CN121084813A

CN121084813A - A method and equipment for retrieving boxes

Info

Publication number: CN121084813A
Application number: CN202511358797.7A
Authority: CN
Inventors: 李洪波; 王堃
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2020-10-23
Filing date: 2020-10-23
Publication date: 2025-12-09
Also published as: CN112389920A; CN112389920B

Abstract

This specification discloses a box retrieval method and device. The box retrieval device moves along a track to a designated position adjacent to a storage column containing multiple target storage boxes. It then lifts multiple storage boxes containing the target boxes from the storage column and supports them. For each target storage box, the box retrieval device can lift other storage boxes above it to separate the target storage box from the other boxes above it. The target storage box is then stored in the box retrieval device through an opening on its side. After storing multiple target storage boxes, the box retrieval device can finally return the remaining storage boxes to the storage column. This allows the box retrieval device to remove and store multiple target storage boxes from the storage column in a single retrieval task, reducing warehouse operating costs and improving handling efficiency.

Description

Box taking method and box taking equipment

The present application is a divisional application, the application number of the original application is 202011149973.3, the original application date is 10 months 23 in 2020, and the whole content of the original application is incorporated by reference into the present application.

Technical Field

The specification relates to the technical field of robots, in particular to a box taking method and box taking equipment.

Background

In order to store as many cargoes as possible in a limited space, a dense storage mode is developed, and the storage mode reduces the aisle area between the storage shelves as much as possible, so that the cargoes are tightly stacked in the storage shelves, and the dense storage of the cargoes in the limited space is realized.

Currently, a dense storage warehouse of a three-dimensional grid structure is composed of a plurality of vertical storage columns and rails arranged on top of the storage columns, and a plurality of storage boxes can be stacked in the vertical direction in each storage column. The box taking device can run on the track at the top, and the box taking mechanism vertically downwards stretches into the storage column to grab cargoes in the storage column, so that the process of carrying the target storage box from the storage column to the box taking device is completed, and the box taking device is shown in fig. 1A-1D.

FIGS. 1A-1D are schematic views illustrating a process of lifting a target bin in a storage column of a storage rack by a bin picking device in the prior art.

In fig. 1A, a schematic side view of a plurality of storage columns of a storage rack is shown, in which goods are stacked in the storage columns according to a vertical direction, the tops of the storage columns are provided with rails, a box taking device runs on the rails, the box taking device can be regarded as being composed of two parts, and one is a box taking mechanism, and the box taking mechanism can be configured to extend into the storage columns from the tops of the storage columns so as to extract a target storage box to be carried. The other part is a moving mechanism by which the box taking device can move on the track.

Referring specifically to fig. 1B, fig. 1B is a top view of a storage rack, assuming that a target storage bin is in an M2 storage column, a bin picking device may be moved to a position of M1 by a moving mechanism, so that the bin picking mechanism may be directly over the M2 storage column. Similarly, when the target storage box is in the M4 storage column, the box taking device can move to the position of M3 through the moving mechanism, so that the box taking mechanism can be right over the M4 storage column.

Assuming the case taking apparatus needs to handle the target case in fig. 1A, the case taking mechanism may be extended into the storage column in which the target case is located to dock the target case, as shown in fig. 1C. Once docked with the target bin, the bin handling mechanism may be retracted in the direction shown in fig. 1C, lifting the target bin out, as shown in fig. 1D.

Although the lifting of the target bin from the storage column can be achieved in the manner described above, it can be seen from the above schematic that the bin handling apparatus actually can only lift one item at a time from the storage column, and when additional blocked bins are stacked above the target bin, it is necessary to repeatedly extract additional blocked bins on the target bin in the storage column, thereby severely reducing warehouse handling efficiency, as shown in fig. 2.

FIG. 2 is a schematic diagram of a prior art target bin stacked with other obstructing bins.

Assuming that the box taking device located above the storage column needs to carry the target storage box shown in fig. 2, namely, the storage box marked with an "X" in fig. 2, a plurality of box taking devices are needed to cooperate, the storage box 1 and the storage box 2 are lifted out of the storage column by 2 box taking devices respectively, then the target storage box is lifted out of the storage column by 1 box taking device, and the storage box 1 and the storage box 2 are required to be placed back into the storage column later.

It can be seen from this that when a blocking bin is stacked above a target bin, the bin picking device needs to perform multiple picking actions and replacing actions to acquire the target bin, resulting in lower efficiency.

Therefore, how to effectively improve the cargo handling efficiency is a problem to be solved.

Disclosure of Invention

The specification provides a box taking method and box taking equipment so as to effectively improve the carrying efficiency of cargoes.

The technical scheme adopted in the specification is as follows:

The specification provides a box taking method, which is executed by box taking equipment and is applied to a dense storage warehouse with a three-dimensional grid structure, wherein the dense storage warehouse comprises a plurality of vertical storage columns and rails arranged at the tops of the storage columns, a plurality of storage boxes are stacked in the storage columns along the vertical direction, the box taking equipment runs on the rails, a space for accommodating the storage boxes is arranged inside the box taking equipment, an opening is formed at the side of the box taking equipment for allowing the storage boxes to enter the box taking equipment, and the box taking equipment comprises the following components:

Moving to a designated position, wherein the designated position is adjacent to a target storage column where at least part of target storage boxes in a plurality of target storage boxes to be carried are located, and the capacity of the space occupied by the plurality of target storage boxes does not exceed the capacity of the space containing the plurality of storage boxes arranged in the box taking equipment;

Lifting a plurality of storage boxes from the target storage column and supporting the plurality of storage boxes, wherein the plurality of storage boxes which are taken out comprise one or more target storage boxes;

Repeating, for each of the one or more target bins, the acts of lifting the bin above the target bin to separate the target bin from the bin above it, and receiving the target bin into the bin extraction device from an opening laterally of the bin extraction device, dropping the bin above the target bin until the one or more target bins are fully received in the bin extraction device;

and replacing the rest other storage boxes in the target storage column.

Optionally, the method further comprises:

and if the plurality of storage boxes taken out from the target storage column only comprise the plurality of target storage boxes, sequentially collecting the plurality of target storage boxes into the box taking equipment.

Optionally, a lowest bin of the plurality of fetched bins is a target bin of the one or more target bins.

Optionally, a plurality of bins will be taken out of the target storage column, including:

Determining a storage bit of a storage box located on an inner side of the target storage column, wherein one or more storage boxes are stacked above the storage box;

according to the storage bit, docking with the storage box in the target storage column;

The bin located in the target bin is lifted up, and the bin located in the target bin is lifted out of the target bin together with the bin stacked on top of itself.

Optionally, lifting the bin above the target bin to separate the target bin from the bin above it, comprising:

docking a storage box adjacent to the upper side of the target storage box;

And lifting the butted storage boxes so that the storage boxes above the butted storage boxes are lifted together.

Optionally, the method further comprises:

Moving to a next appointed position, wherein the next appointed position is adjacent to a target storage column where at least part of target storage boxes in a plurality of target storage boxes to be carried are positioned;

extracting a plurality of storage boxes from the target storage columns adjacent to the next designated position and supporting the plurality of storage boxes, wherein the extracted storage boxes comprise one or more target storage boxes;

and replacing the rest other storage boxes in the next target storage column adjacent to the next designated position.

The specification provides a box taking method, which is executed by box taking equipment and is applied to a dense storage warehouse with a three-dimensional grid structure, wherein the dense storage warehouse comprises a plurality of horizontal storage columns and a track arranged at one end of the storage columns, a plurality of storage boxes are stacked in the storage columns along the horizontal direction, the box taking equipment runs on the track, a space for accommodating the storage boxes is arranged inside the box taking equipment, an opening is arranged at the side of the box taking equipment for allowing the storage boxes to enter the box taking equipment, and the box taking equipment comprises:

Extracting a plurality of storage boxes from the target storage column and supporting the plurality of storage boxes, wherein the extracted storage boxes comprise one or more target storage boxes;

Repeating, for each of the one or more target bins, the act of separating a bin forward of the target bin from the target bin and receiving the target bin into the bin stripping apparatus from an opening laterally of the bin stripping apparatus until the one or more target bins are fully received into the bin stripping apparatus;

and replacing the rest other storage boxes in the target storage column.

The specification provides box taking equipment which is applied to a dense storage warehouse with a three-dimensional grid structure, wherein the dense storage warehouse comprises a plurality of vertical storage columns and rails arranged at the tops of the storage columns, a plurality of storage boxes are stacked in the storage columns along the vertical direction, and the box taking equipment runs on the rails;

The moving mechanism is used for moving to a designated position corresponding to the position of the target storage column according to the position of the target storage column where at least part of the target storage boxes in the plurality of target storage boxes to be carried are positioned, so that the box taking mechanism is positioned at the position of the target storage column, and the designated position is adjacent to the target storage column;

The system includes a storage column for storing a plurality of storage boxes, a box taking mechanism for taking out the plurality of storage boxes from the storage column, wherein the plurality of storage boxes taken out include one or more target storage boxes, and for each of the one or more target storage boxes, the box taking mechanism lifts the storage box above the target storage box to separate the target storage box from the storage box above the target storage box, and drops the storage box above the target storage box after the box taking mechanism takes in the target storage box into one storage unit, and the storage box taking mechanism returns the remaining other storage boxes back into the storage column after the one or more target storage boxes are all taken in the box taking device, and the box taking mechanism is used for taking in the target storage box from the storage box side into the storage unit after the box taking mechanism lifts the storage box above the target storage box to separate the target storage box from the storage box above the target storage box.

Optionally, the box taking mechanism comprises a fixed baffle, a butt joint assembly and a telescopic assembly, wherein the fixed baffle is connected with the butt joint assembly through the telescopic assembly.

Optionally, the telescopic component is used for adjusting the telescopic length to enable the docking component to reach a storage position where one storage box positioned on the inner side of the target storage column is located, wherein one or more storage boxes are stacked above the storage box;

The docking assembly is used for docking with the storage box in the target storage column when the storage bit is reached;

The telescopic assembly is further used for adjusting the telescopic length when the docking assembly is docked with the storage box located in the target storage column, and lifting the storage box located in the target storage column and the storage boxes stacked above the storage box out of the target storage column.

Optionally, the box storing mechanism comprises a telescopic supporting plate and a dragging assembly, and the telescopic supporting plate is positioned at the bottom of each storage unit;

The telescopic supporting plate is used for supporting the target storage box and the storage box above the target storage box by extending out of the bottom of the storage unit corresponding to the target storage box when the target storage box reaches the position of the side opening of the storage unit corresponding to the target storage box;

The docking assembly is also used for stopping docking with the target storage box and docking with a storage box adjacent to the upper part of the target storage box after the telescopic supporting plate supports the target storage box and the storage box above the target storage box;

The telescopic assembly is also used for readjusting the telescopic length after the docking assembly stops docking, so that the docking assembly reaches the position of the adjacent storage box above the target storage box;

And the dragging assembly is used for dragging the target storage box from the telescopic supporting plate to the storage unit corresponding to the target storage box through the opening at the side of the storage unit corresponding to the target storage box after the abutting assembly abuts against the storage box adjacent to the upper part of the target storage box.

Optionally, the telescopic assembly is further used for enabling the docking assembly to reach a home position of a lowest storage box in the target storage columns in the lifted remaining other storage boxes according to the adjusted telescopic length when the one or more target storage boxes are all received in the box taking device;

the docking assembly is further configured to stop docking with a lowest storage box of the remaining other storage boxes when the home position is reached, so as to stack and store the remaining other storage boxes in the target storage column.

Optionally, the telescopic assembly comprises a first telescopic assembly, a second telescopic assembly and a movable baffle, wherein two ends of the first telescopic assembly are connected with the movable baffle and the fixed baffle, and two ends of the second telescopic assembly are connected with the movable baffle and the butt joint assembly.

Optionally, the second telescopic component is configured to adjust a telescopic length according to a storage position of a storage box closest to the fixed baffle in the target storage column and a storage position of a target storage column farthest from the fixed baffle in the target storage column, so that when the movable baffle arrives at the storage box closest to the fixed baffle, the docking component arrives at a storage position of a storage box to be docked, and a distance between the storage box to be docked and the fixed baffle of the docking component is not smaller than a distance between the target storage box farthest from the fixed baffle and the fixed baffle;

the first telescopic assembly is used for adjusting the telescopic length according to the storage position of the storage box closest to the fixed baffle plate, so that the movable baffle plate reaches the storage box closest to the fixed baffle plate;

the docking assembly is used for docking with the storage box to be docked when the storage box to be docked is reached;

The first telescopic assembly is further used for adjusting the telescopic length when the docking assembly is docked with the storage boxes to be docked, and the storage boxes between the movable baffle and the docking assembly are taken out of the target storage column.

Optionally, the movable baffle plate also comprises a triggering mechanism;

The trigger mechanism is used for sending a trigger signal to the docking assembly when the movable baffle reaches a storage box closest to the fixed baffle in the target storage column;

And the docking assembly is used for docking with the storage box to be docked when receiving the trigger signal.

The telescopic supporting plate is used for aiming at each target storage box in the one or more target storage boxes, and extends out of the bottom of a storage unit corresponding to the target storage box to support the target storage box and the storage box above the target storage box;

The second telescopic component is also used for adjusting the telescopic length according to the storage position of the storage box nearest to the fixed baffle and the storage position of the storage box adjacent to the upper part of the target storage box when the telescopic supporting plate supports the target storage box, so that the docking component reaches the storage box adjacent to the upper part of the target storage box;

the docking assembly is also used for docking with the storage box adjacent to the upper side of the target storage box when reaching the storage box adjacent to the upper side of the target storage box;

Optionally, the moving mechanism is further configured to move to a next designated location if the one or more target storage boxes have been fully received into the box taking device, where the next designated location is adjacent to a target storage column where at least a portion of the plurality of target storage boxes to be handled are located;

The box taking device is also used for extracting a plurality of storage boxes from the next target storage columns adjacent to the designated position and supporting the storage boxes, wherein the extracted storage boxes comprise one or more target storage boxes, for each target storage box in the one or more target storage boxes, the storage box above the target storage box is lifted to be separated from the storage box above the target storage box, and after the storage box mechanism receives one storage unit, the storage box above the target storage box is dropped, and after the one or more target storage boxes are all received in the box taking device, the rest other storage boxes are replaced in the target storage columns;

The bin mechanism is further configured to, for each of the one or more target bins, retract the target bin into the storage unit from an opening on a side of the storage unit after the bin picking mechanism lifts the bin above the target bin to separate the target bin from the bin above the target bin.

The specification provides box taking equipment which is applied to a dense storage warehouse with a three-dimensional grid structure, wherein the dense storage warehouse comprises a plurality of horizontal storage columns and a track arranged at one end of the storage columns, a plurality of storage boxes are stacked in the storage columns along the horizontal direction, and the box taking equipment runs on the track;

The box taking mechanism is used for lifting a plurality of storage boxes from the target storage column, wherein one or more storage boxes are contained in the plurality of storage boxes which are taken out, and for each target storage box in the one or more target storage boxes, the target storage box is separated from the storage box in front of the target storage box according to the direction of taking out the storage box from the target storage column, and after the one or more target storage boxes are all received in the box taking equipment, the rest other storage boxes are replaced in the target storage column;

The bin mechanism is used for separating the bin in front of the target bin from the target bin for each target bin in the one or more target bins, and then taking the target bin into the storage unit from an opening on the side of the storage unit.

The above-mentioned at least one technical scheme that this specification adopted can reach following beneficial effect:

After the box taking device moves along the track to the designated position adjacent to the storage column where the plurality of target storage boxes are located, the plurality of storage boxes containing the plurality of target storage boxes can be lifted from the storage column, the plurality of storage boxes are supported, and for each target storage box, the box taking device can lift the other storage boxes above the target storage box so as to separate the target storage box from the other storage boxes above the target storage box, and then the target storage box is collected into the box taking device from an opening at the side of the box taking device. After the multiple target storage boxes are respectively received into the box taking device, the box taking device can finally replace other storage boxes into the storage column. Therefore, the box taking equipment can take out a plurality of target storage boxes from the storage through one box taking task and collect the target storage boxes into the box taking equipment, the operation cost of a warehouse is reduced, and the improvement of the carrying efficiency is realized.

Drawings

The accompanying drawings, which are included to provide a further understanding of the specification, illustrate and explain the exemplary embodiments of the present specification and their description, are not intended to limit the specification unduly. In the drawings:

FIGS. 1A-1D are schematic views of a process of lifting a target bin in a storage column of a storage rack by a bin picking device in the prior art;

FIG. 2 is a schematic illustration of a prior art target bin stacked with other obstructing bins above it;

FIG. 3 is a schematic diagram of a box-taking method provided in the present specification;

FIGS. 4A-4C are schematic views illustrating a plurality of storage boxes lifted out according to the present disclosure;

fig. 5 is a schematic structural view of a box taking device provided in the present specification;

FIG. 6 is a schematic view of the distribution of rails on top of each storage column of the warehouse provided in the present specification;

fig. 7 is a schematic structural view of a box taking device provided in the present specification;

fig. 8 is a schematic structural view of a box taking device provided in the present specification;

FIG. 9 is a schematic diagram of storing targets in a revenue storage unit provided herein;

Fig. 10 is a schematic structural view of a box taking device provided in the present specification;

FIG. 11 is a schematic diagram of two target containers being transferred to corresponding storage units provided herein;

fig. 12 is a schematic structural view of a box taking device provided in the present specification;

13A-13C are schematic diagrams of several types of storage boxes provided in the present specification;

FIG. 14 is a schematic view of a telescoping assembly provided with a ganged telescoping member provided herein;

FIG. 15 is a schematic view of the bin handling apparatus provided in the present disclosure on both sides of a storage rack;

FIG. 16 is a schematic view of another embodiment of the box-taking apparatus provided in the present disclosure;

FIG. 17 is a schematic view of a box picking apparatus provided with a first telescoping assembly and a second telescoping assembly for lateral box picking provided herein;

fig. 18 is a schematic view of the box taking apparatus for lateral box taking provided in the present specification transferring a target box into a storage unit.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the present specification more apparent, the technical solutions of the present specification will be clearly and completely described below with reference to specific embodiments of the present specification and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present specification. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are intended to be within the scope of the present disclosure.

Fig. 3 is a schematic diagram of a box taking method provided in the present specification, specifically including the following steps:

And S301, moving to a designated position, wherein the designated position is adjacent to a target storage column where at least part of target storage boxes in the plurality of target storage boxes to be carried are located.

In one or more embodiments provided herein, the box-taking method is applied to a dense storage warehouse with a three-dimensional grid structure, where the dense storage warehouse includes a plurality of vertical storage columns and rails disposed on top of the storage columns, and the specific structure of the dense storage warehouse may refer to fig. 1 a-d and the structure of the warehouse in fig. 2. Also, in the present specification, the box taking method is specifically performed by a box taking apparatus that runs on a rail on the top. The box taking device is internally provided with a space for accommodating the storage box, and an opening is arranged on the side of the box taking device for the storage box to enter the box taking device.

It should be noted that, in the case of the case taking device in the present specification, the area occupied by the case taking device in the projection area is identical to that of the case taking device shown in fig. 1a to d and fig. 2, that is, the projection area needs to occupy two adjacent storage columns when the case taking device runs on a track.

Specifically, in the process of executing box taking by the box taking device, a control center controlling the box taking device to operate can determine the storage position of a target storage box needing to be lifted in the dense storage warehouse, wherein the storage position at least comprises the storage column position of the target storage box and the storage position of the target storage box when stacked and stored in the storage column. As shown in fig. 2, in each of the columns, the bins are stacked and stored, so that the target bin may be on a plurality of storage bits in the depth direction of the column.

And then, the control center can determine box taking equipment for executing box taking tasks according to the determined storage position of the target storage box in the densely-stored warehouse and send instructions.

Accordingly, the box taking apparatus may be moved to a designated position so as to acquire the target box by performing the subsequent steps. Wherein, as previously described, the bin handling equipment needs to occupy two adjacent storage columns in the warehouse, so that the designated position is adjacent to the storage column in which the target bin is located. And when the box taking device is positioned at the designated position, the box can be lifted from the storage column where the target box is positioned. In this specification, a storage column in which a target storage box is located may be referred to as a target storage column.

In addition, in the present specification, since there are at least 4 positions adjacent to the target storage column where the target storage box is located, in order to reduce the length of the movement path of the box taking device and improve the operation efficiency, the control center may further determine the designated position according to the path of the box taking device moving to the target storage column where the target storage box is located.

Specifically, after determining the box taking device, the control center can perform path planning according to the position of the box taking device and the position of the target storage column where the target storage box is located, and determine the moving path of the box taking device reaching the target storage column. Then, the position of the other storage column adjacent to the target storage column in the moving path is set as the designated position. Then, the moving path and the designated position are sent to the box taking device, and the box taking device can move to the designated position along the moving path.

And S302, lifting a plurality of storage boxes from the target storage column and supporting the plurality of storage boxes, wherein the fetched storage boxes comprise one or more target storage boxes.

In one or more embodiments of the present disclosure, the bin handling apparatus may remove at least one target bin from a target storage column, so that the bin handling apparatus may lift a plurality of bins from the target storage column after being moved to a designated position and hold each of the lifted bins. The plurality of lifted storage boxes comprise at least one target storage box which needs to be taken out from the target storage column, and the lowest storage box in the plurality of lifted storage boxes can be other storage boxes, so that the at least one target storage box which needs to be taken out is located above the other storage boxes. Of course, among the plurality of lifted-up bins, the lowermost bin may be the lowermost target bin in the target storage column.

Specifically, when each storage box is stored in the dense storage warehouse, the control center records the storage column in which the storage box is located and the corresponding storage bit, so that when any one target storage box is determined, the control center can determine the target storage column in which the target storage box is located and the corresponding storage bit thereof, and after the box taking equipment reaches a designated position, the box taking equipment can determine which storage box in the target storage column needs to be in butt joint with according to the determined storage bit of each target storage box, and a plurality of storage boxes comprising the target storage boxes are lifted from the target storage column. The box taking device can also support the lifted storage box. The storage bit is a position of the storage box after being stacked on the storage column, and when the storage column is vertical, the storage bit can represent the depth position of the storage box in the storage column. According to the storage bit, the box taking device can determine how much to visit from the track at the top of the storage column to be docked with the storage box to be docked.

When one or more other boxes exist above or between the target boxes, the box taking device can take out the other boxes existing above or between the target boxes. Of course, if there is no other bin above and between the target bins, the bin extraction device may extract only at least one of the target bins that needs to be extracted.

Fig. 4a to 4c are schematic diagrams illustrating a plurality of storage boxes lifted out according to the present disclosure.

Fig. 4A shows a case where another box exists above the target box and between the target boxes. For this case, the box taking apparatus determines the storage bit of the target box located at the lowermost position in the target storage column, and according to the storage bit, performs docking of the target box, and extracts the target box and the box located above the target box. When the target bin is removed from the target column, the bin removal device may also hold each bin removed, with the lowest holding the target bin, i.e., the lowest dark bin in fig. 4A.

Fig. 4B also pertains to the case where there are other bins above and between the target bins. However, the box taking mode shown in fig. 4B is different from that shown in fig. 4A, the box taking device can determine the storage bit of the storage box located adjacent below the lowermost target storage box in the target storage column, dock the storage box according to the storage bit, and extract the storage box and the storage box located above the storage box. When the storage box is moved out of the target storage column, the box taking device can also support each storage box which is taken out, wherein the storage box is supported at the lowest position. The target bin located above the bin and adjacent to the bin is the dark color target bin located lowest in the target bin in fig. 4B.

Fig. 4C is a case where there are no other boxes above and between the target boxes. That is, the multiple target bins to be fetched are all adjacent and all located above other bins in the target storage column. For this case, the box-taking apparatus may determine a storage bit of a target box located at the lowermost of the target storage columns, dock the target box according to the storage bit, and extract the target box and other target boxes located above the target box. The bin handling apparatus may also support each of the removed target bins after the target bins are removed from the target storage column.

It should be noted that, fig. 4a to 4c illustrate three box taking modes by way of example only, but in practical application, other box taking modes may also be included. For example, in the case of 4C, the box taking apparatus may also determine a storage bit of a box located adjacently below a lowermost target box in the target storage column, dock the box based on the storage bit, and extract the box and each target box located above the box. The bin handling apparatus may also support the bins and respective target bins removed after the bins are removed from the target storage column. Other ways are not illustrated in detail herein.

And S303, repeating the following actions of lifting the storage box above the target storage box to separate the target storage box from the storage box above the target storage box, and taking the target storage box into the box taking device from an opening at the side of the box taking device until the target storage box or the target storage boxes are all taken into the box taking device.

In one or more embodiments of the present disclosure, the box-taking apparatus may lift other boxes above the target box for each target box, separate the target box from the lifted other boxes, and then take the target box into the box-taking apparatus from an opening at a side of the box-taking apparatus in order to take the target boxes from the lifted boxes and take the box-taking apparatus in.

As described above, the projection area of the box taking device occupies the positions of two storage columns, so that each box taken out is suspended on one target storage column, and therefore, in step S302, the box taking device can support each box taken out, and then, since the box taking device is located on the storage column adjacent to the target storage column on which the target storage box is located, the box taking device can receive each target storage box in sequence from the side.

Specifically, first, for each target bin, the bin-taking apparatus may dock with one other bin adjacent above the target bin.

Then, the other storage boxes are lifted up so that the storage boxes above the other storage boxes are lifted up together. The box taking device only supports the target storage box and the storage box below the target storage box, and the box taking device can easily take the target storage box into the box taking device from the side because no other storage boxes are pressed on the target storage box.

After one target bin is received into the bin extraction device, the bin extraction device can drop the lifted bin and other bins lifted therewith, then lift the bin above the next target bin to receive the next target bin into the bin extraction device, and so on until all the removed target bins are received into the bin extraction device.

S304, the rest other storage boxes are replaced in the target storage column.

In one or more embodiments provided herein, after the box taking device receives at least one of the taken target storage boxes, the box taking device may also put the other storage boxes that are in butt joint back into the target storage column, and then the received storage boxes may be carried to other positions for picking and other treatments according to the need, where the present disclosure does not limit how to follow-up treatments.

Based on the box taking process shown in fig. 3, after the box taking device moves to a designated position adjacent to a target storage column where a target storage box is located along a track, a plurality of storage boxes containing at least one target storage box can be lifted from the target storage column and supported, then, for each target storage box, the box taking device can lift other storage boxes above the target storage box so as to separate the target storage box from the storage box above the target storage box, then the target storage box is collected into the box taking device from an opening at the side of the box taking device, after all the taken target storage boxes are collected into the box taking device, the box taking device can replace the lifted other storage boxes into the target storage column, so that the box taking device can lift and collect the plurality of target storage boxes through one box taking task, the warehouse operation cost is reduced, and the collection efficiency is improved.

Further, in practical application, the box taking device may take out the storage boxes to be carried from the plurality of storage columns in one box taking task, so if the box taking device takes out the plurality of target storage boxes from the target storage columns and receives the target storage boxes into the box taking device, the box taking device can move to the next designated position when the box taking device still has space to store the storage boxes. The next designated location mentioned here refers to a location adjacent to the target storage column where at least a part of the target storage boxes of the plurality of target storage boxes to be handled are located, that is, a location adjacent to the target storage column where the target storage box to be taken out is located. The box taking device can extract a plurality of boxes from the next target storage column adjacent to the designated position and support the boxes, and the boxes taken out from the target storage column contain at least one target box which is required to be carried.

The box taking device may lift the bin above the target bin for each target bin taken out to separate the target bin from the bin above it, and then the box taking device may take the target bin into the box taking device from the opening on the side of the box taking device and drop the bin above the target bin. In this way, the box taking device can sequentially receive the target storage boxes which are still required to be carried into the box taking device, and return the rest other storage boxes to the next target storage column adjacent to the next designated position.

And the box taking device can sequentially go to each target storage column to take boxes, until all target storage boxes to be taken out are taken out, or no extra space exists in the box taking device for storing the target storage boxes.

Based on the box taking process schematic diagram shown in fig. 3, the structure of the densely-stored warehouse with the three-dimensional grid structure shown in fig. 1 a-d and fig. 2, the specification also provides box taking equipment, as shown in fig. 5.

Fig. 5 is a schematic structural diagram of a box taking device provided in the present specification. The box taking device is applied to a dense storage warehouse with a three-dimensional grid structure, the dense storage warehouse comprises a plurality of vertical storage columns and a track arranged on the tops of the storage columns, a plurality of storage boxes are stacked in the storage columns along the vertical direction, and the box taking device runs on the track.

The box taking device comprises a moving mechanism 500, a box taking mechanism 501, a box storing mechanism 502 and a plurality of storage units 503 with openings at the sides, wherein each storage unit 503 is used for containing one storage box. As described in the foregoing case taking process, the projection area of the case taking device occupies two positions of the storage columns, specifically, in the respective components of the case taking device, the moving mechanism 500, the case storing mechanism 502 and the storage unit 503 are generally disposed in the main structure of the case taking device, the projection area occupies one position of the storage column, the case taking mechanism 501 is disposed outside the main structure of the case taking device, and the projection area of the case taking mechanism 501 occupies a position of the target storage column adjacent to the position of the storage column occupied by the projection area of the main structure of the case taking device, which can refer to the representation of the position occupied by the case taking device in the schematic diagram of fig. 2.

The moving mechanism 500 is configured to move to a specified position corresponding to a position of a target storage column where the target storage box is located according to the position of the target storage column where the target storage box is located, so that the box taking mechanism 501 is located at the position of the target storage column where the target storage box is located.

Since the dense storage warehouse comprises a plurality of vertical storage columns, and storage boxes can be placed into the storage columns from the upper parts of the storage columns or taken out from the upper parts of the storage columns, in order to enable the box taking equipment to run along the rails and reach a designated position to take and place the storage boxes on each storage column in the warehouse, the rails at the tops of the storage columns are distributed in a grid mode in the specification, and the storage boxes are shown in fig. 6.

Fig. 6 is a schematic distribution diagram of tracks on top of each storage column of the warehouse provided in the present specification, wherein dark areas are tracks, and diagonally filled rectangles are storage boxes stacked in the storage columns.

In this specification, since the moving mechanism 500 needs to move based on a track and reach a designated position corresponding to the position of the target storage column where the target storage box is located, the moving mechanism 500 includes at least a driving structure for traveling on tracks in different directions, for example, a driving mechanism similar to that of a four-way shuttle in the related art. And, the moving mechanism 500 may be provided at the bottom of the main body structure of the box taking apparatus to be in contact with the rail.

The box taking mechanism 501 is configured to lift at least one target box from a target storage column, or lift a plurality of boxes including at least one target box at the same time, where a lowest box in the lifted boxes may be a target box located at a lowest position in the target storage column or may be a box located below a lowest target box in the target storage column. Then, the box taking apparatus may lift the other box above the target box for each target box to separate the target box from the other box above the target box, and drop the other box above the target box after the box taking mechanism 502 receives the target box into the storage unit 503 corresponding to the target box. In this way, the box-taking apparatus sequentially takes in each of the lifted target boxes into the set storage unit 503, and replaces the remaining other boxes in the target storage column.

In this specification, when the moving mechanism 500 reaches the designated position, the box taking mechanism 501 should be opposite to the target storage column where the target storage box is located, and accordingly, the box taking mechanism 501 may dock with the target storage box located at the lowest target storage box in the target storage column or the storage box located below the lowest target storage box in the target storage column by extending into the target storage column according to the storage position of the target storage box in the target storage column. Of course, the box taking mechanism 501 may also interface with any one of the target boxes in the target storage column or with a box below any one of the target boxes.

Specifically, the box removal mechanism 501 may include a fixed baffle 5010, a docking assembly 5012, and a telescoping assembly 5011, as shown in FIG. 7. The fixing damper 5010 and the docking unit 5012 are connected by a telescopic unit 5011. The fixed baffle 5010 is connected with the main structure of the box taking device, so that the docking assembly 5012 can be sent into or pulled out from the target storage column by adjusting the length of the telescopic assembly 5011.

In this specification, the specific form of the telescopic assembly 5012 may be various, may be in the form of a chain, may be in the form of a rubber belt, or may be in the form of a telescopic rod, and other forms are not illustrated herein.

When the box taking mechanism 501 extracts a target storage box, first, the telescopic component 5011 in the box taking mechanism 501 can adjust the telescopic length according to the storage position of the target storage box, so that the connected docking component 5012 extends into the storage position of the storage box to be docked in the target storage column.

The docking assembly 5012 is then configured to dock with a storage box when the telescoping assembly 5011 reaches the storage location where the storage box is to be docked after the adjustment of the length. The docking assembly 5012 specifically adopts a mode of docking with a storage box to be docked, and is not limited in this specification, for example, the docking with the storage box to be docked can be realized by docking a manipulator with the storage box to be docked, or docking with a screw in a mode similar to screw docking, or a mode that a sucker adsorbs the surface of the storage box.

Then, the telescopic assembly 5011 is further used for continuously adjusting the telescopic length after the docking assembly 5012 is docked with the storage box to be docked, and lifting the storage box and the storage box located above the storage box out of the target storage column. The storage box to be docked may be the lowest target storage box in the target storage column, or may be other storage boxes. The lifted storage box at least comprises one target storage box.

The box storage mechanism 502 is configured to take out a target box from the box lifted out of the box taking mechanism 501, and to store the target box in the storage unit 503 through an opening on the side of the storage unit 503.

In this specification, the bin mechanism 502 may include at least a telescopic pallet 5020 and a drag assembly 5021, as shown in fig. 8. In order to avoid the problem that the box taking mechanism 501 is prevented from lifting up the storage box, the telescopic bracket 5020 and the drag unit 5021 may be retracted in the main structure of the box taking apparatus, that is, housed in the main structure of the box taking apparatus.

The telescopic pallet 5020 is configured to extend from the bottom of the storage unit 503 to support the removed storage box when the removed lowermost storage box reaches a position where the side of the lowermost storage unit 203 is open.

The dragging unit 5021 is configured to drag a target bin separated from an upper bin into the storage unit 503 through an opening on a side of the storage unit 503 after each of the fetched bins is supported by the telescopic pallet 5020. Wherein, each storage unit 503 may have a drag component 5021.

When the height of the storage box docked by the docking assembly 5012 of the box taking mechanism 501 reaches the height of the side opening of the lowest storage unit 503, the telescopic supporting plate 5020 is used for extending from the bottom of the storage unit 503 to support each storage box taken out.

The docking assembly 5012 is also configured to stop docking with a bin that is to be docked when the bin is to be retrieved from the target storage column after each of the bins retrieved is supported by the telescoping blade 5020.

The telescopic assembly 5011 is further configured to readjust the telescopic length according to the storage bit of one storage box adjacent to the top of the target storage box, i.e. the current height of one storage box adjacent to the top of the target storage box, for each target storage box after the docking assembly 5012 stops docking, so that the docking assembly 5012 reaches the storage bit of one storage box adjacent to the top of the target storage box.

The docking assembly 5012, after readjusting the telescoping length of the telescoping assembly 5011, docks with a bin adjacent to the top of the target bin.

And a dragging component 5021, configured to drag the target bin into the storage unit 203 from an opening on a side of the storage unit 203 corresponding to the target bin (i.e., a storage unit corresponding to the height of the target bin) after the docking component 5012 is docked with an adjacent one of the storage bins above the target bin.

The process of taking out the target bin out of the bins lifted from the bin taking mechanism 501 and taking in the storage unit as described above can be as shown in fig. 9.

Fig. 9 is a schematic diagram of storing targets in a revenue storage unit provided herein.

In each storage unit 503 of the box taking apparatus shown in fig. 9, there is a drag component 5021, and a telescopic pallet 5020 is provided below the lowermost storage unit 503. As can be seen from fig. 9, the main structure of the box taking device is located in the adjacent storage column of the target storage column where the target storage box is located, the fixing baffle 5010 of the box taking device is located right above the target storage column where the target storage box is located, and the target storage box to be carried is the first storage box and the third storage box from top to bottom in the target storage column, as shown by 9a in fig. 9.

The box taking device may adjust the telescopic length of the telescopic assembly 5012 according to the storage positions of the two target storage boxes in the target storage column, so that the docking assembly 5012 moves to the position of the lowest target storage box and docks with the lowest target storage box, as shown by 9b in fig. 9.

The bin extraction apparatus may then continue to adjust the length of the telescoping assembly 5012 to lift the first three bins of the target bin out of the target bin, as shown at 9c in fig. 9. At the same time, a telescopic pallet 5020 provided in the box taking apparatus is projected from below the lowermost storage unit 503 to hold the three storage boxes above the shipment port of the target storage column by the telescopic pallet 5020, as shown by 9d in fig. 9.

Since there are no other boxes above the first target box, the box taking apparatus may extend the drawing unit 5021 provided in the first storage unit 503 from top to bottom as shown by 9e in fig. 9, and draw the first target box into the first storage unit 503 as shown by 9f in fig. 9.

Since the telescoping pallet 5020 has lifted the three bins above the outlet of the target bin, the docking of the docking assembly 5012 to the lowermost target bin can be released and the length of the telescoping assembly 5012 adjusted so that the docking assembly 5012 moves up to and docks with the second bin. Then, by adjusting the length of the telescopic member 5012 again, the storage box docked by the docking member 5012 is lifted up so that the lowermost target storage box lifted up by the telescopic bracket 5020 is separated from the other storage boxes as shown by 9g in fig. 9.

Then, the box taking apparatus may extend the drag unit 5021 provided in the third storing unit 503 and take in the lowermost target box into the third storing unit 503 from the side opening of the third storing unit 203, as shown by 9h-9i in fig. 9.

The target storage box may still be set up in the storage unit 503 through the drag component 5021, or may be supported by the bottom surface of the storage unit 503. Then, the box taking apparatus may retract the telescopic pallet 5020 to the lower side of the lowermost storage unit 503 after determining that the two target storage boxes have been all transferred into the storage unit 503, as shown by 9j in fig. 9.

Further, the destacking apparatus may adjust the telescoping length of telescoping assembly 5012 to replace the remaining one bin back into the target column as shown at 9k in FIG. 9.

In practical applications, the storage boxes extracted by the box extracting device are supported by the telescopic supporting plate 5020, which corresponds to being stored between the fixed baffle 5010 and the telescopic supporting plate 5020, and the space between the fixed baffle 5010 and the telescopic supporting plate 5020 of the box extracting device is limited, so that the maximum number of the storage boxes which can be extracted by the box extracting device is limited.

In addition, in the box taking apparatus provided in the present specification, when another box is put back into the target storage column, the telescopic unit 5012 is further configured to adjust the telescopic length so that the docking unit 5012 reaches the home position of the box to which the docking unit 5012 docks when the boxes are taken out from the target storage column, according to the storage position of the box to which the docking unit 5012 docks when the boxes are taken out from the target storage column when all the extracted target boxes are received in the storage unit 503.

The docking assembly 5012 is further configured to stop docking with the docked bin when the home position is reached to deposit the remaining stack of bins in the target storage column.

Based on the box taking device shown in fig. 5, 7 and 8, after the box taking device moves to a designated position adjacent to a target storage column where a target storage box is located along a track, a plurality of storage boxes containing at least one target storage box can be lifted from the target storage column and supported, then, for each target storage box, other storage boxes above the target storage box are lifted so as to separate the target storage box from other storage boxes above the target storage box, then the target storage box is taken into the box taking device from an opening at the side of the box taking device, and finally, the lifted other storage boxes are replaced into the target storage column, so that the box taking device can lift and store the plurality of target storage boxes in the box taking device through one box taking task, the warehouse running cost is reduced, and the improvement of the conveying efficiency is realized.

In addition, the present specification also provides another box taking device, as shown in fig. 10. The telescoping assembly 5012 in the box removal apparatus may be comprised of a first telescoping assembly 600, a second telescoping assembly 601, and a moving baffle 602. Wherein, the two ends of the first telescopic assembly 600 are connected with the movable baffle 602 and the fixed baffle 5010, and the two ends of the second telescopic assembly 601 are connected with the movable baffle 602 and the docking assembly 5012. When the box taking mechanism 501 lifts out each storage box, the movable baffle 602, the docking assembly 5012 and the second telescopic assembly 601 form a semi-enclosed structure for fixing each storage box, so that each storage box is more stable when being taken out. Meanwhile, the movable baffle 602 is arranged to divide the telescopic components 5012 into two groups (namely, the first telescopic component 600 and the second telescopic component 601), when the telescopic components 5012 are made of flexible materials and have long telescopic length, the size of stretching deformation of a single telescopic component can be reduced through the first telescopic component 600 and the second telescopic component 601, the effectiveness of the component structure is maintained, and the probability of damage to the material structure of the telescopic components is reduced.

According to the above-described structure, the box taking apparatus can take out a plurality of target boxes in the target storage column and take in the target boxes into the storage unit of the box taking apparatus, as shown in fig. 11.

Fig. 11 is a schematic diagram of transferring two target containers to corresponding storage units provided in the present specification.

Four storage units 503 are arranged in the box taking device shown in fig. 11, a dragging component 5021 is arranged in each storage unit 503, and a telescopic supporting plate 5020 is arranged below the lowest storage unit 503 and used for supporting storage boxes which are extracted from a target storage column by the box taking device and stacked in the vertical direction.

The box taking apparatus needs to take out two target boxes from the target storage column, namely, a second box and a fourth box from top to bottom in the target storage column, as shown by 11a in fig. 11. The box taking apparatus may adjust the telescopic length of the first telescopic unit 600 and the telescopic length of the second telescopic unit 601 according to the storage positions of the two target storage boxes in the target storage columns, so that the moving baffle 602 moves to the uppermost storage box stacked in the target storage columns, and the docking unit 5012 moves to the lowermost target storage box (i.e., the fourth storage box), and docking is performed on the lowermost target storage box, as shown in 11b of fig. 11. Wherein, the distance between the storage box to be docked and the fixed baffle 5010 of the docking assembly 5012 is not smaller than the distance between the target storage box farthest from the fixed baffle 5010 and the fixed baffle 5010.

After the bin extraction device extracts the four bins from the target bin (as shown at 11c in fig. 11), the four bins may be held above the discharge opening of the target bin by extending the telescoping pallet 5020. Meanwhile, the dragging assembly 5021 arranged in the storage unit 503 corresponding to the first target storage box (i.e. the second storage box) can be extended first, the docking assembly 5012 is moved to the first storage box (i.e. the adjacent storage box above the first target storage box), and grabbing is performed on the first storage box so as to lift the first storage box upwards, so that separation between the first storage box and the first target storage box below is achieved. Meanwhile, the box taking device may control the dragging component 5021 to drag the first target storage box to the corresponding storage unit 503 (i.e. the second storage unit from top to bottom), as shown in 11 d-11 e in fig. 11.

After determining that the first target bin has been placed in its corresponding storage unit, the bin extraction apparatus places the first bin docked by the docking assembly 5012 on the third bin (i.e., the adjacent bin with the first target bin below) by adjusting the telescoping length of the first telescoping assembly 600. Further, the box taking device may extend the dragging component 5021 in the storage unit 503 corresponding to the second target storage box (i.e. the fourth storage box), and dock the third storage box (i.e. the adjacent storage box above the second target storage box) through the docking component 5012 to lift upwards, so as to drag the second target storage box into the corresponding storage unit 503 through the dragging component 5021, as shown in 11f and 11g in fig. 11.

After the two target storage boxes are all received into the corresponding storage units 503, the box taking device can retract the telescopic supporting plate 5020 to the position below the lowest storage unit 503, and put the rest of other storage boxes back into the target storage column through the docking assembly 5012, the first telescopic assembly 600 and the second telescopic assembly 601, so that the whole process of extracting a plurality of target storage boxes from the target storage column is completed.

In fig. 9 and 11, each memory cell is partitioned by a dashed partition line, and in practical applications, no partition may be provided between each memory cell, in which case the partition line in fig. 9 and 11 is practically absent. It is of course also possible to separate each storage unit by means of, for example, a separating plate, a separating strip or the like.

In addition, in this specification, a trigger mechanism 603 may be provided to the movable shutter 602. On the premise of adjusting the telescopic length of the first telescopic component 600 according to the storage position of the target storage box in the target storage column in advance, the box taking device can determine whether the docking component 5012 has moved to the storage box where docking is required through the trigger mechanism 603, and further determine whether the docking component 5012 needs to be controlled to dock, as shown in fig. 12.

Specifically, the trigger mechanism 603 is configured to send a trigger signal to the docking assembly 5012 when the mobile dock 602 reaches a bin of the target storage column closest to the fixed dock 5010.

The docking component 5012 is configured to determine that the docking with the storage box to be docked is possible when the trigger signal is received.

The specific form of the triggering mechanism 603 is not limited in this specification, and the triggering mechanism 603 may be a retractable probe that extends out of the movable barrier 602, and when the movable barrier 602 reaches a bin of the target storage column closest to the fixed barrier 5010, the probe is compressed back into the movable barrier 602 and sends a triggering signal. Or the trigger mechanism 603 is a non-contact ranging device, and sends a trigger signal when it is determined that the distance between the movable barrier 602 and the storage box is less than a preset threshold.

In the present specification, the specific form of the storage box may be various, for example, a rectangular storage box with a groove, an inverted trapezoid storage box with a groove, or a storage box with a baffle above, as shown in fig. 13a to 13 c.

Fig. 13 a-13 c are schematic diagrams of several types of storage boxes provided in the present specification.

Fig. 13A is a rectangular storage box with grooves on the periphery, and the docking assembly 5012 can dock with the rectangular storage box through the grooves on the periphery of the rectangular storage box. The rectangular storage boxes are used for storing cargoes, and the cargoes are stored densely by stacking the rectangular storage boxes in the storage racks.

Fig. 13B is an inverted trapezoidal storage box with a recess, and the box taking device hooks the recess of the inverted trapezoidal storage box by controlling the docking assembly 5012 to extract or place the inverted trapezoidal storage box.

Fig. 13C shows a storage box with a top baffle, and the goods placed on a pallet, when the goods are stored in the storage box, the top baffle can be used to stack other storage boxes. The box taking device can be used for picking up or placing cargoes by controlling the butt joint assembly 5012 to pick up the baffle above, and can also be used for picking up or placing cargoes by controlling the butt joint assembly to pick up the tray.

Of course, other types of storage bins besides those described above are possible and are not described in detail herein.

Further, in this specification, there are various specific mechanisms by which the control center determines the target storage box to be handled. For example, the target storage box to be carried can be determined from the storage shelves according to the order request of each user, for example, the control center can determine the target storage box to be carried from the storage shelves according to the obtained goods allocation instruction (for example, according to the actual requirement, the control center can allocate the goods stored in one storage shelf to another storage shelf according to the corresponding goods allocation instruction), for example, the control center can allocate the goods in the storage shelves according to the goods storage condition of each storage column in the storage shelves so as to average the quantity of the goods stored in each storage column in the storage shelves.

After determining the target storage box to be carried, the control center can generate a carrying instruction and send the carrying instruction to the selected box taking equipment. The control center may select a box taking device in various manners, for example, may select a box taking device closer to a storage column where a target storage box is located according to a position where the box taking device is located on a storage shelf and a position where the target storage box is located, for example, the control center may randomly select one box taking device from idle box taking devices and send a carrying instruction to the box taking device, for example, the control center may select a box taking device with sufficient residual electric quantity according to the residual electric quantity of each box taking device and send the carrying instruction to the box taking device, and other manners are not illustrated in detail herein.

In this specification, the telescopic unit 5012 is actually constituted by a plurality of telescopic members, and by taking the telescopic unit 5012 in the form of a chain as an example, one chain can be regarded as one telescopic member. While how many telescoping members are specifically included in the telescoping assembly 5012 is not particularly limited. Also, taking the chain form of the telescopic assembly 5012 as an example, the telescopic assembly 5012 may include two chains, four chains, or six chains. As do the first telescoping assembly 600 and the second telescoping assembly 601 that telescoping assembly 5012 comprises.

Further, each telescoping member in telescoping assembly 5012 may be independently telescoping, i.e., the telescoping length of each telescoping member is independently controlled by the box handling apparatus and unaffected by the other telescoping members. For this case, the box taking apparatus needs to adjust the telescopic members synchronously when adjusting the telescopic length of the telescopic assembly 5012, so as to ensure that the telescopic lengths of the telescopic members are the same (it may also be ensured that the telescopic rates of the telescopic members are the same).

In addition, each telescoping member in telescoping assembly 5012 may also be ganged, i.e., each telescoping member is ganged when telescoping, influenced by the telescoping length of the other telescoping members. As shown in fig. 14.

Fig. 14 is a schematic view of a telescopic assembly provided with a linked telescopic member provided in the present specification.

In fig. 14, a schematic view of the inside of the movable barrier 602 is shown, in the telescopic assembly 5012 to which the movable barrier 602 is connected, two telescopic members are protruded from the inside to the outside, and the two telescopic members are wound around a rotating shaft provided inside the movable barrier 602 (the two telescopic members wound around the rotating shaft may be actually an integral body, for example, if the telescopic members are chains, the two chains protruded from the inside of the movable barrier 602 are actually one chain connected together). As can be seen in fig. 14, when the shaft rotates clockwise, the two telescoping members will extend outwardly simultaneously, and when the shaft rotates counter-clockwise, the two telescoping members will retract inwardly simultaneously.

It should be noted that fig. 14 only shows a linkage manner of the telescopic members, and in practical application, the telescopic members may be controlled to perform synchronous telescopic operation by other linkage manners, which is not illustrated herein.

In this specification, a telescopic pallet may be disposed at the bottom of each storage unit of the box taking device, so that when the target storage box reaches the position of the side opening of the storage unit 503 corresponding to the target storage box, the box taking device may extend out of the telescopic pallet 5020 from the bottom of the storage unit 503 corresponding to the target storage box, so as to support the target storage box and the storage box above the target storage box. Accordingly, the docking assembly 5012 stops docking with the target bin and with a bin above the target bin after the telescoping pallet 5020 has supported the target bin and the bin above the target bin, and docks with a bin above the target bin. Thus, the dragging component 5021 provided in the storage unit 503 corresponding to the target storage box can drag the target storage box from the telescopic pallet 5020 to the storage unit 503 corresponding to the target storage box through the opening at the side of the storage unit 503 corresponding to the target storage box.

In the case of the above-mentioned manner of carrying the goods above the storage rack in the box-taking apparatus shown in fig. 2, it is determined that the telescopic pallet 5020 needs to be disposed below the box-taking apparatus, but in practice, the box-taking apparatus may also carry the goods on two sides of the storage rack, and accordingly, the manner of disposing the telescopic pallet will also be different, so another manner of taking the goods is also provided in the present specification, as shown in fig. 14.

Fig. 15 is a schematic view of the box taking device provided in the present specification on two sides of a storage rack.

The box taking device is applied to a dense storage type warehouse with a three-dimensional grid structure, the dense storage type warehouse comprises a plurality of horizontal storage columns and a track arranged at one end of the storage columns, a plurality of storage boxes are stacked in the storage columns along the horizontal direction, the box taking device operates on the track, and the box taking device comprises a moving mechanism, a box taking mechanism, a box storage mechanism and a plurality of storage units with openings at the sides, wherein each storage unit is used for accommodating one storage box. In fig. 15, a rail on which the box taking device runs is provided on the left side of the warehouse (in practice, rails on which the box taking device runs are provided around the warehouse rack), and the box taking device can carry goods on the left side of the warehouse rack. In fig. 15, the telescopic assembly of the box-taking apparatus is laterally telescopic. In contrast to the approach shown in fig. 2, the box-handling apparatus suitable for fig. 15 is shown in fig. 16 in a telescopic pallet arrangement.

Fig. 16 is a schematic structural view of another box taking device provided in the present specification.

After reaching the target storage column, the box taking device can extend the docking assembly 7011 into the target storage column by adjusting the telescopic assembly 7012, and then a plurality of storage boxes between the fixed baffle 7010 and the docking assembly 7011 are extracted from the target storage column. The box taking device is provided with a plurality of storage units 703, a plurality of pallets tiled are arranged above the storage units 703, and a plurality of taken-out storage boxes can be placed on the pallets.

In this case, a flexible telescoping assembly 7012 such as a chain, a rubber belt, or the like is not suitable, so a rigid telescoping assembly 7012 such as a telescoping wand is selected for use.

Further, a first telescopic assembly and a second telescopic assembly can also be arranged in the box taking device for transversely taking boxes, and the specific structure is shown in fig. 17.

Fig. 17 is a schematic view of a box taking device provided with a first telescopic assembly and a second telescopic assembly for laterally taking boxes.

Similar to the above-described box removing apparatus shown in fig. 10, in the box removing apparatus shown in fig. 17, the telescopic unit 7012 is divided into two parts, a first telescopic unit 800 and a second telescopic unit 801, and a moving shutter 802 is provided between the first telescopic unit 800 and the second telescopic unit 801. Further, a trigger mechanism 803 may be provided on the movable barrier 802 to control the docking assembly 7011 to dock with a storage bin to be docked by the trigger mechanism 803.

In addition, since the box taking apparatus in fig. 17 is laterally driven on the warehouse as compared with the box taking apparatus of the longitudinal box taking, a pallet may be provided on each storage unit to drag the box extracted from the target storage column above the storage unit and transfer the target storage box to its corresponding storage unit by controlling the opening and closing of the storage box, as shown in fig. 18.

The box taking device in fig. 18 is provided with four storage units 703, each storage unit 703 is provided with an openable supporting plate 704, and the box taking device extracts four storage boxes from a storage rack (not shown in fig. 18), wherein the third and fourth storage boxes (which are ordered in order of small-to-large distance from the outlet of a target storage column (not shown in fig. 18)) are target storage boxes to be carried by the box taking device. The box-taking apparatus moves the moving shutter 802 to the first box by adjusting the telescopic length of the first telescopic assembly 800 and the second telescopic assembly 801, and the docking assembly 7011 to the fourth box (i.e., the second target box), and docks the second target box by controlling the docking assembly 7011, as shown at 18a in fig. 18. The box-handling apparatus can then extract the four boxes from the target column by retracting the first telescopic assembly 800 and hold the four boxes above each storage unit 703 by means of the trays 704 provided on each storage unit 703, as shown at 18b in fig. 18.

Further, the box taking apparatus may open the pallet 704 of the storage unit 703 corresponding to the third storage box, so that the first target storage box falls into the storage unit 703 under the influence of gravity, then close the pallet 704, and move the docking assembly 7011 to the second storage box to grasp the second storage box, as shown by 18 c-18 e in fig. 18.

The box-taking apparatus may open the tray 704 of the storage unit 703 corresponding to the fourth storage box so that the second target storage box falls into its corresponding storage unit 703 under the influence of gravity, and then close the tray 704. After the box taking device determines that all the target boxes to be carried have been transferred to the storage unit 703, the first telescopic assembly 800 and/or the second telescopic assembly 801 may be adjusted again to replace the other two boxes in the target storage column, as shown by 18f and 18g in fig. 18.

In the example of fig. 18, the target boxes are individually placed in the storage units 703, and in fact, as long as the pallets 704 of the respective storage units 703 are disposed at reasonable positions, it is possible to realize that all the extracted target boxes are simultaneously transferred to the storage units 703, which is not specifically illustrated in detail.

Further, in the example of fig. 18, the target bin is transferred to the storage unit 703 in a free-falling manner, which may damage the target bin or the cargo in the target bin. Therefore, in order to ensure that the target storage box can be stably transferred to the corresponding storage unit 703, a dragging component may be disposed in each storage unit 703 of the box taking device in the example of fig. 17, and the box taking device may stably transfer the target storage box to the corresponding storage unit 703 through the dragging component, and the manner of transferring the target storage box to the storage unit 703 of the dragging component is similar to the manner of the dragging component in the longitudinal box taking manner, so that detailed description will not be given here.

In this specification, the process of taking out the box is the same as the basic logic of the above-described longitudinal box taking out, both with respect to the box taking apparatus shown in fig. 16 and 17, and therefore, the process of taking out the box by both of these box taking apparatuses is not specifically described here.

In addition, there are various ways of moving the box taking device on the rail on the side of the warehouse, for example, a sling may be provided above the side of the warehouse, the box taking device may be lifted by the sling, and the movement of the box taking device on the rail on the side of the warehouse may be achieved by controlling the movement of the sling, and other ways will not be described in detail herein.

In this specification, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

The foregoing is merely exemplary of the present disclosure and is not intended to limit the disclosure. Various modifications and alterations to this specification will become apparent to those skilled in the art. Any modifications, equivalent substitutions, improvements, or the like, which are within the spirit and principles of the present description, are intended to be included within the scope of the claims of the present description.

Claims

1. The box taking method is characterized by being performed by box taking equipment, the method is applied to a storage warehouse, the storage warehouse comprises a storage column and a track arranged on the storage column, the box taking equipment runs on the track, the box taking equipment comprises a butt joint assembly and a telescopic assembly, the telescopic assembly is connected with the butt joint assembly, a space for accommodating a storage box is further arranged inside the box taking equipment, an opening is formed in the side of the box taking equipment, and the storage box enters the box taking equipment, wherein:

moving to a designated position to acquire a target storage box;

According to the storage bit of the target storage box, adjusting the telescopic length of the telescopic assembly to enable the docking assembly to reach the storage bit of the target storage box;

when the docking assembly reaches the target storage box, the docking assembly is docked with the target storage box;

The target storage box is received into the box taking device from an opening on the side of the box taking device.

2. The method of claim 1, wherein the box-taking apparatus further comprises a box-storing mechanism and a storage unit having an opening on a side;

The receiving the target storage box into the box taking device from the opening at the side of the box taking device comprises the following steps:

the bin mechanism receives the target bin into the storage unit from an opening on a side of the storage unit.

3. The method of claim 2, wherein the bin mechanism comprises a drag assembly;

the drag assembly receives the target bin into the storage unit from an opening laterally of the storage unit.

4. The method of claim 1, wherein the method further comprises:

And determining a designated position according to the path of the box taking equipment moving to a target storage column where the target storage box is located, wherein the target storage column is used for representing the storage column where the target storage box is located.

5. The method of claim 1, wherein said moving to a designated location to acquire the target bin comprises:

According to the position of the box taking equipment and the position of a target storage column where the target storage box is located, path planning is carried out, and a moving path of the box taking equipment reaching the target storage column is determined;

And sending the moving path and the designated position to the box taking equipment, and controlling the box taking equipment to move to the designated position along the moving path so as to acquire a target storage box.

6. The method of any one of claims 1 to 5, further comprising:

And determining the storage bit of the target storage box based on the relation between the pre-stored storage box and the corresponding storage bit.

7. The method of any one of claims 1 to 5, further comprising:

and recording the storage column where the storage box is located and the corresponding storage bit.

8. The method of any one of claims 1 to 5, further comprising deploying stored goods in one storage rack into another storage rack according to the acquired goods deployment instruction;

and determining the target storage boxes to be carried from the storage racks.

9. The method of any one of claims 1 to 5, further comprising:

Selecting box taking equipment which is closer to a target storage column where the target storage box is located according to the position of the box taking equipment on the storage shelf and the position of the storage column where the target storage box is located, or

Randomly selecting one box taking device from the idle box taking devices, sending a carrying instruction to the box taking device, or

And selecting box taking equipment with the residual electric quantity meeting a preset threshold according to the residual electric quantity condition of each box taking equipment, and sending a carrying instruction to the box taking equipment.

10. The method of any one of claims 1 to 5, further comprising:

Repeating, for each of the one or more target bins, the acts of lifting a bin above the target bin to separate the target bin from a bin above it, and receiving the target bin into the bin extraction device from an opening laterally of the bin extraction device, dropping a bin above the target bin until the one or more target bins are fully received in the bin extraction device;

and replacing the rest other storage boxes in the target storage column.

11. The method of claim 10, wherein the telescoping assemblies comprise a first telescoping assembly and a second telescoping assembly, the box-taking apparatus further comprising a moving baffle, the first telescoping assembly being connected to the moving baffle, the second telescoping assembly having two ends connected to the moving baffle and the docking assembly;

the lifting of the plurality of bins from the target storage column comprises:

According to the storage bit, adjusting the telescopic lengths of a first telescopic component and a second telescopic component of the telescopic components so that the docking component is docked with the storage box in the target storage column;

The storage box in the target storage column is lifted by the movable baffle and the docking assembly, so that the storage box in the target storage column is lifted out of the target storage column together with the storage box stacked above the storage box.

12. The method of claim 11, wherein lifting the bin above the target bin to separate the target bin from the bin above it comprises:

adjusting the telescopic lengths of the first telescopic component and the second telescopic component to enable the docking component to dock with a storage box adjacent to the upper side of the target storage box;

And lifting the butted storage boxes through the movable baffle and the butting assembly, so that the storage boxes above the butted storage boxes are lifted together.

13. The method of claim 11, wherein the method further comprises:

Extracting a plurality of storage boxes positioned between the movable baffle and the butt joint assembly from the next target storage column adjacent to the designated position and supporting the plurality of storage boxes, wherein the extracted storage boxes comprise one or more target storage boxes;

14. The box taking device is characterized by being applied to a storage warehouse, wherein the storage warehouse comprises a storage column and a track arranged on the storage column, and the box taking device runs on the track; the box taking device comprises a moving mechanism, a box taking mechanism, a box storing mechanism and a storage unit with an opening at the side, wherein the storage unit is used for accommodating a storage box;

the moving mechanism is used for moving to a designated position corresponding to the position of the target storage column according to the position of the target storage column where the target storage box to be carried is located;

The box taking mechanism is used for adjusting the telescopic length of the telescopic component to enable the docking component to reach the storage position of the storage box to be docked;

The bin mechanism is used for receiving the target bin into the storage unit from an opening at the side of the storage unit.

15. The bin gate device of claim 14, wherein said bin storage mechanism includes a drag assembly;

The drag assembly is configured to retract the target bin into the storage unit from an opening laterally of the storage unit.

16. The box handling apparatus of claim 14, wherein the telescoping assemblies comprise a first telescoping assembly and a second telescoping assembly, the first telescoping assembly and the second telescoping assembly being independently driven or ganged.

17. The bin gate device of claim 16, wherein the bin gate mechanism is configured to adjust the telescopic length of the first telescopic assembly and the second telescopic assembly to bring the docking assembly to a storage position of a bin to be docked.

18. The box taking device as in claim 14, wherein the box taking mechanism further comprises a triggering mechanism;

the trigger mechanism is used for sending a trigger signal to the docking assembly;

19. The cartoning apparatus of claim 18, wherein the trigger mechanism includes a non-contact ranging device that transmits a trigger signal when it is determined that the cartoning mechanism is less than a preset threshold distance from the storage bin.

20. The bin handling apparatus of any one of claims 14 to 19, wherein said bin handling mechanism is adapted to adjust the telescopic length of said telescopic assembly to remove a plurality of bins from said target storage column, wherein said removed plurality of bins includes one or more target bins;

The docking assembly is further used for docking one storage box adjacent to the upper side of the target storage box after the telescopic assembly is used for readjusting the telescopic length of each target storage box in the one or more target storage boxes, lifting the storage box adjacent to the upper side of the target storage box so as to separate the target storage box from the storage box above the target storage box, and lowering the storage box above the target storage box after the storage box mechanism stores the target storage box into one storage unit, and replacing the rest other storage boxes into the target storage column after the one or more target storage boxes are fully stored into the box taking device.

21. The box taking device as in claim 20, wherein the box taking device comprises a fixed baffle and a movable baffle, the telescopic assembly comprises a first telescopic assembly and a second telescopic assembly, two ends of the first telescopic assembly are connected with the movable baffle and the fixed baffle, and two ends of the second telescopic assembly are connected with the movable baffle and the docking assembly.

22. The bin gate device of claim 21, wherein the distance between the bin to be docked by the docking assembly and the stationary barrier is no less than the distance between the target bin furthest from the stationary barrier and the stationary barrier.

23. The bin handling apparatus of claim 21, wherein the bin handling mechanism is configured to adjust the telescoping length of the second telescoping assembly such that the docking assembly reaches a storage location of a bin to be docked when the mobile barrier reaches a bin closest to the stationary barrier, and wherein the telescoping length of the first telescoping assembly is adjusted to remove a plurality of bins located between the mobile barrier and the docking assembly from the target storage column, wherein the plurality of bins include one or more target bins.

24. The bin gate device of claim 21, wherein the movable barrier is provided with a trigger mechanism for sending a trigger signal to the docking assembly when the movable barrier reaches a bin of the target storage column closest to the fixed barrier.

25. The bin handling apparatus of claim 20, wherein said bin storage mechanism includes a telescoping pallet located at the bottom of said storage unit;

the telescopic supporting plate is used for aiming at each target storage box in the one or more target storage boxes, and extends out of the bottom of the storage unit corresponding to the target storage box to support the target storage box.

26. The bin handling apparatus of claim 25, further comprising a drag assembly for dragging the target bin from the telescoping blade through an opening in the side of the storage unit to which the target bin corresponds to the storage unit to which the target bin corresponds.

27. The box taking apparatus according to claim 14, wherein,

The moving mechanism is further used for moving to a next appointed position which is adjacent to a target storage column where a target storage box in a plurality of target storage boxes to be carried is located if the target storage box is received into the box taking equipment;

The box taking mechanism is further used for taking out the target storage box from the next target storage column adjacent to the designated position through the docking assembly so as to separate the target storage box from the storage box above the target storage box;

the bin mechanism is also configured to receive the target bin into a storage unit from an opening laterally of the storage unit.

28. The bin gate device of claim 14, wherein the bin gate mechanism includes a movable barrier and the telescoping assembly includes a second telescoping assembly, the movable barrier, the docking assembly and the second telescoping assembly forming a semi-enclosed structure that holds the bins.

29. The box taking device according to claim 14, wherein the telescopic assembly is in any one of a chain form, a rubber belt form or a telescopic rod form.