Container retrieval and placement system and method, a container transport device, and container retrieval and placement apparatus

Abstract

A container retrieval and placement system and method, a container transport device (1), and a container retrieval and placement apparatus (40). The system comprises the container transport device (1) and a control platform (70); the container transport device (1) comprises a controller (80), a locomotion chassis (10), a container temporary storage mechanism (30), and the container retrieval and placement apparatus (40); the controller (80) of the container transport device (1) is communicatively connected to the control platform (70); the controller (80) is electrically connected to the locomotion chassis (10), a telescopic fork assembly (42), and a shift fork pair assembly (43); and the controller (80) is used for receiving a goods retrieval instruction or a goods placement instruction sent by the control platform (70), and for, on the basis of the goods retrieval instruction or the goods placement instruction, controlling the movement of the locomotion chassis (10) and working states of the telescopic fork assembly (42) and the shift fork pair assembly (43), wherein the shift fork pair assembly (43) comprises a rear shift fork pair (431), a middle shift fork pair (432), and a front shift fork pair (433) which are sequentially arranged, and at least the middle shift fork pair (432) and the front shift fork pair (433) are movably connected to an outer fork plate, so that the controller (80) can independently control the working states of the middle shift fork pair (432) and the front shift fork pair (433). Thus, the range of application of the container retrieval and placement system is widened.

Description

A material box picking and placing system and method, material box handling equipment and material box picking and placing device

[0001] This application claims priority to the Chinese patent applications filed with the China Patent Office on June 30, 2023, with application number 202310801610.0 and invention name “Material box picking and placing system and method, material box handling equipment and material box picking and placing device” and application number 202321713003.0 and invention name “Material box handling equipment and material box picking and placing device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of warehousing and logistics technology, and in particular to a material box picking and placing system and method, material box handling equipment, and a material box picking and placing device. Background Art

[0003] Currently, in warehouse logistics technology, bin handling equipment is commonly used to automatically place bins on shelves or remove bins from shelves and transport them to other locations. Bin handling equipment is typically an unmanned guided vehicle equipped with a bin retrieval device that can place bins from storage spaces on the vehicle onto shelves or remove bins from shelves and place them on the vehicle.

[0004] Common bin handling systems typically include two pairs of forks: a front fork pair and a rear fork pair. The rear forks can push bins from a vehicle's storage area onto a shelf, or push bins retrieved from a shelf onto a vehicle's storage area. The front forks are typically designed to swing up and down, working in conjunction with the rear forks to prevent the bins from shifting during movement. Bin handling is typically limited to specific bin types, limiting the scope of applicability of bin handling systems.

[0005] Summary of the Invention

[0006] The purpose of the embodiments of the present application is to provide a bin picking and placing system and method, bin handling equipment, and bin picking and placing device to expand the scope of application of the bin picking and placing system. The specific technical solutions are as follows:

[0007] The first aspect of an embodiment of the present application provides a material box picking and placing system, comprising: a material box handling equipment and a control platform; the material box handling equipment comprises: a controller, a walking chassis, a material box temporary storage mechanism and a material box picking and placing device; the controller of the material box handling equipment is communicatively connected to the control platform; the material box picking and placing device comprises: a load-bearing part, a telescopic fork assembly and a fork pair assembly; the telescopic fork assembly is arranged on both sides of the load-bearing part; the fork pair assembly is arranged on the outer fork plate of the telescopic fork assembly, and comprises a rear fork pair, a middle fork pair and a front fork pair arranged in sequence, and at least the middle fork pair and the front fork pair are movably connected to the outer fork plate; the controller is electrically connected to the walking chassis, the telescopic fork assembly and the fork pair assembly; the controller is used to receive a pick-up instruction or a release instruction issued by the control platform The command controls the movement of the walking chassis based on the picking instruction or the placing instruction so that the material box handling equipment moves to the target shelf for picking up materials or the target shelf for placing materials; and determines the target extension position of the outer fork plate in the direction of the shelf or the direction of the material box temporary storage mechanism and at least two target fork pairs of the three fork pairs based on the size information of the target material box and its position information and angle information on the picking shelf or the target shelf for placing materials; after the outer fork plate is extended to the target extension position, the target fork pair is controlled to rotate so that the telescopic fork assembly clamps the target material box, moves it from the target shelf for picking up materials to the bearing part of the material box picking and placing device, and moves it to the material box temporary storage mechanism, or moves it from the material box temporary storage mechanism to the bearing part of the material box picking and placing device, and moves it to the target placing material shelf.

[0008] In some embodiments, the material box handling equipment further includes: a gantry; the material box temporary storage mechanism is arranged on the first side of the gantry; the material box picking and placing device is arranged on the second side of the gantry; the rear fork pair, the middle fork pair and the front fork pair are arranged in sequence along the first direction away from the gantry.

[0009] In some embodiments, the telescopic fork assembly includes a telescopic fork and a transmission mechanism relatively arranged on both sides of the load-bearing portion, each of the telescopic forks includes an inner fixed plate connected to the door frame, and at least one level of fork plate slidably connected to the inner fixed plate, and the transmission mechanism is used to drive at least one level of the fork plate to perform reciprocating telescopic motion; wherein, the fork plate that can be telescoped to the farthest distance from the door frame is the outer fork plate; the controller controls the fork plate of the telescopic fork to telescope in both directions in the horizontal direction through the transmission mechanism, and perform reciprocating telescopic motion.

[0010] In some embodiments, a plurality of through holes are provided on the outer fork plate, at least the middle fork pair is accommodated in the through hole, and the controller controls the fork pair to extend from one of the through holes, and changes the position of the through hole in which the fork pair is located when it is extended, so as to change the clamping distance between the rear fork pair and the front fork pair, the rear fork pair and the middle fork pair, or the middle fork pair and the front fork pair.

[0011] In some embodiments, at least one of the rear fork pair, the middle fork pair and the front fork pair is movably connected to the outer fork plate through an electric telescopic rod; the controller is further electrically connected to the electric telescopic rod to control the extension and retraction of the electric telescopic rod to change the clamping distance between the rear fork pair and the middle fork pair, the rear fork pair and the front fork pair, or the middle fork pair and the front fork pair.

[0012] In some embodiments, at least two pairs of shift fork pairs are provided with at least two groups spaced apart along the height direction of the outer fork plate; and the controller controls each group of the two pairs of shift fork pairs individually.

[0013] In some embodiments, a barcode reading camera is further provided at the front end of the material box picking and placing device; the controller obtains the size information of the target material box and the positioning information of the target shelf for picking up the goods or the target shelf for placing the goods from the picking instruction or the placing instruction; and obtains the position information and angle information of the target material box on the picking shelf or the target shelf for placing the goods by scanning the information code of the target shelf for picking up the goods or the target shelf for placing the goods through the barcode reading camera.

[0014] In some embodiments, the bearing portion is one of an unpowered guide plate, a powered belt assembly, or a roller assembly.

[0015] In some embodiments, the load-bearing part is a powered belt assembly or roller assembly, and the controller is further electrically connected to the power assembly of the belt assembly or roller assembly to control the belt assembly or roller assembly to drive the target material box thereon to move.

[0016] A second aspect of the present application provides a material box picking and placing method, which is applied to the controller of the material box picking and placing system described above, and the method comprises:

[0017] Receive a pickup instruction or a delivery instruction issued by the control platform.

[0018] Based on the pickup instruction or the delivery instruction, the walking chassis is controlled to move so that the material box handling equipment moves to the pickup target shelf or the delivery target shelf.

[0019] Based on the size information of the target material box and its position information and angle information on the picking shelf or the target delivery shelf, the target extension position of the outer fork plate toward the shelf or the material box temporary storage mechanism and at least two target fork pairs among the three fork pairs are determined.

[0020] After the outer fork plate is extended to the target extended position, the target fork pair is controlled to rotate so that the telescopic fork assembly clamps the target material box.

[0021] The target material box is moved from the target picking shelf to the bearing part of the material box picking and placing device, and then to the material box temporary storage mechanism; or the target material box is moved from the material box temporary storage mechanism to the bearing part of the material box picking and placing device, and then to the target placing shelf.

[0022] In some embodiments, at least one of the rear fork pair, the middle fork pair and the front fork pair is movably connected to the outer fork plate through an electric telescopic rod; the controller is further electrically connected to the electric telescopic rod; after the outer fork plate is extended to the target extended position, the target fork pair is controlled to rotate so that the telescopic fork assembly clamps the target material box, and before the step, it also includes: based on the size information of the target material box, controlling the electric telescopic rod so that the clamping distance between the rear fork pair and the front fork pair, the rear fork pair and the front fork pair, or the rear middle fork pair and the front fork pair matches the target material box size.

[0023] In some embodiments, if the target material boxes are: two material boxes placed horizontally in the front and rear directions on the target picking shelf or on the material box temporary storage mechanism, the target fork includes: the rear fork pair, the middle fork pair and the front fork pair; the step of controlling the target fork pair to rotate so that the telescopic fork assembly clamps the target material box after the outer fork plate is extended to the target extended position includes: after the outer fork plate is extended to the target extended position, the middle fork is located between the two material boxes, and controlling each target fork pair to rotate so that the telescopic fork assembly clamps the target material box; if the target material box is: a first size material box that matches the size of the load-bearing part, the target fork includes: the rear fork pair and the front fork pair; after the outer fork plate is extended to the target extended position, controlling The step of controlling the target fork pair to rotate so that the telescopic fork assembly clamps the target material box includes: after the outer fork plate is extended to the target extended position, controlling each target fork pair to rotate so that the telescopic fork assembly clamps the target material box; if the target material box is: a second-sized material box smaller than the size of the load-bearing portion, then based on the target position of the target material box on the material box temporary storage mechanism, determining that the target fork includes: the rear fork pair and the middle fork pair, or the middle fork pair and the front fork pair; the step of controlling the target fork pair to rotate so that the telescopic fork assembly clamps the target material box after the outer fork plate is extended to the target extended position includes: after the outer fork plate is extended to the target extended position, controlling each target fork pair to rotate so that the telescopic fork assembly clamps the target material box.

[0024] In some embodiments, at least two pairs of fork pairs are spaced apart by at least two groups along the height direction of the outer fork plate; if the front fork pair and the rear fork pair are spaced apart by at least two groups along the height direction of the outer fork plate, two boxes placed up and down on the target shelf for picking up goods can be clamped, and the boxes are first-size boxes that match the size of the load-bearing part; if the front fork pair and the middle fork pair or the rear fork pair and the middle fork pair are spaced apart by at least two groups along the height direction of the outer fork plate, two boxes placed up and down on the target shelf for picking up goods can be clamped, and the boxes are second-size boxes that are smaller than the size of the load-bearing part.

[0025] In some embodiments, a barcode reading camera is further provided at the front end of the material box picking and placing device; the controller obtains the size information of the target material box and the positioning information of the target shelf for picking up the goods or the target shelf for placing the goods from the picking instruction or the placing instruction; and obtains the position information and angle information of the target material box on the picking shelf or the target shelf for placing the goods by scanning the information code of the target shelf for picking up the goods or the target shelf for placing the goods through the barcode reading camera.

[0026] In some embodiments, the load-bearing part is a powered belt assembly or roller assembly, and the controller is further electrically connected to the power assembly of the belt assembly or roller assembly to control the belt assembly or roller assembly to drive the target material box thereon to move.

[0027] The third aspect of the present application provides a material box handling equipment, comprising: a walking chassis; a gantry arranged on the walking chassis, a material box temporary storage mechanism arranged on a first side of the gantry; a material box picking and placing device arranged on a second side of the gantry, the material box picking and placing device being used to clamp a material box from the outside and place it in the material box temporary storage mechanism, or to place a material box in the material box temporary storage mechanism outside; the material box picking and placing device comprising: a load-bearing portion, a telescopic fork assembly and a fork pair assembly; wherein the load-bearing portion is connected to the gantry and is used to carry the material box; the telescopic fork assembly comprises a telescopic fork and a transmission mechanism relatively arranged on both sides of the load-bearing portion, and each of the telescopic forks comprises a transmission mechanism. The cam is connected to the rear frame by means of a plurality of movable frames, and the movable frame is connected to the rear frame by means of a plurality of movable frames. The cam is connected to the rear frame by means of a plurality of movable frames. The cam is connected to the rear frame by means of a plurality of movable frames.

[0028] In some embodiments, there are multiple temporary storage mechanisms, which are arranged at intervals along the height direction of the gantry assembly; the material box handling equipment also includes a lifting assembly, which is slidably connected to the gantry, and the inner fixed plate and the load-bearing part are connected to the gantry through the lifting assembly, so that the lifting assembly drives the material box picking and placing device to move along the height direction of the gantry, corresponding to the height of the temporary storage mechanisms at different heights.

[0029] In some embodiments, a plurality of through holes are provided on the outer fork plate, at least the middle fork pair is accommodated in the through hole, each of the through holes corresponds to an installation position, and the installation position of one or both of the rear fork pair, the middle fork pair and the front fork pair is changed to change the clamping distance between the rear fork pair and the front fork pair, the rear fork pair and the middle fork pair, or the middle fork pair and the front fork pair.

[0030] In some embodiments, the front fork pair is located at the end of the outer fork plate away from the door frame, and the rear fork pair is located at the end of the outer fork plate close to the door frame. The through hole is used to accommodate the middle fork pair, and the installation position of the middle fork pair is changed to change the clamping distance between the rear fork pair and the middle fork pair, and between the middle fork pair and the front fork pair.

[0031] In some embodiments, at least one of the rear fork pair, the middle fork pair and the front fork pair is movably connected to the outer fork plate through a telescopic rod to change the clamping distance between the rear fork pair and the front fork pair, the rear fork pair and the middle fork pair, or the middle fork pair and the front fork pair.

[0032] In some embodiments, at least two pairs of the shift fork pairs are spaced apart in at least two groups along the height direction of the outer fork plate.

[0033] In some embodiments, the rear fork pair is movably connected or fixedly connected to the outer fork plate.

[0034] In some embodiments, the material box handling equipment further includes: a controller; the controller is electrically connected to the traveling chassis, the transmission mechanism of the telescopic fork assembly, and the fork pair assembly.

[0035] In some embodiments, the transmission mechanism can be extended and retracted in both directions in the horizontal direction so that the outer fork plate can pick up and place the material box on both sides of the door frame.

[0036] In some embodiments, a slewing support assembly is provided at the bottom of the bearing portion, and the bearing portion is rotatably mounted on the lifting assembly via the slewing support assembly.

[0037] In some embodiments, the temporary storage mechanism is a tray-type structure; the material box picking and placing device also includes a pair of support columns arranged on the walking chassis and spaced apart from the gantry, and the temporary storage mechanism is respectively fixed on the gantry and the support columns, and extends in a direction away from the support columns.

[0038] In some embodiments, the bearing portion is one of an unpowered guide plate, a powered belt assembly, or a roller assembly.

[0039] cam, said fork being arranged on a track, and said fork being arranged on a track, and said fork being arranged on a track, and said fork being arranged on a track, and said fork being arranged on a track, and said fork being arranged on a track, and said fork being arranged on a track, and said fork being arranged on a track, and said fork being arranged on a track,

[0040] Beneficial effects of the embodiments of the present application:

[0041] In the material box picking and placing system provided by the embodiment of the present application, the controller can control the direction and distance of the walking chassis on the ground according to the instructions of the control platform, so that the material box handling equipment can reach the target shelf to pick up or put down the goods. The material box handling equipment adjusts the posture of the material box picking and placing device according to the size information of the target material box obtained and the positional relationship information between the material box handling equipment and the target material box, that is, adjusts the rotation angle and extension length of the control middle fork and / or front fork, lowers the fork at the corresponding position, and then telescopically clamps the target material box, so that it can match material boxes of various sizes. Since at least the middle fork pair and the front fork pair are movably connected to the outer fork plate, the controller can independently control the working status of the middle fork pair and the front fork pair, which is applicable to a variety of picking up or putting down scenes, expanding the scope of application of the material box picking and placing system.

[0042] Of course, it is not necessary to achieve all the advantages described above at the same time when implementing any product or method of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0044] FIG1 is a simplified structural diagram of a material box picking and placing system provided in an embodiment of the present application;

[0045] FIG2 is a schematic diagram of electrical connections of a material box pick-and-place system provided in an embodiment of the present application;

[0046] FIG3 is a schematic structural diagram of a material box handling device according to an embodiment of the present application;

[0047] FIG4a is a schematic structural diagram of the material box handling equipment shown in FIG3 without the traveling wheels;

[0048] FIG4b is a schematic diagram of the enlarged structure of part A in FIG4a;

[0049] FIG5 is a schematic structural diagram of the material box picking and placing device in FIG4a;

[0050] FIG6a is another structural schematic diagram of the material box picking and placing device in the embodiment shown in FIG3;

[0051] FIG6 b is a front view of a telescopic fork in the material box picking and placing device shown in FIG6 a ;

[0052] FIG6c is a rear view of the telescopic fork shown in FIG6b;

[0053] FIG7 is a top view of the material box picking and placing device taking a large material box and a small material box from the shelf;

[0054] FIG8a is a schematic diagram of the three-dimensional structure of the material box picking and placing device picking up two small material boxes of the same size from the shelf;

[0055] FIG8b is a top view of the shift fork before adjustment in the embodiment shown in FIG8a;

[0056] FIG8c is a top view of the shift fork after adjustment in the embodiment shown in FIG8a;

[0057] FIG9 is a top view of the shift fork pair and the front shift fork pair in the material box pick-and-place device working simultaneously to place a small material box into the material box temporary storage mechanism;

[0058] Figure 10 is a schematic diagram of the structure of the material box picking and placing device with the rear fork pair and the front fork pair working simultaneously to pick up a large material box from the shelf;

[0059] FIG11a is a perspective schematic diagram of a container handling device taking a tall container and a short container from a shelf; wherein two sets of middle and front fork pairs are provided;

[0060] FIG11 b is a rear side view of FIG11 a , wherein two sets of middle and front shift fork pairs are provided;

[0061] FIG11c is a cross-sectional view of FIG11a, wherein two sets of middle and front shift fork pairs are provided;

[0062] FIG11d is a schematic diagram of a structure in which two groups of rear and middle shift fork pairs are provided;

[0063] FIG12 is a schematic structural diagram showing a case where only one set of the same shift fork pair is provided in the same scenario as FIG11a ;

[0064] FIG13 is a top view of a large material box being taken from a shelf when the rear fork pair is a fixed fork pair;

[0065] FIG14 is a simplified structural diagram of another embodiment of the material box handling equipment provided in an embodiment of the present application;

[0066] FIG15 is a simplified structural diagram of another embodiment of the material box handling equipment provided in an embodiment of the present application;

[0067] FIG16 is a schematic diagram of a flow chart of a material box picking and placing method provided in an embodiment of the present application;

[0068] FIG17 is another flow chart of the material box picking and placing method provided in an embodiment of the present application.

[0069] Container handling equipment 1; walking chassis 10; gantry 20; container temporary storage mechanism 30; container pick-up and placement device 40; carrying portion 41; telescopic fork assembly 42; telescopic fork 421; inner fixing plate 4211; first-stage fork plate 4212; mounting hole 4212a; second-stage fork plate 4213; through hole 4213a; transmission mechanism 422; first-stage drag system 4221; synchronous wheel 4221a; synchronous belt 4221b; transmission member 4221c; second-stage drag system 4222; belt 4222a; first fixed block 4222b; second fixed block 4222c; pulley 4222d; fork pair assembly 43; rear fork pair 431; middle fork pair 432; front fork pair 433; slewing bearing assembly 44; L-shaped angle iron 45; rotating shaft 46; first section 461; support column 50; lifting assembly 60; lifting plate 61; chain 62; sprocket 63; control platform 70; controller 80; first direction L; height direction H. DETAILED DESCRIPTION

[0070] To make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention is further described below with reference to the accompanying drawings and examples. It should be understood that the described examples are only some examples of the present invention, not all examples. All other examples derived by persons of ordinary skill in the art based on the examples of the present invention fall within the scope of protection of the present invention.

[0071] The present application provides a bin handling system, which includes, as shown in Figures 1 and 2 , a bin handling device 1 and a control platform 70. Referring to Figures 3 , 4a , 4b , and 5 , Figure 4a is a simplified structural diagram of the bin handling device 1 shown in Figure 3 , minus the travel wheels; Figure 4b is an enlarged structural diagram of section A in Figure 4a ; and Figure 5 is a schematic structural diagram of the bin handling device 40 in Figure 4a . As shown in Figures 3, 4a, 4b and 5, the material box handling equipment 1 includes: a controller 80, a walking chassis 10, a material box temporary storage mechanism 30 and a material box picking and placing device 40; the controller 80 of the material box handling equipment 1 is communicatively connected to the control platform 70; the material box picking and placing device 40 includes: a load-bearing part 41, a telescopic fork assembly 42 and a fork pair assembly 43; the telescopic fork assembly 42 is arranged on both sides of the load-bearing part 41; the fork pair assembly 43 is arranged on the outer fork plate of the telescopic fork assembly 42, including a rear fork pair 431, a middle fork pair 432 and a front fork pair 433 arranged in sequence, and at least the middle fork pair 432 and the front fork pair 433 are movably connected to the outer fork plate; the controller 80 is electrically connected to the walking chassis 10, the telescopic fork assembly 42 and the fork pair assembly 43. The controller 80 is used to receive a pick-up instruction or a put-out instruction issued by the control platform 70, and control the movement of the walking chassis 10 based on the pick-up instruction or the put-out instruction to move the material box handling equipment 1 to the target shelf for pick-up or the target shelf for put-out; and based on the size information of the target material box and its position information and angle information on the pick-up shelf or the target shelf for put-out, determine the target extension position of the outer fork plate toward the shelf direction or the material box temporary storage mechanism 30 and at least two target fork pairs among the three fork pairs; after the outer fork plate is extended to the target extension position, control the target fork pair to rotate so that the telescopic fork assembly 42 clamps the target material box, moves it from the target shelf for pick-up to the load-bearing part 41 of the material box picking and placing device 40, and moves it to the material box temporary storage mechanism 30, or moves it from the material box temporary storage mechanism 30 to the load-bearing part 41 of the material box picking and placing device 40, and moves it to the target put-out shelf.

[0072] In the embodiment of the present application, the controller 80 can control the direction and distance of the walking chassis 10 on the ground according to the instructions of the control platform 70, so that the material box handling equipment 1 can reach the target shelf to pick up or place goods. The material box picking and placing device 40 includes a load-bearing portion 41, a telescopic fork assembly 42, and a fork pair assembly 43. The telescopic fork assembly 42 includes a transmission mechanism 422 and a telescopic fork 421. Two transmission mechanisms 422 and two telescopic forks 421 are provided, and are arranged opposite each other on both sides of the load-bearing portion 41. The telescopic fork 421 can be a telescopic fork 421 with a single-stage telescopic function, or a telescopic fork 421 with two or more stages of telescopic function. Taking the telescopic fork 421 with a two-stage telescopic function as an example, the transmission mechanism 422 is used to control the first-stage fork plate 4212 and the second-stage fork plate 4213 to perform reciprocating telescopic motion, so that when extended, it can reach the pick-up and placement station of the shelf, and when retracted, it can be within the range of the material box handling equipment 1 itself, so that the material box can be clamped and placed within a certain distance range. At least a rear fork pair 431, a middle fork pair 432, and a front fork pair 433 are disposed on the outer fork plate, and at least the middle fork pair 432 and the front fork pair 433 are movably connected to the secondary fork plate 4213. This movability means that the fork pairs can move horizontally and rotate within a plane perpendicular to the horizontal direction. The controller 80 determines whether to extend the outer fork plate toward the shelf or toward the container temporary storage mechanism 30 based on the position and angle information of the target container on the pickup or delivery shelf obtained from the control platform 70. Furthermore, based on the size information of the target container obtained from the control platform 70, the controller determines the number and position of the target fork pairs used to grasp the target container. Since at least the middle fork pair 432 and the front fork pair 433 are movably connected to the outer fork plate, the controller 80 can independently control the working states of the middle fork pair 432 and the front fork pair 433. Therefore, the extension distance or rotation angle of the middle fork pair 432 and / or the front fork pair 433 can be adjusted according to the size of the target material box, so that it can match material boxes of various sizes and be suitable for various picking up or putting out scenes, thereby expanding the scope of application of the material box picking and putting system. Taking the rear fork pair 431 and the front fork pair 433 cooperating with each other, and the rear fork pair 431 being movably connected to the outer fork plate as an example, the specific picking and putting process is explained as follows: before picking up and putting out the goods, the front fork pair 433 is retracted and is now in the first position, the outer fork plate is extended from the side of the material box, and the rear fork pair 431 is lowered and is now in the second position, and the material box is pulled into the supporting platform of the material box handling equipment 1. When placing goods into a storage location of a material box or a material box handling device 1 , the fixed rear fork pair 431 pushes the material box from the supporting platform of the material box handling device 1 into the temporary storage mechanism of the shelf or the handling device.

[0073] In some embodiments, as shown in FIG1 , the control platform 70 can be implemented by a server, which can be wirelessly connected to the controller 80 in the container handling device 1 . The controller 80 in the container handling device 1 can be installed in any location, for example, within the traveling chassis 10 or elsewhere. It only needs to be electrically connected to the traveling chassis 10, the telescopic fork assembly 42, and the fork pair assembly 43. Specifically, the controller 80 can be electrically connected to the traveling chassis 10, the telescopic fork assembly 42, and the fork pair assembly 43 via a cable.

[0074] Specifically, as shown in Figure 3, the container handling equipment 1 further includes a gantry 20. A container temporary storage mechanism 30 is disposed on a first side of the gantry 20, and a container retrieval device 40 is disposed on a second side of the gantry 20. A rear fork pair 431, a middle fork pair 432, and a front fork pair 433 are disposed sequentially along a first direction L away from the gantry 20.

[0075] In this embodiment, the gantry 20 provided on the traveling chassis 10 facilitates the arrangement of a temporary storage mechanism on the gantry 20 for temporarily storing the material boxes to be transferred.

[0076] In some embodiments, as shown in Figures 4a, 4b and 5, the telescopic fork assembly 42 includes a telescopic fork 421 and a transmission mechanism 422 relatively arranged on both sides of the load-bearing portion 41, each telescopic fork 421 includes an inner fixed plate 4211 connected to the door frame 20, and at least one level fork plate slidably connected to the inner fixed plate 4211, and the transmission mechanism 422 is used to drive at least one level fork plate to perform reciprocating telescopic motion; wherein, the fork plate that can be telescoped to the farthest distance from the door frame 20 is the outer fork plate; the controller 80 controls the fork plate of the telescopic fork 421 to telescope in both directions in the horizontal direction through the transmission mechanism 422, and to perform reciprocating telescopic motion.

[0077] In this embodiment, each telescopic fork 421 includes an inner fixed plate 4211 connected to the door frame 20, at least one first fork plate slidably connected to the inner fixed plate 4211, and a transmission mechanism 422 for driving the at least one first fork plate to perform reciprocating telescopic motion. As shown in Figures 4a and 6a-6c, one end of the inner fixed plate 4211 is connected to the door frame 20. The telescopic fork 421 is a telescopic fork with a two-stage telescopic function. The inner fixed plate 4211 is slidably connected to the two-stage fork plates, namely the first fork plate 4212 and the second fork plate 4213. The first fork plate 4212 is directly slidably connected to the inner fixed plate 4211, and the second fork plate 4213 is slidably connected to the first fork plate 4212 and indirectly slidably connected to the inner fixed plate 4211. Therefore, when the telescopic fork 421 has a two-stage telescopic function, when the telescopic fork 421 is extended, the secondary fork plate 4213 is further away from the inner fixed plate 4211 than the primary fork plate 4212, that is, it can be extended to the position farthest from the mast 20. Therefore, the outer fork plate refers to the secondary fork plate 4213. The controller 80 controls the horizontal reciprocating motion of the telescopic fork 421 via the transmission mechanism 422, thereby completing the process of picking up and placing goods.

[0078] In some embodiments, as shown in Figures 4a and 4b, a plurality of through holes 4213a are provided on the outer fork plate, and at least the middle fork pair 432 is accommodated in the through hole 4213a. The controller 80 controls the fork pair to extend from one of the through holes 4213a, and changes the position of the through hole 4213a where the fork pair is located when it is extended to change the clamping distance between the rear fork pair 431 and the front fork pair 433, the rear fork pair 431 and the middle fork pair 432, or the middle fork pair 432 and the front fork pair 433.

[0079] In this embodiment, the setting of the through hole 4213a allows the fork pair to be accommodated in the through hole 4213a. Before the material box is forked, the fork pair is accommodated in the through hole 4213a, which can make rational use of space and reduce the probability of interference with the material box. At least the middle fork pair 432 is accommodated in the through hole 4213a, that is, the two middle forks located on the outer fork plate are both accommodated in the through hole 4213a. Furthermore, the rear fork pair 431 and the front fork pair 433 can be accommodated in the through hole 4213a, or can be accommodated on the side of the outer fork plate. The fork pair moves in the horizontal direction and extends out of different through holes 4213a, thereby being able to change between the rear fork pair 431 and the front fork pair 433, the rear fork pair 431 and the middle fork pair 432, or the middle fork pair 432 and the front fork pair 433. For example, by changing the position of the through hole 4213a where the front fork pair 433 is extended, the clamping distance between the front fork pair 433 and the middle fork pair 432, and the clamping distance between the front fork pair 433 and the rear fork pair 431 will both be changed. By changing the position of the through hole 4213a where the fork pair is extended, the clamping distance between the corresponding fork pairs is adjusted, so that the material box picking and placing device 40 of the material box handling equipment 1 can adjust the clamping distance according to the different material box sizes, thereby clamping material boxes of different sizes, thereby expanding the scope of application of the material box handling equipment 1. In addition, because the picking and placing device of the material box handling equipment 1 can adjust the clamping distance according to the different material box sizes, there is no need to separately manufacture multiple material box picking and placing devices 40 that match different material box sizes, which can also reduce the production cost of the material box handling equipment 1. Figures 8a to 8c illustrate the adjustment process of the material box picking and placing device 40 for picking up and placing two material boxes of the same size. Figure 8b is a schematic diagram of the fork pair before adjustment, and Figure 8c is a schematic diagram of the fork pair after adjustment. Figure 10 shows a schematic diagram of the fork pair before adjustment during the process of clamping a large material box. The adjustment direction is the first direction L, so that the material box picking and placing device 40 can be adjusted according to the size of the material box.

[0080] It should be noted that the change in the position of the through hole 4213a where the fork pair is extended can also be manually adjusted, that is, as shown in Figure 4b, the rear fork pair 431, the middle fork pair 432 and the front fork pair 433 can be fixed to the outer fork plate by an L-shaped angle iron 45, one end of the L-shaped angle iron 45 is fixedly connected to the outer fork plate, and the other end is provided with a through hole 4213a, and the fork pair assembly 43 further includes a rotating shaft 46 rotatably connected to the rear fork pair 431, the middle fork pair 432 and the front fork pair 433. 6 includes a first section 461 and a second section (not shown in the figure). The diameter of the first section 461 is larger than the inner diameter of the through hole 4213a. The second section passes through the through hole 4213a. The rear shift fork pair 431, the middle shift fork pair 432, and the front shift fork pair 433 are threadedly connected to the second section. The rotation of the first section 461 can drive the rear shift fork pair 431, the middle shift fork pair 432, and the front shift fork pair 433 to rotate between the first position and the second position, thereby realizing position switching between the first position and the second position.

[0081] In some embodiments, at least one of the rear fork pair 431, the middle fork pair 432 and the front fork pair 433 is movably connected to the outer fork plate through an electric telescopic rod; the controller 80 is further electrically connected to the electric telescopic rod to control the extension and retraction of the electric telescopic rod to change the clamping distance between the rear fork pair 431 and the front fork pair 433, the rear fork pair 431 and the middle fork pair 432, or the middle fork pair 432 and the front fork pair 433.

[0082] In this embodiment, the fork pair is movably connected to the outer fork plate through an electric telescopic rod, which facilitates the adjustment of the position of the fork pair in the horizontal direction, and the structure is simple and easy to implement.

[0083] In some embodiments, as shown in Figures 4a, 11a, 11b, 11c and 11d, at least two pairs of fork pairs are provided with at least two groups spaced apart along the height direction H of the outer fork plate; the controller 80 controls each of the two pairs of fork pairs separately.

[0084] In this embodiment, two groups can be provided for the front fork pair 433 and the rear fork pair 431, or two groups can be provided for the front fork pair 433 and the middle fork pair 432, or two groups can be provided for the middle fork pair 432 and the rear fork pair 431, or even two groups can be provided for each of the front fork pair 433, the middle fork pair 432, and the rear fork pair 431. As shown in Figures 11a, 11b, and 11c, two groups are provided for both the middle fork pair 432 and the front fork pair 433, and as shown in Figure 11d, two groups are provided for both the rear fork pair 431 and the middle fork pair 432. By providing two groups of different fork pairs, a wider range of material box sizes can be accommodated. Preferably, two groups are provided for each of the front fork pair 433, the middle fork pair 432, and the rear fork pair 431. Two sets of fork pairs are spaced apart along the height direction H. This provides additional points of attachment to the bin when gripping it, preventing it from tilting and thus reducing the chance of it tipping over during placement and retrieval. Figure 12 shows an embodiment with only one set of fork pairs, serving as a comparison to the embodiments shown in Figures 11a, 11b, 11c, and 11d. This embodiment is not suitable for gripping taller bins, as it is prone to tipping over. When only one set of fork pairs is provided along the height direction H, the fork pair can be positioned closer to the upper edge of the outer fork plate to prevent tipping.

[0085] It is understandable that the fork pairs can also be arranged in three groups, four groups, etc. at intervals along the height direction H of the outer fork plate. This application does not impose any restrictions on this. Simple changes in the number of fork pairs in the height direction H are all simple replacements of this solution.

[0086] In some embodiments, as shown in FIG6a , a barcode reading camera is further provided at the front end of the material box picking and placing device 40; the controller 80 obtains the size information of the target material box and the positioning information of the target shelf for picking or the target shelf for placing from the picking instruction or the placing instruction; and obtains the position information and angle information of the target material box on the picking shelf or the target shelf for placing by scanning the information code of the target shelf for picking or the target shelf for placing.

[0087] In this embodiment, a barcode reading camera is provided at the front end of the bin picking and placing device 40. For example, the barcode reading camera can be provided on the front end face of the inner fixing plate 4211 or the front end face of the bearing portion 41. The front end face here refers to the end face facing the target bin when picking up goods. Specifically, the front end face of the inner fixing plate 4211 or the front end face of the bearing portion 41 is provided with a groove, and the barcode reading camera is provided within the groove. The barcode reading camera scans the information code of the target shelf for picking up goods or the target shelf for placing goods, where the information code can be a QR code or a barcode, etc., to obtain the position information and angle information of the target bin on the picking shelf or the target shelf for placing goods. Based on the position information and angle information of the bin, the controller 80 adjusts the extension direction of the outer fork plate and the distance between the target fork pairs to match the size of the target bin. After the outer fork plate is extended to the target extended position, the target fork pair is controlled to rotate so that the telescopic fork assembly 42 clamps the target material box, moves it from the target shelf for picking up goods to the load-bearing part 41 of the material box picking and placing device 40, and moves it to the material box temporary storage mechanism 30, or moves it from the material box temporary storage mechanism 30 to the load-bearing part 41 of the material box picking and placing device 40, and moves it to the target delivery shelf.

[0088] In some embodiments, as shown in FIG. 3 , FIG. 5 , FIG. 6 a , FIG. 14 , and FIG. 15 , the bearing portion 41 is one of an unpowered guide plate, a powered belt assembly, or a roller assembly.

[0089] In this embodiment, as shown in Figures 3, 4a, 5, and 6a, the load-bearing portion 41 is configured as an unpowered guide plate, which is only used to provide support when clamping the container, thereby simplifying the structure of the container retrieval device 40. If the load-bearing portion 41 is configured as a powered belt assembly as shown in Figure 14 or a roller assembly as shown in Figure 15, during the container transfer process, it can be directly and seamlessly connected to the surface to be placed. In other words, the load-bearing portion 41 only needs to be adjusted to the height of the surface to be placed to automatically transfer the cargo to the surface to be placed, reducing the number of repeated container clamping operations, improving the retrieval efficiency, and reducing the possibility of damage to the container.

[0090] Furthermore, the carrying portion 41 is a powered belt assembly or roller assembly, and the controller 80 is further electrically connected to the power assembly of the belt assembly or roller assembly to control the belt assembly or roller assembly to drive the target material box thereon to move.

[0091] In this embodiment, the controller 80 is electrically connected to the belt assembly or the roller assembly, so that the controller 80 can control the real-time movement of the belt assembly or the roller assembly to transfer the target material box. When the target material box does not need to be transferred, the belt assembly or the roller assembly can be in standby mode to achieve the purpose of saving electricity.

[0092] A second aspect of the present application provides a container pick-up and placement method, as shown in FIG16 , which is applied to the controller 80 of the container pick-up and placement system described above. The method includes:

[0093] Step 110: Receive a pickup instruction or a delivery instruction issued by the control platform 70.

[0094] Step 120: Based on the pickup instruction or the delivery instruction, the traveling chassis 10 is controlled to move so that the material box handling device 1 moves to the target shelf for pickup or the target shelf for delivery.

[0095] Step 130: Based on the size information of the target material box and its position information and angle information on the pickup shelf or the target delivery shelf, determine the target extension position of the outer fork plate toward the shelf or the material box temporary storage mechanism 30 and at least two target fork pairs among the three fork pairs.

[0096] Step 140: After the outer fork plate is extended to the target extended position, the target fork pair is controlled to rotate so that the telescopic fork assembly 42 clamps the target material box.

[0097] Step 150: Move the target material box from the target picking shelf to the load-bearing portion 41 of the material box picking and placing device 40, and then to the material box temporary storage mechanism 30; or move the target material box from the material box temporary storage mechanism 30 to the load-bearing portion 41 of the material box picking and placing device 40, and then to the target placing shelf.

[0098] In this embodiment, the controller 80 controls the moving distance of the material box picking and placing system according to the instructions of the control platform 70, and based on the size information of the target material box and its position information and angle information on the picking shelf or the target placement shelf, the controller 80 issues instructions to the transmission mechanism 422, and adjusts the telescopic distance of the telescopic fork 421 through the transmission mechanism 422 to match the position of the target material box. At the same time, the controller 80 also adjusts the distance between the fork pair to match the size of the target material box, and uses the adjusted telescopic fork 421 and the fork pair to obtain and transport the target material box.

[0099] Furthermore, in some embodiments, at least one of the rear fork pair 431, the middle fork pair 432, and the front fork pair 433 is movably connected to the outer fork plate via an electric telescopic rod; the controller 80 is further electrically connected to the electric telescopic rod; as shown in FIG17 , after the outer fork plate is extended to the target extended position, the target fork pair is controlled to rotate so that the telescopic fork assembly 42 clamps the target material box, that is, between steps 140 and 150 of the process shown in FIG16 , further comprising:

[0100] Step 160: Based on the size information of the target material box, control the electric telescopic rod so that the clamping distance between the rear fork pair 431 and the front fork pair 433, the rear fork pair 431 and the middle fork pair 432, or the rear middle fork pair 432 and the front fork pair 433 matches the target material box size.

[0101] In this embodiment, the controller 80 issues instructions to the electric telescopic rod, which controls the distance between the fork pairs to match the size of the target material box.

[0102] In some embodiments, as shown in Figures 8a-8c, if the target material boxes are: two material boxes placed horizontally in the front and rear directions on the target shelf for picking up goods or on the material box temporary storage mechanism 30, then the target forks include: a rear fork pair 431, a middle fork pair 432 and a front fork pair 433; after the outer fork plate is extended to the target extended position, the target fork pair is controlled to rotate so that the telescopic fork assembly 42 clamps the target material box, including: after the outer fork plate is extended to the target extended position, the middle fork is located between the two material boxes, and each target fork pair is controlled to rotate so that the telescopic fork assembly 42 clamps the target material box.

[0103] As shown in Figures 10 and 13, if the target material box is: a first size material box that matches the size of the load-bearing portion 41, the target fork includes: a rear fork pair 431 and a front fork pair 433; after the outer fork plate is extended to the target extended position, the target fork pair is controlled to rotate so that the telescopic fork assembly 42 clamps the target material box, including: after the outer fork plate is extended to the target extended position, each target fork pair is controlled to rotate so that the telescopic fork assembly 42 clamps the target material box.

[0104] As shown in Figure 9, if the target material box is: a second-sized material box that is smaller than the size of the load-bearing portion 41, then based on the target position of the target material box on the material box temporary storage mechanism 30, the target fork is determined to include: the rear fork pair 431 and the middle fork pair 432, or the middle fork pair 432 and the front fork pair 433; after the outer fork plate is extended to the target extended position, the target fork pair is controlled to rotate so that the telescopic fork assembly 42 clamps the target material box, including: after the outer fork plate is extended to the target extended position, each target fork pair is controlled to rotate so that the telescopic fork assembly 42 clamps the target material box.

[0105] By controlling any two of the front fork pair 433, the middle fork pair 432 and the rear fork pair 431 separately, the distance between the two fork pairs can be changed by adjusting the position of one or two of the fork pairs. This distance corresponds to the size of the target material box, so that the material box picking and placing system can pick and place target material boxes of different sizes.

[0106] In some embodiments, as shown in Figures 4a, 11a, 11b, 11c and 11d, at least two pairs of fork pairs are arranged at least in two groups along the height direction H of the outer fork plate; if the front fork pair 433 and the rear fork pair 431 are arranged at least in two groups along the height direction H of the outer fork plate, two boxes placed one above the other on the target shelf for picking up goods can be clamped, and the boxes are first-size boxes that match the size of the load-bearing portion 41; if the front fork pair 433 and the middle fork pair 432 or the rear fork pair 431 and the middle fork pair 432 are arranged at least in two groups along the height direction H of the outer fork plate, two boxes placed one above the other on the target shelf for picking up goods can be clamped, and the boxes are second-size boxes that are smaller than the size of the load-bearing portion 41.

[0107] In this embodiment, when at least two groups of fork pairs are arranged at intervals along the height direction H of the outer fork plate, it is also possible to pick and place target boxes that are stacked in two layers or have high sizes, further expanding the scope of application of the box picking and placing system.

[0108] In some embodiments, as shown in FIG6a , a barcode reader camera is further provided at the front end of the container pickup and placement device 40. The controller 80 obtains the dimensions of the target container and the location information of the target shelf for pickup or placement from the pickup or placement instruction. The barcode reader camera then scans the information code of the target shelf for pickup or placement to obtain the position and angle information of the target container on the pickup or placement shelf.

[0109] In this embodiment, the provision of a code reading camera can ensure the precision and accuracy of pick-and-place, and speed up the pick-and-place efficiency.

[0110] In some embodiments, as shown in Figures 3, 5, 6a, 14, and 15, the carrying portion 41 is a powered belt assembly or roller assembly, and the controller 80 is further electrically connected to the power assembly of the belt assembly or roller assembly to control the belt assembly or roller assembly to drive the target material box thereon to move. By electrically connecting the controller 80 to the belt assembly or roller assembly, the controller 80 can control the belt assembly or roller assembly to move in real time to transfer the target material box. When the target material box does not need to be transferred, the belt assembly or roller assembly can be in a standby state, thereby saving electricity.

[0111] The third aspect of the embodiment of the present application provides a material box handling device 1, see Figure 3, which is a structural diagram of the material box handling device 1 provided by the embodiment of the present application in one embodiment. As shown in Figure 3, the material box handling device 1 includes: a walking chassis 10, a gantry 20 and a material box picking and placing device 40. The gantry 20 is arranged on the walking chassis 10, and a material box temporary storage mechanism 30 is provided on the first side of the gantry 20, and a material box picking and placing device 40 is provided on the second side of the gantry 20. The material box picking and placing device 40 is used to clamp the material box from the outside and place it in the material box temporary storage mechanism 30, or to place the material box in the material box temporary storage mechanism 30 outside. The outside can be a picking shelf or a placing shelf, or it can be a transmission line.

[0112] Referring to Figures 4a, 4b, and 5, Figure 4a is a simplified structural diagram of the container handling device 1 shown in Figure 3 without the travel wheels; Figure 4b is an enlarged schematic diagram of Section A in Figure 4a; and Figure 5 is a schematic structural diagram of the container handling device in Figure 4a. As shown in Figures 4a, 4b, and 5, the container handling device 40 includes a load-bearing portion 41, a telescopic fork assembly 42, and a fork pair assembly 43. The load-bearing portion 41 is connected to the gantry 20 and is used to carry the container.

[0113] The telescopic fork assembly 42 includes a telescopic fork 421 and a transmission mechanism 422 relatively arranged on both sides of the load-bearing part 41. Each telescopic fork 421 includes an inner fixed plate 4211 connected to the door frame 20 and at least one level fork plate slidingly connected to the inner fixed plate 4211. The transmission mechanism 422 is used to drive at least one level fork plate to perform reciprocating telescopic motion.

[0114] The shift fork pair assembly 43 is disposed on the outer fork plate that is farthest from the inner fixed plate 4211 when the telescopic fork 421 is extended. The shift fork pair assembly 43 includes at least a rear shift fork pair 431, a middle shift fork pair 432, and a front shift fork pair 433, which are sequentially arranged on the outer fork plate in a first direction L away from the mast 20. At least the middle shift fork pair 432 and the rear shift fork pair 431 are movably connected to the outer fork plate. The middle shift fork pair 432 and the rear shift fork pair 431 are capable of shifting between a first position parallel to the outer fork plate and a second position perpendicular to the outer fork plate.

[0115] The material box handling equipment 1 provided in the embodiment of the present application enables the material box handling equipment 1 to move between different shelves through the walking chassis 10, and realizes the picking and placing of materials through the material box picking and placing device 40. Among them, the material box picking and placing device 40 is provided with a telescopic fork assembly 42, and three fork pairs, namely a rear fork pair 431, a middle fork pair 432 and a front fork pair 433, are sequentially provided on the outer fork plate of the telescopic fork assembly 42. In this way, the material box picking and placing device 40 can clamp the material box by the middle fork pair 432 or the front fork pair 433 cooperating with the rear fork pair 431 according to the different sizes of the material box, or the three pairs of fork pairs can cooperate to clamp the material box at the same time, so that the material box picking and placing device 40 of the material box handling equipment 1 can clamp material boxes of different sizes, thereby expanding the scope of application of the material box handling equipment 1.

[0116] As shown in Figures 4a, 4b and 5, through the reciprocating telescopic movement of the two-stage fork plate of the telescopic fork 421 in the telescopic fork assembly 42, it is possible to reach the picking and placing position of the shelf when extended, and be within the range of the material box handling equipment 1 itself when retracted, so that the material box can be clamped and placed within a certain distance range.

[0117] In this embodiment, the telescopic fork assembly 42 may include two telescopic forks 421, which are arranged opposite to each other on both sides of the bearing portion 41. The telescopic fork may be a telescopic fork with a one-stage telescopic function, or a telescopic fork with two or more stages of telescopic function.

[0118] Specifically, as shown in Figures 4a, 4b, and 5, one end of the inner fixing plate 4211 of the telescopic fork assembly 42 is connected to the mast 20. The telescopic fork 421 has a two-stage telescopic function. The inner fixing plate 4211 is slidably connected to the two-stage fork plates, namely the primary fork plate 4212 and the secondary fork plate 4213. The primary fork plate 4212 is directly slidably connected to the inner fixing plate 4211, while the secondary fork plate 4213 is slidably connected to the primary fork plate 4212 and indirectly slidably connected to the inner fixing plate 4211. Therefore, when the telescopic fork 421 has a two-stage telescopic function, when the telescopic fork 421 is extended, the secondary fork plate 4213 is further away from the inner fixing plate 4211 than the primary fork plate 4212. Therefore, the outer fork plate refers to the secondary fork plate 4213. Taking the telescopic fork 421 with a two-stage telescopic function as an example, the transmission mechanism 422 is used to control the first-level fork plate 4212 and the second-level fork plate 4213 to perform reciprocating telescopic movement, so that when extended, they can reach the pick-up and placement station of the shelf, and when retracted, they can be within the range of the material box handling equipment 1 itself, so that the material box can be clamped and placed within a certain distance range.

[0119] At least a rear fork pair 431, a middle fork pair 432 and a front fork pair 433 are arranged on the outer fork plate, and at least the middle fork pair 432 and the front fork pair 433 are movably connected to the outer fork plate. The movable connection means that the fork pair can move in the horizontal direction and rotate in a plane perpendicular to the horizontal direction. Since at least the middle fork pair 432 and the front fork pair 433 are movably connected to the outer fork plate, the middle fork pair 432 or the front fork pair 433 can be controlled to cooperate with the rear fork pair 431 to clamp the material box according to the different sizes of the material box, or the three pairs of fork pairs can cooperate to clamp the material box at the same time, so that the material box picking and placing device 40 of the material box handling equipment 1 can clamp material boxes of different sizes, thereby expanding the scope of application of the material box handling equipment 1. Taking the example of the rear fork pair 431 cooperating with the front fork pair 433, and the front fork pair 433 being rotatably connected to the outer fork plate, the specific picking and placing process is explained below: When picking and placing goods, the front fork pair 433 is retracted and is now in the first position. The outer fork plate extends from the side of the material box, and the front fork pair 433 is lowered. At this time, the front fork pair 433 and the outer fork plate are perpendicular to each other, that is, in the second position, and the material box is pulled into the loading platform of the material box handling device 1. When placing goods into the material box or the storage location of the material box handling device 1, the fixed rear fork pair 431 pushes the material box from the loading platform of the material box handling device 1 into the shelf or the temporary storage mechanism of the handling device.

[0120] It should be noted that, as shown in FIG4 a , the outer fork plate refers to the first fork plate that is farthest from the mast 20 when the telescopic fork 421 is in the extended state. For example, when the telescopic fork 421 has only a first-stage telescopic function, the first fork plate 4212 connected to the inner fixed plate 4211 is the outer fork plate. When the telescopic fork 421 has a two-stage telescopic function, the first fork plate 4212 is connected to the inner fixed plate 4211, and the second fork plate 4213 connected to the first fork plate 4212 is the outer fork plate. Similarly, when the telescopic fork 421 has a three-stage telescopic function, the first fork plate 4212 is connected to the inner fixed plate 4211, the second fork plate 4213 is connected to the first fork plate 4212, and the third fork plate (not shown in the figure) connected to the second fork plate 4213 is the outer fork plate.

[0121] Refer to Figure 5 and Figures 6a to 6c, wherein Figure 5 shows a first structure of the material box picking and placing device, and Figures 6a to 6c show a second structure of the material box picking and placing device. In both structures, the working principle of the telescopic fork 421 is the same. Specifically, in a feasible manner, as shown in Figures 6a, 6b and 6c, the telescopic fork 421 is a telescopic fork with a two-stage telescopic function, and the transmission mechanism 422 includes a two-stage drag system driven by a motor, and the two-stage drag systems are respectively a first-stage drag system 4221 and a second-stage drag system 4222. One end of the first-stage drag system 4221 is connected to the inner fixed plate 4211, and the other end is connected to the first-stage fork plate 4212. One end of the second-stage drag system 4222 is connected to the inner fixed plate 4211, and the other end is connected to the second-stage fork plate 4213. Specifically, the first-stage drag system 4221 includes a synchronous belt 4221b, a synchronous pulley 4221a, and a transmission member 4221c. The synchronous pulley 4221a is mounted on the inner fixed plate 4211, and the synchronous belt 4221b is mounted on the synchronous pulley 4221a. One end of the transmission member 4221c is fixedly connected to the synchronous pulley 4221a, and the other end is fixedly connected to the first fork plate 4212. One of the synchronous pulleys 4221a can reciprocate, causing the transmission member 4221c to reciprocate under the transmission of the synchronous belt 4221b, thereby extending and retracting the first fork plate 4212. The second-stage drag system includes a belt 4222a, a first fixed block 4222b, and a second fixed block 4222c. The first fork plate 4212 is provided with two mounting holes 4212a at intervals. A belt 4222a passes through the two mounting holes 4212a of the first fork plate and is mounted on the first fork plate 4212. The belt 4222a is fixedly connected to the inner fixing plate via a first fixing block 4222b. The second fork plate 4213 is fixed to the belt 4222a via a second fixing block 4222c. When the first-stage drag system drags the first fork plate 4212 back and forth, the belt 4222a is fixed to the inner fixing plate and is mounted between the mounting holes 4212a of the first fork plate 4212. Therefore, when the first fork plate 4212 moves, the belt 4222a is driven back and forth between the two mounting holes 4212a, thereby driving the second fork plate 4213, which is fixed to the belt 4222a, to reciprocate. The first-level dragging system 4221 and the second-level dragging system 4222 drag the first-level fork plate 4212 and the second-level fork plate 4213 to extend or retract and reach the shelf goods access station.

[0122] Furthermore, the second-stage traction system can also include two pulleys 4222d, which are respectively arranged in the two mounting holes 4212a. The belt 4222a passes around the pulleys 4222d and is installed between the two mounting holes 4212a. By setting the pulleys 4222d, the rotation of the belt 4222a can be smoother.

[0123] Referring to Figures 5 and 6a-6c, the structural differences between the two bin access and placement devices are that the middle fork pair 432 and the front fork pair 433 in Figure 5 are provided in two sets, while the fork pair 432 and the front fork pair 433 in Figures 6a-6c are provided in only one set. In practice, the number of sets can be set based on the height of the cargo to be accessed and placed, and can be one, two, or more sets, without limitation.

[0124] As shown in Figures 4b, 5, and 6a, the outer fork plate is mounted with a fork pair assembly 43. At least the middle fork pair 432 and the front fork pair 433 of the fork pair assembly 43 can rotate and swing between a first position parallel to the outer fork plate and a second position perpendicular to the outer fork plate, cooperating to complete the operation of pushing or hooking cargo. As shown in Figure 4b, the rear fork pair 431 includes two rear forks, which are respectively provided on the outer fork plates on both sides of the load-bearing portion 41. The two rear forks are arranged opposite each other. Similarly, the middle fork pair 432 also includes two middle forks arranged opposite each other, and the front fork pair 433 also includes two front forks arranged opposite each other.

[0125] In this embodiment, the middle fork pair 432 and the front fork pair 433 can be adjusted between a first position and a second position, and both can be controlled separately. Therefore, the rear fork pair 431 can work with the middle fork pair 432, the rear fork pair 431 can also work with the front fork pair 433, or the middle fork pair 432 and the front fork pair 433 can work together. Therefore, different sizes of bins can be clamped, which is suitable for a variety of application scenarios. As shown in Figures 8b and 8c, the rear fork pair 431 can also be an adjustable fork pair that can be adjusted between a first position and a second position.

[0126] It is understandable that more fork pairs can be provided on the outer fork plate, for example, four fork pairs or five fork pairs can be provided on the outer fork plate, so that more boxes of different sizes can be clamped through the cooperation between different fork pairs. Furthermore, when there are only three pairs of fork pairs, the middle fork pair 432 can be arranged closer to the rear fork pair 431, or closer to the front fork pair 433, or arranged between the rear fork pair 431 and the front fork pair 433. For the case where the middle fork pair 432 is not located between the rear fork pair 431 and the front fork pair 433, the box picking and placing device 40 of the box handling equipment 1 can also be made to clamp three different sizes of boxes without adjusting the distance between the fork pairs.

[0127] 7 , which is a schematic diagram of the material box picking and placing device picking and placing a large and a small material box, at which time the rear fork pair 431 , the middle fork pair 432 and the front fork pair 433 work simultaneously.

[0128] See Figures 8a-8c, which are schematic diagrams of the structure for clamping two small boxes of the same size. At this time, the rear fork pair 431, the middle fork pair 432, and the front fork pair 433 work simultaneously, allowing the two boxes to be clamped simultaneously, improving the efficiency of picking up and placing the boxes. Figure 7 is a schematic diagram of clamping only a small box. By selecting the middle fork pair 432 and the front fork pair 433 to cooperate, the box can be placed further away. See Figure 10, which is a schematic diagram of clamping a large box. By selecting the rear fork pair 431 and the front fork pair 433 to cooperate, the box can be clamped to a larger size.

[0129] Figures 8a-8c illustrate the adjustment process of the bin picking and placing device for picking and placing two bins of the same size. Figure 8b shows the fork pair before adjustment, and Figure 8c shows the fork pair after adjustment. Figure 10 shows the fork pair before adjustment during the process of gripping a large bin. The adjustment direction is the first direction L, allowing the bin picking and placing device 40 to adjust according to the size of the bin.

[0130] In some embodiments, as shown in FIG. 4 a , FIG. 11 a , FIG. 11 b , FIG. 11 c and FIG. 11 d , at least two pairs of shift fork pairs are provided at least two apart along the height direction H of the outer fork plate.

[0131] In this embodiment, two sets of forks can be provided for the front fork pair 433 and the rear fork pair 431, or two sets can be provided for the front fork pair 433 and the middle fork pair 432, or two sets can be provided for the middle fork pair 432 and the rear fork pair 431, or even two sets can be provided for each of the front fork pair 433, the middle fork pair 432, and the rear fork pair 431. As shown in Figures 11a, 11b, and 11c, two sets are provided for both the middle fork pair 432 and the front fork pair 433, and as shown in Figure 11d, two sets are provided for both the rear fork pair 431 and the middle fork pair 432. Providing two sets of different fork pairs allows for a wider range of bin sizes to be accommodated. Preferably, two sets are provided for each of the front fork pair 433, the middle fork pair 432, and the rear fork pair 431. Two sets of fork pairs are spaced apart along the height direction H. This provides additional points of attachment to the bin when gripping it, preventing it from tilting and thus reducing the chance of it tipping over during placement and retrieval. Figure 12 shows an embodiment with only one set of fork pairs, serving as a comparison to the embodiments shown in Figures 11a, 11b, 11c, and 11d. This embodiment is not suitable for gripping taller bins, as it is prone to tipping over. When only one set of fork pairs is provided along the height direction H, the fork pair can be positioned closer to the upper edge of the outer fork plate to prevent tipping.

[0132] It is understandable that the fork pairs can also be arranged in three, four, etc. groups at intervals along the height direction H of the outer fork plate. The present application does not impose any restrictions on this. Simple changes in the number of fork pairs in the height direction H are all simple replacements of this solution.

[0133] In some embodiments, as shown in Figures 4a and 4b, a plurality of through holes 4213a are provided on the outer fork plate, at least the middle fork pair 432 is accommodated in the through hole 4213a, and the rear fork pair 431, the middle fork pair 432 and the front fork pair 433 respectively extend from one of the through holes 4213a, and the clamping distance between the rear fork pair 431 and the front fork pair 433, the rear fork pair 431 and the middle fork pair 432, or the middle fork pair 432 and the front fork pair 433 is changed by changing the position of the through hole 4213a where the fork pair is extended.

[0134] In this embodiment, the setting of the through hole 4213a allows the fork pair to be accommodated in the through hole 4213a. Before the material box is forked, the fork pair is accommodated in the through hole 4213a, which can make rational use of space and reduce the probability of interference with the material box. At least the middle fork pair 432 is accommodated in the through hole 4213a, that is, the two second forks located on the outer fork plate are both accommodated in the through hole 4213a. Furthermore, the rear fork pair 431 and the front fork pair 433 can be accommodated in the through hole 4213a, or can be accommodated on the side of the outer fork plate. The fork pair moves in the horizontal direction and extends out of different through holes 4213a, thereby being able to change between the rear fork pair 431 and the front fork pair 433, the rear fork pair 431 and the middle fork pair 432, or the middle fork pair 432 and the front fork pair 433. For example, by changing the position of the through hole 4213a where the front fork pair 433 is extended, the clamping distance between the front fork pair 433 and the middle fork pair 432, and the clamping distance between the front fork pair 433 and the rear fork pair 431 will both be changed. By changing the position of the through hole 4213a where the fork pair is extended, the clamping distance between the corresponding fork pairs is adjusted, so that the material box picking and placing device 40 of the material box handling equipment 1 can adjust the clamping distance according to the different material box sizes, thereby clamping material boxes of different sizes, thereby expanding the scope of application of the material box handling equipment 1. In addition, because the picking and placing device of the material box handling equipment 1 can adjust the clamping distance according to the different material box sizes, there is no need to separately manufacture multiple material box picking and placing devices 40 that match different material box sizes, which can also reduce the production cost of the material box handling equipment 1. Figures 8a to 8c illustrate the adjustment process of the material box picking and placing device for picking up and placing two material boxes of the same size, Figure 8b is a schematic diagram of the fork pair before adjustment, Figure 8c is a schematic diagram of the fork pair after adjustment, and Figure 10 is a schematic diagram of the fork pair before adjustment. The adjustment direction is the first direction L, so that the material box picking and placing device 40 can be adjusted according to the size of the material box.

[0135] Among them, the change of the position of the through hole where the fork pair is extended can be adjusted automatically or manually, that is, as shown in Figure 4b, the rear fork pair 431, the middle fork pair 432 and the front fork pair 433 can be fixed to the outer fork plate by an L-shaped angle iron 45, one end of the L-shaped angle iron 45 is fixedly connected to the outer fork plate, and the other end is provided with a through hole 4213a, the fork pair assembly 43 also includes a rotating shaft 46 rotatably connected to the rear fork pair 431, the middle fork pair 432 and the front fork pair 433, the rotating shaft 46 includes a first section 461 and a second section (not shown in the figure), the diameter of the first section 461 is larger than the inner diameter of the through hole 4213a, and the second section passes through the through hole 4213a. The rear fork pair 431, the middle fork pair 432 and the front fork pair 433 are connected to the second section thread. The rotation of the first section 461 can drive the rear fork pair 431, the middle fork pair 432 and the front fork pair 433 to rotate between the first position and the second position, thereby realizing the position switching between the first position and the second position.

[0136] In some embodiments, as shown in Figure 4a, the front fork pair 433 is located at the end of the outer fork plate away from the door frame 20, and the rear fork pair 431 is located at the end of the outer fork plate close to the door frame 20. The through hole 4213a is used to accommodate the middle fork pair 432. The installation position of the middle fork pair 432 is changed to change the clamping distance between the rear fork pair 431 and the middle fork pair 432, and between the middle fork pair 432 and the front fork pair 433.

[0137] In this embodiment, the front fork pair 433 and the rear fork pair 431 are respectively arranged at the end of the outer fork plate away from the door frame 20 or close to the door frame 20, so that the distance between the front fork pair 433 and the rear fork pair 431 is maximized, and larger-sized boxes can be clamped. When the position of the middle fork pair 432 changes, the clamping distance between the rear fork pair 431 and the middle fork pair 432 and the clamping distance between the front fork pair 433 and the middle fork pair 432 can be changed, so that the box picking and placing device 40 of the box handling equipment 1 can be adjusted according to the different sizes of the boxes, so that more boxes of different sizes can be clamped, further expanding the scope of application of the box handling equipment 1.

[0138] In some embodiments, at least one of the rear fork pair 431, the middle fork pair 432 and the front fork pair 433 is movably connected to the outer fork plate through a telescopic rod to change the clamping distance between the rear fork pair 431 and the middle fork pair 432, the rear fork pair 431 and the front fork pair 433, or the middle fork pair 432 and the front fork pair 433.

[0139] In this embodiment, at least one of the rear fork pair 431, the middle fork pair 432 and the front fork pair 433 is movably connected to the outer fork plate through a telescopic rod, and the clamping distance between each fork pair is controlled by the extension and retraction of the telescopic rod. There is no need to repeatedly disassemble the installed fork pairs. It is only necessary to open a through hole 4213a at the position of the appropriate clamping distance so that the fork pair can switch between the second position perpendicular to the outer fork plate and the first position parallel to the outer fork plate.

[0140] Furthermore, in order to reduce the number of through holes 4213a, the rear fork pair 431 and the front fork pair 433 can be located at the two ends of the outer fork plate when the telescopic rod is in the retracted state.

[0141] In some embodiments, as shown in FIG. 10 and FIG. 13 , the rear fork pair 431 is movably connected or fixedly connected to the outer fork plate.

[0142] In this embodiment, the rear fork pair 431, which is the rear fork pair 431 closest to the mast 20, can be set to a fixed type, as shown in FIG13 , that is, the rear fork pair 431 is fixedly connected to the outer fork plate to simplify the structure. The rear fork pair 431 can also be set to an adjustable type, as shown in FIG10 , to switch between the first position and the second position, thereby reducing the probability of interference between the material box picking and placing device 40 and the material box. And because the rear fork pair 431 can also be adjusted in position, the material box picking and placing device 40 can flexibly select the fork pair for work. The movable connection between the rear fork pair 431 and the outer fork plate means that the rear fork pair 431 can move in the horizontal direction and can also rotate in a plane perpendicular to the horizontal direction.

[0143] In some embodiments, as shown in Figures 7-10, the transmission mechanism 422 can be bidirectionally extended and retracted in a horizontal direction, i.e., a first direction L, so that the outer fork plate can pick up and place the material box on both sides of the mast 20. Figures 7, 8b, 8c, and 10 illustrate the transmission rod mechanism 422 extending and retracting in the first direction L, while Figures 8a and 9 illustrate the transmission rod mechanism 422 extending and retracting in a direction opposite to the first horizontal direction L.

[0144] In this embodiment, since the transmission mechanism 422 can be extended and retracted in both directions in the horizontal direction, the material box can be directly taken in and out from both sides of the gantry 20, further simplifying the steps of taking in and out the material box and improving the efficiency of taking in and out the material box. In addition, it does not need to be used with a rotating component, which can also simplify the structure of the material box taking and placing equipment.

[0145] In some embodiments, as shown in FIG3 , a plurality of temporary storage mechanisms 30 are provided, and are spaced apart along the height direction H of the gantry 20 assembly. The container handling device 1 further includes a lifting assembly 60, which is slidably connected to the gantry 20. The inner fixing plate 4211 and the bearing portion 41 are connected to the gantry 20 via the lifting assembly 60, so that the lifting assembly 60 drives the container retrieval device 40 to move along the height direction H of the gantry 20, corresponding to the heights of the temporary storage mechanisms at different heights.

[0146] In an embodiment of the present application, as shown in FIG3 , a plurality of temporary storage mechanisms are arranged at intervals along the direction of the gantry 20 , which can increase the storage space for temporary storage boxes, so that the box handling equipment 1 can handle multiple boxes at a time, thereby improving handling efficiency. The lifting assembly 60 is slidably connected to the gantry 20, so that the lifting assembly 60 can move up and down along the gantry 20. The box picking and placing device 40 is installed on the lifting assembly 60 to achieve an indirect connection with the gantry 20. When the lifting assembly 60 moves in the height direction H relative to the gantry 20, the box picking and placing device 40 can also move in the height direction H relative to the gantry 20. The lifting movement of the lifting assembly 60 moves the box picking and placing device 40 to a position suitable for the height of the box, so as to transfer the box, such as from the temporary storage mechanism to a shelf or a conveyor belt, or from a shelf or a conveyor belt to the temporary storage mechanism, and then transported to the next production line, etc.

[0147] Specifically, as a feasible method, as shown in Figure 3, the lifting assembly includes a lifting plate 61, a chain 62, two sprockets 63 and a driving motor (not shown in the figure). The lifting plate 61, the chain 62 and the two sprockets 63 are arranged in the inner cavity of the door frame 20, and the lifting plate 61 is fixedly connected to the chain 62. The sprockets 63 are respectively arranged at the upper and lower ends of the door frame 20. The chain 62 is sleeved on the sprocket 63. A through groove (not shown in the figure) is opened on the side of the door frame 20 facing the picking and placing device, so that the lifting plate 61 can move up and down in the through groove. The material box picking and placing device 40 is fixed to the lifting plate 61 through the through groove, and the driving motor drives one of the sprockets 63 to rotate. During the rotation of the sprocket 63, the chain 62 is driven to reciprocate, and the lifting plate 61 is moved up and down. Under the action of the lifting plate 61, the material box picking and placing device can move up and down, thereby picking and placing goods at different heights.

[0148] As another feasible approach, the lifting assembly includes a slider slidably connected to the gantry 20, a screw motor that drives the slider up and down, and a material bin pick-up and place device 40 fixedly connected to the slider. When the slider moves up and down, the material bin pick-up and place device 40 also moves up and down accordingly. The sliding connection between the slider and the gantry 20 can be achieved by means of a slide rail and a slide groove, or by mounting the slider on a slide shaft.

[0149] In some embodiments, as shown in FIG. 11 d and FIG. 12 , a slewing support assembly 44 is provided at the bottom of the bearing portion 41 , and the bearing portion 41 is rotatably mounted on the lifting assembly via the slewing support assembly 44 .

[0150] In this embodiment, the load-bearing portion 41 is rotatably connected to the lifting assembly via a slewing bearing assembly 44, allowing the load-bearing portion 41 to rotate 360° within the same plane, thereby meeting the requirements of picking up goods in all directions. It is understood that the two-way telescopic function of the slewing bearing assembly 44 and the transmission mechanism 422 can be provided simultaneously.

[0151] In some embodiments, the container handling device 1 further includes a controller; the controller is electrically connected to the traveling chassis 10, the transmission mechanism 422 of the telescopic fork assembly 42, and the fork pair assembly 43. The controller is primarily used to control the movement of the traveling chassis 10, the transmission mechanism 422 of the telescopic fork assembly 42, and the fork pair assembly 43, and is also used to control the movement of the slewing bearing assembly 44 and the lifting assembly 60. Specifically, the controller can be integrated within the slewing bearing assembly 44. In addition, the telescopic rod for adjusting the distance between the fork pairs can be an electric telescopic rod, and the controller can also be electrically connected to the electric telescopic rod to achieve automatic adjustment of the distance between the fork pairs.

[0152] Among them, when two groups of fork pairs are arranged at intervals of H along the height direction of the outer fork plate, the controller can control each of the two groups of fork pairs separately, so that the material box picking and placing system can also be used to pick up and place single-layer stacked material boxes, double-layer stacked material boxes, smaller material boxes or larger material boxes, further expanding the scope of application of the material box picking and placing system.

[0153] In some embodiments, as shown in Figures 3, 4a, 8a, 11a to 11d, 12, 14, and 15, the material box temporary storage mechanism 30 is a tray-type structure; the material box picking and placing device 40 also includes a pair of support columns 50 provided on the walking chassis 10 and spaced apart from the gantry 20, and the material box temporary storage mechanism 30 is respectively fixed on the gantry 20 and the support columns 50, and extends in a direction away from the support columns 50.

[0154] In this embodiment, the support columns 50 also provide support for the temporary storage mechanism 30, thereby increasing the maximum load-bearing capacity of the temporary storage mechanism 30. Furthermore, the provision of the support columns 50 allows the loading surface of the temporary storage mechanism 30 to be appropriately extended, thereby accommodating larger or more containers.

[0155] It can be understood that in order to accommodate larger or more boxes, it is only necessary to extend the telescopic distance of the telescopic fork 421.

[0156] In some embodiments, as shown in FIG. 3 , FIG. 14 , and FIG. 15 , the bearing portion 41 is one of an unpowered guide plate, a powered belt assembly, or a roller assembly.

[0157] In this embodiment, as shown in Figures 4a, 5, and 6a, the load-bearing portion 41 is configured as an unpowered guide plate, which is only used to provide support when clamping the container, thereby simplifying the structure of the container retrieval device 40. If the load-bearing portion 41 is configured as a powered belt assembly as shown in Figure 14 or a roller assembly as shown in Figure 15, during the container transfer process, it can be directly and seamlessly connected to the surface to be placed. In other words, the load-bearing portion 41 only needs to be adjusted to the height of the surface to be placed to automatically transfer the cargo to the surface to be placed, reducing the number of repeated container clamping operations, improving the retrieval efficiency, and reducing the possibility of damage to the container.

[0158] In a second aspect of an embodiment of the present application, there is provided a material box picking and placing device 40, which is applied to the material box handling equipment 1 described above. The material box picking and placing device 40 includes: a load-bearing portion 41, a telescopic fork assembly 42, and a fork pair assembly 43. The load-bearing portion 41 is connected to the gantry 20 and is used to carry the material box. The telescopic fork assembly 42 includes telescopic forks 421 and a transmission mechanism 422 that are relatively arranged on both sides of the material box load-bearing plane. Each telescopic fork 421 includes an inner fixed plate 4211 connected to the gantry and at least one fork plate slidably connected to the inner fixed plate 4211. The transmission mechanism 422 is used to drive at least one fork plate to perform reciprocating telescopic motion. The fork pair assembly 43 is arranged on a first-level outer fork plate away from the inner fixed plate 4211 when the telescopic fork 421 is extended. The fork pair assembly includes at least a rear fork pair 431, a middle fork pair 432 and a front fork pair 433 which are arranged in sequence on the outer fork plate in a direction away from the mast 20. At least the middle fork pair 432 and the front fork pair 433 are movably connected to the outer fork plate. The middle fork pair 432 and the front fork pair 433 can switch between a first position parallel to the outer fork plate and a second position perpendicular to the outer fork plate.

[0159] In this embodiment, the material box picking and placing device 40 includes an outer fork plate and a transmission mechanism 422 that controls the telescopic movement of the outer fork plate. The transmission mechanism 422 can control the distance to which the outer fork plate is extended, so that the material box can be clamped and placed within a certain distance range. At least a rear fork pair 431, a middle fork pair 432, and a front fork pair 433 are provided on the outer fork plate, and at least the middle fork pair 432 and the front fork pair 433 are electrically connected to the secondary outer fork plate. Depending on the size of the material box, the middle fork pair 432 or the front fork pair 433 can be controlled to cooperate with the rear fork pair 431 to clamp the material box, or the three pairs of forks can be controlled to cooperate to clamp the material box at the same time, so that the material box picking and placing device 40 of the material box handling equipment 1 can clamp material boxes of different sizes, thereby expanding the scope of application of the material box handling equipment 1.

[0160] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0161] Each embodiment in this specification is described in a related manner. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0162] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application are included in the scope of protection of the present application.

Claims

1. A material box picking and placing system, characterized in that: include: Material box handling equipment (1) and control platform (70); The material box handling equipment (1) comprises: a controller (80), a walking chassis (10), a material box temporary storage mechanism (30) and a material box picking and placing device (40); the controller (80) of the material box handling equipment (1) is communicatively connected to the control platform (70); the material box picking and placing device (40) comprises: a load-bearing portion (41), a telescopic fork assembly (42) and a fork pair assembly (43); the telescopic fork assembly (42) is arranged on both sides of the load-bearing portion (41); the fork pair assembly (43) is arranged on an outer fork plate of the telescopic fork assembly (42), and comprises a rear fork pair (431), a middle fork pair (432) and a front fork pair (433) arranged in sequence, and at least the middle fork pair (432) and the front fork pair are movably connected to the outer fork plate; the controller (80) is electrically connected to the walking chassis (10), the telescopic fork assembly (42) and the fork pair assembly (43); The controller (80) is used to receive a pick-up instruction or a put-out instruction issued by the control platform (70), and based on the pick-up instruction or the put-out instruction, control the movement of the walking chassis (10) so that the material box handling device (1) moves to a target shelf for picking up goods or a target shelf for putting goods; and based on the size information of the target material box and its position information and angle information on the pick-up shelf or the target shelf for putting goods, determine the target extension position of the outer fork plate extending in the direction of the shelf or the direction of the material box temporary storage mechanism (30) and at least two target fork pairs among the three fork pairs; after the outer fork plate is extended to the target extension position, control the target fork pairs to rotate so that the telescopic fork assembly (42) clamps the target material box, moves from the target shelf for picking up goods to the bearing portion (41) of the material box picking and placing device (40), and moves to the material box temporary storage mechanism (30), or moves from the material box temporary storage mechanism (30) to the bearing portion (41) of the material box picking and placing device (40), and moves to the target shelf for putting goods.

2. The material box picking and placing system according to claim 1, characterized in that: The material box handling equipment (1) further comprises: a gantry (20); The material box temporary storage mechanism (30) is arranged on the first side of the door frame (20); The material box picking and placing device (40) is arranged on the second side of the door frame (20); The rear fork pair (431), the middle fork pair (432) and the front fork pair (433) are arranged in sequence along a first direction (L) away from the door frame (20).

3. The material box picking and placing system according to claim 1, characterized in that: The telescopic fork assembly (42) comprises telescopic forks (421) and a transmission mechanism arranged relatively on both sides of the bearing portion (41), each of the telescopic forks (421) comprising an inner fixed plate (4211) connected to the door frame (20) and at least one fork plate slidably connected to the inner fixed plate (4211), and the transmission mechanism is used to drive at least one fork plate to perform reciprocating telescopic motion; wherein the fork plate that can be telescoped to the farthest distance from the door frame (20) is the outer fork plate; The controller (80) controls the fork plate of the telescopic fork (421) to telescope in both directions in the horizontal direction through the transmission mechanism, thereby performing reciprocating telescopic motion.

4. The material box picking and placing system according to claim 1, characterized in that: The outer fork plate is provided with a plurality of through holes, at least the middle fork pair (432) is accommodated in the through hole, and the controller (80) controls the fork pair to extend from one of the through holes, and changes the position of the through hole where the fork pair is located when extending, so as to change the clamping distance between the rear fork pair (431) and the front fork pair (433), the rear fork pair (431) and the middle fork pair (432), or the middle fork pair (432) and the front fork pair (433).

5. The material box picking and placing system according to claim 4, characterized in that: At least one of the rear fork pair (431), the middle fork pair (432) and the front fork pair (433) is The electric telescopic rod is movably connected to the outer fork plate; The controller (80) is further electrically connected to the electric telescopic rod to control the extension and retraction of the electric telescopic rod to change the clamping distance between the rear fork pair (431) and the middle fork pair (432), the rear fork pair (431) and the front fork pair (433), or the middle fork pair (432) and the front fork pair (433).

6. The material box picking and placing system according to claim 1, characterized in that: At least two of the fork pairs are arranged at least two groups at intervals along the height direction (H) of the outer fork plate; The controller (80) controls each of the two pairs of shift fork pairs individually.

7. The material box picking and placing system according to claim 1, characterized in that: A barcode reading camera is also provided at the front end of the material box picking and placing device (40); The controller (80) obtains the size information of the target material box and the positioning information of the target shelf for picking up the goods or the target shelf for putting the goods from the picking instruction or the putting instruction; and obtains the position information and angle information of the target material box on the picking shelf or the target shelf for putting the goods by scanning the information code of the target shelf for picking up the goods or the target shelf for putting the goods through the code reading camera.

8. The material box picking and placing system according to claim 1, characterized in that: The bearing part (41) is one of an unpowered guide plate, a powered belt assembly or a roller assembly.

9. The material box picking and placing system according to claim 8, characterized in that: The bearing portion (41) is a powered belt assembly or roller assembly, and the controller (80) is further electrically connected to a power assembly of the belt assembly or roller assembly to control the belt assembly or roller assembly to drive the target material box thereon to move.

10. A material box picking and placing method, characterized in that: A controller (80) applied to a bin pick-and-place system according to any one of claims 1 to 9, the method comprising: receiving a cargo pickup instruction or cargo release instruction issued by the control platform (70); Based on the pickup instruction or the delivery instruction, the walking chassis (10) is controlled to move so that the material box handling device (1) moves to the pickup target shelf or the delivery target shelf; Based on the size information of the target material box and its position information and angle information on the pickup shelf or the delivery target shelf, determining the target extension position of the outer fork plate extending in the direction of the shelf or the material box temporary storage mechanism (30) and at least two target fork pairs among the three fork pairs; After the outer fork plate is extended to the target extended position, the target fork pair is controlled to rotate so that the telescopic fork assembly (42) clamps the target material box; The target material box is moved from the target picking shelf to the bearing part (41) of the material box picking and placing device (40), and then to the material box temporary storage mechanism (30); or the target material box is moved from the material box temporary storage mechanism (30) to the bearing part (41) of the material box picking and placing device (40), and then to the target placing shelf.

11. The material box picking and placing method according to claim 10, characterized in that: At least one of the rear fork pair (431), the middle fork pair (432) and the front fork pair (433) is movably connected to the outer fork plate via an electric telescopic rod; the controller (80) is further electrically connected to the electric telescopic rod; Before the step of controlling the target fork pair to rotate after the outer fork plate extends to the target extended position so that the telescopic fork assembly (42) clamps the target material box, the method further comprises: Based on the size information of the target material box, the electric telescopic rod is controlled so that the clamping distance between the rear fork pair (431) and the front fork pair (433), the rear fork pair (431) and the front fork pair (433), or the rear middle fork pair (432) and the front fork pair (433) matches the size of the target material box.

12. The material box picking and placing method according to claim 10, characterized in that: If the target material boxes are: two material boxes placed horizontally in the front-to-back direction on the target picking shelf or on the material box temporary storage mechanism (30), the target fork comprises: the rear fork pair (431), the middle fork pair (432) and the front fork pair (433); after the outer fork plate is extended to the target extended position, the step of controlling the target fork pair to rotate so that the telescopic fork assembly (42) clamps the target material box comprises: after the outer fork plate is extended to the target extended position, the middle fork is located between the two material boxes, and each target fork pair is controlled to rotate so that the telescopic fork assembly (42) clamps the target material box; If the target material box is a material box of a first size matching the size of the load-bearing portion (41), the target fork comprises: the rear fork pair (431) and the front fork pair (433); after the outer fork plate is extended to the target extended position, the step of controlling the target fork pair to rotate so that the telescopic fork assembly (42) clamps the target material box comprises: after the outer fork plate is extended to the target extended position, controlling each target fork pair to rotate so that the telescopic fork assembly (42) clamps the target material box; If the target material box is a material box of a second size smaller than the size of the load-bearing portion (41), then based on the target position of the target material box on the material box temporary storage mechanism (30), it is determined that the target fork includes: the rear fork pair (431) and the middle fork pair (432), or the middle fork pair (432) and the front fork pair (433); after the outer fork plate is extended to the target extended position, the step of controlling the target fork pair to rotate so that the telescopic fork assembly (42) clamps the target material box includes: after the outer fork plate is extended to the target extended position, controlling each target fork pair to rotate so that the telescopic fork assembly (42) clamps the target material box.

13. The material box picking and placing method according to claim 10, characterized in that: At least two of the fork pairs are arranged at least two groups at intervals along the height direction (H) of the outer fork plate; If at least two groups of the front fork pair (433) and the rear fork pair (431) are arranged at intervals along the height direction (H) of the outer fork plate, two boxes placed one above the other on the target shelf for picking up goods can be clamped, and the boxes are boxes of a first size that match the size of the load-bearing portion (41); If the front fork pair (433) and the middle fork pair (432) or the rear fork pair (431) and the middle fork pair (432) are provided with at least two groups spaced apart along the height direction (H) of the outer fork plate, two boxes placed one above the other on the target shelf for picking up goods can be clamped, and the boxes are boxes of a second size that is smaller than the size of the load-bearing portion (41).

14. The material box picking and placing method according to claim 10, characterized in that: A barcode reading camera is also provided at the front end of the material box picking and placing device (40); The controller (80) obtains the size information of the target material box and the positioning information of the target shelf for picking up the goods or the target shelf for putting the goods from the picking instruction or the putting instruction; and obtains the position information and angle information of the target material box on the picking shelf or the target shelf for putting the goods by scanning the information code of the target shelf for picking up the goods or the target shelf for putting the goods through the code reading camera.

15. The material box picking and placing method according to claim 10, characterized in that: The bearing portion (41) is a powered belt assembly or roller assembly, and the controller (80) is further electrically connected to a power assembly of the belt assembly or roller assembly to control the belt assembly or roller assembly to drive the target material box thereon to move.

16. A material box handling device, characterized in that: include: Walking chassis (10); A gantry (20) disposed on the walking chassis (10), and a material box temporary storage mechanism (30) disposed on a first side of the gantry (20); A material box picking and placing device (40) is arranged on the second side of the gantry (20), and the material box picking and placing device (40) is used to clamp a material box from the outside and place it in the material box temporary storage mechanism (30), or to place a material box in the material box temporary storage mechanism (30) outside; The material box picking and placing device (40) comprises: a load-bearing portion (41), a telescopic fork assembly (42) and a fork pair assembly (43); wherein: The bearing portion (41) is connected to the door frame (20) and is used to bear the material box; The telescopic fork assembly (42) comprises telescopic forks (421) and a transmission mechanism arranged on both sides of the bearing portion (41) relative to each other, each of the telescopic forks (421) comprising an inner fixing plate (4211) connected to the door frame (20) and at least one fork plate slidably connected to the inner fixing plate (4211), and the transmission mechanism is used to drive at least one fork plate to perform reciprocating telescopic motion; The fork pair assembly (43) is arranged on the outer fork plate farthest from the inner fixed plate (4211) when the telescopic fork (421) is in the extended state, and the fork pair assembly (43) includes at least a rear fork pair (431), a middle fork pair (432) and a front fork pair (433) which are arranged in sequence on the outer fork plate along a first direction (L) away from the door frame (20), at least the middle fork pair (432) and the front fork pair (433) are movably connected to the outer fork plate, and the middle fork pair (432) and the front fork pair (433) can switch between a first position parallel to the outer fork plate and a second position perpendicular to the outer fork plate.

17. The container handling device according to claim 16, characterized in that: The temporary storage mechanism (30) is provided in plurality and is arranged at intervals along the height direction (H) of the door frame (20) assembly; The material box handling equipment also includes a lifting component (60), and the lifting component (60) is slidably connected to the door frame (20). The inner fixed plate (4211) and the bearing part (41) are connected to the door frame (20) through the lifting component (60), so that the lifting component (60) drives the material box picking and placing device (40) to move along the height direction (H) of the door frame (20), corresponding to the height of the temporary storage mechanism (30) at different heights.

18. The container handling device according to claim 16, characterized in that: The outer fork plate is provided with a plurality of through holes, at least the middle fork pair (432) is accommodated in the through holes, each of the through holes corresponds to an installation position, and the installation position of one or both of the rear fork pair (431), the middle fork pair (432) and the front fork pair (433) is changed to change the clamping distance between the rear fork pair (431) and the front fork pair (433), the rear fork pair (431) and the middle fork pair (432), or the middle fork pair (432) and the front fork pair (433).

19. The container handling device according to claim 18, characterized in that: The front fork pair (433) is located at the end of the outer fork plate away from the door frame (20), and the rear fork pair (431) is located at the end of the outer fork plate close to the door frame (20). The through hole is used to accommodate the middle fork pair (432). The installation position of the middle fork pair (432) is changed to change the clamping distance between the rear fork pair (431) and the middle fork pair (432), and between the middle fork pair (432) and the front fork pair (433).

20. The container handling device according to claim 19, characterized in that: At least one of the rear fork pair (431), the middle fork pair (432) and the front fork pair (433) is movably connected to the outer fork plate via a telescopic rod to change the clamping distance between the rear fork pair (431) and the front fork pair (433), the rear fork pair (431) and the middle fork pair (432), or the middle fork pair (432) and the front fork pair (433).

21. The container handling device according to claim 16, characterized in that: At least two pairs of the shift fork pairs are arranged at intervals along the height direction (H) of the outer fork plate.

22. The container handling device according to claim 16, characterized in that: The rear fork pair (431) is movably connected or fixedly connected to the outer fork plate.

23. The container handling device according to any one of claims 16 to 22, characterized in that: The material box handling equipment further comprises: a controller; the controller is electrically connected to the walking chassis (10), the transmission mechanism (422) of the telescopic fork assembly (42), and the fork pair assembly (43).

24. The container handling device according to any one of claims 16 to 22, characterized in that: The transmission mechanism can be telescopic in both directions in the horizontal direction, so that the outer fork plate can take and place the material box on both sides of the door frame (20).

25. The container handling device according to any one of claims 16 to 22, characterized in that: A slewing bearing assembly (44) is provided at the bottom of the bearing portion (41), and the bearing portion (41) is rotatably mounted on the lifting assembly (60) via the slewing bearing assembly (44).

26. The container handling device according to any one of claims 16 to 22, characterized in that: The temporary storage mechanism is a tray-type structure; The material box picking and placing device (40) also includes a pair of support columns (50) arranged on the walking chassis (10) and spaced apart from the door frame (20), and the temporary storage mechanism is respectively fixed on the door frame (20) and the support columns (50), and extends in a direction away from the support columns (50).

27. The container handling device according to any one of claims 16 to 22, characterized in that: The bearing part (41) is one of an unpowered guide plate, a powered belt assembly or a roller assembly.

28. A material box picking and placing device, applied to the material box handling equipment (1) according to any one of claims 16 to 27, characterized in that: The material box picking and placing device (40) comprises: a load-bearing portion (41), a telescopic fork assembly (42) and a fork pair assembly (43); wherein: The bearing portion (41) is connected to the door frame (20) and is used to bear the material box; The telescopic fork assembly (42) comprises telescopic forks (421) and a transmission mechanism arranged on both sides of the bearing portion (41) relative to each other, each of the telescopic forks (421) comprising an inner fixing plate (4211) connected to the door frame (20) and at least one fork plate slidably connected to the inner fixing plate (4211), and the transmission mechanism is used to drive at least one fork plate to perform reciprocating telescopic motion; the fork pair assembly (43) is arranged at a position away from the inner fixing plate (4211) when the telescopic fork (421) is in an extended state. On the first-stage outer fork plate, the fork pair assembly (43) includes at least a rear fork pair (431), a middle fork pair (432) and a front fork pair (433) which are arranged in sequence on the outer fork plate along a first direction (L) away from the door frame (20), and at least the middle fork pair (432) and the front fork pair (433) are movably connected to the outer fork plate so that the middle fork pair (432) and the front fork pair (433) can switch between a first position parallel to the outer fork plate and a second position perpendicular to the outer fork plate.

Images