CN110498261B - Handling equipment and handling method - Google Patents

Abstract

The invention relates to a loading and unloading device and a loading and unloading method, wherein the loading and unloading device comprises: a carrying mechanism (6); a pallet (2) for carrying articles; a support platform (1) configured to place a pallet (2) when an object is to be loaded; and the first connecting mechanism is configured to be in a disengaged state after the to-be-carried mechanism (6) drives the supporting plate (2) to move and places the supporting plate (2) on the supporting platform (1) when the objects need to be carried; and when the articles need to be transferred, the mechanism (6) to be carried is in a locking state after reaching a position capable of being connected with the supporting plate (2). The loading and unloading equipment can prevent the carrying mechanism from being damaged in the process of loading the objects on the basis of meeting the functional requirements of loading and unloading the objects, and the state switching through the first connecting mechanism is easy to enable the supporting plate and the carrying mechanism to be in different connecting states rapidly, so that the automation degree of the supporting plate assembly and disassembly can be improved.

Description

Handling equipment and handling method

Technical Field

The invention relates to the technical field of automatic logistics, in particular to loading and unloading equipment and a loading and unloading method.

Background

Currently, with the development of Chinese economy, the labor cost of various fields is continuously increased, and various industries are starting automatic equipment to replace repeated or heavy manual operation. With continuous deep automation application, the traditional fixed mounting mode of the automatic clamp is difficult to meet the application requirements of the prior object with diversified specifications.

In automated logistics technology, handling equipment is widely used for stacking objects in containers or compartments or for unloading objects from containers or compartments. The loading and unloading equipment is provided with a supporting plate for bearing the object, the supporting plate can be separated from the carrying mechanism when the object is loaded, and the supporting plate is combined with the carrying mechanism when the object is required to be transferred to a destination.

In order to meet the requirements, the mechanical arm is increasingly applied through quick-dismantling and quick-installing fixture operation. However, in the field of handling equipment, manual or semi-automatic handling of pallets is used in many applications due to low manufacturing accuracy and heavy weight of pallets or jigs. If a manual disassembly and assembly mode is adopted, the manual disassembly and assembly is time-consuming and labor-consuming due to the fact that the supporting plate is heavy, the screw thread pair is generally required to be locked by means of a spanner, and the automatic requirement is not facilitated. If the semi-automatic mounting and dismounting support plates are adopted, the positioning accuracy is low due to low manufacturing accuracy of the support plates or the clamp jigs, and the quick mounting and dismounting are not easy to realize. These factors all present a significant challenge to automated logistics technology.

Disclosure of Invention

The invention aims to provide loading and unloading equipment and a loading and unloading method, which can improve the automation degree of loading and unloading the supporting plate of the loading and unloading equipment.

According to an aspect of the invention, a handling device is proposed, comprising:

A carrying mechanism;

The supporting plate is used for bearing the object;

a support platform configured to place a pallet when an object is to be loaded; and

A first connecting mechanism having a disengaged state in which the carrying mechanism is separated from the pallet and a locked state in which the carrying mechanism is connected to the pallet, and configured to be in the disengaged state after the carrying mechanism moves the pallet and places the pallet on the support platform when the object needs to be loaded; and when the articles need to be transferred, the mechanism to be carried is in a locking state after reaching a position capable of being connected with the supporting plate.

Further, a second connection mechanism having a disengaged condition for disengaging the pallet from the support platform and a locked condition for connecting the pallet to the support platform is provided and is configured to be in the locked condition when the pallet is placed on the support platform and is required to be loaded with an article and to be in the disengaged condition when the article is required to be transferred.

Further, the first connection mechanism and the second connection mechanism are independently arranged, and are configured to enable one connection mechanism to be in a disconnection state when the other connection mechanism needs to be switched to a locking state.

Further, a linkage mechanism is arranged between the first connection mechanism and the second connection mechanism and is configured to mechanically link when one of the connection mechanisms switches states so as to trigger the other connection mechanism to switch to the opposite state.

Further, the device further comprises a control part configured to control the movement of the carrying mechanism and control at least one of the first connecting mechanism and the second connecting mechanism to perform state switching.

Further, the handling mechanism is configured to move away from the pallet after the pallet is placed on the support platform.

Further, the first connection mechanism includes:

A first driving part;

the first positioning part is arranged on the supporting plate; and

A second positioning portion operatively connected to the output end of the first driving member;

The first driving part is configured to enable the first positioning part and the second positioning part to be combined or separated through the movement of the output end of the first driving part, so that the connection and the separation of the carrying mechanism and the supporting plate are realized.

Further, the left side and the right side of the carrying mechanism along the length direction of the supporting plate are respectively provided with a first connecting mechanism, or the middle position of the carrying mechanism along the length direction of the supporting plate is provided with a first connecting mechanism.

Further, the first positioning part is a first hole formed in the supporting plate, the second positioning part is a first pin shaft, and the first driving part is configured to enable the pin shaft to be embedded into or separated from the first hole through movement of the output end of the first driving part, so that connection and disconnection of the carrying mechanism and the supporting plate are achieved.

Further, the bottom of the supporting plate is provided with an ear plate, and the first hole is formed in the ear plate;

The conveying mechanism comprises a main body part and a connecting part, the connecting part is arranged at the bottom end of the main body part, a pin shaft bracket is arranged on the connecting part, and a third hole is formed in the pin shaft bracket;

The first driving component is arranged on the connecting part and is configured to enable the first pin shaft to be embedded into the first hole and the third hole after the conveying mechanism moves until the pin shaft bracket is aligned with the ear plate.

Further, the handling mechanism is configured to disengage the pin support from the ear plate by a downward movement to leave the pallet after the pallet is placed on the support platform.

Further, the connecting portion includes extension board and two mounting panels, and the extension board is established in main part bottom, and extends to main part left and right sides, and two mounting panels are established respectively in the left and right sides end of extension board, and the otic placode is located the mounting panel inboard, and first drive component is established on the lateral wall of mounting panel, is configured to imbed first hole and third hole when self output level inward movement.

Further, the first positioning part comprises a first pin and a second pin which are arranged at the connecting end of the supporting plate along the length direction of the supporting plate and are arranged at intervals in a plane parallel to the supporting plate; and

The second positioning part comprises a first hook and a second hook, at least one of the second positioning part is movably arranged at the bottom end of the carrying mechanism and is configured to enable the first hook to be clamped with the first pin and the second hook to be clamped with the second pin through the movement of the first hook and/or the second hook so as to realize the connection of the carrying mechanism and the supporting plate.

Further, the first hook and/or the second hook are rotatably arranged at the bottom end of the carrying mechanism, and the rotation axis is arranged along the length direction of the supporting plate.

Further, the first and second hooks are configured to engage from within the channel spaced between the first and second pins.

Further, the first hook is fixedly arranged, the second hook is rotatably arranged in a plane perpendicular to the length direction of the pallet, and the second pin is positioned on the side of the first pin away from the pallet.

Further, the first connecting mechanism further comprises an actuating block arranged on the supporting plate, and a wedge-shaped surface is arranged on the actuating block;

the first driving part is used for driving the actuating block to move along the width direction of the supporting plate in the plane of the supporting plate; the second hook is provided with a force application part, and the force application part moves on the wedge-shaped surface to enable the second hook to rotate when the actuating block moves, so that the second hook is engaged with and disengaged from the second pin.

Further, the actuating block is also provided with a containing groove and a supporting table, the wedge-shaped surface is connected between the containing groove and the supporting table, and the force application part is positioned in the containing groove under the state that the carrying mechanism is separated from the supporting plate; when the carrying mechanism needs to be connected with the supporting plate, the force application part reaches the supporting table along the wedge-shaped surface so as to keep the state that the second hook is engaged with the second pin.

Further, the force application part is a roller arranged on the second hook and close to one end connected with the carrying mechanism, and is used for moving on the wedge-shaped surface through rolling.

Further, a plurality of rolling bodies are arranged between the bottom of the actuating block and the supporting plate.

Further, be equipped with the installation position in the bearing platform, second coupling mechanism includes:

A second driving part arranged in the installation position;

the third positioning part is arranged on the supporting plate; and

The fourth positioning part is arranged at the output end of the second driving part;

wherein the second driving part is configured to enable the third positioning part to be combined with or separated from the fourth positioning part through the movement of the output end of the second driving part so as to realize the connection and the separation of the supporting plate and the supporting platform.

Further, the third positioning part is a second hole, the fourth positioning part is a second pin shaft, and the second driving part is configured to enable the second pin shaft to be embedded into or separated from the second hole through the motion of the output end of the second driving part, so that the connection and disconnection of the supporting plate and the supporting platform are realized.

Further, the device also comprises an inclination angle adjusting mechanism for adjusting the inclination angle of the supporting plate, and the supporting plate is in a horizontal state under the loading working condition; under the transfer working condition, the supporting plate is in a horizontal state or in a state that the free end is inclined upwards; under the unloading working condition, the supporting plate is in a horizontal state or a free end declining state;

Before the pallet is required to be placed on the support platform, the pallet is in a horizontal state; after the pallet carrying articles leave the support platform, the pallet remains horizontal or rotates to a free end up-tilt condition.

According to another aspect of the present invention, there is provided a loading and unloading method based on the loading and unloading apparatus of the above embodiment, including:

when the objects need to be loaded, the carrying mechanism drives the supporting plate to move and place the supporting plate on the supporting platform, and then the first connecting mechanism is in a disconnecting state;

when the article is required to be transferred, the carrying mechanism is brought to a position where it can be connected to the pallet, and then the first connecting mechanism is brought into a locked state.

Further, after the pallet is placed on the support platform and the first attachment mechanism is in the disengaged state, the loading and unloading method further comprises:

The second connecting mechanism is in a locking state so as to realize the connection and positioning between the supporting plate and the supporting platform.

Further, after loading the article, the loading and unloading method further includes, before the first connecting mechanism locks the carrying mechanism with the pallet:

the second connecting mechanism is in a disconnecting state so as to separate the supporting plate from the supporting platform.

Further, under the loading working condition, the supporting plate is in a horizontal state; under the transfer working condition, the supporting plate is in a horizontal state or in a state that the free end is inclined upwards; under the unloading working condition, the supporting plate is in a horizontal state or a free end declining state; the loading and unloading method further comprises the following steps:

before the pallet is required to be placed on the support platform, the pallet is in a horizontal state; or alternatively

After the pallet carrying object leaves the support platform, the pallet is held horizontally or rotated to a free end up-tilt condition.

Based on the technical scheme, when the loading and unloading equipment is required to load the objects, after the supporting plate is placed on the supporting platform, the first connecting mechanism is in a disconnecting state to separate the carrying mechanism from the supporting plate, so that the force applied to the supporting plate in the process of loading the objects is prevented from being transmitted to the carrying mechanism to be damaged; when the articles need to be transferred, the first connecting mechanism is in a locking state so as to connect the carrying mechanism with the supporting plate. The loading and unloading equipment can prevent the carrying mechanism from being damaged in the process of loading the objects on the basis of meeting the functional requirements of loading and unloading the objects in the logistics process by switching the connection states of the supporting plate and the carrying mechanism under different working conditions, and the supporting plate and the carrying mechanism are easily in different connection states through the state switching of the first connection mechanism, so that the automation degree of the supporting plate assembly and disassembly can be improved, and the assembly and disassembly efficiency can be improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:

FIG. 1 is a partial side view of a pallet attached to a support platform and arm of a first embodiment of the loading apparatus of the present invention;

FIG. 2 is a front view of a first embodiment of the handling apparatus of the present invention when it is desired to load items;

FIG. 3 is a front view of a first embodiment of the handling apparatus of the present invention in the need to transfer items;

FIGS. 4 and 5 are schematic views of a second embodiment of the loading and unloading apparatus of the present invention in which the support platform is waiting for a pallet to be placed;

FIG. 6 is a schematic view of the handling mechanism ready to separate and place the pallet on the support platform by the first attachment mechanism;

FIG. 7 is a cross-sectional view of the connection of the transport mechanism to the pallet;

FIG. 8 is a schematic view of the structure of the first connecting mechanism in the second embodiment of the handling device of the present invention;

FIG. 9 is a schematic view showing the first connecting mechanism separated after the handling mechanism approaches the support platform;

FIG. 10 is a schematic view showing the front end of the pallet falling onto the support platform after the first coupling mechanism is disengaged;

FIG. 11 is a schematic view of the pallet fully placed on the support platform;

FIG. 12 is a schematic view of a second attachment mechanism attaching a pallet to a support platform and lowering an intermediate roll-over dam;

FIG. 13 is a schematic view of the pushing out of the articles from the marshalling unit stations to the pallet station and lifting the intermediate inverted dam;

FIG. 14 is a schematic view showing the carrier mechanism moving over the pallet in preparation for carrying the pallet away and the second attachment mechanism disengaged;

FIG. 15 is the handling mechanism moved to a position where the first pin is aligned in height with the first hook;

FIG. 16 is a schematic view showing the first hook engaged with the first pin;

Fig. 17 is a schematic view showing a state in which the first connecting mechanism connects the carrying mechanism and the pallet;

FIG. 18 is a schematic view showing the carrying mechanism driving the pallet and the object to the stacking target position;

Figure 19 is a schematic view of the pallet removed from the support platform.

Reference numerals illustrate:

1. A support platform; 11. a mounting position; 12. a universal ball bearing; 13. a middle overturning baffle plate; 14. a baffle; 2. a supporting plate; 21. ear plates; 22. a first hole; 23. a second hole; 3. a first driving part; 4. a first pin; 5. a pin shaft bracket; 51. a third hole; 6. a carrying mechanism; 6', a telescopic device; 61. a main body portion; 62. a connection part; 621. an extension plate; 622. a mounting plate; 7. a second driving part; 8. a second pin; 10. a push rod;

91. A first pin; 92. a second pin; 93. a first hook; 94. a second hook; 941. a force application part; 95. an actuation block; 951. a wedge surface; 952. a receiving groove; 953. a support table; 96. rolling bodies.

Detailed Description

The present invention is described in detail below. In the following paragraphs, the different aspects of the embodiments are defined in more detail. Aspects so defined may be combined with any other aspect or aspects unless explicitly stated to be non-combinable. In particular, any feature or features may be combined with one or more other features may be desired and advantageous.

The terms "first," "second," and the like in the present invention are merely for convenience of description to distinguish between different constituent components having the same name, and do not denote a sequential or primary or secondary relationship.

In the description of the present invention, the directions or positional relationships indicated by "upper", "lower", "left", "right", "front" and "rear", etc. are used for convenience of description of the present invention based on the directions or positional relationships shown in the drawings, and are not intended to indicate or imply that the apparatus referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the scope of protection of the present invention.

First, as shown in fig. 1 to 19, the present invention provides a handling device, which in an exemplary embodiment comprises a handling mechanism 6, a pallet 2, a support platform 1 and a first connection mechanism. Wherein, the pallet 2 is used for bearing objects, the pallet 2 is detachably connected to the bottom end of the handling mechanism 6, the pallet 2 can be placed at a target position through the swing of the handling mechanism 6, and the handling mechanism 6 can comprise a mechanical arm. The support platform 1 is configured to place the pallet 2 when it is desired to load an item in order to provide a suitable operating height for the load.

The first connecting mechanism has a disconnecting state for separating the carrying mechanism 6 from the pallet 2 and a locking state for connecting the carrying mechanism 6 with the pallet 2, and is configured such that when the object needs to be loaded, the carrying mechanism 6 drives the pallet 2 to move and places the pallet 2 on the support platform 1 and then is in the disconnecting state so as to separate the carrying mechanism 6 from the pallet 2; when the objects need to be transferred, the to-be-transferred mechanism 6 is in a locking state after reaching a position capable of being connected with the supporting plate 2, so that the to-be-transferred mechanism 6 is connected with the supporting plate 2, and the to-be-transferred mechanism 6 can drive the supporting plate 2 to move so as to transfer the objects.

The loading and unloading equipment of the embodiment of the invention can realize the separation and connection of the carrying mechanism 6 and the supporting plate 2, when the object is required to be loaded, after the supporting plate 2 is placed on the supporting platform 1, the carrying mechanism 6 and the supporting plate 2 are in a separation state, so that the carrying mechanism 6 is prevented from being damaged due to the transmission of the force received by the supporting plate 2 in the process of loading the object, and the supporting plate 2 and the supporting platform 1 are easy to accurately position; when the objects need to be transferred, the carrying mechanism 6 is in a connection state with the supporting plate 2 so as to drive the supporting plate 2 to transfer the objects to the target station. The loading and unloading equipment can prevent the carrying mechanism 6 from being damaged in the process of loading objects on the basis of meeting the functional requirements of loading and unloading objects in the logistics process by switching the connection states of the supporting plate 2 and the carrying mechanism 6 under different working conditions, and can improve the automation degree of the supporting plate assembly and disassembly and the assembly efficiency by easily enabling the supporting plate 2 and the carrying mechanism 6 to be in different connection states through the state switching of the first connection mechanism.

As shown in fig. 1, the loading and unloading apparatus of the present invention further comprises a second connection mechanism having a disengaged state in which the pallet 2 is separated from the support platform 1 and a locked state in which the pallet 2 is connected to the support platform 1, and configured to be in the locked state when the pallet 2 is placed on the support platform 1 and the objects need to be loaded, so as to position the pallet 2 and prevent the pallet 2 from being dislocated or deviated when the objects are loaded; and is in a disengaged state when the articles need to be transferred, so that the supporting plate 2 is separated from the supporting platform 1, and the carrying mechanism 6 can smoothly carry the supporting plate 2 carrying the articles away.

According to the embodiment, the first connecting mechanism and the second connecting mechanism are matched for use, so that the defects of low manufacturing precision and large weight of the supporting plate are overcome, automatic positioning and automatic quick dismounting of the supporting plate of the loading and unloading equipment can be realized, and automatic logistics is facilitated.

The addition of the second connection mechanism has two advantages. On the one hand, when the object is required to be loaded, the stability of the pallet 2 when the object is loaded can be improved, so that the object can be placed on the pallet 2 neatly, and the damage to the carrying mechanism 6 can be prevented. On the other hand, when the articles need to be transferred, the carrying mechanism 6 can smoothly reach the position capable of being connected with the pallet 2 due to the positioning action of the second connecting mechanism on the pallet 2, and carry away the pallet 2 carrying the articles.

In some embodiments, the handling device of the present invention further comprises a control means, such as a controller, configured to control the movement of the handling mechanism 6 and to control at least one of the first and second connection mechanisms to switch states.

Through setting up control unit, can further improve the degree of automation of handling, realize the quick location of online of layer board and with handling mechanism's automatic locking connection, through with handling mechanism's motion route and coupling mechanism's switching opportunity pre-exist in the control unit, the whole handling process of accessible control unit integrated control to under different operating modes, the state switching of automatic realization first coupling mechanism and second coupling mechanism can further improve the degree of automation that can improve the layer board dismouting, thereby improve handling process's operating efficiency. The following embodiments will be described by taking the automatic control by the control unit as an example.

Alternatively, different buttons may be provided on the handling device, for example to control the movement of the handling mechanism and the switching of the state of the connection mechanism, respectively, and the corresponding buttons may be operated when a certain function needs to be performed under different working conditions.

In some embodiments, the first and second connection mechanisms are configured to be independent of each other and configured such that when one of the connection mechanisms is switched to the locked state, the other connection mechanism is first placed in the disengaged state.

The time for switching the states of the two connecting mechanisms can be automatically controlled by the control part or can be realized by an operator triggering button. The two connecting mechanisms are in opposite states, so that the loading and unloading operation can be guaranteed to be smoothly carried out, the connection of the carrying mechanism 6 and the supporting plate 2 and the positioning of the supporting plate 2 on the supporting platform 1 are not affected, the requirement on positioning precision during the dismounting of the supporting plate 2 is reduced, and the carrying mechanism 6 is prevented from being damaged.

In this embodiment, the two connection mechanisms are independently arranged, so that the reliability of the structure can be improved, for example, when the second connection mechanism fails and can not be switched to a locking state, the object loading can still be realized on the basis of ensuring that the supporting plate 2 is positioned on the supporting platform 1 through other measures; when the first connecting mechanism fails and can not be switched to the disconnection state, the object can still be transferred, so that the operation of the loading and unloading equipment can be smoothly carried out. In addition, the two connecting mechanisms are in opposite states through the control part, so that the control is flexible, and the time delay is convenient to set so as to adjust the time interval between each action link.

In other embodiments, a linkage mechanism is disposed between the first connection mechanism and the second connection mechanism, and is configured to mechanically link when one of the connection mechanisms switches states, so as to trigger the other connection mechanism to switch to an opposite state, and the two connection mechanisms act synchronously.

For example, when the first connection mechanism needs to be switched to the locked state and the pallet 2 is connected to the carrying mechanism 6, the control unit drives the second connection mechanism to operate while the first connection mechanism is operated, so that the second connection mechanism is switched to the disengaged state and the pallet 2 is separated from the support platform 1, thereby ensuring that the objects can be transferred normally.

When the second connecting mechanism needs to be switched to a locking state to connect the pallet 2 with the supporting platform 1, the control part drives the first connecting mechanism to act while the second connecting mechanism acts, so that the first connecting mechanism is switched to a disengaging state to separate the pallet 2 from the carrying mechanism 6, and the stress of the pallet 2 is prevented from being transmitted to the carrying mechanism 6 in the process of positioning the pallet 2 or loading objects.

According to the embodiment, the control link can be simplified, and even if a control error occurs or an operator inadvertently misses the unlocking link, one of the connecting mechanisms can be switched to the locking state to reliably unlock the other connecting mechanism when the other connecting mechanism is required to be switched to the locking state, so that damage to the carrying mechanism is prevented.

In some embodiments, the control means are configured to move the handling mechanism 6 away from the pallet 2 after the pallet 2 is placed on the support platform 1. After the pallet 2 is placed on the supporting platform 1, the pallet 2 needs to be positioned, in the process of positioning the pallet 2 or in the process of loading objects on the pallet 2, if the carrying mechanism 6 is still in contact with the pallet 2, the stress of the pallet 2 is transferred to the carrying mechanism 6, and the carrying mechanism 6 is separated from the pallet 2 under the loading working condition, so that the carrying mechanism 6 is prevented from being damaged due to inaccurate positioning or stress in the loading and unloading process.

In some embodiments, the handling means 6 is provided with said first connection means at a middle position along the length of the pallet 2. In other embodiments, as shown in fig. 2 and 3, the left and right sides of the carrying mechanism 6 are respectively provided with a first connecting mechanism, and since the pallet 2 has a larger weight after being mounted on an object, the connecting manner of the carrying mechanism 6 and the pallet 2 can increase the connecting rigidity, so that the carrying mechanism 6 is stressed more uniformly, the working reliability of the carrying mechanism 6 is improved, and the phenomenon that the pallet 2 tilts left and right is prevented.

In some embodiments, the first connection mechanism comprises: the first driving part 3, a first positioning part and a second positioning part, wherein the first positioning part is arranged on the supporting plate 2, and the second positioning part is arranged at the output end of the first driving part 3. The first driving part 3 is configured to engage or disengage the first positioning portion with or from the second positioning portion by the movement of the output end thereof to effect the connection and disconnection of the carrying mechanism 6 with the pallet 2.

The handling device and the method of operation of the handling device according to the invention will now be described by means of two specific embodiments, a first embodiment being shown in figures 1 to 3 and a second embodiment being shown in figures 4 to 19.

In the first embodiment, as shown in fig. 1, the first positioning portion is a first hole 22 provided on the pallet 2, the second positioning portion is a first pin 4, and the first driving part 3 is configured to enable the first pin 4 to be inserted into or removed from the first hole 22 by moving an output end thereof, so as to achieve connection and disconnection of the handling mechanism 6 and the pallet 2. For example, the first driving part 3 may be a linear driving mechanism such as a cylinder, a hydraulic rod or an electric screw. The connecting mode has simple structure and can be rapidly switched between a locking state and a disengaging state.

Since the pallet 2 is thin, in order to facilitate the provision of the first holes 22, as shown in fig. 1, an ear plate 21 may be provided at the bottom of the pallet 2, the ear plate 21 being provided perpendicular to the bottom of the pallet 2, and the first holes 22 being provided on the ear plate 21. The arrangement does not affect the main structure of the pallet 2 and also keeps the weight of the pallet 2 substantially unchanged. The carrying mechanism 6 is connected with the bottom of the supporting plate 2, the connecting part does not occupy the space at the top of the supporting plate 2, and after the articles are finished on the downstream supporting plate by the loading and unloading equipment, the articles can be integrally and smoothly pushed onto the supporting plate 2 for loading and unloading, so that the number of the articles treated at a time can be increased, and the requirement on the placing position during the process of arranging the articles is reduced.

Referring to fig. 1 and 2, the carrying mechanism 6 includes a main body 61 and a connecting portion 62, the connecting portion 62 is disposed at the bottom end of the main body 61, the connecting portion 62 is provided with a pin bracket 5, and the pin bracket 5 is provided with a third hole 51; the first driving part 3 is provided on the connecting part 62 and is configured to insert the first pin 4 into the first hole 22 and the third hole 51 after the carrying mechanism 6 moves from below the pallet 2 to the pin holder 5 aligned with the ear plate 21, so as to realize the connection of the carrying mechanism 6 and the pallet 2.

Specifically, each pin holder 5 may be provided with two corresponding ear plates 21, the two ear plates 21 being spaced apart along the length direction of the pallet 2, and the pin holder 5 may be moved up between the two ear plates 21 so that the first pin 4 is inserted into the first hole 22 and the third hole 51.

By providing the connection portion 62, the carrying mechanism 6 can be provided with a portion to be connected with the pallet 2, and when the pallet 2 is long, the connection portion 62 can be provided to provide a larger distance span at a position to be connected with the pallet 2, thereby improving the stability and reliability of connection. Furthermore, by providing the pin holder 5, the connection firmness between the pallet 2 and the carrying mechanism 2 can be increased.

On this basis, the handling mechanism 6 is configured to disengage the pin holder 5 from the ear plate 21 by a downward movement to leave the pallet 2 after the pallet 2 has been placed on the support platform 1. In the embodiment in which the movement of the handling means 6 is automatically controlled by the control means, the control means are adapted to disengage the pin holders 5 from the ear plates 21 after the pallet 2 has been placed on the support platform 1, so as to achieve that the handling means 6 are moved away from the pallet 2, and to avoid that the handling means 6 are impacted during lowering, so as to protect the handling means 6.

As shown in fig. 1 to 3, the connecting portion 62 includes an extending plate 621 and two mounting plates 622, the extending plate 621 is provided at the bottom end of the main body portion 61 and extends to both the left and right sides of the main body portion 61, and the extending plate 621 may extend to a length of one quarter from the free end of the pallet 2 on one side for increasing the strength of the conveying mechanism 6. The two mounting plates 622 are vertically arranged at the left and right side ends of the extending plate 621, the ear plate 21 is positioned at the inner side of the mounting plate 622, and the pin shaft bracket 5 is positioned between the mounting plate 622 and the ear plate 21. The first driving part 3 is provided on the outer side wall of the mounting plate 622 and is configured to be fitted into the first hole 22 and the third hole 51 when the output end thereof moves horizontally inward.

In some embodiments, as shown in fig. 1, the support platform 1 is provided with a mounting location 11, and the second attachment mechanism comprises: the second driving part 7, a third positioning part and a fourth positioning part, wherein the second driving part 7 is arranged in the installation position 11, the third positioning part is arranged on the supporting plate 2, and the fourth positioning part is arranged at the output end of the second driving part 7. The second drive means 7 are configured to engage or disengage the third positioning portion with the fourth positioning portion by means of their own output movement, so as to effect the connection and disconnection of the pallet 2 with the support platform 1.

As shown in fig. 1 and 2, the third positioning portion is a second hole 23, the fourth positioning portion is a second pin 8, and the second driving component 7 is configured to enable the second pin 8 to be inserted into or separated from the second hole 23 through the motion of the output end of the second driving component, so as to realize the connection and disconnection of the pallet 2 and the support platform 1. For example, the second driving part 7 may be a linear driving mechanism such as a cylinder, a hydraulic rod or an electric screw. The connecting mode has simple structure and can be rapidly switched between a locking state and a disengaging state.

Specifically, the mounting position 11 may be a vertical hole formed from the bottom of the support platform 1 so as to mount the second driving component 7 from bottom to top, the output end of the second driving component 7 is disposed upwards, and the second hole 23 is vertically disposed on the supporting plate 2 at a position corresponding to the output end of the second driving component 7. In order to improve the positioning firmness of the pallet 2, four sets of first connecting mechanisms can be arranged between the pallet 2 and the support platform 1.

On the basis of the above embodiments, the carrying mechanism 6 and the rack on the loading and unloading device form a four-bar mechanism, the pallet 2 is arranged on a rod piece of the four-bar mechanism far away from the rack, the pallet 2 is used for carrying objects to swing through the four-bar mechanism to drive the pallet 2 to a loading or unloading target position, and the length of at least one rod piece of the carrying mechanism 6 used for forming the four-bar mechanism is adjustable so as to adjust the inclination angle of the pallet 2 under different working conditions. Moreover, the inclination angle of the supporting plate 2 can be accurately controlled according to the expansion and contraction amount of the rod pieces, and continuous adjustment can be realized.

The rod piece with adjustable length in the four-bar mechanism forms an inclination angle adjusting mechanism for adjusting the inclination angle of the supporting plate 2, and the supporting plate 2 is in a horizontal state under the loading working condition; under the transfer working condition, the supporting plate 2 is in a horizontal state or a free end tilting state; in the unloading condition, the pallet 2 is in a horizontal or free end declined state.

Before the pallet 2 needs to be placed on the support platform 1, the pallet 2 is in a horizontal state so that the pallet 2 is stably placed on the support platform 1, reducing impact. After the supporting plate 2 bears the weight of the object and leaves the supporting platform 1, the supporting plate 2 keeps a horizontal state or rotates to a free end tilting state, so that the phenomenon that the conveying mechanism shakes or collides in time occurs in the conveying process of the object, the object is not easy to drop from the supporting plate 2 to damage, and the conveying efficiency of the object is improved.

The operation principle and flow of the loading and unloading device of the present invention will be described with reference to fig. 1 to 3.

1. In the initial state, the supporting plate 2 rotates from a free end declining state to a horizontal state and is placed on the supporting platform 1, as shown in fig. 2, the output end of the second driving part 7 extends out to drive the second pin shaft 8 (which can adopt taper pins) to move upwards to be embedded into the second hole 23, so that the positioning of the supporting plate 2 and the supporting platform 1 is realized;

2. After the pallet 2 is loaded with objects, as shown in fig. 3, the output end of the second driving part 7 is retracted to drive the second pin shaft 8 to move downwards so as to separate from the second hole 23, so that the pallet 2 is separated from the supporting platform 1;

3. The carrying mechanism 6 is lifted from the lower part of the pallet 2, as shown in fig. 3, so that the lug plate 21 under the pallet 2 is matched with the pin shaft bracket 5 in a positioning way, and the first hole 22 and the third hole 51 are aligned;

4. As shown in fig. 3, the output end of the first driving part 3 extends out, and the first pin 4 sequentially passes through the first hole 22 on the ear plate 21 and the third hole 51 on the pin bracket 5 to realize connection between the pallet 2 and the carrying mechanism 6;

5. The carrying mechanism 6 transfers the pallet 2 to the target position for unloading, and returns to the original position again, the pallet 2 is rotated to be horizontal from the downward state of the free end and is placed on the supporting platform 1, meanwhile, as shown in fig. 2, the output end of the first driving part 3 is retracted, so that the first pin 4 is withdrawn from the first hole 22 on the ear plate 21 and the third hole 51 on the pin bracket 5;

6. Lowering the carrying mechanism 6 to disengage the pin shaft bracket 5 from the ear plate 21;

7. As shown in fig. 2, the output end of the second driving part 7 extends out to drive the second pin shaft 8 to move upwards to be embedded into the second hole 23, so as to realize the positioning of the pallet 2 and the bearing platform 1;

8. Repeating the steps 2-7.

The present invention further provides a loading and unloading method, which can be based on the loading and unloading device of the above embodiment, and in an exemplary embodiment, the loading and unloading method comprises:

When the objects need to be loaded, the carrying mechanism 6 drives the supporting plate 2 to move and places the supporting plate 2 on the supporting platform 1, and then the first connecting mechanism is in a disconnecting state;

When it is necessary to transfer the article, the carrying mechanism 6 is brought to a position where it can be connected to the pallet 2, and thereafter the first connecting mechanism is brought into a locked state.

According to the loading and unloading method, the connection states of the supporting plate 2 and the carrying mechanism 6 are switched under different working conditions, so that the carrying mechanism 6 is prevented from being damaged in the process of loading objects on the basis of meeting the functional requirements of loading and unloading objects in the logistics process, the supporting plate 2 and the carrying mechanism 6 are easily and quickly in different connection states through the state switching of the first connection mechanism, the automation degree of supporting plate assembly and disassembly can be improved, and the assembly and disassembly efficiency is improved.

In some embodiments, after placing the pallet 2 on the support platform 1 with the first attachment mechanism in the disengaged state, the handling method further comprises:

the second connecting mechanism is in a locking state so as to realize the connection and positioning between the supporting plate 2 and the supporting platform 1.

The embodiment additionally provided with the second connecting mechanism has two advantages: on the one hand, when the objects need to be loaded, the stability of the placement of the supporting plate 2 when the objects are loaded can be improved, so that the objects can be placed on the supporting plate 2 in order; on the other hand, when the articles need to be transferred, the carrying mechanism 6 can smoothly reach a position capable of being connected with the pallet 2 due to the positioning action of the second connecting mechanism on the pallet 2 so as to carry away the pallet 2 carrying the articles.

Further, after loading the article, before the first connecting mechanism locks the carrying mechanism 6 with the pallet 2, the loading and unloading method further includes:

the second connection means are brought into a disengaged condition to effect the separation of the pallet 2 from the support platform 1.

In this embodiment, when the carrying mechanism 6 reaches the position where it is connected to the pallet 2, the requirement for positioning accuracy can be reduced, and damage to the carrying mechanism 6 can be prevented, so that the carrying mechanism 6 can smoothly reach the position where it can be connected to the pallet 2, and the pallet 2 carrying the object can be carried away.

In some embodiments, the pallet 2 is in a horizontal state during loading conditions; under the transfer working condition, the supporting plate 2 is in a horizontal state or a free end tilting state; under the unloading working condition, the supporting plate 2 is in a horizontal state or a free end declining state; the loading and unloading method further comprises the following steps:

before the pallet 2 is required to be placed on the supporting platform 1, the pallet 2 is in a horizontal state, so that the pallet 2 is stably placed on the supporting platform 1, and the impact is reduced; or alternatively

After the supporting plate 2 carries the object and leaves the supporting platform 1, the supporting plate 2 is kept in a horizontal state or is rotated to a free end tilting state, so that the phenomenon that the carrying mechanism shakes or collides with the object in time in the carrying process is avoided, the object is not easy to drop from the supporting plate 2 to damage, and the carrying efficiency of the object is improved.

In some embodiments, after placing the pallet 2 on the support platform 1, the handling method further comprises: lowering the handling mechanism 6 to leave the pallet 2; or alternatively

When the object is required to be transferred after being loaded, the loading and unloading method further comprises the following steps: the carrying mechanism 6 is moved to the bottom of the pallet 2 and raised to a position where the first connecting mechanism can connect the carrying mechanism 6 to the pallet 2.

In this embodiment, the pin shaft bracket 5 can be smoothly separated from the space between the two ear plates 21 by controlling the carrying mechanism 6 to descend, so that the carrying mechanism 6 can be prevented from being damaged in the process of positioning the pallet 2 and loading objects. When the articles need to be transferred, the pin shaft bracket 5 can smoothly enter between the two ear plates 21 to realize positioning by controlling the carrying mechanism 6 to ascend so as to be connected with the supporting plate 2. This way the handling means 6 is moved away from and into connection with the pallet 2, making full use of the space under the pallet 2, and the support platform 1 can be retracted inwards at the connection end of the pallet 2.

In the second embodiment, as shown in fig. 4 to 19, the first positioning portion includes a first pin 91 and a second pin 92, both of which are provided at the connection end of the pallet 2 in the length direction of the pallet 2 and are arranged at intervals in a plane parallel to the pallet 2; and the second positioning portion includes a first hook 93 and a second hook 94, at least one of the first hook 93 and the second hook 94 is movably disposed at the bottom end of the carrying mechanism 6, and is configured to move through the first hook 93 and/or the second hook 94 to engage the first hook 93 with the first pin 91, and the second hook 94 engages with the second pin 92, so as to connect the carrying mechanism 6 with the pallet 2.

The embodiment adopts the cooperation of the hook and the pin to realize the connection structure of the carrying mechanism 6 and the supporting plate 2, so that the connection reliability can be improved, the requirement on the cooperation precision can be reduced, and the unhooking is easy to realize.

As shown in fig. 8, the first hook 93 and/or the second hook 94 is rotatably provided at the bottom end of the carrying mechanism 6, and the rotation axis is provided along the length direction of the pallet 2. The structure can reduce the space occupied by the two hooks in the whole movement stroke and reduce the requirement on the alignment precision of the hooks and the pins. Alternatively, the first hook 93 and/or the second hook 94 may be provided at the bottom end of the conveyance mechanism 6 by moving in the width direction of the pallet 2.

As shown in fig. 15, the first and second hooks 93 and 94 are configured to enter into engagement from within the channel spaced between the first and second pins 91 and 92. The structure can fully utilize the space between the first pin 91 and the second pin 92, and reduce the volume occupied by the first connecting mechanism at the connecting end of the supporting plate 2; and in the case of occupying a certain volume, the interval distance between the first pin 91 and the second pin 92 can be increased, thereby increasing the connection stability and reliability, and preventing the pallet 2 from shaking. Alternatively, the first and second hooks 93 and 94 may be engaged from the outside of the first and second pins 91 and 92.

Still referring to fig. 15, the first hooks 93 are fixedly disposed, the second hooks 94 are rotatably disposed in a plane perpendicular to the lengthwise direction of the pallet 2, and the second pins 92 are located on the side of the first pins 91 remote from the pallet 2. Because the side far away from the connecting end of the supporting plate 2 is provided with a larger space, the auxiliary structure is convenient to be arranged to drive the second hook 94 to move; in addition, the stability of the positioning of the carrying mechanism 6 and the supporting plate 2 can be increased by arranging one fixed hook, and the connection difficulty can be reduced and the connection reliability can be improved by arranging one movable hook.

As shown in fig. 16 and 17, the first connection mechanism further includes an actuating block 95 provided on the pallet 2, and a wedge-shaped surface 951 is provided on the actuating block 95. The first driving component 3 is used for driving the actuating block 95 to move along the width direction of the supporting plate 2 in the plane where the supporting plate 2 is located, and an air cylinder, an electric push rod, a hydraulic cylinder or the like can be adopted. The second hook 94 is provided with a biasing portion 941, and when the actuator block 95 moves, the second hook 94 is rotated by the movement of the biasing portion 941 on the wedge surface 951, so that the second hook 94 is engaged with and disengaged from the second pin 92. This structure forces the second hook 94 to rotate by the wedge-shaped surface 951, and enables the rotation process of the second hook 94 to be smoother.

Further, as shown in fig. 17, the actuating block 95 is further provided with a receiving groove 952 and a support table 953, and the wedge-shaped surface 951 is connected between the receiving groove 952 and the support table 953. In a state where the carrying mechanism 6 is separated from the pallet 2, the urging portion 941 is positioned in the accommodating groove 952; when the carrying mechanism 6 needs to be connected to the pallet 2, the urging portion 941 reaches the support base 953 along the wedge-shaped surface 951, and the second hook 94 is held in engagement with the second pin 92. By providing the accommodating groove 952 and the support base 953, the second hook 94 can be reliably held in a state in which the second pin 92 is disengaged or engaged, and the connection or disconnection state between the carrier mechanism 6 and the pallet 2 can be easily held.

Still referring to fig. 17, the urging portion 941 is a roller provided on the second hook 94 near the end connected to the carrying mechanism 6 for movement on the wedge-shaped surface 951 by rolling. This structure can reduce the friction force applied to the force applying portion 941 when it moves along the wedge-shaped surface 951, make the rotation of the second hook 94 more flexible, and improve the service life of the first connection mechanism.

The receiving groove 952 may be an arc groove and the support 953 may be a plane parallel to the pallet 2, as appropriate for the roller.

Under the influence of the first drive member 3, a relative movement between the actuation block 95 and the pallet 2 occurs. In order to reduce friction and improve service life, a plurality of rolling bodies 96 are arranged between the bottom of the actuating block 95 and the supporting plate 2, so that rolling friction is formed between the actuating block 95 and the supporting plate 2, and smoothness of movement of the actuating block 95 is improved.

The operation of the handling device according to the second embodiment will be described in detail below with reference to the embodiments of fig. 4 to 19.

As shown in fig. 4 and 5, the supporting platform 1 waits for the carrying mechanism 6 to discharge the pallet 2, in the current state, the middle turning baffle 13 on the rack is in a vertical state, so as to block the articles of the grouping device station II, and when the subsequent middle turning baffle 13 is in a horizontal state, the articles of the grouping device station II are pushed out to the pallet station I. The supporting platform 1 is provided with the groups (columns) of universal ball bearings 12, so that friction and impact between the supporting plate 2 and the supporting platform 1 during taking and placing can be effectively reduced. At the same time, the reaction force to the carrying mechanism 6 is reduced, and the driving member of the carrying mechanism 6 can be protected. A baffle 14 is provided in front of the support platform 1 to prevent articles from falling from the front end of the pallet 2 as they are pushed out of the marshalling station II to the pallet station I.

Further, the support platform 1 also comprises a second drive member 7 and a second pin 8. The second drive means 7 may be a cylinder, a hydraulic cylinder, an elevator or other linear drive. The second pins 8 are connected to the second driving means 7 for positioning the pallet 2 and the support platform 1, at least 2.

As shown in fig. 6, the handling mechanism 6 is ready to separate and place the pallet 2 on the support platform 1 by means of the first connection mechanism. Specifically, the movement of the carrying mechanism 6, including the rotation, the back-and-forth movement and the lifting movement of the four bar mechanism thereof, is moved to a height of about 5mm above the placement plane of the support platform 1. At this time, the second driving part 7 is in a retracted state, and the second pin 8 is also in a retracted state, and is not positioned in cooperation with the pallet 2. In addition, a pusher 10 is provided on the pallet 2 for pushing the object from the pallet 2 to the target compartment position. In fig. 6, a telescopic device 6' is arranged at the rear of the carrying mechanism 6, and is used for driving a rod piece with adjustable length in the carrying mechanism 6 to stretch and retract so as to change the angle of the supporting plate 2. Fig. 7 is a cross-sectional view of the connection portion between the conveying mechanism 6 and the pallet 2, and fig. 8 is a schematic structural view of the first connection mechanism.

As shown in fig. 9, after the handling mechanism 6 approaches the support platform 1, the first connection mechanism is separated, and the handling mechanism 6 moves horizontally opposite to the pallet 2, moves upward again, separates from the pallet 2, and leaves the article transfer path open. When the first driving member 3 is retracted, the actuating block 95 moves in a direction approaching the pallet 2 and acts on the urging portion 941, so that the second hook 94 connected to the urging portion 941 rotates, and finally the urging portion 941 is positioned in the accommodation groove 952, thereby separating the second pin 92 from the second hook 94.

As shown in fig. 10, when separated, the second pin 92 loses locking force with the second hook 94. The balance of the pallet 2 itself is broken, the first hook 93 and the first pin 91 lose locking force, and automatically fall onto the support platform 1. But at this time, the dropped pallet 2 is not accurately positioned. Fig. 11 is a schematic view of the pallet 2 fully placed on the support platform 1.

As shown in fig. 12, the second driving part 7 drives the second pin shaft 8 to be matched with the second hole 23 on the supporting plate 2, so that the supporting plate 2 is accurately positioned on the supporting platform 1, and the connection of the second connecting mechanism is realized. At the same time, the intermediate flip striker plate 13 is lowered to a horizontal state.

As shown in fig. 13, the articles of marshalling unit station II are pushed out to pallet station I until blocked by the baffle 14. At the same time, the intermediate roll-over dam 13 is lifted to a vertical state.

As shown in fig. 14, the carrying mechanism 6 is moved above the pallet 2, and the second driving part 7 of the second connection mechanism drives the second pin 8 to be separated from the second hole 23 on the pallet 2. Further, the second hook 94 of the first coupling mechanism is in the disengaged position. The first drive member 3 is now in the retracted state.

As shown in fig. 15, the first hook 93 moves to a position to be engaged with the first pin 91. Specifically, the conveyance mechanism 6 moves forward and backward to position the lowered position, which is a position where the first hook 93 and the second hook 94 move downward without colliding with the first pin 91 and the second pin 92. The carrying mechanism 6 moves downward first to move to the position where the center of the first pin 91 is flush with the center of the first hook 93.

As shown in fig. 16, the conveyance mechanism 6 moves horizontally toward the first pin 91, and the first hook 93 engages with the first pin 91. When moving horizontally, a slight sliding of the pallet 2 may occur when the first hook 93 contacts the first pin 91. However, because the supporting platform 1 is provided with groups (rows) of universal ball bearings 12 to support the pallet 2, the sliding friction is reduced. While the force of the first pin 91 against the first hook 93 is small. The driving force of the driving device of the conveying mechanism 6 which is indirectly and rigidly connected with the first hook 93 is also small, so that the conveying mechanism 6 can be protected.

As shown in fig. 17, the first driving member 3 is extended to push the actuator block 95 to move in a direction away from the pallet 2, and the biasing portion 941 is released from the accommodating groove 952 and moves upward along the wedge-shaped surface 951 until reaching the support table 953. At this time, the second hook 94 is engaged with the second pin 92, and the first connecting mechanism is in a connected state, so that the pallet 2 is connected to the carrying mechanism 6.

Then, as shown in fig. 18, the carrying mechanism 6 drives the pallet 2 and the object to reach the stacking target position, and pushes the object out to the target position by the action of the push rod 10. Figure 19 is a schematic view of the pallet 2 removed from the support platform 1.

The loading and unloading equipment and the loading and unloading method provided by the invention are described in detail. The principles and embodiments of the present invention have been described herein with reference to specific examples, which are intended to be merely illustrative of the methods of the present invention and their core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.

Claims (22)

1. A handling apparatus, comprising:

a carrying mechanism (6);

A pallet (2) for carrying articles;

a support platform (1) configured to place a pallet (2) when an object is to be loaded; and

A first connection mechanism having a disengaged state in which the handling mechanism (6) is separated from the pallet (2) and a locked state in which the handling mechanism (6) is connected to the pallet (2), configured to be in the disengaged state after the handling mechanism (6) moves the pallet (2) and places the pallet (2) on the support platform (1) when an object is required to be loaded; when the articles need to be transferred, the carrying mechanism (6) is in the locking state after reaching a position capable of being connected with the supporting plate (2);

a second connection mechanism having a disengaged condition for disengaging the pallet (2) from the support platform (1) and a locked condition for connecting the pallet (2) to the support platform (1), configured to be in the locked condition when the pallet (2) is placed on the support platform (1) and to be in the disengaged condition when an article is to be transferred;

The inclination angle adjusting mechanism is used for adjusting the inclination angle of the supporting plate (2), and the supporting plate (2) is in a horizontal state under a loading working condition; under the transfer working condition, the supporting plate (2) is in a horizontal state or in a free end tilting state; under the unloading working condition, the supporting plate (2) is in a horizontal state or a free end declining state; before the pallet (2) needs to be placed on the supporting platform (1), the pallet (2) is in a horizontal state; after the pallet (2) carries articles leaving the support platform (1), the pallet (2) remains horizontal or rotates to a free end tilt-up condition;

Wherein the first connection mechanism includes:

A first driving member (3);

the first positioning part is arranged on the supporting plate (2); and

A second positioning part operatively connected to the output end of the first driving member (3);

Wherein the first driving part (3) is configured to enable the first positioning part and the second positioning part to be combined or separated through the movement of the output end of the first driving part to realize the connection and the separation of the conveying mechanism (6) and the supporting plate (2).

2. A handling device according to claim 1, wherein the first and second connection mechanisms are provided independently and are configured to first place one of the connection mechanisms in the disengaged state when the other connection mechanism needs to be switched to the locked state.

3. A handling device according to claim 1, wherein a linkage is provided between the first and second connection mechanisms, configured to mechanically link upon switching of one of the connection mechanisms to trigger switching of the other connection mechanism to the opposite state.

4. Handling equipment according to claim 1, further comprising control means configured to control the movement of the handling means (6) and to control at least one of the first and second connection means to switch states.

5. Handling equipment according to claim 1, characterized in that the handling mechanism (6) is configured to leave the pallet (2) by movement after the pallet (2) has been placed on the support platform (1).

6. Handling equipment according to claim 1, characterized in that the handling means (6) are provided with the first connection means on both the left and right sides in the longitudinal direction of the pallet (2) or that the handling means (6) are provided with the first connection means in a middle position in the longitudinal direction of the pallet (2).

7. Handling device according to claim 1, characterized in that the first positioning part is a first hole (22) provided on the pallet (2), the second positioning part is a first pin (4), the first driving member (3) is configured to insert or disengage the pin (4) into or from the first hole (22) by means of its own output movement, so as to achieve connection and disconnection of the handling mechanism (6) to/from the pallet (2).

8. Handling equipment according to claim 7, characterized in that the bottom of the pallet (2) is provided with an ear plate (21), the first hole (22) being provided in the ear plate (21);

The conveying mechanism (6) comprises a main body part (61) and a connecting part (62), the connecting part (62) is arranged at the bottom end of the main body part (61), a pin shaft bracket (5) is arranged on the connecting part (62), and a third hole (51) is formed in the pin shaft bracket (5);

The first driving part (3) is arranged on the connecting part (62) and is configured to enable the first pin shaft (4) to be embedded into the first hole (22) and the third hole (51) after the conveying mechanism (6) moves to align the pin shaft bracket (5) with the lug plate (21).

9. Handling equipment according to claim 8, characterized in that the handling mechanism (6) is configured to disengage the pin holder (5) from the ear plate (21) by a downward movement to leave the pallet (2) after the pallet (2) is placed on the holding platform (1).

10. The handling device according to claim 8, wherein the connecting portion (62) includes an extending plate (621) and two mounting plates (622), the extending plate (621) is provided at a bottom end of the main body portion (61) and extends toward left and right sides of the main body portion (61), the two mounting plates (622) are provided at left and right side ends of the extending plate (621), respectively, the ear plate (21) is located inside the mounting plate (622), and the first driving member (3) is provided on an outer side wall of the mounting plate (622) and is configured to be fitted into the first hole (22) and the third hole (51) when an output end thereof moves horizontally inward.

11. Handling equipment according to claim 1, wherein,

The first positioning part comprises a first pin (91) and a second pin (92), and the first pin and the second pin are arranged at the connecting end of the supporting plate (2) along the length direction of the supporting plate (2) and are arranged at intervals in a plane parallel to the supporting plate (2); and

The second positioning part comprises a first hook (93) and a second hook (94), at least one of the second positioning parts is movably arranged at the bottom end of the carrying mechanism (6) and is configured to enable the first hook (93) to be clamped with the first pin (91) through the movement of the first hook (93) and/or the second hook (94), and the second hook (94) is clamped with the second pin (92) so as to realize the connection of the carrying mechanism (6) and the supporting plate (2).

12. Handling equipment according to claim 11, characterized in that the first hook (93) and/or the second hook (94) are rotatably arranged at the bottom end of the handling means (6) and that the axis of rotation is arranged in the length direction of the pallet (2).

13. Handling device according to claim 11, wherein the first and second hooks (93, 94) are configured to engage from within a channel spaced between the first and second pins (91, 92).

14. Handling equipment according to claim 11, characterized in that the first hook (93) is fixedly arranged and the second hook (94) is rotatably arranged in a plane perpendicular to the length direction of the pallet (2), the second pin (92) being located on the side of the first pin (91) remote from the pallet (2).

15. Handling device according to claim 14, characterized in that the first connection means further comprise an actuation block (95) provided on the pallet (2), the actuation block (95) being provided with a wedge-shaped surface (951);

Wherein the first driving component (3) is used for driving the actuating block (95) to move along the width direction of the supporting plate (2) in the plane of the supporting plate (2); the second hook (94) is provided with a force application part (941) for enabling the second hook (94) to rotate by moving the force application part (941) on the wedge-shaped surface (951) when the actuating block (95) moves, so that the second hook (94) is engaged with and disengaged from the second pin (92).

16. Handling device according to claim 15, wherein the actuation block (95) is further provided with a receiving groove (952) and a support table (953), the wedge-shaped surface (951) being connected between the receiving groove (952) and the support table (953), the force application portion (941) being located in the receiving groove (952) in a state in which the handling means (6) is disengaged from the pallet (2); when the carrying mechanism (6) needs to be connected with the pallet (2), the force application part (941) reaches the supporting table (953) along a wedge-shaped surface (951) so as to keep the state that the second hook (94) is engaged with the second pin (92).

17. Handling device according to claim 15, characterized in that the force application portion (941) is a roller provided on the second hook (94) near the end connected to the handling means (6) for movement by rolling on the wedge-shaped surface (951).

18. Handling equipment according to claim 15, characterized in that between the bottom of the actuation block (95) and the pallet (2) a plurality of rolling bodies (96) are provided.

19. Handling equipment according to claim 1, characterized in that the support platform (1) is provided with a mounting location (11) therein, the second connection means comprising:

A second driving member (7) provided in the mounting position (11);

the third positioning part is arranged on the supporting plate (2); and

A fourth positioning part arranged at the output end of the second driving part (7);

wherein the second driving part (7) is configured to enable the third positioning part and the fourth positioning part to be combined or separated through the movement of the output end of the second driving part so as to realize the connection and the disconnection of the supporting plate (2) and the supporting platform (1).

20. Handling equipment according to claim 19, characterized in that the third positioning part is a second hole (23) and the fourth positioning part is a second pin (8), the second driving member (7) being configured to insert or disengage the second pin (8) into or from the second hole (23) by means of its own output movement, in order to achieve connection and disconnection of the pallet (2) to the holding platform (1).

21. A loading and unloading method based on the loading and unloading apparatus according to any one of claims 1 to 20, comprising:

When the objects need to be loaded, the carrying mechanism (6) drives the supporting plate (2) to move, the supporting plate (2) is placed on the supporting platform (1), and then the first connecting mechanism is in a disconnecting state;

When the articles need to be transferred, the carrying mechanism (6) is brought to a position capable of being connected with the supporting plate (2), and then the first connecting mechanism is in a locking state;

Wherein, after placing the pallet (2) on the support platform (1) with the first connection mechanism in the disengaged state, the loading and unloading method further comprises:

The second connecting mechanism is in a locking state so as to realize the connection and positioning between the supporting plate (2) and the supporting platform (1);

after loading the articles, the loading and unloading method further comprises, before the first connecting mechanism locks the carrying mechanism (6) with the pallet (2):

The second connecting mechanism is in a disconnection state so as to separate the supporting plate (2) from the supporting platform (1);

After placing the pallet (2) on the support platform (1), the handling method further comprises: the carrying mechanism (6) is lifted or lowered away from the pallet (2).

22. Loading and unloading method according to claim 21, characterized in that the pallet (2) is in a horizontal state in loading conditions; under the transfer working condition, the supporting plate (2) is in a horizontal state or in a free end tilting state; under the unloading working condition, the supporting plate (2) is in a horizontal state or a free end declining state; the loading and unloading method further comprises the following steps:

Before the pallet (2) needs to be placed on the supporting platform (1), the pallet (2) is in a horizontal state; or alternatively

After the pallet (2) carries articles leaving the support platform (1), the pallet (2) is kept horizontal or rotated to a free end tilt-up condition.