Material box carrying system, material box carrying robot and material box

Abstract

The embodiment of the utility model provides a workbin carrying system, a workbin carrying robot and a workbin, the workbin carrying system comprises a first goods shelf and the workbin carrying robot, and the first goods shelf comprises a plurality of storage layers arranged in the height direction. The workbin carrying robot is hung on one side face in the length direction of the first goods shelf and can horizontally move in the length direction of the side face, the moving speed of the workbin carrying robot is higher, and the workbin carrying efficiency can be improved. A first connecting structure and a second connecting structure are arranged on the two sides of each material box, and the first connecting structure of one material box can be connected with or separated from the second connecting structure of the other material box. According to the material box carrying robot, the material box, connected with the material box, on the storage position is moved to the position adjacent to the material box carrying robot, the material box carrying robot can achieve multi-deep-position material box goods taking and placing through a simple carrying assembly, and the goods taking and placing efficiency is higher.

Description

Technical Field

[0001] The utility model relates to the technical field of warehousing and logistics, in particular to a material box handling system, a material box handling robot and a material box. Background Art

[0002] In the traditional logistics and warehousing field, AGV (Automated Guided Vehicle, abbreviated as AGV) is usually used to transport material boxes.

[0003] In practical applications, on the one hand, AGVs mostly use vehicle chassis components to achieve vehicle driving. During the process of transporting material boxes, the AGV's driving speed is limited, and the material box handling efficiency is low. On the other hand, multiple material boxes are usually arranged in the depth direction of the shelf, and the multiple material boxes are arranged at intervals. The AGV's gripper needs to be configured as a retractable structure. By retracting the gripper to different depth positions, each material box in the depth direction can be grasped in turn. The AGV's gripper structure with this structure needs to extend a long distance, which is not easy to simplify the AGV's gripper structure. Utility Model Content

[0004] The purpose of the embodiments of the present invention is to provide a material box handling system, a material box handling robot, and a material box, so as to improve the handling efficiency of the material box. The specific technical solution is as follows:

[0005] A first aspect of the present application provides a container handling system, comprising:

[0006] The first shelf includes a plurality of storage layers arranged in a height direction, each storage layer includes a plurality of storage locations arranged in parallel; each storage location is used to store interconnected material boxes;

[0007] The material box handling robot is hung on a side surface in the length direction of the first shelf, and can move horizontally along the length direction of the side surface, and take out the material box adjacent to the material box handling robot from the storage position, so that the material box connected to the material box on the storage position is moved to a position adjacent to the material box handling robot; or, place the material box in the storage position on the first shelf, so that the material box on the storage position is connected to the placed material box, and moves to a position away from the material box handling robot.

[0008] In some embodiments, a first connection structure and a second connection structure are provided on both sides of each material box, so that in two adjacent material boxes, the first connection structure of one material box can be connected to or separated from the second connection structure of the other material box.

[0009] In some embodiments, the invention further comprises: a second shelf, the second shelf comprising a plurality of storage layers arranged in a height direction, each storage layer comprising a plurality of storage locations arranged in parallel; each storage location is used to store interconnected material boxes;

[0010] The first shelf and the second shelf are arranged at intervals so that an alley is formed between the first shelf and the second shelf. The material box handling robot is arranged in the alley and can obtain the material boxes adjacent to the material box handling robot on the first shelf and the second shelf, so that the material boxes connected to the material boxes on the storage position are moved to a position adjacent to the material box handling robot, and can place the material boxes in the storage positions on the first shelf and the second shelf, so that the material boxes on the storage positions are connected to the placed material boxes and moved to a position away from the material box handling robot.

[0011] In some embodiments, the first shelf is provided with at least one mounting rail on one side in the length direction;

[0012] The bin handling robot includes: a support frame and a bin picking and placing component;

[0013] The support frame is hung on a side surface in the length direction based on the mounting guide rail and can move horizontally along the length direction of the side surface; the material box picking and placing assembly is arranged on the support frame and can move up and down along the height direction of the support frame to pick up and place material boxes on storage layers of different heights on the first shelf and the second shelf.

[0014] In some embodiments, the container handling robot further comprises: a lifting assembly disposed on the support frame; a container picking and placing assembly disposed on the lifting assembly, and driven by the lifting assembly to move up and down along the height direction of the support frame;

[0015] The material box picking and placing assembly includes: a bidirectional telescopic material box picking and placing component, which is used to be telescopic toward the first shelf and / or the second shelf to pick up and place the material box on the first shelf and / or the second shelf.

[0016] In some embodiments, the material box picking and placing component of the material box picking and placing assembly has a hook, and at least one side of the material box is provided with a hook hole that cooperates with the hook.

[0017] In some embodiments, the first rack or the second rack is a double-deep rack, and each storage location can store two interconnected boxes; or

[0018] The first rack or the second rack is a four-deep rack, and each storage position can store four interconnected boxes.

[0019] In some embodiments, the quad-deep rack is formed by two double-deep racks connected back to back in the length direction.

[0020] A second aspect of the present application provides a container handling robot, comprising:

[0021] Support frame and bin picking assembly;

[0022] The support frame is used to be hung on one side surface of the first shelf in the longitudinal direction based on at least one mounting rail provided on the side surface of the first shelf in the longitudinal direction and can be horizontally moved along the longitudinal direction of the side surface. The first shelf includes a plurality of storage layers arranged in the height direction, each storage layer includes a plurality of storage locations arranged in parallel; each storage location is used to store material boxes that can be connected to each other;

[0023] The material box picking and placing component is arranged on the support frame, and can move up and down along the height direction of the support frame, and take out the material box adjacent to the material box handling robot from the storage position, so that the material box connected to the material box on the storage position is moved to a position adjacent to the material box handling robot; or, place the material box in the storage position on the first shelf, so that the material box on the storage position is connected to the placed material box and moved to a position away from the material box handling robot.

[0024] In some embodiments, a container includes a body, and a first connecting structure and a second connecting structure are provided on both sides of the body, so that in two adjacent containers, the first connecting structure of one container can be connected to or separated from the second connecting structure of the other container, the first connecting structure includes: a hook bent toward the bottom of the container; the second connecting structure includes: a first socket opened toward the top of the container;

[0025] The material box picking and placing component of the material box picking and placing assembly has a hook, and at least one side of the material box is provided with a hook hole that cooperates with the hook; wherein,

[0026] When the bin handling robot obtains the bin:

[0027] The hook of the material box handling robot extends and moves upward, and the hook of the material box picking and placing component inserts into the hook hole of the material box from the bottom of the material box to hook the material box; wherein, the first socket side of the material box faces the material box handling robot, and the hooks of two adjacent material boxes are plugged into the first sockets to connect the two adjacent material boxes;

[0028] The hook of the material box handling robot retracts and pulls the hooked material box out of the storage position, and the material box connected to the hooked material box moves to a position adjacent to the material box handling robot;

[0029] The material box handling robot performs an upward movement, so that the hook of the hooked material box is disengaged from the first socket of the material box connected thereto, thereby separating the hooked material box from the material box connected thereto;

[0030] The container transport robot transports the hooked container to a predetermined location;

[0031] When the bin handling robot places the bin:

[0032] The hook of the material box picking and placing component is inserted into the hook hole of the material box from the bottom of the material box to hook the material box, and then moves downward to connect the hook of the material box being carried with the first socket of the adjacent material box to connect the two material boxes;

[0033] The box handling robot pushes the box it is carrying to the storage position of the first shelf, and moves the box connected to the box it is carrying to a position one box away from the box handling robot;

[0034] The material box handling robot performs a descending motion, and the hook of the material box picking and placing component separates from the hook hole of the material box being handled, thereby separating the hooked material box from the material box handling robot.

[0035] A third aspect of the present application provides a material box, comprising:

[0036] The main body has a first connecting structure and a second connecting structure on both sides thereof, so that in two adjacent material boxes, the first connecting structure of one material box can be connected or separated by the first connecting structure and the second connecting structure of the other material box.

[0037] In some embodiments, the top of the body is open;

[0038] The first connecting structure includes: a hook bent toward the bottom of the material box;

[0039] The second connection structure includes a first socket opening toward the top of the tank.

[0040] In some embodiments, the top of the tank is open;

[0041] The first connecting structure includes: a hook bent toward the bottom of the material box;

[0042] The second connection structure includes a first socket opening toward the top of the tank.

[0043] In some embodiments, the material box is a rectangular material box, comprising a first side wall, a second side wall, a third side wall, a fourth side wall, a first side column, a second side column, a third side column, a fourth side column and a groove wall, wherein the first side wall and the second side wall are opposite, and the third side wall and the fourth side wall are opposite;

[0044] Two sides of the first side wall are connected to the first side column and the second side column, and two sides of the second side wall are connected to the third side column and the fourth side column;

[0045] The groove wall is arranged on the outer side of the second side wall, is spaced apart from the second side wall, and connects the third side column and the fourth side column. The first socket is formed between the groove wall and the second side wall.

[0046] In some embodiments, the tank further comprises a first rib and a second rib;

[0047] The first rib and the second rib are arranged on the outer side of the second side wall and located on both sides above the first socket.

[0048] The embodiment of the present invention provides a bin handling system, a bin handling robot, and a bin. The bin handling system includes a first shelf and a bin handling robot. The first shelf includes multiple storage layers arranged in a height direction. Each storage layer includes multiple storage locations arranged in parallel. Each storage location is used to store bins that can be connected to each other. The bin handling robot is hung on a side surface in the length direction of the first shelf and can move horizontally along the length direction of the side surface. Since the bin handling robot is hung on the first shelf, the vehicle chassis assembly of the traditional AGV (the vehicle chassis assembly is heavier) is not provided. The overall weight of the bin handling robot is low, which makes it easy to increase the driving speed of the bin handling robot and is not easy to go off the track, thereby facilitating the improvement of the bin handling efficiency.

[0049] On the other hand, a first connecting structure and a second connecting structure are provided on both sides of each material box, so that in two adjacent material boxes, the first connecting structure of one material box can be connected to or separated from the second connecting structure of the other material box. When the material box handling robot obtains the material box adjacent to the material box handling robot from the storage position, the material box connected to the material box on the storage position is moved to a position adjacent to the material box handling robot. Compared with the existing technology, the material box handling robot does not need to extend into each material box position in the depth direction to pick up and place the material box, thereby simplifying the structure of the material box handling robot. In addition, it is also easy to realize the picking and placing of materials at deeper positions. The material box handling robot can realize the picking and placing of materials at multiple depths with a simple handling component, and the picking and placing efficiency is higher.

[0050] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0052] Figure 1 This is a schematic structural diagram of a material box handling system according to a first embodiment of the present application;

[0053] Figure 2 for Figure 1 Schematic diagram of the material box structure of the material box handling system shown Figure 1;

[0054] Figure 3 for Figure 1 Schematic diagram of the material box structure of the material box handling system shown Figure 2 ;

[0055] Figure 4 for Figure 1 The schematic diagram of the structure of the two material boxes connected in the material box handling system shown;

[0056] Figure 5 for Figure 1 A magnified view of middle A;

[0057] Figure 6 This is a schematic structural diagram of a material box handling system according to a second embodiment of the present application;

[0058] Figure 7 for Figure 6 A schematic structural diagram of the handling robot of the material box handling system;

[0059] Figure 8 for Figure 6 The schematic diagram of the material box picking and placing component structure of the material box handling system shown Figure 1 ;

[0060] Figure 9 for Figure 6 The schematic diagram of the material box picking and placing component structure of the material box handling system shown Figure 2 ;

[0061] Figure 10 This is a partial structural diagram of the material box handling system before removing the material box according to the third embodiment of the present application;

[0062] Figure 11 for Figure 10 The diagram shows a partial structural diagram of the material box handling system after the material box is removed.

[0063] The reference numerals are as follows:

[0064] First shelf 10, storage layer 11, storage position 111, mounting rail 12, material box handling robot 20, support frame 21, material box pick-up and placement assembly 22, material box pick-up and placement component 221, hook 2211, rack 222, motor 223, gear 224, base 225, lifting assembly 23, second shelf 30, material box 200, first side wall 210, second side wall 220, third side wall 230, fourth side wall 240, first connecting structure 201, hook 2011, second connecting structure 202, first socket 2021, first side column 203, second side column 204, third side column 205, fourth side column 206, groove wall 207, first rib 208a, second rib 208b, hook hole 209;

[0065] Length direction X, depth direction Y, height direction Z. DETAILED DESCRIPTION

[0066] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field based on this application are within the scope of protection of the present invention.

[0067] As described in the background, in related technologies, AGVs are limited in speed during operation due to their heavy chassis and the need to maintain stability. Furthermore, the bins are spaced apart in the depth of the shelf. To retrieve and place bins deeper in the shelf, the AGV's gripper needs to extend a considerable distance, making it difficult to simplify the AGV's gripper structure. Furthermore, the bin retrieval process requires the gripper to extend and retract a considerable distance, which takes a long time. All of this results in low AGV efficiency in handling bins.

[0068] The purpose of this application is to provide a material box handling system, a material box handling robot and a material box, so as to improve the handling efficiency of the material box.

[0069] To this end, the present application proposes a material box handling system, a material box handling robot and a material box.

[0070] Specifically, a material box handling system, a material box handling robot, and a material box according to an embodiment of the present application are described below with reference to the accompanying drawings.

[0071] Figure 1 This is a structural diagram of the material box handling system of the first embodiment of the present application, as shown in FIG. Figure 1 As shown, a bin handling system includes: a first shelf 10 and a bin handling robot 20. The first shelf 10 includes a plurality of storage layers 11 arranged along the height direction Z. Extending along the depth direction X, each storage layer 11 includes a plurality of storage positions 111 arranged in parallel. Along the depth direction Y, each storage position 111 is used to store bins that can be connected to each other. The bin handling robot 20 is hung on a side surface of the first shelf 10 along the length direction X and can move horizontally along the length direction X of the side surface and take out a bin adjacent to the bin handling robot 20 from a storage position 111, so that the bin connected to the bin in the storage position 111 is moved to a position adjacent to the bin handling robot 20. Alternatively, a bin 200 is placed in a storage position 111 on the first shelf 10, so that the bin 200 in the storage position 111 is connected to the placed bin 200 and moved to a position away from the bin handling robot 20.

[0072] The container handling system provided by the embodiment of the present invention includes a first shelf 10 and a container handling robot 20. The first shelf 10 includes a plurality of storage layers 11 arranged along the height direction Z. Each storage layer 11 includes a plurality of storage positions 111 arranged in parallel. Each storage position 111 is used to store containers that can be connected to each other. The container handling robot 20 is hung on a side surface of the first shelf 10 in the length direction X and can move horizontally along the length direction X of the side surface. On the one hand, since the container handling robot 20 does not have a vehicle chassis assembly of a traditional AGV, but is hung on the first shelf 10, the overall weight of the container handling robot 20 is relatively low, and there is a fixed first shelf 10 to restrict the container handling robot 20. Under the condition of the same driving stability, the container handling robot 20 moves faster and is less likely to go off the track, thereby facilitating the improvement of the container handling efficiency.

[0073] Figure 2 for Figure 1 Schematic diagram of the material box structure of the material box handling system shown Figure 1 , Figure 3 for Figure 1 Schematic diagram of the material box structure of the material box handling system shown Figure 2 ,like Figure 2 and Figure 3 As shown, a first connection structure 201 and a second connection structure 202 are provided on both sides of each material box, so that in two adjacent material boxes, the first connection structure 201 of one material box can be connected to or separated from the second connection structure 202 of the other material box.

[0074] Therefore, after the bin adjacent to the bin handling robot 20 is removed, the bin connected to the removed bin is moved to a position adjacent to the bin handling robot 20. Compared to the prior art, the bin handling robot 20 does not need to reach into every bin position in the depth direction Y to pick up and place a bin, thereby simplifying the structure of the bin handling robot 20. At the same time, since the distance between the bin handling robot 20 and the bins to be picked up and placed is relatively close, the expected handling efficiency can also be improved.

[0075] In some embodiments, as Figure 2 and Figure 3 As shown, the top of the material box is open; the first connecting structure 201 includes: a hook 2011 bent toward the bottom of the material box; the second connecting structure 202 includes: a first socket 2021 facing the top opening of the material box. Materials can be placed into the material box through the top opening.

[0076] In a specific application, the first socket 2021 of the material box faces the material box handling robot 20 , that is, the first socket 2021 of the material box faces the outside of the storage position 111 , and the hook 2011 of the material box faces the inside of the storage position 111 .

[0077] During the process of the container handling robot 20 acquiring the container 200, in order to separate the acquired container from the container 200 connected thereto, the following steps are implemented:

[0078] After the material box handling robot 20 obtains the material box 200 and pulls it out from the storage position 111, the material box handling robot 20 carries the obtained material box 200 to move upward, and the hook 2011 of the carried material box 200 and the first socket 2021 of the carried material box connected to the carried material box can be separated, thereby realizing the separation of the obtained material box 200 and the material box 200 connected to it.

[0079] During the process of placing the material box 200 by the material box handling robot 20, in order to connect the placed material box with the adjacent material box 200, the following steps are implemented:

[0080] The container transport robot 20 carries the container 200 and moves downward, plugging the hook 2011 of the carried container 200 into the first socket 2021 of the adjacent container, so as to connect the carried container and the adjacent container 200 .

[0081] In a specific implementation, the material box is a rectangular material box, including a main body, which includes a first side wall 210, a second side wall 220, a third side wall 230, a fourth side wall 240, a first side column 203, a second side column 204, a third side column 205, a fourth side column 206 and a groove wall 207. The first side wall 210 and the second side wall 220 are opposite, and the third side wall 230 and the fourth side wall 240 are opposite; the two sides of the first side wall 210 are connected to the first side column 203 and the second side column 204, and the two sides of the second side wall 220 are connected to the third side column 205 and the fourth side column 206; the groove wall 207 is arranged on the outer side of the second side wall 220, and is spaced apart from the second side wall 220, and connects the third side column 205 and the fourth side column 206, and the first socket 2021 is formed between the groove wall 207 and the second side wall 220. Specifically, the material box also includes a first rib 208a and a second rib 208b; the first rib 208a and the second rib 208b are arranged on the outside of the second side wall 220 and are located on both sides above the first socket 2021. The overall structure of the rectangular material box using the above structure is relatively strong. It can be understood that in implementation, the embodiments of this scheme are not limited to the rectangular material box with the above structure.

[0082] Figure 4 for Figure 1 The schematic diagram of the structure of the two material boxes connected to the material box handling system shown in FIG. Figure 4As shown, when two bins are connected, their ends are connected, and the first connecting structure 201 of one bin is connected to the second connecting structure 202 of the other bin. Along the depth direction Y of the first shelf 10, the connected bins can be placed in a storage position 111. When a bin adjacent to the bin handling robot 20 is removed, the removed bin moves toward the bin handling robot 20 by one bin 200, and the bin connected to the removed bin also moves toward the bin handling robot 20 by one bin 200. Afterwards, the two bins are separated, and the bin handling robot 20 can then transport the bins away.

[0083] In some embodiments, Figure 5 for Figure 1 The enlarged view of A in the middle, such as Figure 1 and Figure 5 As shown, the first shelf 10 is provided with at least one mounting rail 12 on one side in the length direction X; the material box handling robot 20 includes: a support frame 21 and a material box picking and placing assembly 22; the support frame 21 is hung on one side in the length direction X based on the mounting rail 12, and can move horizontally along the length direction X of the side; the material box picking and placing assembly 22 is provided on the support frame 21, and can move up and down along the height direction Z of the support frame 21 to pick up and place material boxes on storage layers of different heights on the first shelf 10.

[0084] There may be multiple mounting rails 12, and the multiple mounting rails are spaced apart along the height direction Z. For example, there may be two mounting rails, which are respectively arranged at the top and bottom of the first shelf 10, so as to improve the stability of the box handling robot 20 traveling on the mounting rails, thereby facilitating the increase in the traveling speed of the box handling robot 20, and further improving the efficiency of the box handling system in handling boxes.

[0085] like Figure 1 and Figure 5 As shown, the first shelf 10 is a double-deep shelf, that is, along the depth direction Y of the first shelf 10, each storage position 111 of the first shelf 10 can store two interconnected boxes.

[0086] The material box handling system provided by this application is not only applicable to the application scenario of one shelf, but also to the application scenario of two shelves. In the specific implementation, Figure 6 This is a structural diagram of a material box handling system according to the second embodiment of the present application, as shown in FIG. Figure 6As shown, the material box handling system also includes a second shelf 30, the second shelf 30 includes a plurality of storage layers arranged along the height direction Z, and each storage layer includes a plurality of storage positions arranged in parallel along the depth direction Y; each storage position is used to store materials that can be connected to each other; the first shelf 10 and the second shelf 30 are spaced apart so that an alley is formed between the first shelf 10 and the second shelf 30, and the material box handling robot 20 is arranged in the alley, and can obtain the materials on the first shelf 10 and the second shelf 30 that are adjacent to the material box handling robot 20, so that the materials connected to the materials on the storage position are moved to a position adjacent to the material box handling robot 20, and can place the materials in the storage positions on the first shelf 10 and the second shelf 30, so that the materials in the storage position are connected to the placed materials and moved to a position away from the material box handling robot 20. In the embodiment of this solution, compared with conventional AGV, since the bin pick-up and placement assembly 22 of the bin handling robot 20 does not need to rotate, the lane does not need to reserve space for the bin pick-up and placement assembly 22 to rotate, that is, it can pick up goods from two adjacent shelves (the first shelf 10 and the second shelf 30). Therefore, the lane can be narrow, which makes it easy to increase the storage capacity of the warehouse. The first connecting structure 201 and the second connecting structure 202 can be implemented in various structures, for example, Figure 7 for Figure 6 The structural diagram of the handling robot of the material box handling system is as follows, Figure 8 for Figure 6 The schematic diagram of the material box picking and placing component structure of the material box handling system shown Figure 1 ,like Figure 7 and Figure 8 As shown, the material box pick-up and placement component 221 of the material box pick-up and placement assembly 22 has a hook 2211, and at least one side of the material box is provided with a hook hole 209 (see Figure 3 When the material box handling robot 20 is in the process of acquiring the material box, the material box handling robot 20 moves upward, and the hook 2211 of the material box picking and placing component 221 is inserted into the hook hole 209 of the material box from the bottom of the material box to hook the material box so that the material box can be pulled out later.

[0087] It is easy to understand that the structure of the material box picking and placing component 221 can be realized in various forms, and is not limited to the above-mentioned hook 2211 structure. It can also be a suction cup or a lifting component to realize the picking and placing of the material box.

[0088] When the bin pick-up / placement component 221 includes a suction cup (not shown) and a suction surface is provided on at least one side of the bin, the bin handling robot 20 can simply engage the suction cup of the bin pick-up / placement component 221 with the bin suction surface during the process of picking up the bin. For example, the bin can be attracted to the suction cup by applying air to the suction cup. When the bin handling robot 20 places the bin, it releases the air from the suction cup to place the bin.

[0089] When the material box picking and placing component 221 has a lifting component (not shown), the lifting component has a vertical comb-tooth support vertical plate, and the storage position 111 has a comb-tooth crossbar connected to the comb-tooth support vertical plate. When the material box handling robot 20 is in the process of obtaining the material box, the lifting component rises from under the comb-tooth crossbar, takes over the material box above the comb-tooth crossbar, and then pulls out the taken-over material box. When the material box handling robot 20 is in the process of placing the material box, the comb-tooth support vertical plate carries the material box and inserts the comb-tooth crossbar, so that the carried material box is above the comb-tooth crossbar and the bottom plate of the lifting component is below the comb-tooth crossbar. Then, the lifting component moves downward, so that the carried material box and the comb-tooth support vertical plate are separated and placed on the comb-tooth crossbar to place the material box.

[0090] Specifically, the second shelf 30 may also be a double-deep shelf, that is, along the depth direction Y of the second shelf 30 , each storage location 111 of the second shelf 30 can store two interconnected material boxes.

[0091] Specifically, Figure 9 for Figure 6 The schematic diagram of the structure of the material box picking and placing component 22 of the material box handling system is shown as follows: Figure 2 ,like Figure 7 、 Figure 8 and Figure 9 As shown, the container handling robot 20 further includes: a lifting assembly 23 provided on the support frame 21; a container pick-and-place assembly 22 provided on the lifting assembly 23, and driven by the lifting assembly 23 to move up and down along the height direction Z of the support frame 21; the container pick-and-place assembly 22 includes: a bidirectionally telescopic container pick-and-place component 221, which is used to extend and retract toward the first shelf 10 and the second shelf 30 to pick up and place containers on the first shelf 10 and the second shelf 30. It is understandable that during use, under one execution command, the bidirectionally telescopic container pick-and-place component 221 can perform pick-and-place operations on both the first shelf 10 and the second shelf 30, or can perform pick-and-place operations on only one shelf.

[0092] In realizing the bidirectional extension and retraction of the material box picking and placing component 221, there can be different implementation methods. In some embodiments, the material box picking and placing component 22 includes a rack 222, a motor 223, a gear 224 and a base 225. The rack 222 is arranged on the material box picking and placing component 221, the motor 223 is arranged on the base 225, the gear 224 and the rack 222 are engaged, and the motor 223 drives the gear 224 to rotate forward and reverse. Under the action of the meshing force of the gear 224 and the rack 222, the material box picking and placing component 221 is driven to extend and retract bidirectionally relative to the base 225.

[0093] In a specific implementation, the first shelf 10 or the second shelf 30 is not limited to a double-deep shelf, but may also be a deeper shelf. Figure 10 This is a partial structural diagram of the third embodiment of the present application before taking out the material box. Figure 11for Figure 10 The schematic diagram of the partial structure of the material box handling system after the material box is taken out is shown in FIG. Figure 10 and Figure 11 As shown, the first shelf 10 is a four-deep shelf, and each storage position 111 of the first shelf 10 can store four interconnected boxes. Similarly, the second shelf 30 is a four-deep shelf, and each storage position 111 of the second shelf 30 can store four interconnected boxes.

[0094] In a specific implementation, a four-deep rack can be assembled from two double-deep racks, so that the double-deep racks can be assembled to form racks with different numbers of depths. Taking a four-deep rack as an example, it can be formed by two double-deep racks connected back to back in the length direction X.

[0095] The fourth embodiment of the present application provides a bin handling robot 20, comprising a support frame 21 and a bin picking and placing assembly 22; the support frame 21 is used to be hung on a side surface in the length direction X based on at least one mounting rail 12 provided on a side surface of a first shelf 10 in the length direction X, and can move horizontally along the length direction X of the side surface; the first shelf 10 includes a plurality of storage layers 11 arranged in a height direction Z, each storage layer 11 includes a plurality of storage locations 111 arranged in parallel; each storage location 111 is used to store bins that can be connected to each other ; The material box picking and placing component 22 is set on the support frame 21, and can move up and down along the height direction Z of the support frame 21, and take out the material box 200 adjacent to the material box handling robot 20 from the storage position 111, so that the material box 200 connected to the material box 200 on the storage position 111 is moved to a position adjacent to the material box handling robot 20; or, the material box 200 is placed in the storage position 111 on the first shelf 10, so that the material box 200 on the storage position 111 is connected to the placed material box 200, and moved to a position away from the material box handling robot 20.

[0096] The material box handling robot 20 in this embodiment may adopt the material box handling robot 20 in the above embodiment, which will not be described in detail in this embodiment.

[0097] In the application, take the container handling robot 20 and container 200 in the above embodiment as an example:

[0098] During the process of the container handling robot 20 obtaining the container 200:

[0099] The hook 2211 of the bin handling robot 20 extends and moves upward, and the hook 2211 of the bin picking and placing component 221 is inserted into the hook hole 209 of the bin from the bottom of the bin, hooking the bin. The first socket 2021 of the bin 200 faces the bin handling robot 20, and the hooks 2011 of two adjacent bins 200 are plugged into the first sockets 2021, so that the two adjacent bins 200 are connected.

[0100] The hook 2211 of the container handling robot 20 retracts and pulls the hooked container out from the storage 111 , and the container 200 connected to the hooked container 200 moves to a position adjacent to the container handling robot 20 ;

[0101] The container handling robot 20 performs a descending motion, so that the hook 2011 of the hooked container 200 is disengaged from the first socket 2021 of the container 200 connected thereto, thereby separating the hooked container 200 from the container 200 connected thereto;

[0102] The container transport robot 20 transports the hooked container 200 to a predetermined location;

[0103] During the process of placing the material box 200 by the material box handling robot 20:

[0104] The hook 2211 of the material box picking and placing component 221 is inserted into the hook hole 209 of the material box from the bottom of the material box, hooking the material box 200, and then performing a downward movement to plug the hook 2011 of the material box 200 being transported into the first socket 2021 of the material box 200 connected to it, so that the two material boxes 200 are connected;

[0105] The box handling robot 20 pushes the box 200 it is carrying to the storage position 111 of the first shelf 10, and moves the box 200 connected to the carried box 200 to a position one box away from the box handling robot 20 (the box 200 connected to the carried box 200, when pushed by the box handling robot 20, moves from a position adjacent to the box handling robot 20 by one box to a position one box away from the box handling robot 20, that is, a position one box away from the box handling robot 20);

[0106] The material box transport robot 20 performs a descending motion, and the hook 2211 of the material box picking and placing component 221 separates from the hook hole 209 of the transported material box 200 , thereby separating the hooked material box from the material box transport robot 20 .

[0107] See Figure 2 、 Figure 3 and Figure 4As shown, the fifth embodiment of the present application provides a material box 200, including: a main body, a first connecting structure 201 and a second connecting structure 202 are provided on both sides of the main body, so that in two adjacent material boxes 200, the first connecting structure 201 of one material box 200 can be connected to or separated from the second connecting structure 202 of the other material box 200.

[0108] The material box in this embodiment can adopt the material box of the above embodiment, which will not be described in detail in this embodiment.

[0109] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. A material box handling system, characterized in that: include: A first shelf (10) includes a plurality of storage layers (11) arranged in a height direction (Z), each storage layer (11) including a plurality of storage locations (111) arranged in parallel; each storage location (111) is used to store interconnected material boxes (200); The material box handling robot (20) is hung on a side surface in the length direction (X) of the first shelf (10), and can move horizontally along the length direction (X) of the side surface, and take out the material box (200) adjacent to the material box handling robot (20) from the storage position (111), so that the material box (200) connected to the material box (200) on the storage position (111) moves to a position adjacent to the material box handling robot (20); or, place the material box (200) on the storage position (111) on the first shelf (10), so that the material box (200) on the storage position (111) is connected to the placed material box (200) and moves to a position away from the material box handling robot (20).

2. The container handling system according to claim 1, characterized in that: Also includes: A second shelf (30), the second shelf (30) comprising a plurality of storage layers (11) arranged along the height direction (Z), each storage layer (11) comprising a plurality of storage locations (111) arranged in parallel; each storage location (111) is used to store interconnected material boxes (200); The first shelf (10) and the second shelf (30) are spaced apart so that an alley is formed between the first shelf (10) and the second shelf (30). The material box handling robot (20) is arranged in the alley and can take out the material box (200) adjacent to the material box handling robot (20) on the first shelf (10) and the second shelf (30), so that the material box (200) connected to the material box (200) on the storage position (111) is moved to a position adjacent to the material box handling robot (20), and can place the material box (200) on the storage position (111) on the first shelf (10) and the second shelf (30), so that the material box (200) on the storage position (111) is connected to the placed material box (200) and moved to a position away from the material box handling robot (20).

3. The container handling system according to claim 2, characterized in that: The first shelf (10) is provided with at least one mounting rail (12) on a side surface in the longitudinal direction (X); The material box handling robot (20) comprises: a support frame (21) and a material box picking and placing component (22); The support frame (21) is hung on a side surface in the longitudinal direction (X) based on the mounting guide rail (12) and can move horizontally along the longitudinal direction (X) of the side surface; the material box picking and placing assembly (22) is arranged on the support frame (21) and can move up and down along the height direction (Z) of the support frame (21) to pick up and place material boxes (200) on storage layers (11) of different heights on the first shelf (10) and the second shelf (30).

4. The container handling system according to claim 3, characterized in that: The material box handling robot (20) further includes: a lifting assembly (23) arranged on the support frame (21); the material box picking and placing assembly (22) is arranged on the lifting assembly (23) and moves up and down along the height direction (Z) of the support frame (21) under the drive of the lifting assembly (23); The material box picking and placing assembly (22) comprises: a bidirectionally telescopic material box picking and placing component (221) for telescoping toward the first shelf (10) and / or the second shelf (30) to pick up and place the material box (200) on the first shelf (10) and / or the second shelf (30).

5. The container handling system according to claim 1, characterized in that: The material box picking and placing component (221) of the material box picking and placing assembly (22) has a hook (2211), and at least one side of the material box (200) is provided with a hook hole (209) that cooperates with the hook (2211).

6. The container handling system according to claim 2, characterized in that: The first shelf (10) or the second shelf (30) is a double-deep shelf, and each storage position (111) can store two interconnected boxes (200); or, The first shelf (10) or the second shelf (30) is a four-deep shelf, and each storage position (111) can store four interconnected boxes (200).

7. The container handling system according to claim 6, characterized in that: The four-deep rack is formed by two double-deep racks connected back to back in the length direction (X).

8. The container handling system according to any one of claims 1 to 7, characterized in that: A first connecting structure (201) and a second connecting structure (202) are provided on both sides of each material box (200), so that in two adjacent material boxes (200), the first connecting structure (201) of one material box (200) can be connected to or separated from the second connecting structure (202) of the other material box (200).

9. A box handling robot, characterized in that: include: Support frame (21) and material box pick-up and placement assembly (22); The support frame (21) is used to be hung on a side surface of the first shelf (10) in the longitudinal direction (X) based on at least one mounting rail (12) provided on the side surface of the first shelf (10) in the longitudinal direction (X), and can be horizontally moved along the longitudinal direction (X) of the side surface; the first shelf (10) includes a plurality of storage layers (11) arranged along the height direction (Z), each storage layer (11) includes a plurality of storage positions (111) arranged in parallel; each storage position (111) is used to store mutually connectable material boxes (200); The material box picking and placing component (22) is arranged on the support frame (21), and can move up and down along the height direction (Z) of the support frame (21), and take out the material box (200) adjacent to the material box handling robot (20) from the storage position (111), so that the material box (200) connected to the material box (200) on the storage position (111) moves to a position adjacent to the material box handling robot (20); or, place the material box (200) on the storage position (111) on the first shelf (10), so that the material box (200) on the storage position (111) is connected to the placed material box (200) and moves to a position away from the material box handling robot (20).

10. The container handling robot according to claim 9, characterized in that: The material box (200) comprises a body, and a first connecting structure (201) and a second connecting structure (202) are provided on both sides of the body, so that in two adjacent material boxes (200), the first connecting structure (201) of one material box (200) can be connected to or separated from the second connecting structure (202) of the other material box (200), and the first connecting structure (201) comprises: a hook (2011) bent toward the bottom of the material box (200); the second connecting structure (202) comprises: a first socket (2021) opened toward the top of the material box (200); The material box pick-up and placement component (221) of the material box pick-up and placement assembly (22) has a hook (2211), and at least one side of the material box is provided with a hook hole (209) that cooperates with the hook (2211); wherein, During the process of the material box handling robot (20) acquiring the material box (200): The hook (2211) of the material box handling robot (20) extends and moves upward, and the hook (2211) of the material box picking and placing component (221) is inserted into the hook hole (209) of the material box from the bottom of the material box to hook the material box; wherein, one side of the first socket (2021) of the material box (200) faces the material box handling robot (20), and the curved hooks (2011) and the first sockets (2021) of two adjacent material boxes (200) are plugged into each other, so that the two adjacent material boxes (200) are connected; The hook (2211) of the material box handling robot (20) retracts and pulls the hooked material box out of the storage position (111), and the material box (200) connected to the hooked material box (200) moves to a position adjacent to the material box handling robot (20); The material box handling robot (20) performs an upward movement, so that the hook (2011) of the hooked material box (200) and the first socket (2021) of the material box (200) connected thereto are disengaged, thereby separating the hooked material box (200) from the material box (200) connected thereto; The material box transporting robot (20) transports the hooked material box (200) to a predetermined location; During the process of the material box handling robot (20) placing the material box (200): The hook (2211) of the material box taking and placing component (221) is inserted into the hook hole (209) of the material box from the bottom of the material box to hook the material box (200), and then the material box (200) is lowered to connect the hook (2011) of the transported material box (200) with the first socket (2021) of the adjacent material box (200) to connect the two material boxes (200); The container transporting robot (20) pushes the container (200) being transported to a storage location (111) of the first shelf (10), and moves a container (200) connected to the container (200) being transported to a location one container away from the container transporting robot (20); The material box handling robot (20) performs a descending motion, and the hook (2211) of the material box picking and placing component (221) separates from the hook hole (209) of the material box (200) being handled, thereby separating the hooked material box from the material box handling robot (20).

11. A material box, characterized in that: include: A main body, wherein a first connecting structure (201) and a second connecting structure (202) are provided on both sides of the main body, so that in two adjacent material boxes (200), the first connecting structure (201) of one material box (200) can be connected to or separated from the second connecting structure (202) of the other material box (200).

12. The material box according to claim 11, characterized in that The top of the body is open; The first connecting structure (201) comprises: a hook (2011) bent toward the bottom of the material box; The second connection structure (202) includes a first socket (2021) opening toward the top of the tank.

13. The material box according to claim 11, characterized in that The top of the material box (200) is open; The first connecting structure (201) comprises: a hook (2011) bent toward the bottom of the material box (200); The second connection structure (202) comprises a first socket (2021) opening toward the top of the tank (200).

14. The material box according to claim 13, characterized in that The material box (200) is a rectangular material box (200), comprising a first side wall (210), a second side wall (220), a third side wall (230), a fourth side wall (240), a first side column (203), a second side column (204), a third side column (205), a fourth side column (206) and a groove wall (207), wherein the first side wall (210) and the second side wall (220) are opposite to each other, and the third side wall (230) and the fourth side wall (240) are opposite to each other; Two sides of the first side wall (210) are connected to the first side column (203) and the second side column (204), and two sides of the second side wall (220) are connected to the third side column (205) and the fourth side column (206); The groove wall (207) is arranged on the outside of the second side wall (220), is spaced apart from the second side wall (220), and connects the third side column (205) and the fourth side column (206); the first socket (2021) is formed between the groove wall (207) and the second side wall (220).

15. The material box according to claim 14, characterized in that The material box (200) further includes a first rib (208a) and a second rib (208b); The first rib (208a) and the second rib (208b) are arranged on the outside of the second side wall (220) and are located on both sides above the first socket (2021).

Images