Separating type conveying device and loading and unloading robot

Abstract

The embodiment of the utility model provides a separated conveying device and a loading and unloading robot. The separated conveying device comprises a chassis and a first conveying assembly. Wherein the chassis is used for being arranged on the ground and providing a mounting foundation for other parts; the first conveying assembly is arranged on the chassis, and the first conveying assembly selectively moves in the direction close to or away from the side goods stack so as to receive the side goods clamped by the mechanical arm and transfer the goods. The separating type conveying device can greatly reduce the moving stroke of the mechanical arm for taking and placing goods, and improves the goods taking and placing efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics equipment, and particularly relates to a split conveying device and a loading and unloading robot. BACKGROUND

[0002] In the logistics industry, goods need to be transported between warehouses and conveying vehicles. In the traditional way, the transportation of goods is completed by manual labor, but manual labor has high cost and low efficiency. With the continuous development of automatic equipment, some automatic loading and unloading equipment is gradually applied to the loading and unloading of goods in the logistics industry, which reduces the labor cost.

[0003] In the related art, the automatic loading and unloading equipment includes a mechanical hand for loading and unloading goods and a conveying line for conveying goods. The mechanical hand picks up goods from a goods stack stacked in a vehicle compartment and places the goods on the conveying line, and the conveying line conveys the goods to a designated position.

[0004] However, in the process of transferring goods by the mechanical hand, the distance that the mechanical hand moves away from the conveying line gradually increases, and the moving stroke becomes longer. Especially when the width of the vehicle compartment is much larger than the width of the conveying line, the distance of the mechanical hand for loading and unloading goods is greatly extended, resulting in low loading and unloading efficiency. CONTENT OF THE INVENTION

[0005] Embodiments of the present application provide a split conveying device and a loading and unloading robot to improve the loading and unloading efficiency of goods.

[0006] In a first aspect, the embodiments of the present application provide a split conveying device, comprising:

[0007] a chassis configured to be arranged on the ground;

[0008] a first conveying assembly arranged on the chassis;

[0009] The first conveying assembly is selectively moved in a direction close to or away from the side goods stack to pick up the side goods gripped by the mechanical hand and transfer the goods.

[0010] In a feasible implementation manner, the first conveying assembly is provided in a group, and the group of first conveying assemblies is arranged on the chassis through a driving assembly. The driving assembly drives the first conveying assembly to ascend and move outward.

[0011] Alternatively, the driving assembly drives the first conveying assembly to descend and move inward.

[0012] In a feasible implementation manner, the first conveying assembly is provided in two groups, and the two groups of first conveying assemblies are arranged side by side. The two groups of first conveying assemblies are both arranged on the chassis through a lifting assembly.

[0013] The lifting assembly drives two groups of the first conveying assemblies to ascend and move outward simultaneously.

[0014] Or, the lifting assembly drives two groups of the first conveying assemblies to descend and move inward simultaneously.

[0015] In an implementation, the driving assembly comprises a linear driving unit and a parallelogram structure, the first conveying assembly is arranged on the chassis through the parallelogram structure, two ends of the linear driving unit are respectively hinged to the first conveying assembly and the chassis, and the linear driving unit is arranged across at least one connecting rod of the parallelogram structure.

[0016] In an implementation, the linear driving unit is configured as one of an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

[0017] In an implementation, the driving assembly comprises a lifting assembly, an intermediate support and a translation assembly, the intermediate support is arranged on the chassis through the lifting assembly, the first conveying assembly is arranged on the intermediate support through the translation assembly, the lifting assembly is a scissor structure, and the translation assembly is a linear driving component.

[0018] In an implementation, the split conveying device further comprises a sliding carriage and a sliding carriage driving assembly, the sliding carriage is slidingly arranged on the chassis, the sliding carriage driving assembly is arranged on the chassis, the first conveying assembly is arranged on the sliding carriage, and the first conveying assembly moves along the running direction of the chassis through the sliding carriage.

[0019] In an implementation, the split conveying device further comprises at least one group of second conveying assemblies, the second conveying assemblies are used to interface with the first conveying assemblies to transfer the goods conveyed by the first conveying assemblies.

[0020] The second conveying assemblies are arranged on the sliding carriage.

[0021] The first conveying assemblies and the second conveying assemblies each comprise at least one of a conveying belt assembly, a conveying roller assembly or a transfer conveying assembly.

[0022] In an implementation, the first conveying assemblies and the second conveying assemblies are arranged in a “7” shape, a “T” shape or a “N” shape.

[0023] In an implementation, the sliding carriage driving assembly is configured as one of a synchronous belt driving structure, a lead screw driving structure or a linear power unit.

[0024] In a second aspect, the embodiments of the present application provide a loading and unloading robot, comprising a manipulator and the split conveying device as described in the first aspect, the manipulator is arranged on one side of the split conveying device, the manipulator moves the goods to the split conveying device, and the split conveying device is used for conveying the goods.

[0025] In a first aspect, the embodiments of the present application provide a split conveying device, comprising a chassis and a first conveying assembly. The chassis is arranged on the ground to provide a mounting base for other components, and the first conveying assembly is arranged on the chassis and selectively moves in a direction close to or away from the goods pile on the side to pick up the goods on the side gripped by the manipulator and transfer the goods.

[0026] When the manipulator extends into the carriage to pick up the goods, the first conveying assembly simultaneously moves into the carriage in the first direction, and the first conveying assembly simultaneously moves in the first direction and approaches the goods pile on the inside of the carriage. After the manipulator picks up the first piece of goods and places it on the first conveying assembly, the manipulator moves to the goods pile to pick up the second piece of goods, and the first conveying assembly reversely moves (in the direction away from the goods) and is connected with the conveying line, and the first conveying assembly moves the goods on it to the conveying line, so as to be transferred to the designated position. After the goods are moved to the conveying line, the first conveying assembly immediately moves towards the goods pile at the same time to pick up the second piece of goods gripped by the manipulator. It can be understood that, since the first conveying assembly moves synchronously and approaches the goods pile during the movement of the manipulator to pick up the goods, the movement stroke of the manipulator to pick up and place the goods is greatly reduced, and the efficiency of picking up and placing the goods is improved. The first conveying assembly reciprocates between the goods pile and the conveying line, greatly shortens the movement stroke of the manipulator, and makes the picking up and conveying processes of the adjacent two pieces of goods overlap in time, improves the frequency of loading and unloading the goods, and greatly improves the efficiency of the logistics system.

[0027] In a second aspect, the embodiments of the present application provide a loading and unloading robot, comprising a manipulator and the split conveying device as described in the first aspect, the manipulator is arranged on one side of the split conveying device, the manipulator moves the goods to the split conveying device, and the split conveying device is used for conveying the goods. Since the loading and unloading robot comprises the split conveying device in any of the above-mentioned technical solutions, it has all the beneficial effects of the split conveying device in any of the above-mentioned technical solutions, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0028] The accompanying drawings, which are included to provide a further understanding of the present application and are incorporated in and constitute a part of this application, illustrate embodiments of the present application and serve to explain the principles of the present application, and do not constitute improper limitations on the present application.

[0029] In the drawings:

[0030] Figure 1 is a schematic diagram of a split conveying device provided by a first embodiment of the present application;

[0031] Figure 2 is a schematic diagram of a split conveying device provided by a second embodiment of the present application;

[0032] Figure 3 is a first state schematic diagram of the split conveying device in Figure 2

[0033] Figure 4 is a second state schematic diagram of the split conveying device in Figure 3

[0034] Figure 5 is a side view of the split conveying device in Figure 4

[0035] Figure 6 is a schematic diagram of a split conveying device provided by a third embodiment of the present application;

[0036] Figure 7 is a state schematic diagram of the split conveying device in Figure 6

[0037] Figure 8 is a schematic diagram of a split conveying device provided by a fourth embodiment of the present application;

[0038] Figure 9 is a first state schematic diagram of the split conveying device in Figure 8

[0039] Figure 10 is a second state schematic diagram of the split conveying device in Figure 8

[0040] Figure 11 is a schematic diagram of a loading and unloading robot provided by an embodiment of the present application.

[0041] Legend of reference signs:

[0042] a - manipulator; b - split conveying device; c - carriage

[0043] 100 - chassis; 200 - first conveying assembly; 300 - second conveying assembly; 400 - parallelogram structure; 500 - straight line driving unit

[0044] 210 - first conveying part; 220 - second conveying part DETAILED DESCRIPTION

[0045] ​​​​​​In order to enable personnel in the technical field to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0046] In the description of the embodiments of the present application, the terms "first", "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise explicitly specified.

[0047] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and other terms should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection; it can be directly connected, or indirectly connected through intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0048] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0049] In the logistics industry, goods need to be transported between warehouses and transport vehicles. In the traditional way, the transportation of goods is completed by manual labor, but manual transportation is high in cost and low in efficiency. With the continuous development of automatic equipment, some automatic loading and unloading equipment is gradually applied to the loading and unloading of goods in the logistics industry, which reduces the labor cost.

[0050] In the related art, the automatic loading and unloading equipment includes a mechanical hand for loading and unloading goods and a conveying line for conveying goods, the mechanical hand grabs the goods from the goods stack stacked in the vehicle compartment and places the goods on the conveying line, and the conveying line conveys the goods to a designated position.

[0051] However, in the process of transferring goods by the manipulator, the distance of the goods to be moved by the manipulator gradually becomes far away from the conveying line, the moving stroke becomes long, especially when the width of the carriage is much larger than the width of the conveying line, the distance of the manipulator to load and unload the goods is greatly extended, resulting in low loading and unloading efficiency.

[0052] In order to improve the loading and unloading efficiency of goods, a separate conveying device and a loading and unloading robot, the scheme provided by the embodiments of the present application will be described in detail below in conjunction with the drawings of the specification.

[0053] Figure 1 is a schematic view of the separate conveying device provided by the first embodiment of the present application; Figure 2 is a schematic view of the separate conveying device provided by the second embodiment of the present application; Figure 3 is a first state schematic view of the separate conveying device in Figure 2 Figure 4 is a second state schematic view of the separate conveying device in Figure 3 Figure 5 is a side view of the separate conveying device in Figure 4 Figure 6 is a schematic view of the separate conveying device provided by the third embodiment of the present application; Figure 7 is a state schematic view of the separate conveying device in Figure 6 Figure 8 is a schematic view of the separate conveying device provided by the fourth embodiment of the present application; Figure 9 is a first state schematic view of the separate conveying device in Figure 8 Figure 10 is a second state schematic view of the separate conveying device in Figure 8

[0054] In a first aspect, referring to Figure 1 to Figure 10 , the embodiments of the present application provide a separate conveying device, comprising a chassis 100 and a first conveying assembly 200. Wherein, the chassis 100 is used to be arranged on the ground to provide a mounting base for other components; the first conveying assembly 200 is arranged on the chassis 100, and the first conveying assembly 200 selectively moves in the direction close to or away from the side goods pile to take the side goods clamped by the manipulator a and transfer the goods. That is, the first conveying assembly 200 moves in the first direction. It should be noted that the first direction can be indicated by the y direction in Figure 1 , and the second direction can be indicated by the x direction in Figure 1 .

[0055] ​​​​​​When the mechanical arm a reaches into the vehicle compartment c to pick up goods, the first conveying assembly 200 moves synchronously into the vehicle compartment c, and the first conveying assembly 200 moves synchronously in the first direction and approaches the goods stack at the side of the inside of the vehicle compartment c. After the mechanical arm a picks up the first piece of goods and places it on the first conveying assembly 200, the mechanical arm a moves to the goods stack to pick up the second piece of goods, and the first conveying assembly 200 reverses (in the direction away from the goods) and is docked with the conveying line, and the first conveying assembly 200 moves the goods on it to the conveying line, so as to be transferred to the designated position. After the goods are moved to the conveying line, the first conveying assembly 200 immediately moves at the same time in the direction approaching the goods stack to pick up the second piece of goods picked up by the mechanical arm a. It can be understood that, since the first conveying assembly 200 moves synchronously and approaches the goods stack during the movement of the mechanical arm a to pick up goods, the movement stroke of the mechanical arm a to pick up and place goods can be greatly reduced, and the efficiency of picking up and placing goods is improved. The first conveying assembly 200 reciprocates between the goods stack and the conveying line, greatly shortens the movement stroke of the mechanical arm a, and makes the picking up and conveying processes of the two adjacent goods overlap in time, thereby improving the frequency of loading and unloading goods, and greatly improving the efficiency of the logistics system. It should be noted that the conveying line is fixedly arranged on the logistics conveying assembly in the storage area, and is used for transferring and conveying goods.

[0056] As shown in Figure 1 In some examples, the first conveying assembly 200 is provided in a group, and the first conveying assembly 200 in the group is arranged on the chassis 100 by a driving assembly. The driving assembly drives the first conveying assembly 200 to rise and move outward at the same time, or the driving assembly drives the first conveying assembly 200 to descend and move inward at the same time. It should be noted that the outward direction refers to the direction perpendicular to the movement direction of the chassis 100 and extending to both sides, that is, the outward direction refers to the direction perpendicular to the movement direction of the chassis 100 and away from the chassis 100.

[0057] As shown in Figure 2 In some examples, the first conveying assembly 200 is provided in two groups, and the two groups of first conveying assemblies 200 are arranged side by side. The two groups of first conveying assemblies 200 are both arranged on the chassis 100 by a driving assembly. The driving assembly drives the two groups of first conveying assemblies 200 to rise and move outward at the same time to approach the side of the vehicle compartment c, or the driving assembly drives the two groups of first conveying assemblies 200 to descend and move inward at the same time to transfer goods.

[0058] For example, the driving assembly includes a linear driving unit 500 and a parallelogram structure 400. The first conveying assembly 200 is arranged on the chassis 100 through the parallelogram structure 400. The two ends of the linear driving unit 500 are respectively hinged to the first conveying assembly 200 and the chassis 100, and the linear driving unit 500 is arranged in cross with at least one connecting rod of the parallelogram structure 400.

[0059] As shown in Figure 3 and Figure 4 two first conveying assemblies 200 are fixedly arranged at the upper ends of the two parallelogram structures 400, and the lower ends of the two parallelogram structures 400 are fixedly connected with the chassis 100. Two linear drive units 500 are connected with the corresponding first conveying assemblies 200 and the chassis 100 respectively. When the two linear drive units 500 are elongated, the two first conveying assemblies 200 are simultaneously raised in height and moved outward (move away from each other), and vice versa, when the two linear drive units 500 are contracted, the two first conveying assemblies 200 are simultaneously lowered in height and moved inward (move towards each other). Exemplarily, the linear drive unit 500 can be configured as one of an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

[0060] In some other examples, the driving assembly includes a lifting mechanism, an intermediate support and a translation assembly, wherein the intermediate support is arranged on the chassis 100 by the lifting mechanism, the first conveying assembly 200 is slidably arranged on the intermediate support by a guide rail, and the translation assembly is arranged on the intermediate support and drives the first conveying assembly 200 to move along the intermediate support, thereby moving to the side of the carriage c. The lifting mechanism is of a lifting structure, for example, a scissor-type structure, for driving the first conveying assembly 200 to lift. The translation assembly is a linear drive component, which can be one of an electric cylinder, a pneumatic cylinder or a hydraulic cylinder. It can be understood that the intermediate support is arranged on the chassis in a direction perpendicular to the chassis.

[0061] In some examples, the separate conveying device in some embodiments further includes a carriage and a carriage driving assembly, the carriage is slidably arranged on the chassis 100, the carriage driving assembly is arranged on the chassis 100, the first conveying assembly 200 is arranged on the carriage, and the carriage driving assembly drives the carriage to move along the running direction (i.e. the second direction) of the chassis 100, thereby enabling the first conveying assembly 200 to move along the running direction (i.e. the second direction) of the chassis 100. Exemplarily, the carriage can be a profiled frame structure, and its surface is slidably matched with the chassis by a pulley. The carriage driving assembly can be configured as one of a synchronous belt driving structure, a lead screw driving structure or a linear power unit.

[0062] In addition, some of the split conveying devices further comprise at least one second conveying assembly 300 arranged on the carriage and configured to interface with the first conveying assembly 200 and transfer the goods conveyed by the first conveying assembly 200. It can be understood that the carriage is capable of moving the first conveying assembly 200 and the second conveying assembly 300 simultaneously, thereby extending into the vehicle compartment c to facilitate the transfer of goods and improve the loading and unloading efficiency of the goods. For example, the first conveying assembly 200 and the second conveying assembly 300 each comprise at least one of a conveying belt assembly, a conveying roller assembly, and a transfer conveying assembly. The conveying belt assembly, the conveying roller assembly, and the transfer conveying assembly are all prior art and will not be described here.

[0063] In addition, for example, the first conveying assembly 200 and the second conveying assembly 300 can be arranged in a "7" shape, a "T" shape, or a "N" shape.

[0064] Referring to Figure 6 to Figure 10 In some examples, the split conveying device comprises a chassis 100, a first conveying assembly 200, and a second conveying assembly 300. The chassis 100 is arranged on the ground to provide a mounting base for other components. The second conveying assembly 300 is slidably connected to the chassis 100 in a second direction. The first conveying assembly 200 is slidably connected to the second conveying assembly 300. The first conveying assembly 200 selectively moves in a direction closer to or away from the goods pile to receive the goods gripped by the robot and convey the goods to the second conveying assembly 300. It should be noted that in these examples, the first direction can be indicated by the y direction in Figure 6 , and the second direction can be indicated by the x direction in Figure 6 .

[0065] For example, the first conveying assembly 200 is slidably connected to the second conveying assembly 300 in a first direction and arranged perpendicular to the second conveying assembly 300. The first conveying assembly 200 selectively moves in the first direction to receive the goods gripped by the robot a and convey the goods to the second conveying assembly 300.

[0066] When the robot arm a reaches into the carriage c to pick up the goods, the second conveying assembly 300 moves into the carriage c in the second direction synchronously, and the first conveying assembly 200 moves in the first direction synchronously and approaches the goods stack inside the carriage c. After the robot arm a picks up the first piece of goods and places it on the first conveying assembly 200, the robot arm a moves to the goods stack to pick up the second piece of goods, and the first conveying assembly 200 reverses (in the direction away from the goods stack) and interfaces with the second conveying assembly 300, and the first conveying assembly 200 moves the goods on it to the second conveying assembly 300, while the second conveying assembly 300 reverses in the second direction (in the direction away from the goods stack) to interface with the conveying line fixed on the ground, and the second conveying assembly 300 conveys the goods on it to the conveying line. After the goods are moved to the conveying line, the first conveying assembly 200 and the second conveying assembly 300 immediately move in the direction of approaching the goods stack at the same time to pick up the second piece of goods picked up by the robot arm a.

[0067] It can be understood that, since the first conveying assembly 200 and the second conveying assembly 300 move synchronously and approach the goods stack during the movement of the robot arm to pick up the goods, the movement stroke of the robot arm a to pick up and place the goods can be greatly reduced, and the efficiency of picking up and placing the goods is improved. The first conveying assembly 200 and the second conveying assembly 300 reciprocate between the goods stack and the conveying line, greatly shortening the movement stroke of the robot arm a, and making the picking up and conveying processes of the adjacent two pieces of goods overlap in time, improving the frequency of loading and unloading the goods, and thus greatly improving the logistics efficiency of the logistics system.

[0068] For example, the split conveying device further comprises a first guide assembly and a first driving mechanism (not shown in the figure). The first guide assembly is arranged on the chassis 100 in the first direction; the second conveying assembly 300 is connected to the chassis 100 through the first guide assembly; that is, the first guide assembly is used to guide the second conveying assembly 300 to move on the chassis 100 in the second direction. The first driving mechanism is connected to the second conveying assembly 300, and the first driving mechanism drives the second conveying assembly 300 to move in the second direction, so that the first conveying assembly 200 at the end of the second conveying assembly 300 approaches or moves away from the goods stack. For example, the first guide assembly can be configured as a sliding guide rail assembly, or as a sliding groove and guide wheel assembly, which are both prior art and will not be described in detail. In some examples, the bottom of the chassis 100 is provided with wheels to facilitate the movement of the chassis 100 to a designated position.

[0069] In addition, the first driving mechanism can be configured as a flexible transmission assembly. Specifically, the first driving mechanism can include a first driving motor and a first flexible transmission assembly. The first driving motor is fixedly installed on the base plate 100. The first driving motor drives the second conveying assembly 300 to move in the first direction through the first flexible transmission assembly. Specifically, the first flexible transmission assembly can be installed on the base plate 100. The first driving motor is connected to the first flexible transmission assembly. The first driving motor rotates to drive the flexible transmission member of the first flexible transmission assembly to rotate. The rotation of the flexible transmission member drives the second conveying assembly 300 to move on the base plate 100 in the second direction. In addition, the first flexible transmission assembly can be configured as a transmission chain assembly or a transmission belt assembly, both of which are prior art and will not be described herein.

[0070] In addition, the first driving mechanism can be configured as a flexible transmission assembly. Specifically, the first driving mechanism can include a first driving motor and a first flexible transmission assembly. The first driving motor is fixedly installed on the base plate 100. The first driving motor drives the second conveying assembly 300 to move in the first direction through the first flexible transmission assembly. Specifically, the first flexible transmission assembly can be installed on the base plate 100. The first driving motor is connected to the first flexible transmission assembly. The first driving motor rotates to drive the flexible transmission member of the first flexible transmission assembly to rotate. The rotation of the flexible transmission member drives the second conveying assembly 300 to move on the base plate 100 in the second direction. In addition, the first flexible transmission assembly can be configured as a transmission chain assembly or a transmission belt assembly, both of which are prior art and will not be described herein.

[0071] In some examples, the split conveying device further includes a second guiding assembly and a second driving assembly. The second guiding assembly is arranged on the second conveying assembly 300 in the first direction. The second driving assembly is connected to the first conveying assembly 200. The second driving assembly drives the first conveying assembly 200 to move in the first direction, so that the first conveying assembly 200 approaches or moves away from the goods stack. In some examples, the second guiding assembly is arranged on the mounting frame of the second conveying assembly 300 in the first direction. The first conveying assembly 200 is arranged on the second conveying assembly 300 through the second guiding assembly. In addition, the second guiding assembly can also be configured as a sliding guide rail assembly or a sliding groove and guide wheel assembly, which will not be described herein.

[0072] In addition, the first driving mechanism can be configured as a flexible transmission assembly. Specifically, the first driving mechanism can include a first driving motor and a first flexible transmission assembly. The first driving motor is fixedly installed on the base plate 100. The first driving motor drives the second conveying assembly 300 to move in the first direction through the first flexible transmission assembly. Specifically, the first flexible transmission assembly can be installed on the base plate 100. The first driving motor is connected to the first flexible transmission assembly. The first driving motor rotates to drive the flexible transmission member of the first flexible transmission assembly to rotate. The rotation of the flexible transmission member drives the second conveying assembly 300 to move on the base plate 100 in the second direction. In addition, the first flexible transmission assembly can be configured as a transmission chain assembly or a transmission belt assembly, both of which are prior art and will not be described herein.

[0073] In addition, the first driving mechanism can be configured as a flexible transmission assembly. Specifically, the first driving mechanism can include a first driving motor and a first flexible transmission assembly. The first driving motor is fixedly installed on the base plate 100. The first driving motor drives the second conveying assembly 300 to move in the first direction through the first flexible transmission assembly. Specifically, the first flexible transmission assembly can be installed on the base plate 100. The first driving motor is connected to the first flexible transmission assembly. The first driving motor rotates to drive the flexible transmission member of the first flexible transmission assembly to rotate. The rotation of the flexible transmission member drives the second conveying assembly 300 to move on the base plate 100 in the second direction. In addition, the first flexible transmission assembly can be configured as a transmission chain assembly or a transmission belt assembly, both of which are prior art and will not be described herein.

[0074] Reference Figure 6 and Figure 7As shown, in some examples, the first conveying assembly 200 is arranged on one side of the second conveying assembly 300, and the first conveying assembly 200 is movable in the first direction to pick up the goods placed by the robot a, thereby improving the efficiency of loading and unloading the goods. In other examples, at least one first conveying assembly 200 is arranged on each side of the second conveying assembly 300. The first conveying assemblies 200 on both sides of the second conveying assembly 300 are independently movable to approach the goods stack. In these examples, the first conveying assembly 200 and the second conveying assembly 300 are respectively configured as a conveying belt assembly or a conveying roller assembly.

[0075] With reference to Figure 8 to Figure 10 As shown, in other examples, the first conveying assembly 200 is arranged on the end of the second conveying assembly 300, and the first conveying assembly 200 includes a first conveying part 210 and a second conveying part 220. The first conveying part 210 is fixedly connected to the second conveying part 220, and the goods on the first conveying part 210 are conveyed to the second conveying assembly 300 through the second conveying part 220. For example, the first conveying part 210 can be arranged on one end or both ends of the second conveying part 220. As shown, Figure 8 to Figure 10 As shown, one first conveying part 210 is arranged on each end of the second conveying part 220. When the robot picks up the goods on one side of the second conveying assembly 300, the first conveying assembly 200 moves to the side to approach the goods stack. It can be understood that, since the first conveying assembly 200 can move to both sides, when the robot a picks up the goods on either side of the second conveying assembly 300, the first conveying assembly 200 can approach the goods stack at a closer distance, thereby improving the efficiency of loading and unloading the goods.

[0076] In these examples, the first conveying part 210 and the second conveying assembly 300 are respectively configured as a conveying belt assembly or a conveying roller assembly, and the second conveying part 220 is configured as a Mecanum wheel assembly. It can be understood that, since the second conveying part 220 is configured as a Mecanum wheel assembly, it can change the direction of movement of the goods, facilitate the change of the goods from moving in the first direction to moving in the second direction, and further enable the goods to move onto the second conveying assembly 300.

[0077] In other examples, the split conveying device further includes a lifting mechanism (not shown in the figure), the lower end of the lifting mechanism is connected to the first guide assembly, and the upper end of the lifting mechanism is fixedly connected to the second conveying assembly 300. That is, the second conveying assembly 300 is connected to the first guide assembly through the lifting mechanism, and the lifting mechanism is used to drive the second conveying assembly 300 to lift, so that the second conveying assembly 300 can be closer to the end of the robot, further shorten the moving stroke of the robot, save the time of the robot to transfer the goods, and improve the efficiency of loading and unloading the goods. For example, the lifting assembly can be configured as a scissor lifting assembly. The scissor lifting assembly is a prior art, and its specific structure will not be described here.

[0078] Figure 11 is a structural schematic diagram of a loading and unloading robot provided by an embodiment of the present application.

[0079] Referring to Figure 11 The second aspect, the embodiment of the present application provides a loading and unloading robot, which comprises a manipulator a and the separated conveying device b of the first aspect, the manipulator a is arranged on one side of the separated conveying device b, the manipulator a moves the goods to the separated conveying device b, the separated conveying device b is used for conveying the goods to a conveying line, and the conveying line conveys the goods to a specified position.

[0080] When the manipulator a takes the goods, the separated conveying device b synchronously approaches the goods stack, so that the moving stroke of the manipulator a for grabbing the goods and placing the goods on the separated conveying device b is greatly shortened, and the goods taking and placing efficiency is improved. When the manipulator a grabs the next piece of goods, the separated conveying device b moves away from the goods stack to be connected with the conveying line, so that the goods can be conveyed to the specified position through the conveying line. Then, the separated conveying device b moves again to the direction close to the goods stack to take the next piece of goods grabbed by the manipulator a. It can be understood that the separated conveying device b reciprocates between the goods stack and the conveying line, greatly shortens the moving stroke of the manipulator a, and makes the grabbing and conveying processes of the two adjacent goods overlap in time, so that the frequency of loading and unloading goods is improved, and the loading and unloading efficiency of the goods is greatly improved.

[0081] It is easy to understand that the person skilled in the art can combine, split, recombine and the like on the basis of the several embodiments provided by the present application to obtain other embodiments, and these embodiments do not exceed the protection scope of the present application.

[0082] The above specific embodiments further specifically describe the purposes, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above is only a specific embodiment of the present application, and is not used to limit the protection scope of the embodiments of the present application. Any modification, equivalent replacement, improvement and the like made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A split delivery device characterized in that, Comprising: A chassis (100) for being set on the ground; A first conveying component (200) arranged on the chassis (100); The first conveying component (200) selectively moves in a direction close to or away from the side cargo stack to pick up the goods on the side held by the manipulator and transfer the goods.

2. The breakaway delivery device of claim 1, wherein, One set of the first conveying components (200) is provided. One set of the first conveying components is arranged on the chassis (100) through a driving component, and the driving component drives the first conveying component (200) to rise and move outwards; Or, the driving component drives the first conveying component (200) to descend and move inwards.

3. The breakaway delivery device of claim 1, wherein, Two sets of the first conveying components (200) are provided. The two sets of the first conveying components (200) are arranged in parallel. The two sets of the first conveying components (200) are both arranged on the chassis (100) through a driving component; The driving component drives the two sets of the first conveying components (200) to rise simultaneously and move outwards simultaneously; Or, the driving component drives the two sets of the first conveying components (200) to descend simultaneously and move inwards simultaneously.

4. The split delivery device of claim 2 or 3, wherein, The driving component includes a linear driving unit (500) and a parallelogram structure (400). The first conveying component (200) is arranged on the chassis (100) through the parallelogram structure (400). Two ends of the linear driving unit (500) are respectively hinged to the first conveying component (200) and the chassis (100), and the linear driving unit (500) is arranged in a cross manner with at least one connecting rod of the parallelogram structure (400).

5. The breakaway delivery device of claim 4, wherein: The linear driving unit is configured to be one of an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

6. The split delivery device of claim 2 or 3, wherein, The driving component includes a lifting component, an intermediate bracket and a translation component. The intermediate bracket is arranged on the chassis (100) through the lifting component. The first conveying component (200) is arranged on the intermediate bracket through the translation component. The lifting component is a scissor structure, and the translation component is a linear driving component.

7. The breakaway delivery device of claim 1, wherein, ​ 8. The breakaway delivery device of claim 7, wherein, ​ ​ ​ 9. The breakaway delivery device of claim 8, wherein, ​ 10. The breakaway delivery device of claim 7, wherein, The carriage driving assembly is configured as one of a synchronous belt driving structure, a screw driving structure or a linear power unit.

11. A straddle loader robot characterized by, The system comprises a mechanical hand (a) and a separate conveying device (b) as claimed in any one of claims 1-10, the mechanical hand (a) is arranged on one side of the separate conveying device (b), the mechanical hand (a) moves the goods to the separate conveying device (b), and the separate conveying device (b) is used for conveying the goods.

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