A case taking-out device, a carrying robot, a case carrying method, and a warehouse logistics system

Abstract

The application belongs to the technical field of warehouse logistics, and specifically discloses a box taking device, a carrying robot, a cargo box carrying method and a warehouse logistics system. The box taking device comprises a mounting frame with an accommodating space with at least one open side; a cargo box taking and placing mechanism arranged on the mounting frame and used for being connected with the cargo box and driving the cargo box to enter and exit the accommodating space along a first direction of the box taking device; and a transmission mechanism arranged in the accommodating space, wherein the transmission mechanism has a transmission surface used for supporting and conveying the cargo box, and the transmission mechanism can transmit the cargo box entering and exiting the accommodating space along the first direction. The carrying robot comprises the box taking device, the cargo box carrying method adopts the carrying robot to carry the cargo box, and the warehouse logistics system comprises the carrying robot. The box taking device, the carrying robot, the cargo box carrying method and the warehouse logistics system can improve the carrying efficiency and stability of the cargo box.

Description

Technical Field

[0001] This invention relates to the field of logistics technology, and in particular to a box retrieval device, a handling robot, a box handling method, and a warehousing and logistics system. Background Technology

[0002] The rapid development of e-commerce has brought unprecedented development opportunities to the warehousing and logistics industry, but it has also posed severe challenges to warehousing and logistics services. How to pick packages efficiently, at low cost, flexibly and accurately has always been a problem faced by the warehousing and logistics industry.

[0003] Material handling robots are automated robotic devices used in warehouses to handle materials, including loading, unloading, and transferring. Among them, material handling robots used to handle boxes can remove boxes from shelves and transport them to picking stations, thereby realizing "box-to-person" sorting and improving sorting efficiency.

[0004] Existing handling robots for moving boxes typically have two symmetrical forks on either side. These forks extend to both sides of the box to grip it on the shelf or place it there. However, because the forks need to extend to the sides of the box, they can easily interfere with adjacent boxes during extension or retraction, causing them to tilt and affecting subsequent picking operations. In severe cases, this can even lead to boxes falling and causing safety hazards or damage to goods. Furthermore, using forks for picking requires space between adjacent boxes to allow for the forks to reach, reducing the density of boxes on the shelf and hindering warehouse capacity. Summary of the Invention

[0005] The first objective of this invention is to provide a container retrieval device to improve the efficiency, stability, and reliability of container transport.

[0006] The second objective of this invention is to provide a handling robot that improves the efficiency, stability, and reliability of picking up and placing cargo boxes.

[0007] The third objective of this invention is to provide a cargo box handling method to improve cargo box handling efficiency and stability.

[0008] The fourth objective of this invention is to provide a warehousing and logistics system to improve the efficiency and security of warehousing and logistics systems.

[0009] To achieve the above objectives, the present invention adopts the following technical solution:

[0010] A box retrieval device, comprising:

[0011] Mounting bracket, which has a receiving space with an opening on at least one side;

[0012] A cargo box retrieval and placement mechanism is mounted on the mounting frame and is used to dock with one side of the cargo box. The cargo box retrieval and placement mechanism can drive the cargo box to enter and exit the accommodating space along the first direction of the retrieval device.

[0013] A transmission mechanism is disposed in the accommodating space. The transmission mechanism has a transmission surface for supporting and conveying the cargo box. The transmission mechanism is capable of transmitting the cargo box entering and exiting the accommodating space along the first direction.

[0014] As an optional technical solution for the box retrieval device, two transmission mechanisms are arranged at intervals along the second direction of the box retrieval device, and the box retrieval and placement mechanism is arranged between the two transmission mechanisms, wherein the second direction is perpendicular to the first direction.

[0015] As an optional technical solution for the box retrieval device, the transmission mechanism includes two rotating members spaced apart along the first direction and a transmission belt wound around the two rotating members, the upper surface of the transmission belt forming the transmission surface.

[0016] As an alternative technical solution for the box retrieval device, one of the rotating components is an electric roller.

[0017] As an optional technical solution for the box retrieval device, the box retrieval and placement mechanism can dock with one side of the box, and the box retrieval and placement mechanism docks with one side of the box in a detachable connection manner.

[0018] As an optional technical solution for a box retrieval device, when the box enters or leaves the accommodating space and comes into contact with the transmission surface, the box retrieval mechanism and the transmission mechanism jointly carry the box in motion.

[0019] As an optional technical solution for a box retrieval device, the box retrieval and placement mechanism includes a picking component for docking with the box and a main drive component for driving the picking component to move along the first direction;

[0020] The box retrieval device further includes a guide assembly for guiding the movement of the pickup assembly along the first direction.

[0021] As an optional technical solution for the box retrieval device, the guiding assembly includes:

[0022] A guide rail is laid on the mounting frame along the first direction;

[0023] A slider is slidably disposed on the guide rail and connected to the pickup component, wherein the upper surface of the guide rail is lower than the transmission surface.

[0024] As an optional technical solution for the box retrieval device, the box retrieval device further includes a housing, which surrounds the periphery of the mounting frame and has an opening, the opening of the housing coinciding with the opening of the receiving space.

[0025] As an optional technical solution for the box retrieval device, the outer shell includes two outer side plates arranged at intervals along the second direction of the box retrieval device and a transverse side plate connected between the two outer side plates. Each outer side plate has a guide plate portion at one end away from the transverse side plate. The two guide plate portions are inclined towards each other in a direction away from the transverse side plate. The second direction is perpendicular to the first direction.

[0026] A handling robot includes a box-retrieving device as described above, a mobile chassis, and a stand mounted on the mobile chassis, wherein the box-retrieving device is vertically and flexibly mounted on the stand.

[0027] As an optional technical solution for a handling robot, the handling robot also includes temporary storage partitions, multiple of which are spaced apart along the height direction of the upright, and the cargo boxes can be temporarily stored on the temporary storage partitions. The cargo box retrieval device can realize the transfer of the cargo boxes between the temporary storage partitions and the storage containers.

[0028] As an optional technical solution for a handling robot, the handling robot further includes a lifting mechanism, which includes a lifting drive assembly and a lifting frame. The lifting drive assembly is installed between the lifting frame and the upright frame, and the lifting drive assembly is used to drive the lifting frame to move up and down in the vertical direction.

[0029] Both the lifting frame and the box retrieval device are located on the side of the upright frame away from the temporary storage partition, and the mounting frame is rotatably mounted on the lifting frame around the vertical axis.

[0030] A cargo box handling method, employing a handling robot as described above to handle the cargo boxes, the cargo box handling method including a cargo box picking method, the cargo box picking method comprising:

[0031] The cargo container loading and unloading mechanism extends and docks with the cargo container;

[0032] The cargo container loading and unloading mechanism pulls the cargo container into the receiving space and supports the cargo container on the conveying surface;

[0033] The transmission mechanism operates, causing the cargo box to fully enter the accommodating space.

[0034] As an optional technical solution for a cargo handling method, the cargo picking method further includes: after the cargo is supported on the transmission surface, the cargo picking and placing mechanism continues to drag the cargo into the receiving space, while the transmission mechanism transports the cargo in the same direction.

[0035] As an optional technical solution for a cargo container handling method, the cargo container handling method includes a cargo container loading method, which includes:

[0036] The conveying mechanism operates to transport the cargo box out of the accommodating space;

[0037] The cargo box loading and unloading mechanism extends to push the cargo box out of the receiving space.

[0038] As an optional technical solution for a cargo handling method, the cargo loading method further includes: before the transmission mechanism is activated, the cargo picking and placing mechanism is connected to the cargo box; after the cargo box is pushed out of the accommodating space and placed in place, the cargo picking and placing mechanism separates from the cargo box and returns to its initial position.

[0039] As an optional technical solution for a cargo box handling method, the cargo box picking and placing mechanism includes a suction cup and a main drive assembly that drives the suction cup to move along the first direction. The connection between the cargo box picking and placing mechanism and one side of the cargo box specifically includes:

[0040] The main drive assembly drives the suction cup to extend and abut against one side of the cargo box;

[0041] A vacuum is applied to the suction cup so that it adheres to the cargo box.

[0042] A warehousing and logistics system includes a storage container and a handling robot as described above, the handling robot being used to pick up and place the cargo box on the storage container.

[0043] As an optional technical solution for a warehousing and logistics system, the storage container includes a number of supporting partitions spaced apart along the height direction, and the supporting partitions are provided with a number of dividing ribs protruding along the lateral direction; a storage position is formed between two adjacent dividing ribs or a number of storage positions are arranged side by side along the longitudinal direction, and each storage position can accommodate one of the cargo boxes.

[0044] The beneficial effects of this invention are as follows:

[0045] The box retrieval device provided by this invention, by setting up a box retrieval and placement mechanism, can dock with the box, drag the box on the storage container into the receiving space, or push the box on the retrieval device out of the receiving space and onto the storage container, thereby realizing the transfer of the box between the receiving space and the storage container; by setting up a transmission mechanism, it can support and assist the transmission of the box entering and leaving the receiving space, which can improve the transmission efficiency and stability of the box, and reduce the force required by the box retrieval and placement mechanism, thus reducing the structural requirements of the box retrieval and placement mechanism.

[0046] The handling robot provided by this invention, by using the above-mentioned box-picking device to pick up and place boxes, can improve the handling efficiency and stability of the handling robot.

[0047] The cargo handling method provided in this embodiment of the invention improves the handling efficiency and stability of cargo boxes by using the aforementioned handling robot.

[0048] The warehousing and logistics system provided in this embodiment of the invention improves the efficiency and stability of cargo handling by using the aforementioned handling robot to move cargo boxes, thereby enhancing the efficiency and safety of the warehousing and logistics system. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the handling robot provided in Embodiment 1 of the present invention when docking with a cargo box;

[0050] Figure 2 This is a schematic diagram of the structure of the handling robot provided in Embodiment 1 of the present invention when it drags the cargo box into the receiving space;

[0051] Figure 3 This is a schematic diagram of the box-retrieving device provided in Embodiment 1 of the present invention when the picking component retracts;

[0052] Figure 4 This is a schematic diagram of the box-retrieving device provided in Embodiment 1 of the present invention when the picking component extends;

[0053] Figure 5 This is a schematic diagram of the warehousing and logistics system provided in Embodiment 4 of the present invention.

[0054] The markings in the image are as follows:

[0055] 10. Handling robot; 20. Storage container; 201. Support partition; 202. Dividing rib; 203. Storage location; 30. Cargo box;

[0056] 1. Box retrieval device; 11. Mounting frame; 111. Mounting base plate; 112. Mounting side plate; 113. Accommodation space; 12. Box retrieval and placement mechanism; 121. Suction cup; 122. Main drive assembly; 123. Fixing frame; 13. Transmission mechanism; 131. Transmission belt; 1311. Transmission surface; 132. Driving rotating component; 133. Driven rotating component; 14. Guide rail; 15. Housing; 151. Outer side plate; 1511. Guide plate section; 152. Transverse side plate;

[0057] 2. Frame; 21. Support column; 22. Crossbeam; 3. Mobile chassis; 4. Temporary storage partition; 5. Lifting frame. Detailed Implementation

[0058] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0059] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0060] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0061] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0062] Example 1

[0063] like Figure 1 and Figure 2 As shown, this embodiment provides a handling robot 10 for handling and retrieving cargo boxes 30. It is primarily used in the warehousing and logistics industry to retrieve, place, and transport cargo boxes 30 containing ordered goods or express parcels, enabling order-based pickup or loading operations. It can also be applied to other locations requiring the handling of cargo boxes 30 or goods. The application of the handling robot 10 in this embodiment is merely exemplary, and this embodiment does not impose specific limitations on it.

[0064] Specifically, the handling robot 10 provided in this embodiment includes a mobile chassis 3, a stand 2, a box-retrieving device 1, a lifting mechanism, a detection component, and a controller. The mobile chassis 3 enables the handling robot 10 to move on the ground to transport boxes 30. The stand 2 is mounted on the mobile chassis 3 and is used to fix and support the box-retrieving device 1. The box-retrieving device 1 is vertically and vertically mounted on the stand 2 via the lifting mechanism to pick up boxes 30 from storage containers or place boxes 30 onto storage containers. The detection component detects the working status of the handling robot 10 and the external environmental conditions. The controller acquires order information for warehousing and logistics and intelligently controls the operation of the handling robot 10 based on the order information and the detection results of the detection component.

[0065] The mobile chassis 3 includes a chassis body and a drive wheel mechanism located at the bottom of the chassis body. The drive wheel mechanism is used to realize the movement of the mobile chassis 3. The drive wheel mechanism can be in the form of differential drive, specifically including a drive wheel motor, two drive wheels located at the bottom of the chassis body, and a connecting assembly connecting the drive wheel motor and the two drive wheels. The two drive wheels are respectively located on both sides of the chassis body. The drive wheel motor is located inside the chassis body, and its rotation output shaft is connected to the drive wheels and drives the drive wheels to move, realizing the linear or turning movement of the mobile chassis 3.

[0066] In this embodiment, the drive wheel mechanism is located on both sides of the middle of the mobile chassis 3, which helps to improve the stability of the mobile chassis 3 during movement. Multiple omnidirectional driven wheels can also be provided on the chassis body. For example, a pair of omnidirectional driven wheels can be provided at the front and rear of the chassis body, and the two pairs of omnidirectional driven wheels can be symmetrically arranged relative to a pair of drive wheels. This further improves the smooth movement of the mobile chassis 3, especially the stability of its turning motion, and prevents the mobile chassis 3 from tipping to one side during movement.

[0067] The drive wheel mechanism can also be other mechanisms that can drive the chassis body to move. This embodiment does not limit the specific form of the drive wheel mechanism, nor does it limit the specific structure of the mobile chassis 3. Any structure that can drive the upright 2 to move is acceptable, such as existing robot structures.

[0068] For ease of subsequent description, let's use Figure 1 and Figure 2 The coordinate system of the handling robot 10 is established in the directions shown, where the X direction is the extension direction of the drive wheel shaft, the Y direction is set horizontally and perpendicular to the X direction, and the Z direction is the vertical direction.

[0069] The support frame 2 includes two opposing and spaced-apart support columns 21, each vertically positioned. The lower end of each support column 21 is connected to the movable base 3, and a crossbeam 22 connects the upper ends of the two support columns 21 to prevent relative swaying. Preferably, each support column 21 includes multiple detachably connected support segments to improve processing and assembly convenience. The structure of the support frame 2 can be referenced from existing technology and will not be described in detail here.

[0070] The box retrieval device 1 is mounted on the upright frame 2 via a lifting mechanism. The lifting mechanism includes a lifting frame 5 and a lifting drive assembly. The lifting drive assembly is installed between the upright frame 2 and the lifting frame 5 and is used to drive the lifting frame 5 to rise and fall. The box retrieval device 1 is mounted on the lifting frame 5. The lifting mechanism can be, but is not limited to, a sprocket and chain type lifting mechanism, a screw and nut type lifting mechanism, a gear and rack type lifting mechanism, etc., and the specific structure of the lifting mechanism and the connection between the lifting mechanism and the box retrieval device 1 can refer to the prior art. This embodiment does not impose any limitations on this.

[0071] like Figure 3 and Figure 4 As shown, the box retrieval device 1 includes a mounting frame 11, a box retrieval and placement mechanism 12, and a transmission mechanism 13. The mounting frame 11 is mounted on the lifting frame 5 and has a receiving space 113 with an opening on at least one side. The box retrieval and placement mechanism 12 is disposed on the mounting frame 11 and is used to dock with the box 30, and can drive the box 30 to enter and exit the receiving space 113 along a first direction of the box retrieval device 1. The transmission mechanism 13 is disposed in the receiving space 113 and has a transmission surface 1311 for supporting and transporting the box 30. The transmission mechanism 13 can transport the box 30 entering and exiting the receiving space 113 along the first direction. The first direction is parallel to the X-direction or parallel to the Y-direction.

[0072] The box retrieval device 1 and the handling robot 10 provided in this embodiment, by setting up a box retrieval and placement mechanism 12, can dock with the box 30, drag the box 30 on the storage container into the accommodating space 113, or push the box 30 on the box retrieval device 1 out of the accommodating space 113 and push it onto the storage container, thereby realizing the transfer of the box 30 between the accommodating space 113 and the storage container; by setting up a transmission mechanism 13, the box 30 entering and leaving the accommodating space 113 can be supported and assisted in transmission, which can improve the transmission efficiency and transmission stability of the box 30, and reduce the force required by the box retrieval and placement mechanism 12, thus reducing the structural requirements of the box retrieval and placement mechanism 12.

[0073] The mounting frame 11 preferably includes a horizontally arranged mounting base plate 111 and a vertically arranged mounting side plate 112. The lower end of the mounting side plate 112 is vertically connected to the mounting base plate 111. Two mounting side plates 112 are arranged opposite each other and spaced apart along the second direction, forming the aforementioned accommodating space 113 between the two mounting side plates 112. The transmission mechanism 13 and the cargo box loading / unloading mechanism 12 are both mounted on the mounting base plate 111, and the upper end of the mounting side plate 112 is higher than the transmission surface 1311. By providing two mounting side plates 112, it is beneficial to protect the cargo box 30 entering the accommodating space 113, preventing the cargo box 30 from falling off the side of the mounting frame 11 due to accidents, and improving the safety and reliability of the cargo box 30 loading / unloading process. At the same time, the mounting side plates 112 can also provide protection for the transmission mechanism 13 and the cargo box loading / unloading mechanism 12.

[0074] Preferably, the transmission mechanism 13 adopts a belt transmission mechanism, which provides smooth transmission, lower cost, and avoids scratching damage to the cargo box 30. Specifically, the transmission mechanism 13 includes an active rotating member 132 and a driven rotating member 133 arranged opposite to and spaced apart along a first direction, and a transmission belt 131 wound around the active rotating member 132 and the driven rotating member 133, with the upper surface of the transmission belt 131 forming a transmission surface 1311.

[0075] Preferably, both rotating components (driving rotating component 132 and driven driving component 133) are rollers, and the roller shafts are arranged along the second direction. This arrangement increases the width of the transmission belt 131, thereby increasing the width of the transmission surface 1311 and improving transmission safety and reliability. In other embodiments, the driving rotating component 132 and the driven rotating component 133 can also be configured as pulleys.

[0076] To improve the structural compactness of the box-retrieving device 1, preferably, the active rotating component 132 is an electric roller, that is, the active rotating component 132 includes a cylinder and a transmission drive unit disposed inside the cylinder, which occupies little space and has a strong structural compactness. In other embodiments, the active rotating component 132 may also be a separate cylinder structure, and the transmission mechanism 13 further includes a transmission motor disposed outside the active rotating component 132 and a transmission structure connecting the transmission motor and the active rotating component 132.

[0077] In another embodiment, the transmission mechanism 13 may also be a roller-type transmission mechanism, a roller-type transmission mechanism, or a chain-type transmission mechanism. The roller-type transmission mechanism, the roller-type transmission mechanism, or the chain-type transmission mechanism can all be configured with reference to the prior art, and the present invention will not provide examples of each one.

[0078] To further improve the smoothness of transporting the cargo box 30, two transmission mechanisms 13 are arranged opposite each other and spaced apart along the second direction, with the distance between the two transmission mechanisms 13 being less than the width of the cargo box 30. A cargo box picking and placing mechanism 12 is positioned between the two transmission mechanisms 13. This allows the two sides of the bottom of the cargo box 30 to be supported on the transmission surfaces 1311 of the two transmission mechanisms 13 during the picking and placing process, improving transmission stability and reliability. Furthermore, the cargo box 30 is dragged by the middle cargo box picking and placing mechanism 12, effectively guiding the transmission direction of the cargo box 30 and preventing it from tilting during transport, thus improving the stability of the cargo box 30 under stress during transport. Simultaneously, this arrangement also reduces structural interference between the cargo box picking and placing mechanism 12 and the transmission mechanism 13. In other embodiments, only one transmission mechanism 13 may be provided, with the cargo box picking and placing mechanism 12 positioned above the transmission mechanism 13.

[0079] The cargo box retrieval mechanism 12 includes a pickup component and a main drive component 122. The pickup component is used to dock with the cargo box 30, and the main drive component 122 is used to drive the pickup component to move along the first direction of the cargo box retrieval device 1, so as to drive the cargo box 30 into and out of the accommodating space 113.

[0080] Preferably, the cargo box loading / unloading mechanism 12 can dock with one side of the cargo box 30, and the cargo box loading / unloading mechanism 12 docks with one side of the cargo box using a detachable connection method such as magnetic adsorption, vacuum adsorption, or a detachable mechanical connection. This configuration of the cargo box loading / unloading mechanism 12 reduces the space required for docking with the cargo box 30, avoids the cargo box loading / unloading mechanism 12 extending into both sides of the cargo box 30 to clamp it, thereby reducing the gap requirement between two adjacent cargo boxes 30 on the storage container and increasing the arrangement density of the cargo boxes 30 on the storage container. The detachable mechanical connection method can be, but is not limited to, snap-fit, plug-in, or hook-fit. In other embodiments, the cargo box loading / unloading mechanism 12 can also use an existing clamping structure to load and unload the cargo box 30.

[0081] In this embodiment, the pickup component and the cargo box 30 are connected by vacuum adsorption. The pickup component includes a suction cup 121 and an air pump assembly (not shown) for supplying air to the suction cup 121 and creating a vacuum. The air pump assembly includes an air pump and an air pipe connecting the suction cup 121 and the air pump. When the main drive assembly 122 drives the suction cup 121 to contact the side of the cargo box 30, the air pump creates a vacuum on the suction cup 121 through the air pipe, thus achieving vacuum adsorption of the cargo box 30 by the suction cup 121. When it is necessary to release the cargo box 30, the air pump introduces positive pressure gas into the suction cup 121 through the air pipe, thereby releasing the cargo box 30 by the suction cup 121.

[0082] The pickup component and the cargo box 30 are docked using vacuum adsorption, which is simple in structure, easy to implement, and low in cost. At the same time, this setting allows the pickup component to operate on only one side of the cargo box 30 to achieve stable pickup, making it convenient to pick up and put down the cargo box 30. In addition, the use of vacuum adsorption to pick up and put down the cargo box 30 does not require any changes to the structure of the cargo box 30, resulting in low improvement costs and strong versatility. Furthermore, the use of vacuum adsorption to pick up and put down the cargo box 30 can reduce the alignment accuracy requirements between the pickup component and the cargo box 30, thereby improving the convenience of picking up and putting down the cargo box 30.

[0083] To facilitate the installation and removal of the pickup components, the cargo box pickup and placement mechanism 12 also includes a fixing frame 123. The suction cup 121 is detachably connected to the fixing frame 123, and the fixing frame 123 is detachably connected to the main drive assembly 122. The main drive assembly 122 drives the fixing frame 123 to move along a first direction, thereby driving the suction cup 121 to move along the first direction. Preferably, at least two suction cups 121 are spaced apart along a second direction and / or a vertical direction to improve the reliability of adsorption on the cargo box 30 and reduce the adsorption force required by a single suction cup 121.

[0084] Each suction cup 121 can be equipped with an individual air pipe, and an air pump supplies air to a single air pipe. Alternatively, an air distribution block can be set at the end of the air pipe near the suction cup 121 to distribute air, and the suction cup 121 can be set on the air distribution block, so that one air pipe can supply air to multiple suction cups 121, and ensure the uniformity and consistency of the air supply to the suction cups 121.

[0085] In this embodiment, the main drive assembly 122 is driven by a main drive motor in conjunction with a main transmission assembly. The main drive motor is preferably located on the side of the mounting frame 11 away from the opening of the accommodating space 113 to avoid interference with the cargo box 30. The main transmission assembly can, but is not limited to, belt drives, rack and pinion drives, chain drives, or screw and nut drives, etc., that enable linear movement of the fixed frame 123. This embodiment does not limit the transmission method or specific structural form of the main transmission assembly.

[0086] To further improve the smoothness of the pickup component's operation along the first direction, the box-retrieving device 1 is also provided with a guide component. The guide component is mounted on the mounting base plate 111 and extends along the first direction. The guide component includes a first guide member and a second guide member that are slidably connected. The first guide member is laid on the mounting base plate 111 along the first direction and located between the two transmission mechanisms 13. The second guide member slides or rolls with the first guide member. The second guide member is detachably connected to the fixing frame 123.

[0087] In this embodiment, the first guide member is a guide rail 14, and the second guide member is a slider; that is, the guide assembly is a guide rail-slider structure, and the upper surface of the guide rail 14 is lower than the transmission surface 1311. In other embodiments, the first guide member can also be a guide rod, and the second guide member can be a guide sleeve slidably fitted on the guide rod. Other existing structures capable of achieving linear guiding are all within the scope of protection of this invention, and this invention does not limit them.

[0088] Furthermore, the suction cup 121 is located above the guide rail 14, so as to increase the height of the suction cup 121 while reducing the height of the fixing frame 123, thereby increasing the height of the docking position of the suction cup 121 and the cargo box 30 relative to the bottom of the cargo box 30, improving the smoothness of the cargo box 30 transmission, improving the structural compactness, and reducing structural interference.

[0089] The box retrieval device 1 preferably also includes a housing 15 surrounding the mounting frame 11. The housing 15 has an opening, and the opening of the housing 15 coincides with the opening of the receiving space 113 to improve the aesthetic appearance of the box retrieval device 1. The housing 15 preferably includes a transverse side plate 152 forming a U-shaped structure and two opposing and spaced-apart outer side plates 151. The two outer side plates 151 are respectively located outside the two mounting side plates 112 and are detachably connected to the corresponding mounting side plates 112. The opening formed by the transverse side plate 152 and the two outer side plates 151 coincides with the opening of the receiving space 113. The housing 15 helps to protect the box retrieval device 1 and can prevent the box 30 from falling off the side away from the opening of the receiving space 113, thereby improving the safety and reliability of the box 30 on the box retrieval device 1.

[0090] Furthermore, each outer side panel 151 is provided with a guide plate portion 1511 at the end away from the transverse side panel 152. The two guide plate portions 1511 are inclined towards each other in a direction away from the transverse side panel 152, and the second direction is perpendicular to the first direction. The arrangement of the guide plate portions 1511 is beneficial for guiding the cargo box 30 into and out of the receiving space 1131.

[0091] like Figure 1As shown, in this embodiment, the handling robot 10 also includes a plurality of temporary storage partitions 4 spaced apart along the height direction of the upright 2. Each temporary storage partition 4 is vertically connected to the support column 21, and each temporary storage partition 4 can be used to temporarily store one cargo box 30. With this configuration, the handling robot 10 can handle multiple cargo boxes 30 at one time, improving the efficiency of cargo box 30 handling.

[0092] Furthermore, each temporary storage partition 4 is detachably connected to the upright 2, allowing for the installation of a reasonable number of temporary storage partitions 4 on the upright 2 based on the height of the storage containers, the height of the upright 2, and the handling requirements. This improves the flexibility and versatility of the handling robot 10, enabling modular processing and installation of the temporary storage partitions 4, enhancing their processing and usage flexibility, and facilitating their processing, assembly, and handling. The specific structure of the temporary storage partition 4 can be found in existing technologies, which are not the focus of this invention and will not be elaborated upon here.

[0093] To avoid interference between the box retrieval device 1 and the temporary storage partition 4, the box retrieval device 1 and the temporary storage partition 4 are located on opposite sides of the upright frame 2. The box retrieval device 1 is connected to the lifting frame 5 via a rotating mechanism, allowing the box retrieval device 1 to rotate around the vertical axis, changing the opening orientation of the accommodating space 113. This enables the box retrieval mechanism 12 and the transmission mechanism 13 to transfer the box 30 between the mounting frame 11 and the temporary storage partition 4. The rotating mechanism can be configured as in existing systems, which is not the focus of this invention and will not be described further here.

[0094] This embodiment also provides a warehousing and logistics system, including the aforementioned handling robot 10.

[0095] Example 2

[0096] This embodiment provides a cargo box handling method, which uses the handling robot 10 in Embodiment 1 to handle the cargo box 30, so as to improve the efficiency and stability of handling the cargo box 30.

[0097] The cargo handling method provided in this embodiment includes a cargo picking method, which is a handling method in which the handling robot 10 moves the cargo boxes 30 on the storage container to the target location. The cargo picking method includes:

[0098] Step S101: The handling robot 10 receives order information from the order management center and analyzes the location of the goods in the order;

[0099] Step S102: The handling robot 10 plans the optimal travel path according to the location of the ordered goods and automatically navigates along the warehouse aisle to the front of the target cargo box;

[0100] Step S103: The lifting mechanism operates, raising the container retrieval device to face the target container directly.

[0101] Step S104: The cargo container loading and unloading mechanism 12 extends and docks with the cargo container 30;

[0102] In this embodiment, the step specifically includes:

[0103] Step S1041: The main drive assembly 122 drives the suction cup 121 to extend until the suction cup 121 abuts against the front side of the cargo box 30.

[0104] Step S1042: The air pump evacuates the suction cup 121, causing the suction cup 121 to adhere to the cargo box 30.

[0105] Step S105: The cargo box picking and placing mechanism 12 retracts and drags the cargo box 30 into the receiving space, and the cargo box 30 is supported on the transmission surface 1311;

[0106] Step S106: When the cargo box 30 comes into contact with the transmission surface 1311, the transmission mechanism 13 is activated and drives the cargo box 30 to fully enter the accommodating space 113.

[0107] In this embodiment, when the conveying mechanism 13 is conveying the cargo box 30, the cargo box picking and placing mechanism 12 simultaneously drags the cargo box 30 in the same direction, thereby realizing the synchronous conveying of the cargo box 30 by the conveying mechanism 13 and the cargo box picking and placing mechanism 12.

[0108] It is understandable that the cargo box picking and placing mechanism 12 may only serve to dock the cargo box 30 and drag the cargo box 30 into or out of the accommodating space 113. When the transmission mechanism 13 can stably transmit the cargo box 30, the cargo box picking and placing mechanism 12 can be disengaged from the cargo box 30.

[0109] Step S107: When the cargo box 30 is transferred into place in the accommodating space 113, the cargo box picking and placing mechanism 12 and the transmission mechanism 13 stop operating.

[0110] Step S108: The lifting mechanism drives the box retrieval device 1 to rise to the same height as the empty temporary storage partition 4;

[0111] Step S109: The rotating mechanism drives the box retrieval device 1 to rotate 90°, so that the opening of the accommodating space 113 faces the temporary storage partition 4.

[0112] It is understandable that the order of steps S108 and S109 can be changed, or they can be performed simultaneously.

[0113] In step S110, the cargo box retrieval mechanism 12 and the transmission mechanism 13 cooperate to push the cargo box 30 in the accommodating space 113 into the temporary storage partition 4;

[0114] Step S111: The handling robot 10 operates to move the cargo box 30 to the target location.

[0115] The cargo handling method also includes a cargo loading method, which mainly involves placing the cargo boxes 30 from the handling robot 10 back onto the storage containers. The cargo loading method includes:

[0116] Step S201: The handling robot 10 moves to the front of the target storage location;

[0117] Step S202: The lifting mechanism operates, causing the container retrieval device 1 to be aligned with the target container;

[0118] It is worth noting that if the current position of the container retrieval device 1 is directly opposite the target container, this step can be omitted.

[0119] Step S203: The rotating mechanism operates to adjust the opening of the accommodating space 113 to face the target cargo box;

[0120] It is worth noting that this step can be omitted when the initial state of the box retrieval device 1 is that the opening of the accommodating space 113 faces the temporary storage partition 4.

[0121] In step S204, the cargo container retrieval mechanism 12 and the transfer mechanism 13 transfer the target cargo container from the temporary storage partition 4 to the receiving space 113.

[0122] This step can be referred to as steps S104 to S107 above, and will not be repeated here.

[0123] Step S205: The rotating mechanism drives the box-retrieving device 1 to rotate 90°, so that the opening of the accommodating space 113 faces the storage container where the target storage location 30 is located.

[0124] Step S206: The lifting mechanism is activated to raise and lower the box retrieval device 1 to match the height of the target cargo location;

[0125] In step S207, the transmission mechanism 13 and the cargo box picking and placing mechanism 12 operate synchronously to output the target cargo box into the accommodating space 113;

[0126] In this step, the cargo box loading and unloading mechanism 12 can be connected to one side of the cargo box 30, or the transmission mechanism 13 can only abut against one side of the cargo box 30, that is, the transmission mechanism 13 only acts on the cargo box 30 by pushing force.

[0127] Step S208: After the cargo box 30 exits the accommodating space 113 and enters the target cargo position, the transmission mechanism 13 stops operating, and the cargo box picking and placing mechanism 12 continues to operate to push the target cargo box into place.

[0128] Step S209: When the target container is fully inserted into the target storage location, the container picking and placing mechanism 12 separates from the container 30 and retracts to the initial position.

[0129] The cargo handling method provided in this embodiment improves the handling efficiency and stability of the cargo box 30 by using the aforementioned handling robot 10 to handle the cargo box 30.

[0130] Example 3

[0131] This embodiment provides a handling robot and a warehousing and logistics system, which has a basically the same structure as the handling robot provided in Embodiment 1, with only some differences in settings. This embodiment will not repeat the structure in Embodiment 1.

[0132] In this embodiment, the conveying mechanism and the cargo box picking and placing mechanism simultaneously pull the cargo box into or out of the receiving space. Specifically, when the cargo box is placed on the storage container, the front end of the cargo box extends beyond the outside of the storage container, that is, the front end of the bottom of the cargo box is located outside the storage container. When the handling robot moves to the front of the target cargo box, the picking device rises until the front end of the cargo box abuts against the conveying surface of the conveying mechanism 13; after the picking device rises to its position, the cargo box picking and placing mechanism extends and docks with the cargo box. At this time, the cargo box picking and placing mechanism and the conveying mechanism work together to completely pull the cargo box into the receiving space.

[0133] When the handling robot needs to place the cargo box onto the storage container, the box retrieval device rises until the transmission surface is parallel to the bottom surface of the target storage location. The transmission mechanism and the cargo box retrieval mechanism work together to output the cargo box out of the storage space and put it into the target storage location.

[0134] In this configuration, preferably, when the container retrieval device picks up or places a container, the device approaches or abuts against the storage container from the opening side of the accommodating space to prevent the container from extending too far beyond the storage container, which could affect the stability and safety of the container's placement. Simultaneously, to avoid interference between the storage container and the upright, when the first direction of the container retrieval device is parallel to the X-direction, the side of the container retrieval device facing the storage container protrudes beyond the side of the upright facing the storage container.

[0135] Example 4

[0136] This embodiment provides a warehousing and logistics system, such as Figure 5 As shown, the warehousing and logistics system provided in this embodiment includes an inventory container 20, a cargo box 30, and a handling robot 10. The cargo box 30 is placed on the inventory container 20, and the handling robot 10 is used to move the cargo box 30 on the inventory container 20. The structure of the warehousing and logistics system provided in this embodiment is basically the same as that in Embodiment 1, except that the structure of the inventory container 20 is different. This embodiment will not describe the structure that is the same as that in Embodiment 1 again.

[0137] Specifically, such as Figure 5As shown, the storage container 20 includes a plurality of support partitions 201 spaced apart in the height direction. Each support partition 201 has a plurality of storage positions 203 arranged laterally, and each storage position 203 can be used to store one cargo box 30. Preferably, each support partition 201 has two or three storage positions 203 arranged longitudinally, thereby increasing the arrangement density of cargo boxes 30 on the storage container 20 and improving the space utilization rate of the storage container 20.

[0138] In the embodiment, two adjacent storage locations 203 are provided with a partition rib 202. The partition rib 202 extends longitudinally and protrudes vertically from the upper surface of the supporting partition 201. That is, a storage location 203 or several storage locations 203 arranged longitudinally are formed between two adjacent partition ribs 202.

[0139] The storage container 20 provided in this embodiment, by setting a partition 202 on the support partition 201, uses the partition 202 to separate the horizontally arranged storage positions 203. This can prevent the storage boxes 30 next to the target storage box 30 from being pushed and causing disordered phenomena such as tilting of the storage boxes 30 when the storage boxes 30 are picked up and placed manually or by the handling robot 10. This ensures the stability and reliability of the storage boxes 30 on the storage container 20, reduces interference between the storage boxes 30, and makes it more convenient for the handling robot 10 to dock and pick up the storage boxes 30.

[0140] In this embodiment, the partition stiffener 202 is welded to the supporting partition 201 to improve structural stability. However, it is understood that the partition stiffener 202 and the supporting partition 201 can also be connected by other detachable methods such as plug-in connection to facilitate the installation, disassembly and replacement of the partition stiffener 202.

[0141] Other structural features of the storage container 20 can be referenced from existing technologies and will not be elaborated here.

[0142] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A box-retrieving device, characterized in that, include: Mounting bracket (11) has a receiving space (113) with an opening on at least one side. The cargo box taking and placing mechanism (12) is set on the mounting frame (11) and is used to dock with the cargo box (30), and can drive the cargo box (30) to enter and exit the accommodating space (113) along the first direction of the taking device. A transmission mechanism (13) is disposed in the accommodating space (113). The transmission mechanism (13) has a transmission surface (1311) for supporting and conveying the cargo box (30). The transmission mechanism (13) is capable of conveying the cargo box (30) entering and exiting the accommodating space (113) along the first direction. The cargo box picking and placing mechanism (12) includes a picking component for docking with the cargo box (30) and a main drive component (122) for driving the picking component to move along the first direction. The box retrieval device (1) further includes a guide assembly for guiding the movement of the pickup assembly along the first direction; The guiding component includes: The guide rail (14) is laid on the mounting frame (11) along the first direction; The slider is slidably disposed on the guide rail (14) and connected to the pickup component, wherein the upper surface of the guide rail (14) is lower than the transmission surface (1311). Two of the transmission mechanisms (13) are arranged at intervals along the second direction of the box retrieval device, and the box retrieval and placement mechanism (12) is arranged between the two transmission mechanisms (13). The second direction is perpendicular to the first direction. During the loading and unloading process, the bottom sides of the cargo box (30) can be supported on the transmission surfaces (1311) of the two transmission mechanisms (13) respectively, and the cargo box (30) is dragged by the cargo box loading and unloading mechanism (12) located in the middle. When the cargo box (30) enters or leaves the accommodating space and comes into contact with the transmission surface (1311), the cargo box picking and placing mechanism (12) and the transmission mechanism (13) together carry the cargo box (30) to move.

2. The box-retrieving device according to claim 1, characterized in that, The transmission mechanism (13) includes two rotating members spaced apart along the first direction and a transmission belt (131) wound around the two rotating members, the upper surface of the transmission belt (131) forming the transmission surface (1311).

3. The box-retrieving device according to claim 2, characterized in that, One of the rotating components is an electric roller.

4. The box-retrieving device according to claim 1, characterized in that, The cargo box taking and placing mechanism (12) can dock with one side of the cargo box (30), and the cargo box taking and placing mechanism (12) docks with one side of the cargo box (30) in a detachable connection manner.

5. The box-retrieving device according to any one of claims 1-4, characterized in that, The box retrieval device (1) also includes a housing (15), which surrounds the periphery of the mounting frame (11) and has an opening, the opening of the housing (15) being arranged to coincide with the opening of the accommodating space (113).

6. The box-retrieving device according to claim 5, characterized in that, The outer casing (15) includes two outer side plates (151) arranged at intervals along the second direction of the box retrieval device (1) and a transverse side plate (152) connected between the two outer side plates (151). Each outer side plate (151) is provided with a guide plate portion (1511) at one end away from the transverse side plate (152). The two guide plate portions (1511) are inclined to each other and approach each other in a direction away from the transverse side plate (152). The second direction is perpendicular to the first direction.

7. A transport robot, characterized in that, The device includes the box retrieval device as described in any one of claims 1-6, and further includes a mobile chassis (3) and a stand (2) disposed on the mobile chassis (3), wherein the box retrieval device is vertically and flexibly disposed on the stand (2).

8. The handling robot according to claim 7, characterized in that, The handling robot (10) also includes a temporary storage partition (4), which is provided at intervals along the height direction of the stand (2), and the temporary storage partition (4) can temporarily store the cargo box (30). The cargo box retrieval device (1) can realize the transfer of the cargo box (30) between the temporary storage partition (4) and the storage container (20).

9. The handling robot according to claim 8, characterized in that, The transport robot (10) also includes a lifting mechanism, which includes a lifting drive assembly and a lifting frame (5). The lifting drive assembly is installed between the lifting frame (5) and the upright frame (2), and the lifting drive assembly is used to drive the lifting frame (5) to move up and down in the vertical direction. The lifting frame (5) and the box retrieval device (1) are both located on the side of the upright frame (2) away from the temporary storage partition (4), and the mounting frame (11) is rotatably mounted on the lifting frame (5) around the vertical axis.

10. A method for handling cargo containers, characterized in that, The handling robot as described in any one of claims 7-9 is used to handle the cargo box (30), the cargo box handling method including a cargo box picking method, the cargo box picking method including: The cargo box loading and unloading mechanism (12) extends and docks with the cargo box (30); The cargo box loading and unloading mechanism (12) pulls the cargo box (30) into the accommodating space (113) and supports the cargo box (30) on the transmission surface (1311); The transmission mechanism (13) operates and drives the cargo box (30) to fully enter the accommodating space (113). After the cargo box (30) is supported on the transmission surface (1311), the cargo box (30) picking and placing mechanism continues to drag the cargo box (30) into the accommodating space (113), while the transmission mechanism (13) transports the cargo box (30) in the same direction.

11. The cargo container handling method according to claim 10, characterized in that, The cargo box (30) handling method includes a cargo box (30) loading method, which includes: The transmission mechanism (13) operates to transport the cargo box (30) out of the accommodating space (113). The loading and unloading mechanism of the cargo box (30) extends to push the cargo box (30) out of the receiving space (113).

12. The cargo container handling method according to claim 11, characterized in that, The loading method for the cargo container (30) also includes: Before the transmission mechanism (13) is activated, the cargo box (30) pick-up and place mechanism is connected to the cargo box (30); after the cargo box (30) is pushed out of the accommodating space (113) and placed in place, the cargo box (30) pick-up and place mechanism is separated from the cargo box (30) and returns to its initial position.

13. The cargo container handling method according to claim 11, characterized in that, The cargo box (30) picking and placing mechanism includes a suction cup (121) and a main drive assembly (122) that drives the suction cup (121) to move along the first direction. The cargo box (30) picking and placing mechanism is connected to one side of the cargo box (30) in the following ways: The main drive assembly (122) drives the suction cup (121) to extend and abut against one side of the cargo box (30); Vacuum the suction cup (121) so that the suction cup (121) can adsorb the cargo box (30).

14. A warehousing and logistics system, characterized in that, Includes a storage container (20) and a handling robot as described in any one of claims 7-9, the handling robot being used to pick up and place the cargo box (30) on the storage container (20).

15. The warehousing and logistics system according to claim 14, characterized in that, The storage container (20) includes a plurality of support partitions (201) spaced apart along the height direction. The support partitions (201) are provided with a plurality of partition ribs (202) spaced apart along the lateral direction. A storage position (203) is formed between two adjacent partition ribs (202) or a plurality of storage positions (203) are arranged side by side along the longitudinal direction. Each storage position (203) can accommodate one of the boxes (30).

Images