A bin storage and retrieval system and method

Abstract

This invention provides a bin storage and retrieval system and method. The system includes multiple rack units, an inbound / outbound robot, a handling robot, and a sorting robot. The multiple rack units are stacked to form a three-dimensional storage area. The inbound / outbound robot is used to deliver bins to designated storage locations on the racks or retrieve them from designated storage locations. After receiving bins from the inbound / outbound robot, the bin handling robot transports the bins to designated locations. The bin inbound / outbound robot retrieves bins containing target materials from the corresponding racks according to work orders and delivers them to the sorting robot. This solution has the advantage of high flexibility.

Description

Technical Field

[0001] This invention relates to a bin storage and retrieval system and method. Background Technology

[0002] Currently, the common solution for storing small parts is to place them in standard material boxes and build racks to store the standard material boxes. When there are enough parts, automated storage and retrieval systems (AS / RS) or CTU robots are used to handle the storage of the material boxes. However, the racks have poor flexibility, and the connection between the warehouse and the production line requires the addition of a docking assembly line or handling robots. Summary of the Invention

[0003] To address the issues of poor flexibility in conventional racking systems, inconvenient connections between warehouse interiors and exteriors, and the need for conventional CTUs to retrieve goods in whole crates, a new bin storage and retrieval system has been developed. This system includes:

[0004] Multiple stackable rack units are stacked to form a three-dimensional storage area. Each rack unit includes a stand, a base connected to the bottom of the stand, and multiple trays that are detachably mounted on the stand from top to bottom. The stand has multiple vertically arranged columns, and the top and bottom of the columns have cup openings and cup bottoms, respectively. The vertical stacking of multiple rack units is achieved through the nesting and cooperation of the cup openings and cup bottoms. Each tray is suitable for storing multiple boxes.

[0005] The bin loading and unloading robot is used to deliver bins into designated storage locations on the rack or retrieve them from designated storage locations on the rack. The bin loading and unloading robot includes a chassis, a gantry vertically mounted on the chassis, a lifting frame mounted on the gantry, and a hooking device mounted on the lifting frame. According to the work order instructions, it moves to the target rack unit, aligns with the target pallet layer by lifting the lifting frame, and uses the hooking device to extend into the gap between the pallet and the bin to complete the storage and retrieval action.

[0006] The bin handling robot receives bins from the inbound / outbound robot and then transports the bins to the designated location according to the path planned by the control unit.

[0007] The bin sorting robot retrieves bins containing target materials from the corresponding racks according to work orders and then transfers them to the sorting robot. The sorting robot is used to retrieve materials from the target bins according to work orders.

[0008] The control unit is used to parse work orders and break them down into storage, retrieval, handling, and sorting sub-tasks; monitor the status of rack locations, robot positions, and task progress in real time; dynamically plan robot paths to avoid conflicts; and issue instructions to each robot.

[0009] In some embodiments, the column is provided with overlapping positions at intervals along its height extension direction, and the tray is horizontally installed on the overlapping positions of the column, which is a horizontally protruding snap-fit ​​platform or an open structure. The tray is further fixedly connected by a detachable connecting mechanism.

[0010] In some embodiments, the hooking device includes:

[0011] The base is rotatable and height-adjustable.

[0012] A sliding telescopic device is mounted on a base and includes a multi-stage slide rail arranged along the length of the base and a first drive mechanism that drives the multi-stage slide rail to extend and retract relative to the mobile cabinet; wherein, in the fully extended state, the first-stage slide rail is located at the foremost end in the extension and retraction direction.

[0013] The hooking mechanism is slidably connected to the first-stage slide rail and includes a lifting bracket. A hook is slidably connected to the lifting bracket, and the hook is driven by a second driving mechanism to move up and down along the lifting bracket.

[0014] In some embodiments, the bin-handling robot includes,

[0015] The chassis has wheel assemblies at its bottom;

[0016] A gantry is mounted on a chassis, and a gripping mechanism is slidably connected to it. The gripping mechanism is driven by a first drive mechanism to move up and down along the gantry.

[0017] The gripping mechanism includes at least one pair of symmetrically arranged arm mechanisms. The arm mechanisms are driven to extend and retract forward and backward by a second drive mechanism. The front end of the arm mechanism is provided with a hook. The hook is driven by a third drive mechanism to switch between a first position and a second position. In the first position, the hook establishes a connection with both sides of the material box between the two arm mechanisms. In the second position, the hook disengages from the material box between the two arm mechanisms.

[0018] The transfer rack is set on a chassis and located on one side of the gantry. The chassis has multiple storage positions, which are located on the moving path of the gripping mechanism.

[0019] 3D laser sensors are used to identify the three-dimensional spatial position and orientation of the hopper;

[0020] The controller adjusts the posture of the bin-handling robot based on information fed back from the sensor system, and grabs the corresponding bin and stores it in the storage location;

[0021] Material identification device, used to identify and record information about the bin or the materials in the bin.

[0022] In some embodiments, the picking robot includes a chassis with a wheel assembly at its bottom;

[0023] The gantry is mounted on the chassis.

[0024] A sorting rack is installed on the gantry, and the sorting rack is equipped with at least two box hooking devices. The box hooking devices are used to load boxes onto the sorting rack or unload boxes from the sorting rack. The boxes on the box hooking devices include a first box and a second box. The first box is used to store materials to be sorted, and the second box is used to store sorted materials.

[0025] A robotic arm is mounted on a gantry and rises and falls synchronously with the sliding frame. The end of the robotic arm is equipped with a picking mechanism for picking up materials. The picking mechanism is located above the cargo box hooking device and is driven by the robotic arm to carry materials between cargo boxes on at least two cargo box hooking devices.

[0026] A robotic arm lifting mechanism drives the robotic arm to move up and down along the gantry independently of the scaffolding;

[0027] Material identification device, used to identify the location of materials inside the cargo container;

[0028] The controller is used to control the robotic arm's movements based on information returned by the material identification device to move the target material from the first cargo box to the second cargo box.

[0029] In some embodiments, the picking robot includes a rotary mechanism and a tilting mechanism connected to a scooping frame for adjusting the angle at which the box-hooking device on the scooping frame engages with the box. The scooping frame includes a fixed frame, a mounting base, and a diagonal brace. The fixed frame is mounted on a gantry, and the box-hooking device is mounted on the mounting base. The mounting base is supported by the diagonal brace, which is positioned between the fixed frame and the mounting base. One end of the diagonal brace is hinged to the fixed frame to form a first rotation center, and the other end of the diagonal brace is driven by the tilting mechanism to rotate and rise around the first rotation center. The rotary mechanism is positioned between the fixed frame and the mounting base.

[0030] In some embodiments, the tilting mechanism includes a first driving mechanism and a linkage assembly. The upper end of the linkage assembly is connected to the inclined support bracket, and the lower end of the linkage assembly is connected to the fixed frame base. The first driving mechanism drives the overall height of the linkage assembly to change. The rotating mechanism includes a second driving mechanism and a rotating gear. The second driving mechanism meshes with the rotating gear through a transmission gear, driving the rotating gear to rotate and adjust the mounting base.

[0031] In some embodiments, the transfer rack has a multi-layer structure with multiple storage positions stacked in the height direction. The height interval between adjacent storage positions is greater than the height of the material box. A pair of guide connecting plates are fixed to the first section. One guide connecting plate is connected to at least two guide wheels arranged in the front-back direction. The guide wheels of the pair of guide connecting plates are respectively located in the guide grooves on both sides of the first section. The gripping mechanism also includes a first positioning sensor and a second sensing sensor. The sensing end of the first positioning sensor is arranged towards the direction close to the material box and is used to detect whether the claw has moved to the first position. The sensing end of the second positioning sensor is arranged towards the direction away from the material box and is used to detect whether the claw has moved to the second position.

[0032] In some embodiments, the base is mounted on a mounting seat via a cross roller bearing at its bottom. The mounting seat is slidably and height-adjustable on the gantry. The base includes a base plate and a surrounding plate arranged circumferentially around the base plate. The base opens to the front, and the surrounding plate is inclined at the opening end towards the direction of widening the opening. The hooking device includes a positioning device, which includes a barcode reader and a laser sensor. The barcode reader is used to locate the cargo box and identify its information by scanning the coded information on the cargo box. The laser sensor is used to identify the position and orientation of the cargo box.

[0033] The present invention also provides a method for storing and retrieving a material bin, the method comprising the following steps:

[0034] Step 1) The control unit receives the work order, parses the material requirement information in the work order, and determines the rack unit and storage location where the target material box is located;

[0035] Step 2) Based on the height information of the material box, control the position of the pallet in the rack unit and adjust the spacing between adjacent pallets to adapt to the height of the material box; control the material box entry and exit robot to move to the target rack unit and align the target pallet layer by lifting and lowering the rack; control the sliding extension device of the hooking device to extend so that the hooking mechanism reaches the target material box position.

[0036] Step 3) Control the hook to descend and hook the material box, then lift the material box, and then retract it through the sliding telescopic device to remove the material box from the pallet;

[0037] Step 4) The bin loading and unloading robot will transport the retrieved bins to the handover position with the bin transport robot; the bin transport robot will use a 3D laser sensor to identify the three-dimensional spatial position and posture of the bins, adjust its own posture, and then grab the bins.

[0038] Step 5) The bin handling robot transports the bins to the bin sorting robot according to the path planned by the control unit; the bin sorting robot's bin hooking device loads the bins onto the first bin position on the rack; the material identification device identifies the position of the material in the first bin, and the controller controls the robotic arm to move the target material from the first bin to the second bin; after sorting is completed, the bin hooking device unloads the bins from the rack, and the bin handling robot transports the processed bins to the designated storage or outbound location;

[0039] Step 6) The control unit monitors the status of the material rack location, the position of each robot, and the task progress in real time, and dynamically plans the robot path to avoid conflicts.

[0040] This invention features a modular design of stackable rack units, supporting free combination of vertical expansion and horizontal arrangement to adapt to different warehouse space shapes and avoid the rigid limitations of traditional rack construction. The pallet spacing is adjustable, compatible with mixed storage of multiple sizes of bins, significantly improving the utilization rate of warehouse space and reducing storage waste caused by differences in bin size.

[0041] This invention achieves full automation of the "storage-retrieval-transfer-sorting" process through the division of labor and cooperation of bin-in / out robots, handling robots, and sorting robots. It solves the pain points of traditional warehousing systems, such as poor flexibility, low efficiency, and high cost, and is especially suitable for high-frequency, multi-category material management needs in e-commerce, manufacturing, and pharmaceutical logistics. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the material rack unit of the present invention;

[0043] Figure 2 This is a schematic diagram of the structure of the inbound / outbound robot provided by the present invention;

[0044] Figure 3 This is a schematic diagram of the hooking device (multi-stage slide rails extended);

[0045] Figure 4 This is a schematic diagram of the base structure;

[0046] Figure 5 for Figure 3 Structural diagram after the base is hidden;

[0047] Figure 6 for Figure 3 A structural diagram from another angle;

[0048] Figure 7 for Figure 3 Enlarged view of point A in the image.

[0049] Figure 8 This is a structural diagram of a material handling robot;

[0050] Figure 9 for Figure 8 A structural diagram from another angle;

[0051] Figure 10 This is a schematic diagram of the connection structure of the third drive mechanism;

[0052] Figure 11 This is a structural schematic diagram of a guide connecting plate on one side;

[0053] Figure 12 Schematic diagram of the guide connecting plate installation structure;

[0054] Figure 13 This is a schematic diagram of the hook-and-claw installation structure;

[0055] Figure 14 A schematic diagram of the wheel assembly installation structure;

[0056] Figure 15 This is a schematic diagram of the picking robot.

[0057] Figure 16 for Figure 15 Structural diagram of the concealed cargo box;

[0058] Figure 17 This is a schematic diagram of the frame structure;

[0059] Figure 18 for Figure 16 Another structural diagram from another angle;

[0060] Figure 19 A structural diagram showing the structure after the fixed frame is hidden from the framing.

[0061] Figure 20 This is a schematic diagram of the robotic arm in this application;

[0062] Figure 21 This is a schematic diagram of the cargo box hooking device.

[0063] Figure 22 This is a schematic diagram of the base structure;

[0064] Figure 23 for Figure 21 A structural diagram from another angle;

[0065] Figure 24 for Figure 21 A structural diagram from another angle;

[0066] Figure 25 for Figure 21 Enlarged view of point A in the middle;

[0067] Figure 26A schematic diagram of the wheel assembly installation. Detailed Implementation

[0068] The present invention provides a bin storage and retrieval system, which includes multiple stackable rack units, a bin inbound / outbound robot, a bin transport robot, a bin sorting robot, and a control unit.

[0069] Multiple rack units 100 are vertically stacked to form a three-dimensional storage area. The structure of a single rack unit 100 is as follows: Figure 1 As shown, the material rack unit includes a stand 106, a base support 105 connected to the bottom of the stand 106, and multiple trays 103 mounted on the stand 106 from top to bottom. The stand 106 has multiple vertically arranged columns, each with a cup-shaped opening 101 and a cup-shaped base 102 at its top and bottom, respectively. Multiple material rack units can be stacked vertically by the cooperation of the cup-shaped openings 101 and cup-shaped bases 102. The columns are spaced apart with overlapping positions 103 along their height extension direction. The trays 103 are horizontally assembled onto the stand using these overlapping positions, enabling the trays to be detachable. For example, the columns are spaced apart with overlapping positions 104 along their height direction. The overlapping positions 104 are laterally protruding snap-fit ​​platforms or opening structures used to fix the trays 103.

[0070] In this embodiment, the material rack has a tubular structure to facilitate disassembly and assembly. Both the uprights and the base 105 are tubular components, and they are fixedly connected by bolts and threaded holes or other connecting mechanisms 107. The tray 103 horizontally overlaps the overlapping position 103 of the upright 106 and is locked by a detachable connecting mechanism, such as a pin, to a pre-drilled hole in the upright, enabling quick assembly and disassembly. In some embodiments of the invention, the structure of the cup opening 101 and the cup base 102 includes, but is not limited to, limiting grooves and limiting pins, ensuring precise alignment and stable load-bearing capacity of the stacked material rack units.

[0071] The material rack unit provided by the present invention achieves rapid vertical stacking of the material rack unit 100 through the nesting cooperation between the cup mouth 101 and the cup bottom 102. The single stacking operation is short and does not require welding or complex fixing tools.

[0072] A single rack unit can be used independently or spliced ​​together to form multiple rows of storage areas, adapting to the dynamic adjustment needs of warehouse layout. The height can be adjusted by selecting different heights of the overlapping positions on the columns, and the pallet layer height is compatible with various types of bins of different heights.

[0073] Different shelf heights can be set within the same rack unit to meet the needs of mixed storage of materials of various sizes, resulting in high space utilization.

[0074] Each pallet is suitable for storing multiple bins; the bin loading and unloading robot is used to deliver bins to designated locations on the rack or retrieve them from designated locations on the rack.

[0075] Please see Figure 2 The aforementioned bin loading / unloading robot includes a chassis, a gantry vertically mounted on the chassis, a lifting rack mounted on the gantry, and a hooking device mounted on the lifting rack. According to work order instructions, it moves to the target rack unit, aligns with the target pallet layer via the lifting and lowering of the lifting rack, and uses the hooking device to reach into the gap between the pallet and the bin to complete the storage and retrieval action. The bin handling robot receives the bins transferred by the loading / unloading robot and, according to the path planned by the control unit, transports the bins to the designated location. The bin loading / unloading robot retrieves the bins containing the target materials from the corresponding rack according to the work order and delivers them to the sorting robot, which retrieves the materials from the target bins according to the work order. The control unit parses the work order and breaks it down into storage, retrieval, handling, and sorting sub-tasks; monitors the rack location status, robot position, and task progress in real time; dynamically plans robot paths to avoid conflicts and issues instructions to each robot.

[0076] For the chassis setup of the bin inbound / outbound robot, please refer to the bin handling robot section below. Preferably, the inbound / outbound robot is equipped with a transfer rack, the specific setup of which is described in the bin handling robot section. For the racking and hooking device setup of the bin handling robot, please refer to the bin sorting robot section.

[0077] In this embodiment, the pallet is detachably connected to the column, allowing the spacing between adjacent pallets to be adjusted according to the height of the bins. This invention, through the modular design of stackable rack units, supports free combination of vertical expansion and horizontal arrangement, adapting to different warehouse space configurations and avoiding the rigid limitations of traditional rack construction. The adjustable pallet spacing accommodates mixed storage of bins of various sizes, significantly improving warehouse space utilization while reducing storage waste caused by differences in bin size.

[0078] This invention achieves full automation of the "storage-retrieval-transfer-sorting" process through the division of labor and cooperation of bin-in / out robots, handling robots, and sorting robots. It solves the pain points of traditional warehousing systems, such as poor flexibility, low efficiency, and high cost, and is especially suitable for high-frequency, multi-category material management needs in e-commerce, manufacturing, and pharmaceutical logistics.

[0079] hook device

[0080] This embodiment provides a cargo box hooking device, such as Figure 3-7 As shown, the cargo box hooking device includes a base 1; a sliding telescopic device 2 is provided on the base 1, wherein, in the fully extended state, the first-stage slide rail 21 is located at the foremost end in the telescopic direction; the hooking mechanism 3 is slidably connected to the first-stage slide rail 21, including a lifting bracket 34, and a hook 31 is slidably connected on the lifting bracket 34, the hook 31 being driven by the second driving mechanism 33 to move up and down along the lifting bracket 34.

[0081] In one embodiment, the base 1 is rotatable and liftable. Specifically, the bottom of the base 1 is mounted on a mounting base via crossed roller bearings. The mounting base is slidably and liftably mounted on the gantry. This structure enables the base 1 to be rotatable and liftable, allowing it to move to the side of the shelf where the target cargo box is located, preparing for subsequent retrieval of the target cargo box. In other embodiments, the base 1 can also be rotatable and liftable via other structures.

[0082] In this embodiment, the base 1 includes a base plate and a surrounding plate 11 arranged circumferentially around the base plate. The base 1 has a front opening, and the surrounding plate 11 is inclined at the opening end towards the direction of widening the opening, facilitating the entry of the cargo box into the base 1. Along the length of the base 1, the width of the surrounding plate 11 and the base 1 narrows at the rear. The wider front portion is used to accommodate the target cargo box, while the narrower rear portion houses the retractable hook mechanism on the first-stage slide rail. Furthermore, the narrower rear portion houses the drive motor 241 for driving the extension and retraction of the first drive mechanism 24 of the sliding telescopic device 2. This effectively separates the drive device and the cargo box, preventing the cargo box from moving out of bounds and colliding with the hook mechanism and drive motor 241. The rear retractable structure also reduces the overall volume of the base 1, minimizing its overall space occupation.

[0083] The sliding telescopic device 2 includes a multi-stage slide rail (first-stage slide rail 21, second-stage slide rail 22, and third-stage slide rail 23) arranged along the length of the base 1, and a first drive 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 foremost point in the extension direction. By adjusting the extension length of the multi-stage slide rail, goods can be retrieved from both deep and shallow storage locations on the shelf. The first drive mechanism 24 of the sliding telescopic device 2 includes a drive motor 241 and a synchronous belt assembly (first synchronous belt 242 and second synchronous belt 243) connected to the drive motor 241. The synchronous belt drive structure is simple and simplifies control.

[0084] 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 hooking device 3 is slidably mounted on the first-stage slide rail 21. The first-stage slide rail 21 and the second-stage slide rail 22 are connected by a first synchronous belt assembly; the second-stage slide rail 22 and the third-stage slide rail 23 are connected by a second synchronous belt assembly. The second synchronous belt 243 is driven to rotate by a first drive 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, resulting in a small overall space occupied after retraction. Furthermore, a positioning sensor is provided to control the maximum extension and retraction position of each stage of the slide rail. The structure and working principle of the positioning sensor are conventional techniques in this field and will not be described in detail here.

[0085] The second-stage slide rail 22 includes a first transverse connecting seat 221 located at the rear end of the movement direction and a second transverse connecting seat 222 located at the front end of the movement direction. The first transverse connecting seat 221 is fixed to the second synchronous belt 243, and a synchronous pulley on one side of the first synchronous belt 242 is provided on the first transverse connecting seat 221. The synchronous pulley on the other side of the first synchronous belt 242 is installed on the second transverse connecting 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 centerline of the third-stage slide rail 23. In the multi-stage slide rail retracted state, a pair of first synchronous belts 242 are located on both sides of the width direction of the first synchronous belt 242 to avoid interference between the synchronous belts in the multi-stage slide rail retracted state. Furthermore, a pair of first synchronous belts 242 are used to connect the first-stage slide rail 21 further forward in the movement direction, making its movement more stable. In this embodiment, the third-level slide rail 23 is fixed on the base 1, and the second-level slide rail 22 and the third-level slide rail 23 can extend forward relative to the third-level slide rail 23, so that the sliding telescopic device 2 can extend forward relative to the base 1 and enter the depth of the shelf storage location.

[0086] In a preferred embodiment, when the multi-stage slide rails are fully extended, they can at least partially conform to the bottom surface of the target box storage location on the shelf. This conformal design disperses the impact force of the box's weight on the slide rails, making their movement more stable when retracting the box.

[0087] The hooking mechanism 3 is slidably connected to the first-stage slide rail 21 via a slider, and can move back and forth along the first-stage slide rail 21. In this embodiment, the hooking device 3 is driven by a third drive mechanism 32 to move along the first-stage slide rail 21. The third drive mechanism 32 includes a third drive motor and a gear and rack assembly. The third drive motor and the hooking device 3 are mounted on the same slider, which is slidably connected to the first-stage slide rail 21. The rack 231 is arranged along the first-stage slide rail 21, and the gear meshes with the rack 231 and is driven to rotate by the third drive motor. The gear and rack transmission has the characteristics of high precision and high rigidity, ensuring the positional accuracy of the hooking mechanism 3 when moving along the first-stage slide rail 21; the gear and rack structure can withstand a large load, making it suitable for handling heavy cargo boxes, and the transmission structure is simple.

[0088] After the cargo box, carried by the hook mechanism 3, is moved onto the first-stage slide rail 21, the sliding telescopic device 2 retracts and moves it onto the base 1. In this embodiment, as... Figure 1 As shown, the rear of the first-stage slide rail 21 is provided with a buffer block 22 facing the cargo box. The buffer block 22 can absorb impact energy when the cargo box retracts or there is a positioning error, preventing the cargo box from colliding hard with the slide rail.

[0089] The hooking mechanism 3 includes a lifting bracket 34, on which a hook 31 is slidably connected. The hook 31 is driven by a second driving mechanism 33 to move up and down along the lifting bracket 34. Figure 5 As shown, in this embodiment, the hook 31 is slidably connected to the lifting bracket 34 via a movable seat 35. The movable seat 35 includes a hook connecting part located on the front side of the lifting bracket 34 and a lifting connecting part located on the upper end of the lifting bracket 34. The hook 31 is installed on the front side of the hook connecting part, and the hook 31 is positioned close to the lower end of the lifting bracket 34. When it moves to the side of the target cargo box, the hook 31 can move up and down against the side of the cargo box. Thus, after the foremost hook 31 is close to the target cargo box, it can have a large vertical lifting distance, which is convenient for establishing a connection with cargo boxes of different sizes. The movable seat 35 is lowered by the lifting connecting part cooperating with the upper end of the lifting bracket 34. The second drive mechanism 33 is located on the rear side of the lifting bracket 34, and its output end is connected to the lifting connecting part, driving the movable seat 35 to move the hook 31 up and down. In this embodiment, the hook 31 is L-shaped with its orientation facing upwards. By moving up and down, it can connect or disconnect with the cargo box hooking part, and the structure is simple.

[0090] Preferably, in this embodiment, the second drive mechanism 33 includes a second drive motor, the motor shaft of which is arranged along the lifting direction of the hook 31. The output end of the second drive motor drives the lifting bracket 34 to lift after being reversed by the ball screw assembly, resulting in a compact structure.

[0091] To achieve automated control of the cargo box hooking device, the cargo box hooking device also 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 posture in three-dimensional space; the controller adjusts the hooking action based on the information fed back by the positioning device.

[0092] In one specific embodiment, the positioning device includes a barcode reader 41, used to locate and identify the cargo box by scanning the coded information on the cargo box. The barcode reader 41 can be a QR code recognition device, with a QR code containing material information provided on the cargo box or a storage location on the shelf. The QR code is positioned facing outwards from the shelf, allowing the barcode reader 41 to determine the cargo box information and identify the target cargo box. In this embodiment, the barcode reader 41 is located at the front end of the base 1, below the extended slide rails when the multi-stage slide rails are extended.

[0093] The positioning device also includes a laser sensor 42 for identifying the three-dimensional spatial position and orientation of the cargo box. The laser sensor 42 can identify the outline of the cargo box, adapting to complex scenarios such as tilted or stacked cargo boxes, ensuring precise adaptation of the hooking action. Based on the information fed back by the laser sensor 42, the extension and retraction length of the sliding telescopic device 2 and the lifting and lowering height of the hook 31 can be controlled for hooking actions. In a specific embodiment, the laser sensor 42 can be a 2D laser sensor or a 3D laser sensor 42. The specific implementation of laser sensors identifying the position and orientation of objects 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 located at the front end of the hooking device 3. In a specific embodiment, the laser sensor 42 is mounted on the lifting bracket 34, located at the lower end of the hook 31.

[0094] This embodiment provides a control method for a cargo box hooking device, including the cargo box hooking device described in Embodiment 1. The method includes the following steps:

[0095] The control box hooking device moves to one side of the shelf, and the sliding telescopic device 2 is in the retracted state.

[0096] In this step, the barcode reader 41 identifies the cargo box information, and the laser sensor 42 identifies the outline and posture of the cargo box. By combining the above information, the target cargo box can be automatically located, and the cargo box hooking device can be controlled to move to one side of the shelf. To ensure the stability of the cargo box hooking device during movement, the sliding telescopic device 2 is in a retracted state during the movement of the base 1.

[0097] When the target container is deep in the shelf, the sliding telescopic device 2, which controls the container hook device to rise above it, can enter the shelf.

[0098] The hooking mechanism 3 is controlled to move to the front end of the first-stage slide rail 21, and the extension length of the sliding telescopic device 2 is adjusted according to the position and posture of the target cargo box in three-dimensional space.

[0099] After the sliding telescopic device 2 drives the hooking mechanism 3 to move to one side of the target cargo box, it controls the hook 31 to rise to establish a connection with the connection part of the target cargo box, and then the sliding telescopic device 2 retracts to drive the target cargo box.

[0100] When the target box is at the shelf opening, control the box hook device to descend until the upper surface of its sliding telescopic device 2 is aligned with the bottom surface of the target box storage position, and adjust the height of the hook 31 until it re-establishes a connection with the connection part of the target box.

[0101] The hook mechanism 3 moves the cargo box onto the first-stage slide rail 21 until it retracts to the predetermined position.

[0102] Understandably, for boxes located in shallow or open areas, it is not necessary to extend multi-stage slide rails. Simply move the hook device 3 to the front end of the first-stage slide rail 21, and then control the hook 31 to rise and fall to connect with the box. Directly execute the steps described above: when the target box is at the shelf opening, control the box hook device to descend until the upper surface of its sliding telescopic device 2 is aligned with the bottom surface of the target box storage position, and adjust the height of the hook 31 to re-establish a connection with the target box.

[0103] Therefore, by dynamically adjusting the device height, slide rail extension length, and hook 31 position using the above method, it can adapt to the needs of retrieving boxes from different locations within the shelving, whether deep, shallow, or at openings. When retrieving boxes from deep storage locations, step-by-step control ensures a smooth and seamless retrieval process, reducing the risk of box shaking or falling, ensuring handling safety and efficiency, and optimizing the control process. Combined with feedback information from the positioning device, it achieves fully automated control, reducing the need for manual intervention and making it suitable for high-density intelligent warehousing systems.

[0104] Tobacco box handling robot

[0105] This embodiment discloses a bin handling robot, such as Figure 8-14 As shown, the system includes a chassis 1 with wheel assemblies at its bottom for driving the robot's movement; a gantry 2 mounted on the chassis 1, on which a gripping mechanism 3 is slidably connected, the gripping mechanism 3 being driven by a first drive mechanism 21 to move up and down along the gantry 2; the gripping mechanism 3 includes at least one pair of symmetrically arranged arm mechanisms 31, the arm mechanisms 31 being driven by a second drive mechanism to extend and retract forward and backward, and the front end of the arm mechanism 31 having a hook 32, the hook 32 being driven by a third drive mechanism 323 to switch between a first position and a second position, in the first position, the material box between the hook 32 and the two arm mechanisms 31... A connection is established on both sides. In the second position, the hook 32 disengages from the material box between the two arm mechanisms 31. The transfer rack 4 is set on the chassis 1 and located on one side of the gantry 2. The chassis 1 has multiple storage positions 41, which are located on the moving path of the gripping mechanism 3. The 3D laser sensor 5 is used to identify the three-dimensional spatial position and posture of the material box. The controller adjusts the posture of the material box handling robot based on the information fed back by the sensor system, and grabs the corresponding material box and stores it in the storage position 41. The material identification device 6 is used to identify and record the material box information or the material information in the material box.

[0106] In the above scheme, the gripping mechanism 3 uses a set of symmetrically arranged arm mechanisms 31 and its front-end hooks 32 to grip the material box from both sides. The gripping mechanism moves the material box by forward and backward translation and up and down lifting. The gripping mechanism 3 has a strong load-bearing capacity. A transfer rack 4 is set up to hold multiple material boxes. The material identification device 6 identifies and records the material information and its storage position 41 on the transfer rack 4, so that multiple material boxes can be transported at one time, and it is not limited to the same type of material, which can improve the material handling efficiency. The 3D laser sensor 5 identifies the three-dimensional spatial position and posture of the material box, which can realize the gripping and transportation of disorderly stacked material boxes, reducing the need for manual intervention.

[0107] In this embodiment, the wheel assembly includes a set of drive wheels 11 disposed in the middle of the chassis 1 and two sets of omnidirectional wheels 12 disposed on the front and rear sides of the chassis 1. The drive wheels 11 are floatingly mounted on the chassis 1. In this embodiment, the drive wheels 11 are mounted on a floating mounting plate 112, which is connected to the chassis 1 via a hinge shaft. The floating mounting plate 112 can rotate around the hinge shaft and float up and down relative to the chassis 1. A first compression spring 113 is provided between the floating mounting plate 112 and the chassis 1. The up and down movement of the floating mounting plate 112 causes the first compression spring 113 to extend and retract synchronously. The floating mounting plate 112 is disposed on both sides of the chassis 1, resulting in a compact structure. With the first compression spring 113 configured as described above, when the drive wheels 11 move upward, the floating mounting plate 112 compresses the first compression spring 113 upward; when the drive wheels 11 move downward, the reaction force of the first compression spring 113 presses down on the floating mounting plate 112, thereby enabling the first compression spring 113 to effectively absorb ground impacts.

[0108] Furthermore, at least one set of casters 12 is installed on both sides of the cable tray 13, which is arranged along the width direction of the chassis 1, and the middle of the cable tray 13 is hinged to the chassis 1. Thus, this set of casters 12 can move up and down along the chassis 1 with the cable tray 13, ensuring that at least one set of casters 12 and one set of drive wheels 11 are in contact with the ground during the movement of the chassis 1, thus ensuring the stability of movement.

[0109] The gantry 2 is mounted on the chassis 1, and the gripping mechanism 3 is mounted on the gantry 2 to achieve lifting and lowering. In this embodiment, sliding grooves are provided along both sides of the gantry 2, and the gantry 2 moves along the sliding grooves. The gantry 2 mechanism can adopt a single-layer gantry 2 or a multi-layer gantry 2 similar to those in existing transport vehicles to achieve the required lifting height. In this embodiment, the first drive mechanism 21 is an electric cylinder, which drives the gripping mechanism 3 to move along the gantry 2.

[0110] The gripping mechanism 3 in this embodiment includes a pair of symmetrically arranged arm mechanisms 31. The arm mechanisms 31 are two-segment structures. In other embodiments, depending on the required telescopic length, a multi-segment telescopic structure with more than two segments can be used. In this embodiment, the arm mechanism 31 includes: a first segment 311, fixed in the front-back direction, with an I-shaped cross-section and guide grooves on both sides; a second segment 312, driven by a second drive mechanism to telescopically relative to the first segment 311; and a pair of guide connecting plates 313, fixed to the first segment 311. One guide connecting plate 313 is connected to at least two guide wheels 314 arranged in the front-back direction, and the guide wheels 314 of the pair of guide connecting plates 313 are respectively located in the guide grooves on both sides of the first segment 311. In this embodiment, the first segment 311 is relatively long, which, combined with the at least four guide wheels 314 in the guide grooves, ensures the stability of the second segment 312's movement and enhances the overall strength of the arm mechanism 31. Thus, the gripping mechanism 3 can carry the material box and move relative to the gantry 2 in the vertical and front-back directions.

[0111] In this embodiment, the guide wheel 314 is disposed within the guide groove, and the guide connecting plate 313 is provided with an axle, which is inserted into and engaged with the guide wheel 314. The axle can adjust the gap between the guide wheel 314 and the bottom of the guide groove from both inside and outside. With this configuration, during installation, the guide connecting plate 313 can be fastened to the guide wheel 314 from both sides, and the guide wheel 314 provides an external limiting effect. The axle and the guide connecting plate 313 can be connected by threads, thereby adjusting the gap of the guide wheel 314 by adjusting the threads, ensuring that the guide wheel 314 can guide smoothly.

[0112] In this embodiment, the pair of arm mechanisms 31 are synchronously extended and retracted by the same second drive motor. Specifically, the second drive mechanism includes a second drive motor and a synchronous belt. The output of the second drive motor is transmitted to all the arm mechanisms 31 in the pair via the synchronous belt. In this embodiment, the second segment 312 of one arm mechanism 31 is driven by a ball screw mechanism in conjunction with the second drive motor. One end of the ball screw is connected to the second segment 312, and both sides of the ball screw are connected to the output of the same second drive motor via the synchronous belt, so that they can be driven by the same second drive motor.

[0113] In this embodiment, the hook 32 is located at the front end of the second section 312 of the arm mechanism 31. The front end of the arm mechanism 31 is provided with a first mounting base 324. The hook 32 and the third drive mechanism 323 are mounted on the first mounting base 324. The first positioning sensor 321 and the second positioning sensor 322 are located on the hook 32. The upper end of the hook 32 is connected to the first mounting base 324 through a rotating shaft. The lower end of the hook 32 is set as a hook connection part. The first positioning sensor 321 is located near the lower end of the hook 32 and is used to detect the distance between the hook 32 and the material box. The second positioning sensor 322 is located near the upper end of the hook 32. The second positioning sensor 322 determines whether to rotate to the second position by detecting the position of the positioning edge 3241 on the first mounting base 324. In this embodiment, after the hook 32 rotates a certain angle near the material box, the second positioning sensor 322 can sense the positioning edge 3241. After the hook 32 rotates a certain angle in the opposite direction towards the material box, the second positioning sensor 322 can no longer detect the positioning edge 3241. Therefore, by setting the positioning edge 3241, in conjunction with the second positioning sensor 322, the retraction position of the hook 32 can be controlled. By using two independent sensors, the first positioning sensor 321 and the second positioning sensor 322, to position the hook 32 in two directions, the positions of the first position and / or the second position are not fixed for material boxes of different sizes, thus adapting to material boxes of different sizes.

[0114] The transfer rack 4 has a multi-layer structure, with multiple storage positions 41 stacked in the height direction. The height interval between adjacent storage positions 41 is greater than the height of the material bins. Each storage position 41 of the transfer rack 4 is located on the moving path of the gripping structure, so that the material bins picked up by the gripping mechanism 3 can be placed on the storage position 41. Figure 1 The transfer rack 4 is located on the front side of the gantry 2, and the storage positions 41 open to the front. It is understood that each storage position 41 is equipped with a positioning device, or in other embodiments, the positioning of the material box placement or retrieval position on each storage position 41 can be realized by the extension and retraction position of the arm mechanism 31 and the size setting of the gantry 2.

[0115] This embodiment of the bin-handling robot includes a 3D laser sensor 5, a material identification device 6, and a controller. The 3D laser sensor 5 is used to identify the three-dimensional spatial position and posture of the bins; the controller, based on information fed back from the sensor system, adjusts the posture of the bin-handling robot, grasps the corresponding bin, and stores it in storage location 41; the material identification device 6 is used to identify and record bin information or material information within the bin. Through the above coordination, the robot can identify and handle disorderly arranged bins, extract them, and place them on the transfer rack 4. Figure 1As shown, in this embodiment, the upper end of the gantry 2 is provided with a support extending forward. A 3D laser sensor 5 and a material identification device 6 for positioning and identifying the material bins are mounted on this support, providing a better field of view and enabling accurate identification of the positions of invalidally discharged material bins at the front, thus assisting the robot in accurate positioning. The specific implementation of the 3D laser sensor 5 in identifying the three-dimensional spatial position and posture of an object is a conventional technique in this field. The basic process involves laser scanning to generate point cloud data, processing and extracting features, and then using coordinate transformation to realize the three-dimensional spatial position and posture of the object to be identified. To improve recognition accuracy, in a preferred embodiment, a depth camera is also provided to cooperate with the 3D laser sensor 5 in identifying the three-dimensional spatial position and posture of the material bins.

[0116] In one specific embodiment, the material bin contains a QR code containing material information, and the material identification device 6 is a code reader, thereby enabling rapid identification of the material information. In other embodiments, the material identification device 6 can also directly identify the material information in the material bin through image recognition.

[0117] It should be noted that the bin-carrying robot in this embodiment has an automatic navigation system, which can automatically adjust its posture and move automatically, transferring the bins it carries between various processes. This automatic navigation system can refer to the autonomous driving system of robots or vehicles such as AGVs, and will not be described in detail here.

[0118] This embodiment provides a control method for a bin handling robot, applied to a bin handling robot as described in Embodiment 1. The method includes the following steps:

[0119] S1, the posture of the hopper is identified by the 3D laser sensor 5, and three-dimensional spatial coordinates are generated;

[0120] S2, the control bin handling robot adjusts its posture based on the recognition information of the 3D laser sensor 5, and drives the gripping mechanism 3 to move along the gantry 2 to the gripping height.

[0121] Specifically, a target bin is first selected and used as the target bin during a single grasping operation. The robot's position is adjusted based on the target bin's three-dimensional coordinates. Then, the grasping mechanism 3 slides along the gantry 2 to the side of the target bin. The drive arm mechanism 31 then extends forward to the side of the bin, and the claw 32 moves towards the bin until the signal from the first positioning sensor 321 indicates that the position is in place. At this point, the claw 32 establishes a connection with both sides of the bin. The grasping mechanism 3 then moves the bin to the corresponding height of an empty storage location 41.

[0122] S3, drive the gripping mechanism 3 to extract the target material box through the hook 32 and store the target material box in the storage position 41; the arm mechanism 31 drives the target material box to retract into the storage position 41. After moving into position, control the hook 32 to reverse until the signal output by the second positioning sensor 322 indicates that it has moved into position. At this time, the hook 32 completely releases the target material box.

[0123] S4, record the storage position of the currently extracted bin on the transfer shelf 4, including: identifying the material information of the currently extracted bin through the material identification device 6; numbering the multiple storage positions 41 of the transfer shelf 4 and marking the empty / full status of the storage positions 41; storing the target bin in the storage position 41 marked as empty, storing the number of the storage position 41 in correspondence with the material information, and modifying the status mark of the current storage position 41 to indicate full.

[0124] This allows for the management of the storage locations 41 of the material bins on the transfer rack 4, facilitating subsequent material flow management. For example, during the material receiving stage, the handling robot can move to the corresponding rack for automatic receiving based on the material information of each storage location 41 on the transfer rack 4.

[0125] Tobacco box picking robot

[0126] Please see Figures 15-26 This embodiment provides a picking robot, including:

[0127] Chassis 1, with wheel assemblies at its bottom;

[0128] gantry 2 is mounted on chassis 1;

[0129] A sorting rack 3 is installed on the gantry 2. The sorting rack 3 is equipped with at least two cargo box hooking devices 4. The cargo box hooking devices 4 are used to load cargo boxes onto the sorting rack 3 or unload cargo boxes from the sorting rack 3. The cargo boxes on the cargo box hooking devices 4 include a first cargo box and a second cargo box. The first cargo box is used to store materials to be sorted, and the second cargo box is used to store materials after sorting.

[0130] The robotic arm 5 is mounted on the gantry 2 and rises and falls synchronously with the sliding frame 3. The end of the robotic arm 5 is equipped with a picking mechanism 52 for picking up materials. The picking mechanism 52 is located above the cargo box hooking device 4 and is driven by the robotic arm 5 to carry materials between cargo boxes on at least two cargo box hooking devices 4.

[0131] The robotic arm lifting mechanism 6 drives the robotic arm 5 to rise and fall independently of the frame 3 along the gantry 2;

[0132] Material identification device, used to identify the location of materials inside the cargo container;

[0133] The controller is used to control the movement of the robotic arm 5 based on the information returned by the material identification device to move the target material from the first cargo box to the second cargo box.

[0134] In this embodiment, the wheel assembly includes a set of drive wheels 11 disposed in the middle of the chassis 1 and two sets of omnidirectional wheels 12 disposed on the front and rear sides of the chassis 1. The drive wheels 11 are floatingly mounted on the chassis 1. In this embodiment, the drive wheels 11 are mounted on a floating mounting plate 112, which is connected to the chassis 1 via a hinge shaft. The floating mounting plate 112 can rotate around the hinge shaft and float up and down relative to the chassis 1. A first compression spring (not shown in the figure) is provided between the floating mounting plate 112 and the chassis 1. The up and down movement of the floating mounting plate 112 causes the first compression spring to extend and retract synchronously. The floating mounting plate 112 is disposed on both sides of the chassis 1, resulting in a compact structure. With the first compression spring configured as described above, when the drive wheels 11 move upward, the floating mounting plate 112 compresses the first compression spring upward; when the drive wheels 11 move downward, the reaction force of the first compression spring presses down on the floating mounting plate 112, thereby enabling the first compression spring to effectively absorb ground impacts.

[0135] Furthermore, at least one set of casters 12 is installed on both sides of the cable tray 13, which is arranged along the width direction of the chassis 1, and the middle of the cable tray 13 is hinged to the chassis 1. Thus, this set of casters 12 can move up and down along the chassis 1 with the cable tray 13, ensuring that at least one set of casters 12 and one set of drive wheels 11 are in contact with the ground during the movement of the chassis 1, thus ensuring the stability of movement.

[0136] The picking robot is driven freely by chassis 1 and includes an autonomous driving system that controls the robot to automatically find its way within the warehouse and drive along a planned path. The autonomous driving system includes one or more 3D sensors, and optionally, one or more proximity sensors. The use of an autonomous driving system for robots is a conventional technique in the field. The picking robot in this embodiment is equipped with an autonomous driving system, enabling it to move freely between different shelves and workstations to retrieve target boxes, in coordination with the intelligent warehousing system.

[0137] The gantry 2 is mounted on the chassis 1. In this embodiment, the gantry 2 is a multi-level, overlapping gantry to provide a greater lifting stroke. The structure of the multi-level, overlapping gantry and its lifting control method are conventional techniques in the art and will not be described in detail here. For ease of explanation, the first-level gantry capable of lifting and lowering within the maximum stroke range of the gantry 2 is defined as the first-level gantry 21. Figure 2As shown, in this embodiment, the robotic arm 5, the gantry 3, and the robotic arm lifting mechanism 6 are mounted on the first-stage gantry 21, thereby enabling the synchronous upgrading of the robotic arm 5 and the gantry 3. The robotic arm 5 can be driven by the robotic arm lifting mechanism 6 to lift independently of the gantry 3. For example, when the gantry 3 needs to be lifted to load or unload cargo boxes, the lifting and moving of the first-stage gantry 21 drives the gantry 3 and the robotic arm 5 to lift synchronously. With this configuration, it is not necessary to separately control the robotic arm 5 to avoid the gantry 3 during the loading and unloading process, making the control method simpler. A rotation mechanism 35 and a tilting mechanism 34 are connected to the gantry 3 to adjust the angle at which the cargo box hooking device 4 on the gantry 3 engages with the cargo box. Specifically, in this embodiment, the gantry 3 includes a fixed frame 31, a mounting base 32, and a diagonal support 33. The fixed frame 31 is mounted on the gantry 2. In this embodiment, the fixed frame 31 includes an upwardly extending connecting portion 311, through which it is mounted to the gantry 2. The cargo box hooking device 4 is disposed on the mounting base 32. In this embodiment, the mounting base 32 is provided with at least two cargo box hooking devices 4. The cargo boxes placed in the cargo box hooking device 4 include a first cargo box and a second cargo box. The first cargo box refers to the cargo box that stores the target material before sorting, and the second cargo box refers to the cargo box used to place the sorted target material.

[0138] The mounting base 32 is supported by a diagonal brace 33, which is positioned between the fixed frame 31 and the mounting base 32. One end of the diagonal brace 33 is hinged to the fixed frame 31 to form a first rotation center, and the other end of the diagonal brace 33 is driven by the tilting mechanism 34 to rotate and rise around the first rotation center. The rotary mechanism 35 is positioned between the fixed frame 31 and the mounting base 32. Figure 5 As shown, in this embodiment, the diagonal brace 33 is fixed at the lower end of the mounting base 32 and located in the middle of the mounting base 32. The mounting base 32 is connected to the fixed frame 31 through the diagonal brace 33.

[0139] In this embodiment, the tilting mechanism 34 includes a first driving mechanism 341 and a connecting rod assembly 342. The upper end of the connecting rod assembly 342 is connected to the inclined support bracket 33, and the lower end of the connecting rod assembly 342 is connected to the fixed seat frame 31. The first driving mechanism 341 drives the overall height of the connecting rod assembly 342 to change. Figure 5As shown, the linkage assembly 342 in this embodiment includes a first linkage unit and a second linkage unit. The first and second linkage units are H-shaped to improve their support strength. The upper end of the first linkage unit is hinged to the mounting base 32, the lower end of the first linkage unit is hinged to the upper end of the second linkage unit, and the lower end of the second linkage unit is hinged to the fixed frame 31. The first drive mechanism 341 is connected to the middle of the linkage assembly 342, and pushes and pulls the linkage assembly 342 from the middle, thereby changing the overall height of the linkage assembly 342. Since the relative position of the fixed frame 31 is fixed, the tilt angle of the mounting base 32 and its upper cargo box hooking device 4 can be adjusted by the diagonal brace 33 after the overall height of the linkage assembly 342 changes. In a specific embodiment, the first drive mechanism 341 can be an electric push rod or an electric cylinder, whose telescopic end is directly connected to the linkage assembly 342, resulting in a simple transmission structure and high transmission efficiency; the electric push rod or electric cylinder is arranged laterally, resulting in a compact installation structure.

[0140] The cargo box hooking device 4 in this embodiment includes a base 41; a sliding telescopic device 42 is provided on the base 41, wherein, in the fully extended state, the first-stage slide rail 421 is located at the foremost end in the telescopic direction; the hooking device 43 is slidably connected to the first-stage slide rail 421 and includes a lifting bracket 434, on which a hook 431 is slidably connected, and the hook 431 is driven by the second driving mechanism 33 to move up and down along the lifting bracket 434.

[0141] The base 41 includes a base plate and a surrounding plate 411 arranged circumferentially around the base plate. The base 41 opens to the front, and the surrounding plate 411 is inclined at the opening end towards the direction of widening the opening, facilitating the entry of the cargo box into the base 41. Along the length of the base 41, the width of the surrounding plate 411 and the base 41 narrows at the rear. The wider front portion is used to accommodate the target cargo box, while the narrower rear portion houses the retractable hooking device 43 on the first-stage slide rail 421. A drive motor 241 for driving the extension and retraction of the sliding telescopic device 42 is also installed at the narrower rear portion. This separation of the drive device and the cargo box prevents the cargo box from colliding with the hooking device 43 and the drive motor 241 due to excessive movement. Furthermore, the retractable rear structure reduces the overall volume of the base 41, minimizing its overall space occupation.

[0142] The sliding telescopic device 42 includes a multi-stage slide rail (first-stage slide rail 421, second-stage slide rail 422, and third-stage slide rail 423) arranged along the length of the base 41, and a drive mechanism for driving the multi-stage slide rails to extend and retract relative to the mobile cabinet. In the fully extended state, the first-stage slide rail 421 is located at the foremost point in the extension direction. By adjusting the extension length of the multi-stage slide rails, goods can be retrieved from both deep and shallow storage locations on the shelf. The drive mechanism of the sliding telescopic device 42 includes a drive motor 241 and a synchronous belt assembly (first synchronous belt 4242 and second synchronous belt 4243) connected to the drive motor 241. The synchronous belt drive structure is simple and simplifies control.

[0143] In this embodiment, the multi-stage slide rail includes a first-stage slide rail 421, a second-stage slide rail 422, and a third-stage slide rail 423. The hooking device 43 is slidably mounted on the first-stage slide rail 421. The first-stage slide rail 421 and the second-stage slide rail 422 are connected by a first synchronous belt assembly. The second-stage slide rail 422 and the third-stage slide rail 423 are connected by a second synchronous belt assembly. The second synchronous belt 4243 is driven to rotate by a first drive motor 241, and the second synchronous belt 4243 is linked with the first synchronous belt 4242. In this embodiment, the multi-stage slide rails are nested, resulting in a small overall space occupied after retraction. Furthermore, a positioning sensor is provided to control the maximum extension and retraction position of each stage of the slide rail. The structure and working principle of the positioning sensor are conventional techniques in this field and will not be described in detail here.

[0144] The second-stage slide rail 422 includes a first transverse connecting seat 4221 located at the rear end of the movement direction and a second transverse connecting seat 4222 located at the front end of the movement direction. The first transverse connecting seat 4221 is fixed to the second synchronous belt 4243, and a synchronous pulley on one side of the first synchronous belt 4242 is provided on the first transverse connecting seat 4221. The synchronous pulley on the other side of the first synchronous belt 4242 is installed on the second transverse connecting seat 4222. The first-stage slide rail 421 is fixed to the first synchronous belt 4242, and the other end of the first synchronous belt 4242 is fixed to the base 41 or the third-stage slide rail 423. In this embodiment, the second synchronous belt 4243 is arranged along the centerline of the third-stage slide rail 423. In the multi-stage slide rail retracted state, a pair of first synchronous belts 4242 are located on both sides of the width direction of the first synchronous belt 4242, avoiding mutual interference between the synchronous belts in the multi-stage slide rail retracted state. Furthermore, a pair of first synchronous belts 4242 are used to connect the first-stage slide rail 421 further forward in the movement direction, making its movement more stable. In this embodiment, the third-level slide rail 423 is fixed on the base 41, and the second-level slide rail 422 and the third-level slide rail 423 can extend forward relative to the third-level slide rail 423, so that the sliding telescopic device 42 can extend forward relative to the base 41 and enter the depth of the shelf storage location.

[0145] In a preferred embodiment, when the multi-stage slide rails are fully extended, they can at least partially conform to the bottom surface of the target box storage location on the shelf. This conformal design disperses the impact force of the box's weight on the slide rails, making their movement more stable when retracting the box.

[0146] The hooking mechanism 43 is slidably connected to the first-stage slide rail 421 via a slider, and can move back and forth along the first-stage slide rail 421. In this embodiment, the hooking device 43 is driven by a driving mechanism to move along the first-stage slide rail 421. The driving mechanism for driving the hooking mechanism 43 to slide along the first-stage slide rail 421 includes a drive motor and a gear and rack assembly. The drive motor and the hooking device 43 are mounted on the same slider, which is slidably connected to the first-stage slide rail 421. The rack 4231 is arranged along the first-stage slide rail 421, and the gear meshes with the rack 4231 and is driven to rotate by the drive motor. The gear and rack transmission has the characteristics of high precision and high rigidity, ensuring the positional accuracy of the hooking mechanism 43 when moving along the first-stage slide rail 421; the gear and rack structure can withstand a large load, is suitable for handling heavy cargo boxes, and has a simple transmission structure.

[0147] After the cargo box, handled by the hook mechanism 43, is moved onto the first-stage slide rail 421, the sliding telescopic device 42 retracts and moves it onto the base 41. In this embodiment, a buffer block 422 is provided at the rear of the first-stage slide rail 421, facing the cargo box. The buffer block 422 can absorb impact energy when the cargo box retracts or there is a positioning error, preventing the cargo box from colliding hard with the slide rail.

[0148] The hooking mechanism 43 includes a lifting bracket 434, on which a hook 431 is slidably connected. The hook 431 is driven by a driving mechanism to move up and down along the lifting bracket 434. In this embodiment, the hook 431 is slidably connected to the lifting bracket 434 via a movable seat 435. The movable seat 435 includes a hook connecting part located on the front side of the lifting bracket 434 and a lifting connecting part located on the upper end of the lifting bracket 434. The hook 431 is installed on the front side of the hook connecting part and is located near the lower end of the lifting bracket 434. When it moves to the side of the target cargo box, the hook 431 can move up and down against the side of the cargo box. Thus, after the foremost hook 431 is close to the target cargo box, it can have a large vertical lifting distance, which is convenient for establishing a connection with cargo boxes of different sizes. The lifting connecting part cooperates with the upper end of the lifting bracket 434 to limit the lower position of the moving seat 435. The drive mechanism is located on the rear side of the lifting bracket 434, and its output end is connected to the lifting connecting part, driving the moving seat 435 to drive the hook 431 to rise and fall. In this embodiment, the hook 431 is L-shaped with its orientation facing upwards. By moving up and down, it can connect or disconnect with the hook part of the cargo box, which is simple in structure.

[0149] The rotary mechanism 35 in this embodiment includes a second drive mechanism 351 and a rotary gear. The second drive mechanism 351 meshes with the rotary gear via a transmission gear, driving the rotary gear to rotate and adjust the mounting base 32. In this embodiment, the rotary gear is located in the middle of the mounting base 32, making the rotation angle of the mounting base 32 easier to control. The second drive mechanism 351 is a rotary motor. In a specific embodiment, the picking mechanism 52 at the end of the robotic arm 5 can be a suction cup, gripper, magnetic suction device, or other structures, which can be selected according to the specific material characteristics.

[0150] In this embodiment, the mechanical head 51 is relatively fixed in position. The robotic arm 5 in this embodiment has multiple rotatable joints 5.1-5.6, which drive the end effector to grasp the target material within a spherical range. For example, the robotic arm 5 in this embodiment has six rotatable joints 5.1-5.6, and adjacent joints can rotate relative to each other, so that the robotic arm 5 can grasp materials within a large range.

[0151] The material identification device in this embodiment includes depth cameras positioned on both sides of the robotic arm head 51. These depth cameras are used to identify one or more of the following: the operating position of the robotic arm 5, the gripping state of the picking mechanism 52, and the position of parts within the cargo box. The depth cameras, positioned on both sides of the robotic arm head 51, can be adjusted with the robotic arm 5, allowing their field of view to cover all cargo boxes on the rack 3 without requiring additional camera mounting brackets to move and adjust their fields of view. Using depth cameras on both sides for identification improves the reliability of the identification results. In this solution, the focus is on the placement and method of the depth cameras; the specific implementation of depth cameras in identifying the position and information of objects in three-dimensional space is a conventional technique in this field.

[0152] The control method for the picking robot described above is as follows:

[0153] Includes the following steps:

[0154] Place the second cargo box at at least one cargo box hooking device 4;

[0155] Control the picking robot to move to the designated location and retrieve the designated first cargo box using the cargo box hooking device 4;

[0156] The designated material in the first cargo box is identified by the material identification device, and the robotic arm 5 is controlled to pick up the designated material from the first cargo box and place it into the second cargo box based on the feedback information from the material identification device.

[0157] After the first box is picked, the picking robot controls the storage position of the first box, and the box hooking device 4 moves the first box to the storage position.

[0158] In the above method, before retrieving or unloading the cargo box using the cargo box hooking device 4, the method further includes the following steps: adjusting the height of the cargo box hooking device 4 to one side of the target cargo box storage location, and controlling the robotic arm 5 to rise and fall synchronously. Before loading and unloading goods using the cargo box hooking device 4, the rotation device 35 and the tilting mechanism 34 are controlled to adjust the inlet and outlet positions of the currently operating cargo box hooking device 4 so that it can be aligned with the target cargo box or target storage location, facilitating precise control of loading and unloading the target cargo box.

Claims

1. A bin storage and retrieval system, characterized in that, The system includes: Stackable rack units, multiple rack units stacked to form a three-dimensional storage area, the rack unit includes a stand, a base connected to the bottom of the stand, and multiple trays detachably mounted on the stand from top to bottom. The stand has multiple vertically arranged columns, the top and bottom of the columns have cup openings and cup bottoms respectively, and the vertical stacking of multiple rack units is achieved through the nesting and cooperation of the cup openings and cup bottoms. Each tray is suitable for storing multiple boxes. The bin loading and unloading robot is used to deliver bins into designated storage locations on the rack or retrieve them from designated storage locations on the rack. The bin loading and unloading robot includes a chassis, a gantry vertically mounted on the chassis, a lifting frame mounted on the gantry, and a hooking device mounted on the lifting frame. According to the work order instructions, it moves to the target rack unit, aligns with the target pallet layer by lifting the lifting frame, and uses the hooking device to extend into the gap between the pallet and the bin to complete the storage and retrieval action. The bin handling robot receives bins from the inbound / outbound robot and then transports the bins to the designated location according to the path planned by the control unit. The bin picking robot retrieves the bin containing the target material from the corresponding rack according to the work order and places it into the picking robot. The picking robot is used to retrieve the material from the target bin according to the work order. The control unit is used to parse work orders and break them down into storage, retrieval, handling, and sorting sub-tasks; monitor the status of rack locations, robot positions, and task progress in real time; dynamically plan robot paths to avoid conflicts; and issue instructions to each robot. The picking robot includes: The chassis has wheel assemblies at its bottom; The gantry is mounted on the chassis. A sorting rack is installed on the gantry, and the sorting rack is equipped with at least two box hooking devices. The box hooking devices are used to load boxes onto the sorting rack or unload boxes from the sorting rack. The boxes on the box hooking devices include a first box and a second box. The first box is used to store materials to be sorted, and the second box is used to store sorted materials. A robotic arm is mounted on a gantry and rises and falls synchronously with the sliding frame. The end of the robotic arm is equipped with a picking mechanism for picking up materials. The picking mechanism is located above the cargo box hooking device and is driven by the robotic arm to carry materials between cargo boxes on at least two cargo box hooking devices. A robotic arm lifting mechanism drives the robotic arm to move up and down along the gantry independently of the scaffolding; Material identification device, used to identify the location of materials inside the cargo container; The controller is used to control the robotic arm's movements based on the information returned by the material identification device to move the target material from the first cargo box to the second cargo box; The picking robot also includes a rotary mechanism and a tilting mechanism, connected to the scooping frame, for adjusting the angle at which the box-hooking device on the scooping frame engages with the box; the scooping frame includes a fixed frame, a mounting base, and a diagonal brace; the fixed frame is mounted on the gantry, the box-hooking device is mounted on the mounting base, the mounting base is supported by the diagonal brace, and the diagonal brace is positioned between the fixed frame and the mounting base; one end of the diagonal brace is hinged to the fixed frame to form a first rotation center, and the other end of the diagonal brace is driven by the tilting mechanism to rotate and rise around the first rotation center; the rotary mechanism is positioned between the fixed frame and the mounting base; The tilting mechanism includes a first driving mechanism and a connecting rod assembly. The upper end of the connecting rod assembly is connected to the inclined support bracket, and the lower end of the connecting rod assembly is connected to the fixed frame base. The first driving mechanism drives the overall height of the connecting rod assembly to change. The rotating mechanism includes a second driving mechanism and a rotating gear. The second driving mechanism meshes with the rotating gear through a transmission gear, driving the rotating gear to rotate and adjust the mounting base.

2. The bin storage and retrieval system according to claim 1, characterized in that, The column is provided with overlapping positions at intervals along its height extension direction. The tray is horizontally installed on the overlapping positions of the column and is a horizontally protruding snap-fit ​​platform or open structure. The tray is further fixedly connected by a detachable connection mechanism.

3. The bin storage and retrieval system according to claim 1, characterized in that, The hooking device includes: The base is rotatable and height-adjustable. A sliding telescopic device is mounted on a base and includes a multi-stage slide rail arranged along the length of the base and a first drive mechanism that drives the multi-stage slide rail to extend and retract relative to the mobile cabinet; wherein, in the fully extended state, the first-stage slide rail is located at the foremost end in the extension and retraction direction. The hooking mechanism is slidably connected to the first-stage slide rail and includes a lifting bracket. A hook is slidably connected to the lifting bracket, and the hook is driven by a second driving mechanism to move up and down along the lifting bracket.

4. The bin storage and retrieval system according to claim 1, characterized in that, The aforementioned bin handling robot includes, The chassis has wheel assemblies at its bottom; A gantry is mounted on a chassis, and a gripping mechanism is slidably connected to it. The gripping mechanism is driven by a first drive mechanism to move up and down along the gantry. The gripping mechanism includes at least one pair of symmetrically arranged arm mechanisms. The arm mechanisms are driven to extend and retract forward and backward by a second drive mechanism. The front end of the arm mechanism is provided with a hook. The hook is driven by a third drive mechanism to switch between a first position and a second position. In the first position, the hook establishes a connection with both sides of the material box between the two arm mechanisms. In the second position, the hook disengages from the material box between the two arm mechanisms. The transfer rack is set on a chassis and located on one side of the gantry. The chassis has multiple storage positions, which are located on the moving path of the gripping mechanism. 3D laser sensors are used to identify the three-dimensional spatial position and orientation of the hopper; The controller adjusts the posture of the bin-handling robot based on information fed back from the sensor system, and grabs the corresponding bin and stores it in the storage location; Material identification device, used to identify and record information about the bin or the materials in the bin.

5. The bin storage and retrieval system according to claim 4, characterized in that, The transfer rack has a multi-layer structure with multiple storage positions stacked in the height direction. The height interval between adjacent storage positions is greater than the height of the material box. A pair of guide connecting plates are fixed to the first section. Each guide connecting plate is connected to at least two guide wheels arranged in the front-back direction. The guide wheels of the pair of guide connecting plates are respectively located in the guide grooves on both sides of the first section. The gripping mechanism also includes a first positioning sensor and a second sensing sensor. The sensing end of the first positioning sensor is arranged towards the direction close to the material box and is used to detect whether the hook has moved to the first position. The second position sensor is positioned with its sensing end facing away from the hopper to detect whether the claw has moved to the second position.

6. The bin storage and retrieval system according to claim 3, characterized in that, The base is mounted on a mounting seat via a cross roller bearing. The mounting seat is slidably mounted on the gantry. The base includes a base plate and a surrounding plate arranged circumferentially around the base plate. The base opens to the front, and the surrounding plate is inclined at the opening end towards the direction of widening the opening. The hooking device includes a positioning device, which includes a barcode reader and a laser sensor. The barcode reader is used to locate the cargo box and identify its information by scanning the coded information on the cargo box. The laser sensor is used to identify the position and orientation of the cargo box.

7. A method for storing and retrieving a material bin, characterized in that, Applied to the bin storage and retrieval system as described in any one of claims 1-6, The method includes the following steps: Step 1) The control unit receives the work order, parses the material requirement information in the work order, and determines the rack unit and storage location where the target material box is located; Step 2) Based on the height information of the material box, control the position of the pallet in the rack unit and adjust the spacing between adjacent pallets to adapt to the height of the material box; control the material box entry and exit robot to move to the target rack unit and align the target pallet layer by lifting and lowering the rack; control the sliding extension device of the hooking device to extend so that the hooking mechanism reaches the target material box position. Step 3) Control the hook to descend and hook the material box, then lift the material box, and then retract it through the sliding telescopic device to remove the material box from the pallet; Step 4) The bin loading and unloading robot will transport the retrieved bins to the handover position with the bin transport robot; the bin transport robot will use a 3D laser sensor to identify the three-dimensional spatial position and posture of the bins, adjust its own posture, and then grab the bins. Step 5) The bin handling robot transports the bins to the bin picking robot's location according to the path planned by the control unit; the bin picking robot's bin hooking device loads the bins onto the first bin position on the rack; the material identification device identifies the position of the material in the first bin, and the controller controls the robotic arm to move the target material from the first bin to the second bin; after sorting is completed, the bin hooking device unloads the bins from the rack, and the bin handling robot transports the processed bins to the designated storage or outbound location; Step 6) The control unit monitors the status of the material rack location, the position of each robot, and the task progress in real time, and dynamically plans the robot path to avoid conflicts.

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