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WO2023066305A1 - 物品转运装置和仓储系统 - Google Patents

物品转运装置和仓储系统 Download PDF

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Publication number
WO2023066305A1
WO2023066305A1 PCT/CN2022/126224 CN2022126224W WO2023066305A1 WO 2023066305 A1 WO2023066305 A1 WO 2023066305A1 CN 2022126224 W CN2022126224 W CN 2022126224W WO 2023066305 A1 WO2023066305 A1 WO 2023066305A1
Authority
WO
WIPO (PCT)
Prior art keywords
loading
loading board
guide
board
conveying platform
Prior art date
Application number
PCT/CN2022/126224
Other languages
English (en)
French (fr)
Inventor
王正
吴灵东
吴超
Original Assignee
杭州海康机器人股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 杭州海康机器人股份有限公司 filed Critical 杭州海康机器人股份有限公司
Priority to KR1020247009961A priority Critical patent/KR20240052017A/ko
Priority to JP2024522376A priority patent/JP2024535605A/ja
Priority to EP22882910.7A priority patent/EP4389644A4/en
Publication of WO2023066305A1 publication Critical patent/WO2023066305A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0485—Check-in, check-out devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/12—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like
    • B65G1/127—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like the circuit being confined in a vertical plane
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00—Loading or unloading
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/025—Boxes

Definitions

  • the present disclosure relates to the technical field of logistics transportation, in particular to an item transfer device and a storage system.
  • the items are delivered to the user through logistics and transportation. Items are generally transshipped through multiple places during the logistics transportation process. Every time the items are transported to a transshipment location, the items are generally stored on the container first, and then the bin robot picks up the goods from the container, and puts the removed items into the item for transfer. On the device, the item transfer device transfers the items to the conveyor belt, sorts out the items of different destinations during the conveyor belt transmission process, and then transports them to the destination or the next transshipment location.
  • an article transfer device the device includes: a frame, the frame includes a machine cavity; a lifting assembly; a conveying platform, arranged at the bottom of the machine cavity of the frame; and multiple a loading board, for connecting with the frame through the lifting assembly; wherein, each loading board in the plurality of loading boards is provided with first comb teeth comprising a plurality of first loading rods structure, the conveying platform is provided with a second comb structure that matches the first comb structure and includes a plurality of second load rods; In order to control the movement of the plurality of carrier plates in a direction perpendicular to the conveying platform, the first comb structures of the plurality of carrier plates pass through the plane where the second comb structure of the conveying platform is located, so that the plurality of object loading boards can exchange items with the delivery platform.
  • the first object loading rod is a telescopic rod; when each of the plurality of object loading plates When the object plate passes through the plane where the conveying platform is located and transfers items to the conveying platform, the lifting assembly is used to control the contraction of multiple telescopic rods of the object plate and control the downward movement of the object plate; Each of the plurality of loading boards passes through the plane where the conveying platform is located, and when receiving the items transferred by the conveying platform, the lifting assembly is used to control the multiple retractable The rod extends and controls the upward movement of the carrier plate.
  • the plurality of first loading rods and the plurality of second loading rods are arranged in dislocation.
  • the first loading rod is a non-retractable rod
  • the object plate passes through the plane where the conveying platform is located, and when transferring items to the conveying platform, the lifting assembly is used to control the plurality of non-extensible rods of the object plate to pass through the plurality of second object rods downward Movement; when each of the plurality of loading boards passes through the plane where the conveying platform is located and receives items transferred by the conveying platform, the lifting assembly is used to control the A plurality of non-retractable rods moves upward.
  • the article transfer device further includes: a control mechanism; the control mechanism is arranged inside the frame, or arranged outside the frame; the control mechanism is used to control the multiple A second load bar, the plurality of load plates, and a transfer device for transferring items for item exchange.
  • the second load rod is a rotating rod; the control mechanism is used to control the delivery platform The rotating rod of the conveying platform is rotated, so that the conveying platform can exchange items with the conveying device during the rotating process of the rotating rod of the conveying platform.
  • the second loading rod is a telescopic rod; when each loading board passes through The plane where the conveying platform is located, when exchanging items with the conveying platform, the control mechanism is used to control the extension or contraction of the telescopic rod of the conveying platform; the control mechanism is also used to control the telescopic rod rotate, so that the conveying platform can exchange items with the conveying device during the rotation of the telescopic rod of the conveying platform.
  • the plurality of loading boards includes a first loading board and a second loading board; the first loading board is located below the second loading board; the first loading board Stop falling after falling to the first predetermined position below the delivery platform, the second object loading plate falls to be stacked on the first object loading plate; the second object loading plate moves from bottom to top At the second predetermined position, the hooking part on the second loading board is hooked to the limiting part on the first loading board, and the second loading board continues to move upwards, passing through the second loading board.
  • the hooking portion on the loading board drives the first loading board to move upwards.
  • the plurality of loading boards include a first loading board and a second loading board;
  • the first loading board includes a loading board body, and a The first comb tooth structure is provided with a guiding structure vertically on the loading plate body, and a limiting portion is provided at the end of the guiding structure away from the loading plate body; on the second loading plate There is a hooking part, the first loading board is located below the second loading board, and the first loading board is hooked on the second loading board through the limiting part of the first loading board. on the hooking part of the object board; wherein, the hooking part of the second object board is located in the guide structure of the first object board, so that the second object board The guide structure of the board moves up and down.
  • the guide structure vertically arranged on the loading plate body includes a long guide piece, on the guide piece, a guide groove is provided along the length direction of the guide piece;
  • the top end of the guide groove has the limiting portion;
  • the hooking portion of the second loading board is arranged in the guiding groove of the first loading board, so that the second loading board is positioned along the first The guide groove of the loading plate moves up and down.
  • the guide of the carrier board includes a first guide and a second guide, the first guide and the second guide
  • the two guides are arranged in parallel on both sides of the loading board body of the loading board; a first guiding groove is provided along the length direction of the first guiding piece, and a second guiding groove is arranged along the lengthwise direction of the second guiding piece.
  • the guide groove, the hooking part of the second loading board includes a first hooking part and a second hooking part; the first hooking part of the second loading board is arranged on the first loading board In the first guide groove, the second hooking portion of the second loading board is set in the second guiding groove of the first loading board.
  • the rack includes a first column and a second column, the first column and the second column are relatively parallel to each other, and the first column and the second column are formed between the first column and the second column.
  • the guide structure vertically arranged on the carrier board body includes a strip-shaped guide member, and a guide surface is provided on the guide member along the length direction of the guide member; The top end of the guide surface is provided with the limiting portion; the hooking portion of the second loading plate is matched with the guiding surface of the first loading plate, so that the second loading plate A guide surface of the loading plate moves up and down.
  • the guide of the object carrier includes a third guide and a fourth guide, the third guide and the first guide
  • the four guides are arranged in parallel on both sides of the carrier board body of the carrier board, and the stoppers are provided on the top ends of the third guide member and the fourth guide member; along the third guide member
  • a first guide surface is provided along the length direction of the fourth guide member, and a second guide surface is provided along the length direction of the fourth guide member; part, the third hooking portion of the second loading board matches with the first guide surface of the first loading board, so that the third hooking portion of the second loading board
  • the first guide surface of the object board moves up and down; the fourth hook part of the second object board cooperates with the second guide surface of the first object board, so that the fourth of the second object board The hooking part moves up and down along the second guide surface of the first loading board.
  • the rack includes a first column and a second column, the first column and the second column are relatively parallel to each other, and the first column and the second column are formed between the first column and the second column.
  • the lifting assembly includes a driving mechanism and a traction member connected to the driving mechanism, and the traction member is connected to the uppermost carrier board among the plurality of carrier boards.
  • the distance between two adjacent object loading plates above the conveying platform is greater than the distance between two adjacent object loading plates below the conveying platform distance between.
  • a storage system including: a conveying device, an article storage mechanism, and the above-mentioned article transfer device; the article transfer device is connected to the transfer device; the article transfer device is used for An item exchange is performed with the item storage mechanism and the transfer device.
  • the item storage mechanism is a bin robot.
  • the conveyor is a roller conveyor line.
  • An embodiment of the present disclosure provides an article transfer device. Since each loading plate of the device is provided with a first comb structure, and the conveying platform is provided with a second comb structure matching the first comb structure, when passing through the When the article transfer device transfers articles, multiple loading plates move in a direction perpendicular to the conveying platform, and the first comb structure of each loading plate passes through the plane where the second comb structure of the conveying platform is located. In this way The loading plate transfers the items on it to the conveying platform or receives the items transferred by the conveying platform, so as to realize the item exchange between the item transfer device and the conveying platform. It can be seen that the multiple object loading plates in the device move up and down in the direction perpendicular to the conveying platform, and do not occupy space in the horizontal direction, so the occupied space is small, space is saved, and the space utilization rate is improved.
  • FIG. 1 is a schematic diagram of an item transfer device provided by an embodiment of the present disclosure
  • Fig. 2 is a schematic diagram of an object carrier provided by an embodiment of the present disclosure
  • Fig. 3 is a schematic diagram of a delivery platform provided by an embodiment of the present disclosure.
  • Fig. 4 is a schematic diagram of item exchange between a carrier board and a delivery platform provided by an embodiment of the present disclosure
  • Fig. 5 is a schematic diagram of a carrier board provided in an embodiment of the present disclosure in a stacked state under the conveying platform;
  • Fig. 6 is a schematic diagram of item exchange between an item storage mechanism, an item transfer device, and a transmission device according to an embodiment of the present disclosure
  • FIG. 7 is a schematic structural diagram of two adjacent loading boards hooked to each other in an embodiment of the present disclosure.
  • Fig. 8 is a schematic structural view of the first loading plate in Fig. 7;
  • FIG. 9 is a schematic structural view of two adjacent loading boards hooked to each other in another embodiment of the present disclosure.
  • Fig. 10 is a schematic structural view of the first loading plate in Fig. 9;
  • Fig. 11 is a schematic structural view of multiple carrier boards hooked together in another embodiment of the present disclosure.
  • Fig. 12 is a structural schematic diagram of a plurality of carrier boards stacked together.
  • the article transfer device in the related art includes an unloader, an elevator and a conveyor.
  • the unloader includes a multi-layer storage layer, but the position of the multi-layer storage layer is fixed and cannot be directly connected to the conveyor belt. Therefore, through the conveyor and Conveyor belt docking. However, the position of the unloader and the conveyor is fixed and cannot be moved. Therefore, the freely movable elevator is used to transfer items between the unloader and the conveyor, thereby realizing the transfer of items between the bin robot and the conveyor belt.
  • each of the above-mentioned equipment such as conveyors, elevators, and unloaders, takes up a certain amount of space, and the item transfer device takes up a lot of space, resulting in low space utilization.
  • An embodiment of the present disclosure provides an article transfer device 1.
  • Lifting assembly 14 is connected with frame 11, and the bottom of machine chamber is provided with delivery platform 12;
  • a second comb structure that matches the first comb structure and includes a plurality of second load rods 121; wherein, a plurality of load plates 13 are connected to the frame 11 through a lifting assembly 14, including: a plurality of loads
  • the plate 13 is arranged in the machine cavity of the frame 11 through the lifting assembly 14, or a plurality of loading plates 13 are arranged on the outside of the frame 11 through the lifting assembly 14, and correspondingly, the delivery platform 12 is arranged at the bottom of the frame or side of the bottom.
  • the lifting assembly 14 is used to control the movement of the plurality of loading plates 13 in a direction perpendicular to the conveying platform.
  • the plane on which the two comb structures are located enables multiple object loading boards 13 to exchange items with the conveying platform 12 .
  • Each loading plate 13 is provided with a first comb structure, and the first comb structure includes a plurality of first loading rods 131, the number of the multiple first loading rods 131 can be set and changed as required, For example, the number of the first loading rods 131 is five, see FIG. 2 .
  • the length of the first loading rod 131 can be set and changed according to needs, for example, the length of the first loading rod 131 can be 30 cm to 50 cm.
  • the diameter of the first load rod 131 can be set and changed as required, for example, the diameter of the first load rod 131 can be 2 cm to 5 cm.
  • the material of the first loading rod 131 can be set and changed as required, for example, the material of the first loading rod 131 can be cast iron or alloy, and the alloy can be stainless steel.
  • the conveying platform 12 is provided with a second comb-tooth structure matched with the first comb-tooth structure, and the second comb-tooth structure includes a plurality of second loading rods 121 , see FIG. 3 .
  • the quantity, length, diameter and material of the plurality of second load rods 121 can be set and changed according to needs, which is not specifically limited in the embodiment of the present disclosure.
  • the first comb-tooth structure including a plurality of first loading rods 131 passes through the plane where the second comb-tooth structure of the conveying platform 12 is located, not only can the articles be transferred to the conveying platform 12, It is also possible to receive items transferred by the conveying platform 12 so as to exchange items with the conveying platform 12 .
  • the structure of the first comb structure and the second comb structure is simple, occupies a small volume, and is low in cost.
  • two adjacent first loading rods 131 are arranged at a first preset interval, and two adjacent second loading rods 121 are arranged at a second preset interval.
  • the first preset interval and the second preset interval may be equal or unequal. If the first preset interval and the second preset interval are equal, the first preset interval and the second preset interval can be any value, for example, the first preset interval and the second preset interval can both be 10 cm or Both are 20 cm. In this case, the first loading rod 131 passes through the middle of two adjacent second loading rods 121 .
  • the first preset interval may be greater than or smaller than the second preset interval.
  • the first preset interval is smaller than the second preset interval, the first preset interval may be 10 cm, and the second preset interval may be 11 cm or 12 cm.
  • the first preset interval is greater than the second preset interval, the second preset interval is 10 cm, and the first preset interval may be 11 cm or 12 cm.
  • the first loading rod 131 passes through a non-intermediate position between two adjacent second loading rods 121 .
  • the height of the rack 11 can be set and changed as required, which is not specifically limited in the embodiments of the present disclosure.
  • the height of the rack 11 is 1.5 meters to 2 meters.
  • the material of the rack 11 can be set and changed according to needs, which is not specifically limited in the embodiments of the present disclosure.
  • the material of the frame 11 can be cast iron or alloy, and the alloy can be stainless steel.
  • the bottom of the frame 11 can also be provided with locking universal wheels, which can be used to move freely, and when reaching the preset position, it can be stopped in time, and then the items can be exchanged.
  • the number of locking universal wheels can be set and changed according to needs, which is not specifically limited in the embodiment of the present disclosure.
  • the number of locking universal wheels is one or more.
  • both sides of the loading board 13 are connected to the lifting assembly 14 , and the lifting assembly 14 can drive the loading board 13 to move up and down in a direction perpendicular to the ground during the lifting process.
  • connection manner between the two sides of the loading plate 13 and the lifting assembly 14 can be set and changed as required, for example, the connection manner is a detachable connection or a fixed connection.
  • the detachable connection may be, for example, a mortise and tenon connection or a screw connection
  • the fixed connection may be, for example, welding.
  • the material of the loading board 13 can be set and changed as required, for example, the material of the loading board 13 is wood, cast iron or alloy. If the material of the loading board 13 is wood, the above connection method can be mortise and tenon connection, if the material of the loading board 13 is cast iron or alloy, the above connection method can be screw connection.
  • the thickness of the object carrier plate 13 can be set and changed according to needs, which is not specifically limited in the embodiments of the present disclosure.
  • the thickness of the object carrier plate 13 may be 1 cm to 2 cm.
  • the number of object loading boards 13 can be set and changed according to needs, for example, the number of object loading boards 13 is 6 to 8 or more. In the embodiment of the present disclosure, it is described as an example that the number of object loading boards 13 is the same as the number of object storage positions in the object storage mechanism (eg, bin robot). If the number of item storage positions in the item storage mechanism is 6, then the number of loading boards 13 is 6; if the number of item storage positions in the item storage mechanism is 8, then the number of loading boards 13 is 8.
  • the object storage mechanism eg, bin robot
  • Such setting can realize that the loading plate 13 can simultaneously take away the items on all item storage positions in the item storage mechanism, or place all the items on the object loading plate 13 on all item storage positions in the item storage mechanism simultaneously, reducing Occupies the time of the item storage mechanism, thereby improving the efficiency of item exchange.
  • two adjacent object loading boards 13 may be connected together by hooking.
  • two adjacent object boards among the plurality of object boards may include a first object board and a second object board;
  • the first object board includes an object board body, and the object board body
  • a first comb tooth structure is arranged horizontally on the upper side, a guide structure is arranged vertically, and a limit part is provided at the end of the guide structure away from the loading plate body;
  • a hooking part is provided on the second loading plate, and the first loading Below the second loading board, and the first loading board can be hooked on the hooking portion of the second loading board through the limiting portion of the first loading board.
  • the hooking part of the second loading board can be located in the guiding structure of the first loading board, so that the second loading board can move up and down along the guiding structure of the first loading board, Such as swiping up and down or scrolling up and down.
  • the first loading board can fall by its own weight.
  • the second loading board continues to fall.
  • the hooking part on the second loading board is separated from the limiting part on the first loading board and moves along the first loading board.
  • the guiding structure on the board moves downward until the second loading board falls onto the first loading board. After the second loading board is dropped, it can be stacked on the first loading board, so that the space structure between the second loading board and the first loading board is more compact, and the occupied three-dimensional space can be reduced.
  • the vertical distance between the second loading board and the first loading board is changed from large to large. Get smaller until the second carrier plate is stacked on top of the first carrier plate.
  • the second loading board After the second loading board is stacked on the first loading board, if the second loading board is lifted up (such as relying on the traction and lifting of other loading boards above the second loading board), the second loading During the upward lifting process of the object board, the hooking part on the second object board moves or rolls upwards along the guide structure on the first object board. After the second loading board moves to the second predetermined position from bottom to top, for example, after moving to the second predetermined position above the conveying platform, the hooking part on the second loading board and all the hooking parts on the first loading board The second loading plate continues to move upwards, and the first loading plate is driven upward by the hooking portion on the second loading plate.
  • the second loading plate is gradually lifted up from the stacking position on the first loading plate until it is hooked to the first loading plate and rises together with the first loading plate, the second loading plate and The up and down distance between the first object loading boards increases from small to large until reaching the maximum distance between the two.
  • the first loading board and the second loading board are relative terms.
  • any two loading boards arranged adjacently up and down can be called the first loading board and the second loading board, and the lower loading board can be called the first loading board , the upper loading board can be called the second loading board.
  • the above-mentioned first loading board and the second loading board can be used in the connection mode of hooking between the second loading board, so that each loading board can be transported
  • the stacking under the platform reduces the occupation of space.
  • the loading board at the uppermost layer may not be provided with the guide piece, and can be directly connected to the lifting assembly connected.
  • the lifting assembly may include a driving mechanism and a traction member connected to the driving mechanism, and the traction member may be connected to the uppermost carrier board among the plurality of carrier boards.
  • the driving mechanism may include a motor and a reducer connected to the motor, etc.
  • the traction member can be a flexible rope, chain or belt etc. connected to the driving mechanism. In other embodiments, each object board can also be hung on the flexible traction member respectively.
  • Fig. 7 is a schematic diagram of the structure of two adjacent loading boards hooked to each other in an embodiment of the present disclosure.
  • the plurality of loading boards may include a first loading board a1 and a second loading board a2, and the first loading board a1 is hung under the second loading board a2.
  • Fig. 8 is a schematic structural view of the first carrier board a1 in Fig. 7.
  • the first carrier board a1 includes a carrier board body a11, and a first comb tooth structure 311 is arranged laterally on the carrier board body a11, A strip-shaped guide a12 is vertically provided, and a guide groove a13 is provided on the guide a12 along the length direction of the guide a12; the top end of the guide groove a13 has a limiting portion a14.
  • the guide piece a12 is a guide plate, and the top end of the guide groove a13 can be a closed end to form the limiting portion a14. In other embodiments, the guide a12 may also be a guide post.
  • the second loading plate a2 is provided with a hooking portion a21, which is a pin and can slide up and down along the guide groove a13.
  • a sleeve can be installed on the hooking part a21, so that the hooking part a21 can roll up and down along the guide groove a13.
  • the hooking portion a21 can also be a block that can slide up and down along the guide groove a13, such as a rectangular block.
  • the first loading board a1 is not the lowest loading board, then the first loading board is also provided with a hooking part for hooking another loading board below the first loading board. board.
  • the first carrier board shown in FIG. 7 is not the lowermost carrier board among the plurality of carrier boards.
  • the guide a12 may include a first guide a121 and a second guide a122, and the first guide a121 and the second guide a122 are parallel Set on both sides of the carrier board body a11 on the first carrier board a1; a first guide groove a131 is provided along the length direction of the first guide member a121, and a second guide groove is provided along the length direction of the second guide member a122 Groove a132; said hooking portion a21 on the second carrier board a2 may include a first hooking portion a211 and a second hooking portion (not shown in FIG.
  • the hooking parts are respectively arranged on two sides of the second loading board a2.
  • the first hooking part a211 of the second loading board a2 is arranged in the first guide groove a131 of the first loading board a1
  • the second hooking part of the second loading board a2 is arranged in the first guiding groove a131 of the first loading board a1. in the second guide groove a132.
  • the first guide groove a131 and the second guide groove a132 of the first object loading plate a1 can be used for the second object loading plate a2
  • the two sides of the two sides provide guides, thereby reducing the occurrence of tilting or tipping of the second object loading plate a2 in the process of falling.
  • the first guide groove a131 and the second guiding groove a132 of the first loading plate a1 can pass through the second loading plate a2.
  • Fig. 9 is a schematic diagram of the structure of two adjacent loading boards connected to each other in another embodiment of the present disclosure.
  • multiple loading boards may include a first loading board b1 and a second loading board b2, the second loading board A loading board b1 is hung under the second loading board b2.
  • Fig. 10 is a schematic structural view of the first loading board b1 in Fig. 9.
  • a guiding structure is vertically arranged on the loading board body b11 on the first loading board b1, and the guiding structure may include a long
  • the guide b12 of the guide b12 is provided with a guide surface b13 along the length direction of the guide b12; the top end of the guide b13 is provided with a limiting part b14.
  • FIG. 9 there is a hooking part b21 on the second carrier board b2, and the hooking part b21 is a rectangular block, and the hooking part b21 of the second carrier board b2 is matched with the guide surface b13 of the first carrier board b1 , so that the second loading board b2 can move up and down along the guide surface b13 of the first loading board b1, such as sliding.
  • Rolling elements such as balls may also be provided on the hooking portion b21 of the second loading board b2, so that the hooking portion b21 of the second loading board b2 can roll up and down along the guide surface b13 of the first loading board b1.
  • the guide b12 on the first loading board b1 may be a guide column.
  • the guide surface b13 can be a vertical side of the guide column.
  • the limiting part b14 may be a limiting block at the top of the guiding surface b13.
  • the guide member b12 may also be a guide plate, and the hooking portion b21 may also be a block of other shapes.
  • the guide b12 in order to make the process of the second object carrier b2 move up and down relatively smoothly, the guide b12 includes a third guide b121 and a fourth guide b122, and the third guide b121 and the fourth guide b122 are parallel
  • the two sides of the carrier board body b11 arranged on the first carrier board b1 are provided with limiting parts b14 on the top ends of the third guide part b121 and the fourth guide part b122;
  • the top ends of the guide b121 and the fourth guide b122 are connected to form a beam.
  • a first guide surface b131 is provided along the length direction of the third guide member b121, and a second guide surface (not shown in FIG. 9 ) is provided along the length direction of the fourth guide member b122;
  • the hooking portion b21 includes a third hooking portion b211 and a fourth hooking portion b212, and the third hooking portion b211 and the fourth hooking portion b212 are arranged on the second loading board b2 at intervals relative to each other.
  • the third hooking part b211 of the second loading board b2 cooperates with the first guiding surface b131 of the first loading board b1, so that the second loading board b2 can follow the first guiding surface of the first loading board b1 b13 moves up and down, such as sliding;
  • the fourth hook b212 of the second loading board b2 cooperates with the second guide surface of the first loading board b1, so that the second loading board b2 can move along the first loading board b1 slide up and down on the second guide surface.
  • the first guide surface b13 and the second guide surface of the first object loading board b1 can pass through the second object loading board b2
  • the guide is provided to reduce the occurrence of the second object loading board b2 being tilted or tipped during the falling process.
  • the first guide surface b13 and the second guiding surface passing through the first loading plate b1 can be the direction of the second loading plate b2.
  • FIG. 11 is a structural schematic diagram of multiple object loading boards being hung together in this embodiment
  • FIG. 12 is a structural schematic diagram of multiple object loading boards being stacked together.
  • the frame 11 can guide the movement of the loading board 13 during the falling or rising process of the loading board 13 .
  • the frame 11 includes a first column 111 and a second column 112, the first column 111 and the second column 112 are arranged in parallel, and the first column 111 and the second column 112 to form a machine cavity; on the first column 111, a third guide groove 1111 is provided along the length direction of the first column 111; on the second column 112, a fourth guide groove is provided along the length direction of the second column 112 Groove 1121; the third guide groove 1111 corresponds to the fourth guide groove 1121; a first protrusion is provided on the first side of the first loading plate (a1 or b1) and/or the second loading plate (a2 or b2)
  • the raised portion is provided with a second raised portion on the second side of the first loading board and/or the second loading board; the first raised portion is located in the third guide groove 1111
  • the first protruding portion and the second protruding portion may be columns or blocks.
  • the first protruding part and the second protruding part comprise the first hooking part a211 and the second hooking part (Fig. not shown).
  • the end of the first hooking portion a211 of the second loading plate a2 is located outside the first guiding groove a131 of the first loading plate a1 and is in the third guiding groove 1111 , so that the second loading plate a2 can move up and down along the third guide groove 1111, such as sliding or rolling;
  • the end of the second hook part is located outside the second guide groove a132 and is in the fourth guide groove 1121 , so that the second object carrier a2 can move up and down along the fourth guide groove 1121 , such as sliding or rolling.
  • the first hooking part a211 and the second hooking part it can not only play the role of hooking the first loading plate a1, but also realize the guide groove on the first column 111 and the second column 112. Up and down movement in the middle, such as sliding or rolling, so that the up and down movement of the first object loading board a1 and the second object loading board a2 is more stable.
  • the first protruding part and the second protruding part may also include a first hooking part and a second hooking part arranged on two sides of the first loading plate.
  • the first hooking portion and the second hooking portion on both sides of the first loading board are used to hook another loading board below the first loading board.
  • the first raised portion and the second raised portion on both sides of the loading plate include bumps b15 arranged on both sides of the loading plate body of the first loading plate, and The protrusions b25 are provided on both sides of the carrier board body of the second carrier board.
  • the height of the conveying platform 12 can be set and changed as required, for example, the height of the conveying platform 12 is consistent with the height of the conveying device 2 shown in FIG. 1 . If the height of the conveying device 2 is 1 meter, the height of the conveying platform 12 is also 1 meter, and if the height of the conveying device 2 is 1.2 meters, the height of the conveying platform 12 is also 1.2 meters. Such arrangement can facilitate item exchange between the conveying platform 12 and the conveying device 2 , that is, the conveying platform 12 can transfer articles to the conveying device 2 , and the conveying device 2 can also transfer articles to the conveying platform 12 .
  • connection mode between the delivery platform 12 and the machine cavity of the frame 11 can be set and changed as required, for example, the connection between the delivery platform 12 and the machine cavity of the frame 11 is a fixed connection, the The fixed connection can be welding; or, the delivery platform 12 is stuck on both sides of the machine cavity; or, the delivery platform 12 is movably connected to both sides of the machine cavity.
  • the material of the delivery platform 12 can also be set and changed according to needs, which is not specifically limited in the embodiments of the present disclosure.
  • the delivery platform 12 is made of cast iron or alloy, and the alloy may be stainless steel.
  • the lifting assembly 14 is arranged in the machine cavity of the frame 11, and can be fixedly connected with the frame 11, which is conducive to maintaining the stability of the frame 11 during the object transfer process, thereby improving the stability of the object transfer process. safety.
  • the lifting assembly 14 may be an elevator, or other components capable of realizing the lifting function. In the embodiments of the present disclosure, there is no specific limitation on this.
  • a plurality of loading boards 13 receive the articles placed by the article storage mechanism 3, as shown in S1 of Fig. 6
  • a plurality of loading plates 13 are all located above the conveying platform 12 at this time, and at this moment, the lifting assembly 14 controls the loading plate 13 to move downward, as shown in S4 of FIG.
  • the first loading plate 13 The comb-tooth structure passes through the plane where the second comb-tooth structure of the delivery platform 12 is located, and when the first comb-tooth structure passes through the plane where the second comb-tooth structure is located, the article 9 is transferred from the plurality of first load bars 131 to the delivery platform 12 On a plurality of second loading rods 121 of the loader, the articles are transferred to the conveying platform 12, and the conveying platform 12 transfers the articles to the conveying device 2, as shown in S4 to S5 of FIG. 6 .
  • the carrier board 13 moves from above the conveying platform 12 to below the conveying platform 12, and the lifting assembly 14 can control the carrier board 13 to move through the plane where the conveying platform 12 is located
  • the lifting assembly 14 controls a plurality of loading plates 13 to move upwards from the bottom of the delivery platform 12.
  • the multiple loading plates 13 receive the items placed by the item storage mechanism 3 again, and then continue to communicate with each other through the above-mentioned method.
  • the conveying platform 12 carries out item exchange.
  • the article transfer device 1 When the article transfer device 1 receives the article 9 transferred by the conveying device 2, a plurality of loading plates 13 are located below the conveying platform 12, and the conveying platform 12 receives the article 9 conveyed by the conveying device 2, and the lifting assembly 14 controls a plurality of loads
  • the board 13 moves upwards sequentially from the bottom of the conveying platform 12.
  • the first comb structure passes through the plane where the second comb structure is located, and the articles 9 are transferred by multiple second loading rods 121 onto a plurality of first loading rods 131 , so that the loading board 13 receives the items transferred by the conveying platform 12 .
  • a plurality of loading boards 13 are gradually spread out from the stacked state, and the article storage mechanism 3 takes away the articles from each loading board 13, and the lifting assembly 14 can control the multiple loading boards 13 from the top to the bottom of the conveying platform 12 Moving, the plurality of loading boards 13 receive the items transferred by the conveying platform 12 again, and then continue to deliver the items to the item storage mechanism 3 through the above-mentioned manner.
  • the item transfer device 1 When the item transfer device 1 first transfers the item to the transfer device 2, and then receives other items transferred by the transfer device 2, in order to facilitate the distinction, the item transferred from the item transfer device 1 to the transfer device 2 is called the first item, and the item transfer Device 1 receives other items transported by conveyor 2 and is referred to as a second item.
  • the lifting assembly 14 controls the downward movement of the loading plate 13, the first comb-tooth structure passes through the plane where the second comb-tooth structure is located, and the first article is transferred from a plurality of first loading rods 131 to a plurality of second loads on the conveying platform 12.
  • Object rod 121 so that the object transfer device 1 transfers the object to the conveying platform 12, and the conveying platform 12 transfers the first object to the conveying device 2.
  • the lifting assembly 14 controls the carrier plate 13 to pass through the plane where the conveying platform 12 is located from top to bottom, and after moving to the bottom end of the machine cavity, stop moving, and a plurality of carrier plates 13 are stacked below the conveying platform 12 .
  • the lifting assembly 14 controls the loading plate 13 to move upward, the first comb structure passes through the plane where the second comb structure is located, and the item is carried by a plurality of second loads.
  • the rods 121 are transferred to a plurality of first loading rods 131 to receive the second items transferred by the conveying platform 12 .
  • the situation that the article transfer device 1 first receives the second article transferred by the conveying device 2 and then transfers the first article to the conveying device 2 is similar to the above-mentioned situation, and will not be repeated here.
  • the embodiment of the present disclosure provides an article transfer device 1, since each carrier board 13 of the device is provided with a first comb structure 131, and the conveying platform 12 is provided with a second comb that matches the first comb structure 131 Structure 121, when the article is transferred through the device, a plurality of loading plates 13 move along a direction perpendicular to the conveying platform 12, and the first comb structure 131 of each loading plate 13 passes through the second comb of the conveying platform 12 The plane where the tooth structure 121 is located, in this way, the loading plate 13 transfers the articles on it to the conveying platform 12 or receives the transferred articles from the conveying platform 12 , so as to realize the exchange of articles between the article transfer device 1 and the conveying platform 12 .
  • the plurality of loading plates 13 in the device move up and down along the direction perpendicular to the conveying platform 12, and do not occupy the space in the horizontal direction, so the occupied space is small, the space is saved, and the space utilization rate is improved. .
  • the items in the embodiments of the present disclosure may be regular items or irregular items, and may be clothing, daily necessities or other items, which are not specifically limited in the present disclosure.
  • the article can be placed directly on the loading board 13, also can be placed on the loading board 13 through the loading box. In the embodiments of the present disclosure, there is no specific limitation on this.
  • the first loading rod 131 is a telescopic rod; when each loading board 13 passes through the plane where the conveying platform 12 is located and transfers items to the conveying platform 12,
  • the lifting assembly 14 is used to control the contraction of multiple telescopic rods of the loading plate 13, and control the downward movement of the loading plate 13; when each loading plate 13 passes through the plane where the conveying platform 12 is located, it receives the items transferred by the conveying platform 12 At this time, the elevating assembly 14 is used to control the elongation of multiple telescopic rods of the loading plate 13 and control the upward movement of the loading plate 13 .
  • the multiple loading boards 13 transfer articles to the conveying platform 12, the multiple loading boards 13 first receive the articles placed by the article storage mechanism 3, and now the multiple loading boards 13 are all located above the conveying platform 12 , and the plurality of telescopic rods of each loading board 13 are in an extended state.
  • the lifting assembly 14 can control the downward movement of a plurality of telescopic rods of the loading board 13, and when the loading board 13 moves to the distance between the delivery platform 12 and reaches a preset distance, The multiple telescopic rods of the loading board 13 are controlled to shrink, so that the items on the multiple telescopic rods will drop onto the conveying platform 12 , thereby realizing the transfer of the objects from the loading board 13 to the conveying platform 12 .
  • the lifting assembly 14 can control the loading plate 13 to continue to move downward until the loading plate 13 moves to the bottom end of the machine cavity of the frame 11, and stops moving.
  • a plurality of carrier plates 13 are stacked under the conveying platform 12, thereby reducing the space size.
  • the lifting assembly 14 can control the multiple loading plates 13 to move upward from the bottom of the conveying platform 12, and the uppermost loading plate 13 reaches the set position Finally, the lifting assembly 14 controls the extension of the multiple telescopic rods of each object loading board 13, and the multiple object loading boards 13 receive the items placed by the item storage mechanism 3 again, and then continue to transfer the items to the conveying platform 12 in the above-mentioned manner.
  • a plurality of loading boards 13 receive the items transported by the conveying platform 12, the multiple loading boards 13 are located below the conveying platform 12, and the conveying platform 12 receives the items conveyed by the conveying device 2, and the lifting assembly 14 controls the multiple loading boards 13 Move upwards sequentially from the bottom of the delivery platform 12 , and control the extension of each telescopic rod of each loading plate 13 .
  • a plurality of telescopic rods of each object loading plate 13 pass through the plane where the conveying platform 12 is located, and the articles are transferred to the plurality of second object loading rods 121 on the object loading plate 13. on the telescopic rod, so that the loading plate 13 receives the items transferred by the conveying platform 12 .
  • a plurality of loading boards 13 gradually spread out from the stacked state, and after the uppermost loading board 13 reaches the set position, it stops moving, and the item storage mechanism 3 takes away the items on each loading board 13, and then lifts
  • the component 14 controls each retractable rod of each loading board 13 to shrink, and controls each loading board 13 to move downward, and then continues to receive the items transferred by the conveying platform 12 through the above-mentioned manner.
  • the article transferred from the loading board 13 to the conveying platform 12 is called the first article, and the loading Other items transferred by the board 13 and received by the conveying platform 12 are referred to as second items.
  • the lifting assembly 14 controls a plurality of telescopic rods of each loading board 13 to move downward, and when the loading board 13 moves to the delivery platform 12 When the distance between them reaches the preset distance, the multiple telescopic rods of the control board 13 will shrink, so that the first items on the multiple telescopic rods of the board 13 will drop onto the conveying platform 12, realizing The first item is transferred from the loading plate 13 to the conveying platform 12 .
  • the lifting assembly 14 controls the loading board 13 to continue to move downward until the loading board 13 moves to the bottom of the machine cavity of the frame 11 , then stops moving, and multiple loading boards 13 are stacked under the conveying platform 12 .
  • the conveying platform 12 receives the second items conveyed by the conveying device 2, and the lifting assembly 14 controls the upward movement of the multiple loading plates 13, and controls the load
  • Each telescopic rod of plate 13 elongates, and during the upward movement of object loading board 13, a plurality of telescopic rods of each object loading board 13 all pass through the plane where conveying platform 12 is located, and the article is carried by a plurality of second objects.
  • the rods 121 are transferred to the plurality of telescopic rods of the load plate 13 to receive the second item transferred by the conveying platform 12 .
  • a plurality of loading boards 13 gradually spread out from the stacked state, and after the loading board of the top layer reaches the set position, the loading board 13 stops moving, and the article storage mechanism 3 takes away the first loading board 13 on each loading board 13 . Two items, then a plurality of loading boards 13 and the delivery platform 12 can continue to exchange items in the above-mentioned manner.
  • a sensor such as a distance sensor
  • the lifting assembly 14 senses the distance between the loading board 13 and the conveying platform 12 through the sensor.
  • the preset distance can be set and changed as required, for example, the preset distance is 1 cm to 2 cm.
  • the distance sensor in the object loading plate 13 senses that the object loading plate 13 moves downward to the distance between the conveying platform 12 and reaches a preset distance, it can send a contraction signal to the lifting assembly 14, and the lifting assembly 14 responds to receiving this A retract signal, communicated to the object plate 13 to cause the first object rod to retract.
  • the lifting assembly 14 can be used to flexibly control the expansion and contraction of the first load rod 131, and the exchange of items between the load plate 13 and the conveying platform 12 can be realized during the stretching process, which can not only make the load plate 13 as far as possible It takes up less space and can also improve the efficiency of item exchange.
  • the first loading rod 131 is a non-extensible rod;
  • the lifting assembly 14 is used to control the plurality of non-retractable rods of each loading board 13 to move downward through a plurality of second loading rods 121; when each loading board 13 passes through the conveying platform 12 On the plane where the conveying platform 12 is transported, the lifting assembly 14 is used to control the multiple non-extensible rods of each loading board 13 to move upward through the plane where the conveying platform 12 is located.
  • the plurality of first object rods 131 and the plurality of second object rods 121 are arranged in dislocation. Multiple second load rods 121 are dislocated, so that multiple first load rods 131 pass between multiple second load rods 121 smoothly, and the process of passing through multiple second load rods 121 is realized.
  • the article exchange between the loading board 13 and the conveying platform 12 is arranged in this way, the structure is simple, and the article exchange efficiency is high.
  • the article transfer device 1 further includes: a control mechanism 15; the control mechanism 15 is connected to the frame 11, for example, it can be arranged inside the frame 11, or arranged on the frame 11 Outer side: the control mechanism 15 is used to control the plurality of second loading rods 121 , the multiple loading boards 13 and the conveying device 2 for transferring items for item exchange.
  • control mechanism 15 can exchange items with the conveying device 2 during the rotation of the multiple second load rods 121 by controlling the rotation of the multiple second load rods 121 .
  • control mechanism 15 can be set and changed as required, for example, the control mechanism 15 can include a driving motor.
  • control mechanism 15 can flexibly control the conveying platform 12 and the conveying device 2 to exchange items, thereby improving the efficiency of item exchange.
  • the second load rod 121 can be a rotating rod; the control mechanism 15 is used to control the rotation of the rotation rod of the delivery platform 12, and when the rotation rod rotates During the process, the items are exchanged with the conveyor 2.
  • the control mechanism 15 can control the rotating rod of the conveying platform 12 to rotate in the first direction, and transfer the articles to the conveying device 2 during the rotation of the rotating rod of the conveying platform 12. . If the conveying device 2 transfers the articles to the conveying platform 12, the control mechanism 15 can control the rotating rod of the conveying platform 12 to rotate in the second direction, and the conveying platform 12 receives the articles transferred by the conveying device 2 during the rotation.
  • the first direction and the second direction are opposite directions, and the rotating rod may be a roller.
  • the rotating rod can exchange items with the conveying device 2 during the rotation process, and the item exchange efficiency is high.
  • the second load rod 121 can be a telescopic rod; 12
  • the control mechanism 15 can be used to control the extension or contraction of the telescopic rod of the delivery platform 12; Carry out item exchange with conveying device 2 during rotation.
  • the control mechanism 15 can control the extension and rotation of the telescopic rod of the delivery platform 12 . If the object exchange is carried out between the loading plate 13 and the conveying platform 12, the control mechanism 15 can control the extension of the telescopic rod of the conveying platform 12, so that when a plurality of first loading rods 131 pass through the telescopic rod, the objects are A plurality of first loading rods 131 of the loading plate 13 are transferred to a plurality of second loading rods 121 of the conveying platform 12 or transferred to multiple loading rods 131 of the loading platform 12 by a plurality of second loading rods 121 of the conveying platform 12. On the first loading rod 131, the loading plate 13 and the conveying platform 12 can be exchanged.
  • control mechanism 15 can control the telescopic rod of the conveying platform 12 to shrink. Moreover, if the article exchange is carried out between the conveying platform 12 and the conveying device 2, the control mechanism 15 can also control the rotation of the telescopic rod of the conveying platform 12, and transfer the article to the conveying device 2 during the rotation process of the telescopic rod of the conveying platform 12, or receive and transmit Items transported by device 2.
  • the telescopic rod of the conveying platform 12 when exchanging items, the telescopic rod of the conveying platform 12 is in an extended state, and when the conveying platform 12 and the conveying device 2 are exchanging articles, the extensible rod of the conveying platform 12 is still in rotation state, after the item exchange is completed or when the item exchange is not performed, the telescopic rod of the conveying platform 12 is in the retracted state.
  • the state of the telescopic rod of the conveying platform 12 can be flexibly changed according to the needs of item exchange, which not only improves the efficiency of item exchange, but also enriches the form of item exchange.
  • the second loading rod 121 of the conveying platform 12 can be a rotating rod or a telescopic rod.
  • the arrangement of the second loading rod 121 is flexible and changeable, which improves the appearance of the object transfer device 1 .
  • a baffle may be provided on the side of the conveying platform 12 away from the loading plate 13 , and the baffle is used to prevent items from falling and improve the safety during item exchange.
  • a pressure sensor can be provided inside each loading board 13, and when the pressure sensor detects that an object is placed on the loading board 13, the pressure sensor can send a signal to the lifting assembly 14, and the lifting assembly 14 receives the signal, Control the object carrier plate 13 to move upwards or downwards.
  • the lifting assembly 14 controls the movement of the object loading plate 13, so that it can be avoided that there is no object placed on the object loading plate 13. In the state of air transport, a waste of resources.
  • the embodiment of the present disclosure provides an article transfer device 1, since each loading plate 13 of the article transfer device 1 is provided with a first comb structure 131, and the conveying platform 12 is provided with a first comb structure 131 matching.
  • Two comb-tooth structures 121 when the article is transferred by the article transfer device 1, a plurality of loading plates 13 move along the direction perpendicular to the conveying platform 12, and the first comb-tooth structure 131 of each loading plate 13 passes through the conveying The plane where the second comb structure 121 of the platform 12 is located, in this way the object carrier 13 transfers the items on it to the delivery platform 12 or receives the items transferred by the delivery platform 12, so as to realize the connection between the item transfer device 1 and the delivery platform 12. exchange of items.
  • the plurality of loading plates 13 in the article transfer device 1 move up and down along the direction perpendicular to the conveying platform 12, and do not occupy the space in the horizontal direction, so the occupied space is small, saving space, thereby improving the Space utilization.
  • the conveying platform 12 can exchange items with the conveying device 2, and the conveying device 2 can transport the articles to a preset position, or distribute the articles. pick.
  • a plurality of loading plates 13, conveying platforms 12 and racks 11 are integrated into an article transfer device, and the article transfer between the article storage mechanism and the transfer device 2 can be completed through the article transfer device. Transshipment, item exchange efficiency is high. Moreover, the article transfer device has a simple structure, and the cost of article transfer is low.
  • an embodiment of the present disclosure provides a storage system, which includes: a conveying device 2, an article storage mechanism 3, and the above-mentioned article transfer device 1; the article transfer device 1 is connected to the transfer device 2; the article transfer device 1, Used for item exchange with the item storage mechanism 3 and the conveying device 2 respectively.
  • the article storage mechanism 3 can transfer articles to the conveying device 2 through the article transfer device 1 , and the transfer device 2 can also transfer articles to the article storage mechanism 3 through the article transfer device 1 .
  • an item transfer device 1 is provided between the item storage mechanism 3 and the transfer device 2, and the item exchange between the item storage mechanism 3 and the transfer device 2 can be completed through the item transfer device 1.
  • each loading plate 13 of the article transfer device 1 is provided with a first comb-tooth structure 131
  • the conveying platform 12 is provided with a second comb-tooth structure 121 matching the first comb-tooth structure 131, when passing through the article transfer device 1
  • a plurality of loading plates 13 move along a direction perpendicular to the delivery platform 12, and the first comb structure 131 of each loading plate 13 passes through the plane where the second comb structure 121 of the delivery platform 12 is located, and passes through In this way, the object loading plate 13 transfers the articles on it to the conveying platform 12 or receives the articles transferred by the conveying platform 12 , thereby realizing the exchange of articles between the article transfer device 1 and the conveying platform 12 .
  • the plurality of loading boards 13 in the article transfer device 1 move up and down along the direction perpendicular to the conveying platform 12, and do not occupy the space in the horizontal direction, so the occupied space is small, which saves space and improves the space. utilization rate.
  • the item storage mechanism 3 may be a bin robot.
  • the bin robot 3 There are multiple article storage locations on the bin robot 3, and articles can be placed in each article storage location.
  • the number of article storage positions on the bin robot 3 is the same as the number of loading plates 13 in the article transfer device 1, so that the bin robot 3 can simultaneously place the articles on all its article storage positions on the load of the article transfer device 1
  • the object loading plate 13 can also place the items on it to the item storage position of the bin robot, reducing the time occupied by the bin robot, thereby improving the efficiency of item exchange.
  • the conveying device 2 may be a roller conveyor line. Through the roller conveying line, the articles transferred by the article storage mechanism 3 can be transferred to the conveying platform 12 or the articles transferred by the conveying platform 12 can be transferred to the article storage mechanism 3, and the article transfer efficiency is high.
  • the item storage mechanism 3 is not limited to the bin robot, in the embodiment of the present disclosure, the operator can also place the items on the multiple loading plates 13 of the item conveying device 2 in sequence, and then the multiple loading plates The exchange of items between the plate 13 and the conveying platform 12 takes place.
  • the conveying device 2 is not limited to the roller conveyor line, and the conveying device 2 may also be a conveyor belt. Both conveyor belts and roller conveyors can deliver items to preset locations, or operators can sort items while they are being conveyed by belt or roller conveyors.
  • the article storage mechanism 3 is a box robot
  • the conveying device 2 is a roller conveying line
  • the box robot transfers articles to the conveying device 2 through the article transfer device 1 as an example for illustration.
  • items are placed in multiple item storage locations of the bin robot, and the bin robot can move to the item transfer device 1, and place the items in all item storage positions of the bin robot into the multiple items of the item transfer device 1.
  • each loading plate 13 the lifting assembly 14 controls a plurality of loading plates 13 to move downward, and the first comb structure 131 of each loading plate 13 passes through the second comb structure of the conveying platform 12, and the loading is carried
  • the articles 9 on the plate 13 are transferred to the conveying platform 12 , and the conveying platform 12 conveys the articles 9 to the roller conveying line 2 .
  • the storage system provided by the embodiment of the present disclosure includes an item transfer device 1, a transmission device 2, and an item storage mechanism 3.
  • the item transfer device 1 can cooperate with the item storage mechanism 3 and the transfer device 2 to complete item transfer, and the item conversion efficiency is high.
  • the device has a small volume and takes up little space.
  • the system is simple in structure and low in cost.

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Abstract

一种物品转运装置（1），包括：机架（11）、升降组件（14）、输送平台（12）和多个载物板（13）。其中，多个载物板通过升降组件与机架连接，机架的机腔底部设有输送平台。多个载物板中的每个载物板设有包括多个第一载物杆（131）的第一梳齿结构（311），输送平台设有与第一梳齿结构匹配的、包括多个第二载物杆（121）的第二梳齿结构；当通过物品转运装置转运物品时，升降组件用于控制多个载物板沿垂直于输送平台的方向运动，多个载物板的第一梳齿结构穿过输送平台的第二梳齿结构所在平面，以使得多个载物板与输送平台进行物品交换。

Description

物品转运装置和仓储系统
相关申请交叉引用
本申请要求于2021年10月22日提交的、申请号为202111236211.1的中国专利申请的优先权，该申请的全文以引用的方式并入本文中。
技术领域
本公开涉及物流运输技术领域，特别涉及一种物品转运装置和仓储系统。
背景技术
目前，人们越来越偏好于网上购物，用户下单后，物品通过物流运输的方式送到用户手中。物品在物流运输过程中一般会经过多个地方转运，物品每运输到一个转运地，一般先将物品存储到货柜上，然后料箱机器人从货柜上取货，将取下的物品放到物品转运装置上，物品转运装置将物品传送给传送带，在传送带传送过程中将不同目的地的物品分拣出来，然后运输到目的地或者下一个转运地。
发明内容
根据本公开一方面，提供了一种物品转运装置，所述装置包括：机架，所述机架包括机腔；升降组件；输送平台，设置在所述机架的机腔的底部；和多个载物板，用于通过所述升降组件与所述机架连接；其中，所述多个载物板中的每个载物板设有包括多个第一载物杆的第一梳齿结构，所述输送平台设有与所述第一梳齿结构匹配的、包括多个第二载物杆的第二梳齿结构；当通过所述物品转运装置转运物品时，所述升降组件用于控制所述多个载物板沿垂直于输送平台的方向运动，所述多个载物板的所述第一梳齿结构穿过所述输送平台的所述第二梳齿结构所在平面，以使得所述多个载物板与所述输送平台进行物品交换。
在一些实施例中，对于所述多个第一载物杆中的每个第一载物杆，该第一载物杆为可伸缩杆；当所述多个载物板中的每个载物板穿过所述输送平台所在平面，向所述输送平台转运物品时，所述升降组件用于控制该载物板的多个可伸缩杆收缩且控制该载物板向下运动；当所述多个载物板中的每个载物板穿过所述输送平台所在平面，接收所述输送平台转运的物品时，所述升降组件用于控制该载物板的所述多个可伸缩杆伸长且控制该载物板向上运动。
在一些实施例中，所述多个第一载物杆与所述多个第二载物杆错位设置。
在一些实施例中，对于所述多个第一载物杆中的每个第一载物杆，该第一载物杆为不可伸缩杆；当所述多个载物板中的每个载物板穿过所述输送平台所在平面，向所述输送平台转运物品时，所述升降组件用于控制该载物板的多个不可伸缩杆穿过所述多个第二载物杆向下运动；当所述多个载物板中的每个载物板穿过所述输送平台所在平面，接收所述输送平台转运的物品时，所述升降组件用于控制该载物板的所述多个不可伸缩杆向上运动。
在一些实施例中，所述物品转运装置还包括：控制机构；所述控制机构设置于所述机架的内部，或者设置于所述机架的外侧；所述控制机构用于控制所述多个第二载物杆、所述多个载物板以及用于传送物品的传送装置以进行物品交换。
在一些实施例中，对于所述输送平台的多个第二载物杆中的每个第二载物杆，该第二载物杆为转动杆；所述控制机构用于控制所述输送平台的转动杆转动，以在所述输送平台的转动杆转动过程中使所述输送平台与所述传送装置进行物品交换。
在一些实施例中，对于所述输送平台的多个第二载物杆中的每个第二载物杆，该第二载物杆为可伸缩杆；当所述每个载物板穿过所述输送平台所在平面，与所述输送平台进行物品交换时，所述控制机构用于控制所述输送平台的可伸缩杆伸长或收缩；所述控 制机构还用于控制所述可伸缩杆转动，以在所述输送平台的可伸缩杆转动过程中使所述输送平台与所述传送装置进行物品交换。
在一些实施例中，所述多个载物板包括第一载物板和第二载物板；所述第一载物板位于所述第二载物板下方；所述第一载物板下落至所述输送平台下方的第一预定位置后停止下落，所述第二载物板下落至叠落在所述第一载物板上；所述第二载物板自下而上移动至第二预定位置，所述第二载物板上的挂接部与所述第一载物板上的限位部相挂接，所述第二载物板继续向上移动，通过所述第二载物板上的挂接部带动所述第一载物板向上移动。
在一些实施例中，所述多个载物板包括第一载物板和第二载物板；所述第一载物板包括载物板本体，在所述载物板本体上横向设有所述第一梳齿结构，在所述载物板本体的竖向设有导向结构，在所述导向结构远离所述载物板本体的一端设有限位部；所述第二载物板上设有挂接部，所述第一载物板位于所述第二载物板下方，所述第一载物板通过所述第一载物板的限位部挂接在所述第二载物板的挂接部上；其中，所述第二载物板的挂接部位于所述第一载物板的导向结构内，以使所述第二载物板沿所述第一载物板的导向结构上下移动。
在一些实施例中，所述载物板本体上竖向设置的导向结构包括呈长条型的导向件，在所述导向件上，沿所述导向件的长度方向设有导向槽；所述导向槽的顶端具有所述限位部；所述第二载物板的挂接部设在所述第一载物板的导向槽中，以使所述第二载物板沿所述第一载物板的导向槽上下移动。
在一些实施例中，针对所述多个载物板中的每个载物板，该载物板的导向件包括第一导向件和第二导向件，所述第一导向件和所述第二导向件并行设置在该载物板的载物板本体的两侧；沿所述第一导向件的长度方向设有第一导向槽，沿所述第二导向件的长度方向设有第二导向槽，所述第二载物板的挂接部，包括第一挂接部和第二挂接部；所述第二载物板的第一挂接部设在所述第一载物板的第一导向槽中，所述第二载物板的第二挂接部设在所述第一载物板的第二导向槽中。
在一些实施例中，所述机架包括第一立柱和第二立柱，所述第一立柱和所述第二立柱相对平行设置，在所述第一立柱和所述第二立柱之间形成所述机腔；在所述第一立柱上，沿所述第一立柱的长度方向设有第三导向槽；在所述第二立柱上，沿所述第二立柱的长度方向设有第四导向槽；所述第三导向槽和所述第四导向槽相对应；所述第二载物板的第一挂接部的端部，位于所述第一载物板的第一导向槽的外部，且处于所述第三导向槽中，以使所述第一载物板和所述第二载物板沿所述第三导向槽上下移动；所述第二载物板的第二挂接部的端部，位于所述第一载物板的第二导向槽的外部，且处于所述第四导向槽中，以使所述第一载物板和所述第二载物板沿所述第四导向槽上下移动。
在一些实施例中，在所述载物板本体上竖向设置的导向结构包括呈长条型的导向件，在所述导向件上，沿所述导向件的长度方向设有导向面；所述导向面的顶端设有所述限位部；所述第二载物板的挂接部与所述第一载物板的导向面相配合，以使所述第二载物板沿所述第一载物板的导向面上下移动。
在一些实施例中，针对所述多个载物板中的每个载物板，该载物板的导向件包括第三导向件和第四导向件，所述第三导向件和所述第四导向件并行设置在该载物板的载物板本体的两侧，在所述第三导向件和所述第四导向件的顶端设有所述限位部；沿所述第三导向件的长度方向设有第一导向面，沿所述第四导向件的长度方向设有第二导向面；所述第二载物板的挂接部，包括第三挂接部和第四挂接部，所述第二载物板的第三挂接部与所述第一载物板第一导向面相配合，以使所述第二载物板的第三挂接部沿所述第一载物板的第一导向面上下移动；所述第二载物板的第四挂接部与所述第一载物板的第二导向面相配合，以使所述第二载物板的第四挂接部沿所述第一载物板的第二导向面上下移动。
在一些实施例中，所述机架包括第一立柱和第二立柱，所述第一立柱和所述第二立柱相对平行设置，在所述第一立柱和所述第二立柱之间形成所述机腔；在所述第一立柱上，沿所述第一立柱的长度方向设有第三导向槽；在所述第二立柱上，沿所述第二立柱的长度方向设有第四导向槽；所述第三导向槽和所述第四导向槽相对应；在所述多个载物板中，至少一个载物板的第一侧设有第一凸起部，该至少一个载物板的第二侧设有第二凸起部；所述第一凸起部位于所述第三导向槽中，以使该至少一个载物板沿所述第三导向槽上下移动；所述第二凸起部位于所述第四导向槽中，以使该至少一个载物板沿所述第四导向槽上下移动。
在一些实施例中，所述升降组件包括驱动机构和与所述驱动机构相连的牵引件，所述牵引件与所述多个载物板中的最上层的载物板相连接。
在一些实施例中，所述多个载物板中，处于所述输送平台上方的两个相邻载物板之间的距离，大于处于所述输送平台下方的两个相邻载物板之间的距离。
根据本公开另一方面，提供了一种仓储系统，包括：传送装置、物品存储机构以及上述的物品转运装置；所述物品转运装置与所述传送装置连接；所述物品转运装置，用于分别与所述物品存储机构和所述传送装置进行物品交换。
在一些实施例中，所述物品存储机构为料箱机器人。
在一些实施例中，所述传送装置为滚筒输送线。
本公开实施例提供的技术方案带来的有益效果是：
本公开实施例提供了一种物品转运装置，由于该装置的每个载物板设有第一梳齿结构，输送平台设有与第一梳齿结构匹配的第二梳齿结构，当通过该物品转运装置转运物品时，多个载物板沿垂直于输送平台的方向运动，每个载物板的第一梳齿结构均穿过输送平台的第二梳齿结构所在平面，通过这种方式载物板将其上的物品转给输送平台或者接收输送平台转运的物品，实现物品转运装置与输送平台之间的物品交换。由此可见，该装置中的多个载物板沿垂直于输送平台的方向上下运动，不会占用水平方向上的空间，因此占用空间较小，节约了空间，从而提高了空间利用率。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性的，并不能限制本公开。
附图说明
图1是本公开实施例提供的一种物品转运装置的示意图；
图2是本公开实施例提供的一种载物板的示意图；
图3是本公开实施例提供的一种输送平台的示意图；
图4是本公开实施例提供的一种载物板与输送平台之间进行物品交换的示意图；
图5是本公开实施例提供的一种载物板在输送平台下方呈堆叠状态的示意图；
图6是本公开实施例提供的一种物品存储机构、物品转运装置与传送装置之间进行物品交换的示意图；
图7为本公开实施例中相邻两个载物板相互挂接的结构示意图；
图8为图7中第一载物板的结构示意图；
图9为本公开另一实施例中相邻两个载物板相互挂接的结构示意图；
图10为图9中第一载物板的结构示意图；
图11为本公开另一实施例中多个载物板挂接在一起的结构示意图；
图12为多个载物板叠落在一起的结构示意图。
具体实施方式
为使本公开的技术方案和优点更加清楚，下面对本公开实施方式作进一步地详细描述。
相关技术中的物品转运装置包括卸料机、升降机和输送机，卸料机包括多层储货层， 但该多层储货层的位置固定，无法直接与传送带对接，因此，通过输送机与传送带对接。但卸料机与输送机的位置固定，无法移动，因此，通过可自由移动的升降机在卸料机与输送机之间转运物品，从而实现在料箱机器人与传送带之间进行物品转运。
但上述设备如输送机、升降机和卸料机，每个设备都会占用一定的空间，物品转运装置占用空间较大，导致空间利用率较低。
本公开实施例提供了一种物品转运装置1，参见图1，该物品转运装置1包括：机架11、升降组件14、输送平台12和多个载物板13；多个载物板13通过升降组件14与机架11连接，且机腔的底部设有输送平台12；每个载物板13设有包括多个第一载物杆131的第一梳齿结构，输送平台12设有与第一梳齿结构匹配的、包括多个第二载物杆121的第二梳齿结构；其中，多个载物板13通过升降组件14与所述机架11连接，包括：多个载物板13通过升降组件14设置于机架11的机腔内、或多个载物板13通过升降组件14设置于所述机架11的外侧，对应地，输送平台12设在机架的底部或底部的一侧。
当通过物品转运装置1转运物品时，升降组件14用于控制多个载物板13沿垂直于输送平台的方向运动，多个载物板13的第一梳齿结构穿过输送平台12的第二梳齿结构所在平面，以使得多个载物板13与输送平台12进行物品交换。
每个载物板13均设有第一梳齿结构，该第一梳齿结构包括多个第一载物杆131，该多个第一载物杆131的数量可以根据需要进行设置并更改，例如，第一载物杆131的数量为5个，参见图2。
第一载物杆131的长度可以根据需要进行设置并更改，例如，第一载物杆131的长度可以为30厘米至50厘米。第一载物杆131的直径可以根据需要进行设置并更改，例如，第一载物杆131的直径可以为2厘米至5厘米。第一载物杆131的材质可以根据需要进行设置并更改，例如，第一载物杆131的材质可以为铸铁或合金，该合金可以为不锈钢。
输送平台12设有与第一梳齿结构匹配的第二梳齿结构，第二梳齿结构包括多个第二载物杆121，参见图3。该多个第二载物杆121的数量、长度、直径和材质均可以根据需要进行设置并更改，在本公开实施例中，对此不作具体限定。
在本公开实施例中，在包括多个第一载物杆131的第一梳齿结构在穿过输送平台12的第二梳齿结构所在平面的过程中，不仅可以向输送平台12转运物品，还可以接收输送平台12转运的物品，从而与输送平台12之间进行物品交换。并且，第一梳齿结构和第二梳齿结构的结构简单，占用体积小，成本低。
在一些实施例中，相邻两个第一载物杆131之间以第一预设间隔排列，相邻两个第二载物杆121之间以第二预设间隔排列。
该实现方式中，第一预设间隔和第二预设间隔可以相等，也可以不相等。若第一预设间隔和第二预设间隔相等，第一预设间隔和第二预设间隔可以为任一值，例如，第一预设间隔和第二预设间隔可以均为10厘米或者均为20厘米。这种情况下，第一载物杆131从相邻两个第二载物杆121的中间位置穿过。
若第一预设间隔和第二预设间隔不相等，第一预设间隔可以大于或者小于第二预设间隔。例如，第一预设间隔小于第二预设间隔，第一预设间隔可以为10厘米，第二预设间隔可以为11厘米或者12厘米。例如，第一预设间隔大于第二预设间隔，第二预设间隔为10厘米，第一预设间隔可以为11厘米或者12厘米。这种情况下，第一载物杆131从相邻两个第二载物杆121的非中间位置穿过。
在一些实施例中，机架11的高度可以根据需要进行设置并更改，在本公开实施例中，对此不作具体限定。例如，机架11的高度为1.5米至2米。
在一些实施例中，机架11的材质可以根据需要进行设置并更改，在本公开实施例中，对此不作具体限定。例如，机架11的材质可以为铸铁或者合金，该合金可以为不锈钢。
在一些实施例中，机架11的底部还可以设置锁止万向轮，通过锁止万向轮实现自由 移动，并且在到达预设位置时，可以及时停止，然后进行物品交换。
其中，锁止万向轮的数量可以根据需要进行设置并更改，在本公开实施例中，对此不作具体限定。例如，锁止万向轮的数量为一个或多个。
在一些实施例中，参见图2，载物板13的两侧与升降组件14连接，升降组件14在升降过程中可以带动载物板13沿垂直于地面的方向上下运动。
在该实现方式中，载物板13的两侧与升降组件14之间的连接方式可以根据需要进行设置并更改，例如，该连接方式为可拆卸连接或固定连接。该可拆卸连接方式例如可以为榫卯连接或者螺纹连接，固定连接方式例如可以为焊接。
在一些实施例中，载物板13的材质可以根据需要进行设置并更改，例如，载物板13的材质为木材、铸铁或合金。若载物板13的材质为木材，上述连接方式可以为榫卯连接，若载物板13的材质为铸铁或合金，上述连接方式可以为螺纹连接。
在一些实施例中，载物板13的厚度可以根据需要进行设置并更改，在本公开实施例中，对此不作具体限定。例如，载物板13的厚度可以为1厘米至2厘米。
在一些实施例中，载物板13的数量可以根据需要进行设置并更改，例如，载物板13的数量为6至8个或更多。在本公开实施例中，以载物板13的数量与物品存储机构(例如，料箱机器人)中物品储存位置的数量相同为例进行说明。若物品存储机构中物品储存位置的数量为6个，则载物板13的数量为6个，若物品存储机构中物品储存位置的数量为8个，则载物板13的数量为8个。如此设置，可以实现载物板13同时取走物品存储机构中所有物品储存位置上的物品，或者，将载物板13上所有的物品同时放置到物品存储机构中所有的物品储存位置上，减少占用物品存储机构的时间，从而提高物品交换效率。
在一些实施例中，在多个载物板中，相邻的两个载物板13之间可通过挂接的方式连接在一起。
在一些实施例中，多个载物板中的相邻两个载物板可包括第一载物板和第二载物板；第一载物板包括载物板本体，在载物板本体上横向设有第一梳齿结构，竖向设有导向结构，在导向结构远离载物板本体的一端设有限位部；第二载物板上设有挂接部，第一载物板位于第二载物板下方，并且第一载物板可通过所述第一载物板的限位部挂接在第二载物板上的挂接部上。其中，所述第二载物板的挂接部可位于所述第一载物板的导向结构内，以使所述第二载物板沿所述第一载物板的导向结构上下移动，例如上下滑动或上下滚动。
在将物品从载物板13交换至输送平台12的过程中，第一载物板下落至输送平台下方第一预定位置后，支撑在地面或支撑件或第一载物板下方的另一载物板上后停止下落。所述第二载物板下落直至叠落在所述第一载物板上。
第一载物板可以靠自重下落。当第一载物板停止下落后第二载物板继续下落，此时第二载物板上的挂接部，与第一载物板上的限位部相脱离，并沿第一载物板上的导向结构向下移动，直至第二载物板下落至第一载物板上。第二载物板下落后可以叠落在第一载物板上，使得第二载物板与第一载物板之间的空间结构更加紧凑，可减少所占用的立体空间。
在第一载物板停止下落后，在第二载物板继续下落直至叠落在第一载物板上的过程中，第二载物板与第一载物板之间的上下距离由大变小，直至第二载物板叠落在第一载物板上。
在将物品从输送平台12交换至载物板13的过程中，第二载物板自下而上移动至第二预定位置后，第二载物板上的挂接部与第一载物板上的限位部相挂接，第二载物板继续向上移动，通过第二载物板上的挂接部带动所述第一载物板向上移动。
在第二载物板叠落在第一载物板上之后，若将第二载物板向上提升(如依靠第二载物板上方的其它载物板的牵引提升)，则在第二载物板向上提升的过程中，第二载物板 上的挂接部沿第一载物板上的导向结构向上移动或滚动。当第二载物板自下而上移动至第二预定位置后，比如移动到输送平台上方的第二预定位置后，第二载物板上的挂接部与第一载物板上的所述限位部相挂接，第二载物板继续向上移动，通过所述第二载物板上的挂接部带动第一载物板向上移动。
在第二载物板由在第一载物板上的叠落位置，逐渐向上提升直至挂接住第一载物板并连同第一载物板一起上升的过程中，第二载物板与第一载物板之间的上下距离由小变大，直至达到二者之间的最大距离值。
第一载物板和第二载物板是相对而言的。在多个载物板中，上下相邻设置的任意两个载物板均可称为第一载物板和第二载物板，处于下方的一载物板可以称为第一载物板，处于上方的一载物板可以称为第二载物板。
多个载物板中相邻的两个载物板之间，均可采用上述的第一载物板和第二载物板之间挂接的连接方式，这样可实现各载物板在输送平台下方的堆叠，减少对空间的占用。
在多个载物板均采用上述的第一载物板和第二载物板之间挂接的连接方式时，处于最上层的载物板可以不用设置所述导向件，可以直接与升降组件相连。
升降组件可以包括驱动机构和与所述驱动机构相连的牵引件，所述牵引件可以与所述多个载物板中的最上层的载物板相连接。驱动机构可包括电机和与电机相连的减速器等。牵引件可以是与驱动机构相连的柔性绳索、链条或皮带等。在其它实施例中，各载物板也可分别挂在柔性牵引件上。
图7为本公开一实施例中相邻两个载物板相互挂接的结构示意图。
多个载物板可包括第一载物板a1和第二载物板a2，第一载物板a1挂接在第二载物板a2的下方。
图8为图7中第一载物板a1的结构示意图，参看图8，第一载物板a1包括载物板本体a11，在载物板本体a11上横向设有第一梳齿结构311，竖向设有呈长条型的导向件a12，在导向件a12上沿所述导向件a12的长度方向设有导向槽a13；导向槽a13的顶端具有限位部a14。
导向件a12为导向板，导向槽a13的顶端可为封闭端，以形成所述限位部a14。在其它实施例中，所述导向件a12也可为导向柱。
参看图7，第二载物板a2上设有挂接部a21，挂接部a21为柱销，可沿导向槽a13上下滑动。可在挂接部a21上安装套筒，以便挂接部a21可沿导向槽a13上下滚动。在其它例子中，挂接部a21也可为可沿导向槽a13上下滑动的块状体，如矩形块等。
本实施例中，若第一载物板a1不是处于最下层的一载物板，则第一载物板上也设有挂接部，用于挂接第一载物板下方的另一载物板。图7中示出的第一载物板不是多个载物板中最下层的载物板。
参看图8，为使第二载物板a2上下移动的过程相对平稳，所述导向件a12可以包括第一导向件a121和第二导向件a122，第一导向件a121和第二导向件a122并行设置在第一载物板a1上的载物板本体a11的两侧；沿第一导向件a121的长度方向设有第一导向槽a131，沿第二导向件a122的长度方向设有第二导向槽a132；第二载物板a2上的所述挂接部a21，可以包括第一挂接部a211和第二挂接部(图7中未示出)，第一挂接部a211和第二挂接部分别设在第二载物板a2的两侧。第二载物板a2的第一挂接部a211设在第一载物板a1的第一导向槽a131中，第二载物板a2的第二挂接部设在第一载物板a1的第二导向槽a132中。
在第一载物板a1停止下落后且在第二载物板a2继续下落的过程中，第一载物板a1的第一导向槽a131和第二导向槽a132可以为第二载物板a2的两侧提供导向，从而可减少第二载物板a2在下落的过程中发生倾斜或倾翻的情况发生。
在第二载物板a2自在第一载物板a1上的叠落位置上升过程中，通过第一载物板a1的第一导向槽a131和第二导向槽a132可以为第二载物板a2的两侧提供导向，防止第 二载物板a2在上升的过程中发生倾斜或倾翻；在第二载物板a2上升到第二预定位置后，第二载物板a2两侧的第一挂接部a211和第二挂接部分别与第一载物板a1两侧的限位部a14相挂接，从而第二载物板a2可平稳地带动第一载物板a1一起上移，可减少第一载物板a1在上升的过程中发生倾斜甚至倾翻的情况发生。
图9为本公开另一实施例中相邻两个载物板相互挂接的结构示意图，参看图9，多个载物板可包括第一载物板b1和第二载物板b2，第一载物板b1挂接在第二载物板b2的下方。
图10为图9中第一载物板b1的结构示意图，参看图10，在第一载物板b1上的载物板本体b11上竖向设置有导向结构，该导向结构可包括呈长型的导向件b12，在导向件b12上沿导向件b12的长度方向设有导向面b13；导向面b13的顶端设有限位部b14。
参看图9，第二载物板b2上设有挂接部b21，挂接部b21为矩形块，第二载物板b2的挂接部b21与第一载物板b1的导向面b13相配合，以使第二载物板b2可沿第一载物板b1的导向面b13上下移动，例如滑动。也可在第二载物板b2的挂接部b21上设置滚珠等滚动体，以使第二载物板b2的挂接部b21可沿第一载物板b1的导向面b13上下滚动。
参看图10，第一载物板b1上的导向件b12可以为导向柱。导向面b13可以为导向柱的一竖向侧面。限位部b14可以为导向面b13的顶端的限位块。在其它例子中，导向件b12也可为导向板，挂接部b21也可为其它形状的块状体。
参看图9及图10，为使第二载物板b2上下移动的过程相对平稳，导向件b12包括第三导向件b121和第四导向件b122，第三导向件b121和第四导向件b122并行设置在第一载物板b1上的载物板本体b11的两侧，在第三导向件b121和第四导向件b122的顶端设有限位部b14；其中，所述限位部b14由第三导向件b121和第四导向件b122的顶端连接的横梁所形成。
沿所述第三导向件b121的长度方向设有第一导向面b131，沿第四导向件b122的长度方向设有第二导向面(图9中未示出)；第二载物板b2上的挂接部b21，包括第三挂接部b211和第四挂接部b212，第三挂接部b211和第四挂接部b212相对间隔设置在第二载物板b2上。第二载物板b2的第三挂接部b211与第一载物板b1的第一导向面b131相配合，以使第二载物板b2可以沿第一载物板b1的第一导向面b13上下移动，例如滑动；第二载物板b2的第四挂接部b212与第一载物板b1的第二导向面相配合，以使第二载物板b2可以沿第一载物板b1的第二导向面上下滑动。
在第一载物板b1停止下落后且在第二载物板b2继续下落的过程中，通过第一载物板b1的第一导向面b13和第二导向面可以为第二载物板b2提供导向，可减少第二载物板b2在下落的过程中发生倾斜或倾翻的情况发生。
在第二载物板b2自在第一载物板b1上的叠落位置上升过程中，通过第一载物板b1的第一导向面b13和第二导向面可以为第二载物板b2的提供导向，防止第二载物板b2在上升的过程中发生倾斜或倾翻；在第二载物板b2上升到第二预定位置后，第二载物板b2上的第三挂接部b211和第四挂接部b212分别与第一载物板b1两侧的限位部b14相挂接，从而可平稳地带动第一载物板b1一起上移，可减少第一载物板b1在上升的过程中发生倾斜甚至倾翻的情况发生。
图11为本实施例中多个载物板挂接在一起的结构示意图，图12为多个载物板叠落在一起的结构示意图。
为了使载物板的运行更加平稳，机架11可以在载物板13的下落或上升过程中对载物板的移动进行导向。在一些实施例中，如图1所示，所述机架11包括第一立柱111和第二立柱112，第一立柱111和第二立柱112相对平行设置，在第一立柱111和第二立柱112之间形成机腔；在第一立柱111上，沿第一立柱111的长度方向设有第三导向槽1111；在第二立柱112上，沿第二立柱112的长度方向设有第四导向槽1121；第三导 向槽1111和第四导向槽1121相对应；在第一载物板(a1或b1)和/或第二载物板(a2或b2)的第一侧设有第一凸起部，在第一载物板和/或第二载物板的第二侧设有第二凸起部；第一凸起部位于第三导向槽1111中，并可带动第一载物板和/或第二载物板沿第三导向槽1111上下移动，例如滑动或滚动；第二凸起部位于第四导向槽1121中，并可带动第一载物板和/或第二载物板沿第四导向槽1121上下移动，例如滑动或滚动。
第一凸起部和第二凸起部可为柱状体或块状体等。
在图7至图8所示实施例中，第一凸起部和第二凸起部包括设在第二载物板a2两侧的第一挂接部a211和第二挂接部(图7中未示出)。在这种情况下，第二载物板a2的第一挂接部a211的端部，位于所述第一载物板a1的第一导向槽a131的外部，且处于第三导向槽1111中，以使所述第二载物板a2可沿第三导向槽1111上下移动，例如滑动或滚动；第二挂接部的端部，位于第二导向槽a132的外部，且处于第四导向槽1121中，以使所述第二载物板a2可沿第四导向槽1121上下移动，例如滑动或滚动。这样，通过第一挂接部a211和第二挂接部，既可起到对第一载物板a1挂接作用的同时，也可实现在第一立柱111和第二立柱112上的导向槽中的上下移动，例如滑动或滚动，从而使得第一载物板a1和第二载物板a2的上下移动更加平稳。
第一凸起部和第二凸起部也可包括设在第一载物板两侧的第一挂接部和第二挂接部。第一载物板两侧的第一挂接部和第二挂接部用于挂接第一载物板下方的另一载物板。
在图9至图12所示实施例中，载物板两侧的第一凸起部和第二凸起部包括设在第一载物板的载物板本体两侧的凸块b15，以及设在第二载物板的载物板本体两侧的凸块b25。
在一些实施例中，继续参见图3，输送平台12的高度可以根据需要进行设置并更改，例如，输送平台12的高度与图1中示出的传送装置2的高度一致。若传送装置2的高度为1米，则输送平台12的高度也为1米，若传送装置2的高度为1.2米，则输送平台12的高度也为1.2米。如此设置，可以便于输送平台12与传送装置2之间进行物品交换，也即输送平台12可以向传送装置2转运物品，传送装置2也可以向输送平台12转运物品。
在一些实施例中，输送平台12与机架11的机腔之间的连接方式可以根据需要进行设置并更改，例如，输送平台12与机架11的机腔之间的连接为固定连接，该固定连接可以为焊接；或者，输送平台12卡在机腔的两侧；或者，输送平台12活动连接于机腔的两侧。
在一些实施例中，输送平台12的材质也可以根据需要进行设置并更改，在本公开实施例中，对此不作具体限定。例如，输送平台12的材质为铸铁或合金，该合金可以为不锈钢。
在一些实施例中，升降组件14设置于机架11的机腔内，可以与机架11固定连接，这样有利于保持机架11在物品转运过程中的稳定性，从而提高物品转运过程中的安全性。
其中，该升降组件14可以为升降梯，或者其他可实现升降功能的部件。在本公开实施例中，对此不作具体限定。
在本公开实施例中，参见图4和图6，当该物品转运装置1要将物品转运给传送装置2时，多个载物板13接收物品存储机构3放置的物品，如图6的S1至S3所示，此时多个载物板13均位于输送平台12的上方，这时升降组件14控制载物板13向下运动，如图6的S4所示，载物板13的第一梳齿结构穿过输送平台12的第二梳齿结构所在平面，第一梳齿结构在穿过第二梳齿结构所在平面时，物品9从多个第一载物杆131转移到输送平台12的多个第二载物杆121上，从而向输送平台12转运物品，输送平台12再将物品转给传送装置2，如图6的S4至S5所示。这种情况下，对于每个载物板13，该载物板13由输送平台12的上方运动到输送平台12的下方，升降组件14可以控制载物板13在穿过输送平台12所在平面运动到机架11的机腔底端后，停止运动，多个载 物板13在输送平台12的下方堆叠，从而减少空间尺寸，参见图5。然后升降组件14控制多个载物板13由输送平台12的下方向上方运动，在到达设定位置时，多个载物板13再次接收物品存储机构3放置的物品，然后继续通过上述方式与输送平台12进行物品交换。
当该物品转运装置1接收传送装置2转运的物品9时，多个载物板13均位于输送平台12的下方，输送平台12接收传送装置2传送的物品9，升降组件14控制多个载物板13由输送平台12的下方依次向上方运动，在载物板13向上运动过程中，第一梳齿结构穿过第二梳齿结构所在平面，物品9由多个第二载物杆121转移到多个第一载物杆131上，从而使载物板13接收输送平台12转运的物品。并且，多个载物板13由堆叠状态逐渐散开，物品存储机构3从每个载物板13上取走物品，升降组件14可以控制多个载物板13由输送平台12的上方向下方运动，多个载物板13再次接收输送平台12转运的物品，然后继续通过上述方式将物品交给物品存储机构3。
当该物品转运装置1先将物品转运给传送装置2，再接收传送装置2转运的其他物品时，为了便于区分，将物品转运装置1转运给传送装置2的物品称为第一物品，物品转运装置1接收传送装置2转运的其他物品称为第二物品。升降组件14控制载物板13向下运动，第一梳齿结构穿过第二梳齿结构所在平面，第一物品从多个第一载物杆131转移到输送平台12的多个第二载物杆121上，从而实现物品转运装置1向输送平台12转运物品，输送平台12再将第一物品转给传送装置2。这种情况下，升降组件14控制载物板13在从上到下穿过输送平台12所在平面，运动到机腔底端后，停止运动，多个载物板13在输送平台12的下方堆叠。在输送平台12接收传送装置2传送来的第二物品时，升降组件14控制载物板13向上运动，第一梳齿结构穿过第二梳齿结构所在平面，物品由多个第二载物杆121转移到多个第一载物杆131上，从而接收输送平台12转运的第二物品。
对于该物品转运装置1先接收传送装置2转运的第二物品，再将第一物品转运给传送装置2的情况，与上述情况相似，在此不再赘述。
本公开实施例提供了一种物品转运装置1，由于该装置的每个载物板13设有第一梳齿结构131，输送平台12设有与第一梳齿结构131匹配的第二梳齿结构121，当通过该装置转运物品时，多个载物板13沿垂直于输送平台12的方向运动，每个载物板13的第一梳齿结构131均穿过输送平台12的第二梳齿结构121所在平面，通过这种方式载物板13将其上的物品转给输送平台12或者从输送平台12接收转运的物品，从而实现物品转运装置1与输送平台12之间的物品交换。由此可见，该装置中多个载物板13均沿垂直于输送平台12的方向上下运动，不会占用水平方向上的空间，因此占用空间较小，节约了空间，从而提高了空间利用率。
需要说明的是，本公开实施例中的物品可以为规则物品，也可以为不规则物品，可以为服装、日用品或者其他物品，本公开对此不作具体限定。并且，物品可以直接放置在载物板13上，也可以通过载物箱放置在载物板13上。在本公开实施例中，对此不作具体限定。
在一些实施例中，对于每个第一载物杆131，第一载物杆131为可伸缩杆；当每个载物板13穿过输送平台12所在平面，向输送平台12转运物品时，升降组件14用于控制载物板13的多个可伸缩杆收缩，且控制载物板13向下运动；当每个载物板13穿过输送平台12所在平面，接收输送平台12转运的物品时，升降组件14用于控制载物板13的多个可伸缩杆伸长，且控制载物板13向上运动。
该实施方式中，若多个载物板13向输送平台12转运物品，多个载物板13先接收物品存储机构3放置的物品，此时多个载物板13均位于输送平台12的上方，且每个载物板13的多个可伸缩杆均处于伸长状态。对于每个载物板13，升降组件14可以控制该载物板13的多个可伸缩杆向下运动，在该载物板13运动到与输送平台12之间的距离 达到预设距离时，控制该载物板13的多个可伸缩杆收缩，这样多个可伸缩杆上的物品就会掉落到输送平台12上，从而实现从载物板13向输送平台12转运物品。载物板13通过这种方式向输送平台12转运物品后，升降组件14可以控制载物板13继续向下运动，直到载物板13运动到机架11的机腔底端后，停止运动，多个载物板13在输送平台12的下方堆叠，从而减少空间尺寸。当多个载物板13均向输送平台12转运完物品后，升降组件14可以控制多个载物板13由输送平台12的下方向上方运动，在最上层的载物板13到达设定位置后，升降组件14控制每个载物板13的多个可伸缩杆伸长，多个载物板13再次接收物品存储机构3放置的物品，然后继续通过上述方式向输送平台12转运物品。
若多个载物板13接收输送平台12转运的物品，多个载物板13均位于输送平台12的下方，输送平台12接收传送装置2传送的物品，升降组件14控制多个载物板13由输送平台12的下方依次向上方运动，且控制每个载物板13的每个可伸缩杆伸长。在载物板13向上运动过程中，每个载物板13的多个可伸缩杆均穿过输送平台12所在平面，物品由多个第二载物杆121转移到载物板13的多个可伸缩杆上，从而载物板13接收输送平台12转运的物品。并且，多个载物板13由堆叠状态逐渐散开，在最上层的载物板13到达设定位置后，停止运动，物品存储机构3取走每个载物板13上的物品，然后升降组件14控制每个载物板13的每个可伸缩杆收缩，且控制每个载物板13向下运动，然后继续通过上述方式接收输送平台12转运的物品。
若多个载物板13先向输送平台12转运物品，再接收输送平台12转运的其他物品时，为了便于区分，将载物板13向输送平台12转运的物品称为第一物品，载物板13接收输送平台12转运的其他物品称为第二物品。在多个载物板13向输送平台12转运第一物品的过程中，升降组件14控制每个载物板13的多个可伸缩杆向下运动，在载物板13运动到与输送平台12之间的距离达到预设距离时，控制载物板13的多个可伸缩杆收缩，这样载物板13的多个可伸缩杆上的第一物品就会掉落到输送平台12上，实现从载物板13向输送平台12转运第一物品。升降组件14控制载物板13继续向下运动，直到载物板13运动到机架11的机腔底端后，停止运动，多个载物板13在输送平台12的下方堆叠。在多个载物板13接收输送平台12转运的第二物品的过程中，输送平台12接收传送装置2传送的第二物品，升降组件14控制多个载物板13向上运动，且控制载物板13的每个可伸缩杆伸长，在载物板13向上运动过程中，每个载物板13的多个可伸缩杆均穿过输送平台12所在平面，物品由多个第二载物杆121转移到载物板13的多个可伸缩杆上，从而接收输送平台12转运的第二物品。并且，多个载物板13由堆叠状态逐渐散开，在最上层的载物板达到设定位置后，载物板13停止运动，物品存储机构3取走每个载物板13上的第二物品，然后多个载物板13和输送平台12可以继续通过上述方式进行物品交换。
对于多个载物板13先接收输送平台12转运的物品，再向输送平台12转运物品的情况，与上述相似，在此不再赘述。
需要说明的是，每个载物板13内可以设置传感器，例如，距离传感器，升降组件14通过传感器感知该载物板13与输送平台12之间的距离。在载物板13向下运动到与输送平台12之间的距离达到预设距离时，该预设距离可以根据需要进行设置并更改，例如，预设距离为1厘米至2厘米。在载物板13中的距离传感器感知到载物板13向下运动到与输送平台12之间的距离达到预设距离时，可向升降组件14发送收缩信号，升降组件14响应于接收到该收缩信号，与载物板13通信以使第一载物杆收缩。
在本公开实施例中，通过升降组件14可以灵活控制第一载物杆131伸缩，在伸缩过程中实现载物板13与输送平台12之间进行物品交换，不仅可以使载物板13尽可能少地占用空间，还可以提高物品交换效率。
在一些实施例中，对于每个第一载物杆131，继续参见图2，该第一载物杆131为 不可伸缩杆；当每个载物板13穿过输送平台12所在平面，向输送平台12转运物品时，升降组件14用于控制每个载物板13的多个不可伸缩杆穿过多个第二载物杆121向下运动；当每个载物板13穿过输送平台12所在平面，接收输送平台12转运的物品时，升降组件14用于控制每个载物板13的多个不可伸缩杆穿过输送平台12所在平面向上运动。
在本公开实施例中，多个第一载物杆131与多个第二载物杆121错位设置，当载物板13与输送平台12处于同一平面时，多个第一载物杆131和多个第二载物杆121错位，以使多个第一载物杆131顺利从多个第二载物杆121之间穿过，在穿过多个第二载物杆121的过程中实现载物板13与输送平台12之间的物品交换，如此设置，结构简单，且物品交换的效率高。
在一些实施例中，继续参见图4，物品转运装置1还包括：控制机构15；控制机构15与所述机架11连接，例如可以设置于机架11的内部，或者设置于机架11的外侧；控制机构15用于控制多个第二载物杆121、多个载物板13以及用于传送物品的传送装置2以进行物品交换。
在该实施方式中，该控制机构15可以通过控制多个第二载物杆121转动，在多个第二载物杆121转动的过程中与传送装置2进行物品交换。其中，该控制机构15可以根据需要进行设置并更改，例如，该控制机构15可以包括驱动电机。
在本公开实施例中，通过控制机构15可以灵活控制输送平台12与传送装置2进行物品交换，提高物品交换效率。
在一些实施例中，对于输送平台12的每个第二载物杆121，该第二载物杆121可以为转动杆；控制机构15用于控制输送平台12的转动杆转动，在转动杆转动过程中与传送装置2进行物品交换。
在该实施方式中，若输送平台12向传送装置2转运物品，控制机构15可以控制输送平台12的转动杆向第一方向转动，在输送平台12的转动杆转动过程中向传送装置2转运物品。若传送装置2向输送平台12转运物品，控制机构15可以控制输送平台12的转动杆向第二方向转动，在转动过程中输送平台12接收传送装置2转运的物品。其中，第一方向与第二方向为相反的方向，转动杆可以为滚筒。
在本公开实施例中，转动杆在转动过程中就可以与传送装置2进行物品交换，物品交换效率高。
在一些实施例中，对于输送平台12的每个第二载物杆121，第二载物杆121可以为可伸缩杆；当每个载物板13穿过输送平台12所在平面，与输送平台12进行物品交换时，控制机构15可以用于控制输送平台12的可伸缩杆伸长或收缩；控制机构15，还用于控制输送平台12的可伸缩杆转动，在输送平台12的可伸缩杆转动过程中与传送装置2进行物品交换。
在该实施方式中，控制机构15可以控制输送平台12的可伸缩杆的伸缩与转动。若载物板13与输送平台12之间进行物品交换，控制机构15可以控制输送平台12的可伸缩杆伸长，这样多个第一载物杆131在穿过可伸缩杆的时候，物品由载物板13的多个第一载物杆131转移到输送平台12的多个第二载物杆121上或者由输送平台12的多个第二载物杆121转移到载物板13的多个第一载物杆131上，实现载物板13与输送平台12进行物品交换。在物品交换完成后，控制机构15可以控制输送平台12的可伸缩杆收缩。并且，若输送平台12与传送装置2之间进行物品交换，控制机构15还可以控制输送平台12的伸缩杆转动，在输送平台12的伸缩杆转动过程中向传送装置2转运物品，或者接收传送装置2转运的物品。
在本公开实施例中，在进行物品交换时，输送平台12的可伸缩杆处于伸长状态，并且，在输送平台12与传送装置2进行物品交换时，输送平台12的可伸缩杆还处于转动状态，在物品交换完成后或者不进行物品交换时，输送平台12的可伸缩杆处于收缩 状态。输送平台12的可伸缩杆的状态可以根据物品交换需要灵活转变，不仅提高了物品交换效率，还丰富了物品交换形式。
另外，输送平台12的第二载物杆121可以为转动杆，也可以为可伸缩杆，第二载物杆121的设置方式灵活多变，提高了物品转运装置1的外观表现。
在一些实施例中，输送平台12远离载物板13的一侧可以设置挡板，该挡板用于防止物品掉落，提高物品交换过程中的安全性。
在一些实施例中，每个载物板13的内部可以设置压力传感器，当压力传感器检测到载物板13上放置物品时，压力传感器可以向升降组件14发送信号，升降组件14接收该信号，控制载物板13向上运动或者向下运动。
在该实施方式中，在载物板13内部的压力传感器检测到载物板13上有物品时，升降组件14才控制载物板13运动，这样可以避免载物板13上未放置物品时一直处于空运状态，浪费资源。
本公开实施例提供了一种物品转运装置1，由于该物品转运装置1的每个载物板13设有第一梳齿结构131，输送平台12设有与第一梳齿结构131匹配的第二梳齿结构121，当通过该物品转运装置1转运物品时，多个载物板13沿垂直于输送平台12的方向运动，每个载物板13的第一梳齿结构131均穿过输送平台12的第二梳齿结构121所在平面，通过这种方式载物板13将其上的物品转给输送平台12或者接收输送平台12转运的物品，从而实现物品转运装置1与输送平台12之间的物品交换。由此可见，该物品转运装置1中的多个载物板13沿垂直于输送平台12的方向上下运动，不会占用水平方向上的空间，因此占用空间较小，节约了空间，从而提高了空间利用率。
并且，多个载物板13在输送平台12的上方时呈散开状态，这种情况下可以与物品存储机构3对接，完成物品取放。多个载物板13在输送平台12的下方时呈堆叠状态，这种情况下输送平台12可以与传送装置2进行物品交换，通过传送装置2将物品运送到预设位置，或者对物品进行分拣。
另外，在本公开实施例中，将多个载物板13、输送平台12和机架11集成为一个物品转运装置，通过该物品转运装置就可以完成物品在物品存储机构与传送装置2之间的转运，物品交换效率高。且该物品转运装置结构简单，物品转运的成本低。
另一方面，本公开实施例提供了一种仓储系统，该系统包括：传送装置2、物品存储机构3以及上述的物品转运装置1；物品转运装置1与传送装置2连接；物品转运装置1，用于分别与物品存储机构3和传送装置2进行物品交换。
在本公开实施例中，物品存储机构3可以通过物品转运装置1向传送装置2转运物品，传送装置2也可以通过物品转运装置1向物品存储机构3转运物品。
本公开实施例提供的仓储系统，在物品存储机构3与传送装置2之间设置物品转运装置1，通过该一个物品转运装置1就可以完成物品存储机构3与传送装置2之间的物品交换，由于该物品转运装置1的每个载物板13设有第一梳齿结构131，输送平台12设有与第一梳齿结构131匹配的第二梳齿结构121，当通过该物品转运装置1转运物品时，多个载物板13沿垂直于输送平台12的方向运动，每个载物板13的第一梳齿结构131均穿过输送平台12的第二梳齿结构121所在平面，通过这种方式载物板13将其上的物品转给输送平台12或者接收输送平台12转运的物品，从而实现物品转运装置1与输送平台12之间的物品交换。由此可见，该物品转运装置1中多个载物板13沿垂直于输送平台12的方向上下运动，不会占用水平方向上的空间，因此占用空间较小，节约了空间，从而提高了空间利用率。
在一些实施例中，物品存储机构3可以为料箱机器人。
该料箱机器人3上有多个物品储存位置，每个物品储存位置可以放置物品。其中料箱机器人3上物品储存位置的数量与物品转运装置1中载物板13的数量相同，这样料箱机器人3可以同时将其所有物品储存位置上的物品放置到物品转运装置1的载物板13 上，载物板13也可以将其上的物品放置到料箱机器人的物品储存位置上，减少占用料箱机器人的时间，从而提高物品交换效率。
在一些实施例中，传送装置2可以为滚筒输送线。通过该滚筒输送线，可以将物品存储机构3转运的物品传送给输送平台12或者将输送平台12转运的物品传送给物品存储机构3，物品转运效率高。
需要说明的是，物品存储机构3不仅限于料箱机器人，在本公开实施例中，也可以由操作人员将物品依次放置到物品传送装置2的多个载物板13上，然后多个载物板13与输送平台12之间进行物品交换。并且，传送装置2不仅限于滚筒输送线，传送装置2还可以为传送带。传送带和滚筒输送线均可以将物品输送到预设位置，或者在通过传送带或滚筒输送线传送物品过程中，操作人员对物品进行分拣。
在本公开实施例中，以物品存储机构3为料箱机器人，传送装置2为滚筒输送线，由料箱机器人通过该物品转运装置1向传送装置2转运物品为例进行说明。参见图6，料箱机器人的多个物品储存位置上均放置有物品，料箱机器人可移动至物品转运装置1处，将料箱机器人所有物品储存位置上的物品放置到物品转运装置1的多个载物板13上，然后升降组件14控制多个载物板13向下运动，每个载物板13的第一梳齿结构131穿过输送平台12的第二梳齿结构，将载物板13上的物品9转运给输送平台12，输送平台12再将物品9传送给滚筒输送线2。
本公开实施例提供的仓储系统，包括物品转运装置1、传送装置2和物品存储机构3，该物品转运装置1可以与物品存储机构3和传送装置2配合完成物品转运，物品转换效率高。且该装置体积小，占用空间小。另外，该系统结构简单，成本低。
以上所述仅是为了便于本领域的技术人员理解本公开的技术方案，并不用以限制本公开。凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。

Claims (20)

  1. 一种物品转运装置，包括：
    机架，所述机架包括机腔；
    升降组件；
    输送平台，设置在所述机架的机腔的底部；和
    多个载物板，用于通过所述升降组件与所述机架连接；
    其中，所述多个载物板中的每个载物板设有包括多个第一载物杆的第一梳齿结构，所述输送平台设有与所述第一梳齿结构匹配的、包括多个第二载物杆的第二梳齿结构；
    当通过所述物品转运装置转运物品时，所述升降组件用于控制所述多个载物板沿垂直于输送平台的方向运动，所述多个载物板的所述第一梳齿结构穿过所述输送平台的所述第二梳齿结构所在平面，以使得所述多个载物板与所述输送平台进行物品交换。
  2. 根据权利要求1所述的装置，其中，对于所述多个第一载物杆中的每个第一载物杆，该第一载物杆为可伸缩杆；
    当所述多个载物板中的每个载物板穿过所述输送平台所在平面，向所述输送平台转运物品时，所述升降组件用于控制该载物板的多个可伸缩杆收缩且控制该载物板向下运动；
    当所述多个载物板中的每个载物板穿过所述输送平台所在平面，接收所述输送平台转运的物品时，所述升降组件用于控制该载物板的所述多个可伸缩杆伸长且控制该载物板向上运动。
  3. 根据权利要求1所述的装置，其中，所述多个第一载物杆与所述多个第二载物杆错位设置。
  4. 根据权利要求3所述的装置，其中，对于所述多个第一载物杆中的每个第一载物杆，该第一载物杆为不可伸缩杆；
    当所述多个载物板中的每个载物板穿过所述输送平台所在平面，向所述输送平台转运物品时，所述升降组件用于控制该载物板的多个不可伸缩杆穿过所述多个第二载物杆向下运动；
    当所述多个载物板中的每个载物板穿过所述输送平台所在平面，接收所述输送平台转运的物品时，所述升降组件用于控制该载物板的所述多个不可伸缩杆向上运动。
  5. 根据权利要求1所述的装置，其中，所述物品转运装置还包括：控制机构；
    所述控制机构设置于所述机架的内部，或者设置于所述机架的外侧；
    所述控制机构用于控制所述多个第二载物杆、所述多个载物板以及用于传送物品的传送装置以进行物品交换。
  6. 根据权利要求5所述的装置，其中，对于所述输送平台的多个第二载物杆中的每个第二载物杆，该第二载物杆为转动杆；
    所述控制机构用于控制所述输送平台的转动杆转动，以在所述输送平台的转动杆转动过程中使所述输送平台与所述传送装置进行物品交换。
  7. 根据权利要求5所述的装置，其中，对于所述输送平台的多个第二载物杆中的每个第二载物杆，该第二载物杆为可伸缩杆；
    当所述每个载物板穿过所述输送平台所在平面，与所述输送平台进行物品交换时，所述控制机构用于控制所述输送平台的可伸缩杆伸长或收缩；
    所述控制机构还用于控制所述可伸缩杆转动，以在所述输送平台的可伸缩杆转动过程中使所述输送平台与所述传送装置进行物品交换。
  8. 根据权利要求1所述的装置，其中，所述多个载物板包括第一载物板和第二载物板；所述第一载物板位于所述第二载物板下方；
    所述第一载物板下落至所述输送平台下方的第一预定位置后停止下落，所述第二载物板下落至叠落在所述第一载物板上；
    所述第二载物板自下而上移动至第二预定位置，所述第二载物板上的挂接部与所述第一载物板上的限位部相挂接，所述第二载物板继续向上移动，通过所述第二载物板上的挂接部带动所述第一载物板向上移动。
  9. 根据权利要求1所述的装置，其中，所述多个载物板包括第一载物板和第二载物板；
    所述第一载物板包括载物板本体，在所述载物板本体上横向设有所述第一梳齿结构，在所述载物板本体的竖向设有导向结构，在所述导向结构远离所述载物板本体的一端设有限位部；
    所述第二载物板上设有挂接部，所述第一载物板位于所述第二载物板下方，所述第一载物板通过所述第一载物板的限位部挂接在所述第二载物板的挂接部上；其中，所述第二载物板的挂接部位于所述第一载物板的导向结构内，以使所述第二载物板沿所述第一载物板的导向结构上下移动。
  10. 根据权利要求9所述的装置，其中，所述载物板本体上竖向设置的导向结构包括呈长条型的导向件，在所述导向件上，沿所述导向件的长度方向设有导向槽；所述导向槽的顶端具有所述限位部；
    所述第二载物板的挂接部设在所述第一载物板的导向槽中，以使所述第二载物板沿所述第一载物板的导向槽上下移动。
  11. 根据权利要求10所述的装置，其中，针对所述多个载物板中的每个载物板，该载物板的导向件包括第一导向件和第二导向件，所述第一导向件和所述第二导向件并行设置在该载物板的载物板本体的两侧；沿所述第一导向件的长度方向设有第一导向槽，沿所述第二导向件的长度方向设有第二导向槽，所述第二载物板的挂接部，包括第一挂接部和第二挂接部；
    所述第二载物板的第一挂接部设在所述第一载物板的第一导向槽中，所述第二载物板的第二挂接部设在所述第一载物板的第二导向槽中。
  12. 根据权利要求11所述的装置，其中，所述机架包括第一立柱和第二立柱，所述第一立柱和所述第二立柱相对平行设置，在所述第一立柱和所述第二立柱之间形成所述机腔；
    在所述第一立柱上，沿所述第一立柱的长度方向设有第三导向槽；在所述第二立柱上，沿所述第二立柱的长度方向设有第四导向槽；所述第三导向槽和所述第四导向槽相对应；
    所述第二载物板的第一挂接部的端部，位于所述第一载物板的第一导向槽的外部，且处于所述第三导向槽中，以使所述第一载物板和所述第二载物板沿所述第三导向槽上下移动；
    所述第二载物板的第二挂接部的端部，位于所述第一载物板的第二导向槽的外部，且处于所述第四导向槽中，以使所述第一载物板和所述第二载物板沿所述第四导向槽上下移动。
  13. 根据权利要求9所述的装置，其中，在所述载物板本体上竖向设置的导向结构包括呈长条型的导向件，在所述导向件上，沿所述导向件的长度方向设有导向面；所述导向面的顶端设有所述限位部；
    所述第二载物板的挂接部与所述第一载物板的导向面相配合，以使所述第二载物板沿所述第一载物板的导向面上下移动。
  14. 根据权利要求13所述的装置，其中，针对所述多个载物板中的每个载物板，该载物板的导向件包括第三导向件和第四导向件，所述第三导向件和所述第四导向件并行设置在该载物板的载物板本体的两侧，在所述第三导向件和所述第四导向件的顶端设有所述限位部；
    沿所述第三导向件的长度方向设有第一导向面，沿所述第四导向件的长度方向设有 第二导向面；
    所述第二载物板的挂接部，包括第三挂接部和第四挂接部，所述第二载物板的第三挂接部与所述第一载物板第一导向面相配合，以使所述第二载物板的第三挂接部沿所述第一载物板的第一导向面上下移动；所述第二载物板的第四挂接部与所述第一载物板的第二导向面相配合，以使所述第二载物板的第四挂接部沿所述第一载物板的第二导向面上下移动。
  15. 根据权利要求1所述的装置，其中，所述机架包括第一立柱和第二立柱，所述第一立柱和所述第二立柱相对平行设置，在所述第一立柱和所述第二立柱之间形成所述机腔；
    在所述第一立柱上，沿所述第一立柱的长度方向设有第三导向槽；在所述第二立柱上，沿所述第二立柱的长度方向设有第四导向槽；所述第三导向槽和所述第四导向槽相对应；
    在所述多个载物板中，至少一个载物板的第一侧设有第一凸起部，该至少一个载物板的第二侧设有第二凸起部；
    所述第一凸起部位于所述第三导向槽中，以使该至少一个载物板沿所述第三导向槽上下移动；所述第二凸起部位于所述第四导向槽中，以使该至少一个载物板沿所述第四导向槽上下移动。
  16. 根据权利要求1所述的装置，其中，所述升降组件包括驱动机构和与所述驱动机构相连的牵引件，所述牵引件与所述多个载物板中的最上层的载物板相连接。
  17. 根据权利要求1所述的装置，其中，所述多个载物板中，处于所述输送平台上方的两个相邻载物板之间的距离，大于处于所述输送平台下方的两个相邻载物板之间的距离。
  18. 一种仓储系统，包括：传送装置、物品存储机构以及权利要求1～17中任一项所述的物品转运装置；
    所述物品转运装置与所述传送装置连接；
    所述物品转运装置，用于分别与所述物品存储机构和所述传送装置进行物品交换。
  19. 根据权利要求18所述的系统，其中，所述物品存储机构为料箱机器人。
  20. 根据权利要求18所述的系统，其中，所述传送装置为滚筒输送线。
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