Container hooking device and control method thereof

Abstract

The invention relates to a container hooking device and a control method thereof, and the container hooking device comprises a base which can rotate and lift; the sliding telescopic device is arranged on the base and comprises a multi-stage sliding rail arranged in the length direction of the base and a first driving mechanism for driving the multi-stage sliding rail to stretch out and draw back relative to the movable cabinet; wherein in the completely extending state, the first-stage sliding rail is located at the foremost end in the extending and retracting direction; the hooking mechanism is connected to the first-stage sliding rail in a sliding mode and comprises a lifting support and a hooking claw connected to the lifting support in a sliding mode, and the hooking claw is driven by a second driving mechanism to ascend and descend along the lifting support; the positioning device is used for positioning a target container and identifying the position and posture of the target container in a three-dimensional space; and the controller is used for adjusting the hooking action according to the information fed back by the positioning device. According to the scheme, the goods taking requirement of a deeper storage location can be met, and the hooking structure is kept stable in the hooking process.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent warehousing systems, and particularly to a cargo box grabbing device and a control method thereof. Background Art

[0002] With the development of the logistics industry, handling robots are gradually applied to the work of cargo box handling, which can improve the handling efficiency of cargo boxes; therefore, handling robots have become a research hotspot in the logistics industry.

[0003] According to the different ways of taking out cargo boxes, handling robots can be divided into clamping and holding type, lifting type or lateral pulling type taking-out mechanisms; among them, the two extending arms of the clamping and holding type and the lateral pulling type are on both sides of the cargo box. Therefore, a space for the extending arm to insert and a space for the two clamping arms to move towards each other need to be reserved between adjacent two cargo boxes, wasting the lateral storage space of the shelf. The fork of the lifting type taking-out mechanism is inserted into the bottom of the cargo box, and a space for the fork to insert needs to be reserved between the bottom of the cargo box and the shelf, and at the same time, a space for the cargo box to move needs to be reserved above the cargo box to be pre-transferred, wasting the storage space in the height direction of the shelf. In addition, the current cargo box taking-out mechanism can at most take out double-depth cargo boxes (that is, the depth of two rows of cargo boxes); it cannot meet the picking requirements of deeper storage positions, resulting in the underutilization of the longitudinal space of the warehouse. Summary of the Invention

[0004] In order to solve the above problems, the purpose of the present invention is to provide a cargo box grabbing device and a control method thereof, which can reduce the occupation of operating space while improving the picking depth and warehouse storage efficiency.

[0005] A cargo box grabbing device includes:

[0006] A base, which is rotatably and liftably arranged;

[0007] A sliding and telescoping device, which is arranged on the base and includes a multi-stage slide rail arranged along the length direction of the base and a first driving mechanism for driving the multi-stage slide rail to telescopically move relative to the moving cabinet; wherein, in the fully extended state, the first-stage slide rail is located at the forefront of the telescoping direction;

[0008] A grabbing mechanism, which is slidably connected to the first-stage slide rail and includes a lifting bracket, and a grabbing claw slidably connected to the lifting bracket, and the grabbing claw is driven by a second driving mechanism to lift along the lifting bracket;

[0009] A positioning device, which is used to position the target cargo box and identify its position and attitude in the three-dimensional space;

[0010] A controller, which adjusts the grabbing action according to the information fed back by the positioning device.

[0011] The above solution, through the extension and retraction of the multi-stage slide rails, allows the device to reach deep into the shelf to pick up goods, expand the picking depth, and solve the limitation of the existing technology that only supports double-deep cargo boxes. The height and angle of the base are adjustable, which is convenient for accurate alignment of the cargo box position and adapting to shelf storage positions of different heights, while ensuring that the front end of the sliding telescopic device can smoothly enter the deep part of the shelf. The hook is stably lifted and lowered by the lifting bracket, and the structural stability can be maintained even when dragging heavy cargo boxes, reducing the risk of mechanical shaking or deviation. The positioning device is coordinated with the controller to dynamically adjust the hooking action through three-dimensional spatial positioning and real-time feedback, thereby improving the accuracy and success rate of picking up goods and reducing manual intervention.

[0012] Preferably, the positioning device includes a code reading device for locating the cargo box and identifying the cargo box information by scanning the coded information on the cargo box.

[0013] By scanning the container coding information (such as QR code or barcode), the location and attributes of the target container can be quickly determined, and the identified container information can be linked with the warehouse management system to achieve automatic recording and tracking of the container information.

[0014] Preferably, the positioning device includes a laser sensor for identifying the position and posture of the cargo box. The laser sensor can accurately obtain the contour of the cargo box, adapt to complex scenarios such as cargo box tilting and stacking, and ensure accurate adaptation of the hooking action. Based on the information fed back by the laser sensor, the hooking action such as the telescopic length of the sliding telescopic device and the lifting height of the hook claw can be controlled.

[0015] Preferably, the first driving mechanism of the sliding telescopic device includes a driving motor and a synchronous belt assembly connected to the driving motor. The synchronous belt drive has the characteristics of low noise and high synchronization, ensuring the smoothness of the telescopic action of the multi-stage slide rail. And through the cooperation of the synchronous belt assembly, it is possible to drive the multi-stage slide rail assembly through one driving motor, reducing the complexity of the structure and reducing the cost.

[0016] Preferably, the multi-level slide rail includes a first-level slide rail, a second-level slide rail and a third-level slide rail, the hook device is slidably arranged on the first-level slide rail, the first-level slide rail and the second-level slide rail are connected by a first synchronous belt assembly; the second-level slide rail and the third-level slide rail are connected by a second synchronous belt assembly, the second synchronous belt is driven to rotate by a first drive motor, and the second synchronous belt is linked to the first synchronous belt. Through the linkage design of the synchronous belt assembly, the coordinated extension and retraction of the multi-level slide rails is realized, and the picking depth is extended; the multi-level slide rail is divided into a three-level structure, which can adapt to most shelf depths, and by adjusting the length of each level, the overall structure can be made more stable. The nested layout of the multi-level slide rails has a small volume when retracted, reduces the space occupied by the device, and improves the flexibility of the warehouse layout.

[0017] Preferably, the second-stage slide rail includes a first transverse connecting seat provided at the rear end in the moving direction and a second transverse connecting seat provided at the front end in the moving direction; the first transverse connecting seat is fixed to the second synchronous belt, and a synchronous pulley on one side of the first synchronous belt is provided on the first transverse connecting seat; the synchronous pulley on the other side of the first synchronous belt is installed on the second transverse connecting seat, the first-stage slide rail is fixed to the first synchronous belt, and the other end of the first synchronous belt is fixed to the base or the third-stage guide rail. By reasonably distributing the positions of the synchronous pulleys through the transverse connecting seats, the space occupied by the transmission components is reduced, and a structure for driving the first synchronous belt and the second synchronous belt by the same driving motor is realized.

[0018] Preferably, the hook device is driven by a third driving mechanism to move along the first-stage slide rail. The third driving mechanism includes a third driving motor and a gear-rack assembly. The third driving motor and the hook device are installed on the same slider. The slider is slidably connected to the first-stage slide rail. The rack is arranged along the first-stage slide rail. The gear meshes with the rack and is driven by the third driving motor to rotate. The gear-rack transmission has the characteristics of high precision and high rigidity, ensuring the position accuracy when the hook mechanism moves along the first-stage slide rail; the gear-rack structure can bear a large load, is suitable for handling heavy cargo boxes, and has a simple transmission structure.

[0019] Preferably, when the multi-stage slide rail is in the fully extended state, at least a part of it can fit the bottom surface of the target cargo box storage position on the shelf. The fitting design can disperse the impact force of the cargo box weight on the slide rail, making it move more stably when driving the cargo box to retract.

[0020] Preferably, a buffer block is provided at the rear of the first-stage slide rail facing the cargo box. The buffer block can absorb the impact energy when the cargo box retracts or there is a positioning error, prevent the cargo box from colliding hard with the slide rail, and extend the service life of the device.

[0021] The present invention also provides a control method for a cargo box hook device, including a cargo box hook device as described in any one of the above, and the method includes the following steps:

[0022] Control the cargo box hook device to move to one side of the shelf, and the sliding telescopic device is in the retracted state;

[0023] When the target cargo box is deep in the shelf, control the cargo box hook device to rise so that the sliding telescopic device thereon can enter the shelf;

[0024] Control the hook mechanism to move to the front end of the first-stage slide rail, and adjust the telescopic length of the sliding telescopic device according to the position and attitude of the target cargo box in the three-dimensional space;

[0025] After the sliding telescopic device drives the hook mechanism to move to one side of the target cargo box, control the hook claw to rise to establish a connection with the connecting part of the target cargo box, and then the sliding telescopic device retracts to drive the target cargo box;

[0026] When the target cargo box is at the opening of the shelf, control the cargo box grabbing device to descend until the upper end face of its sliding telescopic device aligns with the bottom surface of the storage position of the target cargo box, and adjust the height of the claw to re - establish the connection with the connecting part of the target cargo box;

[0027] The grabbing mechanism drives the cargo box to move onto the first - stage slide rail.

[0028] The above - mentioned method can adapt to the requirements of taking out cargo boxes at different positions in the deep, shallow or opening areas of the shelf by dynamically adjusting the device height, the telescopic length of the slide rail and the position of the claw. When taking out the cargo box in the deep storage position, step - by - step control ensures a smooth connection in the process of taking out the cargo box, reduces the risk of the cargo box shaking or falling, guarantees the safety and efficiency of handling, and can optimize the control process. Combining the feedback information of the positioning device, it realizes full - process automatic control, reduces the need for manual intervention, and is applicable to high - density intelligent warehousing systems. Brief Description of the Drawings

[0029] Figure 1 It is a schematic structural diagram of the present application (state where the multi - stage slide rail extends);

[0030] Figure 2 It is a schematic structural diagram of the base;

[0031] Figure 3 It is Figure 1 A schematic structural diagram after hiding the base;

[0032] Figure 4 It is Figure 3 A schematic structural diagram from another angle;

[0033] Figure 5 It is Figure 1 An enlarged view of part A in

[0034] Reference Signs:

[0035] Base 1, Enclosure 11,

[0036] Sliding telescopic device 2, First - stage slide rail 21, Buffer block 22, Second - stage slide rail 22, First transverse connecting seat 221, Second transverse connecting seat 222, Third - stage slide rail 23, Rack 231, First driving mechanism 24, First driving motor 241, First synchronous belt 242, Second synchronous belt 243,

[0037] Grabbing device 3, Claw 31, Third driving mechanism 32, Second driving mechanism 33, Lifting bracket 34, Moving seat 35,

[0038] Code - reading device 41, Laser sensor 42. Detailed Embodiment

[0039] The embodiments of the present invention are described in detail below.

[0040] Embodiment 1:

[0041] This embodiment provides a cargo box hook device, such as Figure 1-4 As shown, the cargo box hooking device includes a base 1; a sliding telescopic device 2 is provided on the base 1, wherein, in a fully extended state, the first-stage slide rail 21 is located at the front end in the telescopic direction; a hooking mechanism 3 is slidably connected to the first-stage slide rail 21, and includes a lifting bracket 34, and a hook claw 31 is slidably connected to the lifting bracket 34, and the hook claw 31 is driven by a second driving mechanism 33 to rise and fall along the lifting bracket 34.

[0042] In one embodiment, the base 1 can be rotatably raised and lowered. Specifically, the bottom of the base 1 is mounted on a mounting seat through a cross roller bearing, and the mounting seat can be raised and lowered and slidably mounted on the door frame. The rotatable raising and lowering setting of the base 1 is realized through the above structure, so that the base 1 can be moved to the side of the shelf where the target cargo box is located, in preparation for the subsequent removal of the target cargo box. In other embodiments, the base 1 can also be rotatably raised and lowered through other structures.

[0043] like Figure 3 As shown, in this embodiment, the base 1 includes a bottom plate and a surrounding plate 11 circumferentially arranged around the bottom plate. The base 1 is open to the front, and the surrounding plate 11 is inclined at the opening end in the direction of expanding the opening, so that the cargo box can enter the range of the base 1. In the length direction of the base 1, the width of the surrounding plate 11 and the base 1 is narrowed at the rear. The wider front width is used to accommodate the target cargo box, and the retracted hook mechanism on the first-level slide rail is installed at the narrower rear width. In addition, the driving motor 241 of the first driving mechanism 24 for driving the sliding telescopic device 2 to extend and retract is installed at the narrower rear width, so that the driving device and the cargo box can be separated to prevent the cargo box from moving too far and colliding with the above-mentioned hook device and driving motor 241. The rear contraction structure can reduce the overall volume of the base 1 and reduce its overall occupied space.

[0044] Combination Figure 3 and Figure 4 The sliding telescopic device 2 includes a multi-stage slide rail (a first-stage slide rail 21, a second-stage slide rail 22, and a third-stage slide rail 23) arranged along the length direction of the base 1 and a first driving mechanism 24 that drives the multi-stage slide rail to extend and retract relative to the mobile cabinet; in the fully extended state, the first-stage slide rail 21 is located at the front end of the telescopic direction. By adjusting the telescopic length of the multi-stage slide rail, it is possible to pick up goods from deep and shallow positions on the shelf. The first driving mechanism 24 of the sliding telescopic device 2 includes a driving motor 241 and a synchronous belt assembly (a first synchronous belt 242, a second synchronous belt 243) that is transmission-connected to the driving motor 241. The synchronous belt transmission structure is simple and can simplify control.

[0045] In this embodiment, the multi-stage slide rail includes a first-stage slide rail 21, a second-stage slide rail 22, and a third-stage slide rail 23. The picking device 3 is slidably arranged on the first-stage slide rail 21. The first-stage slide rail 21 is connected to the second-stage slide rail 22 through a first synchronous belt assembly; the second-stage slide rail 22 is connected to the third-stage slide rail 23 through a second synchronous belt assembly. The second synchronous belt 243 is driven to rotate by a first driving motor 241, and the second synchronous belt 243 is linked with the first synchronous belt 242. In this embodiment, the multi-stage slide rails are nested, and the overall occupied space is small after contraction. And a position sensor is provided to control the maximum telescopic position of each stage of the slide rail. The structure and working principle of the position sensor are conventional technical means in the art and will not be described in detail here.

[0046] As Figure 4 shown, the second-stage slide rail 22 includes a first transverse connection seat 221 arranged at the rear end in the moving direction and a second transverse connection seat 222 arranged at the front end in the moving direction; the first transverse connection seat 221 is fixed to the second synchronous belt 243, and a synchronous pulley of the first synchronous belt 242 is arranged on one side of the first transverse connection seat 221; the synchronous pulley on the other side of the first synchronous belt 242 is installed on the second transverse connection seat 222. The first-stage slide rail 21 is fixed to the first synchronous belt 242, and the other end of the first synchronous belt 242 is fixed to the base 1 or the third-stage slide rail 23. In this embodiment, the second synchronous belt 243 is arranged along the midline of the third-stage slide rail 23. In the contracted state of the multi-stage slide rail, a pair of first synchronous belts 242 are located on both sides in the width direction of the first synchronous belt 242, avoiding mutual interference between the synchronous belts in the contracted state of the multi-stage slide rail. And a pair of first synchronous belts 242 are used to connect the first-stage slide rail 21 at the more front end in the moving direction, making its movement more stable. In this embodiment, the third-stage slide rail 23 is fixed to the base 1, and the second-stage slide rail 22 and the third-stage slide rail 23 can extend forward relative to the third-stage slide rail 23, so that the sliding telescopic device 2 can extend forward relative to the base 1 and enter the deep part of the shelf storage location.

[0047] In a preferred embodiment, in the fully extended state of the multi-stage slide rail, at least a part of it can be attached to the bottom surface of the target cargo box storage position on the shelf. The attachment design can disperse the impact force of the cargo box weight on the slide rail, making its movement more stable when driving the cargo box to retract.

[0048] Combined with Figure 5As shown, the picking mechanism 3 is slidably connected to the first-stage slide rail 21 through a slider and can move back and forth along the first-stage slide rail 21. In this embodiment, the picking device 3 is driven by a third driving mechanism 32 to move along the first-stage slide rail 21. The third driving mechanism 32 includes a third driving motor and a gear-rack assembly. The third driving motor and the picking device 3 are installed on the same slider. The slider is slidably connected to the first-stage slide rail 21. The rack 231 is arranged along the first-stage slide rail 21. The gear meshes with the rack 231 and is driven by the third driving motor to rotate. The gear-rack transmission has the characteristics of high precision and high rigidity, ensuring the position accuracy when the picking mechanism 3 moves along the first-stage slide rail 21. The gear-rack structure can bear a large load, is suitable for handling heavy cargo boxes, and has a simple transmission structure.

[0049] After the cargo box carried by the picking mechanism 3 moves to the first-stage slide rail 21, the sliding telescopic device 2 retracts to move it to the base 1. In this embodiment, as Figure 1 shown, a buffer block 22 facing the cargo box is provided at the rear of the first-stage slide rail 21. The buffer block 22 can absorb the impact energy when the cargo box retreats or there is a positioning error, preventing the cargo box from colliding hard with the slide rail.

[0050] The picking mechanism 3 includes a lifting bracket 34. A claw 31 is slidably connected to the lifting bracket 34. The claw 31 is driven by a second driving mechanism 33 to lift and lower along the lifting bracket 34. As Figure 5 shown, in this embodiment, the claw 31 is slidably connected to the lifting bracket 34 through a moving seat 35. The moving seat 35 includes a claw connecting portion located on the front side of the lifting bracket 34 and a lifting connecting portion located at the upper end of the lifting bracket 34. The claw 31 is installed on the front side of the claw connecting portion. The claw 31 is arranged near the lower end of the lifting bracket 34. When moving to one side of the target cargo box, the claw 31 can move up and down close to the side of the cargo box. Thus, after the foremost claw 31 presses against the target cargo box, it can have a large lifting distance longitudinally, facilitating the connection with cargo boxes of different sizes. The moving seat 35 is limited downward through the cooperation of the lifting connecting portion and the upper end of the lifting bracket 34. The second driving mechanism 33 is arranged at the rear side of the lifting bracket 34. Its output end is connected to the lifting connecting portion to drive the moving seat 35 to drive the claw 31 to lift and lower. The claw 31 in this embodiment is in an L shape facing upward and can be connected or disconnected from the hook portion of the cargo box by moving up and down, with a simple structure.

[0051] Preferably, in this embodiment, the second driving mechanism 33 includes a second driving motor. Its motor shaft is arranged along the lifting direction of the claw 31. The output end of the second driving motor drives the lifting bracket 34 to lift and lower after being reversed through a ball screw assembly, with a compact structure.

[0052] To achieve the automatic control of the cargo box grabbing device, the cargo box grabbing device further includes a positioning device and a controller. The positioning device is used to identify and locate the target cargo box and determine its position and attitude in three-dimensional space; the controller adjusts the grabbing action according to the information fed back by the positioning device.

[0053] In a specific embodiment, the positioning device includes a code reading device 41, which is used to locate the cargo box and identify the cargo box information by scanning the coding information on the cargo box. The code reading device 41 can be a two-dimensional code recognition device. A two-dimensional code containing material information is provided on the cargo box or the storage position of the shelf, and the two-dimensional code is arranged facing the outside of the shelf, so that the cargo box information can be determined through the code reading device 41 to determine the target cargo box. In this embodiment, the code reading device 41 is arranged at the front end of the base 1. When the multi-stage slide rail is in the extended state, the code reading device 41 is located below the extended slide rail.

[0054] The positioning device further includes a laser sensor 42, which is used to identify the three-dimensional space position and attitude of the cargo box. The laser sensor 42 can identify the outline of the cargo box and adapt to complex scenarios such as the inclination and stacking of the cargo box to ensure the precise adaptation of the grabbing action. Based on the information fed back by the laser sensor 42, the telescopic length of the sliding telescopic device 2 and the lifting height of the claw 31 and other grabbing actions can be controlled. In a specific embodiment, the laser sensor 42 can be a 2D laser sensor or a 3D laser sensor 42. The specific implementation of the laser sensor to identify the position and attitude of an object in space is a conventional technical means in the field of automatic pathfinding and will not be described in detail here. In this embodiment, the laser sensor 42 is arranged at the front end of the grabbing device 3. In a specific embodiment, the laser sensor 42 is installed on the lifting bracket 34 and is located below the claw 31.

[0055] Embodiment 2:

[0056] This embodiment provides a control method for a cargo box grabbing device, including a cargo box grabbing device described in Embodiment 1. The method includes the following steps:

[0057] Control the cargo box grabbing device to move to one side of the shelf, and the sliding telescopic device 2 is in the contracted state.

[0058] In this step, the cargo box information is identified through the code reading device 41, and the outline and attitude of the cargo box are identified through the laser sensor 42. Thus, based on the above information, the target cargo box can be automatically located, and the cargo box grabbing device can be controlled to move to one side of the shelf. To ensure the stability of the cargo box grabbing device during the movement, the sliding telescopic device 2 is in the contracted state during the movement of the base 1.

[0059] When the target cargo box is deep in the shelf, control the cargo box grabbing device to rise until the sliding telescopic device 2 on it can enter the shelf.

[0060] Control the picking mechanism 3 to move to the front end of the first-stage slide rail 21, and adjust the telescopic length of the sliding telescopic device 2 according to the position and attitude of the target cargo box in three-dimensional space.

[0061] After the sliding telescopic device 2 drives the picking mechanism 3 to move to one side of the target cargo box, control the claw 31 to rise to establish a connection with the connecting part of the target cargo box, and then the sliding telescopic device 2 retracts to drive the target cargo box.

[0062] When the target cargo box is at the opening of the shelf, control the cargo box picking device to descend until the upper end face of its sliding telescopic device 2 is aligned with the bottom surface of the storage position of the target cargo box, and adjust the height of the claw 31 until it re-establishes a connection with the connecting part of the target cargo box.

[0063] The picking mechanism 3 drives the cargo box to move onto the first-stage slide rail 21 until it retracts to a predetermined position.

[0064] It can be understood that for the cargo boxes in the shallow layer or at the opening, there is no need to extend the multi-stage slide rail. Only move the picking device 3 to the very front end of the first-stage slide rail 21, and then control the lifting of the claw 31 to connect with the cargo box. Just directly execute the steps of controlling the cargo box picking device to descend until the upper end face of its sliding telescopic device 2 is aligned with the bottom surface of the storage position of the target cargo box and adjusting the height of the claw 31 until it re-establishes a connection with the connecting part of the target cargo box when the target cargo box is at the opening of the shelf.

[0065] Thus, according to the above method, by dynamically adjusting the device height, the telescopic length of the slide rail, and the position of the claw 31, it is possible to adapt to the requirements for taking out cargo boxes at different positions in the deep layer, shallow layer, or opening of the shelf. When taking out the cargo box in the deep storage position, control it step by step to ensure the smooth connection of the cargo box taking-out process, reduce the risk of the cargo box shaking or falling, ensure the safety and efficiency of handling, and be able to optimize the control process. Combining with the feedback information of the positioning device, realize the full-process automatic control, reduce the need for manual intervention, and be applicable to the high-density intelligent warehousing system. Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A cargo box hooking device, characterized in that, include: The base can be rotated and raised; The sliding telescopic device is arranged on the base, and comprises a multi-stage slide rail arranged along the length direction of the base and a first driving mechanism driving the multi-stage slide rail to telescope relative to the movable cabinet; wherein, in a fully extended state, the first-stage slide rail is located at the front end in the telescopic direction; A hook mechanism is slidably connected to the first-stage slide rail, and comprises a lifting bracket, on which a hook is slidably connected, and the hook is driven by a second driving mechanism to rise and fall along the lifting bracket; A positioning device, used to identify and locate the target cargo box, and determine the position and posture of the target cargo box in three-dimensional space; The controller adjusts the hooking action according to the information fed back by the positioning device.

2. The cargo box hooking device according to claim 1, characterized in that, The positioning device includes a code reading device for locating the cargo box and identifying the cargo box information by scanning the coded information on the cargo box.

3. The cargo box hooking device according to claim 1 or 2, characterized in that, The positioning device includes a laser sensor for identifying the position and posture of the cargo box.

4. The cargo box hooking device according to claim 1, characterized in that, The first driving mechanism of the sliding and telescopic device includes a driving motor and a synchronous belt assembly drivingly connected to the driving motor.

5. The cargo box hooking device according to claim 4, characterized in that, The multi-level slide rail includes a first-level slide rail, a second-level slide rail and a third-level slide rail. The hooking device is slidably arranged on the first-level slide rail. The first-level slide rail and the second-level slide rail are connected by a first synchronous belt assembly; the second-level slide rail and the third-level slide rail are connected by a second synchronous belt assembly. The second synchronous belt is driven to rotate by a first driving motor, and the second synchronous belt is linked to the first synchronous belt.

6. The cargo box hooking device according to claim 5, characterized in that, The second-level slide rail includes a first transverse connecting seat arranged at the rear end of the moving direction and a second transverse connecting seat arranged at the front end of the moving direction; the first transverse connecting seat is fixed to the second synchronous belt, and a synchronous belt pulley on one side of the first synchronous belt is arranged on the first transverse connecting seat; the synchronous belt pulley on the other side of the first synchronous belt is installed on the second transverse connecting seat, the first-level slide rail is fixed to the first synchronous belt, and the other end of the first synchronous belt is fixed to the base or the third-level guide rail.

7. The cargo box hooking device according to claim 1, characterized in that, The hooking device is driven by a third driving mechanism to move along the first-stage slide rail. The third driving mechanism includes a third driving motor and a gear rack assembly. The third driving motor and the hooking device are installed on the same slider. The slider is slidably connected to the first-stage slide rail. The rack is arranged along the first-stage slide rail. The gear is meshed with the rack and is driven to rotate by the third driving motor.

8. The cargo box hooking device according to claim 1, characterized in that, When the multi-stage slide rail is fully extended, at least a portion of it can fit in the bottom surface of the target cargo box storage location on the shelf.

9. The cargo box hooking device according to claim 1, wherein, A buffer block is arranged toward the cargo box at the rear of the first-stage slide rail.

10. A control method for a cargo box hooking device, characterized in that, A cargo box hooking device according to any one of claims 1 to 8, The method comprises the following steps: Control the cargo box hooking device to move to one side of the shelf, and the sliding telescopic device is in a retracted state; When the target cargo box is at the deep end of the shelf, the sliding telescopic device controlling the cargo box hooking device to rise up to the top thereof can enter the shelf; Control the hook mechanism to move to the front end of the first-stage slide rail, and adjust the telescopic length of the sliding telescopic device according to the position and posture of the target cargo box in three-dimensional space; After the sliding telescopic device drives the hook mechanism to move to one side of the target cargo box, the hook claw is controlled to rise to establish connection with the connecting part of the target cargo box, and then the sliding telescopic device retracts to drive the target cargo box; When the target cargo box is at the opening of the shelf, control the cargo box grabbing device to descend until the upper end surface of its sliding telescopic device aligns with the bottom surface of the storage position of the target cargo box, and adjust the height of the claw until it re - establishes a connection with the connecting part of the target cargo box; The grabbing mechanism drives the cargo box to move onto the first - stage slide rail.

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