and then the next step of checking work is performed, thereby avoiding the situation that foreign matter blocks and damages the container transfer system 100, and improving the service life of the container transfer system 100.

[0149] In some embodiments, as shown in Figure 13 The second detection member 72 is at least two, and the at least two second detection members 72 are arranged along the height direction of the container 101 (for example, the vertical direction of the container 101). Figure 13The second detection elements 72 are arranged at intervals in the vertical direction (as shown). Specifically, taking the first conveying mechanism 11 as an example, multiple second detection elements 72 are arranged at intervals in the vertical direction on the first conveying mechanism 11. When any one of the second detection elements 72 detects the passing of the cargo box 101, it can send a message to the controller that the cargo box 101 has been detected. When one of the second detection elements 72 is damaged or fails, the other second detection elements can still send a message to the controller that the cargo box 101 has passed. Therefore, by using multiple second detection elements 72, the reliability of the detection component 7 can be improved, thereby improving the working efficiency of the cargo box transfer system 100.

[0150] In some embodiments, the detection component 7 further includes a third detection element 73. The third detection element 73 is located on the other side of the first detection element 71 in the conveying direction. The third detection element 73 is used to detect the position of the cargo box 101 and whether there are foreign objects. The distance between the third detection element 73 and the first detection element 71 in the conveying direction is less than the size of the cargo box 101 in the conveying direction.

[0151] Specifically, such as Figure 13 As shown, the first detection element 71 is disposed between the second detection element 72 and the third detection element 73. On the first conveying mechanism 11 or the first transport assembly 120, the second detection element 72, the first detection element 71, and the third detection element 73 are arranged sequentially from left to right. On the second conveying mechanism 21 or the second transport assembly, the third detection element 73, the first detection element 71, and the second detection element 72 are arranged sequentially from left to right.

[0152] When the cargo box transfer system 100 of this embodiment is working, when the cargo box 101 passes the detection component 7 during the movement process, since the distance between the third detection component 73 and the first detection component 71 is less than the size of the cargo box 101 in the left and right direction, the first detection component 71 and the third detection component 73 can detect the cargo box 101 at the same time. There will be no situation where the detection component cannot detect the cargo box 101 when it moves between two adjacent detection components, which solves the blind spot problem in the cargo box 101 transfer process and improves the working efficiency of the cargo box transfer system 100.

[0153] In some embodiments, such as Figure 13As shown, the third detection member 73 is at least two, and the at least two third detection members 73 are arranged at intervals along the height direction of the container 101. Specifically, taking the first conveying mechanism 11 as an example, the plurality of third detection members 73 arranged on the first conveying mechanism 11 are arranged at intervals along the up-down direction. When any one of the third detection members 73 detects the passing of the container 101, it can send information about the detection of the container 101 to the controller. When one of the third detection members 73 is damaged or fails, the other third detection members can still send information about the passing of the container 101 to the controller. Thus, the use of multiple third detection members 73 can improve the reliability of the detection assembly 7 and thus improve the working efficiency of the container transfer system 100.

[0154] In some embodiments, as Figure 13 shown, the distance between the second detection member 72 and the third detection member 73 in the conveying direction is 1.1-1.9 times the size of the container 101 in the conveying direction. For example, the second detection member 72 and the third detection member 73 are arranged along the left-right direction, and the distance between the second detection member 72 and the third detection member 73 in the left-right direction is 1.1 times, 1.3 times, 1.4 times, 1.9 times, etc. of the size of the container 101 in the left-right direction. By controlling the second detection assembly 72 and the third detection assembly 73 within the above range, the present embodiment can not only ensure the normal transmission of the container 101, but also reduce the volume of the mechanism where the detection assembly 7 is located, and reduce the occupied space.

[0155] In some embodiments, the second conveying device 2 further comprises a fourth lifting mechanism 23, and the fourth lifting mechanism 23 comprises a fourth conveying assembly for receiving the container 101 provided by the second conveying assembly and transferring the container 101 to the second conveying mechanism 21.

[0156] As Figure 2 shown, the fourth lifting mechanism 23 is between the second lifting mechanism 22 and the second conveying mechanism 21, the second lifting mechanism 22 transfers the container 101 to the fourth lifting mechanism 23, and the fourth lifting mechanism 23 transfers the container 101 to the second conveying mechanism 21. Thus, the fourth lifting mechanism 23 is added between the second lifting mechanism 22 and the second conveying device 2, and the fourth lifting mechanism 23 is respectively connected with the second lifting mechanism 22 and the second conveying mechanism 21, so as to improve the transfer efficiency of the container 101 and save working time. The fourth lifting mechanism 23 has the same effect as the third lifting mechanism 13, and will not be described in detail.

[0157] Optionally, the structure of the first lifting mechanism 12 is as Figure 4 shown, the structures of the second lifting mechanism 22, the third lifting mechanism 13, and the fourth lifting mechanism 23 are the same as that of the first lifting mechanism 12.

[0158] In some embodiments, the cargo transfer system 100 further includes a guiding device 5 disposed between the first conveying device 1 and the second conveying device 2 for guiding the movement of the robot 4.

[0159] like Figure 2 and Figure 11 As shown, a guide device 5 is provided between the first conveying device 1 and the second conveying device 2. Thus, the guide device 5 facilitates the guidance and restriction of the movement direction of the robot 4, thereby facilitating the smooth movement of the robot 4 between the first conveying device 1 and the second conveying device 2.

[0160] In some embodiments, the guide device 5 includes a first direction (e.g., Figure 1 The first guide component 51 and the second guide component 52 are arranged opposite to each other and spaced apart in the left-right direction (as shown). The first guide component 51 is arranged adjacent to the first conveying device 1, and the second guide component 52 is arranged adjacent to the second conveying device 2. The robot 4 can be located between the first guide component 51 and the second guide component 52.

[0161] like Figure 11 As shown, the first guide component 51 is positioned to the left of the second guide component 52, and both the first guide component 51 and the second guide component 52 are located on the ground. Therefore, the first guide component 51 and the second guide component 52 can restrict the robot 4's movement in the left-right direction, preventing the robot 4 from colliding with the first conveyor device 1 or the second conveyor device 2, thus facilitating the robot 4's movement in the front-back direction and enabling it to smoothly move between the first conveyor device 1 and the second conveyor device 2.

[0162] In some embodiments, each of the first guide component 51 and the second guide component 52 includes a substrate 501 and a guide plate 502, the guide plate 502 being disposed on the substrate 501 and relative to the substrate 501 in a first direction (e.g., Figure 1 The position of the robot 4 is adjustable in the left-right direction (as shown). The robot 4 can be located between the guide plate 502 of the first guide assembly 51 and the guide plate 502 of the second guide assembly 52, and can be positioned along the length direction of the guide plate 502 (e.g., in the left-right direction). Figure 1 Move in the forward and backward directions as shown.

[0163] like Figure 11 As shown, both the base plate 501 and the guide plate 502 extend along the front-back direction, and the base plate 501 is fixed to the ground. In this embodiment, the guiding device 5 can adjust the distance between the first guiding component 51 and the second guiding component 52 by adjusting the relative position of the guide plate 502 and the base plate 501 in the left-right direction, thereby facilitating the adaptation to robots 4 of different sizes and making it easier for the robot 4 to move.

[0164] In some embodiments, the substrate 501 is provided with a first direction (e.g.,Figure 1 The guiding plate 502 is provided with a second positioning hole 5021 extending along the first direction and penetrating the guiding plate 502 along the thickness direction of the guiding plate 502. Each of the first guiding assembly 51 and the second guiding assembly 52 further comprises a fastener (not shown) which can pass through the second positioning hole 5021 and any one of the first positioning holes to connect the base plate 501 and the guiding plate 502.

[0165] As shown in Figure 11 The plurality of first positioning holes are divided into a plurality of groups, and the first positioning holes in the same group are arranged along the left-right direction. The plurality of second positioning holes 5021 are arranged along the front-rear direction on the guiding plate 502, and each second positioning hole 5021 extends along the left-right direction in a waist shape. Each second positioning hole 5021 corresponds to a group of first positioning holes, and one fastener connects one second positioning hole 5021 and one first positioning hole in the group. By this design, the structure is simple, and the relative position of the guiding plate 502 and the base plate 501 is easy to adjust.

[0166] In some embodiments, each of the first guiding assembly 51 and the second guiding assembly 52 further comprises a stopper provided on the base plate 501 and abutting against the guiding plate 502. In the first guiding assembly 51, the stopper is located on the side of the guiding plate 502 away from the second guiding assembly 52, and in the second guiding assembly 52, the stopper is located on the side of the guiding plate 502 away from the first guiding assembly 51.

[0167] As shown in Figure 11 The first guiding assembly 51 is provided on the left side of the second guiding assembly 52, and on the first guiding assembly 51, the stopper 503 is provided on the left side of the guiding plate 502 and abuts against the guiding plate 502 to prevent the guiding plate 502 from moving to the left. On the second guiding assembly 52, the stopper 503 is provided on the right side of the guiding plate 502 and abuts against the guiding plate 502 to prevent the guiding plate 502 from moving to the right. In this way, the stopper 503 can prevent the guiding plate 502 from moving in the left-right direction, thereby facilitating the movement of the robot 4.

[0168] In some embodiments, the stopper 503 is a plurality of stoppers 503 arranged along the length direction of the base plate 501. In this way, the guiding device 5 in the embodiment of the present application can fix the position of the guiding plate 502 by using a plurality of stoppers 503, thereby preventing the guiding plate 502 from moving, facilitating the movement of the robot 4 to a specified position, and improving the position accuracy of the robot 4.

[0169] In some embodiments, each of the first and second guiding assemblies 51 and 52 further comprises a plurality of guiding wheels 504 arranged on the side of the guiding plate 502 away from the base plate 501, the plurality of guiding wheels 504 being spaced along the length direction (e.g. the front-rear direction as shown) of the guiding plate 502, the guiding wheels 504 being configured to work together with the guiding plate 502 to guide the movement of the robot 4. Figure 11 As shown in FIG. 4, on the first guiding assembly 51, the guiding wheels 504 are arranged on the right side of the guiding plate 502 to be adjacent to the robot 4. On the second guiding assembly 52, the guiding wheels 504 are arranged on the left side of the guiding plate 502 to be adjacent to the robot 4. The guiding wheels 504 are rotatable relative to the guiding plate 502, so as to facilitate the movement of the robot 4 and provide a certain buffer effect when the robot 4 deviates from the route and impacts the guiding device 5, thereby protecting the robot 4 and the guiding device 5.

[0170] As shown in FIG. 4, on the first guiding assembly 51, the guiding wheels 504 are arranged on the right side of the guiding plate 502 to be adjacent to the robot 4. On the second guiding assembly 52, the guiding wheels 504 are arranged on the left side of the guiding plate 502 to be adjacent to the robot 4. The guiding wheels 504 are rotatable relative to the guiding plate 502, so as to facilitate the movement of the robot 4 and provide a certain buffer effect when the robot 4 deviates from the route and impacts the guiding device 5, thereby protecting the robot 4 and the guiding device 5. Figure 11 In some embodiments, the case transfer system 100 further comprises a positioning device 6 arranged on the first conveying device 1 and / or the second conveying device 2, for positioning the robot 4. For example, the positioning device 6 is arranged on the first conveying device 1, or the second conveying device 2 is arranged on the second conveying device 2, or the positioning device 6 is arranged on both the first conveying device 1 and the second conveying device 2.

[0171] In some embodiments, the positioning device 6 comprises a first positioning assembly 61 and a second positioning assembly 62 arranged opposite and spaced apart in a first direction (e.g. the left-right direction as shown), the first positioning assembly 61 being arranged on the first conveying device 1 and the second positioning assembly 62 being arranged on the second conveying device 2, at least part of the first positioning assembly 61 and at least part of the second positioning assembly 62 being movable towards or away from each other to position the robot 4 when the robot 4 is stopped.

[0172] Figure 1 As shown in FIG. 5, part of the first positioning assembly 61 and part of the second positioning assembly 62 are movable towards or away from the robot 4. When the robot 4 moves between the first conveying device 1 and the second conveying device 2, part of the first positioning assembly 61 and part of the second positioning assembly 62 are moved towards the robot 4 to clamp the robot 4, so as to not only fix the position of the robot 4, but also avoid the movement of the robot 4 during the transfer of the case 101, thereby improving the efficiency of the transfer of the case 101.

[0173] As shown in FIG. 5, part of the first positioning assembly 61 and part of the second positioning assembly 62 are movable towards or away from the robot 4. When the robot 4 moves between the first conveying device 1 and the second conveying device 2, part of the first positioning assembly 61 and part of the second positioning assembly 62 are moved towards the robot 4 to clamp the robot 4, so as to not only fix the position of the robot 4, but also avoid the movement of the robot 4 during the transfer of the case 101, thereby improving the efficiency of the transfer of the case 101. Figure 1

[0174] ​​In some embodiments, each of the first positioning component 61 and the second positioning component 62 includes a third drive motor 603, a transmission component 604, and a positioning plate 605. The third drive motor 603 is connected to the transmission component 604, and the transmission component 604 is connected to the positioning plate 605 to drive the positioning plate 605 in a first direction (e.g., ...). Figure 1 The positioning device 6 in this embodiment can drive the positioning plate 605 to move in the left and right directions using the third drive motor 603, thereby facilitating the clamping and releasing of the robot 4.

[0175] Optionally, the transmission assembly 604 consists of a lead screw and a slider, the third drive motor 603 is connected to the lead screw, and the positioning plate 605 is fixed on the slider.

[0176] Optionally, each of the first positioning component 61 and the second positioning component 62 includes a positioning sensor, which can detect the position of the robot 4, thereby facilitating accurate positioning of the robot 4.

[0177] In some embodiments, each of the first positioning component 61 and the second positioning component 62 further includes a base 602 and a mounting plate 601. The third drive motor 603, the transmission component 604 and the positioning plate 605 are disposed on the base 602, and the mounting plate 601 is disposed at the bottom of the base 602. The mounting plate 601 of the first positioning component 61 is connected to the first conveying device 1, and the mounting plate 601 of the second positioning component 62 is connected to the second conveying device 2.

[0178] like Figure 12 As shown, the third drive motor 603 and the transmission assembly 604 are fixed on the base 602, and the positioning plate 605 is disposed on the transmission assembly 604. A mounting plate 601 is provided below the base 602, and the mounting plate 601 has through holes. Therefore, in this embodiment, the positioning device 6 can use the mounting plate 601 to fix the first positioning assembly 61 on the first conveying device 1 and the second positioning assembly 62 on the second conveying device 2.

[0179] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0180] In addition, the terms "first", "second", etc. are used only to describe different instances, and are not used to indicate or imply relative importance or a number of indications of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0181] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection or communication with each other; it can be directly connected, or indirectly connected through intermediate medium, it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0182] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be the first feature directly above or obliquely above the second feature, or only indicate that the first feature is higher than the second feature in horizontal height. The first feature "below", "below" and "below" the second feature can be the first feature directly below or obliquely below the second feature, or only indicate that the first feature is lower than the second feature in horizontal height.

[0183] In the present application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present description, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present description and the features of different embodiments or examples, without contradiction.

[0184] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A cargo container transfer system, characterized in that, include: The robot has a multi-layered temporary storage mechanism for temporarily storing cargo boxes; A first conveying device, the first conveying device having multiple layers of first conveying mechanisms, the multiple layers of first conveying mechanisms corresponding to the multiple layers of temporary storage mechanisms, the first conveying mechanism being used to convey cargo boxes; The second conveying device and the first conveying device are arranged at intervals in a first direction. The robot can be located between the first conveying device and the second conveying device. The second conveying device has multiple layers of second conveying mechanisms, which correspond to the multiple layers of temporary storage mechanisms. The second conveying mechanism is used to convey cargo boxes. A transfer device is located on the same side of the first conveying device and the second conveying device, and the transfer device is used to transfer the cargo boxes on the multiple layers of the temporary storage mechanism to the corresponding first conveying mechanism and / or second conveying mechanism, or to transfer the cargo boxes on the multiple layers of the first conveying mechanism and / or second conveying mechanism to the corresponding temporary storage mechanism; The transfer device includes: support; A transfer assembly is disposed on the support. The transfer assembly is movable relative to the support along the first direction to be opposite to the first conveying mechanism and the second conveying mechanism, respectively. The transfer assembly is movable relative to the support along the height direction of the support to transfer the cargo box on the temporary storage mechanism to the transfer assembly or to place the cargo box on the transfer assembly on the first conveying mechanism or the second conveying mechanism. The transfer assembly includes a plurality of docking members arranged at intervals along the height direction of the support. The plurality of docking members correspond to a plurality of the first conveying mechanism, a plurality of the second conveying mechanism, and a plurality of the temporary storage mechanism.

2. The cargo container transfer system according to claim 1, characterized in that, The bracket includes a guide rail assembly, and the transfer assembly further includes a movable member and a support member. The movable member is disposed on the guide rail assembly and moves along the guide rail assembly in the first direction. The support member is connected to the movable member and can move relative to the movable member along the height direction of the bracket. The docking member is disposed on the support member.

3. The cargo container transfer system according to claim 2, characterized in that, The transfer device further includes a first drive assembly, which is connected to the moving member and is used to drive the moving member to move along the guide rail assembly in the first direction.

4. The cargo container transfer system according to claim 3, characterized in that, The first driving component includes: A timing belt, which is connected to the bracket; A pulley, which is connected to and rotatable relative to the moving member, engages with the timing belt and is movable along the timing belt in the first direction; A first drive motor is connected to the pulley to drive the pulley to rotate.

5. The cargo container transfer system according to claim 4, characterized in that, The synchronous belt includes a first synchronous belt and a second synchronous belt, which are spaced apart in the height direction of the bracket. The pulley includes a first pulley and a second pulley, both of which are connected to the moving member and are rotatable relative to the moving member. The first pulley meshes with the first synchronous belt, and the second pulley meshes with the second synchronous belt. The first drive motor is connected to the first pulley and the second pulley.

6. The cargo container transfer system according to claim 5, characterized in that, The first driving component also includes: A first drive shaft extends along the height direction of the bracket and is connected to the first drive motor and the first pulley. The first drive shaft is connected to the moving member and is rotatable relative to the moving member. The second drive shaft extends along the height direction of the bracket and is arranged sequentially with the first drive shaft in the height direction of the bracket. The second drive shaft is connected to the first drive motor and the second pulley. The second drive shaft is connected to the moving member and is rotatable relative to the moving member.

7. The cargo container transfer system according to claim 6, characterized in that, The first driving component also includes: The first coupling, wherein the first drive shaft includes a plurality of first shaft segments, and adjacent first shaft segments are connected by the first coupling; And / or, a second coupling, wherein the second drive shaft includes a plurality of second shaft segments, adjacent second shaft segments being connected by the second coupling.

8. The cargo container transfer system according to claim 2, characterized in that, The transfer device further includes a second drive assembly for driving the support member to move relative to the movable member along the height direction of the bracket.

9. The cargo container transfer system according to claim 8, characterized in that, The second driving component includes: A rotating component and a transmission component, wherein the rotating component is rotatable relative to the transmission component, and the outer periphery of the rotating component has a protrusion that can abut against and move away from the support component; A second drive motor is connected to the transmission component to drive the rotating component to rotate.

10. The cargo container transfer system according to claim 9, characterized in that, The second drive assembly further includes a swing shaft, the axis of which is parallel to the axis of the rotating member. The swing shaft is connected to the protrusion, and the outer peripheral surface of the swing shaft can abut against and move away from the support member.

11. The cargo container transfer system according to any one of claims 1-10, characterized in that, The first conveying device further includes a first lifting mechanism, which includes a first transport component. The first transport component is used to receive an external cargo box and transfer the cargo box to the multi-layer first conveying mechanism or to receive a cargo box transported by the first conveying mechanism. And / or, the second conveying device further includes a second lifting mechanism, the second lifting mechanism including a second transport component, the second transport component being used to receive an external cargo box and transfer the cargo box to the multi-layer second conveying mechanism or to receive a cargo box transported by the second conveying mechanism.

12. The cargo container transfer system according to claim 11, characterized in that, The first conveying device further includes a third lifting mechanism, which includes a third transport component. The third transport component is used to receive a cargo box provided by the first transport component and transfer the cargo box to the multi-layer first conveying mechanism, or to receive a cargo box on the multi-layer first conveying mechanism and transfer the cargo box to the first transport component. And / or, the second conveying device further includes a fourth lifting mechanism, the fourth lifting mechanism including a fourth transport component, the fourth transport component being used to receive a cargo box provided by the second transport component and transfer the cargo box to the multi-layer second conveying mechanism, or to receive a cargo box on the multi-layer second conveying mechanism and transfer the cargo box to the second transport component.

13. The cargo container transfer system according to claim 11, characterized in that, It also includes a detection component, which is disposed on at least one of the first conveying mechanism, the second conveying mechanism, the first transport component, and the second transport component. The detection component is used to detect whether there are foreign objects and / or whether the cargo box is in place.

14. The cargo container transfer system according to claim 13, characterized in that, The detection component includes: The first detection component is used to detect whether the cargo box is in place during the transportation process; The second detection element is located on one side of the first detection element in the conveying direction of the cargo box. The second detection element is used to detect the position of the cargo box and whether there are foreign objects. The distance between the second detection element and the first detection element in the conveying direction is less than the size of the cargo box in the conveying direction.

15. The cargo container transfer system according to claim 14, characterized in that, The second detection element is at least two, and the at least two second detection elements are arranged at intervals along the height direction of the cargo box.

16. The cargo container transfer system according to claim 14, characterized in that, The detection component further includes a third detection element, which is located on the other side of the first detection element in the conveying direction. The third detection element is used to detect the position of the cargo box and whether there are foreign objects. The distance between the third detection element and the first detection element in the conveying direction is less than the size of the cargo box in the conveying direction.

17. The cargo container transfer system according to claim 16, characterized in that, The third detection element is at least two, and the at least two third detection elements are arranged at intervals along the height direction of the cargo box.

18. The cargo container transfer system according to claim 16, characterized in that, The distance between the second and third detection elements in the conveying direction is 1.1 to 1.9 times the size of the cargo box in the conveying direction.

19. The cargo container transfer system according to any one of claims 12-18, characterized in that, It also includes a guiding device, which is disposed between the first conveying device and the second conveying device to guide the movement of the robot.

20. The cargo container transfer system according to claim 19, characterized in that, The guiding device includes a first guiding component and a second guiding component arranged opposite to and spaced apart in the first direction. The first guiding component is arranged adjacent to the first conveying device, and the second guiding component is arranged adjacent to the second conveying device. The robot may be located between the first guiding component and the second guiding component.

21. The cargo container transfer system according to claim 20, characterized in that, Each of the first guide assembly and the second guide assembly includes a base plate and a guide plate, the guide plate being disposed on the base plate and being positionally adjustable relative to the base plate in the first direction, the robot being positioned between the guide plate of the first guide assembly and the guide plate of the second guide assembly and being movable along the length direction of the guide plate.

22. The cargo container transfer system according to claim 21, characterized in that, The substrate has first positioning holes spaced apart along the first direction, and the guide plate has second positioning holes extending along the first direction and penetrating through the guide plate along its thickness direction. Each of the first guide assembly and the second guide assembly further includes a fastener that can pass through the second positioning hole and any one of the first positioning holes to connect the substrate and the guide plate.

23. The cargo container transfer system according to claim 21, characterized in that, Each of the first guide assembly and the second guide assembly further includes a stop member disposed on the substrate and abutting against the guide plate. In the first guide assembly, the stop member is located on the side of the guide plate away from the second guide assembly, and in the second guide assembly, the stop member is located on the side of the guide plate away from the first guide assembly.

24. The cargo container transfer system according to claim 23, characterized in that, There are multiple stop members, and the multiple stop members are arranged at intervals along the length direction of the substrate.

25. The cargo container transfer system according to claim 21, characterized in that, Each of the first guide assembly and the second guide assembly further includes a plurality of guide wheels, which are disposed on the side of the guide plate away from the substrate and are spaced apart along the length of the guide plate. The guide wheels can work together with the guide plate to guide the robot to move.

26. The cargo container transfer system according to any one of claims 20-25, characterized in that, It also includes a positioning device, which is disposed on the first conveying device and / or the second conveying device, for positioning the robot.

27. The cargo container transfer system according to claim 26, characterized in that, The positioning device includes a first positioning component and a second positioning component arranged opposite to and spaced apart in the first direction. The first positioning component is disposed on the first conveying device, and the second positioning component is disposed on the second conveying device. At least a portion of the first positioning component and at least a portion of the second positioning component can move toward or away from each other to position the robot when the robot stops.

28. The cargo container transfer system according to claim 27, characterized in that, Each of the first positioning component and the second positioning component includes a third drive motor, a transmission component, and a positioning plate. The third drive motor is connected to the transmission component, and the transmission component is connected to the positioning plate to drive the positioning plate to move in the first direction.

29. The cargo container transfer system according to claim 28, characterized in that, Each of the first positioning component and the second positioning component further includes a base and a mounting plate. The third drive motor, the transmission component, and the positioning plate are disposed on the base, and the mounting plate is disposed at the bottom of the base. The mounting plate of the first positioning component is connected to the first conveying device, and the mounting plate of the second positioning component is connected to the second conveying device.

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