Material handover system
By directly docking the first and second robots to transfer the material bins, the problems of space occupation and high cost in the existing technology are solved, and efficient material transfer is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HANGZHOU HIKROBOT TECH CO LTD
- Filing Date
- 2025-05-09
- Publication Date
- 2026-04-28
AI Technical Summary
In existing technologies, buffer or handover positions need to be set up on shelves during material handover, which occupies storage space and requires ground robots to be equipped with lifting mechanisms, resulting in increased costs.
The material box handover is completed by direct docking of the first and second robots. The first robot places the material box on the execution mechanism of the second robot in a vertical direction, eliminating the need for a buffer position on the shelf and the second robot from needing a lifting device.
It reduces the cost of shelving and ground robots, and improves the efficiency of material handling and space utilization.
Smart Images
Figure CN224171691U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of material transportation technology, and in particular to a material handover system. Background Technology
[0002] Material handover systems are mainly used in the process of material entry and exit from the warehouse, and material handover and transfer are achieved through the cooperation of different actuators.
[0003] In related technologies, when performing material outbound operations, buffer positions or transfer positions are typically set up at the bottom of the shelving. During the material transfer process, a shelving robot retrieves the target box from the target storage location on the shelving and places it in the buffer or transfer position at the bottom of the shelving. A ground robot then retrieves the target box from the buffer or transfer position and transports it to a designated area. This approach requires, firstly, setting up buffer or transfer positions within the shelving area, which occupies shelving storage space; secondly, the ground robot must be equipped with a lifting mechanism to retrieve the target box from the buffer or transfer position, increasing the cost of the ground robot. Utility Model Content
[0004] This application aims to address one of the technical problems in related technologies to a certain extent. To this end, this application provides a material transfer system that can reduce space occupation during the transfer process and improve work efficiency.
[0005] To achieve the above objectives, this application adopts the following technical solution: a material transfer system, the material transfer system including a first robot and a second robot, the first robot is provided with a first actuator for picking up and placing a material box, and the second robot is provided with a second actuator for carrying the material box. When the first actuator of the first robot and the second actuator of the second robot are vertically opposite each other, the first actuator can place the material box carried by the first actuator on the second actuator in the vertical direction and detach the material box from the first robot.
[0006] In this technical solution, the material box is handed over by direct docking between the first robot and the second robot, eliminating the need to set up a buffer position on the shelf, thus reducing the cost of the shelf. Moreover, the first robot places the material box on the second robot's second actuator in the vertical direction through the first actuator, eliminating the need to set up a lifting device on the second robot, thus reducing the cost of the ground robot.
[0007] Preferably, the material transfer system further includes a shelf, the first robot includes two opposing columns that can move horizontally along the shelf, a first actuator is connected between the two columns and can move vertically along the columns, the first actuator is also used to remove the bin from the bin storage position of the shelf, the first robot includes a first drive mechanism that drives the first actuator to move on the shelf, and the second robot includes a second drive mechanism (220) that drives the second robot to move to the transfer position.
[0008] Preferably, when the second robot moves to the handover position, the first drive mechanism drives the first actuator to move above the second actuator, and is able to hand over the material box to the second actuator or remove the material box from the second actuator in the vertical direction.
[0009] Preferably, the first actuator includes a first clamping arm and a second clamping arm. The first clamping arm and the second clamping arm can move relative to each other to form a first state and a second state in their relative positions. When the first clamping arm and the second clamping arm form the first state, the material box can be clamped between the first clamping arm and the second clamping arm and driven by the first driving mechanism to move the material box. When the first clamping arm and the second clamping arm form the second state, the first clamping arm and the second clamping arm can be disengaged from the material box from both sides of the material box in the vertical direction.
[0010] Preferably, the second actuator includes a base plate for supporting the material box, and the base plate is fixedly connected to the second drive mechanism.
[0011] Preferably, the first actuator includes a pallet for lifting the material box, the pallet is provided with a first comb tooth portion, the first comb tooth portion includes a plurality of spaced first comb tooth plates, the base plate is provided with a second comb tooth portion, the second comb tooth portion includes a plurality of spaced second comb tooth plates, the plurality of first comb tooth plates can pass through the gaps between the plurality of second comb tooth plates, during the process of the first actuator placing the material box in the second actuator, the first comb tooth portion and the second comb tooth portion are interlaced and can be separated from each other in the vertical direction.
[0012] Preferably, the material transfer system includes a material bin for holding materials. The outer bottom surface of the material bin is provided with a plurality of comb grooves that cooperate with the first comb plate. When the first actuator lifts the material bin, the first comb plate is inserted into the comb grooves.
[0013] Preferably, the upper end of the material box is provided with an opening, and an avoidance opening is provided on the edge of the opening. When several material boxes are stacked in a vertical direction, the first comb plate is inserted into or removed from the comb groove through the avoidance opening.
[0014] Preferably, the first robot and / or the second robot are provided with a positioning device, which is used to align the first actuator and the second actuator in the vertical direction.
[0015] Preferably, the material transfer system further includes several identification tags containing location information, which are set on the shelf or in a spatial position corresponding to the shelf. The positioning device includes an identification module, which obtains the location information through the identification tags so that the first actuator and the second actuator are aligned in the vertical direction.
[0016] Preferably, the second actuator is used to carry a plurality of material boxes stacked vertically, and the first actuator places the material boxes on top of the material boxes on the second actuator in a vertical direction, so that the plurality of material boxes are stacked vertically on the second actuator.
[0017] Preferably, the first actuator is further configured to remove the hopper from the second actuator when the first actuator of the first robot and the second actuator of the second robot are vertically opposite each other.
[0018] Preferably, when the second actuator carries several boxes stacked vertically, the first actuator removes the boxes one by one from the second actuator from top to bottom.
[0019] Preferably, when the second actuator carries several boxes stacked vertically, the first actuator will simultaneously remove all or some of the boxes from the second actuator.
[0020] These features and advantages of this application will be disclosed in detail in the following specific embodiments and accompanying drawings. The best embodiments or means of this application will be shown in detail in conjunction with the accompanying drawings, but are not intended to limit the technical solutions of this application. In addition, each of these features, elements and components appearing in the following text and drawings is multiple and is labeled with different symbols or numbers for convenience, but all represent parts with the same or similar structure or function. Attached Figure Description
[0021] The following description, in conjunction with the accompanying drawings, further illustrates this application:
[0022] Figure 1 This is a schematic diagram of the structure of a material transfer system according to an embodiment of this application (before transfer);
[0023] Figure 2 This is a schematic diagram of another material transfer system provided in this embodiment (after transfer);
[0024] Figure 3 This is a schematic diagram of another material transfer system (stacked type) provided in this embodiment;
[0025] Figure 4 This is a schematic diagram of the structure of the first actuator (clamping type) provided in this embodiment;
[0026] Figure 5 A top view (lifting type) of the first actuator provided in this embodiment;
[0027] Figure 6 This is a top view (comb structure) of the second actuator provided in this embodiment;
[0028] Figure 7 The structural diagram of the material box provided in this embodiment (stacked type).
[0029] Among them, 100 is the first robot; 110 is the first actuator; 111 is the first gripping arm; 112 is the second gripping arm; 113 is the pallet; 114 is the first comb plate; 120 is the first drive mechanism; 200 is the second robot; 210 is the second actuator; 211 is the base plate; 212 is the second comb plate; 220 is the second drive mechanism; 300 is the hopper; 310 is the comb groove; 320 is the clearance opening; and 400 is the shelf. Detailed Implementation
[0030] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are intended to explain this application and should not be construed as limiting it.
[0031] The terms "an embodiment," "example," or "example" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this application. The phrase "in an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.
[0032] like Figure 1As shown, a material transfer system includes a first robot 100 and a second robot 200. The first robot 100 is equipped with a first actuator 110 for picking up and placing a material box 300, and the second robot 200 is equipped with a second actuator 210 for carrying the material box 300. When the first actuator 110 of the first robot 100 and the second actuator 210 of the second robot 200 are vertically opposite each other, the first actuator 110 can vertically place the material box 300 carried by the first actuator 110 onto the second actuator 210 and detach the material box 300 from the first robot 100. The vertical alignment of the first actuator 110 and the second actuator 210 includes the second actuator 210 being located below the first actuator 110 and aligned with it.
[0033] In use, the first robot 100 removes the bin 300 containing the target material from the shelf 400. The second robot 200 moves below the first robot 100 and positions the second actuator 210 on the second robot 200 below the first actuator 110 of the first robot 100. The first actuator 110 of the first robot 100 drives the bin 300 to move vertically downward and places the bin 300 on the second actuator 210 of the second robot 200. Then, the first actuator 110 of the first robot 100 detaches the bin 300 from the first actuator 110, thus completing the transfer of the bin 300 from the first robot 100 to the second robot 200.
[0034] In this embodiment, the material box 300 is handed over by direct docking between the first robot 100 and the second robot 200, eliminating the need to set up a buffer position on the shelf 400, thus reducing the cost of the shelf 400. Moreover, the first robot 100 places the material box 300 on the second actuator 210 of the second robot 200 in the vertical direction through the first actuator 110, eliminating the need to set up a lifting device on the second robot 200, thus reducing the cost of the ground robot.
[0035] Specifically, such as Figure 1 , 2As shown, during the process of the first actuator 110 placing the hopper 300 into the second actuator 210, the second actuator 210 is located directly below the first actuator 110. The first robot 100 and / or the second robot 200 are equipped with positioning devices. These positioning devices enable the first actuator 110 of the first robot 100 and the second robot 200 to move to the handover position and ensure that the first actuator 110 and the second actuator 210 are vertically aligned. The second actuator 210 being located directly below the first actuator 110 means that the geometric centers of the second actuator 210 and the first actuator 110 are vertically aligned (the line connecting their centers is perpendicular to the ground). By providing positioning devices on the first robot 100 and / or the second robot 200, it is ensured that during the handover of the hopper 300, the second actuator 210 of the second robot 200 is located directly below the first actuator 110 of the first robot 100, thus ensuring that the first actuator 110 places the hopper 300 in the hopper mounting position of the second actuator 210.
[0036] In some embodiments, such as Figure 3 As shown, several material bins 300 are provided. The second actuator 210 is used to support several material bins 300 stacked vertically. The first actuator 110 places the material bins 300 one by one on top of the material bins 300 on the second actuator 210 in a vertical direction, so that several material bins 300 are stacked on the second actuator 210 in a vertical direction. Placing several material bins 300 stacked vertically on the second actuator 210 of the second robot 200 allows the second robot 200 to carry multiple material bins 300, which can greatly improve the working efficiency of the second robot 200, reduce the number of second robots 200, and effectively reduce costs. Moreover, during the handover of multiple material bins 300, it is not necessary to adjust the position of the second robot 200. Only the first robot 100 needs to be controlled to complete the operation of picking up and placing material bins 300, reducing the position adjustment steps of the second robot 200 and improving the working efficiency of the material handover system.
[0037] In some embodiments, the first actuator 110 is further configured to remove the hopper 300 from the second actuator 210 located below the first actuator 110 in a vertical direction. That is, the first robot 100 removes the hopper 300 placed on the second actuator 210 of the second robot 200 through the first actuator 110 and transports the hopper 300 to the shelf 400.
[0038] Specifically, the first robot 100 is configured as a shelf robot, and the material transfer system further includes a shelf 400. The first robot 100 includes two opposing columns that can move horizontally along the shelf 400. A first actuator 110 is connected between the two columns and can move vertically along the columns. The first actuator 110 is also used to remove a material box 300 from the material box storage position of the shelf 400. The shelf robot includes a first drive mechanism for transporting the first actuator and the material box to the second actuator of the second robot. The shelf robot also includes a first drive mechanism 120 for transporting the first actuator 110 and the material box 300 to the second actuator 210 of the second robot 200. A shelf robot is a robot capable of moving on a shelf 400 and retrieving a target bin 300 from a designated location on the shelf 400 and placing it there. It has a first actuator 110 for picking up and placing bins 300 and a first drive mechanism 120 for driving the first actuator 110 to move on the shelf 400. In some embodiments, the first drive mechanism 120 includes a drive unit, a transverse guide rail, and two uprights. The two uprights can move horizontally along the transverse guide rail, and the first actuator 110 can move vertically between the two uprights. The drive unit provides driving force for the horizontal movement of the two uprights along the transverse guide rail and for the vertical movement of the first actuator 110 along the uprights. This configuration allows the first actuator 110 to perform the picking and placing of bins 300 at any location on the shelf 400.
[0039] Specifically, the second robot 200 is a ground robot, which includes a second drive mechanism 220. The second drive mechanism 220 drives the ground robot to move under the shelf robot so that the second actuator 210 carries the material box 300, and after the second actuator 210 carries the material box 300, it drives the ground robot to move to a designated position. The ground robot can carry the material box 300 and move on the ground, and can automatically complete pathfinding, start and stop operations through control commands and sensors. By receiving control commands, it can automatically go to a designated position to load the material box 300 or transport the material box 300 to a designated position. In some embodiments, the ground robot is set as an automated guided vehicle (AGV), that is, a transport vehicle that can autonomously complete transport tasks.
[0040] In this embodiment, as Figure 4As shown, the first actuator 110 includes a first clamping arm 111 and a second clamping arm 112. The first clamping arm 111 and the second clamping arm 112 can move relative to each other to form a first state and a second state in their relative positions. When the first clamping arm 111 and the second clamping arm 112 form the first state, the material box 300 can be clamped between the first clamping arm 111 and the second clamping arm 112 and driven by the first driving mechanism 120 to move the material box 300. When the first clamping arm 111 and the second clamping arm 112 form the second state, the first clamping arm 111 and the second clamping arm 112 can be disengaged from the material box 300 from both sides of the material box 300 in the vertical direction. The first clamping arm 111 and the second clamping arm 112 form a clamping structure with the material box 300. When the first actuator 110 removes the material box 300 from the shelf 400, the first clamping arm 111 and the second clamping arm 112 enter a second state and penetrate into the shelf 400 from both sides of the material box 300. After penetrating to the designated position, the first clamping arm 111 and the second clamping arm 112 move relative to each other to clamp the two sides of the material box 300, so that the two side walls of the material box 300 abut against the first clamping arm 111 and the second clamping arm 112 and fix the material box 300 between the first clamping arm 111 and the second clamping arm 112. Then the first clamping arm 111... The first actuator 110 moves horizontally outward from the shelf 400 to remove the box 300 from the shelf 400. Then, the first actuator 110 moves the box 300 vertically and places it on the second actuator 210 of the second robot 200. The first and second clamping arms 111 and 112 then move in the opposite direction of their relative motion, separating them from the side walls of the box 300 and detaching the box 300 from the first actuator 110. The first actuator 110 then moves vertically and continues to retrieve another target box 300 from the shelf 400. The clamping structure of the first actuator 110 enables quick and efficient retrieval and transfer of the box 300, resulting in high work efficiency. It can complete the transfer of the box 300 within narrow passages between shelves 400, maximizing space utilization and simplifying the control process.
[0041] In this embodiment, the first actuator 110 includes a support plate 113 for lifting the material box 300. The support plate 113 is provided with a first comb tooth portion, which includes a plurality of spaced first comb tooth plates 114. The second actuator 210 includes a base plate 211 for supporting the material box 300. The base plate 211 is fixedly connected to the second drive mechanism 220 of the second robot 200. That is, there is no need to set up a lifting device between the base plate 211 and the second robot 200 to lift the material box 300. The base plate 211 is provided with a second comb tooth portion, which includes a plurality of spaced second comb tooth plates 212. The plurality of first comb tooth plates 114 can pass through the gaps between the plurality of second comb tooth plates 212. During the process of the first actuator 110 placing the material box 300 in the second actuator 210, the first comb tooth portion and the second comb tooth portion are interlaced and can be separated from each other in the vertical direction. By setting mutually cooperating comb-tooth structures on the first actuator 110 and the second actuator 210 respectively, avoidance is formed during the interleaving process of the relative movement of the first actuator 110 and the second actuator 210. That is, when the first actuator 110 carries the material box 300 from top to bottom, the pallet 113 of the first actuator 110 can pass through the bottom plate 211 of the second actuator 210, and during the interleaving process, the material box 300 located on the pallet 113 of the first actuator 110 is transferred to the bottom plate 211 of the second actuator 210. After the handover is completed, the second robot 200 is controlled to carry the material box 300 away from the movement range of the first actuator 110, or in other embodiments, the first actuator is controlled to extend and retract from the bottom of the material box 300 and return to the shelf 400 to continue selecting the next material box 300, so as to prevent the second robot 200 and the material box 300 from blocking the upward movement of the first actuator 110, and so that the first actuator 110 can return to the shelf 400 to continue selecting the next material box 300.
[0042] In this embodiment, the material transfer system further includes a material bin 300 for containing materials. The outer bottom surface of the material bin 300 is provided with several comb grooves 310 that mate with the first comb plate 114. When the first actuator 110 lifts the material bin 300, the first comb plate 114 inserts into the comb groove 310. The upper end of the material bin 300 is open, and a clearance opening is provided on the edge of the opening. When several material bins 300 are stacked vertically, the first comb plate 114 inserts into or disengages from the comb groove 310 through the clearance opening. By providing a comb groove 310 on the outer bottom surface of the material box 300 that cooperates with the first comb plate 114 of the first actuator 110, when the shelf robot performs the picking and placing operation of the material box 300 relative to the shelf 400, it is convenient for the first comb plate 114 of the first actuator 110 of the shelf robot to insert into the bottom of the material box 300 to lift the material box 300, which facilitates the removal of the material box 300 from the material box storage position of the shelf 400, and facilitates the separation of the material box 300 from the first actuator 110 when the material box 300 is placed into the material box storage position of the shelf 400. It should be noted that the groove depth of the comb groove 310 is greater than the height of the first comb plate 114.
[0043] Specifically, the material transfer system also includes several identification tags containing location information. The positioning device includes an identification module, which obtains location information through the identification tags to align the first actuator 110 and the second actuator 210 vertically. In some embodiments, the identification tags are set as ground codes, which are differentiated according to their different locations, i.e., each ground code corresponds to a different location. When the identification module detects a ground code, it can obtain the current location of the ground robot by reading the location corresponding to the ground code. By setting the ground codes and the identification module, the ground robot can be positioned. The identification module can be set as an image recognition device such as a camera or scanner. In addition, in other embodiments, the identification tags can also be set on the shelf 400 or in a spatial location corresponding to the shelf 400. The identification tags can be set on the shelf or in a fixed position around the shelf 400 corresponding to the shelf 400 (the relative position of the shelf and the identification tag is fixed).
[0044] In summary, the material transfer system of this embodiment has the advantages of high space utilization, high material transfer efficiency, and low cost.
[0045] This embodiment also provides a material transfer method for a first robot 100, the material transfer method comprising:
[0046] Obtain material handover tasks;
[0047] According to the material handover task, the first actuator 110 is controlled to retrieve the material box 300 from the storage position of the material box 300 on the shelf;
[0048] With the second actuator 210 of the second robot 200 vertically aligned with the first actuator 110 of the first robot 100, the first actuator 110 is controlled to place the material box 300 onto the second actuator 210 in a vertical direction. The first robot 100 thus moves the material box 300 located on the shelf onto the actuator of the second robot 200 by executing the above-described material transfer method.
[0049] Specifically, the material transfer method further includes: when the second actuator 210 of the second robot 200 is vertically aligned with the first actuator 110 of the current first robot 100, controlling the first actuator 110 to place the material box 300 on the material box 300 on the second actuator 210 in a vertical direction, so that the material boxes 300 are stacked on the second actuator 210 in a vertical direction. By placing the material boxes 300 on the material box 300 on the second actuator 210, the first actuator 110 of the first robot 100 realizes the stacking of the material boxes 300 on the second robot 200, allowing the second robot 200 to transport multiple material boxes 300 at a time.
[0050] In some embodiments, the material transfer method further includes:
[0051] After receiving the material handover task, the control positioning device reads the identification mark to obtain the position of the first actuator 110;
[0052] According to the material handover task, the first actuator 110 is controlled to obtain the target material box 300 of the current handover task from the designated storage position of the material box 300 on the shelf;
[0053] According to the material handover task, the first actuator 110 is controlled to move to the designated material handover position. In this embodiment, the material handover task specifies the storage location of the target material bin 300 and the material handover position of the first robot 100 and the second robot 200. The first robot 100 completes the positioning by reading the identification mark through the positioning device, and controls the first actuator 110 to perform the corresponding task after reaching the designated position.
[0054] This embodiment also proposes a material transfer method for the second robot 200, the material transfer method comprising:
[0055] Obtain material handover tasks;
[0056] According to the material handover task, proceed to the target location to receive material box 300. After receiving material box 300, transport material box 300 to the designated location or continue to the next target location to receive material box 300.
[0057] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Those skilled in the art should understand that this application includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this application will be included within the scope of the claims.
Claims
1. A material transfer system, the material transfer system comprising a first robot (100) and a second robot (200), characterized in that, The first robot (100) is provided with a first actuator (110) for picking up and placing a material box (300), and the second robot (200) is provided with a second actuator (210) for carrying the material box (300). When the first actuator (110) of the first robot (100) and the second actuator of the second robot (200) are vertically opposite each other, the first actuator (110) can place the material box (300) carried by the first actuator (110) on the second actuator (210) in the vertical direction and detach the material box (300) from the first robot (100).
2. The material transfer system according to claim 1, characterized in that, The material transfer system also includes a shelf (400). The first robot (100) includes two opposing columns that can move horizontally along the shelf (400). A first actuator (110) is connected between the two columns and can move vertically along the columns. The first actuator (110) is also used to remove a hopper (300) from a hopper storage position on the shelf (400). The first robot includes a first drive mechanism (120) that drives the columns to move horizontally along the shelf and drives the first actuator (110) to move vertically along the columns. The second robot includes a second drive mechanism (220) that can drive the second robot to move to the transfer position.
3. The material transfer system according to claim 2, characterized in that, When the second robot (200) moves to the handover position, the first drive mechanism (120) drives the first actuator (110) to move above the second actuator (210) and is able to hand over the hopper (400) to the second actuator (210) or remove the hopper (400) from the second actuator in the vertical direction.
4. The material transfer system according to claim 1, characterized in that, The first actuator (110) includes a first clamping arm (111) and a second clamping arm (112). The first clamping arm (111) and the second clamping arm (112) can move relative to each other to form a first state and a second state. When the first clamping arm (111) and the second clamping arm (112) form the first state, the material box (300) can be clamped between the first clamping arm (111) and the second clamping arm (112) and the material box (300) can be moved under the drive of the first drive mechanism (120). When the first clamping arm (111) and the second clamping arm (112) form the second state, the first clamping arm (111) and the second clamping arm (112) can be disengaged from the material box (300) in the vertical direction from both sides of the material box (300).
5. The material transfer system according to claim 4, characterized in that, The first actuator (110) includes a support plate (113) for lifting the material box (300). The support plate (113) is provided with a first comb tooth portion, which includes a plurality of spaced first comb tooth plates (114). The second actuator (210) includes a base plate (211) for carrying the material box (300). The base plate (211) is provided with a second comb tooth portion, which includes a plurality of spaced second comb tooth plates (212). The plurality of first comb tooth plates (114) can pass through the gaps between the plurality of second comb tooth plates (212). During the process of the first actuator (110) placing the material box (300) on the second actuator (210), the first comb tooth portion and the second comb tooth portion are interlaced and can be separated from each other in the vertical direction.
6. The material transfer system according to claim 5, characterized in that, The material transfer system includes a material bin (300) for holding materials. The material bin (300) has a plurality of comb grooves (310) on its outer bottom surface that cooperate with the first comb plate (114). When the first actuator (110) lifts the material bin (300), the first comb plate (114) is inserted into the comb groove (310).
7. The material transfer system according to claim 6, characterized in that, The upper end of the material box (300) is provided with an opening, and an avoidance opening (320) is provided on the edge of the opening. When several material boxes (300) are stacked in a vertical direction, the first comb plate (114) is inserted into (320) or removed from the comb groove (310) through the avoidance opening.
8. The material transfer system according to any one of claims 1 to 3, characterized in that, The first robot (100) and / or the second robot (200) are provided with positioning devices, which are used to align the first actuator (110) and the second actuator (210) in the vertical direction.
9. The material transfer system according to claim 8, characterized in that, The material transfer system also includes several identification marks containing location information. The identification marks are set on the shelf (400) or in a spatial position corresponding to the shelf (400). The positioning device includes an identification module. The identification module obtains location information through the identification marks so that the first actuator (110) and the second actuator (210) are aligned in the vertical direction.
10. The material transfer system according to any one of claims 1 to 3, characterized in that, The second actuator (210) is used to carry a plurality of boxes (300) stacked vertically. The first actuator (110) places the boxes (300) on the second actuator (210) vertically above the boxes (300), so that the plurality of boxes (300) are stacked vertically on the second actuator (210).
11. The material transfer system according to any one of claims 1 to 3, characterized in that, The first actuator (110) is also used to remove the hopper (300) from the second actuator (210) when the first actuator (110) of the first robot (100) and the second actuator (210) of the second robot (200) are vertically opposite each other.
12. The material transfer system according to claim 11, characterized in that, When the second actuator (210) carries a number of boxes (300) stacked vertically, the first actuator (110) removes the boxes (300) from the second actuator (210) one by one from top to bottom.
13. The material transfer system according to claim 11, characterized in that, When the second actuator (210) carries a number of boxes (300) stacked vertically, the first actuator will simultaneously remove all or some of the boxes (300) from the second actuator (210).