Box retrieval method and box retrieval device

Abstract

The present specification discloses a box retrieval method and a box retrieval device. In a dense storage warehouse with a three-dimensional grid structure composed of multiple vertical storage columns and tracks on the top of the storage columns, the box retrieval device moves along the track to a designated position adjacent to the storage column where the target storage box is located. Then, multiple storage boxes including the target storage box can be retrieved from the storage column, and the multiple storage boxes can be supported. Then, the other storage boxes above the target storage box can be lifted to separate the target storage box from the other storage boxes above it. Then, the target storage box can be received into the box retrieval device through an opening on the side of the box retrieval device, and finally, the other lifted storage boxes can be put back into the storage column. When the target storage box is stacked under other obstructing storage boxes, the target storage box can be retrieved through a single box retrieval process, thereby reducing the warehouse operating cost and improving the handling efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of warehousing and logistics, and in particular to a box retrieval method and a box retrieval device. Background Art

[0002] In order to store as much goods as possible in a limited space, dense storage methods came into being. This storage method reduces the aisle area between storage shelves as much as possible, so that the goods can be stacked tightly in the storage shelves, thereby achieving dense storage of goods in a limited space.

[0003] Currently, a dense storage warehouse with a three-dimensional grid structure is composed of multiple vertical storage columns and rails set on the top of the multiple storage columns. Each storage column can stack multiple storage boxes in the vertical direction. The box retrieval device can operate on the rails on the top. By extending the box retrieval mechanism vertically downward into the storage column, it grabs the goods in the storage column and completes the process of moving the target storage box from the storage column to the box retrieval device. Figures 1A to 1D shown.

[0004] Figures 1A to 1D This is a schematic diagram of the process of a box retrieval device in the prior art lifting a target storage box from a storage column of a storage shelf.

[0005] exist Figure 1A Figure 2 shows a schematic side view of multiple storage columns of a warehouse rack. In this rack, goods are stacked vertically in the columns. Tracks are located at the tops of the columns, and a box retrieval device travels on the tracks. The box retrieval device can be considered to consist of two parts: a box retrieval mechanism that extends from the top of a column into the column to retrieve the desired box. The other part is a moving mechanism that allows the box retrieval device to move along the tracks.

[0006] For details, see Figure 1B , Figure 1B This is a top view of a storage rack. Assuming the target storage box is in storage column M2, the box retrieval device can be moved to position M1 via the mobile mechanism, positioning the retrieval mechanism directly above storage column M2. Similarly, if the target storage box is in storage column M4, the box retrieval device can be moved to position M3 via the mobile mechanism, positioning the retrieval mechanism directly above storage column M4.

[0007] Assume that the box-picking equipment needs to be moved Figure 1A When the target storage box is located, the box-taking mechanism can be extended into the storage column where the target storage box is located to dock with the target storage box. Figure 1C Once docked with the target storage box, the box-picking mechanism can Figure 1C Retract in the direction shown, lift out the target storage box, as shown in the figure. Figure 1D shown.

[0008] Although the target storage box can be lifted out of the storage column according to the above method, it can be seen from the above schematic diagram that the box-picking device can only lift one cargo out of the storage column at a time. When there are other obstructing storage boxes stacked above the target storage box, it is necessary to repeatedly retrieve the other obstructing storage boxes on the target storage box in the storage column, which seriously reduces the warehouse handling efficiency. Figure 2 shown.

[0009] Figure 2 Schematic diagram of a target storage box being stacked with other obstructing storage boxes in the prior art.

[0010] Assume that the box retrieval equipment located above the storage column needs to be moved Figure 2 The target storage box shown is Figure 2 For storage boxes marked with "X", multiple box retrieval devices are required to cooperate. First, two box retrieval devices lift storage box 1 and storage box 2 out of the storage column respectively, and then one box retrieval device lifts the target storage box out of the storage column. In addition, storage box 1 and storage box 2 need to be put back into the storage column later.

[0011] It can be seen from this that when there are obstructing storage boxes stacked above the target storage box, the box retrieval device needs to complete multiple extraction and return actions to obtain the target storage box, resulting in low efficiency.

[0012] Therefore, how to effectively improve the efficiency of cargo handling is a problem that needs to be solved urgently. Summary of the Invention

[0013] The embodiments of this specification provide a box retrieval method and a box retrieval device, which are used to partially solve the problem in the prior art that when there are obstructing storage boxes stacked above the target storage box, the box retrieval device needs to complete multiple extraction and return actions to obtain the target storage box, resulting in low storage box retrieval efficiency and high warehouse operating costs.

[0014] The embodiments of this specification adopt the following technical solutions:

[0015] This specification provides a box retrieval method, which is performed by a box retrieval device. The method is applied to a dense storage warehouse with a three-dimensional grid structure. The dense storage warehouse includes a plurality of vertical storage columns and tracks arranged on top of the plurality of storage columns. A plurality of storage boxes are stacked vertically in the storage columns. The box retrieval device runs on the tracks. The box retrieval device is provided with a space for accommodating a storage box. The box retrieval device is provided with an opening on the side for the storage box to enter the box retrieval device.

[0016] Move to a designated location, the designated location being adjacent to the storage column where the target storage box is located;

[0017] If there are one or more other storage boxes above the target storage box, lift out multiple storage boxes from the storage column and support the multiple storage boxes, wherein the lowest storage box among the multiple storage boxes taken out is the target storage box;

[0018] Lifting the other storage boxes above the target storage box to separate the target storage box from the other storage boxes above it, and placing the target storage box into the box taking device through an opening on the side of the box taking device;

[0019] The lifted other storage boxes are placed back into the storage column.

[0020] The present specification provides a box-retrieving device for use in a dense storage warehouse with a three-dimensional grid structure. The dense storage warehouse includes a plurality of vertical storage columns and tracks disposed on top of the plurality of storage columns. A plurality of storage boxes are stacked vertically within the storage columns, and the box-retrieving device operates on the tracks. The box-retrieving device includes: a moving mechanism, a box-retrieving mechanism, a box-storing mechanism, and a storage unit having a side opening, wherein the storage unit is configured to accommodate a storage box.

[0021] The moving mechanism is used to move to a designated position corresponding to the position of the storage column where the target storage box is located, so that the box-taking mechanism is located at the position of the storage column where the target storage box is located;

[0022] The box-taking mechanism is used to lift the target storage box out of the storage column where the target storage box is located, or to lift out multiple storage boxes including the target storage box at the same time, wherein the lowest storage box among the lifted storage boxes is the target storage box, and lift the other storage boxes above the target storage box to separate the target storage box from the other storage boxes above it, and after the box-taking mechanism stores the target storage box into the storage unit, the other storage boxes above the target storage box are placed back into the storage column;

[0023] The box depositing mechanism is used to take out the target storage box from the storage box lifted out by the box taking mechanism, and to store the target storage box into the storage unit through the opening on the side of the storage unit.

[0024] At least one of the above technical solutions adopted in the embodiments of this specification can achieve the following beneficial effects:

[0025] After the box retrieval device moves along the track to the designated position adjacent to the storage column where the target storage box is located, it can lift out multiple storage boxes including the target storage box from the storage column and support the multiple storage boxes, and then lift up the other storage boxes above the target storage box to separate the target storage box from the other storage boxes above it, and then put the target storage box into the box retrieval device from the opening on the side of the box retrieval device, and finally put the other lifted storage boxes back into the storage column, so that when the target storage box is stacked under other obstructing storage boxes, the target storage box can be lifted out through a single box retrieval process, which reduces the warehouse operating costs and improves the handling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0027] Figures 1A to 1D This is a schematic diagram of the process of a box-taking device in the prior art lifting a storage box out of a storage column;

[0028] Figure 2 A schematic diagram of a prior art example in which other obstructing storage boxes are stacked on top of a target storage box;

[0029] Figure 3 A schematic diagram of the process of the box removal method provided in the embodiments of this specification;

[0030] Figure 4 A schematic diagram of the box-retrieving device provided in the embodiment of this specification moving to a designated position;

[0031] Figure 5 A schematic diagram of lifting out multiple storage boxes provided in this specification is provided for an embodiment of this specification;

[0032] Figure 6 A schematic diagram of the structure of the box-taking device provided in the embodiment of this specification;

[0033] Figure 7 A schematic diagram of the distribution of tracks on top of each storage column in a warehouse provided in an embodiment of this specification;

[0034] Figure 8 A schematic diagram of the structure of the box-taking device provided in the embodiment of this specification;

[0035] Figure 9 A schematic diagram of the structure of the box-taking device provided in the embodiment of this specification;

[0036] Figure 10 A schematic diagram of storing a target in a storage unit provided in this specification;

[0037] Figure 11 A schematic diagram of the structure of the box-taking device provided in the embodiment of this specification;

[0038] Figure 12 A schematic diagram of the process of lifting a storage box out of a box by a box-retrieving device provided in an embodiment of this specification;

[0039] Figure 13 A schematic diagram of the structure of the box-taking device provided in the embodiment of this specification;

[0040] Figure 14A and 14B A schematic diagram of a storage box provided in an embodiment of this specification;

[0041] Figure 15 Schematic diagram of a telescopic assembly with linkage components provided in this manual. DETAILED DESCRIPTION

[0042] To make the purpose, technical solutions, and advantages of this specification more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this specification and the corresponding drawings. Obviously, the embodiments described are only some of the embodiments of this application, not all of them. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0043] The following describes in detail the technical solutions provided by various embodiments of the present application in conjunction with the accompanying drawings.

[0044] Figure 3 This is a schematic diagram of a box removal method provided in an embodiment of this specification, which specifically includes the following steps:

[0045] S100: Move to a designated position, where the designated position is adjacent to the storage column where the target storage box is located.

[0046] In one or more embodiments provided in this specification, the box retrieval method is applied in a dense storage warehouse with a three-dimensional grid structure, which includes a plurality of vertical storage columns and a track arranged on the top of the plurality of storage columns. The specific structure of the dense storage warehouse can be referred to Figure 1A ~D and Figure 2 The structure of the warehouse. Furthermore, in this specification, the box retrieval method is specifically performed by a box retrieval device, which runs on a top track. The box retrieval device has a space inside to accommodate a storage box, and an opening is provided on the side of the box retrieval device for the storage box to enter the box retrieval device.

[0047] It should be noted that the box-taking equipment in this manual is different from the Figure 1A ~D and Figure 2The box-retrieving device shown occupies the same projected area, that is, when the box-retrieving device travels on the track, the projected area continues to occupy two adjacent storage columns.

[0048] Specifically, during the process of the box-picking device taking out a box, the server controlling the operation of the box-picking device can determine the location of the target storage box to be taken out in the dense storage warehouse, which location at least includes: the location of the storage column where the target storage is located, and the storage position of the target storage when it is stacked in the storage column. Figure 2 As shown in , in each storage column, the storage boxes are stacked and stored, so the target storage box may be located at multiple storage locations in the depth direction of the storage column.

[0049] Afterwards, the server can determine the box-picking device to perform the box-picking task based on the determined storage location of the target storage box in the dense storage warehouse and send instructions.

[0050] The box-retrieval device can then move to the designated location to retrieve the target storage box through subsequent steps. As previously mentioned, the box-retrieval device must occupy two adjacent storage columns within the warehouse, so the designated location is adjacent to the storage column where the target storage box is located. Once the box-retrieval device is at the designated location, it can remove the target storage box from the storage column where it is located.

[0051] In addition, in this specification, since there are at least four positions adjacent to the storage column where the target storage box is located, in order to reduce the length of the moving path of the box-picking equipment and improve operating efficiency, the server can also determine the designated position based on the path of the box-picking equipment moving to the storage column where the target storage box is located.

[0052] Specifically, after determining the container retrieval device, the server can perform path planning based on the location of the container retrieval device and the location of the storage column where the target storage container is located, determining the movement path for the container retrieval device to reach the storage column. The locations of other storage columns adjacent to the target storage column in the movement path are then used as designated locations. This movement path and designated location are then transmitted to the container retrieval device, which then moves along the movement path to the designated location.

[0053] like Figure 4 As shown, Figure 4 This is a schematic diagram of the box-picking equipment moving to the specified position provided in this manual. Figure 4 It is a top view of the warehouse. The thick arrow represents the moving path of the box-picking equipment. The designated position is M2, the position of the storage column where the target storage box is located is M1, and the designated position is the position of other storage columns adjacent to the storage column where the target storage box is located on the moving path.

[0054] S102: If there are one or more other storage boxes above the target storage box, lift a plurality of storage boxes from the storage column and support the plurality of storage boxes, wherein the lowest storage box among the lifted plurality of storage boxes is the target storage box.

[0055] In one or more embodiments of the present specification, if there are one or more other storage boxes above the target storage box, after the box retrieval device moves to the specified position, the box retrieval device can lift multiple storage boxes from the storage column and support each lifted storage box, wherein the lowest storage box among the multiple lifted storage boxes is the target storage box.

[0056] Specifically, since the server can record the storage column and storage position of each storage box when it is stored in the dense storage warehouse, the server can determine the storage position of the target storage box in the storage column when determining the target storage box. Then, after arriving at the designated position, the box-picking device can dock with the target storage box in the storage column according to the determined storage position of the target storage box, and then lift the docked target storage box until the height of the lifted target storage box reaches the height of the opening on the side of the box-picking device. The box-picking device can also support the lifted storage box. The storage position is the position of the storage box after it is stacked on the storage column. When the storage column is vertical, the storage position can represent the depth of the storage box in the storage column. According to the storage position, the box-picking device can determine how much it needs to probe down from the track at the top of the storage column to dock with the target storage box.

[0057] Since there are one or more other storage boxes above the target storage box, and the storage boxes are stacked and stored, when the target storage box is lifted, the other storage boxes above the target storage box can be taken out together.

[0058] Of course, if there is no other storage box above the target storage box, the box-taking device can only take out the target storage box.

[0059] Figure 5 The schematic diagram of lifting out multiple storage boxes provided in this manual shows that no matter whether there are other obstructing storage boxes above the target storage box, the box-taking device can dock the target storage box according to the storage position of the target storage box and extract the target storage box. Moreover, when the height of the target storage box after lifting out is the height of the opening on the side of the box-taking device, the box-taking device can also support the removed storage boxes, among which the target storage box is supported at the bottom, that is, Figure 5 Medium dark storage box.

[0060] S104: Lift the other storage boxes above the target storage box to separate the target storage box from the other storage boxes above it, and put the target storage box into the box taking device through the opening on the side of the box taking device.

[0061] In one or more embodiments of the present specification, in order to remove the target storage box from the lifted storage boxes and put it into the box retrieval device, the box retrieval device can lift the other storage boxes above the target storage box to separate the target storage box from the other lifted storage boxes, and then put the target storage box into the box retrieval device through the opening on the side of the box retrieval device.

[0062] As mentioned above, the projected area of ​​the box-picking device occupies the positions of two storage columns, so each storage box taken out is equivalent to being suspended on a storage column. Therefore, in step S102, the box-picking device can support each storage box taken out. Afterwards, since the box-picking device is located in the storage column adjacent to the storage column where the target storage box is located, and the height of the target storage box taken out is the same as the height of the side opening of the box-picking device, the box-picking device can collect the target storage box from the side.

[0063] Specifically, first, the box-taking device can dock with another storage box adjacent to the target storage box.

[0064] Then, lift up the other docked storage boxes so that the storage boxes above the other docked storage boxes are also lifted up.

[0065] Afterwards, the box-taking device only supports the target storage box, and the height of the target storage box is consistent with the height of the side opening, so the box-taking device can take in the target storage box from the side.

[0066] In addition, the box-picking device can first dock with the target box before docking with another box. Since the lifted boxes are already supported, the positions of the lifted boxes will not change after the docking is undocked.

[0067] S106: Put the lifted other storage boxes back into the storage column.

[0068] In one or more embodiments provided in this specification, after the box retrieval device collects the target storage box, it can also put the other docked storage boxes back into the storage column. Subsequently, the collected storage boxes can be transported to other locations for picking and other processing as needed. This specification does not limit how to perform subsequent processing.

[0069] based on Figure 3In the box retrieval process shown, after the box retrieval device moves along the track to the designated position adjacent to the storage column where the target storage box is located, it can lift out multiple storage boxes including the target storage box from the storage column and support the multiple storage boxes, and then lift up the other storage boxes above the target storage box to separate the target storage box from the other storage boxes above it, and then put the target storage box into the box retrieval device from the opening on the side of the box retrieval device, and finally put the other lifted storage boxes back into the storage column, so that when the target storage box is stacked under other obstructing storage boxes, the target storage box can be lifted out through one box retrieval process, which reduces the warehouse operating costs and improves the handling efficiency.

[0070] Furthermore, as described in step S102, the box-retrieving device can dock with and retrieve the target box regardless of whether there are other obstructing boxes stacked above it. If there are no other boxes above the target box, the box-retrieving device can, after lifting the target box, support it and place it back into the device through an opening on its side.

[0071] Of course, since the box-taking device only lifts out the target storage box, the box-taking device can also put the target storage box into the box-taking device through the opening on the side of the box-taking device without supporting the target storage box.

[0072] Furthermore, in this specification, since the server can record the storage column and storage location of each storage box when it is stored in the dense storage warehouse, when determining the target storage box, the server can determine whether there are other storage boxes stacked above the target storage box. Therefore, when the box retrieval device reaches the specified location, the server can determine whether the box retrieval device needs to execute steps S104-S106 or simply lift the target storage box and place it into the box retrieval device through an opening on its side, and send the corresponding instructions.

[0073] Of course, the instruction can also be sent to the box-taking device together with the instruction for controlling the box-taking device to move to a designated position. The specific setting can be made as needed, and this specification does not impose any limitation on this.

[0074] based on Figure 3 The schematic diagram of the box removal process is shown in FIG. Figure 1A ~D, Figure 2 The structure of the dense storage warehouse with a three-dimensional grid structure shown in the figure, this specification also provides a box-taking device, such as Figure 6 shown.

[0075] Figure 6This is a schematic diagram of the structure of a box retrieval device provided in this specification. This box retrieval device is used in a dense storage warehouse with a three-dimensional grid structure. The dense storage warehouse includes multiple vertical storage columns and tracks arranged on the tops of the multiple storage columns. Multiple storage boxes are stacked vertically in the storage columns, and the box retrieval device runs on the tracks.

[0076] The box-taking device includes: a moving mechanism 200, a box-taking mechanism 201, a box-storing mechanism 202, and a storage unit 203 with an opening on the side. The storage unit 203 is used to accommodate a storage box, that is, the storage space of the storage unit 203 can be used to store a storage box. Moreover, as described in the aforementioned box-taking process, the projection area of ​​the box-taking device occupies the positions of two storage columns. Specifically, for the various components of the box-taking device, the moving mechanism 200, the box-storing mechanism 202, and the storage unit 203 are usually arranged in the main structure of the box-taking device, and the projection area occupies the position of one storage column. The box-taking mechanism 201 is arranged outside the main structure of the box-taking device. The position of the storage column occupied by the projection area of ​​the box-taking mechanism 201 is adjacent to the position of the storage column occupied by the projection area of ​​the main structure of the box-taking device. Figure 2 Representation of the position occupied by the box-picking equipment in the schematic diagram.

[0077] The moving mechanism 200 is used to move to a designated position corresponding to the position of the storage column where the target storage box is located, so that the box-taking mechanism 201 is located at the position of the storage column where the target storage box is located.

[0078] Since the dense storage warehouse includes multiple vertical storage columns, storage boxes can be placed into the storage main body from above the storage main body. Therefore, in order to enable the box-picking equipment to travel along the track and reach the designated position to pick up and place the storage boxes on each storage column in the warehouse, the tracks on the top of the multiple storage columns are arranged in a grid in this specification, such as Figure 7 shown.

[0079] Figure 7 This manual provides a schematic diagram of the distribution of tracks on top of each storage column in the warehouse, where the dark areas are tracks and the rectangles filled with diagonal lines are storage boxes stacked in the storage columns.

[0080] In this specification, because the mobile mechanism 200 needs to move along a track and reach a designated position corresponding to the storage column where the target storage bin is located, the mobile mechanism 200 at least includes a drive mechanism for traveling along the track in different directions, such as a drive mechanism similar to the mobile mechanism of a four-way shuttle in the prior art. Furthermore, the mobile mechanism 200 can be located at the bottom of the main structure of the bin retrieval device, in contact with the track.

[0081] The box retrieval mechanism 201 is used to lift the target storage box out of the storage column where the target storage box is located, or to lift out multiple storage boxes containing the target storage box at the same time, wherein the lowest storage box among the lifted storage boxes is the target storage box, and lift up the other storage boxes above the target storage box to separate the target storage box from the other storage boxes above it, and after the target storage box is stored in the storage unit 203 by the box storage mechanism 202, the other storage boxes above the target storage box are put back into the storage column.

[0082] In this specification, when the mobile mechanism 200 reaches the specified position, the box-picking mechanism 201 should face the storage column where the target storage box is located. Then, the box-picking mechanism 201 can dock with the target storage box by extending into the storage column according to the storage position of the target storage box in the storage column.

[0083] Specifically, the box taking mechanism 201 may include: a fixed baffle 2010, a docking assembly 2011 and a telescopic assembly 2012. Figure 8 Furthermore, the fixed baffle 2010 and the docking assembly 2011 are connected via a telescopic assembly 2012. The fixed baffle 2010 is connected to the main structure of the box-retrieving device, so that by adjusting the length of the telescopic assembly 2012, the docking assembly 2011 can be sent into or taken out of the storage column.

[0084] In this specification, the telescopic component 2012 can have various specific forms, such as a chain form, a rubber belt form, or a telescopic stick form. Other forms will not be given as examples here.

[0085] When the box picking mechanism 201 extracts the target storage box, first, if there is at least one other storage box stacked above the target storage box, the telescopic component 2012 in the box picking mechanism 201 can first adjust the telescopic length according to the storage position of the target storage box, so that the docking component 2011 connected to it extends into the storage position where the target storage box is located in the storage column.

[0086] Secondly, the docking assembly 2011 is used to dock with the target storage box when the telescopic assembly 2012 reaches the storage position of the target storage box after adjusting its length. The specific method used by the docking assembly 2011 to dock with the target storage box is not limited in this specification. For example, the docking assembly 2011 can dock with the target storage box using a robot, screws, or suction cups.

[0087] Then, the telescopic component 2012 is also used to continue adjusting the telescopic length when the docking component 2011 is docked with the target storage box, pulling the target storage box and the at least one other storage box out of the storage column where the target storage box is located, so that the target storage box reaches the position of the side opening of the storage unit 203.

[0088] The box depositing mechanism 202 is used to take out the target storage box from the storage box lifted out by the box taking mechanism 201, and to store the target storage box into the storage unit 203 from the opening on the side of the storage unit 203.

[0089] In this specification, the box storage mechanism 202 may include at least: a telescopic support plate 2020 and a drag component 2021, such as Figure 9 Furthermore, in order to avoid obstructing the box-taking mechanism 201 from lifting out the storage box, the telescopic support plate 2020 and the dragging component 2021 can be retracted into the main structure of the box-taking device by default, that is, stored in the main structure of the box-taking device.

[0090] When there are no other storage boxes stacked above the target storage box, the box-taking mechanism 201 lifts the target storage box out.

[0091] The telescopic support plate 2020 is used to extend from the bottom of the storage unit 203 to support the target storage box when the target storage box reaches the position of the side opening of the storage unit 203.

[0092] The dragging component 2021 is used to drag the target storage box from the telescopic tray 2020 through the opening on the side of the storage unit 203 into the storage unit after the telescopic tray 2020 supports the target storage box.

[0093] When there is at least one other storage box stacked above the target storage box, when the target storage box docked by the docking component 2011 of the box picking mechanism 201 is lifted to a height that reaches the height of the side opening of the storage unit 203, the telescopic support plate 2020 is used to extend from the bottom of the storage unit 203 to support the target storage box and other storage boxes above the target storage box.

[0094] The docking assembly 2011 is also used to stop docking with the target storage box after the telescopic pallet 2020 receives the target storage box and other storage boxes above the target storage box.

[0095] The telescopic component 2012 is also used to readjust the telescopic length after the docking component 2011 stops docking, according to the storage position of an adjacent storage box above the target storage box, that is, the current height of a storage box adjacent to the target storage box, so that the docking component 2011 reaches the storage position of a storage box adjacent to the target storage box.

[0096] The docking component 2011 docks with a storage box adjacent to the target storage box after the telescopic component 2012 readjusts the telescopic length.

[0097] The dragging component 2021 is used to drag the target storage box from the telescopic pallet 2020 through the opening on the side of the storage unit 203 into the storage unit 203 after the docking component 2011 docks with a storage box adjacent to the target storage box above.

[0098] The process of taking out the target storage box from the storage box lifted by the box taking mechanism 201 and storing it in the storage unit can be as follows: Figure 10 shown.

[0099] Figure 10 This is a schematic diagram of storing a target in a storage unit provided in this specification.

[0100] exist Figure 10 The storage unit 203 of the box-taking device shown in the figure has a drag component 2021, and a telescopic support plate 2020 is provided below the storage unit 203. Figure 10 As can be seen in FIG, the main structure of the box-taking device is located at the adjacent storage column where the target storage box is located, and the fixed baffle 2010 of the box-taking device is located directly above the storage column where the target storage box is located. The target storage box to be transported is the third storage box from the top to the bottom of the storage column, as shown in FIG. Figure 10 As shown in 10a.

[0101] The box-picking device can adjust the telescopic length of the telescopic component 2012 according to the storage position of the target storage box in the storage column, so that the docking component 2011 moves to the target storage box and docks with the target storage box. Figure 10 As shown in 10b.

[0102] Then, the box-taking device can continue to adjust the length of the telescopic component 2012, thereby lifting the first three storage boxes in the storage column out of the storage column. Figure 10 At the same time, the retractable support plate 2020 provided in the box-taking device extends from the bottom of the storage unit 203, so as to support the three storage boxes above the delivery port of the storage column through the retractable support plate 2020, as shown in FIG. Figure 10As shown in 10d in FIG. Since the telescopic support plate 2020 has lifted the three storage boxes above the delivery port of the storage column, the docking assembly 2011 can be undocking with the target storage box, and the length of the telescopic assembly 2012 can be adjusted to move the docking assembly 2011 up to the second storage box and dock with the second storage box. The length of the telescopic assembly 2012 can be adjusted again to lift the storage box docked by the docking assembly 2011, so that the target storage box lifted by the telescopic support plate 2020 is separated from the other storage boxes, as shown in FIG. Figure 10 As described in 10e.

[0103] Then, the box-taking device can extend the set drag component 2021 and put the target storage box into the storage unit 203 from the side opening of the storage unit 203, as shown in FIG. Figure 10 As described in 10f-10g.

[0104] The target storage box is still lifted up by the dragging assembly 2021 in the storage unit 203, or supported by the floor of the storage unit 203. Then, after the box-picking device determines that the target storage box has been transferred to the storage unit 203, the telescopic support plate 2020 can be retracted to the bottom of the storage unit 203. Figure 10 As shown in 10h.

[0105] Furthermore, the box-taking device can adjust the telescopic length of the telescopic assembly 2012 to put the remaining two storage boxes back into the storage column, such as Figure 10 As shown in 10i.

[0106] It can be seen from the above example that the storage unit 203 provided in the box-retrieving device can be used to store a container.

[0107] It should be noted that in actual applications, since the storage boxes extracted by the box retrieval device are supported by the telescopic pallet 2020, they are equivalent to being stored between the fixed baffle 2010 and the telescopic pallet 2020, and the space between the fixed baffle 2010 and the telescopic pallet 2020 of the box retrieval device is limited, the maximum number of storage boxes that can be extracted by the box retrieval device is also limited.

[0108] In addition, in the box retrieval device provided in this specification, when the box retrieval device puts other storage boxes back into the storage column, the telescopic component 2012 is also used to adjust the telescopic length according to the storage position of the target storage box when it was originally stored in the storage column when the target storage box is received into the storage unit 203, so that the docking component reaches the original position of the target storage box in the storage column.

[0109] The docking assembly 2011 is further configured to stop docking with a storage box adjacent to the target storage box when arriving at the original position, and to stack the other storage boxes above the target storage box in the storage column.

[0110] based on Figure 6 、 8 And the box picking device shown in 9, after the box picking device moves along the track to the designated position adjacent to the storage column where the target storage box is located, it can lift out multiple storage boxes including the target storage box from the storage column, support the multiple storage boxes, and then lift up the other storage boxes above the target storage box to separate the target storage box from the other storage boxes above it, and then put the target storage box into the box picking device from the opening on the side of the box picking device, and finally put the other lifted storage boxes back into the storage column, so that when the target storage box is stacked under other obstructing storage boxes, the target storage box can be lifted out through a single box picking process, which reduces the warehouse operating costs and improves the handling efficiency.

[0111] In addition, this manual also provides another box-taking device, such as Figure 11 As shown, the telescopic assembly 2012 in the box retrieval device may be composed of a first telescopic assembly 300, a second telescopic assembly 301, and a movable baffle 302. The first telescopic assembly 300 has two ends connected to the movable baffle 302 and the fixed baffle 2010, while the second telescopic assembly 301 has two ends connected to the movable baffle 302 and the docking assembly 2011. When the box retrieval mechanism 201 lifts out each storage box, the movable baffle 302, the docking assembly 2011, and the second telescopic assembly 301 may form a semi-enclosed structure that secures each storage box, ensuring greater stability when removing the storage box. At the same time, by setting the movable baffle 302, the telescopic component 2012 can be conveniently divided into two groups (i.e., the first telescopic component 300 and the second telescopic component 301). When the telescopic component 2012 is made of a flexible material and the telescopic length is long, the first telescopic component 300 and the second telescopic component 301 can reduce the size of the tensile deformation of a single telescopic component, which is beneficial to maintaining the effectiveness of the component structure and reducing the probability of damage to the material structure of the telescopic component.

[0112] When there is at least one other storage box stacked above the target storage box, the box retrieval device can first determine the storage position of another storage box in the storage column that is closest to the fixed baffle 2010, that is, the storage position of the top storage box in the storage column.

[0113] The second telescopic mechanism 301 is used to adjust the telescopic length according to the storage position of another storage box closest to the fixed baffle in the storage column and the storage position of the target storage box, so that when the movable baffle 302 reaches the other storage box closest to the fixed baffle, the docking assembly 2012 reaches the storage position of the target storage box, as shown in FIG. Figure 12 As shown in 12a.

[0114] The first telescopic assembly 300 is used to adjust the telescopic length according to the storage position of the nearest other storage box so that the movable baffle 302 reaches the other storage box, such as Figure 12 As shown in 12b.

[0115] The docking component 2011 is used to dock with the target storage box when arriving at the target storage box.

[0116] The first telescopic component 300 is also used to adjust the telescopic length when the docking component 2011 docks with the target storage box, so as to lift at least one storage box located between the movable baffle 302 and the docking component 2011 out of the storage column. Figure 12 As shown in 12c.

[0117] The subsequent process of the box storage mechanism 202 taking out the target storage box is as follows:

[0118] The retractable support plate 2020 is used to extend from the bottom of the storage unit 203 to support the target storage box and other storage boxes above the target storage box when the box-taking mechanism 201 lifts the target storage box. Figure 12 As shown in 12d.

[0119] The second telescopic mechanism 301 is also used to adjust the telescopic length according to the storage position of the nearest other storage box and the storage position of another storage box adjacent to the target storage box when the telescopic support plate 2020 supports the target storage box, so that the docking assembly 2011 reaches the storage box adjacent to the target storage box, such as Figure 12 As shown in 12e.

[0120] The docking component 2011 is also used to dock with another storage box adjacent to the target storage box when it reaches another storage box adjacent to the target storage box.

[0121] The dragging component 2021 is used to drag the target storage box from the telescopic pallet 2020 through the opening on the side of the storage unit 203 into the storage unit 203 after the docking component 2011 docks with another storage box above the target storage box. Figure 12 As shown in 12f.

[0122] It should be noted that Figure 12 The process of lifting another storage box adjacent to the target storage box to separate the target storage box and the other storage boxes is omitted, as is the process of placing the other storage boxes back into the storage column. For the corresponding content, please refer to Figure 10 Of course, when putting the storage box back, the box-taking device is also achieved by adjusting the length of the first telescopic component 300.

[0123] In addition, in this specification, a trigger mechanism 303 may also be provided on the movable baffle 302. On the premise that the telescopic length of the first telescopic assembly 300 is adjusted in advance according to the storage position of the target storage box in the storage column, the box-picking device can use the trigger mechanism to determine whether the docking assembly 2011 has moved to the target storage box, and then determine whether it is necessary to control the docking assembly 2011 to dock. Figure 13 shown.

[0124] Specifically, the trigger mechanism 303 is used to send a trigger signal to the docking assembly 2011 when the movable baffle 302 reaches another storage box in the storage column that is closest to the fixed baffle.

[0125] The docking component 2011 is used to determine that it can dock with the target storage box when receiving the trigger signal, and then dock with the target storage box.

[0126] The specific form of trigger mechanism 303 is not limited in this specification. Specifically, trigger mechanism 303 may be a retractable probe extending from movable baffle 302. When movable baffle 302 reaches another storage box in the storage column closest to the fixed baffle, the probe is retracted back into movable baffle 302, and a trigger signal is transmitted. Alternatively, trigger mechanism 303 may be a non-contact distance measuring device that transmits a trigger signal when it determines that the distance between movable baffle 302 and a storage box is less than a preset threshold.

[0127] In this specification, the specific form of the storage box can be various, such as a rectangular storage box with a groove, an inverted trapezoidal storage box with a groove, or a storage box with a baffle on the top, etc. Figure 14A and 14B shown.

[0128] Figures 14A-14B Schematic diagrams of several types of storage boxes provided for this instruction manual.

[0129] Figure 14AThe docking mechanism 2011 can dock with the rectangular storage box through the grooves provided around the rectangular storage box. Goods are placed in the rectangular storage box, and by stacking the rectangular storage boxes on the storage shelves, dense storage of goods is achieved.

[0130] Figure 14B The inverted trapezoidal storage box is provided with a groove. The box-taking device controls the connecting mechanism 2011 to dock with the groove of the inverted trapezoidal storage box, thereby realizing the retrieval or placement of the inverted trapezoidal storage box.

[0131] Of course, in addition to the several types of storage boxes introduced above, other types of storage boxes are also possible, which will not be explained in detail here.

[0132] Furthermore, in this specification, the server may use a variety of specific mechanisms to determine the target storage boxes to be moved. For example, the server may determine the target storage boxes to be moved from the storage shelves based on the order requests of each user. In another example, the server may determine the target storage boxes to be moved from the storage shelves based on the obtained cargo allocation instructions (e.g., if, based on actual needs, the cargo stored in one storage shelf needs to be allocated to another storage shelf, the server may issue the corresponding cargo allocation instructions). In another example, the server may allocate cargo within the storage shelves based on the cargo storage status of each storage location on the storage shelves to average the cargo quantity stored in each storage location on the storage shelves.

[0133] After determining the target storage box to be moved, the server can generate a moving instruction and send the moving instruction to the selected box-picking device. There are various ways for the server to select a box-picking device. For example, based on the location of the box-picking device on the storage shelf and the location of the storage column where the target storage box is located, the server can select a box-picking device that is closer to the storage column where the target storage box is located. For another example, the server can randomly select a box-picking device from idle box-picking devices and send a moving instruction to it. For another example, based on the remaining power of each box-picking device, the server can select a box-picking device with more power remaining and send a moving instruction to it. Other methods are not described in detail here.

[0134] In this specification, the telescopic assembly 2012 is actually composed of multiple components. For example, in the case of a chain-shaped telescopic assembly 2012, one chain can be considered a component. There is no specific limit on the number of components included in the telescopic assembly 2012. Again, in the case of a chain-shaped telescopic assembly 2012, the telescopic assembly 2012 can include two chains, four chains, or even six chains.

[0135] Furthermore, each component in telescoping assembly 2012 can be independently extended and retracted. That is, the extension length of each component is independently controlled by the unloading device and is not affected by the extension length of other components. In this case, when the handling device adjusts the extension length of telescoping assembly 2012, it needs to simultaneously adjust these components to ensure that the extension lengths of these components are the same (and also ensure that the extension rates of these components are the same).

[0136] In addition, each component in the telescopic assembly 2012 can also be linked, that is, each component is linked when it is extended and retracted, and is affected by the extension length of other components. Figure 15 shown.

[0137] Figure 15 Schematic diagram of a telescopic assembly with linkage components provided in this manual.

[0138] exist Figure 15 This is a schematic diagram of the interior of the movable baffle 302 or the fixed baffle 2010. In the telescopic assembly 2012 connected to the movable baffle 302, two components extend from the inside to the outside. These two components are wound around a rotating shaft provided inside the movable baffle 302 (the two components wound around the rotating shaft can actually be a whole. For example, if the components are chains, then the two chains extending from the inside of the movable baffle 302 are actually a chain connected together). Figure 15 It can be seen from the figure that when the rotating shaft rotates clockwise, the two components will extend outward synchronously, and when the rotating shaft rotates counterclockwise, the two telescopic components will retract inward synchronously.

[0139] It should be noted that Figure 15 Only one linkage mode of components is shown. In actual applications, components can also be controlled to extend and retract synchronously through other linkage modes, which will not be explained one by one here.

[0140] In the 1990s, technological improvements could be clearly distinguished as either hardware improvements (for example, improvements to circuit structures like diodes, transistors, and switches) or software improvements (improvements to process flows). However, with the advancement of technology, many process flow improvements today can now be considered direct improvements to hardware circuit structures. Designers almost always create the corresponding hardware circuit structure by programming the improved process flow into the hardware circuit. Therefore, it cannot be said that a process flow improvement cannot be implemented using hardware modules. For example, a programmable logic device (PLD), such as a field programmable gate array (FPGA), is an integrated circuit whose logical function is determined by user programming. Designers can "integrate" a digital system on a PLD through their own programming, without having to hire a chip manufacturer to design and manufacture a dedicated integrated circuit chip. Moreover, nowadays, instead of manually fabricating integrated circuit chips, this programming is mostly done using "logic compiler" software. This is similar to the software compiler used when developing programs. Before compilation, the original code must also be written in a specific programming language, called a hardware description language (HDL). There is not just one HDL, but many, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art will also understand that by simply programming the method flow in one of these hardware description languages ​​and then programming it into an integrated circuit, a hardware circuit that implements the logic method flow can be easily obtained.

[0141] The controller can be implemented in any suitable manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also know that in addition to implementing the controller in a purely computer-readable program code format, the controller can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules that implement the method and structures within the hardware component.

[0142] The systems, devices, modules, or units described in the above embodiments may be implemented by computer chips or entities, or by products having certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0143] For the convenience of description, the above devices are described as being divided into various units according to their functions. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0144] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0145] The present invention is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0146] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0147] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0148] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0149] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0150] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0151] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0152] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems, or computer program products. Thus, this specification may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0153] This specification may be described in the general context of computer-executable instructions, such as program modules, executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, and the like that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media, including storage devices.

[0154] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0155] The foregoing is merely an example of the present invention and is not intended to limit the present invention. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A box-taking method, characterized in that: The method is performed by a box-picking device, and the method is applied in a dense storage warehouse with a three-dimensional grid structure, wherein the dense storage warehouse includes a plurality of vertical storage columns and tracks arranged on the tops of the plurality of storage columns, a plurality of storage boxes are stacked in the vertical direction in the storage columns, the box-picking device runs on the tracks, a space for accommodating a storage box is provided inside the box-picking device, an opening is provided on the side of the box-picking device for the storage box to enter the box-picking device, the box-picking device includes at least a telescopic component, a docking component and a storage unit, the docking component is connected to the telescopic component, the storage unit is used to provide space for accommodating a storage box, the telescopic component includes: a first telescopic component, a second telescopic component, a trigger mechanism and a movable baffle, the two ends of the first telescopic component are connected to the movable baffle and the fixed baffle, the two ends of the second telescopic component are connected to the movable baffle and the docking component, and the trigger mechanism is provided on the movable baffle; wherein: Move to a designated location, the designated location being adjacent to a storage column where a target storage box is located; According to the storage position of the target storage box, adjusting the telescopic length of the telescopic assembly so that the docking assembly connected to the telescopic assembly extends into the storage position where the target storage box is located; Adjusting the telescopic length of the telescopic assembly to pull the target storage box out of the storage position where the target storage box is located, so that the target storage box reaches the position of the side opening of the storage unit; placing the target storage box into the storage unit; Among them, if there are one or more other storage boxes above the target storage box, according to the trigger signal sent by the trigger mechanism when the mobile baffle reaches the other storage box closest to the fixed baffle in the storage column, the docking assembly is docked with the target storage box, and the first telescopic assembly, the second telescopic assembly and the mobile baffle are used to lift up multiple storage boxes from the storage column and support the multiple storage boxes, wherein the lowest storage box among the multiple storage boxes taken out is the target storage box; by adjusting the first telescopic assembly and the second telescopic assembly, the other storage boxes above the target storage box are lifted to separate the target storage box from the other storage boxes above it, and the target storage box is received into the box retrieval device from the opening on the side of the box retrieval device; the lifted other storage boxes are put back into the storage column.

2. The method according to claim 1, wherein The method further comprises: If there is no other storage box above the target storage box, the target storage box is lifted out and placed into the box taking device through an opening on the side of the box taking device.

3. The method according to claim 1, wherein A plurality of storage boxes are lifted out of the storage column, including: determining a storage location of the target storage box in the storage column; docking with the target storage box in the storage column according to the storage position; The target storage box is lifted so that the target storage box is taken out together with other storage boxes stacked above it until the target storage box reaches the opening on the side of the box retrieval device.

4. The method according to claim 1, wherein By adjusting the first telescopic assembly and the second telescopic assembly, the other storage boxes above the target storage box are lifted to separate the target storage box from the other storage boxes above the target storage box, comprising: By adjusting the first telescopic assembly and the second telescopic assembly, the movable baffle is docked with a storage box adjacent to the target storage box; The docked storage box is lifted, so that other storage boxes above the docked storage box are also lifted.

5. A box-taking device, characterized in that: The box-taking device is applied in a dense storage warehouse with a three-dimensional grid structure, the dense storage warehouse comprising a plurality of vertical storage columns and tracks arranged on top of the plurality of storage columns, a plurality of storage boxes are stacked in the vertical direction in the storage columns, and the box-taking device runs on the tracks; the box-taking device comprises: a moving mechanism, a box-taking mechanism, a box-storing mechanism and a storage unit with an opening on the side, the storage unit is used to accommodate a storage box, the box-taking mechanism comprises at least a telescopic component, a docking component and a storage unit, the docking component is linked to the telescopic component, the storage unit is used to provide space for accommodating a storage box, the box-taking mechanism comprises at least a telescopic component, the telescopic component comprises: a first telescopic component, a second telescopic component, a trigger mechanism and a movable baffle, the two ends of the first telescopic component are connected to the movable baffle and the fixed baffle, the two ends of the second telescopic component are connected to the movable baffle and the docking component, and the trigger mechanism is arranged on the movable baffle; The moving mechanism is used to move to a designated position corresponding to the position of the storage column where the target storage box is located, so that the box-taking mechanism is located at the position of the storage column where the target storage box is located; The box-taking mechanism is used to adjust the telescopic length of the telescopic assembly according to the storage position of the target storage box, so that the docking assembly connected to the telescopic assembly extends into the storage position where the target storage box is located; adjust the telescopic length of the telescopic assembly to lift the target storage box out of the storage column where the target storage box is located, or simultaneously lift out multiple storage boxes including the target storage box, wherein the trigger mechanism is used to send a trigger signal to the docking assembly when the movable baffle reaches another storage box in the storage column that is closest to the fixed baffle; the docking assembly is used to dock with the target storage box upon receiving the trigger signal; the lowest storage box among the storage boxes lifted out by the first telescopic assembly, the second telescopic assembly, the trigger mechanism and the movable baffle is the target storage box, and by adjusting the first telescopic assembly and the second telescopic assembly, the other storage boxes above the target storage box are lifted to separate the target storage box from the other storage boxes above it, and after the box storage mechanism stores the target storage box into the storage unit, the other storage boxes above the target storage box are put back into the storage column; The box depositing mechanism is used to take out the target storage box from the storage box lifted out by the box taking mechanism, and to store the target storage box into the storage unit through the opening on the side of the storage unit.

6. The box-taking device according to claim 5, characterized in that: The box-taking mechanism comprises: a fixed baffle, a docking assembly and a telescopic assembly, wherein the fixed baffle and the docking assembly are connected via the telescopic assembly.

7. The box-taking device according to claim 6, characterized in that: If there is at least one other storage box stacked above the target storage box; wherein, The telescopic assembly is used to adjust the telescopic length so that the docking assembly reaches the storage position where the target storage box is located; The docking assembly is configured to dock with the target storage box when the docking assembly reaches the storage location where the target storage box is located; The telescopic component is also used to adjust the telescopic length when the docking component is docked with the target storage box, so as to pull the target storage box and at least one other storage box out of the storage column where the target storage box is located, so that the target storage box reaches the position of the side opening of the storage unit.

8. The box-taking device according to claim 7, characterized in that: The storage mechanism includes a telescopic support plate and a drag assembly, wherein the telescopic support plate is located at the bottom of the storage unit; The telescopic support plate is used to extend from the bottom of the storage unit to support the target storage box and other storage boxes above the target storage box when the target storage box reaches the position of the side opening of the storage unit; The docking assembly is further configured to stop docking with the target storage box after the telescopic support plate receives the target storage box and other storage boxes above the target storage box, and re-dock with an adjacent storage box above the target storage box; The telescopic assembly is further configured to readjust the telescopic length after the docking assembly stops docking, so that the docking assembly reaches the storage position of an adjacent storage box above the target storage box; The dragging assembly is used to drag the target storage box from the telescopic pallet through the opening on the side of the storage unit into the storage unit after the docking assembly docks with a storage box adjacent to the target storage box above the target storage box.

9. The box-taking device according to claim 8, characterized in that: The telescopic assembly is further configured to adjust the telescopic length when the target storage box is received into the storage unit, so that the docking assembly reaches the original position of the target storage box in the storage column; The docking assembly is further configured to stop docking with a storage box adjacent to the target storage box when reaching the original position, and stack the other storage boxes above the target storage box in the storage column.

10. The box-taking device according to claim 5, characterized in that: The telescopic assembly includes: a first telescopic assembly, a second telescopic assembly and a movable baffle, two ends of the first telescopic assembly are connected to the movable baffle and the fixed baffle, and two ends of the second telescopic assembly are connected to the movable baffle and the docking assembly.

11. The box-taking device according to claim 10, characterized in that: When at least one other storage box is stacked above the target storage box; The second telescopic assembly is configured to adjust its telescopic length according to the storage position of another storage box in the storage column that is closest to the fixed baffle and the storage position of the target storage box, so that when the movable baffle reaches the other storage box that is closest to the fixed baffle, the docking assembly reaches the storage position of the target storage box; The first telescopic assembly is configured to adjust the telescopic length according to the storage position of the nearest other storage box so that the movable baffle reaches the other storage box; The docking assembly is used to dock with the target storage box when arriving at the target storage box; The first telescopic component is also used to adjust the telescopic length when the docking component is docked with the target storage box, so as to lift at least one storage box located between the movable baffle and the docking component out of the storage column.

12. The box-taking device according to claim 11, characterized in that: The box storage mechanism includes a telescopic support plate and a drag assembly, wherein the telescopic support plate is located at the bottom of the storage unit; The retractable support plate is used to extend from the bottom of the storage unit to support the target storage box and other storage boxes above the target storage box when the box-taking mechanism lifts out the target storage box; The second telescopic assembly is further configured to adjust the telescopic length according to the storage position of the nearest other storage box and the storage position of another storage box adjacent to the target storage box when the telescopic support plate supports the target storage box, so that the docking assembly reaches the storage box adjacent to the target storage box; The docking assembly is further configured to dock with another storage box adjacent to the target storage box when the docking assembly reaches another storage box adjacent to the target storage box; The dragging component is used to drag the target storage box from the telescopic pallet through the opening on the side of the storage unit into the storage unit after the docking component docks with another storage box adjacent to the target storage box above.

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