Loading mechanism, loading device, and loading method

Abstract

This application discloses a loading mechanism, a loading device, and a loading method. The loading mechanism includes a loading member (12) arranged to act with the bottom of a load (300) to lift the load (300) and load it, and a vibrator (15) arranged to apply vibration to the loading member (12). The loading method includes, based on loading information, moving the loading mechanism to a target loading position to position the loading member below the storage chute where the target load is located, lifting the target load with the loading member and sliding the target load downwards, and applying vibration to the loading member when vibration activation conditions are met.

Description

[[Technical Field]]

[0001] The present application claims priority based on the Chinese patent application with application number 202411118098.0 filed with the China National Intellectual Property Administration on August 14, 2024, the entire content of which is incorporated herein by reference.

[0002] The present application relates to the technical field of logistics, for example, to a cargo picking mechanism, a cargo picking device and a cargo picking method. [[Background Art]]

[0003] With the rapid development of warehouse storage technology, intelligent warehouse storage systems that use intelligent conveying robots to realize automatic cargo picking and conveying of goods have been widely applied, which effectively improves warehouse storage efficiency and reduces the labor cost required for warehouse storage.

[0004] In the related art, a logistics system is provided, which comprises a multi-layer cargo platform and a cargo picking device. Each layer of the multi-layer cargo platform is provided with a partition layer, and a plurality of rows of storage chutes are formed on the partition layer. The storage chute is arranged obliquely from top to bottom, and a stopper member capable of stopping cargo from sliding downward out of the storage chute is provided at the lower end notch, and a plurality of cargoes can be arranged side by side in the storage chute along the extension direction thereof. The cargo picking device comprises a traveling mechanism and a cargo picking mechanism. The cargo picking mechanism is provided with a cargo picking chute configured for picking cargo, and the traveling mechanism realizes horizontal and vertical movement of the cargo picking mechanism. When it is necessary to pick cargo, the cargo picking device moves to the front side of the target cargo through the passage between two cargo platforms, and the cargo picking mechanism moves to the position of the lower end notch corresponding to the storage chute where the target cargo is located. A cargo picking member at the upper end of the cargo picking chute lifts the cargo upward to make it cross over the stopper member, and the cargo drops onto the cargo picking chute under the action of gravity.

[0005] In some cases, for example, if there is little load in the storage chute, the downward pressure applied to the target load is small, or if the frictional force between the load and the bottom of the groove in the storage chute is large, or if the load is light, there is a problem that the load may get stuck in the storage chute and not be able to slide down, or the load may slide down slowly, resulting in low load retrieval efficiency, thus affecting the normal operation of the load retrieval. [Overview of the project] [Problems that the invention aims to solve]

[0006] Embodiments of the present invention provide a cargo unloading mechanism, a cargo unloading device, and a cargo unloading method to improve the smoothness and efficiency of cargo unloading and to reduce the probability of cargo unloading failure. [Means for solving the problem]

[0007] A loading mechanism comprising: a loading member arranged to act with the bottom of a load to lift and load the load; and a vibrator arranged to apply vibration to the loading member.

[0008] As a proposed technical design for the loading mechanism, it further includes a loading chute, and the loading member is provided at the upper end of the loading chute.

[0009] As a technical proposal for the loading mechanism, the vibrator is attached to the loading chute or to the loading member. and / or, the vibrator includes a vibration motor.

[0010] As a technical proposal for a loading mechanism, the loading chute includes a chute bottom plate that is provided at an incline and chute side plates provided on both opposing sides of the chute bottom plate. The vibrator is provided on the underside of the chute bottom plate or on the outside of the chute side plate.

[0011] As a technical proposal for a loading mechanism, the loading mechanism further includes a loading frame, The loading chute is attached to the loading frame, and a damping structure is provided between the loading frame and the loading chute.

[0012] A loading device including a traveling mechanism, further including the loading mechanism described above, wherein the traveling mechanism is arranged to move the loading mechanism.

[0013] A loading method using the loading device described above, wherein the loading method is Based on the cargo retrieval information, the cargo retrieval mechanism is moved to the target cargo retrieval position so that the cargo retrieval member is positioned below the storage chute where the target cargo is located. The loading member performs a loading operation in which it lifts the target load upward and drops the target load downward, The process includes applying vibration to the load handling member when the vibration activation conditions are met.

[0014] As a proposed technical method for handling cargo, applying vibration to the cargo handling member may include controlling the vibrator to act directly on the cargo handling member, or If the loading mechanism has a loading chute and the loading member is provided at the upper end of the loading chute, applying vibration to the loading member includes controlling a vibrator to act on the loading chute and transmit the vibration to the loading member.

[0015] As a technical proposal for the loading method, the vibration activation conditions are: The loading member comes into contact with the target load, or If, within a predetermined time after the load-receiving member has made contact with the target load, the load has not been detected to have passed a predetermined detection position, or The load-taking member begins to move upward to initiate the load-taking operation, or This includes the condition that the number of packages in the storage chute where the target package is located is less than or equal to a predetermined number.

[0016] As a technical solution of the cargo picking method, the cargo picking method further comprises controlling to stop vibration when a vibration end condition is satisfied after vibration is started, the vibration end condition comprises that it is detected that the target cargo has passed a predetermined detection position, or a vibration duration is equal to or longer than a first predetermined duration.

[0017] As a technical solution of the cargo picking method, the cargo picking method further comprises issuing an abnormal alert if it is not detected that the cargo has passed the predetermined detection position within the first predetermined duration that the vibration lasts.

[0018] As a technical solution of the cargo picking method, the cargo picking method comprises controlling the frequency of the vibration based on the weight of the target cargo or the pressure applied by the target cargo to the cargo picking member, or when the vibration is started, controlling a vibrator to apply a frequency to the cargo picking member at an initial frequency, and further comprising increasing the vibration frequency of the vibrator if it is not detected that the cargo has passed the predetermined detection position within a second predetermined duration that the vibration lasts. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] [Figure 1] it is a structural schematic diagram of a part of a logistics system according to an embodiment of the present application. [Figure 2] it is a side view of the structure in Figure 1. [Figure 3] it is a partial enlarged view at I in Figure 2. [Figure 4] it is a structural schematic diagram of a cargo bed according to an embodiment of the present application. [Figure 5] it is a partial enlarged view at J in Figure 4. [Figure 6] it is a structural schematic diagram of a cargo bed and a cargo picking device according to an embodiment of the present application. [Figure 7] it is a structural schematic diagram of a part of a cargo picking device according to an embodiment of the present application. [Figure 8] it is a partial enlarged view at K in Figure 7. [Figure 9]This is a schematic diagram of the structure of the loading mechanism according to Embodiment 1 of the present application, viewed from a first angle. [Figure 10] This is a localized magnified view of L in Figure 9. [Figure 11] This is a schematic diagram of the structure of the loading mechanism according to Embodiment 1 of the present application, viewed from a second angle. [Figure 12] This is a schematic diagram of a part of the structure of the loading mechanism according to Embodiment 1 of the present invention. [Explanation of Symbols]

[0020] 100, Loading device; 200, Loading platform; 201, Stand; 202, Partition layer assembly; 2021, Support; 20211, Support plate section; 20212, Partition plate section; 2022, Storage chute; 2023, Stopper member; 2024, Loading notch; 2025, Cross member; 300, Cargo; 1. Loading mechanism; 11. Loading chute; 111. Chute bottom plate; 112. Chute side plate; 12. Loading member; 121. Loading body; 122. Stopper part; 13. Temporary storage chute; 14. Loading frame; 141. Mounting frame; 142. Support frame part; 15. Vibrator; 16. Biasing assembly; 161. Biasing drive member; 162. Driven pulley; 163. Drive pulley; 164. Transmission belt; 17. Baffle assembly; 171. Movable baffle; 172. Baffle drive member; 18. Identification device; 19. Mounting base; 2. Travel mechanism; 21. Lifting and lowering column; 3. Horizontal adjustment module; 31. Horizontal adjustment guide rail; 32. Horizontal adjustment slider; 4. Vertical adjustment module; 41. Vertical adjustment guide rail; 42. Vertical adjustment slider; 43. Vertical adjustment drive assembly; 5. Temporary storage assembly; 51. Temporary storage space; 6. Lifting frame. [Modes for carrying out the invention]

[0021] In the description of this application, the terms “connected,” “connected,” and “fixed” should be understood broadly unless otherwise explicitly defined or limited. For example, a fixed connection may be a detachable connection, or the elements may be integrated, or the connection may be mechanical, or electrical, or the elements may be directly connected, or indirectly connected via an intermediate medium, or the connection may be internal communication between two elements or an interaction between two elements. A person skilled in the art will understand the specific meaning of the above terms in this application depending on the specific circumstances.

[0022] In this application, unless otherwise explicitly defined or limited, the presence of a first feature "above" or "below" a second feature may include direct contact between the first and second features, or it may include contact between the first and second features via other features between them, without direct contact. Furthermore, the presence of a first feature "above," "above," and "on the top surface" of a second feature may include the first feature being directly above and diagonally above the second feature, or simply indicating that the horizontal height of the first feature is greater than that of the second feature. The presence of a first feature "below," "below," and "on the bottom surface" of a second feature may include the first feature being directly below and diagonally below the second feature, or simply indicating that the horizontal height of the first feature is lower than that of the second feature.

[0023] In the description of this embodiment, terms such as "up," "down," and "right," which refer to directions and positional relationships, are based on the directions and positional relationships shown in the drawings and are merely used to facilitate explanation and simplify operation. They do not indicate or imply that the devices or elements mentioned have a specific direction (orientation) and must be configured and operated from a specific direction, and should be understood as not limiting this application. Furthermore, the terms "first" and "second" are merely used for distinction in the description and do not carry any special meaning.

[0024] Example 1 As shown in Figures 1 to 3, this embodiment provides a logistics system including a loading platform 200, a loading device 100, and a control system. The loading platform 200 is positioned to store cargo 300, and the loading device 100 can move to the location of the target cargo 300 and pick up the target cargo 300 from the loading platform 200. The control system controls the operation of the loading device 100.

[0025] As shown in Figures 1 to 5, the loading platform 200 includes a plurality of partition layer assemblies 202 spaced apart along the height direction. Each partition layer assembly 202 has a plurality of storage chutes 2022 arranged side by side along a first direction. The storage chutes 2022 are inclined downward from the stock storage end to the load retrieval end. The load 300 enters the storage chute 2022 from the stock storage end and slides out from the load retrieval end. A stopper member 2023 is provided at the lower end notch of the storage chute 2022. The stopper member 2023 can prevent the load 300 inside the storage chute 2022 from sliding out of the storage chute 2022 downward.

[0026] The loading platform 200 includes two stands 201 spaced apart along a first direction. A single storage space is formed between two adjacent stands 201, and each storage space is provided with multiple partition tier assemblies 202 spaced apart along the height direction. The partition tier assemblies 202 in two adjacent storage spaces are arranged in a one-to-one correspondence in the height direction. Both ends of the partition tier assemblies 202 along the first direction are connected to the two stands 201, respectively.

[0027] As shown in Figures 4 and 5, to improve the versatility of the loading platform 200, each partition layer assembly 202 includes a plurality of support members 2021 arranged side by side along a first direction and a cross member 2025 extending along the first direction. Both ends of the cross member 2025 are connected to two stands 201, and the bottoms of all support members 2021 are detachably connected to the cross member 2025. Each support member 2021 includes a support plate portion 20211 and a partition plate portion 20212 connected at an angle. A storage chute 2022 is formed between the partition plate portions 20212 of two adjacent support members 2021, and the support plate portion 20211 forms the groove bottom of the storage chute 2022. This allows the width of the storage chute 2022 to be adjusted by changing the spacing between two adjacent support members 2021, so that the loading platform 200 can accommodate the storage of different types of cargo 300. To ensure the positional stability and reliability of the support 2021, at least two cross members 2025 are provided spaced apart along the extending direction of the support 2021.

[0028] Multiple loading platforms 200 are provided at intervals along the second direction. A passage is formed between two adjacent loading platforms 200 for the loading device 100 to move. The second direction is perpendicular to the first direction.

[0029] As shown in Figures 5 and 6, the loading device 100 includes a traveling mechanism 2 and a loading mechanism 1. The traveling mechanism 2 enables the loading device 100 to travel on the ground. The traveling mechanism 2 can move along a first direction so that the loading mechanism 1 can face the storage chute 2022 of any row. The traveling mechanism 2 can escort the loading mechanism 1 so that it moves up and down along a vertical direction so that it can face the loading chute 11 of any row. This enables the loading mechanism 1 to load cargo 300 from any loading chute 11 on the loading platform 200.

[0030] The structure of the travel mechanism 2 can be arranged by referring to related technologies, and in this embodiment, the structure and travel method of the travel mechanism 2 are not limited.

[0031] As shown in Figures 5 to 12, the loading mechanism 1 includes a loading member 12 positioned to act on the bottom of the load 300 to lift and load the load 300. A loading notch 2024 is provided at the bottom of the groove of the storage chute 2022. The loading notch 2024 communicates with the lower end notch of the storage chute 2022. When loading using the loading device 100, first the loading member 12 is moved below the corresponding storage chute 2022, and then the loading member 12 is passed from bottom to top through the loading notch 2024 so as to contact the bottom of the load 300 in the storage chute 2022. This lifts the lower end of the load 300, allowing the load 300 to slide over the stopper member 2023 and into the loading mechanism 1.

[0032] In this embodiment, the stopper member 2023 is fixed to the lower end of the storage chute 2022 and is higher than the bottom of the groove of the storage chute 2022. When the load 300 is not lifted by the load retrieval member 12, the stopper member 2023 prevents the load 300 from sliding downward out of the storage chute 2022. This arrangement simplifies the structure of the stopper member 2023 and reduces the overall cost of the loading platform 200 and the storage system. The stopper member 2023 is connected to the lower end of each partition plate section 20212, and both sides of the stopper member 2023 along the first direction extend outward from the partition plate section 20212, thereby simplifying the arrangement of the stopper member 2023.

[0033] The structural arrangement of the partition layer assembly 202 in the above-described loading platform 200 is merely illustrative, and any structure of the loading platform 200 having an inclined storage chute 2022 for inventory storage and inclined drop-type loading can be applied to the present invention. The structure of the loading platform 200 is not limited in this invention.

[0034] In order to improve the smoothness of load handling, in this embodiment, the load handling mechanism 1 further includes a vibrator 15 arranged to apply vibration to the load handling member 12.

[0035] The cargo retrieval mechanism 1, cargo retrieval device 100, and logistics system according to this embodiment are configured such that, by arranging the vibrator 15, the cargo retrieval member 12 is guided to vibrate when the cargo retrieval mechanism 1 retrieves cargo 300 from the storage chute 2022. This reduces friction between the cargo 300 and the cargo retrieval member 12, reduces snagging between the cargo 300 and the cargo retrieval member 12 and the storage chute 2022, facilitates the downward movement of the cargo 300 to the cargo retrieval mechanism 1 under the influence of gravity, and improves the smoothness of the cargo 300 sliding down from the storage chute 2022 to the cargo retrieval mechanism 1. This reduces the probability of cargo retrieval failure, improves the reliability of cargo retrieval, improves the efficiency of cargo retrieval, and improves the overall operational efficiency of the logistics system.

[0036] In this embodiment, to improve the reliability and smoothness of cargo retrieval, the cargo retrieval mechanism 1 further includes a cargo chute 11. The cargo chute 11 extends downward, inclined along the direction away from the cargo retrieval member 12, and the cargo retrieval member 12 is provided at the upper end of the cargo chute 11. When the cargo retrieval member 12 performs cargo retrieval, the cargo retrieval member 12 extends outward from the cargo chute 11. With the provision of the cargo chute 11 and the provision of the cargo retrieval member 12 at the upper end of the cargo chute 11, after the cargo retrieval member 12 lifts the cargo 300, the cargo 300 falls along the cargo retrieval member 12 into the cargo chute 11 and falls through the cargo chute 11 to a specific position in the cargo retrieval mechanism 1. This better guides the cargo 300 to fall into the cargo retrieval mechanism 1, reduces the risk of the cargo 300 falling during the retrieval process, and improves the safety of cargo retrieval.

[0037] To better achieve temporary storage of cargo, the cargo retrieval device 100 further includes a temporary storage assembly 5. The temporary storage assembly 5 is provided with a temporary storage space 51, and the lower end of the cargo chute 11 is docked with the temporary storage space 51, so that cargo 300 that has fallen into the cargo chute 11 slides into the temporary storage space 51, thereby enabling temporary storage of cargo 300 in the cargo retrieval device 100.

[0038] In other embodiments, the loading mechanism 1 may not be provided with a loading chute 11, but only with a temporary storage assembly 5 having a temporary storage space 51. The lower end of the loading member 12 is docked with the temporary storage space 51, so that the load that falls from the loading member 12 falls directly into the temporary storage space 51 for temporary storage.

[0039] In another embodiment, the load-receiving member 12 may be provided separately from the load-receiving chute 11. For example, the load-receiving mechanism 1 includes a load-receiving frame 14, where both the load-receiving member 12 and the load-receiving chute 11 are provided on the load-receiving frame 14, and the upper end of the load-receiving member 12 extends from the upper end of the load-receiving chute 11 to guide the load lifted by the load-receiving member 12 to fall into the load-receiving chute 11.

[0040] In this embodiment, the transducer 15 is attached to the loading chute 11, which is advantageous for mounting the transducer 15, ensuring structural strength in the mounting space and position of the transducer 15, and reducing the impact of the transducer 15's placement on the dimensions of the loading member 12. In other embodiments, the transducer 15 may be attached to the loading member 12. In yet another embodiment, the transducer 15 may be attached to the loading frame 14 and positioned close to the loading chute 11.

[0041] The loading chute 11 includes an inclined chute bottom plate 111 and two chute side plates 112 connected to opposing sides of the chute bottom plate 111. The two chute side plates 112 are provided projecting upward from the chute bottom plate 111. The transducer 15 is mounted on the underside of the chute bottom plate 111 or on the outside of the chute side plates 112. This simplifies the mounting structure of the transducer 15 and is advantageous in reducing the difficulty of mounting the transducer 15.

[0042] To improve the ease of mounting the transducer 15, a mounting base 19 is provided on the outside of the loading chute 11, and the transducer 15 is mounted on the mounting base 19. The mounting base 19 is detachably connected to the loading chute 11, and / or the transducer 15 is detachably connected to the mounting base 19.

[0043] The vibrator 15 is a vibration motor, and the structure of the vibration motor and the principle for realizing vibration can be set by referring to related technologies. In this embodiment, the structure and type of the vibration motor are not limited. The size and model number of the vibration motor can be adaptively selected according to the size and type of the cargo 300.

[0044] In this embodiment, the loading member 12 has its lower end connected to the chute bottom plate 111, its upper end extending upward from the loading chute 11, and the direction of extension of the loading member 12 is the same as the direction of extension of the loading chute 11. That is, in this embodiment, the upper end of the loading member 12 extends from the loading chute 11 from start to finish. In other embodiments, the loading member 12 may be movably attached to the chute bottom plate 111, and when the loading member 12 does not need to load anything, it is located inside or below the loading chute 11.

[0045] The load-taking member 12 includes a load-taking body 121 and a load-stopping portion 122. The load-taking body 121 extends inclined downwards from top to bottom, one end of the load-stopping portion 122 is connected to the upper end of the load-taking body 121, and the other end of the load-stopping portion 122 extends downwards. With this arrangement, when the load-taking member 12 picks up the load 300, the load-taking body 121 contacts the bottom of the load 300, and the load-stopping portion 122 abuts against the rear of the load 300 awaiting pickup, limiting snagging and preventing the load 300 from sliding down from the rear, thereby improving the safety and reliability of the load-taking. At the same time, the arrangement of the load-stopping portion 122 is also advantageous in improving the structural strength and rigidity of the upper end of the load-taking member 12, and reducing the probability of deformation damage to the load-taking member 12.

[0046] By making the width of at least a portion of the cargo stopper portion 122 greater than the width of the upper end of the cargo handling body 121, the contact area between the cargo stopper portion 122 and the cargo 300 is increased, thereby improving the stopping effect of the cargo stopper portion 122 on the cargo 300.

[0047] In this embodiment, the loading device 100 further includes a lifting frame 6. The lifting frame 6 is connected to the travel mechanism 2, and both the loading mechanism 1 and the temporary storage assembly 5 are attached to the lifting frame 6 so that they can be moved in synchronous motion as the lifting frame 6 moves up and down. In this embodiment, the temporary storage assembly 5 is attached to the side of the lifting frame 6 away from the lifting column 21 of the travel mechanism 2, and the lifting frame 6 is positioned between the lifting column 21 and the temporary storage assembly 5. This improves the structural layout rationality of the loading device 100 and reduces the dimensions of the loading device 100 in the second direction, thereby reducing the requirements for aisle width between two adjacent racks 200 and improving warehouse storage density.

[0048] Two loading chutes 11 are provided, facing each other and spaced apart. The two loading chutes 11 extend inclined from top to bottom in a direction toward each other. The loading mechanism 1 includes a temporary storage chute 13 located between the lower ends of the two loading chutes 11. The temporary storage chute 13 extends downward inclined in a direction toward away from the loading chutes 11, and the upper end of the temporary storage chute 13 can dock with the lower ends of the two loading chutes 11, and the lower end of the temporary storage chute 13 can dock with the temporary storage space 51. This improves the flexibility of positioning the temporary storage assembly 5 and improves the compactness of the overall structure of the loading mechanism 1 and loading device 100. At the same time, by providing two loading chutes 11, the loading device 100 can load cargo 300 from the loading platforms 200 on both sides of it, improving the flexibility of loading.

[0049] The two loading chutes 11 extend inclined from top to bottom along a second direction, while the temporary storage chute 13 and the temporary storage chute 13 inclined from top to bottom along a first direction toward the temporary storage assembly 5.

[0050] In other embodiments, the temporary storage chute 13 may not be provided, and a temporary storage space 51 may be provided between the lower ends of the two loading chutes 11.

[0051] As shown in Figures 7 and 8, in this embodiment, the temporary storage assembly 5 includes at least two temporary storage spaces 51 spaced apart along the vertical direction. The loading device 100 further includes a vertical adjustment module 4. The vertical adjustment module 4 adjusts the lower end position of the temporary storage chute 13 by driving the loading mechanism 1 to move up and down vertically relative to the traveling mechanism 2, so that the lower end of the temporary storage chute 13 faces either of the temporary storage spaces 51, enabling temporary storage of the load 300 in either of the temporary storage spaces 51. This arrangement improves the amount of temporary storage for the load 300 and improves the loading efficiency of the loading device 100. At the same time, by arranging the vertical adjustment module 4, the loading mechanism 1 can be guided by the vertical adjustment module 4 as the loading member 12 moves upward until it lifts the load 300, thereby reducing driving costs and control difficulty. The loading mechanism 1 is connected to the lifting frame 6 via the vertical adjustment module 4, so that the vertical adjustment module 4 can be driven to move the loading mechanism 1 up and down relative to the lifting frame 6.

[0052] The loading device 100 further includes a horizontal adjustment module 3. The horizontal adjustment module 3 is connected between the vertical adjustment module 4 and the loading mechanism 1, and the horizontal adjustment module 3 drives the loading mechanism 1 to move along a second direction so as to move the loading member 12 closer to or further away from the loading platform 200. The arrangement of the horizontal adjustment module 3 allows for fine adjustment of the position of the loading member 12 and the loading platform 200 in the second direction when the traveling mechanism 2 is not moving. This ensures that the upper end of the loading member 12 is positioned directly facing the loading notch 2024 and can pass through the loading notch 2024 upward, avoiding the problem that the loading member 12 has difficulty effectively moving the load 300 due to the loading member 12 being too far away from the loading platform 200, and avoiding the problem that the upper end of the loading member 12 collides with the loading platform 200 due to the loading member 12 being too close to the loading platform 200, thereby ensuring the safety and reliability of loading.

[0053] The vertical adjustment module 4 includes a vertical adjustment drive assembly 43 and a vertical guide assembly. The vertical guide assembly includes a vertical adjustment guide rail 41 attached to the lifting frame 6 and a vertical adjustment slider 42 slidably mounted on the vertical adjustment guide rail 41, and the vertical adjustment drive assembly 43 drives the vertical adjustment slider 42 to slide along the vertical direction. The horizontal adjustment module 3 includes a horizontal adjustment drive assembly and a horizontal guide assembly. The horizontal guide assembly includes a horizontal adjustment guide rail 31 extending along a second direction and a horizontal adjustment slider 32 slidably mounted on the horizontal adjustment guide rail 31. The horizontal adjustment guide rail 31 is connected to the vertical adjustment slider 42, and the horizontal adjustment slider 32 is connected to the load-taking frame 14 of the load-taking mechanism 1, and the horizontal adjustment assembly drives the horizontal adjustment slider 32 to slide along the horizontal adjustment guide rail 31.

[0054] The structures of the vertical adjustment module 4 and the horizontal adjustment module 3 can be arranged by referring to related technologies and will not be described repeatedly here.

[0055] In other embodiments, the horizontal adjustment module 3 may be omitted, and only the vertical adjustment module 4 and a temporary storage assembly 5 having multiple temporary storage spaces 51 may be provided. In yet another embodiment, the vertical adjustment module 4 may be omitted, and only the horizontal adjustment module 3 may be provided to achieve precise alignment between the load retrieval member 12 and the target storage chute 2022. In such arrangements, only one temporary storage space 51 may be provided, or multiple temporary storage spaces 51 may be provided and the temporary storage assembly 5 may be fixed to the lifting column 21.

[0056] To enable position adjustment of the unloading assembly, the unloading device 100 further includes an identification device 18. Each stopper member 2023 on the loading platform 200 is provided with an electronic tag code at its front end, which carries information about the coordinate position of the corresponding storage chute 2022 and the stored cargo 300. The identification device 18 is positioned to scan and identify the electronic tag code to confirm and check the coordinate position of the storage chute 2022. The control system precisely adjusts the position of the unloading member 12 and ensures the reliability of unloading by controlling the operation of the vertical adjustment module 4 and / or horizontal adjustment module 3 based on the information obtained from scanning by the identification device 18. The identification device 18 may be a scanner, camera, or other device capable of identifying the electronic tag code.

[0057] As shown in Figures 9 to 12, in order to improve the arrangement convenience of the temporary storage chute 13 and the loading chute 11, in this embodiment the loading chute 11 further includes a loading frame 14. The loading frame 14 is attached to the traveling mechanism 2, and the loading chute 11 is attached to the loading frame 14. The loading frame 14 is detachably attached to the horizontal adjustment slider 32. The loading frame 14 includes a mounting frame 141 and two support frame sections 142 connected to opposing sides of the mounting frame 141. The mounting frame 141 is connected to the horizontal adjustment slider 32, the two loading chutes 11 are each attached to the two support frame sections 142, the temporary storage chute 13 is located between the two mounting frames 141, and the upper ends on both opposing sides are each connected to the two support frame sections 142.

[0058] By providing an elastic damping structure between the support frame 142 and the bottom of the loading chute 11, the transmission of vibrations from the loading chute 11 to the support frame 142 can be reduced or mitigated. This reduces vibrations of the loading member 12 and the entire loading mechanism 1, improving the operational reliability and safety of the loading device 100 and extending the service life of the entire loading device 100. The elastic damping structure is an elastic pad covering the upper side of the support frame 142 or the lower side of the chute bottom plate 111, or a plurality of elastic damping blocks provided between the support frame 142 and the chute bottom plate 111.

[0059] In some embodiments, the load handling mechanism 1 further includes a biasing assembly 16. The biasing assembly 16 includes a biasing drive member 161 and a biasing member rotatably fitted to the upper end of the load handling member 12. The biasing member can contact the bottom of the load 300. The biasing drive member 161 drives the biasing member to rotate such that the movement of the biasing force on the load 300 applies a force to the load 300 that moves toward the load handling chute 11. By arranging the biasing assembly 16, the load 300 supported by the load handling member 12 can be guided to move toward the load handling chute 11, thereby improving load handling smoothness and reliability.

[0060] The biasing drive member 161 includes a biasing motor. The biasing assembly 16 further includes a drive pulley 163 rotatably fitted on the motor shaft of the biasing motor, a driven pulley 162 rotatably mounted on the upper end of the load-taking member 12, and a transmission belt 164 wound around the drive pulley 163 and the driven pulley 162. The drive pulley 163, the biasing motor, and part of the transmission belt 164 are located below the load-taking chute 11, and part of the transmission belt 164 fitted on the driven pulley 162 forms a biasing member. In other embodiments, the biasing member may employ a roller shaft or roller structure, and the biasing drive member 161 drives the roller shaft or roller structure to rotate, thereby applying a frictional force toward the load-taking chute 11 due to the relative movement between the biasing member and the bottom of the load 300.

[0061] In this embodiment, a detection sensor is further provided in the loading chute 11 to detect whether or not the cargo 300 passes through the loading chute 11 and to determine whether or not the loading was successful. Both the detection sensor and the vibrator 15 are connected to the loading controller. The placement of the detection sensor is advantageous for controlling the loading process.

[0062] In this embodiment, the detection sensor is mounted on the outside of the chute side plate 112, and a detection opening is provided in the chute side plate 112. The detection end of the detection sensor is positioned directly facing the detection opening, so that the opening detects whether or not the cargo 300 passes through the cargo chute 11. The detection sensor is a photoelectric sensor, which enables non-contact detection and has high detection accuracy.

[0063] The temporary storage chute 13 includes a guide bottom plate and two side baffle sections connected to both sides of the guide bottom plate, with the guide bottom plate and the two side baffle sections enclosing each other to form the temporary storage chute 13. The two side baffle sections are each connected to two support frame sections 142.

[0064] The loading mechanism 1 further includes a baffle assembly 17. The baffle assembly 17 includes a movable baffle 171 and a baffle drive member 172. The baffle drive member 172 drives the movable baffle 171 to switch between a stopper state and a retracted state. When the movable baffle 171 is in the stopper state, the movable baffle 171 is placed in the temporary storage chute 13 and is higher than the bottom of the groove of the temporary storage chute 13, preventing the load 300 in the temporary storage chute 13 from moving into the temporary storage space 51. This prevents the load 300 from falling due to sliding down from the temporary storage chute 13 if the temporary storage space 51 is full or if the temporary storage chute 13 and the temporary storage space 51 are not docked in place, thereby improving loading safety.

[0065] Example 2 This embodiment provides a cargo handling method that improves logistics efficiency by improving cargo handling efficiency and cargo handling success rate.

[0066] The loading method according to this embodiment includes the following steps.

[0067] Based on the cargo retrieval information, the cargo retrieval mechanism 1 is moved to the target cargo retrieval position so that the cargo retrieval member 12 of the cargo retrieval mechanism 1 is positioned below the storage chute 2022 where the target cargo 300 is located.

[0068] This solution utilizes the principle that the loading member 12 lifts the load 300, causing the load 300 to move over the stopper member in front and be loaded. The position of the loading member 12 below the storage chute 2022 refers to a broad downward position, which may be diagonally downward or directly downward, as long as the loading member 12 is in a position that allows it to contact the target load 300 by rising or extending.

[0069] The loading member 12 performs a loading operation in which it lifts the target load 300 upward and slides the target load 300 downward.

[0070] When the vibration activation conditions are met, vibration is applied to the load handling member 12.

[0071] The purpose of applying vibration to the load-receiving member 12 is to induce vibration in the load-receiving member 12 when it contacts the target load 300, lifts the target load 300, and causes the load to slide down, thereby facilitating the sliding of the target load 300. The vibration can be initiated at any time before the completion of load-receiving, as long as it can facilitate the lifting of the load and the sliding of the target load 300. The step of applying vibration is not the final step in this method.

[0072] In this embodiment, the retrieval method applies vibration to the retrieval member 12 when the vibration activation conditions are met. When the retrieval member 12 retrieves the cargo 300 from the storage chute 2022, the vibrator 15 can guide the retrieval member 12 so that it vibrates. This reduces friction between the cargo 300 and the retrieval member 12, reduces snagging between the cargo 300, the retrieval member 12, and the storage chute 2022, propels the cargo 300 downward under the influence of gravity to move to the retrieval mechanism 1, and improves the smoothness of the cargo 300 sliding down from the storage chute 2022 to the retrieval mechanism 1. This reduces the probability of retrieval failure, improves the reliability of retrieval, and improves the efficiency of retrieval, thereby improving the overall operational efficiency of the logistics system.

[0073] The understanding of vibration activation conditions is broad but should not be limited, and may include, for example, position, commands, operational readiness due to successful self-inspection of the equipment, time, and normal communication. Regarding position, a possible scenario is that the vibration activation condition is met when the load-taking member 12 reaches the load-taking position (i.e., below the load). Regarding self-inspection of the equipment, a possible scenario is that the equipment self-inspects itself as normal when it starts up or begins to move, thus meeting the activation condition, and at this time the vibration activation condition is met. Regarding normal communication, the equipment needs to communicate and detect with the higher-level system, and if communication is normal, the equipment can operate, which can be considered a vibration activation condition. Regarding commands, belonging to a relatively direct control scene, if the control system sends a vibration command, it can be considered that the vibration activation condition is met. Multiple conditions may be considered vibration activation conditions in combination or individually; that is, one condition may be the basis for the condition alone, or multiple conditions may be considered met when all of them are satisfied.

[0074] In this embodiment, the structural arrangement of the loading platform 200 and the loading device 100 can refer to the structure in Embodiment 1. In this embodiment, the structure of the loading platform 200 and the loading device 100 is not limited.

[0075] In this embodiment, applying vibration to the loading member 12 includes controlling the transducer 15 to act on the upper end of the loading chute 11 and transmit vibration to the loading member 12. It is sufficient to apply vibration to the loading chute 11. This arrangement is advantageous for mounting the transducer 15, simplifies the structure of the loading member 12, and avoids interference with the storage chute 2022 due to the loading member 12 being too large.

[0076] In other embodiments, applying vibration to the load-receiving member 12 may include controlling the vibrator 15 to act directly on the load-receiving member 12. This arrangement ensures that the vibration acts on the load-receiving member 12 while reducing the extent to which the vibration extends to other locations.

[0077] In this embodiment, the vibration activation condition includes the activation of the load retrieval member 12 by starting to move upward. When the load retrieval member 12 moves directly below the load retrieval chute 11 where the target load 300 is located and starts to move upward, the vibrator 15 begins to vibrate. This arrangement avoids the need to detect the relative position between the load retrieval member 12 and the vibrator 15, simplifies the control logic, and reduces the difficulty of control.

[0078] In this embodiment, moving the load retrieval mechanism 1 to the target load retrieval position is The system includes: obtaining location information of the target storage chute 2022 where the target cargo 300 is located based on the cargo retrieval information; controlling the traveling mechanism 2 to travel along the ground to the front of the target storage chute 2022 based on the location information; controlling the cargo retrieval mechanism 1 to move up and down until the cargo retrieval member 12 is positioned directly below the target storage chute 2022; the identification device 18 scanning and identifying electronic tag information at the front end of the target storage chute 2022 to obtain the check position coordinates of the target storage chute 2022; and controlling the horizontal adjustment module 3 and / or vertical adjustment module 4 to operate based on the check position coordinates to position the cargo retrieval member 12 directly below the cargo retrieval notch 2024 of the target storage chute 2022.

[0079] The execution of the unloading operation includes controlling the unloading mechanism 1 to rise until the unloading member 12 lifts the lower end of the load 300 to a predetermined height, and until the unloading member 12 passes through the unloading notch 2024 upward and contacts the load 300.

[0080] In this embodiment, the load retrieval method further includes controlling the system to stop the vibration after it has started, and the vibration termination condition includes detecting that the target load 300 has passed a predetermined detection position, or that the vibration duration is equal to or greater than a first predetermined duration.

[0081] By setting vibration termination conditions, the vibration can be stopped after a set time, thereby avoiding structural damage to the load-taking member 12 or load-taking mechanism 1 due to prolonged vibration, and improving the safety and reliability of the load-taking device 100. Specifically, it has been shown that when it is detected that the target load 300 has passed a predetermined detection position, the load-taking can be performed smoothly and vibration is no longer necessary. If it is determined that the vibration duration is longer than a first predetermined time, it is possible to avoid the vibrator 15 continuing to vibrate ineffectively after a failed vibration load-taking attempt, thereby reducing the operating costs of the load-taking mechanism 1 and the load-taking device 100.

[0082] In this embodiment, the predetermined detection position is located in the loading chute 11, while in other embodiments, the predetermined detection position may also be located in the temporary storage chute 13.

[0083] The first predetermined duration is 5s to 40s, and may be 10s, 15s, 20s, 25s, 30s, 35s, etc. The data for the first predetermined duration may be set according to the type, weight, and required loading efficiency of the load 300. For example, the average time it takes for the load 300 to fall into the loading chute 11 when the vibrator 15 is vibrated can be obtained by test, and the first predetermined duration, which is greater than the average time, can be determined based on that average time.

[0084] The cargo retrieval method further includes issuing an abnormality alert if it is not detected that the cargo 300 has passed a predetermined detection position within a first predetermined duration during which the vibration persists.

[0085] In other words, if no cargo 300 has passed a predetermined detection position after the vibration has continued for a first predetermined duration, the cargo retrieval is deemed to have failed, and the probability of successfully retrieving the cargo by continuing to vibrate is determined to be low. When such a situation occurs, there is a possibility that the vibrator 15 may malfunction, a locking member may be present in the storage chute 2022, or other abnormal conditions may occur. Therefore, by controlling the system to issue an abnormality alert alarm when cargo retrieval fails, it is advantageous for the operator to eliminate the abnormal condition and better ensure that the next cargo retrieval can be carried out smoothly.

[0086] Example 3 This embodiment provides a loading method, and the loading method according to this embodiment is basically the same as the loading method according to Embodiment 2, with only a difference in some arrangements. This embodiment does not repeat the same content as Embodiment 2.

[0087] In this embodiment, the vibration activation condition includes the load handling member 12 coming into contact with the target load 300. That is, in this embodiment, vibration is activated when the load handling member 12 comes into contact with the target load 300.

[0088] Whether or not the loading member 12 comes into contact with the load 300 can be determined by positional identification of the loading member 12, or a pressure sensor can be provided at the upper end of the loading member 12, and whether or not the loading member 12 comes into contact with the load 300 can be determined by the detection data from the pressure sensor. In other embodiments, whether or not the loading member 12 comes into contact with the load 300 can be determined in other ways.

[0089] Example 4 This embodiment provides a loading method, and the loading method according to this embodiment is basically the same as the loading method according to Embodiment 2, with only a difference in some arrangements. This embodiment does not repeat the same content as Embodiment 2.

[0090] In this embodiment, the loading method includes determining that the vibration activation condition is met if, within a predetermined time after the loading member 12 has come into contact with the target load 300, it is not detected that the load 300 has passed a predetermined detection position.

[0091] In this embodiment, the predetermined detection position is located on the loading chute 11, while in other embodiments, the predetermined detection position may be located on the temporary storage chute 13.

[0092] With this arrangement, it is necessary to install a detection sensor at a predetermined detection position in order to detect whether or not the package 300 passes through that predetermined detection position.

[0093] In other words, this arrangement avoids frequent activation of the vibrator 15, activating only when retrieval fails or is delayed, thus avoiding the problem of shortened service life due to prolonged vibration of the retrieval chute 11 and retrieval member 12.

[0094] The specified time is between 2 seconds and 20 seconds, for example, between 3 seconds and 10 seconds.

[0095] Example 5 This embodiment provides a loading method, and the loading method according to this embodiment is basically the same as the loading method according to Embodiment 2, with only a difference in some arrangements. This embodiment does not repeat the same content as Embodiment 2.

[0096] In this embodiment, the loading method includes determining that the vibration activation condition is met when the number of loads in the storage chute 2022 where the target load 300 is located is less than or equal to a predetermined number, and the loading member 12 comes into contact with the target load 300.

[0097] During the loading process, if there are few loads in the storage chute 2022, the pressure applied to the load 300 at the foremost end is reduced, decreasing the force of the load 300 along the loading chute 11, which can easily lead to loading failure. Therefore, in this embodiment, when there are few loads in the storage chute 2022, when the loading member 12 contacts the target load 300, vibration is applied to the loading member 12, allowing the load 300 to pass smoothly through the loading member 12 and move to the loading chute 11, thus avoiding frequent activation of the vibrator 15.

[0098] The specified number may be 1 to 4.

[0099] Example 6 This embodiment provides a loading method, and the loading method according to this embodiment will be described based on the loading method according to Embodiment 2. This embodiment will not repeat the same content as in Embodiment 2.

[0100] In this embodiment, the loading method further includes controlling the vibration frequency based on the weight of the target load 300 or the pressure applied to the loading member 12 by the target load 300.

[0101] For different types and sizes of cargo 300, the gravitational and frictional forces acting on the cargo 300 as it slides from the storage chute 2022 to the retrieval chute 11 are all different. Therefore, by controlling the vibration frequency based on the weight of the target cargo 300 or the pressure applied to the retrieval member 12 by the target cargo 300, it is possible to avoid a decrease in the guiding effect of the cargo 300 falling downward due to a low vibration frequency, and to avoid the vibration spreading widely to other locations due to a high vibration frequency, as well as the cargo 300 vibrating and falling from the retrieval chute 11. This ensures smooth cargo retrieval, improves the safety and reliability of cargo retrieval, and is also advantageous in realizing the versatility of the cargo retrieval device 100 for retrieving different types of cargo 300.

[0102] The vibration frequencies to which the cargo 300 corresponds can be obtained by testing. In this embodiment, the vibration frequencies to which various cargo 300 correspond are not limited.

[0103] In this embodiment, multiple vibration positions may be provided, and each vibration position may correspond to a different vibration frequency, and each vibration position may correspond to a load 300 of a different weight, which is advantageous for simplifying vibration adjustment and control.

[0104] Example 7 This embodiment provides a loading method, and the loading method according to this embodiment will be described based on the loading method according to Embodiment 2. This embodiment will not repeat the same content as in Embodiment 2.

[0105] In this embodiment, the loading method further includes, when vibration is activated, controlling the vibrator 15 to apply a frequency to the loading member 12 at an initial frequency, and if it is not detected that the load 300 has passed a predetermined detection position within a second predetermined duration during which the vibration continues, increasing the vibration frequency of the vibrator 15.

[0106] In other words, in this embodiment, if the vibration applied at the initial frequency still presents the problem of failure to retrieve the load, the vibration frequency is increased to enhance the effect of promoting the fall of the load 300, thereby enabling successful retrieval while simultaneously reducing retrieval costs and decreasing the probability of vibration spreading to other locations.

[0107] Multiple frequency positions are pre-set within the control system. The initial frequency is the lowest frequency position. If vibration is applied at a low frequency position and load retrieval fails, the system can adjust the vibration frequency to an adjacent higher frequency position to adjust its functionality.

Claims

1. A loading member (12) is positioned to act with the bottom of the load (300) to lift the load (300) and unload it, The system includes a vibrator (15) arranged to apply vibration to the load-receiving member (12), Loading mechanism.

2. Further including a loading chute (11), The loading member (12) is provided at the upper end of the loading chute (11). The loading mechanism according to claim 1.

3. The vibrator (15) is attached to the loading chute (11) or to the loading member (12), and The vibrator (15) satisfies at least one of the following conditions: it includes a vibration motor. The loading mechanism according to claim 2.

4. The loading chute (11) includes a chute bottom plate (111) that is provided at an inclination, and chute side plates (112) provided on opposite sides of the chute bottom plate (111), The vibrator (15) is provided on the back side of the chute bottom plate (111) or on the outside of the chute side plate (112). The loading mechanism according to claim 3.

5. Further including a loading frame (14), The loading chute (11) is attached to the loading frame (14), and a damping structure is provided between the loading frame (14) and the loading chute (11). A loading mechanism according to any one of claims 2 to 4.

6. A loading device including a traveling mechanism (2), The loading mechanism further includes the loading mechanism described in any one of claims 1 to 5, The aforementioned traveling mechanism (2) is used to accompany the loading mechanism so that it moves. Loading device.

7. A method for unloading cargo using the unloading device described in claim 6, Based on the cargo retrieval information, the cargo retrieval mechanism of the cargo retrieval device is moved to the target cargo retrieval position so that the cargo retrieval member of the cargo retrieval mechanism is positioned below the storage chute where the target cargo is located. The load-taking member lifts the target load upward and drops the target load downward, This includes applying vibration to the load-receiving member in accordance with the satisfaction of the vibration activation conditions, How to receive cargo.

8. Applying vibration to the load-taking member includes controlling the vibrator of the load-taking mechanism to act directly on the load-taking member, or If the loading mechanism has a loading chute and the loading member is provided at the upper end of the loading chute, applying vibration to the loading member includes controlling the vibrator of the loading mechanism to act on the loading chute and transmit the vibration to the loading member. The method of unloading cargo according to claim 7.

9. The vibration initiation conditions are, The loading member comes into contact with the target load. Within a predetermined time after the loading member makes contact with the target load, it is not detected that the target load has passed a predetermined detection position. The load-taking member begins to move upward to initiate the load-taking operation. This includes one of the following conditions: the number of packages in the storage chute where the target package is located is less than or equal to a predetermined number. The method of unloading cargo according to claim 7.

10. The method further includes controlling the vibration to stop after it has been initiated, depending on whether the vibration termination conditions are met. The vibration termination conditions include detection that the target load has passed a predetermined detection position, or that the vibration duration is equal to or greater than a first predetermined duration. A method for unloading cargo according to any one of claims 7 to 9.

11. The system further includes issuing an abnormal alert alarm if it is not detected that the target load has passed the predetermined detection location within the first predetermined duration during which the vibration persists. The method of unloading cargo according to claim 10.

12. The frequency of the vibration is controlled based on the weight of the target load or the pressure applied to the load handling member by the target load, or The vibration is controlled to apply a frequency to the load-receiving member at an initial frequency in response to the activation of the vibration, and the vibration frequency of the vibration is increased if it is not detected that the target load has passed a predetermined detection position within a second predetermined duration in which the vibration persists. A method for unloading cargo according to any one of claims 7 to 9.

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