Material box warehousing system

Abstract

A material box warehousing system, comprising a material box storage area provided with tracks, an inbound and outbound conveying apparatus, and a transport robot. The material box storage area is configured to store material boxes, and the material boxes are placed on one side of each track; the inbound and outbound conveying apparatus is configured to temporarily store inbound or outbound material boxes, and the transport robot is configured to transfer the material boxes between the material box storage area and the inbound and outbound conveying apparatus; and the transport robot moves along the tracks in the material box storage area and freely moves outside the material box storage area.

Description

A bin storage system

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 2024114821411, filed on October 23, 2024, entitled “A Bin Storage System”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of warehousing and logistics technology, and in particular to a bin storage system. Background Technology

[0004] A bin storage system is a highly automated cargo storage and management system that uses logistics equipment such as racks, stacker cranes, and shuttles to achieve rapid storage, retrieval, preservation, and management of goods.

[0005] In related technologies, bin storage systems include bin storage racks, bin conveyor lines, bin elevators, and shuttle cars. During bin storage, bins are transported to bin elevators via the conveyor lines. The bin elevators lift the bins to the target storage location, and then shuttle cars transport the bins to the designated storage location.

[0006] However, current bin storage systems are inefficient and unstable. Summary of the Invention

[0007] This application provides a bin storage system to solve the problems of low operating efficiency and poor stability of current bin storage systems.

[0008] This application provides a bin storage system, including:

[0009] A material storage area with a track, wherein a material box is placed on one side of the track;

[0010] Inbound / outbound conveying equipment, configured to convey the aforementioned material bins into or out of the warehouse;

[0011] A material handling robot is configured to transfer the material bins between the material bin storage area and the inbound / outbound conveying equipment.

[0012] The transport robot is configured to move along the track within the bin storage area and move freely outside the bin storage area.

[0013] Optionally, the material bin storage area is provided with multiple tracks, the multiple tracks are spaced apart, and multiple material bins are stacked between adjacent tracks.

[0014] Optionally, the bin storage area is provided with a bin base, and the bin base is located on one side of the track. The bin base has multiple storage positions, and the storage positions are configured to place the bins.

[0015] Optionally, there are multiple material box bases, which are spaced apart, and the track is provided between two adjacent material box bases.

[0016] Optionally, the handling robot includes a mobile chassis, a support frame, and telescopic forks;

[0017] The support frame is mounted on the mobile chassis, and the telescopic forks are connected to the support frame. The telescopic forks are configured to lift the material box.

[0018] The telescopic forks can be selectively raised, lowered, and / or rotated relative to the support frame.

[0019] Optionally, the mobile chassis includes a track-walking assembly, a ground-walking assembly, and a lifting assembly;

[0020] The ground walking assembly is connected to the lower end of the lifting assembly, the track walking assembly is connected to the upper end of the lifting assembly, and the lifting assembly is configured to control the track walking assembly and the ground walking assembly to move relative to each other in the vertical direction.

[0021] When the handling robot moves along the track in the bin storage area, the track walking component contacts the track, and the ground walking component separates from the ground.

[0022] When the handling robot moves outside the bin storage area, the ground walking component contacts the ground, and the track walking component separates from the track.

[0023] Optionally, the track-walking assembly includes a first movable base, a first drive motor, and a first drive wheel;

[0024] The first movable base is fixedly connected to the upper end of the lifting assembly, the support frame is fixedly connected to the first movable base, the first drive motor is fixedly connected to the first movable base, the first drive wheel is connected to the first drive motor, the first drive wheel is disposed on both sides of the first movable base along the walking direction, and the first drive motor drives the first drive wheel to move along the track.

[0025] Optionally, the lifting assembly is configured as at least one of a scissor lift mechanism, a multi-link lift mechanism, a hydraulic lift mechanism, or a screw and nut lift mechanism.

[0026] Optionally, the scissor lift mechanism includes a first scissor lift member, a second scissor lift member, and a connecting plate that are cross-connected. The lower ends of the first scissor lift member and the second scissor lift member are both connected to the first movable base, and the upper ends of the first scissor lift member and the second scissor lift member are both connected to the connecting plate. The connecting plate is configured to be connected to the first movable base.

[0027] Optionally, the multi-link lifting mechanism includes a lifting motor and a linkage assembly. The lifting motor is fixedly mounted on the ground walking assembly, and the output end of the lifting motor is connected to the linkage assembly.

[0028] Optionally, the ground walking assembly includes a second movable base, a second drive motor, and a second drive wheel; the second movable base is connected to the lower end of the lifting assembly, the second drive motor is fixedly connected to the second movable base, the second drive wheel is connected to the second drive motor, the second drive wheel is disposed on both sides of the second movable base along the walking direction, and the second drive motor drives the second drive wheel to move along the ground.

[0029] Optionally, a lifting component is provided on the support frame, the telescopic fork is connected to the lifting component, and the lifting component drives the telescopic fork to move in the vertical direction.

[0030] Optionally, the telescopic forks include a pair of clamping plates configured to clamp the hopper.

[0031] Optionally, a claw is movably provided at the lower part of the clamping plate, and the claw is configured to extend out to support the material box after the clamping plate clamps the material box.

[0032] Optionally, the telescopic forks are multiple, and the multiple telescopic forks are arranged sequentially in the vertical direction to cooperate with the telescopic forks of the picking bin; the distance between the two clamping plates of the multiple telescopic forks decreases sequentially from bottom to top.

[0033] Optionally, the clamping plate of the uppermost telescopic fork is provided with at least two sets of the aforementioned claws in the vertical direction.

[0034] Optionally, the lifting assembly includes a lifting motor and a transmission assembly. The lifting motor is fixed on the support frame, and the transmission assembly is disposed on the support frame. The lifting motor is connected to the transmission assembly, and the transmission assembly is connected to the telescopic fork. The lifting motor drives the telescopic fork to move vertically through the transmission assembly, so that the telescopic fork can reach the designated position of the target hopper.

[0035] Optionally, the telescopic forks include a pair of fork arms configured to grip the hopper.

[0036] Optionally, the fork arm includes a multi-stage fork arm and a telescopic drive assembly. The multi-stage fork arms are connected in sequence, and the telescopic drive assembly is connected to the multi-stage fork arms. The telescopic drive assembly is configured to drive the multi-stage fork arms to extend or retract in order to pick up or put down the material box.

[0037] Optionally, the support frame has multiple buffer slots on at least one side, and the buffer slots are configured to temporarily store the material bin.

[0038] This application provides a bin storage system, including a bin storage area with a track, an inbound / outbound conveying device, and a handling robot. The bin storage area is configured to store bins; specifically, bins are placed on one side of the track. The inbound / outbound conveying device is configured to buffer bins entering or leaving the storage area. The handling robot is configured to transfer bins between the bin storage area and the inbound / outbound conveying device. The handling robot moves along the track within the bin storage area and moves freely outside the storage area.

[0039] Understandably, this handling robot moves along a track within the bin storage area. Due to the constraints of the track, the robot's movement is more accurate and stable, preventing collisions between the goods being handled and the bins on either side, thus avoiding bins falling and improving the safety and stability of bin handling. Furthermore, because the robot can move freely along its navigation path outside the bin storage area, compared to conveyor lines used in related technologies, its bin handling route is more flexible and simpler, resulting in faster and more efficient handling. Attached Figure Description

[0040] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0041] In the attached diagram:

[0042] Figure 1 is a first schematic diagram of a bin storage system provided in an embodiment of this application;

[0043] Figure 2 is a second schematic diagram of a bin storage system provided in an embodiment of this application;

[0044] Figure 3 is a third schematic diagram of a bin storage system provided in an embodiment of this application;

[0045] Figure 4 is a first schematic diagram of the transport robot in Figure 1;

[0046] Figure 5 is a second schematic diagram of the transport robot in Figure 1;

[0047] Figure 6 is a first schematic diagram of the mobile chassis of a handling robot provided in an embodiment of this application;

[0048] Figure 7 is a second schematic diagram of the mobile chassis in Figure 6;

[0049] Figure 8 is a third schematic diagram of the mobile chassis in Figure 6;

[0050] Figure 9 is a first schematic diagram of the transport robot in Figure 1 entering the track;

[0051] Figure 10 is a schematic diagram of the transport robot in Figure 9;

[0052] Figure 11 is a first schematic diagram of the mobile chassis in Figure 6 after the track-walking components have been removed;

[0053] Figure 12 is a second schematic diagram of the mobile chassis in Figure 6 after the track-walking components have been removed;

[0054] Figure 13 is a first schematic diagram of a lifting assembly provided in an embodiment of this application;

[0055] Figure 14 is a second schematic diagram of the lifting assembly in Figure 13;

[0056] Figure 15 is a third schematic diagram of the lifting assembly in Figure 13;

[0057] Figure 16 is a schematic diagram of a handling robot provided in another embodiment of this application;

[0058] Explanation of reference numerals in the attached figures:

[0059] 100 - Material bin storage area; 200 - Handling robot; 300 - Track; 400 - Material bin;

[0060] 210 - Mobile chassis; 220 - Support frame; 230 - Telescopic forks; 310 - Guide rail;

[0061] 211-Rail travel assembly; 212-Ground travel assembly; 213-Lifting assembly; 221-Buffer position; 222-Lifting assembly; 231-Clamping plate; 232-Pawl; 233-Fork arm;

[0062] 2111-First movable base; 2112-First drive motor; 2113-First drive wheel; 2121-Second movable base; 2122-Second drive motor; 2123-Second drive wheel; 2124-Universal wheel; 2131-Lifting motor; 2132-Linkage assembly; 2133-Scissor lift mechanism;

[0063] 2133a - First scissor lift assembly; 2133b - Second scissor lift assembly; 2133c - Connecting plate. Detailed Implementation

[0064] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0065] In the description of the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0066] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0067] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0068] A bin storage system is a highly automated cargo storage and management system that uses logistics equipment such as racks, stacker cranes, and shuttles to achieve rapid storage, retrieval, preservation, and management of goods.

[0069] In related technologies, bin storage systems include bin storage racks, bin conveyor lines, bin elevators, and shuttle cars. During bin storage, bins are transported to bin elevators via the conveyor lines. The bin elevators lift the bins to the target storage location, and then shuttle cars transport the bins to the designated storage location.

[0070] However, in current bin storage systems, the conveying equipment is located in fixed positions, resulting in bins needing to travel long distances and unable to reach their designated locations directly via point-to-point routes, leading to low efficiency. Furthermore, current bin storage systems contain numerous automated devices, which are prone to malfunctions and poor stability during prolonged operation, potentially causing the entire bin storage system to fail. To address these issues, this application provides a bin storage system, which will be described in detail below with reference to the accompanying drawings.

[0071] Figure 1 is a first schematic diagram of a bin storage system provided in an embodiment of this application; Figure 2 is a second schematic diagram of a bin storage system provided in an embodiment of this application; Figure 3 is a third schematic diagram of a bin storage system provided in an embodiment of this application.

[0072] Referring to Figures 1 to 3, this application embodiment provides a bin storage system, including a bin storage area 100, inbound / outbound conveying equipment, and a handling robot 200. The bin storage area 100 is configured to place and store bins 400.

[0073] In this field, the bin storage area 100 is an area for storing bins 400, which may include various goods storage facilities such as pallets, shelves, or bin bases. Furthermore, the bins 400 can be empty or filled with goods. The bins 400 can be stacked on pallets, bin bases, or placed individually on shelves in the bin storage area 100. For example, goods can be placed inside bins 400, and the bins 400 are stacked in the bin storage area 100. When specific goods are needed, workers retrieve bins 400 containing the target goods from this storage area.

[0074] The inbound / outbound conveyor system is configured to transport bins 400 for both inbound and outbound operations. This system can be a bin conveyor line, a box unpacker, or a bin 400 sorting device, among other logistics equipment. When goods are received, the inbound / outbound conveyor system transports bins 400 to a buffer area, where a handling robot 200 then transfers the bins 400 to a designated location in the bin storage area 100. Conversely, when goods are outbound, the handling robot 200 transfers goods from the bin storage area 100 to the inbound / outbound conveyor system, which then transfers them to the designated location.

[0075] In the scheme of this application, a track 300 is provided in the bin storage area 100, and a bin 400 is placed on at least one side of the track 300. The handling robot 200 is placed on the ground outside the bin storage area 100, and it can move between the bin storage area 100 and the inbound / outbound conveying equipment, thereby transferring the bin 400 between the two.

[0076] As shown in Figures 1 and 2, the handling robot 200 moves along the track 300 within the storage bin area 100. At this time, the handling robot 200 is connected to the track 300, and moves along the extension direction of the track 300. Due to the constraint of the track 300, the movement path of the handling robot 200 is more accurate and the movement is more stable, preventing the goods being handled by the robot from colliding with the bins 400 on both sides, thus preventing the bins 400 from falling and improving the safety and stability of the bin handling.

[0077] As shown in Figure 3, the handling robot 200 can move freely outside the bin storage area 100. Because the handling robot 200 can move freely along the navigation-planned route outside the bin storage area 100, compared with the conveyor line method of transporting bins 400 in related technologies, the movement route of the handling robot 200 to transport bins 400 is more flexible and simpler, the handling speed is faster, and the efficiency is higher.

[0078] In some examples, the bin storage area 100 is provided with multiple sets of tracks 300, spaced apart, with multiple bins 400 stacked between adjacent sets of tracks 300. The handling robot 200 can reach the position where each bin 400 is placed along the tracks 300. Referring to Figures 1 and 2, in some examples, each set of tracks 300 includes two parallel guide rails 310 spaced at a certain distance. The handling robot 200 is connected to the tracks 300 and can move along the extension direction of the tracks 300. It should be noted that the spacing between the two guide rails 310 can be determined according to the distance between two opposite drive wheels on the chassis of the handling robot 200, ensuring that each drive wheel can abut against the guide rail 310, ensuring the smooth operation of the handling robot 200.

[0079] For example, the guide rail 310 may be an I-beam guide rail 310. It can also be understood that the type of guide rail 310 may be determined according to the type of the first drive wheel 2113 of the handling robot 200.

[0080] In other examples, the bin storage area 100 is provided with bin bases, which are located on the sides of the tracks 300, and multiple bins 400 are stacked on the bin bases. Furthermore, depending on the size of the bin storage area 100, multiple bin bases can be provided, spaced apart, with tracks 300 between adjacent bin bases. The distance between two adjacent bin bases can be determined based on the width of each track 300, and is not limited here.

[0081] Figure 4 is a first schematic diagram of the handling robot in Figure 1; Figure 5 is a second schematic diagram of the handling robot in Figure 1. Referring to Figures 4 and 5, the handling robot 200 includes a mobile chassis 210, a support frame 220, and a telescopic fork 230. The support frame 220 is mounted on the mobile chassis 210, and the telescopic fork 230 is connected to the support frame 220. The mobile chassis 210 is configured to support the support frame 220 and the telescopic fork 230, and to move them to a designated position. The support frame 220 is configured to support the telescopic fork 230, and the telescopic fork 230 is configured to pick up and drop the material box 400. The telescopic fork 230 can selectively lift and / or rotate relative to the support frame 220 to handle the material box 400.

[0082] Figure 6 is a first schematic diagram of the mobile chassis of a handling robot provided in an embodiment of this application; Figure 7 is a second schematic diagram of the mobile chassis in Figure 6; Figure 8 is a third schematic diagram of the mobile chassis in Figure 6.

[0083] Referring to Figures 6 to 8, the mobile chassis 210 includes a track-walking assembly 211, a ground-walking assembly 212, and a lifting assembly 213. The ground-walking assembly 212 is connected to the lower end of the lifting assembly 213, and the track-walking assembly 211 is connected to the upper end of the lifting assembly 213. The lifting assembly 213 is configured to control the relative vertical movement of the track-walking assembly 211 and the ground-walking assembly 212, thereby controlling the contact and separation of the ground-walking assembly 212 from the ground.

[0084] As shown in Figures 1 and 2, when the handling robot 200 moves along the track 300 within the bin storage area 100, the track walking component 211 contacts the track 300, while the ground walking component 212 separates from the ground. At this time, the track walking component 211 acts as a driving component, driving the support frame 220 and the telescopic fork 230 to move along the track 300 and reach the placement position of the target bin to pick up or place the bin 400.

[0085] As shown in Figure 3, when the handling robot 200 moves outside the material storage area 100, the ground walking component 212 contacts the ground, and the track walking component 211 separates from the track 300. At this time, the ground walking component 212 acts as a driving component, driving the support frame 220 and the telescopic fork 230 to move between the entrance and the inbound / outbound conveying equipment of the track 300.

[0086] Figure 9 is a first schematic diagram of the transport robot 200 in Figure 1 entering the track 300; Figure 10 is a first schematic diagram of the transport robot 200 in Figure 9.

[0087] Referring to Figures 4 and 5, when the handling robot 200 is walking on the ground, the lifting component 213 retracts, and its upper and lower ends maintain the minimum distance, so that the distance between the track walking component 211 and the ground walking component 212 is minimized, thereby reducing the height of the support frame 220, preventing the support frame 220 from shaking during movement, and ensuring that the handling robot 200 moves more stably when handling the cargo box.

[0088] Referring to Figures 9 and 10, when the handling robot 200 prepares to enter the track 300 from the ground and transitions from ground walking mode to track 300 walking mode, the lifting component 213 extends and retracts, raising the height of the track walking component 211 and increasing the distance between it and the ground walking component 212. At this time, the ground walking component 212 moves into the track 300. When the ground walking component 212 reaches the track 300, the lifting component 213 retracts, lowering the height of the track walking component 211. After the track walking component 211 contacts the track 300, its height remains unchanged. As the lifting component 213 continues to retract, the ground walking component 212 begins to rise and gradually detaches from the ground. Once the ground walking component 212 is detached from the ground, the lifting component 213 stops retracting, and the track walking component 211 begins to act as a drive component, driving the support frame 220 and the telescopic fork 230 to move along the track 300.

[0089] Understandably, when the handling robot 200 enters the ground from the track 300 and transitions from track-based to ground-based walking mode, the lifting component 213 expands, the ground-based walking component 212 lowers, and the distance between the ground-based walking component 212 and the track-based walking component 211 gradually increases. Once the ground-based walking component 212 contacts the ground, due to the continued expansion of the lifting component 213, the track-based walking component 211 begins to rise and gradually detaches from the track 300. When the track-based walking component 211 is completely detached from the track 300, the ground-based walking component 212 moves out of the track 300. At this point, the lifting component 213 begins to retract until it reaches its lowest position, maintaining a minimum distance between the track-based walking component 211 and the ground-based walking component 212, ensuring more stable movement of the handling robot 200 during the material handling process.

[0090] Referring to Figures 6 to 8, in some examples, the track-walking assembly 211 includes a first movable base 2111, a first drive motor 2112, and a first drive wheel 2113. The first movable base 2111 is fixedly connected to the upper end of the lifting assembly 213, the support frame 220 is fixedly connected to the first movable base 2111, the first drive motor 2112 is fixedly connected to the first movable base 2111, and the first drive wheel 2113 is connected to the first drive motor 2112. The first drive wheel 2113 is disposed on both sides of the first movable base 2111 along the walking direction, and the first drive motor 2112 drives the first drive wheel 2113 to move along the track 300. Specifically, the track-walking assembly 211 includes multiple first drive motors 2112 and multiple first drive wheels 2113, with each first drive motor 2112 corresponding to a first drive wheel 2113, and each first drive wheel 2113 is fixedly connected to the output shaft of the first drive motor 2112. All first drive motors 2112 are fixedly mounted on the first movable base 2111, and all first drive wheels 2113 are located on both sides of the first movable base 2111. The first movable base 2111 is fixedly mounted on the upper end of the lifting assembly 213, thereby the lifting assembly 213 controls the raising and lowering of the first movable base 2111. It is understood that in these examples, each first drive wheel 2113 is individually controlled by each first drive motor 2112. To ensure that the movable chassis 210 can move stably along the track 300, it is necessary to ensure that all first drive motors 2112 operate synchronously.

[0091] In other examples, the track-walking assembly 211 includes a first drive motor 2112 and a plurality of first drive wheels 2113. The first drive motor 2112 is fixedly mounted on a first movable base 2111, and the plurality of first drive wheels 2113 are respectively located on both sides of the first movable base 2111, and all the first drive wheels 2113 are connected to the first drive motor 2112 through a transmission assembly. That is, the first drive motor 2112 drives all the first drive wheels 2113 to move synchronously through the transmission assembly. For example, the first drive motor 2112 may be a servo motor or a DC motor with a reducer.

[0092] The lifting assembly 213 is fixedly mounted on the ground walking assembly 212. In some examples, the ground walking assembly 212 is configured as an AGV base with autonomous navigation capabilities. The ground walking assembly 212 includes a second movable base 2121, a second drive motor 2122, second drive wheels 2123, and casters 2124. The second movable base 2121 is connected to the lower end of the lifting assembly 213, the second drive motor 2122 is fixedly connected to the second movable base 2121, the second drive wheels 2123 are connected to the second drive motor 2122, and the second drive wheels 2123 are disposed on both sides of the second movable base 2121 along the walking direction. The second drive motor 2122 drives the second drive wheels 2123 to move along the ground.

[0093] The system includes at least two second drive motors 2122 and two drive wheels 2123, with each drive wheel 2123 corresponding to a second drive motor 2122. All second drive motors 2122 are fixedly mounted on the second movable base 2121. Each second drive wheel 2123 is fixedly connected to the output end of one of the second drive motors 2122. All second drive wheels 2123 are arranged on both sides of the second movable base 2121, facing each other. With the direction perpendicular to the line connecting the second drive wheels 2123 as the front-back direction, casters 2124 are provided on each of the two oppositely positioned second drive wheels 2123 in the front-back direction. The casters 2124 are connected to the second movable base 2121.

[0094] Figure 11 is a first schematic diagram of the mobile chassis 210 in Figure 6 after removing the track walking component 211; Figure 12 is a second schematic diagram of the mobile chassis 210 in Figure 6 after removing the track walking component 211.

[0095] Referring to Figures 11 and 12, in this embodiment of the application, the AGV base includes a second movable base 2121, two second drive motors 2122, two second drive wheels 2123, and four casters 2124. The two second drive wheels 2123 are arranged back-to-back on the second movable base 2121 and located on the center line of the second movable base 2121. Both second drive motors 2122 are fixed to the second movable base 2121 and are respectively connected to the two second drive wheels 2123. The two second drive motors 2122 are used to drive the second movable base 2121 to move. It is understood that by changing the rotational speed of the two second drive motors 2122, the direction of movement of the second movable base 2121 can be controlled; this is prior art and will not be described in detail here.

[0096] With the direction perpendicular to the line connecting the two second drive wheels 2123 as the front-back direction, two casters 2124 are provided in the front-back direction of the two second drive wheels 2123 to support the second movable base 2121 and adjust the movement direction of the second movable base 2121.

[0097] Referring again to Figures 11 and 12, in some examples, the lifting assembly 213 is configured as a multi-link lifting mechanism, specifically including a lifting motor 2131 and a linkage assembly 2132. The lifting motor 2131 is fixedly mounted on the ground walking assembly. Specifically, in this embodiment, the lifting motor 2131 is fixedly mounted on the second movable base 2121. The output end of the lifting motor 2131 is connected to the linkage assembly 2132. When the output end of the lifting motor 2131 rotates, it can control the upper end of the linkage assembly 2132 to move, thereby changing the distance between the upper and lower ends, and thus changing the distance between the first movable base 2111 connected to the upper end and the second movable base 2121 connected to the lower end.

[0098] Figure 13 is a first schematic diagram of a lifting assembly provided in an embodiment of this application; Figure 14 is a second schematic diagram of the lifting assembly in Figure 13; Figure 15 is a third schematic diagram of the lifting assembly in Figure 13.

[0099] Referring to Figures 13 to 15, in some other examples, the lifting assembly 213 is configured as a scissor lift mechanism 2133. This scissor lift mechanism 2133 includes a first scissor lift member 2133a, a second scissor lift member 2133b, and a connecting plate 2133c that are cross-connected. The lower ends of both the first scissor lift member 2133a and the second scissor lift member 2133b are connected to a first movable base 2111, and the upper ends of both the first scissor lift member 2133a and the second scissor lift member 2133b are connected to the connecting plate 2133c, which is configured to connect to the first movable base 2111. When a drive member drives either the first scissor lift member 2133a or the second scissor lift member 2133b, they move synchronously, causing the connecting plate 2133c to move up and down, thereby changing the distance between the first movable base 2111 and the second movable base 2121. Exemplarily, the drive member can be a drive motor.

[0100] In addition, the lifting assembly 213 can also be configured as a hydraulic lifting mechanism or a screw and nut lifting mechanism, as long as it can enable the first movable base 2111 and the second movable base 2121 to move relative to each other, and will not be described in detail here.

[0101] As shown in Figures 4 and 5, in some examples, there are multiple telescopic forks 230, arranged sequentially in a vertical direction, each connected to the support frame 220. When retrieving the target bin, if the target bin is below, the upper telescopic fork 230 can grip the bin 400 above the target bin, separating it from the target bin. The lower telescopic fork 230 then moves the target bin away. Finally, the upper telescopic fork 230 places the non-target bin in the original target bin position. It is understood that when placing the bin 400 in the target position, the operation process is the reverse of the target bin retrieval process described above, and will not be repeated here.

[0102] Understandably, by setting multiple telescopic forks 230 in the support frame 220, it is possible to conveniently pick up target boxes located below the stack of boxes, resulting in high picking efficiency. Taking a picking robot with two telescopic forks 230 as an example: When picking up a target box located at the bottom of the stack of boxes, the upper telescopic fork 230 can first raise the box 400 located above the target box, and the lower telescopic fork 230 then picks up the target box. Finally, the upper telescopic fork 230 places the non-target box back into the original target box position.

[0103] Referring to Figures 4 and 5, the telescopic fork 230 includes a pair of fork arms 233 configured to grip the hopper 400. Additionally, the telescopic fork 230 can be configured as a bidirectional telescopic fork 230, thereby facilitating the loading and unloading of the hoppers 400 on both sides of the track 300.

[0104] For example, the fork arm 233 includes a multi-stage fork arm and a telescopic drive assembly. The multi-stage fork arms are connected in sequence, and the telescopic drive assembly is connected to the multi-stage fork arms. The telescopic drive assembly is configured to drive the multi-stage fork arms to extend or retract in order to pick up or put down the material box 400.

[0105] For example, the fork arm 233 includes two fork arms. The fork arm 233 includes a primary fork arm and a secondary fork arm. The primary fork arm is connected by a support frame 220. The secondary fork arm is slidably connected to the primary fork arm. The telescopic drive assembly is fixedly mounted on the primary fork arm. The telescopic drive assembly drives the secondary fork arm to move along the primary fork arm, thereby completing the picking up of the material box 400 and the retraction after picking up.

[0106] Alternatively, for example, the telescopic drive component can be a combination of a motor and a synchronous belt drive assembly, or a combination of a motor and a gear and rack assembly.

[0107] Referring again to Figures 4 and 5, the telescopic fork 230 also includes a clamping plate 231. Each fork arm 233 is equipped with a clamping plate 231 for clamping the material box 400. Since the clamping plate 231 has a large surface area, it can ensure a large clamping area with the side of the material box 400, increase the clamping force, and prevent the material box 400 from slipping during clamping and movement.

[0108] When the support frame 220 is vertically equipped with multiple telescopic forks 230, the distance between the two clamping plates of the multiple telescopic forks 230 decreases from bottom to top. Specifically, in order to facilitate the placement of the non-target material box 400 that has been clamped and lifted into the original target material box 400 placement position, the distance between the two clamping plates 231 on the upper telescopic fork 230 is smaller than the distance between the two clamping plates 231 on the lower telescopic fork 230, ensuring that the clamping plates 231 on the upper telescopic fork 230 do not interfere with the clamping plates 231 on the lower telescopic fork 230, and the two clamping plates 231 on the upper telescopic fork 230 are larger in size, which can extend into the space between the two clamping plates 231 on the lower telescopic fork 230 to place the material box 400.

[0109] Specifically, when the target bin is located at the bottom of the bin stack, the lower part of the clamping plate 231 of the upper telescopic fork 230 clamps and lifts the bin on the layer above the target bin, while the lower telescopic fork 230 clamps the target bin and retracts. At this time, the position of the upper telescopic fork 230 moves down, placing the non-target bin in the original target bin position. Because the two clamping plates 231 on the upper telescopic fork 230 are larger, and the distance between the two clamping plates 231 is smaller than the distance between the two clamping plates 231 on the lower telescopic fork 230, placing the non-target bin in the original target bin position will not interfere with the lower telescopic fork 230 or clamping plates 231.

[0110] To ensure the stability of the hopper 400 and prevent it from slipping off the telescopic forks 230 due to excessive weight, in some examples, the lower part of the clamping plate 231 is provided with multiple pawls 232. The pawls 232 are configured to extend after the clamping plate 231 clamps the hopper 400 to support it. Specifically, the pawls 232 can switch between rotating in directions parallel and perpendicular to the clamping plate 231, thereby supporting the hopper 400 and preventing it from falling.

[0111] Additionally, in some examples, two clamping plates 231 mounted on the upper telescopic fork 230 are vertically spaced with two sets of claws 232 to ensure that they can grip non-target bins 400 located at higher positions. Exemplarily, the claw 232 includes a lever and a lever motor. The lever motor is fixedly mounted on the clamping plate 231, and the end of the claw 232 is connected to the output end of the lever motor. Rotation of the output end of the lever motor drives the claw 232 to rotate.

[0112] In some embodiments, a buffer position 221 is provided at the bottom of the support frame 220. When the handling robot 200 needs to handle multiple boxes 400, the telescopic forks 230 can temporarily store the boxes 400 in the buffer position 221. After all the target boxes have been picked up, all the boxes 400 are moved together to the inbound and outbound conveying equipment, thereby improving the efficiency of a single transfer.

[0113] Figure 16 is a schematic diagram of a handling robot 200 provided in another embodiment of this application.

[0114] Referring to Figure 16, in some examples, at least one side of the support frame 220 is provided with multiple buffer positions 221. In these examples, the handling robot 200 also includes a rotating assembly connected to the support frame 220, and a telescopic fork 230 is disposed on the rotating assembly. The rotating assembly is configured to rotate the telescopic fork 230 90° and temporarily store the target bin or non-target bin in the buffer position 221. It is understood that by providing buffer positions 221 on the support frame 220, the single-pass handling capacity of the handling robot 200 can be greatly improved, thus increasing handling efficiency. For example, buffer racks are provided on both sides of the support frame 220, and the buffer racks have multiple buffer positions, which are configured as buffer positions 221. In addition, the number and size of the buffer positions in the buffer racks on both sides of the support frame 220 can be set according to actual needs and are not limited here.

[0115] For example, the rotating assembly includes a rotating bracket, a rotating tray, and a rotating drive motor. The rotating bracket is disposed inside the support frame 220, its shape is adapted to the support frame 220, and the rotating bracket can move vertically along the support frame 220. The rotating tray is rotatably mounted on the rotating bracket, and the rotating drive motor is fixedly mounted on the rotating bracket, with its output end connected to the rotating tray, driving the rotating tray to rotate. The telescopic forks 230 are disposed on the rotating tray, meaning the rotating drive motor drives the telescopic forks 230 to rotate via the rotating tray. The rotating drive motor can rotate in both directions, thus achieving bidirectional rotation of the rotating tray to correspond to the pick-up / placement openings on both sides of the support frame 220, enabling the telescopic forks 230 to pick up / place the material bins 400 from the buffer positions 221 on both sides of the support frame 220.

[0116] Additionally, referring to Figures 4 and 5, the support frame 220 in this application is a cuboid frame structure formed by connecting multiple crossbeams and longitudinal beams in sequence. Linear guide rails 310 are provided on both sides of the support frame 220 along the vertical direction, and sliders are fitted onto the linear guide rails 310. Telescopic forks 230 are fixedly connected to the sliders.

[0117] In addition, the handling robot also includes a lifting assembly 222. For example, the lifting assembly 222 includes a lifting motor and a transmission assembly. The lifting motor is fixed on the support frame 220, and the transmission assembly is disposed on the support frame 220. The lifting motor is connected to the transmission assembly, and the transmission assembly is connected to the telescopic fork 230. The lifting motor drives the telescopic fork 230 to move vertically through the transmission assembly, so that the telescopic fork 230 can reach the designated position of the target bin.

[0118] For example, the transmission component can be a belt transmission component or a lead screw and slider transmission component, without further restrictions.

[0119] It is readily understood that, based on the several embodiments provided in this application, those skilled in the art can combine, split, or reorganize the embodiments of this application to obtain other embodiments, none of which exceed the protection scope of this application.

[0120] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application. Industrial applicability

[0121] In summary, this application provides a bin storage system that can improve the safety and stability of bin handling, and the handling robot has a flexible and simple movement route for handling bins, with fast handling speed and high efficiency.

Claims

1. A bin storage system, characterized in that, include: A material storage area with a track, wherein a material box is placed on one side of the track; Inbound / outbound conveying equipment, configured to convey the aforementioned material bins into or out of the warehouse; A material handling robot is configured to transfer the material bins between the material bin storage area and the inbound / outbound conveying equipment. The transport robot is configured to move along the track within the bin storage area and move freely outside the bin storage area.

2. The bin storage system according to claim 1, characterized in that, The material bin storage area is provided with multiple sets of tracks, which are spaced apart, and multiple material bins are stacked between adjacent tracks.

3. The bin storage system according to claim 1 or 2, characterized in that, The storage area of ​​the material bin is provided with a material bin base, and the material bin base is located on one side of the track. The material bin base has multiple storage positions, and the storage positions are configured to place the material bins.

4. The bin storage system according to claim 3, characterized in that, The material box base has multiple bases, which are spaced apart, and the track is provided between two adjacent material box bases.

5. The bin storage system according to any one of claims 1-4, characterized in that, The handling robot includes a mobile chassis, a support frame, and telescopic forks; The support frame is mounted on the mobile chassis, and the telescopic forks are connected to the support frame. The telescopic forks are configured to lift the material box. The telescopic forks can be selectively raised, lowered, and / or rotated relative to the support frame.

6. The bin storage system according to claim 5, characterized in that, The mobile chassis includes a track-walking component, a ground-walking component, and a lifting component; The ground walking assembly is connected to the lower end of the lifting assembly, the track walking assembly is connected to the upper end of the lifting assembly, and the lifting assembly is configured to control the track walking assembly and the ground walking assembly to move relative to each other in the vertical direction. When the handling robot moves along the track in the bin storage area, the track walking component contacts the track, and the ground walking component separates from the ground. When the handling robot moves outside the material bin storage area, the ground walking assembly makes contact with the ground, and the track walking assembly separates from the track.

7. The bin storage system according to claim 6, characterized in that, The track-walking assembly includes a first movable base, a first drive motor, and a first drive wheel; The first movable base is fixedly connected to the upper end of the lifting assembly, the support frame is fixedly connected to the first movable base, the first drive motor is fixedly connected to the first movable base, the first drive wheel is connected to the first drive motor, the first drive wheel is disposed on both sides of the first movable base along the walking direction, and the first drive motor drives the first drive wheel to move along the track.

8. The bin storage system according to claim 6 or 7, characterized in that, The lifting assembly is configured as at least one of a scissor lift mechanism, a multi-link lift mechanism, a hydraulic lift mechanism, or a screw and nut lift mechanism.

9. The bin storage system according to claim 8, characterized in that, The scissor lift mechanism includes a first scissor lift member, a second scissor lift member, and a connecting plate that are connected in a cross manner. The lower ends of the first scissor lift member and the second scissor lift member are both connected to the first movable base, and the upper ends of the first scissor lift member and the second scissor lift member are both connected to the connecting plate. The connecting plate is configured to be connected to the first movable base.

10. The bin storage system according to claim 8, characterized in that, The multi-link lifting mechanism includes a lifting motor and a linkage assembly. The lifting motor is fixedly mounted on the ground walking assembly, and the output end of the lifting motor is connected to the linkage assembly.

11. The bin storage system according to any one of claims 6-10, characterized in that, The ground walking assembly includes a second movable base, a second drive motor, and a second drive wheel; the second movable base is connected to the lower end of the lifting assembly, the second drive motor is fixedly connected to the second movable base, the second drive wheel is connected to the second drive motor, the second drive wheel is disposed on both sides of the second movable base along the walking direction, and the second drive motor drives the second drive wheel to move along the ground.

12. The bin storage system according to any one of claims 5-11, characterized in that, A lifting component is provided on the support frame, and the telescopic fork is connected to the lifting component. The lifting component drives the telescopic fork to move in the vertical direction.

13. The bin storage system according to claim 12, characterized in that, The telescopic forks include a pair of clamping plates configured to clamp the hopper.

14. The bin storage system according to claim 13, characterized in that, The lower part of the clamping plate is movably provided with a claw, which is configured to extend out to support the material box after the clamping plate clamps the material box.

15. The bin storage system according to claim 13 or 14, characterized in that, The telescopic forks are multiple in number and are arranged sequentially along the vertical direction to cooperate with the telescopic forks of the picking bin; the distance between the two clamping plates of the multiple telescopic forks decreases sequentially from bottom to top.

16. The bin storage system according to any one of claims 13-15, characterized in that, The clamping plate of the uppermost telescopic fork is provided with at least two sets of the aforementioned claws along the vertical direction.

17. The bin storage system according to any one of claims 12-16, characterized in that, The lifting assembly includes a lifting motor and a transmission assembly. The lifting motor is fixed on the support frame, and the transmission assembly is disposed on the support frame. The lifting motor is connected to the transmission assembly, and the transmission assembly is connected to the telescopic fork. The lifting motor drives the telescopic fork to move vertically through the transmission assembly, so that the telescopic fork can reach the designated position of the target hopper.

18. The bin storage system according to any one of claims 5-17, characterized in that, The telescopic forks include a pair of fork arms configured to grip the hopper.

19. The bin storage system according to claim 18, characterized in that, The fork arm includes a multi-stage fork arm and a telescopic drive assembly. The multi-stage fork arms are connected in sequence, and the telescopic drive assembly is connected to the multi-stage fork arms. The telescopic drive assembly is configured to drive the multi-stage fork arms to extend or retract in order to pick up or put down the material box.

20. The bin storage system according to any one of claims 5-19, characterized in that, The support frame has multiple buffer slots on at least one side, and the buffer slots are configured to temporarily store the material bin.

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