Method and apparatus for material transport

Abstract

The application provides a material conveying method and device, which are applied to a discharging device including a robot and a conveyor. The robot includes at least one picking and placing device and at least two layers of first storage layers. The conveyor includes a goods placing transmission layer and a goods picking transmission layer arranged in parallel. The material conveying method includes: detecting the amount of goods on the goods picking transmission layer when there is no goods on the picking and placing device and at least one layer of the first storage layers is idle; if the amount of goods exceeds a preset threshold of the amount of goods, controlling the picking and placing device to pick goods from the goods picking transmission layer; and if the amount of goods does not exceed the preset threshold of the amount of goods, controlling the picking and placing device to pick goods from the goods picking transmission layer or the first storage layers. The application can reduce the moving distance of the picking and placing device.

Description

[0001] This application is a divisional application of the patent application filed on March 31, 2021, with application number 202110352761.3 and invention title "Material Conveying Method and Equipment". Technical Field

[0002] This application relates to the field of material handling technology, and in particular to a material conveying method and equipment. Background Technology

[0003] Smart warehousing is a crucial part of the logistics process. Robots can replace manual labor in handling materials and play a vital role in smart warehousing.

[0004] The robot can place materials on a conveyor and transport them to a workstation. Operators at the workstation sort the materials, and the conveyor transfers the sorted materials from the workstation to the pickup location, where the robot retrieves the materials.

[0005] Therefore, shortening the moving distance of the picking and placing devices on the robot during the material transfer process between the robot and the conveyor has become an urgent problem to be solved. Summary of the Invention

[0006] This application provides a material conveying method and equipment to shorten the travel distance of the picking and placing device on a robot.

[0007] In a first aspect, embodiments of this application provide a material conveying method applied to an unloading device, the unloading device comprising: a robot and a conveyor, the robot comprising at least one picking and placing device and at least two first storage layers, the conveyor comprising a placing transport layer and a picking transport layer arranged vertically in parallel;

[0008] The method includes:

[0009] Control the picking and placing device to move in a direction perpendicular to the placing and picking transport layers;

[0010] When there is material obtained from the picking and placing layer on the picking and placing device, the picking and placing device is controlled to place the material into the empty storage layer that the picking and placing device first reaches during its movement.

[0011] Optionally, the method further includes:

[0012] When there is no material on the picking and placing device, and at least one of the at least two first storage layers is empty, and there is material on the picking and conveying layer, the picking and placing device is controlled to pick up material from the picking and conveying layer.

[0013] Optionally, the method further includes:

[0014] When there is no material on the picking and placing device, the picking and placing device is controlled to pick up material from the target material layer that is first reached during the movement, the target material layer being the first storage layer or the picking and transferring layer.

[0015] Optionally, when there is no material on the picking and placing device, controlling the picking and placing device to pick up material from the target material layer first reached during the movement includes:

[0016] When there is no material on the picking and placing device and there is no empty storage layer among the at least two first storage layers, the picking and placing device is controlled to pick up the material from the first storage layer first reached during the movement.

[0017] Optionally, the method further includes:

[0018] When there is material obtained from the first storage layer on the picking and placing device, the picking and placing device is controlled to place the material into the placing and conveying layer.

[0019] Optionally, the storage layer that the picking and placing device first reaches during its movement is a retrievable storage layer, on which there are materials to be picked up.

[0020] Optionally, controlling the picking and placing device to move along a direction perpendicular to the placing and picking transport layers includes:

[0021] The picking and placing device is controlled to move alternately along a first vertical direction and a second vertical direction. The movement along the first vertical direction includes moving from the starting storage layer to the ending storage layer, and the movement along the second vertical direction includes moving from the ending storage layer to the starting storage layer. In the initial state, the starting storage layer and the ending storage layer are respectively the uppermost and lowermost layers of at least two first storage layers.

[0022] After the material is placed in one of the first storage layers, the starting storage layer and the ending storage layer are updated to be the top and bottom layers of the retrievable storage layers, respectively, where there is material to be retrieved.

[0023] Optionally, a buffer shelf is also provided next to the conveyor, and the buffer shelf is provided with at least one second storage layer, which is used to place materials taken out from the picking and conveying layer.

[0024] Optionally, the method further includes:

[0025] When there are materials on the picking and conveying layer, and there are no empty storage layers in the at least two first storage layers, and there are empty storage layers in the second storage layer, the picking and placing device is controlled to pick up materials from the picking and conveying layer and place them into the empty storage layer in the second storage layer.

[0026] Optionally, the method further includes:

[0027] When there is no material on the picking and transport layer, and there is an empty storage layer in at least two of the first storage layers, and there is material on at least one of the second storage layers, the picking and placing device is controlled to pick up the material from the second storage layer and place it into an empty storage layer in the first storage layer.

[0028] Optionally, the method further includes:

[0029] When there are materials on the picking and transport layer and there is an empty storage layer among the at least two first storage layers, the picking and placing device is controlled to pick up materials from the picking and transport layer and place them into the empty storage layer among the first storage layers.

[0030] Secondly, embodiments of this application provide an unloading device, including: a robot, a conveyor and a controller. The robot includes at least one picking and placing device and at least two first storage layers. The conveyor includes a placing transport layer and a picking transport layer arranged in parallel vertically.

[0031] The controller is used to control the picking and placing device to move along the vertical direction of the placing and picking transport layers, and when there is material obtained from the picking transport layer on the picking and placing device, it controls the picking and placing device to place the material into the first empty storage layer reached during the movement of the picking and placing device.

[0032] Optionally, the controller is further configured to:

[0033] When there is no material on the picking and placing device, and at least one of the at least two first storage layers is empty, and there is material on the picking and conveying layer, the picking and placing device is controlled to pick up material from the picking and conveying layer.

[0034] Optionally, the controller is further configured to:

[0035] When there is no material on the picking and placing device, the picking and placing device is controlled to pick up material from the target material layer that is first reached during the movement, the target material layer being the first storage layer or the picking and transferring layer.

[0036] Optionally, when the target material layer is the first storage layer, the controller is further configured to:

[0037] When there is no material on the picking and placing device and there is no empty storage layer among the at least two first storage layers, the picking and placing device is controlled to pick up the material from the first storage layer first reached during the movement.

[0038] Optionally, the controller is further configured to:

[0039] When there is material obtained from the first storage layer on the picking and placing device, the picking and placing device is controlled to place the material into the placing and conveying layer.

[0040] Optionally, the storage layer that the picking and placing device first reaches during the movement is a retrievable storage layer, and the retrievable storage layer contains materials to be picked up.

[0041] Optionally, the controller is further configured to:

[0042] The picking and placing device is controlled to move alternately along a first vertical direction and a second vertical direction. The movement along the first vertical direction includes moving from the starting storage layer to the ending storage layer, and the movement along the second vertical direction includes moving from the ending storage layer to the starting storage layer. In the initial state, the starting storage layer and the ending storage layer are respectively the uppermost and lowermost layers of at least two first storage layers.

[0043] After the material is placed in one of the first storage layers, the starting storage layer and the ending storage layer are updated to be the top and bottom layers of the retrievable storage layers, respectively, where there is material to be retrieved.

[0044] Optionally, a buffer shelf is also provided next to the conveyor, and the buffer shelf is provided with at least one second storage layer, which is used to place materials taken out from the picking and conveying layer.

[0045] Optionally, the controller is further configured to:

[0046] When there are materials on the picking and conveying layer, and there are no empty storage layers in the at least two first storage layers, and there are empty storage layers in the second storage layer, the picking and placing device is controlled to pick up materials from the picking and conveying layer and place them into the empty storage layer in the second storage layer.

[0047] Optionally, the controller is further configured to:

[0048] When there is no material on the picking and transport layer, and there is an empty storage layer in at least two of the first storage layers, and there is material on at least one of the second storage layers, the picking and placing device is controlled to pick up the material from the second storage layer and place it into an empty storage layer in the first storage layer.

[0049] Optionally, the controller is further configured to:

[0050] When there are materials on the picking and transport layer and there is an empty storage layer among the at least two first storage layers, the picking and placing device is controlled to pick up materials from the picking and transport layer and place them into the empty storage layer among the first storage layers.

[0051] Thirdly, this application provides a material conveying method applied to an unloading device, the unloading device comprising: a robot and a conveyor, the robot comprising at least one picking and placing device and at least two first storage layers, the conveyor comprising a placing transfer layer and a picking transfer layer arranged parallel to each other vertically; the method comprising: when there is no material on the picking and placing device and at least one of the at least two first storage layers is empty, detecting the amount of material on the picking transfer layer; if the amount of material exceeds a preset material amount threshold, controlling the picking and placing device to pick up material from the picking transfer layer; and if the amount of material does not exceed the preset material amount threshold, controlling the picking and placing device to remove material from the picking transfer layer or remove material from the first storage layer.

[0052] In some embodiments, when there is no material on the picking and placing device and there is no free storage layer among the at least two first storage layers, the picking and placing device is controlled to retrieve the material from the first storage layer it first reaches during the movement; wherein, the first storage layer that the picking and placing device first reaches during the movement is a retrievable storage layer, and there is material to be retrieved on the retrievable storage layer, and the material to be retrieved is the material that needs to be placed on the delivery and transfer layer.

[0053] In some embodiments, a buffer shelf is also provided next to the conveyor, and the buffer shelf is provided with at least one second storage layer for placing materials taken from the picking and placing layer; the method further includes: when there is no material on the picking and placing device and at least one of the at least two first storage layers is not free, detecting the amount of material on the picking and placing layer; if the amount of material on the picking and placing layer exceeds the preset material amount threshold and there is a free storage layer in the second storage layer, controlling the picking and placing device to take material from the picking and placing layer and place it in a free storage layer in the second storage layer; if the amount of material on the picking and placing layer does not exceed the preset material amount threshold, controlling the picking and placing device to take material from the picking and placing layer and place it in a free storage layer in the second storage layer, or taking material from the first storage layer and placing it in the placing layer.

[0054] Fourthly, this application provides an unloading device, comprising: a robot, a conveyor, and a controller. The robot includes at least one picking and placing device and at least two first storage layers. The conveyor includes a placing transport layer and a picking transport layer arranged parallel to each other. The controller is configured to: control the picking and placing device to pick up material from the picking transport layer when there is no material on the picking and placing device, at least one of the at least two first storage layers is idle, and the amount of material on the picking transport layer exceeds a first preset material amount threshold; or, control the picking and placing device to remove material from the picking transport layer or remove material from the first storage layer when there is no material on the picking and placing device, at least one of the at least two first storage layers is idle, and the amount of material on the picking transport layer does not exceed the first preset material amount threshold.

[0055] In some embodiments, a buffer shelf is also provided next to the conveyor, and the buffer shelf is provided with at least one second storage layer for placing materials taken from the picking and placing layer; the controller is further configured to: when there is no material on the picking and placing device, at least one of the at least two first storage layers is not free, there is a free storage layer in the second storage layer, and the amount of material on the picking and placing layer exceeds the preset material amount threshold, control the picking and placing device to take materials from the picking and placing layer and place them in a free storage layer in the second storage layer; or when there is no material on the picking and placing device, at least one of the at least two first storage layers is not free, there is a free storage layer in the second storage layer, and the amount of material on the picking and placing layer does not exceed the preset material amount threshold, control the picking and placing device to take materials from the picking and placing layer and place them in a free storage layer in the second storage layer, or take materials from the first storage layer and place them in the placing layer.

[0056] In some embodiments, the delivery conveyor layer is used to convey materials from a first end of the delivery conveyor layer to a second end of the delivery conveyor layer; the pickup conveyor layer is used to convey materials from the second end of the pickup conveyor layer to the first end of the pickup conveyor layer; the conveyor further includes a connecting device for conveying materials from the second end of the delivery conveyor layer to the second end of the pickup conveyor layer.

[0057] In some embodiments, the connecting device includes a third storage layer, a transfer mechanism, a rotating fixing device, and a second controller; wherein one end of the third storage layer is rotatably connected to the rotating fixing device, and the other end of the third storage layer is configured to move between the second end of the delivery transfer layer and the second end of the retrieval transfer layer; the transfer mechanism is disposed on the third storage layer for transferring materials; the second controller is used to control the second end of the third storage layer to alternately connect with the second end of the retrieval transfer layer and the second end of the delivery transfer layer at a preset time period; or the connecting device further includes a material detection device; the material detection device is used to detect the amount of material on the third storage layer; the second controller is used to control the second end of the third storage layer to connect with the second end of the retrieval transfer layer when the amount of material on the third storage layer is greater than or equal to a second preset material amount threshold, or to control the second end of the third storage layer to connect with the second end of the delivery transfer layer when the amount of material on the third storage layer is less than the second preset material amount threshold.

[0058] In some embodiments, the connecting device includes a support frame, a fourth storage layer disposed on the support frame, and a transfer mechanism disposed on the fourth storage layer. The transfer mechanism transfers materials by rotation. The fourth storage layer is configured to slide up and down along the support frame. The controller controls the fourth storage layer to slide to a position where it aligns with the second end of the delivery transfer layer to retrieve materials from the second end of the delivery transfer layer. The controller then controls the fourth storage layer to slide to a position where it aligns with the second end of the retrieval transfer layer to place materials into the second end of the retrieval transfer layer.

[0059] Fifthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, enable a computing device to implement the aforementioned material conveying method.

[0060] Sixthly, a computer program is provided for implementing the above-described material conveying method.

[0061] The material conveying method and equipment provided in this application are applied to unloading equipment including a robot and a conveyor. The robot includes at least one picking and placing device and at least two first storage layers. The conveyor includes a placing transfer layer and a picking transfer layer arranged vertically. This application embodiment can control the picking and placing device to move in a direction perpendicular to the placing and picking transfer layers. When there is material on the picking and placing device obtained from the picking transfer layer, the picking and placing device is controlled to place the material into the first empty storage layer reached during its movement. After the robot places all the goods on the first storage layer, it immediately leaves the conveyor or waits for a period of time. If there is no material on the conveyor during this period, it leaves the conveyor. This may result in the material occupying part of the robot's first storage layer, but not all of it. In this case, placing the material into the first empty storage layer reached during the movement of the picking and placing device can place the material into the first storage layer that the picking and placing device can reach with a smaller movement distance, leaving the storage layers that require a larger movement distance to be empty, thus helping to reduce the movement distance of the picking and placing device. Attached Figure Description

[0062] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0063] Figure 1 An exemplary side view of the unloading device provided in an embodiment of this application is shown;

[0064] Figure 2 An exemplary top view of the robot in the unloading equipment provided in an embodiment of this application is shown;

[0065] Figure 3 An exemplary top view of the conveyor in the unloading equipment provided in an embodiment of this application is shown;

[0066] Figure 4 An exemplary top view of the robot's loading and unloading device provided in an embodiment of this application is shown;

[0067] Figure 5 An exemplary top view of a connecting device in a conveyor provided in an embodiment of this application is shown;

[0068] Figure 6 , Figure 7 An example is shown Figure 5 Side views of the connecting device in two states;

[0069] Figure 8 An exemplary top view of another connecting device in a conveyor provided in an embodiment of this application is shown;

[0070] Figure 9 , Figure 10 An example is shown Figure 8 Side views of the connecting device in two states;

[0071] Figure 11 An exemplary flowchart of a material conveying method provided in an embodiment of this application is shown. Detailed Implementation

[0072] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0073] This application can be applied to material handling scenarios. Materials can include, but are not limited to, goods and containers. Materials are typically stored on several shelves in a warehouse. When goods need to be shipped from the warehouse, a robot can retrieve materials from the shelves and place them onto a conveyor. The conveyor can then transfer the materials to a workbench for picking; the picked materials are the ones to be shipped. Any remaining materials can be transferred back to the robot via the conveyor, allowing the robot to return them to the warehouse shelves.

[0074] This application provides a material conveying method and apparatus, which allows a picking and placing device to place materials into an empty storage layer first reached during its movement. After the robot places all the goods on the first storage layer, it immediately leaves the conveyor or waits for a period of time. If there is no material on the conveyor during this period, it leaves the conveyor. This may result in the material occupying part of the robot's first storage layer, but not all of it. In this case, placing the material into the first empty storage layer reached during the movement by the picking and placing device can place the material into the first storage layer that the picking and placing device can reach with a smaller distance, leaving the storage layers that require a larger distance to reach empty, thus helping to reduce the movement distance of the picking and placing device.

[0075] The material conveying method provided in this application embodiment can be applied to unloading equipment.

[0076] Figure 1 An exemplary side view of the unloading device provided in an embodiment of this application is shown. Figure 2An exemplary top view of the robot 102 in the unloading equipment provided in an embodiment of this application is shown. Figure 3 An exemplary top view of the conveyor 101 in the unloading equipment provided in an embodiment of this application is shown. Figure 1 For ease of illustration, there is a certain distance between the conveyor 101 and the robot 102. In actual application, when the two are transferring material 103, this distance is less than a preset threshold to prevent the material 103 from slipping between them.

[0077] Reference Figures 1 to 3 As shown, the unloading equipment includes a conveyor 101 and a robot 102. The conveyor 101 includes a loading and unloading transfer layer 1011 and a picking and unloading transfer layer 1012 arranged in parallel. The robot 102 includes at least one picking and unloading device 1023 and at least two first storage layers 1024.

[0078] from Figure 1 It can also be seen that robot 102 also has a chassis 1025 for moving robot 102.

[0079] in addition, Figure 1 Also exemplarily shown are a support frame 1022 for supporting the first storage layer 1024, a support frame 1021 for supporting the picking and placing device 1023, and a support rod 1010 for supporting the picking transfer layer 1012 and the placing transfer layer 1011. (Refer to...) Figure 2 As shown, support frame 1021 is located around the loading and unloading device 1023, and support frame 1022 is located around the first storage layer 1024. (Refer to...) Figure 3 As shown, the support frame 1010 is located around the loading and unloading conveyor layer 1011 and the unloading conveyor layer 1012. This prevents the support frame 1021 from interfering with the loading and unloading of materials 103 on the unloading and unloading device 1023, prevents the support frame 1022 from interfering with the loading and unloading of materials 103 on the first storage layer 1024, and prevents the support frame 1010 from interfering with the loading and unloading of materials 103 on the loading and unloading conveyor layers 1011 and 1012. Of course, the position and number of the support frames 1010, 1021, and 1022 can be flexibly set, as long as it does not affect the loading and unloading of materials 103.

[0080] The picking and placing device 1023 can move along the support frame 1021 in a first direction, which is perpendicular to the loading and unloading conveying layer 1011 and the picking and unloading conveying layer 1012. The picking and placing device 1023 is used to put the material in the first storage layer 1024 into the loading and unloading conveying layer 1011, or to put the material in the picking and unloading conveying layer 1012 into the first storage layer 1024.

[0081] As can be seen, the first direction is the height direction of robot 102. Figure 1The example shows four first storage layers 1024. In practical applications, the number of first storage layers 1024 can be flexibly changed, and this application embodiment does not limit it.

[0082] from Figure 2 It can also be seen that a transfer mechanism 10231 can be provided on the picking and placing device 1023, and a transfer mechanism 10241 can be provided on the first storage layer 1024. The transfer mechanism 10231 and the transfer mechanism 10241 are used to transfer materials 103 by rotation.

[0083] Of course, except Figure 2 The structure of the picking and placing device 1023 shown can also be as follows: Figure 4 As shown. (Refer to...) Figure 4 As shown, the loading and unloading device 1023 includes a pallet 10232, a telescopic arm 10233, a fixed push rod 10234, and a movable push rod 10235. The fixed push rod 10234 and the movable push rod 10235 are both mounted on the telescopic arm 10233.

[0084] The pallet 10232 is used to place the material 103, and the pallet 10232 can be a horizontally set flat plate.

[0085] The telescopic boom 10233 can extend or retract. When the telescopic boom 10233 extends, the movable push rod 10235 retracts to the inside of the telescopic boom 10233, and the fixed push rod 10234 extends along with it to push the material 103 out of the pallet 10232. When the telescopic boom 10233 retracts, the fixed push rod 10234 retracts along with it, and the movable push rod 10235 opens to be perpendicular to the telescopic boom 10233, pulling the material 103 onto the pallet 10232.

[0086] In practical applications, the structure of the picking and placing device can be selected according to the actual application scenario, and this application does not impose any restrictions on it. Figure 3 It can also be seen that the delivery transfer layer 1011 has a transfer mechanism 10111 for transferring materials 103 by rotation. It is understood that when the picking transfer layer 1012 is located above the delivery transfer layer 1011, Figure 3 The top view shown shows the structure of the pickup and delivery layer 1012. The structure of the pickup and delivery layer 1012 is the same as that of the delivery layer 1011, and will not be described again here.

[0087] Optionally, the material 103 is transferred at the same speed by the picking and placing device 1023, the first storage layer 1024, the placing transfer layer 1011, and the picking transfer layer 1012.

[0088] It is understandable that when the picking and placing device 1023, the first storage layer 1024, the placing transfer layer 1011, and the picking transfer layer 1012 all have transfer mechanisms, these transfer mechanisms rotate at the same speed.

[0089] The material 103 is transferred at the same speed by the picking and placing device 1023, the first storage layer 1024, the delivery layer 1011, and the picking layer 1012. This can prevent the material 103 from flipping due to different rotation speeds when the picking and placing device 1023 transfers the material 103 with the first storage layer 1024, the delivery layer 1011, and the picking layer 1012 respectively.

[0090] The conveyor 101 in the above-mentioned unloading equipment is used to transfer the received material 103 to the workstation. After the workstation sorts the material, the remaining material 103 is then transferred out. The material 103 received by the conveyor 101 can be placed by the robot 102 or the unloading machine. The conveyor 101 can transfer the remaining material 103 to the robot 102 or the unloading machine.

[0091] The first end of the discharge transfer layer 1011 of the conveyor 101 is used to place the material 103, and the first end of the pick-up transfer layer 1012 is used to pick up the material 103. The discharge transfer layer 1011 is used to transfer the material 103 from the first end of the discharge transfer layer 1011 to the second end of the discharge transfer layer 1011, and the pick-up transfer layer 1012 is used to transfer the material 103 from the second end of the pick-up transfer layer 1012 to the first end of the pick-up transfer layer 1012.

[0092] In addition to the delivery transfer layer 1011 and the pickup transfer layer 1012, the conveyor 101 also includes a connecting device 1013 for transferring the material 103 from the second end of the delivery transfer layer 1011 to the second end of the pickup transfer layer 1012.

[0093] Figure 4 An exemplary top view of a connecting device 1013 in a conveyor 101 provided in an embodiment of this application is shown. Figure 5 and Figure 6 An example is shown Figure 4 Side views of the corresponding connecting device 1013 in two connection states. (Refer to...) Figure 4 As shown, the connecting device 1013 includes: a third storage layer 10131, a transfer mechanism 10132, and a rotating fixing device 10133. The first end of the third storage layer 10131 is fixedly connected to the rotating fixing device 10133. The third storage layer 10131 moves between the second end of the delivery transfer layer 1011 and the second end of the retrieval transfer layer 1012. The transfer mechanism 10132 is disposed on the third storage layer 10131 and is used to transfer materials 103.

[0094] Reference Figure 5 As shown, the second end of the third storage layer 10131 is connected to the second end of the delivery and transfer layer 1011, as follows. Figure 6 As shown, the second end of the third storage layer 10131 is connected to the second end of the picking and transport layer 1012.

[0095] In the above Figure 5 In this process, material 103 can be placed on the transfer mechanism 10132, so that the material 103 can be transferred by the rotation of the transfer mechanism 10132. The rotation direction of the transfer mechanism 10132 can be changed.

[0096] The rotating fixing device 10133 can be used to fix the first end of the third storage layer 10131, making the first end immovable, and the third storage layer 10131 can rotate about the rotating fixing device 10133 in a direction perpendicular to the third storage layer 10131. During the rotation of the third storage layer 10131, the second end of the third storage layer 10131 will move accordingly to switch between the second end of the picking transfer layer 1012 and the second end of the placing transfer layer 1011. That is, the second end of the third storage layer 10131 can dock with the second end of the picking transfer layer 1012, can switch to connect with the second end of the placing transfer layer 1011, and can switch back to connect with the second end of the picking transfer layer 1012.

[0097] Reference Figure 4 , Figure 5 and Figure 6 As shown, in order to prevent the material 103 on the third storage layer 10131 from slipping, a baffle 10134 can also be provided at the first end of the third storage layer 10131.

[0098] To enable the third storage layer 10131 to move between the second end of the delivery transfer layer 1011 and the second end of the pickup transfer layer 1012, three methods can be used.

[0099] In the first mode, the third storage layer 10131 moves between the second end of the delivery transfer layer 1011 and the second end of the retrieval transfer layer 1012 under the action of its own elasticity and the gravity of the material 103 on it.

[0100] In this configuration, when there is no material 103 on the third storage layer 10131 due to its own elasticity, the second end of the third storage layer 10131 is connected to the second end of the picking and conveying layer 1012. After the material 103 on the picking and conveying layer 1012 is transferred to the third storage layer 10131, the gravity of the material 103 causes the second end of the third storage layer 10131 to descend and connect with the second end of the discharging and conveying layer 1011. After the material 103 on the third storage layer 10131 is transferred to the discharging and conveying layer 1011, the second end of the third storage layer 10131 returns to the second end of the picking and conveying layer 1012. This cycle continues.

[0101] The embodiments of this application can achieve the movement of the second end of the third storage layer 10131 by its own elasticity and the gravity of the material 103, avoiding the use of other control structures or components, which helps to simplify the structure of the third storage layer 10131.

[0102] In the second embodiment, the connecting device 1013, in addition to the third storage layer 10131, the transfer mechanism 10132, and the rotating fixing device 10133, also includes: a second controller and a material 103 quantity detection device. The material 103 quantity detection device is used to detect the quantity of material 103 on the third storage layer 10131. The second controller is used to control the second end of the third storage layer 10131 to connect with the second end of the picking and conveying layer 1012 when the quantity of material 103 on the third storage layer 10131 is greater than or equal to a preset material 103 quantity threshold, or to control the second end of the third storage layer 10131 to connect with the second end of the discharging and conveying layer 1011 when the quantity of material 103 on the third storage layer 10131 is less than the preset material 103 quantity threshold.

[0103] The quantity of material 103 can be either the weight or the number of materials 103. Accordingly, the material quantity detection device can be a pressure sensor or an image acquisition device.

[0104] A pressure sensor can be installed at the bottom of the third storage layer 10131 to detect the pressure of the material 103 on the third storage layer 10131, which is the weight of the material 103.

[0105] The image acquisition device is directed toward the third storage layer 10131 to acquire images of the material 103 on the third storage layer 10131 and to identify the quantity of the material 103 from the images of the material 103.

[0106] The aforementioned material 103 quantity detection device is electrically connected to the second controller to send the quantity of material 103 to the second controller, which can then control the movement of the third storage layer 10131 based on the quantity of material 103. Furthermore, when the material 103 quantity detection device is an image acquisition device, it can also send an image of material 103 to the second controller, allowing the second controller to identify the quantity of material 103 and control the movement of the third storage layer 10131 accordingly.

[0107] In the third method, in addition to the third storage layer 10131, the transfer mechanism 10132 and the rotating fixing device 10133, the above-mentioned connecting device 1013 also includes: a second controller, which is used to control the second end of the third storage layer 10131 to be alternately connected to the second end of the picking transfer layer 1012 and the second end of the putting transfer layer 1011 at a preset time period.

[0108] The preset time period can be determined based on the transmission speed of the picking transmission layer 1012 and the releasing transmission layer 1011. When the transmission speed is high, the preset time period can be set to a smaller value; when the transmission speed is low, the preset time period can be set to a larger value.

[0109] Furthermore, the preset time period can be determined by combining the transmission speed and the length of the third storage layer 10131. When the transmission speed is fixed, if the length of the third storage layer 10131 is large, the preset time period can be set to be large; if the length of the third storage layer 10131 is small, the preset time period can be set to be small.

[0110] In practical applications, a functional relationship between a preset time period, transmission speed, and the length of the third storage layer 10131 can be constructed based on experience. For example, the functional relationship can be a linear function, which can be a linear function of the ratio of the length of the third storage layer 10131 to the transmission speed.

[0111] After determining the preset time period according to the above method, the second end of the third storage layer 10131 can be alternately connected to the second end of the picking transmission layer 1012 and the second end of the placing transmission layer 1011 according to the preset time period. For example, when the preset time period is 1 minute, the second end of the third storage layer 10131 can be connected to the second end of the picking transmission layer 1012 in the first minute, connected to the second end of the placing transmission layer 1011 in the second minute, and connected to the second end of the picking transmission layer 1012 in the third minute, and so on.

[0112] It should be noted that, in the above three methods, when the second end of the third storage layer 10131 is connected to the second end of the picking and conveying layer 1012, the conveying direction of the third storage layer 10131 is opposite to that of the picking and conveying layer 1012, so that the material 103 is conveyed from the picking and conveying layer 1012 to the third storage layer 10131. When the second end of the third storage layer 10131 is connected to the second end of the discharging and conveying layer 1011, the conveying direction of the third storage layer 10131 is towards the discharging and conveying layer 1011, so that the material 103 is conveyed from the third storage layer 10131 to the discharging and conveying layer 1011. Therefore, after switching the second end of the third storage layer 10131 between the second end of the picking and conveying layer 1012 and the second end of the discharging and conveying layer 1011, it is necessary to switch the rotation direction of the transfer mechanism 10132, with the rotation directions before and after the switch being opposite.

[0113] In order to move the second end of the third storage layer 10131, the second controller can be electrically connected to the rotating fixing device 10133 so that the rotating fixing device 10133 rotates the third storage layer 10131, and the rotation direction and angle are preset.

[0114] Figure 7 An exemplary top view of another connecting device 1013 in the conveyor 101 provided in this application embodiment is shown. Figure 8 , Figure 9 An example is shown Figure 7 Side views of the corresponding connecting device 1013 in two states. Figures 7 to 9 The connecting device 1013 in the middle is an elevator.

[0115] from Figure 7 As can be seen from the image, the elevator includes: four support frames 10136, a fourth storage layer 10135 set on the support frames 10136, and a transfer mechanism 10137 set on the fourth storage layer 10135. The transfer mechanism 10137 can transfer materials 103 by rotating.

[0116] Reference Figure 8 or Figure 9 As shown, the fourth storage layer 10135 can slide up and down along the support frame 10136. During this sliding process, it can dock with the second end of the delivery transfer layer 1011 or the second end of the retrieval transfer layer 1012. Figure 8 In the middle, the second end of the fourth storage layer 10135 is connected to the second end of the picking and transport layer 1012, in Figure 9In this configuration, the second end of the fourth storage layer 10135 is connected to the second end of the delivery conveyor layer 1011. Thus, upon connection to the second end of the delivery conveyor layer 1011, material 103 is retrieved from the second end of the delivery conveyor layer 1011. The elevator then slides downwards to connect with the second end of the retrieval conveyor layer 1012, placing material 103 into the second end of the retrieval conveyor layer 1012. The elevator then slides upwards again to connect with the second end of the delivery conveyor layer 1011, retrieving material 103 from the second end of the delivery conveyor layer 1011 once more, and this cycle repeats.

[0117] It is understandable that when the second end of the fourth storage layer 10135 is connected to the second end of the delivery transfer layer 1011, the rotation direction of the transfer mechanism 10137 on the fourth storage layer 10135 is opposite to the delivery transfer layer 1011; when the second end of the fourth storage layer 10135 is connected to the second end of the retrieval transfer layer 1012, the rotation direction of the transfer mechanism 10137 on the fourth storage layer 10135 is towards the retrieval transfer layer 1012.

[0118] It should be noted that, Figure 8 or Figure 9 The delivery transfer layer 1011 shown is located above the pickup transfer layer 1012. In practical applications, the delivery transfer layer 1011 can also be located below the pickup transfer layer 1012.

[0119] The material conveying method and equipment of the embodiments of this application will be described in detail below.

[0120] Figure 10 An exemplary flowchart illustrates the steps of a material conveying method provided in an embodiment of this application. (Refer to...) Figure 10 As shown, the method includes:

[0121] S201: Control the picking and placing device to move in a direction perpendicular to the placing and picking transport layers.

[0122] The vertical direction includes the direction from the delivery conveyor layer to the pickup conveyor layer and the direction from the pickup conveyor layer to the delivery conveyor layer. The pickup and delivery device moves along the support rod where it is located, and the support rod is perpendicular to both the pickup and delivery conveyor layers. It can be seen that this vertical direction is the aforementioned first direction, and the vertical direction includes a first vertical direction and a second vertical direction. Since the pickup and delivery conveyor layers are arranged vertically and parallel to each other, the first vertical direction and the second vertical direction are upward and downward, respectively.

[0123] Optionally, the picking and placing device can be controlled to move alternately along a first vertical direction and a second vertical direction. Moving along the first vertical direction includes moving from the starting storage layer to the ending storage layer, and moving along the second vertical direction includes moving from the ending storage layer to the starting storage layer. In the initial state, the starting storage layer and the ending storage layer are the uppermost and lowermost layers of at least two first storage layers, respectively. After material is placed in one of the first storage layers, the starting storage layer and the ending storage layer are updated to be the uppermost and lowermost layers of the retrievable storage layers, respectively, and there is material to be picked up on the retrievable storage layers.

[0124] It is understood that after materials are placed on the first storage layer, materials cannot be placed or retrieved from that first storage layer, thus preventing the retrieval device from moving to that first storage layer. In this embodiment, materials are typically placed into consecutive first storage layers, allowing the starting and ending storage layers to be updated after each layer is placed. The starting and ending storage layers are respectively the highest and lowest layers in the first storage layer where materials can be retrieved or placed.

[0125] During movement, the picking and placing device can switch between upward and downward movement. For example, the picking and placing device can move in a cyclical manner as follows: move upward a certain distance - move downward a certain distance - ... - move upward a certain distance.

[0126] S202: When there is material obtained from the picking and placing layer on the picking and placing device, control the picking and placing device to place the material into the idle storage layer that the picking and placing device first reaches during the movement.

[0127] The idle storage layer is the first storage layer in an idle state. This idle storage layer can be the first storage layer that has not been filled with materials, or it can be the first storage layer where the materials have been removed.

[0128] Optionally, when there is no material on the picking and placing device, and at least one of the at least two first storage layers is empty, and there is material on the picking and placing layer, the picking and placing device is controlled to pick up material from the picking and placing layer.

[0129] In practical applications, the delivery conveyor layer transfers materials to workstations for sorting. Sorted materials are then transported by the pickup conveyor layer. If materials on the pickup conveyor layer cannot be retrieved promptly, they accumulate. This prevents sorted materials from being transferred to the pickup conveyor layer, impacting the sorting progress.

[0130] In this embodiment, when there are materials on the picking and transport layer, as long as there are no materials on the picking and placing device and there is an empty storage layer in the first storage layer, materials can be picked up first from the picking and transport layer. In this way, material accumulation on the picking and transport layer can be avoided, thereby avoiding the impact on the material sorting progress.

[0131] Furthermore, when there is no material on the picking and placing device and at least one of the at least two first storage layers is empty, the amount of material on the picking and placing layer can be detected. If the amount of material exceeds a preset material amount threshold, the picking and placing device can be controlled to pick up material from the picking and placing layer. If the amount of material does not exceed the preset material amount threshold, the picking and placing device can be controlled to pick up material from the picking and placing layer or from the first storage layer.

[0132] Optionally, when there is no material on the picking and placing device, the picking and placing device is controlled to pick up material from the target material layer that is first reached during the movement, which is the first storage layer or the picking and placing transfer layer.

[0133] When there is no material on the picking and placing device, the picking and placing device can be used to pick up material. Specifically, material can be picked up from the first storage layer and placed on the placing conveyor layer, or material can be picked up from the picking conveyor layer and placed on the first storage layer. In the embodiments of this application, in order to further shorten the moving distance of the picking and placing device, the picking and placing device can be controlled to pick up material from the target material layer first reached during the movement.

[0134] Optionally, when there is no material on the picking and placing device and there is no empty storage layer among at least two first storage layers, the picking and placing device is controlled to pick up material from the first storage layer first reached during the movement.

[0135] It is understandable that when there is no free storage layer in the first storage layer, if the picking and placing device retrieves materials from the picking and placing conveyor layer, the retrieved materials cannot be placed into the first storage layer. Therefore, in this scenario, the embodiments of this application can control the picking and placing device to prioritize retrieving materials from the first storage layer, and the retrieved materials can be placed into the placing conveyor layer.

[0136] Optionally, when there is material obtained from the first storage layer on the picking and placing device, the picking and placing device is controlled to place the material into the placing and conveying layer.

[0137] Optionally, the first storage layer that the picking and placing device reaches during its movement is a retrievable storage layer, on which there are materials to be picked up.

[0138] It should be noted that the materials to be retrieved are those that need to be placed on the delivery conveyor layer and need to be distinguished from the materials retrieved from the retrieval conveyor layer. Once the materials retrieved from the retrieval conveyor layer are placed into the first storage layer, they cannot be retrieved from the first storage layer.

[0139] Optionally, a buffer shelf is also provided next to the conveyor, which has at least one second storage layer for placing materials taken from the picking and conveying layer.

[0140] The robot can use a pick-and-place device to retrieve materials from the conveyor's picking and placing them onto the second storage layer of the buffer shelf. It can also use the pick-and-place device to place materials from the second storage layer into the first storage layer. When the pick-and-place device has a transfer mechanism, a transfer mechanism can also be installed on the second storage layer for material transfer. If the pick-and-place device can push materials onto the second storage layer or pull materials from the second discharge layer, a transfer mechanism is not required on the second storage layer.

[0141] Understandably, when materials accumulate on the picking conveyor layer, it becomes impossible to transfer sorted materials to the picking conveyor layer, requiring a pause in material sorting. This embodiment of the application allows materials on the picking conveyor layer to be placed on a buffer shelf, helping to prevent material accumulation on the picking conveyor layer and thus avoiding impact on material sorting.

[0142] Optionally, when there are materials on the picking and transport layer, and there are no empty storage layers in at least two first storage layers, and there are empty storage layers in the second storage layer, the picking and placing device is controlled to pick up materials from the picking and transport layer and place them in the empty storage layer in the second storage layer.

[0143] Understandably, when there are no available storage layers in at least two of the first storage layers, the picking and placing device cannot place the picking transfer layer into the first storage layer. In this case, if there is an available storage layer in the second storage layer, the robot can first take materials from the picking transfer layer and place them into an available storage layer in the second storage layer. Afterward, the robot can place materials from the first storage layer onto the placing transfer layer. Once an available storage layer exists in the first storage layer, the robot can then take materials from the picking transfer layer and place them into an available storage layer in the first storage layer.

[0144] Furthermore, when there are no empty storage layers in at least two of the first storage layers, the material on the picking and placing layer can be detected. If the material on the picking and placing layer exceeds a preset material quantity threshold, and there is an empty storage layer in the second storage layer, the picking and placing device is controlled to pick up material from the picking and placing layer and place it into an empty storage layer in the second storage layer. If the material on the picking and placing layer does not exceed the preset material quantity threshold, the picking and placing device can be controlled to pick up material from the picking and placing layer and place it into an empty storage layer in the second storage layer, or to pick up material from the first storage layer and place it into the placing layer.

[0145] Optionally, when there is no material on the picking and delivery layer, and there is an empty storage layer in at least two of the first storage layers, and there is material on at least one of the second storage layers, the picking and delivery device is controlled to pick up the material from the second storage layer and place it into an empty storage layer in the first storage layer.

[0146] When there is material on the picking and transport layer and there is an empty storage layer in at least two of the first storage layers, the picking and placing device is controlled to pick up the material from the picking and transport layer and place it into an empty storage layer in the first storage layer.

[0147] This application embodiment can retrieve materials from the picking and transport layer in advance, and only retrieve materials from the buffer storage layer if there are no materials on the picking and transport layer. In this way, material accumulation on the picking and transport layer can be avoided, thereby avoiding the impact on material sorting.

[0148] Optionally, when the amount of material on the second storage layer exceeds a preset material quantity threshold, multiple robots can be controlled to retrieve material from the second storage layer, wherein a preset number of idle storage layers exist in the robot's first storage layer. Ideally, all of the robot's first storage layers are idle storage layers.

[0149] This application embodiment also provides an unloading device, including: a robot, a conveyor, and a controller. The robot includes at least one picking and placing device and at least two first storage layers. The conveyor includes a placing transport layer and a picking transport layer arranged vertically. The controller is used to control the picking and placing device to move along the vertical direction of the placing transport layer and the picking transport layer, and when there is material obtained from the picking transport layer on the picking and placing device, it controls the picking and placing device to place the material into the first empty storage layer reached during the movement of the picking and placing device.

[0150] Optionally, the controller described above is also used for:

[0151] When there is no material on the picking and placing device, and at least one of the at least two first storage layers is empty, and there is material on the picking and conveying layer, the picking and placing device is controlled to pick up material from the picking and conveying layer.

[0152] Optionally, the controller described above is also used for:

[0153] When there is no material on the picking and placing device, the picking and placing device is controlled to pick up material from the target material layer that is first reached during the movement, the target material layer being the first storage layer or the picking and transferring layer.

[0154] Optionally, when the target material layer is the first storage layer, the controller is further configured to:

[0155] When there is no material on the picking and placing device and there is no empty storage layer among the at least two first storage layers, the picking and placing device is controlled to pick up the material from the first storage layer first reached during the movement.

[0156] Optionally, the controller described above is also used for:

[0157] When there is material obtained from the first storage layer on the picking and placing device, the picking and placing device is controlled to place the material into the placing and conveying layer.

[0158] Optionally, the storage layer that the picking and placing device first reaches during the movement is a retrievable storage layer, and the retrievable storage layer contains materials to be picked up.

[0159] Optionally, the controller described above is also used for:

[0160] The picking and placing device is controlled to move alternately along a first vertical direction and a second vertical direction. The movement along the first vertical direction includes moving from the starting storage layer to the ending storage layer, and the movement along the second vertical direction includes moving from the ending storage layer to the starting storage layer. In the initial state, the starting storage layer and the ending storage layer are respectively the uppermost and lowermost layers of at least two first storage layers.

[0161] After the material is placed in one of the first storage layers, the starting storage layer and the ending storage layer are updated to be the top and bottom layers of the retrievable storage layers, respectively, where there is material to be retrieved.

[0162] Optionally, a buffer shelf is also provided next to the conveyor, and the buffer shelf is provided with at least one second storage layer, which is used to place materials taken out from the picking and conveying layer.

[0163] Optionally, the controller described above is also used for:

[0164] When there are materials on the picking and conveying layer, and there are no empty storage layers in the at least two first storage layers, and there are empty storage layers in the second storage layer, the picking and placing device is controlled to pick up materials from the picking and conveying layer and place them into the empty storage layer in the second storage layer.

[0165] Optionally, the controller described above is also used for:

[0166] When there is no material on the picking and transport layer, and there is an empty storage layer in at least two of the first storage layers, and there is material on at least one of the second storage layers, the picking and placing device is controlled to pick up the material from the second storage layer and place it into an empty storage layer in the first storage layer.

[0167] Optionally, the controller described above is also used for:

[0168] When there are materials on the picking and transport layer and there is an empty storage layer among the at least two first storage layers, the picking and placing device is controlled to pick up materials from the picking and transport layer and place them into the empty storage layer among the first storage layers.

[0169] The unloading equipment provided in this application is a device embodiment corresponding to the method embodiment, and has the same technical effects as the method embodiment. For detailed description, please refer to the method embodiment, which will not be repeated here.

[0170] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, enable a computing device to implement the aforementioned material conveying method.

[0171] This application also provides a computer program for implementing the aforementioned material conveying method.

[0172] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A material conveying method, characterized in that, This invention relates to an unloading equipment, comprising a robot and a conveyor. The robot includes at least one picking and placing device and at least two first storage layers. The picking and placing device includes a pallet and a telescopic arm. The picking and placing device is used to push material out of the pallet when the telescopic arm extends and to pull material onto the pallet when the telescopic arm retracts. The conveyor includes a loading transfer layer and a picking transfer layer arranged parallel to each other. The loading transfer layer is used to transfer material to a workstation for sorting. The picking transfer layer is used to transfer the sorted material from the workstation. The picking and placing device is used to pick up material from the first storage layers and place it on the loading transfer layer, and to pick up material from the picking transfer layer and place it on the first storage layer. The method includes: When there is no material on the picking and placing device and at least one of the at least two first storage layers is empty, the amount of material on the picking and placing layer is detected. If the material quantity exceeds a preset material quantity threshold, the picking and placing device is controlled to pick up the material from the picking and placing layer; and If the amount of material does not exceed the preset material amount threshold, the picking and placing device is controlled to take the material out of the picking and placing layer or the first storage layer.

2. The method according to claim 1, characterized in that, Also includes: When there is no material on the picking and placing device and there is no empty storage layer among the at least two first storage layers, the picking and placing device is controlled to take out the material from the first storage layer first reached during the movement. The first storage layer that the picking and placing device first reaches during its movement is the retrievable storage layer, on which there are materials to be picked up. These materials are the materials that need to be placed on the delivery and transfer layer.

3. The method according to claim 1, characterized in that, A buffer shelf is also provided next to the conveyor, and the buffer shelf is provided with at least one second storage layer, which is used to place materials taken out from the picking and conveying layer; The method further includes: When there is no material on the picking and placing device, and at least one of the at least two first storage layers is not empty, the amount of material on the picking and placing layer is detected. If the amount of material on the picking and conveying layer exceeds the preset material amount threshold, and there is an empty storage layer in the second storage layer, then the picking and placing device is controlled to take the material from the picking and conveying layer and put it into the empty storage layer in the second storage layer. If the amount of material on the picking and conveying layer does not exceed the preset material amount threshold, the picking and placing device is controlled to pick up the material from the picking and conveying layer and place it into the empty storage layer in the second storage layer, or to take the material from the first storage layer and place it into the placing and conveying layer.

4. A material unloading device, characterized in that, include: The system includes a robot, a conveyor, and a controller. The robot comprises at least one loading / unloading device and at least two first storage layers. The loading / unloading device includes a pallet and a telescopic arm. The loading / unloading device is used to push material out of the pallet when the telescopic arm extends and to pull material onto the pallet when the telescopic arm retracts. The conveyor includes a loading transfer layer and a picking transfer layer arranged parallel to each other. The loading transfer layer is used to transfer material to a workstation for sorting. The picking transfer layer is used to transfer the sorted material from the workstation. The loading / unloading device is used to pick up material from the first storage layers and place it on the loading transfer layer, and to pick up material from the picking transfer layer and place it on the first storage layers. The controller is used for: When there is no material on the picking and placing device, at least one of the at least two first storage layers is empty, and the amount of material on the picking and conveying layer exceeds a first preset material amount threshold, the picking and placing device is controlled to pick up material from the picking and conveying layer. or, When there is no material on the picking and placing device, at least one of the at least two first storage layers is empty, and the amount of material on the picking and conveying layer does not exceed the first preset material amount threshold, the picking and placing device is controlled to take material from the picking and conveying layer or take material from the first storage layer.

5. The unloading equipment according to claim 4, characterized in that, A buffer shelf is also provided next to the conveyor, and the buffer shelf is provided with at least one second storage layer, which is used to place materials taken out from the picking and conveying layer; The controller is also used for: When there is no material on the picking and placing device, at least one of the two first storage layers is not empty, there is an empty storage layer in the second storage layer, and the amount of material on the picking and transferring layer exceeds the preset material amount threshold, the picking and placing device is controlled to remove material from the picking and transferring layer and place it into an empty storage layer in the second storage layer; or When there is no material on the picking and placing device, at least one of the two first storage layers is not empty, there is an empty storage layer in the second storage layer, and the amount of material on the picking and placing layer does not exceed the preset material amount threshold, the picking and placing device is controlled to take out the material from the picking and placing layer and place it into an empty storage layer in the second storage layer, or to take out the material from the first storage layer and place it into the placing layer.

6. The unloading equipment according to claim 4, characterized in that, The delivery and transfer layer is used to transfer materials from the first end of the delivery and transfer layer to the second end of the delivery and transfer layer; The picking and transport layer is used to transport materials from the second end of the picking and transport layer to the first end of the picking and transport layer; The conveyor also includes a connecting device for transferring materials from the second end of the discharge transfer layer to the second end of the pick-up transfer layer.

7. The unloading equipment according to claim 6, characterized in that, The connecting device includes a third storage layer, a transfer mechanism, a rotating fixing device, and a second controller; wherein, one end of the third storage layer is rotatably connected to the rotating fixing device, and the other end of the third storage layer is configured to move between the second end of the delivery transfer layer and the second end of the retrieval transfer layer; the transfer mechanism is disposed on the third storage layer for transferring materials. The second controller is used to control the second end of the third storage layer to alternately connect with the second end of the picking transmission layer and the second end of the putting transmission layer at a preset time period; or The connecting device further includes a material detection device; the material detection device is used to detect the amount of material on the third storage layer; the second controller is used to control the second end of the third storage layer to connect with the second end of the picking and conveying layer when the amount of material on the third storage layer is greater than or equal to a second preset material amount threshold, or to control the second end of the third storage layer to connect with the second end of the dispensing and conveying layer when the amount of material on the third storage layer is less than the second preset material amount threshold.

8. The unloading equipment according to claim 6, characterized in that, The connecting device includes a support frame, a fourth storage layer disposed on the support frame, and a transfer mechanism disposed on the fourth storage layer. The transfer mechanism transfers materials by rotation. The fourth storage layer is configured to slide up and down along the support frame. The controller controls the fourth storage layer to slide to a position where it aligns with the second end of the delivery transfer layer to retrieve materials from the second end of the delivery transfer layer. The controller then controls the fourth storage layer to slide to a position where it aligns with the second end of the retrieval transfer layer to place materials into the second end of the retrieval transfer layer.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, cause a computing device to implement the method as described in any one of claims 1 to 3.

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