Bin pick-and-place device, handling robot and handling method

Abstract

The embodiments of the present application relate to the technical field of warehousing logistics. Provided are a bin pick-and-place device, a handling robot and a handling method. In the bin pick-and-place device provided in the embodiments of the present application, when a bin located on a shelf is picked up, a claw telescopic driving mechanism drives a claw telescopic mechanism to drive a claw mechanism to extend towards the bin. The claw mechanism is mounted at the front end of the claw telescopic mechanism, and the claw telescopic mechanism can drive the claw mechanism to extend and retract, such that the claw mechanism hooks the bin on the warehouse shelf and moves same to a bin pick-and-place platform, or pushes the bin on the bin pick-and-place platform to move same onto the warehouse shelf. By means of adopting the bin pick-and-place device of the present application to handle bins in a hooking manner, there is no need to reserve an operation gap between the bins for the robot, thereby increasing the storage density of the bins on the shelf and improving the warehouse storage capacity.

Description

A bin taking and placing device, a carrying robot and a carrying method

[0001] The present application claims priority to the Chinese patent application No. 202411050081.6 filed on July 31, 2024, and entitled "A bin taking and placing device, a carrying robot and a carrying method", 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 bin taking and placing device, a carrying robot and a carrying method. BACKGROUND

[0003] In the technical field of warehouse logistics, a carrying robot is usually used to transfer and carry bins and other goods located on a warehouse shelf.

[0004] At present, the carrying process of the carrying robot mainly takes the bin from the warehouse shelf by the bin taking and placing device, temporarily stores the bin on the carrying robot, and then moves the bin to the destination by the carrying robot. In this process, the bin taking and placing device taking and placing the bin from the warehouse shelf is an important link.

[0005] Usually, in order to enable the bin taking and placing device to smoothly take and place the bin from the warehouse shelf, a certain spacing is reserved between the bins on the upper and lower layers of the warehouse shelf or the left and right columns of the warehouse shelf. However, the existence of too much spacing makes the warehouse shelf can store fewer bins, thereby resulting in insufficient capacity of the warehouse. SUMMARY

[0006] The purpose of the embodiments of the present application is to provide a bin taking and placing device, a carrying robot and a carrying method, so as to enable the warehouse shelf to not need to reserve an operating gap for the robot, thereby improving the capacity of the warehouse. The specific technical solutions are as follows:

[0007] The embodiments of the present application provide a bin taking and placing device, comprising:

[0008] a bottom mounting plate, a hook claw telescopic driving mechanism, a hook claw telescopic mechanism, a hook claw mechanism and a bin taking and placing platform;

[0009] The hook claw telescopic driving mechanism and the bin taking and placing platform are installed on the bottom mounting plate;

[0010] The telescopic end of the hook claw telescopic mechanism is fixedly connected with the hook claw mechanism, and the fixed end of the hook claw telescopic mechanism is fixed at the rear end of the bottom mounting plate;

[0011] The hook claw telescopic driving mechanism is connected with the hook claw telescopic mechanism and is used for driving the telescopic end of the hook claw telescopic mechanism to telescope so as to drive the hook claw mechanism to telescope in the front-back direction of the bin taking and placing platform.

[0012] The hook claw mechanism is installed on the telescopic end towards the front end of the bottom mounting plate and is used for being driven by the hook claw telescopic mechanism to extend the bin taking and placing device to hook the bin on the warehouse shelf and pull the bin back to the bin taking and placing platform or push the bin on the bin taking and placing platform to the warehouse shelf.

[0013] The embodiment of the present application also provides a carrying robot which comprises the bin taking and placing device, the moving device and the lifting device.

[0014] The embodiment of the present application also provides a carrying method which is applied to the carrying robot and comprises the following steps.

[0015] The moving device is controlled to move the bin taking and placing device in the horizontal direction and the lifting device is controlled to move the bin taking and placing device in the vertical direction so that the bin taking and placing device reaches the bin placing position of the warehouse shelf.

[0016] The hook claw telescopic mechanism of the bin taking and placing device is controlled to drive the hook claw mechanism to telescope in the front-back direction, the hook claw mechanism hooks the bin on the warehouse shelf and moves to the bin taking and placing platform or pushes the bin on the bin taking and placing platform to move to the warehouse shelf.

[0017] The embodiment of the present application has the following beneficial effects:

[0018] The bin taking and placing device provided by the embodiment of the present application can drive the hook claw mechanism to extend towards the bin when the bin on the shelf is taken, the hook claw mechanism is installed on the front end of the hook claw telescopic mechanism, the hook claw telescopic mechanism can drive the hook claw mechanism to telescope so that the hook claw mechanism hooks the bin on the warehouse shelf and moves to the bin taking and placing platform or pushes the bin on the bin taking and placing platform to move to the warehouse shelf. The bin carrying is performed in the hooking mode by using the bin taking and placing device, the operation gap for the robot is not required between the bins, the bin storage density of the shelf is increased and the warehouse capacity rate is improved.

[0019] Of course, implementing any product or method of the present application does not necessarily require all the advantages described above. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. The detailed description of the application refers to the accompanying drawings.

[0021] Fig. 1 is a perspective view of a material box taking and placing device according to an embodiment of the present application;

[0022] Fig. 2 is an exploded view of the material box taking and placing device shown in Fig. 1;

[0023] Fig. 3 is a perspective view of a hook claw mechanism of the material box taking and placing device shown in Fig. 1;

[0024] Fig. 4 is an exploded view of the hook claw mechanism shown in Fig. 3;

[0025] Fig. 5 is a cross-sectional view of the hook claw mechanism of the material box taking and placing device shown in Fig. 1;

[0026] Fig. 6 is a perspective view of the hook claw mechanism shown in Fig. 3 in a hooking state;

[0027] Fig. 7 is a perspective view of the hook claw mechanism shown in Fig. 3 in a non-hooking state;

[0028] Fig. 8 is a view of a structure in which a material box exists between a material box sensor and a rear surface of the hook claw mechanism shown in Fig. 1;

[0029] Fig. 9 is a view of a structure of a wire blocking sheet, a first fixing point, and a second fixing point of the hook claw mechanism shown in Fig. 1;

[0030] Fig. 10 is a view of a structure in which an outer front roller of the hook claw mechanism shown in Fig. 1 is supported by a shelf;

[0031] Fig. 11 is a view of a structure in which an inner rear roller of the hook claw mechanism shown in Fig. 1 is supported by a material box taking and placing platform;

[0032] Fig. 12 is a view of a structure in which a single-stretch material box and a double-stretch material box are located according to an embodiment of the present application;

[0033] Fig. 13 is a view of a structure in which a part is enlarged at A in Fig. 1;

[0034] Fig. 14 is a view of a structure of a material box carrying robot according to an embodiment of the present application;

[0035] Fig. 15 is a flowchart of a carrying method according to an embodiment of the present application;

[0036] Fig. 16 is a flowchart of a single-stretch taking process according to an embodiment of the present application;

[0037] Fig. 17a is a flowchart of a double-stretch taking process according to an embodiment of the present application;

[0038] Fig. 17b is a schematic view of the material box taking and placing device shown in Fig. 1 after moving up a second predetermined distance;

[0039] Fig. 17c is a schematic view of the hook claw telescopic mechanism of the material box taking and placing device shown in Fig. 1 extending to a first extension distance;

[0040] Fig. 17d is a schematic view of the material box taking and placing device shown in Fig. 1 moving down a third predetermined distance;

[0041] Fig. 17e is a schematic view of the hook claw telescopic mechanism of the material box taking and placing device shown in Fig. 1 extending to a double extension stroke;

[0042] Fig. 18 is a schematic view of a single extension placing process provided by an embodiment of the present application;

[0043] Fig. 19 is a schematic view of a double extension placing process provided by an embodiment of the present application.

[0044] Fig. 18 is a schematic view of a single extension placing process provided by an embodiment of the present application; Fig. 19 is a schematic view of a double extension placing process provided by an embodiment of the present application. Specifically, the present application provides a material box taking and placing device, which comprises a moving device, a lifting device, a bottom mounting plate, a camera, a rear shell, a left side shell, a right side shell, a limiting baffle, a hook claw telescopic driving mechanism, a telescopic mechanism, a hook claw mechanism, a lifting assembly, a material box sensor, a bracket, a cable, a spacing region, a detection opening, a position detection assembly, a limiting frame, an outer side support roller, an inner side support roller, a first roller mounting bracket, a second roller mounting bracket, a shock absorbing pad, a material box taking and placing platform, a front end roller, a material box supporting plate, a shelf material box detection sensor, an internal detection sensor, a rotating mechanism, a controller, a material box, a material box groove outer side wall, a shelf cross beam, and a shelf layer plate.

[0045] For the purposes of the present application, the technical solutions and advantages are more clearly apparent, the following embodiments are described with reference to the accompanying drawings and examples. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0046] As described in the background, using the related art tote handling robot to handle the totes requires the warehouse racks to reserve an operating gap between the totes or an interlayer operating gap between the layers of the racks for the telescopic fork arms of the robot, thus resulting in less totes that can be stored in the warehouse racks and low warehouse capacity.

[0047] In order to improve the warehouse capacity, the embodiments of the present application provide a tote taking and placing device, a handling robot and a handling method, which are described in detail below.

[0048] Referring to FIG. 1 and FIG. 2, FIG. 1 is a perspective structural schematic diagram of a tote taking and placing device 10 provided by the embodiments of the present application, and FIG. 2 is an exploded structural schematic diagram of the tote taking and placing device 10 shown in FIG. 1. As shown in FIG. 1 and FIG. 2, the tote taking and placing device 10 provided by the embodiments of the present application includes a bottom mounting plate 100, a hook claw telescopic driving mechanism 200, a hook claw telescopic mechanism 300, a hook claw mechanism 400 and a tote taking and placing platform 500. The hook claw telescopic driving mechanism 200 and the tote taking and placing platform 500 are mounted on the bottom mounting plate 100. The telescopic end 310 of the hook claw telescopic mechanism 300 is fixedly connected with the hook claw mechanism 400. The fixed end 320 of the hook claw telescopic mechanism 300 is fixed at the rear end of the bottom mounting plate 100. The hook claw telescopic driving mechanism 200 is connected with the hook claw telescopic mechanism 300, for driving the telescopic end 310 of the hook claw telescopic mechanism 300 to telescope, so as to drive the hook claw mechanism 400 to telescope in the front and back direction of the tote taking and placing platform 500. The hook claw mechanism 400 is installed on the telescopic end 310 towards the front end of the bottom mounting plate 100, for being driven by the hook claw telescopic mechanism 300 to extend the tote taking and placing device to hook the totes on the warehouse racks, and pull the totes back to the tote taking and placing platform 500; or, push the totes on the tote taking and placing platform 500 to the warehouse racks.

[0049] The material box taking and placing device 10 provided by the embodiment of the present application is used to take the material box on the shelf. The hook claw telescopic driving mechanism 200 drives the hook claw telescopic mechanism 300 to drive the hook claw mechanism 400 to extend towards the material box. The hook claw mechanism 400 is installed at the front end of the hook claw telescopic mechanism 300. The hook claw telescopic mechanism 300 can drive the hook claw mechanism 400 to extend and retract, so that the hook claw mechanism 400 hooks the material box on the warehouse shelf and moves to the material box taking and placing platform 500 or pushes the material box on the material box taking and placing platform 500 to move to the warehouse shelf. The material box is taken and carried by the hook claw mechanism 400. The operation gap for the robot is not required between the material boxes. The storage density of the material box on the shelf is increased, and the warehouse capacity is improved.

[0050] As shown in FIG. 2, the front end of the bottom mounting plate 100 is provided with a camera 110 for reading the shelf identification code. The rear side of the bottom mounting plate 100 is provided with a rear shell 120, the left side is provided with a left side shell 140, and the right side is provided with a right side shell 150. The rear shell 120, the left side shell 140 and the right side shell 150 are used to protect the structural components of the material box taking and placing device 10. The left and right sides of the bottom mounting plate 100 are also provided with limit baffles 160 to prevent the material box from sliding to the left and right sides of the bottom mounting plate 100. In the embodiment, an accordion cover can also be provided. The accordion cover can be covered outside the hook claw telescopic mechanism 300 to protect the hook claw telescopic mechanism 300. The bottom mounting plate 100 is also connected with a rotating mechanism 600. The rotating mechanism 600 is used to realize the rotation of the material box taking and placing device 10.

[0051] Referring to FIGS. 3-5, FIG. 3 is a perspective view of the hook claw mechanism 400 of the material box taking and placing device 10 shown in FIG. 1, FIG. 4 is an exploded view of the hook claw mechanism 400 shown in FIG. 3, and FIG. 5 is a cross-sectional view of the hook claw mechanism of the material box taking and placing device shown in FIG. 1. As shown in FIGS. 3-5, in some embodiments, the hook claw mechanism 400 includes a hook claw fixing plate 410, a hook claw lifting guide rail 420, a hook claw 430 and a lifting assembly 440. The hook claw fixing plate 410 is connected with the front end of the hook claw telescopic mechanism 300. The hook claw lifting guide rail 420 is arranged on the side of the hook claw fixing plate 410 away from the hook claw telescopic mechanism 300. The hook claw 430 is slidably connected with the hook claw lifting guide rail 420 through a sliding block 421. The lifting assembly 440 is arranged on the hook claw fixing plate 410. The lifting assembly 440 is connected with the hook claw 430. The lifting assembly 440 is used to drive the hook claw 430 to lift along the hook claw lifting guide rail 420 to hook the material box on the warehouse shelf. The hook claw 430 is connected with the sliding block 421 through a fixing bolt 422.

[0052] When the hooking mechanism 400 hooks the bin on the warehouse shelf, first, the hook claw retracting mechanism 300 is extended towards the warehouse shelf, so that the hook claw 430 moves below the bin groove; then, the lifting assembly 440 drives the hook claw 430 to ascend along the hook claw lifting guide rail 420 and extend into the bin groove to hook the bin; then, the hook claw retracting mechanism 300 is retracted to drive the hook claw 430 to retract, thereby pulling the bin back to the bin taking and placing platform 500. When the bin on the bin taking and placing platform 500 is pushed to move to the warehouse shelf, first, the hook claw 430 is kept in the state of hooking the bin; then, the hook claw retracting mechanism 300 is extended to push the hook claw 430 to move towards the warehouse shelf with the hooked bin, and the bin is pushed out to the warehouse shelf, and the lifting assembly 440 drives the hook claw 430 to descend along the hook claw lifting guide rail 420 and separate from the bin groove.

[0053] It should be noted that, as shown in FIGS. 1 and 4, the retracting end 310 of the hook claw retracting mechanism 300 is connected with the hook claw fixing plate 410 through a connecting guide rail 311. Among them, the hook claw lifting guide rail 420 and the hook claw 430 are arranged on the front side of the hook claw fixing plate 410, and the connecting guide rail 311 is installed on the rear side of the hook claw fixing plate 410.

[0054] When the bin taking and placing device 10 needs to take and place goods, the bin taking and placing device 10 is moved to the warehouse shelf, the front end of the bin taking and placing device 10 is opposite to the bin storage position on the warehouse shelf, so that the hook claw lifting guide rail 420 and the hook claw 430 are on the side of the hook claw fixing plate 410 close to the warehouse shelf, and the connecting guide rail 311 is on the opposite side of the hook claw fixing plate 410.

[0055] In some embodiments, referring to FIGS. 4 to 7, wherein FIG. 6 is a schematic diagram of the hook claw mechanism 400 in the hooking state, and FIG. 7 is a schematic diagram of the hook claw mechanism 400 not in the hooking state. As shown in FIGS. 4 to 7, the lifting assembly 440 includes a hook claw driving motor 441 and a crank mechanism 442. The hook claw driving motor 441 is arranged on the hook claw fixing plate 410, the crank mechanism 442 is fixedly connected with the hook claw driving motor 441 at the first end, and the crank mechanism 442 is hingedly connected with the hook claw 430 at the other end. Among them, the crank mechanism 442 is arranged on the front side of the hook claw fixing plate 410, and the hook claw driving motor 441 can be arranged on the rear side of the hook claw fixing plate 410. The crank mechanism 442 is used to drive the hook claw 430 to ascend and descend along the hook claw lifting guide rail 420 under the driving of the hook claw driving motor 441.

[0056] When the hook claw 430 hooks the bin on the warehouse shelf, the hook claw driving motor 441 transmits power to the crank mechanism 442, and the crank mechanism 442 drives the hook claw 430 to extend into the bin groove along the hook claw lifting rail 420. When the hook claw extension mechanism 300 extends to push the hook claw 430 to hook the bin and move towards the warehouse shelf, so that the bin on the bin taking and placing platform 500 is moved to the warehouse shelf, the hook claw driving motor 441 transmits power to the crank mechanism 442, and the crank mechanism 442 drives the hook claw 430 to descend along the hook claw lifting rail 420 and separate from the bin groove.

[0057] In some embodiments, as shown in FIG. 4, the hook claw 430 includes a hook pulling plate 431, a support plate 432 and a mounting plate 433 connected in sequence. The mounting plate 433 is arranged parallel to the hook claw fixing plate 410 at the lower part of the hook claw 430, and is fixedly connected with the sliding block 421 and hinged with the lifting assembly 440. The first end of the support plate 432 is connected with the mounting plate 433, and the second end of the support plate 432 extends horizontally from the mounting plate 433 towards the bin and is connected with the hook pulling plate 431. The hook pulling plate 431 is bent upward from the second end of the support plate 432 and forms a predetermined angle with the support plate 432, so that the hook pulling plate 431 can be inserted into the bin groove arranged on the outer side of the bin in the height direction under the driving of the lifting assembly 440 to hook and pull the bin. When the bin on the warehouse shelf is hooked, the crank mechanism 442 drives the hook pulling plate 431 to extend into the bin groove and hook the bin. When the bin on the bin taking and placing platform 500 is pushed to move to the warehouse shelf, the crank mechanism 442 drives the hook pulling plate 431 to descend and separate from the bin groove. It should be noted that the predetermined angle is not greater than 90°, which can be 45°, 60°, etc., and the preferred option is 90°.

[0058] In some embodiments, as shown in FIG. 4, the mounting plate 433 is hinged with the second end of the rocker 4422 of the crank mechanism 442 of the lifting assembly 440 through the rotating shaft arranged on the hook claw shaft plate 434. As shown in FIGS. 4 to 7, the rocker 4422 of the crank mechanism 442 pushes the hook claw shaft plate 434 up and down, and since the mounting plate 433 is fixedly connected with the hook claw shaft plate 434, the hook claw shaft plate 434 drives the hook claw 430 to rise and fall.

[0059] In some embodiments, as shown in FIGS. 5, 6 and 7, the crank mechanism 442 includes a crank 4421 and a rocker 4422. One end of the crank 4421 is fixedly connected with the output shaft 4411 of the hook driving motor 441, the first end of the rocker 4422 is hingedly connected with the other end of the crank 4421, and the second end of the rocker 4422 is hingedly connected with the hook 430. The one end of the crank 4421 is provided with a D-shaped opening through which the crank 4421 is fixedly connected with the output shaft 4411 of the hook driving motor 441. The crank 4421 can rotate under the driving of the hook driving motor 441, the rocker 4422 is a straight rod with openings at both ends, bearings are embedded in the openings to reduce the movement resistance, one end of the rocker 4422 is hingedly connected with the crank 4421, and the other end of the rocker 4422 is hingedly connected with the hook 430. Since the hook 430 guide rail limits the movement direction of the hook 430, the hook 430 can only move in the lifting direction. When the hook driving motor 441 rotates, the crank 4421 rotates around the output shaft of the hook driving motor 441, and the rocker 4422 swings and lifts under the driving of the hook driving motor 441, thereby lifting and lowering the hook 430. When taking out the material box, after the hook extension mechanism 300 is in place, the hook driving motor 441 rotates forward to drive the crank 4421 to rotate upward, push the rocker 4422 to swing upward, drive the hook 430 to lift, and the hook 430 extends into the groove of the material box to hook the material box. At this time, the hook extension mechanism 300 is retracted to pull the material box back into the assembly. When putting in the material box, the hook driving motor 441 reverses to drive the crank 4421 to rotate downward, pull the rocker 4422 to swing downward, drive the hook 430 to descend, and the hook 430 is separated from the groove of the material box to release the material box. At this time, the hook extension mechanism 300 is retracted after the material box is pushed to the designated position, and the putting-in action is completed.

[0060] In some embodiments, as shown in FIGS. 5 to 7, the hook mechanism 400 further includes a material box sensor 450 for detecting whether the material box is hooked. The material box sensor 450 is fixedly installed on the support plate 432, faces the hooking plate 431, and is oppositely spaced apart from the hooking plate 431 to form a spacing area 453 for accommodating the side wall of the groove formed on the outer side of the material box when the material box is hooked.

[0061] In this embodiment, the hopper sensor 450 includes but is not limited to a micro switch, a photoelectric sensor, a proximity sensor, a distance sensor, an electromagnetic sensor, etc. For example, when the photoelectric sensor and the rear surface of the hook claw 430 are blocked by the hopper, the side wall of the hopper groove will block the photoelectric spot, and the side wall of the hopper will enter the detection range of the photoelectric sensor, so that the photoelectric sensor is triggered, and the controller 700 is informed that the hopper is successfully hooked, and the subsequent action can be performed. Similarly, if the hopper is detached during the retraction of the hook claw retraction mechanism 300 after the hopper is hooked, the photoelectric sensor and the rear surface of the hook claw 430 will not be blocked, and there will be no effective triggering object in the detection range of the photoelectric sensor, and the photoelectric sensor will be in an untriggered state. At this time, the controller 700 will receive a hopper detachment signal and can automatically enter a retry or alarm process.

[0062] Referring to FIGS. 4 to 8, FIG. 8 is a schematic view of the structure of the hopper sensor and the rear surface of the hook claw when the hopper is present between the hopper sensor and the rear surface of the hook claw of the hook claw mechanism shown in FIG. 1. In some embodiments, as shown in FIGS. 4 to 8, the top of the hook pull plate 431 is provided with a notch 435, and the notch 435 is provided with a C-shaped piece 436, which is recessed away from the hopper sensor 450, so that the detection distance between the hopper sensor 450 and the C-shaped piece 436 is greater than the distance between the hopper sensor 450 and the hook pull plate 431. The C-shaped piece 436 can be a C-shaped sheet metal. The C-shaped sheet metal slightly protrudes from the front surface of the hook claw, and the protrusion depth depends on the photoelectric performance; under normal conditions, the photoelectric sensor takes the inside front surface of the C-shaped sheet metal as the background, and the photoelectric detection distance is slightly smaller than the distance from the photoelectric surface to the inside front surface of the C-shaped sheet metal, but not greater than the distance from the rear surface of the hook claw to the photoelectric surface.

[0063] In order to ensure the accuracy of the hopper detection, the photoelectric detection distance of the photoelectric sensor can be adjusted during production. For example, a sheet-shaped tool is placed between the hopper sensor 450 and the hook pull plate 431 to adjust the photoelectric detection distance by detecting the light on the sheet-shaped tool.

[0064] As shown in FIG. 8, the hopper sensor has a detection distance of x, B is the distance between the rear surface of the hook claw and the outer side wall 810 of the hopper groove when the hopper 800 is hooked, and the rear surface of the hook claw is in close contact with the outer side wall 810 of the hopper groove; when there is no hopper, there is no obstruction in the range of x, and the hopper sensor is not triggered; when there is a hopper, there is an obstruction in the range of x, and the hopper sensor is triggered; t is the thickness of the outer side wall 810 of the hopper groove, and when there is no C-shaped piece, B < x < E, the hopper sensor takes the rear surface of the hook claw as the background, and the hopper sensor has a permissible detection accuracy Δ = E - B = t. When t is small, the hopper sensor has high accuracy requirements and unstable detection.

[0065] When the C-shaped piece is present, the rear surface of the C-shaped piece is the background of the material box sensor, T is the distance by which the rear surface of the hook claw is extrapolated out of the C-shaped piece, A is the distance from the material box sensor to the rear surface of the C-shaped piece, A = E + T, the allowable detection accuracy of the material box sensor is t + T; the C-shaped piece enlarges the distance E to A from the background to the material box sensor, enlarges the allowable detection accuracy, reduces the accuracy requirement of the material box sensor, and improves the detection stability.

[0066] In some embodiments, as shown in FIGS. 4 to 9, FIG. 9 is a structural schematic diagram of the walking blocking piece, the first fixed point and the second fixed point of the hook claw mechanism shown in FIG. 1. The material box sensor 450 is fixed to the support plate 432 through the bracket 451, the bracket 451 is provided with a wire outlet 411 away from one side of the hook pull plate 431 and a detection port 454 facing one side of the hook pull plate 431. The cable of the material box sensor 450 extends out of the wire outlet 411, and the material box sensor 450 detects whether the material box is hooked by the hook pull through the detection port 454. The cable extending out of the wire outlet 411 is used for transmitting electric energy and detection signals. The material box sensor 450 emits detection light through the detection port 454 for detection.

[0067] In some embodiments, as shown in FIGS. 4 to 7, the hook claw mechanism 400 further comprises a zero position blocking piece 437. The zero position blocking piece 437 is fixedly connected with the hook claw 430 through the first rib plate 4371 provided at the first side of the connecting part of the mounting plate 433 and the support plate 432. The hook claw fixing plate 410 is provided with a position detection assembly 460 matched with the zero position blocking piece 437, which is used for detecting the position of the hook claw 430. With the up and down movement of the hook claw 430 driving the zero position blocking piece 437, the position detection assembly 460 detects the position of the zero position blocking piece 437 to obtain the position information of the hook claw 430.

[0068] Specifically, the position detection assembly 460 can include one position detection sensor 461 or two position detection sensors 461.

[0069] In the case where the position detection assembly 460 includes one position detection sensor 461, the position detection sensor 461 corresponds to the lower limit position of the hook claw 430 and is used for detecting whether the zero position blocking piece 437 reaches the lower limit position of the hook claw 430. In the case where the position detection assembly 460 includes two position detection sensors 461, one of the two position detection sensors 461 corresponds to the lower limit position of the hook claw 430 and the other corresponds to the upper limit position of the hook claw 430, and are respectively used for detecting whether the zero position blocking piece 437 reaches the lower limit position of the hook claw 430 and whether the zero position blocking piece 437 reaches the upper limit position of the hook claw 430.

[0070] When including one position detection sensor 461, the hook claw 430 is lowered, the zero position stopper 437 is lowered into the sensor detection range, informing the controller 700 that the hook claw drive motor 441 hooks the hook claw 430 to zero; the hook claw drive motor 441 stops rotating after a certain time delay, and the hook claw 430 is located at the lowest position and can completely release the hopper; the hook claw 430 is lifted, the zero position stopper 437 is lifted out of the sensor detection range, informing the controller 700 that the hook claw drive motor 441 hooks the hook claw 430 to the position; the hook claw drive motor 441 stops rotating after a certain time delay, and by setting different time delays, different stopping positions of the hook claw 430 can be achieved to adapt to the needs of mixed taking and placing of hoppers of different groove heights.

[0071] When including two position detection sensors 461, the zero position stopper 437 corresponds to the two position detection sensors 461 at the same time. When the hook claw 430 is lowered, the zero position stopper 437 is lowered into the lower sensor detection range, which will inform the controller 700 that the hook claw drive motor 441 hooks the hook claw 430 to zero signal; the motor stops rotating, the hook claw 430 stops descending, and the hook claw 430 is located at the lowest position and can completely release the hopper; when the hook claw 430 is lifted, the zero position stopper 437 is lifted into the upper sensor detection range, which will inform the controller 700 that the hook claw drive motor 441 hooks the hook claw 430 to the position signal, the motor stops rotating, the hook claw 430 stops lifting, and the hook claw 430 is located at the highest position and can stably hook the hopper.

[0072] Fig. 9 is a structural schematic diagram of the wire blocking piece, the first fixed point and the second fixed point of the hook claw mechanism shown in Fig. 1. In some embodiments, as shown in Figs. 4 to 7 and 9, the hook claw mechanism 400 further includes a wire blocking piece 438. The wire blocking piece 438 is fixedly connected with the hook claw 430 through a second rib plate 4381, which is arranged at the second side of the connecting portion of the mounting plate 433 and the support plate 432. As shown in Fig. 7, the second rib plate 4381 is provided with a first fixed point 4511 for fixing the cable of the extension support; the wire blocking piece 438 is provided with a second fixed point 4382 for fixing the cable 452 fixed through the first fixed point 4511. The length of the cable 452 between the first fixed point 4511 and the second fixed point 4382 is greater than the stroke of the hook claw 430 moving in the up-down direction. In addition, the wire blocking piece 438 can block the interference between the cable and the crank or rocker.

[0073] Specifically, the cable tie on the second rib plate 4381 is used as the first fixing point 4511 to fix the cable 452 of the bin sensor. The wire blocking piece is provided with an opening 4372, which is the second fixing point 4382. The cable of the bin sensor is fixed through the opening 4372. The distance between the first fixing point 4511 and the second fixing point 4382 is not less than the stroke of the hook claw 430 moving in the up-down direction, so as to ensure that the bin sensor cable does not interfere with other non-moving parts during the movement of the hook claw 430. The cable 452 (i.e., the L1 section of the cable in FIG. 9) between the first fixing point 4511 and the second fixing point 4382 remains stationary relative to the hook claw 430 as the hook claw 430 rises and falls. There is sufficient free cable (i.e., the L2 section of the cable in FIG. 9) below the second fixing point 4382 to satisfy the requirement that the cable 452 not be pulled during the up-down movement of the hook claw 430, thereby ensuring stability and service life.

[0074] In addition, as shown in FIGS. 6-9, in addition to the cable tie on the second rib plate 4381, a plurality of cable ties can also be provided on the hook claw fixing plate 410. The plurality of cable ties can be clamped in the mounting hole to ensure that the cable position is basically fixed and prevents movement.

[0075] It should be noted that the hook claw mechanism 400 further includes a limiting frame 470. When the hook claw is lowered, the first fixing point 4511 is substantially flush with the upper surface of the limiting frame 470. When the hook claw is raised, the second fixing point 4382 does not exceed the upper surface of the limiting frame 470. The cable below the second fixing point 4382 is fixed to the hook claw fixing plate 410 after reserving sufficient slack, and then extends out of the hook claw fixing plate 410 through the cable outlet 411.

[0076] In some embodiments, as shown in FIGS. 3, 4, and 5, the hook claw mechanism 400 further includes a limiting frame 470. The limiting frame 470 is arranged on the side of the hook claw fixing plate 410 away from the hook claw telescopic mechanism 300 and covers the outside of the lifting assembly 440. The limiting frame 470 is used to abut against the bin and simultaneously protects the lifting assembly 440, the hook claw 430, and the like. The limiting frame 470 is provided with a shock-absorbing pad 475. The limiting frame 470 abuts against the bin when the goods are pushed out through the shock-absorbing pad 475.

[0077] Referring to FIGS. 3, 4, 8, and 10, wherein FIG. 10 is a schematic view of the front outside roller of the hook claw mechanism shown in FIG. 1 and the support of the goods shelf. In some embodiments, as shown in FIGS. 3, 4, 8, and 10, the hook claw telescopic mechanism 300 is a scissor-type telescopic mechanism. The connecting sliding block 312 arranged at the telescopic end 310 and the connecting guide rail 311 arranged on the back of the hook claw fixing plate 410 are slidingly connected, so as to realize telescoping.

[0078] At present, the warehouse shelves commonly used are double-stretch shelves. The double-stretch shelves have two stretches in the thickness direction of the shelves, i.e., a single stretch and a double stretch, and can store two containers. The single stretch of the shelf refers to the position of the first container on the shelf plate from the outer edge of the shelf as the starting point. The double stretch of the shelf refers to the position of the second container on the shelf plate from the outer edge of the shelf as the starting point and extending horizontally to the inside of the shelf.

[0079] The hook claw mechanism 400 further comprises an outer side support roller 471 arranged at the bottom of the limiting frame 470 through a first roller mounting frame 473. The outer side support roller 471 is used to roll along the shelf to support the limiting frame 470 when the containers are taken or placed. The outer side support roller 471 is used to support the shelf when the containers are taken or placed in the double stretch, so as to prevent the hook claw telescopic mechanism 300 from excessively sagging under the influence of gravity, causing the actual position of the hook claw 430 to be lower than the expected position after the hook claw 430 is lifted, the overlap degree of the hook claw 430 and the container groove is low, and finally causing the hooking of the container to fail or the container to be separated during the hooking process. Specifically, when the outer side support roller 471 supports the shelf during the taking or placing of the containers in the double stretch, the outer side support roller 471 rolls along the shelf plate 830.

[0080] Referring to FIGS. 4-8 and 11, the inner side rear roller of the hook claw mechanism and the container taking and placing platform support are shown in FIG. 11. In some embodiments, as shown in FIGS. 4-8 and 11, the hook claw mechanism 400 further comprises an inner side support roller 472 arranged at the bottom of the hook claw fixing plate 410 through a second roller mounting frame 474. The inner side support roller 472 is used to roll in the telescopic direction of the container taking and placing platform 500 to support the hook claw fixing plate 410 when the containers are taken or placed. The inner side support roller 472 is used to support the container taking and placing platform 500 when the containers are taken or placed in the single stretch or the robot's own storage, so as to prevent the hook claw 430 from deviating from the lifting position due to the sagging of the hook claw telescopic mechanism 300 under the influence of gravity within the required telescopic stroke when the containers are taken or placed in the single stretch or the robot's own storage, causing the hooking of the containers to fail or the containers to be separated during the hooking process.

[0081] It should be noted that, referring to FIG. 12, FIG. 12 is a schematic diagram of the single-stretch-position bin and the double-stretch-position bin provided in the embodiments of the present application. As shown in FIG. 12, in the case where the shelf can place two rows of bins in the horizontal direction, the single-stretch-position of the shelf refers to the position of the first bin on the shelf deck 830, i.e., the position of the outer bin 800 in FIG. 12, starting from the outer edge of the shelf and extending horizontally to the inside of the shelf. As described above, the double-stretch-position of the shelf refers to the position of the second bin on the shelf deck 830, i.e., the position of the inner bin 800 in FIG. 12, starting from the outer edge of the shelf and extending horizontally to the inside of the shelf. The single-stretch-position stroke refers to the stroke of the hook claw from the initial position inside the bin taking and placing device to the edge of the shelf; the double-stretch-position stroke refers to the stroke of the hook claw from the initial position inside the bin taking and placing device to the edge of the inner bin; the first stretch distance refers to the distance of the hook claw from the initial position inside the bin taking and placing device, which is greater than the single-stretch-position stroke and less than the double-stretch-position stroke, and the above-mentioned outer support roller 471 is in contact with the shelf deck 830 at this position.

[0082] Referring to FIGS. 11 and 13, FIG. 13 is a schematic diagram of the enlarged structure at A in FIG. 1, as shown in FIGS. 11 and 13, in some embodiments, the front end of the bin taking and placing platform 500 is provided with a front end roller 510, which is used to roll against the shelf beam 820 during taking goods, to prevent the front end of the bin taking and placing platform 500 from scratching the shelf beam 820 and the storage code during the height adjustment process of double-stretch-position taking, to avoid interference and damage to the shelf and the taking and placing device.

[0083] In addition, as shown in FIG. 13, the front end of the bin taking and placing platform 500 is also provided with a shelf bin detection sensor 530 for detecting whether there is a bin in the single-stretch-position and the double-stretch-position of the shelf; as shown in FIG. 2, the bin taking and placing device is also provided with an internal detection sensor 540 for detecting whether there is a bin inside the bin taking and placing device; as shown in FIG. 2, the bin taking and placing device is also provided with a controller 700, which is electrically connected with the hook claw extension and retraction driving mechanism 200, the hook claw extension and retraction mechanism 300, the hook claw mechanism 400 and the rotating mechanism 600, so as to control the taking and placing process of goods, to realize the taking and placing of goods.

[0084] Referring to FIG. 14, FIG. 14 is a structural schematic diagram of a material box carrying robot provided by the embodiment of the present application. As shown in FIG. 14, the embodiment of the present application further provides a carrying robot, which comprises the material box taking and placing device 10, the moving device 20 and the lifting device 30 of any one of the above. The material box taking and placing device 10 is connected with the lifting device 30, and the lifting device 30 is connected with the moving device 20. When taking goods at different positions of the shelf, the moving device 20 moves the lifting device 30 and the material box taking and placing device 10 in the horizontal direction, and the lifting device 30 moves the material box taking and placing device 10 in the vertical direction, so that the material box taking and placing device 10 reaches different positions of the warehouse shelf and takes and places material boxes at different positions. In addition, the carrying robot can be provided with multiple self storage positions in the height direction, and the material box taking and placing device 10 can place the material boxes taken from the shelf on the self storage positions at different heights based on the lifting device 30, so as to realize carrying multiple material boxes at one time.

[0085] Referring to FIG. 15, FIG. 15 is a flowchart of a carrying method provided by the embodiment of the present application. As shown in FIG. 15, the embodiment of the present application further provides a carrying method, which is applied to the carrying robot described above and comprises the following steps:

[0086] Step 1: controlling the moving device 20 to move the material box taking and placing device 10 in the horizontal direction, and controlling the lifting device 30 to move the material box taking and placing device 10 in the vertical direction, so that the material box taking and placing device 10 reaches the material box placing position of the warehouse shelf;

[0087] Step 2: controlling the hook claw telescopic mechanism 300 of the material box taking and placing device 10 to drive the hook claw mechanism 400 to stretch and retract in the front and back directions, so that the hook claw mechanism 400 hooks the material box on the warehouse shelf and moves to the material box taking and placing platform 500, or pushes the material box on the material box taking and placing platform 500 to move to the warehouse shelf.

[0088] In some embodiments, the step of the hook claw mechanism 400 hooking the material box on the warehouse shelf and moving to the material box taking and placing platform 500 comprises:

[0089] controlling the material box taking and placing device 10 to move downward by a first predetermined distance, and controlling the hook claw mechanism 400 to hook the material box on the warehouse shelf and move to the material box taking and placing platform 500.

[0090] In some embodiments, the step of controlling the material box taking and placing device 10 to move downward by a first predetermined distance, and controlling the hook claw mechanism 400 to hook the material box on the warehouse shelf and move to the material box taking and placing platform 500 comprises:

[0091] When the shelf material box detection sensor 530 of the material box taking and placing device 10 detects that a single-stretch position of the warehouse shelf is occupied, controlling the material box taking and placing device 10 to move downward by a first predetermined distance, and controlling the hook claw mechanism 400 to hook the material box on the single-stretch position of the warehouse shelf and move to the material box taking and placing platform 500.

[0092] When the shelf bin detection sensor 530 of the bin taking and placing device 10 detects that the single extension position of the warehouse shelf is idle and the double extension position is occupied, the control bin taking and placing device 10 as a whole moves up by a second predetermined distance, controls the hook claw telescopic mechanism 300 to extend towards the warehouse shelf by a first extension distance, controls the bin taking and placing device 10 as a whole to move down by a third predetermined distance, and the hook claw mechanism 400 hooks the bin in the double extension position of the warehouse shelf and moves to the bin taking and placing platform 500.

[0093] The taking and placing processes of the bin taking and placing device in the embodiment can be implemented by the controller 700 arranged in the bin taking and placing device.

[0094] FIG. 16 is a schematic diagram of a single extension position taking process provided by the embodiment of the application. The single extension position taking process is shown in FIG. 16 and includes the following steps:

[0095] Step S101, receiving a taking instruction;

[0096] In this step, the taking instruction can include a taking instruction for a single extension position and a target shelf code of a target bin in a single extension position.

[0097] Step S102, rotating the bin taking and placing device 10 to align with the shelf storage position, and reading the shelf code by the camera 110. Meanwhile, the bin handling robot performs posture adjustment, moves the lifting device 30 and the bin taking and placing device 10 in the horizontal direction by the moving device 20, moves the bin taking and placing device 10 in the vertical direction by the lifting device 30, and the bin taking and placing device 10 can reach different target positions of the shelf; in FIG. 16, the component refers to the bin taking and placing device 10, and the rotation of the component refers to the rotation of the bin taking and placing device 10.

[0098] In this step, if the shelf code read by the camera 110 is consistent with the target shelf code in the taking instruction, the bin taking and placing device 10 reaches the target position of the target bin in the single extension position.

[0099] Step S103, detecting the single extension position of the shelf by the shelf bin detection sensor 530;

[0100] As shown in FIG. 13, the bin taking and placing platform 500 of the bin taking and placing device 10 is provided with the shelf bin detection sensor 530 at the front end, which can detect the shelf. This process is a taking process for a single extension position, and therefore in this step, it is detected whether the single extension position on the shelf has a bin.

[0101] Step S104, when it is detected that the single extension position of the shelf is idle, it is indicated that the single extension position has no bin and the single extension position taking cannot be performed, and the shelf 710 storage position needs to be replaced or manual intervention is needed;

[0102] That is, if the target single-stretch position has no bin, the target single-stretch position can be replaced, go to other single-stretch positions to take goods, or manual intervention.

[0103] Step S105, when the single-stretch position of the shelf is detected to be occupied, it means that the single-stretch position is provided with a bin, and the goods can be taken; the whole bin taking and placing device 10 is lowered by a first predetermined distance, for example, 10 mm.

[0104] This makes the bin supporting plate plane 520 of the bin taking and placing platform 500 slightly lower than the shelf layer plate 830 of the shelf, preventing the bin from colliding with the bin supporting plate during the taking process, causing unstable taking or taking failure.

[0105] As shown in FIG. 6, if the hook claw 430 is currently in the upper limit position, step S106 needs to be performed to make the hook claw 430 move to the lower limit position.

[0106] Step S106, the hook claw driving motor 441 reverses the hook claw 430 to zero, i.e., the hook claw 430 moves to the lower limit position;

[0107] The case where the hook claw 430 moves to the lower limit position is shown in FIG. 7, which is not repeated here.

[0108] Step S107, the extension motor 210 is forward rotated, the hook claw extension mechanism 300 is extended to the single-stretch position setting stroke, and the spring connected to the hook claw extension mechanism 300 generates a pulling force, so that the bin taking and placing platform 500 is extended under the pulling force of the spring;

[0109] Step S108, the hook claw driving motor 441 is forward rotated, and the hook claw 430 is lifted to the set position, i.e., the hook claw 430 extends into the bin groove;

[0110] Step S109, the bin sensor 450 on the hook claw 430 detects the bin;

[0111] Step S110, when the bin sensor 450 is not triggered, i.e., no bin is hooked, the hook claw driving motor 441 reverses the hook claw 430 to zero; the extension motor 210 is forward rotated, the hook claw extension mechanism 300 continues to extend forward by a predetermined distance, for example, 3 mm; the hook claw driving motor 441 is forward rotated, and the hook claw 430 is lifted so that the hook claw 430 extends into the groove of the bin;

[0112] Step S111, when the bin sensor 450 on the hook claw is triggered, i.e., a bin is hooked, the extension motor 210 is reversed, and the hook claw extension mechanism 300 retrieves the bin.

[0113] Specifically, when the bin sensor 450 on the hook claw detects that the height of the hook claw extending into the bin groove reaches a threshold value, it means that the bin is completely hooked.

[0114] Step S112, after step S110 is completed, the bin sensor 450 on the hook 430 detects the bin again; when the bin sensor 450 is triggered, the telescopic motor 210 reverses, and the hook telescopic mechanism 300 retrieves the bin;

[0115] Step S113, the bin tray is retrieved under the driving of the hook telescopic mechanism 300;

[0116] Step S114, the bin detection sensor 540 inside the bin taking and placing device 10 detects the bin;

[0117] Step S115, when the bin sensor 450 on the hook 430 does not detect the bin in step S112, or the bin detection sensor 540 inside the bin taking and placing device 10 does not trigger in step S114, i.e., the bin is not detected, the taking fails, and manual intervention is required;

[0118] Specifically, when the bin sensor 450 on the hook detects that the height of the hook extending into the bin groove does not reach the threshold value, it indicates that the bin is not completely hooked.

[0119] Step S116, when the bin detection sensor 540 inside the bin taking and placing device 10 is triggered, i.e., the bin taking platform 500 has a bin, it indicates that the taking is successful.

[0120] FIG. 17a is a schematic diagram of a double-stretch taking flow provided by an embodiment of the present application, and the double-stretch taking flow is shown in FIG. 17a, which includes the following steps:

[0121] Step S201, receiving a taking instruction;

[0122] In this step, the taking instruction can include: a taking instruction for a double-stretch (i.e., an inner side stretch) and a target shelf code of a target bin.

[0123] Step S202, the bin taking and placing device 10 rotates to align with the shelf storage position, and the camera 110 reads the shelf code. At the same time, the bin handling robot adjusts the posture, moves the lifting device 30 and the bin taking and placing device 10 in the horizontal direction through the moving device 20, moves the bin taking and placing device 10 in the vertical direction through the lifting device 30, and the bin taking and placing device 10 can reach different target positions of the shelf; the component in FIG. 17a refers to the bin taking and placing device 10, and the component rotation refers to the rotation of the bin taking and placing device 10.

[0124] Step S203, the shelf bin detection sensor 530 detects the shelf double-stretch;

[0125] Step S204, when detecting that both the single extension position and the double extension position of the shelf are idle, it means that the double extension position has no material box, and the goods cannot be taken, so the shelf storage position needs to be replaced or manual intervention is needed. When detecting that the single extension position of the shelf is occupied, the hook claw extension mechanism 300 cannot extend to the double extension position due to the blocking of the material box in the single extension position, so the goods cannot be taken, and the shelf storage position needs to be replaced or manual intervention is needed;

[0126] Step S205, when detecting that the single extension position of the shelf is idle and the double extension position is occupied, the material box taking and placing device 10 is moved upward by a second predetermined distance, for example, 10 mm;

[0127] In this step, the purpose of moving the material box taking and placing device 10 upward by a second predetermined distance is to make the outer side support roller 471 higher than the shelf deck 830 to prevent interference.

[0128] Step S206, the hook claw driving motor 441 reverses the hook claw 430 to zero, i.e., the hook claw 430 is at the lower limit position;

[0129] Specifically, referring to FIG. 17b, which is a schematic diagram of the material box taking and placing device shown in FIG. 1 after being moved upward by a second predetermined distance, as shown in FIG. 17b, the material box taking and placing device 10 is moved upward by a second predetermined distance, i.e., the hook claw extension mechanism 300, the material box supporting plate plane 520, the hook claw fixing plate 410, the hook claw 430 and the outer side support roller 471 are all moved upward by a second predetermined distance, which makes the outer side support roller 471 higher than the shelf deck 830. The inner warehouse material box 800 is located on the shelf deck 830. The initial position refers to the position of the hook claw 430 inside the material box taking and placing device.

[0130] Step S207, the extension motor 210 is forward rotated, the hook claw extension mechanism 300 is extended to the double extension position set stroke, and the spring connected to the hook claw extension mechanism 300 generates a pulling force, which in turn causes the material box taking and placing platform 500 to extend under the pulling force of the spring;

[0131] Referring to FIG. 17c, which is a schematic diagram of the hook claw extension mechanism of the material box taking and placing device shown in FIG. 1 extending to a first extension distance, as shown in FIG. 17c, after the hook claw extension mechanism 300 extends to the single extension position stroke, it continues to extend to the first extension distance in the direction of the material box since the single extension position is idle. The first extension distance refers to a distance greater than the single extension position stroke and less than the double extension position stroke. Before reaching this position, the hook claw fixing plate 410, the hook claw 430 and the outer side support roller 471 are all located above the shelf deck 830, which is to allow the rollers below the hook claw to smoothly enter the inside of the shelf without bumping.

[0132] Step S208, the whole magazine taking and placing device 10 moves down by a third predetermined distance, for example, 20mm, that is, the whole magazine taking and placing device 10 is lowered by a first predetermined distance, for example, 10mm, below the shelf plane, so that the magazine supporting plate plane 520 of the magazine taking and placing platform 500 is slightly lower than the shelf layer plate 830 of the shelf, preventing the magazine from colliding with the magazine supporting plate during the taking process, so as to prevent unstable taking or taking failure.

[0133] Referring to FIG. 17d, which is a schematic diagram of the magazine taking and placing device shown in FIG. 1 moving down by a third predetermined distance, as shown in FIG. 17d, after reaching the first extension distance, the whole magazine taking and placing device 10 moves down by a third predetermined distance, so that the magazine supporting plate plane 520 is lowered to be slightly lower than the shelf layer plate 830, and then the outer side supporting roller 471 is in contact with the shelf layer plate 830, and the front end roller 510 of the magazine taking and placing platform 500 is in contact with the shelf beam, preventing the magazine supporting plate from scratching or interfering with the shelf beam during the lowering process, and avoiding damage to the shelf and the taking and placing device.

[0134] Step S209, the extension motor 210 is positively rotated, and the hook claw extension mechanism 300 is extended to the double extension position taking total stroke;

[0135] Referring to FIG. 17e, which is a schematic diagram of the hook claw extension mechanism of the magazine taking and placing device shown in FIG. 1 extending to the double extension position stroke, as shown in FIG. 17e, after the whole magazine taking and placing device 10 moves down by a third predetermined distance, the hook claw extension mechanism 300 drives the hook claw 430 to continue extending to the double extension position stroke, and then the hook claw 430 is lifted to hook the inner warehouse magazine 800.

[0136] Step S210, the hook claw driving motor 441 is positively rotated, and the hook claw 430 is lifted to a set position, that is, the hook claw 430 is extended into the groove of the magazine;

[0137] Step S211, the magazine sensor 450 on the hook claw 430 detects the magazine;

[0138] Step S212, when the magazine sensor 450 is not triggered, that is, there is no magazine hooked, the hook claw driving motor 441 reverses the hook claw 430 to zero, the extension motor 210 is positively rotated, the hook claw extension mechanism 300 continues to extend forward by a predetermined distance, for example, 3mm, the hook claw driving motor 441 is positively rotated, and the hook claw 430 is lifted so that the hook claw 430 is extended into the groove of the magazine;

[0139] Step S213, when the magazine sensor 450 is triggered, that is, there is a magazine hooked, the extension motor 210 is reversely rotated, and the hook claw extension mechanism 300 retrieves the magazine;

[0140] Specifically, when the hook claw magazine sensor 450 on the hook claw detects that the height of the hook claw extended into the groove of the magazine reaches a threshold value, it indicates that the magazine is completely hooked.

[0141] Step S214, after step S212 is completed, the hopper sensor 450 detects the hopper again; when the hopper sensor 450 is triggered, the telescopic motor 210 reverses, and the hook claw telescopic mechanism 300 retrieves the hopper;

[0142] Step S215, the hopper tray is retrieved under the driving of the hook claw telescopic mechanism 300;

[0143] Step S216, the hopper is detected by the internal detection sensor 540 of the hopper taking and placing device 10;

[0144] Step S217, when the hopper sensor 450 on the hook claw does not detect the hopper in step S214, or the internal detection sensor 540 of the hopper taking and placing device 10 does not trigger, i.e., does not detect the hopper in step S216, the taking fails, and manual intervention is required;

[0145] When the hopper sensor 450 on the hook claw detects that the height of the hook claw extending into the hopper groove does not reach the threshold, it indicates that the hopper is not completely hooked.

[0146] Step S218, when the internal detection sensor 540 of the hopper taking and placing device 10 is triggered, i.e., the hopper taking and placing platform 500 has a hopper, it indicates that the taking is successful.

[0147] In some embodiments, the step of the hook claw mechanism 400 pushing the hopper on the hopper taking and placing platform 500 to move to the warehouse shelf includes:

[0148] Controlling the entire hopper taking and placing device 10 to move upward by a fourth predetermined distance, and the hook claw mechanism 400 pushing the hopper on the hopper taking and placing platform 500 to move to the warehouse shelf.

[0149] In some embodiments, the step of controlling the entire hopper taking and placing device 10 to move upward by a fourth predetermined distance, and the hook claw mechanism 400 pushing the hopper on the hopper taking and placing platform 500 to move to the warehouse shelf includes:

[0150] When the shelf hopper detection sensor of the hopper taking and placing device 10 detects that the single extension position of the warehouse shelf is idle and the double extension position is occupied, controlling the entire hopper taking and placing device 10 to move upward by a fourth predetermined distance, and the limiting frame body 470 of the hook claw mechanism 400 pushing the hopper on the hopper taking and placing platform 500 to move to the single extension position of the warehouse shelf.

[0151] When the shelf hopper detection sensor of the hopper taking and placing device 10 detects that the single extension position and the double extension position of the shelf are both idle, controlling the entire hopper taking and placing device 10 to move upward by a fourth predetermined distance, and the limiting frame body 470 of the hook claw mechanism 400 pushing the hopper on the hopper taking and placing platform 500 to move to the double extension position of the warehouse shelf.

[0152] FIG. 18 is a schematic diagram of a single-stretch storage and retrieval process according to an embodiment of the present application. The single-stretch storage and retrieval process includes the following steps:

[0153] Step S301, receiving a storage instruction;

[0154] In this step, the storage instruction can include a storage instruction for a single-stretch and a target rack code of a target bin to be placed in the single-stretch.

[0155] Step S302, rotating the bin taking and placing device 10 to align with the rack storage position, and the camera 110 reads the rack code. Meanwhile, the bin handling robot adjusts the posture, moves the lifting device 30 and the bin taking and placing device 10 in the horizontal direction through the moving device 20, moves the bin taking and placing device 10 in the vertical direction through the lifting device 30, and the bin taking and placing device 10 can reach different target positions of the rack. In FIG. 18, the component refers to the bin taking and placing device 10, and the rotation of the component refers to the rotation of the bin taking and placing device 10.

[0156] In this step, if the camera 110 reads the rack code consistent with the target rack code in the storage instruction, the bin taking and placing device 10 reaches the target position of the target bin to be placed in the single-stretch.

[0157] Step S303, detecting the single-stretch of the rack by the rack bin detection sensor 530;

[0158] Step S304, when detecting that the single-stretch of the rack is occupied, it means that there is a bin in the single-stretch, and the storage cannot be performed, and the rack storage position needs to be changed or manual intervention is needed; when both the single-stretch and the double-stretch are idle, in order to avoid the bin in the single-stretch blocking the double-stretch, the storage cannot be performed, and the rack storage position needs to be changed or manual intervention is needed.

[0159] Step S305, when detecting that the single-stretch of the rack is idle and the double-stretch is occupied, it means that only the single-stretch is idle, and the storage can be performed; the bin taking and placing device 10 is moved upward by a fourth predetermined distance, for example, 10 mm. The bin supporting plate plane 520 of the bin taking and placing platform 500 is slightly higher than the rack layer plate 830 of the rack, to prevent the bin from colliding with the rack beam during the pushing-out process, causing the hook claw extension mechanism 300 to be stuck, the structural part to be damaged, or accidents to occur due to the failure of the storage.

[0160] Step S306, the extension motor 210 is rotated in the forward direction, the hook claw extension mechanism 300 is extended, and the spring connected to the hook claw extension mechanism 300 generates a pulling force, thereby causing the bin supporting plate (i.e., the bin taking and placing platform 500) to be extended under the pulling force of the spring; the hook claw driving motor 441 reverses the hook claw 430 to zero, i.e., the hook claw 430 reaches the lower limit.

[0161] Step S307, the hook claw extension mechanism 300 is extended to a single-stretch set stroke to place the bin into the rack;

[0162] Step S308, the telescopic motor 210 reverses, and the hook claw telescopic mechanism 300 is retracted to the zero position;

[0163] Step S309, the material box supporting plate is retracted under the driving of the hook claw telescopic mechanism 300;

[0164] Step S310, the goods are successfully put.

[0165] FIG. 19 is a schematic diagram of a double-stretch position goods putting process provided by an embodiment of the application. The double-stretch position goods putting process is shown in FIG. 19 and includes the following steps:

[0166] Step S401, a goods putting instruction is received;

[0167] In this step, the goods taking instruction can include a goods putting instruction for a double-stretch position (i.e., an inner side stretch position) and a target goods shelf code of the double-stretch position where the target material box is to be placed.

[0168] Step S402, the material box taking and putting device 10 is rotated to align with the goods shelf position, and the camera 110 reads the goods shelf code. Meanwhile, the material box handling robot is adjusted in posture, the lifting device 30 and the material box taking and putting device 10 are moved in the horizontal direction by the moving device 20, and the material box taking and putting device 10 is moved in the vertical direction by the lifting device 30, so that the material box taking and putting device 10 can reach different target positions of the goods shelf. In FIG. 19, the component refers to the material box taking and putting device 10, and the rotation of the component refers to the rotation of the material box taking and putting device 10.

[0169] In this step, if the goods shelf code read by the camera 110 is consistent with the target goods shelf code in the goods putting instruction, the material box taking and putting device 10 reaches the target position of the double-stretch position where the target material box is to be placed.

[0170] Step S403, the goods shelf material box detection sensor 530 detects the double-stretch position of the goods shelf;

[0171] Step S404, when the single-stretch position of the goods shelf is detected to be occupied, it indicates that there is a material box in the single-stretch position, and the double-stretch position putting cannot be performed, so the goods shelf position needs to be changed or manual intervention is needed; when the single-stretch position is idle and the double-stretch position is occupied, the double-stretch position putting also cannot be performed, so the goods shelf position needs to be changed or manual intervention is needed;

[0172] Step S405, when the single-stretch position and the double-stretch position of the goods shelf are detected to be idle, it indicates that the goods can be put. The material box taking and putting device 10 is moved upward by a fourth predetermined distance, for example, 10 mm. The material box supporting plate plane 520 of the material box taking and putting platform 500 is slightly higher than the goods shelf layer plate 830 of the goods shelf, so as to prevent the material box from colliding with the goods shelf beam during the pushing-out process, causing the hook claw telescopic mechanism 300 to be stuck, the structural component to be damaged, or accidents to occur due to the failure of the goods putting;

[0173] Step S406, the telescopic motor 210 rotates forward, the hook claw telescopic mechanism 300 extends, and the spring connected with the hook claw telescopic mechanism 300 generates a pulling force, so that the material box supporting plate of the material box taking and placing platform 500 extends under the pulling force of the spring; the hook claw driving motor 441 reverses the hook claw 430 to zero, that is, the hook claw 430 reaches the lower limit;

[0174] Step S407, the hook claw telescopic mechanism 300 extends to the double extension position setting stroke to place the material box into the shelf;

[0175] Step S408, the telescopic motor 210 reverses, and the hook claw telescopic mechanism 300 retracts to zero position;

[0176] Step S409, the material box supporting plate is retracted under the driving of the hook claw telescopic mechanism 300;

[0177] Step S410, the goods placing is successful.

[0178] It should be noted that the relational terms herein such as first and second and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises... a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0179] Each of the embodiments in the specification is described in a relevant manner, and the same and similar parts between the embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiment.

[0180] The above only describes the preferred embodiments of the present application, and does not limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A magazine taking and placing device characterized by comprising: The utility model relates to a warehouse material box taking and placing device, including: Bottom mounting plate (100), claw telescopic drive mechanism (200), claw telescopic mechanism (300), claw mechanism (400) and material box taking and placing platform (500); The claw telescopic drive mechanism (200) and material box taking and placing platform (500) are installed on the bottom mounting plate (100); The telescopic end (310) of the claw telescopic mechanism (300) is fixedly connected with the claw mechanism (400), and the fixed end (320) of the claw telescopic mechanism (300) is fixed at the rear end of the bottom mounting plate (100); The claw telescopic drive mechanism (200) is connected with the claw telescopic mechanism (300), and is used for driving the telescopic end (310) of the claw telescopic mechanism (300) to be telescopic, so as to drive the claw mechanism (400) to be telescopic in the front-back direction of the material box taking and placing platform (500); The claw mechanism (400) is installed on the telescopic end (310) towards the front end of the bottom mounting plate (100), and is used for being driven by the claw telescopic mechanism (300) to extend the material box taking and placing device to hook the material box on the warehouse shelf and pull the material box back to the material box taking and placing platform (500); or push the material box on the material box taking and placing platform (500) to the warehouse shelf.

2. The magazine handling apparatus according to claim 1, characterized in that The claw mechanism (400) comprises: Claw fixing plate (410) connected with the front end of the claw telescopic mechanism (300); Claw lifting guide rail (420) arranged on the side of the claw fixing plate (410) away from the claw telescopic mechanism (300); Claw (430) slidingly connected with the claw lifting guide rail (420) through a sliding block (421); Lifting assembly (440) arranged on the claw fixing plate (410), the lifting assembly (440) is connected with the claw (430), and the lifting assembly (440) is used for driving the claw (430) to lift along the claw lifting guide rail (420) to hook the material box on the warehouse shelf.

3. The magazine handling apparatus of claim 2, wherein The lifting assembly (440) comprises: Claw drive motor (441) arranged on the claw fixing plate (410); Crank mechanism (442), the first end is fixedly connected with the claw drive motor (441), the other end is hinged with the claw (430); for being driven by the claw drive motor (441), so that the claw (430) lifts along the claw lifting guide rail (420).

4. The magazine handling apparatus according to claim 3, wherein The crank mechanism (442) comprises: Crank (4421), one end of the crank (4421) is fixedly connected with the output shaft (4411) of the claw drive motor; Rocking lever (4422), the first end of the rocking lever (4422) is hinged with the other end of the crank (4421), and the second end of the rocking lever (4422) is hinged with the claw (430).

5. The magazine handling apparatus of claim 2, wherein The claw (430) comprises: hooking plate (431), supporting flat plate (432) and mounting plate (433) connected in sequence; The mounting plate (433) is hingedly connected to the second end of the rocker (4422) of the crank mechanism (442) of the lifting assembly (440) through a rotating shaft provided on the hook claw shaft plate (434). The support flat plate (432) is connected to the first end of the mounting plate and horizontally extends from the second end of the mounting plate towards the material box and is connected to the hook pulling plate (431); the hook pulling plate (431) is bent upwards from the second end of the support flat plate (432) and forms a predetermined angle with the support flat plate (432), so that the hook pulling plate (431) can be inserted into a groove provided on the outer side of the material box in the height direction to pull the material box.

6. The magazine handling apparatus of claim 5, wherein The mounting plate (433) is hingedly connected to the second end of the rocker (4422) of the crank mechanism (442) of the lifting assembly (440) through a rotating shaft provided on the hook claw shaft plate (434).

7. The magazine handling apparatus of claim 5, wherein The hook claw mechanism (400) further comprises: A material box sensor (450) is arranged on the support flat plate (432) and faces the hook pulling plate (431) and is arranged opposite to the hook pulling plate (431) to form a spacing area (453) for accommodating the side wall of the groove formed on the outer side of the material box when the material box is pulled.

8. The magazine handling apparatus of claim 7, wherein, The top of the hook pulling plate (431) is provided with a notch (435), and the notch (435) is provided with a C-shaped piece (436) which is recessed away from the material box sensor (450) to make the detection distance between the material box sensor (450) and the C-shaped piece (436) greater than the distance between the material box sensor (450) and the hook pulling plate (431).

9. The magazine handling apparatus of claim 7, wherein, The material box sensor (450) is fixed to the support flat plate (432) through a bracket (451), and the bracket (451) is provided with a wire outlet on the side away from the hook pulling plate (431) and is provided with a detection port (454) on the side facing the hook pulling plate (431). The cable (452) of the material box sensor (450) extends from the wire outlet; the material box sensor (450) detects whether the material box is pulled through the detection port (454).

10. The magazine handling apparatus of claim 5, wherein, The hook claw mechanism (400) further comprises a zero position stop piece (437); the zero position stop piece (437) is fixedly connected to the hook claw (430) through a first rib plate (4371) arranged on the first side of the connection between the mounting plate (433) and the support flat plate (432). The hook claw fixing plate (410) is provided with a position detection assembly (460) matched with the zero position stop piece (437), and the position detection assembly (460) is used for detecting the position of the hook claw (430).

11. The magazine handling apparatus of claim 10, wherein, The position detection assembly (460) comprises a position detection sensor (461) corresponding to the lower limit position of the hook claw (430) and used for detecting whether the zero position stop piece (437) reaches the lower limit position of the hook claw (430); or, The position detection assembly (460) comprises two position detection sensors (461), one of which is located at the lower limit position of the hook claw (430), and the other of which is located at the upper limit position of the hook claw (430), for detecting whether the zero position stop sheet (437) reaches the lower limit position of the hook claw (430) and whether the zero position stop sheet (437) reaches the upper limit position of the hook claw (430) respectively.

12. The magazine handling apparatus of claim 9, wherein, The hook claw mechanism (400) further comprises a wire stop sheet (438), which is fixedly connected with the hook claw (430) through a second rib plate (4381) provided on the second side of the connecting portion of the mounting plate (433) and the support flat plate (432). The second rib plate (4381) is provided with a first fixing point (4511) for fixing the cable (452) extending out of the support (451); the wire stop sheet (438) is provided with a second fixing point (4382) for fixing the cable (452) fixed through the first fixing point (4511); the length of the cable between the first fixing point (4511) and the second fixing point (4382) is greater than the stroke of the hook claw (430) moving in the up-down direction.

13. The magazine handling apparatus of claim 2, wherein, The hook claw mechanism (400) further comprises: A limiting frame body (470) is provided on the side of the hook claw fixing plate (410) away from the hook claw telescopic mechanism (300) and covers the outside of the lifting assembly (440).

14. The magazine handling apparatus of claim 13, wherein, The hook claw mechanism (400) further comprises: An outer side support roller (471) is provided at the bottom of the limiting frame body (470) through a first roller mounting bracket (473); the outer side support roller (471) is used to roll along the shelf to support the limiting frame body (470) when taking and placing goods.

15. The magazine handling apparatus of claim 2, wherein, The hook claw mechanism (400) further comprises: An inner side support roller (472) is provided at the bottom of the hook claw fixing plate (410) through a second roller mounting bracket (474); the inner side support roller (472) is used to roll along the telescopic direction of the material box taking and placing platform (500) to support the hook claw fixing plate (410) when taking and placing goods.

16. The magazine handling apparatus according to any one of claims 1 to 15, wherein The front end of the material box taking and placing platform (500) is provided with a front end roller (510), which is used to roll against the shelf beam when taking goods.

17. A transport robot characterized by A material box taking and placing device (10), a moving device (20) and a lifting device (30) according to any one of claims 1 to 16 are provided, the material box taking and placing device is connected with the lifting device (30), and the lifting device (30) is connected with the moving device (20).

18. A carrying method applied to the carrying robot of claim 17, comprising the following steps: Controlling the mobile device (20) to move the bin taking and placing device (10) in the horizontal direction, and controlling the lifting device (30) to move the bin taking and placing device (10) in the vertical direction, so that the bin taking and placing device (10) reaches the bin placing position of the warehouse shelf; Controlling the claw telescopic mechanism (300) of the bin taking and placing device (10) to drive the claw mechanism (400) to telescope in the front-back direction, the claw mechanism (400) hooks the bin on the warehouse shelf, moves to the bin taking and placing platform (500), or pushes the bin on the bin taking and placing platform (500) to move to the warehouse shelf.

19. The method of claim 18, wherein, The step of the claw mechanism (400) hooking the bin on the warehouse shelf and moving to the bin taking and placing platform (500) includes: Controlling the bin taking and placing device (10) to move downward by a first predetermined distance, and the claw mechanism (400) hooks the bin on the warehouse shelf and moves to the bin taking and placing platform (500).

20. The method of claim 19, wherein, The step of controlling the bin taking and placing device (10) to move downward by a first predetermined distance, and the claw mechanism (400) hooks the bin on the warehouse shelf and moves to the bin taking and placing platform (500) includes: When the shelf bin detection sensor (530) of the bin taking and placing device (10) detects that a single extension position of the warehouse shelf is occupied, controlling the bin taking and placing device (10) to move downward by the first predetermined distance, and the claw mechanism (400) hooks the bin in the single extension position of the warehouse shelf and moves to the bin taking and placing platform (500); When the shelf bin detection sensor (530) of the bin taking and placing device (10) detects that a single extension position of the warehouse shelf is idle and a double extension position is occupied, controlling the bin taking and placing device (10) to move upward by a second predetermined distance, controlling the claw telescopic mechanism (300) to extend toward the warehouse shelf by a first extension distance, controlling the bin taking and placing device (10) to move downward by a third predetermined distance, and the claw mechanism (400) hooks the bin in the double extension position of the warehouse shelf and moves to the bin taking and placing platform (500).

21. The method of claim 18, wherein, The step of the claw mechanism (400) pushing the bin on the bin taking and placing platform (500) to move to the warehouse shelf includes: Controlling the bin taking and placing device (10) to move upward by a fourth predetermined distance, and the claw mechanism (400) pushes the bin on the bin taking and placing platform (500) to move to the warehouse shelf.

22. The method of claim 21, wherein, The step of controlling the bin taking and placing device (10) to move upward by a fourth predetermined distance, and the claw mechanism (400) pushes the bin on the bin taking and placing platform (500) to move to the warehouse shelf includes: When the shelf bin detection sensor (530) of the bin taking and placing device (10) detects that the single extension position of the warehouse shelf is idle and the double extension position is occupied, control the bin taking and placing device (10) to move upward as a whole by a fourth predetermined distance, and the limiting frame body (470) of the hook claw mechanism (400) pushes the bin on the bin taking and placing platform (500) to move to the single extension position of the warehouse shelf. When the shelf bin detection sensor (530) of the bin taking and placing device (10) detects that the single extension position and the double extension position of the warehouse shelf are both idle, control the bin taking and placing device (10) to move upward as a whole by a fourth predetermined distance, and the limiting frame body (470) of the hook claw mechanism (400) pushes the bin on the bin taking and placing platform (500) to move to the double extension position of the warehouse shelf.

Images