A magazine taking and placing device

Abstract

The application discloses a material box taking and placing equipment, which comprises a gate assembly arranged vertically, vertical guide rails arranged on the stand column of the gate assembly, a temporary storage device comprising a base plate, a conveying belt arranged on the base plate and a stacking mechanism, a taking and placing device comprising a taking and placing lifting frame in rolling connection with the vertical guide rails and adapted to move along the vertical guide rails, a first end picker and a second end picker, which are respectively arranged on the taking and placing lifting frame and are arranged vertically and are adapted to move vertically with the taking and placing lifting frame and are adapted to extend or retract in the horizontal direction so as to take a target material box from a target box stack and place the target material box on the conveying belt, and the target material box is conveyed to the stacking mechanism by the conveying belt for stacking and storage. The first end picker comprises two spaced-apart telescopic box taking mechanisms adapted to extend or retract in the second horizontal direction so as to clamp the material box by the two telescopic box taking mechanisms. According to the technical scheme of the application, the taken material box can be automatically stacked and stored, and a goods shelf is not needed, so that the cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of automation technology, and in particular to a bin loading and unloading device. Background Technology

[0002] Currently, in the application scenarios of bin storage and retrieval systems, racks are often required to stack bins. The cost of racks accounts for a significant portion of the overall system cost. Furthermore, placing bins on racks results in low space utilization, and the frequency of failures caused by rack vibration and deformation is high. Another existing technology eliminates the racks, installing retrieval equipment above the bin storage area. However, this equipment requires a large amount of space above the storage area, and its support structure is located on the periphery, also requiring considerable space. Such equipment is large and heavy, consumes a lot of energy, and is difficult to install.

[0003] Therefore, there is a need to provide a bin loading and unloading device to solve the above-mentioned technical problems. Summary of the Invention

[0004] Therefore, the present invention provides a bin loading and unloading device to solve or at least alleviate the above-mentioned problems.

[0005] According to one aspect of the present invention, a bin handling device is provided, suitable for handling bins in a stack, the stack comprising a plurality of bins stacked together. The bin handling device includes: a gantry assembly arranged vertically, including a column with a vertical guide rail on the column; a temporary storage device including a chassis, a conveyor belt mounted on the chassis, and a bin stacking mechanism mounted on the chassis and located above the conveyor belt; and a handling device, respectively mounted on opposite sides of the gantry assembly with respect to the temporary storage device. The handling device includes: a handling lifting frame, rotatably connected to the vertical guide rail, adapted to move along the vertical guide rail so that the handling device moves vertically. Movement; a first end-capsulator and a second end-capsulator, respectively mounted on the pick-and-place lifting frame and arranged vertically at intervals, are adapted to move vertically with the pick-and-place lifting frame and to extend or retract horizontally to remove target boxes from the target box stack and place the target boxes on the conveyor belt so that the target boxes can be transported to the stacking mechanism for stacking and storage by the conveyor belt; wherein, the second end-capsulator has the same structure as the first end-capsulator and is symmetrically arranged on the upper and lower sides of the pick-and-place lifting frame; the first end-capsulator includes: two telescopic box-retrieving mechanisms arranged at intervals, adapted to extend or retract in a second horizontal direction so as to clamp the box by the two telescopic box-retrieving mechanisms.

[0006] Optionally, in the bin picking and placing device according to the present invention, the first end effector and the second end effector are adapted to move vertically with the picking and placing lifting frame to the position of the target bin in the target bin stack, and are adapted to extend to one side of the target bin stack at the same time, so as to clamp the first bin and the target bin that are vertically adjacent in the target bin stack respectively, and move upward with the picking and placing lifting frame to lift the first bin, the target bin and all bins located above the first bin upward. Then, the second end effector is adapted to drive the target bin to retract, so as to take out the target bin and place the target bin on the conveyor belt.

[0007] Optionally, in the bin picking and placing device according to the present invention, the first end effector further includes: two clamping mechanisms, respectively connected to two telescopic bin picking mechanisms, the clamping mechanism including a clamping power component and a clamping transmission component, the two clamping power components being adapted to drive the two clamping transmission components to respectively drive the two telescopic bin picking mechanisms to move relatively closer or relatively farther away along a first horizontal direction perpendicular to the second horizontal direction, so that the two telescopic bin picking mechanisms clamp or release the bin.

[0008] Optionally, the bin handling device according to the present invention further includes: a lifting transmission assembly, installed on the top of the gantry assembly, rotatably connected to the two columns, and connected to the handling lifting frame of the handling device via a lifting belt; and a lifting power assembly, installed on the top of the gantry assembly, connected to the lifting transmission assembly, and adapted to drive the lifting transmission assembly to rotate, so that the lifting transmission assembly drives the handling device to move in the vertical direction via the lifting belt.

[0009] Optionally, in the bin picking and placing device according to the present invention, the picking and placing lifting frame includes: a first frame arranged vertically, the first frame being rotatably connected to the vertical guide rail; a second frame, the second frame being formed by extending from the first frame in a first horizontal direction away from the gantry assembly; the first end effector and the second end effector being symmetrically installed on the upper and lower sides of the second frame, and adapted to extend or retract in a second horizontal direction perpendicular to the first horizontal direction.

[0010] Optionally, in the bin picking and placing device according to the present invention, the two ends of the upper side of the second frame are respectively provided with horizontal linear guide rails in the first horizontal direction; the two ends of the telescopic bin picking mechanism are respectively slidably connected to the corresponding horizontal linear guide rails through telescopic sliders; the two clamping transmission components are respectively connected to the corresponding telescopic sliders, and are adapted to drive the corresponding telescopic sliders to slide along the horizontal linear guide rails under the power of the corresponding clamping power components, so that the two telescopic bin picking mechanisms move relatively closer or relatively farther away in the first horizontal direction.

[0011] Optionally, in the bin handling device according to the present invention, the telescopic bin handling mechanism includes: a fixed component; an intermediate component mounted on the fixed component, the intermediate component having a pulley assembly and a first chain toothed plate; a bin clamping component connected to the intermediate component via the pulley assembly; a telescopic transmission component connected to the first chain toothed plate of the intermediate component; and a telescopic power component mounted on the fixed component and connected to the telescopic transmission component, adapted to drive the telescopic transmission component to drive the intermediate component via the first chain toothed plate to perform a first telescopic movement relative to the fixed component along a second horizontal direction, while the intermediate component drives the bin clamping component to perform a second telescopic movement along the second horizontal direction via the pulley assembly, so that the bin clamping component extends and clamps the bin or retracts.

[0012] Optionally, in the bin handling device according to the present invention, the movement speed of the second telescopic movement of the bin clamping assembly is twice the movement speed of the first telescopic movement of the fixing assembly.

[0013] Optionally, in the bin handling device according to the present invention, after the bin clamping assembly extends to a predetermined position, the clamping power assembly is adapted to drive the clamping transmission assembly to move the two telescopic bin handling mechanisms closer to each other along the first horizontal direction, so that the two bin clamping assemblies of the two telescopic bin handling mechanisms clamp the bin.

[0014] Optionally, in the bin handling device according to the present invention, the bin clamping assembly has a bin clamping plate; when the two telescopic bin handling mechanisms move closer to each other along the first horizontal direction, the bin clamping plates of the two bin clamping assemblies are adapted to extend into the step on the side of the bin so as to support the bin and lift the bin.

[0015] Optionally, in the bin loading and unloading device according to the present invention, guide wheel assemblies are respectively installed at the four corners of the first frame of the loading and unloading lifting frame, and are tactilely connected to the vertical guide rail through the four guide wheel assemblies, wherein the guide wheel assemblies include positive guide wheels and side guide wheels.

[0016] Optionally, the bin handling device according to the present invention further includes an auxiliary support assembly installed on the chassis. The auxiliary support assembly includes: a horizontally arranged auxiliary lifting plate; two guide support rods respectively disposed on both sides of the lower end of the auxiliary lifting plate; two spaced-apart auxiliary legs respectively installed on the two guide support rods and adapted to extend and retract along the corresponding guide support rods; an auxiliary transmission assembly installed on the auxiliary lifting plate and connected to the auxiliary legs in a transmission manner; and an auxiliary power assembly installed on the auxiliary lifting plate, adapted to drive the auxiliary transmission assembly to drive the auxiliary legs to extend and retract along the corresponding guide support rods, so that the auxiliary legs extend toward the target bin stack and support the bottom of the target bin stack, or retract.

[0017] Optionally, the bin handling device according to the present invention further includes: a linkage assembly, installed on the chassis and connected to the auxiliary lifting plate, adapted to drive the auxiliary lifting plate and the auxiliary support assembly to move vertically under the power of the linkage power assembly; wherein, when the auxiliary support leg extends to the target bin stack side, the linkage assembly is adapted to drive the auxiliary support assembly to move vertically downward until the auxiliary support leg is in contact with the ground and supported at the bottom of the target bin stack.

[0018] Optionally, in the bin loading and unloading device according to the present invention, a plurality of guide sleeves are vertically provided on the bottom plate of the chassis; a plurality of auxiliary guide columns are vertically installed above the auxiliary lifting plate, and the plurality of auxiliary guide columns are coaxially engaged with the plurality of guide sleeves respectively, so as to guide the vertical movement of the auxiliary lifting plate and the auxiliary support assembly.

[0019] Optionally, in the bin handling device according to the present invention, the bin stacking mechanism includes: a bin stacking support frame, arranged vertically on one side of the gantry assembly; a bin stacking lifting frame, installed on the bin stacking support frame and slidably connected to the bin stacking support frame, adapted to slide vertically relative to the bin stacking support frame, wherein bin stacking trays are respectively provided on both sides of the bin stacking lifting frame, wherein the two bin stacking trays are adapted to move relatively close to each other to extend into the step on the side of the bin to support the bin, and are adapted to move relatively far apart to release the bin; a bin stacking transmission assembly, installed on the top of the bin stacking support frame, and connected via... The stacking box lifting belt is connected to the stacking box lifting frame; the stacking box power assembly is installed on the top of the stacking box support frame and connected to the stacking box transmission assembly, which is adapted to drive the stacking box transmission assembly to rotate, so that the stacking box transmission assembly drives the stacking box lifting frame to perform reciprocating lifting motion through the stacking box lifting belt; wherein, when the stacking box lifting frame descends to the target box on the conveyor belt, the two stacking box pallets are adapted to move closer to each other so as to extend into the step on the side of the target box to support the target box; when the stacking box lifting frame rises, it lifts the target box and stacks it.

[0020] The bin picking and placing device provided by the technical solution of the present invention can perform picking and placing operations on bins in a stack. The device includes a gantry assembly, a temporary storage device and a picking and placing device respectively installed on both sides of the gantry assembly, and a vertical guide rail on the column of the gantry assembly. A conveyor belt and a stacking mechanism vertically installed above the conveyor belt are mounted on the chassis of the temporary storage device. The picking and placing lifting frame of the picking and placing device is rotatably connected to the vertical guide rail and can move along the vertical guide rail. The picking and placing device includes a first end-effector and a second end-effector arranged vertically at intervals. The first and second end-effectors can extend or retract horizontally to remove target bins from the target stack and place them on the conveyor belt. The target bins can then be transported to the stacking mechanism for stacking and storage via the conveyor belt. Therefore, according to the technical solution of the present invention, no shelves are required; bins are directly stacked in the storage area. The bin picking and placing device can perform picking and placing operations on any bin without placing them on shelves, thereby greatly reducing the cost of the entire warehousing system and lowering the failure rate. In addition, the system uses two end effectors, one above and one below, to pick up and place the boxes. When picking up or placing a single box, it can simultaneously operate on that single box and multiple boxes above it, making the operation flexible and fast. Furthermore, the stacking mechanism can automatically stack the retrieved boxes into new stacks, facilitating subsequent outbound unloading operations.

[0021] In addition, the bin handling equipment is equipped with auxiliary support legs. During the bin handling process, the auxiliary support legs first extend towards the target bin stack, and then support the bottom of the target bin stack. This ensures stable bin handling.

[0022] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0023] To achieve the foregoing and related objectives, certain illustrative aspects are described herein in conjunction with the following description and accompanying drawings. These aspects indicate various ways in which the principles disclosed herein may be practiced, and all aspects and their equivalents are intended to fall within the scope of the claimed subject matter. The foregoing and other objectives, features, and advantages of this disclosure will become more apparent from the following detailed description, taken in conjunction with the accompanying drawings. Throughout this disclosure, the same reference numerals generally refer to the same parts or elements.

[0024] Figure 1a , Figure 1b The following are schematic diagrams illustrating an application scenario of the bin loading and unloading device 300 provided in the embodiments of the present invention in a warehousing system.

[0025] Figure 2This diagram illustrates another application scenario of the bin loading and unloading device 300 provided in this embodiment of the invention in a warehousing system.

[0026] Figure 3 A schematic diagram of a material bin loading and unloading device 300 according to an embodiment of the present invention is shown;

[0027] Figure 4 This diagram illustrates a bin-retrieving state of a bin-retrieving device 300 provided according to an embodiment of the present invention.

[0028] Figure 5a , Figure 5b The following are schematic diagrams showing another bin-retrieving state of the bin-retrieving device 300 provided in the embodiments of the present invention;

[0029] Figure 6 A schematic diagram of a pick-and-place device 100 according to an embodiment of the present invention is shown;

[0030] Figure 7 A schematic diagram of the cooperation structure between the pick-and-place device 100 and the gantry assembly 150 provided according to an embodiment of the present invention is shown;

[0031] Figure 8 A schematic diagram of a telescopic box-retrieving mechanism 115 according to an embodiment of the present invention is shown;

[0032] Figure 9 A schematic diagram showing the arrangement of the auxiliary support assembly 330 and the connecting rod assembly 340 according to an embodiment of the present invention is shown;

[0033] Figure 10 , Figure 11 The following are schematic diagrams illustrating the structure of an auxiliary support assembly 330 according to an embodiment of the present invention;

[0034] Figure 12 A schematic diagram of a linkage assembly 340 according to an embodiment of the present invention is shown;

[0035] Figure 13 A schematic diagram of a stacking mechanism 230 according to an embodiment of the present invention is shown;

[0036] Figure 14 A schematic diagram of a stacking mechanism 230 provided according to an embodiment of the present invention is shown, showing the stacking of boxes to form a new stack.

[0037] Figure 15 A schematic diagram of the structure of a chassis 210 provided according to an embodiment of the present invention is shown. Detailed Implementation

[0038] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0039] Figure 1a , Figure 1b The following are schematic diagrams illustrating an application scenario of the bin loading and unloading device 300 provided in the embodiments of the present invention in a warehousing system.

[0040] like Figure 1a As shown, the storage area floor includes multiple stacks of boxes, which can be arranged in multiple rows and columns. Each stack includes multiple boxes stacked vertically. That is, multiple boxes can be stacked one on top of the other on the storage area floor. A certain gap is left between any two adjacent stacks to allow the box handling equipment 300 to operate. An aisle is provided between two rows of stacks to allow the box handling equipment 300 to travel.

[0041] like Figure 1b As shown, one or more bin picking and placing devices 300 can travel back and forth in the aisle between two adjacent rows of bin stacks and work in parallel to pick up and place target bins. After the operation is completed, they can drive out of the aisle and place the outgoing bins on the conveyor line (or ground) at the destination, or hand them over to other equipment. Then, they can grab the bins that need to be returned to the warehouse, transport the bins that need to be returned to the warehouse to the storage area, and put them back in the corresponding position. Then, new target bins can be taken out for outgoing, and so on.

[0042] In one application scenario of this invention, the bin picking and placing device 300 can travel in an aisle between two adjacent rows of bin stacks in a storage area to pick up and place bins. Each bin stack includes multiple bins stacked (stacked vertically).

[0043] It should be noted that in one application scenario, the bin picking and placing device 300 is used to pick up a single bin, taking out one bin from the stack at a time.

[0044] Figure 3 A schematic diagram of the structure of a bin loading and unloading device 300 provided according to an embodiment of the present invention is shown.

[0045] like Figure 3 As shown, in an embodiment of the present invention, the bin loading and unloading device 300 includes: a gantry assembly 150 arranged in a vertical direction, a temporary storage device 200, and a loading and unloading device 100.

[0046] The temporary storage device 200 includes a chassis 210, a conveyor belt 220 mounted on the chassis 210, and a stacking mechanism 230, which is mounted on the chassis 210 and located above the conveyor belt 220.

[0047] The pick-and-place device 100 and the stacking mechanism 230 are respectively installed on opposite sides of the gantry assembly 150 and can move in the vertical direction. The pick-and-place device 100 includes a first end-cap 110 and a second end-cap 120 arranged vertically at intervals. The first end-cap 110 and the second end-cap 120 can extend or retract in the horizontal direction.

[0048] It should be noted that, in the embodiments of the present invention, the chassis 210 is the walking and support mechanism of the hopper loading and unloading device 300, and has movement modes such as forward, backward, rotation, and arc turning. The gantry assembly 150 is vertically mounted on the chassis, and the loading and unloading device 100 is movably mounted on one side of the gantry. The temporary storage device 200 is mounted at one end of the chassis 210, and is located on both sides of the gantry assembly 150, respectively, along with the loading and unloading device 100.

[0049] Figure 4 A schematic diagram of a bin-retrieving state of a bin-retrieving device 300 provided according to an embodiment of the present invention is shown below. Figure 4 The following describes the bin retrieval process of the bin retrieval device 300 provided in the embodiments of the present invention.

[0050] like Figure 4 As shown, in an embodiment of the present invention, when performing a box retrieval operation using the box retrieval device 300, the box retrieval device 300 can automatically position itself on the side of the target box stack (i.e., the stack where the target box is located) to retrieve the target box from the target box stack. During the retrieval process, the first end gripper 110 and the second end gripper 120 of the box retrieval device 300 can simultaneously extend to one side of the target box stack. Then, the first end gripper 110 and the second end gripper 120 respectively clamp the first box and the target box that are vertically adjacent in the target box stack. Afterwards, the first end gripper 110 and the second end gripper 120 can move vertically upward with the retrieval device 100 to lift the first box, the target box, and all boxes located above the first box upward. After lifting the first bin, the target bin, and all bins located above the first bin, the second end effector 120 can retract the target bin to remove it and place it on the conveyor belt 220 of the chassis. Subsequently, the target bin can be transported to the stacking mechanism 230 (specifically, the lower end of the stacking mechanism 230) via the conveyor belt 220 for stacking operations.

[0051] In some embodiments, such as Figure 3 and Figure 4As shown, the bin handling device 300 also includes an auxiliary support assembly 330, which is mounted on the chassis 210. The auxiliary support assembly 330 includes auxiliary legs 335, which can extend towards the target bin stack before the first end effector 110 and the second end effector 120 are adapted to simultaneously extend towards one side of the target bin stack, so as to support the bottom of the target bin stack. Specifically, during the bin handling process of the bin handling device 300, the auxiliary legs 335 can first be extended towards the target bin stack so that the auxiliary legs 335 support the bottom of the target bin stack. Then, the first end effector 110 and the second end effector 120 can simultaneously extend towards the target bin stack, clamping the first bin and the target bin, which are vertically adjacent, in the target bin stack, respectively. It should be noted that the bin handling device 300, by configuring the auxiliary legs 330, can ensure stable bin handling.

[0052] In some embodiments, after the second end effector 120 retracts the target hopper, the pick-and-place device 100 can move downwards so that the first end effector 110 and the second end effector 120 move downwards simultaneously.

[0053] The first end effector 110 can move the first material box and all the material boxes located above the first material box downwards until they are in contact with the material boxes below the first material box (so that the first material box is placed in the target box stack before the target material box is removed). Then, the first end effector 110 can retract, and then the auxiliary support leg 335 can retract.

[0054] Then, the pick-and-place device 100 can continue to move downwards, and the first end effector 110 and the second end effector 120 move downwards synchronously with the pick-and-place device 100. In this way, the second end effector 120 can drive the target box it is holding downwards so that the target box can be placed on the conveyor belt 220 of the temporary storage device 200. After placing the target box on the conveyor belt 220 of the temporary storage device 200, the second end effector 120 can release the target box and move upwards with the pick-and-place device 100. The target box can be transported to the stacking mechanism 230 at the other end of the chassis (specifically, the lower end of the stacking mechanism 230) via the conveyor belt 220 so that stacking operations can be performed by the stacking mechanism 230.

[0055] Figure 14 A schematic diagram of a stacking mechanism 230 provided according to an embodiment of the present invention is shown, in which new stacks of boxes are formed by stacking boxes.

[0056] In some embodiments, the stacking mechanism 230 can sequentially stack the target boxes retrieved by the second end effector 120 each time, until the number of target boxes retrieved by the second end effector 120 reaches a predetermined number, such as... Figure 14As shown, the stacking mechanism 230 can stack a predetermined number of target boxes retrieved by the second end-feeder 120 to form a new stack. At this time, the box picking and placing device 300 completes the box picking operation, and then the new stack can be dispatched. When dispatching the new stack, the box picking and placing device 300 can drive the new stack out of the aisle and transport it to the dispatch box receiving point for unloading.

[0057] Furthermore, during the outbound operation, the bin picking and placing equipment 300 can drive out of the aisle and transport the predetermined number of target bins in the new bin stack to the outbound bin receiving point, unload the predetermined number of target bins in the new bin stack, and then return the bins that need to be returned to the warehouse from the return bin point.

[0058] The unloading of target boxes can be performed in the following embodiments: In the first embodiment, the new stack of boxes can be conveyed to the end of the chassis 210 via the conveyor belt 220 of the box picking and placing device 300. After the new stack of boxes is conveyed to the predetermined position, another device (e.g., another box picking and placing device 300) can be used to remove the entire stack of boxes. In the second embodiment, the conveyor belt 220 of the box picking and placing device 300 can be connected to a conveyor belt fixed to the ground, and the new stack of boxes can be directly conveyed onto the ground conveyor belt for continued transport. In the third embodiment, the stacking mechanism 230 of the box picking and placing device 300 can be controlled to operate in reverse with the conveyor belt 220, so that each target box in the new stack can be transported one by one to the end effector. After the end effector picks up the target boxes one by one, the target boxes are placed on the ground or on the ground conveyor belt.

[0059] It should be noted that the return box to the warehouse operation is the reverse of the unloading of the target box operation, and can be performed in reverse using the method described in the above embodiments.

[0060] In another application scenario, the bin picking and placing device 300 can perform bin picking operations on an entire stack of bins.

[0061] Figure 2 This diagram illustrates another application scenario of the bin loading and unloading device 300 provided in this embodiment of the invention in a warehousing system. Figure 5a , Figure 5b The following are schematic diagrams illustrating another bin-retrieving state of the bin-retrieving device 300 provided in an embodiment of the present invention. Below, we will discuss this in conjunction with... Figure 2 , Figure 5a , Figure 5b This describes the process of retrieving boxes from a stack of bins.

[0062] It should be noted that in another application scenario, when dealing with the retrieval and storage of entire stacks of bins, and where there is no specific order requirement for retrieval, the following method can be used: Figure 2The stacking arrangement shown allows the bin retrieval equipment 300 to retrieve entire stacks of bins from outside the storage area. Figure 2 The stacking arrangement shown here makes better use of space.

[0063] In embodiments of the present invention, such as Figure 5a , Figure 5b As shown, when performing box retrieval operations using the box retrieval device 300, the device can automatically position itself on the side of the target box stack to facilitate the retrieval operation. During the retrieval process, the first end gripper 110 and the second end gripper 120 of the box retrieval device 300 move downwards with the retrieval device 100 to the bottom of the target box stack. The first end gripper 110 and the second end gripper 120 can respectively clamp the two adjacent bottom boxes. Then, the first end gripper 110 and the second end gripper 120 move upwards with the retrieval device 100 to move the entire target box stack (containing all boxes) upwards. Afterwards, the entire target box stack retracts, and the first end gripper 110 and the second end gripper 120 move downwards with the retrieval device 100, placing the target box stack on the conveyor belt 220 for the outbound operation.

[0064] In some embodiments, such as Figure 5b As shown, after the first end effector 110 and the second end effector 120 retract the target stack and move downward with the pick-and-place device 100 to place the target stack on the conveyor belt 220, they can move upward with the pick-and-place device 100 to the upper part of the target stack (the side area near the top of the target stack). This allows the pick-and-place device 100 and its first end effector 110 and second end effector 120 to abut against the upper side of the target stack, supporting it. This prevents the target stack from tipping over.

[0065] Then, an outbound operation can be performed on the target stack of boxes. Specifically, the box picking and placing device 300 can drive the target stack of boxes out of the aisle and transport it to the outbound box receiving point for unloading. Here, the box picking and placing device 300 can use the opposite operation method to the above-mentioned box picking operation on the entire target stack to unload the entire target stack.

[0066] Understandably, the above method of retrieving and storing boxes for the entire target stack is faster and more efficient.

[0067] Figure 6 A schematic diagram of a pick-and-place device 100 according to an embodiment of the present invention is shown; Figure 7 A schematic diagram of the cooperation structure between the pick-and-place device 100 and the gantry assembly 150 provided according to an embodiment of the present invention is shown.

[0068] The specific structure of the material bin loading and unloading device 300 provided in the embodiments of the present invention will be further described below.

[0069] In some embodiments, such as Figure 3 As shown, the gantry assembly 150 has columns 151 on both sides, and vertical guide rails 152 are provided on the columns 151.

[0070] In some embodiments, such as Figure 6 As shown, the pick-up and place device 100 also includes a pick-up and place lifting frame 140, which is slidably connected to the vertical guide rail 152 and can move along the vertical guide rail 152. In this way, the pick-up and place device 100 is movably connected to the gantry assembly 150, so that the pick-up and place device 100 can move in the vertical direction.

[0071] In some embodiments, such as Figure 3 , Figure 6 and Figure 7 As shown, the first end effector 110 and the second end effector 120 are respectively mounted on the pick-and-place lifting frame 140 and arranged vertically at intervals, and can move vertically with the pick-and-place lifting frame 140. Here, in order to more clearly show the structure of the end effector, Figure 6 Only the first end effector 110 is shown in the image.

[0072] In some embodiments, such as Figure 7 As shown, the bin loading and unloading device 300 also includes a lifting power assembly 311 and a lifting transmission assembly 312. The lifting transmission assembly 312 is installed on the top of the gantry assembly 150 and is rotatably connected to the two columns 151. In addition, the lifting transmission assembly 312 is connected to the loading and unloading lifting frame 140 of the loading and unloading device 100 through the lifting lifting belt 313.

[0073] The lifting power assembly 311 is installed on the top of the gantry assembly 150 and connected to the lifting transmission assembly 312. The lifting power assembly 311 can drive the lifting transmission assembly 312 to rotate, so that the lifting transmission assembly 312 can drive the pick-and-place device 100 to move vertically via the lifting belt 313. At the same time, the pick-and-place lifting frame 140 of the pick-and-place device 100 moves synchronously along the vertical guide rail 152. The cooperation between the pick-and-place lifting frame 140 and the vertical guide rail 152 can guide the vertical movement of the pick-and-place device 100 along the column 151.

[0074] In some embodiments, such as Figure 6 and Figure 7 As shown, the retrieval and lifting frame 140 includes a vertically arranged first frame 141 and a horizontally arranged second frame 142. The first frame 141 is rotatably connected to the vertical guide rail 152, and the second frame 142 is formed by extending the first frame 141 in a first horizontal direction away from the gantry assembly 150.

[0075] The first end effector 110 and the second end effector 120 are symmetrically mounted on the upper and lower sides of the second frame 142, and the first end effector 110 and the second end effector 120 can extend or retract along a second horizontal direction perpendicular to the first horizontal direction. Here, the first horizontal direction and the second horizontal direction are perpendicular to each other.

[0076] It should be noted that the second end effector 120 has the same structure as the first end effector 110 and is symmetrically arranged on the upper and lower sides of the second frame 142. In the embodiments of the present invention, only the structure of the first end effector 110 is specifically described. The structure of the second end effector 120 can be referred to the structure of the first end effector 110 described in the embodiments of the present invention, and will not be repeated here.

[0077] In some embodiments, such as Figure 6 As shown, the first end effector 110 includes two telescopic box-retrieving mechanisms 115 arranged at intervals and two clamping mechanisms, which are respectively connected to the two telescopic box-retrieving mechanisms 115. The two telescopic box-retrieving mechanisms 115 can extend or retract along a second horizontal direction to clamp the box (such as the first box mentioned above).

[0078] The clamping mechanism includes a clamping power assembly 111 and a clamping transmission assembly 112. The two clamping power assemblies 111 can drive the two clamping transmission assemblies 112 to drive the two telescopic box-retrieving mechanisms 115 to move relatively closer or relatively farther away along the first horizontal direction, so that the two telescopic box-retrieving mechanisms 115 clamp or release the box.

[0079] In some embodiments, such as Figure 6 As shown, horizontal linear guide rails 143 in the first horizontal direction are respectively provided at both ends of the upper side of the second frame 142. It should be noted that the upper and lower sides of the second frame 142 are symmetrical structures. Therefore, in the embodiments of the present invention, only the upper structure of the second frame 142 is described. The lower structure of the second frame 142 can be referred to the upper structure of the second frame 142.

[0080] The two ends of the telescopic box retrieval mechanism 115 are slidably connected to the corresponding horizontal linear guide rails 143 via telescopic sliders 116.

[0081] Two clamping transmission components 112 are respectively connected to the corresponding telescopic sliders 116. The two clamping transmission components 112 can drive the corresponding telescopic sliders 116 to slide along the horizontal linear guide rail 143 under the power of the corresponding clamping power component 111, so that the two telescopic box retrieval mechanisms 115 can move relatively closer or relatively farther away in the first horizontal direction.

[0082] Figure 8A schematic diagram of a telescopic box-retrieving mechanism 115 provided according to an embodiment of the present invention is shown.

[0083] In some embodiments, such as Figure 8 As shown, the telescopic box-retrieving mechanism 115 includes: a fixed component 1151, an intermediate component 1152, a box-clamping component 1153, a telescopic transmission component 1154, and a telescopic power component 1155.

[0084] The fixing component 1151 is mounted on the telescopic slider 116.

[0085] The intermediate component 1152 is mounted on the fixed component 1151, and the intermediate component 1152 has a pulley assembly 1158 and a first chain tooth plate 1157.

[0086] The clamping box assembly 1153 is connected to the intermediate assembly 1152 via the pulley assembly 1158. Here, the pulley assembly 1158 may include multiple sets of rollers.

[0087] The telescopic transmission assembly 1154 is connected to the first chain tooth plate 1157 of the intermediate assembly 1152.

[0088] The telescopic power assembly 1155 is installed on the fixed assembly 1151 and connected to the telescopic transmission assembly 1154. It can drive the telescopic transmission assembly 1154 to drive the intermediate assembly 1152 through the first chain tooth plate 1157 to perform a first telescopic movement relative to the fixed assembly 1151 in the second horizontal direction. At the same time, the intermediate assembly 1152 drives the clamping assembly 1153 to perform a second telescopic movement in the second horizontal direction through the pulley assembly 1158, so that the clamping assembly 1153 can extend and clamp the material box or retract.

[0089] In some embodiments, the speed of the second telescopic movement of the clamping assembly 1153 is twice the speed of the first telescopic movement of the fixing assembly 1151. Accordingly, the telescopic distance of the second telescopic movement of the clamping assembly 1153 is twice the telescopic distance of the first telescopic movement of the fixing assembly 1151.

[0090] It should be noted that all the bins have the same size and structure. In the initial state, the distance between the two clamping bin assemblies 1153 is greater than the size of the bin.

[0091] In some embodiments, after the clamping box assembly 1153 extends to a predetermined position, the clamping power assembly 111 can drive the clamping transmission assembly 112 to move the two telescopic box-retrieving mechanisms 115 closer to each other along the first horizontal direction, so that the two clamping box assemblies 1153 of the two telescopic box-retrieving mechanisms 115 clamp the box.

[0092] In some embodiments, such as Figure 8As shown, the box clamping assembly 1153 has a box clamping support plate 1156. When the two telescopic box retrieval mechanisms 115 move closer to each other along the first horizontal direction, the box clamping support plates 1156 of the two box clamping assemblies 1153 can extend into the step on the side of the box to support the box and lift it. Here, the box can be lifted when the first end gripper and the second end gripper move upward with the pick-and-place lifting frame 140.

[0093] In some embodiments, such as Figure 6 As shown, guide wheel assemblies 1415 are respectively installed at the four corners of the first frame 141 of the pick-up and place lifting frame 140. The first frame 141 of the pick-up and place lifting frame 140 is rotatably connected to the vertical guide rail 152 through the four guide wheel assemblies 1415. The guide wheel assembly 1415 includes a front guide wheel and a side guide wheel. In this way, through the cooperation of the four guide wheel assemblies 1415 and the vertical guide rail 152, the vertical movement of the pick-up and place device 100 along the column 151 can be guided.

[0094] In some embodiments, the bin loading and unloading device 300 further includes an auxiliary support assembly 330 and a connecting rod assembly 340.

[0095] Figure 9 A schematic diagram of the arrangement of the auxiliary support assembly 330 and the connecting rod assembly 340 provided according to an embodiment of the present invention is shown. Figure 10 , Figure 11 The following are schematic diagrams of the structure of an auxiliary support component 330 provided according to an embodiment of the present invention.

[0096] In some embodiments, such as Figure 9 As shown, the auxiliary support assembly 330 and the connecting rod assembly 340 can be installed on the chassis 210. The auxiliary support assembly 330 can be installed below the base plate 211, and the connecting rod assembly 340 can be installed above the base plate 211.

[0097] In some embodiments, such as Figure 10 and Figure 11 As shown, the auxiliary support assembly 330 includes: a horizontally arranged auxiliary lifting plate 331, two guide support rods 333, two spaced-apart auxiliary legs 335, an auxiliary power assembly 336, and an auxiliary transmission assembly 337.

[0098] Two guide support rods 333 are respectively set on both sides of the lower end of the auxiliary lifting plate 331.

[0099] Two auxiliary outriggers 335 are respectively installed on two guide support rods 333 and can extend and retract along the corresponding guide support rods 333.

[0100] The auxiliary transmission assembly 337 can be installed on the auxiliary lifting plate 331 and is connected to the auxiliary outrigger 335 in a transmission manner.

[0101] The auxiliary power assembly 336 is installed on the auxiliary lifting plate 331. The auxiliary power assembly 336 can drive the auxiliary transmission assembly 337 to move the auxiliary support leg 335 along the corresponding guide support rod 333, so that the auxiliary support leg 335 can extend to the side of the target stack and support the bottom of the target stack, or retract the auxiliary support leg 335.

[0102] In some embodiments, the auxiliary support leg 335 is provided with a second chain toothed plate 3354 and a plurality of auxiliary rollers 3352. The plurality of auxiliary rollers 3352 cooperate with the guide support rod 333 and move telescopically along the guide support rod 333. The guide support rod 333 serves to guide and support. The second chain toothed plate 3354 is connected to the auxiliary transmission assembly 337 for transmission.

[0103] In some embodiments, such as Figure 9 As shown, the linkage assembly 340 is mounted on the chassis 210 and is connected to the auxiliary lifting plate 331. Under the power of the linkage power assembly 341, the auxiliary lifting plate 331 and the auxiliary support assembly 330 (relative to the bottom plate 211 of the chassis 210) can be driven to move vertically (lift or lower).

[0104] When the auxiliary support leg 335 extends to the side of the target stack, the connecting rod assembly 340 can drive the auxiliary support assembly 330 to move vertically downward until the auxiliary support leg 335 is in contact with the ground and supported at the bottom of the target stack.

[0105] In addition, after the auxiliary support leg 335 stabilizes the bottom of the target stack of boxes, the first end effector 110 and the second end effector 120 can extend to perform box picking and placing operations. After the box picking and placing operations are completed, the linkage assembly 340 drives the auxiliary support assembly 330 to move vertically upward and retracts the auxiliary support leg 335.

[0106] Figure 12 A schematic diagram of a linkage assembly 340 provided according to an embodiment of the present invention is shown.

[0107] In some embodiments, such as Figure 9 and Figure 12 As shown, multiple guide sleeves 213 are vertically arranged on the bottom plate 211 of the chassis 210. Multiple auxiliary guide posts 334 are vertically installed above the auxiliary lifting plate 331. The multiple auxiliary guide posts 334 are coaxially engaged with the multiple guide sleeves 213 to guide the vertical movement of the auxiliary lifting plate 331 and the auxiliary support assembly 330.

[0108] In some embodiments, such as Figure 12As shown, the connecting rod assembly 340 includes a connecting rod power assembly 341, a drive shaft, a synchronous connecting rod 343, and multiple crank-connecting rod assemblies 345. The connecting rod power assembly 341 can drive the multiple crank-connecting rod assemblies 345 to move via the drive shaft and the synchronous connecting rod 343, thereby causing the auxiliary lifting plate 331 and the auxiliary support assembly 330 to move vertically.

[0109] Figure 13 A schematic diagram of a stacking mechanism 230 provided according to an embodiment of the present invention is shown.

[0110] In some embodiments, such as Figure 13 As shown, the stacking mechanism 230 includes: a stacking support frame 231, a stacking lifting frame 232, a stacking transmission assembly 233, and a stacking power assembly 234.

[0111] The container support frame 231 is arranged vertically on one side of the gantry assembly 150.

[0112] The stacker lifting frame 232 is installed on the stacker support frame 231 and is slidably connected to the stacker support frame 231, allowing it to slide vertically relative to the stacker support frame 231. Stacker support plates 2325 are provided on both sides of the stacker lifting frame 232. The two stacker support plates 2325 can move relatively close together to extend into the steps on the side of the material box to support it, and they can also move relatively far apart to release the material box.

[0113] The stacker drive assembly 233 is installed on the top of the stacker support frame 231 and is connected to the stacker lifting frame 232 via the stacker lifting belt 235.

[0114] The stacking power assembly 234 is installed on the top of the stacking support frame 231 and is connected to the stacking transmission assembly 233. It can drive the stacking transmission assembly 233 to rotate so that the stacking transmission assembly 233 can drive the stacking lifting frame 232 to perform reciprocating lifting motion through the stacking lifting belt 235.

[0115] The conveyor belt 220 transports the target box to the stacking mechanism 230 (lower end), and the stacking lifting frame 232 of the stacking mechanism 230 can slide downward relative to the stacking support frame 231. When the stacking lifting frame 232 descends to the target box on the conveyor belt 220, the two stacking pallets 2325 can move closer to each other to extend into the step on the side of the target box to support it. When the stacking lifting frame 232 rises, the target box can be lifted and stacked with the support of the two stacking pallets 2325.

[0116] Then, the conveyor belt 220 can transport the next target box to the stacking mechanism 230 (lower end), so that the stacking mechanism 230 can lift and stack the next target box. This cycle is repeated until a predetermined number of target boxes are lifted and stacked to form a new stack.

[0117] Figure 15 A schematic diagram of the structure of a chassis 210 provided according to an embodiment of the present invention is shown.

[0118] like Figure 15 As shown, the chassis 210 includes a base plate 211, drive wheels 212, casters 213, a sweeper 214, safety sensors 215, an emergency stop button 216, a charging port 217, etc., and may also include electrical components such as batteries, control systems, and drive boards (not shown in the figure). Two sets of drive wheels 212, each with its own power, are arranged on the left and right sides of the base plate 211. Four casters are arranged at the four corners of the base plate 211, and the sweeper is located in the middle of the base plate 211. The remaining components can be arranged according to requirements. When the two sets of drive wheels 212 rotate in the same direction and at the same speed, the bin-picking and placing device 300 moves forward or backward; when the two sets of drive wheels rotate in opposite directions at the same speed, the bin-picking and placing device 300 rotates in place around its own center; when the two sets of drive wheels rotate at different speeds, the bin-picking and placing device 300 can move forward along an arc, or rotate forward or backward, exhibiting different motion characteristics. The sweeping device 214 can be used in conjunction with the ground markings to determine the position and angle of the bin handling device 300. The safety sensor 215 is used to prevent the bin handling device 300 from colliding with other objects or people.

[0119] In embodiments of the present invention, such as Figure 3 As shown, the bin picking and placing device 300 can pick and place bins in a bin stack. The bin stack includes multiple bins stacked together. The bin picking and placing device 300 includes a gantry assembly 150, a picking and placing device 100, and a temporary storage device 200.

[0120] The gantry assembly 150 is arranged vertically and includes a column 151 with a vertical guide rail 152 on the column 151.

[0121] The temporary storage device 200 includes a chassis 210, a conveyor belt 220 mounted on the chassis 210, and a stacking mechanism 230. The stacking mechanism 230 is mounted on the chassis 210 and located above the conveyor belt 220, and the stacking mechanism 230 and the pick-and-place device 100 are respectively mounted on opposite sides of the gantry assembly 150.

[0122] The pick-and-place device 100 is installed on one side of the gantry assembly 150. The pick-and-place device 100 may include a pick-and-place lifting frame 140, a first end effector 110, and a second end effector 120. The pick-and-place device 100 and the temporary storage device 200 are respectively installed on opposite sides of the gantry assembly 150.

[0123] The pick-and-place lifting frame 140 is rotatably connected to the vertical guide rail 152 and can move along the vertical guide rail 152 so that the pick-and-place device 100 can move in the vertical direction.

[0124] The first end effector 110 and the second end effector 120 are respectively installed on the pick-and-place lifting frame 140 and arranged vertically at intervals. The first end effector 110 and the second end effector 120 can move vertically with the pick-and-place lifting frame 140 and can extend or retract horizontally to remove the target box from the target box stack. Furthermore, the target box can be placed on the conveyor belt 220 so that it can be transported to the stacking mechanism 230 for stacking via the conveyor belt 220.

[0125] In an embodiment of the present invention, the first end effector 110 and the second end effector 120 can move vertically with the pick-and-place lifting frame 140 to the position of the target box in the target box stack, and can extend to one side of the target box stack at the same time to clamp the first box and the target box that are adjacent to each other in the target box stack, and then move upward with the pick-and-place lifting frame 140 to lift the first box, the target box and all the boxes located above the first box upward. After that, the second end effector 120 can drive the target box to retract to remove the target box. Subsequently, the second end effector 120 can also place the target box on the conveyor belt 220 so that the target box can be transported to the stacking mechanism 230 for stacking by the conveyor belt 220.

[0126] It should be noted that the second end effector 120 has the same structure as the first end effector 110 and is symmetrically arranged on the upper and lower sides of the pick-up and drop-off lifting frame 140. In the embodiments of the present invention, only the structure of the first end effector 110 is specifically described. The structure of the second end effector 120 can be referred to the structure of the first end effector 110 described in the embodiments of the present invention, and will not be repeated here.

[0127] In an embodiment of the present invention, the first end effector 110 includes two telescopic box-retrieving mechanisms 115 arranged at intervals. The two telescopic box-retrieving mechanisms 115 can extend or retract along a second horizontal direction so as to clamp the box (first box) through the two telescopic box-retrieving mechanisms 115.

[0128] In some embodiments, the first end effector 110 further includes two clamping mechanisms, which are respectively connected to two telescopic box-retrieving mechanisms 115. Each clamping mechanism includes a clamping power assembly 111 and a clamping transmission assembly 112. The two clamping power assemblies 111 can drive the two clamping transmission assemblies 112 to respectively move the two telescopic box-retrieving mechanisms 115 closer together or further apart along a first horizontal direction perpendicular to the second horizontal direction, so that the two telescopic box-retrieving mechanisms 115 clamp or release the box.

[0129] In some embodiments, such as Figure 7 As shown, the bin loading and unloading device 300 also includes a lifting power assembly 311 and a lifting transmission assembly 312. The lifting transmission assembly 312 is installed on the top of the gantry assembly 150 and is rotatably connected to the two columns 151. In addition, the lifting transmission assembly 312 is connected to the loading and unloading lifting frame 140 of the loading and unloading device 100 through the lifting lifting belt 313.

[0130] The lifting power assembly 311 is installed on the top of the gantry assembly 150 and connected to the lifting transmission assembly 312. The lifting power assembly 311 can drive the lifting transmission assembly 312 to rotate, so that the lifting transmission assembly 312 can drive the pick-and-place device 100 to move vertically via the lifting belt 313. At the same time, the pick-and-place lifting frame 140 of the pick-and-place device 100 moves synchronously along the vertical guide rail 152. The cooperation between the pick-and-place lifting frame 140 and the vertical guide rail 152 can guide the vertical movement of the pick-and-place device 100 along the column 151.

[0131] In some embodiments, such as Figure 6 and Figure 7 As shown, the retrieval and lifting frame 140 includes a vertically arranged first frame 141 and a horizontally arranged second frame 142. The first frame 141 is rotatably connected to the vertical guide rail 152, and the second frame 142 is formed by extending the first frame 141 in a first horizontal direction away from the gantry assembly 150.

[0132] The first end effector 110 and the second end effector 120 are symmetrically mounted on the upper and lower sides of the second frame 142, and the first end effector 110 and the second end effector 120 can extend or retract along a second horizontal direction perpendicular to the first horizontal direction. Here, the first horizontal direction and the second horizontal direction are perpendicular to each other.

[0133] In some embodiments, such as Figure 6 As shown, horizontal linear guide rails 143 in the first horizontal direction are respectively provided at both ends of the upper side of the second frame 142. It should be noted that the upper and lower sides of the second frame 142 are symmetrical.

[0134] The two ends of the telescopic box retrieval mechanism 115 are slidably connected to the corresponding horizontal linear guide rails 143 via telescopic sliders 116.

[0135] Two clamping transmission components 112 are respectively connected to the corresponding telescopic sliders 116. The two clamping transmission components 112 can drive the corresponding telescopic sliders 116 to slide along the horizontal linear guide rail 143 under the power of the corresponding clamping power component 111, so that the two telescopic box retrieval mechanisms 115 can move relatively closer or relatively farther away in the first horizontal direction.

[0136] In some embodiments, such as Figure 8 As shown, the telescopic box-retrieving mechanism 115 includes: a fixed component 1151, an intermediate component 1152, a box-clamping component 1153, a telescopic transmission component 1154, and a telescopic power component 1155.

[0137] The fixing component 1151 can be mounted on the telescopic slider 116.

[0138] The intermediate component 1152 is mounted on the fixed component 1151, and the intermediate component 1152 has a pulley assembly 1158 and a first chain tooth plate 1157.

[0139] The clamping box assembly 1153 is connected to the intermediate assembly 1152 via the pulley assembly 1158. Here, the pulley assembly 1158 may include multiple sets of rollers.

[0140] The telescopic transmission assembly 1154 is connected to the first chain tooth plate 1157 of the intermediate assembly 1152.

[0141] The telescopic power assembly 1155 is installed on the fixed assembly 1151 and connected to the telescopic transmission assembly 1154. It can drive the telescopic transmission assembly 1154 to drive the intermediate assembly 1152 through the first chain tooth plate 1157 to perform a first telescopic movement relative to the fixed assembly 1151 in the second horizontal direction. At the same time, the intermediate assembly 1152 drives the clamping assembly 1153 to perform a second telescopic movement in the second horizontal direction through the pulley assembly 1158, so that the clamping assembly 1153 can extend and clamp the material box or retract.

[0142] In some embodiments, the speed of the second telescopic movement of the clamping assembly 1153 is twice the speed of the first telescopic movement of the fixing assembly 1151. Accordingly, the telescopic distance of the second telescopic movement of the clamping assembly 1153 is twice the telescopic distance of the first telescopic movement of the fixing assembly 1151.

[0143] It should be noted that all the bins have the same size and structure. In the initial state, the distance between the two clamping bin assemblies 1153 is greater than the size of the bin.

[0144] In some embodiments, after the clamping box assembly 1153 extends to a predetermined position, the clamping power assembly 111 can drive the clamping transmission assembly 112 to move the two telescopic box-retrieving mechanisms 115 closer to each other along the first horizontal direction, so that the two clamping box assemblies 1153 of the two telescopic box-retrieving mechanisms 115 clamp the box.

[0145] In some embodiments, such as Figure 8 As shown, the box clamping assembly 1153 has a box clamping support plate 1156. When the two telescopic box retrieval mechanisms 115 move closer to each other along the first horizontal direction, the box clamping support plates 1156 of the two box clamping assemblies 1153 can extend into the step on the side of the box to support the box and lift it. Here, the box can be lifted when the first end gripper and the second end gripper move upward with the pick-and-place lifting frame 140.

[0146] In the above embodiments, each power component (lifting power component, clamping power component, telescopic power component, auxiliary power component, linkage power component, and stacking power component) may include a drive motor to provide power. Here, the drive motor can be any type of drive motor in the prior art. It should be noted that the present invention does not limit the specific structure of each power component, as long as each power component can be connected to the corresponding transmission component and drive the transmission component to move.

[0147] The bin picking and placing device provided by the present invention can perform picking and placing operations on bins in a stack. The device includes a gantry assembly, a temporary storage device and a picking and placing device respectively installed on both sides of the gantry assembly, and a vertical guide rail on the column of the gantry assembly. A conveyor belt and a stacking mechanism vertically installed above the conveyor belt are mounted on the chassis of the temporary storage device. The picking and placing lifting frame of the picking and placing device is rotatably connected to the vertical guide rail and can move along the vertical guide rail. The picking and placing device includes a first end-effector and a second end-effector arranged vertically at intervals. The first and second end-effectors can extend or retract horizontally to remove target bins from the target stack and place them on the conveyor belt. The target bins can then be transported to the stacking mechanism for stacking and storage via the conveyor belt. Therefore, according to the technical solution of the present invention, no shelves are required; bins are directly stacked in the storage area. The bin picking and placing device can perform picking and placing operations on any bin without placing them on shelves, thereby greatly reducing the cost of the entire warehousing system and reducing the failure rate. In addition, the system uses two end effectors, one above and one below, to pick up and place the boxes. When picking up or placing a single box, it can simultaneously operate on that single box and multiple boxes above it, making the operation flexible and fast. Furthermore, the stacking mechanism can automatically stack the retrieved boxes into new stacks, facilitating subsequent outbound unloading operations.

[0148] In addition, the bin handling equipment is equipped with auxiliary support legs. During the bin handling process, the auxiliary support legs first extend towards the target bin stack, and then support the bottom of the target bin stack. This ensures stable bin handling.

[0149] In this specification, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. Furthermore, the terms "front," "rear," "upper," "lower," "inner," "outer," "top," "bottom," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or unit 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 invention.

[0150] It should be understood that, in order to simplify this disclosure and aid in understanding one or more of the various aspects of the invention, in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof.

[0151] As used herein, unless otherwise specified, the use of ordinal numbers such as “first,” “second,” “third,” etc., to describe ordinary objects merely indicates different instances of similar objects and is not intended to imply that the objects being described must have a given order in time, space, ordering, or any other manner.

Claims

1. A container taking and placing device suitable for taking and placing containers in a container stack, the container stack comprising a plurality of containers stacked and placed, the container taking and placing device comprising: a portal assembly arranged in a vertical direction, comprising a column, the column being provided with a vertical guide rail; a temporary storage device comprising a base plate, a conveying belt mounted on the base plate, and a container stacking mechanism mounted on the base plate and above the conveying belt; a taking and placing device mounted on opposite sides of the portal assembly respectively with the temporary storage device, the taking and placing device comprising: a taking and placing lifting frame in rolling connection with the vertical guide rail, suitable for moving along the vertical guide rail so that the taking and placing device moves in a vertical direction; a first end gripper and a second end gripper mounted on the taking and placing lifting frame and arranged in an up-down direction, suitable for vertical movement with the taking and placing lifting frame, and suitable for extending or retracting in a horizontal direction to take a target container from a target container stack and place the target container on the conveying belt so that the target container is conveyed by the conveying belt to the container stacking mechanism for stacking and storage; wherein the second end gripper is the same structure as the first end gripper and is symmetrically arranged on the upper and lower sides of the taking and placing lifting frame; the first end gripper comprises: two telescopic container taking mechanisms arranged in a spaced manner, suitable for extending or retracting in a second horizontal direction so that the two telescopic container taking mechanisms clamp a container; the container stacking mechanism comprises: a container stacking support frame arranged in a vertical direction on one side of the portal assembly; a container stacking lifting frame mounted on the container stacking support frame and in sliding connection with the container stacking support frame, suitable for vertical sliding relative to the container stacking support frame, both sides of the container stacking lifting frame being provided with a container stacking support plate, wherein the two container stacking support plates are suitable for relative close movement to extend into a step on a side of a container to support the container, and are suitable for relative far movement to release the container; a container stacking transmission assembly mounted on the top of the container stacking support frame and connected with the container stacking lifting frame through a container stacking lifting belt; a container stacking power assembly mounted on the top of the container stacking support frame and connected with the container stacking transmission assembly, suitable for driving the container stacking transmission assembly to rotate so that the container stacking transmission assembly drives the container stacking lifting frame to make reciprocating lifting movement through the container stacking lifting belt; wherein when the container stacking lifting frame is lowered to a target container on the conveying belt, the two container stacking support plates are suitable for relative close movement to extend into a step on a side of the target container to support the target container; when the container stacking lifting frame moves upward, the target container is lifted and stacked. 2.The container taking and placing device of claim 1, wherein The first and second end pickers are adapted to move vertically with the taking and placing lifting frame to the position of a target bin of a target bin stack, and to extend to one side of the target bin stack at the same time so as to clamp a first bin and the target bin adjacent to each other in the target bin stack respectively, and to move upward with the taking and placing lifting frame to lift the first bin and the target bin and all bins above the first bin upward, and then the second end picker is adapted to retract the target bin to take out the target bin and place the target bin on the conveying belt.

3. The magazine handling apparatus of claim 1, wherein, The first end picker further comprises: two clamping mechanisms connected with the two telescopic bin taking mechanisms respectively, the clamping mechanism comprising a clamping power assembly and a clamping transmission assembly, the two clamping power assemblies being adapted to drive the two clamping transmission assemblies to drive the two telescopic bin taking mechanisms to move relatively close or relatively far away in a first horizontal direction perpendicular to the second horizontal direction so as to clamp or release the bin.

4. The magazine handling apparatus of any one of claims 1-3, wherein, Further comprising: a lifting transmission assembly installed on the top of the portal assembly, rotationally connected with the two upright columns, and connected with the taking and placing lifting frame of the taking and placing device through a lifting lifting belt; a lifting power assembly installed on the top of the portal assembly, connected with the lifting transmission assembly, and adapted to drive the lifting transmission assembly to rotate so that the lifting transmission assembly drives the taking and placing device to move in the vertical direction through the lifting lifting belt.

5. The magazine handling apparatus of claim 3, wherein, The taking and placing lifting frame comprises: a first frame body arranged vertically, the first frame body being rolling connected with the vertical guide rail; a second frame body formed by the first frame body extending in a first horizontal direction away from the portal assembly; the first and second end pickers are symmetrically installed on the upper and lower sides of the second frame body, and are adapted to extend or retract in a second horizontal direction perpendicular to the first horizontal direction.

6. The bin taking and placing device according to claim 5, wherein the upper side of the second frame body is provided with horizontal linear guide rails in the first horizontal direction at both ends respectively; both ends of the telescopic bin taking mechanism are slidingly connected with the corresponding horizontal linear guide rails through telescopic sliders respectively; the two clamping transmission assemblies are connected with the corresponding telescopic sliders respectively, and are adapted to drive the corresponding telescopic sliders to slide along the horizontal linear guide rails under the power of the corresponding clamping power assemblies, so that the two telescopic bin taking mechanisms move relatively close or relatively far away in the first horizontal direction.

7. The magazine handling apparatus of claim 3, wherein, The telescopic bin taking mechanism comprises: a fixed assembly; an intermediate assembly installed on the fixed assembly, the intermediate assembly having a pulley assembly and a first chain tooth plate; a bin clamping assembly connected with the intermediate assembly through the pulley assembly; a telescopic transmission assembly connected with the first chain tooth plate of the intermediate assembly; The telescopic power assembly is installed on the fixed assembly and connected with the telescopic transmission assembly, and is adapted to drive the telescopic transmission assembly to drive the intermediate assembly to move in the first telescopic movement along the second horizontal direction relative to the fixed assembly, and simultaneously drive the intermediate assembly to drive the clamping box assembly to move in the second telescopic movement along the second horizontal direction, so that the clamping box assembly is extended and clamps the box or is retracted.

8. The magazine handling apparatus of claim 7, wherein, The movement speed of the second telescopic movement of the clamping box assembly is twice the movement speed of the first telescopic movement of the fixed assembly.

9. The box taking and placing device according to claim 7, wherein, When the clamping box assembly is extended to the predetermined position, the clamping power assembly is adapted to drive the clamping transmission assembly to drive the two telescopic box taking mechanisms to move relatively close to each other along the first horizontal direction, so that the two clamping box assemblies of the two telescopic box taking mechanisms clamp the box.

10. The magazine handling apparatus of claim 9, wherein, The clamping box assembly is provided with a clamping box supporting plate. When the two telescopic box taking mechanisms move relatively close to each other along the first horizontal direction, the clamping box supporting plates of the two clamping box assemblies are adapted to extend into the steps on the side of the box, so as to support and lift the box.

11. The box taking and placing device according to claim 5, wherein, Four corner portions of the first frame body of the taking and placing lifting frame are respectively provided with guide wheel sets, and the four guide wheel sets are in rolling connection with the vertical guide rails.

12. The magazine handling apparatus of any one of claims 1-3, wherein, An auxiliary supporting assembly is further arranged on the base plate, and the auxiliary supporting assembly comprises: An auxiliary lifting plate arranged horizontally; Two guide supporting rods arranged on both sides of the lower end of the auxiliary lifting plate; Two auxiliary supporting legs arranged at intervals and respectively installed on the two guide supporting rods and adapted to move along the corresponding guide supporting rods; An auxiliary transmission assembly installed on the auxiliary lifting plate and in transmission connection with the auxiliary supporting legs; An auxiliary power assembly installed on the auxiliary lifting plate and adapted to drive the auxiliary transmission assembly to drive the auxiliary supporting legs to move along the corresponding guide supporting rods, so that the auxiliary supporting legs are extended to one side of the target box stack and supported on the bottom of the target box stack, or are retracted.

13. The magazine handling apparatus of claim 12, wherein, Further comprising: A connecting rod assembly installed on the base plate and in connection with the auxiliary lifting plate and adapted to drive the auxiliary lifting plate and the auxiliary supporting assembly to move vertically under the power of a connecting rod power assembly; When the auxiliary supporting legs are extended to one side of the target box stack, the connecting rod assembly is adapted to drive the auxiliary supporting assembly to move vertically downward until the auxiliary supporting legs are in close contact with the ground and are supported on the bottom of the target box stack.

14. The magazine handling apparatus of claim 13, wherein, A plurality of guide sleeves are vertically arranged on the bottom plate of the base plate; A plurality of auxiliary guide columns are vertically installed above the auxiliary lifting plate, and the plurality of auxiliary guide columns are coaxially matched with the plurality of guide sleeves, so as to guide the vertical movement of the auxiliary lifting plate and the auxiliary supporting assembly.

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