CN114906517A

CN114906517A - Logistics transfer device and storage logistics system

Info

Publication number: CN114906517A
Application number: CN202110180427.4A
Authority: CN
Inventors: 孔哲; 陈叶广
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2021-02-09
Filing date: 2021-02-09
Publication date: 2022-08-16

Abstract

The invention provides a logistics transfer device and a warehouse logistics system. The logistics transfer device comprises a support, a storage unit, a cargo pushing unit and a control assembly, wherein the storage unit is arranged on the support, and an avoidance groove for avoiding the carrying robot is formed in the bottom of the support; the control assembly comprises a collision detection unit, the collision detection unit is used for sending out a sensing signal when the transfer robot moves to a transportation position opposite to the logistics transfer device, and the control assembly is used for controlling the goods pushing unit to carry out goods loading and unloading operation according to the sensing signal; the collision detection unit is arranged in the avoidance groove and has an adjustable position relative to the bracket. The collision detection unit can be adapted to the carrying robots with different bases, and the application range of the logistics transfer device is expanded.

Description

Logistics transfer device and storage logistics system

Technical Field

The invention relates to the technical field of intelligent warehousing, in particular to a logistics transfer device and a warehousing logistics system.

Background

With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of end logistics is also continuously improved, and intelligent warehousing is an important link in the logistics process. In the intelligent storage, transfer robot and commodity circulation transfer device are the main equipment that realizes automatic transport operation, can alleviate the heavy manual labor of people through transfer robot and commodity circulation transfer device to improve the efficiency of transport operation.

At present, a transfer robot generally comprises a base and a plurality of transfer robot shelves arranged on the base, wherein goods can be placed on the transfer robot shelves; the logistics transfer device comprises a support and a plurality of storage units arranged on the support, wherein the storage units are used for storing goods discharged from the carrying robot shelf. When unloading, the transfer robot is close to the logistics transfer device, part of the base extends into the avoiding groove of the logistics transfer device, the collision detection unit in the avoiding groove detects whether the transfer robot moves to the transportation position corresponding to the logistics transfer device, and therefore signals are sent out to enable the logistics transfer device to convey goods loaded on the goods shelf of the transfer robot to the corresponding storage unit.

However, the collision detection unit of the logistics transit device can only be adapted to the transfer robot with a specific base, resulting in a reduced application range of the logistics transit device.

Disclosure of Invention

The invention provides a logistics transfer device and a warehouse logistics system, wherein a collision detection unit of the logistics transfer device can be adapted to transfer robots with different bases, and the application range of the logistics transfer device is expanded.

In a first aspect, the invention provides a logistics transfer device, which comprises a support, a storage unit, a cargo pushing unit and a control assembly, wherein the storage unit is arranged on the support, and the bottom of the support is provided with an avoidance groove for avoiding a transfer robot; the control assembly comprises a collision detection unit, the collision detection unit is used for sending out a sensing signal when the transfer robot moves to a transportation position opposite to the logistics transfer device, and the control assembly is used for controlling the goods pushing unit to carry out goods loading and unloading operation according to the sensing signal; the collision detection unit is arranged in the avoidance groove and has an adjustable position relative to the bracket.

According to the logistics transfer device, the collision detection unit is arranged to have an adjustable position relative to the support, so that the position of the collision detection unit can be adjusted according to the base of the transfer robot, the collision detection unit can be adapted to the transfer robots with different bases, and the application range of the logistics transfer device is expanded.

Optionally, the collision detection unit includes a collision detection switch and a switch bracket, the switch bracket is mounted on the bracket, and the collision detection switch is mounted on the switch bracket; the switch bracket is adjustable relative to the bracket to allow the collision detection switch to have a variable position relative to the bracket.

According to the logistics transfer device, optionally, the collision detection switch is movably connected to the switch support, the switch support is movably connected to the support, and the moving direction of the collision detection switch relative to the switch support is different from the moving direction of the switch support relative to the support.

According to the logistics transit device, optionally, one of the switch support and the support is provided with the first switch adjusting hole, the other of the switch support and the support is provided with the first switch mounting hole, the first switch adjusting hole and the first switch mounting hole are arranged oppositely, the switch support is connected with the support through the fasteners sequentially penetrating through the first switch adjusting hole and the first switch mounting hole, and the fasteners have adjustable positions between the first direction and the first switch adjusting hole.

The logistics transfer device is optional, a second switch adjusting hole is formed in the switch support, a second switch mounting hole is formed in the collision detection switch, the second switch adjusting hole and the second switch mounting hole are arranged oppositely, the collision detection switch is connected with the switch support through fasteners penetrating through the second switch adjusting hole and the second switch mounting hole in sequence, the fasteners are adjustable in position between the second direction and the second switch adjusting hole, and the second direction is perpendicular to the first direction.

Optionally, the first direction or the second direction is a depth direction of the avoidance groove.

Optionally, in the logistics transit device, the first switch adjusting hole and the second switch adjusting hole are waist-shaped holes or strip-shaped holes.

As described above, the logistics transit device is optional, the switch bracket has a vertical extension portion connected to the bracket and a bending portion bent toward the opening of the avoidance groove, and the collision detection switch is movably connected to the bending portion.

According to the logistics transfer device, optionally, the bending part is provided with a horizontal bending surface and a vertical bending surface, and the second switch adjusting hole is located on the vertical bending surface.

In the logistics transit device as described above, optionally, the side edge of the vertically extending part is provided with a vertically extending reinforcing rib.

Optionally, the vertical extension portion is provided with an avoidance hole corresponding to the collision detection switch.

Optionally, the collision detection unit further includes a switch displacement driving assembly, and the switch displacement driving assembly is disposed on the switch bracket and is used for driving the collision detection switch to move so as to adjust a position of the collision detection switch relative to the bracket.

Optionally, the switch displacement driving assembly includes a first switch displacement motor and/or a second switch displacement motor, where the first switch displacement motor and the second switch displacement motor are both disposed between the collision detection switch and the switch bracket, and are used for driving the collision detection switch to move relative to the bracket; the first and second switched displacement motors have different drive directions.

According to the logistics transfer device, optionally, the support comprises a bottom frame and a support adjusting rod, the support adjusting rod is located in the avoidance groove, and two ends of the support adjusting rod are movably connected to the bottom frame, so that the support adjusting rod has an adjustable position along the depth direction of the avoidance groove; the switch bracket is arranged on the bracket adjusting rod.

As above commodity circulation transfer device, optional, be provided with the support on one of support regulation pole and bottom frame and adjust the hole, be provided with the support mounting hole on the other, support regulation hole and support mounting hole set up relatively, the support is adjusted the pole and is connected through the fastener and the bottom frame of wearing to establish in support regulation hole and support mounting hole in proper order, and the fastener has adjustable position along the direction of depth of dodging the groove and between the support regulation hole.

In a second aspect, the present invention provides a logistics system, which includes a transfer robot and the logistics transfer device, where the transfer robot has a chassis, and when the transfer robot moves to a unloading position opposite to the logistics transfer device, the chassis extends into an avoidance groove of the logistics transfer device and is detected by a collision detection unit of the logistics transfer device.

In the warehouse logistics system, the logistics transfer device is provided with the adjustable position of the collision detection unit relative to the bracket, so that the position of the collision detection unit can be adjusted according to the base of the transfer robot, the collision detection unit can be adapted to the transfer robots with different bases, and the application range of the logistics transfer device is expanded.

In addition to the technical problems solved by the embodiments of the present invention, the technical features constituting the technical solutions, and the advantageous effects brought by the technical features of the technical solutions described above, other technical problems that can be solved by the logistics transit apparatus provided by the embodiments of the present invention, other technical features included in the technical solutions, and advantageous effects brought by the technical features will be further described in detail in the detailed description of the embodiments.

Drawings

Fig. 1 is a schematic structural diagram of a logistics transit device according to a first embodiment of the present application;

fig. 2 is a schematic exploded view of a logistics transit apparatus according to an embodiment of the present application;

FIG. 3 is an enlarged view of a portion A of FIG. 1;

fig. 4 is a schematic structural diagram of a switch bracket in a logistics transit device according to a first embodiment of the present application;

FIG. 5 is an enlarged view of a portion of FIG. 2 at B;

fig. 6 is a schematic structural diagram of a storage unit in a logistics transit apparatus according to an embodiment of the present application;

FIG. 7 is an enlarged view of a portion of FIG. 6 at C;

fig. 8 is a schematic structural diagram of a mechanical arm assembly in the logistics transit apparatus according to an embodiment of the present application;

FIG. 9 is an enlarged view of a portion of FIG. 2 at D;

fig. 10 is a schematic structural diagram of another angle of the logistics transit device provided in an embodiment of the present application;

FIG. 11 is an enlarged view of a portion of FIG. 10 at E;

fig. 12 is a schematic structural diagram of a synchronization mechanism in a logistics transit apparatus according to an embodiment of the present application;

FIG. 13 is an enlarged view of a portion of FIG. 10 at F;

fig. 14 is a schematic structural view of the warehouse logistics system provided in the second embodiment of the present application after the main access door is removed;

fig. 15 is a partial enlarged view of fig. 14 at N.

Description of reference numerals:

100-a logistics transfer device; 200-a warehouse logistics system; 1-a scaffold; 11-a first upright; 111-top border; 12-a bottom support shelf; 121-bottom border; 122-a carriage adjustment lever; 1221-stent adjustment holes; 123-a third column; 13-avoidance groove; 14-a collision detection unit; 141-collision detection switch; 1411-a first switch adjustment aperture; 260. 12211, 14111, 14121, 61112-fastener; 1412-a second switch adjustment aperture; 142-a switch bracket; 1421-vertical extension; 14211-stiffener; 14212-switch avoidance hole; 1422-bend; 14221-horizontal bending surface; 14222-vertical bending surface; 143-liftable feet; 15-a moving wheel; 2-a storage unit; 20-a storage space; 21-a support frame; 211-a support; 212-a roller mounting; 213-a connection end face; 2131-clipping and hanging holes; 2132-card hanging parts; 22-a rolling conveyor; 23-a threaded fastener; 231-a cargo sensing unit; 25-a guide; 251-an accommodating cavity; 252-a guide surface; 253-a guide; 254-guide mounting; 255-induction element mounting holes; 2551-pore section; 2552-stop protrusion; 256-detection opening; 257 — a first guide; 258 — a second guide; 259-guide adjustment hole; 3-a cargo pushing unit; 31-a robot arm assembly; 311-a robot arm; 3111-a mounting cavity; 3112-opening; 312-a movable member; 313 — cargo position sensor; 314 — end of cargo; 315-a third drive unit; 32-a walking frame; 321-sideframe; 322-a connection frame; 323-a synchronizing mechanism; 3231-cantilever connection; 3232-chain connector; 32321-chain connecting part; 3233-connecting plate seat; 33-a buffer pad; 331-a mounting portion; 332-an abutment; 34-a motion limiter; 35-a first robot arm assembly; 36-a second robot arm assembly; 51-lower drive shaft; 52-lower pulley; 53-a belt; 54-upper drive shaft; 55-upper belt pulley; 6-chain transmission components; 61-a sprocket assembly; 61 a-first sprocket assembly; 611-chain wheel fixing frame; 6111-a first sprocket mounting plate; 61111-sprocket adjustment holes; 6112-second sprocket mounting plate; 612 a-a first sprocket; 61 b-a second sprocket assembly; 62-a chain; 621-chain link; 622-outer chain plate; 62 a-a first strand segment; 62 b-a second strand segment; 7-a housing; 71-an access door; 711-main access door; 712-top access door; 713-bottom access door; 72-a detection device; 9-maintenance ladder; 91-a second upright; 92-transverse steps; 93-longitudinal steps; 94-auxiliary lateral steps.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The application provides a commodity circulation transfer device 100 and storage logistics system 200. The commodity circulation transfer device 100 can be devices such as unloader, material loading machine, in this application, use commodity circulation transfer device 100 to explain for the unloader as the example, and similar to this to its condition that is the material loading machine, and this no longer describes here. First, the material flow relay apparatus 100 according to the embodiment of the present application will be described with reference to the drawings.

Example one

Fig. 1 is a schematic structural diagram of a logistics transit device provided in a first embodiment of the present application, and fig. 2 is a schematic structural diagram of an exploded logistics transit device provided in the first embodiment of the present application. Referring to fig. 1 and 2, a logistics transit apparatus 100 according to the present application includes: the storage device comprises a support 1 and a storage unit 2, wherein the storage unit 2 is detachably arranged on the support 1.

Optionally, the logistics transit device 100 further includes a cargo pushing unit 3, the cargo pushing unit 3 may include a mechanical arm assembly 31 and a traveling frame 32, the mechanical arm assembly 31 is connected to the traveling frame 32, and the mechanical arm assembly 31 may be driven by the traveling frame 32 to move relative to the storage unit 2 and drive the cargo to move relative to the storage unit 2.

In other examples, the logistics transit apparatus 100 may further include a driving mechanism, such as a first driving unit for driving the rolling conveyor 22 to rotate, a second driving unit for driving the traveling frame 32 to move, a third driving unit 315 for driving the movable member 312 to rotate relative to the mechanical arm 311, and the like.

Optionally, the logistics transit apparatus 100 further includes a control component (not shown), the control component may include a controller, a sensor unit electrically connected to the controller, and the like, and the sensor unit in this application may include at least one of the collision detection unit 14, the cargo sensing unit 231, and the cargo position sensor 313.

The structure of each part is described below with reference to the accompanying drawings.

Referring to fig. 1 and 2, the rack 1 includes a plurality of first vertical columns 11 arranged at intervals, and the storage unit 2 is detachably arranged between the first vertical columns 11. The number of the first columns 11 can be set as required, the number of the first columns 11 is four for the description, and the other cases of the number of the first columns 11 are similar to this, and are not described again here. In some other examples, the rack 1 further includes a top frame 111 disposed on top of the first upright 11.

Optionally, in order to facilitate the transportation, the movement, and the like of the whole logistics transit device 100, the support 1 has a liftable support 143 and a movable wheel 15 at the bottom, and the movable wheel 15 is used for driving the logistics transit device 100 to move when the liftable support 143 descends. Illustratively, the stand 1 includes a bottom support frame 12 disposed at the bottom of the first upright 11. The bottom support frame 12 comprises third columns 123 arranged at intervals and bottom frames 121 connected between the third columns 123, and the liftable feet 143 are connected to the bottoms of the third columns 123, and the movable wheels 15 can be connected to the bottom ends of the bottom frames 121. When the logistics transit device 100 is normally used, the liftable support legs 143 are lifted up to support the whole support 1, and the moving wheels 15 are suspended in the air and do not work; when the device is required to be moved, the lifting support legs 143 descend, and the moving wheels 15 are in contact with the ground, so that the support 1 can be driven to move. It is understood that fig. 2 illustrates the number of the moving wheels 15 as 4, but the present application includes but is not limited thereto, and other numbers may be provided as needed.

In the embodiment of the present application, in order to facilitate the maintenance for the maintenance personnel to climb up, the logistics transit device 100 further includes a maintenance ladder 9, and the maintenance ladder 9 is disposed on one side or both sides of the support 1 perpendicular to the cargo access direction (the moving direction Y of the walking frame 32 described later). In fig. 2, a case where the service ladder 9 is provided on both sides of the rack 1 will be described as an example. Illustratively, the access ladder 9 includes second uprights 91 and a transverse step 92 connected between the two second uprights 91. In addition, for further facilitating climbing, a longitudinal step 93 may be further connected between the two transverse steps 92 located at the bottom, and an auxiliary transverse step 94 may be further connected between the longitudinal step 93 and one first column 11.

As previously described, the support 1 includes a bottom support frame 12, a top frame 111, and a first upright 11 supported and connected between the bottom support frame 12 and the top frame 111, such that the top of the access ladder 9 can be connected to the top frame 111 and the bottom of the access ladder 9 can be connected to the bottom support frame 12. Of course, a certain space may be provided between the access ladder 9 and the first upright post 11 so as to accommodate the sole of the maintainer.

The existing logistics transfer device has the technical problem that the collision detection unit can only be matched with the transfer robot with a specific base, so that the application range of the logistics transfer device is reduced. Specifically, the support bottom is provided with dodges the groove of dodging of transfer robot's base, and collision detecting element sets up in dodging the inslot, and collision detecting element in case the installation, and its position for the support just can't be adjusted to lead to collision detecting element can only adapt the transfer robot of specific base, the base size that works as transfer robot changes, and collision detecting element just can't detect or detect the mistake.

Fig. 3 is a partially enlarged view of a point a in fig. 1, and fig. 4 is a schematic structural view of a switch bracket in a logistics transit apparatus according to an embodiment of the present application. Referring to fig. 1, 3, and 4, the bottom of the rack 1 has an evacuation groove 13 for evacuating the transfer robot. As described above, the control module includes the collision detection unit 14, the collision detection unit 14 is configured to send out a sensing signal when the transfer robot moves to the transportation position relative to the logistics relay device 100, and the control module is configured to control the logistics relay device 100 to perform the cargo handling operation according to the sensing signal; the collision detecting unit 14 is arranged in the escape slot 13, and the collision detecting unit 14 has an adjustable position relative to the bracket 1.

The logistics transit apparatus 100 of the present embodiment expands the applicable range of the logistics transit apparatus 100 by providing the collision detection unit 14 with an adjustable position relative to the frame 1, so as to adjust the position of the collision detection unit 14 according to the base of the transfer robot, for example, adjusting the height of the collision detection unit 14, and/or adjusting the depth (the dimension along the moving direction Y of the traveling frame 32) of the collision detection unit 14 in the avoidance groove 13, so that the collision detection unit 14 can adapt to transfer robots with different bases.

Referring to fig. 3 and 4, the collision detecting unit 14 of the present embodiment may include a collision detecting switch 141 and a switch bracket 142, the switch bracket 142 being mounted on the bracket 1, the collision detecting switch 141 being mounted on the switch bracket 142; the switch bracket 142 is adjustable relative to the bracket 1 to allow the collision detecting switch 141 to have a variable position relative to the bracket 1.

In an alternative implementation, the collision detection switch 141 is movably connected to the switch bracket 142, the switch bracket 142 is movably connected to the bracket 1, and the moving direction of the collision detection switch 141 relative to the switch bracket 142 is different from the moving direction of the switch bracket 142 relative to the bracket 1.

One of the switch support 142 and the support 1 may be provided with a first switch adjusting hole 1411, and the other may be provided with a first switch mounting hole, where the first switch adjusting hole 1411 and the first switch mounting hole are disposed oppositely, the switch support 142 is connected to the support 1 through a fastener 14111 sequentially penetrating the first switch adjusting hole 1411 and the first switch mounting hole, and the fastener 14111 has an adjustable position between a first direction (vertical direction) and the first switch adjusting hole 1411, for example, the first switch adjusting hole 1411 is a waist-shaped hole or a strip-shaped hole, a length direction of the waist-shaped hole or the strip-shaped hole is parallel to the first direction, and the fastener 14111 moves in the waist-shaped hole or the strip-shaped hole along the length direction of the waist-shaped hole or the strip-shaped hole, so that a position of the switch support 142 in the first direction is adjustable relative to the support 1.

In addition, a second switch adjusting hole 1412 may be formed in the switch bracket 142, a second switch mounting hole may be formed in the collision detection switch 141, the second switch adjusting hole 1412 and the second switch mounting hole are disposed opposite to each other, the collision detection switch 141 is connected to the switch bracket 142 through a fastening member 14121 sequentially penetrating through the second switch adjusting hole 1412 and the second switch mounting hole, the fastening member 14121 has an adjustable position between the second switch adjusting hole 1412 and the second switch adjusting hole in the second direction (the moving direction Y of the traveling frame 32), illustratively, the second switch adjusting hole 1412 is a waist-shaped hole or a strip-shaped hole, the length direction of the waist-shaped hole or the strip-shaped hole is parallel to the second direction, and the fastening member 14121 moves in the waist-shaped hole or the strip-shaped hole along the length direction of the waist-shaped hole or the strip-shaped hole, so that the position of the collision detection switch 141 in the second direction is adjustable relative to the switch bracket 142.

The second direction and the first direction are perpendicular to each other. The first direction or the second direction may be a depth direction of the avoidance groove 13, that is, a moving direction Y of the traveling frame 32, and for example, if the first direction is the depth direction of the avoidance groove 13, the second direction may be a height direction of the avoidance groove 13 or a width direction of the avoidance groove 13; if the second direction is the depth direction of the escape groove 13, the first direction may be the height direction of the escape groove 13 or the width direction of the escape groove 13.

The switch bracket 142 may have a vertical extension part 1421 connected to the bracket 1 and a bending part 1422 bent toward the opening of the escape groove 13, and the collision detection switch 141 may be movably connected to the bending part 1422. The bending part 1422 may have a horizontal bending surface 14221 and a vertical bending surface 14222, and the second switch adjusting hole 1412 may be located on the vertical bending surface 14222. Illustratively, the vertical bending surface 14222 is connected to one side edge of the horizontal bending surface 14221 and extends downward, and the collision detection switch 141 is located in a recessed area surrounded by the horizontal bending surface 14221 and the vertical bending surface 14222, so that the horizontal bending surface 14221 and the vertical bending surface 14222 form protection for the collision detection switch 141. Or, there are two vertical bending surfaces 14222, where the two vertical bending surfaces 14222 are connected to the two opposite side edges of the horizontal bending surface 14221 and extend downward, and the collision detection switch 141 is located in the recessed area surrounded by the horizontal bending surface 14221 and the vertical bending surface 14222, so that the horizontal bending surface 14221 and the vertical bending surface 14222 form protection for the collision detection switch 141.

Referring to fig. 4, optionally, a vertically extending rib 14211 is disposed on a side edge of the vertical extension 1421 to increase the strength and rigidity of the vertical extension 1421, so as to prevent the vertical extension 1421 from bending, deforming or even breaking during the collision detection.

Optionally, a switch avoiding hole 14212 for avoiding the collision detection switch 141 is provided at a position of the vertical extension 1421 corresponding to the collision detection switch 141, so as to prevent the vertical extension 1421 from interfering with the position adjustment of the collision detection switch 141.

In another alternative implementation, the collision detection unit 14 may further include a switch displacement driving assembly disposed on the switch bracket 142 for driving the collision detection switch 141 to move so as to adjust the position of the collision detection switch 141 relative to the bracket 1.

The switch displacement driving assembly may include a first switch displacement motor and/or a second switch displacement motor, wherein the first switch displacement motor and the second switch displacement motor are both disposed between the collision detection switch 141 and the switch bracket 142 for driving the collision detection switch 141 to move relative to the bracket 1; the first switch displacement motor and the second switch displacement motor have different driving directions. For example, the first switch driving motor may drive the collision detection switch 141 to move in the depth direction of the escape slot 13, and the second switch driving motor may drive the collision detection switch 141 to move in the height direction of the escape slot 13. Or, the driving directions of the first switch driving motor and the second switch driving motor may be set according to actual needs, and are not limited specifically here.

Referring to fig. 3, the bracket 1 of the present embodiment may further include a bracket adjusting rod 122, the bracket adjusting rod 122 is located in the avoiding groove 13, and two ends of the bracket adjusting rod 122 are movably connected to the bottom frame 121, so that the bracket adjusting rod 122 has an adjustable position along the depth direction of the avoiding groove 13; the switch bracket 142 may be mounted on the bracket adjustment lever 122.

The support adjusting rod 122 and the bottom frame 121 can be provided with a support adjusting hole 1221 on one, and can be provided with a support mounting hole on the other, the support adjusting hole 1221 and the support mounting hole are arranged relatively, the support adjusting rod 122 is connected with the bottom frame 121 through a fastener 12211 sequentially penetrating through the support adjusting hole 1221 and the support mounting hole, and the fastener 12211 has an adjustable position between the depth direction of the avoiding groove 13 and the support adjusting hole 1221. Illustratively, the support adjusting hole 1221 is a waist-shaped hole or a strip-shaped hole, the length direction of the waist-shaped hole or the strip-shaped hole is parallel to the depth direction of the avoiding groove 13, and the fastener 12211 moves in the waist-shaped hole or the strip-shaped hole along the length direction of the waist-shaped hole or the strip-shaped hole, so that the position of the support adjusting rod 122 in the depth direction of the avoiding groove 13 is adjustable relative to the bottom frame 121, thereby further increasing the adjustable range of the position of the collision detection switch 141.

Fig. 5 is a partially enlarged view of a portion B in fig. 2, and fig. 6 is a schematic structural diagram of a storage unit in the logistics transit apparatus according to an embodiment of the present application. Referring to fig. 5 and 6, the storage unit 2 includes a support frame 21 and a plurality of rolling conveyors 22, the plurality of rolling conveyors 22 are arranged side by side, the support frame 21 is connected to both ends of the rolling conveyor 22, the rolling conveyor 22 has an outer contour surface capable of rolling contact with goods in the storage unit 2, and the rolling conveyor 22 is used for rotating around its rotation axis to convey the goods.

In the above solution, the plurality of rolling conveyors 22 and the supporting frame 21 are modularized by connecting the plurality of rolling conveyors 22 to the supporting frame 21 side by side, and the storage unit 2 is detachably disposed on the rack 1, so that the modularized storage unit 2 is only required to be mounted on the rack 1 when assembling; similarly, in the case where the storage unit 2 has a failure during maintenance, it is only necessary to remove the failed storage unit 2 and replace it with a new storage unit 2, and therefore, the assembly and maintenance of the apparatus are simple and easy to operate. The side-by-side arrangement of the rolling conveyors 22 means that the axial directions of the rolling conveyors 22 are parallel and are located in the same plane.

In the embodiment of the present application, referring to fig. 6, as a possible way, the supporting frame 21 includes two supporting members 211 disposed opposite to each other, the plurality of rolling transmission members 22 are all located in the space between the two supporting members 211, and the end portions of the rolling transmission members 22 are correspondingly connected to the supporting members 211. It is understood that both ends of the rolling transfer member 22 are rotatably supported on the two support members 211, respectively. In the actual production process, the rolling conveyor 22 may be first mounted on the two supports 211 in sequence to form a modular storage unit 2, which is stored as a standard. Thus, when the logistics transit apparatus 100 is assembled, only the storage unit 2 needs to be mounted on the support 1.

As an alternative embodiment, the rolling transfer member 22 includes an outer rolling member and a rotating shaft, the end of which is fixed to the support 211, and the outer rolling member is rolled around the rotating shaft to transfer the goods. Illustratively, the rolling transfer member 22 may be a rotating roller, and a roller surface of the rotating roller may rotate while both ends of the rotating roller are rotatably supported by the support frame 21, and form the above-described outer contour surface in rolling contact with the goods in the storage unit 2. In addition, the plurality of rotating rollers may include a driving roller and a driven roller that are linked. The control assembly may also include a first drive means (not shown) by which the drive roller is driven to rotate, with each of the driven rollers rotating, thereby rotating the rolling conveyor 22.

In the above solution, the support member 211 and the bracket 1 are detachably connected by the screw fastener 23. Referring to fig. 5, coupling holes are formed at corresponding positions of the support 211 and the bracket 1, respectively, and a screw fastener 23 is inserted through the coupling holes to fix the support 211 and the bracket 1.

Referring to fig. 5 and 6, specifically, a roller mounting portion 212 is provided on a side of the supporting member 211 facing the rolling transmission member 22, the roller mounting portion 212 is correspondingly connected with an end of the rolling transmission member 22, a connecting end surface 213 capable of abutting against a side wall of the bracket 1 is provided on a side of the supporting member 211 facing away from the rolling transmission member 22, a connecting hole is provided on the connecting end surface 213, and the supporting member 211 is connected with the bracket 1 through a threaded fastener 23 inserted into the connecting hole. Illustratively, the bracket 1 in fig. 5 may be a first upright 11.

Illustratively, the supporting member 211 includes a bending structure and extension plates connected to both ends of the bending structure, the bending structure forms the roller mounting part 212, and the connection end surfaces 213 may be formed on the extension plates at both sides of the bending structure. Thus, when the end of the roller conveyor 22 is connected to the roller mounting portion 212, the structural member for connecting the two can be located in the hollow region formed by the bent portion, so that the storage unit 2 can be more compact. In addition, the extension plate is formed with a connection end surface 213 for being easily attached to the mounting surface of the bracket 1, so that the extension plate and the bracket 1 are more stably fixed.

In the embodiment of the application, in the process of installing the storage unit 2 on the bracket 1, in order to accurately align the storage unit 2 and the bracket 1 when the installation is started, the installation is convenient, and the setting of a pre-positioning structure can be considered. With reference to fig. 5, for example, the connecting end surface 213 is further provided with a locking hole 2131, a side wall of the bracket 1 facing the support piece 211 is correspondingly provided with a locking piece 2132, and the support piece 211 is locked to the bracket 1 by the locking hole 2131 and the locking piece 2132. The fastener 2132 may here be a screw, bolt, etc. which is pre-fixed to the bracket 1 before assembly. The engaging holes 2131 are notches formed in the edge portions of the extension plates, and the engaging engagement as described above is formed in each of the four corners of the storage unit 2, so that the storage unit 2 can be temporarily supported by the four first columns 11 by engaging the engaging holes 2131 with the engaging pieces 2132 before the storage unit 2 is mounted.

It should be noted that, in order to ensure that the storage unit 2 is temporarily supported on the bracket 1, the support member 211 and the bracket 1 may be connected by the threaded fastener 23, and the mounting position of the threaded fastener 23 needs to be set. Illustratively, a side wall of the bracket 1 facing the support 211 is provided with a support mounting hole (not shown), and when the support 211 is hung on the bracket 1, the threaded fastener 23 is inserted into the connecting hole and the support mounting hole to connect the support 211 and the bracket 1. In other words, when the support frame is hooked on the hooking member 2132 of the support frame 1, the connecting hole of the support frame 1 and the mounting hole of the support frame need to correspond to each other in position, so that the threaded fastener 23 can pass through the two holes.

In the embodiment of the present application, the storage unit 2 is provided with the cargo sensing unit 231 to detect the moving state of the cargo, and in order to avoid interference and collision with other structures, the cargo sensing unit 231 may be considered to be disposed inside the supporting frame 21.

Fig. 6 is a schematic structural diagram of a storage unit in a logistics transit apparatus according to a first embodiment of the present application, and fig. 7 is a partially enlarged view of a point C in fig. 6. Referring to fig. 6 and 7, the storage unit 2 further includes a guide 25, and the guide 25 is used for limiting the moving direction of the goods; the guide 25 is also mounted on the carriage 1 by means of the support frame 21, with the guide 25 and the rolling conveyor 22 on the same side of the support frame 21 in the horizontal direction; the guide 25 is provided with a goods sensing unit 231, and the goods sensing unit 231 is used for detecting the position of the goods in the storage unit 2.

In the above solution, by providing the guide 25 for limiting the moving direction of the cargo, and locating the guide 25 and the rolling transmission member 22 on the same side of the supporting frame 21, that is, on the inner side of the supporting frame 21, compared with the case where the sensor of the prior art is located on the edge of the storage unit 2, the sensor is not easily affected by other structural members outside the storage unit 2, and thus the sensor is not easily damaged, and the detection reliability is high. In fig. 6, the guide 25 on the right side of the drawing is shown in broken lines when it is mounted on the support 211, and in solid lines when it is detached from the storage unit 2.

In the embodiment of the present application, the guide 25 may have a receiving cavity 251 therein, and the cargo sensing unit 231 may be disposed in the receiving cavity 251. The guide 25 thus protects the goods sensing unit 231.

With continued reference to fig. 6, the guide 25 may be located on the inward-facing side of the support 211, and the guide 25 may extend along the cargo entry and exit direction (moving direction Y of the traveling frame). The guide 25 has a guide portion 253 on a side facing the goods to guide the goods when the goods enter and exit the storage unit 2. The accommodating cavity 251 may be disposed in the guiding portion 253, for example, the guiding portion 253 may have three side walls, and the three side walls are connected end to form a half-open accommodating cavity 251, and an opening of the accommodating cavity 251 is disposed away from the goods. Of the three side walls, the side wall located in the middle is disposed toward the goods, and a guide surface 252 is formed thereon for guiding the movement of the goods. Of course, the side of the guide 25 facing away from the load may be provided with a guide mounting 254 for connection with the support 211 to secure the guide 25 to the support 211. For example, the guide 25 may be located on the support 211 toward a side of the rolling conveyor 22.

In the present embodiment, the cargo sensing unit 231 has an adjustable position with respect to the guide 25 in the cargo entrance and exit direction. Thus, the cargo sensing unit 231 may be disposed at different positions according to the size of the cargo.

Specifically, referring to fig. 7, the guide 25 is provided with a sensing unit mounting hole 255 communicated with the accommodating cavity 251, the sensing unit mounting hole 255 is a waist-shaped hole or a long-strip hole, the length direction of the sensing unit mounting hole 255 is along the cargo entering and exiting direction, and the cargo sensing unit 231 is mounted on the guide 25 through a fastener 260 penetrating through the sensing unit mounting hole 255.

Alternatively, sensing element mounting hole 255 may include a plurality of connected bore segments 2551 with retention tabs 2552 between adjacent bore segments 2551 to retain fastener 260 within a single bore segment 2551. This prevents slippage between the fastener 260 and the guide 25 and ensures a more accurate relative position between the fastener 260 and the guide 25.

In the embodiment of the present application, when the detection end of the cargo sensing unit 231 needs to face the cargo for detection, it may be considered to provide an opening on the guiding element 25, for example, referring to fig. 6 and 7, the guiding element 25 is provided with a detection opening 256 communicated with the accommodating cavity 251, and the detection opening 256 corresponds to the detection end of the cargo sensing unit 231. In fig. 6, four detection openings 256 are provided on one guide 25, the number of the detection openings is not limited thereto, and the detection openings 256 may be provided as needed, and when the number of the detection openings 256 is plural, the detection openings 256 may be provided at intervals in the length direction of the guide 25, which may facilitate the cargo sensing unit 231 to be provided at different positions on the guide 25. It will be appreciated that the inspection opening 256 needs to be located on the side of the guide 25 facing the cargo so that the inspection end of the cargo sensing unit 231 faces the cargo.

Alternatively, the guide 25 may be positioned above the storage unit 2 in a state where the storage unit 2 is fixed between the two supports 211. In addition, the spacing between the guide 25 and the roller conveyor 22 is smaller than the spacing between the robot arm assembly 31 and the roller conveyor 22. That is, the robot arm assembly 31 is provided at a height higher than the guide 25 with respect to the rolling conveyor 22, so that interference with the guide 25 is not caused when the robot arm assembly 31 reciprocates with respect to the storage unit 2, and thus the movement of the robot arm assembly 31 does not affect the cargo sensing unit 231.

Additionally, the guide 25 may be located on the side of the robot arm assembly 31 facing the cargo. That is, the guide 25 is located further inside the storage space 20 than the robot assembly 31, and thus, in some applications where the cargo is short, when the robot assembly 31 is located low, the robot assembly 31 does not interfere with the guide 25 even during the movement.

With continued reference to fig. 6, the guide member 25 includes a first guide member 257 and a second guide member 258, the first guide member 257 and the second guide member 258 respectively corresponding to both ends of the rolling transfer member 22; the cargo sensing unit 231 includes two correlation sensors used in pairs, which are respectively provided on the first guide 257 and the second guide 258, and which are disposed opposite to each other. It will be appreciated that the first guide member 257 and the second guide member 258 may be oppositely disposed in order to ensure better guidance of the goods.

In this embodiment, the control assembly may further include a first driving unit (not shown) for driving the rolling conveyer 22 to rotate, the first driving unit and the cargo sensing unit 231 are electrically connected to the controller, and the controller is configured to control a rotation state of the rolling conveyer 22 according to a position of the cargo in the storage unit 2, so as to prevent the cargo entering the storage unit 2 from leaving the storage unit 2.

Specifically, the storage unit 2 has a cargo inlet and a cargo outlet which are arranged oppositely in the cargo entering and exiting direction, and the cargo sensing unit 231 can be arranged close to the cargo outlet. Specifically, the goods sensing unit 231 may be disposed near the goods outlet by disposing the guide 25 near the goods outlet. In the above scheme, the controller is used for controlling the rolling transfer member 22 to decelerate or stop rotating when the goods sensing unit 231 senses the goods. In this way, the speed can be reduced to 0 when the goods arrive at the goods exit to avoid falling out of the storage unit 2.

In the present embodiment, the guide member 25 may alternatively have an adjustable position with respect to the support frame 21 in the width direction of the storage unit 2, wherein the width direction of the storage unit 2 is perpendicular to the cargo access direction.

Illustratively, one of the guide 25 and the support frame 21 is provided with a mounting hole, and the other is provided with an adjusting hole, the guide 25 is mounted on the support frame 21 by a fastener penetrating through the mounting hole and the adjusting hole, and the diameter of the adjusting hole in the width direction is larger than the outer diameter of the fastener in the width direction, so that the position of the guide 25 relative to the support frame 21 in the width direction is adjustable. Specifically, the guide member 25 is provided with a guide member adjusting hole 259, the guide member 25 is connected to the support member 211 by a fastener inserted into the guide member adjusting hole 259, and the length direction of the guide member adjusting hole 259 is along the width direction of the storage unit 2. For example, the guide adjustment hole 259 may be a kidney-shaped hole or a long hole.

Alternatively, referring to fig. 6, as described above, the guide 25 is provided with a guide mounting portion 254 for mounting with the support frame 21 at a side thereof facing the support frame 21, and the guide adjustment hole 259 may be located at the guide mounting portion 254.

In the embodiment of the present application, in order to increase the space utilization rate between the layers in the logistics transit apparatus 100, it is considered that the two robot arms 311 corresponding to the same storage unit 2 are separated from each other and are not directly connected. For example, referring to fig. 2, the walking frame 32 includes two side frames 321 located at the sides of the frame 1, the two side frames 321 move synchronously relative to the frame 1, and the mechanical arm assembly 31 can be disposed on the side frames 321. Thus, the two robot arms 311 located on the same layer may be separated from each other and not directly connected.

As an optional way, the walking frame 32 further includes a connecting frame 322, and the connecting frame 322 is connected to the top of the two side frames 321 to drive the two side frames 321 to move synchronously. Thus, the entire moving frame 32 can be driven only by driving one of the side frames 321 or only by driving the connecting frame 322.

In this application, in order to push the goods evenly on the width direction both sides of goods, the arm assemblies 31 can be arranged in pairs on the walking frame 32, and each pair of arm assemblies 31 corresponds the setting of same storage unit 2, and each pair of arm assemblies 31 sets up respectively in the both sides of corresponding storage unit 2, and arm assemblies 31 and the side bearer 321 that is located arm assemblies 31 homonymy are connected. Specifically, the outer side surface of the robot arm assembly 31 facing away from the storage unit 2 is connected to the side frame 321 on the same side, so that the structure can be more compact.

In the embodiment of the present application, the storage units 2 may be provided in plurality as needed, and the plurality of storage units 2 are sequentially arranged from top to bottom at intervals, because the two robot arm assemblies 31 located on the same layer are not directly connected, a storage space 20 through which goods can pass is formed between the adjacent storage units 2, and the robot arm assemblies 31 may be located outside the edge of the storage space 20. This can avoid interference of the robot arm assembly 31 during the movement of the goods.

Fig. 8 is a schematic structural diagram of a mechanical arm assembly in the logistics transit apparatus according to an embodiment of the present application. Referring to fig. 2 and 8, the robot assembly 31 includes a robot 311 and a movable element 312, the robot 311 is connected to the walking frame 32, and the movable element 312 is disposed on the robot 311 and can move relative to the robot 311 to block the transportation path of the goods; the movable member 312 is used for abutting against the goods and driving the goods to move when the robot arm 311 moves relative to the storage unit 2. For example, when the robot arm 311 is moved to the rear of the load and the movable element 312 is moved to block the load on the transportation path, the movable element 312 is brought into contact with the rear of the load when the robot arm 311 is moved, and the load can be moved by the movable element 312.

For example, the movable member 312 may be a movable push rod, a first end of the movable push rod is rotatably connected to the end of the mechanical arm 311, a second end of the movable push rod is a free end, and a rod body of the movable push rod is used for pushing the cargo. In addition, in order to monitor the moving state of the cargo and prevent the moving member 312 from colliding with the cargo during the process of moving the cargo by the arm assembly 31, a cargo position sensor 313 is usually disposed on the arm assembly 31.

Fig. 9 is a partial enlarged view of fig. 2 at D. Referring to fig. 8 and 9, the robot arm 311 included in the robot arm assembly 31 is disposed corresponding to the storage unit 2, and as mentioned above, the movable element 312 can rotate to different positions relative to the robot arm 311, and the robot arm 311 is used for driving the goods into and out of the storage unit 2 when the movable element 312 is blocked on the access path of the goods. At least one mechanical arm 311 is provided with a mounting cavity 3111 therein, a cargo position sensor 313 is arranged in the mounting cavity 3111, and the cargo position sensor 313 is used for detecting the relative position of the cargo and the movable part 312.

In the above-described configuration, by forming the mounting cavity 3111 in the robot arm 311 and mounting the load position sensor 313 in the mounting cavity 3111, the load position sensor 313 is protected by the robot arm 311, and even if a load or the like collides with the robot arm 311 while shaking, the load position sensor 313 in the robot arm 311 is not damaged. Therefore, in the present embodiment, the sensor attached to the robot arm 311 is not easily damaged, and the detection reliability is high.

The moving element 312 is not arranged on the in-out path of the goods, that is, the moving element 312 is in a vertical state relative to the mechanical arm 311, so that the moving element 312 does not interfere with the goods in the moving process of the mechanical arm 311; the movable element 312 is disposed on the path of the goods, that is, the included angle between the movable element 312 and the horizontal direction is greater than 0 °, for example, when the movable element 312 is disposed horizontally, the movable element can be driven by the mechanical arm 311 to abut against the goods, so as to drive the goods to move. In the embodiment of the present application, the movable element 312 is set on the in-and-out path of the cargo as the movable element 312 when the movable element 312 rotates to a horizontal position, and the movable element 312 is set on the in-and-out path of the cargo as the movable element 312 when the movable element 312 rotates to a vertical position.

Referring to fig. 9, the arm 311 has a mounting cavity 3111 therein, which means that the arm 311 is hollow, and a third driving unit 315, etc. for driving the movable element 312 to rotate are also mounted in the mounting cavity 3111 in the arm 311. In the embodiment of the present application, the mechanical arm 311 is provided with an opening 3112 communicating with the mounting cavity 3111, and the opening 3112 corresponds to the detection end of the cargo position sensor 313. This allows the sensing end of the cargo position sensor 313 to be exposed to the outside of the robot arm 311 through the opening 3112 and to face the cargo.

It will be appreciated that the opening 3112 may be located on a cargo facing side of the robotic arm 311, such that the sensing end of the cargo position sensor 313 faces the cargo.

As an alternative embodiment, the mounting cavity 3111 corresponds to the position of the movable member 312 in the cargo access direction, so that the cargo position sensor 313 can detect the end 314 of the cargo as early as possible, and prevent the movable member 312 from colliding with the cargo. Specifically, the cargo position sensor 313 is configured to detect a position of an end 314 of the cargo, for example, referring to fig. 8, an outer contour of the cargo is shown by a dashed line, during a process that the mechanical arm 311 moves toward the cargo, when the movable element 312 does not reach the end 314 of the cargo yet, the cargo is blocked in a rotation range of the movable element 312, the cargo position sensor 313 can detect the cargo, and the movable element 312 keeps a vertical position all the time; when the arm 311 moves to the point where the end 314 of the load has avoided the range of rotation of the movable member 312, the load position sensor 313 does not detect the load, and the movable member 312 can rotate from the vertical position to the horizontal position in preparation for the arm 311 to return to the storage unit 2.

The state shown in fig. 8 shows that the cargo position sensor 313 just passes over the end 314 of the cargo, and in a situation where the cargo is just not detected, the movable member 312 can rotate to push the cargo. Optionally, the detection end of the cargo position sensor 313 is flush with the movable element 312 in the cargo entering and exiting direction, and referring to fig. 9, the flush arrangement means that a vertical plane on which the outer side (the paper surface direction is outward) of the detection end of the cargo position sensor 313 is located and an end surface of the inner side end (the paper surface direction is inward) of the movable element 312 are in the same vertical plane. With this arrangement, when the end 314 of the cargo just passes over the inner end of the movable member 312 and the cargo position sensor 313 does not detect the cargo, the movable member 312 can be rotated to the horizontal position without colliding with the cargo. This enables the cargo to be detected in time and early, reducing the length of the robot arm 311.

As an alternative embodiment, the cargo position sensor 313 is located below the axis of rotation of the movable member 312. In this way, detection of the cargo by the cargo position sensor 313 is facilitated.

Optionally, the control assembly may further include a third driving unit 315 configured to drive the movable member 312 to rotate relative to the mechanical arm 311, wherein the third driving unit 315 and the cargo position sensor 313 are electrically connected to a controller, and the controller is configured to control a rotation state of the movable member 312 according to a relative position between the cargo and the movable member 312, so as to prevent the movable member 312 from colliding with the cargo.

In addition, the type of the cargo position sensor 313 may be selected according to the requirement, and the cargo position sensor 313 is, for example, a photoelectric sensor, a contact switch, or a pair of opposed sensors. Referring to fig. 8, an even number of robot arms 311 may be provided for each layer of the storage units 2, and disposed at both sides of the storage units 2, respectively. This allows each robot arm 311 to be provided with a cargo position sensor 313. In the case where the cargo position sensors 313 are correlation sensors used in pairs, the mounting cavities 3111 of the two robot arms 311 are disposed correspondingly, and the corresponding openings 3112 of the two mounting cavities 3111 are disposed oppositely, so that the detection ends of the two correlation sensors are disposed oppositely.

In the embodiment of the present application, the control assembly further includes a second driving unit (not shown), the second driving unit is electrically connected to the controller, and the second driving unit is configured to drive the walking frame 32 to drive the mechanical arm 311 to move relative to the bracket 1.

In the process of reciprocating the arm assembly 31 relative to the support 1, the second driving unit and the like often happen to be in fault, and at this time, the arm 311 easily bumps into the support 1, so that the arm 311 is easily damaged, and the reliability of loading and unloading of the device is poor. In view of this, in the logistics transit apparatus 100 of the present application, referring to fig. 8, the cargo pushing unit 3 may further include a cushion pad 33, as described above, the walking frame 32 may be reciprocally movable relative to the support frame 1, and it may be assumed that the walking frame 32 may be movable between the first limit position and the second limit position relative to the support frame 1; the first and second extreme positions can be realized here by the controller controlling the start and stop of the drive.

The cushion pad 33 is fixed relative to the walking frame 32 or the robot arm assembly 31. And the cushion pad 33 is pressed against the bracket 1 when the walking frame 32 moves to the first limit position or the second limit position, so as to cushion the goods pushing unit 3. Specifically, when the walking frame 32 moves to the first limit position or the second limit position, the cushion 33 can be pressed against the frame 1, and the cushion 33 can be compressed, so that the frame 1 can play a role of buffering the walking frame 32 in an opposite direction to assist the walking frame 32 to stop moving. If the mechanical arm 311 exceeds the first limit position or the second limit position due to a failure of the second driving unit or the like and collides with the bracket 1, the collision is also buffered by the cushion pad 33, so that damage to the mechanical arm 311 is avoided, and the reliability of the apparatus for loading and unloading goods is improved.

Referring to fig. 8, in the embodiment of the present application, in order to prevent the traveling frame 32 or the mechanical arm 311 from separating from the bracket 1, the cargo pushing unit 3 further includes a plurality of movement limiting members 34, each of the mechanical arm assemblies 31 corresponds to one of the movement limiting members 34, the movement limiting members 34 are disposed on at least one of the mechanical arm assemblies 31 and the traveling frame 32, and the movement limiting members 34 are configured to be stopped by the bracket 1 when the traveling frame 32 moves to the first limit position or the second limit position.

Illustratively, the movement limiting member 34 is connected to the traveling frame 32 at one end and connected to the mechanical arm 311 at the other end, so that the traveling frame 32 and the mechanical arm 311 are linked, and meanwhile, the movement limiting member 34 is also located between the traveling frame 32 and the mechanical arm 311. The position of the movement stopper 34 corresponds to the carriage 1, that is, the carriage 1 is located on the movement path of the movement stopper 34 when the traveling carriage 32 and the robot arm 311 move. Specifically, the robot assembly 31 is located on a side of the support 1 facing the storage unit 2, and the side frame 321 is located on a side of the support 1 facing away from the storage unit 2, so that the support 1 is located on a moving path of the movement limiting member 34 corresponding to the robot assembly 31.

In addition, as described above, the robot assemblies 31 are arranged in pairs, each pair of the robot assemblies 31 corresponds to the same storage unit 2, each pair of the robot assemblies 31 is respectively arranged at two sides of the corresponding storage unit 2, and the robot assemblies 31 and the side frames 321 located at the same side of the robot assemblies 31 are connected through the movement stoppers 34. That is, each robot arm assembly 31 is connected to the corresponding side frame 321 through the movement limiting member 34. Alternatively, the movement stopper 34 and the side frame 321 to which it is connected have flush end surfaces in the moving direction of the traveling frame 32. Therefore, when the movement limiting part 34 is stopped by the bracket 1, the walking frame 32 does not protrude out of the bracket 1, and the structure of the whole device is more compact.

In the embodiment of the present application, as a possible implementation manner, the cushion 33 may be disposed on the movement limiting member 34. For example, referring to fig. 8, the cushion pad 33 is provided at an end portion of the movement stopper 34 in the moving direction of the traveling frame 32. For example, at both ends of the movement stoppers 34 in the moving direction of the traveling frame 32.

Referring to fig. 2 and 8, as an alternative embodiment, the robot arm assembly 31 includes a first robot arm assembly 35 disposed at the top of the walking frame 32 and a second robot arm assembly 36 disposed at the bottom of the walking frame 32, and the number of the cushion pads 33 is plural, wherein a part of the cushion pads 33 are disposed on the movement stoppers 34 corresponding to the first robot arm assembly 35, and another part of the cushion pads 33 are disposed on the movement stoppers 34 corresponding to the second robot arm assembly 36.

Alternatively, the cushion 33 may include a mounting portion 331 and an abutting portion 332 connected to one end of the mounting portion 331, wherein the mounting portion 331 is detachably mounted on the movement limiting member 34, so that the abutting portion 332 is attached to one surface of the movement limiting member 34 facing the bracket 1.

In the embodiment of the present application, the control assembly includes the second driving unit for driving the traveling frame 32 to move relative to the storage unit 2 as described above. The second driving unit 5 may include a driving module (not shown), which may be disposed on the frame 1, for example, on the bottom supporting frame 12 and the top frame 111. In order not to affect the transportation of the goods, a part of the structure may be located below the storage unit 2 at the lowest layer, i.e. in the aforementioned avoidance groove 13, and another part of the structure may be located at the top of the rack 1.

Fig. 10 is a schematic structural diagram of another angle of the logistics transit device provided in an embodiment of the present application; FIG. 11 is an enlarged view of a portion of FIG. 10 at E; fig. 12 is a schematic structural diagram of a synchronization mechanism in a logistics transit apparatus according to an embodiment of the present application; fig. 13 is a partial enlarged view of fig. 10 at F.

Referring to fig. 10, the driving assembly may include a motor, a reducer (an output shaft of the motor is connected to the lower driving shaft 51 through the reducer), an upper driving shaft 54, a lower driving shaft 51, an upper belt pulley 55, a lower belt pulley 52, a belt 53, etc., wherein the lower driving shaft 51 is connected to the lower driving shaft 52, the upper driving shaft 54 and the upper belt pulley 55 are both located at the top of the stand 1, the upper belt pulley 55 is connected to the upper driving shaft 54, and the belt 53 is tensioned between the upper belt pulley 55 and the lower belt pulley 52. thus, the motor rotates the lower driving shaft 51 through the reducer, the lower driving shaft 51 rotates the lower belt pulley 52, and the rotation is transmitted to the upper driving shaft 54 through the belt 53.

Alternatively, referring to fig. 10 to 13, the goods-pushing unit 3 further includes a synchronizing mechanism 323, and the second driving device further includes a transmission assembly. The controller controls the driving assembly to generate a driving force, which is transmitted to the traveling frame 32 through the transmission assembly and the synchronization mechanism 323, thereby moving the traveling frame 32.

In particular, the transmission assembly comprises a chain transmission assembly 6, the chain transmission assembly 6 is arranged on the support 1, and the chain transmission assembly 6 comprises a chain 62; the goods pushing unit 3 further comprises a synchronizing mechanism 323, a first end of the synchronizing mechanism 323 is connected with the traveling frame 32, and a second end of the synchronizing mechanism 323 is connected with the chain 62, so that the chain 62 drives the traveling frame 32 to move relative to the bracket 1 through the synchronizing mechanism 323, and the goods pushing unit 3 pushes the goods in the storage unit 2.

In the logistics transit device 100 of this embodiment, the first end of the synchronization mechanism 323 is connected to the walking frame 32, and the second end of the synchronization mechanism 323 is connected to the chain 62, so that the structure of the synchronization mechanism 323 is simplified, and the situation that the end of the synchronization mechanism 323 connected to the chain 62 continues to extend and occupies space is avoided.

The chain drive assembly 6 and the synchronizing mechanism 323 of the present embodiment are both located at the same end of the carrier 1 in the vertical direction. Illustratively, the chain drive assembly 6 and the synchronizing mechanism 323 are both located at the top end of the support 1 in the vertical direction, or the chain drive assembly 6 and the synchronizing mechanism 323 are both located at the bottom end of the support 1 in the vertical direction.

Alternatively, referring to fig. 11, the synchronization mechanism 323 includes a boom connection member 3231 and a chain connection member 3232, a first end of the boom connection member 3231 is connected to the traveling frame 32, the chain connection member 3232 is disposed at a second end of the boom connection member 3231, and the chain connection member 3232 is fixed to the chain 62. Illustratively, the chain connector 3232 can be attached to the second end of the cantilever connector 3231 by a fastener, or can be fixed to the second end of the cantilever connector 3231 by welding, bonding, or snapping. Of course, the jib connector 3231 and the chain connector 3232 can also be an integrally formed one-piece.

Chain 62 may include a plurality of links 621 and a plurality of outer link plates 622, the plurality of links 621 being connected in series by outer link plates 622 to form a closed loop chain 62, and chain connector 3232 being secured to at least one of the links 621.

Referring to fig. 11 and 12, chain connector 3232 can include chain connector 32321, and in an alternative implementation, chain connector 32321 and one link 621 of chain 62 are fixed relative to each other, for example, chain connector 32321 can be fixed relative to link 621 by a fastener, or can be fixed relative to link 621 by snapping or welding. In another alternative implementation, chain connecting portion 32321 may form a link of chain 62, i.e., chain connecting portion 32321 is machined to have the same or similar shape as the link structure, such that chain connecting portion 32321 serves as one of links 621 to be connected in sequence by outer link plates 622 to form a closed loop chain 62. In the process of chain transmission, the chain 62 drives the chain connecting part 3232 through the chain connecting part 32321, the chain connecting part 3232 drives the synchronizing mechanism 323, and the synchronizing mechanism 323 drives the traveling frame 32 to move relative to the bracket 1, so that the goods pushing unit 3 pushes out the goods in the storage unit 2 or pushes the goods into the storage unit 2.

In order to better control the moving direction of the traveling frame 32 relative to the bracket 1 and ensure the moving smoothness, the chain 62 of this embodiment may include a first chain segment 62a and a second chain segment 62b that are parallel to each other, the moving directions of the first chain segment 62a and the second chain segment 62b are opposite, the first chain segment 62a is located above the second chain segment 62b, and the chain connecting portion 32321 and the first chain segment 62a are fixedly connected, so that the first chain segment 62a drives the chain connecting portion 3232 to move through the chain connecting portion 32321, so that the synchronizing mechanism 323 drives the traveling frame 32 to move relative to the bracket 1.

By providing the upper surface of first chain segment 62a flush with the top surface of chain connector 3232; or, the upper surface of the first chain section 62a is higher than the top surface of the chain connector 3232, so as to prevent the chain connector 3232 from extending upwards to occupy space, thereby being beneficial to reducing the overall height of the logistics transit device 100, and enabling the logistics transit device 100 to be suitable for a storage space with a lower height.

The boom connector 3231 of this embodiment may be located at a side of the chain 62, the chain connector 3232 is connected to a top end of the boom connector 3231, and a bottom end of the boom connector 3231 is connected to the traveling frame 32; the second chain segment 62b is located between the top and bottom ends of the cantilever connector 3231. Illustratively, the jib connection member 3231 may include one cantilever portion, and one cantilever portion may be located on either side of the chain 62, or the jib connection member 3231 may include two cantilever portions, and the two cantilever portions may be located on opposite sides of the chain 62, which is beneficial to increase the transmission stability of the synchronization mechanism 323 and to protect the chain 62.

The synchronizing mechanism 323 of the present embodiment may further include a connection plate seat 3233, the connection plate seat 3233 being detachably coupled to the top surface of the traveling frame 32, and the cantilever connection member 3231 being coupled to the connection plate seat 3233. On one hand, the connecting plate seat 3233 is beneficial to ensuring the stability and reliability of the connection of the synchronizing mechanism 323 and the walking frame 32; on the other hand, the height of the synchronization mechanism 323 can be flexibly adjusted by selecting the connection plate seats 3233 with different heights or adjusting the number of the connection plate seats 3233 to adapt to the height of the chain 62.

Referring to fig. 10 and 13, the chain transmission assembly 6 of the present embodiment further includes a sprocket assembly 61 for tensioning the chain 62, the sprocket assembly 61 includes a first sprocket assembly 61a and a second sprocket assembly 61b, and the first sprocket assembly 61a and the second sprocket assembly 61b are respectively disposed on two sides of the bracket 1 along the moving direction of the traveling carriage 32. The first sprocket assembly 61a includes a sprocket fixing frame 611 and a first sprocket 612a, a first end of the sprocket fixing frame 611 is fixedly connected with the bracket 1, a second end of the sprocket fixing frame 611 extends towards the second sprocket assembly 61b, and the first sprocket 612a is disposed at the second end of the sprocket fixing frame 611; the second sprocket assembly 61b includes a second sprocket that may be disposed on the upper drive shaft 54 as described above, with the chain being wound around the first sprocket 612a and the second sprocket.

In an alternative implementation, with continued reference to fig. 13, the sprocket mount 611 includes a horizontally extending first sprocket mounting plate 6111, the first sprocket mounting plate 6111 being disposed on an upper surface of the top rim 111. The first sprocket mounting plate 6111 is provided with a sprocket adjusting hole 61111, the bracket 1 is provided with a fixing frame mounting hole, the sprocket adjusting hole 61111 and the fixing frame mounting hole are arranged oppositely, the sprocket fixing frame 611 is connected with the bracket 1 through a fastener 61112 sequentially penetrating through the sprocket adjusting hole 61111 and the fixing frame mounting hole, wherein the fastener 61112 has an adjustable position with the sprocket adjusting hole 61111 in the moving direction of the traveling frame 32. Illustratively, the sprocket adjusting hole 61111 may be a bar-shaped hole, a length direction of the bar-shaped hole extends along a moving direction of the walking frame 32, and the fastener 61112 may move along the length direction of the bar-shaped hole, so that the fastener 61112 has an adjustable position.

Specifically, the fastener 61112 penetrates through the sprocket adjusting hole 61111 and the fixing frame mounting hole, and the first sprocket mounting plate 6111 is connected to the support 1, at this time, the fastener 61112 is relatively fixed to the support 1, the first sprocket mounting plate 6111 is sleeved on the fastener 61112 through the sprocket adjusting hole 61111, and can move relative to the fastener 61112 along the moving direction of the traveling frame 32, so that the sprocket fixing frame 611 drives the first sprocket 612a to move along the moving direction of the traveling frame 32, and the purpose of adjusting the tensioning degree of the chain 62 is achieved.

The sprocket fixing frame 611 of this embodiment may further include a second sprocket mounting plate 6112, where the second sprocket mounting plate 6112 is connected to an edge of the first sprocket mounting plate 6111 and extends in the vertical direction; the second sprocket mounting plate 6112 is fastened to the side wall of the top frame 111 by a fastener to increase the stability of the connection between the sprocket fixing frame 611 and the top frame 111. For example, the second sprocket mounting plate 6112 may be connected to a side edge of the first sprocket mounting plate 6111 close to the second sprocket assembly 61b, or the second sprocket mounting plate 6112 may be connected to a side edge of the first sprocket mounting plate 6111 far from the second sprocket assembly 61b according to actual needs, which is not limited herein.

In order to ensure the reliability of the fastening connection between the fastening member and the side wall of the top rim 111, a reinforcing connection block may be disposed on the side wall of the top rim 111, so that the fastening member is fastened to the reinforcing connection block. The reinforcing connecting blocks may be welded to the side walls of the top rim 111 or may be fastened to the side walls of the top rim 111 by means of snaps or fasteners.

Example two

The present embodiment provides a warehouse logistics system 200, which includes at least one handling device, and the handling device may be the logistics transit device 100 or the elevator in the first embodiment. The logistics transit apparatus 100 may be an unloader having a discharge function, or a loader having a loading function. Of course, the handling device is not limited to the machines listed in this application, but may also comprise other warehouse logistics devices with an outer casing 7, which will not be described in detail here.

In this embodiment, the loading and unloading device is taken as the logistics relay device 100, and the case where the loading and unloading device is the other type of device is similar to this. It should be noted that, the specific structure and function of the logistics transit device 100 have been described in detail in the first embodiment, and are not described herein again.

Fig. 14 is a schematic structural view of a warehouse logistics system with an access door removed according to an embodiment of the present application; fig. 15 is an enlarged view at N in fig. 14. Referring to fig. 14 and 15, the loading and unloading device includes a device body (the body of the logistics transit device 100) and a housing 7 surrounding the device body, wherein the housing 7 protects the device body on one hand and isolates the device body from workers on the other hand, thereby avoiding safety accidents. Illustratively, a part of the housing 7 may be made of a transparent material or the whole of the housing 7 may be made of a transparent material so that a worker can observe the working condition of the apparatus body through the housing 7. An access door 71 is arranged on the shell 7, at least part of the access door 71 is provided with a detection device 72, and the detection device 72 is used for controlling the device body to stop running when the access door 71 is detected to be opened.

The warehouse logistics system of the embodiment is provided with the detection device 72 at least part of the access door 71, and the detection device 72 is used for controlling the device body to stop running when the access door 71 is detected to be opened, so as to protect the personal safety of workers.

The casing 7 of this embodiment includes two side walls on both sides of the apparatus body, and an access door 71 is provided on at least one of the side walls. Illustratively, one side of the material flow relay device 100 is a loading opening or a discharging opening, and two side walls of the housing 7 are located at two sides of the loading opening or the discharging opening so as not to interfere with the loading or discharging of the material flow relay device 100.

The access door 71 on the side wall may have a plurality of access doors, the plurality of access doors 71 include a main access door 711, a top access door 712 located above the main access door 711, and a bottom access door 713 located below the main access door 711, and a worker may open the corresponding access door 71 according to a position to be inspected.

In order to facilitate the maintenance operation of the apparatus body and to facilitate the removal, mounting, and replacement of some relatively large components, the height of the main access door 711 may be set to be greater than the heights of the top access door 712 and the bottom access door 713. The specific heights of the main access door 711, the top access door 712 and the bottom access door 713 may be set according to actual needs, and this embodiment is not limited.

Optionally, the main access door 711 and the bottom access door 713 are provided with a detection device 72, so that when a worker opens the main access door 711 or the bottom access door 713, the operation of the apparatus body is stopped. The top access door 712 is typically opened after the main access door 711 is opened, thus eliminating the need for the top access door 712 to be provided with the detection device 72, which is cost effective.

In order to ensure the aesthetic appearance of the housing 7 and at the same time to protect the detection device 72, it may be provided that the detection device 72 is located inside the access door 71. Of course, the detection device 72 may be disposed outside the access door 71 or at another position where the opening and closing of the access door 71 can be detected, as required.

The detection device 72 of the present embodiment may be a position sensor provided on a door frame of the casing 7 corresponding to the access door 71 so as to detect opening and closing of the access door 71.

In an alternative implementation mode, the position sensor is a contact position sensor, when the access door 71 is closed, the access door 71 is in contact with the contact position sensor, and the device body keeps a normal operation state; when the access door 71 is opened, the access door 71 is separated from the contact position sensor, and the contact position sensor controls the device body to stop operating. For example, the contact position sensor may send a signal to a control center of the apparatus body to cause the control center to control the apparatus body to stop operating. In another alternative implementation, the position sensor is a proximity sensor, such as an infrared sensor, an opto-electronic switch, or the like.

Optionally, the handling device further includes an alarm device, the alarm device is in signal connection with the detection device 72, and the alarm device gives an alarm when the detection device 72 detects that the access door 71 is opened, so as to remind a worker that the access door 71 is in an open state, so that the worker is more vigilant, and the safety of the worker is protected. Illustratively, the alarm may be an audible alarm, a light alarm, or a combination of both.

As described above, in order to facilitate the worker to inspect the high position of the device body, the inspection ladder 9 may be provided on the side of the device body, and the inspection ladder 9 is located inside the housing 7. Illustratively, the access ladder 9 may correspond to the main access door 711, and when the worker needs to open the top access door 712 for the maintenance operation, the worker first opens the main access door 711 to expose the access ladder 9, and then climbs the access ladder 9 to open the top access door 712 for the maintenance operation. At this time, since the main access door 711 is opened, the detection device 72 provided at the main access door 711 controls the device body to stop operating, thereby protecting the safety of the worker.

In this embodiment, the warehouse logistics system may further include a transfer robot, wherein the transfer robot has a chassis, and when the transfer robot moves to the unloading position corresponding to the logistics transfer apparatus 100, the chassis extends into the avoiding groove 13 of the logistics transfer apparatus 100 and is detected by the collision detection unit 14 of the logistics transfer apparatus 100. In this way, the logistics transit apparatus 100 is provided with the collision detection unit 14 having an adjustable position relative to the rack 1, so that the position of the collision detection unit 14 can be adjusted according to the bases of the transfer robots, the collision detection unit 14 can be adapted to the transfer robots with different bases, and the application range of the logistics transit apparatus 100 is expanded.

In an alternative embodiment, the transfer robot further has a pallet, and the pallet is disposed corresponding to the storage unit 2 of the physical distribution relay apparatus 100 to perform an loading operation with the physical distribution relay apparatus 100 or an unloading operation with respect to the physical distribution relay apparatus 100.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The logistics transfer device is characterized by comprising a support, a storage unit, a cargo pushing unit and a control assembly, wherein the storage unit is arranged on the support, and an avoidance groove for avoiding a transfer robot is formed in the bottom of the support; the control assembly comprises a collision detection unit, the collision detection unit is used for sending out a sensing signal when the transfer robot moves to a transportation position opposite to the logistics transfer device, and the control assembly is used for controlling the cargo pushing unit to carry out cargo loading and unloading operation according to the sensing signal; the collision detection unit is arranged in the avoidance groove, and the collision detection unit has an adjustable position relative to the support.

2. The logistics transit device of claim 1, wherein the collision detection unit comprises a collision detection switch and a switch bracket, wherein the switch bracket is mounted on the bracket, and the collision detection switch is mounted on the switch bracket; the switch bracket is adjustable relative to the bracket to allow the crash detection switch to have a variable position relative to the bracket.

3. The logistics transit device of claim 2, wherein the collision detection switch is movably connected to the switch bracket, the switch bracket is movably connected to the bracket, and a moving direction of the collision detection switch relative to the switch bracket is different from a moving direction of the switch bracket relative to the bracket.

4. The logistics transit device of claim 3, wherein one of the switch bracket and the bracket is provided with a first switch adjustment hole, the other of the switch bracket and the bracket is provided with a first switch mounting hole, the first switch adjustment hole and the first switch mounting hole are arranged oppositely, the switch bracket is connected with the bracket through a fastener sequentially penetrating through the first switch adjustment hole and the first switch mounting hole, and the fastener has an adjustable position between a first direction and the first switch adjustment hole.

5. The logistics transit device of claim 4, wherein the switch bracket is provided with a second switch adjustment hole, the collision detection switch is provided with a second switch mounting hole, the second switch adjustment hole and the second switch mounting hole are oppositely arranged, the collision detection switch is connected with the switch bracket through a fastener sequentially penetrating through the second switch adjustment hole and the second switch mounting hole, the fastener has an adjustable position with the second switch adjustment hole in a second direction, and the second direction is perpendicular to the first direction.

6. The logistics transit device of claim 5, wherein the first direction or the second direction is a depth direction of the avoidance groove.

7. The logistics transit device of claim 5, wherein the first switch adjusting hole and the second switch adjusting hole are kidney-shaped holes or strip-shaped holes.

8. The logistics transit device of claim 5, wherein the switch bracket comprises a vertical extension part connected with the bracket and a bending part bending towards the opening of the avoidance groove, and the collision detection switch is movably connected to the bending part.

9. The logistics transit device of claim 8, wherein the bending portion comprises a horizontal bending surface and a vertical bending surface, and the second switch adjusting hole is located on the vertical bending surface.

10. A logistics distribution system comprising a transfer robot and the logistics transit apparatus of any one of claims 1 to 9, the transfer robot having a chassis that extends into an avoidance slot of the logistics transit apparatus and is detected by a collision detection unit of the logistics transit apparatus when the transfer robot moves to a discharge position opposite to the logistics transit apparatus.