Loading and unloading machine convenient for approaching to-be-carried object

Abstract

The invention relates to a loading and unloading machine convenient to approach to a to-be-carried object, which comprises a supporting seat, a driving part, a carrying part, a second connecting device for connecting the carrying part and the driving part, and a picking mechanism, and is characterized in that the driving part, the carrying part, the second connecting device and the picking mechanism are arranged on the supporting seat; the driving part comprises a first driving mechanism for driving the carrying part to move in the up-down direction, a second driving mechanism for driving the carrying part to move in the front-back direction, and a third driving mechanism for driving the carrying part to move in the left-right direction; the second connecting device comprises a connecting base plate arranged on the supporting seat and configured to rotate in the left-right direction and a first connecting mechanism connecting the carrying part and the connecting base plate, and the connecting base plate and the first connecting mechanism are configured to be matched with the driving part to drive the carrying part so that the near end of the carrying part can be close to the to-be-carried object. According to the invention, the driving part, the carrying part and the second connecting device are matched to carry articles stored in the storage room.

Description

[0001] This application is a divisional application of a patent application with an application date of July 31, 2021, application number 2021108772382, and invention name of loader and unloader. Technical Field

[0002] The present disclosure generally relates to a loader that facilitates access to items to be handled. Background Art

[0003] In warehouses, manufacturing plants, and other large construction projects, a large number of items are usually piled up for use in order to meet the needs of construction, processing, and transportation. However, the storage point and the use point of the items are often not in the same location, so workers usually need to use loaders to unload the items from the pile and move the items from the storage point to the use point.

[0004] Currently, on-site workers usually move the objects manually to a target location or manually transfer the objects to a transport device so that the transport device can transport the objects.

[0005] However, in warehouses, manufacturing plants, and other large-scale construction projects, the manual handling of items is costly and dangerous to the working environment and on-site workers. Some items are piled up in containers with relatively narrow internal spaces. When the items in the containers are piled up, after the handling device is inserted into the containers, the remaining space is difficult to accommodate other mechanical devices or workers. Therefore, it is necessary to provide a device that does not require on-site operation by workers and can assist workers in carrying goods in containers with relatively narrow internal spaces, especially to provide a loading and unloading machine. Summary of the invention

[0006] The present disclosure is proposed in view of the above-mentioned state of the prior art, and its object is to provide a loader and unloader.

[0007] To this end, the present disclosure provides a loader and unloader for carrying articles stored in a box-type storage room, the loader and unloader comprising a support seat, a driving part, a carrying part having a proximal end that can be close to the article to be carried and a distal end that is far away from the article to be carried, and a picking mechanism, the driving part, the carrying part, and the picking mechanism are arranged on the support seat, the driving part is configured to drive the proximal end of the carrying part to be close to the article to be carried, when carrying the article, the carrying part is at least partially placed in the box-type storage room and the article is received from the proximal end of the carrying part and carried toward the distal end of the carrying part, the picking mechanism has a picking mode and a releasing mode, when the picking mechanism is configured in the picking mode, the picking mechanism moves to the proximal end of the carrying part and picks up the article to the carrying part, when the picking mechanism is configured in the releasing mode, the picking mechanism releases the article and moves away from the path where the article is carried.

[0008] In the loader and unloader involved in the present disclosure, the picking mechanism picks up the objects stacked in the box-type storage room to the conveying part that partially extends into the box-type storage room, and the conveying part conveys the objects to the target position. In addition, when the objects at one position are conveyed, the driving part changes the position of the proximal end of the conveying part to be closer to the objects to be conveyed at other positions, so that the picking mechanism and the conveying part can cooperate to convey the objects to be conveyed.

[0009] In addition, in the loading and unloading machine involved in the present disclosure, optionally, the conveying part includes a first conveying device arranged at the proximal end, a second conveying device arranged at the distal end, and a first connecting device connecting the first conveying device and the second conveying device, the first conveying device has a first conveying platform and the articles to be conveyed can be conveyed along a first conveying direction from upstream to downstream via the first conveying platform, the second conveying device has a second conveying platform and the articles to be conveyed can be conveyed along a second conveying direction from upstream to downstream via the second conveying platform, the first connecting device has a first axis orthogonal to the first conveying platform and a first connecting part configured to rotate around the first axis, and a second axis parallel to the first conveying platform and orthogonal to the first conveying direction and a second connecting part configured to rotate around the second axis. In this case, the conveying part can be composed of the first conveying device and the second conveying device to convey the articles, and the first conveying device and the second conveying device can move relative to each other to obtain different conveying directions to convey the articles.

[0010] In addition, in the loader and unloader involved in the present disclosure, optionally, the transporting part includes a driving device, and the driving device is configured to drive the first connecting part to rotate around the first axis and / or drive the second connecting part to rotate around the second axis. In this case, the first transporting device and the second transporting device can be driven by the driving device to move relative to each other, thereby changing the first transporting direction.

[0011] In addition, in the loader and unloader involved in the present disclosure, optionally, the first transport device includes a support frame, a first transport mechanism with a first transport surface, a second transport mechanism with a second transport surface, and a third transport mechanism with a third transport surface, the first transport mechanism and the second transport mechanism are sequentially arranged on the support frame from upstream to downstream along the first transport direction, and a gap of a predetermined width is formed between the first transport mechanism and the second transport mechanism, the third transport mechanism is configured to be linked with the pick-up mechanism and the length of the third transport surface along the first transport direction is substantially equal to the predetermined width, when the pick-up mechanism is configured as the pick-up mode, the pick-up mechanism picks up the article to the third transport surface, when the pick-up mechanism is configured as the release mode, the pick-up mechanism moves to the gap, and links the third transport mechanism to move to the gap so that the first transport surface, the third transport surface and the second transport surface are continuously connected to form the first transport surface, and the article is sequentially transported by the first transport device via the first transport surface, the third transport surface and the second transport surface. In this case, the first transport device can be composed of the first transport mechanism, the second transport mechanism and the third transport mechanism to transport the article.

[0012] In addition, in the loader and unloader of the present disclosure, optionally, the third transport mechanism is arranged above the picking mechanism. In this case, the third transport mechanism can be linked with the picking mechanism.

[0013] In addition, in the loading and unloading machine involved in the present disclosure, optionally, the picking mechanism includes an adsorption member configured to adsorb articles, a first transmission member connected to the adsorption member, and a driving member connected to the first transmission member, the first transmission member having a driven part connected to the adsorption member, a transmission part connected to the driving member, a first connecting member and a second connecting member connecting the driven part and the transmission part, and a guiding part having a first guide path and a second guide path, the driven part, the transmission part, the first connecting part and the second connecting part form a parallelogram with adjustable height, and the driven part can be guided by the guiding part to adjust the height of the parallelogram, when the driven part is driven to the first guide path, the parallelogram has a first height and the adsorption member moves along the first guide path to above the first transport surface, when the driven part is driven to the second guide path, the parallelogram has a second height and the adsorption member moves along the second guide path to the gap. In this case, the height of the adsorption member can be changed by changing the height of the parallelogram composed of the driven part, the transmission part, the first connecting member and the second connecting member, so that the picking mechanism can be switched between the picking mode and the releasing mode.

[0014] In addition, in the loader and unloader of the present disclosure, optionally, the length of the second handling platform of the second handling device is configured to be variable. In this case, the length of the path of the second handling device for handling articles can be adjusted to meet different handling requirements.

[0015] In addition, in the loader and unloader involved in the present disclosure, optionally, the driving unit includes a first driving mechanism, a second driving mechanism and a third mechanism, the first driving mechanism is configured to drive the transporting unit to move in the up-down direction, the second driving unit is configured to drive the transporting unit to move in the front-back direction, and the third driving unit is configured to drive the transporting unit to move in the left-right direction. In this case, the transporting unit can be driven to move in different directions by the driving unit.

[0016] In addition, in the loader involved in the present disclosure, optionally, the loader includes a sensor assembly, the sensor assembly including a first sensor disposed on the transporting part configured to sense a first sensing distance between the transporting part and the object to be transported, and a second sensor configured to sense a second sensing distance between the transporting part and the inner wall of the box-type storage room. In this case, the distance between the transporting part and the object to be transported and the inside of the box-type storage room can be obtained through the sensor assembly when the loader is transporting an object.

[0017] In addition, in the loader involved in the present disclosure, optionally, the loader includes a control system, and the control system is configured to control the driving unit based on the first sensing distance and the second sensing distance to drive the transport unit to approach or move away from the object to be transported in the box-type storage room. In this case, the control system can be used to enable the picking mechanism and the transport unit to pick up and transport objects at different positions in the box-type storage room, and avoid collision with the inner wall of the box-type storage room.

[0018] Based on the present disclosure, a loader can be provided, which can pick up and carry items in a box-type storage room. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present disclosure will now be explained in further detail by way of example only with reference to the accompanying drawings, in which:

[0020] Figure 1 It is a schematic diagram showing an application scenario of the loader and unloader involved in the example of the present disclosure.

[0021] Figure 2 Schematic diagram showing the structure of a first transport device according to an example of the present disclosure.

[0022] Figure 3 Schematic diagram showing the structure of a first conveying mechanism and a second conveying mechanism involved in the example of the present disclosure.

[0023] Figure 4 is a schematic diagram showing the picking mechanism involved in the example of the present disclosure when in the picking mode.

[0024] Figure 5 is a schematic diagram showing the picking mechanism involved in the example of the present disclosure in a release mode.

[0025] Figure 6 2 is a schematic diagram showing the structure of the picking mechanism and the third transport mechanism involved in the example of the present disclosure.

[0026] Figure 7 It is a schematic diagram showing the structure of the driving component and the transmission component involved in the example of the present disclosure.

[0027] Figure 8 Schematic diagram showing the structure of the transmission component and the guide part involved in the example of the present disclosure.

[0028] Fig. 9 It is a schematic diagram showing the structure of the support frame and the transmission component when the picking mechanism involved in the example of the present disclosure is in the picking mode.

[0029] Fig.10 It is a schematic diagram showing the structure of the support frame and the transmission component when the picking mechanism involved in the example of the present disclosure is in the release mode.

[0030] Fig.11 Schematic diagram showing the structure of a second transport device according to an example of the present disclosure.

[0031] Fig.12 1 is a front view showing a second transport device according to an example of the present disclosure.

[0032] Fig.13 is a schematic diagram showing the structure of the second support frame involved in the example of the present disclosure.

[0033] Fig.14 is a schematic diagram showing the structure of the second transmission component involved in the example of the present disclosure.

[0034] Fig.15 is a schematic diagram showing the structure of the first connecting device involved in the example of the present disclosure.

[0035] Fig.16 1 is a partial schematic diagram showing a driving unit involved in an example of the present disclosure.

[0036] Fig.17 1 is a partial cross-sectional view showing a driving portion according to an example of the present disclosure. DETAILED DESCRIPTION

[0037] Hereinafter, the preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the following description, the same symbols are assigned to the same components, and repeated descriptions are omitted. In addition, the accompanying drawings are only schematic diagrams, and the ratio of the dimensions of the components or the shapes of the components may be different from the actual ones.

[0038] It should be noted that the terms "including" and "having" and any variations thereof in the present invention, such as a process, method, system, product or device that includes or has a series of steps or units, are not necessarily limited to those steps or units clearly listed, but may include or have other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0039] In addition, the subheadings and the like involved in the following description of the present invention are not intended to limit the content or scope of the present invention, but are merely used as a reminder for reading. Such subheadings should neither be understood as being used to divide the content of the article, nor should the content under the subheading be limited to the scope of the subheading.

[0040] It should be noted that the relative position and relative direction terms such as "above", "towards above", "below", "towards downward", "up and down direction", "left side", "towards the left side", "left side", "towards the left", "right side", "towards the right side", "right side", "towards the right", "left and right direction", "front", "towards the front", "back", "towards the back", "front and back direction" in this document refer to the normal operating posture and should not be considered as restrictive.

[0041] This embodiment relates to a loader that can be used in warehouses, manufacturing plants, and other large-scale construction projects to transport items stored in box-type storage rooms. The picking mechanism picks up the items stacked in the box-type storage room to a transporting portion that partially extends into the box-type storage room, so that the transporting portion transports the items to a target location. In addition, when the items at one location are transported, the driving portion changes the position of the proximal end of the transporting portion to be closer to the items to be transported at other locations, so that the picking mechanism and the transporting portion can cooperate to transport the items to be transported.

[0042] In some cases, a loading and unloading machine involved in this embodiment may also be called a conveyor, a transport machine, a conveyor or a transport machine.

[0043] Hereinafter, the loader and unloader involved in the present disclosure will be described in detail with reference to the accompanying drawings.

[0044] Figure 1 Schematic diagram showing the application scenario of the loader 1 involved in the example of the present disclosure. Figure 1 In this embodiment, the loader 1 may include a pick-up mechanism 10, a transport unit 20, a drive unit 30, and a support base 50. In some examples, the support base 50 may support the pick-up mechanism 10, the transport unit 20, and the drive unit 30.

[0045] In some examples, the picking mechanism 10 may transfer the objects 2 stored in the box storage room 3 to the transporting portion 20 .

[0046] In some examples, the transport portion 20 may be used to transport an object 2 (described later) picked up by the picking mechanism 10. In some examples, the transport portion 20 may have a proximal end close to the object 2 to be transported and a distal end away from the object 2 to be transported.

[0047] In some examples, the transport portion 20 may include a first transport device 21 and a second transport device 22 .

[0048] In some examples, the first transport device 21 is disposed at the proximal end of the transport portion 20. In some examples, the second transport device 22 is disposed at the distal end of the transport portion 20. In some examples, when transporting the article 2, the first transport device 21 may be partially placed in the box storage room 3. In some examples, the picking mechanism 10 may transfer the article 2 to the first transport device 21. In some examples, the first transport device 21 transfers the article 2 from the upstream end to the downstream end. In some examples, the upstream end of the second transport device 22 receives the article 2 transported to the downstream end of the first transport device 21. In some examples, the second transport device 22 transfers the article 2 from the upstream end to the downstream end.

[0049] In some examples, the driving portion 30 may be configured to drive the proximal end of the transport portion 20 to approach the object 2 to be transported.

[0050] In some examples, the objects 2 in the box-type storage room 3 can be transported by the cooperation of the picking mechanism 10, the transporting unit 20 and the driving unit 30. In some examples, the box-type storage room 3 can be at least one of a container, a box-type warehouse, and a storage box. In this case, the first transporting device 21 can extend into the container through the opening of the container to transport the goods.

[0051] In addition, in some examples, the loader 1 can be used in other types of environments, such as moving objects 2 that are stacked in the open air or in a warehouse with a large internal space.

[0052] In some examples, the object 2 may be in the form of at least one of a box, a bag, a barrel, a case, and a cabinet. Figure 1 As shown, in this embodiment, the object 2 is in the form of a box.

[0053] In some examples, the objects 2 can be neatly stacked in the box storage room 3. Figure 1 As shown, the articles 2 are neatly stacked in the box-type storage room 3. In this case, it is convenient for the picking device to pick up the articles 2 in sequence.

[0054] In some examples, the first transport device 21 can extend horizontally into the box-type storage room 3. In this case, the first transport device 21 acts on the object 2 to transport the object 2.

[0055] In some examples, the first handling device 21 may extend into the box-type storage room 3 at a predetermined inclination angle with respect to the horizontal plane. For example, in some examples, the upstream end of the first handling device 21 may be higher than the downstream end of the first handling device 21. In this case, the article 2 may be carried from the upstream end of the support frame 214 to the downstream end of the support frame 214 under the action of gravity.

[0056] In addition, in some examples, the upstream end of the first transport device 21 may be lower than the downstream end of the first transport device 21. In this case, the first transport mechanism 211, the second transport mechanism 212, and the third transport mechanism 213 act on the article 2 to transport the article 2. In the following, for the convenience of description, the direction from the upstream end of the first transport device 21 to the downstream end of the first transport device 21 is understood as the "transport direction" ( Figure 1 It should be noted that the above relative position and relative direction terms refer to the usual operation posture and the usual operation mode, and should not be understood as being restrictive.

[0057] Figure 2 A schematic structural diagram of a first transport device 21 according to an example of the present disclosure is shown.

[0058] In some examples, such as Figure 1 and Figure 2 As shown, the first transport device 21 may include a support frame 214 , a first transport mechanism 211 , a second transport mechanism 212 , and a third transport mechanism 213 . In some examples, when transporting the article 2 , the support frame 214 may be partially placed in the box-type storage room 3 .

[0059] In some examples, the first conveying mechanism 211, the second conveying mechanism 212, and the third conveying mechanism 213 may be disposed on the support frame 214. In some examples, the first conveying mechanism 211, the second conveying mechanism 212, and the third conveying mechanism 213 may convey the article 2 from the upstream end of the support frame 214 to the downstream end of the support frame 214. In this case, the articles 2 in the box-type storage room 3 may be conveyed by the cooperation of the support frame 214, the first conveying mechanism 211, the second conveying mechanism 212, and the third conveying mechanism 213.

[0060] Figure 3 2 is a schematic diagram showing the structure of a first conveying mechanism 211 and a second conveying mechanism 212 involved in the example of the present disclosure.

[0061] As described above, in some examples, the first transport device 21 may include a first transport mechanism 211 and a second transport mechanism 212. In some examples, when the first transport device 21 transports the object 2, the first transport mechanism 211 and the second transport mechanism 212 may act on the object 2 along the first transport direction (ie, direction D1).

[0062] In some examples, the first conveying mechanism 211 may have a first conveying surface. In some examples, the second conveying mechanism 212 may have a second conveying surface. In some examples, the object 2 may be placed on the first conveying surface and the second conveying surface, so that the object 2 may be placed on the first conveying mechanism 211 and the second conveying mechanism 212 so that the first conveying mechanism 211 and the second conveying mechanism 212 may act on the object 2 to convey the object 2.

[0063] In some examples, the first conveying mechanism 211 and the second conveying mechanism 212 may be disposed on the support frame 214. In some examples, the first conveying mechanism 211 and the second conveying mechanism 212 may be disposed along the first conveying direction (i.e., the D1 direction). In some examples, the first conveying mechanism 211 may be disposed at the upstream end of the support frame 214. In some examples, the second first conveying mechanism 21 may be disposed at the downstream end of the support frame 214. In some examples, the first conveying mechanism 211 may convey the article 2 at the upstream end of the support frame 214, and the second conveying mechanism 212 may convey the article 2 at the downstream end of the support frame 214.

[0064] In some examples, there may be a gap between the first transport mechanism 211 and the second transport mechanism 212. In some examples, the gap may have a predetermined width. In some examples, the gap may have a certain space to accommodate other mechanisms of the first transport device 21.

[0065] In some examples, the first conveying mechanism 211 and the second conveying mechanism 212 may be at least one of a belt conveying device and a roller conveying device. In some examples, the object 2 may be conveyed by a conveyor belt 133 and / or a conveyor roller. Figure 3 As shown, in this embodiment, the first conveying mechanism 211 and the second conveying mechanism 212 are roller conveying devices.

[0066] In some examples, the first conveying mechanism 211 and the second conveying mechanism 212 may include, for example, connecting components, cables, and / or pipes. In this case, the first conveying mechanism 211 and the second conveying mechanism 212 may be supplied with power and / or a communication path so that the first conveying mechanism 211 and the second conveying mechanism 212 may be remotely and / or automatically controlled.

[0067] Figure 4 is a schematic diagram showing the pickup mechanism 10 according to the example of the present disclosure in the pickup mode. Figure 5 is a schematic diagram showing the pickup mechanism 10 according to the example of the present disclosure in a release mode. Figure 6 2 is a schematic diagram showing the structure of the picking mechanism 10 and the third transport mechanism 213 involved in the example of the present disclosure. Figure 7Schematic diagram showing the structure of the first driving member 130 and the first transmission member 120 involved in the example of the present disclosure. Figure 8 Schematic diagram showing the structure of the first transmission member 120 and the guide portion 14 involved in the example of the present disclosure.

[0068] As described above, the loader 1 may include a picking mechanism 10. In some examples, the picking mechanism 10 may pick up the object 2 from the stacked position to the first transport surface. In this case, the first transport mechanism 211 may be enabled to transport the object 2.

[0069] In some examples, the picking mechanism 10 can be removed from the moving path of the article 2. In this case, the picking mechanism 10 reduces the obstruction of the movement of the article 2 from the upstream end of the support frame 214 to the downstream end of the support frame 214.

[0070] In some examples, the picking mechanism 10 can move along the first transport direction (ie, direction D1). In this case, the picking mechanism 10 can move to the upstream end of the first transport mechanism 211 to pick up the object 2 and move away from the path where the object 2 is transported.

[0071] In some examples, the picking mechanism 10 may have a picking mode. Figure 4 As shown, at this time, the picking mechanism 10 is in the picking mode.

[0072] In some examples, when the picking mechanism 10 is configured in the picking mode, the picking mechanism 10 can move above the first transport device 21. In this case, the picking mechanism 10 can transfer the object 2 to the first transport surface after picking it up, so that the first transport mechanism 211 can transport the object 2.

[0073] In some examples, the pickup mechanism 10 may have a release mode. Figure 5 As shown, the picking mechanism 10 is in the release mode at this time.

[0074] In some examples, when the picking mechanism 10 is configured in the release mode, the picking mechanism 10 can move to the gap. In other words, the picking mechanism 10 can move to the inside of the first transport device 21. In this case, the picking mechanism 10 can move away from the moving path of the item 2 after picking up the item 2 to the first transport surface, thereby reducing the possibility of the item 2 being obstructed when moving on the first transport surface and the second transport surface. In addition, the picking mechanism 10 moves away from the moving path of the item 2 by moving to the inside of the first transport device 21, thereby reducing the impact of the width and / or height restrictions of the application scene (such as a container) of the first transport device 21. In other words, the possibility of the picking mechanism 10 colliding with the side wall and / or ceiling of the application scene (such as a container) when moving away from the moving path of the item 2 is reduced.

[0075] In addition, when the first transport device 21 is used to transport objects 2 stacked in the open air or in a warehouse with a large internal space, the picking mechanism 10 can be lifted to move away from the moving path of the objects 2 when being transported.

[0076] like Figure 4 As shown, in some examples, the picking mechanism 10 may include a suction member 110. In some examples, the suction member 110 may suction the item 2. In this case, the picking mechanism 10 may suction the item 2 through the suction member 110 to pick up the item 2.

[0077] In some examples, the adsorption member 110 may be a vacuum suction cup. Figure 4 In the embodiment shown, the picking mechanism 10 may include 5 vacuum suction cups. In some examples, the vacuum suction cup may include a vacuum control valve (not shown). In some examples, when the suction member 110 sucks the object 2, the suction surface of the vacuum suction cup abuts against the surface of the object 2, and the vacuum control valve extracts the air between the suction surface of the vacuum suction cup and the surface of the object 2 to form a negative pressure, so that the object 2 is sucked by the suction member 110.

[0078] In addition, in some examples, the picking mechanism 10 may include more than or less than 5 adsorption members 110. In this case, the amount of air extracted by the vacuum control valve can be adjusted accordingly to adjust the size of the negative pressure, thereby ensuring that the picking mechanism 10 can pick up the object 2.

[0079] In addition, in some examples, the picking mechanism 10 may include a gripping mechanism (not shown). In some examples, the gripping mechanism may be a clamp or a manipulator. In this case, the object 2 may be gripped by the clamp or the manipulator.

[0080] In some examples, the picking mechanism 10 may include a first transmission member 120 (eg, Figure 6In some examples, the pickup mechanism 10 may include a first drive member 130 (eg, Figure 6 ). In some examples, the first transmission member 120 may be connected to the first driving member 130. In some examples, the first transmission member 120 may be connected to the adsorption member 110. In some examples, the movement of the pickup mechanism 10 may be driven by the first driving member 130, and the pickup mechanism 10 may be moved in a predetermined manner and path by the first transmission member 120.

[0081] In some examples, the first transmission member 120 may include a driven portion 121 (eg, Figure 6 ). In some examples, the first transmission member 120 may include a connector 150. In some examples, the driven portion 121 may be connected to the adsorption member 110 via the connector 150. In some examples, the first transmission member 120 may be connected to the adsorption member 110 via the driven portion 121.

[0082] In some examples, the first transmission member 120 may include a transmission portion 122 (eg, Figure 6 In some examples, the transmission part 122 is connected to the first transmission member 120. In this case, the first driving member 130 can drive the movement of the first transmission member 120 and the adsorption member 110.

[0083] In some examples, the first drive member 130 can be a belt transmission device (eg, Figure 6 , Figure 7 ). In some examples, the first driving member 130 may include an active roller 131 and a driven roller 132. In some examples, the first driving member 130 may include a conveyor belt 133. In some examples, the conveyor belt 133 may be disposed on the active roller 131 and the driven roller 132. In some examples, the conveyor belt 133 may be connected to the transmission part 122. In some examples, when the active roller 131 rotates, the conveyor belt 133 moves due to friction with the active roller 131 and the driven roller 132, so that the first driving member 130 can be connected to the transmission part 122 to drive the movement of the first transmission member 120.

[0084] In some examples, the first drive member 130 may include a drive track 134 (eg, Figure 7 ). In some examples, the transmission part 122 can be disposed in the drive track 134. In some examples, the transmission part 122 can move in the drive track 134. In some examples, the path of the drive track 134 can match the movement path of the transmission part 122. In some examples, the movement of the transmission part 122 can be limited by the drive track 134, so that the first transmission member 120 can move smoothly.

[0085] In some examples, the first transmission member 120 may include a first connection member 123 and a second connection member 124. In some examples, the first connection member 123 and the second connection member 124 may connect the driven portion 121 and the transmission portion 122. In some examples, the first connection member 123, the second connection member 124, the driven portion 121, and the transmission portion 122 may form a parallelogram. In this case, the height of the adsorption member 110 may be adjusted by adjusting the height of the parallelogram.

[0086] In some examples, the parallelogram formed by the first connecting member 123, the second connecting member 124, the driven portion 121, and the transmission portion 122 may have a first height (eg, Figure 4 , Figure 8 ). In some examples, the height of the parallelogram may be the distance between the adsorption member 110 and the transmission part 122. In some examples, the first height may be greater than the distance between the first transport surface and the transmission part 122. In some examples, when the parallelogram formed by the first connecting member 123, the second connecting member 124, the driven part 121 and the transmission part 122 is at the first height, the adsorption member 110 may be located above the first transport surface.

[0087] In some examples, the picking mechanism 10 may include a guide portion 14. In some examples, the guide portion 14 may have a first guide path 141 (eg, Figure 8 ). In some examples, the driven portion 121 may move on the first guide path 141. In some examples, the height of the first guide path 141 may match the first height of the parallelogram. In this case, when the driven portion 121 is located in the first guide path 141, the parallelogram is at the first height.

[0088] like Figure 4 , Figure 8 In some examples, the first guide path 141 may extend along the first transport surface. In some examples, the first guide path 141 may have a predetermined length. In some examples, the predetermined length may match the length of the first transport surface. In some examples, the position of the first guide path 141 may correspond to the position of the first transport mechanism 211. In some examples, when the driven portion 121 is located at the first guide path 141, the parallelogram moves along the first guide path 141 at a first height. In other words, the adsorption member 110 may move above the first transport surface so that the picking mechanism 10 may be configured in a picking mode.

[0089] In some examples, the parallelogram formed by the first connecting member 123, the second connecting member 124, the driven portion 121, and the transmission portion 122 may have a second height ( Figure 5). In some examples, the second height may be less than the distance between the first transport surface and the transmission part 122. In some examples, when the parallelogram formed by the first connecting member 123, the second connecting member 124, the driven part 121 and the transmission part 122 is at the second height, the adsorption member 110 may be located below the first transport surface.

[0090] In some examples, the guide portion 14 may have a second guide path 142 (eg, Figure 5 , Figure 8 ). In some examples, the driven portion 121 may move on the second guide path 142. In some examples, the height of the second guide path 142 may match the second height of the parallelogram. In this case, when the driven portion 121 is located in the second guide path 142, the parallelogram is at the second height.

[0091] like Figure 5 , Figure 8 In some examples, the second guide path 142 may extend in a direction orthogonal to the first guide path 141. In some examples, the second guide path 142 may have a predetermined length. In some examples, the position of the second guide path 142 may correspond to the position of the gap. In some examples, when the driven portion 121 is located in the second guide path 142, the parallelogram moves along the second guide path 142 at a second height. In other words, at this time, the adsorption member 110 can move from the gap to below the first transport surface, so that the picking mechanism 10 can be configured in the release mode.

[0092] In some examples, the first guide path 141 and the second guide path 142 can be connected in series (eg, Figure 8 ). In some examples, one end of the first guide path 141 close to the gap may be connected to the upper end of the second guide path 142. In other words, the guide portion 14 may be in a "7" shape. In this case, the pickup mechanism 10 may be continuously switched between the pickup mode and the release mode.

[0093] As described above, the first transport device 21 may further include a third transport mechanism 213 (eg Figure 6 ), the third conveying mechanism 213 may be at least one of a belt conveying device and a roller conveying device. In this case, the article 2 may be conveyed by the conveyor belt 133 and / or the conveyor roller. Figure 6 As shown, in this embodiment, the third conveying mechanism 213 is a roller conveying device.

[0094] The third transport mechanism 213 may include, for example, connection components, cables and / or pipes. In this case, the third transport mechanism 213 may be supplied with power and / or a communication path so that the third transport mechanism 213 may be remotely and / or automatically controlled.

[0095] In some examples, the third transport mechanism 213 can be moved. In some examples, the length of the third transport mechanism 213 along the first transport direction (i.e., the D1 direction) can be substantially equal to the width of the gap. In this case, the third transport mechanism 213 can be moved to the gap. In other words, the third transport mechanism 213 can be moved between the first transport mechanism 211 and the second transport mechanism 212, so as to fill the gap.

[0096] In some examples, the third transport mechanism 213 may have a third transport surface. In some examples, the third transport surface may be continuously connected with the first transport surface and the second transport surface to form the first transport platform S1 when the third transport mechanism 213 moves to the gap. In this case, the article 2 can be transported via the first transport surface, the third transport surface, and the second transport surface without being affected by the gap.

[0097] In some examples, the third transport mechanism 213 can be connected to the picking mechanism 10. In some examples, the third transport mechanism 213 can be arranged above the picking mechanism 10 (e.g., Figure 4 , Figure 6 ). In some examples, the third transport mechanism 213 may be disposed near the adsorption member 110. In this case, the third transport mechanism 213 and the pickup mechanism 10 may be linked. In other words, the third transport mechanism 213 may be moved to the gap when the pickup mechanism 10 moves into the gap, so that the first transport surface, the third transport surface, and the second transport surface are continuously connected to form the first transport platform S1.

[0098] Fig. 9 2 is a schematic structural diagram showing the support frame 214 and the first transmission member 120 when the picking mechanism 10 involved in the example of the present disclosure is in the picking mode. Fig.10 2 is a schematic diagram showing the structure of the support frame 214 and the first transmission member 120 when the picking mechanism 10 involved in the example of the present disclosure is in the release mode.

[0099] like Figure 4 , Fig. 9 In some examples, the support frame 214 may include a first side plate 214a and a second side plate 214b. In some examples, the first side plate 214a and the second side plate 214b may be arranged side by side. In some examples, the first transport mechanism 211 and the second transport mechanism 212 may be fixed on the first side plate 214a and the second side plate 214b so that the support frame 214 supports the first transport mechanism 211 and the second transport mechanism 212.

[0100] like Figure 4In some examples, the first transport mechanism 211 may be disposed at the upstream end of the support frame 214. In some examples, the second transport mechanism 212 may be disposed at the downstream end of the support frame 214. In some examples, the article 2 may be received by the picking mechanism 10 from the upstream end of the support frame 214 and transported to the downstream end of the support frame 214. Thus, the article 2 is transported.

[0101] In some examples, the guide portion 14 may be disposed on the support frame 214. In some examples, the guide portion 14 may be a guide groove (eg, Fig. 9 In this case, the picking mechanism 10 may be disposed on the support frame 214 , thereby improving the integration of the first transport device 21 .

[0102] In some examples, the driven portion 121 may include a movable body 125 (eg, Figure 7 In some examples, the movable body 125 may be disposed on the guide portion 14 of the first side plate 214a and / or the second side plate 214b (not shown). In this case, the pickup mechanism 10 may be switched between the pickup mode and the release mode by moving the movable body 125 within the guide portion 14.

[0103] In some examples, when the movable body 125 is on the first guide path 141 of the first side plate 214a and / or the second side plate 214b (eg, Fig. 9 ), the adsorption member 110 may be located above the support frame 214. In this case, the picking mechanism 10 may be in the picking mode. In some examples, when the movable body 125 is on the second guide path 142 of the first side plate 214a and / or the second side plate 214b (eg, Fig.10 ), the adsorption member 110 may be located below the support frame 214. In this case, the picking mechanism 10 may be in a release mode.

[0104] In some examples, the first guide path 141 and the second guide path 142 may be connected by an arc to be disposed on the first side plate 214a and / or the second side plate 214b (eg, Fig. 9 In this case, it is possible to reduce the loss caused by the collision of the movable body 125 with the groove wall when the movable body 125 moves from the first guide path 141 to the second guide path 142.

[0105] Fig.11 2 is a schematic diagram showing the structure of the second transport device 22 involved in the example of the present disclosure. Fig.12 1 is a front view showing a second transport device 22 according to the example of the present disclosure.

[0106] In the following, for the convenience of description, the direction from the upstream end of the second conveying device 22 to the downstream end of the second conveying device 22 is understood as the “second conveying direction” ( Fig.11 It should be noted that the above relative position and relative direction terms refer to the usual operation posture and the usual operation mode, and should not be understood as being restrictive.

[0107] As described above, in some examples, the transport unit 20 may further include a second transport device 22. Fig.11 and Fig.12 In some examples, the second transport device 22 can be used to transport articles transported to the downstream end of the first transport device 21. In some examples, the second transport device 22 can include a second support frame 230, a first guide mechanism 221, a second guide mechanism 222, a third guide mechanism 223, a fourth guide mechanism 224, and a conveyor belt 225. In some examples, the articles are transported by the conveyor belt 225; the length of the conveyor belt 225 used for transporting the articles is changed by cooperating with the first guide mechanism 221, the second guide mechanism 222, the third guide mechanism 223, and the fourth guide mechanism 224, thereby changing the length of the second transport device 22 to meet different transport requirements.

[0108] like Fig.11 and Fig.12 In some examples, the second support frame 230 may have a proximal end for receiving the object to be transported. In some examples, the first guide mechanism 221 may be disposed at the proximal end of the second support. In some examples, the second support frame 230 may have an opposite distal end. In some examples, the second guide mechanism 222 may be disposed at the distal end of the second support frame 230. In this case, the object to be transported may be transported on one side of the plane defined by the first guide mechanism 221 and the second guide mechanism 222. In other words, the object to be transported may be transported above the plane defined by the first guide mechanism 221 and the second guide mechanism 222.

[0109] In some examples, the third guide mechanism 223 and the fourth guide mechanism 224 may be disposed between the proximal end and the distal end of the second support frame 230. In some examples, the third guide mechanism 223 and the fourth guide mechanism 224 may be disposed on the other side of the plane defined by the first guide mechanism 221 and the second guide mechanism 222. In other words, the third guide mechanism 223 and the fourth guide mechanism 224 may be disposed below the plane defined by the first guide mechanism 221 and the second guide mechanism 222 (e.g., Figure 1 and Figure 2 In this case, the third guide mechanism 223 and the fourth guide mechanism 224 can adjust the length of the second transport device 22 without affecting the transport of articles by the second transport device 22 .

[0110] In some examples, the conveyor belt 225 may pass through the first guide mechanism 221, the second guide mechanism 222, and the third guide mechanism 223 to form a closed loop (eg, Figure 2 In this case, the conveyor belt 225 can move under the guidance of the first guide mechanism 221, the second guide mechanism 222 and the third guide mechanism 223, so as to transport the articles along a predetermined path.

[0111] In some examples, the conveyor belt 225 may include a first section located between the first guide mechanism 221 and the second guide mechanism 222. In this case, the first section may be used as a portion of the conveyor belt 225 for transporting articles.

[0112] In some examples, the conveyor belt 225 may include a second section located between the second guide mechanism 222 and the third guide mechanism 223. In some examples, the conveyor belt 225 may include a third section located between the first guide mechanism 221 and the third guide mechanism 223. In this case, since the length of the conveyor belt 225 is fixed, the length of the first section may be changed by changing the length of the third section and / or the second section. In other words, the length of the first section of the conveyor belt 225 may be changed by changing the distance between the first guide mechanism 221 and the third guide mechanism 223 and / or the distance between the second guide mechanism 222 and the third guide mechanism 223, in other words, the length of the second transport device 22 is changed.

[0113] In some examples, the first guide mechanism 221 may be configured to be relative to the second guide mechanism 222 (described later). In some examples, the first guide mechanism 221 may be configured to be movable relative to the third guide mechanism 223 (described later). In this case, the length of the third section of the conveyor belt 225 can be changed by moving the first guide mechanism 221 to change the third guide mechanism 223, thereby changing the length of the first section, in other words, changing the length of the second transport device 22.

[0114] In some examples, the fourth guide mechanism 224 may abut against the second section of the conveyor belt 225. In addition, in some examples, the fourth guide mechanism 224 may abut against the third section of the conveyor belt 225. Figure 1 and Figure 2 In this embodiment, the fourth guide mechanism 224 abuts against the third section of the conveyor belt 225. In this case, the loop formed by the conveyor belt 225 can pass through the fourth guide mechanism 224.

[0115] In some examples, the fourth guide mechanism 224 may be configured to be movable. In some examples, the fourth guide mechanism 224 may be configured to be linked with the first guide mechanism 221. In some examples, when the fourth guide mechanism 224 abuts against the third section of the conveyor belt 225, the first guide mechanism 221 may be linked by moving the fourth guide mechanism 224, thereby changing the length of the third section of the conveyor belt 225 to change the length of the first section of the conveyor belt 225. In other words, the length of the second transport device 22 is changed.

[0116] Fig.13 2 is a schematic diagram showing the structure of the second support frame 230 involved in the example of the present disclosure. Fig.14 Schematic diagram showing the structure of the second transmission member 232 involved in the example of the present disclosure.

[0117] As described above, in some examples, the second support frame 230 may include a support body 231. In some examples, the support body 231 may include a first support side plate 231a and a second support side plate 231b (eg, Fig.13 ). In some examples, the first supporting side plate 231a and the second supporting side plate 231b may be arranged side by side. In some examples, the first supporting side plate 231a and the second supporting side plate 231b may extend along the second transport direction (i.e., direction D2). The supporting body 231 may be formed by connecting the first supporting side plate 231a and the second supporting side plate 231b.

[0118] In some examples, the second support frame 230 may include a second transmission member 232 (eg, Fig.13 and Fig.14 ). In some examples, the second transmission member 232 may be disposed on the support body 231. The second transmission member 232 may be configured to be movable (described later). In this case, the second transmission member 232 may be movable on the support body 231.

[0119] In some examples, the second transmission member 232 and the support body 231 may be connected by means of a matching sliding groove and a sliding table (not shown).

[0120] In some examples, the slide groove may be provided on the second transmission member 232, and the slide table may be provided on the support body 231. In addition, in some examples, the slide table may be provided on the second transmission member 232, and the slide groove may be provided on the support body 231.

[0121] like Fig.13In some examples, the second transmission member 232 may be in the shape of a "Π". In some examples, the support body 231 may be in the shape of a "Π". In some examples, the second transmission member 232 may be disposed between the first support side plate 231a and the second support side plate 231b. In this case, the second transmission member 232 may move between the first support side plate 231a and the second support side plate 231b.

[0122] In some examples, such as Fig.13 and Fig.14 , the first guide mechanism 221 may be disposed on the second transmission member 232. In some examples, the fourth guide mechanism 224 may be disposed on the second transmission member 232. In this case, the first guide mechanism 221 and the fourth guide mechanism 224 may be disposed on the second transmission member 232 so that the first guide mechanism 221 and the fourth guide mechanism 224 are linked.

[0123] In some examples, such as Fig.13 and Fig.14 , the second guide mechanism 222 may be disposed on the support body 231. In some examples, the third guide mechanism 223 may be disposed on the support body 231. In this case, the relative movement of the second transmission member 232 and the support body 231 may be utilized to enable the first guide mechanism 221 to move relative to the second guide mechanism 222 and the third guide mechanism 223.

[0124] In some examples, the second transmission member 232 may extend along the second transport direction (ie, direction D2). Fig.13 In some examples, the support body 231 may extend along the second transport direction (ie, direction D2) (eg, Fig.13 In this case, the support body 231 and the second transmission member 232 can move relatively along the second conveying direction (ie, direction D2). In other words, the first guide mechanism 221 and the fourth guide mechanism 224 can move along the second conveying direction (ie, direction D2).

[0125] like Fig.12 In some examples, the first guide mechanism 221 may be a roller. The first guide mechanism 221 may be cylindrical. In some examples, the second guide mechanism 222 may be a roller. The second guide mechanism 222 may be cylindrical. In some examples, the third guide mechanism 223 may be a roller. In some examples, the third guide mechanism 223 may be cylindrical. In some examples, the fourth guide mechanism 224 may be a roller. In some examples, the fourth guide mechanism 224 may be cylindrical.

[0126] In some examples, the first guide mechanism 221, the second guide mechanism 222, the third guide mechanism 223 and the fourth guide mechanism 224 can rotate around the axis, so that the conveyor belt 225 can be hung around the first guide mechanism 221, the second guide mechanism 222, the third guide mechanism 223 and the fourth guide mechanism 224 and move.

[0127] In some examples, the first guide mechanism 221 , the second guide mechanism 222 , the third guide mechanism 223 , and the fourth guide mechanism 224 are disposed in parallel on the second support frame 230 .

[0128] In some examples, the second handling device 22 may include a fourth drive mechanism 226. In some examples, the fourth drive mechanism 226 may be disposed on the second support frame 230. In some examples, the fourth drive mechanism 226 may be configured to drive the first section of the transmission belt to move along the second handling direction (i.e., the D2 direction). In this case, the fourth drive mechanism 226 may drive the movement of the conveyor belt 225, so that the second handling device 22 may carry the articles.

[0129] In some examples, the fourth driving mechanism 226 may be a driving roller. In some examples, the driving roller may be disposed on the second section of the conveyor belt 225. In some examples, the driving roller may be disposed on the third section of the conveyor belt 225. Fig.12 In this embodiment, the driving roller is arranged on the second section of the conveyor belt 225.

[0130] In some examples, the contact portions of the first guide mechanism 221, the second guide mechanism 222, the third guide mechanism 223, the fourth guide mechanism 224, and the fourth drive mechanism 226 with the conveyor belt 225 may have a predetermined friction coefficient. In this case, the first guide mechanism 221, the second guide mechanism 222, the third guide mechanism 223, the fourth guide mechanism 224, and the fourth drive mechanism 226 may be relatively stationary with the conveyor belt 225 at the contact portions with the conveyor belt 225 by setting the predetermined friction coefficient, so that the conveyor belt 225 can be moved better.

[0131] In some examples, the second transport device 22 may include a first stopper 229 (eg, Fig.12 ). The first limiter 229 may be disposed on the second support frame 230. In some examples, the first limiter 229 may be configured to abut the conveyor belt 225 to increase the contact area between the conveyor belt 225 and the fourth driving mechanism 226. In some examples, the friction between the conveyor belt 225 and the fourth driving mechanism 226 may be increased by increasing the contact area between the conveyor belt 225 and the fourth driving mechanism 226, so that the fourth driving mechanism 226 can better drive the movement of the conveyor belt 225.

[0132] In some examples, the first limiting portion 229 may be a roller (eg, Fig.12 In some examples, there may be a plurality of first limiting portions 229. In this embodiment, there are two first limiting portions 229. In this case, the first limiting portions 229 may be disposed on both sides of the fourth driving mechanism 226.

[0133] In some examples, the first limiter 229 may be disposed near the fourth drive mechanism 226. In some examples, the first limiter 229 may act on the conveyor belt 225 toward the fourth drive mechanism 226. In this case, the first limiter 229 may abut the conveyor belt 225 toward the fourth drive mechanism 226.

[0134] In some examples, the second transport device 22 may include a second stopper 228, and the second stopper 228 may be disposed on the second support frame 230. In some examples, the second stopper 228 may be configured to allow the second section of the conveyor belt 225 and the third section of the conveyor belt 225 to avoid each other.

[0135] In some examples, when the fourth guide mechanism 224 abuts against the second section of the conveyor belt 225, the second limiter 228 may be disposed at the third section of the conveyor belt 225. In some examples, when the fourth guide mechanism 224 abuts against the third section of the conveyor belt 225, the second limiter 228 may be disposed at the second section of the conveyor belt 225. In this embodiment, the second limiter 228 is disposed at the second section of the conveyor belt 225 (e.g., Fig.12 ).

[0136] As shown in the figure, in some examples, the second limiter 228 can be disposed below the fourth guide mechanism 224. In some examples, the second limiter 228 can exert an action on the conveyor belt 225 in a direction orthogonal to the second conveying direction (i.e., direction D2). In this case, the second limiter 228 exerts an action on the second section of the conveyor belt 225 to form an avoidance interval on the moving path of the fourth guide mechanism 224, so that the second section of the conveyor belt 225 and the third section of the conveyor belt 225 avoid each other.

[0137] In some examples, the second transport device 22 may include a fifth drive mechanism 227. In some examples, the fifth drive mechanism 227 may be configured to drive the fourth drive mechanism 226 to move (described later). In this case, the length of the first segment of the conveyor belt 225 may be changed by driving the fourth guide mechanism 224 to link the first guide mechanism 221. In other words, the length of the second transport device 22 may be changed by the fifth drive mechanism 227.

[0138] In some examples, the fifth driving mechanism 227 can be a telescopic device (such as Fig.12 ). In some examples, the fifth driving mechanism 227 can be arranged along the second conveying direction. In some examples, the telescopic end of the fifth driving mechanism 227 can be connected to the second transmission member 232. In some examples, the fixed end of the fifth driving mechanism 227 can be arranged on the support body 231. In this case, the second transmission member 232 and the support body 231 can be controlled to move relative to each other by the telescopic device. In other words, the fifth driving mechanism 227 drives the fourth guiding mechanism 224 to move in the second conveying direction.

[0139] Fig.15 is a schematic diagram showing the structure of the first connecting device 60 involved in the example of the present disclosure.

[0140] In some examples, the transport portion 20 may include a first connecting device 60 connecting the first transport device 21 and the second transport device 22 .

[0141] In some examples, the first connecting device 60 may be connected to a downstream end of the first carrying device 21 and an upstream end of the second carrying device 22 .

[0142] In some examples, the first connecting device 60 may have a first axis 601 orthogonal to the second transport platform S2 and a first connecting portion 602 configured to rotate around the first axis 601 (see Fig.15 ).

[0143] In some examples, the first connection portion 602 may be rotatably disposed at the upstream end of the second transport device 22 via the first shaft 601. In some examples, the first connection portion 602 may be substantially in the shape of a flat rectangular parallelepiped.

[0144] In some examples, the first connecting device 60 may have a second axis 603 parallel to the second transport platform S2 and orthogonal to the first transport direction and a second connecting portion 604 configured to rotate around the second axis 603 (see Fig.15 ).

[0145] In some examples, the second connection portion 604 may include a main body and a left connection member and a right connection member disposed on the left and right sides of the main body (see Fig.15 ). The left connecting member and the right connecting member may be substantially semicircular.

[0146] In some examples, the second connecting portion 604 may be rotatably connected to the downstream end of the first transport device 21 via the second shaft 603. For example, in some examples, Fig.15As shown, the connection sequence of the second connecting part 604 and the first transport device 21 through the second shaft 603 can be the left connecting piece, the first side plate 214a, the second shaft 603, the second side plate 214b and the right connecting piece from left to right along the axis direction of the second shaft 603. In this case, the first transport device 21 can rotate around the second shaft 603 in the up and down direction.

[0147] In some examples, the first connection portion 602 and the second connection portion 604 may be connected in a substantially T-shaped structure (see Fig.15 In some examples, the first connection portion 602 may be a "1" portion at the lower end of a T-shape and disposed at the upstream end of the second transport device 22, and the second connection portion 604 may be a "1" portion at the upper end of the T-shape and disposed at the downstream end of the first transport device 21 along the same direction as the second axis 603.

[0148] In some examples, the first connecting device 60 may include a first driving portion 611 and a first driving shaft 612. In some examples, the first driving portion 611 and the first driving shaft are configured to rotate the first transport device 21 around the first axis 601.

[0149] In some examples, the driving mechanism 61 may include a first driving portion 611 (see Fig.15 In some examples, the first driving unit 611 may be configured to drive the first transport device 21 to move along the left-right direction (ie, Fig.15 In some examples, the first driving unit 611 may be disposed on the second transport device 22 .

[0150] In some examples, the first driving portion 611 may include a first driving motor 611 and a retractable first driving shaft 612 driven by the first driving motor 611. In some examples, the first driving shaft 612 may be connected to one side of the first connecting portion 602 (see Fig.15 ).

[0151] In some examples, the first drive motor 611 can drive the first drive shaft 612 to extend and retract along the first transport direction (i.e., direction D1) and the direction opposite to the second transport direction (i.e., direction D2), driving the first connection portion 602 to rotate along the left-right direction around the first axis 601 relative to the second transport device 22, thereby causing the first transport device 21 to rotate along the left-right direction around the first axis 601 relative to the second transport device 22. In other words, the first drive motor 611 can drive the first transport device 21 to rotate along the left-right direction around the first axis 601 relative to the second transport device 22.

[0152] Fig.16Schematic diagram showing a partial structure of the driving unit 30 involved in the example of the present disclosure. Fig.17 1 is a partial cross-sectional view showing the driving unit 30 according to the example of the present disclosure.

[0153] As described above, the loader 1 may include the driving portion 30. In some examples, the loader 1 may further include a second connection device 40 connecting the transport portion 20 and the driving portion 30.

[0154] like Fig.16 and Fig.17 The second connecting device 40 and the driving part 30 can be arranged on the supporting seat 50.

[0155] In some examples, the second connecting device 40 may include a connecting substrate 41 disposed on the support seat 50 and configured to be rotatable along the left-right direction, and a first connecting mechanism 42 (see Fig.16 and Fig.17 ).

[0156] In some examples, the first connection mechanism 42 can be used to connect the transport portion 20 and the connection substrate 41. In other examples, the first connection mechanism 42 can be used to connect the transport portion 20 and the support base 50.

[0157] The following description will take the first connection mechanism 42 used to connect the transport part 20 and the connection substrate 41 as an example. The first connection mechanism 42 used to connect the transport part 20 and the support seat 50 may be the same as the transport part 20 used to connect the transport part 20 and the connection substrate 41 .

[0158] In some examples, the connection substrate 41 can be connected to the support base 50 via a rotating member 411. In some examples, the rotating member 411 can be annular (see Fig.16 and Fig.17 For example, in some examples, the rotating member 411 may be a bearing. In some examples, the connecting substrate 41 may rotate around the rotating member 411 in the left-right direction (ie, Fig.15 The direction indicated by D3 or D4 in the illustrated embodiment).

[0159] In some examples, the first connecting mechanism 42 may include a first axis 421 and a second axis 422 that are parallel to the second transport platform S2 and orthogonal to the second transport direction (i.e., direction D2), and a first connecting portion 423 that is connected to the first axis 421 and the second axis 422 and configured to rotate around the first axis 421 and / or the second axis 422 (see Fig.16 and Fig.17 In some examples, the first shaft 421 is disposed on the second transport device 22 , and the second shaft 422 is disposed on the connecting substrate 41 .

[0160] In some examples, the first shaft 421 may be disposed at the downstream end of the transport portion 20 (see Fig.16 ). In other examples, the first shaft 421 may be disposed between the upstream end and the downstream end of the transport portion 20. For example, in some examples, the first shaft 421 may be disposed between the upstream end and the downstream end of the transport portion 20 and close to the downstream end.

[0161] In some examples, the first connecting mechanism 42 may include a third axis 424 parallel to the first conveying surface S1 and orthogonal to the conveying direction, and a third connecting portion 425 connected to the third axis 424 and configured to rotate around the third axis 424 (see Fig.17 ).

[0162] In some examples, the second connecting device 40 may further include a second connecting mechanism 43. In some examples, both ends of the second connecting mechanism 43 are respectively fixed to the downstream end of the transport portion 20 and one side of the support seat 50 (see Fig.16 and Fig.17 ).

[0163] In some examples, the second connecting mechanism 43 may include a plurality of rollers. In some examples, the plurality of rollers are connected in the form of a scissors fork so that the second connecting mechanism 43 is a retractable and bendable structure (see Fig.16 and Fig.17 In some examples, when the driving unit 30 drives the transporting unit 20 to move, the end of the second connecting mechanism 43 connected to the support seat 50 remains stationary, and the end of the second connecting mechanism 43 connected to the transporting unit 20 moves along with the movement of the transporting unit 20 .

[0164] In some examples, the second connection mechanism 43 may have a third transport platform S3 (see Fig.16 and 17 For example, a plurality of rollers may cooperate to form a third transport platform S3. In some examples, the article 2 may be transported via the first transport plane S1 of the first transport device 21, the second transport plane S2 of the second transport device 22, and the third transport platform S3 of the second connection mechanism 43.

[0165] In some examples, the third transport platform S3 may be tilted downward (see Fig.16 and 17 ). In this case, the object 2 can slide down naturally under the action of gravity when it is located on the third transport platform S3.

[0166] In some examples, the end of the second connection mechanism 43 connected to the support seat 50 may have at least two rollers, and the two rollers are parallel and horizontally placed. In some examples, the two rollers at the end of the second connection mechanism 43 connected to the support seat 50 can cooperate to form a buffer platform with a fourth transport platform S4 (see Fig.16 and 17 ).

[0167] In some examples, the fourth transport platform S4 may be continuous with the third transport platform S3. In some examples, the article 2 may be transported via the third transport platform S3 and the fourth transport platform S4. In this case, the fourth transport platform S4 may act as a buffer to slow down the sliding speed of the article 2, so that the article 2 can leave the fourth transport platform S4 smoothly.

[0168] In some examples, the driving unit 30 may include a first driving mechanism 31 (see Figure 3 In some examples, the first driving mechanism 31 may be configured to drive the transporting portion 20 to move in the up-down direction (ie, Fig.16 The direction indicated by D5 or D6 in the illustrated embodiment).

[0169] In some examples, the first driving mechanism 31 may include a first driving motor 311 and a first driving shaft 312 that is driven and rotatable by the first driving motor 311. The first driving shaft 312 may be curved (see Fig.16 ).

[0170] In some examples, the first drive shaft 312 may be rotatably connected to the third connection portion 425 (see Fig.16 In some examples, the first driving motor 311 drives the first driving shaft 312 to rotate and drives the third connecting portion 425 to move in the up-down direction, so that the transporting portion 20 rotates around the first shaft 421 in the up-down direction.

[0171] In some examples, when the first driving mechanism 31 drives the transporting portion 20 , the transporting portion 20 may rotate around the first axis 421 in the up-down direction.

[0172] In some examples, the first driving mechanism 31 may be disposed on the connecting substrate 41 (see Figure 3 ). In this case, when the connecting substrate 41 rotates in the left-right direction, the first driving mechanism 31 can rotate in the left-right direction along with the connecting substrate 41. In this case, when the transporting part 20 rotates in the left-right direction driven by the connecting substrate 41, the first driving mechanism 31 can drive the transporting part 20 to move in the up-down direction without adjusting the angle.

[0173] In other examples, the first driving mechanism 31 may be disposed on the support seat 50 .

[0174] In some examples, the drive unit 30 may include a second drive mechanism 32 (see Fig.16 The second driving mechanism 32 may be configured to drive the transport unit 20 to move along the front-rear direction (ie, Fig.16 In the illustrated embodiment, the direction indicated by D7 or D8).

[0175] In some examples, the second driving mechanism 32 may include a second driving motor 321 and a retractable second driving shaft 322 driven by the second driving motor 321 .

[0176] In some examples, the second drive shaft 322 can be rotatably connected to the first connection part 423. In some examples, the second drive motor 321 can drive the second drive shaft 322 to extend and retract to drive the first connection part 423 to rotate along the front-to-back direction around the second shaft 422, so that the transport part 20 can rotate along the front-to-back direction around the second shaft 422. In other words, the second drive mechanism 32 can drive the transport part 20 to rotate along the front-to-back direction around the second shaft 422.

[0177] In some examples, the second driving mechanism 32 may be connected to the connection substrate 41. In some examples, when the connection substrate 41 rotates in the left-right direction, the second driving mechanism 32 may rotate along with the connection substrate 41 in the left-right direction.

[0178] In other examples, the first driving mechanism 31 may be disposed on the support seat 50 .

[0179] In some examples, the driving unit 30 may include a third driving unit 33 (see Fig.17 In some examples, the third driving unit 33 may be configured to drive the transport unit 20 to move in the left-right direction (ie, Fig.15 The direction indicated by D3 or D4 in the illustrated embodiment).

[0180] In some examples, the third driving unit 33 can drive the connection substrate 41 to rotate along the left and right directions. In some examples, the connection substrate 41 can have a transmission gear 412, and the transmission gear 412 can be arranged in the inner space of the rotating member 411 (see Fig.17 In some examples, the transmission gear 412 may have a semicircular shape or a completely circular shape, thereby facilitating the rotation of the connection substrate 41 .

[0181] In some examples, the third driving part 33 has a brake gear 332, and the brake gear 332 can be engaged with the transmission gear 412 (see Fig.17In this case, when the third driving part 33 drives the brake gear 332 to rotate, the transmission gear 412 rotates to drive the connecting base plate 41 to rotate around the rotating member 411 in the left-right direction so that the conveying part 20 rotates in the left-right direction. In other words, the third driving part 33 can drive the conveying part 20 to rotate around the rotating member 411 in the left-right direction.

[0182] In some examples, the upstream end of the conveying portion 20 may be located at a predetermined receiving area 2 through cooperative driving of the first driving mechanism 31 , the second driving mechanism 32 , and the third driving mechanism 33 .

[0183] In some examples, the loader 1 may further include a sensing assembly (not shown). The sensing assembly may be disposed on the transport portion 20. The sensing assembly may include a first transmission portion (not shown) and a second sensing portion (not shown). The first sensing portion may be configured to sense a first sensing distance between the transport portion 20 and the object 2 to be transported. The second sensing portion may be configured to sense a second sensing distance between the transport portion 20 and the inner wall of the box-type storage room 3. In this case, the distance between the transport portion 2 and the object to be transported and the interior of the box-type storage room 3 when the loader 1 is transporting the object 2 can be obtained through the sensing assembly.

[0184] In some examples, the loader 1 may include a control system (not shown). The control system is configured to control the driving unit 30 based on the first sensing distance and the second sensing distance to drive the transport unit 20 to move closer to or farther from the object 2 to be transported in the box-type storage room. In this case, the control system can be used to enable the picking mechanism 10 and the transport unit 20 to pick up and transport the object 2 at different locations in the box-type storage room, and avoid collision with the inner wall of the box-type storage room 3.

[0185] According to the loader 1 involved in the present disclosure, the picking mechanism 10 picks up the articles 2 stacked in the box-type storage room 3 and moves them to the conveying part 20 that partially extends into the box-type storage room 3, and then the articles 2 are conveyed to the target position by the conveying part 20; in addition, when the articles at one position are conveyed, the driving part 30 drives the proximal end of the conveying part 20 to change its position to approach the articles to be conveyed at other positions, so that the picking mechanism 10 and the conveying part 20 can cooperate to convey the articles to be conveyed at different positions.

[0186] Although the present disclosure is specifically described above in conjunction with the accompanying drawings and examples, it is to be understood that the above description does not limit the present disclosure in any form. Those skilled in the art may modify and change the present disclosure as needed without departing from the essential spirit and scope of the present disclosure, and these modifications and changes all fall within the scope of the present disclosure.

Claims

1. A loading and unloading machine that is convenient for approaching objects to be transported, and is used to transport objects stored in a box-type storage room, characterized in that: The loader and unloader includes a support seat, a driving part, a transporting part having a proximal end that can be close to an object to be transported and a distal end that is away from the object to be transported, and a second connecting device connecting the transporting part and the driving part, wherein the driving part, the transporting part, and the second connecting device are arranged on the support seat, and the driving part includes a first driving mechanism configured to drive the transporting part to move in an up-and-down direction, a second driving mechanism that drives the transporting part to move in a front-and-rear direction, and a third driving mechanism that drives the transporting part to move in a left-and-right direction, the second connecting device includes a connecting substrate that is arranged on the support seat and configured to be rotatable in the left-and-right direction, and a first connecting mechanism that connects the transporting part and the connecting substrate, the first driving mechanism, the second driving mechanism, and the third driving mechanism cooperate to drive the upstream end of the transporting part to receive the object to be transported at a predetermined position, and when transporting objects, the transporting part is at least partially placed in the box-type storage room and the objects are received from the proximal end of the transporting part and transported toward the distal end of the transporting part.

2. The loading and unloading machine according to claim 1, characterized in that: The second connecting device further comprises a ring-shaped rotating member for connecting the connecting substrate and the supporting seat.

3. The loading and unloading machine according to claim 2, characterized in that: The connection substrate has a transmission gear disposed in an inner space of the rotating member, and the third driving mechanism has a brake gear engaged with the transmission gear.

4. The loading and unloading machine according to claim 1, characterized in that: The conveying portion includes a first conveying device arranged at the proximal end, a second conveying device arranged at the distal end, and a first connecting device connecting the first conveying device and the second conveying device, the first conveying device having a first conveying platform and the objects to be conveyed can be conveyed along a first conveying direction from upstream to downstream via the first conveying platform, the second conveying device having a second conveying platform and the objects to be conveyed can be conveyed along a second conveying direction from upstream to downstream via the second conveying platform, the first connecting device having a first axis orthogonal to the first conveying platform and a first connecting portion configured to be rotatable around the first axis, and a second axis parallel to the first conveying platform and orthogonal to the first conveying direction and a second connecting portion configured to be rotatable around the second axis.

5. The loading and unloading machine according to claim 4, characterized in that: The first connecting mechanism includes a first axis and a second axis parallel to the second conveying platform and orthogonal to the second conveying direction, and a first connecting part connected to the first axis and the second axis of the first connecting mechanism and configured to rotate around the first axis and / or the second axis of the first connecting mechanism. The second driving mechanism includes a second driving motor and a second driving shaft driven by the second driving motor and retractable. The second driving shaft is configured to be rotatably connected to the first connecting part of the first connecting mechanism. The second driving motor is configured to drive the second driving shaft to retract and drive the first connecting part of the first connecting mechanism to rotate around the second axis in the front-to-back direction.

6. The loading and unloading machine according to claim 4, characterized in that: The first connecting mechanism includes a third axis parallel to the first transport platform and orthogonal to the conveying direction, and a third connecting part connected to the third axis and configured to rotate around the third axis. The first driving mechanism includes a first driving motor and a first driving shaft driven by the first driving motor and rotatable. The first driving shaft is configured to be rotatably connected to the third connecting part. The first driving motor drives the first driving shaft to rotate and drives the third connecting part to move in the up and down directions.

7. The loading and unloading machine according to claim 1, characterized in that: The second connecting device further comprises a second connecting mechanism fixed between the downstream end of the conveying portion and one side of the supporting seat, wherein the second connecting mechanism comprises a plurality of rollers connected in the form of a scissors fork.

8. The loading and unloading machine according to claim 1, characterized in that: The loader and unloader includes a sensor component, which includes a first sensor component arranged on the transporting part and configured to sense a first sensing distance between the transporting part and an object to be transported, and a second sensor component configured to sense a second sensing distance between the transporting part and an inner wall of the box-type storage room.

9. The loading and unloading machine according to claim 8, characterized in that: The loader includes a control system configured to control the driving part based on the first sensing distance and the second sensing distance to drive the transporting part to approach or move away from the to-be-transported object in the box-type storage room.

10. The loading and unloading machine according to claim 1, characterized in that: The loader includes a picking mechanism disposed on the support seat, the picking mechanism having a picking mode and a releasing mode. When the picking mechanism is configured in the picking mode, the picking mechanism moves to the proximal end of the transport portion and picks up the item to the transport portion. When the picking mechanism is configured in the releasing mode, the picking mechanism releases the item and moves away from the path where the item is transported.

Images