Material box carrying robot, control module, goods taking and placing method and multi-layer goods shelf system

Abstract

The embodiment of the invention provides a workbin carrying robot, a control module, a goods taking and placing method and a multi-layer goods shelf system.The workbin carrying robot comprises a telescopic door frame, a first-stage lifting assembly, a goods taking and placing assembly, a second-stage lifting assembly and the control module, the telescopic door frame comprises an inner door frame and an outer door frame, and the goods taking and placing assembly is arranged on the inner door frame; the first-stage lifting assembly can move up and down in the height direction of the inner door frame and take and place the material box on the goods shelf. The inner portal is arranged on the inner side of the outer portal and can move up and down in the height direction of the outer portal based on the second-stage lifting assembly so that the inner portal can stretch out or retract to the outer portal when moving to the top end of the outer portal. The outer portal is used for being hung on a goods shelf, the control module is in communication connection with the first-stage lifting assembly, the second-stage lifting assembly and the goods taking and placing assembly, and according to the embodiment of the scheme, the inner portal can stretch out or retract to the outer portal when moving to the top end of the outer portal, so that the goods taking height of the workbin transfer robot is increased.

Description

Technical Field

[0001] The present application relates to the technical field of handling robots, and in particular to a material box handling robot, a control module, a method for picking and placing goods, and a multi-layer shelf system. Background Art

[0002] Typically, multiple shelves are arranged in a logistic warehouse, each shelf having multiple layers, and each layer can be used to store material boxes.

[0003] In order to fully utilize the space at the height of the logistics warehouse, the number of shelves needs to increase, and the height of the shelves also increases. However, the height of conventional bin handling robots is limited, making it difficult to perform bin picking operations in higher spaces. Therefore, the height of the shelves is limited, making it difficult to effectively utilize the space at the height of the logistics warehouse, affecting the inventory filling rate of the logistics warehouse. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a box handling robot, a control module, a method for picking and placing goods, and a multi-layer shelf system to increase the picking height of the box handling robot. The specific technical solution is as follows:

[0005] In a first aspect, an embodiment of the present invention provides a box handling robot, comprising:

[0006] Telescopic mast, including inner mast and outer mast;

[0007] First stage lifting assembly;

[0008] The pick-up and place component is arranged on the inner door frame, and can move up and down along the height direction of the inner door frame based on the first-level lifting component to pick up and place the material boxes on the shelf;

[0009] Second stage lifting assembly;

[0010] The inner mast is arranged inside the outer mast and can move up and down along the height direction of the outer mast based on the second-stage lifting assembly, so that the inner mast can extend or retract to the outer mast when it moves to the top of the outer mast;

[0011] External door frame, used to hang the box handling robot on the shelf;

[0012] The control module is in communication with the first-stage lifting component, the second-stage lifting component and the picking and placing component, controls the picking and placing component to perform picking and placing operations, and adjusts the height of the picking and placing component relative to the shelf by controlling the first-stage lifting component and / or the second-stage lifting component.

[0013] In some embodiments, it also includes:

[0014] The first connecting fork body is slidably connected to the inner mast along the height direction of the inner mast, and the cargo pick-up and put-down assembly is arranged on the first connecting fork body. Based on the first-stage lifting assembly, the first connecting fork body drives the cargo pick-up and put-down assembly to move up and down along the height direction of the inner mast;

[0015] The second connecting fork body is slidably connected to the outer mast along the height direction of the outer mast, and the inner mast is arranged on the second connecting fork body. The second connecting fork body drives the inner mast to move up and down along the height direction of the outer mast.

[0016] In some embodiments, the first-stage lifting assembly includes: a first driving motor and a first synchronous belt, the first synchronous belt is rotatably arranged on the inner door frame, the first connecting fork connects the picking and placing assembly and the first synchronous belt, the first driving motor is arranged on the inner door frame, and is used to drive the rotation of the first synchronous belt, so that the first synchronous belt drives the picking and placing assembly to move up and down along the height direction of the inner door frame; or,

[0017] The first-stage lifting assembly includes: a second driving motor, a first rack and a first gear, wherein the first rack is arranged on the inner side of the inner mast, the first gear is meshed with the first rack, and the second driving motor is arranged on the first connecting fork body, and is used to drive the rotation of the first gear, so that under the meshing force of the first gear and the first rack, the picking and placing assembly is driven to move up and down along the height direction of the inner mast;

[0018] The control module is connected to the first drive motor or the second drive motor of the first-stage lifting assembly for controlling the forward and reverse rotation of the first drive motor or the second drive motor.

[0019] In some embodiments, the second-stage lifting assembly includes: a third drive motor and a second synchronous belt, the second synchronous belt is rotatably arranged on the outer mast, the second connecting fork body is connected to the inner mast and the second synchronous belt, and the third drive motor is arranged on the outer mast to drive the rotation of the second synchronous belt, so that the second synchronous belt drives the inner mast to move up and down along the height direction of the outer mast;

[0020] The control module is in communication connection with the third drive motor of the second-stage lifting assembly and is used for controlling the forward and reverse rotation of the third drive motor.

[0021] In some embodiments, the inner door frame includes: a left inner door post and a right inner door post, and the cargo pick-up and release assembly is located between the left inner door post and the right inner door post;

[0022] There are two first connecting fork bodies, which are respectively arranged on both sides of the cargo picking and placing component;

[0023] There are two first-stage lifting assemblies, which are respectively arranged on the left inner door column and the right inner door column. The left and right sides of the cargo picking and placing assembly are respectively connected to the two first-stage lifting assemblies through a first connecting fork body.

[0024] In some embodiments, the outer door frame includes: a left outer door post and a right outer door post, and the inner door frame is located between the left outer door post and the right outer door post.

[0025] There are two second connecting fork bodies, which are fixedly connected to the bottom of the left inner door post and the bottom of the right inner door post respectively;

[0026] There are two second-stage lifting assemblies, which are respectively connected to the two second connecting fork bodies to drive the inner mast to move up and down along the height direction of the outer mast.

[0027] In some embodiments, the control module is mounted on a side of the outer mast.

[0028] In a second aspect, an embodiment of the present invention provides a box handling robot, comprising:

[0029] Telescopic mast, including inner mast and outer mast;

[0030] First stage lifting assembly;

[0031] The pick-up and place component is arranged on the inner door frame, and can move up and down along the height direction of the inner door frame based on the first-level lifting component to pick up and place the material boxes on the shelf;

[0032] Second stage lifting assembly;

[0033] The inner mast is arranged inside the outer mast and can move up and down along the height direction of the outer mast based on the second-stage lifting assembly, so that the inner mast can extend or retract to the outer mast when it moves to the bottom end of the outer mast;

[0034] External door frame, used to hang the box handling robot on the shelf;

[0035] The control module is in communication with the first-stage lifting component, the second-stage lifting component and the picking and placing component, controls the picking and placing component to perform picking and placing operations, and adjusts the height of the picking and placing component relative to the shelf by controlling the first-stage lifting component and / or the second-stage lifting component.

[0036] In some embodiments, it also includes:

[0037] The first connecting fork body is slidably connected to the inner mast along the height direction of the inner mast, and the cargo pick-up and put-down assembly is arranged on the first connecting fork body. Based on the first-stage lifting assembly, the first connecting fork body drives the cargo pick-up and put-down assembly to move up and down along the height direction of the inner mast;

[0038] The second connecting fork body is slidably connected to the outer mast along the height direction of the outer mast, and the inner mast is arranged on the second connecting fork body. The second connecting fork body drives the inner mast to move up and down along the height direction of the outer mast.

[0039] In some embodiments, the first-stage lifting assembly includes: a first driving motor and a first synchronous belt, the first synchronous belt is rotatably arranged on the inner door frame, the first connecting fork connects the picking and placing assembly and the first synchronous belt, the first driving motor is arranged on the inner door frame, and is used to drive the rotation of the first synchronous belt, so that the first synchronous belt drives the picking and placing assembly to move up and down along the height direction of the inner door frame; or,

[0040] The first-stage lifting assembly includes: a second driving motor, a first rack and a first gear, wherein the first rack is arranged on the inner side of the inner mast, the first gear is meshed with the first rack, and the second driving motor is arranged on the first connecting fork body, and is used to drive the rotation of the first gear, so that under the meshing force of the first gear and the first rack, the picking and placing assembly is driven to move up and down along the height direction of the inner mast;

[0041] The control module is connected to the first drive motor or the second drive motor of the first-stage lifting assembly for controlling the forward and reverse rotation of the first drive motor or the second drive motor.

[0042] In some embodiments, the second-stage lifting assembly includes: a third drive motor and a second synchronous belt, the second synchronous belt is rotatably arranged on the outer mast, the second connecting fork body is connected to the inner mast and the second synchronous belt, and the third drive motor is arranged on the outer mast to drive the rotation of the second synchronous belt, so that the second synchronous belt drives the inner mast to move up and down along the height direction of the outer mast;

[0043] The control module is in communication connection with the third drive motor of the second-stage lifting assembly and is used for controlling the forward and reverse rotation of the third drive motor.

[0044] In some embodiments, the inner door frame includes: a left inner door post and a right inner door post, and the cargo pick-up and release assembly is located between the left inner door post and the right inner door post;

[0045] There are two first connecting fork bodies, which are respectively arranged on both sides of the cargo picking and placing component;

[0046] There are two first-stage lifting assemblies, which are respectively arranged on the left inner door column and the right inner door column. The left and right sides of the cargo picking and placing assembly are respectively connected to the two first-stage lifting assemblies through a first connecting fork body.

[0047] In some embodiments, the outer door frame includes: a left outer door post and a right outer door post, and the inner door frame is located between the left outer door post and the right outer door post.

[0048] There are two second connecting fork bodies, which are fixedly connected to the bottom of the left inner door post and the bottom of the right inner door post respectively;

[0049] There are two second-stage lifting assemblies, which are respectively connected to the two second connecting fork bodies to drive the inner mast to move up and down along the height direction of the outer mast.

[0050] In some embodiments, the control module is mounted on a side of the outer mast.

[0051] In a third aspect, an embodiment of the present invention provides a method for picking up and placing goods, which is applied to a control module of a material box handling robot, wherein the control module is communicatively connected to a host computer, wherein the material box handling robot comprises a telescopic gantry, a first-stage lifting component, a picking up and placing goods component, a second-stage lifting component and the control module, wherein the telescopic gantry comprises an inner gantry and an outer gantry, wherein the picking up and placing goods component is arranged on the inner gantry, and can move up and down along the height direction of the inner gantry based on the first-stage lifting component and pick up and place the material box on the shelf; the inner gantry is arranged on the inner side of the outer gantry, and can move up and down along the height direction of the outer gantry based on the second-stage lifting component; the control module is communicatively connected to the first-stage lifting component, the second-stage lifting component and the picking up and placing goods component, and the method comprises:

[0052] Receive the pick-up and release instructions sent by the host computer, which include the target location of the shelf;

[0053] Control at least one of the first-stage lifting assembly and the second-stage lifting assembly to drive the cargo picking and placing assembly to move to the target height corresponding to the target position, and control the cargo picking and placing assembly to perform cargo picking and placing operations at the target position; wherein, when the target height is higher than the outer mast, control the inner mast to move to the top of the outer mast, extend the outer mast to drive the cargo picking and placing assembly to the target height, and control the cargo picking and placing assembly to pick up and place cargo at the target height.

[0054] In some embodiments, controlling at least one of the first-stage lifting assembly and the second-stage lifting assembly to drive the cargo picking and placing assembly to move to a target height corresponding to a target position includes:

[0055] Determine whether the target height is higher than the outer mast;

[0056] If the target height is higher than the outer mast, control at least one of the first-stage lifting assembly and the second-stage lifting assembly so that the inner mast moves to the top of the outer mast, and extends out of the outer mast to drive the cargo pick-up and release assembly to the target height;

[0057] If the target height is not higher than the outer mast, at least one of the first-stage lifting assembly and the second-stage lifting assembly is controlled so that the inner mast does not extend beyond the outer mast and drives the cargo pick-up and placement assembly to reach the target height.

[0058] In some embodiments, controlling at least one of the first-stage lifting assembly and the second-stage lifting assembly so that the inner mast moves to the top of the outer mast and extends out of the outer mast to drive the cargo pick-up and placement assembly to reach a target height includes:

[0059] Determine whether the cargo pick-up and delivery assembly is on the top of the inner mast;

[0060] If it is at the top of the inner mast, control the second-stage lifting assembly to move the inner mast on the outer mast, so that the inner mast moves to the top of the outer mast, and extends out of the outer mast to drive the cargo pick-up and release assembly to the target height;

[0061] If it is not at the top of the inner mast, the first-stage lifting assembly and the second-stage lifting assembly are controlled at the same time, so that the pick-up and release assembly moves on the inner mast, and the inner mast moves on the outer mast, so that the inner mast moves to the top of the outer mast, and extends out of the outer mast to drive the pick-up and release assembly to the target height;

[0062] and / or,

[0063] Controlling at least one of the first-stage lifting assembly and the second-stage lifting assembly, without the inner door frame extending out of the outer door frame, and driving the cargo pick-up and release assembly to reach a target height, including:

[0064] Determine whether the target position is within the height range of the inner mast;

[0065] If it is within the height range of the inner mast, control the first-stage lifting assembly so that the pick-up and release assembly moves on the inner mast, and the inner mast does not extend beyond the outer mast, and drives the pick-up and release assembly to reach the target height;

[0066] If it is not within the height range of the inner mast, the first-stage lifting assembly and the second-stage lifting assembly are controlled at the same time, so that the pick-up and release assembly moves on the inner mast, the inner mast moves on the outer mast, and the inner mast does not extend out of the outer mast, and drives the pick-up and release assembly to the target height.

[0067] In some embodiments, controlling at least one of the first-stage lifting assembly and the second-stage lifting assembly so that the inner mast moves to the top of the outer mast and extends out of the outer mast to drive the cargo pick-up and placement assembly to reach a target height includes:

[0068] Determine whether the cargo pick-up and delivery assembly is on the top of the inner mast;

[0069] If it is at the top of the inner mast, control the second-stage lifting assembly to move the inner mast on the outer mast, so that the inner mast moves to the top of the outer mast, and extends out of the outer mast to drive the cargo pick-up and release assembly to the target height;

[0070] If it is not at the top of the inner mast, first control the first-stage lifting assembly to move the pick-up and release assembly on the inner mast to the top of the inner mast, then control the second-stage lifting assembly to move the inner mast on the outer mast, move the inner mast to the top of the outer mast, and extend the outer mast to drive the pick-up and release assembly to the target height;

[0071] and / or,

[0072] Controlling at least one of the first-stage lifting assembly and the second-stage lifting assembly, without the inner door frame extending out of the outer door frame, and driving the cargo pick-up and release assembly to reach a target height, including:

[0073] Determine whether the target position is within the height range of the inner mast;

[0074] If it is within the height range of the inner mast, control the first-stage lifting assembly so that the pick-up and release assembly moves on the inner mast, and the inner mast does not extend beyond the outer mast, and drives the pick-up and release assembly to reach the target height;

[0075] If it is not within the height range of the inner mast, first control the first-stage lifting assembly to move the pick-up and release assembly on the inner mast to the top of the inner mast, and then control the second-stage lifting assembly to move the inner mast on the outer mast without the inner mast extending out of the outer mast, and drive the pick-up and release assembly to the target height.

[0076] In a third aspect, an embodiment of the present invention provides a method for picking up and placing goods, which is applied to a control module of a material box handling robot, wherein the control module is communicatively connected to a host computer, wherein the material box handling robot comprises a telescopic gantry, a first-stage lifting component, a picking up and placing goods component, a second-stage lifting component and the control module, wherein the telescopic gantry comprises an inner gantry and an outer gantry, wherein the picking up and placing goods component is arranged on the inner gantry, and can move up and down along the height direction of the inner gantry based on the first-stage lifting component and pick up and place the material box on the shelf; the inner gantry is arranged on the inner side of the outer gantry, and can move up and down along the height direction of the outer gantry based on the second-stage lifting component; the control module is communicatively connected to the first-stage lifting component, the second-stage lifting component and the picking up and placing goods component, and the method comprises:

[0077] Receive the pick-up and release instructions sent by the host computer, which include the target location of the shelf;

[0078] Control at least one of the first-stage lifting assembly and the second-stage lifting assembly to drive the cargo picking and placing assembly to move to the target height corresponding to the target position, and control the cargo picking and placing assembly to perform cargo picking and placing operations at the target position; wherein, when the target height is lower than the outer mast, control the inner mast to move to the bottom end of the outer mast, extend the outer mast to drive the cargo picking and placing assembly to the target height, and control the cargo picking and placing assembly to pick up and place cargo at the target height.

[0079] In a fourth aspect, a control module of a material box handling robot provided in an embodiment of the present solution includes a processor and a machine-readable memory, wherein the machine-readable memory stores machine-executable instructions that can be executed by the processor, and the processor is prompted by the machine-executable instructions to implement the above-mentioned method of picking up and placing goods.

[0080] In a fifth aspect, a multi-layer shelf system provided by an embodiment of the present solution includes:

[0081] M shelves, the M shelves are stacked in sequence along the height direction, each shelf has a cargo buffer space and a multi-layer cargo storage space, the cargo buffer space is located at the bottom of the multi-layer cargo storage space, and M is a positive integer greater than or equal to 2;

[0082] On each shelf, at least one of the above-mentioned material box handling robots is hung;

[0083] in,

[0084] The box handling robot arranged on the shelf of the Nth layer is used to perform the picking and placing operation on the cargo buffer space of the shelf of the N+1th layer and the multi-layer cargo storage space of the shelf of the Nth layer, and / or, the box handling robot arranged on the shelf of the N+1th layer is used to perform the picking and placing operation on the multi-layer cargo storage space of the shelf of the N+1th layer and at least one layer of cargo storage space at the top of the shelf of the Nth layer, where N is a positive integer greater than or equal to 1 and less than or equal to M-1;

[0085] The material box handling robot arranged on the shelf of the Mth layer is used to perform picking and placing operations on the cargo buffer space of the shelf of the Mth layer and the multi-layer cargo storage space of the shelf of the Mth layer.

[0086] In some embodiments, the multi-layer shelf system is used to perform a first picking step of picking up goods from the shelf cargo storage space of the Kth layer to the cargo cache space of the shelf of the first layer, where k is a positive integer greater than or equal to 2, and the first picking step includes:

[0087] The box handling robot set on the shelf on the Kth layer takes the goods from the cargo storage space on the shelf on the Kth layer and places them in the cargo buffer space on the shelf on the Kth layer;

[0088] The box handling robot on the next layer of the shelf where the goods are located controls the inner door frame to move to the top of the outer door frame, and extends the outer door frame to drive the pick-up and place component to reach the cargo buffer space of the shelf where the goods are located, and controls the pick-up and place component to pick up the goods from the cargo buffer space of the shelf where the goods are located, and then places the goods in the cargo buffer space of the next layer of the shelf where the goods are located, until the goods are transported layer by layer to the cargo buffer space of the shelf on the first layer;

[0089] and / or,

[0090] The layer shelf system is used to perform a first cargo release step of placing the cargo in the cargo buffer space of the first layer shelf in the cargo storage space of the Kth layer shelf, where k is a positive integer greater than or equal to 2. The first cargo release step includes:

[0091] After the cargo is obtained by the material box handling robot on the shelf where the cargo is located, the inner mast is controlled to move to the top of the outer mast, and the outer mast is extended to drive the cargo pick-up and placement component to the upper shelf, and the cargo is placed in the cargo buffer space of the upper shelf until the cargo is transported layer by layer to the cargo buffer space of the shelf on the kth layer;

[0092] The box handling robot set on the shelf on the Kth layer takes the goods from the cargo buffer space of the shelf on the Kth layer and places it in the cargo storage space of the shelf on the Kth layer.

[0093] In some embodiments, a top plate is disposed on the top of each shelf, and the N+1-th shelf is disposed on the top plate of the N-th shelf.

[0094] In some embodiments, the multi-layer shelf system is used to perform a second picking step of obtaining goods from the shelf cargo storage space of the Kth layer for goods in the shelf cargo storage space of the k-1th layer, where k is a positive integer greater than or equal to 2, and the second picking step includes:

[0095] The box handling robot on the k-th shelf controls the inner gantry to move to the bottom of the outer gantry, and extends the outer gantry to drive the pick-and-place component to reach the shelf cargo storage space on the K-1th layer. After the pick-and-place component is controlled to pick up the cargo from the shelf cargo storage space on the K-1th layer, the inner gantry is controlled to retract to the bottom of the outer gantry, driving the pick-and-place component to reach the shelf cargo storage space on the Kth layer, and controlling the pick-and-place component to place the cargo on the shelf cargo storage space on the Kth layer.

[0096] and / or,

[0097] The layer shelf system is used to perform a second cargo release step of placing the cargo in the cargo storage space of the shelf on the kth layer into the cargo storage space of the shelf on the K-1th layer, where k is a positive integer greater than or equal to 2. The second cargo release step includes:

[0098] After the box handling robot on the k-th shelf obtains the goods from the cargo storage space of the k-th shelf, it controls the inner door frame to move to the bottom end of the outer door frame, and extends the outer door frame to drive the picking and placing component to reach the cargo storage space of the shelf on the K-1th layer, and controls the picking and placing component to place the goods in the cargo storage space of the shelf on the K-1th layer.

[0099] Beneficial effects of the embodiments of the present application:

[0100] The material box handling robot, control module, method for picking and placing goods, and multi-layer shelf system provided by the embodiment of the present application include a telescopic door frame, a first-level lifting component, a picking and placing goods component, a second-level lifting component, and a control module. The telescopic door frame includes an inner door frame and an outer door frame. The picking and placing goods component is arranged on the inner door frame, and can move up and down along the height direction of the inner door frame and pick and place the material box on the shelf based on the first-level lifting component, so as to realize the telescopic of the first level of the picking and placing goods component. The inner door frame is arranged on the inner side of the outer door frame, and can move up and down along the height direction of the outer door frame based on the second-level lifting component, so that the inner door frame can extend or retract to the outer door frame when it moves to the top of the outer door frame, so as to realize the telescopic of the second level of the picking and placing goods component. The outer door frame is used to hang the material box handling robot on the shelf. The control module is communicated with the first-stage lifting component, the second-stage lifting component and the picking and placing component to control the picking and placing component to perform the picking and placing operations, and adjust the height of the picking and placing component relative to the shelf by controlling the first-stage lifting component and / or the second-stage lifting component. In the embodiment of this scheme, the control module can be used to control the two-stage extension and retraction of the picking and placing component of the material box handling robot, which can be extended or retracted to the outer door frame to facilitate the increase of the picking height of the material box handling robot.

[0101] Of course, implementing any product or method of the present application does not necessarily require achieving all of the above advantages at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0102] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0103] Figure 1 A schematic diagram of the structure of a material box handling robot provided in this application;

[0104] Figure 2 A schematic diagram of the structure of a material box handling robot for handling material boxes provided in this application;

[0105] Figure 3 A schematic diagram of the electrical connection structure of a material box handling robot provided in this application;

[0106] Figure 4 for Figure 2 A magnified view of middle;

[0107] Figure 5 for Figure 2 Enlarged view of middle B;

[0108] Figure 6 for Figure 2 A partial cross-sectional structural schematic diagram of a material box handling robot is shown;

[0109] Figure 7 for Figure 2 Enlarged view of middle C;

[0110] Figure 8 A flowchart of a method for picking up and releasing goods provided in this application;

[0111] Fig. 9 A flowchart of a specific method for picking up and releasing goods provided for this application;

[0112] Fig.10 A state diagram of a material box handling robot reaching a target position corresponding to a specific method of picking and placing goods provided in this application;

[0113] Fig.11 A flowchart of another specific method for picking up and releasing goods provided for this application;

[0114] Fig.12 A state diagram of a container handling robot reaching a target position corresponding to another specific method of picking and placing goods provided in this application;

[0115] Fig.13 A schematic diagram of the structure of a control module of a material box handling robot provided in this application;

[0116] Fig.14 A schematic diagram of the structure of a multi-layer shelf system provided for this application;

[0117] Fig.15 for Fig.14 Enlarged view of middle D;

[0118] Fig.16 for Fig.14 Enlarged view of E in the middle;

[0119] The reference numerals are as follows:

[0120] The container handling robot 100, the first container handling robot 100A, and the second container handling robot 100B;

[0121] Telescopic door frame 10, inner door frame 11, left inner door column 111, right inner door column 112, outer door frame 12, left outer door column 121, right outer door column 122, first crossbeam 123, first stage lifting assembly 20, second drive motor 21, first rack 22, first gear 23, pick-up and release assembly 30, base 31, pick-up and release mechanism 32, second stage lifting assembly 40, third drive motor 41, second synchronous belt 42, control module 50, first connecting fork body 60,

[0122] A second connecting fork 70, a memory 210, and a processor 220;

[0123] Multi-layer shelf system 300, shelf 310, first shelf 310A, first transverse rail 311A, second shelf 310B, second transverse rail 311B, cargo buffer space 311, cargo storage space 312, top plate 313;

[0124] Material bin 1000. DETAILED DESCRIPTION

[0125] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0126] In the related art, due to the structural limitations of traditional handling robots, the height for picking up and placing goods is limited.

[0127] To this end, the present application proposes a material box handling robot, a control module, a method for picking and placing goods, and a multi-layer shelf system to facilitate improving the picking height of the material box handling robot.

[0128] Specifically, a container handling robot, a control module, a method for picking and placing goods, and a multi-layer shelf system according to an embodiment of the present application are described below with reference to the accompanying drawings.

[0129] Figure 1 A schematic diagram of the structure of a material box handling robot provided in this application. Figure 2 This is a schematic diagram of the structure of a material box handling robot for handling material boxes provided in this application. Figure 3 This is a schematic diagram of the electrical connection structure of a material box handling robot provided in this application. Figure 4 for Figure 2 The enlarged view of A in the figure is as follows: Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, an embodiment of the present application provides a container handling robot, including a telescopic door frame 10, a first-stage lifting component 20, a picking and placing component 30, a second-stage lifting component 40 and a control module 50.

[0130] The telescopic gantry 10 includes an inner gantry 11 and an outer gantry 12; the cargo pick-up and placement assembly 30 is arranged on the inner gantry 11, and can move up and down along the height direction of the inner gantry 11 and pick up and place the material boxes on the shelf based on the first-level lifting assembly 20; the inner gantry 11 is arranged on the inner side of the outer gantry 12, and can move up and down along the height direction of the outer gantry 12 based on the second-level lifting assembly 40, so that the inner gantry 11 can extend or retract to the outer gantry 12 when it moves to the top of the outer gantry 12; the outer gantry 12 is used to hang the material box handling robot 100 on the shelf; the control module 50 is communicated and connected with the first-level lifting assembly 20, the second-level lifting assembly 40 and the cargo pick-up and placement assembly 30, controls the cargo pick-up and placement assembly 30 to perform the cargo pick-up and placement operation, and adjusts the height of the cargo pick-up and placement assembly 30 relative to the shelf by controlling at least one of the first-level lifting assembly 20 and the second-level lifting assembly 40.

[0131] The material box handling robot 100 provided in the embodiment of the present application has a pick-up and place assembly 30 disposed on the inner gantry 11, and can move up and down along the height direction of the inner gantry 11 and pick up and place the material box on the shelf based on the first-stage lifting assembly 20, so as to realize the first-stage extension and retraction of the pick-up and place assembly 30. The inner gantry 11 is disposed on the inner side of the outer gantry 12, and can move up and down along the height direction of the outer gantry 12 based on the second-stage lifting assembly 40, so as to realize the second-stage extension and retraction of the pick-up and place assembly 30. The outer gantry 12 is used to hang the material box handling robot 100 on the shelf. In the embodiment of the present solution, the control module 50 can be used to control the two-stage extension and retraction of the pick-up and place assembly 30 of the material box handling robot 100, so that the inner gantry 11 can extend or retract to the outer gantry 12 when it moves to the top of the outer gantry 12, so as to increase the picking height of the material box handling robot 100.

[0132] In some embodiments, the inner mast 11 can move up and down along the height direction of the outer mast 12 based on the second-stage lifting assembly 40, so that when the inner mast 11 moves to the bottom end of the outer mast 12, it can extend or retract to the outer mast 12, so that the picking and placing assembly 30 can pick up and place goods from the material box under the outer mast 12.

[0133] The cargo picking and placing assembly 30 includes a base 31 and a picking and placing mechanism 32 . The picking and placing mechanism 32 is retractably arranged on the base 31 . The picking and placing mechanism 32 can extend from the base 31 or retract into the base 31 to facilitate the picking and placing of the material box 1000 .

[0134] In order to improve the stability of the operation of the material box handling robot 100, the material box handling robot 100 also includes: a first connecting fork body 60 and a second connecting fork body 70. The first connecting fork body 60 is slidably connected to the inner door frame 11 along the height direction of the inner door frame 11, and the cargo pick-up and release assembly 30 is arranged on the first connecting fork body 60. Based on the first-stage lifting assembly 20, the first connecting fork body 60 drives the cargo pick-up and release assembly 30 to move up and down along the height direction of the inner door frame 11; the second connecting fork body 70 is slidably connected to the outer door frame 12 along the height direction of the outer door frame 12, and the inner door frame 11 is arranged on the second connecting fork body 70, and the second connecting fork body 70 drives the inner door frame 11 to move up and down along the height direction of the outer door frame 12.

[0135] The first connecting fork 60 guides the up-and-down movement of the cargo pick-up and release assembly 30 relative to the inner mast 11, and the first-stage lifting assembly 20 provides power for the up-and-down movement of the cargo pick-up and release assembly 30, thereby realizing stable up-and-down movement of the cargo pick-up and release assembly 30 relative to the inner mast 11. The second connecting fork 70 guides the up-and-down movement of the inner mast 11 relative to the outer mast 12, and the second-stage lifting assembly 40 provides power for the up-and-down movement of the inner mast 11, thereby realizing stable up-and-down movement of the inner mast 11 relative to the outer mast 12.

[0136] In the specific implementation, Figure 4 As shown, the inner door frame 11 includes a left inner door column 111 and a right inner door column 112, and the cargo pick-up and release assembly 30 is located between the left inner door column 111 and the right inner door column 112; there are two first connecting fork bodies 60, which are respectively arranged on both sides of the cargo pick-up and release assembly 30; there are two first-stage lifting assemblies 20, which are respectively arranged on the left inner door column 111 and the right inner door column 112, and the left and right sides of the cargo pick-up and release assembly 30 are respectively connected to the two first-stage lifting assemblies 20 through a first connecting fork body 60. Specifically, the outer mast 12 includes: a left outer mast 121 and a right outer mast 122, the inner mast 11 is located between the left outer mast 121 and the right outer mast 122, the second connecting fork bodies 70 are two in number, respectively fixedly connected to the bottom of the left inner mast 111 and the right inner mast 112; the second-stage lifting assemblies 40 are two in number, respectively connected to the two second connecting fork bodies 70, so as to drive the inner mast 11 to move up and down along the height direction of the outer mast 12. The first-stage lifting assemblies 20 and the second-stage lifting assemblies 40 are symmetrically arranged to further improve the stability of the operation of the bin handling robot 100.

[0137] Specifically, Figure 5 for Figure 2 The enlarged view of B in the figure is as follows: Figure 5 As shown, the outer door frame 12 further includes: a first cross beam 123 , and the first cross beam 123 connects the left outer door column 121 and the right outer door column 122 to form the outer door frame 12 .

[0138] Among them, the first-stage lifting component 20 can be implemented in a variety of structures. For example, in the first implementation of the first-stage lifting component 20 (not shown), the first-stage lifting component 20 includes: a first drive motor and a first synchronous belt, the first synchronous belt is rotatably arranged on the inner door frame 11, the first connecting fork body 60 connects the pick-up and release component 30 and the first synchronous belt, the first drive motor is arranged on the inner door frame 11, and is used to drive the rotation of the first synchronous belt, so that the first synchronous belt drives the pick-up and release component 30 to move up and down along the height direction of the inner door frame 11; the control module 50 is connected to the first drive motor of the first-stage lifting component 20 for communication, and is used to control the forward and reverse rotation of the first drive motor. Driven by the first drive motor, the pick-up and release component 30 can move up and down stably relative to the inner door frame 11, so as to facilitate the first-stage extension and retraction of the pick-up and release component 30.

[0139] For example, in a second implementation of the first stage lifting assembly 20, Figure 6 for Figure 2 The schematic diagram of the partial cross-section structure of the box handling robot is shown in FIG. Figure 6 As shown, the first-stage lifting assembly 20 includes: a second drive motor 21, a first rack 22 and a first gear 23. The first rack 22 is arranged on the inner side of the inner door frame 11, and the first gear 23 is meshed with the first rack 22. The second drive motor 21 is arranged on the first connecting fork body 60, and is used to drive the rotation of the first gear 23, so that under the meshing force of the first gear 23 and the first rack 22, the cargo pick-up and placement assembly 30 is driven to move up and down along the height direction of the inner door frame 11; the control module 50 is connected to the second drive motor of the first-stage lifting assembly 20 for controlling the forward and reverse rotation of the second drive motor. Under the drive of the second drive motor, the cargo pick-up and placement assembly 30 is stably moved up and down relative to the inner door frame 11, so as to facilitate the first-stage extension and retraction of the cargo pick-up and placement assembly 30.

[0140] The second-stage lifting assembly 40 can be implemented in a variety of structures. For example, in one implementation of the first-stage lifting assembly 20, Figure 7 for Figure 2 The enlarged view of C in the figure is as follows: Figure 5 and Figure 7As shown, the second-stage lifting assembly 40 includes: a third drive motor 41 and a second synchronous belt 42, the second synchronous belt 42 is rotatably arranged on the outer mast 12, the second connecting fork 70 connects the inner mast 11 and the second synchronous belt 42, the third drive motor 41 is arranged on the outer mast 12, and is used to drive the rotation of the second synchronous belt 42, so that the second synchronous belt 42 drives the inner mast 11 to move up and down along the height direction of the outer mast 12; the control module 50 is connected to the third drive motor 41 of the second-stage lifting assembly 40 in communication, and is used to control the forward and reverse rotation of the third drive motor 41. Driven by the third drive motor, the inner mast 11 is stably moved up and down relative to the outer mast 12, so as to facilitate the second-stage telescopic operation of the cargo pick-up and place assembly 30.

[0141] In a specific implementation, a roller can be provided at the top of the outer door frame 12, and the third drive motor 41 is provided at the bottom of the outer door frame 12. The top of the second synchronous belt 42 is connected to the roller, and the bottom of the second synchronous belt 42 is connected to the output shaft of the third drive motor 41. Under the forward and reverse drive of the third drive motor 41, the second synchronous belt 42 rotates clockwise and counterclockwise, thereby driving the inner door frame 11 to move up and down relative to the outer door frame 12.

[0142] Specifically, the control module 50 may be installed on a side of the outer door frame 12 , but is not limited thereto.

[0143] An embodiment of the present application provides a container handling robot (not shown), including a telescopic door frame 10, a first-stage lifting assembly 20, a cargo picking and placing assembly 30, a second-stage lifting assembly 40 and a control module 50.

[0144] The telescopic gantry 10 includes an inner gantry 11 and an outer gantry 12; the cargo pick-up and placement assembly 30 is arranged on the inner gantry 11, and can move up and down along the height direction of the inner gantry 11 and pick up and place the material boxes on the shelf based on the first-level lifting assembly 20; the inner gantry 11 is arranged on the inner side of the outer gantry 12, and can move up and down along the height direction of the outer gantry 12 based on the second-level lifting assembly 40, so that the inner gantry 11 can extend or retract to the outer gantry 12 when it moves to the bottom end of the outer gantry 12; the outer gantry 12 is used to hang the material box handling robot 100 on the shelf; the control module 50 is communicated with the first-level lifting assembly 20, the second-level lifting assembly 40 and the cargo pick-up and placement assembly 30, controls the cargo pick-up and placement assembly 30 to perform cargo pick-up and placement operations, and adjusts the height of the cargo pick-up and placement assembly 30 relative to the shelf by controlling at least one of the first-level lifting assembly 20 and the second-level lifting assembly 40.

[0145] The material box handling robot 100 provided in the embodiment of the present application has a pick-up and place assembly 30 arranged on the inner mast 11, which can move up and down along the height direction of the inner mast 11 and pick up and place the material box on the shelf based on the first-level lifting assembly 20, so as to realize the first-level telescopic expansion and contraction of the pick-up and place assembly 30. The inner mast 11 is arranged on the inner side of the outer mast 12, and can move up and down along the height direction of the outer mast 12 based on the second-level lifting assembly 40, so as to realize the second-level telescopic expansion and contraction of the pick-up and place assembly 30. The outer mast 12 is used to hang the material box handling robot 100 on the bottom of the shelf. In the embodiment of the present solution, the control module 50 can be used to control the double-stage telescopic expansion and contraction of the pick-up and place assembly 30 of the material box handling robot 100, so that the inner mast 11 can extend or retract to the outer mast 12 when it moves to the bottom end of the outer mast 12, so that the pick-up and place assembly 30 can pick up and place the material box at the bottom of the shelf 310, so as to improve the picking height of the material box handling robot 100.

[0146] In the specific implementation, in the embodiment of the present scheme, the specific structure of the telescopic gantry 10, the first-stage lifting assembly 20, the cargo picking and placing assembly 30, the second-stage lifting assembly 40 and the control module 50 can be referred to the above-mentioned embodiment of the material box handling robot in which the inner gantry 11 moves to the top of the outer gantry 12, and the same structure is adopted.

[0147] In some embodiments, the bottom of the inner mast 11 is lower than the second connecting fork body 70 , so that the inner mast 11 can extend or retract to the outer mast 12 when it moves to the bottom end of the outer mast 12 .

[0148] In some embodiments, the middle part of the inner mast 11 is connected to the second connecting fork body 70, and the inner mast 11 can move up and down along the height direction of the outer mast 12 based on the second-stage lifting assembly 40, so that the inner mast 11 can extend or retract to the outer mast 12 when moving to the top end of the outer mast 12, and the inner mast 11 can also extend or retract to the outer mast 12 when moving to the bottom end of the outer mast 12.

[0149] Figure 8 A flowchart of a method for picking up and releasing goods provided in this application is shown in FIG. Figure 8 As shown, the embodiment of the present application also provides a method for picking up and placing goods, which can be applied to the control module of the material box handling robot in the above embodiment, and the control module is connected to the host computer for communication, and the method includes:

[0150] S11, receiving a pick-up and release instruction sent by the host computer, where the pick-up and release instruction includes the target location of the shelf;

[0151] The target position is the position of the cargo storage space where the box handling robot needs to pick up or put goods on the shelf. For example, the target position is the cargo storage space at the Ath layer and the Bth column of the shelf.

[0152] S12, control at least one of the first-stage lifting assembly and the second-stage lifting assembly to drive the cargo picking and placing assembly to move to the target height corresponding to the target position, and control the cargo picking and placing assembly to perform cargo picking and placing operations at the target position; wherein, when the target height is higher than the outer mast, control the inner mast to move to the top of the outer mast, extend the outer mast to drive the cargo picking and placing assembly to the target height, and control the cargo picking and placing assembly to pick up and place cargo at the target height.

[0153] Since the inner door frame can be extended or retracted to the outer door frame when it moves to the top of the outer door frame, the picking height of the picking and placing assembly can be increased, so as to facilitate increasing the picking height of the material box handling robot.

[0154] In some embodiments, the target height may be higher than the outer mast, or may not be higher than the outer mast. In a specific implementation, S12 includes:

[0155] Determine whether the target height is higher than the outer mast;

[0156] If the target height is higher than the outer mast, control at least one of the first-stage lifting assembly and the second-stage lifting assembly so that the inner mast moves to the top of the outer mast, and extends out of the outer mast to drive the cargo pick-up and release assembly to the target height;

[0157] If the target height is not higher than the outer mast, at least one of the first-stage lifting assembly and the second-stage lifting assembly is controlled so that the inner mast does not extend beyond the outer mast and drives the cargo pick-up and placement assembly to reach the target height.

[0158] In actual applications, in an embodiment of lifting or lowering the cargo pick-up and placement assembly and the inner door frame, the cargo pick-up and placement assembly and the inner door frame can be driven to lift or lower at the same time to increase the lifting or lowering speed of the material box handling robot, thereby facilitating improving the material box handling efficiency. Fig. 9 A flow chart of a specific method for picking up and releasing goods provided for this application is as follows: Fig. 9 As shown, in the above method for picking up and releasing goods, after step S121A determines whether the target height is higher than the outer door frame:

[0159] In some embodiments, controlling at least one of the first-stage lifting assembly and the second-stage lifting assembly, and the inner mast not extending out of the outer mast, and driving the cargo pick-up and placement assembly to reach a target height, comprises:

[0160] S122A, determining whether the target position is within the height range of the inner mast;

[0161] S1221A. If it is not within the height range of the inner mast, control the first-stage lifting assembly and the second-stage lifting assembly at the same time, so that the pick-up and release assembly moves on the inner mast, the inner mast moves on the outer mast, and the inner mast does not extend out of the outer mast, and drives the pick-up and release assembly to reach the target height.

[0162] S1222A. If within the height range of the inner mast, control the first-stage lifting assembly so that the pick-up and place assembly moves on the inner mast without the inner mast extending out of the outer mast, and drive the pick-up and place assembly to reach the target height.

[0163] In some embodiments, controlling at least one of the first-stage lifting assembly and the second-stage lifting assembly so that the inner mast moves to the top of the outer mast and extends out of the outer mast to drive the cargo pick-up and placement assembly to a target height includes:

[0164] S123A, determining whether the cargo pick-up and release assembly is at the top of the inner door frame;

[0165] S1231A, if it is not at the top of the inner mast, control the first-stage lifting assembly and the second-stage lifting assembly at the same time, so that the pick-up and release assembly moves on the inner mast, and the inner mast moves on the outer mast, so that the inner mast moves to the top of the outer mast, and extends out of the outer mast to drive the pick-up and release assembly to the target height;

[0166] In some embodiments, in step S1231A, if it is not at the top of the inner mast, it is determined whether the target height is the highest height. If it is the highest height, the first-stage lifting assembly and the second-stage lifting assembly are controlled simultaneously, so that the pick-up and release assembly moves on the inner mast, and the inner mast moves on the outer mast, so that the inner mast moves to the top of the outer mast, and extends the outer mast to drive the pick-up and release assembly to the target height; if it is not the highest height, the second-stage lifting assembly is controlled so that the inner mast moves on the outer mast, so that the inner mast moves to the top of the outer mast, and extends the outer mast to drive the pick-up and release assembly to the target height;

[0167] S1232A, if at the top of the inner mast, control the second-stage lifting assembly to move the inner mast on the outer mast, so that the inner mast moves to the top of the outer mast, and extends out of the outer mast to drive the cargo pick-up and release assembly to the target height;

[0168] In practice, in the above embodiment, the cargo picking and placing assembly moves upward on the inner mast, and the inner mast moves upward on the outer mast.

[0169] Fig.10 A state diagram of the box handling robot reaching the target position corresponding to a specific method of picking and placing goods provided in this application. Please refer to Fig.10 As shown, the inner mast 11 moves to the top of the outer mast 12 and extends out of the outer mast 12, and the cargo picking and placing assembly 30 moves to the middle of the inner mast 11 and reaches the target height.

[0170] S1232A. If the cargo pick-up and release assembly is at the top of the inner mast, the second-stage lifting assembly is controlled to move the inner mast upward on the outer mast, the inner mast moves to the top of the outer mast, and drives the cargo pick-up and release assembly to extend out of the outer mast to reach the target height.

[0171] In an embodiment of the present scheme, in the above steps S1221A and S1231A, the first-stage lifting assembly and the second-stage lifting assembly can be controlled simultaneously so that the cargo picking and placing assembly and the inner door frame can be lifted simultaneously, thereby facilitating improving the handling efficiency of the material box.

[0172] In actual applications, in an embodiment of lifting or lowering the cargo pick-up and place component and the inner door frame, the cargo pick-up and place component can be driven to lift or lower first, and then the inner door frame can be driven to lift or lower, so as to simplify the control program of the first-stage lifting component and the second-stage lifting component and improve the lifting or lowering operation stability of the material box handling robot. Fig.11 A flow chart of another specific method for picking up and releasing goods provided for this application is as follows: Fig.11 As shown, in the above method for picking up and releasing goods, after step S121B determines whether the target height is higher than the outer mast:

[0173] In some embodiments, controlling at least one of the first-stage lifting assembly and the second-stage lifting assembly, and the inner mast not extending out of the outer mast, and driving the cargo pick-up and placement assembly to reach a target height, comprises:

[0174] S122B, determining whether the target position is within the height range of the inner mast;

[0175] S1221B. If it is not within the height range of the inner mast, first control the first-stage lifting assembly to move the pick-up and release assembly on the inner mast to the top of the inner mast, then control the second-stage lifting assembly to move the inner mast on the outer mast without the inner mast extending out of the outer mast, and drive the pick-up and release assembly to reach the target height.

[0176] S1222B. If it is within the height range of the inner mast, control the first-stage lifting assembly so that the pick-up and release assembly moves on the inner mast, and the inner mast does not extend out of the outer mast, and drives the pick-up and release assembly to reach the target height.

[0177] In some embodiments, controlling at least one of the first-stage lifting assembly and the second-stage lifting assembly so that the inner mast moves to the top of the outer mast and extends out of the outer mast to drive the cargo pick-up and placement assembly to a target height includes:

[0178] S123B, determining whether the cargo pick-up and release assembly is at the top of the inner door frame;

[0179] S1231B, if it is not at the top of the inner mast, first control the first-stage lifting assembly to move the cargo pick-up and placement assembly on the inner mast to the top of the inner mast, then control the second-stage lifting assembly to move the inner mast on the outer mast, move the inner mast to the top of the outer mast, and extend the outer mast to drive the cargo pick-up and placement assembly to the target height;

[0180] S1232B, if at the top of the inner mast, control the second-stage lifting assembly to move the inner mast on the outer mast, so that the inner mast moves to the top of the outer mast, and extends out of the outer mast to drive the cargo pick-up and release assembly to the target height;

[0181] Fig.12 The state diagram of the material box handling robot reaching the target position corresponding to another specific method of picking up and placing goods provided in this application, please refer to Fig.12 As shown, the inner door frame 11 moves to the top of the outer door frame 12 and extends out of the outer door frame 12 (for ease of viewing, Fig.12 The top crossbeam of the inner mast 11 is omitted), the cargo pick-up and delivery assembly 30 moves to the top of the inner mast 11 and reaches the target height.

[0182] In an embodiment of the present scheme, in the above steps S1221B and S1231B, the picking and placing components can be driven to lift first, and then the inner door frame can be driven to lift, so as to simplify the control program of the first-stage lifting components and the second-stage lifting components, thereby facilitating improving the lifting operation stability of the material box handling robot.

[0183] It is easy to understand that in steps S331 and S341, the target position is higher than the inner mast. If the target position is lower than the inner mast, the descending operation is also applicable. The first-stage lifting assembly is controlled so that the pick-up and release assembly moves downward on the inner mast to the bottom of the inner mast, and then the second-stage lifting assembly is controlled so that the pick-up and release assembly reaches the target height.

[0184] The present application also provides a method for picking up and placing goods, which can be applied to the control module of the material box handling robot in the above embodiment. The inner door frame can move to the bottom of the outer door frame, and extend the outer door frame to drive the picking up and placing component to reach the target height, and control the picking up and placing component to pick up and place goods at the target height. The control module is connected to the host computer for communication, and the method includes:

[0185] Receive the pick-up and release instructions sent by the host computer, which include the target location of the shelf;

[0186] Control at least one of the first-stage lifting assembly and the second-stage lifting assembly to drive the cargo picking and placing assembly to move to the target height corresponding to the target position, and control the cargo picking and placing assembly to perform cargo picking and placing operations at the target position; wherein, when the target height is lower than the outer mast, control the inner mast to move to the bottom end of the outer mast, extend the outer mast to drive the cargo picking and placing assembly to the target height, and control the cargo picking and placing assembly to pick up and place cargo at the target height.

[0187] In some embodiments, the target height may be lower than the outer mast, or may not be lower than the outer mast. In a specific implementation, controlling at least one of the first-stage lifting assembly and the second-stage lifting assembly to drive the pick-up and place assembly to move to the target height corresponding to the target position, and controlling the pick-up and place assembly to perform a pick-up and place operation for the target position includes:

[0188] Determine whether the target height is lower than the outer mast;

[0189] If the target height is lower than the outer mast, control at least one of the first-stage lifting assembly and the second-stage lifting assembly so that the inner mast moves to the bottom of the outer mast, and extends out of the outer mast to drive the cargo pick-up and release assembly to the target height;

[0190] If the target height is not lower than the outer mast, at least one of the first-stage lifting assembly and the second-stage lifting assembly is controlled so that the inner mast does not extend beyond the outer mast and drives the cargo pick-up and placement assembly to reach the target height.

[0191] In the above method of picking and placing goods, after determining whether the target height is lower than the outer door frame:

[0192] In some embodiments, controlling at least one of the first-stage lifting assembly and the second-stage lifting assembly, and the inner mast not extending out of the outer mast, and driving the cargo pick-up and placement assembly to reach a target height, comprises:

[0193] Determine whether the target position is within the height range of the inner mast;

[0194] If it is not within the height range of the inner mast, the first-stage lifting assembly and the second-stage lifting assembly are controlled at the same time, so that the pick-up and release assembly moves on the inner mast, the inner mast moves on the outer mast, and the inner mast does not extend out of the outer mast, and drives the pick-up and release assembly to the target height.

[0195] If it is within the height range of the inner mast, control the first-stage lifting assembly so that the pick-up and place assembly moves on the inner mast, and the inner mast does not extend out of the outer mast, and drives the pick-up and place assembly to reach the target height.

[0196] In some embodiments, controlling at least one of the first-stage lifting assembly and the second-stage lifting assembly so that the inner mast moves to the bottom end of the outer mast and extends out of the outer mast to drive the cargo pick-up and placement assembly to reach a target height includes:

[0197] Determine whether the cargo pick-up and release assembly is at the bottom of the inner door frame;

[0198] If it is not at the bottom of the inner mast, the first-stage lifting assembly and the second-stage lifting assembly are controlled at the same time, so that the pick-up and release assembly moves on the inner mast, and the inner mast moves on the outer mast, so that the inner mast moves to the bottom of the outer mast, and extends out of the outer mast to drive the pick-up and release assembly to the target height;

[0199] If it is at the bottom of the inner mast, control the second-stage lifting assembly to move the inner mast on the outer mast, so that the inner mast moves to the bottom of the outer mast, and extends out of the outer mast to drive the cargo pick-up and release assembly to the target height;

[0200] In the above method of picking and placing goods, after determining whether the target height is lower than the outer door frame:

[0201] In some embodiments, controlling at least one of the first-stage lifting assembly and the second-stage lifting assembly, and the inner mast not extending out of the outer mast, and driving the cargo pick-up and placement assembly to reach a target height, comprises:

[0202] Determine whether the target position is within the height range of the inner mast;

[0203] If it is not within the height range of the inner mast, first control the first-stage lifting assembly to move the pick-and-place assembly on the inner mast to the bottom of the inner mast, and then control the second-stage lifting assembly to move the inner mast on the outer mast without the inner mast extending out of the outer mast, and drive the pick-and-place assembly to the target height.

[0204] If it is within the height range of the inner mast, control the first-stage lifting assembly so that the pick-up and place assembly moves on the inner mast, and the inner mast does not extend out of the outer mast, and drives the pick-up and place assembly to reach the target height.

[0205] In some embodiments, controlling at least one of the first-stage lifting assembly and the second-stage lifting assembly so that the inner mast moves to the bottom end of the outer mast and extends out of the outer mast to drive the cargo pick-up and placement assembly to reach a target height includes:

[0206] Determine whether the cargo pick-up and release assembly is at the bottom of the inner door frame;

[0207] If it is not at the bottom of the inner mast, first control the first-stage lifting assembly to move the cargo pick-up and release assembly on the inner mast to the bottom of the inner mast, then control the second-stage lifting assembly to move the inner mast on the outer mast, move the inner mast to the bottom of the outer mast, and extend the outer mast to drive the cargo pick-up and release assembly to the target height;

[0208] If it is at the bottom of the inner mast, control the second-stage lifting assembly to move the inner mast on the outer mast, so that the inner mast moves to the bottom of the outer mast, and extends out of the outer mast to drive the cargo pick-up and release assembly to the target height;

[0209] Fig.13 A schematic diagram of the structure of a control module of a material box handling robot provided in this application, such as Fig.13 As shown, the embodiment of the present application also provides a control module of a box handling robot, comprising:

[0210] Memory 210, used for storing computer programs;

[0211] The processor 220 is used to execute the program stored in the memory 210 to implement the following steps:

[0212] Receive the pick-up and release instructions sent by the host computer, which include the target location of the shelf;

[0213] Control at least one of the first-stage lifting assembly 20 and the second-stage lifting assembly 40 to drive the cargo picking and placing assembly 30 to move to the target height corresponding to the target position, and control the cargo picking and placing assembly 30 to perform cargo picking and placing operations at the target position; wherein, when the target height is higher than the outer mast 12, control the inner mast 11 to move to the top of the outer mast 12, and drive the cargo picking and placing assembly to extend out of the outer mast 12 to reach the target height, and control the cargo picking and placing assembly 30 to pick up and place cargo at the target height.

[0214] In addition, the control module of the above-mentioned material box handling robot may also include a communication bus and / or a communication interface, and the processor 220, the communication interface, and the memory 210 communicate with each other through the communication bus.

[0215] The communication bus mentioned in the control module of the above-mentioned material box handling robot can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0216] The communication interface is used for communication between the control module of the above-mentioned material box handling robot and other devices.

[0217] The memory 210 may include a random access memory 210 (Random Access Memory, RAM), and may also include a non-volatile memory 210 (Non-Volatile Memory, NVM), such as at least one disk memory 210. Optionally, the memory 210 may also be at least one storage device located away from the aforementioned processor 220.

[0218] The above-mentioned processor 220 can be a general-purpose processor 220, including a central processing unit 220 (CPU), a network processor 220 (NP), etc.; it can also be a digital signal processor 220 (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0219] Fig.14 A schematic diagram of the structure of a multi-layer shelf system 300 provided in this application. Fig.15 for Fig.14 The enlarged image of D in the middle, Fig.16 for Fig.14 The enlarged view of E in the figure is as follows: Fig.14 , Fig.15 and Fig.16 As shown, the embodiment of the present application also provides a multi-layer shelf system 300, including: M shelves 310, the M shelves 310 are stacked in sequence along the height direction, each shelf 310 has a cargo cache space 311 and a multi-layer cargo storage space 312, the cargo cache space 311 is located at the bottom of the multi-layer cargo storage space 312, and M is a positive integer greater than or equal to 2; on each shelf 310, at least one of the above-mentioned box handling robots 100 is hung; wherein, the box handling robot 100 set on the shelf 310 of the Nth layer is used to perform pick-up and release operations on the cargo cache space 311 of the shelf 310 of the N+1th layer and the multi-layer cargo storage space 312 of the shelf 310 of the Nth layer, and N is a positive integer greater than or equal to 1 and less than or equal to M-1.

[0220] In an embodiment of the present solution, the material box handling robot 100 provided on the shelf 310 on the Nth layer is used to perform picking and placing operations on the cargo cache space 311 of the shelf 310 on the N+1th layer and the multi-layer cargo storage space 312 of the shelf 310 on the Nth layer, so that the material boxes on the upper layer are transported layer by layer by the handling robots on different layers to the cargo cache space 311 provided on the shelf 310 on the bottom layer.

[0221] In some embodiments, the multi-layer shelf system is used to perform a first picking step of picking up goods from the goods storage space 312 of the shelf 310 on the Kth layer and placing them in the goods cache space 311 of the shelf 310 on the first layer, where k is a positive integer greater than or equal to 2. The first picking step includes: the container handling robot 100 provided on the shelf 310 on the Kth layer picks up the goods from the goods storage space 312 of the shelf 310 on the Kth layer and places the goods in the goods cache space 311 of the shelf 310 on the Kth layer;

[0222] The box handling robot 100 on the next layer of the shelf 310 where the goods are located controls the inner door frame 11 to move to the top of the outer door frame 12, and extends the outer door frame 12 to drive the picking and placing component 30 to reach the goods buffer space 311 of the shelf 310 where the goods are located, and controls the picking and placing component 30 to pick up the goods from the goods buffer space 311 of the shelf 310 where the goods are located, and then places the goods in the goods buffer space 311 of the shelf 310 on the next layer of the shelf 310 where the goods are located, until the goods are transported layer by layer to the goods buffer space 311 of the shelf 310 on the first layer;

[0223] In some embodiments, the multi-layer shelf system is used to execute a first cargo placing step of placing the cargo in the cargo buffer space 311 of the shelf 310 of the first layer in the cargo storage space 312 of the shelf 310 of the Kth layer, where k is a positive integer greater than or equal to 2. The first cargo placing step includes: after the material box handling robot 100 of the shelf 310 of the layer where the cargo is located obtains the cargo, the inner door frame 11 is controlled to move to the top of the outer door frame 12, and the outer door frame 12 is extended to drive the cargo picking and placing component 30 to reach the upper layer shelf 310, and the cargo is placed in the cargo buffer space 311 of the upper layer shelf 310, until the cargo is transported layer by layer to the cargo buffer space 311 of the shelf 310 of the kth layer;

[0224] The box transport robot 100 disposed on the shelf 310 of the Kth layer takes the goods from the cargo buffer space 311 of the shelf 310 of the Kth layer, and places the goods in the cargo storage space 312 of the shelf 310 of the Kth layer.

[0225] For ease of understanding, two shelves 310 are taken as an example, and the two shelves 310 are respectively a first shelf 310A and a second shelf 310B, and the second shelf 310B is stacked on the first shelf 310A. The first shelf 310A is hung with a first container handling robot 100A, and the second shelf 310B is hung with a second container handling robot 100B.

[0226] When it is necessary to put the material box on the second shelf 310B on the ground, the second material box handling robot 100B located on the second shelf 310B receives the first pick-up and release instruction, and the second material box handling robot 100B transports the material box at the corresponding position of the first pick-up and release instruction to the cargo cache space 311 of the second shelf 310B. The first material box handling robot 100A on the first shelf 310A receives the second movement instruction. According to the movement instruction, the first material box handling robot 100A drives the pick-up and release component 30 and the inner door frame 11 to move upward, and the upper part of the inner door frame 11 exceeds the top of the outer door frame 12. The pick-up and release component 30 of the first material box handling robot 100A reaches the cargo cache space 311 of the second shelf 310B. After taking away the material box on the cargo cache space 311 of the second shelf 310B, the first material box handling robot 100A receives the third movement instruction, and drives the pick-up and release component 30 and the inner door frame 11 to move downward in the opposite direction to transport the material box to the cargo cache space 311 of the first shelf 310A.

[0227] Specifically, the first shelf 310A is provided with a first transverse rail 311A, and the first container handling robot 100A on the first shelf 310A moves transversely along the first transverse rail 311A. The second shelf 310B is provided with a second transverse rail 311B, and the second container handling robot 100B on the second shelf 310B moves transversely along the second transverse rail 311B.

[0228] It is easy to understand that the container handling robot 100 of the above embodiment can be applied to a multi-layer shelf system 300, and can also be applied to a single-layer shelf system.

[0229] In some embodiments, a top plate 313 is disposed on the top of each shelf 310, and the N+1-th layer shelf 310 is disposed on the top plate 313 of the N-th layer shelf 310. Specifically, the bottom of the shelf 310 has legs, and the legs of the N+1-th layer shelf 310 are disposed on the top plate 313 of the N-th layer shelf 310, so as to improve the stability of the multi-layer shelf system 300.

[0230] In some embodiments, the material box handling robot 100 set on the shelf 310 of the N+1th layer is used to perform picking and placing operations on the multi-layer cargo storage space 312 of the shelf 310 of the N+1th layer and at least one layer of cargo storage space 312 at the top of the shelf 310 of the Nth layer, so that the material box on the top of the lower layer does not need to be transported layer by layer to the cargo storage space 312 set on the upper shelf 310 through the lower handling robot and the upper handling robot, and the material box on the top of the lower shelf 310 can be directly transported by the upper handling robot to the cargo storage space 312 of the upper shelf 310.

[0231] In some embodiments, the multi-layer shelf system is used to execute a second picking step for the goods in the goods storage space 312 of the shelf 310 of the k-1th layer, and obtain the goods in the goods storage space 312 of the shelf 310 of the Kth layer, k is a positive integer greater than or equal to 2, and the second picking step includes: the material box handling robot 100 of the shelf 310 of the kth layer controls the inner door frame 11 to move to the bottom end of the outer door frame 12, and extends the outer door frame 12 to drive the picking and placing component 30 to reach the goods storage space 312 of the shelf 310 of the K-1th layer, and after controlling the picking and placing component 30 to pick up the goods in the goods storage space 312 of the shelf 310 of the K-1th layer, controls the inner door frame 11 to retract to the bottom end of the outer door frame 12, drives the picking and placing component 30 to reach the goods storage space 312 of the shelf 310 of the K-1th layer, and controls the picking and placing component 30 to place the goods in the goods storage space 312 of the shelf 310 of the Kth layer;

[0232] In some embodiments, the multi-layer shelf system is used to execute a second cargo releasing step of placing the cargo in the cargo storage space 312 of the shelf 310 on the kth layer in the cargo storage space 312 of the shelf 310 on the K-1th layer, where k is a positive integer greater than or equal to 2, and the second cargo releasing step includes: after the box handling robot 100 of the shelf 310 on the kth layer obtains the cargo storage space 312 of the shelf 310 on the kth layer, the inner door frame 11 is controlled to move to the bottom end of the outer door frame 12, and the outer door frame 12 is extended to drive the picking and placing component 30 to reach the cargo storage space 312 of the shelf 310 on the K-1th layer, and the picking and placing component 30 is controlled to place the cargo in the cargo storage space 312 of the shelf 310 on the K-1th layer.

[0233] In another embodiment provided in the present application, a computer-readable memory is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned methods for picking up and releasing goods are implemented.

[0234] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any of the methods for picking up and releasing goods in the above embodiments.

[0235] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable memory, or transmitted from one computer-readable memory to another computer-readable memory, for example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable memory can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integration. The available medium can be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0236] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0237] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0238] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A box handling robot, characterized in that: include: A telescopic door frame (10), comprising an inner door frame (11) and an outer door frame (12); a first stage lifting assembly (20); A cargo pick-up and placement assembly (30) is arranged on the inner door frame (11) and can move up and down along the height direction of the inner door frame (11) and pick up and place the material boxes on the shelf based on the first-stage lifting assembly (20); A second stage lifting assembly (40); The inner mast (11) is arranged on the inner side of the outer mast (12), and can move up and down along the height direction of the outer mast (12) based on the second-stage lifting assembly (40), so that the inner mast (11) can extend or retract to the outer mast (12) when it moves to the top end of the outer mast (12); The outer door frame (12) is used to hang the material box handling robot on the shelf; The control module (50) is in communication connection with the first-stage lifting component (20), the second-stage lifting component (40) and the cargo picking and placing component (30), controls the cargo picking and placing component (30) to perform cargo picking and placing operations, and adjusts the height of the cargo picking and placing component (30) relative to the shelf by controlling the first-stage lifting component (20) and / or the second-stage lifting component (40).

2. The container handling robot according to claim 1, characterized in that: Also includes: A first connecting fork body (60) is slidably connected to the inner door frame (11) along the height direction of the inner door frame (11), and the cargo picking and placing assembly (30) is arranged on the first connecting fork body (60). Based on the first-stage lifting assembly (20), the first connecting fork body (60) drives the cargo picking and placing assembly (30) to move up and down along the height direction of the inner door frame (11); The second connecting fork body (70) is slidably connected to the outer door frame (12) along the height direction of the outer door frame (12), and the inner door frame (11) is arranged on the second connecting fork body (70). The second connecting fork body (70) drives the inner door frame (11) to move up and down along the height direction of the outer door frame (12).

3. The container handling robot according to claim 2, characterized in that: The first-stage lifting assembly (20) comprises: a first driving motor and a first synchronous belt, the first synchronous belt being rotatably arranged on the inner door frame (11), the first connecting fork (60) connecting the cargo picking and placing assembly (30) and the first synchronous belt, the first driving motor being arranged on the inner door frame (11) and being used to drive the first synchronous belt to rotate, so that the first synchronous belt drives the cargo picking and placing assembly (30) to move up and down along the height direction of the inner door frame (11); or, The first-stage lifting assembly (20) comprises: a second driving motor, a first rack and a first gear, wherein the first rack is arranged on the inner side of the inner door frame (11), the first gear and the first rack are meshed, and the second driving motor is arranged on the first connecting fork body (60) and is used to drive the first gear to rotate, so that under the meshing force of the first gear and the first rack, the cargo picking and placing assembly (30) is driven to move up and down along the height direction of the inner door frame (11); The control module (50) is in communication connection with the first drive motor or the second drive motor of the first-stage lifting assembly (20) and is used to control the forward and reverse rotation of the first drive motor or the second drive motor.

4. The container handling robot according to claim 2, characterized in that: The second-stage lifting assembly (40) comprises: a third driving motor (41) and a second synchronous belt (42), wherein the second synchronous belt (42) is rotatably arranged on the outer mast (12), the second connecting fork (70) connects the inner mast (11) and the second synchronous belt (42), and the third driving motor is arranged on the outer mast (12) and is used to drive the rotation of the second synchronous belt (42), so that the second synchronous belt (42) drives the inner mast (11) to move up and down along the height direction of the outer mast (12); The control module (50) is in communication connection with the third drive motor (41) of the second-stage lifting assembly (40) and is used to control the forward and reverse rotation of the third drive motor (41).

5. The container handling robot according to claim 2, characterized in that: The inner door frame (11) comprises: a left inner door column (111) and a right inner door column (112), and the cargo picking and placing assembly (30) is located between the left inner door column (111) and the right inner door column (112); The number of the first connecting fork bodies (60) is two, which are respectively arranged on both sides of the cargo picking and placing component (30); There are two first-stage lifting assemblies (20), which are respectively arranged on the left inner door column (111) and the right inner door column (112); the left and right sides of the cargo picking and placing assembly (30) are respectively connected to the two first-stage lifting assemblies (20) via a first connecting fork body (60).

6. The container handling robot according to claim 5, characterized in that: The outer door frame (12) comprises: a left outer door column (121) and a right outer door column (122); the inner door frame (11) is located between the left outer door column (121) and the right outer door column (122); The number of the second connecting fork bodies (70) is two, which are respectively fixedly connected to the bottom of the left inner door column (111) and the bottom of the right inner door column (112); The number of the second-stage lifting components (40) is two, which are respectively connected to the two second connecting fork bodies (70) to drive the inner door frame (11) to move up and down along the height direction of the outer door frame (12).

7. The container handling robot according to claim 1, characterized in that: The control module (50) is installed on the side of the outer door frame (12).

8. A box handling robot, characterized in that: include: A telescopic door frame (10), comprising an inner door frame (11) and an outer door frame (12); a first stage lifting assembly (20); A cargo pick-up and placement assembly (30) is arranged on the inner door frame (11) and can move up and down along the height direction of the inner door frame (11) and pick up and place the material boxes on the shelf based on the first-stage lifting assembly (20); A second stage lifting assembly (40); The inner mast (11) is arranged on the inner side of the outer mast (12), and can move up and down along the height direction of the outer mast (12) based on the second-stage lifting assembly (40), so that the inner mast (11) can extend or retract to the outer mast (12) when it moves to the bottom end of the outer mast (12); The outer door frame (12) is used to hang the material box handling robot on the shelf; The control module (50) is in communication connection with the first-stage lifting component (20), the second-stage lifting component (40) and the cargo picking and placing component (30), controls the cargo picking and placing component (30) to perform cargo picking and placing operations, and adjusts the height of the cargo picking and placing component (30) relative to the shelf by controlling the first-stage lifting component (20) and / or the second-stage lifting component (40).

9. A method for picking up and releasing goods, characterized in that: A control module (50) applied to a material box handling robot, the control module (50) being communicatively connected to a host computer, the material box handling robot comprising a telescopic door frame (10), a first-stage lifting component (20), a cargo pick-up and placement component (30), a second-stage lifting component (40) and the control module (50), the telescopic door frame (10) comprising an inner door frame (11) and an outer door frame (12), the cargo pick-up and placement component (30) being arranged on the inner door frame (11), and being able to move up and down along the height direction of the inner door frame (11) and pick up and place material boxes on a shelf based on the first-stage lifting component (20); the inner door frame (11) being arranged on the inner side of the outer door frame (12), and being able to move up and down along the height direction of the outer door frame (12) based on the second-stage lifting component (40); the control module (50) being communicatively connected to the first-stage lifting component (20), the second-stage lifting component (40) and the cargo pick-up and placement component (30); The method comprises: Receiving a pick-up and release instruction sent by a host computer, wherein the pick-up and release instruction includes a target location of the shelf; Controlling at least one of the first-stage lifting assembly (20) and the second-stage lifting assembly (40) to drive the cargo pick-up and placement assembly (30) to move to a target height corresponding to the target position, and controlling the cargo pick-up and placement assembly (30) to perform cargo pick-up and placement operations at the target position; wherein, when the target height is higher than the outer door frame (12), controlling the inner door frame (11) to move to the top of the outer door frame (12), and extending out of the outer door frame (12) to drive the cargo pick-up and placement assembly (30) to reach the target height, and controlling the cargo pick-up and placement assembly (30) to perform cargo pick-up and placement operations at the target height.

10. The method for picking up and releasing goods according to claim 9, characterized in that: The controlling at least one of the first-stage lifting assembly (20) and the second-stage lifting assembly (40) to drive the cargo picking and placing assembly (30) to move to a target height corresponding to the target position comprises: Determining whether the target height is higher than the outer mast; If the target height is higher than the outer mast (12), at least one of the first-stage lifting assembly (20) and the second-stage lifting assembly (40) is controlled so that the inner mast (11) moves to the top of the outer mast (12) and extends out of the outer mast (12) to drive the cargo pick-up and placement assembly (30) to reach the target height; If the target height is not higher than the outer mast (12), at least one of the first-stage lifting assembly (20) and the second-stage lifting assembly (40) is controlled so that the inner mast (11) does not extend beyond the outer mast (12), and drives the cargo pick-up and placement assembly (30) to reach the target height.

11. The method for picking up and releasing goods according to claim 10, characterized in that: The controlling at least one of the first-stage lifting assembly (20) and the second-stage lifting assembly (40) so that the inner door frame (11) moves to the top of the outer door frame (12), and extends out of the outer door frame (12) to drive the cargo picking and placing assembly (30) to reach a target height comprises: Determining whether the cargo picking and placing assembly (30) is on top of the inner door frame (11); If at the top of the inner mast (11), the second-stage lifting assembly (40) is controlled to move the inner mast (11) on the outer mast (12), so that the inner mast (11) moves to the top of the outer mast (12), and extends out of the outer mast (12) to drive the cargo picking and placing assembly (30) to reach the target height; If it is not at the top of the inner mast (11), the first-stage lifting assembly (20) and the second-stage lifting assembly (40) are controlled simultaneously, so that the cargo pick-up and placement assembly (30) moves on the inner mast (11), and the inner mast (11) moves on the outer mast (12), so that the inner mast (11) moves to the top of the outer mast (12), and extends out of the outer mast (12) to drive the cargo pick-up and placement assembly (30) to reach the target height; and / or, The controlling of at least one of the first-stage lifting assembly (20) and the second-stage lifting assembly (40), wherein the inner door frame (11) does not extend beyond the outer door frame (12), and driving the cargo picking and placing assembly (30) to reach a target height, comprises: Determining whether the target position is within the height range of the inner mast (11); If within the height range of the inner mast (11), the first-stage lifting assembly (20) is controlled so that the cargo picking and placing assembly (30) moves on the inner mast (11), and the inner mast (11) does not extend beyond the outer mast (12), and drives the cargo picking and placing assembly (30) to reach a target height; If it is not within the height range of the inner mast (11), the first-stage lifting assembly (20) and the second-stage lifting assembly (40) are controlled simultaneously, so that the cargo picking and placing assembly (30) moves on the inner mast (11), the inner mast (11) moves on the outer mast (12), and the inner mast (11) does not extend out of the outer mast (12), and drives the cargo picking and placing assembly (30) to reach the target height.

12. The method for picking up and releasing goods according to claim 10, characterized in that: The controlling at least one of the first-stage lifting assembly (20) and the second-stage lifting assembly (40) so that the inner door frame (11) moves to the top of the outer door frame (12), and extends out of the outer door frame (12) to drive the cargo picking and placing assembly (30) to reach a target height comprises: Determining whether the cargo picking and placing assembly (30) is on top of the inner door frame (11); If at the top of the inner mast (11), the second-stage lifting assembly (40) is controlled to move the inner mast (11) on the outer mast (12), so that the inner mast (11) moves to the top of the outer mast (12), and extends out of the outer mast (12) to drive the cargo picking and placing assembly (30) to reach the target height; If it is not at the top of the inner mast (11), firstly control the first-stage lifting assembly (20) so that the cargo pick-up and release assembly (30) moves on the inner mast (11) to the top of the inner mast (11), and then control the second-stage lifting assembly (40) so that the inner mast (11) moves on the outer mast (12), the inner mast (11) moves to the top of the outer mast (12), and extends out of the outer mast (12) to drive the cargo pick-up and release assembly (30) to reach the target height; and / or, The controlling of at least one of the first-stage lifting assembly (20) and the second-stage lifting assembly (40), wherein the inner door frame (11) does not extend beyond the outer door frame (12), and driving the cargo picking and placing assembly (30) to reach a target height, comprises: Determining whether the target position is within the height range of the inner door frame (11); If within the height range of the inner mast (11), the first-stage lifting assembly (20) is controlled so that the cargo picking and placing assembly (30) moves on the inner mast (11), and the inner mast (11) does not extend beyond the outer mast (12), and drives the cargo picking and placing assembly (30) to reach a target height; If it is not within the height range of the inner mast (11), firstly control the first-stage lifting assembly (20) so that the cargo pick-up and placement assembly (30) moves on the inner mast (11) to the top of the inner mast (11), and then control the second-stage lifting assembly (40) so that the inner mast (11) moves on the outer mast (12) without the inner mast (11) extending out of the outer mast (12), and drive the cargo pick-up and placement assembly (30) to reach the target height.

13. A method for picking up and releasing goods, characterized in that: A control module (50) applied to a material box handling robot, the control module (50) being communicatively connected to a host computer, the material box handling robot comprising a telescopic door frame (10), a first-stage lifting component (20), a cargo pick-up and placement component (30), a second-stage lifting component (40) and the control module (50), the telescopic door frame (10) comprising an inner door frame (11) and an outer door frame (12), the cargo pick-up and placement component (30) being arranged on the inner door frame (11), and being able to move up and down along the height direction of the inner door frame (11) and pick up and place material boxes on a shelf based on the first-stage lifting component (20); the inner door frame (11) being arranged on the inner side of the outer door frame (12), and being able to move up and down along the height direction of the outer door frame (12) based on the second-stage lifting component (40); the control module (50) being communicatively connected to the first-stage lifting component (20), the second-stage lifting component (40) and the cargo pick-up and placement component (30); The method comprises: Receiving a pick-up and release instruction sent by a host computer, wherein the pick-up and release instruction includes a target location of the shelf; Controlling at least one of the first-stage lifting assembly (20) and the second-stage lifting assembly (40) to drive the cargo picking and placing assembly (30) to move to a target height corresponding to the target position, and controlling the cargo picking and placing assembly (30) to perform cargo picking and placing operations at the target position; wherein, when the target height is lower than the outer door frame (12), controlling the inner door frame (11) to move to the bottom end of the outer door frame (12), and extending out of the outer door frame (12) to drive the cargo picking and placing assembly (30) to reach the target height, and controlling the cargo picking and placing assembly (30) to pick up and place cargo at the target height.

14. A control module for a box handling robot, characterized in that: The invention comprises a processor (220) and a machine-readable memory (210), wherein the machine-readable memory (210) stores machine-executable instructions that can be executed by the processor (220), and the processor (220) is prompted by the machine-executable instructions to implement the method for picking up and releasing goods according to any one of claims 9 to 13.

15. A multi-layer shelf system, characterized in that: include: M shelves (310), the M shelves (310) are stacked in sequence along the height direction, each shelf (310) has a cargo caching space (311) and a multi-layer cargo storage space (312), the cargo caching space (311) is located at the bottom of the multi-layer cargo storage space (312), and M is a positive integer greater than or equal to 2; At least one container handling robot (100) as described in any one of claims 1 to 8 is mounted on each of the shelves (310); wherein: The box handling robot (100) provided on the shelf (310) on the Nth layer is used to perform a picking and placing operation on the cargo buffer space (311) on the shelf (310) on the N+1th layer and the multi-layer cargo storage space (312) on the shelf (310) on the Nth layer, and / or the box handling robot (100) provided on the shelf (310) on the N+1th layer is used to perform a picking and placing operation on the multi-layer cargo storage space (312) on the shelf (310) on the N+1th layer and at least one layer of cargo storage space (312) at the top of the shelf (310) on the Nth layer, where N is a positive integer greater than or equal to 1 and less than or equal to M-1; The material box transport robot (100) arranged on the shelf (310) of the Mth layer is used to perform cargo picking and placing operations on the cargo buffer space (311) of the shelf (310) of the Mth layer and the multi-layer cargo storage space (312) of the shelf (310) of the Mth layer.

16. The multi-layer shelf system according to claim 15, characterized in that: A top plate (313) is arranged on the top of each shelf (310), and the shelf (310) on the N+1th layer is arranged on the top plate (313) of the shelf (310) on the Nth layer.

17. The multi-layer shelf system according to claim 15, characterized in that: The multi-layer shelf system is used to perform a first picking step of picking up goods from a goods storage space (312) of a shelf (310) on the Kth layer to a goods buffer space (311) of a shelf (310) on the first layer, where k is a positive integer greater than or equal to 2, and the first picking step includes: The box transport robot (100) arranged on the shelf (310) on the Kth layer takes the goods from the goods storage space (312) on the shelf (310) on the Kth layer and places the goods in the goods buffer space (311) on the shelf (310) on the Kth layer; The box handling robot (100) at the next layer of the shelf (310) where the goods are located controls the inner door frame (11) to move to the top of the outer door frame (12), and extends the outer door frame (12) to drive the picking and placing component (30) to reach the goods buffer space (311) of the shelf (310) at the layer where the goods are located, and controls the picking and placing component (30) to pick up the goods from the goods buffer space (311) of the shelf (310) at the layer where the goods are located, and then places the goods in the goods buffer space (311) of the next layer of the shelf (310) at the layer where the goods are located, until the goods are transported layer by layer to the goods buffer space (311) of the shelf (310) at the first layer; and / or, The multi-layer shelf system is used to execute a first cargo release step of placing cargo in a cargo buffer space (311) of a shelf (310) on the first layer into a cargo storage space (312) of a shelf (310) on the Kth layer, where k is a positive integer greater than or equal to 2. The first cargo release step includes: After the cargo is obtained by the material box handling robot (100) of the shelf (310) at the level where the cargo is located, the inner door frame (11) is controlled to move to the top of the outer door frame (12), and the outer door frame (12) is extended to drive the cargo picking and placing component (30) to reach the upper shelf (310), and the cargo is placed in the cargo buffer space (311) of the upper shelf (310), until the cargo is transported layer by layer to the cargo buffer space (311) of the shelf (310) at the kth level; The material box transport robot (100) arranged on the shelf (310) of the Kth layer takes the goods from the goods buffer space (311) of the shelf (310) of the Kth layer and places the goods in the goods storage space (312) of the shelf (310) of the Kth layer.

18. The multi-layer shelf system according to claim 15, characterized in that: The multi-layer shelf system is used to execute a second picking step of obtaining goods from the goods storage space (312) of the shelf (310) on the Kth layer for goods in the goods storage space (312) of the shelf (310) on the k-1th layer, where k is a positive integer greater than or equal to 2, and the second picking step includes: The box handling robot (100) of the k-th layer shelf (310) controls the inner door frame (11) to move to the bottom end of the outer door frame (12), and extends the outer door frame (12) to drive the picking and placing component (30) to reach the cargo storage space (312) of the shelf (310) of the K-1 layer, controls the picking and placing component (30) to pick up the cargo from the cargo storage space (312) of the shelf (310) of the K-1 layer, controls the inner door frame (11) to retract to the bottom end of the outer door frame (12), drives the picking and placing component (30) to reach the cargo storage space (312) of the shelf (310) of the K-1 layer, and controls the picking and placing component (30) to place the cargo in the cargo storage space (312) of the shelf (310) of the K-1 layer; and / or, The multi-layer shelf system is used to execute a second cargo releasing step of placing cargo in the cargo storage space (312) of the shelf (310) on the kth layer into the cargo storage space (312) of the shelf (310) on the K-1th layer, where k is a positive integer greater than or equal to 2, and the second cargo releasing step includes: After the box handling robot (100) of the shelf (310) on the kth layer obtains the goods in the goods storage space (312) of the shelf (310) on the kth layer, the inner door frame (11) is controlled to move to the bottom end of the outer door frame (12), and the outer door frame (12) is extended to drive the picking and placing component (30) to reach the goods storage space (312) of the shelf (310) on the K-1th layer, and the picking and placing component (30) is controlled to place the goods in the goods storage space (312) of the shelf (310) on the K-1th layer.

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