Material handling system

Abstract

This invention provides a material handling system. The system includes a server, a transport vehicle, and a pick-and-place device. The server issues task instructions to the transport vehicle and the pick-and-place device. The pick-and-place device retrieves a box from multiple stacked boxes according to the task instructions issued by the server and places it on the transport vehicle. The transport vehicle then moves the box to the pick-and-place device according to the task instructions issued by the server. This invention solves the problem in related technologies of difficulty in retrieving goods from directly stacked boxes or cargo.

Description

Technical Field

[0001] This invention relates to the field of warehousing technology, and more specifically to a material handling system. Background Technology

[0002] Currently, warehouses typically use shelving to store goods. Shelving can be set up in a multi-level manner to store goods or boxes containing goods on different levels. However, using shelving has the problems of long installation and implementation cycles and high costs. On the other hand, if goods or boxes are stacked directly without shelving, it may be difficult to retrieve them, as it is usually difficult to retrieve goods from directly stacked boxes or goods. Summary of the Invention

[0003] This invention provides a handling system to solve the problem in related technologies of difficulty in retrieving goods from directly stacked bins or cargo.

[0004] To solve the above-mentioned technical problems, the present invention is implemented as follows:

[0005] The material handling system provided by the present invention includes: a server, a handling vehicle, and a picking and placing device; the server is used to issue task instructions to the handling vehicle and the picking and placing device; the picking and placing device is used to take out a box to be picked from multiple stacked boxes according to the task instructions issued by the server and place it on the handling vehicle; the handling vehicle is used to reach the picking and placing device and pick up the box to be picked according to the task instructions issued by the server.

[0006] Optionally, a passageway is provided below the picking and placing device for the passageway to pass through. The passageway moves to the passageway below the picking and placing device according to the task instructions issued by the server. The server controls the picking and placing device to place the retrieved material box onto the passageway when the passageway passes through the passageway. The passageway remains in motion while receiving the material box.

[0007] Optionally, the picking and placing device includes a fork-tooth type pallet for placing the material box, the pallet being disposed above the channel; the top of the transport vehicle is provided with a fork-tooth type picking device adapted to the pallet;

[0008] After the picking and placing device controls the picking mechanism to place the retrieved bin onto the pallet, the server controls the transport vehicle to enter the channel. As the transport vehicle travels in the channel, the fork-type picking device cooperates with the fork-type pallet to transfer the bin from the pallet to above the fork-type picking device.

[0009] Optionally, the fork-type picking device includes a plurality of spaced-apart second forks, the interval between adjacent second forks being able to accommodate the first forks of the fork-type pallet;

[0010] The fork-type picking device also includes baffles, each of which extends upward along the second fork.

[0011] As the transport vehicle passes through the channel of the pick-and-place device, the second fork passes through the gap between the adjacent first fork, and the baffle pushes the bin to be picked up to move with the transport vehicle and transfer the bin to be picked up onto the multiple second forks of the fork-type picking device.

[0012] Optionally, the top surface of the transport vehicle is provided with a lifting component, and the fork-type picking device is mounted on the lifting component;

[0013] The fork-type picking device includes a plurality of spaced-apart second forks, the interval between adjacent second forks being able to accommodate the first fork of the fork-type pallet;

[0014] When the transport vehicle passes through the channel of the pick-and-place device, the second fork tooth is located in the gap between the adjacent first fork tooth, and the lifting component drives the second fork tooth to rise, so that the second fork tooth carries the material box to be picked.

[0015] Optionally, the picking and placing device includes: a device body and a picking device installed on the device body. The picking device includes a picking mechanism and an auxiliary mechanism. The auxiliary mechanism is used to separate the first adjacent material box located above the material box to be picked from the material box to be picked among the stacked material boxes. The picking mechanism is used to take out the material box to be picked.

[0016] Optionally, the picking device further includes a lifting mechanism and a telescopic mechanism; during the process of the picking and placing device retrieving the box to be picked according to the task instruction issued by the server, the picking and placing device is used to: control the lifting mechanism to drive the auxiliary mechanism and the picking mechanism to move along the height direction, so that the picking mechanism is aligned with the box to be picked in the stacked multiple boxes, and the auxiliary mechanism is aligned with the first adjacent box above the box to be picked in the multiple boxes; control the telescopic mechanism to drive the auxiliary mechanism and the picking mechanism to extend respectively, so that the auxiliary mechanism and the picking mechanism... The picking mechanism reaches the positions of the first adjacent bin and the bin to be picked, respectively; the auxiliary mechanism and the picking mechanism are controlled to contact the first adjacent bin and the bin to be picked, respectively; the lifting mechanism is controlled to drive the auxiliary mechanism to lift the first adjacent bin upward, thereby separating the bin to be picked from the first adjacent bin; then the picking mechanism and the telescopic mechanism are controlled to cooperate to take out the bin to be picked and place it in a designated position; and the lifting mechanism is controlled to drive the auxiliary mechanism to descend, placing the first adjacent bin on the remaining bins in the stacked bins.

[0017] Optionally, the outer sides of the plurality of material boxes are respectively provided with protruding hanging platforms, the auxiliary mechanism is provided with a first support member, and the picking mechanism is provided with a second support member; the picking and placing device controls the first support member of the auxiliary mechanism to extend under the hanging platform of the first adjacent material box and contact the first adjacent material box, and controls the second support member of the picking mechanism to extend under the hanging platform of the material box to be picked and contact the material box to be picked.

[0018] Optionally, the first support member and the second support member are both spring clips, each having a closed state and an open state; when the auxiliary mechanism reaches the position of the first adjacent material box, the pick-and-place device controls the first support member, which is in the closed state, to pop out to the open state, so that the first support member abuts against the hanging platform of the first adjacent material box; when the picking mechanism reaches the position of the material box to be picked, the pick-and-place device controls the second support member, which is in the closed state, to pop out to the open state, so that the second support member abuts against the hanging platform of the material box to be picked; and after the picking mechanism puts down the material box to be picked, the pick-and-place device controls the second support member to retract to the closed state; after the auxiliary mechanism puts down the first adjacent material box, the pick-and-place device controls the first support member to retract to the closed state.

[0019] Optionally, the picking and placing device further includes a distance sensor; during the process of controlling the lifting mechanism to drive the auxiliary mechanism to lift the first adjacent material box upward, when the distance between the first adjacent material box and the material box to be picked is a set distance, the picking mechanism and the telescopic mechanism are controlled to cooperate to take out the material box to be picked.

[0020] The material handling system provided by this invention, when retrieving a box from a stacked array of boxes, involves a server issuing task instructions to a transport vehicle and a pick-and-place device. The pick-and-place device, according to the task instructions from the server, retrieves the box from the stacked array and places it on the transport vehicle. The transport vehicle, according to the task instructions from the server, then moves to the pick-and-place device to transport the box. This material handling system facilitates the retrieval of boxes from a stacked array. Attached Figure Description

[0021] Figure 1 This is a schematic diagram illustrating a pick-and-place device provided in an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram showing the retraction of a picking device according to an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram showing the unfolding of a pickup device provided in an embodiment of the present invention;

[0024] Figure 4 This is one of the schematic diagrams illustrating a picking device according to an embodiment of the present invention, which extracts a box of materials to be picked up.

[0025] Figure 5 This is a second schematic diagram illustrating a picking device according to an embodiment of the present invention for picking up a box of materials to be picked up;

[0026] Figure 6 This is one of the schematic diagrams showing a telescopic connection structure for a pickup device provided in an embodiment of the present invention;

[0027] Figure 7 This is a second schematic diagram illustrating a telescopic connection structure for a pickup device provided in an embodiment of the present invention.

[0028] Figure 8 This is the third schematic diagram illustrating a telescopic connection structure for a pickup device provided in an embodiment of the present invention.

[0029] Figure 9 This is a schematic diagram showing that the second support member on a picking mechanism provided in an embodiment of the present invention is in a closed state;

[0030] Figure 10This is a schematic diagram showing the second support member on a picking mechanism provided in an embodiment of the present invention in an open state;

[0031] Figure 11 This diagram illustrates a first adjacent bin provided in an embodiment of the present invention.

[0032] Figure 12 This is a schematic diagram illustrating the stacking of a first adjacent bin, a bin to be retrieved, and a second adjacent bin, according to an embodiment of the present invention.

[0033] Figure 13 This is a schematic diagram showing the distance between a first support member and a second support member according to an embodiment of the present invention;

[0034] Figure 14 This is a schematic diagram of a handling system provided in an embodiment of the present invention;

[0035] Figure 15 This is a second schematic diagram illustrating a material handling system provided in an embodiment of the present invention.

[0036] Figure 16 This is one of the schematic diagrams showing a material box to be picked up on a pallet of a transport vehicle according to an embodiment of the present invention;

[0037] Figure 17 This is a second schematic diagram illustrating a material-to-be-picked box on a pallet of a transport vehicle according to an embodiment of the present invention.

[0038] Figure 18 This is the third schematic diagram illustrating a material-to-be-picked box on a pallet of a transport vehicle according to an embodiment of the present invention.

[0039] Figure label:

[0040] 001-First adjacent bin; 002-Bin to be picked up; 003-Second adjacent bin; 10-Equipment body; 20-Picking device; 30-Supporting mechanism; 40-Pallet; 50-Roller; 11-Column; 12-Connecting plate; 21-Lifting mechanism; 22-Telescopic mechanism; 23-Picking mechanism; 24-Fixing component; 221-First support component; 31-Lifting component; 32-Supporting plate; 41-Sliding rod; 42-First fork tooth; 231-Second support component; 321-Third support component; 100-Transport vehicle; 110-Fork tooth picking device; 111-Second fork tooth; 112-Baffle. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0043] With the development of intelligent technologies such as the Internet of Things (IoT), artificial intelligence (AI), and big data, the demand for transforming and upgrading the traditional logistics industry using these technologies is becoming increasingly strong. Intelligent Logistics System (ILS) has become a research hotspot in the logistics field. Intelligent logistics utilizes AI, big data, and various information sensors, radio frequency identification (RFID) technologies, Global Positioning System (GPS) and other IoT devices and technologies. It is widely applied to basic activities such as material transportation, warehousing, distribution, packaging, loading and unloading, and information services, enabling intelligent analysis and decision-making, automated operation, and high-efficiency optimization management of the material management process. IoT technologies include sensing devices, RFID, laser infrared scanning, and infrared sensing identification. The IoT can effectively connect materials in logistics to the network, monitor materials in real time, and sense environmental data such as humidity and temperature in warehouses to ensure the safe storage environment of materials. Big data technology can be used to sense and collect all data in logistics, upload it to the data layer of an information platform, and perform filtering, mining, and analysis on the data. Ultimately, this provides precise data support for business processes (such as transportation, warehousing, storage, picking, packaging, sorting, outbound, inventory, and delivery). The application of artificial intelligence in logistics can be broadly divided into two directions: 1) Using AI-enabled intelligent equipment such as unmanned trucks, Automated Guided Vehicles (AGVs), Autonomous Mobile Robots (AMRs), forklifts, shuttles, stacker cranes, unmanned delivery vehicles, drones, service robots, robotic arms, and smart terminals to replace some manual labor; 2) Improving manual efficiency through software systems driven by computer vision, machine learning, operations research, and other technologies or algorithms, such as transportation equipment management systems, warehouse management systems, equipment scheduling systems, and order allocation systems. With the research and advancement of smart logistics, this technology has been applied in numerous fields, such as retail and e-commerce, electronics, tobacco, pharmaceuticals, industrial manufacturing, footwear and apparel, textiles, and food.

[0044] The handling system provided in this embodiment of the invention includes: a server, a handling vehicle 100, and a picking and placing device; the server is used to issue task instructions to the handling vehicle 100 and the picking and placing device; the picking and placing device is used to take out the material box 002 to be picked from multiple stacked material boxes according to the task instructions issued by the server, and place it on the handling vehicle 100; the handling vehicle 100 is used to reach the picking and placing device and pick up the material box 002 to be picked according to the task instructions issued by the server.

[0045] When retrieving a material box 002 from a stack of multiple material boxes, the server issues a task instruction to the transport vehicle 100 and the pick-and-place device. The pick-and-place device, according to the task instruction from the server, retrieves the material box 002 from the stacked material boxes and places it on the transport vehicle 100. The transport vehicle 100, according to the task instruction from the server, arrives at the pick-and-place device and transports the material box 002. The transport system provided in this embodiment of the invention can retrieve a material box 002 from a stack of multiple material boxes, thus facilitating the retrieval of the material box 002 from the stacked material boxes.

[0046] A passageway for the transport vehicle 100 is provided below the pick-and-place device. The transport vehicle 100 moves to the passageway below the pick-and-place device according to the task instructions issued by the server. The server controls the pick-and-place device to place the retrieved material box 002 onto the transport vehicle 100 when the transport vehicle 100 passes through the passageway. The transport vehicle 100 continues to move while receiving the material box 002, thereby improving the efficiency of transporting the material box.

[0047] This invention provides a pick-and-place device, such as... Figures 1 to 13 As shown, the picking and placing device includes: a device body 10 and a picking device 20 installed on the device body 10. The picking device 20 includes a picking mechanism 23 and an auxiliary mechanism. The auxiliary mechanism is used to separate the first adjacent material box 001 located above the material box 002 to be picked from the stacked material boxes. The picking mechanism is used to pick up the material box 002 to be picked. The auxiliary mechanism cooperates with the picking mechanism 23 to pick up the material box 002 to be picked from the stacked material boxes.

[0048] The picking mechanism in this application embodiment can have various implementations, and this application does not limit it. For example, the picking mechanism may include clamping forks, which pick up and place the material box by clamping both sides of the box; the picking mechanism may also be a fork-type fork, with fork holes provided on the corresponding material box, and the material box is picked up and placed by inserting the fork teeth into the fork holes. The picking mechanism may also be other implementations that can be adapted to the material box to be picked up or placed, for example, the outer side of the material box to be picked up or placed (such as the upper edge and / or edge) is provided with multiple protrusions extending outward by a certain width, and the corresponding picking mechanism may include a support member that can extend under the protrusions, and the material box to be picked up or placed is lifted by inserting the support member under the protrusions on the edge of the material box to be picked up or placed. Similarly, the auxiliary mechanism may also adopt the same implementation as the picking mechanism.

[0049] In some embodiments, the picking device 20 may further include a lifting mechanism and a telescopic mechanism; during the process of the picking and placing device retrieving the material box 002 to be picked according to the task instruction issued by the server, the picking and placing device is used to: control the lifting mechanism to drive the auxiliary mechanism and the picking mechanism to move along the height direction, so that the picking mechanism is aligned with the material box 002 to be picked in the stacked multiple material boxes, and the auxiliary mechanism is aligned with the first adjacent material box 001 located above the material box 002 to be picked; control the telescopic mechanism to drive the auxiliary mechanism and the picking mechanism to extend respectively, so that the auxiliary mechanism and the picking mechanism reach the first adjacent material box 001 and the material box 002 to be picked respectively. The position of the material bin 002; the control auxiliary mechanism and the picking mechanism respectively contact the first adjacent material bin 001 and the material bin to be picked 002; the control lifting mechanism drives the auxiliary mechanism to lift the first adjacent material bin 001 upward, realizing the separation of the material bin to be picked 002 from the first adjacent material bin 001, and then the control picking mechanism and the telescopic mechanism cooperate to take out the material bin to be picked and place it in a designated position, such as placing it in the pallet of the picking and placing equipment, or directly placing it on the transport vehicle 100; and the control lifting mechanism drives the auxiliary mechanism to descend, placing the first adjacent material bin 001 on the remaining material bins in the stacked material bins.

[0050] The auxiliary mechanism is provided with a first support member 221 for supporting the first adjacent material box 001 above the material box 002 to be picked up. The auxiliary mechanism and the picking mechanism 23 are connected to the telescopic mechanism 22.

[0051] The telescopic mechanism 22 extends and retracts, causing the picking mechanism 23 and the first support member 221 to reach the storage position where the material box 002 is located, or causing the picking mechanism 23 and the auxiliary mechanism to retract into the equipment body 10; the lifting mechanism 21 drives the telescopic mechanism 22 to lift the first support member 221 upward, thereby separating the material box 002 from the first adjacent material box 001; the telescopic mechanism 22 drives the picking mechanism 23 to slide in a direction away from the storage position, thereby extracting the material box 002.

[0052] Specifically, the lifting mechanism 21 can be a structure installed on the equipment body 10, and the telescopic mechanism 22 is connected to the lifting mechanism 21. The lifting mechanism 21 can slide up and down along the equipment body 10 under the drive of power, thereby driving the telescopic mechanism 22 to rise and fall. In some specific embodiments, the telescopic mechanism 22 is directly slidably disposed on the equipment body 10. The lifting mechanism 21 drives the telescopic mechanism 22 to slide up and down along the equipment body 10, thereby realizing the upward lifting or downward lowering of the telescopic mechanism 22. In this case, the lifting mechanism 21 can be a device that can provide driving force, such as a drive motor.

[0053] In this embodiment of the invention, the lifting mechanism 21 can drive the telescopic mechanism 22 to lift and lower. The picking mechanism 23 is connected to the telescopic mechanism 22. The telescopic mechanism 22 is provided with a first support member 221 that supports the first adjacent material box 001 above the material box 002 to be picked. Therefore, when the lifting mechanism 21 drives the telescopic mechanism 22 to lift and lower, the first support member 221 and the picking mechanism 23 can lift and lower along with the telescopic mechanism 22. In addition, the telescopic mechanism 22 can extend outside the equipment body 10. The lifting mechanism 21 can drive the telescopic mechanism 22 to move to the height of the material box 002 to be picked up among the stacked material boxes. Then the telescopic mechanism 22 extends outside the equipment body 10, that is, the telescopic mechanism 22 can drive the picking mechanism 23 and the first support member 221 to the storage position where the material box 002 is located. Thus, the first support member 221 can contact the first adjacent material box 001 and support the first adjacent material box 001. Then the lifting mechanism 21 can move upward and drive the telescopic mechanism 22 upward, so that the telescopic mechanism 22 drives the first support member 221 to rise. The first support member 221 drives the first adjacent material box 001 to rise, realizing the separation of the first adjacent material box 001 from the material box 002 to be picked up. The picking mechanism 23 slides in the direction away from the storage position. The picking mechanism 23 drives the material box 002 to be picked up to move and realize the extraction of the material box 002 to be picked up.

[0054] That is, in this embodiment of the invention, by setting up a lifting mechanism 21, a telescopic mechanism 22, and a picking mechanism 23, the lifting mechanism 21 can drive the telescopic mechanism 22 and the picking mechanism 23 to move to the height of the material box 002 to be picked. Then, the telescopic mechanism 22 extends out of the equipment body 10 and moves to the storage position of the material box 002 to be picked. The first support member 221 on the telescopic mechanism 22 contacts the first adjacent material box 001. The lifting mechanism 21 drives the telescopic mechanism 22 to rise, so that the telescopic mechanism 22 drives the first adjacent material box 001 to rise through the first support member 221. Thus, the first adjacent material box 001 is separated from the material box 002 to be picked, so that the picking mechanism 23 can extract the material box 002 to be picked, so that the material box 002 to be picked can be taken out from the multiple stacked material boxes, thereby facilitating the removal of the material box 002 to be picked from the multiple stacked material boxes.

[0055] It should be noted that, as Figure 3As shown, there can be multiple first support members 221, and these multiple first support members 221 can be spaced apart on the telescopic mechanism 22 along its telescopic direction. This allows all the first support members 221 to contact the material box 002 when the telescopic mechanism 22 moves to it, facilitating the telescopic mechanism 22's ability to lift the first adjacent material box 001 via the first support members 221. Furthermore, since multiple material boxes are stacked, when the telescopic mechanism 22 lifts the first adjacent material box 001 via the first support members 221, it is equivalent to the telescopic mechanism 22 simultaneously lifting the first adjacent material box 001 and other material boxes stacked on top of it. After the first adjacent material box 001 is lifted by the telescopic mechanism 22, it separates from the material box 002, meaning the material box 002 no longer bears the weight of other material boxes, allowing the picking mechanism 23 to extract the material box 002.

[0056] Furthermore, in this embodiment of the invention, the bins are directly stacked, thereby avoiding the use of shelves and reducing the floor space occupied by the bins. When the bins are stacked, the picking and placing device provided in this embodiment of the invention can easily retrieve the bin located in the middle of the stack.

[0057] In addition, in this embodiment of the invention, the lifting mechanism 21 may integrate a first power component, which, under the action of the first power component, can drive the telescopic mechanism 22 and the picking mechanism 23 to rise and fall. Furthermore, the telescopic mechanism 22 may integrate a second power component, which, under the action of the second power component, allows the telescopic mechanism 22 to extend beyond the exterior of the equipment body 10, and to retract within the equipment body 10. Additionally, the picking mechanism 23 may integrate a third power component, which can drive the picking mechanism 23 to move relative to the telescopic mechanism 22, thereby allowing the picking mechanism 23 to move the material box 002 to be picked.

[0058] After the picking mechanism 23 comes into contact with the material box 002 to be picked, the third power component can drive the picking mechanism 23 to move relative to the telescopic mechanism 22. As a result, the picking mechanism 23 can retract into the equipment body 10 under the action of the third power component. That is, the picking mechanism 23 slides in the direction away from the storage position of the material box 002 to be picked. As a result, the picking mechanism 23 drives the material box 002 to be picked into the equipment body 10, so that the material box 002 to be picked can be transferred by the transport vehicle 100.

[0059] In some embodiments, the first support member 221 is disposed at the top of the telescopic mechanism 22.

[0060] When the first support member 221 is located at the top of the telescopic mechanism 22, when the telescopic mechanism 22 moves the first support member 221 to the storage position of the material box 002 to be retrieved, the first support member 221 can directly contact the first adjacent material box 001. Thus, when the lifting mechanism 21 drives the telescopic mechanism 22 to rise, and the first support member 221 rises, the first lifting member can directly drive the first adjacent material box 001 to rise, thereby separating it from the material box 002 to be retrieved.

[0061] When the first support member 221 is located at the top of the telescopic mechanism 22, the picking mechanism 23 is located on the telescopic mechanism 22 along the lifting direction of the lifting mechanism 21, and the picking mechanism 23 is located below the first support member 221.

[0062] Additionally, in some embodiments, such as Figure 4 As shown, the equipment body 10 may include multiple columns 11 and multiple connecting plates 12. Some of the columns 11 are located on one side, and at least one connecting plate 12 connects adjacent two columns 11 in this portion. Other columns 11 are located on the other side, and at least one connecting plate 12 also connects adjacent two columns in this other portion. A lifting mechanism 21 is slidably connected to any one of the columns 11 in the portion and any one of the other portions, and the lifting mechanism 21 can move up and down along the circumferential direction of the column 11. That is, the multiple columns 11 form the equipment body 10, and the lifting mechanism 21 is essentially located within the equipment body 10, and the lifting mechanism 21 can move up and down along the equipment body 10.

[0063] For example, such as Figure 4 As shown, the equipment body 10 includes four columns 11 and multiple connecting plates 12. Two of the four columns 11 are located on one side, and at least one connecting plate 12 connects the two columns 11 together. The other two columns 11 are located on the other side, and at least one connecting plate 12 also connects the two columns 11 together. The two ends of the lifting mechanism 21 are slidably connected to one of the two columns 11 and one of the other two columns 11, respectively. The lifting mechanism 21 can move up and down along the axial direction of the columns 11.

[0064] Of course, in this embodiment of the invention, the device body 10 can be a box-type structure, and one side of the device body 10 is a non-closed side, so that the telescopic mechanism 22 can extend outward through the closed side of the device body 10. The specific structure of the device body 10 is not limited in this embodiment of the invention.

[0065] In some embodiments, for a single picking and placing device, goods can be picked up from both sides of the device. That is, two picking devices 20 are installed on the picking and placing device to pick up goods from both sides. Specifically, the number of lifting mechanisms 21, telescopic mechanisms 22, and picking mechanisms 23 can all be two. Two lifting mechanisms 21 are installed on opposite sides of the device body 10, two telescopic mechanisms 22 are connected to the two lifting mechanisms 21 respectively, and two picking mechanisms 23 are connected to the two telescopic mechanisms 22 respectively. The two picking mechanisms 23 are used to clamp the material box 002 from both sides of the material box 002.

[0066] When there are two lifting mechanisms 21, two telescopic mechanisms 22, and two picking mechanisms 23, one telescopic mechanism 22 is connected to one lifting mechanism 21, or two telescopic mechanisms 22 are connected to one lifting mechanism 21, and one picking mechanism 23 is connected to one telescopic mechanism 22. Thus, when the two telescopic mechanisms 22 extend outside the equipment body 10, they respectively drive the two picking mechanisms 23 to extend outside the equipment body 10. The two picking mechanisms 23 can be located on both sides of the material box 002 to be picked, allowing them to simultaneously apply force to the material box 002, ensuring balanced force and facilitating its extraction. In other words, by setting the number of lifting mechanisms 21, telescopic mechanisms 22, and picking mechanisms 23 to two, the material box 002 to be picked can be easily extracted.

[0067] Alternatively, in one possible implementation, in order to enable goods to be retrieved from both sides of the pick-up and drop-off device, the telescopic mechanism 22 can be configured to extend and retract to both sides of the pick-up and drop-off device respectively.

[0068] In addition, in some embodiments, the telescopic mechanism 22 is a single-stage telescopic mechanism or a multi-stage telescopic mechanism.

[0069] When the telescopic mechanism 22 is a single-stage telescopic mechanism, it may include a telescopic member. This telescopic member is slidably connected to the lifting mechanism 21, and the picking mechanism 23 is slidably connected to the telescopic member. A first support member 221 is connected to the telescopic member. When the telescopic mechanism 22 includes a telescopic member, the top of the telescopic member has the first support member 221. The picking mechanism 23 is connected to the telescopic member in the lifting direction of the lifting mechanism 21, and is located below the first support member 221. Furthermore, the telescopic member is slidably connected to the lifting mechanism 21, so that when the lifting mechanism 21 lifts or lowers, the lifting mechanism 21 can drive the telescopic member to lift or lower, that is, the lifting mechanism 21 can drive the telescopic member to the height of the material to be picked up 002. The telescopic component can extend outside the equipment body 10, and the first support 221 on the telescopic component is fixed to the first adjacent material box 001. The lifting mechanism 21 drives the telescopic component to rise, so that the telescopic component can drive the first adjacent material box 001 to rise. The first adjacent material box 001 is separated from the material box to be picked up 002, so that the picking mechanism 23 can pick up the material box to be picked up 002.

[0070] When the telescopic mechanism 22 is a multi-stage telescopic mechanism, it may include multiple telescopic components. These components are sequentially slidably connected along the telescopic direction of the telescopic mechanism 22. The telescopic component closest to the lifting mechanism 21 is slidably connected to the lifting mechanism 21 along this direction, while the top of the telescopic component furthest from the lifting mechanism 21 is connected to a first support member 221. The picking mechanism 23 is connected to this telescopic component along the lifting direction of the lifting mechanism 21 and is located below the first support member 221. Thus, when the lifting mechanism 21 lifts or lowers, it can drive the telescopic mechanism 22 to lift or lower, i.e., it can drive the telescopic mechanism 22 to move to the height of the material box 002. Afterward, the multiple telescopic components in the telescopic mechanism 22 can extend outward sequentially. The telescopic component closest to the lifting mechanism 21 slides along the lifting mechanism 21, followed by the telescopic component slidably connected to it, and so on. The telescopic component furthest from the lifting mechanism 21 extends at least partially outside the equipment body 10, while the other telescopic components are located outside the equipment body 10. The first support member 221 on the telescopic member furthest from the lifting mechanism 21 can be fixed to the first adjacent material box 001. The lifting mechanism 21 drives the telescopic mechanism 22 to rise. That is, the lifting mechanism 21 drives the telescopic member closest to the lifting mechanism to rise, causing multiple telescopic members to rise. Thus, the telescopic member furthest from the lifting mechanism 21 drives the first adjacent material box 001 to rise through the first support member 221. The first adjacent material box 001 separates from the material box 002 to be picked up, so that the picking mechanism 23 can pick up the material box 002 to be picked up.

[0071] For example, the telescopic mechanism 22 includes three telescopic members. The first telescopic member is slidably connected to the lifting mechanism 21, the second telescopic member is slidably connected to the first telescopic member, and the third telescopic member is slidably connected to the second telescopic member. A picking mechanism 23 is slidably connected to the third telescopic member, and a first support member 221 is connected to the top of the third telescopic member. When the lifting mechanism 21 moves the telescopic mechanism 22 to the height of the material box 002, the first, second, and third telescopic members slide sequentially, such that the second and third telescopic members are located outside the equipment body 10, and the first telescopic member is at least partially located outside the equipment body 10. The first telescopic member is the one closest to the lifting mechanism 21, and the third telescopic member is the one furthest from the lifting mechanism 21.

[0072] It should be noted that when the telescopic mechanism 22 includes one telescopic component, the structure of the picking and placing equipment can be simplified; when the telescopic mechanism 22 includes multiple telescopic components, the multiple telescopic components extend outward in sequence, which can increase the length of the telescopic mechanism 22 after it is extended. This allows the telescopic component of the telescopic mechanism 22 that is farthest from the lifting mechanism 21 to move to the first adjacent material box 001 even when the distance between the equipment body 10 and the stacked material boxes is different, making the application of the picking and placing equipment more extensive.

[0073] Furthermore, there are different ways to install the first support member 221 on the telescopic mechanism 22. The following are some examples:

[0074] Method (1): such as Figure 3 As shown, a fixing member 24 is installed on the telescopic mechanism 22. On the fixing member 24, a plurality of first support members 221 are arranged along the telescopic direction of the telescopic mechanism 22. The first support members 221 can be arranged on the fixing member 24 at equal or unequal intervals.

[0075] When multiple first support members 221 are provided on the fixing member 24 along the telescopic direction of the telescopic mechanism 22, at this time, after the telescopic mechanism 22 extends beyond the equipment body 10, that is, when the telescopic mechanism 22 extends beyond the storage position of the material to be picked up box 002, the multiple first support members 221 can simultaneously contact the first adjacent material box 001.

[0076] In addition, the following two methods can be used to install the fixing member 24 on the telescopic mechanism 22:

[0077] In method (a), a fixing member 24 is fixed to the telescopic mechanism 22, i.e., the fixing member 24 is fixed to the telescopic mechanism 22. When the fixing member 24 is fixed to the telescopic mechanism 22, and multiple first support members 221 are provided on the fixing member 24 along the telescopic direction of the telescopic mechanism 22, after the telescopic mechanism 22 extends outside the equipment body 10, the fixing member 24 can move with the telescopic mechanism 22 to the first adjacent material box 001, so that the first support members 221 can contact the first adjacent material box 001. When the telescopic mechanism 22 rises with the lifting mechanism 21, the fixing member 24 can rise with the telescopic mechanism 22, so that the fixing member 24 assembly can drive the first support members 221, so that the first support members 221 drive the first adjacent material box 001 to rise, and then the first adjacent material box 001 separates from the material box 002 to be picked up.

[0078] Method (b): A fixing member 24 is slidably connected to the telescopic mechanism 22, and the sliding direction of the second fixing member 24 is the same as the sliding direction of the telescopic mechanism 22.

[0079] When a fixing member 24 is slidably connected to the telescopic mechanism 22, and the sliding direction of the fixing member 24 is the same as the sliding direction of the telescopic mechanism 22, after the telescopic mechanism 22 extends outside the equipment body 10, if the telescopic mechanism 22 has not reached the first adjacent material box 001, the fixing member 24 can slide relative to the telescopic mechanism 22. Thus, the fixing member 24 can reach the first adjacent material box 001 due to its own sliding, thereby facilitating the contact between the first support member 221 and the first adjacent material box 001, thereby lifting the first adjacent material box 001 and separating it from the material box 002 to be taken. If the telescopic mechanism 22 reaches the first adjacent material box 001, the fixing member 24 can remain stationary, and the first support member 221 on the fixing member 24 can contact the first adjacent material box 001, thereby lifting the first adjacent material box 001 and separating it from the material box 002 to be taken.

[0080] It should be noted that when a fixing member 24 is slidably connected to the telescopic mechanism 22, a fourth power member can be integrated on the fixing member 24, which can drive the fixing member 24 to slide relative to the telescopic mechanism 22.

[0081] In addition, the fixing member 24 can be set at the top of the telescopic mechanism 22, and the picking mechanism 23 is located below the fixing member 24.

[0082] In addition, in this embodiment of the invention, when the telescopic mechanism 22 includes a single telescopic member, the fixing member 24 can be fixedly or slidably connected to the telescopic member. When the telescopic mechanism 22 includes multiple telescopic members, the fixing member 24 can be fixedly or slidably connected to the telescopic member furthest from the lifting mechanism 21.

[0083] Method (2): The first end of the telescopic mechanism 22 is directly connected to the first support member 221. That is, the first support member 221 can be directly set at the first end of the telescopic mechanism 22 without the need to set the first support member 221 at the first end of the telescopic mechanism 22 through the fixing member 24.

[0084] Additionally, when the telescopic mechanism 22 includes a single telescopic member, the first support member 221 can be directly connected to the top of that telescopic member. When the telescopic mechanism 22 includes multiple telescopic members, the first support member 221 can be directly connected to the top of the telescopic member furthest from the lifting mechanism 21.

[0085] In some embodiments, the first support member 221 can be a spring clip. When the telescopic mechanism 22 drives the auxiliary mechanism to the storage position where the material to be retrieved 002 is located, the spring clip is popped out and abuts against the material to be retrieved 002.

[0086] When the first support member 221 is a spring clip, the spring clip can have different states. Specifically, when the telescopic mechanism 22 moves the auxiliary mechanism to the storage position where the material box 002 is located, the pick-and-place device controls the first support member, which is in a closed state, to pop out to an open state, that is, controls the spring clip to be in an open state, so that the first support member abuts against the first adjacent material box 001, specifically against the mounting platform on the first adjacent material box 001, which is equivalent to the spring clip supporting the first adjacent material box 001. When the telescopic mechanism 22 rises with the lifting mechanism 21, the telescopic mechanism 22 can apply force to the first adjacent material box 001 through the spring clip, so that the first adjacent material box 001 rises and separates from the material box 002. When the telescopic mechanism 22 has not moved to the storage position where the material box 002 is located, at this time, there is no need for the spring clip to abut against the first adjacent material box 001, so the spring clip can be controlled to retract, that is, controlled to be in a closed state. In addition, when the telescopic mechanism 22 is inside the equipment body 10, the spring clip can also be in a closed state.

[0087] It should be noted that the spring can be connected to the controller, thereby controlling the spring to extend or retract. Additionally, the first support member 221 can be other types of support members. For example, the first support member 221 can be an electromagnetic component. In this case, the material bin can be made of metal. When the telescopic mechanism 22 moves to the storage position of the material bin 002, the electromagnetic component is energized to generate magnetic force, attracting the first adjacent material bin 001. Thus, when the telescopic mechanism 22 moves, the first adjacent material bin 001 can be moved via the first support member 221. The specific type of the first support member 221 is not limited in this embodiment of the invention.

[0088] Additionally, in some embodiments, such as Figure 6As shown, the picking mechanism 23 may be provided with a second support member 231 for supporting the material box 002 to be picked. The picking mechanism 23 is driven to lift upward by the lifting mechanism 21 to separate the material box 002 to be picked from the second adjacent material box 003 below.

[0089] When the picking mechanism 23 is connected to the second support member 231, when the picking mechanism 23 removes the material box 002 to be picked, the second support member 231 supports the material box 002 to be picked, so that the picking mechanism 23 can remove the material box 002 to be picked through the second support member 231, and the material box 002 to be picked will be separated from the second adjacent material box 003 below. That is, by setting the second support member 231 on the picking mechanism 23, it is easier for the picking mechanism 23 to remove the material box 002 to be picked.

[0090] It should be noted that the type of the second support member 231 can be the same as that of the first support member 221. For example, when the first support member 221 is a spring sheet, the second support member 231 is also a spring sheet.

[0091] Additionally, when the picking mechanism 23 is connected to the second support member 231, after the telescopic mechanism 22 extends out of the external space of the equipment body 10, the first support member 221 supports the first adjacent material box 001, and the lifting mechanism 21 drives the telescopic mechanism 22 to rise, so that the telescopic mechanism 22 drives the first adjacent material box 001 to rise through the first support member 221, and the first adjacent material box 001 separates from the material box 002 to be picked. When the picking mechanism is brought to the position of the material box 002 to be picked, the second support member, which is in the closed state under the control of the picking and placing equipment, pops out to the open state, so that the second support member abuts against the hanging platform of the material box 002 to be picked. The second support member 231 supports the material box 002 to be picked, the picking mechanism 23 retracts into the equipment body 10, and the picking mechanism 23 pulls out the material box 002 to be picked through the second support member 231. After the picking mechanism lowers the material box 002, the picking and placing equipment controls the second support to retract into a closed state; after the auxiliary mechanism lowers the first adjacent material box 001, the picking and placing equipment controls the first support to retract into a closed state.

[0092] In addition, there can be multiple second support members 231, and multiple second support members 231 are spaced apart on the picking mechanism 23 along the sliding direction of the picking mechanism 23, so that when the picking mechanism 23 takes out the material box 002 to be picked, multiple second support members 231 can support the material box 002 to be picked, thereby facilitating the picking mechanism 23 to take out the material box 002 to be picked.

[0093] In addition, in some embodiments, the distance between the first support member 221 and the second support member 231 is greater than the height of the material box 002 to be picked up.

[0094] When the telescopic mechanism 22 moves to the first adjacent material box 001, the first support member 221 supports the first adjacent material box 001, and the picking mechanism 23 moves with the telescopic mechanism 22 to the material box to be picked 002. Then, the lifting mechanism 21 drives the telescopic mechanism 22 and the picking mechanism 23 to rise. Since the distance between the first support member 221 and the second support member 231 is greater than the height of the material box, when the telescopic mechanism 22 rises, the telescopic mechanism 22 first drives the first adjacent material box 001 to rise through the first support member 221. After the first adjacent material box 001 rises, the second support member 231 on the picking mechanism 23 supports the material box to be picked 002, so the picking mechanism 23 drives the material box to be picked 002 to rise. Then, the picking mechanism 23 picks up the material box to be picked. That is, by setting the distance between the first support member 221 and the second support member 231 to be greater than the height of the material box to be picked up 002, it is convenient for the first adjacent material box 001 to be separated from the material box to be picked up 002 when the telescopic mechanism 22 is driven to rise by the lifting mechanism 21.

[0095] In addition, when the picking mechanism 23 rises under the drive of the lifting mechanism 21, the second support member 231 also rises with the picking mechanism 23. Thus, the second support member 231 can drive the material box 002 to be picked up to rise, so that the material box 002 to be picked up is separated from the second adjacent material box 003. That is, the material box 002 to be picked up will not contact the material box above the material box 002 to be picked up, nor will it contact the material box below the material box 002 to be picked up. Thus, when the picking mechanism 23 moves into the equipment body 10, it avoids the problem of the material box below the material box 002 to be picked up affecting the picking of the material box 002 when the picking mechanism 23 is picking up the material box 002.

[0096] It should be noted that the material box is usually equipped with a hanging platform. When both the first support member 221 and the second support member 231 are spring clips, and the distance between the first support member 221 and the second support member 231 is greater than the height of the material box 002 to be picked up, the first support member 221 is in the open state when the telescopic mechanism 22 moves to the first adjacent material box 001, that is, the spring clip pops out, and the first support member 221 contacts the hanging platform on the first adjacent material box 001, so that the first support member 221 is hooked on the hanging platform. Then the telescopic mechanism 22 rises with the lifting mechanism 21, so that the telescopic mechanism 22 drives the first adjacent material box 001 to rise. Since the distance between the first support member 221 and the second support member 231 is greater than the height of the material box 002 to be picked up, after the telescopic mechanism 22 drives the first adjacent material box 001 to rise a certain distance, the second support member 231 is then attached to the hanging platform on the material box 002 to be picked up. Thus, the picking mechanism 23 drives the material box 002 to be picked up to rise under the action of the lifting mechanism 21, so that the material box 002 to be picked up is separated from the material box located below the material box 002 to be picked up, and the material box 002 to be picked up is separated from the second adjacent material box 003. After that, the picking mechanism 23 retracts into the equipment body 10 and moves the material box 002 to be picked up into the equipment body 10.

[0097] Among them, such as Figure 12 As shown, after the first adjacent bin 001 rises with the telescopic mechanism 22 and separates from the bin to be retrieved 002, the distance between the first adjacent bin 001 and the bin to be retrieved 002 can be a set distance, for example, it can be 15 mm or 20 mm. Furthermore, after the bin to be retrieved 002 separates from the bin located below it, that is, after the bin to be retrieved 002 separates from the second adjacent bin 003, the distance between the bin to be retrieved 002 and the bin located below it can also be a set distance, for example, it can be 15 mm or 20 mm.

[0098] Additionally, in some embodiments, such as Figure 1 As shown, the picking and placing device may also include a support mechanism 30. The support mechanism 30 is located at the bottom end of the telescopic mechanism 22. The support mechanism 30 includes a lifting member 31 and a support plate 32. One end of the lifting member 31 is connected to the bottom end of the telescopic mechanism 22, and the other end of the lifting member 31 is connected to the support plate 32. The support plate 32 abuts against the second adjacent material box 003 to support the picking device 20. The second adjacent material box 003 is any one of the multiple stacked material boxes located below the material box 002 to be picked.

[0099] When the bottom end of the telescopic mechanism 22 is provided with a support mechanism 30, which includes a lifting member 31 and a support plate 32, when the telescopic mechanism 22 moves to the first adjacent material box 001, the lifting member 31 will extend downward, thereby the lifting member 31 will drive the support plate 32 to descend, and the support plate 32 will move to the second adjacent material box 003, so that the support plate 32 abuts against the second adjacent material box 003. Driven by the lifting mechanism 21, the telescopic mechanism 22 rises, causing the lifting member 31 to continue extending as it moves the first adjacent material box 001. Meanwhile, the support plate 32 is fixed to the second adjacent material box 003, effectively fixing the end of the lifting member 31 connected to the support plate 32. During the extension of the lifting member 31, it provides an upward force to the telescopic mechanism 22. Thus, the telescopic mechanism 22 is not only driven by the lifting mechanism 21 but also receives force from the lifting member 31, effectively supporting the picking device 20. This facilitates the telescopic mechanism 22 in raising the first adjacent material box 001 and reduces the power consumption of the lifting mechanism 21. In other words, by providing the support mechanism 30, the telescopic mechanism 22 can easily raise the first adjacent material box 001 while reducing the power consumption of the lifting mechanism 21.

[0100] It should be noted that, as Figure 1 As shown, there can be multiple lifting members 31. Multiple lifting members 31 can be arranged at intervals along the sliding direction of the telescopic mechanism 22, so that when multiple lifting members 31 extend, multiple lifting members 31 can provide more force points to the telescopic mechanism 22, which facilitates the telescopic mechanism 22 to rise.

[0101] Additionally, in some embodiments, such as Figure 6 As shown, a third support member 321 may be provided on the support plate 32, and the third support member 321 is used to contact the second adjacent material box 003.

[0102] When the support plate 32 is equipped with a third support member 321, when the support plate 32 moves to the second adjacent material box 003, the third support member 321 can contact the second adjacent material box 003, which is equivalent to the support plate 32 directly abutting against the second adjacent material box 003. This facilitates the support plate 32 in supporting the lifting member 31, and ultimately supports the picking device 20. In other words, by providing the third support member 321, it is easier for the support plate 32 to abut against the second adjacent material box 003.

[0103] It should be noted that the type of the third support member 321 can be the same as that of the first support member 221. For example, when the first support member 221 is a spring, the third support member 321 is also a spring; when the first support member 221 is an electromagnetic component, the third support member 321 is an electromagnetic component.

[0104] In addition, there can be multiple third support members 321, and multiple third support members 321 can be arranged at intervals on the support plate 32 along the sliding direction of the telescopic mechanism 22.

[0105] In addition, in this embodiment of the invention, the support mechanism 30 can also be other types of structures. For example, the support mechanism 30 may include a lifting guide rail and a support plate 32. Or, for example, the support mechanism 30 may also include a scissor-type lifting member and a support plate 32, wherein one end of the scissor-type lifting member is connected to the telescopic mechanism 22, and the other end of the scissor-type lifting member is connected to the support plate 32. The specific type of the support mechanism 30 is not limited in this embodiment of the invention.

[0106] In addition, in some embodiments, a distance sensor may be provided on the target side of the device body 10. The target side is a telescopic mechanism 22 that can extend outward to one side of the device body 10. The distance sensor is used to detect the distance between the first adjacent material box 001 and the material box to be picked up 002.

[0107] By setting a distance sensor on the target side of the device body 10, when the telescopic mechanism 22 drives the first adjacent material box 001 to rise, causing the first adjacent material box 001 to separate from the material box 002 to be picked, the distance sensor can detect the distance between the first adjacent material box 001 and the material box 002 to be picked. When the distance between the first adjacent material box 001 and the material box 002 to be picked is the set distance, the picking mechanism 23 will pick up the material box 002 to be picked, thereby avoiding the problem of the first adjacent material box 001 affecting the material box 002 to be picked during the process of picking up the material box 002.

[0108] In addition, the distance sensor can also be used to detect the distance between the material box 002 and the material box located below and adjacent to the material box 002 when the material box 002 is raised by the picking mechanism 23, that is, to detect the distance between the material box 002 and the second adjacent material box 003.

[0109] Additionally, in some embodiments, such as Figure 5 As shown, a tray 40 may also be provided on the main body 10 of the equipment. The tray 40 is located below the picking device 20 and is used to carry the picking box 002 to be picked up by the picking device 20.

[0110] When a tray 40 is provided on the equipment body 10 and the tray 40 is located below the picking device 20, after the picking mechanism 23 removes the box to be picked 002 (i.e., the picking mechanism 23 retracts into the equipment body 10), the lifting mechanism 21 can descend. The lifting mechanism drives the telescopic mechanism 22 to re-stack the first adjacent box 001 onto the box below the box to be picked 002 via the first support member 221, that is, to re-stack the first adjacent box 001 onto the second adjacent box 003. As the lifting mechanism 21 descends, the picking mechanism 23 also lowers the box to be picked 002, allowing the picking mechanism to place the box to be picked 002 onto the tray 40, thus enabling the tray 40 to carry the box to be picked 002. In other words, by providing the tray 40, it is convenient to carry the box to be picked 002 after the picking device 20 removes it, facilitating the subsequent transportation of the box to be picked 002.

[0111] In some embodiments, the tray 40 is slidably disposed on the device body 10.

[0112] When the pallet 40 is slidably set on the equipment body 10, during the process of the picking mechanism 23 driving the material box 002 to be picked down, the pallet 40 can rise, so that the material box 002 to be picked comes into contact with the pallet 40. After that, the picking mechanism 23 separates from the material box 002 to be picked. This can avoid the problem that after the telescopic mechanism 22 stacks the first adjacent material box 001 on the second adjacent material box 003 through the first support member 221, there is a certain distance between the material box 002 to be picked and the pallet 40. After the picking mechanism 23 separates from the material box 002 to be picked, the material box 002 to be picked falls onto the pallet 40 due to its own weight, and impacts the pallet 40, causing damage to the pallet 40 and the material box 002 to be picked.

[0113] Additionally, in some embodiments, such as Figure 5 As shown, the pallet 40 includes a plurality of spaced-apart first fork teeth 42.

[0114] When the pallet 40 includes multiple spaced first fork teeth 42, the multiple first fork teeth 42 can simultaneously carry the material box 002 to be picked up, thus improving the carrying effect of the material box 002 to be picked up.

[0115] In addition, in this embodiment of the invention, the tray 40 may also include a sliding rod 41. A plurality of first fork teeth 42 are connected to the sliding rod 41 along the axial direction of the sliding rod 41, and the two ends of the sliding rod 41 are respectively movable up and down along the device body 10.

[0116] Since multiple first fork teeth 42 are connected to the sliding rod 41 along the axial direction of the sliding rod 41, the multiple first fork teeth 42 can form a large bearing surface, which is convenient for bearing the material box 002 to be picked up. In addition, both ends of the sliding rod 41 can be raised and lowered along the equipment body 10, so that the sliding rod 41 can drive the multiple first fork teeth 42 to rise and fall, so that the pallet 40 can drive the material box 002 to rise and fall, thereby facilitating the cooperation between the pallet 40 and the transport vehicle 100, and facilitating the transport vehicle 100 to transport the material box 002 to be picked up.

[0117] It should be noted that a fifth power component can be integrated on the sliding rod 41, which drives the sliding rod 41 to rise and fall.

[0118] It should also be noted that, in this embodiment of the invention, the first power component, the second power component, the third power component, the fourth power component, and the fifth power component can all be motors. These motors can be stepper motors or servo motors. The type of motor is not limited in this embodiment of the invention.

[0119] Additionally, in some embodiments, such as Figure 1 As shown, a roller 50 can be connected to the lower part of the device body 10, and the roller 50 is used to move the device body 10.

[0120] When the lower part of the device body 10 is connected to the roller 50, when the device body 10 needs to be moved, the device body 10 can be pushed to make the roller 50 roll, thereby facilitating the movement of the device body 10 and making it easier to move and pick up the device.

[0121] It should be noted that the number of rollers 50 can be set according to actual needs, for example, such as Figure 1 As shown, there can be four rollers 50, which are respectively located at the four corners of the device body 10. In addition, the rollers 50 can be omnidirectional wheels, or other types of rollers 50. The specific type of rollers 50 is not limited in this embodiment of the invention.

[0122] In some embodiments, a barcode scanner may be provided on the telescopic mechanism 22 to scan the graphic code on the material box and determine the position of the material box.

[0123] Typically, a graphic code is set on the material bin. A barcode scanner is installed on the telescopic mechanism 22. The barcode scanner can identify the graphic code on the material bin, and thus determine the position of the material bin. Therefore, by setting up a barcode scanner, the position of the material bin 002 to be retrieved can be easily determined by scanning the graphic code on the material bin 002 to be retrieved.

[0124] In addition, in some embodiments, a barcode scanner can also be installed on the device body 10, so that the position of the material box 002 to be picked can also be determined by the barcode scanner on the device body 10.

[0125] In this embodiment of the invention, the lifting mechanism 21 is installed on the equipment body 10, and the telescopic mechanism 22 is slidably connected to the lifting mechanism 21. The lifting mechanism 21 can drive the telescopic mechanism 22 to lift and lower. Since the picking mechanism 23 is slidably connected to the telescopic mechanism 22, and the telescopic mechanism 22 is provided with a first support member 221 supporting the first adjacent material box 001 above the material box 002 to be picked, when the lifting mechanism 21 drives the telescopic mechanism 22 to lift and lower, the first support member 221 and the picking mechanism 23 can also lift and lower along with the telescopic mechanism 22. In addition, the telescopic mechanism 22 can extend outside the equipment body 10. The lifting mechanism 21 can drive the telescopic mechanism 22 to move to the height of the material box 002 to be picked up among the stacked material boxes. Then the telescopic mechanism 22 extends outside the equipment body 10, that is, the telescopic mechanism 22 can drive the picking mechanism 23 and the first support member 221 to reach the storage position where the material box 002 is located. Thus, the first support member 221 can contact the first adjacent material box 001 and support the first adjacent material box 001. Then the lifting mechanism 21 drives the telescopic mechanism 22 to lift upward, so that the telescopic mechanism 22 drives the first support member 221 to rise upward. The first support member 221 drives the first adjacent material box 001 to rise, realizing the separation of the first adjacent material box 001 from the material box 002 to be picked up. The picking mechanism 23 slides in the direction away from the storage position. The picking mechanism 23 drives the material box 002 to be picked up to move, realizing the extraction of the material box 002 to be picked up.

[0126] That is, in this embodiment of the invention, by setting up a lifting mechanism 21, a telescopic mechanism 22, and a picking mechanism 23, the lifting mechanism 21 can drive the telescopic mechanism 22 and the picking mechanism 23 to move to the height of the material box 002 to be picked. Then, the telescopic mechanism 22 extends out of the equipment body 10 and moves to the storage position of the material box 002 to be picked. The first support member 221 on the telescopic mechanism 22 contacts the first adjacent material box 001. The lifting mechanism 21 drives the telescopic mechanism 22 to rise, so that the telescopic mechanism 22 drives the first adjacent material box 001 to rise through the first support member 221. Thus, the first adjacent material box 001 is separated from the material box 002 to be picked, so that the picking mechanism 23 can pick up the material box 002 to be picked, so that the material box 002 to be picked can be taken out from the multiple stacked material boxes, thereby facilitating the removal of the material box 002 to be picked from the multiple stacked material boxes.

[0127] This invention provides a material handling system, such as... Figures 14 to 18As shown, the handling system includes a handling vehicle 100 and the picking and placing device in any of the above embodiments. The picking and placing device includes a fork-type pallet 40 for placing the bin 002 to be picked, the pallet is set above the passage, and a fork-type picking device 110 is provided on the top of the handling vehicle 100. The fork-type picking device 110 is adapted to the pallet and the bin 002 to be picked placed on the fork-type pallet 40 is transported by the fork-type picking device 110.

[0128] When the handling system includes a handling vehicle 100 and the picking and placing device includes a fork-type pallet 40, after the picking mechanism 23 removes the picking box 002, the picking box 002 can be carried by the pallet 40, and the handling vehicle 100 can cooperate with the pallet 40, that is, the fork-type picking device 110 cooperates with the fork-type pallet 40, that is, the fork-type picking device 110 can move the picking box 002 placed on the fork-type pallet 40 and remove the picking box 002 from the pallet 40, and the handling vehicle 100 can transport the picking box 002.

[0129] Specifically, after the picking and placing device controls the picking mechanism to place the retrieved box 002 onto the pallet, the server controls the transport vehicle 100 to enter the channel. As the transport vehicle 100 travels in the channel, the fork-type picking device 110 cooperates with the fork-type pallet to transfer the box 002 from the pallet to the top of the fork-type picking device.

[0130] It should be noted that the handling vehicle 100 can be an Automated Guided Vehicle (AGV), an Autonomous Mobile Robot (AMR), or other types, which will not be listed here.

[0131] In some embodiments, the fork-type picking device 110 includes a plurality of spaced-apart second forks 111, the gaps between adjacent second forks 111 accommodating first forks 42 of the fork-type pallet 40. The fork-type picking device 110 also includes baffles 112, each baffle 112 extending upward along the second forks 111. As the transport vehicle 100 passes through the passage of the picking device, the second forks 111 pass through the gaps between adjacent first forks 42, and the baffles 112 push the picking bin 002 to move with the transport vehicle 100, transferring the picking bin 002 onto the plurality of second forks 111 of the fork-type picking device 110.

[0132] When the gap between adjacent second fork teeth 111 can accommodate the first fork teeth 42 of the fork-type pallet 40, and each baffle 112 extends upward along the second fork teeth 111, then when the transport vehicle 100 moves to the pallet 40, each baffle 112 can be accommodated by two adjacent first fork teeth 42 of the pallet 40, so that each baffle 112 can pass through the gap between the first fork teeth 42, and the baffle 112 moves with the transport vehicle 100, so that the transport vehicle 100 moves towards the pallet 40 through the baffle 112. When force is applied to the 002 to be picked up on the pallet 40, the 002 to be picked up moves horizontally. As the transport vehicle 100 continues to move, the baffle 112 will continue to push the 002 to be picked up to move. That is, the baffle 112 pushes the 002 to be picked up to move with the transport vehicle 100. After the transport vehicle 100 has moved a certain distance, that is, after the transport vehicle 100 has passed through the passage of the picking and placing equipment, the baffle 112 will push the 002 to be picked up to detach from the pallet 40, so that the 002 to be picked up is pushed onto the second fork tooth 111.

[0133] In addition, when the pallet 40 includes a sliding rod 41, and a plurality of first forks 42 are connected to the sliding rod 41 along the axial direction of the sliding rod 41, and the two ends of the sliding rod 41 are respectively movable up and down along the equipment body 10, when the transport vehicle 100 needs to transport the material box 002 on the pallet 40, the transport vehicle 100 will move, the pallet 40 will rise, and the distance between the first forks 42 of the pallet 40 and the ground is greater than the height of the transport vehicle 100, so that the transport vehicle 100 can move through the gap between the pallet 40 and the ground. When the transport vehicle 100 passes through the gap between the pallet 40 and the ground, the baffle 112 on the transport vehicle 100 will pass through the gap between two adjacent first fork teeth 42, so that the baffle 112 comes into contact with the material box 002 to be picked up. As the transport vehicle 100 continues to move, the baffle 112 will exert force on the material box 002 to be picked up, so that the material box 002 to be picked up will detach from the first fork teeth 42. The material box 002 to be picked up will then move to the second fork tooth 111 on the transport vehicle 100 under the action of the baffle 112, thereby realizing the docking of the transport vehicle 100 and the picking and placing equipment.

[0134] Furthermore, the gap between the pallet 40 and the ground is greater than the height of the transport vehicle 100. The transport vehicle 100 can pass through this gap to the equipment body 10, and the baffle 112 on the transport vehicle 100 can directly remove the pallet 40 to be picked up from the pallet 40, thereby avoiding the need for other equipment to remove the material bins 002 to be picked up from the pallet 40, which can improve the turnover efficiency of the transport system. In addition, the transport vehicle 100 can pass through the gap between the pallet 40 and the ground. Therefore, when there are multiple transport vehicles 100 and the picking and placing equipment continuously picks up the material bins 002 to be picked up, each transport vehicle 100 can pass through the gap between the pallet 40 and the ground to pick up the material bins 002 to be picked up from the pallet 40. This allows multiple transport vehicles 100 to carry out uninterrupted transport, avoiding the need for other equipment to move the material bins 002 to the transport vehicle 100, thus avoiding the waiting time problem of the transport vehicle 100, thereby improving the turnover efficiency of the transport system.

[0135] In some embodiments, a lifting element is provided on the top surface of the transport vehicle 100, and a fork-type picking device 110 is mounted on the lifting element. The fork-type picking device 110 includes a plurality of spaced-apart second forks 111, the gap between adjacent second forks 111 being large enough to accommodate the first forks 42 of a fork-type pallet. When the transport vehicle 100 passes through the passage of the picking device, the second forks 111 are located in the gap between adjacent first forks 42, and the lifting element drives the second forks 111 to rise, so that the second forks 111 carry the material box 002 to be picked.

[0136] When the fork-type picking device 110 is installed on the lifting component, and the interval between adjacent second forks 111 is sufficient to accommodate the first fork 42 of the fork-type pallet, when the transport vehicle 100 moves to the pallet 40, the lifting component can drive the second forks 111 to rise, thereby bringing the second forks 111 into contact with the bin 002 to be picked up. As the lifting component continues to drive the second forks 111, the second forks 111 will lift the bin 002 to be picked up, effectively lifting the bin 002. After the bin 002 to be picked up has risen a certain distance with the second forks 111, the bin 002 will separate from the pallet 40. At this point, the second forks 111 carry the bin 002 to be picked up. Then, when the transport vehicle 100 moves, the second forks 111 carrying the bin 002 to be picked up move together with the transport vehicle 100, allowing the transport vehicle 100 to transport the bin 002 to be picked up.

[0137] Additionally, it should be noted that the picking and placing devices included in the handling system provided in this embodiment can be referred to the description of the picking and placing devices in the above embodiments, and will not be repeated here.

[0138] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0139] Although alternative embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make further changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the alternative embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0140] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used merely to distinguish one entity from another, and do not necessarily require or imply any such actual relationship or order between these entities. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or terminal device that includes that element.

[0141] The technical solution provided by the present invention has been described in detail above. Specific examples have been used to illustrate the principle and implementation of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the principle and implementation of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A handling system, characterized in that, The handling system includes: a server, a handling vehicle, and picking and placing equipment; The server is used to issue task instructions to the transport vehicle and the pick-and-place device; The picking and placing device is used to pick up the box to be picked up from multiple stacked boxes according to the task instructions issued by the server, and place it on the transport vehicle; The transport vehicle is used to reach the pick-and-place device and move the boxes to be picked according to the task instructions issued by the server. The picking and placing device includes: a device body and a picking device installed on the device body. The picking device includes a picking mechanism and an auxiliary mechanism. The picking device also includes a lifting mechanism and a telescopic mechanism. The auxiliary mechanism and the picking mechanism are connected to the telescopic mechanism. The telescopic mechanism is connected to the lifting mechanism. The picking mechanism is integrated with a third power component, which can drive the picking mechanism to move relative to the telescopic mechanism, so that the picking mechanism can retract into the equipment body under the action of the third power component. Each of the plurality of bins has a protruding mounting platform on its outer side. The auxiliary mechanism has a first support member, and the picking mechanism has a second support member. The distance between the first support member and the second support member is greater than the height of the bin to be picked. The picking and placing device controls the first support member of the auxiliary mechanism to extend under the mounting platform of the first adjacent bin and contact the first adjacent bin, and controls the second support member of the picking mechanism to extend under the mounting platform of the bin to be picked and contact the bin to be picked. The pick-and-place device also includes a support mechanism, which is located at the bottom of the telescopic mechanism. The support mechanism includes a lifting member and a support plate. One end of the lifting member is connected to the bottom of the telescopic mechanism, and the other end of the lifting member is connected to the support plate.

2. The handling system according to claim 1, characterized in that, A passageway for the transport vehicle is provided below the picking and placing device; The transport vehicle moves to the channel below the pick-and-place device according to the task instructions issued by the server; The server controls the pick-and-place device to place the retrieved material box onto the transport vehicle when the transport vehicle passes through the channel, and the transport vehicle continues to move while receiving the material box.

3. The handling system according to claim 2, characterized in that, The picking and placing equipment includes a fork-tooth type pallet for placing material boxes, the pallet being positioned above the aisle; the top of the transport vehicle is equipped with a fork-tooth type picking device adapted to the pallet; After the picking and placing device controls the picking mechanism to place the retrieved bin onto the pallet, the server controls the transport vehicle to enter the channel. As the transport vehicle travels in the channel, the fork-type picking device cooperates with the fork-type pallet to transfer the bin from the pallet to above the fork-type picking device.

4. The handling system according to claim 3, characterized in that, The fork-type picking device includes a plurality of spaced-apart second forks, the interval between adjacent second forks being able to accommodate the first fork of the fork-type pallet; The fork-type picking device also includes baffles, each of which extends upward along the second fork. As the transport vehicle passes through the channel of the pick-and-place device, the second fork passes through the gap between the adjacent first fork, and the baffle pushes the bin to be picked up to move with the transport vehicle and transfer the bin to be picked up onto the multiple second forks of the fork-type picking device.

5. The handling system according to claim 3, characterized in that, The top surface of the transport vehicle is equipped with a lifting component, and the fork-type picking device is mounted on the lifting component. The fork-type picking device includes a plurality of spaced-apart second forks, the interval between adjacent second forks being able to accommodate the first fork of the fork-type pallet; When the transport vehicle passes through the channel of the pick-and-place device, the second fork tooth is located in the gap between the adjacent first fork tooth, and the lifting component drives the second fork tooth to rise, so that the second fork tooth carries the material box to be picked.

6. The handling system according to any one of claims 1-5, characterized in that, The auxiliary mechanism is used to separate the first adjacent bin located above the bin to be retrieved from the stacked bins, and the retrieving mechanism is used to retrieve the bin to be retrieved.

7. The handling system according to claim 6, characterized in that, During the process of retrieving the material box according to the task instruction issued by the server, the retrieval and placement device is used for: The lifting mechanism is controlled to move the auxiliary mechanism and the picking mechanism along the height direction, so that the picking mechanism is aligned with the picking box to be picked in the stacked multiple boxes, and the auxiliary mechanism is aligned with the first adjacent box above the picking box in the multiple boxes; The telescopic mechanism is controlled to extend the auxiliary mechanism and the picking mechanism respectively, so that the auxiliary mechanism and the picking mechanism reach the positions of the first adjacent material box and the material box to be picked; The auxiliary mechanism and the picking mechanism are respectively controlled to contact the first adjacent bin and the bin to be picked; The lifting mechanism is controlled to drive the auxiliary mechanism to lift the first adjacent bin upwards, thereby separating the bin to be retrieved from the first adjacent bin. Then, the picking mechanism and the telescopic mechanism are controlled to cooperate in taking out the bin to be retrieved and placing it in a designated position. In addition, the lifting mechanism is controlled to drive the auxiliary mechanism to descend, placing the first adjacent material box onto the remaining material box in the stacked material boxes.

8. The handling system according to claim 7, characterized in that, The first support member and the second support member are both spring pieces, and the spring pieces have a closed state and an open state; When the auxiliary mechanism reaches the position of the first adjacent material box, the pick-and-place device controls the first support member, which is in a closed state, to pop out to an open state, so that the first support member abuts against the hanging platform of the first adjacent material box. When the picking mechanism reaches the position of the material box to be picked, the picking and placing device controls the second support member, which is in a closed state, to pop out to an open state, so that the second support member abuts against the hanging platform of the material box to be picked. Furthermore, after the picking mechanism lowers the material box to be picked, the picking and placing device controls the second support member to retract into the closed state; after the auxiliary mechanism lowers the first adjacent material box, the picking and placing device controls the first support member to retract into the closed state.

9. The handling system according to claim 1 or 6, characterized in that, The pick-and-place device also includes a distance sensor; During the process of the lifting mechanism driving the auxiliary mechanism to lift the first adjacent material box upward, when the distance between the first adjacent material box and the material box to be picked up is a set distance, the picking mechanism and the telescopic mechanism are controlled to cooperate to pick up the material box to be picked up.

Images