Loading or unloading apparatus, system, and method
A loading or unloading apparatus configured to convey goods to a transport robot or unload goods on the transport robot. The loading or unloading apparatus includes an upright frame, a plurality of goods loading or unloading assemblies and a second driving structure. The upright frame is extending along a vertical direction. The plurality of goods loading or unloading assemblies are arranged on the upright frame at intervals along the vertical direction and capable of separately conveying, at different heights, the goods to the transport robot or unloading the goods on the transport robot. The second driving structure is configured to drive the upright frame to approach or move away from the transport robot along a loading or unloading direction, such that the plurality of goods loading or unloading assemblies convey the goods to the transport robot or unload the goods on the transport robot.
1. A loading or unloading apparatus, configured to convey goods to a transport robot or unload goods on the transport robot, the loading or unloading apparatus comprising:
an upright frame, extending along a vertical direction;
a plurality of goods loading or unloading assemblies, arranged on the upright frame at intervals along the vertical direction and capable of separately conveying, at different heights, the goods to the transport robot or unloading the goods on the transport robot; and
a frame driving structure, configured to drive the upright frame to approach or move away from the transport robot along a loading or unloading direction, wherein when the frame driving structure drives the upright frame to approach or move away from the transport robot, the plurality of goods loading or unloading assemblies convey the goods to the transport robot or unload the goods on the transport robot;
wherein each of the plurality of goods loading or unloading assemblies comprises a loading or unloading cross arm and a push-pull structure, one ends of a plurality of loading or unloading cross arms are arranged on the upright frame at intervals along the vertical direction, and the push-pull structure is arranged at other ends corresponding to the plurality of loading or unloading cross arms; and when the plurality of loading or unloading cross arms approach or move away from the transport robot along the loading or unloading direction, the push-pull structure pushes or pulls goods, so as to convey the goods to the transport robot or unload the goods on the transport robot.
2. The loading or unloading apparatus according to claim 1 , wherein the loading or unloading apparatus further comprises at least one temporary storage shelving unit, the upright frame is movably arranged on the temporary storage shelving unit along a horizontal direction, and the frame driving structure is configured to drive the upright frame to move relative to the temporary storage shelving unit along the horizontal direction; and the temporary storage shelving unit comprises a shelving unit with a plurality of layers along the vertical direction, and the plurality of goods loading or unloading assemblies are configured to pull goods at different heights on the transport robot to corresponding layers of the shelving unit on the temporary storage shelving unit, or the plurality of goods loading or unloading assemblies are configured to push goods on the plurality of layers of the shelving unit to the transport robot.
3. The loading or unloading apparatus according to claim 2 , wherein the temporary storage shelving unit comprises a temporary storage roller with a plurality of layers arranged along the vertical direction, and each layer of the temporary storage roller is capable of individually transporting goods along the loading or unloading direction.
4. The loading or unloading apparatus according to claim 1 , further comprising a lifting assembly, arranged at one ends of the plurality of goods loading or unloading assemblies away from the transport robot, wherein the lifting assembly is configured to successively receive goods unloaded by the plurality of goods loading or unloading assemblies, or successively convey goods to the plurality of goods loading or unloading assemblies.
5. The loading or unloading apparatus according to claim 4 , wherein the lifting assembly comprises a lifting roller extending along the loading or unloading direction and capable of simultaneously carrying a plurality of goods.
6. The loading or unloading apparatus according to claim 1 , wherein the push-pull structure is rotatably arranged at other ends of the plurality of loading or unloading cross arms away from the upright frame, when rotating, the push-pull structure is capable of switching between a push-pull position and an avoidance position, and when rotating to the push-pull position, the push-pull structure conveys the goods to the transport robot or pulls down the goods on the transport robot; and when the push-pull structure rotates to the avoidance position, the push-pull structure avoids the goods.
7. The loading or unloading apparatus according to claim 6 , wherein two of the plurality of goods loading or unloading assemblies are arranged at intervals in a same horizontal direction of the upright frame, and two push-pull structures in the same horizontal direction separately and synchronously rotate to the push-pull position or the avoidance position; and the two push-pull structures in the same horizontal direction respectively and synchronously drive two sides of the goods along the loading or unloading direction.
8. The loading or unloading apparatus according to claim 6 , wherein the push-pull structure comprises a push-pull rod rotatably arranged at one end of the loading or unloading cross arm away from the upright frame, and when rotating, the push-pull rod comprises the push-pull position or the avoidance position.
9. The loading or unloading apparatus according to claim 8 , wherein the push-pull structure further comprises a push-pull motor arranged at the one end of the loading or unloading cross arm away from the upright frame, the push-pull rod is arranged on an output shaft of the push-pull motor, and the push-pull motor is configured to drive the push-pull rod to rotate to the push-pull position or the avoidance position.
10. A loading or unloading system, comprising:
a transport robot, and
a loading or unloading apparatus, comprising:
an upright frame, extending along a vertical direction;
a plurality of goods loading or unloading assemblies, arranged on the upright frame at intervals along the vertical direction and capable of separately conveying, at different heights, the goods to the transport robot or unloading the goods on the transport robot; and
a frame driving structure, configured to drive the upright frame to approach or move away from the transport robot along a loading or unloading direction, wherein when the frame driving structure drives the upright frame to approach or move away from the transport robot, the plurality of goods loading or unloading assemblies convey the goods to the transport robot or unload the goods on the transport robot;
wherein the loading or unloading apparatus further comprises at least one temporary storage shelving unit, the upright frame is movably arranged on the temporary storage shelving unit along a horizontal direction, and the frame driving structure is configured to drive the upright frame to move relative to the temporary storage shelving unit along the horizontal direction; and the temporary storage shelving unit comprises a shelving unit with a plurality of layers along the vertical direction, and the plurality of goods loading or unloading assemblies are configured to pull goods at different heights on the transport robot to corresponding layers of the shelving unit on the temporary storage shelving unit, or the plurality of goods loading or unloading assemblies are configured to push goods on the plurality of layers of the shelving unit to the transport robot.
11. The loading or unloading system according to claim 10 , wherein the temporary storage shelving unit comprises a temporary storage roller with a plurality of layers arranged along the vertical direction, and each layer of the temporary storage roller is capable of individually transporting goods along the loading or unloading direction.
12. The loading or unloading system according to claim 10 , wherein the transport robot comprises a carrying component, a vertical frame, a movable chassis, a plurality of storage assemblies and a blocking mechanism, the vertical frame is arranged on the movable chassis, the plurality of storage assemblies are separately arranged on one side of the vertical frame at intervals along a vertical direction, the carrying component is arranged on an other side of the vertical frame along the vertical direction, and the carrying component is capable of conveying goods to the plurality of storage assemblies or taking out goods on the plurality of storage assemblies;
the locking mechanism is capable of switching between a blocking position and an avoidance position, when the blocking mechanism is at the blocking position, the blocking mechanism is configured to block goods in the plurality of storage assemblies from sliding out, and when the blocking mechanism is at the avoidance position, the goods are capable of being moved into or moved out of the plurality of storage assemblies.
13. The loading or unloading system according to claim 12 , wherein the blocking mechanism comprises a movable blocking connector and a plurality of blocking assemblies separately connected to the blocking connector, and at least one of the plurality of blocking assemblies corresponds to a same storage assembly; the blocking connector is capable of driving the plurality of blocking assemblies to move into a loading or unloading end of each of the plurality of storage assemblies, so as to block the goods in the plurality of storage assemblies;
each of the plurality of blocking assemblies comprises a swing member and a blocking member, one end of the swing member is rotatably connected to the blocking connector, an other end of the swing member is mounted with the blocking member, and a middle portion of the swing member is rotatably mounted at the loading or unloading end of the plurality of storage assemblies; and when ascending or descending, the blocking connector is capable of driving the swing member to swing, so that the swing member drives the blocking member to move into or move out of the loading or unloading end.
14. The loading or unloading system according to claim 10 , further comprising a lifting assembly, arranged at one ends of the plurality of goods loading or unloading assemblies away from the transport robot, wherein the lifting assembly is configured to successively receive goods unloaded by the plurality of goods loading or unloading assemblies, or successively convey goods to the plurality of goods loading or unloading assemblies.
15. The loading or unloading system according to claim 14 , wherein the lifting assembly comprises a lifting roller extending along the loading or unloading direction and capable of simultaneously carrying a plurality of goods.
16. The loading or unloading system according to claim 15 , further comprising a conveyor line, wherein the lifting roller is configured to successively receive goods unloaded by the goods loading or unloading assemblies, or successively convey goods to the goods loading or unloading assemblies; and the lifting roller is configured to transport goods to the conveyor line, or receive goods on the conveyor line.
17. A loading or unloading method, applied to a loading or unloading apparatus the loading or unloading apparatus comprising an upright frame, a plurality of goods loading or unloading assemblies arranged on the upright frame at intervals along the vertical direction, and a frame driving structure; the frame driving structure being configured to drive the upright frame to approach or move away from the transport robot along a loading or unloading direction, wherein when the frame driving structure drives the upright frame to approach or move away from the transport robot, the plurality of goods loading or unloading assemblies convey the goods to the transport robot or unload the goods on the transport robot; the loading or unloading method comprising:
receiving a loading or unloading instruction; and
controlling, according to the second loading or unloading instruction, the frame driving structure to drive the upright frame to approach or move away from the transport robot along a loading or unloading direction, and controlling the plurality of goods loading or unloading assemblies to convey the goods to the transport robot or unload the goods on the transport robot;
wherein the loading or unloading apparatus further comprises at least one temporary storage shelving unit, the upright frame is movably arranged on the temporary storage shelving unit along a horizontal direction, and the frame driving structure is configured to drive the upright frame to move relative to the temporary storage shelving unit along the horizontal direction; the temporary storage shelving unit comprises a shelving unit with a plurality of layers along the vertical direction; and
in the controlling, according to the loading or unloading instruction, the frame driving structure to drive the upright frame to approach or move away from the transport robot along a loading or unloading direction, and controlling the plurality of goods loading or unloading assemblies to convey the goods to the transport robot or unload the goods on the transport robot, controlling the at least some goods loading or unloading assemblies to pull goods at different heights on the transport robot to corresponding layers of the shelving unit on the temporary storage shelving unit, or controlling the at least some goods loading or unloading assemblies to push goods on the plurality of layers of the shelving unit to the transport robot.