Carrying device and system and article transfer method

Abstract

The invention provides a carrying device and system and an article transfer method, relates to the technical field of logistics, and is used for carrying articles through a simple mechanical structure and realizing automatic taking and placing of the articles in the carrying process. And the carrying efficiency is improved while the equipment cost is reduced. The carrying device comprises a supporting frame body, an unpowered conveying mechanism, a first blocking mechanism and a moving chassis, the unpowered conveying mechanism is arranged in the supporting frame body, and the unpowered conveying mechanism is obliquely arranged relative to the bottom face of the supporting frame body; the first blocking mechanism is used for blocking articles placed on the unpowered conveying mechanism; the moving chassis is connected to the bottom face of the supporting frame body and used for driving the supporting frame body to move.

Description

Technical Field

[0001] The present disclosure relates to the field of logistics technology, and in particular to a transport device, system and article transport method. Background Art

[0002] Smart logistics terminals usually use handling devices such as handling robots to automatically carry items to reduce the labor intensity of workers. In related technologies, when a handling device carries items to a handling device or a shelf, workers usually need to manually pick up and place items, which makes the process of picking up and placing items inconvenient and leads to low efficiency in carrying items. Summary of the invention

[0003] The present disclosure provides a transport device, a system and an article transfer method, which are used to realize automatic picking and placing of articles during the process of the transport device transporting articles, thereby improving the transport efficiency.

[0004] In order to achieve the above technical objectives, the present disclosure adopts the following technical solutions:

[0005] In a first aspect, the present disclosure provides a transport device, including a support frame, an unpowered transmission mechanism, a first blocking mechanism and a moving chassis, wherein the unpowered transmission mechanism is arranged in the support frame, the unpowered transmission mechanism is inclined relative to the bottom surface of the support frame, the unpowered transmission mechanism forms a storage surface, and the storage surface is used to carry articles; the first blocking mechanism has a first position and a second position; when the first blocking mechanism is in the first position, the first blocking mechanism is used to prevent articles on the unpowered transmission mechanism from sliding out along the unpowered transmission mechanism; when the first blocking mechanism is in the second position, the articles on the unpowered transmission mechanism slide out along the unpowered transmission mechanism; the moving chassis is connected to the bottom surface of the support frame, and is used to drive the support frame to move.

[0006] The transport device provided by the present disclosure is connected to the bottom surface of the support frame through a moving chassis, and the support frame can be driven to move by the moving chassis. When it is necessary to transport items, the moving chassis can drive the support frame to move to the shelf where the items are stored, and dock with the shelf where the items are stored, so that the first blocking mechanism is located in the first position. At this time, since the unpowered transmission mechanism is inclined relative to the bottom surface of the support frame, the items on the shelf where the items are stored can slide along the unpowered transmission mechanism to the storage surface formed by the support frame under the action of their own gravity, and due to the blocking effect of the first blocking mechanism, the items can be placed on the storage surface without falling from the unpowered transmission mechanism.

[0007] Then the moving chassis can drive the support frame to move to the shelf where the items are to be stored (such as a transfer frame), and dock with the shelf where the items are to be stored, so that the first blocking mechanism is located at the second position. At this time, the first blocking mechanism no longer blocks the items in the support frame, and the items in the support frame can slide along the unpowered transmission mechanism to the shelf with the items to be stored under the action of their own gravity. In this way, during the process of transporting items, the staff does not need to manually pick up and place the goods, making the process of picking up and placing items more convenient and improving the efficiency of transporting items.

[0008] In addition, by arranging the unpowered transmission mechanism at an angle relative to the bottom surface of the support frame, automatic picking and placing of articles can be achieved, and the structure of the transport device can be made simpler, thereby reducing the cost of the transport device.

[0009] In some embodiments, there are multiple unpowered transmission mechanisms, and surfaces for supporting articles of at least two of the multiple unpowered transmission mechanisms are arranged in parallel.

[0010] By having at least two of the multiple unpowered transmission mechanisms with surfaces for supporting items arranged in parallel, when placing an item on the support frame, the item can be placed on the at least two unpowered transmission mechanisms with surfaces for supporting items arranged in parallel and slide, so that the at least two unpowered transmission mechanisms with surfaces for supporting items arranged in parallel support and transmit the same item. In this way, during the process of stacking the items in the support frame and during the process of moving between the support frame and the transfer frame, the area of ​​the items supported is larger, thereby improving the stability of the item handling.

[0011] In some embodiments, the unpowered transmission mechanism includes a first end and a second end, and the distance from the first end of the unpowered transmission mechanism to the bottom surface of the support frame is greater than the distance from the second end of the unpowered transmission mechanism to the bottom surface of the support frame; the number of unpowered transmission mechanisms is multiple, and the multiple unpowered transmission mechanisms include a first unpowered transmission mechanism and a second unpowered transmission mechanism; the first ends of the first unpowered transmission mechanism and the second unpowered transmission mechanism are respectively located on opposite sides of the support frame, and the second ends of the first unpowered transmission mechanism and the second unpowered transmission mechanism are also respectively located on opposite sides of the support frame.

[0012] In this way, a first unpowered transmission mechanism and a second unpowered transmission mechanism are arranged in the support frame, so that the first unpowered transmission mechanism and the second unpowered transmission mechanism are inclined in opposite directions. After the support frame is docked with the external device, items can be transmitted to the external device through one of the first and second unpowered transmission mechanisms, and the other unpowered transmission mechanism can receive the items transmitted by the external device, so as to realize the storage and retrieval of items at the same time and improve the handling efficiency.

[0013] In some embodiments, multiple unpowered transmission mechanisms are arranged in sequence and at intervals in a direction perpendicular to the bottom surface of the support frame. In this way, multiple layers of unpowered transmission mechanisms can be arranged in a direction perpendicular to the bottom surface of the support frame, which is conducive to the partitioning of objects and facilitates the simultaneous transportation of different types or categories of objects.

[0014] In some embodiments, the transport device also includes a detection device and a controller. The detection device is disposed on the support frame, and the detection range of the detection device at least includes each unpowered transmission mechanism disposed in the support frame; the controller is communicatively connected with the detection device and the first blocking mechanism; the controller is used to obtain the detection result of the detection device, and based on the successful docking of the unpowered transmission mechanism with the external device, control the first blocking mechanism to move from the first position to the second position.

[0015] In this way, the detection result of the detection device can be used to identify whether the unpowered transmission mechanism and the external device are successfully docked, and if the docking is successful, the position of the first blocking mechanism is changed to achieve the object placement. In this way, the automatic placement of the object can be achieved without user operation, thereby improving the handling efficiency.

[0016] In some embodiments, the transport device also includes a vibration device, which is disposed on the support frame and in contact with the unpowered transmission mechanism; the controller is also communicatively connected to the vibration device; the controller is also used to control the vibration device to vibrate based on the jamming of the object on the unpowered transmission mechanism, so as to drive the object on the unpowered transmission mechanism to vibrate.

[0017] In this way, when using an unpowered conveying mechanism to transport items, the vibration device can be controlled in time to drive the items on the unpowered conveying mechanism to vibrate when the items get stuck, so as to ensure that the items slide smoothly on the unpowered conveying mechanism, improve the efficiency of picking and placing items, and thus improve the handling efficiency.

[0018] In some embodiments, the carrying device also includes a locking structure, which is arranged on the supporting frame and connected to the first blocking mechanism; the locking structure has a third position and a fourth position; when the locking structure is subjected to external force, the locking structure moves from the third position to the fourth position to move the first blocking mechanism from the first position to the second position; when the external force applied to the locking structure is removed, the locking structure returns to the third position from the fourth position to the third position to move the first blocking mechanism from the second position to the first position.

[0019] In this way, the position of the first blocking mechanism can be controlled by the locking structure, thereby achieving the taking and placing of items; in this way, there is no need to drive the first blocking mechanism to move between the first position and the second position by electric control, thereby simplifying the structure of the transport device and reducing the cost of the transport device.

[0020] In some embodiments, a guide groove is provided on the first blocking mechanism, and when the first blocking mechanism is in the first position, the guide groove extends upwardly from the third position toward the fourth position; the locking structure includes a sliding rod, a collision member and a guide rod, and the sliding rod is slidably connected to the support frame; the collision member is connected to the sliding rod and is located on the outside of the support frame; when the collision member is subjected to external force, the collision member moves from the third position to the fourth position; one end of the guide rod is connected to the sliding rod, and the other end of the guide rod is inserted into the guide groove.

[0021] In this way, when the collision member is subjected to external force, the collision member will push the slide bar to slide from the third position to the fourth position, thereby driving the guide bar to slide accordingly, so that the guide bar drives the first blocking mechanism to rotate from the first position to the second position, thereby facilitating the adjustment of the position of the first blocking mechanism.

[0022] In some embodiments, the locking structure further includes a resetting elastic member, which is disposed between the collision member and the support frame and is used to apply an elastic resetting force to the collision member to move from the fourth position to the third position.

[0023] In this way, the collision member can be easily moved from the fourth position to the third position by resetting the elastic member, so that the first blocking mechanism can be used again.

[0024] In some embodiments, the support frame includes multiple support columns and multiple support cross bars; the multiple support columns are perpendicular to the bottom surface of the support frame and are arranged around the bottom surface of the support frame; the unpowered transmission mechanism includes a first end and a second end, and the distance from the first end of the unpowered transmission mechanism to the bottom surface of the support frame is greater than the distance from the second end of the unpowered transmission mechanism to the bottom surface of the support frame; the multiple support cross bars include a first support cross bar connected to the first end of the unpowered transmission mechanism, and a second support cross bar connected to the second end of the unpowered transmission mechanism; the first blocking mechanism is connected to the second support cross bar.

[0025] In this way, the first blocking mechanism is located at the second end of the unpowered transmission mechanism. The first blocking mechanism can block the items on the unpowered transmission mechanism located at the second end of the unpowered transmission mechanism, that is, the items at the bottom of the unpowered transmission mechanism, so that all the items on the unpowered transmission mechanism can be blocked, so that there is no need to set too many first blocking mechanisms, so as to simplify the structure of the transport device.

[0026] In some embodiments, the transport device further includes a damper, which is disposed on the unpowered transmission mechanism; the damper is used to reduce the speed at which the object slides along the unpowered transmission mechanism.

[0027] In this way, the damper can be used to reduce the speed at which the object slides along the unpowered transmission mechanism, preventing the object from sliding and causing collision or damage.

[0028] In some embodiments, the unpowered transmission mechanism includes a bracket and a plurality of rollers, wherein the bracket is connected to the support frame; the plurality of rollers are arranged along the extension direction of the unpowered transmission mechanism and are rotatably connected to the bracket.

[0029] In this way, the friction between the object and the unpowered transmission mechanism can be reduced by rotating the roller, so that the object can slide more smoothly on the unpowered transmission mechanism.

[0030] In some embodiments, the transport device further includes a lifting bracket, at least a portion of which is connected between the moving chassis and the support frame; the lifting bracket is used to drive the support frame to increase or decrease in height.

[0031] By driving the supporting frame to rise or fall in height through the lifting bracket, the height of the unpowered transmission mechanism on the supporting frame can be adjusted, thereby adjusting the height of the unpowered transmission mechanism according to the height of the unpowered transmission mechanism in the transfer frame to which the unpowered transmission mechanism needs to be docked, so as to facilitate the docking of the unpowered transmission mechanism with unpowered transmission mechanisms of different heights, thereby improving the applicability of the handling device.

[0032] In some embodiments, the transport device also includes a protective baffle connected to the support frame; the protective baffle is arranged on opposite sides of the track extension direction of the unpowered transmission mechanism, and the protective baffle is arranged to intersect with the surface of the unpowered transmission mechanism used to support objects.

[0033] By setting the protective baffle, the objects can be prevented from sliding out from the opposite sides of the track extension direction of the unpowered conveying mechanism during the sliding process along the unpowered conveying mechanism, thereby achieving safe transportation of the objects.

[0034] In the second aspect, the present disclosure provides a transport system, which includes a transfer frame and the above-mentioned transport device; wherein a non-powered conveying mechanism is arranged in the transfer frame, and the non-powered conveying mechanism is inclined relative to the bottom surface of the transfer frame; one end of the non-powered conveying mechanism in the transport device can be docked with one end of the non-powered conveying mechanism in the transfer frame, and the docked non-powered conveying mechanism and the non-powered conveying mechanism are inclined in the same direction relative to the bottom surface of the transfer frame.

[0035] The transport system provided by the present disclosure can achieve interaction of objects between the transport device and the transfer rack (such as placement and reception of objects) by docking the transport device with the transfer rack; it does not require a complex mechanical structure and can achieve interaction of objects by relying on the gravity of the objects themselves, thereby reducing equipment costs and improving transport efficiency.

[0036] In some embodiments, the transfer rack also includes a second blocking mechanism, which has a fifth position and a sixth position; when the second blocking mechanism is in the fifth position, the second blocking mechanism is used to prevent items on the unpowered conveying mechanism in the transfer rack from sliding out along the unpowered conveying mechanism; when the second blocking mechanism is in the sixth position, the items on the unpowered conveying mechanism in the transfer rack are allowed to slide out along the unpowered conveying mechanism.

[0037] By setting the second blocking mechanism, the second blocking mechanism can be switched between the fifth position and the sixth position, so that the transfer rack can realize the taking and placing of items, and ensure that when the items are not taken and placed, the items on the unpowered conveying mechanism will not slide out along the unpowered conveying mechanism, thereby improving the stability of the items on the unpowered conveying mechanism.

[0038] In a third aspect, the present disclosure provides an article transfer method for a handling system, the article transfer method comprising:

[0039] The transport device transports the first object to be transferred to a target location, where a transfer frame for receiving the first object to be transferred is provided;

[0040] Docking the unpowered transmission mechanism in the handling device with the unpowered conveying mechanism in the transfer frame;

[0041] Move the first blocking mechanism in the transport device from the first position to the second position so that the first object to be transferred on the transport device slides along the unpowered transmission mechanism to the transfer frame; and / or move the second blocking mechanism in the transfer frame from the fifth position to the sixth position so that the second object to be transferred on the transfer frame slides along the unpowered transmission mechanism to the transport device.

[0042] In some embodiments, docking the unpowered transmission mechanism in the handling device with the unpowered conveying mechanism in the transfer frame includes:

[0043] One end of the unpowered transmission mechanism in the handling device is docked with one end of the unpowered transmission mechanism in the transfer frame, and the docked unpowered transmission mechanism and the unpowered transmission mechanism are inclined in the same direction relative to the bottom surface of the transfer frame.

[0044] In some embodiments, the unpowered transmission mechanism includes a first end and a second end, and the distance from the first end of the unpowered transmission mechanism to the bottom surface of the support frame is greater than the distance from the second end of the unpowered transmission mechanism to the bottom surface of the support frame;

[0045] The unpowered conveying mechanism includes a third end and a fourth end, and the distance from the third end of the unpowered conveying mechanism to the bottom surface of the transfer frame is greater than the distance from the fourth end of the unpowered conveying mechanism to the bottom surface of the transfer frame;

[0046] Docking the unpowered transmission mechanism with the transfer frame includes:

[0047] The second end of the unpowered transmission mechanism is docked with the third end of the unpowered conveying mechanism; and / or the first end of the unpowered transmission mechanism is docked with the fourth end of the unpowered conveying mechanism.

[0048] In some embodiments, the article transfer method further comprises:

[0049] Obtaining the detection result of the detection device in the handling device, the detection result is used to determine whether the unpowered transmission mechanism and the transfer frame are successfully docked;

[0050] Based on the successful docking of the unpowered transmission mechanism with the transfer frame, the first blocking mechanism is controlled to move from the first position to the second position.

[0051] In some embodiments, the article transfer method further comprises:

[0052] Based on the jamming of the object to be transferred on the placement surface on the unpowered transmission mechanism, the vibration device of the transport device is controlled to vibrate, so as to drive the first object to be transferred on the unpowered transmission mechanism to vibrate.

[0053] In some embodiments, moving the first blocking mechanism from the first position to the second position includes:

[0054] The locking structure of the handling device contacts the transfer frame and moves from the third position to the fourth position to drive the first blocking mechanism to move from the first position to the second position.

[0055] It should be noted that the technical effects brought about by the implementation methods of the second aspect to the third aspect can refer to the technical effects brought about by the corresponding implementation methods in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0057] Figure 1 A side view of a transport system provided by an embodiment of the present disclosure;

[0058] Figure 2 A schematic diagram of the three-dimensional structure of a transport device provided in an embodiment of the present disclosure;

[0059] Figure 3 for Figure 2 A side structural schematic diagram of the handling device shown in ;

[0060] Figure 4 for Figure 2 A front view structural schematic diagram of the handling device shown in ;

[0061] Figure 5 for Figure 2 A schematic diagram of the structure enlargement in the middle;

[0062] Figure 6 for Figure 2 A schematic diagram of the structure of the transport device shown in FIG. 1 under relative viewing angles;

[0063] Figure 7 for Figure 6 A magnified schematic diagram of the structure at B in the middle;

[0064] Figure 8 A schematic diagram of a flow chart of a method for transferring items provided in an embodiment of the present disclosure.

[0065] Reference numerals:

[0066] 100. handling system; 10. handling device; 20. transfer frame; 20A. unpowered conveying mechanism;

[0067] 1. Support frame; 11. Support column; 12. Support cross bar; 121. First support cross bar; 122. Second support cross bar;

[0068] 2. Unpowered transmission mechanism; 21. First end; 22. Second end; 23. First unpowered transmission mechanism; 24. Second unpowered transmission mechanism; 25. Bracket; 26. Roller;

[0069] 3. Sports chassis;

[0070] 4. Lifting bracket;

[0071] 5. a first blocking mechanism; 51. a guide groove;

[0072] 6. Locking structure; 61. Electric push rod; 62. Connecting piece; 63. Impact piece; 64. Sliding rod; 65. Guide rod;

[0073] 7. Vibration device. DETAILED DESCRIPTION

[0074] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0075] It should be noted that all directional indications in the embodiments of the present disclosure (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0076] In the embodiments of the present disclosure, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present disclosure should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0077] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, unless otherwise specified, "plurality" means two or more.

[0078] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances. In addition, when describing pipelines, the "connected" and "connection" used in the present disclosure have the meaning of conduction. The specific meaning needs to be understood in conjunction with the context.

[0079] Smart logistics terminals usually use handling devices such as handling robots to automatically carry items to reduce the labor intensity of staff. In related technologies, complex handling devices are usually used to carry items across distances. However, when this method is used, the equipment structure is complex and the cost is high; moreover, the efficiency of taking out or storing items is usually low, which reduces the efficiency of item handling.

[0080] Based on this, the present disclosure provides a transport system 100. The transport system 100 is used to transport and store articles.

[0081] The handling system 100 provided by the present disclosure is applicable to any scenario where goods need to be handled, such as but not limited to automated warehouses, sorting centers, production line handling, cross-regional logistics, cold chain logistics, etc. In addition, the handling system 100 provided by the present disclosure is used in fields including but not limited to the fields of logistics technology, system engineering, industrial engineering, and storage devices.

[0082] In order to more clearly illustrate the solutions provided by the present disclosure, various embodiments are described in detail below with reference to the accompanying drawings.

[0083] like Figure 1 As shown, Figure 1 The transport system 100 is a side view of a transport system 100 provided in an embodiment of the present disclosure. The transport system 100 includes a transport device 10 and a transport frame 20. The transport frame 20 is used to store items (such as Figure 1 The transport rack 20 shown in the figure can be used as a shelf. The transport device 10 is used to transport the items on the transport rack 20. For example, a plurality of transport racks 20 are placed in an automated warehouse, and a plurality of types of items are placed on the plurality of transport racks 20. If the items need to be reclassified and stored or the storage position of the items needs to be adjusted, the transport device 10 needs to be used to transfer the items on a part of the transport racks 20 to another part of the transport racks 20 for storage.

[0084] In order to facilitate the transfer of items by the transport device 10, please continue to refer to Figure 1 The transport device 10 includes a support frame 1, an unpowered transmission mechanism 2 and a moving chassis 3. The moving chassis 3 is connected to the bottom surface of the support frame 1 and is used to drive the support frame 1 to move. The unpowered transmission mechanism 2 is arranged in the support frame 1. The support frame 1 is used to fix and support the unpowered transmission mechanism 2. Exemplarily, the moving chassis 3 can be a mobile robot with a positioning function.

[0085] It is understandable that the handling device 10 can also be called a handling robot, handling equipment, a transfer robot, an intelligent distribution equipment, an autonomous mobile robot (AMR), etc., and the present disclosure does not make any specific limitations on this.

[0086] In some examples, the support frame 1 may include a plurality of support columns 11 and a plurality of support crossbars 12. The plurality of support columns 11 are perpendicular to the bottom surface of the support frame 1 (eg, Figure 1 M shown in the figure), and is arranged around the bottom surface of the support frame 1. Two adjacent support columns 11 are connected by at least one support cross bar 12. A plurality of support columns 11 and a plurality of support cross bars 12 are interconnected to form the support frame 1. Among them, when the transport device 10 is in normal use, that is, when the moving chassis 3 drives the support frame 1 to move on the ground, the extension direction of the support column 11 can be along the vertical direction, and the extension direction of the support cross bar 12 can be along the horizontal direction. In some other examples, the support frame 1 can also be other structures that can fix and support the unpowered transmission mechanism 2, which is not specifically limited here.

[0087] When the transport device 10 transports an item, the item can be placed on the unpowered transmission mechanism 2 so that the unpowered transmission mechanism 2 supports the item. The moving chassis 3 can drive the support frame 1 to move, and easily drive the unpowered transmission mechanism 2 and the item to move, so as to transport the item.

[0088] For example, when it is necessary to transport the articles on one of the transfer racks 20 (for the convenience of description, the transfer rack 20 is named the first transfer rack 20) ​​to another transfer rack 20 (for the convenience of description, the transfer rack 20 is named the second transfer rack 20), the support rack 1 can be driven to move to the first transfer rack 20 by the moving chassis 3, and the articles on the first transfer rack 20 can be moved to the unpowered transmission mechanism 2 of the transport device 10. Then the moving chassis 3 drives the support rack 1 carrying the articles to move to the second transfer rack 20, and then moves the articles on the unpowered transmission mechanism 2 to the second transfer rack 20 to complete the transportation of the articles.

[0089] The unpowered transmission mechanism 2 is arranged obliquely relative to the bottom surface of the support frame 1. It should be noted that the bottom surface of the support frame 1 refers to the lower surface of the support frame 1 when the moving chassis 3 drives the support frame 1 to move on the ground.

[0090] In some examples, the unpowered transmission mechanism 2 includes a first end 21 and a second end 22. The distance from the first end 21 of the unpowered transmission mechanism 2 to the bottom surface of the support frame 1 is greater than the distance from the second end 22 of the unpowered transmission mechanism 2 to the bottom surface of the support frame 1. That is, the unpowered transmission mechanism 2 is inclined downward from the first end 21 to the second end 22. The plurality of support cross bars 12 include a first support cross bar 121 and a second support cross bar 122 (see Figure 2 ). The first support cross bar 121 is connected to the first end 21 of the unpowered transmission mechanism 2 to fix and support the first end 21 of the unpowered transmission mechanism 2. The second support cross bar 122 is connected to the second end 22 of the unpowered transmission mechanism 2 to fix and support the second end 22 of the unpowered transmission mechanism 2. In other words, the second support cross bar 122 is closer to the bottom surface of the support frame 1 than the first support cross bar 121.

[0091] By tilting the unpowered transmission mechanism 2 relative to the bottom surface of the support frame 1, after placing the items on the unpowered transmission mechanism 2, the items can slide on the unpowered transmission mechanism 2 under the action of their own weight, so that the items can be automatically aligned in the support frame 1, so as to facilitate the arrangement and placement of the items in the support frame 1 and improve the efficiency of carrying the items.

[0092] In order to facilitate the handling device 10 to take and place the items during the transfer process, please continue to refer to Figure 1The transport frame 20 is provided with a non-powered conveying mechanism 20A. The transport frame 20 is used to support the non-powered conveying mechanism 20A and to support articles placed on the non-powered conveying mechanism 20A.

[0093] It should be noted that the number and structure of the unpowered transmission mechanism 20A can be the same as the number and structure of the unpowered transmission mechanism 2 in the transport device 10. The number and structure of the unpowered transmission mechanism 20A can also be different from the number and structure of the unpowered transmission mechanism 2 in the transport device 10. No specific limitation is made here.

[0094] The present application is illustratively described by taking the example that the number and structure of the unpowered conveying mechanism 20A are the same as the number and structure of the unpowered conveying mechanism 2 in the transport device 10 .

[0095] In some examples, the transport frame 20 can be a frame structure. For example, the transport frame 20 includes a plurality of columns and a plurality of connecting rods. The plurality of columns are perpendicular to the bottom surface of the transport frame 20 and are arranged around the bottom surface of the transport frame 20. At least one connecting rod is arranged between any two adjacent columns. The plurality of columns and the plurality of connecting rods are interconnected to form the transport frame 20. In some other examples, the transport frame can also be other structures capable of supporting the unpowered conveying mechanism 20A and the articles on the unpowered conveying mechanism 20A, which is not specifically limited here.

[0096] The unpowered conveying mechanism 20A is relative to the bottom surface of the transport frame 20 (such as Figure 1 One end of the unpowered transmission mechanism 2 in the handling device 10 can be docked with one end of the unpowered conveying mechanism 20A in the transport frame 20, and the docked unpowered transmission mechanism 2 and the unpowered conveying mechanism 20A are inclined in the same direction relative to the bottom surface of the transport frame 20.

[0097] It should be noted that the transport frame 20 is usually placed on the ground, and the items stored on the transport frame 20 are usually placed on the unpowered conveying mechanism 20A. The bottom surface of the transport frame 20 refers to the lower surface of the transport frame 20 when the transport frame 20 normally stores items and is placed on the ground.

[0098] Through the above arrangement, when it is necessary to move the articles on the transfer frame 20 to the handling device 10, for example, when it is necessary to move the articles on the first transfer frame to the handling device 10, it is only necessary to dock the end (i.e., the first end 21) of the unpowered transmission mechanism 2 in the handling device 10 away from the bottom surface of the supporting frame 1 with the end (referred to as the lower end) of the unpowered conveying mechanism 20A in the transfer frame 20 (e.g., the first transfer frame) close to the bottom surface of the transfer frame 20. At this time, the docked unpowered transmission mechanism 2 and the unpowered transmission mechanism 20A are inclined in the same direction relative to the bottom surface of the transfer frame 20. The articles on the unpowered transmission mechanism 20A will slide to the unpowered transmission mechanism 2 of the handling device 10 under the action of their own gravity, and can slide along the unpowered transmission mechanism 2 to automatically align, so that the staff does not need to manually carry the articles, so as to facilitate the movement of the articles from the transfer frame 20 to the handling device 10 and improve the handling efficiency of the articles.

[0099] When it is necessary to move the articles on the transport device 10 to the transfer frame 20, for example, to transfer the articles on the transport device 10 to the second transfer frame 20, it is only necessary to dock the end (i.e., the second end 22) of the unpowered transmission mechanism 2 in the transport device 10 close to the support frame 1 with the end (referred to as the upper end) of the unpowered conveying mechanism 20A in the transfer frame 20 (e.g., the second transfer frame) away from the bottom surface of the transfer frame 20. At this time, the docked unpowered transmission mechanism 2 and the unpowered conveying mechanism 20A are inclined in the same direction relative to the bottom surface of the transfer frame 20. The articles on the unpowered transmission mechanism 2 will slide to the unpowered conveying mechanism 20A of the transfer frame 20 (e.g., the second transfer frame) under the action of their own gravity, and can slide along the unpowered conveying mechanism 20A to automatically align, so that the staff does not need to manually carry the articles, so as to facilitate the movement of the articles from the transport device 10 to the transfer frame 20, thereby improving the handling efficiency of the articles.

[0100] In some embodiments, since the unpowered transmission mechanism 2 is inclined relative to the bottom surface of the supporting frame 1, when the transport device 10 is docked with the transfer frame 20, the first end 21 of the unpowered transmission mechanism 2 in the transport device 10 may be docked with the lower end of the unpowered transmission mechanism 20A in the transfer frame 20, or the second end 22 of the unpowered transmission mechanism 2 in the transport device 10 may be docked with the upper end of the unpowered transmission mechanism 20A in the transfer frame 20. In addition, the heights of different transfer frames 20 may also be different, resulting in different heights of the unpowered transmission mechanisms 20A in different transfer frames 20 from the bottom surface of the transfer frame 20. Therefore, in order to facilitate the docking of the transport device 10 with the transfer frame 20, and to enable the transport device 10 to meet the docking requirements of transfer frames 20 of different heights, please continue to refer to Figure 1The handling device 10 further includes a lifting bracket 4, at least part of which is connected between the moving chassis 3 and the support frame 1. The lifting bracket 4 is used to drive the support frame 1 to rise or fall.

[0101] By driving the support frame 1 to rise or fall in height through the lifting bracket 4, the height of the unpowered transmission mechanism 2 on the support frame 1 can be adjusted, so that the height of the unpowered transmission mechanism 2 can be adjusted according to the height of the unpowered transmission mechanism 20A in the transfer frame 20 to which the unpowered transmission mechanism 2 needs to be docked, so as to facilitate the docking of the unpowered transmission mechanism 2 with the unpowered transmission mechanisms 20A of different heights, thereby improving the applicability of the transport device 10.

[0102] In some examples, the lifting bracket 4 may be a rod-shaped structure, a block-shaped structure, a frame-shaped structure, etc., which are not specifically limited here.

[0103] In some examples, the lifting bracket 4 can be lifted relative to the moving chassis 3. A power piece is provided in the moving chassis 3. The power piece is used to drive the lifting bracket 4 to be lifted relative to the moving chassis 3 to adjust the height of the support frame 1, thereby adjusting the height of the unpowered transmission mechanism 2. The power piece can be an electric push rod. The power piece can also be a motor and a gear rack structure.

[0104] In some embodiments, see Figure 2 , Figure 2 The present invention is a schematic diagram of a three-dimensional structure of a transport device 10 provided in an embodiment of the present invention. The number of the unpowered transmission mechanisms 2 is multiple, and the surfaces of at least two of the multiple unpowered transmission mechanisms 2 for supporting articles are arranged in parallel. That is, at least two of the multiple unpowered transmission mechanisms 2 have the same inclination direction, and along the first arrangement direction (such as Figure 2 The first arrangement direction is perpendicular to the extension direction of the non-powered transmission mechanism 2 and parallel to the bottom surface of the support frame 1. Among them, at least two non-powered transmission mechanisms 2 arranged in parallel with the surfaces for supporting objects are used to support the same object. For example, the object can be a transport box, a plate-shaped member, a rod-shaped member, etc., which can be supported by multiple non-powered transmission mechanisms 2 at the same time, and is not specifically limited here.

[0105] Exemplarily, along a direction perpendicular to the bottom surface of the support frame 1, the support frame 1 is provided with three layers of unpowered transmission mechanisms 2 from top to bottom, wherein each layer of unpowered transmission mechanisms 2 includes a plurality of unpowered transmission mechanisms 2. Among the plurality of unpowered transmission mechanisms 2 on the same layer, two unpowered transmission mechanisms 2 may have surfaces for supporting articles arranged in parallel. Among the plurality of unpowered transmission mechanisms 2 on the same layer, more than two unpowered transmission mechanisms 2 may have surfaces for supporting articles arranged in parallel. For example, among the plurality of unpowered transmission mechanisms 2 on the same layer, three, four, five, six, etc., unpowered transmission mechanisms 2 may have surfaces for supporting articles arranged in parallel. Figure 2 In the embodiment shown in FIG. 1 , the surfaces of the plurality of non-powered conveying mechanisms 2 on each layer for supporting articles are arranged in parallel.

[0106] By having at least two of the multiple unpowered transmission mechanisms 2 with surfaces for supporting items arranged in parallel, when placing an item on the support frame 1, the item can be placed on and slid on at least two unpowered transmission mechanisms 2 with surfaces for supporting items arranged in parallel, so that at least two unpowered transmission mechanisms 2 with surfaces for supporting items arranged in parallel support and transmit the same item. In this way, during the stacking of the items in the support frame 1 and during the movement between the support frame 1 and the transfer frame 20, the area of ​​the items supported is larger, thereby improving the stability of the item handling.

[0107] In some examples, the surfaces for supporting the articles of at least two of the plurality of unpowered transmission mechanisms 2 are located on the same plane. In this way, since the surfaces for supporting the articles of at least two unpowered transmission mechanisms 2 are coplanar, that is, there is no height difference, the articles can slide smoothly along the at least two unpowered transmission mechanisms 2 at the same time, thereby improving the efficiency of carrying the articles.

[0108] In other examples, among the plurality of non-powered transmission mechanisms 2, there is a small height difference between the surfaces of at least two non-powered transmission mechanisms 2 for supporting objects arranged in parallel, for example, the height difference is greater than or equal to 1 mm and less than or equal to 10 mm. Exemplarily, the height difference may be 1 mm, 2 mm, 4 mm, 5 mm, 7 mm, 9 mm, 10 mm, etc.

[0109] In some examples, at least two non-powered transmission mechanisms 2 with parallel surfaces for supporting articles are arranged at intervals along the first arrangement direction. In this way, compared with a belt-shaped or plate-shaped transmission non-powered transmission mechanism, the contact area between the non-powered transmission mechanism 2 and the article can be reduced by transmitting through at least two non-powered transmission mechanisms 2 with parallel surfaces for supporting articles, and the friction force received by the article when sliding can be reduced, so as to increase the speed and smoothness of the article sliding on the non-powered transmission mechanism 2, thereby improving the handling efficiency.

[0110] In some embodiments, see Figure 3 , Figure 3 for Figure 2 When there are multiple unpowered transmission mechanisms 2, the multiple unpowered transmission mechanisms 2 are sequentially arranged at intervals in a direction perpendicular to the bottom surface of the support frame 1.

[0111] By sequentially arranging multiple unpowered transmission mechanisms 2 in a direction perpendicular to the bottom surface of the support frame 1, articles can be placed on each unpowered transmission mechanism 2, so that multiple layers of articles can be placed on the transport device 10, so that the transport device 10 can transport more articles each time, thereby improving the transport efficiency. In addition, different kinds or types of articles can be placed on each unpowered transmission mechanism 2, so that the transport device 10 can transport different kinds or types of articles at the same time, thereby improving the transport efficiency and facilitating the classified storage of articles.

[0112] In some examples, each unpowered transmission mechanism 2 may include multiple sub-unpowered transmission mechanisms 2. It can be understood that the multiple unpowered transmission mechanisms 2 are divided into multiple layers along a direction perpendicular to the bottom surface of the support frame 1, and each layer has multiple unpowered transmission mechanisms 2.

[0113] In some embodiments, please refer to Figure 3 There are multiple unpowered transmission mechanisms 2, and the distance from the first end 21 of each unpowered transmission mechanism 2 to the bottom surface of the support frame 1 is greater than the distance from the second end 22 of the unpowered transmission mechanism 2 to the bottom surface of the support frame 1.

[0114] The plurality of unpowered transmission mechanisms 2 include a first unpowered transmission mechanism 23 and a second unpowered transmission mechanism 24. The first ends 21 of the first unpowered transmission mechanism 23 and the second unpowered transmission mechanism 24 are respectively located on opposite sides of the support frame 1, and the second ends 22 of the first unpowered transmission mechanism 23 and the second unpowered transmission mechanism 24 are also respectively located on opposite sides of the support frame 1. In other words, the support frame 1 has a first side and a second side opposite to each other, and among the plurality of unpowered transmission mechanisms 2, the first ends 21 of some of the unpowered transmission mechanisms 2 are connected to the first side of the support frame 1, and the second ends 22 are connected to the second side of the support frame 1; the first ends 21 of another portion of the unpowered transmission mechanisms 2 are connected to the second side of the support frame 1, and the second ends 22 are connected to the first side of the support frame 1. In other words, the inclination direction of part of the powerless transmission mechanism 2 is opposite to the inclination direction of the other part of the powerless transmission mechanism 2, that is, part of the powerless transmission mechanism 2 gradually inclines toward the bottom surface of the support frame 1 along the direction from the first side to the second side, and the other part of the powerless transmission mechanism 2 gradually inclines toward the bottom surface of the support frame 1 along the direction from the first side to the second side.

[0115] By arranging the first unpowered transmission mechanism 23 and the second unpowered transmission mechanism 24 in the support frame 1, so that the first unpowered transmission mechanism 23 and the second unpowered transmission mechanism 24 are inclined in opposite directions, after the support frame 1 is docked with the transfer frame 20, one of the first unpowered transmission mechanism 23 and the second unpowered transmission mechanism 24 can transmit items to the transfer frame 20, and the other can receive items transmitted by the transfer frame 20. In this way, the transport device 10 can transport some items to the transfer frame 20 while transporting items on the transfer frame 20 to other places, so as to reduce the number of times the transport device 10 moves and improve the transport efficiency.

[0116] In some embodiments, please refer to Figure 3 The transport device 10 further includes a first blocking mechanism 5. The first blocking mechanism 5 has a first position and a second position. When the first blocking mechanism 5 is in the first position, the first blocking mechanism 5 is used to prevent the articles on the unpowered transmission mechanism 2 from sliding out along the unpowered transmission mechanism 2; when the first blocking mechanism 5 is in the second position, the articles on the unpowered transmission mechanism 2 are allowed to slide out along the unpowered transmission mechanism 2.

[0117] By setting up the first blocking mechanism 5, when stacking items on the transport device 10 and the transport device 10 transports items, the first blocking mechanism 5 can be placed in the first position so that the first blocking mechanism 5 blocks the items stacked on the unpowered transmission mechanism 2, thereby preventing the items from sliding off the unpowered transmission mechanism 2 and making the items more stable on the transport device 10.

[0118] When it is necessary to transfer the items on the transport device 10 to the transfer frame 20, the transport device 10 can be docked with the transfer frame 20, and then the first blocking mechanism 5 can be placed in the second position so that the first blocking mechanism 5 no longer blocks the items on the unpowered transmission mechanism 2. At this time, the items on the unpowered transmission mechanism 2 will slide along the unpowered transmission mechanism 2 to the transfer frame 20 under the action of their own gravity, thereby facilitating the transfer of the items.

[0119] For some examples, see Figure 3 and Figure 4 , Figure 4 for Figure 2 The front view structural diagram of the transport device 10 shown in FIG. The first blocking mechanism 5 is connected to the second supporting cross bar 122. In other words, the first blocking mechanism 5 is located at the second end 22 of the unpowered transmission mechanism 2. In this way, the first blocking mechanism 5 can block the articles on the unpowered transmission mechanism 2 located at the second end 22 of the unpowered transmission mechanism 2, that is, block the articles at the lower end of the unpowered transmission mechanism 2, so that all articles on the unpowered transmission mechanism 2 can be blocked, so that there is no need to set too many first blocking mechanisms 5, so as to simplify the structure of the transport device 10.

[0120] For some examples, see Figure 4 When there are multiple unpowered transmission mechanisms 2, the multiple unpowered transmission mechanisms 2 are arranged at intervals along the first arrangement direction, and the first blocking mechanism 5 can be located between two adjacent unpowered transmission mechanisms 2. In this way, it is possible to avoid interference between the first blocking mechanism 5 and the objects on the unpowered transmission mechanism 2 when the first blocking mechanism 5 moves between the first position and the second position, so as to facilitate the setting of the first blocking mechanism 5. Figure 4 In the embodiment of the present invention, the first blocking mechanism is located at a first position.

[0121] The number of the first blocking mechanisms 5 can be multiple, and the multiple first blocking mechanisms 5 can be arranged at intervals along the first arrangement direction. In some examples, along the direction perpendicular to the bottom surface of the support frame 1, multiple rows of unpowered transmission mechanisms 2 are arranged on the support frame 1, and the number of unpowered transmission mechanisms 2 in each row is multiple, and the first blocking mechanism 5 is arranged between the multiple unpowered transmission mechanisms 2 in each row.

[0122] In some examples, the first blocking mechanism 5 may be a plate-shaped structure, a rod-shaped structure, a block-shaped structure, an irregular structure, or the like.

[0123] The first blocking mechanism 5 can move between the first position and the second position in a direction perpendicular to the bottom surface of the support frame 1. The first blocking mechanism 5 can also rotate around the first axis between the first position and the second position, and the direction of the first axis is consistent with the first arrangement direction. The first blocking mechanism 5 rotates from the first position to the second position in a direction from the transport device to the transfer frame to avoid interference between the first blocking mechanism 5 and the items on the transport device.

[0124] When the first blocking mechanism 5 is located at the first position, at least part of the first blocking mechanism 5 is located on the side of the surface of the non-powered transmission mechanism 2 for supporting the article facing away from the bottom surface of the support frame 1, so as to block the article. When the first blocking mechanism 5 is located at the second position, the first blocking mechanism 5 is located on the side of the surface of the non-powered transmission mechanism 2 for supporting the article facing the bottom surface of the support frame 1, so as to no longer block the article.

[0125] In some embodiments, please participate Figure 3 and Figure 5 , Figure 5 for Figure 2 The structure at A in the middle is enlarged schematic diagram. The handling device 10 further includes a locking structure 6, which is disposed on the support frame 1 and connected to the first blocking mechanism 5. The locking structure 6 is used to drive the first blocking mechanism 5 to move between the first position and the second position.

[0126] Exemplarily, the locking structure 6 can be a driving member, for example, the driving member is an electric push rod 61. The output shaft of the electric push rod 61 is directly connected to the first blocking mechanism 5. At this time, the first blocking mechanism 5 moves between the first position and the second position along a direction perpendicular to the bottom surface of the support frame 1. Another exemplary embodiment, the driving member can be a motor, the output shaft of the motor is coaxially arranged with the first axis, and is connected to the first blocking mechanism 5. At this time, the first blocking mechanism 5 rotates around the first axis between the first position and the second position.

[0127] As another example, the locking structure 6 includes an electric push rod 61 and a connecting member 62. The first blocking mechanism 5 is rotatably connected to the support frame 1 around a first axis. One end of the connecting member 62 is connected to the first blocking mechanism 5, and the other end of the connecting member 62 is rotatably connected to the output shaft of the electric push rod 61. The telescopic movement of the output shaft of the electric push rod 61 can drive the first blocking mechanism 5 to rotate between the first position and the second position through the connecting member 62. Among them, the connecting member 62 can be a rod-shaped structure, a plate-shaped structure, etc. The connecting member 62 can also be an L-shaped structure or a Z-shaped structure, etc.

[0128] At this time, the electric push rod 61 can be arranged on the side of the base of the unpowered transmission mechanism 2 facing the support frame 1, and the axial direction of the output shaft of the electric push rod 61 can be consistent with the extension direction of the unpowered transmission mechanism 2, or it can have a small angle with the extension direction of the unpowered transmission mechanism 2, wherein the angle can be greater than 1° and less than or equal to 20°, for example, the angle can be 1°, 5°, 10°, 15°, 20°, etc. In this way, the space occupied by the electric push rod 61 in the direction perpendicular to the bottom surface of the support frame 1 can be reduced, so that the handling device 10 has more space for placing objects, thereby improving the handling efficiency of objects.

[0129] When there are multiple first blocking mechanisms 5 on each layer, the multiple first blocking mechanisms 5 can be connected to the same rotating shaft, and the rotating shaft is rotatably connected to the support frame 1 around the first axis, and one end of the connecting member 62 is connected to the first rotating shaft. In this way, only one electric push rod 61 is needed to drive the multiple first blocking mechanisms 5 to rotate, thereby simplifying the structure of the transport device 10.

[0130] In some other examples, the locking structure 6 includes a connector 62. The handling system includes an electric push rod 61. The electric push rod 61 is connected to the transport frame 20. The first blocking mechanism 5 is connected to the support frame 1 by rotation around the first axis. One end of the connector 62 is connected to the first blocking mechanism 5. When the support frame 1 is docked with the transport frame 20, the output shaft of the electric push rod 61 can contact the other end of the connector 62, and when the output shaft of the electric push rod 61 is extended, the first blocking mechanism 5 can be driven to move from the first position to the second position through the connector 62. The locking structure 6 also includes a reset member, which is connected between the connector 62 and the support frame 1, and the reset member is elastic. In the process of the first blocking mechanism 5 moving from the first position to the second position, the connector 62 can cause the reset member to undergo elastic deformation. In this way, after the output shaft of the electric push rod 61 is retracted, the connector 62 can drive the first blocking mechanism 5 to move from the second position to the first position under the action of the reset member.

[0131] In some other embodiments, the locking structure 6 has a third position and a fourth position. When the locking structure 6 is subjected to an external force, the locking structure 6 moves from the third position to the fourth position, so that the first blocking mechanism 5 moves from the first position to the second position. When the external force on the locking structure 6 is removed, the locking structure 6 returns from the fourth position to the third position, so that the first blocking mechanism 5 moves from the second position to the first position.

[0132] Through the above arrangement, when the support frame 1 is docked with the transfer frame 20, the transfer frame 20 can be brought into contact with the locking structure 6 and generate pressure on the locking structure 6, so that the locking structure 6 moves from the third position to the fourth position, and drives the first blocking mechanism 5 to move from the first position to the second position, so as to release the first blocking mechanism 5 from blocking the items on the handling device 10. After the transfer of the items is completed, the support frame 1 is separated from the transfer frame 20, so that the locking structure 6 is no longer subjected to force, so that the locking structure 6 moves from the fourth position to the third position, and drives the first blocking mechanism 5 to move from the second position to the first position, so that the handling device 10 can carry the items there. In this way, there is no need to drive the first blocking mechanism 5 to move between the first position and the second position by electric control, so that the structure of the handling device 10 can be simplified to reduce the cost of the handling device 10.

[0133] For some examples, see Figure 6 and Figure 7 , Figure 6 for Figure 2 The structural diagram of the handling device 10 shown in FIG. 1 is a schematic diagram of the structure of the handling device 10 at a relative viewing angle, Figure 7 for Figure 6 The first blocking mechanism 5 is provided with a guide groove 51. When the first blocking mechanism 5 is located at the first position, the guide groove 51 extends upwardly from the third position toward the fourth position. The first blocking mechanism 5 can rotate around a first axis, the first axis is located between the first end 21 and the second end 22 of the unpowered transmission mechanism 2, and the guide groove 51 is located on the side of the first axis toward the first end 21 of the unpowered transmission mechanism 2.

[0134] The locking structure 6 includes a collision member 63, a slide bar 64 and a guide bar 65. The slide bar 64 is slidably connected to the support frame 1. The slide bar 64 can be located between two adjacent unpowered transmission mechanisms 2 among a plurality of unpowered transmission mechanisms 2 arranged along the first arrangement direction. The sliding direction of the slide bar 64 is parallel to the bottom surface of the support frame 1 and perpendicular to the first arrangement direction. The collision member 63 is connected to the slide bar 64 and is located on the outside of the support frame 1. When the support frame 1 is docked with the transfer frame 20, the collision member 63 can contact the transfer frame 20 and be subjected to the pressure of the transfer frame 20. Among them, the collision member 63 can be a plate-like structure, a rod-like structure, a block-like structure, etc.

[0135] One end of the guide rod 65 is connected to the slide rod 64, and the other end of the guide rod 65 is inserted into the guide groove 51. When the first blocking mechanism 5 is in the first position, that is, when the locking structure 6 is in the third position, the other end of the guide rod 65 is located at an end of the guide groove 51 close to the first end 21 of the unpowered transmission mechanism 2, that is, at the lower end of the guide groove 51. Figure 7In the embodiment, the first blocking mechanism 5 is located at the first position, and the locking structure 6 is located at the third position.

[0136] With the above arrangement, when the collision member 63 collides with the transport frame 20, the collision member 63 is forced to push the slide bar 64 to slide away from the transport frame 20, thereby driving the guide bar 65 to slide accordingly. That is, the locking structure 6 moves from the third position to the fourth position.

[0137] The guide rod 65 slides in the guide groove 51 while sliding along with the slide rod 64 , and generates a thrust on the first blocking mechanism 5 , so that the first blocking mechanism 5 rotates downward, thereby rotating the first blocking mechanism 5 from the first position to the second position.

[0138] The locking structure 6 also includes a resetting elastic member ( Figure 6 and Figure 7 The resetting elastic member may be a spring, rubber, latex or other elastic structure. The resetting elastic member may be connected between the collision member 63 and the support frame 1, or may be connected between the slide bar 64 and the support frame 1. The resetting elastic member may be elastically deformed during the movement of the locking structure 6 from the third position to the fourth position, thereby generating an elastic resetting force on the collision member 63 and the slide bar 64 to move from the fourth position to the third position.

[0139] After the support frame 1 is separated from the transfer frame 20, the collision member 63 no longer receives pressure from the transfer frame 20. At this time, the collision member 63 and the slide bar 64 are reset under the action of the reset elastic member. That is, the locking structure 6 moves from the fourth position to the third position, thereby driving the first blocking mechanism 5 to move from the second position to the first position.

[0140] In some embodiments, the transport device 10 also includes a detection device (not shown in the figure). The detection device is arranged on the support frame 1, and the detection range of the detection device at least includes each unpowered transmission mechanism 2 arranged in the support frame 1. Among them, the detection device can be a camera device, such as a camera. The detection device can also be a photoelectric detection device, such as an infrared sensor, a laser sensor, a radar rangefinder, etc. In addition, the number of detection devices can be one or more. For example, when the unpowered transmission mechanism 2 has only one layer, the number of detection devices can be one or more. When the unpowered transmission mechanism 2 has multiple layers, the number of detection devices can be multiple, and at least one detection device is set on each layer.

[0141] In one example, when the detection device is a camera device, the shooting range of the detection device includes each unpowered transmission mechanism 2 arranged in the support frame 1, and the detection result of the detection device includes: the image taken by the camera device, and / or, indication information determined based on the image taken by the camera device to indicate whether the unpowered transmission mechanism 2 is successfully docked with the external device.

[0142] In one example, when the detection device is a photoelectric detection device, the detection result of the detection device includes: distance information detected by the photoelectric detection device, and / or indication information determined based on the distance information detected by the photoelectric detection device to indicate whether the unpowered transmission mechanism 2 is successfully docked with the external device.

[0143] The transport device 10 further includes a controller (not shown in the figure). The controller can be disposed on the moving chassis 3 or on the supporting frame 1. The controller is in communication with the detection device and the first blocking mechanism 5. The controller is used to obtain the detection result of the detection device and control the first blocking mechanism 5 to move from the first position to the second position based on the successful docking of the unpowered transmission mechanism 2 with the external device.

[0144] In some examples, an application is provided in the controller, so that the controller controls all or part of the components in the handling device 10 to perform operations based on the application. For example, the controller can control all or part of the first blocking mechanism 5 in the handling device 10 to move positions based on a preset application. For another example, the controller can control the detection device to perform detection based on a preset application.

[0145] Through the above arrangement, it is possible to identify whether the unpowered transmission mechanism 2 is successfully docked with the external device through the detection result of the detection device, and if the docking is successful, the first blocking mechanism 5 is controlled to move to the second position to achieve the taking and placing of the items. In this way, the automatic taking and placing of the items can be achieved without user operation, thereby improving the handling efficiency.

[0146] The detection device can also detect the position information of the transport frame 20. The position information can be determined by GPS positioning or by detecting the distance, which is not specifically limited here.

[0147] The controller can also control the movement route of the moving chassis 3 according to the position information of the transfer frame 20 detected by the detection device, so that the moving chassis 3 drives the supporting frame 1 to move, so that the supporting frame 1 is aligned with the transfer frame 20.

[0148] In some embodiments, please refer to Figure 7In order to make the objects slide more smoothly on the unpowered transmission mechanism 2, the unpowered transmission mechanism 2 includes a bracket 25 and a plurality of rollers 26. The plurality of rollers 26 are arranged along the extension direction of the unpowered transmission mechanism 2 and are rotatably connected to the bracket 25. The direction of the rotation axis of the roller 26 is consistent with the first arrangement direction. In this way, when the objects are placed on the unpowered transmission mechanism 2, the objects are placed on the plurality of rollers 26, and the objects will drive the rollers 26 to rotate during the sliding process on the unpowered transmission mechanism 2. The rotation of the rollers 26 can reduce the friction between the objects and the unpowered transmission mechanism 2, thereby making the objects slide more smoothly on the unpowered transmission mechanism 2.

[0149] The roller may be a plastic roller, a metal roller, a metal roller with a bearing, a rubber-coated metal roller with a bearing, or the like.

[0150] In some other embodiments, the unpowered transmission mechanism 2 may also be a slide groove structure, an unpowered transmission mechanism slider structure, a smooth strip, etc. No specific limitation is made here.

[0151] In some embodiments, in order to prevent the objects from sliding too fast on the unpowered transmission mechanism 2 and causing excessive collision force between the objects, thereby causing damage to the objects, the transport device 10 further includes a damper (not shown in the figure). The damper is arranged on the unpowered transmission mechanism 2, and the damper is used to reduce the speed at which the objects slide along the unpowered transmission mechanism 2. By setting the damper, the speed at which the objects slide along the unpowered transmission mechanism 2 can be reduced, preventing the objects from sliding too fast and causing collision or damage.

[0152] In some examples, the damper may be a rotary damper, or a friction plate, etc. In other examples, the damper may also be a bearing connected to the roller 26. That is, the roller 26 is connected to the bearing, and the bearing is fixed to the bracket 25. The rotation speed of the roller 26 is limited by the rotation speed of the bearing.

[0153] In some examples, a damper is connected to the roller 26 to limit the rotation speed of the roller 26 to reduce the speed at which the object slides along the unpowered conveyor mechanism 2 .

[0154] In some embodiments, please refer to Figure 3 The transport device 10 further includes a vibration device 7. The vibration device 7 is disposed on the support frame 1 and in contact with the unpowered transmission mechanism 2. The controller is also in communication connection with the vibration device 7. The controller is also used to control the vibration device 7 to vibrate based on the occurrence of jamming of the object on the unpowered transmission mechanism 2, so as to drive the object on the unpowered transmission mechanism 2 to vibrate. Among them, whether the object is jammed on the unpowered transmission mechanism 2 can be detected by a detection device such as a camera.

[0155] Through the above arrangement, when using the unpowered conveying mechanism 2 to convey items, the vibration device can be timely controlled to drive the items on the unpowered conveying mechanism 2 to vibrate when the items are stuck, so as to ensure that the items slide smoothly on the unpowered conveying mechanism 2, thereby improving the efficiency of picking and placing items, and further improving the handling efficiency.

[0156] In some examples, the vibration device 7 may be an electromagnetic vibrator, a piezoelectric crystal vibrator, or the like.

[0157] In some embodiments, the transport device 10 further includes a protective baffle (not shown in the figure). The protective baffle is connected to the support frame 1. The protective baffle is arranged on opposite sides of the track extension direction of the unpowered transmission mechanism 2, and the protective baffle is arranged to cross the surface of the unpowered transmission mechanism 2 used to support the items. In other words, the support frame 1 is provided with protective baffles on both sides in the first arrangement direction, and at least part of the protective baffle is located on the side of the bottom surface of the unpowered transmission mechanism 2 facing away from the support frame 1.

[0158] The transport device 10 may turn or make a turn during the process of transporting the items, which may cause the items on the non-powered transmission mechanism 2 to slide in the first arrangement direction. By setting the protective baffle, when the items slide in the first arrangement direction, the protective baffle can block the items to prevent the items from falling from the opposite sides of the track extension direction of the non-powered transmission mechanism 2, thereby achieving safe transportation of the items.

[0159] In some embodiments, a power system (not shown) is provided in the motion chassis 3 to provide power for the movement of the motion chassis 3. The power system includes a drive motor, a battery pack for providing electrical energy to the drive motor, and an electronic control device connected to the drive motor for controlling the drive motor.

[0160] The battery pack can also provide power for the electrical components on the support frame 1. For example, the battery pack can provide power for the locking structure 6 (such as an electric push rod 61 or a motor, etc.) on the support frame 1, so that the locking structure 6 drives the first blocking mechanism 5 to move. In addition, the motion chassis 3 is also provided with a charging connector, which can be connected to a socket or a charger to charge the battery pack of the motion chassis 3.

[0161] In some embodiments, the transport frame 20 further includes a second blocking mechanism (not shown in the figure). The second blocking mechanism has a fifth position and a sixth position; when the second blocking mechanism is in the fifth position, the second blocking mechanism is used to prevent the articles on the unpowered conveying mechanism 20A in the transport frame 20 from sliding out along the unpowered conveying mechanism 20A; when the second blocking mechanism is in the sixth position, the articles on the unpowered conveying mechanism 20A in the transport frame 20 slide out along the unpowered conveying mechanism 20A.

[0162] By setting up a second blocking mechanism, when stacking items on the transfer rack 20, the second blocking mechanism can be placed in the fifth position so that the second blocking mechanism can block the items stacked on the unpowered conveying mechanism 20A, thereby preventing the items from sliding off the unpowered conveying mechanism 20A, so that the items can be placed more stably on the transfer rack 20.

[0163] When it is necessary to transfer the items on the transfer frame 20 to the transport device 10, the transport device 10 can be docked with the transfer frame 20, and then the second blocking mechanism can be placed in the sixth position so that the second blocking mechanism no longer blocks the items on the unpowered conveying mechanism 20A. At this time, the items on the unpowered conveying mechanism 20A will slide along the unpowered conveying mechanism 20A to the transport device 10 under the action of their own gravity, thereby facilitating the transfer of the items.

[0164] It should be noted that the structure of the second blocking mechanism in the transport frame 20 may be the same as the structure of the first blocking mechanism 5 in the handling device 10. The structure of the second blocking mechanism in the transport frame 20 may also be different from the structure of the first blocking mechanism 5 in the handling device 10. No specific limitation is made here. This application is exemplified by the fact that the structure of the second blocking mechanism in the transport frame 20 may be the same as the structure of the first blocking mechanism 5 in the handling device 10, and the specific structure of the second blocking mechanism will not be described in detail here.

[0165] In some embodiments, in order to facilitate the switching of the second blocking mechanism between the fifth position and the sixth position, a second locking structure (not shown in the figure) can also be set on the transfer frame 20 to drive the second blocking mechanism to switch between the fifth position and the sixth position through the second locking structure.

[0166] The structure of the second locking structure may be the same as the structure of the locking structure 6 in the handling device 10. The structure of the second locking structure may also be different from the structure of the locking structure 6 in the handling device 10. No specific limitation is made here. The present application is exemplified by the fact that the structure of the second locking structure may be the same as the structure of the locking structure 6 in the handling device 10, and the specific structure of the second locking structure will not be described in detail here.

[0167] In the description of this specification, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0168] In some embodiments, Figure 8 As shown, Figure 8 The present disclosure also provides a method for transferring items. The method for transferring items includes:

[0169] S1: The transport device 10 transports the first object to be transferred to a target location, where a transfer frame 20 for receiving the first object to be transferred is provided;

[0170] S2: docking the unpowered transmission mechanism in the handling device 10 with the unpowered transmission mechanism in the transfer frame 20;

[0171] S3: Move the first blocking mechanism in the transport device 10 from the first position to the second position so that the first item to be transferred on the transport device 10 slides along the unpowered transmission mechanism to the transfer frame 20; and / or, move the second blocking mechanism in the transfer frame 20 from the fifth position to the sixth position so that the second item to be transferred on the transfer frame 20 slides along the unpowered transmission mechanism to the transport device 10.

[0172] By aligning the unpowered conveying mechanism of the handling device 10 with the unpowered conveying mechanism of the transfer frame, items can be automatically transferred between the unpowered conveying mechanism and the unpowered conveying mechanism, so that there is no need for manual picking and placing of items, which can make the picking and placing process of items more convenient and improve the handling efficiency of items.

[0173] It should be noted that the transport device 10 can transfer the first object to be transferred in one of the transport racks 20 to another transport rack. In addition, the other transport rack 20 can store the second object to be transferred at the same time. At this time, the transport device 10 can receive the second object to be transferred stored on the other transport rack 20 while transferring the first object to be transferred in one of the transport racks 20 to the other transport rack 20, and move the second object to be transferred to another location.

[0174] Among them, the transport device 10 can be provided with a first unpowered transmission mechanism and a second unpowered transmission mechanism, and the inclination directions of the first unpowered transmission mechanism and the second unpowered transmission mechanism are different, so that the first unpowered transmission mechanism is used to transfer the first object to be transferred, and the second unpowered transmission mechanism is used to transfer the second object to be transferred.

[0175] In some embodiments, docking the unpowered transmission mechanism 2 in the handling device 10 with the unpowered conveying mechanism 20A in the transfer frame 20 includes:

[0176] One end of the unpowered conveying mechanism 2 in the handling device 10 is docked with one end of the unpowered conveying mechanism 20A in the transfer frame 20, and the docked unpowered conveying mechanism 2 and unpowered conveying mechanism 20A are inclined in the same direction relative to the bottom surface of the transfer frame 20.

[0177] In this way, the first object to be transferred can be smoothly slid along the non-powered conveying mechanism 2 to the transfer frame 20. Alternatively, the second object to be transferred can be smoothly slid along the non-powered conveying mechanism 20A to the handling device 10.

[0178] In some embodiments, the unpowered transmission mechanism 2 includes a first end and a second end, and the distance from the first end of the unpowered transmission mechanism 2 to the bottom surface of the support frame 1 is greater than the distance from the second end of the unpowered transmission mechanism 2 to the bottom surface of the support frame 1. In other words, the unpowered transmission mechanism 2 is inclined relative to the bottom surface of the support frame 1.

[0179] The unpowered conveying mechanism 20A includes a third end and a fourth end, and the distance from the third end of the unpowered conveying mechanism 20A to the bottom surface of the transfer frame 20 is greater than the distance from the fourth end of the unpowered conveying mechanism 20A to the bottom surface of the transfer frame 20. In other words, the unpowered conveying mechanism 20A is inclined relative to the bottom surface of the transfer frame 20.

[0180] Docking the unpowered transmission mechanism 2 with the transfer frame 20 includes: docking the second end of the unpowered transmission mechanism 2 with the third end of the unpowered transmission mechanism 20A; and / or docking the first end of the unpowered transmission mechanism 2 with the fourth end of the unpowered transmission mechanism 20A.

[0181] It should be noted that when the first object to be transferred on the transport device 10 needs to be transferred to the transfer frame 20, the second end of the non-powered transmission mechanism 2 is docked with the third end of the non-powered transmission mechanism 20A. When the second object to be transferred on the transfer frame 20 needs to be transferred to the transport device 10, the first end of the non-powered transmission mechanism 2 is docked with the fourth end of the non-powered transmission mechanism 20A.

[0182] When it is necessary to transfer the first item to be transferred on the transport device 10 to the transfer frame 20, and at the same time, it is necessary to transfer the second item to be transferred on the transfer frame 20 to the transport device 10, the second end of a part of the unpowered transmission mechanism 2 can be docked with the third end of a part of the unpowered transmission mechanism 20A to transfer the first item to be transferred; and the first end of another part of the unpowered transmission mechanism 2 can be docked with the fourth end of another part of the unpowered transmission mechanism 20A to transfer the second item to be transferred.

[0183] In some embodiments, the article transfer method further comprises:

[0184] Obtaining the detection result of the detection device in the handling device 10, the detection result is used to determine whether the unpowered transmission mechanism 2 and the transfer frame 20 are successfully docked;

[0185] Based on the successful docking of the unpowered transmission mechanism 2 and the transfer frame 20, the first blocking mechanism is controlled to move from the first position to the second position.

[0186] In this way, the position switching of the blocking mechanism can be controlled in time, so that the items can be transferred between the handling device 10 and the transfer frame 20, thereby improving the efficiency of item transfer.

[0187] In some embodiments, the article transfer method further includes: based on the article to be transferred on the storage surface getting stuck on the unpowered transmission mechanism 2, controlling the vibration device of the transport device 10 to vibrate, so as to drive the first article to be transferred on the unpowered transmission mechanism 2 to vibrate.

[0188] In this way, when an object is stuck, the vibration device can be timely controlled to drive the object on the unpowered transmission mechanism 2 to vibrate, so as to ensure that the object slides smoothly on the unpowered transmission mechanism 2, improve the efficiency of taking and placing objects, and further improve the transportation efficiency.

[0189] In some embodiments, moving the first blocking mechanism from the first position to the second position includes: the locking structure of the handling device 10 contacts the transfer frame 20 and moves from the third position to the fourth position to drive the first blocking mechanism to move from the first position to the second position.

[0190] In this way, there is no need to drive the first blocking mechanism to move between the first position and the second position by electric control, so that the structure of the transport device 10 can be simplified to reduce the cost of the transport device 10 .

[0191] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A transport device, characterized in that: The transport device comprises: Support frame; An unpowered transmission mechanism is disposed in the support frame, the unpowered transmission mechanism is inclined relative to the bottom surface of the support frame, and the unpowered transmission mechanism forms a storage surface for carrying items; a first blocking mechanism, wherein the first blocking mechanism has a first position and a second position; when the first blocking mechanism is in the first position, the first blocking mechanism is used to prevent the articles on the unpowered transmission mechanism from sliding out along the unpowered transmission mechanism; when the first blocking mechanism is in the second position, the articles on the unpowered transmission mechanism are allowed to slide out along the unpowered transmission mechanism; A moving chassis is connected to the bottom surface of the supporting frame and is used to drive the supporting frame to move.

2. The device according to claim 1, characterized in that There are multiple unpowered transmission mechanisms, and surfaces for supporting articles of at least two of the multiple unpowered transmission mechanisms are arranged in parallel.

3. The device according to claim 1, characterized in that The unpowered transmission mechanism comprises a first end and a second end, and the distance from the first end of the unpowered transmission mechanism to the bottom surface of the support frame is greater than the distance from the second end of the unpowered transmission mechanism to the bottom surface of the support frame; There are multiple unpowered transmission mechanisms, including a first unpowered transmission mechanism and a second unpowered transmission mechanism, wherein the first ends of the first unpowered transmission mechanism and the second unpowered transmission mechanism are respectively located on opposite sides of the support frame, and the second ends of the first unpowered transmission mechanism and the second unpowered transmission mechanism are also respectively located on opposite sides of the support frame.

4. The device according to any one of claims 1 to 3, characterized in that The plurality of unpowered transmission mechanisms are sequentially arranged at intervals in a direction perpendicular to the bottom surface of the support frame.

5. The device according to any one of claims 1 to 3, characterized in that The transport device also includes: A detection device is arranged on the support frame, and the detection range of the detection device at least includes each of the unpowered transmission mechanisms arranged in the support frame; A controller, in communication with the detection device and the first blocking mechanism; The controller is used to obtain the detection result of the detection device, and control the first blocking mechanism to move from the first position to the second position based on the successful docking of the unpowered transmission mechanism with the external device.

6. The device according to claim 5, characterized in that The transport device also includes: A vibration device, disposed on the support frame and in contact with the unpowered transmission mechanism; A controller is also in communication with the vibration device; The controller is also used to control the vibration device to vibrate based on the jamming of the article on the unpowered transmission mechanism, so as to drive the article on the unpowered transmission mechanism to vibrate.

7. The device according to any one of claims 1 to 3, characterized in that The transport device further comprises a locking structure, which is disposed on the support frame and connected to the first blocking mechanism; The locking structure has a third position and a fourth position; When the locking structure is subjected to an external force, the locking structure moves from the third position to the fourth position, so that the first blocking mechanism moves from the first position to the second position; When the external force applied to the locking structure is released, the locking structure is restored from the fourth position to the third position, so that the first blocking mechanism moves from the second position to the first position.

8. The device according to claim 7, characterized in that The first blocking mechanism is provided with a guide groove, and when the first blocking mechanism is located at the first position, the guide groove extends obliquely upward from the third position toward the fourth position; The locking structure comprises: A sliding rod, the sliding rod being slidably connected to the supporting frame; A collision member, the collision member is connected to the slide bar and is located outside the support frame; when the collision member is acted upon by an external force, the collision member moves from the third position to the fourth position; A guide rod, one end of which is connected to the slide rod, and the other end of which is inserted into the guide groove.

9. The device according to claim 8, characterized in that The locking structure further includes a resetting elastic member, which is disposed between the collision member and the support frame and is used to apply an elastic resetting force to the collision member to move from the fourth position to the third position.

10. The device according to any one of claims 1 to 3, characterized in that The support frame includes a plurality of support columns and a plurality of support cross bars; The plurality of support columns are perpendicular to the bottom surface of the support frame and are arranged around the bottom surface of the support frame; The unpowered transmission mechanism comprises a first end and a second end, and the distance from the first end of the unpowered transmission mechanism to the bottom surface of the support frame is greater than the distance from the second end of the unpowered transmission mechanism to the bottom surface of the support frame; The plurality of support cross bars include a first support cross bar connected to a first end of the unpowered transmission mechanism, and a second support cross bar connected to a second end of the unpowered transmission mechanism; the first blocking mechanism is connected to the second support cross bar.

11. The device according to any one of claims 1 to 3, characterized in that The transport device also includes: A damper is arranged on the unpowered transmission mechanism; The damper is used to reduce the speed at which the object slides along the unpowered conveying mechanism.

12. The device according to any one of claims 1 to 3, characterized in that The unpowered transmission mechanism comprises: A bracket, the bracket being connected to the supporting frame; A plurality of rollers are arranged along the extension direction of the unpowered transmission mechanism and are rotatably connected to the bracket.

13. The device according to any one of claims 1 to 3, characterized in that The transport device also includes: A lifting bracket, at least part of which is connected between the moving chassis and the supporting frame; The lifting bracket is used to drive the support frame to increase or decrease in height.

14. The device according to any one of claims 1 to 3, characterized in that The transport device also includes: A protective baffle is connected to the support frame; the protective baffle is arranged on opposite sides of the track extension direction of the unpowered transmission mechanism, and the protective baffle is arranged to intersect with the surface of the unpowered transmission mechanism used for supporting objects.

15. A transport system, characterized in that: include: A transport frame and a transport device according to any one of claims 1 to 14; wherein: A non-powered conveying mechanism is arranged inside the transport frame, and the non-powered conveying mechanism is arranged obliquely relative to the bottom surface of the transport frame; One end of the unpowered transmission mechanism in the handling device can be docked with one end of the unpowered conveying mechanism in the transfer frame, and the docked unpowered transmission mechanism and the unpowered conveying mechanism are inclined in the same direction relative to the bottom surface of the transfer frame.

16. The handling system according to claim 15, characterized in that: The transport frame also includes: a second blocking mechanism, the second blocking mechanism having a fifth position and a sixth position; When the second blocking mechanism is in the fifth position, the second blocking mechanism is used to prevent the articles on the unpowered conveying mechanism in the transfer frame from sliding out along the unpowered conveying mechanism; When the second blocking mechanism is located at the sixth position, the articles on the unpowered conveying mechanism in the transfer frame body slide out along the unpowered conveying mechanism.

17. A method for transferring articles, characterized in that: For use in a handling system according to any one of claims 15 to 16, the article transfer method comprises: The transport device transports the first object to be transferred to a target location, wherein a transfer frame for receiving the first object to be transferred is provided in the target location; docking the unpowered transmission mechanism in the handling device with the unpowered conveying mechanism in the transfer frame; Move the first blocking mechanism in the transport device from the first position to the second position so that the first object to be transferred on the transport device slides along the unpowered conveying mechanism to the transfer frame; and / or move the second blocking mechanism in the transfer frame from the fifth position to the sixth position so that the second object to be transferred on the transfer frame slides along the unpowered conveying mechanism to the transport device.

18. The article transfer method according to claim 17, characterized in that: The docking of the unpowered transmission mechanism in the handling device with the unpowered transmission mechanism in the transfer frame comprises: One end of the unpowered conveying mechanism in the handling device is docked with one end of the unpowered conveying mechanism in the transfer frame, and the docked unpowered conveying mechanism and the unpowered conveying mechanism are inclined in the same direction relative to the bottom surface of the transfer frame.

19. The article transfer method according to claim 17 or 18, characterized in that: The unpowered transmission mechanism comprises a first end and a second end, and the distance from the first end of the unpowered transmission mechanism to the bottom surface of the support frame is greater than the distance from the second end of the unpowered transmission mechanism to the bottom surface of the support frame; The unpowered conveying mechanism comprises a third end and a fourth end, and the distance from the third end of the unpowered conveying mechanism to the bottom surface of the transfer frame is greater than the distance from the fourth end of the unpowered conveying mechanism to the bottom surface of the transfer frame; The docking of the unpowered transmission mechanism with the transport frame comprises: The second end of the unpowered transmission mechanism is docked with the third end of the unpowered transmission mechanism; and / or the first end of the unpowered transmission mechanism is docked with the fourth end of the unpowered transmission mechanism.

20. The article transfer method according to claim 17, characterized in that: The article transfer method further comprises: Obtaining a detection result of a detection device in the transport device, wherein the detection result is used to determine whether the unpowered transmission mechanism is successfully docked with the transfer frame; Based on the successful docking of the unpowered transmission mechanism with the transfer frame, the first blocking mechanism is controlled to move from the first position to the second position.

21. The article transfer method according to claim 17, characterized in that: The article transfer method further comprises: Based on the jamming of the object to be transferred on the placement surface on the unpowered transmission mechanism, the vibration device of the transport device is controlled to vibrate, so as to drive the first object to be transferred on the unpowered transmission mechanism to vibrate.

22. The article transfer method according to claim 17, characterized in that: The moving the first blocking mechanism from the first position to the second position comprises: The locking structure of the handling device contacts the transfer frame and moves from the third position to the fourth position to drive the first blocking mechanism to move from the first position to the second position.

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