A case taking method and case taking apparatus

Abstract

The specification discloses a box taking method and a box taking device. After the box taking device moves to a specified position adjacent to a storage column where a plurality of target storage boxes are located along a track, the box taking device can lift a plurality of storage boxes containing the plurality of target storage boxes from the storage column and support the plurality of storage boxes. For each target storage box, the box taking device can lift other storage boxes above the target storage box to separate the target storage box from the other storage boxes above the target storage box, and then take the target storage box into the box taking device through an opening on the side of the box taking device. After the plurality of target storage boxes are taken into the box taking device respectively, the box taking device can finally put the other storage boxes back into the storage column. In this way, the box taking device can take a plurality of target storage boxes from the storage column and take the plurality of target storage boxes into the box taking device through one box taking task, thereby reducing the warehouse operation cost and improving the carrying efficiency.

Description

TECHNICAL FIELD

[0001] The present specification relates to the technical field of robots, and in particular, to a box taking method and a box taking device. BACKGROUND

[0002] In order to store as many goods as possible in a limited space, a dense storage mode emerges as the times require. This storage mode reduces the aisle area between the storage shelves as much as possible, so as to realize the dense stacking of goods in the storage shelves, thereby realizing the dense storage of goods in a limited space.

[0003] At present, a three-dimensional grid structure dense storage warehouse is composed of a plurality of vertical storage columns and a track arranged at the top of the plurality of storage columns. A plurality of storage boxes can be stacked in each storage column in the vertical direction. The box taking device can run on the track at the top, and the goods in the storage column can be grabbed up by vertically extending the box taking mechanism into the storage column, so as to complete the process of transporting the target storage box from the storage column to the box taking device, as shown in Figures 1A-1D .

[0004] Figures 1A-1D A process diagram for the box taking device to lift the target storage box in the storage column of the storage shelf in the prior art is shown.

[0005] A plurality of storage column side view diagrams of a storage shelf are shown in Figure 1A , in which the goods are stacked in the storage columns in the vertical direction. The top of the plurality of storage columns is provided with a track, and the box taking device travels on the track. The box taking device can be regarded as being composed of two parts. One is a box taking mechanism, which can extend into the storage column from the top of the storage column to extract the target storage box to be transported. The other part is a moving mechanism, by which the box taking device can move on the track.

[0006] For details, see Figure 1B , Figure 1B is a plan view of a storage shelf. It is assumed that the target storage box is in the M2 storage column. The box taking device can be moved to the M1 position by the moving mechanism, so that the box taking mechanism can be directly above the M2 storage column. Similarly, when the target storage box is in the M4 storage column, the box taking device can be moved to the M3 position by the moving mechanism, so that the box taking mechanism can be directly above the M4 storage column.

[0007] When the box taking device needs to transport the target storage box in Figure 1A , 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, as shown in Figure 1C . Once the target storage box is docked, the box taking mechanism can be retracted in the direction shown in Figure 1C , and the target storage box is lifted out, as shown inFigure 1D As 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 taking device can actually only lift one cargo out of the storage column each time, and when other obstructive storage boxes are stacked above the target storage box, it is necessary to repeatedly extract other obstructive storage boxes on the target storage box in the storage column, thereby seriously reducing the warehouse handling efficiency, such as Figure 2 As shown.

[0009] Figure 2 The schematic diagram of the prior art in which other obstructive storage boxes are stacked above the target storage box.

[0010] Suppose that the box taking device located above the storage column needs to carry Figure 2 The target storage box shown in the figure, i.e. Figure 2 The storage box marked with "X", then multiple box taking devices need to cooperate, first 2 box taking devices respectively lift storage box 1 and storage box 2 out of the storage column, and then 1 box taking device lifts the target storage box out of the storage column, and subsequently storage box 1 and storage box 2 need to be put back into the storage column.

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

[0012] Therefore, how to effectively improve the handling efficiency of goods is a problem to be solved. SUMMARY

[0013] The present specification provides a box taking method and a box taking device to effectively improve the handling efficiency of goods.

[0014] The present specification adopts the following technical solutions:

[0015] The present specification provides a box taking method, which is executed by a box taking device, and is applied in a dense storage warehouse of three-dimensional grid structure, the dense storage warehouse comprising a plurality of vertical storage columns and a track arranged on the top of the plurality of storage columns, a plurality of storage boxes are stacked in the vertical direction in the storage column, the box taking device runs on the track, the box taking device is internally provided with a space for accommodating a plurality of storage boxes, and an opening is provided on the side of the box taking device for the storage boxes to enter the box taking device; wherein:

[0016] moving to a designated position adjacent to a target storage column in which at least some of a plurality of target storage bins to be carried are located, the plurality of target storage bins occupying a volume not exceeding a volume of a space in which a plurality of storage bins are arranged to be received within the bin retrieval device;

[0017] lifting a plurality of storage bins from the target storage column and supporting the plurality of storage bins, wherein the plurality of lifted storage bins includes one or more of the plurality of target storage bins;

[0018] for each of the one or more target storage bins, repeatedly performing the following actions until all of the one or more target storage bins are received into the bin retrieval device: lifting a storage bin above the target storage bin to separate the target storage bin from the storage bin above the target storage bin, and receiving the target storage bin into the bin retrieval device from an opening on a side of the bin retrieval device, and dropping the storage bin above the target storage bin;

[0019] replacing the remaining other storage bins into the target storage column.

[0020] Optionally, the method further comprises:

[0021] if the plurality of storage bins lifted from the target storage column includes only the plurality of target storage bins, sequentially receiving the plurality of target storage bins into the bin retrieval device.

[0022] Optionally, a lowermost storage bin of the plurality of lifted storage bins is one of the one or more target storage bins.

[0023] Optionally, lifting a plurality of storage bins from the target storage column comprises:

[0024] determining a storage position of a storage bin located inside the target storage column, wherein one or more storage bins are stacked above the storage bin;

[0025] abutting the storage bin located in the target storage column in accordance with the storage position;

[0026] lifting the storage bin located in the target storage column such that the storage bin located in the target storage column and the one or more storage bins stacked above the storage bin are lifted together out of the target storage column.

[0027] Optionally, lifting a storage bin above the target storage bin to separate the target storage bin from the storage bin above the target storage bin comprises:

[0028] abutting a storage bin adjacent to the target storage bin above the target storage bin;

[0029] The docked storage box is lifted to cause the storage boxes above the docked storage box to be lifted as well.

[0030] Optionally, the method further comprises:

[0031] moving to a next designated position adjacent to a target storage column in which at least part of the target storage boxes are located;

[0032] extracting a plurality of storage boxes from the target storage column adjacent to the next designated position and supporting the plurality of storage boxes, wherein the extracted plurality of storage boxes include one or more target storage boxes;

[0033] for each of the one or more target storage boxes, repeatedly performing the following actions until all of the one or more target storage boxes are received into the storage box retrieval device: lifting a storage box above the target storage box to separate the target storage box from the storage box above the target storage box, receiving the target storage box into the storage box retrieval device from the opening on the side of the storage box retrieval device, and dropping the storage box above the target storage box;

[0034] replacing the remaining other storage boxes into the target storage column adjacent to the next designated position.

[0035] The present specification provides a storage box retrieval method, which is performed by a storage box retrieval device, and is applied in a dense storage warehouse of a three-dimensional grid structure, the dense storage warehouse comprising a plurality of storage columns arranged horizontally and a track arranged at one end of the plurality of storage columns, a plurality of storage boxes being stacked in the storage columns in a horizontal direction, the storage box retrieval device running on the track, the storage box retrieval device being internally provided with a space for accommodating a plurality of storage boxes, and an opening being arranged on the side of the storage box retrieval device for the storage boxes to enter the storage box retrieval device; wherein:

[0036] moving to a designated position adjacent to a target storage column in which at least part of a plurality of target storage boxes are located, the plurality of target storage boxes occupying a space with a capacity not exceeding a capacity of the space internally provided in the storage box retrieval device for accommodating a plurality of storage boxes;

[0037] extracting a plurality of storage boxes from the target storage column and supporting the plurality of storage boxes, wherein the extracted plurality of storage boxes include one or more target storage boxes;

[0038] repeating the following actions for each of the one or more target storage bins until all of the one or more target storage bins are received into the bin taking device: separating a storage bin in front of the target storage bin from the target storage bin, and receiving the target storage bin into the bin taking device from the opening on the side of the bin taking device;

[0039] replacing the remaining other storage bins into the target storage column.

[0040] The present specification provides a bin taking device applied in a dense storage warehouse of three-dimensional grid structure, the dense storage warehouse comprising a plurality of vertical storage columns and a track arranged on top of the plurality of storage columns, a plurality of storage bins are stacked in the vertical direction in the storage columns, and the bin taking device runs on the track; the bin taking device comprises a moving mechanism, a bin taking mechanism, a bin storing mechanism, and a plurality of storage units with openings on the side, each of which is used to accommodate a storage bin;

[0041] The moving mechanism is used to move to a specified position corresponding to the position of the target storage column in which at least part of the target storage bins of the plurality of target storage bins to be transported are located, so that the bin taking mechanism is located at the position of the target storage column, and the specified position is adjacent to the target storage column.

[0042] The bin taking mechanism is used to lift a plurality of storage bins from the target storage column, wherein the plurality of storage bins include one or more target storage bins; and for each of the one or more target storage bins, the storage bin above the target storage bin is lifted to separate the target storage bin from the storage bin above it, and after the bin storing mechanism receives the target storage bin into a storage unit, the storage bin above the target storage bin is dropped; and after all of the one or more target storage bins are received into the bin taking device, the remaining other storage bins are replaced into the target storage column; the bin storing mechanism is used to, for each of the one or more target storage bins, after the bin taking mechanism lifts the storage bin above the target storage bin to separate the target storage bin from the storage bin above it, receive the target storage bin into the storage unit from the opening on the side of the storage unit.

[0043] Optionally, the bin taking mechanism comprises a fixed baffle, a docking assembly, and a telescopic assembly, and the fixed baffle and the docking assembly are connected through the telescopic assembly.

[0044] Optionally, the telescopic assembly is used to adjust the telescopic length so that the docking assembly reaches a storage position of a storage bin located inside the target storage column, wherein one or more storage bins are stacked above the storage bin.

[0045] the docking assembly is configured to dock with the storage bin in the target storage column when reaching the storage position;

[0046] the telescopic assembly is further configured to adjust the telescopic length and lift the storage bin in the target storage column and the storage bins stacked above the storage bin from the target storage column when the docking assembly docks with the storage bin in the target storage column.

[0047] Optionally, the storage bin mechanism comprises a telescopic support plate and a pulling assembly, the telescopic support plate is located at the bottom of each storage unit;

[0048] the telescopic support plate is configured to, for each target storage bin of the one or more target storage bins, extend from the bottom of the storage unit corresponding to the target storage bin to support the target storage bin and the storage bins stacked above the target storage bin when the target storage bin reaches the position of the lateral opening of the storage unit corresponding to the target storage bin;

[0049] the docking assembly is further configured to stop docking with the target storage bin and dock with the storage bin adjacent to the target storage bin above the target storage bin after the telescopic support plate supports the target storage bin and the storage bins stacked above the target storage bin;

[0050] the telescopic assembly is further configured to, after the docking assembly stops docking, readjust the telescopic length so that the docking assembly reaches the position of the storage bin adjacent to the target storage bin above the target storage bin;

[0051] the pulling assembly is configured to, after the docking assembly docks with the storage bin adjacent to the target storage bin above the target storage bin, pull the target storage bin from the telescopic support plate through the opening of the storage unit corresponding to the target storage bin to the storage unit corresponding to the target storage bin.

[0052] Optionally, the telescopic assembly is further configured to, when all the one or more target storage bins are stored in the bin taking device, according to the readjusted telescopic length, make the docking assembly reach the original position of the lowermost storage bin in the remaining other storage bins in the target storage column;

[0053] the docking assembly is further configured to, when reaching the original position, stop docking with the lowermost storage bin in the remaining other storage bins to stack the remaining other storage bins in the target storage column.

[0054] Optionally, the telescopic assembly comprises a first telescopic assembly, a second telescopic assembly, and a movable baffle, two ends of the first telescopic assembly being connected to the movable baffle and the fixed baffle, two ends of the second telescopic assembly being connected to the movable baffle and the docking assembly.

[0055] Optionally, the second telescopic assembly is configured to adjust the 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 storage box farthest from the fixed baffle in the target storage column, so that when the movable baffle reaches the storage box closest to the fixed baffle, the docking assembly reaches the storage position of the storage box to be docked, and a distance between the storage box to be docked and the fixed baffle is not less than a distance between the storage box farthest from the fixed baffle and the fixed baffle.

[0056] The first telescopic assembly is configured to adjust the telescopic length according to the storage position of the storage box closest to the fixed baffle, so that the movable baffle reaches the storage box closest to the fixed baffle.

[0057] The docking assembly is configured to dock with the storage box to be docked when reaching the storage box to be docked.

[0058] The first telescopic assembly is further configured to adjust the telescopic length when the docking assembly docks with the storage box to be docked, so as to take out the plurality of storage boxes between the movable baffle and the docking assembly from the target storage column.

[0059] Optionally, the movable baffle further comprises a triggering mechanism.

[0060] The triggering mechanism is configured to send a triggering signal to the docking assembly when the movable baffle reaches the storage box closest to the fixed baffle in the target storage column.

[0061] The docking assembly is configured to dock with the storage box to be docked when receiving the triggering signal.

[0062] Optionally, the storage box mechanism comprises a telescopic supporting plate and a pulling assembly, and the telescopic supporting plate is located at the bottom of each storage unit.

[0063] The telescopic supporting plate is configured to, for each target storage box in the one or more target storage boxes, extend from the bottom of the storage unit corresponding to the target storage box to support the target storage box and the storage boxes above the target storage box.

[0064] The second telescopic assembly is further configured to, when the telescopic supporting plate supports the target storage box, adjust the telescopic length according to the storage position of the storage box closest to the fixed baffle and the storage position of the storage box adjacent to the target storage box above the target storage box, so that the docking assembly reaches the storage box adjacent to the target storage box above the target storage box.

[0065] The docking assembly is further configured to, when reaching the storage box adjacent to the target storage box above the target storage box, dock with the storage box adjacent to the target storage box above the target storage box.

[0066] The dragging assembly is configured to, after the docking assembly docks with the storage box adjacent to the target storage box above the target storage box, drag the target storage box from the telescopic supporting plate to the storage unit corresponding to the target storage box through the opening on the side of the storage unit.

[0067] Optionally, the moving mechanism is further configured to, if all the one or more target storage boxes have been put into the box taking device, move to a next designated position adjacent to a target storage column where at least part of the plurality of target storage boxes to be carried are located.

[0068] The box taking device is further configured to, from the target storage column adjacent to the next designated position, take out and support a plurality of storage boxes, wherein the plurality of target storage boxes taken out include one or more target storage boxes; for each of the one or more target storage boxes, lift the storage box above the target storage box to separate the target storage box from the storage box above the target storage box, and after the storage box taking mechanism puts the target storage box into a storage unit, drop the storage box above the target storage box; and after all the one or more target storage boxes are put into the box taking device, put the remaining other storage boxes back into the target storage column.

[0069] The storage box taking mechanism is further configured to, for each of the one or more target storage boxes, after the storage 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, put the target storage box into the storage unit from the opening on the side of the storage unit.

[0070] The present specification provides a box taking device applied in a dense storage warehouse of a three-dimensional grid structure, the dense storage warehouse including a plurality of storage columns in a horizontal direction and a track arranged at one end of the plurality of storage columns, a plurality of storage boxes being stacked in the storage columns in the horizontal direction, and the box taking device running on the track; the box taking device includes a moving mechanism, a box taking mechanism, a storage box taking mechanism, and a plurality of storage units with openings on the sides, each storage unit being configured to accommodate one storage box.

[0071] The moving mechanism is configured to move to a specified position corresponding to the position of the target storage column in which at least part of the plurality of target storage boxes is located, so that the box taking mechanism is located at the position of the target storage column, and the specified position is adjacent to the target storage column.

[0072] The box taking mechanism is configured to take out a plurality of storage boxes from the target storage column, wherein the plurality of storage boxes includes one or more target storage boxes, and for each target storage box, the target storage box is separated from the storage box in front of the target storage box in the direction in which the target storage box is taken out from the target storage column, and after all the one or more target storage boxes are put into the box taking device, the remaining storage boxes are put back into the target storage column.

[0073] The box taking mechanism is configured to, for each target storage box, after the box taking mechanism separates the target storage box from the storage box in front of the target storage box, put the target storage box into the storage unit from the opening on the side of the storage unit.

[0074] The above at least one technical solution adopted by the present specification can achieve the following beneficial effects:

[0075] After the box taking device moves to the specified position adjacent to the storage column in which the plurality of target storage boxes is located, the box taking device can take out a plurality of storage boxes including the plurality of target storage boxes from the storage column and support the plurality of storage boxes, and for each target storage box, the box taking device can take out the storage box above the target storage box to separate the target storage box from the storage box above the target storage box, and then put the target storage box into the box taking device from the opening on the side of the box taking device. After the plurality of target storage boxes are put into the box taking device, the box taking device can finally put the other storage boxes back into the storage column. In this way, the box taking device can take out and put into the box taking device a plurality of target storage boxes from the storage column through one box taking task, which reduces the operation cost of the warehouse and improves the transportation efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0076] The accompanying drawings used in the description of the present specification are used to provide further understanding of the present specification, form a part of the present specification, and the illustrative embodiments of the present specification and their description are used to explain the present specification, and do not constitute an improper limitation on the present specification. In the drawings:

[0077] Figures 1A-1D A process diagram for taking out target storage boxes from a storage column of a storage shelf by a box taking device in the prior art;

[0078] Figure 2Fig. 1 is a schematic diagram of the prior art showing a target storage bin stacked above other storage bins;

[0079] Figure 3 Fig. 2 is a schematic diagram of a bin retrieval method provided in the present disclosure;

[0080] Figures 4A-4C Fig. 3 is a schematic diagram of lifting out a plurality of storage bins provided in the present disclosure;

[0081] Figure 5 Fig. 4 is a schematic diagram of the structure of a bin retrieval device provided in the present disclosure;

[0082] Figure 6 Fig. 5 is a schematic diagram of the distribution of tracks at the top of each storage column in a warehouse provided in the present disclosure;

[0083] Figure 7 Fig. 6 is a schematic diagram of the structure of a bin retrieval device provided in the present disclosure;

[0084] Figure 8 Fig. 7 is a schematic diagram of the structure of a bin retrieval device provided in the present disclosure;

[0085] Figure 9 Fig. 8 is a schematic diagram of storing a target storage bin into a storage unit provided in the present disclosure;

[0086] Figure 10 Fig. 9 is a schematic diagram of the structure of a bin retrieval device provided in the present disclosure;

[0087] Figure 11 Fig. 10 is a schematic diagram of moving two target containers into corresponding storage units provided in the present disclosure;

[0088] Figure 12 Fig. 11 is a schematic diagram of the structure of a bin retrieval device provided in the present disclosure;

[0089] Figures 13A-13C Fig. 12 is a schematic diagram of several forms of storage bins provided in the present disclosure;

[0090] Figure 14 Fig. 13 is a schematic diagram of a telescopic assembly provided with a linkage telescopic component provided in the present disclosure;

[0091] Figure 15 Fig. 14 is a schematic diagram of a bin retrieval device provided in the present disclosure, which is located at both sides of a storage shelf;

[0092] Figure 16 Fig. 15 is a schematic diagram of the structure of another bin retrieval device provided in the present disclosure;

[0093] Figure 17 Fig. 16 is a schematic diagram of a bin retrieval device provided with a first telescopic assembly and a second telescopic assembly for transverse bin retrieval provided in the present disclosure;

[0094] Figure 18 A schematic diagram of a cross aisle box retrieval device provided in the present specification for moving a target storage box to a storage unit. DETAILED DESCRIPTION

[0095] For the purpose, technical solutions and advantages of the present specification to be clearer, the technical solutions of the present specification will be described clearly and completely below in combination with specific embodiments of the present specification and corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present specification, rather than all the embodiments. Based on the embodiments in the present specification, all other embodiments obtained by a person of ordinary skill in the art without any creative work, shall fall within the scope of protection of the present specification.

[0096] Figure 3 A schematic diagram of a box retrieval method provided in the present specification, specifically comprising the following steps:

[0097] S301: moving to a specified position adjacent to a target storage column where at least part of a plurality of target storage boxes to be carried are located.

[0098] In one or more embodiments provided in the present specification, the box retrieval method is applied in a dense storage warehouse of three-dimensional grid structure, which includes a plurality of vertical storage columns and a track arranged at the top of the plurality of storage columns. The specific structure of the dense storage warehouse can refer to the structure of the warehouse in Figure 1A ~D and Figure 2 . In the present specification, the box retrieval method is specifically performed by a box retrieval device running on the top track. The box retrieval device is internally provided with a space for accommodating storage boxes, and is provided with an opening on the side for the storage boxes to enter the box retrieval device.

[0099] It should be noted that the box retrieval device in the present specification is consistent with the area occupied by the box retrieval device shown in Figure 1A ~D and Figure 2 in the projection area, that is, when the box retrieval device travels on the track, the projection area occupies two adjacent storage columns.

[0100] Specifically, in the process of the box retrieval device performing the box retrieval, the position of the target storage box to be lifted in the dense storage warehouse can be determined by a control center controlling the operation of the box retrieval device, which at least includes the position of the storage column where the target storage is located, and the storage position of the target storage in the stacked storage in the storage column. As shown in Figure 2 In each storage column, the storage boxes are stacked, so the target storage box can be in multiple storage positions in the longitudinal direction of the storage column.

[0101] Afterwards, the control center can determine a storage box taking device to perform the taking task according to the determined storage location of the target storage box in the dense storage warehouse, and send an instruction.

[0102] Correspondingly, the storage box taking device can move to the specified location to obtain the target storage box by performing subsequent steps. As described above, the storage box taking device needs to occupy the position of two adjacent storage columns in the warehouse, so the specified location is adjacent to the storage column where the target storage box is located. When the storage box taking device is located at the specified location, the storage box can be lifted from the storage column where the target storage box is located. In this specification, the storage column where the target storage box is located can be referred to as the target storage column.

[0103] In addition, in this 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 moving path of the storage box taking device and improve the operation efficiency, the control center can also determine the specified location according to the path of the storage box taking device moving to the target storage column where the target storage box is located.

[0104] Specifically, after determining the storage box taking device, the control center can plan a path according to the position of the storage box taking device and the position of the target storage column where the target storage box is located, to determine the moving path of the storage box taking device to the target storage column. Afterwards, the positions of the other storage columns adjacent to the target storage column in the moving path are taken as the specified location. Then, the moving path and the specified location are sent to the storage box taking device, and the storage box taking device can move to the specified location along the moving path.

[0105] S302: lifting a plurality of storage boxes from the target storage column and supporting the plurality of storage boxes, wherein the plurality of lifted storage boxes contain one or more target storage boxes.

[0106] In one or more embodiments of the present specification, the storage box taking device can lift at least one target storage box from the target storage column, so that after the storage box taking device moves to the specified location, the storage box taking device can lift a plurality of storage boxes from the target storage column and support each of the lifted storage boxes. Among the plurality of lifted storage boxes, there is at least one target storage box that needs to be taken out of the target storage column, and among the plurality of lifted storage boxes, the lowermost storage box can be another storage box, in which case the at least one target storage box that needs to be taken out is located above the other storage box. Of course, among the plurality of lifted storage boxes, the lowermost storage box can also be the lowermost target storage box in the target storage column.

[0107] Specifically, since the control center records the storage column and the corresponding storage position of each storage box when the storage box is stored in the dense storage warehouse, for any target storage box, the control center can determine the target storage column and the corresponding storage position of the target storage box when determining the target storage box. After the box taking device reaches the specified position, it can determine which storage box in the target storage column needs to be docked according to the determined storage position of each target storage box, and lift the multiple storage boxes containing the target storage boxes from the target storage column. The box taking device can also support the lifted storage boxes. The storage position is the position of the storage box after stacking on the storage column. When the storage column is vertical, the storage position can represent the longitudinal position of the storage box in the storage column. According to the storage position, the box taking device can determine how much it needs to explore from the top of the track of the storage column to dock with the storage box that needs to be docked.

[0108] When there is one or more other storage boxes above the target storage box or between the target storage boxes, the box taking device can take out the other storage boxes above the target storage box or between the target storage boxes together. Of course, if there are no other storage boxes above the target storage box and between the target storage boxes, the box taking device can only take out the at least one target storage box that needs to be taken out.

[0109] Figures 4A-4C The schematic diagram of lifting multiple storage boxes provided in the present specification.

[0110] Figure 4A For the case where there are other storage boxes above the target storage box and between the target storage boxes. For this case, the box taking device determines the storage position of the lowermost target storage box in the target storage column, and docks with the target storage box according to the storage position, and extracts the target storage box and the storage box above the target storage box. When the target storage box is removed from the target storage column, the box taking device can also support the lifted storage boxes, of which the lowermost target storage box is Figure 4A The lowermost dark storage box in the middle.

[0111] Figure 4B Also belongs to the case where there are other storage boxes above the target storage box and between the target storage boxes. However, Figure 4B The box taking method shown in Figure 4AIn the case that the target storage bins are adjacent to each other and located above other storage bins in the target storage column, the bin taking device can determine the storage position of the storage bin adjacent to the lowermost target storage bin in the target storage column, and dock with the storage bin according to the storage position, and extract the storage bin and the storage bins above the storage bin. After the storage bin is removed from the target storage column, the bin taking device can also support the extracted storage bins, and the lowermost supported storage bin is the storage bin. The storage bins above the storage bin and adjacent to the storage bin are Figure 4B the dark target storage bin located at the lowermost position in the target storage column.

[0112] Figure 4C In the case that the target storage bins are adjacent to each other and located above other storage bins in the target storage column, the bin taking device can determine the storage position of the storage bin adjacent to the lowermost target storage bin in the target storage column, and dock with the storage bin according to the storage position, and extract the storage bin and the storage bins above the storage bin. After the storage bin is removed from the target storage column, the bin taking device can also support the extracted storage bins, and the lowermost supported storage bin is the storage bin. The storage bins above the storage bin and adjacent to the storage bin are

[0113] It should be noted that the above Figures 4A-4C three bin taking modes are only described by way of example, and other bin taking modes can also be included in actual applications. For example, for the 4C case, the bin taking device can also determine the storage position of the storage bin adjacent to the lowermost target storage bin in the target storage column, and dock with the storage bin according to the storage position, and extract the storage bin and the target storage bins above the storage bin. After the storage bin is removed from the target storage column, the bin taking device can also support the extracted storage bin and the target storage bins. Other modes will not be described in detail here.

[0114] S303: For each target storage bin in the one or more target storage bins, repeat the following actions until all the one or more target storage bins are received into the bin taking device: lift the storage bins above the target storage bin to separate the target storage bin from the storage bins above it, and receive the target storage bin into the bin taking device from the opening on the side of the bin taking device, and drop the storage bins above the target storage bin.

[0115] In one or more embodiments of the present specification, in order to take each target storage bin from the lifted storage bins and receive the target storage bin into the bin taking device, for each target storage bin, the bin taking device can lift other storage bins above the target storage bin to separate the target storage bin from the lifted other storage bins, and then receive the target storage bin into the bin taking device from the opening on the side of the bin taking device.

[0116] As mentioned above, the projection area of the storage box taking device occupies the position of two storage columns, so the taken storage boxes are equivalent to hanging over a target storage column, and therefore the storage box taking device can support the taken storage boxes in step S302. Subsequently, since the storage box taking device is located in a storage column adjacent to the target storage column where the target storage boxes are located, the storage box taking device can sequentially receive the target storage boxes from the side.

[0117] Specifically, first, for each target storage box, the storage box taking device can be docked with another storage box adjacent above the target storage box.

[0118] Then, the docked other storage box is lifted to lift the storage boxes above the docked other storage box. At this time, the storage box taking device only supports the target storage box and the storage boxes below the target storage box, and since there is no other storage box pressing on the target storage box at this time, the storage box taking device can easily receive the target storage box from the side into the storage box taking device.

[0119] After receiving a target storage box into the storage box taking device, the storage box taking device can drop the lifted storage box and the other storage boxes lifted together, and then lift the storage boxes above the next target storage box to receive the next target storage box into the storage box taking device. In this way, all the taken target storage boxes are received into the storage box taking device.

[0120] S304: Put the remaining other storage boxes back into the target storage column.

[0121] In one or more embodiments provided in the specification, after the storage box taking device receives the taken at least one target storage box, the docked other storage boxes can be put back into the target storage column, and then the received storage boxes can be transported to other positions for picking and other processing as needed. The specification does not limit how to process later.

[0122] Based on Figure 3In the illustrated box taking process, the box taking device moves to a specified position adjacent to a target storage column where the target storage box is located, and then lifts a plurality of storage boxes containing at least one target storage box from the target storage column and supports the plurality of storage boxes. Then, for each target storage box, the box taking device lifts the storage box above the target storage box to separate the target storage box from the storage box above it, and then takes the target storage box into the box taking device from the opening on the side of the box taking device. After all the target storage boxes are taken into the box taking device, the box taking device returns the lifted storage boxes to the target storage column. In this way, the box taking device can lift and take multiple target storage boxes in one box taking task, thereby reducing the operating cost of the warehouse and improving the handling efficiency.

[0123] Further, in actual applications, the box taking device may lift target storage boxes from multiple storage columns in one box taking task. Therefore, if the box taking device has space to store storage boxes after taking multiple target storage boxes from the target storage column and taking the target storage boxes into the box taking device, the box taking device can move to a next specified position adjacent to a target storage column where at least part of the multiple target storage boxes are located. The next specified position is adjacent to a target storage column where a target storage box that needs to be taken is located. The box taking device can lift a plurality of storage boxes from the target storage column adjacent to the next specified position and support the plurality of storage boxes. The plurality of storage boxes lifted from the target storage column include at least one target storage box that needs to be taken.

[0124] For each target storage box, the box taking device lifts the storage box above the target storage box to separate the target storage box from the storage box above it. Then, the box taking device takes the target storage box into the box taking device from the opening on the side of the box taking device and drops the storage box above the target storage box. In this way, the box taking device can take the target storage boxes that need to be taken into the box taking device one by one, and return the remaining storage boxes to the target storage column adjacent to the next specified position.

[0125] In this way, the box taking device can sequentially move to the target storage columns to take boxes until all the target storage boxes that need to be taken are taken, or the box taking device has no extra space to store target storage boxes.

[0126] Based on Figure 3 the illustrated box taking process diagram, Figure 1A ~D, Figure 2 the structure of the dense storage warehouse of the three-dimensional grid structure, the present specification also provides a box taking device, as Figure 5 illustrated.

[0127] Figure 5 A schematic diagram of a box taking device is provided in this specification. The box taking device is applied in a dense storage warehouse with three-dimensional grid structure, which includes vertical multiple storage columns and tracks arranged on the top of the multiple storage columns, and multiple storage boxes are stacked in the vertical direction in the storage columns, and the box taking device runs on the tracks.

[0128] In this specification, the box taking device includes a moving mechanism 500, a box taking mechanism 501, a box storing mechanism 502, and multiple storage units 503 with openings on the side, each of which is used to accommodate a storage box. As described in the foregoing box taking process, the projection area of the box taking device occupies the positions of two storage columns, and specifically for each component of the box taking device, the moving mechanism 500, the box storing mechanism 502, and the storage units 503 are generally arranged in the main structure of the box taking device, and the projection area occupies the position of one storage column, and the box taking mechanism 501 is arranged outside the main structure of the box taking device, and the projection area of the box taking mechanism 501 occupies the 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 box taking device. For reference Figure 2 The representation of the position occupied by the box taking device in the schematic diagram.

[0129] The moving mechanism 500 is used to move to the designated position corresponding 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.

[0130] Since the dense storage warehouse includes vertical multiple storage columns, the storage boxes can be put into the storage columns from above the storage columns or taken out from above the storage columns, so that the box taking device can travel along the tracks and reach the designated position to store and take the storage boxes of each storage column in the warehouse. In this specification, the tracks on the top of the multiple storage columns are grid-distributed, as shown in Figure 6 .

[0131] Figure 6 A schematic diagram of the distribution of the tracks on the top of each storage column of the warehouse is provided in this specification, in which the dark area is the track, and the oblique-filled rectangle is the storage box stacked in the storage column.

[0132] In this specification, since the moving mechanism 500 needs to move based on the tracks and reach the designated position corresponding to the position of the target storage column where the target storage box is located, the moving mechanism 500 at least includes a driving structure for traveling on tracks in different directions, such as a driving mechanism similar to the moving mechanism of the four-way shuttle vehicle in the prior art. Moreover, the moving mechanism 500 can be arranged at the bottom of the main structure of the box taking device and in contact with the tracks.

[0133] The box taking mechanism 501 is used to lift at least one target storage box from the target storage column, or simultaneously lift multiple storage boxes containing at least one target storage box, wherein the lowest storage box among the lifted storage boxes can be the lowest target storage box in the target storage column, or can be a storage box below the lowest target storage box in the target storage column. Then, the box taking device can lift other storage boxes above each target storage box to separate the target storage box from other storage boxes above it, and after the target storage box is put into the storage unit 503 corresponding to the target storage box by the box taking mechanism 502, the other storage boxes above the target storage box are dropped. In this way, the box taking device can sequentially put each target storage box lifted into the storage unit 503, and put the remaining other storage boxes back into the target storage column.

[0134] In this specification, when the moving mechanism 500 reaches the specified 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 can be docked with the target storage box located in the lowest position of the target storage column, or the storage box below the target storage box in the lowest position of the target storage column by extending into the target storage column. Of course, the box taking mechanism 501 can also be docked with any target storage box or storage box below any target storage box in the target storage column.

[0135] Specifically, the box taking mechanism 501 can include a fixed baffle 5010, a docking assembly 5011, and an extension assembly 5012, as shown in Figure 7 The fixed baffle 5010 and the docking assembly 5011 are connected through the extension assembly 5012. The fixed baffle 5010 is connected with the main structure of the box taking device, so that by adjusting the length of the extension assembly 5012, the docking assembly 5011 can be sent into or taken out of the target storage column.

[0136] In this specification, the specific form of the extension assembly 5012 can be various, which can be in the form of a chain, in the form of a rubber belt, or in the form of a telescopic rod, and other forms will not be illustrated one by one here.

[0137] When the box taking mechanism 501 extracts the target storage box, first, the extension assembly 5012 in the box taking mechanism 501 can first adjust the extension length according to the storage position of the target storage box, so that the docking assembly 5011 connected thereto extends into the storage position of the storage box to be docked in the target storage column.

[0138] Then, the docking assembly 5011 is used to dock with the storage box when the telescopic assembly 5012 reaches the storage position where the storage box to be docked is located after adjusting its length. The specific method used by the docking assembly 5011 to dock with the storage box to be docked is not limited in this specification. For example, the docking assembly 5011 can dock with the storage box to be docked using a robot, or by docking with a screw similar to a screw hole, or by using a suction cup to adhere to the surface of the storage box to achieve docking with the storage box to be docked.

[0139] Then, after the docking assembly 5011 docks with the desired storage box, the telescopic assembly 5012 is further configured to adjust its telescopic length to lift the desired storage box and any boxes above it out of the target storage column. The desired storage box can be the lowest target storage box in the target storage column or any other storage box. The lifted storage boxes include at least one target storage box.

[0140] The box depositing mechanism 502 is used to take out a target storage box from the storage box lifted out by the box taking mechanism 501 , and to store the target storage box into the storage unit 503 from an opening on the side of the storage unit 503 .

[0141] In this specification, the storage mechanism 502 may include at least: a telescopic support plate 5020 and a drag component 5021, such as Figure 8 Furthermore, in order to avoid obstructing the box-taking mechanism 501 from lifting out the storage box, the telescopic support plate 5020 and the dragging component 5021 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.

[0142] The telescopic support plate 5020 is used to extend from the bottom of the storage unit 503 to support the removed storage box when the removed storage box reaches the position of the side opening of the lowermost storage unit 203.

[0143] The dragging assembly 5021 is used to drag the target storage box separated from the upper storage box into the storage unit 503 through the opening on the side of the storage unit 503 after the retractable support plate 5020 supports the removed storage boxes. Each storage unit 503 may be provided with a dragging assembly 5021.

[0144] When the storage box docked by the docking assembly 5011 of the box retrieval mechanism 501 is lifted to a height that reaches the height of the side opening of the lowest storage unit 503, the telescopic support plate 5020 is used to extend from the bottom of the storage unit 503 to support the taken out storage boxes.

[0145] The docking assembly 5011 is also used to stop docking with the storage box that needs to be docked when the storage box is taken out from the target storage column after the telescopic support plate 5020 supports the taken-out storage box.

[0146] The telescopic assembly 5012 is also used to, after the docking assembly 5011 stops docking, adjust the telescopic length according to the storage position of the adjacent storage box above the target storage box, i.e., the current height of the adjacent storage box above the target storage box, for each target storage box, so that the docking assembly 5011 reaches the storage position of the adjacent storage box above the target storage box.

[0147] After the telescopic assembly 5012 adjusts the telescopic length, the docking assembly 5011 docks with the adjacent storage box above the target storage box.

[0148] The pulling assembly 5021 is used to, after the docking assembly 5011 docks with the adjacent storage box above the target storage box, pull the target storage box from the opening on the side of the storage unit 203 corresponding to the target storage box (i.e., the storage unit with a height equivalent to that of the target storage box) into the storage unit 203.

[0149] The process of taking out the target storage box from the storage box taken out by the taking-out mechanism 501 and storing it in the storage unit can be as shown in Figure 9 .

[0150] Figure 9 The schematic diagram of storing the target storage in the storage unit provided in the present specification.

[0151] In Figure 9 each storage unit 503 of the taking-out device, there is a pulling assembly 5021, and below the lowermost storage unit 503, there is a telescopic support plate 5020. As can be seen from Figure 9 , the main structure of the taking-out device is located in the adjacent storage column of the target storage column where the target storage box is located, and the fixed baffle 5010 of the taking-out device is located directly above the target storage column where the target storage box is located. The target storage boxes that need to be carried are the first and third storage boxes from top to bottom in the target storage column, as shown in 9a of Figure 9 .

[0152] The taking-out device can 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 5011 moves to the lowermost target storage box and docks with the lowermost target storage box, as shown in 9b of Figure 9 .

[0153] Then, the box taking device can continue to adjust the length of the telescopic assembly 5012, so as to lift the first three storage boxes in the target storage column, as shown in FIG. 9c. Figure 9 Meanwhile, the telescopic supporting plate 5020 arranged in the box taking device is extended from below the lowermost storage unit 503, so as to support the three storage boxes above the delivery opening of the target storage column by the telescopic supporting plate 5020, as shown in FIG. 9d. Figure 9

[0154] Since there is no other storage box above the first target storage box, the box taking device can extend the pulling assembly 5021 arranged in the first storage unit 503 from top to bottom, as shown in FIG. 9e, and pull the first target storage box into the first storage unit 503, as shown in FIG. 9f. Figure 9 Figure 9

[0155] Since the telescopic supporting plate 5020 has supported the three storage boxes above the delivery opening of the target storage column, the butt joint assembly 5011 can be disengaged from the butt joint with the lowermost target storage box, and the length of the telescopic assembly 5012 is adjusted so that the butt joint assembly 5011 is moved upward to the second storage box and butt jointed with the second storage box. Then, the length of the telescopic assembly 5012 is adjusted again to lift the storage box butt jointed by the butt joint assembly 5011, so that the lowermost target storage box supported by the telescopic supporting plate 5020 is separated from other storage boxes, as shown in FIG. 9g. Figure 9

[0156] Then, the box taking device can extend the pulling assembly 5021 arranged in the third storage unit 503, and the lowermost target storage box is taken into the third storage unit 503 from the side opening of the third storage unit 203, as shown in FIGs. 9h-9i. Figure 9

[0157] Wherein, the target storage boxes are still lifted by the pulling assembly 5021 in the storage unit 503, or are supported by the bottom surface of the storage unit 503. Then, the box taking device can retract the telescopic supporting plate 5020 to below the lowermost storage unit 503 after determining that the two target storage boxes have been completely transferred to the storage unit 503, as shown in FIG. 9j. Figure 9

[0158] Further, the box taking device can adjust the telescopic length of the telescopic assembly 5012 to put the remaining storage box back into the target storage column, as shown in FIG. 9k. Figure 9

[0159] ​​​​​​​It should be noted that in actual application, since the storage bins extracted by the bin taking device are supported by the telescopic supporting plate 5020 after being extracted, they are equivalent 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 bin taking device is limited, so the maximum number of storage bins that can be extracted by the bin taking device is also limited.

[0160] In addition, in the bin taking device provided in the present specification, when the bin taking device puts other storage bins back to the target storage column, the telescopic assembly 5012 is further used for adjusting the telescopic length according to the storage position of the storage bin that the docking assembly 5011 docks when each storage bin is taken out from the target storage column, so that the docking assembly 5011 reaches the original position of the storage bin that the docking assembly 5011 docks when each storage bin is taken out from the target storage column, when all the target storage bins are put into the storage unit 503.

[0161] The docking assembly 5011 is further used for stopping docking with the storage bin when reaching the original position, so as to stack the remaining storage bins in the target storage column.

[0162] Based on the bin taking device shown in Figure 9 , 7 and 8, the bin taking device can lift a plurality of storage bins containing at least one target storage bin from the target storage column after moving to a specified position adjacent to the target storage column where the target storage bin is located, support the plurality of storage bins, for each target storage bin, lift other storage bins above the target storage bin to separate the target storage bin from the other storage bins above it, then put the target storage bin into the bin taking device through the opening on the side of the bin taking device, and finally put the remaining other storage bins back into the target storage column, so that the bin taking device can lift a plurality of target storage bins and store them in the bin taking device through one bin taking task, thereby reducing the warehouse operation cost and improving the handling efficiency.

[0163] In addition, the present specification also provides another bin taking device, such as Figure 9The telescopic assembly 5012 in the storage box taking device can be composed of a first telescopic assembly 600, a second telescopic assembly 601, and a movable baffle 602. The two ends of the first telescopic assembly 600 are connected to the movable baffle 602 and the fixed baffle 5010, and the two ends of the second telescopic assembly 601 are connected to the movable baffle 602 and the docking assembly 5011. When the storage box taking mechanism 501 lifts out each storage box, the movable baffle 602, the docking assembly 5011, and the second telescopic assembly 601 can form a semi-enclosed structure to fix each storage box, so that each storage box is more stable when being taken out. At the same time, by arranging the movable baffle 602, the telescopic assembly 5012 can be divided into two groups (i.e., the first telescopic assembly 600 and the second telescopic assembly 601). When the telescopic assembly 5012 is made of flexible material and has a long telescopic length, the first telescopic assembly 600 and the second telescopic assembly 601 can reduce the size of the tensile deformation of a single telescopic assembly, which is beneficial to maintaining the effectiveness of the assembly structure and reducing the probability of damage to the material structure of the telescopic assembly.

[0164] According to the above structure, the storage box taking device can take out multiple target storage boxes from the target storage column and store them in the storage units of the storage box taking device, as shown in Figure 9 .

[0165] Figure 5 The schematic diagram provided in the present specification for moving two target containers into the corresponding storage units.

[0166] Figure 10 The storage box taking device shown in the figure is provided with four storage units 503, and each storage unit 503 is provided with a dragging assembly 5021. A telescopic supporting plate 5020 is arranged below the lowermost storage unit 503, which is used to support each storage box stacked in the vertical direction extracted from the target storage column by the storage box taking device.

[0167] The target storage boxes that need to be taken out by the storage box taking device from the target storage column are two, which are the second storage box and the fourth storage box counted from top to bottom in the target storage column, as shown in 11a in Figure 11 . The storage box taking device can adjust the telescopic length of the first telescopic assembly 600 and the telescopic length of the second telescopic assembly 601 according to the storage positions of the two target storage boxes in the target storage column, so that the movable baffle 602 moves to the uppermost storage box stacked in the target storage column, and the docking assembly 5011 moves to the lowermost target storage box (i.e., the fourth storage box), and performs docking on the lowermost target storage box, as shown in Figure 11The distance between the storage box that the docking assembly 5011 needs to dock and the fixed baffle 5010 is not less than the distance between the target storage box farthest from the fixed baffle 5010 and the fixed baffle 5010.

[0168] After the taking-out equipment extracts the four storage boxes from the target storage column (as shown in 11c of FIG. 11B), the four storage boxes can be supported above the delivery port of the target storage column by extending the telescopic supporting plate 5020. At the same time, the first target storage box (i.e., the second storage box) can be dragged out of the storage unit 503 corresponding to the first target storage box by extending the dragging assembly 5021 provided in the storage unit 503, and the docking assembly 5011 can be moved to the first storage box (i.e., the adjacent storage box above the first target storage box) to implement grabbing of the first storage box to lift the first storage box upward, thereby separating the first storage box from the first target storage box below. At the same time, the taking-out equipment can control the dragging assembly 5021 to drag the first target storage box into the storage unit 503 corresponding to the first target storage box (i.e., the second storage unit from top to bottom), as shown in 11d-11e of FIG. 11C. Figure 11 Figure 11

[0169] After determining that the first target storage box has been placed in the corresponding storage unit, the taking-out equipment can place the first storage box docked by the docking assembly 5011 on the third storage box (i.e., the adjacent storage box below the first target storage box) by adjusting the telescopic length of the first telescopic assembly 600. Further, the taking-out equipment can extend the dragging assembly 5021 in the storage unit 503 corresponding to the second target storage box (i.e., the fourth storage box), and lift the third storage box (i.e., the adjacent storage box above the second target storage box) upward by the docking assembly 5011 to drag the second target storage box into the storage unit 503 corresponding to the second target storage box by the dragging assembly 5021, as shown in 11f and 11g of FIG. 11D. Figure 11

[0170] After the two target storage boxes are all placed in the corresponding storage units 503, the taking-out equipment can retract the telescopic supporting plate 5020 to below the lowermost storage unit 503, and place the remaining storage boxes back into the target storage column by the docking assembly 5011, the first telescopic assembly 600, and the second telescopic assembly 601, thereby completing the entire process of extracting multiple target storage boxes from the target storage column.

[0171] In Figure 11 and Figure 11 , each storage unit is separated by a dashed line, and in actual application, no separation is provided between each storage unit, in which case Figure 11 and Figure 9 ​​​The separation line in the storage unit is actually not present. Of course, each storage unit can also be separated by a separation plate, a separation strip, etc.

[0172] In addition, in the present specification, a triggering mechanism 603 can also be arranged on the mobile baffle 602. Under the premise that the telescopic length of the first telescopic assembly 600 is adjusted in advance according to the storage position of the target storage box in the target storage column, the box taking equipment can determine whether the docking assembly 5011 has been moved to the storage box that needs to be docked through the triggering mechanism 603, and then determine whether the docking assembly 5011 needs to be controlled to dock, as shown in Figure 11

[0173] Specifically, the triggering mechanism 603 is used to send a triggering signal to the docking assembly 5011 when the mobile baffle 602 reaches the storage box closest to the fixed baffle 5010 in the target storage column.

[0174] The docking assembly 5011 is used to determine whether it can be docked with the storage box that needs to be docked when the triggering signal is received.

[0175] Specifically, the triggering mechanism 603 can be a telescopic probe that extends from the mobile baffle 602. When the mobile baffle 602 reaches the storage box closest to the fixed baffle 5010 in the target storage column, the probe is compressed back into the mobile baffle 602 and sends a triggering signal. Alternatively, the triggering mechanism 603 is a non-contact distance measuring device that sends a triggering signal when it is determined that the distance between the mobile baffle 602 and the storage box is less than a preset threshold.

[0176] In the present specification, the specific form of the storage box can be various, such as a rectangular storage box provided with a groove, or an inverted trapezoidal storage box provided with a groove, or a storage box provided with a baffle, etc., as shown in Figure 9

[0177] Figure 11 The storage box provided in the present specification has several forms.

[0178] Figure 12 For the rectangular storage box provided with a groove around it, the docking assembly 5011 can be docked with the rectangular storage box through the groove provided around the rectangular storage box. The rectangular storage box contains goods, and the goods are densely stored by stacking the rectangular storage boxes in the storage rack.

[0179] Figures 13A-13C For the inverted trapezoidal storage box provided with a groove, the box taking equipment controls the docking assembly 5011 to hook the groove of the inverted trapezoidal storage box to realize the extraction or placement of the inverted trapezoidal storage box. ​​

[0180] Figures 13A-13C The storage box with the baffle on the top, the goods are placed on the tray, when the goods are stored through the storage box in this form, the baffle on the top can be used to stack other storage boxes. The box taking equipment can grab the baffle on the top through the control of the docking assembly 5011 to realize the extraction or placement of the goods, or can grab the tray through the control of the docking assembly to realize the extraction or placement of the goods.

[0181] Of course, in addition to the above-mentioned several forms of storage boxes, there can be other forms of storage boxes, which will not be described in detail here.

[0182] Further, in the present specification, the specific mechanism of the control center to determine the target storage box to be moved can be various. For example, the target storage box to be moved can be determined from the storage shelves according to the order request of each user; for another example, the control center can determine the target storage box to be moved from the storage shelves according to the obtained goods allocation instruction (such as according to the actual demand, the goods stored in one storage shelf need to be allocated to another storage shelf, then the control center can correspond to the goods allocation instruction); for another example, the control center can allocate the goods in the storage shelf according to the goods storage situation of each storage column in the storage shelf, so as to average the amount of goods stored in each storage column in the storage shelf.

[0183] After determining the target storage box to be moved, the control center can generate a moving instruction and send it to the selected box taking equipment. The control center can select the box taking equipment in various ways, for example, the box taking equipment closest to the target storage column can be selected according to the position of the box taking equipment in the storage shelf and the position of the target storage column of the target storage box; for another example, the control center can randomly select a box taking equipment from the idle box taking equipment and send it a moving instruction; for another example, the control center can select a box taking equipment with sufficient remaining power according to the remaining power of each box taking equipment and send it a moving instruction. Other ways will not be described in detail here.

[0184] In the present specification, the telescopic assembly 5012 is actually composed of multiple telescopic components. Taking the telescopic assembly 5012 in the form of chain as an example, one chain can be regarded as one telescopic component. The telescopic assembly 5012 actually contains how many telescopic components, which is not specifically limited. Taking the telescopic assembly 5012 in the form of chain as an example, the telescopic assembly 5012 can contain two chains, four chains, or six chains. The same applies to the first telescopic assembly 600 and the second telescopic assembly 601 included in the telescopic assembly 5012.

[0185] Further, each telescopic component in the telescopic assembly 5012 can be independently telescopic, i.e. the telescopic length of each telescopic component is independently controlled by the box taking device and is not affected by other telescopic components. For this case, when the box taking device adjusts the telescopic length of the telescopic assembly 5012, it needs to synchronously adjust these telescopic components to ensure that the telescopic lengths of these telescopic components are the same (or the telescopic speeds of these telescopic components are the same).

[0186] In addition, each telescopic component in the telescopic assembly 5012 can also be linked telescopic, i.e. each telescopic component is linked when telescoping and is affected by the telescopic length of other telescopic components. As shown in Figure 13A .

[0187] Figure 13B The schematic diagram of the telescopic assembly provided in the present specification is provided with linked telescopic components.

[0188] In Figure 13C the schematic diagram of the inside of the movable baffle 602, two telescopic components are extended from the inside to the outside in the telescopic assembly 5012 connected by the movable baffle 602 and are wound on the rotating shaft arranged inside the movable baffle 602 (the two telescopic components wound on the rotating shaft can actually be an integral whole, for example, if the telescopic component is a chain, then the two chains extended from the inside of the movable baffle 602 are actually a chain connected together). From Figure 14 it can be seen that when the rotating shaft rotates clockwise, the two telescopic components will synchronously extend outward, and when the rotating shaft rotates counterclockwise, the two telescopic components will synchronously retract inward.

[0189] It should be noted that Figure 14 only one linked mode of the telescopic component is shown, and in actual application, the telescopic component can also be controlled to synchronously telescope through other linked modes, which will not be illustrated one by one here.

[0190] In the present specification, a retractable supporting plate can also be arranged at the bottom of each storage unit of the box taking device. In this way, for each target storage box, the retractable supporting plate 5020 at the bottom of the storage unit 503 corresponding to the target storage box can be extended to support the target storage box and the storage boxes above the target storage box when the target storage box reaches the position of the lateral opening of the storage unit 503 corresponding to the target storage box. Correspondingly, the docking assembly 5011 stops docking with the target storage box and docks with the storage box adjacent to the target storage box above the target storage box after the retractable supporting plate 5020 supports the target storage box and the storage boxes above the target storage box. In this way, the dragging assembly 5021 arranged in the storage unit 503 corresponding to the target storage box can drag the target storage box from the retractable supporting plate 5020 to the storage unit 503 corresponding to the target storage box through the lateral opening of the storage unit 503 corresponding to the target storage box.

[0191] In the above Figure 14 , the box taking device is used for goods handling above the storage shelf, which determines that the retractable supporting plate 5020 needs to be arranged below the box taking device. In fact, the box taking device can also be used for goods handling on both sides of the storage shelf, and correspondingly, the arrangement mode of the retractable supporting plate will be different. Therefore, the present specification also provides another form of goods taking mode, as shown in Figure 14 .

[0192] Figure 14 The schematic view of the box taking device provided in the present specification is located on both sides of the storage shelf.

[0193] The box taking device is applied to a dense storage type warehouse with a three-dimensional grid structure. The dense storage type warehouse includes a plurality of storage columns in the horizontal direction and a track arranged at one end of the plurality of storage columns. A plurality of storage boxes are stacked in the storage columns in the horizontal direction. The box taking device runs on the track. The box taking device includes a moving mechanism, a box taking mechanism, a box storing mechanism, and a plurality of storage units with lateral openings. Each storage unit is used to accommodate a storage box. Figure 2 In the above Figure 14 , the left side of the warehouse is provided with a track for the box taking device to run (in fact, the four sides of the storage shelf are provided with tracks for the box taking device to run). The box taking device can be used for goods handling on the left side of the storage shelf. In the above Figure 15 , the retractable assembly of the box taking device is transversely retracted. Compared with the mode shown in Figure 15 , the box taking device suitable for Figure 15 is shown in .

[0194] Figure 2 The structural schematic view of another box taking device provided in the present specification.

[0195] After arriving at the target storage column, the box taking equipment can extend the docking assembly 7011 into the target storage column by adjusting the telescopic assembly 7012, and then extract the plurality of storage boxes between the fixed baffle 7010 and the docking assembly 7011 from the target storage column. The box taking equipment is provided with a plurality of storage units 703, and a plurality of pallets are arranged on the top of the storage units 703. The plurality of extracted storage boxes can be placed on the pallets.

[0196] In this case, the flexible telescopic assembly 7012 such as a chain or a rubber belt is not suitable, so a rigid telescopic assembly 7012 such as a telescopic rod is selected for use.

[0197] Further, the first telescopic assembly and the second telescopic assembly can also be provided in the box taking equipment for taking boxes in the transverse direction, and the specific structure is as shown in Figure 15

[0198] Figure 16 The box taking equipment for taking boxes in the transverse direction provided in the present specification is schematically shown.

[0199] Similar to the box taking equipment shown in Figure 16 , the telescopic assembly 7012 in the box taking equipment is also divided into two parts, a first telescopic assembly 800 and a second telescopic assembly 801, and a movable baffle 802 is arranged between the first telescopic assembly 800 and the second telescopic assembly 801. Further, a trigger mechanism 803 can also be arranged on the movable baffle 802, so as to control the docking of the docking assembly 7011 and the storage box to be docked through the trigger mechanism 803.

[0200] In addition, since the box taking equipment in Figure 17 travels in the transverse direction on the warehouse compared with the box taking equipment for taking boxes in the longitudinal direction, a pallet can be arranged on each storage unit to drag the storage box extracted from the target storage column above the storage unit, and the target storage box is moved to the corresponding storage unit by controlling the opening and closing of the storage box, as shown in Figure 10

[0201] Figure 17 The box taking equipment for taking boxes in the transverse direction provided in the present specification is schematically shown.

[0202] Figure 17 The box taking equipment in Figure 18 is provided with four storage units 703, and each storage unit 703 is provided with an openable and closable pallet 704. The box taking equipment extracts four storage boxes from the storage shelves (not shown in Figure 18 ), wherein the third and fourth storage boxes (in the order of the target storage column (the target storage column is not shown in the figure)) are placed on the pallets 704.​​Figure 18 the distance from the delivery port of the first storage bin to the delivery port of the fourth storage bin (as shown in FIG. 18a) is the smallest. The picking device sorts the target storage bins to be carried by the picking device in the order from small to large (i.e., from the first storage bin to the fourth storage bin). The picking device moves the movable baffle 802 to the first storage bin and moves the docking assembly 7011 to the fourth storage bin (i.e., the second target storage bin) by adjusting the telescopic lengths of the first telescopic assembly 800 and the second telescopic assembly 801, and controls the docking assembly 7011 to dock with the second target storage bin, as shown in FIG. 18a. Figure 18 The picking device can then extract the four storage bins from the target storage column by retracting the second telescopic assembly 801, and support the four storage bins above the storage units 703 by the pallets 704 arranged on the storage units 703, as shown in FIG. 18b. Figure 18 The picking device can then extract the four storage bins from the target storage column by retracting the second telescopic assembly 801, and support the four storage bins above the storage units 703 by the pallets 704 arranged on the storage units 703, as shown in FIG. 18b.

[0203] Further, the picking device can open the pallet 704 of the storage unit 703 corresponding to the third storage bin, so that the first target storage bin falls into the storage unit 703 under the influence of gravity, and then close the pallet 704 and move the docking assembly 7011 to the second storage bin to grasp the second storage bin, as shown in FIGS. 18c-18e. Figure 18 The picking device can then extract the four storage bins from the target storage column by retracting the second telescopic assembly 801, and support the four storage bins above the storage units 703 by the pallets 704 arranged on the storage units 703, as shown in FIG. 18b. The picking device can then extract the four storage bins from the target storage column by retracting the second telescopic assembly 801, and support the four storage bins above the storage units 703 by the pallets 704 arranged on the storage units 703, as shown in FIG. 18b.

[0204] The picking device can then extract the four storage bins from the target storage column by retracting the second telescopic assembly 801, and support the four storage bins above the storage units 703 by the pallets 704 arranged on the storage units 703, as shown in FIG. 18b. Figure 18 The picking device can then extract the four storage bins from the target storage column by retracting the second telescopic assembly 801, and support the four storage bins above the storage units 703 by the pallets 704 arranged on the storage units 703, as shown in FIG. 18b.

[0205] It should be noted that, in the example of FIG. 18, the target storage bins are put into the storage units 703 one by one, and in fact, as long as the pallets 704 of the storage units 703 are arranged at reasonable positions, all the target storage bins extracted can be simultaneously transferred to the storage units 703, which will not be described in detail. Figure 18 Further, in the example of FIG. 18, the target storage bins are transferred to the storage units 703 in a free-falling manner, which may damage the target storage bins or the goods in the target storage bins. Therefore, in order to ensure that the target storage bins can be smoothly transferred to the corresponding storage units 703,

[0206] Figure 18 Figure 18 ​In the example, each storage unit 703 of the box picking device may also be provided with a dragging component. The box picking device can smoothly move the target storage box to its corresponding storage unit 703 by dragging the component. The way in which the dragging component moves the target storage box to the storage unit 703 is similar to the working method of the dragging component in the above-mentioned vertical box picking method, so it will not be described in detail here.

[0207] In this manual, whether Figure 18 still Figure 18 Figure 17 Figure 16 Figure 17 The box-retrieving device shown has the same basic logic of box-retrieving process as the vertical box-retrieving device described above, so the box-retrieving process of these two types of box-retrieving devices will not be described in detail here.

[0208] In addition, for the box-taking equipment that takes boxes horizontally, there are many ways to move it on the track on one side of the warehouse. For example, a sling can be set above one side of the warehouse, and the box-taking equipment can be lifted by the sling. The movement of the sling can be controlled to realize the movement of the box-taking equipment on the track on one side of the warehouse. Other methods will not be explained in detail here.

[0209] In this specification, 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 list of elements includes not only those elements but also other elements not explicitly listed, or 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 preclude the presence of additional identical elements in the process, method, commodity, or apparatus that includes the element.

[0210] 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-taking 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 top of the plurality of storage columns, wherein a plurality of storage boxes are stacked vertically in the storage columns, and the box-taking device runs on the tracks, and the box-taking device includes: a fixed baffle, a docking assembly, a first telescopic assembly, a second telescopic assembly, and a movable baffle, wherein the two ends of the first telescopic assembly are connected to the movable baffle and the fixed baffle, and the two ends of the second telescopic assembly are connected to the movable baffle and the docking assembly, and the box-taking device is further provided with a space for accommodating a plurality of storage boxes, and an opening is provided on the side of the box-taking device for the storage boxes to enter the box-taking device; wherein: Move to a designated position, the designated position being adjacent to a target storage column where at least some of the target storage boxes to be transported are located, and the capacity of the space occupied by the target storage boxes does not exceed the capacity of the space provided inside the box-retrieving device for accommodating the multiple storage boxes; Adjust the telescopic length of the second telescopic assembly so that when the movable baffle reaches the storage box closest to the fixed baffle, the docking assembly reaches the storage position of the storage box to be docked, and the distance between the storage box to be docked by the docking assembly and the fixed baffle is not less than the distance between the target storage box farthest from the fixed baffle and the fixed baffle; Adjusting the telescopic length of the first telescopic assembly so that the movable baffle reaches the storage box closest to the fixed baffle; When the docking assembly reaches the storage box that needs to be docked, the docking assembly docks with the storage box that needs to be docked; Adjusting the telescopic length of the first telescopic assembly to remove multiple storage boxes located between the movable baffle and the docking assembly from the target storage column and support the multiple storage boxes, wherein the removed multiple storage boxes include one or more target storage boxes; For each of the one or more target storage boxes, repeatedly performing the following actions until all of the one or more target storage boxes are stored in the box-retrieving device: lifting the storage box above the target storage box to separate the target storage box from the storage box above it, storing the target storage box in the box-retrieving device through an opening on the side of the box-retrieving device, and dropping the storage box above the target storage box; The remaining storage boxes are placed back into the target storage column.

2. The method according to claim 1, wherein The method further comprises: If the plurality of storage boxes taken out from the target storage column only include the plurality of target storage boxes, the plurality of target storage boxes are sequentially stored in the box taking device.

3. The method according to claim 1, wherein The lowest storage box among the plurality of storage boxes taken out is one of the one or more target storage boxes.

4. The method according to claim 1, wherein Several bins will be removed from the target storage column, including: Determining a storage location of a storage box located in the inner side of the target storage column, wherein one or more storage boxes are stacked above the storage box; According to the storage position, adjusting the telescopic lengths of the first telescopic assembly and the second telescopic assembly so that the docking assembly docks with the storage box located in the target storage column; The storage box located in the target storage column is lifted by the movable baffle and the docking assembly, so that the storage box located in the target storage column is lifted out of the target storage column together with the storage boxes stacked above it.

5. The method according to claim 1, wherein Lifting a storage box above the target storage box to separate the target storage box from the storage box above the target storage box, comprising: Adjusting the telescopic lengths of the first telescopic assembly and the second telescopic assembly so that the docking assembly docks with the storage box adjacent to the target storage box; The docked storage box is lifted by the movable baffle and the docking assembly, so that the storage box above the docked storage box is also lifted.

6. The method according to claim 1, wherein The method further comprises: Move to a next designated position, where the next designated position is adjacent to a target storage column where at least some of the multiple target storage boxes that need to be moved are located; extracting a plurality of storage boxes located between the movable baffle and the docking assembly from the target storage column adjacent to the next designated position by the movable baffle and the docking assembly and supporting the plurality of storage boxes, wherein the extracted plurality of storage boxes include one or more target storage boxes; For each of the one or more target storage boxes, repeatedly performing the following actions until all of the one or more target storage boxes are stored in the box-retrieving device: lifting the storage box above the target storage box to separate the target storage box from the storage box above it, storing the target storage box in the box-retrieving device through an opening on the side of the box-retrieving device, and dropping the storage box above the target storage box; The remaining storage boxes are placed back into the target storage column adjacent to the next designated position.

7. A box-taking method, characterized in that: The method is performed by a box-taking device, and the method is applied to a dense storage warehouse with a three-dimensional grid structure, wherein the dense storage warehouse includes a plurality of horizontal storage columns and a track arranged at one end of the plurality of storage columns, wherein a plurality of storage boxes are stacked horizontally in the storage columns, and the box-taking device runs on the track, and the box-taking device includes: a fixed baffle, a docking assembly, a first telescopic assembly, a second telescopic assembly, and a movable baffle, wherein the two ends of the first telescopic assembly are connected to the movable baffle and the fixed baffle, and the two ends of the second telescopic assembly are connected to the movable baffle and the docking assembly, and the box-taking device is further provided with a space for accommodating a plurality of storage boxes, and an opening is provided on the side of the box-taking device for the storage boxes to enter the box-taking device; wherein: Move to a designated position, the designated position being adjacent to a target storage column where at least some of the target storage boxes to be transported are located, and the capacity of the space occupied by the target storage boxes does not exceed the capacity of the space provided inside the box-retrieving device for accommodating the multiple storage boxes; Adjust the telescopic length of the second telescopic assembly so that when the movable baffle reaches the storage box closest to the fixed baffle, the docking assembly reaches the storage position of the storage box to be docked, and the distance between the storage box to be docked by the docking assembly and the fixed baffle is not less than the distance between the target storage box farthest from the fixed baffle and the fixed baffle; Adjusting the telescopic length of the first telescopic assembly so that the movable baffle reaches the storage box closest to the fixed baffle; When the docking assembly reaches the storage box that needs to be docked, the docking assembly docks with the storage box that needs to be docked; Adjusting the telescopic length of the first telescopic assembly to remove multiple storage boxes located between the movable baffle and the docking assembly from the target storage column and support the multiple storage boxes, wherein the removed multiple storage boxes include one or more target storage boxes; For each of the one or more target storage boxes, repeatedly performing the following actions until all of the one or more target storage boxes are received by the box-retrieving device: separating the storage box in front of the target storage box from the target storage box, and receiving the target storage box into the box-retrieving device through an opening on the side of the box-retrieving device; The remaining storage boxes are placed back into the target storage column.

8. A box-taking device, characterized in that: The box-taking device is applied in a dense storage warehouse with a three-dimensional grid structure, comprising a plurality of vertical storage columns and tracks arranged on top of the plurality of storage columns, wherein a plurality of storage boxes are stacked vertically 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 plurality of storage units with openings on the sides, each storage unit being used to accommodate a storage box; the box-taking mechanism comprises: a fixed baffle, a docking assembly, a first telescopic assembly, a second telescopic assembly, and a movable baffle, wherein 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; The moving mechanism is used to move the position of the target storage column where at least some of the target storage boxes among the multiple target storage boxes that need to be transported are located to a designated position corresponding to the position of the target storage column, so that the box-taking mechanism is located at the position of the target storage column, and the designated position is adjacent to the target storage column; The box-taking mechanism is used to adjust the telescopic length of the second telescopic component so that when the movable baffle reaches the storage box closest to the fixed baffle, the docking component reaches the storage position of the storage box to be docked, and the distance between the storage box to be docked by the docking component and the fixed baffle is not less than the distance between the target storage box farthest from the fixed baffle and the fixed baffle; adjust the telescopic length of the first telescopic component so that the movable baffle reaches the storage box closest to the fixed baffle; when the docking component reaches the storage box to be docked, the docking component docks with the storage box to be docked; adjust the first telescopic component the telescopic length of the movable baffle and the docking assembly, taking out the multiple storage boxes located between the movable baffle and the docking assembly from the target storage column, wherein the multiple storage boxes taken out include one or more target storage boxes; and, for each of the one or more target storage boxes, lifting the storage box above the target storage box to separate the target storage box from the storage box above it, and after the box storage mechanism stores the target storage box into a storage unit, dropping the storage box above the target storage box; and, after all of the one or more target storage boxes are stored in the box retrieval device, putting the remaining storage boxes back into the target storage column; The box storage mechanism is used to, for each target storage box among the one or more target storage boxes, place the target storage box into the storage unit from an opening on the side of a storage unit after the box retrieval mechanism lifts the storage box above the target storage box to separate the target storage box from the storage box above it.

9. The box-taking device according to claim 8, characterized in that: The second telescopic assembly is configured to adjust its telescopic length according to the storage position of the storage box in the target storage column that is closest to the fixed baffle and the storage position of the target storage column that is farthest from the fixed baffle, so that when the movable baffle reaches the storage box closest to the fixed baffle, the docking assembly reaches the storage position of the storage box to be docked, and the distance between the storage box to be docked by the docking assembly and the fixed baffle is not less than the distance between the target storage box farthest from the fixed baffle and the fixed baffle; The first telescopic assembly is used to adjust the telescopic length according to the storage position of the storage box closest to the fixed baffle, so that the movable baffle reaches the storage box closest to the fixed baffle; The docking assembly is used to dock with the storage box that needs to be docked when it reaches the storage box that needs to be docked; The first telescopic component is also used to adjust the telescopic length when the docking component is docked with the storage box to be docked, so as to remove the multiple storage boxes located between the movable baffle and the docking component from the target storage column.

10. The box-taking device according to claim 9, characterized in that: The movable baffle further includes: a trigger mechanism; The trigger mechanism is configured to send a trigger signal to the docking assembly when the movable baffle reaches the storage box in the target storage column that is closest to the fixed baffle; The docking component is used to dock with the storage box that needs to be docked when receiving the trigger signal.

11. The box-taking device according to claim 9, 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 each storage unit; The telescopic supporting plate is used to extend from the bottom of the storage unit corresponding to each target storage box of the one or more target storage boxes to support the target storage box and the storage box above the target storage box; The second telescopic assembly is further configured to adjust the telescopic length according to the storage position of the storage box closest to the fixed baffle and the storage position of the 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 the storage box adjacent to the target storage box when the docking assembly reaches the 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 corresponding to the target storage box to the storage unit corresponding to the target storage box after the docking component docks with the storage box adjacent to the target storage box above the target storage box.

12. The box-taking device according to claim 8, characterized in that: The moving mechanism is further configured to move to a next designated position if all of the one or more target storage boxes have been received into the box retrieval device, the next designated position being adjacent to a target storage column where at least some of the multiple target storage boxes to be transported are located; The box-taking device is further used to take out a plurality of storage boxes located between the movable baffle and the docking assembly from a target storage column adjacent to the next designated position through the movable baffle and the docking assembly and to support the plurality of storage boxes, wherein the taken-out plurality of target storage boxes include one or more target storage boxes; for each of the one or more target storage boxes, lift the storage box above the target storage box to separate the target storage box from the storage box above it, and after the box storage mechanism stores the target storage box into a storage unit, drop the storage box above the target storage box; and, after all of the one or more target storage boxes are stored in the box-taking device, put the remaining storage boxes back into the target storage column adjacent to the next designated position; The box storage mechanism is also used to, for each target storage box among the one or more target storage boxes, after the box retrieval mechanism lifts the storage box above the target storage box to separate the target storage box from the storage box above it, collect the target storage box into the storage unit from an opening on the side of the storage unit.

13. A box-taking device, characterized in that: The box-retrieving device is applied in a dense storage warehouse with a three-dimensional grid structure, the dense storage warehouse comprising a plurality of horizontal storage columns and a track arranged at one end of the plurality of storage columns, a plurality of storage boxes being stacked horizontally in the storage columns, and the box-retrieving device running on the track; the box-retrieving device comprises: a moving mechanism, a box-retrieving mechanism, a box-storing mechanism, and a plurality of storage units with openings on the sides, each storage unit being used to accommodate a storage box; the box-retrieving mechanism comprises: a fixed baffle, a docking assembly, a first telescopic assembly, a second telescopic assembly, and a movable baffle, the two ends of the first telescopic assembly being connected to the movable baffle and the fixed baffle, and the two ends of the second telescopic assembly being connected to the movable baffle and the docking assembly; The moving mechanism is used to move the position of the target storage column where at least some of the target storage boxes among the multiple target storage boxes that need to be transported are located to a designated position corresponding to the position of the target storage column, so that the box-taking mechanism is located at the position of the target storage column, and the designated position is adjacent to the target storage column; The box-taking mechanism is configured to adjust the telescopic length of the second telescopic assembly so that when the movable baffle reaches the storage box closest to the fixed baffle, the docking assembly reaches the storage position of the storage box to be docked, and the distance between the storage box to be docked by the docking assembly and the fixed baffle is not less than the distance between the target storage box farthest from the fixed baffle and the fixed baffle; adjust the telescopic length of the first telescopic assembly so that the movable baffle reaches the storage box closest to the fixed baffle; when the docking assembly reaches the storage box to be docked, the docking assembly docks with the storage box to be docked; adjust the telescopic length of the first telescopic assembly to take out multiple storage boxes located between the movable baffle and the docking assembly from the target storage column, wherein the taken-out multiple storage boxes include one or more target storage boxes; and, for each of the one or more target storage boxes, separate the target storage box from the storage box in front of the target storage box according to the direction in which the storage box is taken out from the target storage column, and after all the one or more target storage boxes are stored in the box-taking device, put the remaining storage boxes back into the target storage column; The box storage mechanism is used to receive each target storage box among the one or more target storage boxes into the storage unit from an opening on the side of a storage unit after the box retrieval mechanism separates the storage box in front of the target storage box from the target storage box.

Images