Robots, bin transfer devices, bin transfer systems and bin transfer methods

Abstract

The present disclosure provides a magazine robot, a magazine transfer device, a magazine transfer system and a magazine transfer method. The robot comprises a chassis assembly, a portal assembly, a take-in and take-out assembly, and at least two temporary storage mechanisms. The temporary storage mechanisms are connected to the portal assembly and are provided with a gap through which a corresponding transfer mechanism of the magazine transfer device passes to lift a magazine on the corresponding temporary storage mechanism, or through which the corresponding transfer mechanism of the magazine transfer device passes to drop a magazine on the corresponding temporary storage mechanism. The magazine transfer device can transfer multiple magazines from different layers of the temporary storage mechanisms of the robot at a time, or place multiple magazines for the robot at a time. In the scenario of the robot accessing multiple magazines, the magazine transfer efficiency can be improved, and the carrying efficiency of the robot in the magazine access process can be improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of warehouse logistics, in particular, to a robot, especially a robot suitable for the field of warehouse logistics; the present disclosure also relates to a bin transfer device, a bin transfer system and a bin transfer method. BACKGROUND

[0002] A robot can realize the carrying of multiple bins at a time, and place the multiple bins on multiple temporary storage positions of the robot respectively. When the robot reaches the destination and realizes bin transfer, the robot needs to take out the bins from the different temporary storage positions one by one and place them on the destination (such as a conveying line (conveying track) or an interactive storage location, etc.), which causes the robot to be unable to efficiently participate in the bin storage and retrieval process, thereby wasting the action capability of the robot. In order to realize efficient carrying of goods, more robots need to be invested, but this will increase the individual investment cost of the robot.

[0003] Therefore, how to improve the bin transfer efficiency has become a problem to be solved in the field. SUMMARY

[0004] In order to solve the problems in the prior art, the present disclosure provides a robot, a bin transfer device, a bin transfer system and a bin transfer method.

[0005] According to a first aspect of the present disclosure, a robot is provided, comprising:

[0006] a chassis assembly;

[0007] a portal assembly disposed on the chassis assembly;

[0008] a bin taking and returning assembly controlled by the lifting assembly to move up and down along the portal assembly;

[0009] at least two temporary storage mechanisms connected to the portal assembly; the temporary storage mechanism is provided with a gap through which a corresponding transfer mechanism in the bin transfer device passes to lift the bin on the corresponding temporary storage mechanism, or through which a corresponding transfer mechanism in the bin transfer device passes to drop the bin on the corresponding temporary storage mechanism.

[0010] In an embodiment of the present disclosure, the gap extends from the free end position of the temporary storage mechanism to the opposite end direction of the temporary storage mechanism.

[0011] In an embodiment of the present disclosure, the gap is one, and the temporary storage mechanism has a U-shaped structure; or the gap is at least two, and the temporary storage mechanism has a comb-shaped structure.

[0012] In one embodiment of the present disclosure, a guide assembly is further arranged above each layer of the temporary storage mechanism on the portal assembly, and the guide assembly has an opening area and is configured to position the container to be transported to the corresponding temporary storage mechanism.

[0013] In one embodiment of the present disclosure, the guide assembly comprises two spaced guide rods, and the distance between the two guide rods corresponds to the size of the container.

[0014] In one embodiment of the present disclosure, the free ends of the two guide rods extend outwardly to form flared structures.

[0015] In one embodiment of the present disclosure, the guide assembly is installed on the portal assembly in a height-adjustable manner.

[0016] In one embodiment of the present disclosure, the temporary storage mechanism comprises a bottom plate and a vertical edge connected to the bottom plate and extending upwardly, and the vertical edge and the bottom plate form a tray structure for temporarily storing the containers.

[0017] In one embodiment of the present disclosure, the upper ends of the vertical edge are inclined outwardly to form flared structures.

[0018] According to a second aspect of the present disclosure, a container transfer device is provided, which has a container docking position and comprises:

[0019] At least two internal conveying tracks configured to convey the containers in the container docking position to the respective preset areas or convey the containers in the preset areas to the container docking position.

[0020] A first container transfer mechanism corresponding to the container docking position of the internal conveying tracks, which is controlled by a first driving unit to reciprocate between a first position and a second position of the container docking position.

[0021] When located at the first position, the height of the first container transfer mechanism is lower than the height of the internal conveying tracks.

[0022] When located at the second position, the first container transfer mechanism is configured to lift the containers to be above the temporary storage mechanism.

[0023] In one embodiment of the present disclosure, the first container transfer mechanism comprises a first lifting fork.

[0024] In one embodiment of the present disclosure, the first lifting fork is a comb mechanism, and the projection of the comb teeth of the first lifting fork on the horizontal plane does not overlap with the rollers of the internal conveying tracks.

[0025] In one embodiment of the present disclosure, the number of the first lifting forks corresponds to the number of the internal conveying tracks; the first box transfer mechanism further comprises a first guide rail assembly; each first lifting fork is arranged on the first guide rail assembly;

[0026] The first guide rail assembly is configured to drive each first lifting fork to move in the vertical direction under the drive of the first driving unit, so as to lift the box on the corresponding layer box docking position.

[0027] In one embodiment of the present disclosure, the box docking position of the box transfer device is provided with two, which are located at the two ends of the internal conveying track; the first box transfer mechanism is provided with two, which correspond to the box docking position of the box transfer device.

[0028] In one embodiment of the present disclosure, the box transfer device further comprises at least one limiting block; the limiting block is configured to limit the box moving on the internal conveying track in a preset area.

[0029] In one embodiment of the present disclosure, a sensor corresponding to each limiting block is further included; the sensor is configured to detect whether the box reaches the preset area.

[0030] The limiting block is configured to be lifted to a preset height when the sensor detects that the box reaches the preset area, so as to limit the box at the preset area on the internal conveying track corresponding to the limiting block.

[0031] In one embodiment of the present disclosure, at least two limiting blocks are arranged at the preset area of each internal conveying track; the at least two limiting blocks are configured to block the opposite sides of the box respectively; or are configured to block the boxes from different directions respectively.

[0032] In one embodiment of the present disclosure, a second box transfer mechanism corresponding to the preset area of the internal conveying track and a lifting mechanism corresponding to the second box transfer mechanism are included.

[0033] The second box transfer mechanism is configured to hook the box on the internal conveying track to the lifting mechanism; the lifting mechanism is configured to transfer the box to the same transfer conveying track; or,

[0034] The lifting mechanism is configured to lift the box from the transfer conveying track to a position corresponding to the internal conveying track; the second box transfer mechanism is configured to push the box on the lifting mechanism to the internal conveying track.

[0035] In one embodiment of the present disclosure, the second magazine transfer mechanism comprises a first pull rod mechanism, a first pull block, and a first pull rod driving unit;

[0036] The first pull block is mounted at one end of the first pull rod mechanism;

[0037] The first pull rod mechanism is configured to, under the driving of the first pull rod driving unit, drive the first pull block to hook the magazine on the internal conveying track to the corresponding lifting mechanism.

[0038] In one embodiment of the present disclosure, the second magazine transfer mechanism comprises a first push block arranged on the first pull rod mechanism, and the first pull rod mechanism is configured to, under the driving of the first pull rod driving unit, drive the first push block to push the magazine on the lifting mechanism to the corresponding internal conveying track.

[0039] In one embodiment of the present disclosure, the lifting mechanism comprises a second driving unit and a second lifting fork slidingly fitted on the magazine transfer device;

[0040] The second driving unit is configured to drive the second lifting fork to move in the vertical direction to below the transfer conveying track, so as to transfer the magazine on the lifting mechanism to the transfer conveying track; or drive the second lifting fork to move in the vertical direction to above the transfer conveying track, so as to transfer the magazine on the transfer conveying track to the lifting mechanism.

[0041] In one embodiment of the present disclosure, the second magazine transfer mechanism and the lifting mechanism are provided at least two, respectively corresponding to each layer of the internal conveying track, and the projection of each second magazine transfer mechanism and each lifting mechanism on the horizontal plane does not overlap;

[0042] The second magazine transfer mechanism is configured to hook the magazine on the corresponding internal conveying track to the corresponding lifting mechanism; or push the magazine on the lifting mechanism to the corresponding internal conveying track.

[0043] In one embodiment of the present disclosure, the transfer conveying track is located in the internal conveying track, and the first magazine transfer mechanism corresponding to the transfer conveying track is arranged;

[0044] When located at the first position, the height of the first magazine transfer mechanism is lower than the height of the transfer conveying track;

[0045] When located at the second position, the first magazine transfer mechanism is configured to lift the magazine to above the temporary storage mechanism.

[0046] In one embodiment of the present disclosure, the transfer track is located in the internal transfer track; and a third box transfer mechanism is configured to transfer the box on the corresponding temporary storage mechanism of the robot to the transfer track, or to transfer the box on the transfer track to the corresponding temporary storage mechanism of the robot.

[0047] In one embodiment of the present disclosure, the third box transfer mechanism comprises a jacking mechanism and a pull rod transfer mechanism; the jacking mechanism has a first position and a second position;

[0048] When the jacking mechanism is in the first position, the height of the jacking mechanism is lower than the height of the transfer track;

[0049] When the jacking mechanism is in the second position, the jacking mechanism is configured to jack up the box;

[0050] The pull rod transfer mechanism is configured to transfer the box on the jacking mechanism to the upper area of the corresponding transfer track along the jacking mechanism, or to push the box on the jacking mechanism above the transfer track to the corresponding position above the temporary storage mechanism of the robot along the jacking mechanism.

[0051] In one embodiment of the present disclosure, the pull rod transfer mechanism comprises a second pull rod mechanism, a second block, and a second pull rod driving unit;

[0052] The second block is installed at one end of the second pull rod mechanism;

[0053] The second pull rod mechanism is configured to drive the second block to transfer the box on the jacking mechanism from the position above the corresponding temporary storage mechanism to the position corresponding to the transfer track along the jacking mechanism under the drive of the second pull rod driving unit.

[0054] In one embodiment of the present disclosure, the pull rod transfer mechanism comprises a second push block on the second pull rod mechanism;

[0055] The second pull rod mechanism is configured to drive the second push block to push the box on the jacking mechanism from the position above the corresponding transfer track to the position corresponding to the temporary storage mechanism of the robot along the jacking mechanism under the drive of the second pull rod driving unit.

[0056] In one embodiment of the present disclosure, the transfer track is located at the bottom layer of the box transfer device.

[0057] According to a third aspect of the present disclosure, a box transfer system is provided, comprising the robot and the box transfer device as described above.

[0058] The first box transfer mechanism of the box transfer device is configured to transfer the boxes on the different temporary storage mechanisms of the robot at the box docking position to the corresponding internal conveying tracks; or transfer the boxes on the different internal conveying tracks to the corresponding temporary storage mechanisms of the robot.

[0059] In one embodiment of the present disclosure, the robot is configured to drive the boxes picked from the at least one shelf by the take-return box assembly to the different temporary storage mechanisms one by one; or,

[0060] The robot is configured to transfer the boxes on the different temporary storage mechanisms to the corresponding positions of the at least one shelf for storage by the take-return box assembly.

[0061] In one embodiment of the present disclosure, the box transfer device comprises a first box transfer device and a second box transfer device; and an external conveying line, the transfer conveying track in the first box transfer device is connected to the input end of the external conveying line; and the transfer conveying track in the second box transfer device is connected to the output end of the external conveying line.

[0062] The first box transfer mechanism of the first box transfer device is configured to transfer the boxes on the different temporary storage mechanisms of the robot at the box docking position to the corresponding internal conveying tracks;

[0063] The first box transfer mechanism of the second box transfer device is configured to transfer the boxes on the different internal conveying tracks to the corresponding temporary storage mechanisms of the robot.

[0064] In one embodiment of the present disclosure, the external conveying line is a box picking line or a packaging line.

[0065] According to the fourth aspect of the present disclosure, a box transfer method is also provided, which is performed by the robot and the first box transfer device of the box transfer device, and comprises the following steps:

[0066] Step S1000, the robot moves to make the temporary storage mechanism thereof enter the box docking position of the first box transfer device;

[0067] Step S2000, in response to the instruction that the temporary storage mechanism of the robot reaches the box docking position, the first driving unit of the first box transfer device drives the first box transfer mechanism to move from the first position to the second position, and the first box transfer mechanism passes through the gap of the temporary storage mechanism of the robot to lift the box on the temporary storage mechanism;

[0068] Step S3000, the robot moves to make the temporary storage mechanism thereof leave the box docking position of the first box transfer device;

[0069] Step S4000, in response to the instruction of the robot temporary storage mechanism leaving, the first driving unit of the first bin transfer device drives the first bin transfer mechanism to move from the second position to the first position, and drops the bin on the first bin transfer mechanism on the internal conveying track.

[0070] In an embodiment of the present disclosure, the first bin transfer device comprises a transfer conveying track, further comprises a second bin transfer mechanism corresponding to the preset area of the internal conveying track, and a lifting mechanism corresponding to the second bin transfer mechanism; after the step S4000, further comprising:

[0071] Step S5000, the internal conveying track drives the bin on the bin docking position to the preset area;

[0072] Step S6000, in response to the signal of the bin reaching the preset area, the second bin transfer mechanism hooks the bin on the preset area of the internal conveying track to the lifting mechanism; the lifting mechanism transfers the bin to the transfer conveying track;

[0073] Step S7000, the transfer conveying track conveys the bin to the external conveying line.

[0074] In an embodiment of the present disclosure, before the step S1000, further comprising:

[0075] The robot picks the bin from at least one shelf through the bin picking and returning assembly, and temporarily stores it on the different temporary storage mechanisms one by one.

[0076] In an embodiment of the present disclosure, further comprising a second bin transfer device, the second bin transfer device adopts the bin transfer device described above, comprising the following steps:

[0077] Step S4000', in the process of the first driving unit of the second bin transfer device driving the first bin transfer mechanism to move from the first position to the second position, the first bin transfer mechanism lifts the bin on the bin docking position of the internal conveying track;

[0078] Step S5000', the robot moves to make its temporary storage mechanism enter the bin docking position of the second bin transfer device;

[0079] Step S6000', in response to the instruction of the robot temporary storage mechanism reaching the bin docking position, in the process of the first driving unit of the second bin transfer device driving the first bin transfer mechanism to move from the second position to the first position, the first bin transfer mechanism passes through the gap of the robot temporary storage mechanism, and drops the bin on the first bin transfer mechanism on the temporary storage mechanism of the robot;

[0080] Step S7000', the robot moves to make its temporary storage mechanism leave the bin docking position of the second bin transfer device.

[0081] In an embodiment of the present disclosure, the second bin transfer device comprises a transfer track, and further comprises a second bin transfer mechanism corresponding to the preset area of the internal track, and a lifting mechanism corresponding to the second bin transfer mechanism; before step S4000', the method further comprises:

[0082] Step S1000', the transfer track of the second bin transfer device transfers the bins from the external conveying line to the preset area;

[0083] Step S2000', in response to the signal that the bin reaches the preset area, the lifting mechanism of the second bin transfer device lifts the bin on the transfer track to a position corresponding to the internal track; the second bin transfer mechanism of the second bin transfer device pushes the bin on the lifting mechanism to the preset area of the internal track;

[0084] Step S3000', the internal track of the second bin transfer device transfers the bin in the preset area to the bin docking position.

[0085] In an embodiment of the present disclosure, after step S7000', the method further comprises:

[0086] The robot stores the bins on different temporary storage mechanisms into corresponding positions of at least one shelf through the bin taking and returning assembly.

[0087] The robot, the bin transfer device, the bin transfer system and the bin transfer method provided by the embodiments of the present disclosure can simultaneously transfer the bins on different temporary storage mechanisms of the robot through the corresponding bin transfer device, because the temporary storage mechanism of the robot is provided with a notch. Compared with the prior art which uses the robot to transfer the bins on different layers of temporary storage mechanisms one by one, the bin transfer efficiency can be improved, and the carrying efficiency of the robot in the bin storage and retrieval process can be improved.

[0088] In order to make the above-mentioned purposes, features and advantages of the present disclosure more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0089] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the embodiments will be briefly introduced as follows. The drawings incorporated into the specification and form a part of the specification, which show the embodiments consistent with the present disclosure, and are used to explain the technical solutions of the present disclosure. It should be understood that the following drawings only show some embodiments of the present disclosure, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor.

[0090] Figure 1 A schematic diagram of a magazine transfer system provided by an embodiment of the present disclosure is shown;

[0091] Figure 2 A schematic diagram of the structure of a robot and a magazine transfer device when they are docked is shown;

[0092] Figure 3 A schematic diagram of the structure of a robot provided by an embodiment of the present disclosure is shown;

[0093] Figure 4 A schematic diagram of the structure of a first magazine transfer mechanism provided by an embodiment of the present disclosure is shown;

[0094] Figure 5 A flow structure diagram of the process of transferring a magazine from a temporary storage mechanism of a robot to a first lifting fork is shown;

[0095] Figure 6 A schematic diagram of the structure of a magazine transfer mechanism provided by an embodiment of the present disclosure is shown;

[0096] Figure 7 A schematic diagram of the structure of a second magazine transfer mechanism provided by an embodiment of the present disclosure is shown;

[0097] Figure 8 A schematic diagram of the structure of a lifting mechanism provided by an embodiment of the present disclosure is shown;

[0098] Figure 9 A schematic diagram of the structure of a third magazine transfer mechanism provided by an embodiment of the present disclosure is shown;

[0099] Figure 10 A schematic diagram of the overall structure of a robot provided by an embodiment of the present disclosure is shown;

[0100] Figure 11 A schematic diagram of the structure of a lifting assembly of a robot provided by an embodiment of the present disclosure is shown;

[0101] Figure 12A structural schematic diagram of a taking and returning box assembly of a robot is shown.

[0102] Figure 13 A structural schematic diagram of a temporary storage mechanism of a robot is shown.

[0103] Figure 14 A structural schematic diagram of a guide rod of a robot is shown.

[0104] Figure 15 A structural schematic diagram of a material box is shown. DETAILED DESCRIPTION

[0105] In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. The components of the embodiments of the present disclosure described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present disclosure provided in the drawings is not intended to limit the scope of the claimed present disclosure, but only represents selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present disclosure.

[0106] In addition, the terms "first", "second", and the like in the specification and claims of the embodiments of the present disclosure 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 the data used in this way can be interchanged under appropriate circumstances, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein.

[0107] "Multiple or several" referred to herein means two or more. "And / or", describing the association between the associated objects, means that there can be three relationships, for example, A and / or B, which can mean that A exists alone, A and B exist together, and B exists alone. The character " / " generally represents that the associated objects before and after are in an "or" relationship.

[0108] It is found through research that a robot can realize carrying multiple bins at a time and placing the multiple bins on multiple temporary storage positions of the robot. When the robot reaches the destination and realizes bin transfer, the robot needs to take the bins one by one from the different temporary storage mechanisms and place them at the destination (such as a conveying line (conveying track) or an interactive storage location, etc.), which causes the robot to be unable to efficiently participate in the bin storage and retrieval process, thereby wasting the action capability of the robot. In order to realize efficient carrying of goods, more robots need to be invested, but this will increase the individual investment cost of the robots.

[0109] Based on the above research, the present disclosure provides a robot, a bin transfer device, a bin transfer system and a bin transfer method, which can transfer multiple bins from different layer temporary storage mechanisms of the robot at a time or place multiple bins for the robot at a time by using the bin transfer device, and can improve the bin transfer efficiency in the scenario of the robot storing and retrieving multiple bins, thereby improving the carrying efficiency of the robot in the bin storage and retrieval process.

[0110] It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0111] In order to facilitate the understanding of the present embodiment, first, the application scenario of a bin transfer system disclosed by the present embodiment is introduced. The bin transfer system provided by the present embodiment can be applied to the docking process of the robot 11 and the bin transfer device 12. As shown in the figure, the robot 12 can be a robot capable of carrying multiple bins at a time. Figure 1

[0112] In the warehouse logistics scenario, a possible implementation is that the cloud server 13 can issue a movement control instruction for the robot 11. Here, the movement control instruction can be an instruction for controlling the robot 11 to place goods, or it can also be an instruction for controlling the robot 11 to retrieve goods. For example, in the goods picking scenario, the cloud server 13 can control the robot to move to the bin docking position of the bin transfer device 12. At this time, multiple temporary storage positions on the robot store goods to be picked, and the bin transfer device can be used to transfer multiple goods for picking. At this time, the robot can leave the bin docking position and wait for the next instruction sent by the cloud server. For another example, in the goods warehousing scenario, when the bin has been transferred to the position waiting for the robot to receive by the bin transfer device, the cloud server can control the robot to move to the goods docking position to retrieve goods.

[0113] Here, the cloud server 13 stores an order pool of warehouse goods, and can call the robot to realize goods picking through the to-be-picked information of the goods in the order pool, or can call the robot to realize goods warehousing through the to-be-warehoused information of the goods in the order pool.​

[0114] Another possible implementation is that the robot 11 can also complete the docking process with the bin transfer device 12 by using the internal controller of the robot body, so as to realize efficient handling in the goods storage and retrieval process.

[0115] Next, a bin transfer system provided by the embodiments of the present disclosure is introduced, which includes at least one robot and at least one bin transfer device. As shown in Figure 2 When the robot docks with the bin transfer device, the structure of the robot, the bin transfer device, and the bin is shown, which includes the robot 11, the bin transfer device 12, and the bin 23. The bin transfer device 12 can include at least one first bin transfer mechanism 221, a multi-layer bin conveying mechanism 222, a second bin transfer mechanism 223 corresponding to each layer of the bin conveying mechanism, a lifting mechanism 224 corresponding to each second bin transfer mechanism, a transfer conveying track 225, and a third bin transfer mechanism (the third bin transfer mechanism includes a jacking mechanism 2261 and a pull rod transfer mechanism 2262) and a controller.

[0116] Here, the bin transfer device 12 can simultaneously dock with multiple robots 11. For example, the bin transfer device 12 can simultaneously dock with two robots 11, and different first bin transfer mechanisms 221 are controlled to transfer bins from different robots 11. For example, multiple bins on the robot A are transferred by the first bin transfer mechanism A', and multiple bins on the robot B are transferred by the first bin transfer mechanism B'. At this time, the first bin transfer mechanism A' and the first bin transfer mechanism B' can be respectively arranged at both ends of the bin transfer device 12 in the direction of conveying the bins by the multi-layer bin conveying mechanism 222, so that the robot A and the robot B can dock at different bin docking positions of the bin transfer device 12.

[0117] In some embodiments, multiple first bin transfer mechanisms 221 can also be respectively arranged at both ends of the bin conveying mechanism 222 in the direction of conveying the bins. The specific arrangement can be arranged according to the application scenario, which is not limited here. In addition, the number of layers of the bin conveying mechanism 222 in the bin transfer device 12 can also be arranged according to the specific application scenario, which is not limited here. It can be two layers, or four layers as shown. Figure 2

[0118] Based on the above system concept, the embodiments of the present disclosure also provide a robot that can perform the above tasks, which can be seen from Figure 3 ​As shown, it is a structural schematic diagram of the robot. The robot 11 comprises a chassis assembly 111, a portal assembly 112 and at least two layers of temporary storage mechanism 114; the portal assembly 112 is mounted on the chassis assembly 111; the at least two layers of temporary storage mechanism 114 are mounted on one side of the portal assembly 112, and the temporary storage mechanism 114 can be used for temporary storage of the box.

[0119] Figure 10 A structural schematic diagram of another embodiment of the robot 11 is shown, which comprises a chassis assembly 111 for walking, a portal assembly 112 arranged on the chassis assembly, a lifting assembly 113 and a temporary storage mechanism 114 arranged on the portal assembly 112, and a box taking and returning assembly 115 mounted on the lifting assembly 113.

[0120] The lifting assembly 113 is slidingly fitted on the portal assembly 112, and the box taking and returning assembly 115 can be connected to the lifting assembly 113, so that the box taking and returning assembly 115 can be driven by the lifting assembly 113 to move up and down along the portal assembly 112 to the appropriate position.

[0121] The temporary storage mechanism 114 is provided with at least two layers, Figure 10 The structure of a six-layer temporary storage mechanism is shown. The distance between adjacent two layers of temporary storage mechanism 114 is greater than the height of the box. The box taking and returning assembly 115 and the temporary storage mechanism 114 can be located on different sides of the portal assembly 112, for example, arranged on opposite sides of the portal assembly 112.

[0122] The box taking and returning assembly 115 can rotate relative to the lifting assembly 113 and has a telescopic fork mechanism. In operation, the box taking and returning assembly 115 can take the box on the shelf and drive it into the temporary storage mechanism 114 of different layers for temporary storage. Alternatively, the box taking and returning assembly 115 can take the box in the temporary storage mechanism 114 of different layers one by one and place it on the corresponding shelf for storage.

[0123] Figure 11 The specific structure of the lifting assembly 113 is shown. The lifting assembly 113 has a lifting drive unit, and the box taking and returning assembly 115 moves in the vertical direction along the portal assembly through the lifting drive unit. The box taking and returning assembly 115 and the lifting assembly 113 can be connected through a rotary support connection 1131, so that the box taking and returning assembly 115 can rotate on the lifting assembly 113 to adjust the angle posture of the box taking and returning assembly 115.

[0124] Figure 12The specific structure of the taking and returning box assembly 115 is shown. The taking and returning box assembly 115 has a base 1151, and a rotary driving unit 1152 that drives the rotation of the base 1151 on the lifting assembly 113. It also includes a telescopic driving unit 1153 and left and right telescopic forks 1154. The left and right telescopic forks 1154 are arranged on opposite sides of the base 1151, and can be driven by the telescopic driving unit 1153 to extend to a predetermined distance relative to the base 1151. The left and right telescopic forks 1154 can be a one-stage telescopic unit, or a two-stage or more telescopic unit combined together.

[0125] The front end of each of the left and right telescopic forks 1154 is provided with a front pushing finger 1155, and the rear end is provided with a rear pushing finger 1156. The front pushing finger 1155 can extend or retract towards the opening end of the left and right telescopic forks 1154. When the left and right telescopic forks 1154 extend to the two sides of the box, the front pushing finger 1155 can be controlled by the driving unit to swing to the opening position of the left and right telescopic forks 1154, so as to cooperate with the rear side of the box. When the left and right telescopic forks 1154 retract, the front pushing finger 1155 can hook the rear end of the box and move with the left and right telescopic forks 1154 to the base 1151. At this time, the rear pushing finger 1156 cooperates with the front side of the box.

[0126] Under the action of the lifting assembly 113, the taking and returning box assembly 115 is driven to a height corresponding to the corresponding temporary storage mechanism 114. The rotary driving unit 1152 drives the taking and returning box assembly 115 to rotate so that the opening of the left and right telescopic forks 1154 faces the temporary storage mechanism 114. After the front pushing finger 1155 is reset, the telescopic driving unit 1153 drives the left and right telescopic forks 1154 to extend, and the rear pushing finger 1156 pushes the box on the base 1151 into the temporary storage mechanism 114 for temporary storage.

[0127] Based on the same principle, the taking and returning box assembly 115 can also be driven by the cooperation of rotation, telescopic and other movement modes to take out the box in the temporary storage mechanism 114 and place it in the corresponding position of the rack, which will not be described in detail here.

[0128] The temporary storage mechanism 114 is provided with a positioning groove structure for accommodating the box, which is beneficial to the stability of the box storage and avoids the shaking of the box when the robot walks. The temporary storage mechanism 114 is also provided with a gap through which the corresponding transfer mechanism in the box transfer device passes. In work, the corresponding transfer mechanism in the box transfer device can pass through the gap and lift the box on the temporary storage mechanism 114. Alternatively, when the transfer mechanism falls from the gap, the box on the transfer mechanism can fall onto the temporary storage mechanism 114.

[0129] In an embodiment of the present disclosure, the gap can extend from the free end position of the temporary storage mechanism 114 to the opposite end of the temporary storage mechanism. Referring to Figure 13The left end of the temporary storage mechanism 114 is connected to the portal assembly 112, and the gap extends from the right end of the temporary storage mechanism 114 to the left end. Of course, the gap can also be provided on the side of the temporary storage mechanism 114, for example, the gap extends from one side of the temporary storage mechanism 114 to the other side. The gap can also extend from the connection end position of the temporary storage mechanism 114 to the free end, or through the free end, as long as the transfer mechanism in the bin transfer device can pass through the gap.

[0130] In one embodiment of the present disclosure, the gap is one, so that the temporary storage mechanism has a U-shaped structure, as shown in Figure 13 In another embodiment of the present disclosure, the gap can be provided at least two, so that the temporary storage mechanism has a comb-shaped structure, as shown in Figure 3 The transfer mechanism in the bin transfer device corresponds to the structure of the temporary storage mechanism, so that the corresponding part of the transfer mechanism can pass through the gap of the temporary storage mechanism.

[0131] Referring to Figure 13 , the temporary storage mechanism 114 includes a bottom plate and a standing edge 1141 connected to the opposite sides of the bottom plate and extending upward. The standing edge 1141 can also extend from the two sides of the bottom plate to the free end position of the bottom plate, so that the standing edge 1141 can form a tray structure with the bottom plate for temporarily storing bins. The standing edge 1141 can limit the bin placed on the temporary storage mechanism 114, so that the bin is stably temporarily stored in the temporary storage mechanism 114.

[0132] The standing edge 1141 is connected perpendicularly to the bottom plate, and the upper part of the standing edge 1141 can be respectively inclined outward to form a folded part 1142, which forms a flared structure of the temporary storage mechanism 114. When the bin is placed from top to bottom into the temporary storage mechanism 114, the folded part 1142 of the standing edge 1141 can guide the bin, so that even if the bin has a certain error with the temporary storage mechanism 114, the bin can be completely dropped into the edge of the temporary storage mechanism 114 under the guidance of the flared structure.

[0133] In one embodiment of the present disclosure, a guide assembly 116 is further provided on the portal assembly 112 corresponding to the upper position of each layer of temporary storage mechanism. The guide assembly has an opening area and is configured to position the bin to be transported onto the corresponding temporary storage mechanism.

[0134] Referring to Figure 10 and Figure 14 , the guide assembly 116 can be provided with multiple groups and respectively arranged above each layer of temporary storage mechanism 114.

[0135] Specifically, the guide assembly 116 can include two spaced guide rods 1161, the distance between the two guide rods 1161 is slightly greater than the width of the bin. One end of the guide rods 1161 is connected to the portal assembly 112 respectively, and the other end extends in the same direction as the extension direction of the temporary storage mechanism 114. When the robot moves towards the bin, the bin can be aligned by the guidance of the two guide rods 1161 to position the bin.

[0136] In one embodiment of the present disclosure, referring to Figure 10 , Figure 14 , the two guide rods 1161 extend away from the portal assembly 112 at one end respectively to form inclined portions 1162 (referring to the view direction of Figure 10 , extending to the respective outer side respectively), and the two inclined portions 1162 form a flared structure of the guide assembly 116. The flared structure is beneficial for the bin to smoothly enter between the two guide rods 1161.

[0137] The two guide rods 1161 are bent near the portal assembly 112 at one end to form a connecting end, which can be fixedly connected to the portal assembly 112. A reinforcing rib plate 1163 is also provided at the corner of the guide rod 1161 to strengthen the structural strength of the guide rod 1161. The reinforcing rib plate 1163 can be provided in a triangular structure or other structures to adapt to the corner shape, which will not be specifically introduced here.

[0138] In one embodiment of the present disclosure, the guide assembly 116 is detachably connected to the portal assembly 112, so that the height between the guide assembly 116 and the corresponding temporary storage mechanism 114 can be adjusted to adapt to different bins. The detachable connection mode includes but is not limited to bolt or screw fixed connection, plug-in and other conventional modes that can be thought of by those skilled in the art. The connection position of the two guide rods 1161 of each guide assembly 116 can also be adjusted up and down. In one embodiment, a plurality of mounting holes or long holes extending vertically are formed on the portal assembly 112 respectively, and the guide rods 1161 are installed in the long holes or any mounting hole by bolts, so as to realize height adjustment to adapt to bins of different sizes.

[0139] Referring to Figure 15 , the upper end opening edge of the bin 23 has a surrounding opening 231 on the outer wall of the bin, and the surrounding opening 231 is a reinforcing structure on the side wall of the bin 23 to strengthen the structural strength of the opening of the bin. The reinforcing structure can be a plurality of protruding structures perpendicular to the side wall of the bin, etc.

[0140] The guide assembly 116 is connected to the gantry assembly 112 in a height-adjustable manner, so that the distance between the guide assembly 116 and the temporary storage mechanism 114 can be adjusted. The height of the guide assembly 116 on the gantry assembly 112 is adjusted so that the guide assembly 116 can cooperate with the flared opening position of the bin to swing and position the bin.

[0141] For example, in one application scenario of the present disclosure, the bin is located on the transfer mechanism of the bin transfer device. Due to movement or other factors, the bin on the transfer mechanism may have a certain offset, such as an angular offset or a horizontal offset. The robot 11 needs to move so that its temporary storage mechanism is located below the transfer mechanism. During the movement of the robot 11, the guide assembly 116 on the gantry assembly cooperates with the bin on the transfer mechanism, thereby correcting the offset bin to the correct position and angle. When the robot 11 moves to the position, the transfer mechanism of the bin transfer device descends and passes through the gap of the temporary storage mechanism, and the bin descends with the transfer mechanism until it falls into the temporary storage mechanism. Even if the bin still has a certain offset error, it can be smoothly guided into the temporary storage mechanism under the action of the flared opening structure of the temporary storage mechanism, ensuring the smooth transfer of the bin and avoiding problems such as falling due to improper bin position, ensuring the smoothness of the system operation. In addition, since each layer of the temporary storage mechanism is provided with a gap, the bins on each layer of the temporary storage mechanism can be simultaneously transferred down by the transfer mechanism of the bin transfer device, providing efficiency for the flow of bins.

[0142] The robot 11 is configured to move to a bin docking position. Here, the bin docking position includes the projection position of the temporary storage mechanism on the ground when the robot 11 and the bin transfer device 12 are docked; or the position of each layer of the temporary storage mechanism in space.

[0143] The bin transfer device 12 is configured to transfer multiple bins on the temporary storage mechanisms of different layers of the robot that move to the bin docking position to the corresponding internal conveying tracks; or transfer the bins on different internal conveying tracks to the corresponding temporary storage mechanisms.

[0144] To this end, the present disclosure provides a bin transfer device, which includes at least two layers of internal conveying tracks stacked in the height direction, and each layer of internal conveying track corresponds to the temporary storage mechanism of the robot. The internal conveying track is configured to convey the bin located at the bin docking position to the respective preset area; or convey the bin located in the preset area to the bin docking position.

[0145] The bin transfer device further includes a first bin transfer mechanism corresponding to the bin docking position of the internal conveying track, and the first bin transfer mechanism is controlled by a first driving unit to reciprocate between a first position and a second position of the bin docking position.

[0146] The first bin transfer mechanism is at a first position with a height lower than that of the internal conveying track, and is at a second position configured to lift the bins.

[0147] In another embodiment of the present disclosure, the bin transfer device 12 can also be configured to transfer multiple bins on different internal conveying tracks to the transfer conveying track, or transfer multiple bins on the transfer conveying track to different internal conveying tracks.

[0148] The following will make a detailed introduction to the docking of the robot and the bin transfer device in the goods picking scenario, and the realization of bin transfer:

[0149] The bin transfer device 12 is configured to transfer multiple bins on the different layer temporary storage mechanism of the robot to the corresponding preset area of the corresponding layer internal conveying track; and the bin transfer device 12 is configured to transfer the bins in the corresponding preset area of the different layer internal conveying track to the transfer conveying track. Here, the bin transfer device includes multiple internal conveying tracks. Here, the size of the preset area can be the size of the bottom surface of the bin, or slightly larger than the size of the bottom surface of the bin.

[0150] The controller can be configured to, in response to a first bin transfer instruction, control the first bin transfer mechanism to lift multiple bins from the robot and transfer them to the different layer bin conveying mechanism (including the internal conveying track); control each layer bin conveying mechanism to drive the bins to the corresponding preset area of the layer bin conveying mechanism; control the corresponding second bin transfer mechanism of each layer bin conveying mechanism to hook the bins from the bin conveying mechanism to the corresponding lifting mechanism of the second bin transfer mechanism; and control the lifting mechanism to transfer the bins to the transfer conveying track.

[0151] Here, the first bin transfer instruction can be a bin transfer instruction sent by the robot to the controller when the robot reaches the bin docking position; or, it can also be a bin transfer instruction sent by the first sensor assembly to the controller when the robot is detected at the bin docking position; or, it can also be a bin transfer instruction issued by the cloud server. The first bin transfer instruction can select a suitable sending subject according to the specific application scenario, and the embodiments of the present disclosure do not limit this. Without departing from the scope of the present disclosure, those skilled in the art can make various alternatives and modifications, and these alternatives and modifications shall fall within the scope of the present disclosure.

[0152] Based on the control process of the above controller, the specific implementation process of each mechanism will be described in detail below.

[0153] In one embodiment, with reference to Figure 2The first magazine transfer mechanism 221 can be configured to lift the plurality of magazines from the robot 11 and transfer them to the magazine conveying mechanism 222 comprising internal conveying tracks. See Figure 4 The first magazine transfer mechanism 221 comprises a plurality of first lifting forks 2211, a first driving unit 2212, and a first guide rail assembly 2213. The first driving unit 2212 is connected to the first guide rail assembly 2213. The plurality of first lifting forks 2211 are slidingly fitted on the first guide rail assembly 2213 via a support frame. Alternatively, the first guide rail assembly 2213 is slidingly fitted on the magazine rack, and the plurality of first lifting forks 2211 are fixed on the first guide rail assembly 2213. The connection between the above-mentioned structures can be achieved in various ways, as long as the first driving unit 2212 can drive the first lifting forks 2211 to move in the vertical direction.

[0154] When the robot moves to a position where each of the temporary storage mechanisms is located at the magazine docking position of the corresponding internal conveying track, the first driving unit 2212 drives the first lifting forks 2211 to pass through the gap provided on the corresponding temporary storage mechanism during the lifting process, so as to lift the magazine originally located on the temporary storage mechanism to the first lifting forks 2211, or drop the magazine originally located on the first lifting forks 2211 to the temporary storage mechanism.

[0155] In one specific embodiment of the present disclosure, Figure 3 The temporary storage mechanism 114 can be a comb-shaped mechanism. The first lifting forks 2211 can also be a comb-shaped mechanism. The magazine conveying mechanism 222 can also be a comb-shaped mechanism, i.e., the internal conveying tracks 2221 (see Figure 6 The comb-shaped mechanism comprises comb teeth. The projection of the comb teeth of the temporary storage mechanism 114 on the horizontal plane does not overlap with the projection of the comb teeth of the first lifting forks 2211 on the horizontal plane. The projection of the comb teeth of the first lifting forks 2211 on the horizontal plane does not overlap with the projection of the comb teeth of the internal conveying tracks 2221 on the horizontal plane. For example, the comb teeth of the internal conveying tracks can be a plurality of rollers. When the first lifting forks are used to transfer the magazine, the comb teeth of the first lifting forks can pass through the gap between the rollers of the internal conveying tracks, while also passing through the gap between the comb teeth of the corresponding layer of the temporary storage mechanism. The positional relationship between the temporary storage mechanism, the first lifting forks, and the internal conveying tracks can be seen in Figure 5 The first lifting forks are in the first position (the first initial position). b indicates that the first lifting forks pass through the gap between the comb teeth of the internal conveying tracks and leave the gap of the internal conveying tracks. c indicates that the first lifting forks are in the second position, i.e., lifting the magazine.

[0156] When the first lifting fork is in the first position, the first lifting fork is lower than the height of the internal conveying track. To be specific, the surface of the first lifting fork for contacting the material box is lower than the surface of the internal conveying track for contacting the material box. When the first lifting fork is in the second position, the first lifting fork is lifted to a predetermined position.

[0157] In implementation, the first driving unit 2212 can be used to drive the first guide rail assembly 2213 to rotate in a preset direction (for example, clockwise or counterclockwise), and the first guide rail assembly 2213 rotating in the preset direction can drive the first lifting fork 2211 to move in the vertical direction to the material box docking position. At this time, since the comb teeth of the first lifting fork can pass through the gap between the rollers of the internal conveying track and the gap between the comb teeth of the corresponding layer temporary storage mechanism of the first lifting fork, the material box can be lifted from the temporary storage mechanism to the second position. After the robot 11 exits the material box docking position, the first driving unit 2212 is used to drive the first guide rail assembly 2213 to rotate in the preset reverse direction, and the first guide rail assembly 2213 rotating in the preset reverse direction can drive the first lifting fork 2211 to move in the vertical direction to the first position, thereby achieving the transfer of the material box to the different layer material box conveying mechanism 222.

[0158] In an embodiment, the material box conveying mechanism 222 can be configured to transfer the material box to a corresponding preset area. Here, in order to avoid the process of moving the material box to the transfer conveying track from interfering with each other, the preset areas distributed in a staggered manner are provided, that is, the projections of the preset areas corresponding to the different layer material box conveying mechanisms on the horizontal plane do not overlap. Please refer to Figure 6 As shown in the structure diagram of the material box conveying mechanism, the material box conveying mechanism 222 includes an internal conveying track 2221, and the material box transfer device 12 further includes at least one limiting block 227 and a sensor 228 corresponding to each second material box transfer mechanism (one limiting block 227 corresponds to the sensor 228-1, and the other limiting block 227 corresponds to the sensor 228-2). Each layer of the internal conveying track 2221 can be provided with at least one limiting block. Specifically, the internal conveying track is a comb mechanism, and the comb mechanism includes comb teeth. For example, the comb teeth of the internal conveying track can be a plurality of rollers, and the limiting block can be arranged between the gaps of the comb teeth of the internal conveying track, as shown in the gaps between the plurality of rollers. Figure 6 As shown in the structure diagram of the material box conveying mechanism, the material box conveying mechanism 222 includes an internal conveying track 2221, and the material box transfer device 12 further includes at least one limiting block 227 and a sensor 228 corresponding to each second material box transfer mechanism (one limiting block 227 corresponds to the sensor 228-1, and the other limiting block 227 corresponds to the sensor 228-2). Each layer of the internal conveying track 2221 can be provided with at least one limiting block. Specifically, the internal conveying track is a comb mechanism, and the comb mechanism includes comb teeth. For example, the comb teeth of the internal conveying track can be a plurality of rollers, and the limiting block can be arranged between the gaps of the comb teeth of the internal conveying track, as shown in the gaps between the plurality of rollers.

[0159] Here, the length of the internal conveying track is adjustable. Specifically, according to the specific application scenario, in order to set multiple layers of internal conveying tracks and make the projections of the preset areas on the different layers of internal conveying tracks on the horizontal plane not overlap, the length of the internal conveying track can be adjusted.

[0160] The limiting block 227 can be configured to limit the magazine at the preset area on the internal conveying track corresponding to the limiting block. The projections of the preset areas corresponding to the limiting blocks on the magazine conveying mechanisms of different layers on a horizontal plane do not overlap. Here, the initial position of the limiting block is lower than the height of the surface of the internal conveying track of the corresponding layer for placing the magazine. In this way, the initial position of the limiting block is set, so that when the limiting block is in the initial position, the movement of the magazine on the internal conveying track of the corresponding layer is not affected, and when the limiting block moves upward and leaves the initial position, the magazine can be limited to the preset area and wait for subsequent transfer.

[0161] The preset area can limit the position of the magazine by the limiting block. Since the projections of the preset areas corresponding to the limiting blocks on the magazine conveying mechanisms of different layers on a horizontal plane do not overlap, the preset areas can be distributed in a staggered manner on the internal conveying tracks of different layers. For details, refer to Figure 6 .

[0162] The sensor 228 is configured to detect whether the magazine reaches the preset area. Here, the sensor 228 can be fixedly installed on the magazine conveying mechanism 222 corresponding to the limiting block 227. Then, the limiting block 227 is configured to be raised to a preset height after the sensor detects that the magazine reaches the preset area, so as to limit the magazine at the preset area on the internal conveying track corresponding to the limiting block.

[0163] In specific implementation, the driving unit of the internal conveying track can be used to drive the plurality of rollers to rotate by the multi-wedge belt, so as to transfer the magazine placed on the surface of the internal conveying track in the conveying direction. At this time, after the sensor detects that the magazine reaches the preset area, the limiting block can be raised to the preset height to limit the magazine at the preset area corresponding to the limiting block on the internal conveying track of the layer.

[0164] In an embodiment of the present disclosure, the limiting block 227 is provided with two, which are raised to a preset height when the magazine moves to the preset area, so as to block the two sides of the magazine. Referring to the view direction of Figure 6 , for example, when the magazine is conveyed on the internal conveying track from the left side to the right side to the preset area, the limiting block 227 on the right side of the magazine can prevent the magazine from continuing to move to the right, so as to limit the magazine at the preset area. The limiting block 227 on the left side of the magazine can prevent other magazines from reaching the preset area.

[0165] In another embodiment of the present disclosure, referring to Figure 1 , the magazine docking position of the magazine transfer device is provided with two at opposite ends, and the magazine is conveyed to the preset area from two directions. In this way, the two limiting blocks 227 can limit the magazines from the two directions respectively, achieving the same function as described above.

[0166] In one embodiment, the second magazine transfer mechanism 223 can be configured to pick up the magazine from the corresponding layer magazine conveying mechanism and transfer it to the corresponding lifting mechanism. Please refer to Figure 7 As shown in the structural diagram of the second magazine transfer mechanism. The second magazine transfer mechanism 223 includes a first pull rod mechanism, a first push block 2232, and a first pull rod driving unit 2233. One end of the second magazine transfer mechanism 223 can be fixedly assembled on the support frame of the corresponding lifting mechanism 224 or the rack of the magazine transfer device. The first push block 2232 is installed at one end of the first pull rod mechanism 2231. The first pull rod driving unit 2233 is installed at the other end of the first pull rod mechanism 2231.

[0167] The first pull rod driving unit 2233 is configured to drive the first pull rod mechanism to retract and extend.

[0168] The first pull rod mechanism is configured to drive the first push block to pick up the magazine to the corresponding lifting mechanism under the driving of the first pull rod driving unit.

[0169] Here, the first pull rod mechanism includes a first pull rod 2231-1 and a belt 2231-2. In specific implementation, the first pull rod driving unit can be used to drive the belt to retract the first pull rod, which will drive the first push block to pick up the magazine to the corresponding lifting mechanism. When the magazine has been on the lifting mechanism, the first pull rod driving unit can be used to drive the belt to extend the first pull rod to the initial position, waiting for the transfer of the next magazine.

[0170] The above is only a schematic description of one embodiment of the first pull rod mechanism. The first pull rod driving unit can also be used to drive the first push block 2232 to move on the first pull rod 2231-1, so as to pick up the magazine on the internal conveying track to the corresponding lifting mechanism. The structure of the first pull rod mechanism will not be listed one by one here.

[0171] In one embodiment of the present disclosure, the first pull rod mechanism can also be provided with a first push block. Under the driving of the first pull rod driving unit, the first push block can be used to push the magazine on the lifting mechanism to the corresponding internal conveying track. The first push block and the first push block 2232 can be located at opposite ends of the first pull rod 2231-1 respectively and be driven by the first pull rod driving unit 2233.

[0172] In one embodiment, the lifting mechanism 224 is configured to transfer multiple magazines to the same transfer conveying track. Please refer to Figure 8As shown, it is a structural schematic diagram of the lifting mechanism. The lifting mechanism 224 comprises a second driving unit 2241, a second guide rail assembly 2242 and a second lifting fork 2243; the second driving unit 2241 is connected with the second guide rail assembly 2242; the second lifting fork 2243 is slidingly assembled on the second guide rail assembly 2242. The second lifting fork 2243 can be a comb mechanism comprising comb teeth. The comb teeth of the second lifting fork do not overlap with the projection of the comb teeth of the transfer conveying track in the horizontal plane. For example, the comb teeth of the transfer conveying track can be several rollers, and the comb teeth of the second lifting fork can pass through the gap between the several rollers of the transfer conveying track when the second lifting fork is used to transfer the material box.

[0173] The second driving unit 2241 is configured to drive the second guide rail assembly to rotate.

[0174] The second guide rail assembly 2242 is configured to drive the second lifting fork to move along the vertical direction under the driving of the second driving unit, so as to transfer the material box on the lifting mechanism to the transfer conveying track.

[0175] In specific implementation, when the second lifting fork of the lifting mechanism receives the material box, the second driving unit can be used to drive the second guide rail assembly, and the second guide rail assembly drives the second lifting fork to move along the vertical direction to the transfer conveying track. At this time, since the comb teeth of the second lifting fork can pass through the gap between the several rollers of the transfer conveying track, the material box temporarily placed on the second lifting fork can be placed on the transfer conveying track. After the material box is transferred by the transfer conveying track, the second driving unit is used to drive the second guide rail assembly to drive the second lifting fork to move back to the initial position of the second lifting fork along the vertical direction, so as to wait for the transfer of the next material box.

[0176] In an embodiment of the present disclosure, the second driving unit is configured to drive the second lifting fork to move along the vertical direction to a position higher than the transfer conveying track, so as to transfer the material box on the transfer conveying track to the lifting mechanism. Specifically, the comb teeth of the second lifting fork can pass through the gap between the several rollers of the transfer conveying track, so as to lift the material box on the transfer conveying track, thereby transferring the material box to the lifting mechanism 224. After that, the second driving unit 2241 can drive the second lifting fork to be lifted to correspond to the corresponding internal conveying track. The first push block of the first pull rod driving unit of the second material box transfer mechanism 223 pushes the material box on the lifting mechanism to the corresponding internal conveying track.

[0177] The second material box transfer mechanism 223 and the lifting mechanism 224 can be provided in multiple groups and can be independently controlled. Each group of the second material box transfer mechanism 223 and the lifting mechanism 224 corresponds to one layer of internal conveying track, and multiple groups of the second material box transfer mechanism 223 and the lifting mechanism 224 can simultaneously transfer the material boxes on different internal conveying tracks to the transfer conveying track.

[0178] The transfer conveying track of the present disclosure can have the same structure and arrangement as the internal conveying tracks, for example, the transfer conveying track can overlap the internal conveying tracks in the height direction. For example, in an embodiment of the present disclosure, the internal conveying track of one or more layers can be used as the transfer conveying track. For example, referring to Figure 6 The bottommost internal conveying track is used as the transfer conveying track, and the bins on the other internal conveying tracks are transferred to the bottommost internal conveying track by the second bin transfer mechanism 223 and the lifting mechanism 224. In this embodiment, the internal conveying track used as the transfer conveying track still has a preset area and a bin docking position, and the transfer of the bin between the internal conveying track and the robot temporary storage mechanism can be realized by the corresponding first bin transfer mechanism. In a possible embodiment, the bin transfer device can further include a third bin transfer mechanism. The third bin transfer mechanism is used to transfer the bin on the robot temporary storage mechanism to the transfer conveying track, or to transfer the bin on the transfer conveying track to the robot temporary storage mechanism. In this embodiment, the transfer conveying track can be located on any layer or any layers of the internal conveying tracks, and the selection is based on the actual application scenario.

[0179] Figure 6 A structure diagram showing that the transfer conveying track is located at the bottom of the bin transfer device is shown. The projection of the transfer conveying track on the horizontal plane does not overlap with the other internal conveying tracks, that is, there is a predetermined distance offset, which is suitable for some application scenarios.

[0180] In this embodiment, for the bins of the robot except the bins on the bottommost temporary storage mechanism, at least one first bin transfer mechanism in the bin transfer device, the multi-layer bin conveying mechanism, the second bin transfer mechanism corresponding to each layer of the bin conveying mechanism, and the lifting mechanism corresponding to each second bin transfer mechanism can be used for transfer. For the bins on the bottommost temporary storage mechanism of the robot, the third bin transfer mechanism can be used for transfer. Here, the third bin transfer mechanism is used to directly transfer the bins on the bottommost temporary storage mechanism of the robot to the transfer conveying track, and the first bin transfer mechanism, the bin conveying mechanism, the second bin transfer mechanism, and the lifting mechanism corresponding to the bottommost layer of the robot can not be set, which can save certain structural material costs.

[0181] The first material box transfer mechanism is configured to transfer all material boxes except those on the bottommost temporary storage mechanism to the corresponding layer's material box conveying mechanism; the material box conveying mechanism is configured to transport the material boxes to the preset area corresponding to that layer's material box conveying mechanism; wherein the projections of the preset areas corresponding to different layers' material box conveying mechanisms on the horizontal plane do not overlap; the second material box transfer mechanism is configured to hook the material boxes in the corresponding preset area on the corresponding layer's material box conveying mechanism onto the corresponding lifting mechanism; wherein the projections of different second material box transfer mechanisms on the horizontal plane do not overlap; the lifting mechanism is configured to transfer the material boxes to the same transfer conveying track; the third material box transfer mechanism is configured to transfer the material boxes on the robot's bottommost temporary storage mechanism to the transfer conveying track.

[0182] The controller is configured to, in response to a first bin transfer command, control the first bin transfer mechanism to transfer all bins except those on the bottommost temporary storage mechanism to the corresponding bin conveying mechanism; control each bin conveying mechanism to move bins to the preset area corresponding to that bin conveying mechanism; control the second bin transfer mechanism corresponding to each bin conveying mechanism to hook bins from the bin conveying mechanism to the lifting mechanism corresponding to the second bin transfer mechanism; control the lifting mechanism to transfer bins to the same transfer conveying track; and control the third bin transfer mechanism to transfer bins on the bottommost temporary storage mechanism to the transfer conveying track.

[0183] In some embodiments, the third bin transfer mechanism can be configured to transfer bins from the robot's lowest temporary storage mechanism to a transfer conveyor track. See also... Figure 9 As shown, this is a schematic diagram of the third material box transfer mechanism, which includes a lifting mechanism 2261 and a lever transfer mechanism 2262. The lifting mechanism 2261 has a first position and a second position; when in the first position, the height of the lifting mechanism 2261 is lower than the height of the transfer conveyor track; when in the second position, the lifting mechanism 2261 is configured to pass through the gap of the robot temporary storage mechanism and lift the material box on the temporary storage mechanism.

[0184] It should be noted that the lifting mechanism 2261 can be a comb-like mechanism. The projections of the comb teeth of the temporary storage mechanism 114 and the comb teeth of the lifting mechanism 2261 on the horizontal plane do not overlap; the projections of the comb teeth of the lifting mechanism 2261 and the comb teeth of the transfer conveyor track 225 on the horizontal plane do not overlap. Therefore, when the lifting mechanism 2261 is raised, the gap between the comb teeth of the transfer conveyor track 225 and the temporary storage mechanism 114 can be used to pass through the transfer conveyor track 225 and the temporary storage mechanism 114 to lift the hopper temporarily stored by the robot 11 on the bottom temporary storage mechanism 114. After the lever transfer mechanism 2262 transfers the hopper on the lifting mechanism 2261 to the preset area (corresponding to the area above the transfer conveyor track), the lifting mechanism 2261 returns to the first position to transfer the hopper in the preset area to the transfer conveyor track 225. Here, the preset area can be directly above the transfer conveyor track, at the location of the lifting mechanism. For example, a sensor can detect whether a material box exists in a preset area. If a material box is present, a signal indicating the presence of a material box in the preset area is sent to the controller. The controller can then control the lifting mechanism to return to the first starting position based on this signal. Here, the size of the preset area can be the bottom surface size of the material box.

[0185] In one embodiment of this disclosure, the lever transfer mechanism is configured to push a hopper located above the transfer conveyor track on the lifting mechanism to a position corresponding to the robot's temporary storage mechanism. Specifically, after the hopper is transported along the transfer conveyor track to its docking position or a preset area, the lifting mechanism 2261 moves from a first position to a second position to lift the hopper located on the transfer conveyor track. Then, the lever transfer mechanism pushes the hopper located in the preset area along the lifting mechanism 2261 to a position corresponding to the robot's temporary storage mechanism. Thus, when the lifting mechanism 2261 moves from the second position to the first position, the comb teeth of the lifting mechanism 2261 pass through the comb teeth of the temporary storage mechanism, thereby placing the hopper onto the temporary storage mechanism of the corresponding layer of the robot.

[0186] In some embodiments, the lever transfer mechanism 2262 may be configured to transfer a hopper on the lifting mechanism to a preset area of ​​the lifting mechanism.

[0187] like Figure 9 As shown, the lever transfer mechanism 2262 includes a second lever mechanism 2262-1, a second lever block 2262-2, and a second lever drive unit 2262-3. The second lever block 2262-2 is installed at one end of the second lever mechanism 2262-1; the second lever drive unit 2262-3 is installed at the other end of the second lever mechanism 2262-1.

[0188] The second pull rod mechanism 2262-1 can be configured to drive the second shifting block to hook the magazine to the preset area of the jacking mechanism under the driving of the second pull rod driving unit. That is, the second shifting block drives the magazine on the jacking mechanism to move from the position above the corresponding temporary storage mechanism to the position corresponding to the transfer conveying track along the jacking mechanism.

[0189] Based on the same principle, the second push block is also arranged on the second pull rod mechanism, and the second push block can be driven by the second pull rod driving unit to push the magazine located in the preset area to above the robot temporary storage mechanism. That is, the second push block drives the magazine on the jacking mechanism to move from the position above the corresponding transfer conveying track to the position corresponding to the robot temporary storage mechanism along the jacking mechanism.

[0190] Here, the specific structure and working principle of the pull rod shifting mechanism can refer to the second magazine shifting mechanism described above, and will not be repeated here.

[0191] In some embodiments, the magazine shifting device can further include a fourth magazine shifting mechanism, which can be configured to transfer the magazine on the bottom layer of the robot temporary storage mechanism to the transfer conveying track.

[0192] The fourth magazine shifting mechanism can include a third pull rod mechanism, a third shifting block, a third pull rod driving unit and a third shifting block driving unit. The third shifting block is installed at one end of the third pull rod mechanism; and the third pull rod driving unit is installed at the other end of the third pull rod mechanism.

[0193] The third shifting block driving unit can be configured to drive the third shifting block to rotate from the initial horizontal position to the vertical position to hook the magazine.

[0194] The third pull rod mechanism can be configured to drive the third shifting block to hook the magazine on the bottom layer of the temporary storage mechanism to the transfer conveying track under the driving of the third pull rod driving unit.

[0195] In a possible implementation, the box transfer device can further comprise at least one lifting mechanism, which can not be one-to-one corresponding to the second box transfer mechanism, i.e., the lifting mechanism is used to transfer the boxes on the internal conveying tracks of different layers to the transfer conveying track. In a specific implementation, the box transfer device can comprise one lifting mechanism, and the positions of the boxes on the internal conveying tracks of different layers can be selected at will, and the second box transfer mechanism is arranged at the position of the box on each internal conveying track. The lifting mechanism can move in a two-dimensional scene coordinate to obtain the boxes on the internal conveying tracks of different layers and transfer the boxes to the transfer conveying track. Specifically, the first box transfer mechanism is configured to lift the plurality of boxes from the robot and transfer the plurality of boxes to the box conveying mechanism of different layers; the box conveying mechanism is configured to convey the boxes to the preset area corresponding to the box conveying mechanism of the layer; the second box transfer mechanism is configured to pick up the boxes in the preset area corresponding to the box conveying mechanism of the layer to the lifting mechanism; and the lifting mechanism is configured to transfer the boxes to the same transfer conveying track.

[0196] In summary, the box transfer device can transfer a plurality of boxes from the temporary storage mechanisms of different layers of the robot at a time, and can improve the box transfer efficiency and the carrying efficiency of the robot in the box storage and retrieval process in the scenario of accessing a plurality of boxes by the robot in the goods picking scenario.

[0197] The robot and the box transfer device are docked to transfer the boxes in the goods storage scenario as follows:

[0198] In a possible implementation, the box transfer device 12 can be configured to lift the boxes on the box conveying mechanisms of different layers and transfer the boxes to the temporary storage mechanisms of the robot.

[0199] The robot 11 can be configured to move to the box docking position to receive the boxes after the first box transfer mechanism lifts the boxes on the box conveying mechanisms of different layers.

[0200] Specifically, the controller can be configured to, in response to the second box transfer instruction, control each lifting mechanism to lift the boxes to a height same as that of the preset area corresponding to the second box transfer mechanism corresponding to the lifting mechanism, control each second box transfer mechanism corresponding to the lifting mechanism to transfer the boxes to the preset area corresponding to the second box transfer mechanism, control the box conveying mechanism of the corresponding layer to transfer the boxes to the box docking position of the layer, and control the first box transfer mechanism to transfer the boxes on the box conveying mechanism to the temporary storage mechanisms of different layers of the robot.

[0201] In specific implementation, the controller can be configured to, in response to the second bin transfer instruction, control each second driving unit to drive its corresponding second guide rail assembly to lift each second lifting fork to the same height as the height of the preset area corresponding to each second bin transfer mechanism of the lifting mechanism; then, control the first pull rod driving unit in each second bin transfer mechanism corresponding to the lifting mechanism to drive the first pull rod mechanism to extend and retract, so that the first shifting block hooks the bins on different second lifting forks to the internal conveying track in the bin conveying mechanism corresponding to each second bin transfer mechanism; then, control the driving unit of the internal conveying track in the bin conveying mechanism to drive the multi-cylinder to rotate, so that the multi-cylinder transfers the bins on different layers of internal conveying tracks to the bin docking position corresponding to the layer of internal conveying track; then, control the first driving unit in the first bin transfer mechanism to drive the first guide rail assembly, so that the plurality of first lifting forks lift the bins in the bin docking position, wait for the robot to move to the bin docking position, and then control the first driving unit in the first bin transfer mechanism to drive the first guide rail assembly, so that the plurality of first lifting forks retreat to the first initial position, so as to place the plurality of bins on the different layers of temporary storage mechanisms of the robot, respectively.

[0202] In specific implementation, the controller can be configured to, in response to the second bin transfer instruction, control the third bin transfer mechanism to transfer the bins on the intermediate conveying track to the bottom layer of temporary storage mechanism of the robot.

[0203] In specific implementation, the controller can be configured to, in response to the second bin transfer instruction, when the lifting mechanism 2261 is lifted, the gap between the intermediate conveying track 225 and the comb teeth of the temporary storage mechanism 114 can be used to pass through the intermediate conveying track 225 and the temporary storage mechanism 114, so as to lift the bins in the target area on the intermediate conveying track to the preset area; when the robot reaches the bin docking position, the pull rod transfer mechanism 2262 is controlled to hook the bins in the preset area of the lifting mechanism 2261 to the temporary storage mechanism of the bottom layer of the robot 11.

[0204] In a possible implementation, a plurality of layers of external conveying mechanisms can be provided, and a third bin transfer mechanism corresponding to the plurality of layers of external conveying mechanisms can also be provided.

[0205] Here, the second bin transfer instruction can be a bin transfer instruction generated when the bin arrives at a third preset area corresponding to the transfer conveying track; or, the second bin transfer instruction can also be a bin transfer instruction sent by the second sensor assembly (which can be the first sensor assembly) to the controller when the third preset area is detected to have a bin; or, the second bin transfer instruction can also be a bin transfer instruction issued by the cloud server. Here, the third preset area can be a preset area arranged on the transfer conveying track. The second bin transfer instruction can be selected according to a specific application scenario, and the present embodiment does not limit the selection of the sending subject. Without departing from the scope of the present disclosure, various alternatives and modifications can be made by those skilled in the art, and these alternatives and modifications shall fall within the scope of the present disclosure.

[0206] Here, the first sensor assembly and the second sensor assembly can be sensor assemblies capable of measuring distance, such as visual sensors or depth sensors, and the specific sensor type is not limited here.

[0207] In another possible implementation, the bin transfer device can include a third bin transfer mechanism, and the bin transfer device can be used to transfer the bin on the transfer conveying track to the corresponding layer temporary storage mechanism of the robot. The implementation process thereof can refer to the implementation process of the controller controlling the third bin transfer mechanism in the above-mentioned goods storage scenario, and will not be repeated here.

[0208] In another possible implementation, the bin transfer device can include a first bin transfer mechanism, a bin conveying mechanism, a second bin transfer mechanism, and a lifting mechanism, and the bin transfer device can be used to transfer the bin on the transfer conveying track to the corresponding layer temporary storage mechanism of the robot. The implementation process thereof can refer to the implementation process of the controller controlling the first bin transfer mechanism, the bin conveying mechanism, the second bin transfer mechanism, and the lifting mechanism in the above-mentioned goods storage scenario, and will not be repeated here.

[0209] In summary, the bin transfer device can be used to transfer multiple bins from the outside at one time and place them on the different layer temporary storage mechanisms of the robot, and for the scenario of the robot accessing multiple bins in the goods picking scenario, the bin transfer efficiency can be improved, and the carrying efficiency of the robot in the bin access process can be improved.

[0210] Based on the concept of the above-mentioned system, the present embodiment also provides a bin transfer device, which can be considered to include the bin transfer device 12 in the above-mentioned implementation. The structure of the bin transfer device can refer to Figures 2-9 illustrated, and the repeated parts will not be repeated here.

[0211] When the robot 11 takes the bin from the bin docking position of the bin transfer device, first, the first lifting fork of the bin transfer device lifts the bin on the multi-layer bin conveying mechanism, then the robot 11 moves to the bin docking position, and the temporary storage mechanism 114 of the robot 11 is located below the first lifting fork, at this time, the bin is located above the temporary storage mechanism 114, and the bin can be aligned under the guidance of the guide assembly 116 of the robot 11; then the first lifting fork moves downward, passes through the comb tooth gap of the temporary storage mechanism 114, and the bin falls on the temporary storage mechanism 114 under the guidance of the stand edge 1141 folding part 1142.

[0212] Based on the above system concept, the embodiment of the present disclosure provides a bin transfer system, which comprises the above-mentioned robot and bin transfer device. Through the cooperation of the robot and the transfer mechanism in the bin transfer device, the bins originally located on different temporary storage mechanisms can be simultaneously transferred to the corresponding internal conveying tracks, or the bins on different internal conveying tracks can be transferred to the corresponding temporary storage mechanisms of the robot, in the process of the transfer mechanism passing through the gap of the temporary storage mechanism of the robot.

[0213] In an embodiment of the present disclosure, the bins on different temporary storage mechanisms of the robot are selected from shelves. Correspondingly, the bin transfer system of the present disclosure comprises at least one shelf, and a plurality of bins are stored on the at least one shelf. The robot can select the required bins from different positions of the shelf according to the preset operation instructions, and place them on different temporary storage mechanisms one by one.

[0214] Correspondingly, the robot can also place the bins on different temporary storage mechanisms on the corresponding positions of the corresponding temporary storage shelves through the bin taking and returning assembly thereof.

[0215] In an embodiment of the present disclosure, the bin transfer system comprises an external conveying line, a first bin transfer device, a second bin transfer device, and at least one robot 11. The transfer conveying track in the first bin transfer device is connected with the input end of the external conveying line; the transfer conveying track in the second bin transfer device is connected with the output end of the external conveying line. The first bin transfer mechanism of the first bin transfer device is configured to transfer the bins on different temporary storage mechanisms of the robot at the bin docking position to the corresponding internal conveying tracks; the first bin transfer mechanism of the second bin transfer device is configured to transfer the bins on different internal conveying tracks to the corresponding temporary storage mechanisms of the robot.

[0216] Specifically, the robot 11 is configured to move to a first bin docking position or a second bin docking position. The first bin docking position is a position where the robot 11 transfers bins with the first bin transfer device, and the second bin docking position is a position where the robot 11 transfers bins with the second bin transfer device. The bin transfer system can also include at least two robots 11, wherein at least one robot 11 is configured to move to the first bin docking position, and at least one robot is configured to move to the second bin docking position. The robot 11 can be the robot in the system described above.

[0217] The first bin transfer device is configured to transfer the plurality of bins on the different temporary storage mechanisms 114 of the robot 11 that move to the first bin docking position to the intermediate conveying track, and the intermediate conveying track conveys the bins to the external conveying line. The bins on the external conveying line are subjected to corresponding operations. The external conveying line can be a picking line of bins in logistics, a packaging line, etc., and the application scenarios thereof will not be described in detail here.

[0218] After the bins on the external conveying line are subjected to corresponding processing, they need to be transferred to the shelves for storage. Therefore, the bins on the external conveying line are conveyed to the intermediate conveying track of the second bin transfer device. Then, the bins on the intermediate conveying track are transferred to the different temporary storage mechanisms 114 of the robot 11 located at the second bin docking position by the corresponding mechanism in the second bin transfer device. The robot 114 then places the bins on the different temporary storage mechanisms to the corresponding positions of the corresponding shelves for storage according to the preset instructions.

[0219] Based on the bin transfer device in the bin transfer system described above, the embodiments of the present disclosure also provide a bin transfer method, and the execution subject of the method is a controller that also includes a bin transfer device.

[0220] The bin transfer device includes an intermediate conveying track; the robot is provided with a plurality of temporary storage mechanisms, and the temporary storage mechanisms are used to temporarily store bins;

[0221] In response to a first bin transfer instruction, the plurality of bins on the different layers of the temporary storage mechanisms of the robot are transferred to the same intermediate conveying track; or,

[0222] In response to a second bin transfer instruction, the plurality of bins on the same intermediate conveying track are transferred to the different layers of the temporary storage mechanisms of the robot.

[0223] In an alternative embodiment, the bin transfer device includes a plurality of internal conveying tracks;

[0224] The transferring of the plurality of bins on the different layers of the temporary storage mechanisms of the robot to the same intermediate conveying track includes:

[0225] Based on the first bin transfer instruction, the plurality of bins on the robot different layer temporary storage mechanism is transferred to the preset area corresponding to the internal conveying track of the corresponding layer;

[0226] The bins at the preset area corresponding to the internal conveying track of different layers are transferred to the same transfer conveying track.

[0227] In an optional embodiment, the bin transfer device comprises at least one first bin transfer mechanism, a plurality of bin conveying mechanisms, a second bin transfer mechanism corresponding to each bin conveying mechanism, and a lifting mechanism corresponding to each second bin transfer mechanism;

[0228] The plurality of bins on the robot different layer temporary storage mechanism is transferred to the same transfer conveying track, comprising:

[0229] Based on the first bin transfer instruction, the first bin transfer mechanism is controlled to lift the plurality of bins from the robot and transfer them to the bin conveying mechanism of different layers;

[0230] Each bin conveying mechanism is controlled to drive the bin to the preset area corresponding to the bin conveying mechanism of the layer; wherein the projections of the preset areas corresponding to the bin conveying mechanisms of different layers on the horizontal plane do not overlap;

[0231] The second bin transfer mechanism corresponding to each bin conveying mechanism is controlled respectively to pick up the bin from the bin conveying mechanism to the lifting mechanism corresponding to the second bin transfer mechanism; wherein the projections of different second bin transfer mechanisms on the horizontal plane do not overlap;

[0232] The lifting mechanism is controlled respectively to transfer the bin to the same transfer conveying track.

[0233] In an optional embodiment, the first bin transfer mechanism comprises a plurality of first lifting forks; the first lifting forks are comb-shaped mechanisms; the bin conveying mechanism is a comb-shaped mechanism; the comb-shaped mechanism comprises comb teeth; the projections of the comb teeth of the temporary storage mechanism and the comb teeth of the first lifting forks on the horizontal plane do not overlap; the projections of the comb teeth of the first lifting forks and the comb teeth of the bin conveying mechanism on the horizontal plane do not overlap.

[0234] In an optional embodiment, the first bin transfer mechanism comprises a first driving unit and a first guide rail assembly; the first driving unit is connected with the first guide rail assembly; the plurality of first lifting forks are slidingly assembled on the first guide rail assembly; each bin conveying mechanism corresponds to a first lifting fork;

[0235] The control of the first magazine transfer mechanism lifting the plurality of magazines from the robot and transferring to the magazine conveying mechanism of different layers includes:

[0236] The control of the first driving unit driving the first guide assembly to rotate and drive the first lifting fork to move in the vertical direction to lift the plurality of magazines on the temporary storage mechanism of different layers of the robot;

[0237] The control of the first driving unit driving the first guide assembly to rotate and drive the first lifting fork to move in the vertical direction to the first initial position to transfer the plurality of magazines to the magazine conveying mechanism of different layers; wherein the height of the first initial position of the first lifting fork is lower than the height of the surface of the magazine conveying mechanism of the corresponding layer for placing the magazine.

[0238] In an optional embodiment, the magazine conveying mechanism includes an internal conveying track and a conveying track driving unit; the magazine transfer device includes at least one limiting block;

[0239] The control of each layer of the magazine conveying mechanism driving the magazine to the corresponding preset area of the magazine conveying mechanism of the layer includes:

[0240] The control of each layer of the conveying track driving unit driving the internal conveying track and driving the magazine to the preset area of the magazine limited by the limiting block of the corresponding layer.

[0241] In an optional embodiment, the second magazine transfer mechanism includes a first pull rod driving unit, a first pull rod mechanism and a first shifting block; the second magazine transfer mechanism is fixedly assembled on the corresponding lifting mechanism; the first shifting block is installed at one end of the first pull rod mechanism; the first pull rod driving unit is installed at the other end of the first pull rod mechanism;

[0242] The control of each layer of the magazine conveying mechanism driving the magazine to the preset area of the magazine conveying mechanism of the layer includes:

[0243] The control of each layer of the magazine conveying mechanism driving the magazine to the preset area of the magazine conveying mechanism of the layer includes:

[0244] In an optional embodiment, the lifting mechanism includes a second driving unit, a second guide assembly and a second lifting fork; the second driving unit is connected with the second guide assembly; the second lifting fork is slidingly assembled on the second guide assembly;

[0245] The second lifting fork is a comb mechanism; the projection of the comb teeth of the second lifting fork on the horizontal plane of the comb teeth of the magazine conveying mechanism does not overlap;

[0246] The separately controlling the lifting mechanism to transfer the magazines to the same transfer conveying track comprises:

[0247] The separately controlling the second driving unit to drive the second guide rail assembly to rotate and drive the second lifting fork to move in the vertical direction to transfer the magazines to the same transfer conveying track.

[0248] In an alternative embodiment, the magazine transfer device comprises at least one first magazine transfer mechanism, a multi-layer magazine conveying mechanism, a second magazine transfer mechanism corresponding to each layer of the magazine conveying mechanism, a lifting mechanism corresponding to each second magazine transfer mechanism, and a third magazine transfer mechanism;

[0249] The transferring the plurality of magazines on the different layers of the robot temporary storage mechanism to the same transfer conveying track comprises:

[0250] Based on the first magazine transfer instruction, the first magazine transfer mechanism is controlled to transfer the magazines on the robot temporary storage mechanism except the bottom layer to the corresponding layer of the magazine conveying mechanism;

[0251] The magazine conveying mechanism of each layer is controlled to drive the magazine to the preset area corresponding to the magazine conveying mechanism of the layer;

[0252] The second magazine transfer mechanism corresponding to each layer of the magazine conveying mechanism is separately controlled to pick up the magazine from the magazine conveying mechanism to the lifting mechanism corresponding to the second magazine transfer mechanism;

[0253] The lifting mechanism is separately controlled to transfer the magazine to the same transfer conveying track;

[0254] The third magazine transfer mechanism is controlled to transfer the magazine on the bottom layer of the robot temporary storage mechanism to the transfer conveying track.

[0255] In an alternative embodiment, the third magazine transfer mechanism comprises a lifting mechanism; the lifting mechanism is a comb mechanism; the transfer conveying track is a comb mechanism; the comb mechanism comprises comb teeth;

[0256] The comb teeth of the temporary storage mechanism and the comb teeth of the lifting mechanism do not overlap in the horizontal plane;

[0257] The comb teeth of the lifting mechanism and the comb teeth of the transfer conveying track do not overlap in the horizontal plane.

[0258] In an alternative embodiment, the transferring of the plurality of containers on the same intermediate conveying track to the different layer temporary storage mechanisms of the robot comprises:

[0259] controlling each lifting mechanism to lift the container to the same height of the preset area corresponding to the second container transferring mechanism corresponding to the lifting mechanism based on the second container transferring instruction;

[0260] controlling each second container transferring mechanism corresponding to the lifting mechanism to transfer the container to the preset area corresponding to the second container transferring mechanism;

[0261] controlling the container conveying mechanism of the corresponding layer to transfer the container to the layer container docking position;

[0262] controlling the first container transferring mechanism to transfer the container on the container conveying mechanism to the different layer temporary storage mechanisms of the robot.

[0263] In an alternative embodiment, the transferring of the plurality of containers on the same intermediate conveying track to the different layer temporary storage mechanisms of the robot comprises:

[0264] controlling each lifting mechanism to lift the container to the same height of the preset area corresponding to the second container transferring mechanism corresponding to the lifting mechanism based on the second container transferring instruction;

[0265] controlling each second container transferring mechanism corresponding to the lifting mechanism to transfer the container to the preset area corresponding to the second container transferring mechanism;

[0266] controlling the container conveying mechanism of the corresponding layer to transfer the container to the layer container docking position;

[0267] controlling the first container transferring mechanism to transfer the container on the container conveying mechanism to the different layer temporary storage mechanisms of the robot except the temporary storage mechanism of the bottom layer;

[0268] controlling the third container transferring mechanism to transfer the container on the target area of the intermediate conveying track to the temporary storage mechanism of the bottom layer of the robot.

[0269] In an alternative embodiment, the container transferring device comprises at least one first container transferring mechanism, a plurality of layers of container conveying mechanisms, a second container transferring mechanism corresponding to each layer of the container conveying mechanism, and at least one lifting mechanism;

[0270] The transferring of the plurality of containers on the different layer temporary storage mechanisms of the robot to the same intermediate conveying track comprises:

[0271] Based on the first magazine transfer instruction, the first magazine transfer mechanism is controlled to lift the plurality of magazines from the robot and transfer them to the magazine conveying mechanism of a different layer;

[0272] The magazine conveying mechanism of each layer is controlled to transfer the magazine to the preset area corresponding to the magazine conveying mechanism of the layer;

[0273] The second magazine transfer mechanism corresponding to the magazine conveying mechanism of each layer is controlled to pick up the magazine from the magazine conveying mechanism to the lifting mechanism corresponding to the second magazine transfer mechanism;

[0274] The lifting mechanism is controlled to transfer the magazine to the same transfer conveying track.

[0275] The present disclosure provides a magazine transfer method, applied to the robot and the first magazine transfer device, comprising the following steps:

[0276] Step S1000, the robot moves to the magazine docking position of the first magazine transfer device through the temporary storage mechanism;

[0277] Before this step S1000, there is also a step of the robot picking up the magazine from the shelf. That is, the robot can pick up the magazine at the corresponding position from different shelves one by one according to the corresponding control instruction and place it on the different temporary storage mechanisms.

[0278] The robot moves to the docking position of the first magazine transfer device and makes the different temporary storage mechanisms of the robot located at the magazine docking position of the different internal conveying tracks of the first magazine transfer device.

[0279] Step S2000, in response to the instruction that the temporary storage mechanism of the robot reaches the magazine docking position, the first driving unit of the first magazine transfer device drives the first magazine transfer mechanism to move from the first position to the second position, and the first magazine transfer mechanism passes through the gap of the temporary storage mechanism to lift the magazine on the temporary storage mechanism;

[0280] In this step, the magazines on different temporary storage mechanisms are lifted by the first magazine transfer mechanism at the same time.

[0281] Step S3000, the robot moves to make the temporary storage mechanism leave the magazine docking position of the first magazine transfer device;

[0282] After receiving the control instruction, the robot leaves the magazine position of the first magazine transfer device, so that the first magazine transfer mechanism and the magazine on the first magazine transfer mechanism can directly fall down.

[0283] Step S4000, in response to the instruction of the robot temporary storage mechanism leaving, the first driving unit of the first magazine transfer device drives the first magazine transfer mechanism to move from the second position to the first position, and drops the magazine on the first magazine transfer mechanism on the internal conveying track.

[0284] When the robot leaves the magazine position of the first magazine transfer device, the first driving unit drives the first magazine transfer mechanism to move to the first position, and when the first magazine transfer mechanism falls below the end face of the internal conveying track, the magazine falls on the internal conveying track. Thus, the simultaneous transfer of multiple magazines on the robot to different internal conveying tracks of the first magazine transfer device is completed.

[0285] In an embodiment of the present disclosure, the first magazine transfer device comprises a transfer conveying track, and further comprises a second magazine transfer mechanism corresponding to a preset area of the internal conveying track, and a lifting mechanism corresponding to the second magazine transfer mechanism; after step S4000, the method further comprises:

[0286] Step S5000, the internal conveying track drives the magazine located in the magazine docking position to the preset area;

[0287] The internal conveying track can drive the magazine located thereon through a corresponding driving mechanism until it is conveyed to the preset area.

[0288] Step S6000, in response to the signal that the magazine reaches the preset area, the second magazine transfer mechanism hooks the magazine located in the preset area of the internal conveying track to the lifting mechanism; the lifting mechanism transfers the magazine to the transfer conveying track;

[0289] When the magazine is conveyed to the preset area on the internal conveying track, the second magazine transfer mechanism hooks the magazine on the internal conveying track to the lifting mechanism, and the lifting mechanism is lowered, thereby allowing the magazine on the lifting mechanism to fall on the transfer conveying track.

[0290] Each layer of internal conveying track corresponds to a group of second magazine transfer mechanisms and lifting mechanisms, and the projection of the preset area of each layer of internal conveying track on the horizontal plane does not overlap, which allows the magazines on each layer of internal conveying track to be transferred to the transfer conveying track simultaneously or controlled individually without affecting each other.

[0291] Step S7000, the transfer conveying track conveys the magazine to the external conveying line.

[0292] The transfer conveying track is connected to the external conveying line, and through the driving of the corresponding driving mechanism, the magazine can be directly conveyed to the external conveying line for corresponding operations on the external conveying line.

[0293] In one embodiment of the material box transferring method of the present disclosure, the second material box transferring device is further included, and the method comprises the following steps:

[0294] In step S4000', the first driving unit of the second material box transferring device drives the first material box transferring mechanism to move from the first position to the second position, and the first material box transferring mechanism lifts the material box located on the material box docking position of the internal conveying track during the movement.

[0295] This step is opposite to the action of step S4000 described above, that is, the material box is located on the internal conveying track, and when the first material box transferring mechanism moves from the first position to the second position, the first material box transferring mechanism lifts the material box and moves to the second position.

[0296] In step S5000', the robot moves to make the temporary storage mechanism of the robot enter the material box docking position of the second material box transferring device.

[0297] The temporary storage mechanism of the robot enters the material box docking position of the second material box transferring device, that is, between the internal conveying track of the corresponding layer and the first material box transferring mechanism.

[0298] In step S6000', in response to the instruction that the temporary storage mechanism of the robot reaches the material box docking position, the first driving unit of the second material box transferring device drives the first material box transferring mechanism to move from the second position to the first position, and the first material box transferring mechanism passes through the gap of the temporary storage mechanism of the robot, and the material box located on the first material box transferring mechanism falls on the temporary storage mechanism of the robot.

[0299] In step S7000', the robot moves to make the temporary storage mechanism of the robot leave the material box docking position of the second material box transferring device.

[0300] At this time, the temporary storage mechanism of the robot temporarily stores the material box, so that the material box can be conveyed to a predetermined position for storage.

[0301] In one embodiment of the material box transferring method of the present disclosure, the second material box transferring device comprises a transfer conveying track, and further comprises a second material box transferring mechanism corresponding to a predetermined area of the internal conveying track, and a lifting mechanism corresponding to the second material box transferring mechanism; before step S4000', the method further comprises:

[0302] In step S1000', the transfer conveying track of the second material box transferring device conveys the material box from the external conveying line to the predetermined area.

[0303] The external conveying line is docked with the transfer conveying track of the second material box transferring device, so that the material box can be directly conveyed from the external conveying line to the transfer conveying track of the second material box transferring device after being processed on the external conveying line.

[0304] Step S2000', in response to the signal that the bin reaches the preset area, the lifting mechanism of the second bin transfer device lifts the bin on the transfer conveying track to the position corresponding to the internal conveying track; the second bin transfer mechanism of the second bin transfer device pushes the bin on the lifting mechanism to the preset area of the internal conveying track;

[0305] When the bin is conveyed to the preset area of the transfer conveying track, the lifting mechanism moves from the first position to the second position, and in the lifting process of the lifting mechanism, the bin on the transfer conveying track is lifted to the position of the internal conveying track of the corresponding layer. At this time, the bin on the lifting mechanism can be pushed to the preset area of the internal conveying track by the second bin transfer mechanism.

[0306] Step S3000', the internal conveying track of the second bin transfer device conveys the bin in the preset area to the bin docking position.

[0307] In an embodiment of the bin transfer method of the present disclosure, after step S7000', the method further comprises:

[0308] The robot stores the bins on different temporary storage mechanisms in the corresponding positions of at least one shelf through the take-and-return bin assembly.

[0309] After the temporary storage mechanism of the robot receives the bins from the second bin transfer device, the bins on different temporary storage mechanisms can be transferred to the corresponding positions of the shelves according to the preset instructions. The bins on different temporary storage mechanisms of the same robot can need to be stored in one shelf or different shelves, which will not be described in detail here.

[0310] The above description is only a preferred specific implementation of the embodiments of the present disclosure, these specific implementations are different implementations based on the overall concept of the embodiments of the present disclosure, and the protection scope of the embodiments of the present disclosure is not limited to this, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the embodiments of the present disclosure, which should be covered within the protection scope of the embodiments of the present disclosure.

Claims

1. A magazine transfer device characterized by, The box docking station comprises: at least two internal conveying tracks configured to convey the boxes in the box docking station to respective preset areas or convey the boxes in the preset areas to the box docking station; a first box transfer mechanism corresponding to the box docking station of the internal conveying tracks, the first box transfer mechanism being controlled by a first driving unit to reciprocate between a first position and a second position of the box docking station; when in the first position, the first box transfer mechanism is at a height lower than that of the internal conveying tracks; when in the second position, the first box transfer mechanism is configured to lift the boxes to above the temporary storage mechanism; further comprising a second box transfer mechanism corresponding to the preset areas of the internal conveying tracks, and a lifting mechanism corresponding to the second box transfer mechanism; the second box transfer mechanism is configured to pick up the boxes on the corresponding internal conveying tracks to the corresponding lifting mechanism; the lifting mechanism is configured to transfer the boxes to the same intermediate conveying track; or the lifting mechanism is configured to lift the boxes from the intermediate conveying track to a position corresponding to the internal conveying tracks; the second box transfer mechanism is configured to push the boxes on the lifting mechanism to the corresponding internal conveying tracks; further comprising a sensor configured to detect whether the boxes reach the preset areas.

2. The magazine transfer device of claim 1, wherein, The first box transfer mechanism comprises a first lifting fork.

3. The magazine transfer device of claim 2, wherein, The first lifting fork is a comb mechanism; the combs of the first lifting fork do not overlap with the projections of the rollers of the internal conveying tracks on the horizontal plane.

4. The magazine transfer device of claim 2, wherein, The number of the first lifting forks corresponds to the number of the internal conveying tracks; the first box transfer mechanism further comprises a first guide rail assembly; each first lifting fork is arranged on the first guide rail assembly; The first guide rail assembly is configured to drive each first lifting fork to move in the vertical direction to lift the boxes on the corresponding layer of the box docking station under the drive of the first driving unit.

5. The magazine transfer device of claim 1, wherein, The box docking station of the box transfer device is provided with two, respectively at both ends of the internal conveying tracks; the first box transfer mechanism is provided with two, respectively corresponding to the box docking station of the box transfer device.

6. The magazine transfer device of claim 1, wherein, The box transfer device further comprises at least one limiting block; the limiting block is configured to limit the boxes moving on the internal conveying tracks to the preset area position.

7. The magazine transfer device of claim 6, wherein, Each limiting block is provided with the sensor; the limiting block is configured to be lifted to a preset height when the sensor detects that the boxes reach the preset area, so as to limit the boxes to the preset area on the internal conveying tracks corresponding to the limiting block.

8. The magazine transfer device of claim 7, wherein, At least two limiting blocks are provided at the preset area of each internal conveying track; at least two limiting blocks are configured to block the opposite sides of the boxes respectively; or are configured to block the boxes from different directions respectively.

9. The magazine transfer device of claim 1, wherein, The second box transfer mechanism comprises a first pull rod mechanism, a first shifting block and a first pull rod driving unit; The first shifting block is installed at one end of the first pull rod mechanism; The first pull rod mechanism is configured to, under the driving of the first pull rod driving unit, drive the first shifting block to hook the material box on the internal conveying track to the corresponding lifting mechanism.

10. The magazine transfer device of claim 9, wherein, The second material box transferring mechanism includes a first pushing block arranged on the first pull rod mechanism, and the first pull rod mechanism is configured to, under the driving of the first pull rod driving unit, drive the first pushing block to push the material box on the lifting mechanism to the corresponding internal conveying track.

11. The magazine transfer device of claim 1, wherein, The lifting mechanism includes a second driving unit and a second lifting fork slidingly arranged on the material box transferring device; The second driving unit is configured to drive the second lifting fork to move in the vertical direction to below the transfer conveying track, so as to transfer the material box on the lifting mechanism to the transfer conveying track; or drive the second lifting fork to move in the vertical direction to above the transfer conveying track, so as to transfer the material box on the transfer conveying track to the lifting mechanism.

12. The magazine transfer device of claim 1, wherein, The second material box transferring mechanism and the lifting mechanism are arranged at least two, respectively corresponding to each layer of the internal conveying track, and the projection of each second material box transferring mechanism and each lifting mechanism on the horizontal plane does not overlap. The second material box transferring mechanism is configured to hook the material box on the corresponding internal conveying track to the corresponding lifting mechanism, or push the material box on the lifting mechanism to the corresponding internal conveying track.

13. The magazine transfer device of claim 1, wherein, The transfer conveying track is located in the internal conveying track, and the first material box transferring mechanism corresponding to the transfer conveying track is arranged. When located at the first position, the height of the first material box transferring mechanism is lower than the height of the transfer conveying track. When located at the second position, the first material box transferring mechanism is configured to lift the material box to above the temporary storage mechanism.

14. The magazine transfer device of claim 1, wherein, The transfer conveying track is located in the internal conveying track; and the third material box transferring mechanism is configured to transfer the material box on the corresponding temporary storage mechanism of the robot to the transfer conveying track, or transfer the material box on the transfer conveying track to the corresponding temporary storage mechanism of the robot.

15. The magazine transfer device of claim 14, wherein, The third material box transferring mechanism includes a lifting mechanism and a pull rod transferring mechanism; the lifting mechanism has a first position and a second position. When located at the first position, the height of the lifting mechanism is lower than the height of the transfer conveying track. When located at the second position, the lifting mechanism is configured to lift the material box. The pull rod transferring mechanism is configured to transfer the material box on the lifting mechanism to the area above the corresponding transfer conveying track along the lifting mechanism. Or, the pull rod transferring mechanism is configured to push the material box above the transfer conveying track on the lifting mechanism to the position corresponding to above the temporary storage mechanism of the robot along the lifting mechanism.

16. The magazine transfer device of claim 15, wherein, The pull rod transferring mechanism includes a second pull rod mechanism, a second shifting block, and a second pull rod driving unit. The second shifting block is mounted on one end of the second pull rod mechanism. The second pull rod mechanism is configured to, under the driving of the second pull rod driving unit, drive the second shifting block to transfer the material box on the lifting mechanism from the position above the corresponding temporary storage mechanism to the position corresponding to the transfer conveying track along the lifting mechanism.

17. The magazine transfer device of claim 16, wherein, The pull rod transferring mechanism includes a second pushing block arranged on the second pull rod mechanism. The second pull rod mechanism is configured to drive the second push block to push the lifting mechanism to move the feeding box from a position above the corresponding transfer track to a position corresponding to the robot temporary storage mechanism under the driving of the second pull rod driving unit.

18. The magazine transfer device of claim 14, wherein, The transfer track is located at the bottom layer of the feeding box transfer device.

19. A magazine transfer system characterized by, The feeding box transfer device according to any one of claims 1 to 18, and a robot; The robot comprises at least two temporary storage mechanisms; the first feeding box transfer mechanism of the feeding box transfer device is configured to transfer the feeding boxes on the different temporary storage mechanisms of the robot at the feeding box docking position to the corresponding internal conveying tracks; or transfer the feeding boxes on the different internal conveying tracks to the corresponding temporary storage mechanisms of the robot.

20. The magazine transfer system of claim 19, wherein, The robot further comprises at least one shelf, and the robot comprises a feeding box picking and returning assembly, and the robot is configured to drive the feeding boxes picked by the feeding box picking and returning assembly from the at least one shelf to the different temporary storage mechanisms one by one; or The robot is configured to transfer the feeding boxes on the different temporary storage mechanisms to the corresponding positions of the at least one shelf for storage through the feeding box picking and returning assembly.

21. A magazine transfer system according to claim 19 or 20, characterised in that, The feeding box transfer device comprises a first feeding box transfer device and a second feeding box transfer device; and further comprises an external conveying line, and the transfer track in the first feeding box transfer device is connected to the input end of the external conveying line; The transfer track in the second feeding box transfer device is connected to the output end of the external conveying line. The first feeding box transfer mechanism of the first feeding box transfer device is configured to transfer the feeding boxes on the different temporary storage mechanisms of the robot at the feeding box docking position to the corresponding internal conveying tracks; The first feeding box transfer mechanism of the second feeding box transfer device is configured to transfer the feeding boxes on the different internal conveying tracks to the corresponding temporary storage mechanisms of the robot.

22. The magazine transfer system of claim 21, wherein, The external conveying line is a feeding box picking line or a packaging line.

23. The magazine transfer system of claim 19, wherein, The robot comprises: a chassis assembly; a portal assembly arranged on the chassis assembly; a feeding box picking and returning assembly controlled by the lifting assembly to move up and down along the portal assembly; at least two temporary storage mechanisms connected to the portal assembly; the temporary storage mechanism is provided with a gap through which the corresponding transfer mechanism in the feeding box transfer device passes to lift the feeding box on the corresponding temporary storage mechanism, or through which the corresponding transfer mechanism in the feeding box transfer device passes to drop the feeding box on the corresponding transfer mechanism onto the corresponding temporary storage mechanism.

24. The magazine transfer system of claim 23, wherein: The gap extends from the free end position of the temporary storage mechanism to the opposite end of the temporary storage mechanism.

25. The magazine transfer system of claim 23, wherein: The gap is one, and the temporary storage mechanism has a U-shaped structure; or the gap is at least two, and the temporary storage mechanism has a comb-shaped structure.

26. The magazine transfer system of claim 23, wherein, A corresponding position above each layer of the temporary storage mechanism on the portal assembly is further provided with a guide assembly, and the guide assembly has an opening area and is configured to position the feeding box to be transported onto the corresponding temporary storage mechanism.

27. The magazine transfer system of claim 26, wherein, The guide assembly comprises two spaced guide rods, and the distance between the two guide rods corresponds to the size of the feeding box.

28. The magazine transfer system of claim 27, wherein, The free ends of the two guide rods respectively extend outward to form a flared structure.

29. The magazine transfer system of claim 26, wherein, The guide assembly is installed on the portal assembly in a height-adjustable manner.

30. The magazine transfer system of any one of claims 23 to 29, wherein, The temporary storage mechanism comprises a bottom plate and a vertical edge connected to the bottom plate and extending upward, and the vertical edge and the bottom plate form a tray structure for temporarily storing the containers.

31. The magazine transfer system of claim 30, wherein, The upper end of the vertical edge is respectively outwardly inclined to form a flared structure.

32. A container transfer method, performed by a robot and a first container transfer device, the robot comprising: a chassis assembly; a gantry assembly arranged on the chassis assembly; a container picking and returning assembly controlled by the lifting assembly to move up and down along the gantry assembly; at least two temporary storage mechanisms connected to the gantry assembly; the temporary storage mechanism is provided with a gap through which a corresponding transfer mechanism in the container transfer device passes to lift a container on the corresponding temporary storage mechanism, or through which a corresponding transfer mechanism in the container transfer device passes to drop a container on the corresponding transfer mechanism on the corresponding temporary storage mechanism; The first container transfer device adopts the container transfer device according to any one of claims 1 to 18, characterized by comprising the following steps: Step S1000, the robot moves to make its temporary storage mechanism enter the container docking position of the first container transfer device; Step S2000, in response to the instruction that the temporary storage mechanism of the robot reaches the container docking position, the first driving unit of the first container transfer device drives the first container transfer mechanism to move from the first position to the second position, and the first container transfer mechanism passes through the gap of the temporary storage mechanism of the robot to lift the container on the temporary storage mechanism; Step S3000, the robot moves to make its temporary storage mechanism leave the container docking position of the first container transfer device; Step S4000, in response to the instruction that the temporary storage mechanism of the robot leaves, the first driving unit of the first container transfer device drives the first container transfer mechanism to move from the second position to the first position, and drops the container on the first container transfer mechanism on the internal conveying track.

33. The magazine transfer method of claim 32, wherein, The first container transfer device comprises a transfer conveying track, and further comprises a second container transfer mechanism corresponding to a preset area of the internal conveying track, and a lifting mechanism corresponding to the second container transfer mechanism; After the step S4000, further comprising: Step S5000, the internal conveying track drives the container on the container docking position to the preset area; Step S6000, in response to the signal that the container reaches the preset area, the second container transfer mechanism hooks the container on the internal conveying track preset area to the lifting mechanism; the lifting mechanism transfers the container to the transfer conveying track; Step S7000, the transfer conveying track conveys the container to the external conveying line.

34. The magazine transfer method of claim 32, wherein, Before step S1000, further comprising: The robot picks containers from at least one shelf through the container picking and returning assembly thereof, and temporarily stores them one by one in different temporary storage mechanisms thereof.

35. The magazine transfer method of claim 32, further comprising a second magazine transfer device employing the magazine transfer device of any one of claims 1 to 18, wherein, Comprising the following steps: Step S4000', the first driving unit of the second container transfer device drives the first container transfer mechanism to move from the first position to the second position, and the first container transfer mechanism lifts the container on the container docking position of the internal conveying track; Step S5000', the robot moves to make its temporary storage mechanism enter the bin docking position of the second bin transfer device; Step S6000', in response to the instruction that the temporary storage mechanism of the robot reaches the bin docking position, the first driving unit of the second bin transfer device drives the first bin transfer mechanism to move from the second position to the first position, and in the process, the first bin transfer mechanism passes through the gap of the temporary storage mechanism of the robot, and the bin located on the first bin transfer mechanism falls on the temporary storage mechanism of the robot; Step S7000', the robot moves to make its temporary storage mechanism leave the bin docking position of the second bin transfer device.

36. The magazine transfer method of claim 35, wherein, The second bin transfer device comprises a transfer conveying track, and further comprises a second bin transfer mechanism corresponding to the preset area of the internal conveying track, and a lifting mechanism corresponding to the second bin transfer mechanism; Before the step S4000', further comprising: Step S1000', the transfer conveying track of the second bin transfer device conveys the bin from the external conveying line to the preset area; Step S2000', in response to the signal that the bin reaches the preset area, the lifting mechanism of the second bin transfer device lifts the bin located on the transfer conveying track to a position corresponding to the internal conveying track; the second bin transfer mechanism of the second bin transfer device pushes the bin located on the lifting mechanism to the preset area of the internal conveying track; Step S3000', the internal conveying track of the second bin transfer device conveys the bin located in the preset area to the bin docking position.

37. The magazine transfer method of claim 36, wherein, After the step S7000', further comprising: The robot stores the bins on different temporary storage mechanisms to the corresponding positions of at least one shelf through the bin taking and returning assembly.

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