Handling Device and Warehousing System

Abstract

The present application provides a handling device and a warehousing system. The handling device includes a box-taking robot and a lifter. The box-taking robot can move on the top of the shelf, so as to pick up the material box in the shelf at the top of the shelf, and transport the material box to the lifter, or transport the material box on the lifter into the shelf. The lifter can lift and lower in the vertical direction to transport the material box to the lower part of the lifter. At least two layers of material boxes can be stacked on the lifter. When the box-taking robot stacks the material boxes on the lifter, the material boxes on the lifter move downward a preset distance. The handling device and the warehousing system provided by the present application can reduce the time occupied by the box-taking robot in transporting the material box and improve the efficiency of picking up and transporting the material box.

Description

Technical Field

[0001] This application relates to the field of intelligent warehousing logistics, and particularly to a handling device and a warehousing system. Background Art

[0002] Intelligent warehousing is an important link in the logistics process. The application of intelligent warehousing ensures the speed and accuracy of data input in all aspects of goods warehouse management, enables enterprises to timely and accurately grasp the true inventory data, and reasonably maintain and control the enterprise inventory.

[0003] The warehousing system may include a box-taking robot. The box-taking robot runs on the upper layer of the dense storage shelf and can be used to take out the material box placed in the dense storage warehouse and come down from the shelf to transport the taken-out material box to a designated position in the warehouse.

[0004] However, the above box-taking robot takes a long time to transport the material box, and it takes a long time to take the box and transport the material box to the designated position, resulting in low efficiency of taking the box and transporting the material box. Summary of the Invention

[0005] This application provides a handling device and a warehousing system, which can solve the problem in the prior art that the box-taking robot takes a long time to transport the material box, and it takes a long time to take the box and transport the material box to the designated position, resulting in low efficiency of taking the box and transporting the material box.

[0006] In a first aspect, this application provides a handling device, including a box-taking robot and a hoist;

[0007] The box-taking robot can move on the top of the shelf, so as to take the material box in the shelf on the top of the shelf and carry the material box onto the hoist, or carry the material box on the hoist into the shelf;

[0008] The hoist can lift and lower in the vertical direction to transport the material box to the lower part of the hoist. At least two layers of material boxes can be stacked on the hoist. When the box-taking robot stacks the material boxes on the hoist, the material boxes on the hoist move down a preset distance.

[0009] In a possible implementation manner, for the handling device provided in this application, the material box on the hoist moves down a preset distance, which is the height of the material box, so that the top of the material box on the hoist is at the same height as the top of the shelf.

[0010] In a possible implementation manner, for the handling device provided in this application, the hoist includes a support frame, a lifting unit and a freight unit. The freight unit is arranged on the support frame, the freight unit is connected to the lifting unit, the freight unit is used to carry the material box, and the freight unit moves up and down along the support frame under the drive of the lifting unit.

[0011] In a possible implementation, for the handling device provided in the present application, the elevator further includes a controller and a detection member. The box-taking robot, the lifting unit, and the detection member are electrically connected to the controller. The detection member is used to detect the height of the material box carried by the box-taking robot, and the controller is used to control the lifting unit to drive the freight unit to move a preset distance when the box-taking robot places the material box on the freight unit.

[0012] In a possible implementation, for the handling device provided in the present application, the detection member is a height sensor.

[0013] In a possible implementation, for the handling device provided in the present application, the detection member is located at the top of the support frame, and the detection end of the detection member faces the box-taking robot.

[0014] In a possible implementation, for the handling device provided in the present application, the support frame includes a base and at least two support columns located on the base. Each support column is respectively close to or located on opposite sides of the base. The freight unit is located between the support columns and is slidably connected to the support columns;

[0015] The elevator further includes a limiting unit, and the limiting unit is used to limit the moving position of the material box on the freight unit. The limiting unit is located on at least one of the freight unit and the support column.

[0016] In a possible implementation, for the handling device provided in the present application, the limiting unit includes a lifting frame, and the lifting frame can surround the periphery of the freight unit;

[0017] The lifting frame is connected to the support column and can be lifted relative to the support column; or, the lifting frame is located on the freight unit and can be lifted relative to the freight unit.

[0018] In a possible implementation, for the handling device provided in the present application, the lifting frame includes a frame body and a driving component for driving the frame body to lift. The frame body is slidably connected to the support column;

[0019] Or, the lifting frame is a scissor lift unit connected to the freight unit.

[0020] In a possible implementation, for the handling device provided in the present application, the freight unit includes a support seat and a conveying component arranged on the support seat. The material boxes are stacked on the conveying surface of the conveying component, and the conveying component rotates relative to the support seat to convey the material boxes.

[0021] In a possible implementation, for the handling device provided in the present application, the limiting unit includes a plurality of telescopic components. The telescopic components are arranged on the support seat at intervals. The telescopic components can extend upward toward the support seat to surround the periphery of the material box on the freight unit, or retract into the support seat.

[0022] In a second aspect, the present application provides a warehousing system, including a shelf and the above-mentioned handling device. The shelf includes a plurality of vertically arranged storage columns and tracks provided at the tops of the respective storage columns. The box-taking robot moves along the tracks, and multiple layers of material boxes are stacked vertically in the storage columns.

[0023] In a possible implementation manner, for the warehousing system provided by the present application, there are at least two elevators of the handling device, and each elevator is located on a different side of the shelf.

[0024] In a possible implementation manner, the warehousing system provided by the present application further includes a handling robot, and the handling robot can pick up and place material boxes on the elevator.

[0025] For the handling device and the warehousing system provided by the present application, the handling device includes a box-taking robot and an elevator. The box-taking robot stacks at least two layers of material boxes on the elevator in sequence. After the material boxes are stacked, the elevator moves up and down in the vertical direction to transport the material boxes to the lower part of the elevator. At this time, the material boxes on the elevator can be transported to a designated position by other handling equipment, or the elevator can move to a designated position, so as to transport the material boxes on the elevator to the designated position. In this way, the box-taking robot only needs to move on the top of the shelf and does not need to leave the shelf. Therefore, the time occupied by the box-taking robot in transporting the material boxes is reduced, and the box-taking robot can stack multiple material boxes on the elevator, and the elevator transports all the material boxes on it to the lower part of the elevator at one time, improving the efficiency of picking up and transporting the material boxes. Description of the Drawings

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0027] Figure 1 Structural schematic diagram of the handling device provided by the embodiment of the present application;

[0028] Figures 2a to 2d Usage state diagram of the handling device provided by the embodiment of the present application;

[0029] Figure 3 Structural schematic of the elevator in the handling device provided by the embodiment of the present application Figure 1 ;

[0030] Figure 4 is Figure 3 top view of;

[0031] Figure 5Schematic diagram II of the structure of the elevator in the handling device provided by the embodiment of the present application;

[0032] Figure 6 For Figure 5 Schematic diagram of the structure of the limit unit in;

[0033] Figure 7 Schematic diagram of the structure of the freight unit in the handling device provided by the embodiment of the present application Figure 1 ;

[0034] Figure 8 Schematic diagram II of the structure of the freight unit in the handling device provided by the embodiment of the present application;

[0035] Figure 9 For Figure 8 Schematic diagram of the structure of the telescopic assembly in the extended state in;

[0036] Figure 10 Schematic diagram of the structure of the storage system provided by the embodiment of the present application;

[0037] Figure 11 For Figure 10 Schematic diagram of the structure of the box-taking robot and the shelf in.

[0038] Explanation of reference numerals:

[0039] 100 - Box-taking robot; 110 - Box-taking robot body; 120 - Telescopic grasping mechanism; 130 - Moving mechanism;

[0040] 200 - Elevator; 210 - Support frame; 211 - Base; 212 - Support column; 220 - Freight unit; 221 - Support seat; 222 - Conveyor assembly; 230 - Detection piece; 240 - Limit unit; 241 - Lifting frame; 2411 - Frame body; 242 - Telescopic assembly;

[0041] 300 - Shelf; 310 - Storage column; 320 - Track;

[0042] 400 - Material box;

[0043] 500 - Handling robot. Detailed implementation manners

[0044] To make the objectives, technical solutions, and advantages of this application clearer, the following will describe the technical solutions in the embodiments of this application in more detail with reference to the accompanying drawings in the preferred embodiments of this application. In the drawings, the same or similar reference numerals represent the same or similar components or components with the same or similar functions from beginning to end. The described embodiments are some, but not all, of the embodiments of this application. The embodiments described below by referring to the drawings are exemplary and are intended to explain this application and should not be construed as a limitation to this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the scope of protection of this application. The following will explain the embodiments of this application in detail with reference to the drawings.

[0045] In the description of this application, it should be noted that, unless otherwise clearly defined and limited, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0046] In the description of this application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is the orientation or positional relationship based on the drawings, and is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to this application.

[0047] The terms "first", "second", "third" (if any) in the description and claims of this application and the above drawings are used to distinguish similar objects and do not necessarily have to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of this application described herein can be implemented in an order other than those illustrated or described herein.

[0048] In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or display that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or displays.

[0049] A warehousing system may include a box-taking robot and a shelf. The shelf may include columnar storage areas, each storage area is vertically arranged and arranged in a rectangular array, and adjacent storage areas are in contact. Multiple material boxes can be stacked in each storage area along the vertical direction to form a dense storage shelf. The top of each storage area can be called a cell opening. The material boxes located in the same storage area are sequentially taken out by the box-taking robot through the cell opening. The box-taking robot runs on the upper layer of the dense storage shelf. The box-taking robot can be used to take out the material boxes placed in the dense storage warehouse and move down from the shelf to transport the taken-out material boxes to a designated location in the warehouse (such as a sorting area). However, the above box-taking robot takes a long time to transport the material boxes, and it takes a long time to take the boxes and transport the material boxes to the designated location, resulting in low efficiency of taking and transporting the material boxes.

[0050] Based on this, the present application provides a handling device and a warehousing system, which can reduce the time taken for the box-taking robot to transport the material boxes and improve the efficiency of taking and transporting the material boxes.

[0051] Figure 1 It is a schematic structural diagram of the handling device provided by an embodiment of the present application; Figures 2a to 2d It is a usage state diagram of the handling device provided by an embodiment of the present application. Refer to Figure 1 、 Figures 2a to 2d As shown in

[0052] The box-taking robot 100 can move on the top of the shelf 300, so as to pick up the material box 400 in the shelf 300 on the top of the shelf 300 and transport the material box 400 to the elevator 200, or transport the material box 400 on the elevator 200 into the shelf 300.

[0053] The elevator 200 can move up and down in the vertical direction to transport the material box 400 to the lower part of the elevator 200. At least two layers of material boxes 400 can be stacked on the elevator 200. When the box-taking robot 100 stacks the material boxes 400 on the elevator 200, the material boxes 400 on the elevator 200 move down a preset distance.

[0054] It should be noted that the box-taking robot 100 in the embodiments of the present application can be applied to different fields such as taking out inventory products in a manufacturing factory, taking out inventory products in a retail store, and taking out express deliveries in e-commerce logistics. The products or goods involved can be industrial parts, electronic accessories or products, drugs, clothing and ornaments, food, books, etc. The embodiments of the present application do not make specific limitations on this. Hereinafter, the "material box" will be uniformly used to refer to the picking object of the box-taking robot.

[0055] In this application, the case-taking robot 100 is located at the top of the shelf 300. The case-taking robot 100 may include a case-taking robot body 110, a telescopic grasping mechanism 120, and a moving mechanism 130. Among them, both the telescopic grasping mechanism 120 and the moving mechanism 130 are connected to the case-taking robot body 110, and the moving mechanism 130 is used to drive the case-taking robot body 110 to move on the top of the shelf 300. As Figure 2a shown, the telescopic grasping mechanism 120 can be telescopic relative to the case-taking robot body 110, so as to extend into the shelf 300 and take out the uppermost stacked material box 400 in the shelf 300.

[0056] After the telescopic grasping mechanism 120 takes out the uppermost stacked material box 400 in the shelf 300, the moving mechanism 130 drives the case-taking robot body 110 to move on the top of the shelf 300, so that the case-taking robot body 110 moves to the edge of the shelf 300, so that the material box 400 grasped by the telescopic grasping mechanism 120 can be placed on the elevator 200, that is Figures 2a to 2b the state shown.

[0057] In a specific implementation, the elevator 200 is located outside the shelf 300 and close to the edge of the shelf 300. In Figures 2a to 2b the state shown, in order to enable the material box 400 grasped by the telescopic grasping mechanism 120 to be placed in the middle position of the elevator 200, a part of the case-taking robot body 110 can be extended outside the shelf 300, so that the telescopic grasping mechanism 120 and the material box 400 on the telescopic grasping mechanism 120 extend outside the shelf 300, so that the material box 400 can be placed in the middle position of the elevator 200. In some embodiments, a telescopic part (not shown in the figure) can also be provided on the case-taking robot body 110. The telescopic grasping mechanism 120 is connected to the telescopic part of the case-taking robot body 110. When the case-taking robot body 110 moves to the critical position (where the critical position is the position where the case-taking robot body 110 will fall from the shelf 300 when the case-taking robot body 110 moves outward toward the outside of the shelf 300) and it is difficult for the telescopic grasping mechanism 120 to place the material box 400 in the middle position of the elevator 200, by the telescopic movement of the telescopic part, the telescopic grasping mechanism 120 continues to move toward the elevator 200, so that the material box 400 can be placed in the middle position of the elevator 200.

[0058] It should be noted that the telescopic grasping mechanism 120 can adopt steel cables, steel belts commonly used by those skilled in the art, as well as claws or suction cups connected to the steel cables or steel belts. Correspondingly, a connecting portion facilitating grasping or adsorption by the telescopic grasping mechanism 120, such as a hook, can also be provided on the material box 400. The moving mechanism 130 can be a first driving wheel and a first driving member connected to the first driving wheel. Among them, the first driving member can be a rotary motor or a rotary cylinder. The telescopic portion on the box-taking robot body 110 can be a telescopic member and a second driving member connected to the telescopic member. The telescopic member is connected to the telescopic grasping mechanism 120, and the second driving member drives the telescopic member to expand and contract, thereby driving the telescopic grasping mechanism 120 to move towards the middle position of the elevator 200. Among them, the second driving member can be a linear motor, a hydraulic cylinder, or a pneumatic cylinder. The present application does not limit the structures of the above-mentioned telescopic grasping mechanism 120, moving mechanism 130, and the telescopic portion on the box-taking robot body 110.

[0059] In the present application, when the box-taking robot 100 stacks the material boxes 400 on the elevator 200, the material boxes 400 on the elevator 200 move downward by a preset distance. Specifically, after placing a material box 400 on the elevator 200, the height of the material box 400 exceeds the height of the shelf 300. In this way, when the box-taking robot 100 moves to the vicinity of the elevator 200, the height of the bottom of the material box 400 on the box-taking robot 100 is less than the height of the material box 400 on the elevator 200, resulting in the box-taking robot 100 being unable to stack the material box 400 thereon on the material box 400 on the elevator 200. Therefore, as Figure 2c shown, the material box 400 on the elevator 200 is moved downward by a preset distance, where the preset distance can be greater than or equal to the height of a material box 400. Thereby enabling the material box 400 on the box-taking robot 100 to be smoothly stacked on the material box 400 on the elevator 200, that is, Figure 2d the state shown.

[0060] The above is the process of the box-taking robot 100 transporting the material box 400 on the shelf 300 to the elevator 200. Correspondingly, the box-taking robot 100 can also transport the material box 400 on the elevator 200 into the shelf 300 for stacking. This process is opposite to the above process of the box-taking robot 100 transporting the material box 400 on the shelf 300 to the elevator 200, and will not be elaborated here. Among them, the box-taking robot 100 takes a material box 400 from the elevator 200, and the material box 400 on the elevator 200 can rise by a height (this height can be less than or equal to the height of a material box 400), thereby facilitating the box-taking robot 100 to take the material box 400 from the elevator 200 next time.

[0061] The handling device provided by this application is such that the box-taking robot 100 can stack at least two layers of material boxes 400 on the elevator 200 in sequence. After the stacking of the material boxes 400 is completed, the elevator 200 moves up and down in the vertical direction to transport the material boxes 400 to the lower part of the elevator 200. At this time, the material boxes 400 on the elevator 200 can be transported to a designated position by other handling equipment, such as being transported to the sorting area, or the elevator 200 can move to the designated position, so as to transport the material boxes 400 on the elevator 200 to the designated position. In this way, the box-taking robot 100 only needs to move on the top of the shelf 300 and does not need to leave the shelf 300. Thus, the time occupied by the box-taking robot 100 for transporting the material boxes 400 is reduced, and the box-taking robot 100 can stack multiple material boxes 400 on the elevator 200, and the elevator 200 transports all the material boxes 400 on it to the lower part of the elevator 200 at one time, improving the efficiency of taking and transporting the material boxes 400.

[0062] In some embodiments, the material box 400 on the elevator 200 moves downward by a preset distance equal to the height of the material box 400, so that the top of the material box 400 on the elevator 200 is at the same height as the top of the shelf 300. In this way, after the box-taking robot 100 takes out the material box 400 from the shelf 300, it can directly transport it to the position of the elevator 200 and stack it on the material box 400 on the elevator 200, without the telescopic grasping mechanism 120 in the box-taking robot 100 stretching downward to transport and stack the material box 400 on it on the material box 400 on the elevator 200.

[0063] Next, the downward movement of the material box 400 on the elevator 200 will be described in conjunction with the structure of the elevator 200.

[0064] Figure 3 Schematic diagram of the structure of the elevator in the handling device provided by the embodiment of this application Figure 1 ; Figure 4 is Figure 3 the top view of. Refer to Figures 1 to 4 As shown in, the handling device provided by this application, the elevator 200 includes a support frame 210, a lifting unit (not shown in the figure) and a freight unit 220. The freight unit 220 is arranged on the support frame 210, the freight unit 220 is connected to the lifting unit, the freight unit 220 is used to carry the material box 400, and the freight unit 220 moves up and down along the support frame 210 driven by the lifting unit.

[0065] Specifically, the support frame 210 is used to support the lifting unit and the freight unit 220. A second driving member and a second driving wheel can also be arranged on the support frame 210. The second driving member drives the second driving wheel to rotate so as to move the elevator 200. The lifting unit can be a component such as a belt drive assembly or a chain and sprocket drive assembly in the prior art that can drive the freight unit 220 to lift. The present application does not limit this here. The material box 400 can be placed on the freight unit 220. The freight unit 220 bears the material box 400. The material boxes 400 on the freight unit 220 can be stacked in multiple layers in a rectangular array form. As long as the material boxes 400 on the freight unit 220 are within the load-bearing range of the freight unit 220, this embodiment does not limit this here.

[0066] In some embodiments, the elevator 200 further includes a controller (not shown in the figure) and a detection member 230. The box-taking robot 100, the lifting unit, and the detection member 230 are electrically connected to the controller. The detection member 230 is used to detect the height of the material box 400 carried by the box-taking robot 100. The controller is used to control the lifting unit to drive the freight unit 220 to move a preset distance when the box-taking robot 100 places the material box 400 on the freight unit 220. Thus, it is convenient to accurately control the moving distance of the freight unit 220.

[0067] In specific implementation, the detection member 230 is a height sensor. The height of the material box 400 is detected by the height sensor and transmitted to the controller.

[0068] Among them, the detection member 230 is located at the top of the support frame 210, and the detection end of the detection member 230 faces the box-taking robot 100. Thus, it is convenient to detect the height of the material box 400 on the box-taking robot 100.

[0069] For the handling device provided by the present application, the support frame 210 includes a base 211 and at least two support columns 212 located on the base 211. Each support column 212 is respectively close to or located on opposite sides of the base 211. The freight unit 220 is located between the support columns 212 and is slidably connected to the support columns 212. Among them, one of the freight unit 220 and the support columns 212 has a chute, and the other has a slider matching the chute. The slider is inserted into the chute, and the extending direction of the chute or the slider is consistent with the vertical direction. Thus, it provides guidance for the freight unit 220 during the lifting process.

[0070] In order to prevent the material box 400 on the freight unit 220 from falling during the lifting process of the freight unit 220, in some embodiments, the elevator 200 further includes a limiting unit 240. The limiting unit 240 is used to limit the moving position of the material box 400 on the freight unit 220. The limiting unit 240 is located on at least one of the freight unit 220 and the support columns 212.

[0071] Specifically, the limiting unit 240 includes a lifting frame 241, and the lifting frame 241 can surround the periphery of the freight unit 220.

[0072] See Figures 2c to 4 As shown, in a possible implementation, the limiting unit 240 is located on the support column 212, and the lifting frame 241 is connected to the support column 212 and can move up and down relative to the support column 212. When the box-taking robot 100 places the material box 400 on the freight unit 220, the lifting frame 241 can move to the upper part of the support column 212, and the top of the lifting frame 241 can be flush with the top of the shelf 300, protecting the material box 400 on the freight unit 220 through the lifting frame 241. When the freight unit 220 moves downward along the support column 212, the lifting frame 241 moves with the freight unit 220, always enclosing each material box 400 within the lifting frame 241, thereby preventing the material box 400 from falling off the freight unit 220. When it is necessary to take the material box 400 from the freight unit 220, the lifting frame 241 can move upward, thus exposing each material box 400 for facilitating the taking and placing of the material box 400 on the freight unit 220.

[0073] Figure 5 It is the second structural schematic diagram of the elevator in the handling device provided by the embodiment of the present application. See Figure 5 As shown, in another possible implementation, the limiting unit 240 is located on the freight unit 220, that is, the lifting frame 241 is located on the freight unit 220, and the lifting frame 241 can move up and down relative to the freight unit 220. Specifically, when the freight unit 220 moves up and down, the lifting frame 241 moves up and down with the freight unit 220, and at the same time, the lifting frame 241 moves up and down relative to the freight unit 220, thereby enclosing the material box 400 on the freight unit 220 within the lifting frame 241. That is to say, when the box-taking robot 100 places the material box 400 on the freight unit 220, that is, when stacking the material boxes 400 on the freight unit 220, the freight unit 220 descends by a preset height, and the lifting frame 241 ascends by a preset height. When the freight unit 220 moves downward along the support column 212, the ascending height of the lifting frame 241 remains unchanged, always enclosing each material box 400 within the lifting frame 241. When it is necessary to take the material box 400 from the freight unit 220, the lifting frame 241 moves downward relative to the freight unit 220, thereby exposing each material box 400 for facilitating the taking and placing of the material box 400 on the freight unit 220.

[0074] The structure of the limiting unit 240 will be described below.

[0075] When the limiting unit 240 is located on the support column 212, the lifting frame 241 includes a frame body 2411 and a driving component (not shown in the figure) for driving the lifting of the frame body 2411. The frame body 2411 is slidably connected to the support column 212. Among them, the structure of the driving component can be the same as that of the above-mentioned lifting unit, and will not be elaborated here one by one.

[0076] Figure 6 For Figure 5 the structural schematic diagram of the limiting unit in the middle. See Figure 5 and Figure 6 As shown, when the limiting unit 240 is located on the freight unit 220, the lifting frame 241 is a scissor lift unit connected to the freight unit 220. Among them, the scissor lift unit can be a scissor lift unit in the prior art, and the structure of the scissor lift unit is not limited in this embodiment.

[0077] Figure 7 This is the structural schematic diagram of the freight unit in the handling device provided by the embodiment of the present application Figure 1 . See Figure 7 As shown, for the handling device provided by the present application, the freight unit 220 includes a support seat 221 and a conveying component 222 arranged on the support seat 221. The material boxes 400 are stacked on the conveying surface of the conveying component 222, and the conveying component 222 rotates relative to the support seat 221 to convey the material boxes 400. Among them, the support seat 221 is used to support the conveying component 222, and the conveying component 222 can be a belt conveying component or a roller conveying component.

[0078] Figure 8 This is the second structural schematic diagram of the freight unit in the handling device provided by the embodiment of the present application; Figure 9 For Figure 8 the structural schematic diagram of the telescopic component in the extended state in the middle. See Figure 8 and Figure 9 As shown, when the limiting unit 240 is located on the freight unit 220, the limiting unit 240 includes a plurality of telescopic components 242. The telescopic components 242 are arranged on the support seat 221 at intervals. The telescopic components 242 can extend upward toward the support seat 221 to surround the periphery of the material boxes 400 on the freight unit 220, or retract into the support seat 221. Among them, the telescopic component 242 can include a telescopic rod and a fourth driving member for driving the telescopic rod to extend and retract. The working mode of the telescopic component 242 is the same as that of the limiting unit 240 in the above Figure 5 and will not be elaborated here one by one.

[0079] Figure 10 This is the structural schematic diagram of the storage system provided by the embodiment of the present application; Figure 11 For Figure 10Schematic diagrams of the box-taking robot and the shelf in it. Refer to Figure 10 and Figure 11 As shown in Figure 11 and , the present application provides a warehousing system, including a shelf 300 and the handling device provided in any of the above embodiments. The shelf 300 includes a plurality of vertically arranged storage columns 310 and tracks 320 provided at the tops of the respective storage columns 310. The box-taking robot 100 moves along the tracks 320, and multiple layers of material boxes 400 are stacked vertically in the storage columns 310.

[0080] Among them, the structure and working principle of the handling device have been described in detail in the above embodiments, and will not be elaborated here one by one.

[0081] In some embodiments, there are at least two elevators 200 of the handling device, and each elevator 200 is located on a different side of the shelf 300. Among them, the box-taking robots 100 at the top of the shelf 300 can be two or more. Each box-taking robot 100 can stack the material boxes 400 on different elevators 200. Thus, the efficiency of taking and transporting the material boxes 400 is improved.

[0082] The warehousing system provided by the present application further includes a handling robot 500, and the handling robot 500 can pick up and place the material boxes 400 on the elevator 200.

[0083] The box-taking robot 100 can stack at least two layers of material boxes 400 in sequence on the elevator 200. After the stacking of the material boxes 400 is completed, the elevator 200 moves up and down in the vertical direction to transport the material boxes 400 to the lower part of the elevator 200. At this time, the handling robot 500 can transport the material boxes 400 on the elevator 200 to a designated position, such as transporting them to the sorting area, or the elevator 200 can move to the designated position, so as to transport the material boxes 400 on the elevator 200 to the designated position. In this way, the box-taking robot 100 only needs to move on the top of the shelf 300, without the box-taking robot 100 leaving the shelf 300. Thus, the time occupied by the box-taking robot 100 for transporting the material boxes 400 is reduced, and the box-taking robot 100 can stack multiple material boxes 400 on the elevator 200, and the elevator 200 transports all the material boxes 400 on it to the lower part of the elevator 200 at one time, improving the efficiency of taking and transporting the material boxes 400.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A handling device, characterized in that, It includes a box-taking robot and a lifter; The box-taking robot can move on the top of the shelf, so as to pick up the material box in the shelf at the top of the shelf, and transport the material box to the lifter, or transport the material box on the lifter into the shelf; The lifter can lift and lower in the vertical direction to transport the material box to the lower part of the lifter. At least two layers of the material boxes can be stacked on the lifter. When the box-taking robot stacks the material boxes on the lifter, the material boxes on the lifter move downward by a preset distance; The box-taking robot includes a box-taking robot body and a telescopic grasping mechanism. A telescopic part is arranged on the box-taking robot body, and the telescopic grasping mechanism is connected to the telescopic part; The lifter includes a support frame, a lifting unit and a freight unit. The freight unit is arranged on the support frame, and the freight unit is connected to the lifting unit. The freight unit is used for carrying the material box, and the freight unit moves up and down along the support frame driven by the lifting unit; The support frame includes a base and at least two support columns located on the base. Each support column is respectively close to or located on opposite sides of the base. The freight unit is located between the support columns and is slidably connected to the support columns; The lifter further includes a limiting unit, and the limiting unit is used for limiting the moving position of the material box on the freight unit. The limiting unit is located on the support column; The limiting unit includes a lifting frame, and the lifting frame can surround the periphery of the freight unit; The lifting frame is connected to the support column and can lift relative to the support column.

2. The handling device according to claim 1, characterized in that The preset distance that the material box on the lifter moves downward is the height of the material box, so that the top of the material box on the lifter is kept at the same height as the top of the shelf.

3. The handling device according to claim 2, characterized in that, The lifter further includes a controller and a detector. The box-taking robot, the lifting unit and the detector are electrically connected to the controller. The detector is used for detecting the height of the material box carried by the box-taking robot. The controller is used for controlling the lifting unit to drive the freight unit to move the preset distance when the box-taking robot places the material box on the freight unit.

4. The handling device according to claim 3, characterized in that, The detector is a height sensor.

5. The handling device according to claim 3, characterized in that, The detector is located at the top of the support frame, and the detection end of the detector faces the box-taking robot.

6. The handling device according to any one of claims 1-5, characterized in that, The lifting frame includes a frame body and a driving component for driving the frame body to lift. The frame body is slidably connected to the support column.

7. The handling device according to any one of claims 1-5, characterized in that, The freight unit includes a support seat and a conveying component arranged on the support seat. The material boxes are stacked on the conveying surface of the conveying component, and the conveying component rotates relative to the support seat to convey the material boxes.

8. A warehousing system, characterized in that, It includes a shelf and the handling device according to any one of claims 1 to 7. The shelf includes a plurality of vertically arranged storage columns and tracks arranged at the tops of the storage columns. The box-taking robot moves along the tracks, and multiple layers of material boxes are stacked vertically in the storage columns.

9. The warehousing system according to claim 8, wherein, The hoist of the handling device has at least two, and each hoist is located on a different side of the shelf respectively.

10. The warehousing system according to claim 8, wherein It further includes a handling robot which can pick up and place the material box on the hoist.

Images