Handling apparatus and warehousing system

Abstract

The application discloses a kind of handling equipment and warehousing system.The handling equipment includes base, tray, lifting assembly and limiting piece, the base has mounting plate;Tray is used to carry container;The bottom end of lifting assembly is connected to the base and the top end is connected to the tray to drive the tray to move between lifting position and retracted position;Limiting piece is pivotably connected to at least one of mounting plate and tray between static position and actuation position, limiting piece abuts the other of mounting plate and tray during the movement of tray from lifting position to retracted position, so that limiting piece pivots from static position to actuation position, limiting piece in actuation position is at least partially above tray, to prevent the movement of container on tray.According to the handling equipment of the application, the movement of container on tray can be continuously limited, to ensure that the position of container relative to tray is centered and accurate.Also, it is widely used and suitable for various containers and materials.

Description

[0001] Divisional application This application is a divisional application of Chinese patent application filed on December 29, 2021, with application number CN 202111642651.7 and invention title "Handling Equipment and Warehousing System". Technical Field

[0002] This invention relates to the field of material storage technology, and more specifically, to a handling equipment and a storage system. Background Technology

[0003] Most existing mobile robots, such as AGVs, lack positioning and centering functions when lifting boxes from shelves. This leads to accumulated errors after multiple cycles of picking and placing, causing inaccurate positioning of boxes on shelves, or even boxes falling off the shelves. A small number of AGVs have positioning pins on their pallets, but this requires custom-made boxes, which is costly.

[0004] Therefore, it is necessary to propose a handling equipment and warehousing system to at least partially solve the problems existing in the prior art. Summary of the Invention

[0005] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0006] According to a first aspect of the present invention, a handling device is provided, the handling device comprising: The base has a mounting plate; Pallet, the pallet being used to carry containers; A lifting assembly, the bottom end of which is connected to the base and the top end of which is connected to the tray, to move the tray between a lifted position and a retracted position; and A limiting member, pivotally connected between a rest position and an actuated position to at least one of the mounting plate and the tray, abutting against the other of the mounting plate and the tray as the tray moves from the lifted position to the retracted position, such that the limiting member pivots from the rest position to the actuated position, the limiting member in the actuated position being at least partially above the tray to prevent movement of the container on the tray.

[0007] The handling device according to the present invention includes a limiting member disposed at at least one of a mounting plate and a pallet. As the pallet moves from a lifted position to a retracted position, the limiting member abuts against the other of the mounting plate and the pallet, thereby pivoting from a rest position to an actuated position. The limiting member in the actuated position is located to the side of the pallet and protrudes upward from the pallet, thereby continuously restricting the movement of containers on the pallet and ensuring that the containers are centered and accurately positioned relative to the pallet. Furthermore, it is highly versatile and suitable for various bins and materials.

[0008] Optionally, the limiting member includes a first limiting member pivotally connected to the mounting plate about a first pivot axis, the first limiting member being located at least partially outside the tray along a first direction in the actuated position, the first pivot axis extending along a second direction perpendicular to the first direction, and the bottom surface of the tray for abutting against the first limiting member.

[0009] Optionally, the tray includes a first recessed portion recessed from the edge of the tray along the first direction, and a mating portion located inside the first recessed portion along the first direction, the bottom surface of the mating portion being used to abut against the first limiting member.

[0010] Optionally, the first limiting member includes a first limiting claw for limiting the container on the tray, wherein when the first limiting member is in the actuated position, the first limiting claw is higher than the tray.

[0011] Optionally, the first limiting member further includes a first roller for abutting against the bottom surface of the tray, and the first pivot shaft is located between the first roller and the first limiting claw.

[0012] Optionally, the first limiting claw has a first side surface for limiting the container and a first guide surface connected to the first side surface, wherein the angle between the first guide surface and the first side surface is greater than 90 degrees.

[0013] Optionally, the first limiting member includes a first portion located between the first roller and the first pivot shaft, and a second portion located between the first limiting claw and the first pivot shaft, wherein the length of the first portion is less than the length of the second portion.

[0014] Optionally, the top surface of the first portion and the top surface of the second portion are not coplanar, and the top surface of the first portion of the first limiting member located at the actuation position is lower than the top surface of the second portion.

[0015] Optionally, the upper surface of the mounting plate has a first support base to support the first pivot shaft.

[0016] Optionally, the projection of the first support seat onto the plane of the tray is at least partially located within the first recess.

[0017] Optionally, the outer periphery of the mounting plate has a mounting plate clearance portion that is recessed inward along a first direction for accommodating the first limiting claw of the first limiting member located in the rest position.

[0018] Optionally, the limiting member includes a second limiting member pivotally connected to the tray about a second pivot axis extending in a first direction.

[0019] Optionally, the mounting plate includes a protrusion located on the upper surface of the mounting plate; The protrusion is used to abut against the second limiting member.

[0020] Optionally, the second limiting member includes a first end and a second end opposite to the first end. The first end is connected to the tray via the second pivot shaft, and the second end has a second roller and a second limiting claw. When the second limiting member is in the actuated position, the second limiting claw is higher than the tray.

[0021] Optionally, the tray includes a body portion and a second recess portion recessed from an end of the body portion along a second direction, wherein the second limiting member located at the actuation position is at least partially located in the second recess portion; and / or The tray has a second support base to support the second pivot shaft.

[0022] Optionally, the second limiting claw has a second side surface for limiting the container and a second guide surface connected to the second side surface, wherein the angle between the second guide surface and the second side surface is greater than 90 degrees.

[0023] Optionally, the first end of the second limiting member has a cam portion, the extension direction of which is opposite to the extension direction of the second limiting claw, and the cam portion is used to define the rest position of the second limiting member.

[0024] Optionally, the mounting plate has a through-hole through which the lifting assembly extends.

[0025] Optionally, the limiting member includes four first limiting members respectively connected to the four corners of the mounting plate.

[0026] Optionally, the limiting member includes two second limiting members disposed at both ends of the tray along a second direction perpendicular to the first direction.

[0027] According to a second aspect of the present invention, a warehousing system is provided, including a storage area, a retrieval and placement device, and a handling device as described in any of the preceding claims; wherein, the storage area is provided with storage racks, the storage racks are provided with multiple layers and each layer is provided with at least two storage positions in the depth direction, the space between each storage rack forms a first aisle, a row of bottom storage positions is provided at the bottom position of at least one side of the storage racks adjacent to the first aisle, at least a portion of the bottom storage positions of the storage racks are provided with containers, and at least a portion of the upper storage positions of the storage racks other than the bottom layer are provided with containers; The picking and placing device is configured to take out the target container from the upper shelf of the storage shelf and place it in an empty lower shelf, or to take out the target container from the lower shelf and place it in an empty upper shelf. The handling equipment is configured to remove a target container from the bottom storage location, or place a target container into the bottom storage location, and to move the target container between the bottom storage location and the destination point.

[0028] Optionally, the destination is a workstation.

[0029] Optionally, the handling equipment is further configured to, when the target container is transported to the workstation, use the lifting assembly to lift the target container to a preset height, so that the operating end at the workstation can remove goods from the target container or put goods into the target container.

[0030] The warehousing system according to the present invention includes the aforementioned handling equipment, which includes a limiting member disposed at one of the mounting plate and the pallet. As the pallet moves from a lifted position to a retracted position, the limiting member abuts against the other of the mounting plate and the pallet, thereby pivoting from a rest position to an actuated position. The limiting member in the actuated position is located to the side of the pallet and protrudes upward from it, thus continuously restricting the movement of containers on the pallet and ensuring that the containers are centered and accurately positioned relative to the pallet. This solution, by ensuring that the containers are always centered relative to the pallet, prevents containers from falling off the pallet and also prevents the accumulation of errors after repeated retrieval and placement of containers from the storage location by the handling equipment, which could cause the containers to tilt or even fall off when placed in the storage location. Furthermore, this solution is highly versatile and applicable to various bins and materials. Attached Figure Description

[0031] The following figures are included as part of this invention for understanding the invention. The figures illustrate embodiments of the invention and their descriptions, serving to explain the apparatus and principles of the invention. In the figures, Figure 1 A schematic diagram of a warehouse handling scheduling system according to an embodiment of the present invention; Figure 2 for Figure 1 The diagram shows the pick-and-place equipment of the warehouse handling and scheduling system. Figure 3 and Figure 4 They are respectively Figure 2 Side view and perspective view of the pick-and-place device shown; Figure 5 This is a perspective view of a conveying device according to an embodiment of the present invention; Figure 6 for Figure 5 A three-dimensional schematic diagram of the conveying equipment (lifting position); Figure 7 for Figure 6 Another perspective view of the conveying device is shown, with partial exploded view to show the structure of the first limiting member and the second limiting member; Figure 8 for Figure 7 A front view of the conveying equipment (lifting position) shown; Figure 9 for Figure 7 Side view of the conveying equipment (lifting position) shown; Figure 10 for Figure 9 Another side view of the conveying device shown, with the first limiting member in a stationary position; Figure 11 for Figure 10 Another side view of the conveying device (retracted position) shown, with the first stop in the actuated position; Figure 12 for Figure 8 Another side view of the conveying device shown, wherein the second limiting member is in a stationary position; and Figure 13 for Figure 12 Another side view of the conveying device (retracted position) shown, with the second stop in the actuated position.

[0032] Explanation of reference numerals in the attached figures 100: Handling equipment; 110: Base 111: Mounting plate 112: Protrusion 113: First support base; 114: Through hole 115: Mounting plate clearance part; 120: Pallet 121: Body part; 122: First recessed part 123: Fitting part; 124: Second recessed part 125: Second support seat; 126: Second support seat hole 130: Lifting assembly; 131: Power assembly 132: Scissors and forks assembly; 140: First limiting component 141: Part 1 141a: Top surface of Part 1 142: Part Two 142a: Top Surface of Part Two 143: First roller; 144: First limit claw 144a: First guide surface; 144b: First side surface 145: First pivot shaft; 146: First pivot shaft hole 147: First roller hole; 148: First roller shaft 150: Second limiting component; 151: First end 152: Second end; 153: Second roller 154: Second limiting claw; 154a: Second guide surface 154b: Second side surface; 155: Second pivot axis 156: Second pivot hole; 157: Second roller hole 158: Second roller shaft; 159: Cam section 200: Control Center; 210: Storage Location 220: Casters; 300: Material bin 212: Target container 102: Pick-up and drop-off equipment 106: Destination Point 108: Storage Shelf 101: Container transfer mechanism; 103: Lifting mechanism 104: Cache rack 105: Drive unit Detailed Implementation

[0033] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid confusion with embodiments of the invention.

[0034] In this document, ordinal numbers such as “first” and “second” used in this application are merely identifiers and do not have any other meaning, such as a specific order. Moreover, for example, the term “first component” does not imply the existence of a “second component”, and the term “second component” does not imply the existence of a “first component”.

[0035] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. It should be noted that the terms "upper," "lower," and similar expressions used herein are for illustrative purposes only and are not intended to be limiting.

[0036] This invention discloses a handling device and a warehousing system including the handling device. The following is combined with... Figures 1-13 A detailed description is given of the handling equipment and warehousing system according to a preferred embodiment of the present invention.

[0037] Figure 1 This is a schematic diagram of a warehouse handling and scheduling system provided in the embodiments of this specification. The system is used to pick and move goods in a warehouse. The system includes: one or more control centers 200, one or more pick-and-place devices 102, one or more handling devices 100, and one or more destination points 106. The warehouse that is handled and scheduled by the system consists of at least one storage rack 108, and each storage rack 108 in the warehouse is provided with multiple layers. The control center 200 communicates with the pick-and-place devices 102 and the handling devices 100 respectively.

[0038] In one or more embodiments of this specification, the destination point 106 in the warehouse may be the location of a shelf for temporary storage of containers, or the location of a shelf for caching containers, or the location of a picking station in the warehouse, or the location of an outbound connection point, or the destination point 106 may be a workstation, etc. This specification does not limit this, but for ease of description, the following description will take the destination point 106 as a workstation as an example.

[0039] Furthermore, the space between each storage rack 108 in the warehouse forms a first aisle, and each layer of the storage rack 108 has at least two storage locations in the depth direction. In this specification, the depth direction of the storage rack 108 refers to the direction from the storage location adjacent to the first aisle in the storage rack 108 to a storage location not adjacent to the first aisle, such as... Figure 1 The diagram shown is a cross-sectional view, which shows that each storage rack has 3 storage locations along its depth.

[0040] In this specification, the storage rack 108 has a row of bottom-level storage locations 210 on at least one side of its surface adjacent to the first aisle. Figure 1 As shown in the diagram, the upper levels of the storage rack 108 are equipped with high-level storage locations. During warehouse operation, at least a portion of the bottom storage locations 210 of the storage rack 108 are arranged with containers containing goods. At least a portion of the other upper storage locations of the storage rack 108, excluding the bottom level, are also arranged with containers.

[0041] In one or more embodiments provided in this specification, the bottom layer of the storage rack 108 does not have a second aisle formed by the space of the bottom storage location 210, and the second aisle is used for the movement of the transport equipment 100, so it is necessary to penetrate the bottom layer of the storage rack 108.

[0042] In one or more embodiments provided in this specification, the control center 200 may specifically be a warehouse server, used to determine the storage location of goods after they are received, the location to which goods need to be moved when they leave the warehouse, and to determine the handling tasks, etc. Of course, since determining the storage location of goods upon receipt, the placement location of goods upon departure, and generating handling tasks are all tasks that current smart warehouse servers need to perform, and relatively mature solutions already exist, this specification does not limit the specific process by which the control center 200 determines the handling tasks.

[0043] In one or more embodiments provided in this specification, the control center 200 may be one or more, but for ease of description, it will be described as one control center 200 in the following description.

[0044] The control center 200 is used to determine the pick-and-place device 102 and / or the handling device 100 to perform the handling task according to the handling task, and to send instructions to the determined pick-and-place device 102 and the handling device 100 respectively to perform the pick-and-place task and the handling task.

[0045] In one or more embodiments provided in this specification, the pick-and-place device 102 in the system travels in a first aisle and is used to pick up the target container 212 indicated by the instruction from the upper shelf of the storage rack 108 and place it into an empty lower shelf 210, or to pick up the target container 212 indicated by the instruction from the lower shelf 210 and place it into the upper shelf 210, according to the instruction sent by the control center 200.

[0046] In one or more embodiments provided in this specification, the handling equipment 100 in the system travels within the first aisle and / or the second aisle to retrieve the target container 212 indicated by the instruction sent by the control center 200 from the bottom storage location 210, or to place the target container 212 indicated by the instruction into the bottom storage location 210, and to transport the target container 212 indicated by the instruction between the bottom storage location 210 and the destination point 106.

[0047] In one or more embodiments provided in this specification, the handling device 100 in the system is further configured to lift the target container 212 to a preset height using a lifting assembly (described in detail below) when the target container 212 arrives at the workstation, so that the operating end at the workstation can remove goods from or place goods into the target container 212. The lifting assembly can perform the lifting action after the handling device 100 arrives at the workstation, or it can perform the lifting action in advance, before the handling device 100 is close to arriving at the workstation. The "operating end" mentioned in this specification can be an operator or an automated operating device, such as a robotic arm.

[0048] In this specification, the handling task includes at least: moving the target container 212 containing goods from the storage location to the destination point 106, i.e., the process of goods leaving the warehouse, and moving the target container 212 containing goods from the destination point 106 to the storage location, i.e., the process of goods entering the warehouse. It can be seen that in the system provided in this specification, since the pick-and-place device 102 can move the carrier between the bottom storage location and the upper storage location, it can mainly be used to perform the position transfer of the target container 212 between the bottom storage location and the upper storage location, i.e., the vertical movement of the target container 212. The handling device 100, since it can move the target container 212 between different storage locations on the bottom floor and the destination point 106, can mainly be used to perform the handling of the target container 212 between the bottom storage location and the destination point, i.e., the horizontal movement of the target container 212.

[0049] Furthermore, since the pick-and-place device 102 needs to pick up and place containers in higher storage locations, its center of gravity is relatively high. To ensure safety, its travel speed is usually set low. In contrast, the handling device 100 is only used to handle containers in lower storage locations, so its center of gravity is lower, and its travel speed can be set higher relative to the pick-and-place device 102. Moreover, the handling device 100 can travel in both the first and second aisles, thus minimizing its travel in the same aisle as the pick-and-place device 102 when handling containers, thereby improving handling efficiency.

[0050] In other words, the system provided in this manual, through the setting of storage rack 108, enables the warehouse to include a first aisle and a second aisle. It utilizes pick-and-place equipment 102 and handling equipment 100 with different focuses to cooperate in performing tasks. This allows the pick-and-place equipment 102 to be used more primarily for the vertical handling of the target container 212, avoiding the horizontal handling of the pick-and-place equipment 102 between the storage rack 108 and the destination point 106. Instead, the handling equipment 100 completes the horizontal handling of the container between the bottom storage location and the destination point 106. The handling task is broken down into several stages performed by different equipment, thereby improving the overall operating efficiency of the warehouse.

[0051] based on Figure 1 The system shown utilizes storage racks in the warehouse, designating the space between the racks as the first aisle and the space extending through the bottom layer of the racks (where no bottom-level storage locations are provided) as the second aisle. Picking and placing equipment travels within the first aisle, while handling equipment can travel within both the first and / or second aisles. This combined use of picking and placing equipment and handling equipment allows for the transport of goods within the warehouse. Because the speed of the handling equipment, which can travel on the bottom layer, is not affected by its own height, and because the aisle used by the handling equipment can differ from that of the picking and placing equipment, the fast-moving handling equipment and the vertically moving picking and placing equipment can work together to perform tasks. This avoids problems caused by slow-moving picking and placing equipment, thus improving warehouse handling efficiency and overall work efficiency.

[0052] Furthermore, it should be noted that the warehouse and related methods described in this manual are applicable not only to the picking and handling of goods in warehousing scenarios, but also to the picking and handling of finished products, semi-finished products, or semi-processed goods in factory production scenarios. The picked goods are used to achieve a certain production process or for a certain production node. This manual does not specifically limit the specific application scenarios.

[0053] In this specification, the vehicle is used to carry goods, but the specific form of the container is not limited. For example, the container can be a bin, etc., as long as it can hold or support the goods.

[0054] Furthermore, in this specification, the occupancy rate of each storage location, i.e., the ratio of storage locations with containers to the total number of storage locations, can be configured as needed. Therefore, the occupancy rate of high-rise storage locations can be set between 0% and 100%, and the occupancy rate of low-rise storage locations can also be set between 0% and 100%.

[0055] Figures 2-4 This is a schematic diagram of the pick-and-place device provided in this specification. As can be seen, the pick-and-place device 102 includes a pick-and-place mechanism, which includes a container transfer mechanism 101 (or a container transfer mechanism when the container is a cargo box). The container transfer mechanism 101 is telescopic to retrieve containers from or place containers into multiple extendable cargo positions. This pick-and-place mechanism is mounted on a lifting mechanism 103 and can move vertically to align containers with different layers for pick-and-place operations. Figure 3 As can be seen, the pick-and-place device is equipped with a buffer shelf 104, which has multiple buffer positions in the height direction. After taking out a container, the pick-and-place mechanism of the pick-and-place device 102 can rotate 90 degrees to place the container into any empty buffer position of the buffer shelf. The bottom of the pick-and-place device is equipped with a drive unit 105 that can drive it to rotate or move.

[0056] Furthermore, since the pick-and-place device 102 in this specification can be equipped with a cache shelf containing multiple cache positions, when there is an obstructing container outside the target container 212, the pick-and-place device 102 is also used to, when it is determined that the target container 212 indicated by the pick-and-place instruction is not located in a high-level storage location adjacent to the first aisle, according to the pick-and-place instruction, remove at least one obstructing container outside the high-level storage location where the target container is located and place it in at least one cache position on the temporary storage shelf of the pick-and-place device 102, and then remove the target container 212.

[0057] In other words, the buffer shelf of the pick-and-place device 102 can be used to buffer the target containers 212 corresponding to multiple pick-and-place tasks, and can also temporarily store obstructing containers in the storage shelf 108 when picking and placing target containers 212. This allows one pick-and-place device 102 with a buffer shelf to perform pick-and-place tasks for multiple pick-and-place devices 102 without a buffer shelf. The control center 200 can send fewer pick-and-place instructions based on the pick-and-place tasks, and the number of pick-and-place devices 102 operating in the warehouse can be reduced, alleviating traffic pressure in the first aisle.

[0058] The following will refer to Figures 5-13 The conveying device 100 according to a preferred embodiment of the present invention will be described in detail.

[0059] Figure 5 A handling device 100 according to a preferred embodiment of the present invention is shown. The handling device 100 according to the preferred embodiment of the present invention is particularly suitable for use in the logistics and warehousing industry, for example, it can be used to dock goods or containers containing goods to shelves or conveyor equipment. The term "container" as used herein includes bins 300 and other materials such as those having a cuboid shape.

[0060] In a preferred embodiment, the handling device 100 is an AGV (Automated Guided Vehicle). In other embodiments, the handling device 100 may also be an AMR or other autonomously movable robot, which can be configured according to actual needs by those skilled in the art. The bottom of the handling device 100 has casters 220 for movement.

[0061] In the illustrated embodiment, the handling device 100 includes a base 110, a tray 120, a lifting assembly 130, and a limiting member.

[0062] The base 110 may be configured to include sidewalls and have a mounting plate 111. The mounting plate 111 is located above the sidewalls. In the illustrated embodiment, the mounting plate 111 extends generally horizontally and is configured to have a through hole 114 that extends through the mounting plate 111 along the height direction D3.

[0063] The bottom end of the lifting assembly 130 is disposed in the base 110, and the lifting assembly 130 extends through the through hole 114 of the mounting plate 111. The illustrated lifting assembly 130 includes a power assembly 131 and a scissor fork assembly 132 connected to the power assembly 131. The top end of the scissor fork assembly 132 is connected to a tray 120. The scissor fork assembly 132 can be a conventional structure in the art. Furthermore, under the action of the power assembly 131, the lifting assembly 130 can rise and fall, such that the tray 120 located at the top end of the lifting assembly 130 can be in a raised position (…). Figure 6 , Figure 7 , Figure 8 and Figure 9 ) and return location ( Figure 5 It can move between ( ). In embodiments not shown, the lifting assembly 130 may also be other telescopic mechanisms such as sleeves, cylinders, etc.

[0064] A limiting member is pivotally connected to one of the mounting plate 111 and the pallet 120. The limiting member abuts against the other of the mounting plate 111 and the pallet 120 as the pallet 120 moves from the lifted position to the retracted position, such that the limiting member pivots from the rest position to the actuated position. The limiting member in the actuated position is at least partially above the pallet 120 to prevent movement of goods on the pallet 120.

[0065] The handling device according to the present invention includes a limiting member disposed at one of a mounting plate and a pallet. As the pallet moves from a lifted position to a retracted position, the limiting member abuts against the other of the mounting plate and the pallet, thereby pivoting from a rest position to an actuated position. The limiting member in the actuated position is located to the side of the pallet and protrudes upward from the pallet, thereby continuously restricting the movement of goods on the pallet and ensuring that the goods are centered and accurately positioned relative to the pallet. Furthermore, it is highly versatile and suitable for various bins and materials.

[0066] The limiting member includes a first limiting member 140 pivotally connected to the mounting plate 111 about a first pivot axis 145. In the actuated position, the first limiting member 140 is at least partially located outside the tray 120 along a first direction D1. The first pivot axis 145 extends along a second direction D2. The bottom surface of the tray 120 is capable of abutting against the first limiting member 140. The first limiting member 140 is generally L-shaped.

[0067] In this application, the first direction D1 is perpendicular to the second direction D2. Both the first direction D1 and the second direction D2 are perpendicular to the height direction D3.

[0068] Please refer to Figure 6 and Figure 7 In the illustrated embodiment, the tray 120 includes a body portion 121 and a first recessed portion 122 recessed from the body portion 121 along a first direction D1, and a mating portion 123 located inside the first recessed portion 122 along the first direction D1. The mating portion 123 is adjacent to the first recessed portion 122. The body portion 121 of the tray 120 is generally rectangular. In the illustrated embodiment, the mating portion 123 is located at the end of the body portion 121 along a second direction D2. The mating portion 123 is used to abut against the first limiting member 140. In the illustrated embodiment, two mating portions 123 are provided at each end of the tray portion along the first direction.

[0069] like Figure 10 and Figure 11 As can be seen, during the movement of the tray 120 from the raised position to the retracted position, the mating portion 123 of the tray 120, moving downwards, abuts against the first limiting member 140, causing the first limiting member 140 to pivot about the first pivot axis 145. When the tray 120 moves to the retracted position, the first limiting member 140 pivots to the actuated position. Figure 11 Therefore, as will be described in detail below, the first limiting element 140 is capable of limiting the goods.

[0070] Of course, in embodiments not shown, the first recess 122 described above may not be provided. For example, the tray may be constructed to have a through hole or the bottom surface of the tray may have a recess that is recessed upward along the height direction D3, thereby accommodating a portion of the first limiting member located in the actuated position. In embodiments not shown, the recess or recess described above may not be provided.

[0071] The first limiting member 140 includes a first roller 143 for abutting against the mating part 123, and a first limiting claw 144 for limiting the goods on the pallet 120. (In the actuated position) Figure 11 The first limiting member 140 has a first limiting claw 144 that is higher than the tray 120, and the first pivot 145 is located between the first roller 143 and the first limiting claw 144. Thus, the first limiting member 140 can be constructed as a lever structure.

[0072] In the illustrated embodiment, the projection of the first roller 143 of the first limiting member 140 in the static position onto the plane of the tray 120 along the height direction D3 is at least partially located in the mating part 123, thereby enabling the mating part 123 and the first roller 143 to abut during the movement of the tray 120 along the height direction D3 from the lifting position to the retracted position (i.e. downward).

[0073] Furthermore, the first limiting member 140 is provided with a first pivot hole 146. A first pivot shaft 145 extends through the first pivot hole 146. A first support base 113 is provided on the mounting plate 111. The first pivot shaft 145 is disposed to the first support base 113. Further, as... Figure 5 As shown, the projection of the first support 113 onto the plane of the tray 120 is at least partially located within the first recess 122. This further makes the structure of the handling device 100 more compact.

[0074] The first limiting member 140 is also provided with a first roller hole 147 for the first roller shaft 148 to extend through. Two first rollers 143 are respectively located at both ends of the first roller shaft 148. The first rollers 143 are used to contact the mating part 123 to roll on the lower surface of the mating part 123, thereby smoothly converting the linear movement of the tray 120 from the raised position to the retracted position along the height direction D3 into the pivoting movement of the first limiting member 140 about the first pivot axis 145.

[0075] Continue to refer to Figure 7 Optionally, the first limiting claw 144 has a first side surface 144b for limiting the cargo and a first guide surface 144a connected to the first side surface 144b, wherein the included angle between the first guide surface 144a and the first side surface 144b is greater than 90 degrees. For example, the included angle can be from 120 degrees to 150 degrees.

[0076] Understandably, reference Figure 10 and Figure 11 In the first limiting member 140 from the rest position ( Figure 10 To the actuating position ( Figure 11 During the pivoting process, the angle of the first guide surface 144a of the first limiting claw 144 relative to the vertical direction (height direction D3) gradually decreases.

[0077] In this way, when the position of the bin 300 or goods located on the pallet 120 is offset, during the pivoting process of the first limiting member 140 from the rest position to the actuated position, the first guide surface 144a of the first limiting claw 144 can first contact the bin 300 or goods and provide a force on the bin 300 or goods in the first direction D1 toward the center position of the pallet 120, thereby helping the bin 300 or goods to be centered.

[0078] Please refer to the following: Figures 5 to 7 ,as well as Figure 10 and Figure 11The first limiting member 140 includes a first portion 141 located between the first roller 143 and the first pivot shaft 145, and a second portion 142 located between the first limiting claw 144 and the first pivot shaft 145. The length of the first portion 141 is less than the length of the second portion 142. In this way, the first roller 143 of the first limiting member 140 in the rest position can be located at a position higher than the top surface (first guide surface 144a) of the first limiting claw 144, thereby preventing the first limiting claw 144 from being higher than the pallet 120 when the first roller 143 of the first limiting member 140 is not in contact with the pallet, thus preventing undesirable interference between the first limiting claw 144 and the goods or bin 300. In addition, the first portion 141 and the second portion 142 are configured such that the travel distance of the first roller in the height direction D3 is less than the travel distance of the first limiting claw 144 in the height direction D3. This allows for a compact structure at the mounting plate 111.

[0079] Furthermore, such as Figure 7 , Figure 10 and Figure 11 As can be seen, the top surface 141a of the first portion 141 and the top surface 142a of the second portion 142 are not coplanar. The top surface 141a of the first portion 141 of the first limiting member 140 in the actuated position is lower than the top surface 142a of the second portion 142. This allows the first limiting claw 144 in the actuated position to be higher than the first roller. More preferably, the height difference between the top surface 141a of the first portion 141 and the top surface 142a of the second portion 142 is approximately equal to the thickness of the mating portion 123 of the tray 120. In this way, as... Figure 5 and Figure 11 As shown, the mating part 123 of the pallet 120 abuts against the first roller 143, so that the first limiting member 140 is in the actuated position, and the second part 142 can at least partially enter the first recess 122. At this time, the top surface 141a of the second part 142 can be approximately coplanar with the top surface of the mating part 123, so that they can jointly support the bottom of the goods 300.

[0080] like Figure 6 As can be seen, the outer periphery of the tray 120 has a first recess 122 that is recessed inward along a first direction D1 for accommodating the second portion 142 of the first limiting member 140 in the actuated position. In the illustrated embodiment, four first limiting members 140 are respectively located at the four corners of the mounting plate 111, and correspondingly, the four corners of the tray 120 have four first recesses 122. The second portion 142 of the first limiting member 140 in the actuated position can be at least partially located in the first recess 122, thereby further making the structure of the handling device 100 more compact.

[0081] Alternatively, the outer periphery of the mounting plate 111 may have a mounting plate clearance portion 115 recessed inward along the first direction D1 for receiving the first limiting claw 144 of the first limiting member 140 in a resting position. In this manner, as Figure 10 As can be seen, at least a portion of the second portion 142 of the first limiting member 140 and at least a portion of the first limiting claw 144 can extend to the underside of the mounting plate 111 through the mounting plate clearance portion 115, thereby further making the structure of the first limiting member 140 and the mounting plate 111 more compact.

[0082] As the tray 120 moves from the retracted position to the lifted position along the height direction D3, the mating part 123 moves upward and moves away from the first roller 143 of the first limiting member 140. Under the action of gravity, the first limiting member 140 can pivot from the actuated position to the stationary position.

[0083] The edge of the mounting plate 111 near the mounting plate clearance portion 115 can be used to support the first limiting member 140 in the stationary position, so as to limit the pivot angle of the stationary position of the first limiting member 140 relative to the actuated position, and ensure that the first limiting member 140 can pivot normally.

[0084] The second limiting element 150 will now be discussed with reference to the attached drawings.

[0085] In the illustrated embodiment, the mounting plate 111 includes a protrusion 112 located on the upper surface of the mounting plate 111. The protrusion 112 protrudes upward from the mounting plate 111. In the illustrated embodiment, the protrusion may be configured as a block-shaped member such as a stop. A second limiting member 150 is pivotally connected to the tray 120 about a second pivot axis 155 extending along a first direction D1. The protrusion 112 is used to abut against the second limiting member 150. Figures 5 to 7 As can be seen, the two second limiting members 150 are located at the two ends of the tray 120 along the first direction D1.

[0086] Furthermore, the second limiting member 150 includes a first end 151 and a second end 152 opposite to the first end 151. The first end 151 is connected to the tray 120 via a second pivot 155, and the second end 152 has a second roller 153 and a second limiting claw 154, and is in the actuated position. Figure 13 The second limiting claw 154 is higher than the tray 120. Unlike the lever structure of the first limiting member 140, the pivot axis of the second limiting member 150 is located at the end of the second limiting member 150.

[0087] Optionally, the tray 120 includes a body portion 121 and a second recessed portion 124 recessed from the end of the body portion 121 along a second direction D2, and a second limiting member 150 in the actuated position is at least partially located in the second recessed portion 124. In the illustrated embodiment, the second recessed portion 124 is located between two mating portions 123 along a first direction D1.

[0088] refer to Figure 7 The tray 120 has a second support 125 to support the second pivot shaft 155. In the illustrated embodiment, the second support 125 has a second support hole 126 for receiving the end of the second pivot shaft 155. The second support hole 126 is at least partially located below the body portion 121 (the mating portion 123 in the illustrated embodiment). Furthermore, the second support 125 can be configured as a U-shaped structure, which can be received at the innermost end of the second recess 124 along the second direction D2.

[0089] Continue to refer to Figure 7 The second limiting member 150 is generally L-shaped, with its first end 151 having a second pivot hole 156 for the second pivot shaft 155 to extend through. The second end of the second limiting member 150 has a second roller hole 157 for the second roller shaft 158 ​​to extend through. Two second rollers 153 are respectively provided at both ends of the second roller shaft 158. The second rollers 153 are used to contact the protrusion 112 to roll on the upper surface of the protrusion 112. This smoothly converts the linear movement of the tray 120 from the raised position to the retracted position along the height direction D3 into the pivotal movement of the second limiting member 150 about the second pivot shaft 155.

[0090] In the illustrated embodiment, the projection of the second roller 153 of the second limiting member 150 in the stationary position onto the plane of the mounting plate 111 along the height direction D3 is at least partially located in the projection of the protrusion 112 onto the plane of the mounting plate 111, thereby enabling the protrusion 112 and the second roller 153 to abut against each other during the movement of the tray 120 along the height direction D3 from the lifting position to the retracted position (i.e., downward).

[0091] In addition, refer to Figure 7 The second limiting member 150 has a cam portion 159 protruding radially along the second pivot axis 155 at its first end 151. The extending direction of the cam portion 159 is opposite to the extending direction of the second limiting claw 154. The cam portion 159 is used to abut against the tray 120 to limit the rest position of the second limiting member 150. Figure 12 This prevents it from opening excessively, thus ensuring that the second limit member 150 can pivot normally.

[0092] As the tray 120 moves from the retracted position to the raised position along the height direction D3, the second roller 153 of the second limiting member 150 moves upward and away from the protrusion 112. Under the action of gravity, the second limiting member 150 can pivot from the actuated position to the stationary position. The cam portion 159 can abut against the tray 120 to limit the stationary position of the second limiting member.

[0093] Continue to refer to Figure 7 Optionally, the second limiting claw 154 has a second side surface 154b for limiting the cargo and a second guide surface 154a connected to the second side surface 154b, wherein the included angle between the second guide surface 154a and the second side surface 154b is greater than 90 degrees. For example, the included angle can be from 120 degrees to 150 degrees.

[0094] Understandably, reference Figure 12 and Figure 13 During the pivoting process of the second limiting member 150 from the rest position to the actuated position, the angle of the second guide surface 154a of the second limiting claw 154 relative to the vertical direction (height direction D3) gradually decreases.

[0095] In this way, when the position of the bin 300 or goods located on the pallet 120 is offset, during the pivoting process of the second limiting member 150 from the rest position to the actuated position, the second guide surface 154a of the second limiting claw 154 can first contact the bin 300 or goods and provide a force on the bin 300 or goods in the second direction D2 toward the center position of the pallet 120, thereby helping to center the bin 300 or goods.

[0096] It should be noted that although the first limiting member 140 and the second limiting member 150 are shown in the illustrated embodiment, in embodiments not shown, the conveying device 100 may include only the first limiting member 140 or only the second limiting member 150.

[0097] Furthermore, the present invention does not limit whether the height of the initial contact position between the first limiting member 140 and the mating portion 123 and the initial contact position between the second limiting member 150 and the protrusion 112 are the same. In other words, the first limiting member 140 may first contact the mating portion 123, and then the second limiting member 150 may contact the protrusion 112; or, the second limiting member 150 may first contact the protrusion 112, and then the first limiting member 140 may contact the mating portion 123; or, the second limiting member 150 may contact the protrusion 112 simultaneously with the first limiting member 140 contacting the mating portion 123.

[0098] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the invention. Terms such as “part” or “component” appearing herein can refer to a single part or a combination of multiple parts. Terms such as “installation” or “installation” appearing herein can refer to one component being directly attached to another component or one component being attached to another component via an intermediary. A feature described in one embodiment herein may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0099] The present invention has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit the invention to the scope of the described embodiments. Furthermore, those skilled in the art will understand that the present invention is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of the present invention, all of which fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A handling device, characterized in that, include: A base (110) having a mounting plate (111). Pallet (120), the pallet being used to carry containers; A lifting assembly (130) has its bottom end connected to the base and its top end connected to the tray, so as to move the tray between a lifted position and a retracted position; as well as A limiting member, pivotally connected between a rest position and an actuated position to at least one of the mounting plate and the tray, the limiting member abutting against the other of the mounting plate and the tray as the tray moves from the lifted position to the retracted position, such that the limiting member pivots from the rest position to the actuated position, the limiting member in the actuated position being at least partially above the tray to prevent movement of the container on the tray.

2. The handling equipment according to claim 1, characterized in that, The limiting member includes a first limiting member (140) pivotally connected to the mounting plate about a first pivot axis (145), the first limiting member being at least partially located on the outside of the tray along a first direction in the actuated position, the first pivot axis extending along a second direction perpendicular to the first direction, and the bottom surface of the tray for abutting against the first limiting member.

3. The handling equipment according to claim 2, characterized in that, The tray includes a first recess (122) recessed from the edge of the tray along the first direction, and a mating portion (123) located inside the first recess along the first direction, the bottom surface of the mating portion being used to abut against the first limiting member.

4. The handling equipment according to claim 2, characterized in that, The first limiting member includes a first limiting claw (144) for limiting the container on the tray, wherein when the first limiting member is in the actuated position, the first limiting claw is higher than the tray.

5. The handling equipment according to claim 4, characterized in that, The first limiting member further includes a first roller (143) for abutting against the bottom surface of the tray, and the first pivot shaft is located between the first roller and the first limiting claw.

6. The handling equipment according to claim 4, characterized in that, The first limiting claw has a first side surface (144b) for limiting the container and a first guide surface (144a) connected to the first side surface, the angle between the first guide surface and the first side surface being greater than 90 degrees.

7. The handling equipment according to claim 5, characterized in that, The first limiting member includes a first portion (141) located between the first roller and the first pivot shaft, and a second portion (142) located between the first limiting claw and the first pivot shaft, wherein the length of the first portion is less than the length of the second portion.

8. The handling equipment according to claim 7, characterized in that, The top surface of the first part and the top surface of the second part are not coplanar, and the top surface of the first part of the first limiting member located at the actuation position is lower than the top surface of the second part.

9. The handling equipment according to claim 3, characterized in that, The upper surface of the mounting plate has a first support (113) to support the first pivot shaft.

10. The handling equipment according to claim 9, characterized in that, The projection of the first support base onto the plane of the tray is at least partially located within the first recess.

11. The handling equipment according to any one of claims 4 to 8, characterized in that, The outer periphery of the mounting plate has a mounting plate clearance portion (115) that is recessed inward along the first direction for accommodating the first limiting claw of the first limiting member located in the static position.

12. The handling equipment according to claim 1, characterized in that, The limiting member includes a second limiting member (150) pivotally connected to the tray about a second pivot axis (155) extending in a first direction.

13. The handling equipment according to claim 12, characterized in that, The mounting plate includes a protrusion (112) located on the upper surface of the mounting plate. The protrusion is used to abut against the second limiting member.

14. The handling equipment according to claim 12, characterized in that, The second limiting member includes a first end (151) and a second end (152) opposite to the first end. The first end is connected to the tray via the second pivot shaft. The second end has a second roller (153) and a second limiting claw (154). When the second limiting member is in the actuated position, the second limiting claw is higher than the tray.

15. The handling equipment according to claim 14, characterized in that, The tray includes a body portion (121) and a second recess portion (124) recessed from the end of the body portion along a second direction, wherein the second limiting member located at the actuation position is at least partially located in the second recess portion; and / or The tray has a second support (125) to support the second pivot shaft.

16. The handling equipment according to claim 14 or 15, characterized in that, The second limiting claw (154) has a second side surface (154b) for limiting the container and a second guide surface (154a) connected to the second side surface, the angle between the second guide surface and the second side surface being greater than 90 degrees.

17. The handling equipment according to claim 14, characterized in that, The first end of the second limiting member has a cam portion (159), the extension direction of which is opposite to the extension direction of the second limiting claw, and the cam portion is used to define the rest position of the second limiting member.

18. The handling equipment according to claim 1, characterized in that, The mounting plate has a through hole (114) through which the lifting assembly extends.

19. The handling equipment according to claim 2, characterized in that, The limiting components include four first limiting components (140) respectively connected to the four corners of the mounting plate.

20. The handling equipment according to claim 12, characterized in that, The limiting member includes two second limiting members (150) disposed at both ends of the tray along a second direction perpendicular to the first direction.

21. A warehousing system, characterized in that, The system includes a storage area, a retrieval and placement device, and a handling device as described in any one of claims 1-20; wherein the storage area is provided with storage shelves, the storage shelves are provided with multiple layers and each layer is provided with at least two storage positions in the depth direction, the space between each storage shelf forms a first aisle, a row of bottom storage positions is provided at the bottom position of at least one side of the storage shelf adjacent to the first aisle, at least some of the bottom storage positions of the storage shelf are provided with containers, and at least some of the upper storage positions of the storage shelf other than the bottom layer are provided with containers; The picking and placing device is configured to take out the target container from the upper shelf of the storage shelf and place it in an empty lower shelf, or to take out the target container from the lower shelf and place it in an empty upper shelf. The handling equipment is configured to remove a target container from the bottom storage location, or place a target container into the bottom storage location, and to move the target container between the bottom storage location and the destination point.

22. The warehousing system according to claim 21, characterized in that, The destination is a workstation.

23. The warehousing system according to claim 22, characterized in that, The handling equipment is further configured to, when the target container is transported to the workstation, use the lifting component to lift the target container to a preset height, so that the operating end at the workstation can take out goods from the target container or put goods into the target container.

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