Material-bin handling system, material-bin handling robot and material bin

Abstract

A material-bin handling system, a material-bin handling robot and a material bin. The material-bin handling system comprises a first warehouse rack and a material-bin handling robot, wherein the first warehouse rack comprises a plurality of storage layers arranged in the direction of height thereof. The material-bin handling robot is hung on one side face of the first warehouse rack in the direction of length, and can move horizontally in the direction of length of the side face; and the movement speed of the material-bin handling robot is higher, such that the handling efficiency of material bins can be improved. A first connecting structure and a second connecting structure are provided on two sides of each material bin, and the first connecting structure of one material bin can be connected to or separated from the second connecting structure of another material bin. When the material-bin handling robot retrieves from a storage position the material bin adjacent to the material-bin handling robot, the material bin connected to said material bin in the storage position is moved to a position adjacent to the material-bin handling robot; and therefore, by means of a simple handling assembly, the material-bin handling robot can pick and place the material bins at multiple deep positions, and the pick-and-place efficiency is thus higher.

Description

A box carrying system, a box carrying robot and a box

[0001] The present application claims priority to the Chinese patent application No. 202422640616.7, filed on October 30, 2024, and entitled "A box carrying system, a box carrying robot and a box", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of warehouse logistics, in particular to a box carrying system, a box carrying robot and a box. BACKGROUND

[0003] In the traditional logistics and warehousing field, AGV (Automated Guided Vehicle) is usually used to carry boxes.

[0004] In actual application, on the one hand, AGV mostly uses a vehicle chassis assembly to realize the driving of the vehicle. In the driving process of carrying the box, the driving speed of AGV is limited, and the carrying efficiency of the box is not high. On the other hand, multiple boxes are usually arranged in the longitudinal direction of the shelf. The AGV's gripper needs to be set as a telescopic structure to reach different longitudinal positions through the telescopic gripper, and then sequentially grasp each box in the longitudinal direction. The AGV's gripper structure needs to be extended for a long distance, which is not easy to simplify the structure of the AGV's gripper. SUMMARY

[0005] The purpose of the embodiments of the present application is to provide a box carrying system, a box carrying robot and a box to improve the carrying efficiency of the box. The specific technical solutions are as follows:

[0006] The first aspect of the present application provides a box carrying system, comprising:

[0007] A first shelf comprising a plurality of storage layers arranged along a height direction, each storage layer comprising a plurality of storage sites arranged side by side; each storage site is used to store a box capable of being connected to each other;

[0008] A box carrying robot is hung on one side of the first shelf in the length direction, capable of moving horizontally along the length direction of the side, and taking out the box adjacent to the box carrying robot from the storage site, so that the box connected to the box on the storage site moves to a position adjacent to the box carrying robot; or placing the box on the storage site of the first shelf, so that the box on the storage site is connected to the placed box and moves away from the position of the box carrying robot.

[0009] In some embodiments, each bin is provided with a first connecting structure and a second connecting structure on two sides, so that in two adjacent bins, the first connecting structure of one bin can be connected to or separated from the second connecting structure of the other bin.

[0010] In some embodiments, the second shelf further comprises: a plurality of storage layers arranged in a height direction, each storage layer comprising a plurality of storage positions arranged side by side; each storage position is used to store bins that can be connected to each other;

[0011] The first shelf and the second shelf are arranged at intervals, so that a lane is formed between the first shelf and the second shelf, the bin handling robot is arranged in the lane, can obtain the bins adjacent to the bin handling robot on the first shelf and the second shelf, so that the bins connected to the obtained bins on the storage positions are moved to positions adjacent to the bin handling robot, and can place the bins on the storage positions of the first shelf and the second shelf, so that the bins on the storage positions are connected to the placed bins and are moved to positions away from the bin handling robot.

[0012] In some embodiments, the first shelf is provided with at least one mounting rail on one side in the length direction;

[0013] The bin handling robot comprises: a support frame and a bin taking and placing assembly;

[0014] The support frame is hung on one side in the length direction based on the mounting rail and can move horizontally in the length direction of the side; the bin taking and placing assembly is arranged on the support frame and can move up and down in the height direction of the support frame to take and place bins on different height storage layers of the first shelf and the second shelf.

[0015] In some embodiments, the bin handling robot further comprises: a lifting assembly arranged on the support frame; the bin taking and placing assembly is arranged on the lifting assembly and moves up and down in the height direction of the support frame under the driving of the lifting assembly;

[0016] The bin taking and placing assembly comprises: a bin taking and placing component that can extend and retract in two directions, used to extend and retract towards the first shelf and / or the second shelf to take and place bins on the first shelf and / or the second shelf.

[0017] In some embodiments, the bin taking and placing component of the bin taking and placing assembly has a hook hand, and at least one side of the bin is provided with a hook hole matched with the hook hand.

[0018] In some embodiments, the first shelf or the second shelf is a double-deep shelf, each storage position can store two bins connected to each other; or,

[0019] The first shelf or the second shelf is a four-deep shelf, each storage position can store four bins connected to each other.

[0020] In some embodiments, the four-deep rack is formed by two double-deep racks back to back in the length direction.

[0021] The second aspect of the present application provides a bin handling robot, comprising:

[0022] a support frame and a bin taking and placing assembly;

[0023] The support frame is hung on one side in the length direction based on at least one mounting rail arranged on the one side in the length direction of a first rack, and can move horizontally along the length direction of the one side, the first rack comprising a plurality of storage layers arranged in the height direction, each storage layer comprising a plurality of storage positions arranged side by side; each storage position is used to store bins capable of being connected to each other;

[0024] The bin taking and placing assembly is arranged on the support frame and can move up and down in the height direction of the support frame, and can take out a bin adjacent to the bin handling robot from a storage position, so that a bin connected to the taken-out bin in the storage position moves to a position adjacent to the bin handling robot; or, place a bin on a storage position of the first rack, so that a bin on the storage position is connected to the placed bin and moves to a position away from the bin handling robot.

[0025] In some embodiments, the bin comprises a body, and first and second connecting structures are arranged on both sides of the body, so that in adjacent two bins, the first connecting structure of one bin can be connected to or separated from the second connecting structure of the other bin, the first connecting structure comprising a hook bent towards the bottom of the bin; the second connecting structure comprising a first socket open towards the top of the bin;

[0026] The bin taking and placing component of the bin taking and placing assembly has a hook hand, and at least one side of the bin is provided with a hook hole matched with the hook hand; wherein,

[0027] In the process of obtaining the bin by the bin handling robot:

[0028] The hook hand of the bin handling robot is extended and moves upward, and the hook hand of the bin taking and placing component is inserted into the hook hole of the bin from the bottom of the bin to hook the bin; wherein, the first socket of the bin faces the bin handling robot on one side, and the hook of the adjacent two bins is inserted into the first socket to connect the adjacent two bins;

[0029] The hook hand of the bin handling robot is retracted, and the hooked bin is pulled out from the storage position, and the bin connected to the hooked bin moves to a position adjacent to the bin handling robot;

[0030] The bin handling robot makes an ascending movement so that the hook of the hooked bin and the first socket of the bin connected thereto are disengaged to separate the hooked bin and the bin connected thereto;

[0031] The bin handling robot carries the hooked bin to a predetermined location;

[0032] In the process of placing the bin by the bin handling robot:

[0033] The hook of the bin handling robot is inserted into the hook hole of the bin from the bottom of the bin to hook the bin, and makes a descending movement to engage the hook of the carried bin and the first socket of the bin adjacent thereto to connect the two bins;

[0034] The bin handling robot pushes the carried bin out to the storage position of the first rack, and moves the bin connected to the carried bin to a position one bin away from the bin handling robot;

[0035] The bin handling robot makes a descending movement, and the hook of the bin handling robot is separated from the hook hole of the carried bin to disengage the hooked bin from the bin handling robot.

[0036] The third aspect of the present application provides a bin, comprising:

[0037] The body, the first connecting structure and the second connecting structure are arranged on both sides of the body, so that the first connecting structure of one bin among two adjacent bins can be connected or separated from the first connecting structure and the second connecting structure of the other bin.

[0038] In some embodiments, the top of the body is open;

[0039] The first connecting structure comprises a hook bent towards the bottom of the bin;

[0040] The second connecting structure comprises a first socket open towards the top of the bin.

[0041] In some embodiments, the top of the bin is open;

[0042] The first connecting structure comprises a hook bent towards the bottom of the bin;

[0043] The second connecting structure comprises a first socket open towards the top of the bin.

[0044] In some embodiments, the bin is a rectangular bin comprising a first side wall, a second side wall, a third side wall, a fourth side wall, a first edge column, a second edge column, a third edge column, a fourth edge column and a groove wall, the first side wall and the second side wall are opposite, and the third side wall and the fourth side wall are opposite;

[0045] The two sides of the first side wall are connected with the first and second side columns, and the two sides of the second side wall are connected with the third and fourth side columns.

[0046] The slot wall is arranged outside the second side wall and is spaced apart from the second side wall, and is connected with the third and fourth side columns. The first socket is formed between the slot wall and the second side wall.

[0047] In some embodiments, the hopper further comprises a first rib and a second rib;

[0048] The first rib and the second rib are arranged outside the second side wall and are located on the two sides above the first socket.

[0049] The hopper carrying system provided by the embodiments of the present application comprises a first rack and a hopper carrying robot. The first rack comprises a plurality of storage layers arranged along a height direction. Each storage layer comprises a plurality of storage sites arranged side by side. Each storage site is used to store a hopper capable of being connected with each other. The hopper carrying robot is hung on one side of the first rack in the length direction of the first rack and is capable of moving horizontally along the length direction of the side. Since the hopper carrying robot is hung on the first rack, a vehicle chassis assembly (the vehicle chassis assembly is relatively heavy) of a traditional AGV is not arranged. The overall weight of the hopper carrying robot is relatively low, the driving speed of the hopper carrying robot is easily improved, and the hopper carrying robot is not easy to deviate, so that the carrying efficiency of the hopper is easily improved.

[0050] On the other hand, the first and second connecting structures are arranged on the two sides of each hopper. In the adjacent two hoppers, the first connecting structure of one hopper can be connected with or separated from the second connecting structure of the other hopper. When the hopper carrying robot obtains the hopper adjacent to the hopper carrying robot from the storage site, the hopper connected with the hopper on the storage site is moved to a position adjacent to the hopper carrying robot. Compared with the prior art, the hopper carrying robot does not need to extend into each hopper position in the longitudinal direction to obtain and place the hopper, so that the structure of the hopper carrying robot is easily simplified. In addition, more deep hopper obtaining and placing goods are easily realized. The hopper carrying robot can obtain and place goods in multiple deep hoppers by using a simple carrying assembly, and the obtaining and placing efficiency is higher.

[0051] Of course, implementing any product of the present application does not necessarily need to achieve all the advantages described above. BRIEF DESCRIPTION OF DRAWINGS

[0052] The drawings described herein are used to provide further understanding of the present application, and form a part of the present application. The schematic embodiments of the present application and the description thereof are used to explain the present application, and do not constitute an improper limitation on the present application.

[0053] FIG. 1 is a structural schematic view of a hopper carrying system according to a first embodiment of the present application;

[0054] Fig. 2 is a schematic view of a structure of a bin of the bin conveying system shown in Fig. 1;

[0055] Fig. 3 is a schematic view of a structure of a bin of the bin conveying system shown in Fig. 1;

[0056] Fig. 4 is a schematic view of a structure of two bins of the bin conveying system shown in Fig. 1;

[0057] Fig. 5 is an enlarged view of A in Fig. 1;

[0058] Fig. 6 is a schematic view of a structure of a bin conveying system according to a second embodiment of the present application;

[0059] Fig. 7 is a schematic view of a structure of a conveying robot of the bin conveying system shown in Fig. 6;

[0060] Fig. 8 is a schematic view of a structure of a bin taking and placing assembly of the bin conveying system shown in Fig. 6;

[0061] Fig. 9 is a schematic view of a structure of a bin taking and placing assembly of the bin conveying system shown in Fig. 6;

[0062] Fig. 10 is a schematic view of a structure of a part of the bin conveying system according to a third embodiment of the present application before a bin is taken out;

[0063] Fig. 11 is a schematic view of a structure of a part of the bin conveying system shown in Fig. 10 after a bin is taken out.

[0064] The reference signs are as follows: a first shelf 10, a storage layer 11, a storage site 111, a mounting rail 12, a bin conveying robot 20, a support frame 21, a bin taking and placing assembly 22, a bin taking and placing component 221, a hook hand 2211, a rack 222, a motor 223, a gear 224, a base 225, a lifting assembly 23, a second shelf 30, a bin 200, a first side wall 210, a second side wall 220, a third side wall 230, a fourth side wall 240, a first connecting structure 201, a hook 2011, a second connecting structure 202, a first socket 2021, a first edge column 203, a second edge column 204, a third edge column 205, a fourth edge column 206, a groove wall 207, a first rib 208a, a second rib 208b, a hook hole 209; a length direction X, a depth direction Y, a height direction Z. DETAILED DESCRIPTION

[0065] To make the objectives, technical solutions, and advantages of the present application clearer, further detailed description will be made to the present application with reference to the drawings and embodiments. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art belong to the scope of protection of the present application.

[0066] As described in the background, in the related art, during the AGV driving process, due to the heavy chassis, and in order to maintain driving stability, the driving speed is limited. In addition, the bins are arranged in the longitudinal direction of the shelf, and during the taking and placing process of the bins at the deep position of the shelf, the gripper of the AGV needs to stretch a long distance, which is not easy to simplify the structure of the gripper of the AGV, and during the taking and placing process of the bins, due to the need for the gripper to stretch a long distance, it takes a long time. In summary, it leads to low efficiency of the AGV carrying the bins.

[0067] The purpose of the present application is to provide a bin carrying system, a bin carrying robot and a bin, so as to improve the carrying efficiency of the bin.

[0068] To this end, the present application provides a bin carrying system, a bin carrying robot and a bin.

[0069] Specifically, a bin carrying system, a bin carrying robot and a bin of an embodiment of the present application are described below with reference to the accompanying drawings.

[0070] FIG. 1 is a structural schematic diagram of a bin carrying system according to a first embodiment of the present application. As shown in FIG. 1, a bin carrying system includes a first shelf 10 and a bin carrying robot 20. The first shelf 10 includes a plurality of storage layers 11 arranged along the height direction Z, and each storage layer 11 includes a plurality of storage sites 111 arranged side by side along the length direction X. Each storage site 111 is used to store bins that can be connected to each other along the longitudinal direction Y. The bin carrying robot 20 is hung on one side of the first shelf 10 along the length direction X, and can move horizontally along the length direction X of the side, take out the bin adjacent to the bin carrying robot 20 from the storage site 111, and move the bin connected to the bin adjacent to the bin carrying robot 20 to a position adjacent to the bin carrying robot 20. Alternatively, the bin 200 is placed on the storage site 111 of the first shelf 10, so that the bin 200 on the storage site 111 is connected to the placed bin 200 and moves away from the bin carrying robot 20.

[0071] The material box carrying system provided by the embodiments of the present application comprises a first shelf 10 and a material box carrying robot 20. The first shelf 10 comprises a plurality of storage layers 11 arranged along a height direction Z. Each storage layer 11 comprises a plurality of storage sites 111 arranged side by side. Each storage site 111 is used for storing material boxes which can be connected to each other. The material box carrying robot 20 is hung on one side of the first shelf 10 along a length direction X and can move horizontally along the length direction X of the side. On the one hand, since the material box carrying robot 20 does not have a vehicle chassis assembly of a conventional AGV, but is hung on the first shelf 10, the overall weight of the material box carrying robot 20 is low, and the first shelf 10 limits the material box carrying robot 20. Under the condition that the driving stability is the same, the moving speed of the material box carrying robot 20 is faster, and the material box carrying robot 20 is not easy to deviate, so that the carrying efficiency of the material box can be improved.

[0072] FIG. 2 is a schematic diagram of the material box structure of the material box carrying system shown in FIG. 1, and FIG. 3 is a schematic diagram of the material box structure of the material box carrying system shown in FIG. 1. As shown in FIG. 2 and FIG. 3, the first connecting structure 201 and the second connecting structure 202 are arranged on both sides of each material box, so that in the two adjacent material boxes, the first connecting structure 201 of one material box can be connected to or separated from the second connecting structure 202 of the other material box.

[0073] Therefore, after the material box adjacent to the material box carrying robot 20 is taken out, the material box connected to the taken-out material box is moved to a position adjacent to the material box carrying robot 20. Compared with the prior art, the material box carrying robot 20 does not need to extend into each material box position in the longitudinal direction Y to take and place the material box, so that the structure of the material box carrying robot 20 can be simplified. At the same time, since the distance between the material box carrying robot 20 and the material box is short, the carrying efficiency of the material box can also be improved.

[0074] In some embodiments, as shown in FIG. 2 and FIG. 3, the top of the material box is open; the first connecting structure 201 comprises a hook 2011 bent towards the bottom of the material box; and the second connecting structure 202 comprises a first socket 2021 open towards the top of the material box. The material can be placed in the material box from the top opening of the material box.

[0075] In a specific application of the material box, one side of the first socket 2021 of the material box faces the material box carrying robot 20, that is, one side of the first socket 2021 of the material box faces the outside of the storage site 111, and one side of the hook 2011 of the material box faces the inside of the storage site 111.

[0076] In the process of obtaining the material box 200 by the material box carrying robot 20, in order to separate the obtained material box from the material box 200 connected thereto, in the implementation:

[0077] After the bin carrying robot 20 obtains the bin 200 and pulls it out from the storage site 111, the bin carrying robot 20 carries the obtained bin 200 to make an ascending movement, and the hook 2011 of the carried bin 200 and the first socket 2021 of the bin connected with the carried bin 200 can be separated, so as to realize the separation of the obtained bin 200 and the bin connected with the obtained bin 200.

[0078] During the process of placing the bin 200 by the bin carrying robot 20, in order to connect the placed bin and the bin adjacent to the placed bin, the following is implemented in the embodiment:

[0079] The bin carrying robot 20 carries the bin 200 to make a descending movement, and the hook 2011 of the carried bin 200 and the first socket 2021 of the bin adjacent to the carried bin are inserted, so as to connect the carried bin and the bin adjacent to the carried bin 200.

[0080] In the specific embodiment, the bin is a rectangular bin, which includes a body, and the body includes a first side wall 210, a second side wall 220, a third side wall 230, a fourth side wall 240, a first edge column 203, a second edge column 204, a third edge column 205, a fourth edge column 206 and a groove wall 207. The first side wall 210 and the second side wall 220 are opposite, and the third side wall 230 and the fourth side wall 240 are opposite. The two sides of the first side wall 210 are connected with the first edge column 203 and the second edge column 204, and the two sides of the second side wall 220 are connected with the third edge column 205 and the fourth edge column 206. The groove wall 207 is arranged outside the second side wall 220 and is arranged in a spaced manner between the second side wall 220 and the groove wall 207, and is connected with the third edge column 205 and the fourth edge column 206. The first socket 2021 is formed between the groove wall 207 and the second side wall 220. Specifically, the bin further includes a first rib 208a and a second rib 208b. The first rib 208a and the second rib 208b are arranged outside the second side wall 220 and are located on the two sides above the first socket 2021. The rectangular bin with the above structure has high overall structural strength. It can be understood that the embodiment of the present application is not limited to the rectangular bin with the above structure.

[0081] Fig. 4 is a structural schematic view of two bins of the bin carrying system shown in Fig. 1. As shown in Fig. 4, when the two bins are connected, the two bins are connected in a head-to-tail manner on the two sides, and the first connecting structure 201 of one bin is connected with the second connecting structure 202 of the other bin. Along the longitudinal direction Y of the first shelf 10, the connected bins can be placed in a storage site 111. During the process of taking out the bin adjacent to the bin carrying robot 20, the taken-out bin moves towards the bin carrying robot 20 by one bin 200, and the bin connected with the taken-out bin also moves towards the bin carrying robot 20 by one bin 200. Then, the two bins are separated, and the bin carrying robot 20 can carry away the bins.

[0082] In some embodiments, FIG. 5 is an enlarged view of A in FIG. 1. As shown in FIG. 1 and FIG. 5, the first shelf 10 is provided with at least one mounting rail 12 on one side in the length direction X; the bin carrying robot 20 comprises a support frame 21 and a bin taking and placing assembly 22; the support frame 21 is hung on one side in the length direction X based on the mounting rail 12 and can move horizontally along the length direction X of the side; the bin taking and placing assembly 22 is arranged on the support frame 21 and can move up and down along the height direction Z of the support frame 21 to take and place bins on different storage layers of the first shelf 10.

[0083] The mounting rail 12 can be multiple, and multiple mounting rails are arranged at intervals in the height direction Z. For example, the mounting rails are two, and the two mounting rails are arranged at the top and bottom of the first shelf 10, respectively, so as to improve the stability of the bin carrying robot 20 driving on the mounting rail, thereby improving the driving speed of the bin carrying robot 20, and further improving the efficiency of the bin carrying system carrying bins.

[0084] As shown in FIG. 1 and FIG. 5, the first shelf 10 is a double-deep shelf, that is, along the longitudinal direction Y of the first shelf 10, each storage position 111 of the first shelf 10 can store two bins connected to each other.

[0085] The bin conveying system provided in the application is not only suitable for the application scene of one rack, but also suitable for the application scene of two racks. In a specific implementation, FIG. 6 is a structural schematic diagram of a bin conveying system of a second embodiment of the application. As shown in FIG. 6, the bin conveying system further comprises a second rack 30. The second rack 30 comprises a plurality of storage layers arranged along a height direction Z. Each storage layer comprises a plurality of storage sites arranged side by side along a longitudinal direction Y. Each storage site is used for storing bins capable of being connected to each other. The first rack 10 and the second rack 30 are arranged at intervals, so that a lane is formed between the first rack 10 and the second rack 30. The bin conveying robot 20 is arranged in the lane and is capable of obtaining the bins on the first rack 10 and the second rack 30 adjacent to the bin conveying robot 20, moving the bins connected to the bins on the storage site to a position adjacent to the bin conveying robot 20, and placing the bins on the storage sites of the first rack 10 and the second rack 30, so that the bins on the storage site are connected to the placed bins and are moved to a position away from the bin conveying robot 20. In the embodiment of the application, compared with a conventional AGV, the bin taking and placing assembly 22 of the bin conveying robot 20 does not need to rotate, and the lane does not need to reserve space for rotation of the bin taking and placing assembly 22. That is, the two adjacent racks (the first rack 10 and the second rack 30) can be taken, so that the lane can be narrower and the capacity of the warehouse can be easily improved. The first connecting structure 201 and the second connecting structure 202 can be implemented in various structures. For example, FIG. 7 is a structural schematic diagram of a bin conveying robot of the bin conveying system shown in FIG. 6, and FIG. 8 is a structural schematic diagram of a bin taking and placing assembly of the bin conveying system shown in FIG. 6. As shown in FIGS. 7 and 8, the bin taking and placing part 221 of the bin taking and placing assembly 22 has a hook hand 2211, and at least one side of the bin is provided with a hook hole 209 (see FIG. 3) matched with the hook hand 2211. In the process of obtaining the bin, the bin conveying robot 20 moves upward, the hook hand 2211 of the bin taking and placing part 221 is inserted into the hook hole 209 of the bottom of the bin, and the bin is hooked to facilitate subsequent pulling out of the bin.

[0086] It is easy to understand that the structure of the bin taking and placing part 221 has various forms and can be implemented without being limited to the structure of the hook hand 2211 described above, and can also be implemented in the structure of a suction cup or a lifting part to take and place the bin.

[0087] When the bin taking and placing part 221 has a suction cup (not shown), at least one side of the bin is provided with a suction surface. In the process of obtaining the bin, the suction cup of the bin taking and placing part 221 and the bin suction surface are sucked to achieve the purpose. For example, the bin is sucked by sucking air of the suction cup. In the process of placing the bin, the bin conveying robot 20 releases the air of the suction cup to place the bin.

[0088] When the bin taking and placing component 221 has a lifting component (not shown) with vertical comb tooth support uprights, the storage site 111 has comb tooth crossbars that are in butt joint with the comb tooth support uprights. In the process of taking bins, the lifting component is lifted from below the comb tooth crossbars, and after receiving the bin above the comb tooth crossbars, the bin is pulled out. In the process of placing bins, the comb tooth support uprights carry the bin, and the comb tooth crossbars are inserted, so that the carried bin is above the comb tooth crossbars, the bottom plate of the lifting component is below the comb tooth crossbars, then the lifting component is moved downward, so that the carried bin and the comb tooth support uprights are separated, and the bin is placed on the comb tooth crossbars.

[0089] Specifically, the second shelf 30 can also be a double-depth shelf, that is, along the longitudinal direction Y of the second shelf 30, each storage site 111 of the second shelf 30 can store two bins connected to each other.

[0090] Specifically, FIG. 9 is a structural schematic diagram two of the bin taking and placing assembly 22 of the bin conveying system shown in FIG. 6. As shown in FIGS. 7, 8 and 9, the bin conveying robot 20 further comprises a lifting assembly 23 arranged on the support frame 21; the bin taking and placing assembly 22 is arranged on the lifting assembly 23 and moves up and down along the height direction Z of the support frame 21 under the driving of the lifting assembly 23; the bin taking and placing assembly 22 comprises a bidirectional telescopic bin taking and placing component 221 for telescoping towards the first shelf 10 and the second shelf 30 to take and place bins on the first shelf 10 and the second shelf 30. It can be understood that in use, under one execution command, the bidirectional telescopic bin taking and placing component 221 can take and place goods on both the first shelf 10 and the second shelf 30, or can take and place goods on only one of the shelves.

[0091] In the implementation of the bidirectional telescoping of the bin taking and placing component 221, different implementation manners can be used. In some embodiments, the bin taking and placing assembly 22 comprises a rack 222, a motor 223, a gear 224 and a base 225, the rack 222 is arranged on the bin taking and placing component 221, the motor 223 is arranged on the base 225, the gear 224 and the rack 222 are in engagement, the motor 223 drives the gear 224 to rotate forward and backward, and under the engagement force of the gear 224 and the rack 222, the bidirectional telescoping of the bin taking and placing component 221 relative to the base 225 is driven.

[0092] In a specific implementation, the first rack 10 or the second rack 30 is not limited to a double-deep rack, but can also be a more deep rack. FIG. 10 is a schematic diagram of a partial structure of a box taking-out system according to a third embodiment of the present application, and FIG. 11 is a schematic diagram of a partial structure of the box taking-out system according to the third embodiment of the present application. As shown in FIGS. 10 and 11, the first rack 10 is a four-deep rack, and each storage site 111 of the first rack 10 can store four connected boxes. Similarly, the second rack 30 is a four-deep rack, and each storage site 111 of the second rack 30 can store four connected boxes.

[0093] In a specific implementation, the four-deep rack can be assembled by two double-deep racks, so as to facilitate the assembly of the double-deep racks into a rack with different number of deep sites. For example, the four-deep rack can be formed by two double-deep racks back to back in the length direction X.

[0094] The fourth embodiment of the present application provides a box handling robot 20, which includes a support frame 21 and a box taking-and-placing assembly 22. The support frame 21 is hung on one side in the length direction X based on at least one mounting rail 12 arranged on the one side in the length direction X, and can move horizontally along the length direction X of the one side. The first rack 10 includes a plurality of storage layers 11 arranged in the height direction Z, and each storage layer 11 includes a plurality of storage sites 111 arranged side by side. Each storage site 111 is used for storing boxes that can be connected to each other. The box taking-and-placing assembly 22 is arranged on the support frame 21, and can move up and down along the height direction Z of the support frame 21. The box taking-and-placing assembly 22 takes out a box 200 adjacent to the box handling robot 20 from a storage site 111, so that a box 200 connected to the box 200 in the storage site 111 moves to a position adjacent to the box handling robot 20. Or, the box taking-and-placing assembly 22 places a box 200 on a storage site 111 of the first rack 10, so that a box 200 on the storage site 111 is connected to the placed box 200, and moves to a position away from the box handling robot 20.

[0095] The box handling robot 20 in the embodiment can adopt the box handling robot 20 in the above embodiments, and details are not repeated in the present embodiment.

[0096] In application, the box handling robot 20 and the box 200 in the above embodiments are taken as examples.

[0097] In the process of obtaining the box 200 by the box handling robot 20:

[0098] The hook 2211 of the bin handling robot 20 extends and moves upward, and the hook 2211 of the bin taking and placing component 221 is inserted into the hook hole 209 of the bin from the bottom of the bin to hook the bin; wherein the first insertion opening 2021 of the bin 200 faces the bin handling robot 20, and the adjacent two bins 200 are connected by the hook 2011 and the first insertion opening 2021.

[0099] The hook 2211 of the bin handling robot 20 retracts, and the hooked bin is pulled out from the storage position 111, and the bin 200 connected with the hooked bin 200 moves to a position adjacent to the bin handling robot 20.

[0100] The bin handling robot 20 moves downward, so that the hook 2011 of the hooked bin 200 and the first insertion opening 2021 of the bin 200 connected therewith are disengaged, to separate the hooked bin 200 and the bin 200 connected therewith.

[0101] The bin handling robot 20 carries the hooked bin 200 to a predetermined location.

[0102] During the process of placing the bin 200 by the bin handling robot 20:

[0103] The hook 2211 of the bin taking and placing component 221 is inserted into the hook hole 209 of the bin from the bottom of the bin to hook the bin 200, and moves downward to connect the hook 2011 of the carried bin 200 and the first insertion opening 2021 of the bin 200 connected therewith.

[0104] The bin handling robot 20 pushes the carried bin 200 out to the storage position 111 of the first shelf 10, and moves the bin 200 connected with the carried bin 200 to a position one bin away from the bin handling robot 20 (the bin 200 connected with the carried bin 200 moves one bin away from the position adjacent to the bin handling robot 20 to a position one bin away from the bin handling robot 20, i.e., a position one bin away from the bin handling robot 20).

[0105] The bin handling robot 20 moves downward, and the hook 2211 of the bin taking and placing component 221 is separated from the hook hole 209 of the carried bin 200, to disengage the hooked bin from the bin handling robot 20.

[0106] Please refer to the first connecting structure 201 and the second connecting structure 202 provided on two sides of the body of the fifth embodiment of the application shown in FIG. 2, FIG. 3 and FIG. 4, so that in two adjacent material boxes 200, the first connecting structure 201 of one material box 200 can be connected or separated from the second connecting structure 202 of the other material box 200.

[0107] The material box in the embodiment can adopt the material box in the above-mentioned embodiments, which will not be repeated in the embodiment.

[0108] The above only describes the preferred embodiments of the application and is not intended to limit the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A magazine handling system characterized by, The system comprises: a first rack (10) comprising a plurality of storage layers (11) arranged along a height direction (Z), each storage layer (11) comprising a plurality of storage sites (111) arranged side by side; each storage site (111) is used to store a tote (200) capable of being connected to each other; a tote handling robot (20) hung on one side of the first rack (10) in a length direction (X) and capable of moving horizontally along the length direction (X) of the side, and taking out the tote (200) adjacent to the tote handling robot (20) from the storage site (111), so that the tote (200) connected to the tote (200) on the storage site (111) moves to a position adjacent to the tote handling robot (20); or, placing a tote (200) on a storage site (111) of the first rack (10), so that the tote (200) on the storage site (111) is connected to the placed tote (200) and moves away from the tote handling robot (20).

2. The magazine handling system of claim 1, wherein, Further comprising: a second rack (30) comprising a plurality of storage layers (11) arranged along the height direction (Z), each storage layer (11) comprising a plurality of storage sites (111) arranged side by side; each storage site (111) is used to store a tote (200) capable of being connected to each other; The first rack (10) and the second rack (30) are arranged at intervals, so that a lane is formed between the first rack (10) and the second rack (30), and the tote handling robot (20) is arranged in the lane and capable of taking out the tote (200) adjacent to the tote handling robot (20) on the first rack (10) and the second rack (30), so that the tote (200) connected to the tote (200) on the storage site (111) moves to a position adjacent to the tote handling robot (20), and capable of placing a tote (200) on a storage site (111) of the first rack (10) and the second rack (30), so that the tote (200) on the storage site (111) is connected to the placed tote (200) and moves away from the tote handling robot (20).

3. The tote handling system according to claim 2, wherein The first rack (10) is provided with at least one mounting rail (12) on one side in the length direction (X); The tote handling robot (20) comprises a support frame (21) and a tote taking and placing assembly (22); The support frame (21) is hung on one side in the length direction (X) based on the mounting rail (12) and capable of moving horizontally along the length direction (X) of the side; the tote taking and placing assembly (22) is arranged on the support frame (21) and capable of moving up and down in the height direction (Z) of the support frame (21) to take and place the tote (200) on different height storage layers (11) of the first rack (10) and the second rack (30).

4. The magazine handling system according to claim 3, characterized in that, the magazine handling robot (20) further comprises a lifting assembly (23) arranged on the support frame (21); the magazine taking and placing assembly (22) is arranged on the lifting assembly (23) and moves up and down along the height direction (Z) of the support frame (21) under the driving of the lifting assembly (23); the magazine taking and placing assembly (22) comprises a bidirectional telescopic magazine taking and placing component (221) for telescoping towards the first rack (10) and / or the second rack (30) to take and place the magazine (200) on the first rack (10) and / or the second rack (30).

5. The magazine handling system according to claim 1, characterized in that, the magazine taking and placing component (221) of the magazine taking and placing assembly (22) has a hook hand (2211), and at least one side of the magazine (200) is provided with a hook hole (209) matched with the hook hand (2211).

6. The magazine handling system according to claim 2, characterized in that, the first rack (10) or the second rack (30) is a double-depth rack, and each storage site (111) can store two magazines (200) connected with each other; or, the first rack (10) or the second rack (30) is a four-depth rack, and each storage site (111) can store four magazines (200) connected with each other.

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

8. The magazine handling system according to any one of claims 1 to 7, characterized in that, each magazine (200) is provided with a first connecting structure (201) and a second connecting structure (202) on two sides, so that in two adjacent magazines (200), the first connecting structure (201) of one magazine (200) can be connected or separated from the second connecting structure (202) of the other magazine (200).

9. A magazine handling robot characterized by, including: a support frame (21) and a magazine taking and placing assembly (22); the support frame (21) is hung on one side in the length direction (X) based on at least one mounting rail (12) arranged on the one side of the first rack (10) in the length direction (X) and can move horizontally along the length direction (X) of the one side, the first rack (10) comprises a plurality of storage layers (11) arranged in the height direction (Z), each storage layer (11) comprises a plurality of storage sites (111) arranged side by side; each storage site (111) is used for storing magazines (200) that can be connected with each other; The material box taking and placing assembly (22) is arranged on the support frame (21) and can move up and down along the height direction (Z) of the support frame (21), and can take out the material box (200) adjacent to the material box carrying robot (20) from the storage site (111), so that the material box (200) connected to the material box (200) on the storage site (111) moves to a position adjacent to the material box carrying robot (20); or, place the material box (200) on the storage site (111) of the first shelf (10), so that the material box (200) on the storage site (111) is connected to the placed material box (200) and moves to a position away from the material box carrying robot (20).

10. The material box carrying robot according to claim 9, characterized in that, The material box (200) comprises a body, and first and second connecting structures (201) and (202) are arranged on both sides of the body, so that in adjacent two material boxes (200), the first connecting structure (201) of one material box (200) can be connected to or separated from the second connecting structure (202) of the other material box (200), the first connecting structure (201) comprises a hook (2011) bent towards the bottom of the material box (200), and the second connecting structure (202) comprises a first socket (2021) open towards the top of the material box (200); The material box taking and placing component (221) of the material box taking and placing assembly (22) has a hook hand (2211), and at least one side of the material box is provided with a hook hole (209) matched with the hook hand (2211); wherein, In the process of obtaining the material box (200) by the material box carrying robot (20): The hook hand (2211) of the material box carrying robot (20) is extended and moves upward, the hook hand (2211) of the material box taking and placing component (221) is inserted into the hook hole (209) of the material box from the bottom of the material box, and the material box is hooked; wherein, one side of the first socket (2021) of the material box (200) faces the material box carrying robot (20), and the hook (2011) and the first socket (2021) of adjacent two material boxes (200) are inserted to connect the adjacent two material boxes (200); The hook hand (2211) of the material box carrying robot (20) is retracted, and the hooked material box is pulled out from the storage site (111), and the material box (200) connected to the hooked material box (200) moves to a position adjacent to the material box carrying robot (20); The material box carrying robot (20) moves upward, so that the hook (2011) of the hooked material box (200) and the first socket (2021) of the material box (200) connected thereto are separated to separate the hooked material box (200) and the material box (200) connected thereto; The material box carrying robot (20) carries the hooked material box (200) to a predetermined position; In the process that the bin carrying robot (20) places the bin (200): The hook hand (2211) of the bin taking and placing component (221) is inserted into the hook hole (209) of the bin from the bottom of the bin, hooks the bin (200), and makes a descending movement to insert the hook (2011) of the carried bin (200) and the first socket (2021) of the bin (200) adjacent to the hook (2011) so as to connect two bins (200); The bin carrying robot (20) pushes the carried bin (200) to the storage position (111) of the first shelf (10) and moves the bin (200) connected with the carried bin (200) to a position one bin away from the bin carrying robot (20); The bin carrying robot (20) makes a descending movement, and the hook hand (2211) of the bin taking and placing component (221) is separated from the hook hole (209) of the carried bin (200) to separate the hooked bin from the bin carrying robot (20).

11. A magazine characterized by, Comprise: The body is provided with a first connecting structure (201) and a second connecting structure (202) on both sides, so that in two adjacent bins (200), the first connecting structure (201) of one bin (200) can be connected with or separated from the second connecting structure (202) of the other bin (200).

12. The bin according to claim 11, characterized in that, The top of the body is open; The first connecting structure (201) comprises a hook (2011) bent towards the bottom of the bin; The second connecting structure (202) comprises a first socket (2021) open towards the top of the bin.

13. The bin according to claim 11, characterized in that, The top of the bin (200) is open; The first connecting structure (201) comprises a hook (2011) bent towards the bottom of the bin (200); The second connecting structure (202) comprises a first socket (2021) open towards the top of the bin (200).

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

15. The magazine of claim 14, wherein, The magazine (200) further comprises a first rib (208a) and a second rib (208b). The first rib (208a) and the second rib (208b) are arranged outside the second side wall (220) and are located on both sides above the first socket (2021).

Images