A warehousing system

Abstract

The application discloses a kind of warehousing systems, including warehouse area, material box taking and placing equipment, and warehouse area is stacked with multiple rows of box stacks, and two adjacent rows of box stacks are arranged with roadway, and the material box taking and placing equipment includes: portal assembly;Temporary storage device, including chassis, conveyor belt installed on the chassis, and stacking mechanism;Taking and placing device is suitable for moving in vertical direction, including first end picker and second end picker, and is suitable for extending or retracting in horizontal direction;During the process of taking box, first end picker and second end picker extend to the side of target box stack simultaneously, respectively hold first material box and target material box in upper and lower adjacent target box stack, and move upward, so that first material box and target material box and all material boxes located in the upper part of first material box are lifted upward, and second end picker drives target material box to retract, to take out target material box and transport to stacking mechanism by conveyor belt to stack and store.This application can automatically stack and store the taken material box, without shelf, to reduce cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automation, and in particular to a warehouse system. BACKGROUND

[0002] Currently, in the application scenarios of the bin storage and access system, shelves are often needed to stack the bins. In the cost of the entire system, the cost of the shelves accounts for a large proportion, and the space utilization rate is low when the bins are placed on the shelves, and the failure frequency caused by the vibration and deformation of the shelves is high. In the prior art, there is also a solution to cancel the shelves and set the taking and placing device above the bin storage area to take and place the bins, but the taking and placing device itself needs to occupy a large height space above the storage area, and the support part of the taking and placing device is distributed on the periphery of the storage area, which also needs to occupy a large space. Such taking and placing device itself has large size and weight, high energy consumption, and high construction difficulty.

[0003] Therefore, it is necessary to provide a warehouse system to solve the above technical problems. SUMMARY

[0004] To this end, the present application provides a warehouse system to solve or at least alleviate the above problems.

[0005] According to one aspect of the present application, a warehouse system is provided, comprising: a storage area, a plurality of rows of bin stacks are stacked on the ground of the storage area, a passageway is arranged between adjacent two rows of bin stacks, each row of bin stacks comprises a plurality of bin stacks, and each bin stack comprises a plurality of bins stacked and placed; one or more bin taking and placing devices adapted to travel in the passageway between adjacent two rows of bin stacks to perform taking and placing operations on target bins, the bin taking and placing device comprising: a gantry assembly arranged in a vertical direction; a temporary storage device comprising a chassis, a conveyor belt mounted on the chassis, and a bin stacking mechanism mounted on the chassis and located above the conveyor belt; a taking and placing device mounted on opposite sides of the gantry assembly, adapted to move in a vertical direction, comprising a first end gripper and a second end gripper arranged in an upper and lower spaced manner, the first end gripper and the second end gripper being adapted to extend or retract in a horizontal direction; wherein, in the bin taking process, the bin taking and placing device is adapted to move to the side of the target bin stack, the first end gripper and the second end gripper are adapted to extend to the side of the target bin stack at the same time, respectively clamping the first bin and the target bin adjacent to each other in an upper and lower direction in the target bin stack, and moving upward with the taking and placing device, so as to lift the first bin, the target bin and all bins located above the first bin upward, then the second end gripper is adapted to retract the target bin to take out the target bin, and place the target bin on the conveyor belt, so as to transport the target bin to the bin stacking mechanism through the conveyor belt for stacking and storage.

[0006] Optionally, in the warehouse system according to the present application, further comprising: an auxiliary support assembly installed on the chassis, comprising an auxiliary support leg; wherein, before the first end picker and the second end picker extend to the side of the target pallet at the same time, the auxiliary support leg is adapted to extend to the side of the target pallet, so as to support the bottom of the target pallet.

[0007] Optionally, in the warehouse system according to the present application, after the second end picker retracts the target bin, the pick-and-place device is adapted to move downward, so that the first end picker and the second end picker move downward at the same time; wherein, the first end picker is adapted to drive the first bin and all bins above the first bin to move downward until the first end picker retracts after the first bin is in contact with the bins below the first bin; the pick-and-place device is adapted to continue to move downward to drive the target bin to move downward and be placed on the conveyor belt by the second end picker.

[0008] Optionally, in the warehouse system according to the present application, the bin stacking mechanism is adapted to: sequentially stack the target bins taken out by the second end picker each time until a predetermined number of target bins are stacked to form a new pallet, so as to perform a warehouse-out operation on the new pallet.

[0009] Optionally, in the warehouse system according to the present application, the first end picker and the second end picker are also adapted to: with the pick-and-place device moving downward to the bottom of the target pallet, respectively clamp the two adjacent bins at the bottom, and with the pick-and-place device moving upward, drive the target pallet to move upward, then drive the target pallet to retract, and place the target pallet on the conveyor belt, so as to perform a warehouse-out operation on the target pallet.

[0010] Optionally, in the warehouse system according to the present application, the first end picker and the second end picker are further adapted to: drive the target pallet to retract, and with the pick-and-place device moving downward, place the target pallet on the conveyor belt, and then with the pick-and-place device moving upward, so as to resist the upper side of the target pallet.

[0011] Optionally, in the warehouse system according to the present application, the bin pick-and-place device is adapted to drive the new pallet to exit the aisle, and transport the new pallet to a warehouse-out bin receiving place to unload the new pallet.

[0012] Optionally, in the warehouse system according to the present application, after the new stack of boxes is transported to the outbound bin receiving station, the bin taking and placing device is adapted to: deliver the new stack of boxes onto the outbound conveyor belt which is docked with the conveying belt, or, reversely operate the stacker with the conveyor belt to place each target bin in the new stack of boxes onto the outbound conveyor belt one by one, so as to continue the delivery by the outbound conveyor belt.

[0013] Optionally, in the warehouse system according to the present application, after the new stack of boxes is transported to the outbound bin receiving station, the new stack of boxes is unloaded by another bin taking and placing device.

[0014] Optionally, in the warehouse system according to the present application, there is a predetermined gap between each two adjacent stacks of boxes in each row of stacks of boxes for the clamping operation of the first end picker and the second end picker.

[0015] Optionally, in the warehouse system according to the present application, the warehouse area comprises a bin storage area and an inbound and outbound transfer area, the inbound and outbound transfer area comprises an outbound conveyor belt, an operation table and an inbound conveyor belt, the operation table is arranged between the outbound conveyor belt and the inbound conveyor belt.

[0016] Optionally, in the warehouse system according to the present application, each side of the portal assembly is provided with a column, and a vertical guide rail is arranged on the column; the taking and placing device further comprises a taking and placing lifting frame which is rollingly connected with the vertical guide rail and is adapted to move along the vertical guide rail so that the taking and placing device moves in the vertical direction; the first end picker and the second end picker are respectively mounted on the taking and placing lifting frame and are arranged in an upper and lower spaced manner, and are adapted to move vertically with the taking and placing lifting frame.

[0017] Optionally, in the warehouse system according to the present application, further comprising: a lifting transmission assembly which is mounted on the top of the portal assembly, is rotationally connected with the two columns, and is connected with the taking and placing lifting frame of the taking and placing device through a lifting lifting belt; a lifting power assembly which is mounted on the top of the portal assembly, is connected with the lifting transmission assembly, and is 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.

[0018] Optionally, in the warehouse system according to the present application, the taking and placing lifting frame comprises: a first frame body which is arranged vertically and is rollingly connected with the vertical guide rail; a second frame body which is formed by the first frame body extending in a first horizontal direction away from the portal assembly; the first end picker and the second end picker are symmetrically mounted on the upper and lower sides of the second frame body and are adapted to extend or retract in a second horizontal direction which is perpendicular to the first horizontal direction.

[0019] Optionally, in the warehouse system according to the present application, the second end picker is identical in structure to the first end picker and symmetrically arranged on the upper and lower sides of the second frame body; the first end picker comprises two spaced-apart telescopic box taking mechanisms adapted to extend or retract along a second horizontal direction so as to clamp a box of material through the two telescopic box taking mechanisms; two clamping mechanisms respectively connected with the two telescopic box taking mechanisms, 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 respectively drive the two telescopic box taking mechanisms to relatively move closer or relatively move away along the first horizontal direction so as to clamp or release the box of material.

[0020] Optionally, in the warehouse system according to the present application, the upper side of the second frame body is provided with horizontal linear guides in the first horizontal direction at both ends thereof; the two ends of the telescopic box taking mechanism are respectively connected with the corresponding horizontal linear guides through telescopic sliders; the two clamping transmission assemblies are respectively connected with the corresponding telescopic sliders and adapted to slide along the horizontal linear guides under the power of the corresponding clamping power assemblies so as to relatively move closer or relatively move away along the first horizontal direction.

[0021] Optionally, in the warehouse system according to the present application, the telescopic box taking mechanism comprises a fixed assembly mounted on the telescopic slider, an intermediate assembly mounted on the fixed assembly, the intermediate assembly having a pulley assembly and a first chain tooth plate, a box 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, and a telescopic power assembly mounted on the fixed assembly and connected with the telescopic transmission assembly and adapted to drive the telescopic transmission assembly to drive the intermediate assembly to perform a first telescopic movement relative to the fixed assembly along the second horizontal direction through the first chain tooth plate, while the intermediate assembly drives the box clamping assembly to perform a second telescopic movement along the second horizontal direction through the pulley assembly so as to extend and clamp the box of material or retract.

[0022] Optionally, in the warehouse system according to the present application, the movement speed of the second telescopic movement of the box clamping assembly is twice the movement speed of the first telescopic movement of the fixed assembly.

[0023] Optionally, in the warehouse system according to the present application, after the box clamping assembly extends to a predetermined position, the clamping power assembly is adapted to drive the clamping transmission assembly to relatively move closer along the first horizontal direction so as to clamp the box of material through the two box clamping assemblies of the two telescopic box taking mechanisms.

[0024] Optionally, in the warehouse system according to the present application, the box clamping assembly is provided with a box clamping support plate; when the two telescopic box taking mechanisms move relatively close to each other along the first horizontal direction, the box clamping support plates of the two box clamping assemblies are adapted to extend into the steps on the side of the box to support the box and lift the box.

[0025] Optionally, in the warehouse system according to the present application, the box stacking mechanism comprises: a box stacking support frame arranged on one side of the gantry assembly in the vertical direction; a box stacking lifting frame installed on the box stacking support frame and in sliding connection with the box stacking support frame, adapted to vertically slide relative to the box stacking support frame, both sides of the box stacking lifting frame are respectively provided with a box stacking support plate, wherein the two box stacking support plates are adapted to move relatively close to each other to extend into the steps on the side of the box to support the box, and are adapted to move relatively far away to release the box; a box stacking transmission assembly installed on the top of the box stacking support frame and connected with the box stacking lifting frame through a box stacking lifting belt; a box stacking power assembly installed on the top of the box stacking support frame and connected with the box stacking transmission assembly, adapted to drive the box stacking transmission assembly to rotate so that the box stacking transmission assembly drives the box stacking lifting frame to make reciprocating lifting movement through the box stacking lifting belt; wherein, when the box stacking lifting frame is lowered to the target box on the conveying belt, the two box stacking support plates are adapted to move relatively close to each other to extend into the steps on the side of the target box to support the target box; when the box stacking lifting frame moves upward, the target box is lifted and stacked.

[0026] Optionally, in the warehouse system according to the present application, four corner portions of the first frame body of the taking and placing lifting frame are respectively provided with a guide wheel set, and the four guide wheel sets are in rolling connection with the vertical guide rails, wherein the guide wheel set comprises a front guide wheel and a side guide wheel.

[0027] Optionally, in the warehouse system according to the present application, the auxiliary support assembly comprises: an auxiliary lifting plate arranged horizontally; two guide support rods respectively arranged on both sides of the lower end of the auxiliary lifting plate; two auxiliary support legs arranged at intervals and respectively installed on the two guide support rods and adapted to telescopically move along the corresponding guide support rod; an auxiliary transmission assembly installed on the auxiliary lifting plate and in transmission connection with the auxiliary support legs; an auxiliary power assembly installed on the auxiliary lifting plate and adapted to drive the auxiliary transmission assembly to drive the auxiliary support legs to telescopically move along the corresponding guide support rod so that the auxiliary support legs extend to one side of the target box stack and are supported on the bottom of the target box stack, or are retracted.

[0028] Optionally, in the warehouse system according to the present application, the box taking and placing device further comprises a linkage assembly installed on the chassis and connected with the auxiliary lifting plate, and adapted to drive the auxiliary lifting plate and the auxiliary supporting assembly to vertically move under the power of a linkage power assembly; wherein, after the auxiliary supporting legs are extended to one side of the target box stack, the linkage assembly is adapted to drive the auxiliary supporting assembly to vertically move downward until the auxiliary supporting legs are attached to the ground and supported on the bottom of the target box stack.

[0029] Optionally, in the warehouse system according to the present application, a plurality of guide sleeves are vertically arranged on the bottom plate of the chassis; and 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.

[0030] Optionally, in the warehouse system according to the present application, the linkage assembly comprises a linkage power assembly, a transmission shaft, a synchronous linkage, and a plurality of crank linkage assemblies; wherein, the linkage power assembly is adapted to drive the plurality of crank linkage assemblies to move through the transmission shaft and the synchronous linkage, so as to drive the auxiliary lifting plate and the auxiliary supporting assembly to vertically move.

[0031] The warehouse system provided by the technical scheme of the application comprises a warehouse area and one or more bin taking and placing devices, multiple rows of box stacks can be directly stacked on the ground of the warehouse area, a lane is arranged between two adjacent rows of box stacks, and each bin taking and placing device can travel in the lane between two adjacent rows of box stacks in the warehouse area to perform taking and placing operations on a target bin. The bin taking and placing device comprises a temporary storage device and a taking and placing device respectively installed on opposite sides of a portal assembly. A conveyor belt is installed on the chassis of the temporary storage device, and a box stacking mechanism is vertically installed above the conveyor belt. The taking and placing device can move in the vertical direction, and first and second end grippers of the taking and placing device can extend or retract in the horizontal direction. During the box taking process, the first and second end grippers simultaneously extend to one side of the target box stack to respectively clamp a first bin and the target bin adjacent to the first bin in the target box stack, and then move upward with the taking and placing device to lift the first bin, the target bin and all bins above the first bin upward. Then, the second end gripper retracts to take out the target bin, and the target bin is placed on the conveyor belt to be transported to the box stacking mechanism for stacking and storage. It can be seen that, according to the technical scheme of the application, the bins are directly stacked in the warehouse area without the need for shelves, and the bin taking and placing device can travel in the lane between two rows of box stacks to perform taking and placing operations on any bin. Since the shelves are omitted, the cost and failure rate of the entire warehouse system can be greatly reduced. In addition, the two upper and lower end grippers are used to take and place the bins, and when a single bin is taken and placed, the single bin and multiple bins above the single bin can be simultaneously operated, which is flexible and fast. Moreover, the box stacking mechanism can automatically stack the taken bins, which is convenient for subsequent warehouse-out and unloading operations.

[0032] In addition, during the warehouse-out and unloading operation, the multiple machines can be cooperatively operated to improve the bin warehouse-out efficiency.

[0033] The above description is only a summary of the technical scheme of the application. In order to more clearly understand the technical means of the application, the application can be implemented according to the content of the specification, and in order to make the above and other purposes, features and advantages of the application more obvious and easy to understand, the following specific embodiments of the application are described. BRIEF DESCRIPTION OF DRAWINGS

[0034] To the accomplishment of the foregoing and related ends, certain illustrative aspects are described herein in connection with the following description and the annexed drawings. These aspects are indicative of various ways in which the principles disclosed herein can be practiced and all aspects and equivalents thereof are intended to be within the scope of the claimed subject matter. The foregoing and other objects, features, and advantages of the disclosure will be apparent from the following detailed description taken in conjunction with the accompanying drawings in which:

[0035] Figure 1a ,Figure 1b Fig. 1 shows a schematic diagram of a scenario of a warehouse system according to an embodiment of the present application;

[0036] Figure 2 Fig. 2 shows another schematic diagram of a scenario of a warehouse system according to an embodiment of the present application;

[0037] Figure 3 Fig. 3 shows a schematic diagram of a structure of a bin taking and placing device 300 according to an embodiment of the present application;

[0038] Figure 4 Fig. 4 shows a schematic diagram of a bin taking state of the bin taking and placing device 300 according to an embodiment of the present application;

[0039] Figure 5a Figure 5b Fig. 5 shows another schematic diagram of a bin taking state of the bin taking and placing device 300 according to an embodiment of the present application;

[0040] Figure 6 Fig. 6 shows a schematic diagram of a structure of a taking and placing device 100 according to an embodiment of the present application;

[0041] Figure 7 Fig. 7 shows a schematic diagram of a cooperation structure of the taking and placing device 100 and a portal assembly 150 according to an embodiment of the present application;

[0042] Figure 8 Fig. 8 shows a schematic diagram of a structure of a telescopic bin taking mechanism 115 according to an embodiment of the present application;

[0043] Figure 9 Fig. 9 shows a schematic diagram of an arrangement of an auxiliary support assembly 330 and a linkage assembly 340 according to an embodiment of the present application;

[0044] Figure 10 Figure 11 Fig. 10 shows a schematic diagram of a structure of an auxiliary support assembly 330 according to an embodiment of the present application;

[0045] Figure 12 Fig. 11 shows a schematic diagram of a structure of a linkage assembly 340 according to an embodiment of the present application;

[0046] Figure 13 Fig. 12 shows a schematic diagram of a structure of a bin stacking mechanism 230 according to an embodiment of the present application;

[0047] Figure 14 Fig. 13 shows a schematic diagram of the bin stacking mechanism 230 stacking to form a new bin stack according to an embodiment of the present application;

[0048] Figure 15 Fig. 14 shows a schematic diagram of a structure of a chassis 210 according to an embodiment of the present application.​​ Detailed Implementation

[0049] 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.

[0050] Figure 1a , Figure 1b The following are schematic diagrams illustrating one scenario of the warehousing system provided in the embodiments of the present invention.

[0051] like Figure 1a As shown, the warehousing system includes a storage area and one or more bin handling devices 300. Multiple rows of bins can be directly stacked on the floor of the storage area, with aisles between adjacent rows. Each row of bins includes multiple stacks, and each stack includes multiple bins stacked vertically. In other words, multiple bins can be directly stacked on the floor of the storage area, eliminating the need for shelving.

[0052] A passageway is provided between each pair of adjacent stacks of boxes to allow the box picking and placing equipment 300 to travel. It should be noted that the box picking and placing equipment 300 can travel in the passageway between adjacent stacks of boxes, and can move along the passageway to any stack of boxes in order to pick up and place boxes in the stack.

[0053] 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 ground 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.

[0054] In one application scenario of this invention, the bin picking and placing device 300 can travel in the aisle between two adjacent rows of bin stacks in the storage area to pick and place bins.

[0055] It should be noted that in one application scenario, each bin picking and placing device 300 is used to pick up a single bin, taking out one bin from the stack at a time.

[0056] 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.

[0057] As shown in the drawings, in the embodiment of the present application, the magazine taking and placing device 300 comprises a portal assembly 150 arranged in the vertical direction, a temporary storage device 200, and a taking and placing device 100. Figure 3 The temporary storage device 200 comprises a chassis 210, a conveyor belt 220 mounted on the chassis 210, and a magazine stacking mechanism 230 mounted on the chassis 210 and above the conveyor belt 220.

[0058] The taking and placing device 100 and the magazine stacking mechanism 230 are respectively mounted on opposite sides of the portal assembly 150 and can move in the vertical direction. The taking and placing device 100 comprises a first end picker 110 and a second end picker 120 arranged in the vertical direction, and the first end picker 110 and the second end picker 120 can extend or retract in the horizontal direction.

[0059] It should be noted that, in the embodiment of the present application, the chassis 210 is a walking and supporting mechanism of the magazine taking and placing device 300, which has movement modes such as advancing, retreating, spinning, and arc turning. The portal assembly 150 is vertically mounted on the chassis, and the taking and placing device 100 is movably mounted on one side of the portal. The temporary storage device 200 is mounted on one end of the chassis 210 and is separately arranged on the two sides of the portal assembly 150 with the taking and placing device 100.

[0060]

[0061] A taking magazine state diagram of the magazine taking and placing device 300 provided by the embodiment of the present application is shown. The taking magazine process of the magazine taking and placing device 300 provided by the embodiment of the present application is introduced below. Figure 4 Figure 4 As shown in the drawings, in the embodiment of the present application, the magazine taking and placing device 300 comprises a portal assembly 150 arranged in the vertical direction, a temporary storage device 200, and a taking and placing device 100.

[0062] As shown in the drawings, in the embodiment of the present application, the magazine taking and placing device 300 comprises a portal assembly 150 arranged in the vertical direction, a temporary storage device 200, and a taking and placing device 100. Figure 4 ​As shown, in the embodiments of the present application, when the box taking operation is performed by the box taking and placing device 300, the box taking and placing device 300 can be automatically positioned at the side position of the target stack of boxes (i.e., the stack of boxes where the target box is located), i.e., the box taking and placing device 300 is automatically moved to the side position of the target stack of boxes so as to take out the target box from the target stack of boxes. During the taking process, the first end gripper 110 and the second end gripper 120 of the box taking and placing device 300 can be simultaneously extended to the side of the target stack of boxes, and then the first end gripper 110 and the second end gripper 120 can respectively hold the first box and the target box which are adjacent to each other in the target stack of boxes. After that, the first end gripper 110 and the second end gripper 120 can be vertically moved upward with the taking and placing device 100 so as to lift up the first box, the target box and all the boxes above the first box. After the first box, the target box and all the boxes above the first box are lifted up, the second end gripper 120 can retract the target box so as to take out the target box and place the target box on the conveying belt 220 of the base plate. Subsequently, the target box can be conveyed to the stacking mechanism 230 (specifically, the lower end of the stacking mechanism 230) by the conveying belt 220 so as to be stacked by the stacking mechanism 230.

[0063] It should be noted that there is a predetermined gap between any two adjacent stacks of boxes in each row of stacks of boxes, so that the first end gripper and the second end gripper (the telescopic box taking mechanism) of the box taking and placing device 300 can extend from between the two adjacent stacks of boxes and clamp the boxes in the stacks of boxes.

[0064] In some embodiments, as shown in Figs. 1 and 2, the box taking and placing device 300 further comprises a first end gripper 110 and a second end gripper 120. The first end gripper 110 and the second end gripper 120 are installed on the base plate 210 and are adapted to simultaneously extend to the side of the target stack of boxes so as to hold the first box and the target box which are adjacent to each other in the target stack of boxes. Figure 3 and Figure 4 As shown, the box taking and placing device 300 further comprises an auxiliary support assembly 330 which is installed on the base plate 210. The auxiliary support assembly 330 comprises an auxiliary support leg 335. Before the first end gripper 110 and the second end gripper 120 are adapted to simultaneously extend to the side of the target stack of boxes, the auxiliary support leg 335 can be extended to the side of the target stack of boxes so as to support the bottom of the target stack of boxes. Specifically, during the taking process of the box taking and placing device 300, the auxiliary support leg 335 can be first extended to the side of the target stack of boxes so as to support the bottom of the target stack of boxes. Then, the first end gripper 110 and the second end gripper 120 can be simultaneously extended to the side of the target stack of boxes so as to respectively hold the first box and the target box which are adjacent to each other in the target stack of boxes. It should be noted that the box taking and placing device 300 can ensure stable taking and placing of the boxes by configuring the auxiliary support leg 330.

[0065] In some embodiments, after the target box is retracted by the second end gripper 120, the taking and placing device 100 can be moved downward so that the first end gripper 110 and the second end gripper 120 are simultaneously moved downward.

[0066] The first end picker 110 can drive the first bin and all the bins above the first bin to move downward to be in contact with the bins below the first bin (so that the first bin is placed in the position in the target stack before the target bin is taken out), and then the first end picker 110 can be retracted, and then the auxiliary support leg 335 can be retracted.

[0067] Further, the taking and placing device 100 can continue to move downward, and the first end picker 110 and the second end picker 120 move downward synchronously with the taking and placing device 100, so that the second end picker 120 can drive the target bin clamped thereby to move downward to place the target bin on the conveying belt 220 of the temporary storage device 200. After the target bin is placed on the conveying belt 220 of the temporary storage device 200, the second end picker 120 can release the target bin and move upward with the taking and placing device 100. The target bin can be conveyed to the bin stacking mechanism 230 (specifically, the lower end of the bin stacking mechanism 230) at the other end of the bottom plate by the conveying belt 220, so as to be stacked by the bin stacking mechanism 230.

[0068] Figure 14 A schematic diagram of the bin stacking mechanism 230 provided by an embodiment of the present application is shown, which stacks the target bins to form a new stack.

[0069] In some embodiments, the bin stacking mechanism 230 can sequentially stack the target bins taken out by the second end picker 120 each time, and after the number of target bins taken out by the second end picker 120 reaches a predetermined number, the bin stacking mechanism 230 can stack the predetermined number of target bins taken out by the second end picker 120 to form a new stack. Figure 14 As shown, the bin stacking mechanism 230 can stack the predetermined number of target bins taken out by the second end picker 120 to form a new stack, at which time the bin taking and placing device 300 completes the bin taking operation, and further, the new stack can be subjected to the outbound operation. When the new stack is subjected to the outbound operation, the bin taking and placing device 300 can drive the new stack to exit the aisle and convey the new stack to the outbound bin receiving place to unload the new stack.

[0070] Further, when the outbound operation is performed, the bin taking and placing device 300 can exit the aisle and convey the predetermined number of target bins in the new stack to the outbound bin receiving place to unload the predetermined number of target bins in the new stack, and then return the bins that need to be returned to the inbound bin receiving place.

[0071] After the bin handling device 300 transports a new stack of bins to the outbound bin receiving area, the target bins can be unloaded using the methods described in the following embodiments. In the first embodiment, the new stack of bins can be transported towards the end of the chassis 210 via the conveyor belt 220 of the bin handling device 300. After the new stack of bins is transported to the predetermined position, another device (e.g., another bin handling device 300) can be used to unload and remove the entire new stack of bins from the original conveyor belt 220 of the bin handling device 300. In the second embodiment, the conveyor belt 220 of the bin handling device 300 can be connected to the outbound conveyor belt 351 fixed to the ground, allowing the new stack of bins to be directly transported onto the outbound conveyor belt 351 connected to the conveyor belt 220 for continued transport via the outbound conveyor belt 351. In the third embodiment, the stacking mechanism 230 of the control box handling device 300 and the conveyor belt 220 can be operated in reverse to place each target box in the new stack onto the outbound conveyor belt 351 (or the ground) on the ground. Here, by operating the stacking mechanism 230 and the conveyor belt 220 in reverse, 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, it places them onto the outbound conveyor belt 351 (or the ground) on the ground. The above-described method of unloading target boxes, through multi-machine coordinated operation, can achieve higher outbound efficiency and improve the efficiency of box outbound operations.

[0072] In some embodiments, such as Figure 1b As shown, the storage area includes a bin storage area and an inbound / outbound handover area. It may also include a bin picking area and an inventory area (not shown in the figure). Navigation signs can be set up in each of the divided areas of the storage area for navigation assistance. The inbound / outbound handover area includes an outbound conveyor belt 351, an operating table, and a return conveyor belt 352. The operating table can be located between the outbound conveyor belt 351 and the return conveyor belt 352. The outbound conveyor belt 351 first transports the target bin to the operating table. Then, the operating table can determine whether the target bin needs to be returned, either mechanically or manually. If it needs to be returned, the return conveyor belt 352 transports the bin to the return bin location, so that the bin picking and placing equipment 300 can return the bin to the warehouse. In this way, only a few bin picking and placing devices 300 are needed to efficiently handle the picking, placing, and inbound / outbound operations of a large number of bins.

[0073] 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.

[0074] In another application scenario, the bin picking and placing device 300 can perform bin picking operations on an entire stack of bins.

[0075] Figure 2 Another scenario of the warehouse system provided by the embodiments of the present application is shown. Figure 5a 、 Figure 5b Another scenario of the warehouse system provided by the embodiments of the present application is shown. Figure 2 、 Figure 5a 、 Figure 5b The picking process for the whole stack of bins will be described below in combination with

[0076] It should be noted that in another application scenario, when picking and storing the whole stack of bins, and there is no sequence requirement for the storing, the bin stack arrangement shown in Figure 2 may be adopted, and the bin picking and placing device 300 can pick and place the whole stack of bins from the periphery of the warehouse area. The bin stack arrangement shown in Figure 2 has higher space utilization.

[0077] In the embodiments of the present application, as shown in Figure 5a 、 Figure 5b When picking bins by the bin picking and placing device 300, the bin picking and placing device 300 can be automatically positioned at the side of the target bin stack, so as to pick the whole target bin stack. In the process of picking the whole target bin stack, the first end gripper 110 and the second end gripper 120 of the bin picking and placing device 300 can move downward with the picking and placing device 100 to the bottom of the target bin stack, and the first end gripper 110 and the second end gripper 120 can respectively hold the two adjacent bins at the bottom, then the first end gripper 110 and the second end gripper 120 move upward with the picking and placing device 100, so as to drive the whole target bin stack (all the bins contained in the target bin stack) to move upward, and then drive the whole target bin stack to retract, the first end gripper 110 and the second end gripper 120 move downward with the picking and placing device 100, and place the target bin stack on the conveyor belt 220, so as to store the whole target bin stack.

[0078] In some embodiments, as shown in Figure 5b , after driving the target bin stack to retract and moving downward with the picking and placing device 100 to place the target bin stack on the conveyor belt 220, the first end gripper 110 and the second end gripper 120 can move upward with the picking and placing device 100 to the upper part of the target bin stack (the side area close to the top of the target bin stack), so that the picking and placing device 100 and the first end gripper 110 and the second end gripper 120 thereof can resist at the upper part of the target bin stack, and support the target bin stack. In this way, the target bin stack can be prevented from falling over.

[0079] 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.

[0080] Understandably, the above method of retrieving and storing boxes for the entire target stack is faster and more efficient.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] The lifting power assembly 311 is installed on the top of the portal assembly 150 and connected with 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 drives the taking and placing device 100 to move along the vertical direction through the lifting lifting belt 313. At the same time, the taking and placing lifting frame 140 of the taking and placing device 100 moves synchronously along the vertical guide rail 152. The cooperation between the taking and placing lifting frame 140 and the vertical guide rail 152 can guide the vertical movement of the taking and placing device 100 along the stand column 151.

[0088] In some embodiments, as shown in Figure 6 and Figure 7 , the taking and placing lifting frame 140 includes a first frame body 141 arranged vertically and a second frame body 142 arranged horizontally. The first frame body 141 is in rolling connection with the vertical guide rail 152, and the second frame body 142 is extended by the first frame body 141 in a first horizontal direction away from the portal assembly 150.

[0089] Among them, the first end picker 110 and the second end picker 120 are symmetrically installed on the upper and lower sides of the second frame body 142, and the first end picker 110 and the second end picker 120 can be extended or retracted 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.

[0090] It should be noted that the second end picker 120 is the same as the first end picker 110 and is symmetrically arranged on the upper and lower sides of the second frame body 142. In the embodiments of the present application, only the structure of the first end picker 110 is described in detail, and the structure of the second end picker 120 can be referred to the structure of the first end picker 110 described in the embodiments of the present application, which will not be described here.

[0091] In some embodiments, as shown in Figure 6 , the first end picker 110 includes two telescopic box taking mechanisms 115 arranged at intervals, and two clamping mechanisms connected with the two telescopic box taking mechanisms 115 respectively. Among them, the two telescopic box taking mechanisms 115 can be extended or retracted along the second horizontal direction, so as to clamp the box (such as the first box described above) through the two telescopic box taking mechanisms 115.

[0092] 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 taking mechanisms 115 to move relatively close or relatively far away along the first horizontal direction, so as to clamp or release the box by the two telescopic box taking mechanisms 115.

[0093] In some embodiments, as shown in Figure 6As shown, two ends of the upper side of the second frame body 142 are respectively provided with first horizontal linear guides 143 in the horizontal direction. It should be noted that the upper and lower sides of the second frame body 142 are symmetrical structures, and therefore, in the embodiments of the present application, only the upper side structure of the second frame body 142 is described, and the lower side structure of the second frame body 142 can be referred to the upper side structure of the second frame body 142.

[0094] The two ends of the telescopic box taking mechanism 115 are respectively connected with the corresponding horizontal linear guides 143 through telescopic sliders 116.

[0095] The two clamping transmission assemblies 112 are respectively connected with the corresponding telescopic sliders 116, and the two clamping transmission assemblies 112 can drive the corresponding telescopic sliders 116 to slide along the horizontal linear guides 143 under the power of the corresponding clamping power assemblies 111, so that the two telescopic box taking mechanisms 115 move relatively close or relatively far apart in the first horizontal direction.

[0096] Figure 8 A structural schematic diagram of a telescopic box taking mechanism 115 according to an embodiment of the present application is shown.

[0097] In some embodiments, as Figure 8 As shown, the telescopic box taking mechanism 115 includes a fixed assembly 1151, an intermediate assembly 1152, a clamping box assembly 1153, a telescopic transmission assembly 1154, and a telescopic power assembly 1155.

[0098] The fixed assembly 1151 is installed on the telescopic slider 116.

[0099] The intermediate assembly 1152 is installed on the fixed assembly 1151, and the intermediate assembly 1152 has a pulley assembly 1158 and a first chain tooth plate 1157.

[0100] The clamping box assembly 1153 is connected with the intermediate assembly 1152 through the pulley assembly 1158. Here, the pulley assembly 1158 can include multiple groups of rollers.

[0101] The telescopic transmission assembly 1154 is connected with the first chain tooth plate 1157 of the intermediate assembly 1152.

[0102] The telescopic power assembly 1155 is installed on the fixed assembly 1151 and connected with the telescopic transmission assembly 1154, and can drive the telescopic transmission assembly 1154 to drive the intermediate assembly 1152 to move in the first telescopic motion in the second horizontal direction relative to the fixed assembly 1151, and at the same time, the intermediate assembly 1152 drives the clamping box assembly 1153 to move in the second telescopic motion in the second horizontal direction through the pulley assembly 1158, so that the clamping box assembly 1153 extends and clamps the box or retracts.

[0103] In some embodiments, the movement speed of the second telescopic movement of the magazine assembly 1153 is twice the movement speed of the first telescopic movement of the fixed assembly 1151. Correspondingly, the telescopic distance of the second telescopic movement of the magazine assembly 1153 is twice the telescopic distance of the first telescopic movement of the fixed assembly 1151.

[0104] It should be noted that the size and structure of each magazine are the same. In the initial state, the distance between the two magazine assemblies 1153 is greater than the size of the magazine.

[0105] In some embodiments, after the magazine assembly 1153 extends to the predetermined position, the clamping power assembly 111 can drive the clamping transmission assembly 112 to drive the two telescopic magazine mechanisms 115 to move relatively close to each other in the first horizontal direction, so that the two magazine assemblies 1153 of the two telescopic magazine mechanisms 115 clamp the magazine.

[0106] In some embodiments, as shown in Figure 8 The magazine assembly 1153 has a magazine supporting plate 1156. When the two telescopic magazine mechanisms 115 move relatively close to each other in the first horizontal direction, the magazine supporting plates 1156 of the two magazine assemblies 1153 can extend into the steps on the side of the magazine, so as to support the magazine and lift the magazine. Here, the magazine can be lifted when the first and second end pickers move upward with the taking and placing lifting frame 140.

[0107] In some embodiments, as shown in Figure 6 The four corners of the first frame body 141 of the taking and placing lifting frame 140 are respectively provided with a guide wheel set 1415, and the first frame body 141 of the taking and placing lifting frame 140 is rollingly connected with the vertical guide rail 152 through the four guide wheel sets 1415. The guide wheel set 1415 includes a front guide wheel and a side guide wheel. In this way, the vertical movement of the taking and placing device 100 along the stand column 151 can be guided through the cooperation of the four guide wheel sets 1415 and the vertical guide rail 152.

[0108] In some embodiments, the magazine taking and placing device 300 further includes an auxiliary supporting assembly 330 and a connecting rod assembly 340.

[0109] Figure 9 The arrangement schematic diagram of the auxiliary supporting assembly 330 and the connecting rod assembly 340 provided by the embodiments of the present application is shown. Figure 10 、 Figure 11 The structural schematic diagram of an auxiliary supporting assembly 330 provided by the embodiments of the present application is shown.

[0110] In some embodiments, as shown in Figure 9As shown, the auxiliary support assembly 330 and the linkage assembly 340 can be mounted to the chassis 210. Specifically, the auxiliary support assembly 330 can be mounted below the bottom plate 211, and the linkage assembly 340 can be mounted above the bottom plate 211.

[0111] In some embodiments, as shown in Figure 10 and Figure 11 The auxiliary support assembly 330 includes a horizontally arranged auxiliary lifting plate 331, two guide support rods 333, two auxiliary support legs 335 arranged at intervals, an auxiliary power assembly 336, and an auxiliary transmission assembly 337.

[0112] The two guide support rods 333 are respectively arranged at both sides of the lower end of the auxiliary lifting plate 331.

[0113] The two auxiliary support legs 335 are respectively mounted to the two guide support rods 333 and can perform telescopic movement along the corresponding guide support rod 333.

[0114] The auxiliary transmission assembly 337 can be mounted to the auxiliary lifting plate 331 and is in transmission connection with the auxiliary support legs 335.

[0115] The auxiliary power assembly 336 is mounted to the auxiliary lifting plate 331, and the auxiliary power assembly 336 can drive the auxiliary transmission assembly 337 to drive the auxiliary support legs 335 to perform telescopic movement along the corresponding guide support rod 333, so that the auxiliary support legs 335 are extended to one side of the target box stack and supported at the bottom of the target box stack, or the auxiliary support legs 335 are retracted.

[0116] In some embodiments, the auxiliary support legs 335 are provided with a second chain tooth plate 3354 and a plurality of auxiliary rollers 3352, which cooperate with the guide support rods 333 and perform telescopic movement along the guide support rods 333. The guide support rods 333 play a guiding and supporting role. The second chain tooth plate 3354 is in transmission connection with the auxiliary transmission assembly 337.

[0117] In some embodiments, as shown in Figure 9 The linkage assembly 340 is mounted to the chassis 210 and is connected with the auxiliary lifting plate 331, and can drive the auxiliary lifting plate 331 and the auxiliary support assembly 330 (relative to the bottom plate 211 of the chassis 210) to perform vertical movement (lifting and lowering) under the power of the linkage power assembly 341.

[0118] When the auxiliary support legs 335 are extended to one side of the target box stack, the linkage assembly 340 can drive the auxiliary support assembly 330 to perform vertical downward movement until the auxiliary support legs 335 are attached to the ground and supported at the bottom of the target box stack.

[0119] In addition, after the auxiliary supporting leg 335 stably supports the bottom of the target box stack, the first end gripper 110 and the second end gripper 120 can be extended to perform the box picking and placing operation. After the box picking and placing operation is completed, the linkage assembly 340 drives the auxiliary supporting assembly 330 to vertically move upward, and the auxiliary supporting leg 335 is retracted.

[0120] Figure 12 A structural schematic diagram of a linkage assembly 340 according to an embodiment of the present application is shown.

[0121] In some embodiments, as shown in Figure 9 and Figure 12 A plurality of guide sleeves 213 are vertically arranged on the bottom plate 211 of the chassis 210. A plurality of auxiliary guide columns 334 are vertically installed above the auxiliary lifting plate 331, and the plurality of auxiliary guide columns 334 are coaxially matched with the plurality of guide sleeves 213, so as to guide the vertical movement of the auxiliary lifting plate 331 and the auxiliary supporting assembly 330.

[0122] In some embodiments, as shown in Figure 12 The linkage assembly 340 includes a linkage power assembly 341, a transmission shaft, a synchronous linkage 343, and a plurality of crank linkage assemblies 345. The linkage power assembly 341 drives the plurality of crank linkage assemblies 345 to move through the transmission shaft and the synchronous linkage 343, thereby driving the auxiliary lifting plate 331 and the auxiliary supporting assembly 330 to vertically move.

[0123] Figure 13 A structural schematic diagram of a box stacking mechanism 230 according to an embodiment of the present application is shown.

[0124] In some embodiments, as shown in Figure 13 The box stacking mechanism 230 includes a box stacking support frame 231, a box stacking lifting frame 232, a box stacking transmission assembly 233, and a box stacking power assembly 234.

[0125] The box stacking support frame 231 is arranged along a vertical direction on one side of the gantry assembly 150.

[0126] The box stacking lifting frame 232 is installed on the box stacking support frame 231 and is in sliding connection with the box stacking support frame 231, and can vertically slide relative to the box stacking support frame 231. Two box stacking pallets 2325 are arranged on the two sides of the box stacking lifting frame 232, respectively. The two box stacking pallets 2325 can move relatively close to each other to extend into the step on the side of the box to support the box, and the two box stacking pallets 2325 can also move relatively far away from each other to release the box.

[0127] The box stacking transmission assembly 233 is installed on the top of the box stacking support frame 231 and is connected with the box stacking lifting frame 232 through a box stacking lifting belt 235.

[0128] 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.

[0129] 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.

[0130] 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.

[0131] Figure 15 A schematic diagram of the structure of a chassis 210 provided according to an embodiment of the present invention is shown.

[0132] 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.

[0133] In embodiments of the present invention, such as Figure 3As shown, the magazine taking and placing device 300 can take and place the magazines in the magazine stack, the magazine stack including a plurality of magazines stacked and placed, the magazine taking and placing device 300 including a portal assembly 150, a taking and placing device 100, and a temporary storage device 200.

[0134] The portal assembly 150 is arranged along a vertical direction, and the portal assembly 150 includes a column 151, and the column 151 is provided with a vertical guide rail 152.

[0135] The temporary storage device 200 includes a base plate 210, a conveying belt 220 mounted on the base plate 210, and a magazine stacking mechanism 230. The magazine stacking mechanism 230 is mounted on the base plate 210 and located above the conveying belt 220, and the magazine stacking mechanism 230 and the taking and placing device 100 are respectively mounted on opposite sides of the portal assembly 150.

[0136] The taking and placing device 100 is mounted on one side of the portal assembly 150. The taking and placing device 100 can include a taking and placing lifting frame 140, a first end picker 110, and a second end picker 120. The taking and placing device 100 and the temporary storage device 200 are respectively mounted on opposite sides of the portal assembly 150.

[0137] The taking and placing lifting frame 140 is in rolling connection with the vertical guide rail 152, and can move along the vertical guide rail 152 so that the taking and placing device 100 moves along the vertical direction.

[0138] The first end picker 110 and the second end picker 120 are respectively mounted on the taking and placing lifting frame 140 and arranged in an up-down interval. The first end picker 110 and the second end picker 120 can move vertically with the taking and placing lifting frame 140, and can extend or retract along the horizontal direction to take out a target magazine from a target magazine stack, and can place the target magazine on the conveying belt 220 so as to transport the target magazine to the magazine stacking mechanism 230 through the conveying belt 220 for stacking.

[0139] In the embodiment of the present application, the first end picker 110 and the second end picker 120 can move vertically with the taking and placing lifting frame 140 to the position of a target magazine of a target magazine stack, and can simultaneously extend to one side of the target magazine stack to respectively clamp a first magazine and the target magazine adjacent to each other in an up-down direction of the target magazine stack, and then move upward with the taking and placing lifting frame 140 to lift the first magazine and the target magazine and all the magazines above the first magazine upward, and then the second end picker 120 can retract the target magazine to take out the target magazine, and subsequently the second end picker 120 can place the target magazine on the conveying belt 220 so as to transport the target magazine to the magazine stacking mechanism 230 through the conveying belt 220 for stacking.

[0140] It should be noted that the second end picker 120 is identical in structure to the first end picker 110 and symmetrically arranged on the upper and lower sides of the taking and placing lifting frame 140. In the embodiments of the present application, only the structure of the first end picker 110 is specifically described, and the structure of the second end picker 120 can be referred to the structure of the first end picker 110 described in the embodiments of the present application, which will not be described again.

[0141] In the embodiments of the present application, the first end picker 110 includes two spaced-apart telescopic box taking mechanisms 115, which can be extended or retracted along the second horizontal direction so as to clamp the box (the first box) by the two telescopic box taking mechanisms 115.

[0142] In some embodiments, the first end picker 110 further includes two clamping mechanisms connected with the two telescopic box taking mechanisms 115 respectively. 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 relatively move close to or away from each other along the first horizontal direction perpendicular to the second horizontal direction, so as to clamp or release the box by the two telescopic box taking mechanisms 115.

[0143] In some embodiments, as shown in Figure 7 The box taking and placing device 300 further includes a lifting power assembly 311 and a lifting transmission assembly 312. The lifting transmission assembly 312 is installed on the top of the portal assembly 150 and rotationally connected with the two upright columns 151, and in addition, the lifting transmission assembly 312 is connected with the taking and placing lifting frame 140 of the taking and placing device 100 through a lifting lifting belt 313.

[0144] The lifting power assembly 311 is installed on the top of the portal assembly 150 and connected with 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 drives the taking and placing device 100 to move along the vertical direction through the lifting lifting belt 313. At the same time, the taking and placing lifting frame 140 of the taking and placing device 100 moves synchronously along the vertical guide rail 152, and the cooperation of the taking and placing lifting frame 140 and the vertical guide rail 152 can guide the vertical movement of the taking and placing device 100 along the upright column 151.

[0145] In some embodiments, as shown in Figure 6 and Figure 7 The taking and placing lifting frame 140 includes a first frame body 141 arranged vertically and a second frame body 142 arranged horizontally. The first frame body 141 is rollingly connected with the vertical guide rail 152, and the second frame body 142 is extended from the first frame body 141 in the first horizontal direction away from the portal assembly 150.

[0146] The first end picker 110 and the second end picker 120 are symmetrically installed on the upper and lower sides of the second frame body 142, and can extend or retract along a second horizontal direction perpendicular to the first horizontal direction. Here, the first horizontal direction is perpendicular to the second horizontal direction.

[0147] In some embodiments, as shown in Figure 6 The upper side of the second frame body 142 is provided with horizontal linear guides 143 in the first horizontal direction at both ends. It should be noted that the upper and lower sides of the second frame body 142 are symmetrically structured.

[0148] The two ends of the telescopic box taking mechanism 115 are respectively connected to the corresponding horizontal linear guides 143 through telescopic sliders 116.

[0149] The two clamping transmission assemblies 112 are respectively connected to the corresponding telescopic sliders 116, and the two clamping transmission assemblies 112 can drive the corresponding telescopic sliders 116 to slide along the horizontal linear guides 143 under the power of the corresponding clamping power assemblies 111, so that the two telescopic box taking mechanisms 115 move relatively close or relatively far apart in the first horizontal direction.

[0150] In some embodiments, as shown in Figure 8 The telescopic box taking mechanism 115 includes a fixed assembly 1151, an intermediate assembly 1152, a box clamping assembly 1153, a telescopic transmission assembly 1154, and a telescopic power assembly 1155.

[0151] The fixed assembly 1151 can be installed on the telescopic slider 116.

[0152] The intermediate assembly 1152 is installed on the fixed assembly 1151, and the intermediate assembly 1152 has a pulley assembly 1158 and a first chain tooth plate 1157.

[0153] The box clamping assembly 1153 is connected to the intermediate assembly 1152 through the pulley assembly 1158. Here, the pulley assembly 1158 can include multiple groups of rollers.

[0154] The telescopic transmission assembly 1154 is connected to the first chain tooth plate 1157 of the intermediate assembly 1152.

[0155] The telescopic power assembly 1155 is installed on the fixed assembly 1151 and connected to the telescopic transmission assembly 1154, and can drive the telescopic transmission assembly 1154 to drive the intermediate assembly 1152 to move in the first telescopic motion along the second horizontal direction relative to the fixed assembly 1151, and at the same time, the intermediate assembly 1152 drives the box clamping assembly 1153 to move in the second telescopic motion along the second horizontal direction through the pulley assembly 1158, so that the box clamping assembly 1153 extends and clamps the box or retracts.

[0156] In some embodiments, the movement speed of the second telescopic movement of the box clamping assembly 1153 is twice the movement speed of the first telescopic movement of the fixed assembly 1151. Accordingly, the telescopic distance of the second telescopic movement of the box clamping assembly 1153 is twice the telescopic distance of the first telescopic movement of the fixed assembly 1151.

[0157] It should be noted that the size and structure of each box are the same. In the initial state, the distance between the two box clamping assemblies 1153 is greater than the size of the box.

[0158] In some embodiments, after the box clamping assemblies 1153 are extended to the predetermined position, the clamping power assembly 111 can drive the clamping transmission assembly 112 to drive the two telescopic box taking mechanisms 115 to relatively move close to each other in the first horizontal direction, so that the two box clamping assemblies 1153 of the two telescopic box taking mechanisms 115 clamp the box.

[0159] In some embodiments, as shown in Figure 8 The box clamping assembly 1153 has a box clamping supporting plate 1156. When the two telescopic box taking mechanisms 115 relatively move close to each other in the first horizontal direction, the box clamping supporting plates 1156 of the two box clamping assemblies 1153 can extend into the steps on the side of the box, so as to support the box and lift the box. Here, the box can be lifted when the first end picker and the second end picker move upward with the taking and placing lifting frame 140.

[0160] In the above embodiments, each power assembly (lifting power assembly, clamping power assembly, telescopic power assembly, auxiliary power assembly, connecting rod power assembly, and box stacking power assembly) can include a driving motor, so as to provide power through the driving motor. Here, the driving motor can be any driving motor in the prior art. It should be noted that the present application does not limit the specific structure of each power assembly, as long as each power assembly can be connected with the corresponding transmission assembly and drive the transmission assembly to move.

[0161] The material box taking and placing device provided by the embodiment of the present application comprises a storage area and one or more material box taking and placing devices, a plurality of rows of box stacks can be directly stacked on the ground of the storage area, a lane is arranged between two adjacent rows of box stacks, and each material box taking and placing device can travel in the lane between two adjacent rows of box stacks in the storage area to perform taking and placing operations on a target material box. The material box taking and placing device comprises a temporary storage device and a taking and placing device which are respectively installed on opposite sides of a portal assembly. A conveying belt is installed on the chassis of the temporary storage device, and a box stacking mechanism is vertically installed above the conveying belt. The taking and placing device can move in the vertical direction, and a first end gripper and a second end gripper of the taking and placing device can extend or retract in the horizontal direction. During the box taking process, the first end gripper and the second end gripper simultaneously extend to one side of the target box stack to respectively clamp a first material box and the target material box which are adjacent to each other in the upper and lower directions of the target box stack, and then move upward with the taking and placing device, so as to lift all the material boxes above the first material box and the target material box upward. Then, the second end gripper retracts to take out the target material box, and places the target material box on the conveying belt, so as to convey the target material box to the box stacking mechanism through the conveying belt for stacking and storage. It can be seen that, according to the technical solution of the present application, the material boxes are directly stacked and placed in the storage area without the need of shelves, the material box taking and placing device can travel in the lane between two rows of box stacks to perform taking and placing operations on any material box, and since the shelves are omitted, the cost and failure rate of the entire storage system can be greatly reduced. In addition, the two upper and lower end grippers are used to take and place the material boxes, and when a single material box is taken and placed, the single material box and the multiple material boxes above the single material box can be simultaneously operated, and the operation is flexible and fast. Moreover, the box stacking mechanism can automatically stack the taken material boxes, which is convenient for subsequent unloading operations.

[0162] In addition, during the unloading operation, the cooperation of multiple machines can improve the efficiency of taking out the material boxes.

[0163] In the description of the specification, unless otherwise explicitly specified and limited, the terms "connection", "fixation" and the like should be understood in a broad sense. In addition, the terms "front", "back", "upper", "lower", "inner", "outer", "top", "bottom" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or units referred to must have a particular direction, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0164] It should be understood that, in order to simplify the present disclosure and help understand one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present application, various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof.

[0165] As used herein, unless otherwise indicated, the use of the ordinal adjectives "first," "second," "third," etc., merely to distinguish different instances of an object to which the adjective might apply, and are not intended to imply that a sequence or order to which the objects are described must be employed.

Claims

1. A warehouse system comprising: a warehouse area, a plurality of rows of box stacks are stacked on the ground of the warehouse area, a passageway is arranged between two adjacent rows of box stacks, each row of box stacks comprises a plurality of box stacks, and each box stack comprises a plurality of bins stacked on each other; one or more bin handling devices adapted to travel in the passageway between two adjacent rows of box stacks to perform a picking or placing operation on a target bin, the bin handling device comprising: a portal assembly arranged in a vertical direction; a temporary storage device comprising a base, a conveyor belt mounted on the base, and a bin stacking mechanism mounted on the base above the conveyor belt; a picking and placing device mounted on opposite sides of the portal assembly respectively, adapted to move in a vertical direction, comprising a first end effector and a second end effector arranged in a vertical direction, the first end effector and the second end effector being adapted to extend or retract in a horizontal direction; wherein, during a picking operation, the bin handling device is adapted to move to a side of a target box stack, the first end effector and the second end effector are adapted to simultaneously extend to a side of the target box stack to respectively hold a first bin and the target bin adjacent to each other in a vertical direction in the target box stack, and move upward with the picking and placing device, after lifting the first bin, the target bin and all bins above the first bin upward, the second end effector is adapted to retract the target bin to pick the target bin, and place the target bin on the conveyor belt to transport the target bin to the bin stacking mechanism for stacking.

2. The warehousing system of claim 1, wherein, The bin handling device further comprises: an auxiliary support assembly mounted on the base, comprising an auxiliary support leg; wherein, before the first end effector and the second end effector simultaneously extend to a side of the target box stack, the auxiliary support leg is adapted to extend to a side of the target box stack to support a bottom of the target box stack.

3. The warehousing system of claim 1 or 2, wherein, After the second end effector retracts the target bin, the picking and placing device is adapted to move downward so that the first end effector and the second end effector simultaneously move downward; wherein, the first end effector is adapted to move the first bin and all bins above the first bin downward to fit the first bin with the bins below the first bin, and then the first end effector retracts; the picking and placing device is adapted to continue to move downward to move the target bin downward by the second end effector and place the target bin on the conveyor belt. 4.The warehouse system of any one of claims 1-3, wherein: the bin stacking mechanism is adapted to sequentially stack the target bins picked by the second end effector one by one until a predetermined number of target bins are stacked to form a new box stack, so that the new box stack is subjected to a delivery operation. 5.The warehouse system of any one of claims 1-4, wherein: The first end picker and the second end picker are further adapted to: clamp the two adjacent containers at the bottom of the target stack of containers as the taking and placing device moves downward to the bottom of the target stack of containers, and then move upward with the taking and placing device to drive the target stack of containers to move upward, and then drive the target stack of containers to retract, and then place the target stack of containers on the conveying belt, so as to perform the outbound operation on the target stack of containers.

6. The warehouse system of claim 5, wherein, The first end picker and the second end picker are further adapted to: drive the target stack of containers to retract, and then move downward with the taking and placing device to place the target stack of containers on the conveying belt, and then move upward with the taking and placing device to resist the upper side of the target stack of containers.

7. The warehouse system of claim 4, wherein, The container taking and placing device is adapted to drive the new stack of containers out of the aisle, and then transport the new stack of containers to the outbound container receiving station, and then unload the new stack of containers.

8. The warehouse system of claim 7, wherein, After the new stack of containers is transported to the outbound container receiving station, the container taking and placing device is adapted to: transport the new stack of containers to the outbound conveying belt which is docked with the conveying belt, or, perform reverse operation with the stacking mechanism and the conveying belt to place each target container in the new stack of containers on the outbound conveying belt one by one, so as to continue conveying by the outbound conveying belt.

9. The warehouse system of claim 7, wherein, After the new stack of containers is transported to the outbound container receiving station, the new stack of containers is unloaded by another container taking and placing device.

10. The warehousing system of any one of claims 1-9, wherein, There is a predetermined gap between the two adjacent stacks of containers in each row of stacks of containers for the clamping operation of the first end picker and the second end picker.

11. The warehousing system of any one of claims 1-10, wherein, The warehouse area includes a container storage area and an inbound and outbound transfer area, the inbound and outbound transfer area includes an outbound conveying belt, an operation table and an inbound conveying belt, and the operation table is arranged between the outbound conveying belt and the inbound conveying belt.

12. The warehousing system of any one of claims 1-7, wherein, Both sides of the gantry assembly are respectively provided with a column, and the column is provided with a vertical guide rail; The taking and placing device further includes: A taking and placing lifting frame is in rolling connection with the vertical guide rail and is adapted to move along the vertical guide rail, so that the taking and placing device moves in the vertical direction; The first end picker and the second end picker are respectively mounted on the taking and placing lifting frame and are arranged in an upper and lower spaced manner and are adapted to move vertically with the taking and placing lifting frame.

13. The warehousing system of claim 12, wherein, The container taking and placing device further includes: A lifting transmission assembly is mounted on the top of the gantry assembly, is in rotational connection with the two columns, and is connected with the taking and placing lifting frame of the taking and placing device through a lifting lifting belt; A lifting power assembly is mounted on the top of the gantry assembly, is connected with the lifting transmission assembly, and is 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.

14. The warehousing system of claim 12 or 13, wherein, The taking and placing lifting frame includes: A first frame body arranged vertically, the first frame body is in rolling connection with the vertical guide rail; A second frame body is formed by the first frame body extending in a first horizontal direction away from the gantry assembly; The first and second end pickers are symmetrically mounted on the upper and lower sides of the second frame body and are adapted to extend or retract along a second horizontal direction perpendicular to the first horizontal direction.

15. The warehousing system of claim 14, wherein, The second end picker is identical in structure to the first end picker and is symmetrically arranged on the upper and lower sides of the second frame body; the first end picker comprises: Two spaced-apart telescopic bin taking mechanisms adapted to extend or retract along the second horizontal direction so as to clamp a bin through the two telescopic bin taking mechanisms; Two clamping mechanisms respectively connected with the two telescopic bin taking mechanisms, 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 respectively drive the two telescopic bin taking mechanisms to relatively move closer or relatively move away along the first horizontal direction so as to clamp or release the bin.

16. The warehousing system of claim 15, wherein, The upper side of the second frame body is provided with horizontal linear guides in the first horizontal direction at both ends thereof; The telescopic bin taking mechanisms are respectively connected with the corresponding horizontal linear guides through telescopic sliders; The two clamping transmission assemblies are respectively connected with the corresponding telescopic sliders and are adapted to slide along the horizontal linear guides under the power of the corresponding clamping power assemblies so as to relatively move closer or relatively move away along the first horizontal direction.

17. The warehousing system of claim 16, wherein, The telescopic bin taking mechanism comprises: A fixed assembly mounted on the telescopic slider; An intermediate assembly mounted 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; A telescopic power assembly mounted on the fixed assembly and connected with the telescopic transmission assembly and adapted to drive the telescopic transmission assembly to drive the intermediate assembly to perform a first telescopic movement relative to the fixed assembly along the second horizontal direction through the first chain tooth plate, and simultaneously drive the bin clamping assembly to perform a second telescopic movement along the second horizontal direction through the pulley assembly so as to extend and clamp the bin or retract.

18. The warehousing system of claim 17, wherein, 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 fixed assembly.

19. The warehousing system of claim 17 or 18, wherein, After the bin clamping assembly extends to a predetermined position, the clamping power assembly is adapted to drive the clamping transmission assembly to drive the two telescopic bin taking mechanisms to relatively move closer along the first horizontal direction so that the two bin clamping assemblies of the two telescopic bin taking mechanisms clamp the bin.

20. The warehousing system of claim 19, wherein, The bin clamping assembly has a bin clamping supporting plate thereon; When the two telescopic bin taking mechanisms relatively move closer along the first horizontal direction, the bin clamping supporting plates of the two bin clamping assemblies are adapted to extend into the steps on the side surface of the bin so as to support and lift the bin.

21. The warehousing system of any one of claims 1-20, wherein, The bin stacking mechanism comprises: A bin stacking support frame arranged on one side of the gantry assembly in a vertical direction; A stack lifting frame is installed on the stack support frame and is in sliding connection with the stack support frame, and is adapted to vertically slide relative to the stack support frame. Two sides of the stack lifting frame are respectively provided with stack supporting plates. The two stack supporting plates are adapted to relatively move close to each other to support the material box at the step of the side of the material box, and are adapted to relatively move away from each other to release the material box. A stack transmission assembly is installed on the top of the stack support frame and is connected with the stack lifting frame through a stack lifting belt. A stack power assembly is installed on the top of the stack support frame, is connected with the stack transmission assembly, and is adapted to drive the stack transmission assembly to rotate so that the stack transmission assembly drives the stack lifting frame to make reciprocating lifting movement through the stack lifting belt. When the stack lifting frame is lowered to the target material box on the conveying belt, the two stack supporting plates are adapted to relatively move close to each other to support the target material box at the step of the side of the target material box. When the stack lifting frame moves upward, the target material box is lifted and is stacked.

Images