Three-dimensional unloading system capable of unloading cargo into a cargo container and its control method

Abstract

The present disclosure provides a three-dimensional unloading system capable of unloading cargo into a cargo container, and a control method thereof. The three-dimensional unloading system includes a sorting platform, an automated guided vehicle, a cargo identification device, and a positioning device. The three-dimensional unloading system further includes one or more cargo shelves, a transport device, an unloading device, and a server. The cargo shelf includes a plurality of cargo containers, each capable of accommodating cargo, and the cargo shelf is attached to a position adjacent to a cargo unloading exit. A transport supporter is fixed to the transport device. The unloading device is fixed to the transport supporter and configured to move to the cargo unloading exit by driving the transport device to receive cargo unloaded from the automated guided vehicle, then move near a specific cargo container and unload the cargo into the cargo container. The server is wirelessly connected to a control means of the automated guided vehicle, and is wired or wirelessly connected to each of the cargo identification device, the control means of the transport device, and the control means of the unloading device. The present disclosure has the beneficial effects of compact structure, high space efficiency, fast unloading speed, and reduced cargo damage.

Description

[Technical field]

[0001] The present disclosure relates to a robotic cargo unloading system and a control method thereof.

[0002] CROSS REFERENCE TO RELATED APPLICATIONS This disclosure claims priority to a Chinese application filed with the China Patent Office on January 12, 2021, bearing application number 2021100349703 and entitled "Three-dimensional unloading system capable of unloading cargo into a cargo container and its control method," the entire contents of which are incorporated herein by reference. [Background technology]

[0003] Sorting and unloading cargo by automated guided vehicles, i.e., robots, has been widely applied. In the prior art, cargo generally needs to be unloaded to a specific exit according to need, for example, cargo is unloaded to different exits according to region, and cargo from the same exit is packed and shipped. There is a need to unload cargo into a specific cargo container on a cargo shelf, in which case, since multiple cargo containers can be installed on one cargo shelf, if the cargo shelf can be transported to a packing location, all cargo can be easily transported to the packing location and packed. Therefore, how to unload cargo sorted by a robot into a specific cargo container on a cargo shelf is a problem to be solved by the present disclosure. Summary of the Invention

[0004] In response to the above demand, the present disclosure provides a three-dimensional unloading system capable of unloading cargo into a cargo container and a control method thereof.

[0005] The present disclosure relates to a multi-level unloading system capable of unloading cargo into a cargo container, the system comprising a sorting platform, a plurality of automated guided vehicles, a cargo identification device, a positioning device, one or more cargo shelves, a transport device, an unloading device, and a server, the sorting platform being provided with a cargo loading entrance and a cargo unloading exit, the plurality of automated guided vehicles being configured to travel on the sorting platform and unload the cargo carried thereon at the cargo unloading exit, the cargo identification device being attached to the cargo loading entrance of the sorting platform and configured to identify the cargo loaded on the automated guided vehicles, and the positioning device being configured to identify the cargo carried by the automated guided vehicles when the automated guided vehicles are running. a server that is used to position the automated guided vehicle when the automated guided vehicle moves, the cargo shelf includes a plurality of cargo containers, each of which can accommodate cargo, the cargo shelf is attached to a position adjacent to a cargo unloading exit, a transport supporter is fixed to the transport device, and the unloading device is fixed to the transport supporter and configured to move to the cargo unloading exit by being driven by the transport device to receive cargo unloaded from the automated guided vehicle, and then move near a specific cargo container and unload the cargo into the cargo container, and the server is wirelessly connected to a control means of the automated guided vehicle, and is wired or wirelessly connected to each of the cargo identification device, the control means of the transport device and the control means of the unloading device.

[0006] Optionally, the unloading device includes a first unloading transmission roller and a second unloading transmission roller, a conveyor belt, and an unloading motor, the first unloading transmission roller and the second unloading transmission roller having their respective axis rotatably connected to the transport supporter, the conveyor belt being connected to the first unloading transmission roller and the second unloading transmission roller, and configured so that the cargo is placed on the first unloading transmission roller and the conveyor belt being connected to the first unloading transmission roller and the second unloading transmission roller, the housing of the unloading motor being fixed to the transport supporter and the rotating shaft being fixed to the axis of the first unloading transmission roller or the axis of the second unloading transmission roller, the unloading motor being electrically connected to a control means of the unloading device, and configured so that the cargo can be unloaded when the unloading motor rotates.

[0007] Optionally, the unloading device includes a first reducer, a reversing motor, a reversing supporter, a reversing tray, a second reducer, a swing motor, and a swing bar, the reversing motor has a housing fixed to the housing of the first reducer, a rotating shaft fixed to the input shaft of the first reducer, the reversing motor is electrically connected to a control means of the unloading device, the reversing supporter is fixed to the output shaft of the first reducer, and the reversing tray is fixed to the reversing supporter, and is configured to accommodate the cargo, the second reducer is fixed to the housing, a swing motor having a housing fixed to the housing of the second reducer and a rotating shaft fixed to the input shaft of the second reducer; the swing motor being electrically connected to a control means of the unloading device; a swing bar having one end fixed to the output shaft of the second reducer and the other end fixed to the housing of the first reducer; the rotation of the swing motor can drive the inverting tray to swing it up to above a specific cargo container; and the rotation of the inverting motor can unload cargo into the cargo container.

[0008] Optionally, the transportation device includes a longitudinal movement means, the longitudinal movement means including a hollow bar, a first timing pulley and a second timing pulley, a timing belt, a servo motor, and a slide block, the hollow bar is fixed vertically to the ground, the hollow bar has an open end, and two outer surfaces of the hollow bar are provided with grooves, the first timing pulley and the second timing pulley are rotatably fixed to both ends within the hollow bar, respectively, the timing belt is connected to the first timing pulley and the second timing pulley, the servo motor has a housing fixed to the hollow bar and a rotating shaft fixed to the central axis of the first timing pulley or the central axis of the second timing pulley, and is electrically connected to the control means of the transportation device, the slide block includes a protruding block and two slide rails, the protruding block is fitted into the open end of the hollow bar and fixed to the timing belt, the slide rails can only reciprocate along the grooves, and the slide block is fixed to the transportation supporter.

[0009] Optionally, the transportation device further includes a lateral movement means, which has the same structure as the longitudinal movement means, the hollow bar of the lateral movement means is fixed horizontally to the ground by a supporter, the hollow bar of the longitudinal movement means is fixed to a slide block in the lateral movement means, and the servo motor of the lateral movement means is electrically connected to the control means of the transportation device.

[0010] When unloading cargo from the automated guided vehicle, the unloading device moves close to the cargo, and immediately after the cargo comes into contact with the unloading device, the unloading device moves slowly downward until the cargo completely slides down onto the unloading device.

[0011] Optionally, the sorting platform is installed in multiple layers, and an automatic guided vehicle is provided on each layer to transport and unload cargo, and a cargo identification device and a positioning device are provided on each layer of the sorting platform.

[0012] Optionally, said cargo shelf is a movable cargo shelf.

[0013] Two horizontal rails are installed in parallel on each layer of the cargo shelves, and two flange portions are provided on the cargo containers corresponding thereto, and the two flange portions of the cargo containers are hung on the two horizontal rails.

[0014] Optionally, the cargo containers on said cargo shelves are arranged in a matrix.

[0015] Optionally, the positioning device includes a plurality of position marks attached to the sorting platform and identifiable by a sensor of the automated guided vehicle, the position marks including a two-dimensional code, a color mark, a mark by a size of a graphic or a mark by a number of graphics, and the corresponding sensor is a camera.

[0016] The present disclosure further provides a method for controlling a lifting system capable of lowering cargo into a cargo container, the method comprising the steps of:

[0017] Step S1: The transport device moves the unloading device to the vicinity of the cargo on the automated guided vehicle located at the cargo unloading exit, and the automated guided vehicle starts unloading the cargo.

[0018] Step S2. When the cargo contacts the unloading device, the unloading device slowly descends until the cargo completely slides down onto the unloading device.

[0019] Step S3. The transport device returns to normal speed, and the unloading device is transported to the vicinity of the specific cargo container to unload the cargo.

[0020] The present disclosure has the following advantages: After the cargo is sorted, it can be directly unloaded into a specific cargo container on the cargo shelf, which allows the cargo containers on the cargo shelf to be densely arranged, greatly increasing the density of cargo outlets compared to the prior art, and improving space efficiency and unloading speed; and when the cargo is unloaded by the automatic guided vehicle, the unloading device can receive the cargo slowly, thus effectively reducing the impact force on the cargo and reducing damage to the cargo caused by collision.

[0021] The present disclosure has the beneficial effects of compact structure, high space efficiency, fast unloading speed, and reduced damage to cargo. [Brief description of the drawings]

[0022] [Figure 1] FIG. 1 is a schematic diagram showing the overall structure of the present disclosure. [Diagram 2] FIG. 13 is a schematic configuration diagram of a case in which an unloading device moves close to cargo when unloading cargo in the present disclosure. [Diagram 3] FIG. 13 is a schematic diagram of the unloading device moving slowly downward immediately after the cargo comes into contact with the unloading device in the present disclosure; [Figure 4] FIG. 1 is a schematic diagram of a transport device and an unloading device according to the present disclosure. [Diagram 5] FIG. 2 is a plan view of a vertical movement means according to the present disclosure. [Figure 6] 1 is a schematic diagram showing the relevant structure of an unloader employing a reversing tray according to the present disclosure; FIG. [Figure 7] 1 is a schematic diagram showing the relevant structure of an unloader employing a reversing tray according to the present disclosure; FIG. [Figure 8] 1 is a schematic diagram showing the relevant structure of an unloader employing a reversing tray according to the present disclosure; FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] The present disclosure will now be further described with reference to the drawings.

[0024] As shown in FIG. 1, a three-dimensional unloading system capable of unloading cargo into a cargo container includes a sorting platform 12, a plurality of automated guided vehicles 11, a cargo identification device, a positioning device, a transportation device 4, one or more cargo shelves 2, an unloading device 3, and a server.

[0025] The sorting platform 12 is provided with a cargo loading entrance and a cargo unloading exit 13 .

[0026] A plurality of automated guided vehicles 11 are configured to travel on a sorting platform 12 and to unload the cargo 5 carried thereon at a cargo unloading exit 13.

[0027] The cargo identification device is attached to the cargo loading entrance of the sorting platform 12 and is configured to identify the cargo 5 placed on the automated guided vehicle 11 by a worker or a robot.

[0028] The positioning device is used to measure the position of the automated guided vehicle 11 when the automated guided vehicle 11 is traveling.

[0029] A transport supporter is fixed to the transport device 4.

[0030] The cargo shelf 2 includes a plurality of cargo containers 21, each of which can accommodate cargo 5, and is attached to a position close to the cargo unloading exit 13. In general, to improve space efficiency and unloading efficiency, a plurality of cargo containers 21 can be arranged along the length of the cargo shelf 2, and the plurality of cargo containers 21 can be arranged in a matrix. Preferably, two cargo shelves 2 are provided, and the two cargo shelves 2 are located on both sides of the transport device 4, respectively, thereby shortening the distance required for loading cargo. The cargo shelf 2 is preferably a movable cargo shelf, and the cargo containers 21 on the cargo shelf 2 are preferably of a removable structure, i.e., the cargo containers 21 are preferably individually movable.

[0031] The unloading device 3 is fixed to the transport supporter, and is configured to move to a cargo unloading exit 13 by the drive of the transport device 4 to receive the cargo 5 unloaded from the automatic transport vehicle 11, and then move near a specific cargo container 21 to unload the cargo 5 into the cargo container 21.

[0032] The server is wirelessly connected to the control means of the automated guided vehicle 2, and is wired or wirelessly connected to each of the cargo identification device, the control means of the transport device 4 and the control means of the unloading device 3.

[0033] Compared with the prior art, the present disclosure has the following advantages: after the cargo 5 is unloaded into the cargo containers 21 on the cargo shelf 2, the cargo shelf 2 can be easily moved to a packing location to pack the cargo, thereby meeting specific needs; and because the cargo containers 21 on the cargo shelf 2 are densely arranged, the density of the cargo outlet is greatly increased compared with the prior art, improving the space efficiency and unloading speed.

[0034] Each cargo container 21 is assigned a number, and each cargo container 21 contains one or more cargoes 5 corresponding to a certain customer or a certain region, such as two products ordered by a certain customer, or a large amount of cargo ordered by a customer in a certain province or city.

[0035] Optionally, in one embodiment, as shown in FIG. 1 and FIG. 4, the unloading device 3 includes a first unloading transmission roller 32 and a second unloading transmission roller 34, a conveyor belt 35, and an unloading motor 31.

[0036] The first lowering transmission roller 32 and the second lowering transmission roller 34 have their respective shaft cores rotatably connected to the transport supporter. In this embodiment, the transport supporter is a horizontal plate 41, and folding parts 33 bent at 90 degrees are provided on two side edges of the horizontal plate 41. The folding parts 33 are configured to mount the respective shaft cores of the first lowering transmission roller 32 and the second lowering transmission roller 34.

[0037] The conveyor belt 35 is connected to the first lowering transmission roller 32 and the second lowering transmission roller 34 and is configured so that cargo 5 can be placed thereon.

[0038] The unloading motor 31 has a housing fixed to the folding section 33 and a rotating shaft fixed to the axis of the first unloading transmission roller 32 or the axis of the second unloading transmission roller 34, and is electrically connected to the control means of the unloading device 3 so that the cargo 5 can be unloaded when the unloading motor 31 rotates.

[0039] Generally, a reduction motor can be selected as the unloading motor 31. A number of support rollers may be added, which are configured to support the middle part of the conveyor belt 35 to increase the maximum weight of the cargo 5 that can be placed on it.

[0040] In this embodiment, when unloading cargo, the unloading motor 31 can be rotated forward or backward to unload the cargo 5 onto the cargo shelf 2 on the left or right side.

[0041] Optionally, in one embodiment, as shown in Figures 6, 7 and 8, the unloading device 3 includes a first reducer 64, an inversion motor 62, an inversion supporter 63, an inversion tray 60, a second reducer 66, a swing motor 67, and a swing bar 65.

[0042] The housing of the reversing motor 62 is fixed to the housing of the first reducer 64 , the rotating shaft is fixed to the input shaft of the first reducer 64 , and the reversing motor 62 is electrically connected to the control means of the unloading device 3 .

[0043] The two reversing supporters 63 are installed symmetrically and fixed to the output shaft of the first reduction gear 64 .

[0044] The reversing tray 60 is fixed to the reversing supporter 63 and configured to accommodate the cargo 5 .

[0045] The housing of the second reducer 66 is fixed to the transport supporter, which is the vertical plate 61 in this embodiment.

[0046] The swing motor 67 has a housing fixed to the housing of the second reducer 66 and a rotating shaft fixed to the input shaft of the second reducer 66, and the swing motor 67 is electrically connected to the control means of the unloading device 3.

[0047] One end of the swing bar 65 is fixed to the output shaft of the second reducer 66 and the other end is fixed to the housing of the first reducer 64. To increase strength, two swing bars 65 may be installed.

[0048] Rotation of the swing motor 67 drives the inverting tray 60 to swing over a particular cargo container 21 , and rotation of the inverting motor 62 allows cargo 5 to be lowered into that cargo container 21 .

[0049] In this embodiment, only one cargo shelf 2 can be arranged.

[0050] Optionally, in one embodiment, the transport device 4 includes longitudinal movement means 42, as shown in FIGS.

[0051] The vertical movement means 42 includes a hollow bar 422 , a first timing pulley 424 and a second timing pulley, a timing belt 423 , a servo motor 421 , and a slide block 425 .

[0052] The hollow bar 422 is fixed vertically to the ground, and has an open end 4222, and two outer surfaces of the hollow bar 422 are provided with grooves 4221, so that the hollow bar 422 of this embodiment can be directly fixed to the ground.

[0053] A first timing pulley 424 and a second timing pulley are rotatably fixed within hollow bar 422 at opposite ends thereof.

[0054] The timing belt 423 connects the first timing pulley 424 and the second timing pulley.

[0055] The servo motor 421 has a housing fixed to the hollow bar 422, a rotating shaft fixed to the central axis of the first timing pulley 424 or the central axis of the second timing pulley, and is electrically connected to the control means of the transport device 4. A servo motor with a reduction mechanism can be selected as the servo motor 421.

[0056] The slide block 425 includes a protruding block 4252 and two slide rails 4251. The protruding block 4252 is inserted into the open end 4222 of the hollow bar 422 and fixed to the timing belt 423. The slide rails 4251 can only move back and forth along the groove 4221. The slide block 425 is fixed to the transport supporter.

[0057] The transport device 4 equipped only with the longitudinal movement means 42 can unload the cargo 5 into cargo containers 21 of different heights in the same row. Optionally, in order to use multiple rows of cargo containers 21, in addition to the longitudinal movement means 42, the transport device 4 further includes a lateral movement means 43 as shown in FIG.

[0058] The lateral movement means 43 has the same structure as the vertical movement means 42, and the hollow bar 432 of the lateral movement means 43 is fixed horizontally to the ground by a supporter, the hollow bar 422 of the vertical movement means 42 is fixed to a slide block 435 in the lateral movement means 43, and the servo motor 431 of the lateral movement means 43 is electrically connected to the control means of the transport device 4.

[0059] By making the horizontal moving means 43 and the vertical moving means 42 have the same structure, it is possible to reduce costs and facilitate management, and also to realize three-dimensional unloading.

[0060] Optionally, as shown in FIG. 8, two horizontal moving means 43 and one vertical moving means 42 are installed, and the upper and lower ends of the vertical moving means 42 are fixed to the slide blocks 435 of the two horizontal moving means 43 respectively, and this structure has relatively good stability.

[0061] Optionally, as shown in Figures 2 and 3, when the cargo 5 is unloaded from the automated guided vehicle 11 on the sorting platform 12, the unloading device 3 moves close to the cargo 5, and immediately after the cargo 5 contacts the unloading device 3, the unloading device 3 moves slowly down until the cargo 5 completely slides down into the unloading device 3. According to the above embodiment, the unloading device 3 includes a conveyor belt 35 or a reversing tray 60.

[0062] In the prior art, when cargo is unloaded from the automated guided vehicle 11, the cargo 5 is generally unloaded directly at an exit that is somewhat distant in the height direction from the automated guided vehicle 11, and therefore if the cargo 5 is fragile, it may be damaged by the action of an impact force. According to the cargo unloading method of the present disclosure, it is possible to effectively reduce the impact force on the cargo 5 and reduce damage to the cargo.

[0063] In order to improve space efficiency, multiple levels of sorting platforms 12 are installed, and automatic guided vehicles 11 transport and unload cargo on the sorting platform 12 on each level, and cargo identification devices and positioning devices are installed on the sorting platform 12 on each level.

[0064] The cargo shelf 2 according to the present disclosure is a movable cargo shelf and can be moved by workers or robots.

[0065] Optionally, in order to facilitate the removal of cargo, two horizontal bars 22 are installed in parallel on each layer of the cargo shelf 2, and two flange portions are correspondingly provided on the cargo container 21, so that the two flange portions of the cargo container 21 can be hung on the two horizontal bars 22.

[0066] The positioning device includes, for example, a plurality of position marks that are attached to the sorting platform 12 and can be identified by a sensor of the automatic guided vehicle 11. The position marks include two-dimensional codes, color marks, marks based on the size of graphics, or marks based on the number of graphics, and the corresponding sensor is a camera, and for this part, conventional technology can be used.

[0067] The present disclosure further provides a method for controlling a lifting system capable of lowering cargo into a cargo container, the method comprising the steps of:

[0068] Step S1: The transport device 4 moves the unloading device 3 close to the cargo 5 on the automated guided vehicle 11 located at the cargo unloading exit 13, and the automated guided vehicle 11 starts unloading the cargo 5.

[0069] Step S2. When the cargo 5 comes into contact with the unloading device 3, the unloading device 3 slowly descends until the cargo 5 slides completely onto the unloading device 3.

[0070] Step S3: The transport device 4 returns to normal speed, and the unloading device 3 is transported to the vicinity of the specific cargo container 21 to unload the cargo.

[0071] "Slowly" in step S2 can be understood to mean, for example, descending at a speed slower than the normal operating speed or the so-called "normal speed." The normal operating speed or the "normal speed" may be a predetermined operating speed or may be a specific rated speed of the lowering device due to factors such as the structure, and of course, these are merely exemplary and are not limiting.

[0072] Similarly, the "normal speed" in step S3 can be interpreted as above. [Industrial Applicability]

[0073] The present disclosure provides a three-dimensional unloading system capable of unloading cargo into a cargo container and a control method thereof. According to the invention of the present disclosure, after sorting the cargo, the cargo can be directly unloaded into a specific cargo container on a cargo shelf. This allows the cargo containers on the cargo shelf to be densely arranged, and the density of the cargo outlets is greatly increased compared to the prior art, improving space efficiency and unloading speed. In addition, when the cargo is unloaded by the automatic guided vehicle, the unloading device can receive the cargo slowly, thus effectively reducing the impact force on the cargo and reducing damage to the cargo caused by collision. The present invention has the beneficial effects of a compact structure, high space efficiency, fast unloading speed, and reduced damage to the cargo.

Claims

1. The system includes a sorting platform (12), an automated guided vehicle (11), a cargo identification device, a positioning device, a cargo shelf (2), a transport device (4), an unloading device (3), and a server; The sorting platform (12) is provided with a cargo loading entrance and a cargo unloading exit (13); a plurality of the automated guided vehicles (11) are arranged, and the automated guided vehicles are configured to travel on the sorting platform (12) and unload the cargo (5) carried thereon at the cargo unloading exit (13); the cargo identification device is attached to a cargo loading entrance of the sorting platform (12) and configured to identify the cargo (5) loaded on the automated guided vehicle (11); The positioning device is used to measure the position of the automated guided vehicle (11) when the automated guided vehicle (11) is traveling, One or more cargo shelves (2) are provided, each of the cargo shelves (2) includes a plurality of cargo containers (21), each of the cargo containers (21) is capable of accommodating the cargo (5), and the cargo shelves (2) are attached in a position adjacent to the cargo unloading exit (13); A transport supporter is fixed to the transport device (4), the unloading device (3) is fixed to the transport supporter, and is configured to move to the cargo unloading exit (13) by the drive of the transport device (4) to receive the cargo (5) unloaded from the automatic guided vehicle (11), and then move to the vicinity of a specific cargo container (21) and unload the cargo (5) into the cargo container (21); the server is wirelessly connected to a control means of the automated guided vehicle (2), and is wired or wirelessly connected to each of the cargo identification device, the control means of the transport device (4), and the control means of the unloading device (3); The unloading device (3) includes a first reducer (64), a reversing motor (62), a reversing supporter (63), a reversing tray (60), a second reducer (66), a swing motor (67), and a swing bar (65); The reversing motor (62) has a housing fixed to a housing of the first reducer (64), a rotating shaft fixed to an input shaft of the first reducer (64), and the reversing motor (62) is electrically connected to a control means of the lowering device (3); The inverted supporter (63) is fixed to the output shaft of the first reducer (64), The reversing tray (60) is fixed to the reversing supporter (63) and configured to accommodate the cargo (5); The second reducer (66) has a housing fixed to the transport supporter, The swing motor (67) has a housing fixed to the housing of the second reducer (66), a rotating shaft fixed to the input shaft of the second reducer (66), and the swing motor (67) is electrically connected to a control means of the lowering device (3); The swing bar (65) has one end fixed to the output shaft of the second reducer (66) and the other end fixed to the housing of the first reducer (64), The rotation of the swing motor (67) drives the inverting tray (60) to swing over a particular cargo container (21), and the rotation of the inverting motor (62) allows the cargo (5) to be lowered into the cargo container (21). A three-dimensional unloading system capable of unloading cargo into a cargo container.

2. A system comprising a sorting platform (12), an automatic guided vehicle (11), a cargo identification device, a positioning device, a cargo shelf (2), a transport device (4), an unloading device (3), and a server; The sorting platform (12) is provided with a cargo loading entrance and a cargo unloading exit (13); a plurality of the automated guided vehicles (11) are arranged, and the automated guided vehicles are configured to travel on the sorting platform (12) and unload the cargo (5) carried thereon at the cargo unloading exit (13); the cargo identification device is attached to a cargo loading entrance of the sorting platform (12) and configured to identify the cargo (5) loaded on the automated guided vehicle (11); The positioning device is used to measure the position of the automated guided vehicle (11) when the automated guided vehicle (11) is traveling, One or more cargo shelves (2) are provided, each of the cargo shelves (2) includes a plurality of cargo containers (21), each of the cargo containers (21) is capable of accommodating the cargo (5), and the cargo shelves (2) are attached in a position adjacent to the cargo unloading exit (13); A transport supporter is fixed to the transport device (4), the unloading device (3) is fixed to the transport supporter, and is configured to move to the cargo unloading exit (13) by the drive of the transport device (4) to receive the cargo (5) unloaded from the automatic guided vehicle (11), and then move to the vicinity of a specific cargo container (21) and unload the cargo (5) into the cargo container (21); the server is wirelessly connected to a control means of the automated guided vehicle (2), and is wired or wirelessly connected to each of the cargo identification device, the control means of the transport device (4), and the control means of the unloading device (3); The transport device (4) includes a longitudinal movement means (42), the longitudinal movement means including a hollow bar (422), a first timing pulley (424) and a second timing pulley, a timing belt (423), a servo motor (421), and a slide block (425); The hollow bar (422) is fixed vertically to the ground, and has an open end (4222) and two outer surfaces of the hollow bar (422) are provided with grooves (4221); The first timing pulley (424) and the second timing pulley are rotatably fixed at opposite ends within the hollow bar (422), The timing belt (423) connects the first timing pulley (424) and the second timing pulley, The servo motor (421) has a housing fixed to the hollow bar (422), a rotation shaft fixed to the central shaft of the first timing pulley (424) or the central shaft of the second timing pulley, and the servo motor (421) is electrically connected to a control means of the transport device (4); The slide block (425) includes a protruding block (4252) and two slide rails (4251), the protruding block (4252) is inserted into the open end (4222) of the hollow bar (422) and fixed to the timing belt (423), the slide rail (4251) can only reciprocate along the groove (4221), and the slide block (425) is fixed to the transport supporter. A three-dimensional unloading system capable of unloading cargo into a cargo container.

3. The servo motor (421) is equipped with a reduction mechanism.

3. The three-dimensional unloading system capable of unloading cargo into a cargo container according to claim 2.

4. The transport device (4) further comprises a lateral movement means (43), The lateral movement means has the same structure as the vertical movement means (42), The hollow bar (432) of the moving means (43) is fixed horizontally to the ground by a supporter, the hollow bar (422) of the vertical moving means (42) is fixed to a slide block (435) in the horizontal moving means (43), and the servo motor (431) of the horizontal moving means (43) is electrically connected to the control means of the transport device (4).

3. The three-dimensional unloading system capable of unloading cargo into a cargo container according to claim 2.

5. Two of the lateral movement means (43) are installed, one of the vertical movement means (42) is installed, and the upper and lower parts of the vertical movement means (42) are fixed to the slide blocks (435) of the two lateral movement means (43), respectively.

5. The three-dimensional unloading system capable of unloading cargo into a cargo container according to claim 4.

6. When the cargo (5) is unloaded from the automated guided vehicle (11), the unloading device (3) moves close to the cargo (5), and immediately after the cargo (5) comes into contact with the unloading device (3), the unloading device (3) moves slowly downward until the cargo (5) completely slides down onto the unloading device (3). A three-dimensional lowering system capable of lowering cargo into a cargo container according to any one of claims 1 to 5.

7. The sorting platform (12) is installed in a plurality of layers, the automated guided vehicle (11) transports and unloads cargo on the sorting platform (12) of each layer, and the cargo identification device and the positioning device are disposed on the sorting platform (12) of each layer.

7. A three-dimensional unloading system capable of unloading cargo into a cargo container according to claim 6.

8. The cargo shelf (2) is a movable cargo shelf, and the cargo containers (21) on the cargo shelf (2) are removable. A three-dimensional lowering system capable of lowering cargo into a cargo container according to any one of claims 1 to 5.

9. Two horizontal rails (22) are installed in parallel on each layer of the cargo shelf (2), and two flange portions are provided on the cargo container (21) corresponding thereto, so that the two flange portions of the cargo container (21) can be hung on the two horizontal rails (22).

9. The three-dimensional unloading system according to claim 8, capable of unloading cargo into a cargo container.

10. A method for controlling a three-dimensional lowering system capable of lowering cargo into a cargo container according to any one of claims 1 to 9, comprising: A step S1 of moving the unloading device (3) by the transport device (4) to a position close to the cargo (5) on the automated guided vehicle (11) located at the cargo unloading exit (13) and starting to unload the cargo (5) by the automated guided vehicle (11); Step S2, when the cargo (5) contacts the unloading device (3), the unloading device (3) slowly descends until the cargo (5) completely slides down onto the unloading device (3); and step S3, in which the transport device (4) returns to normal speed and the unloading device (3) is transported near the specific cargo container (21) to unload the cargo. A method for controlling a three-dimensional lowering system capable of lowering cargo into a cargo container, comprising:

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