CN112896900A

CN112896900A - Container transferring system and method, container transferring device and robot

Info

Publication number: CN112896900A
Application number: CN202110287247.6A
Authority: CN
Inventors: 闫杰; 王梦迪; 汪旭; 刘凯
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2021-03-17
Filing date: 2021-03-17
Publication date: 2021-06-04
Also published as: CN217050074U; CN113697348A

Abstract

The present disclosure provides a container transfer system, a method, a container transfer device and a robot, the system comprising: at least one robot and at least one container transfer device; the robot is provided with a plurality of layers of temporary storage mechanisms, and the temporary storage mechanisms are used for temporarily storing the containers; the container transfer device comprises an external conveying track; the robot is configured to move to a cargo box docking position; the container transfer device is configured to transfer a plurality of containers on different layers of temporary storage mechanisms of the robot, which are moved to the container butt joint position, onto the same external conveying track; or, on transferring a plurality of packing boxes on the same outside delivery track to the different layers of temporary storage mechanism of robot, this disclosed embodiment utilizes packing box transfer device can once shift a plurality of packing boxes from the different layers of temporary storage mechanism of robot, perhaps, once places a plurality of packing boxes for the robot, in the scene to a plurality of packing boxes of robot access, can improve packing box transfer efficiency, and then improves the handling efficiency of robot in packing box access flow.

Description

Container transferring system and method, container transferring device and robot

Technical Field

The disclosure relates to the technical field of storage logistics, in particular to a container transfer system, a container transfer method, a container transfer device and a robot.

Background

A robot can carry a plurality of containers at one time and place the containers on a plurality of layers of temporary storage positions of the robot respectively. When the robot arrives the destination and realizes that the packing box shifts, need utilize the robot to take out the packing box from different temporary storage mechanisms one by one, put to the destination point (for example transfer chain (delivery track) or mutual goods position etc.), lead to the robot can't drop into the packing box access flow high-efficiently, and then cause the waste of robot's mobility, in order to realize high-efficient transport goods, need drop into more robots, but can increase the individual input cost of robot.

Therefore, how to improve the transfer efficiency of the container becomes a problem to be solved urgently in the field.

Disclosure of Invention

The embodiment of the disclosure at least provides a container transfer system, a container transfer method, a container transfer device and a robot.

In a first aspect, embodiments of the present disclosure provide a container transfer system comprising at least one robot and at least one container transfer device; the robot is provided with a plurality of layers of temporary storage mechanisms, and the temporary storage mechanisms are used for temporarily storing containers; the container transfer device comprises an external conveying track;

the robot is configured to move to a cargo box docking position;

the container transfer device is configured to transfer a plurality of containers on different layers of the temporary storage mechanism of the robot, which are moved to the container butt joint position, onto the same external conveying track; alternatively, a plurality of containers on the same external conveying track are transferred to different layers of temporary storage mechanisms of the robot.

In an alternative embodiment, the container transfer device includes a multi-level internal conveyor track;

the container transfer device is configured to transfer the containers on different layers of temporary storage mechanisms of the robot to first preset areas corresponding to the internal conveying tracks of the corresponding layers;

the container transfer device is configured to transfer the containers at first preset areas corresponding to the internal conveying tracks on different layers to the same external conveying track.

In an alternative embodiment, the container transfer apparatus includes at least one first container transfer mechanism, a multi-tier container transfer mechanism, a second container transfer mechanism corresponding to each tier of the container transfer mechanism, and a lifting mechanism corresponding to each second container transfer mechanism;

the first container transfer mechanism is configured to lift the plurality of containers from the robot and transfer the containers to the container transport mechanism on a different level;

the container conveying mechanism is configured to convey the container to a first preset area corresponding to the layer of container conveying mechanism; the projections of the first preset areas corresponding to the container conveying mechanisms on different layers on the horizontal plane are not overlapped;

the second container transfer mechanism is configured to hook the containers at the corresponding first preset area on the container conveying mechanism of the corresponding layer onto the corresponding lifting mechanism; the projections of different second container transfer mechanisms on the horizontal plane are not overlapped;

the lift mechanism is configured to transfer the containers onto the same external transport track.

In an alternative embodiment, the first container transfer mechanism includes a plurality of first jacking forks; the temporary storage mechanism is a comb-shaped mechanism; the first jacking fork is a comb-shaped mechanism; the container conveying mechanism is a comb-shaped mechanism; the comb mechanism comprises comb teeth;

the projections of the comb teeth of the temporary storage mechanism and the comb teeth of the first jacking fork on the horizontal plane are not overlapped;

the comb teeth of the first jacking fork and the comb teeth of the container conveying mechanism are not overlapped in projection on the horizontal plane.

In an alternative embodiment, each layer of the container conveying mechanism corresponds to one first jacking fork; the first jacking fork is configured to move to a first initial position of the first jacking fork after lifting the container from the robot to transfer the container onto the container conveying mechanism; the height of the first initial position of the first jacking fork is lower than the height of the surface of the container conveying mechanism for placing a container on the corresponding layer.

In an alternative embodiment, the first container transfer mechanism further comprises a first drive unit, a first track assembly; the first driving unit is connected with the first guide rail assembly; the plurality of first jacking forks are slidably assembled on the first guide rail assembly;

the first driving unit is configured to drive the first guide rail assembly to rotate;

the first guide rail assembly is configured to drive the first jacking fork to move along the vertical direction under the driving of the first driving unit so as to lift the container on the temporary storage mechanism of the corresponding layer.

In an alternative embodiment, the container transfer device further comprises at least one limiting block; the container conveying mechanism comprises an internal conveying track;

the limiting block is configured to limit the container on a first preset area on the internal conveying track corresponding to the limiting block; projections of first preset areas corresponding to the limiting blocks on the container conveying mechanisms on different layers on the horizontal plane are not overlapped; the length of the inner conveying track can be adjusted, so that the projections of the first preset areas on the inner conveying tracks of different layers on the horizontal plane are not overlapped;

the container conveying mechanism is configured to transfer the containers to the corresponding first preset areas.

In an alternative embodiment, the inner conveying track is a comb mechanism; the comb mechanism comprises comb teeth; the limiting blocks are arranged between the comb tooth gaps of the internal conveying tracks, and the height of the second initial position of each limiting block is lower than that of the surface, used for placing the container, of the corresponding layer of the internal conveying track.

In an alternative embodiment, the second container transfer mechanism includes a first tie bar mechanism, a first shifting block and a first tie bar driving unit;

the second container transfer mechanism is fixedly assembled on the corresponding lifting mechanism;

the first shifting block is arranged at one end of the first pull rod mechanism; the first pull rod driving unit is arranged at the other end of the first pull rod mechanism;

the first pull rod driving unit is configured to drive the first pull rod mechanism to stretch and retract;

the first pull rod mechanism is configured to drive the first shifting block to hook the container to the corresponding lifting mechanism under the driving of the first pull rod driving unit.

In an alternative embodiment, the lifting mechanism comprises a second driving unit, a second guide rail assembly and a second jacking fork; the second driving unit is connected with the second guide rail assembly; the second jacking fork is assembled on the second guide rail assembly in a sliding mode;

the second jacking fork is a comb-shaped mechanism; the external conveying track is a comb-shaped mechanism; the comb mechanism comprises comb teeth; the projections of the comb teeth of the second jacking fork and the comb teeth of the external conveying track on the horizontal plane are not overlapped;

the second driving unit is configured to drive the second guide rail assembly to rotate;

the second guide rail assembly is configured to drive the second jacking fork to move in the vertical direction under the driving of the second driving unit so as to transfer a container on the lifting mechanism to the external conveying track.

In an alternative embodiment, the container transfer device further comprises a sensor corresponding to each of the stoppers; the sensor is fixedly arranged on the container conveying mechanism corresponding to the corresponding limiting block; the sensor is configured to detect whether the container reaches the first predetermined area;

the stopper is configured to be raised to a predetermined height after the sensor detects that the container reaches the first predetermined area, so as to define the container at the first predetermined area on the internal conveying track corresponding to the stopper.

In an alternative embodiment, the container transfer apparatus includes at least one first container transfer mechanism, a multi-tier container transfer mechanism, a second container transfer mechanism corresponding to each tier of the container transfer mechanism, a lift mechanism corresponding to each second container transfer mechanism, an external conveyor track, and a third container transfer mechanism;

the first container transfer mechanism is configured to transfer the other containers except the container on the bottom temporary storage mechanism of the robot to the container conveying mechanism on the corresponding layer;

the lifting mechanism is configured to transfer the containers onto the same external transport track;

the third container transfer mechanism is configured to transfer a container from the robot bottommost buffer mechanism to an external conveyor track.

In an alternative embodiment, the third container transfer mechanism includes a jacking mechanism and a tie rod transfer mechanism;

the jacking mechanism is configured to lift a container on the bottom temporary storage mechanism of the robot, and after the container on the jacking mechanism is transferred to a second preset area by the pull rod transfer mechanism, the container is moved to a third initial position of the jacking mechanism so as to transfer the container to the external conveying track; wherein the height of the third initial position of the jacking mechanism is lower than the height of the surface of the corresponding external conveying track for placing a container;

the tie rod transfer mechanism is configured to transfer a container on the jacking mechanism to a second predetermined area of the jacking mechanism.

In an alternative embodiment, the jacking mechanism is a comb mechanism; the external conveying track is a comb-shaped mechanism; the comb mechanism comprises comb teeth;

the projections of the comb teeth of the temporary storage mechanism and the comb teeth of the jacking mechanism on the horizontal plane are not overlapped;

the projections of the comb teeth of the jacking mechanism and the comb teeth of the external conveying track on the horizontal plane are not overlapped.

In an optional embodiment, the pull rod transfer mechanism comprises a second pull rod mechanism, a second shifting block and a second pull rod driving unit;

the second shifting block is arranged at one end of the second pull rod mechanism; the second pull rod driving unit is arranged at the other end of the second pull rod mechanism;

the second pull rod driving unit is configured to drive the second pull rod mechanism to stretch and retract;

the second pull rod mechanism is configured to drive the second shifting block to hook the container to a second preset area of the jacking mechanism under the driving of the second pull rod driving unit.

In an alternative embodiment, the container transfer apparatus further comprises a controller;

the controller is configured to control the first container transfer mechanism to lift the plurality of containers from the robot and transfer onto the container transport mechanisms at different levels in response to a first container transfer instruction; controlling each layer of the container conveying mechanism to drive the containers to a first preset area corresponding to the layer of the container conveying mechanism; respectively controlling the second container transfer mechanism corresponding to each layer of container conveying mechanism to hook the containers from the container conveying mechanism to the lifting mechanism corresponding to the second container transfer mechanism; and respectively controlling the lifting mechanisms to transfer the containers to the same external conveying track.

the controller is further configured to control the first container transfer mechanism to transfer the remaining containers of the robot except the container on the bottom-most temporary storage mechanism to the corresponding layer of container conveying mechanisms in response to a first container transfer instruction; controlling each layer of the container conveying mechanism to drive the containers to a first preset area corresponding to the layer of the container conveying mechanism; respectively controlling the second container transfer mechanism corresponding to each layer of container conveying mechanism to hook the containers from the container conveying mechanism to the lifting mechanism corresponding to the second container transfer mechanism; respectively controlling the lifting mechanisms to transfer the containers to the same external conveying track; and controlling the third container transfer mechanism to transfer the container on the bottommost temporary storage mechanism of the robot to the external conveying track.

In an alternative embodiment, the first container transfer mechanism is further configured to lift and transfer containers on different levels of the container transport mechanism to the staging mechanism of the robot;

the robot is further configured to move to the container docking station to receive the container after the first container transfer mechanism lifts a container on a different level of the container transport mechanism.

In an alternative embodiment, the third container transfer mechanism is further configured to transfer a container on the target area of the outer conveyor track to the robotic bottom buffer mechanism.

In an optional embodiment, the controller is further configured to, in response to a second container transfer instruction, respectively control each lifting mechanism to lift the container to a height that is the same as the height of the first preset area corresponding to the second container transfer mechanism corresponding to the lifting mechanism, respectively control the second container transfer mechanism corresponding to each lifting mechanism to transfer the container to the first preset area corresponding to the second container transfer mechanism; controlling the container conveying mechanism of the corresponding layer to transfer the containers to the container butt joint position of the layer; controlling the first container transfer mechanism to transfer a container on the container transport mechanism to a different level of the robot staging mechanism.

In an optional embodiment, the controller is further configured to, in response to a second container transfer instruction, respectively control each lifting mechanism to lift the container to a height that is the same as the height of the first preset area corresponding to the second container transfer mechanism corresponding to the lifting mechanism, respectively control the second container transfer mechanism corresponding to each lifting mechanism to transfer the container to the first preset area corresponding to the second container transfer mechanism; controlling the container conveying mechanism of the corresponding layer to transfer the containers to the container butt joint position of the layer; controlling the first container transfer mechanism to transfer the containers on the container conveying mechanism to the temporary storage mechanisms on different layers of the robot except for the temporary storage mechanism on the bottommost layer; and controlling the third container transfer mechanism to transfer the container on the target area of the external conveying track to the lowest temporary storage mechanism of the robot.

In an alternative embodiment, the container transfer apparatus comprises at least one first container transfer mechanism, a multi-tier container transfer mechanism, a second container transfer mechanism corresponding to each tier of the container transfer mechanism, and at least one lifting mechanism;

the container conveying mechanism is configured to convey the container to a first preset area corresponding to the layer of container conveying mechanism;

the second container transfer mechanism is configured to hook the containers at the corresponding first preset area on the container conveying mechanism of the corresponding layer onto the lifting mechanism;

In a second aspect, embodiments of the present disclosure also provide a container transfer device, including the container transfer device described in the first aspect.

In a third aspect, embodiments of the present disclosure also provide a robot, which includes the robot described in the first aspect.

In a fourth aspect, an embodiment of the present disclosure further provides a container transfer method, which is applied to the container transfer apparatus in the second aspect, and includes: the container transfer device comprises an external conveying track; the robot is provided with a plurality of layers of temporary storage mechanisms, and the temporary storage mechanisms are used for temporarily storing containers;

transferring the plurality of containers on different levels of the staging mechanism of the robot to the same external conveyor track in response to a first container transfer instruction; alternatively, the first and second electrodes may be,

in response to a second container transfer instruction, transferring multiple containers on the same external transport track to different level buffer mechanisms of the robot.

the transfer of the containers on different layers of temporary storage mechanisms of the robot to the same external conveying track comprises:

transferring the containers on different layers of temporary storage mechanisms of the robot to first preset areas corresponding to the internal conveying tracks on corresponding layers based on the first container transferring instruction;

and transferring the containers at the first preset area corresponding to the inner conveying track at different layers to the same outer conveying track.

controlling the first container transfer mechanism to lift the plurality of containers from the robot and transfer the containers to the container conveying mechanism on different layers based on the first container transfer instruction;

controlling each layer of the container conveying mechanism to drive the containers to a first preset area corresponding to the layer of the container conveying mechanism; the projections of the first preset areas corresponding to the container conveying mechanisms on different layers on the horizontal plane are not overlapped;

respectively controlling the second container transfer mechanism corresponding to each layer of container conveying mechanism to hook the containers from the container conveying mechanism to the lifting mechanism corresponding to the second container transfer mechanism; the projections of different second container transfer mechanisms on the horizontal plane are not overlapped;

and respectively controlling the lifting mechanisms to transfer the containers to the same external conveying track.

In an alternative embodiment, the first container transfer mechanism includes a plurality of first jacking forks; the first jacking fork is a comb-shaped mechanism; the container conveying mechanism is a comb-shaped mechanism; the comb mechanism comprises comb teeth; the projections of the comb teeth of the temporary storage mechanism and the comb teeth of the first jacking fork on the horizontal plane are not overlapped; the comb teeth of the first jacking fork and the comb teeth of the container conveying mechanism are not overlapped in projection on the horizontal plane.

In an alternative embodiment, the first container transfer mechanism includes a first drive unit, a first track assembly; the first driving unit is connected with the first guide rail assembly; the plurality of first jacking forks are slidably assembled on the first guide rail assembly; each layer of the container conveying mechanism is correspondingly matched with one first jacking fork;

the controlling the first container transfer mechanism to lift the plurality of containers from the robot and transfer the containers to the container transport mechanisms at different levels includes:

controlling the first driving unit to drive the first guide rail assembly to rotate and drive the first jacking fork to move along the vertical direction so as to lift the containers on the temporary storage mechanisms on different layers of the robot;

controlling the first driving unit to drive the first guide rail assembly to rotate and drive the first jacking fork to move to a first initial position along the vertical direction so as to transfer the containers to the container conveying mechanisms on different layers; the height of the first initial position of the first jacking fork is lower than the height of the surface of the container conveying mechanism for placing the container on the corresponding layer.

In an alternative embodiment, the container transport mechanism includes an internal transport track and a transport track drive unit; the container transfer device comprises at least one limiting block;

the every layer of control packing box conveying mechanism drives the packing box to the first preset area that this layer of packing box conveying mechanism corresponds, includes:

and controlling the conveying track driving unit on each layer to drive the internal conveying track and driving the containers to reach the first preset area of the container limited by the limiting block on the corresponding layer.

In an alternative embodiment, the second container transfer mechanism includes a first tie rod driving unit, a first tie rod mechanism and a first shifting block; the second container transfer mechanism is fixedly assembled on the corresponding lifting mechanism; the first shifting block is arranged at one end of the first pull rod mechanism; the first pull rod driving unit is arranged at the other end of the first pull rod mechanism;

the controlling the second container transfer mechanism corresponding to each layer of container conveying mechanism respectively to hook the container from the container conveying mechanism to the lifting mechanism corresponding to the second container transfer mechanism includes:

and respectively controlling the first pull rod driving unit corresponding to each layer of the container conveying mechanism to drive the first pull rod mechanism, and hooking the container to the lifting mechanism corresponding to the second container transfer mechanism by using a first shifting block.

the second jacking fork is a comb-shaped mechanism; the comb teeth of the second jacking fork are not overlapped with the projection of the comb teeth of the container conveying mechanism on the horizontal plane;

the separately controlling the lifting mechanisms to transfer the containers onto the same external transport track includes:

and respectively controlling the second driving unit to drive the second guide rail assembly to rotate and drive the second jacking fork to move along the vertical direction, so that the containers are transferred to the same external conveying track.

In an alternative embodiment, the container transfer device comprises at least one first container transfer mechanism, a multi-layer container conveying mechanism, a second container transfer mechanism corresponding to each layer of the container conveying mechanism, a lifting mechanism corresponding to each second container transfer mechanism, and a third container transfer mechanism;

controlling the first container transfer mechanism to transfer other containers of the robot except the container on the bottom temporary storage mechanism to the container conveying mechanism on the corresponding layer based on the first container transfer instruction;

controlling each layer of the container conveying mechanism to drive the containers to a first preset area corresponding to the layer of the container conveying mechanism;

respectively controlling the second container transfer mechanism corresponding to each layer of container conveying mechanism to hook the containers from the container conveying mechanism to the lifting mechanism corresponding to the second container transfer mechanism;

respectively controlling the lifting mechanisms to transfer the containers to the same external conveying track;

and controlling the third container transfer mechanism to transfer the container on the bottommost temporary storage mechanism of the robot to the external conveying track.

In an alternative embodiment, the third container transfer mechanism includes a jacking mechanism; the jacking mechanism is a comb-shaped mechanism; the external conveying track is a comb-shaped mechanism; the comb mechanism comprises comb teeth;

In an alternative embodiment, the transferring of multiple containers on the same outer transport track to different level buffer means of the robot comprises:

based on the second container transfer instruction, respectively controlling each lifting mechanism to lift the container to a position with the same height of the first preset area corresponding to the second container transfer mechanism corresponding to the lifting mechanism;

respectively controlling the second container transfer mechanism corresponding to each lifting mechanism to transfer the containers to a first preset area corresponding to the second container transfer mechanism;

controlling the container conveying mechanism of the corresponding layer to transfer the containers to the container butt joint position of the layer;

controlling the first container transfer mechanism to transfer a container on the container transport mechanism to a different level of the robot staging mechanism.

controlling the first container transfer mechanism to transfer the containers on the container conveying mechanism to the temporary storage mechanisms on different layers of the robot except for the temporary storage mechanism on the bottommost layer;

and controlling the third container transfer mechanism to transfer the container on the target area of the external conveying track to the lowest temporary storage mechanism of the robot.

controlling each layer of the container conveying mechanism to drive the containers to be transferred to a first preset area corresponding to the layer of the container conveying mechanism;

and controlling the lifting mechanism to transfer the container to the same external conveying track.

A container transfer system provided by an embodiment of the present disclosure includes at least one robot and at least one container transfer device; the robot is provided with a plurality of layers of temporary storage mechanisms, and the temporary storage mechanisms are used for temporarily storing the containers; the container transfer device comprises an external conveying track; the robot is configured to move to a cargo box docking position; the container transfer device is configured to transfer a plurality of containers on different layers of temporary storage mechanisms of the robot, which are moved to the container butt joint position, onto the same external conveying track; or, transfer a plurality of packing boxes on the same outside delivery track to on the different layers of temporary storage mechanism of robot, with the utilization robot among the prior art with the packing box transfer to same outside delivery track from different layers of temporary storage mechanism one by one, it utilizes packing box transfer device can follow the different layers of temporary storage mechanism of robot and shift a plurality of packing boxes last time, perhaps, once place a plurality of packing boxes for the robot, in the scene to a plurality of packing boxes of robot access, can improve packing box transfer efficiency, and then improve the handling efficiency of robot in packing box access flow.

In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly described below, and the drawings herein incorporated in and forming a part of the specification illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the technical solutions of the present disclosure. It is appreciated that the following drawings depict only certain embodiments of the disclosure and are therefore not to be considered limiting of its scope, for those skilled in the art will be able to derive additional related drawings therefrom without the benefit of the inventive faculty.

Fig. 1 illustrates a schematic view of a container transfer system provided by an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of the robot and the container transfer device when the robot and the container transfer device are docked according to the embodiment of the disclosure;

fig. 3 shows a schematic structural diagram of a robot provided by an embodiment of the present disclosure;

fig. 4 shows a schematic structural view of a first container transfer mechanism provided by an embodiment of the disclosure;

FIG. 5 is a flow chart illustrating the transfer of a container from a staging mechanism of a robot to a first lift fork provided by an embodiment of the present disclosure;

fig. 6 shows a schematic structural view of a container conveying mechanism provided by an embodiment of the disclosure;

fig. 7 illustrates a schematic structural view of a second container transfer mechanism provided by an embodiment of the present disclosure;

fig. 8 shows a schematic structural diagram of a lifting mechanism provided by an embodiment of the present disclosure;

fig. 9 shows a schematic structural view of a third container transfer mechanism provided by an embodiment of the disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, not all of the embodiments. The components of the embodiments of the present disclosure, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure, presented in the figures, is not intended to limit the scope of the claimed disclosure, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without making creative efforts, shall fall within the protection scope of the disclosure.

Furthermore, the terms "first," "second," and the like in the description and in the claims, and in the drawings described above, in the embodiments of the present disclosure are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein.

Reference herein to "a plurality or a number" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.

Research shows that the robot can carry a plurality of containers at one time and place the containers on the multilayer temporary storage positions of the robot respectively. When the robot arrives the destination and realizes that the packing box shifts, need utilize the robot to take out the packing box from different temporary storage mechanisms one by one, put to the destination point (for example transfer chain (delivery track) or mutual goods position etc.), lead to the robot can't drop into the packing box access flow high-efficiently, and then cause the waste of robot's mobility, in order to realize high-efficient transport goods, need drop into more robots, but can increase the individual input cost of robot.

Based on the research, the present disclosure provides a cargo box transfer system, a cargo box transfer method, a cargo box transfer device and a robot, which can transfer multiple cargo boxes at one time from different layers of temporary storage mechanisms of the robot by using the cargo box transfer device, or place multiple cargo boxes for the robot at one time, and can improve cargo box transfer efficiency in a scene of storing and taking multiple cargo boxes for the robot, thereby improving the carrying efficiency of the robot in a cargo box storing and taking process.

The above-mentioned drawbacks are the results of the inventor after practical and careful study, and therefore, the discovery process of the above-mentioned problems and the solutions proposed by the present disclosure to the above-mentioned problems should be the contribution of the inventor in the process of the present disclosure.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

To facilitate understanding of the present embodiment, an application scenario of the container transfer system disclosed in the embodiments of the present disclosure is first described, and the container transfer system provided in the embodiments of the present disclosure may be applied to a docking process of the robot 11 and the container transfer device 12. As shown in fig. 1, the robot 12 may illustratively be a robot capable of effecting the handling of multiple containers at once.

In a warehouse logistics scenario, in one possible implementation, the cloud server 13 may issue a movement control instruction for the robot 11, where the movement control instruction may be an instruction for controlling the robot 11 to put goods; alternatively, the instruction may be an instruction for controlling the robot 11 to pick up the goods. For example, in a cargo picking scenario, the cloud server 13 may control the robot to move to a container docking position of the container transfer device 12, at this time, the multiple containers on the robot store the cargo to be picked, the container transfer device may transfer the multiple cargo out to wait for picking, at this time, the robot may leave the container docking position to wait for a next instruction sent by the cloud server. For another example, in a cargo warehousing scene, when the cargo box has been transferred to a position waiting for the robot to receive by the cargo box transfer device, the cloud server may control the robot to move to the cargo docking position to pick up the cargo.

Here, the cloud server 13 stores an order pool of warehouse goods, and a robot is called to select goods according to information to be selected of the goods in the order pool; or calling the robot to realize warehousing of the goods according to the information to be warehoused of the goods in the order pond.

In another possible embodiment, the docking process between the robot 11 and the container transferring device 12 can also be completed by using the internal controller of the robot body, so as to realize efficient transportation in the cargo storing and taking process.

Embodiments of the present disclosure provide a container transfer system that includes at least one robot and at least one container transfer device. As can be seen in fig. 2, which is a schematic structural diagram of the robot and the container transfer device when the robot is docked with the container transfer device, the robot and the container transfer device include a robot 11, a container transfer device 12 and a container 23; the container transfer device 12 may include at least one first container transfer mechanism 221, a multi-tier container transfer mechanism 222, a second container transfer mechanism 223 corresponding to each tier of container transfer mechanisms, a lift mechanism 224 corresponding to each second container transfer mechanism, external transport rails 225, a third container transfer mechanism (the third container transfer mechanism includes a lift mechanism 2261 and a tie bar transfer mechanism 2262), and a controller.

Here, the container transfer device 12 may be docked with a plurality of robots 11 simultaneously. For example, the container transfer device 12 may be docked with two robots 11 simultaneously, wherein different first container transfer mechanisms 221 are controlled to transfer containers from different robots 11. For example, a plurality of containers on the robot a are transferred by the first container transfer mechanism a ', and a plurality of containers on the robot B are transferred by the first container transfer mechanism B', and at this time, the first container transfer mechanism a 'and the first container transfer mechanism B' may be respectively disposed at both ends of the container transfer device 12 in the direction in which the containers are conveyed by the multi-layer container conveying mechanism 222, so that the robot a and the robot B may be docked to different container docking positions of the container transfer device 12.

In some embodiments, a plurality of first container transfer mechanisms 221 may be further disposed at two ends of the direction in which the container conveying mechanism 222 conveys the containers. The specific setting manner may be arranged according to an application scenario, and is not specifically limited herein. The number of layers of the box conveying mechanisms 222 in the box transfer device 12 may be arranged according to a specific application, and is not particularly limited.

Reference can be made to fig. 3, which is a schematic structural diagram of the robot. The robot 11 comprises a robot body 211, a gantry 212 and a multi-layer temporary storage mechanism 213; the gantry 212 is mounted on the robot body 211; a multi-deck buffer mechanism 213 is mounted to one side of the gantry 212, and the buffer mechanism 213 may be used to buffer containers.

The robot 11 is configured to move to the cargo box docking position. Here, the container docking position includes a projection position of the temporary storage mechanism on the ground when the robot 11 is docked with the container transfer device 12; alternatively, the position of each layer of the temporary storage mechanism in the space.

The container transfer device 12 is configured to transfer a plurality of containers on different levels of the buffer mechanism of the robot, which are moved to the container docking station, onto the same external conveying track; or, a plurality of containers on the same external conveying track are transferred to different layers of temporary storage mechanisms of the robot.

The following detailed description is made on the butt joint of the robot and the container transfer device in the cargo picking scene to realize the transfer of the container:

the container transfer device 12 is configured to transfer a plurality of containers on different layers of temporary storage mechanisms of the robot to a first preset area corresponding to the conveying track in the corresponding layer; the container transfer device 12 is configured to transfer containers at a first predetermined area corresponding to the inner transport rails of different levels to the same outer transport rail. Here, the container transfer device includes a multi-layer internal conveying track. Here, the size of the first predetermined area may be a bottom surface size of the cargo box.

The controller may be configured to control the first container transfer mechanism to lift the plurality of containers from the robot and transfer onto the different levels of container transport mechanisms in response to the first container transfer instructions; controlling each layer of container conveying mechanism to drive the containers to a first preset area corresponding to the layer of container conveying mechanism; respectively controlling a second container transfer mechanism corresponding to each layer of container conveying mechanism, and hooking the containers from the container conveying mechanisms to lifting mechanisms corresponding to the second container transfer mechanisms; and respectively controlling the lifting mechanisms to transfer the containers to the same external conveying track.

Here, the first container transfer instruction may be a container transfer instruction sent to the controller when the robot reaches the container docking station; alternatively, the first sensor assembly can detect that the robot is in the container docking position and send a container transfer instruction to the controller; or, the container transfer instruction may also be issued by the cloud server. The first container transfer instruction may select a suitable sending subject according to a specific application scenario, which is not limited in the embodiment of the present disclosure. Various substitutions and modifications may be made by those skilled in the art without departing from the scope of the present disclosure, and these substitutions and modifications are intended to fall within the scope of the present disclosure.

Based on the control flow of the controller, detailed implementation processes of the mechanisms are described in detail below.

In one embodiment, the first container transfer mechanism 221 may be configured to lift a plurality of containers from the robot 11 and transfer to the container transport mechanism 222. Reference is now made to fig. 4, which is a schematic illustration of the first container transfer mechanism. The first container transfer mechanism 221 includes a plurality of first lift forks 2211, a first drive unit 2212 and a first rail assembly 2213; the first drive unit 2212 is connected to the first rail assembly 2213; a plurality of first jacking prongs 2211 are slidably mounted on the first rail assembly 2213 by support brackets.

It should be noted that the temporary storage mechanism 213 may be a comb mechanism; the first lifting fork 2211 may be a comb mechanism; the container transport mechanism 222 may be a comb mechanism, i.e., the internal transport tracks 2221 (shown in fig. 6) on the container transport mechanism 222 described below are comb mechanisms; the comb mechanism comprises comb teeth; the comb teeth of the temporary storage mechanism 213 and the projection of the comb teeth of the first jacking fork 2211 on the horizontal plane do not overlap; the comb teeth of the first jacking fork 2211 do not overlap with the projections of the comb teeth of the inner conveying track 2221 on the horizontal plane. Exemplarily, inside transfer rail's broach can be a plurality of cylinder, and when first jacking fork was used for shifting the packing box, the broach of first jacking fork can pass the gap between a plurality of cylinder of inside transfer rail, can also pass the gap between the broach of this first jacking fork corresponding layer temporary storage mechanism simultaneously. Specifically, the positional relationship among the temporary storage mechanism, the first lifting fork and the internal conveying track can be seen in fig. 5, which is a structural diagram of a process of transferring a container from the temporary storage mechanism of the robot to the first lifting fork, where a represents that the first lifting fork is at a first initial position, b represents that the first lifting fork leaves from a gap of the internal conveying track and passes through a gap between comb teeth of the temporary storage mechanism, and c represents that the first lifting fork lifts the container.

In specific implementation, the first driving unit 2212 may be used to drive the first guide rail assembly 2213 to rotate according to a preset direction (for example, clockwise or counterclockwise), and the first guide rail assembly 2213 may rotate according to the preset direction to drive the first lifting fork 2211 to move to the position of the butt joint of the cargo box along the vertical direction, at this time, because the comb teeth of the first jacking fork can penetrate through the gaps among the rollers of the internal conveying track and can also penetrate through the gaps among the comb teeth of the temporary storage mechanism on the corresponding layer of the first jacking fork, the container can be lifted up from the temporary storage mechanism, after the robot 11 exits from the container butt joint position, the first driving unit 2212 is used for reversely driving the first guide rail assembly 2213 to rotate in a preset reverse direction, the first guide rail assembly 2213 rotates in the preset reverse direction to drive the first jacking fork 2211 to move to a first initial position in the vertical direction, and the container can be transferred to the container conveying mechanisms 222 on different layers.

In one embodiment, the container transport mechanism 222 may be configured to transfer a container to a corresponding first predetermined area. Here, in order to prevent the processes of moving the containers to the external conveying tracks from conflicting with each other, the first preset areas distributed in a staggered manner are provided, that is, the projections of the first preset areas corresponding to the container conveying mechanisms of different layers on the horizontal plane do not overlap. As can be seen in fig. 6, which is a schematic structural view of the container conveying mechanism, wherein the container conveying mechanism 222 includes an internal conveying track 2221, and the container transferring device 12 further includes at least one limit block 227 and a sensor 228 corresponding to each second container transferring mechanism (the limit block 227-1 corresponds to the sensor 228-1, and the limit block 227-2 corresponds to the sensor 228-2); at least one limiting block may be correspondingly disposed on each layer internal conveying track 2221. Specifically, the inner conveying track is a comb mechanism; the comb mechanism includes comb teeth. Illustratively, the comb teeth of the inner conveying track can be a plurality of rollers, and the limiting blocks can be arranged between the comb teeth gaps of the inner conveying track, such as the gaps of the plurality of rollers shown in fig. 6.

Here, the length of the inner conveying track is adjustable. Specifically, according to a specific application scenario, in order to set a plurality of layers of internal conveying tracks and enable projections of first preset areas on the internal conveying tracks of different layers on a horizontal plane not to overlap, the length of the internal conveying tracks can be adjusted.

The stop block 227 may be configured to define the container at a first predetermined area on the internal conveying track corresponding to the stop block; the projections of the first preset areas corresponding to the limiting blocks on the container conveying mechanisms on different layers on the horizontal plane are not overlapped. Here, the height of the second initial position of the limiting block is lower than the height of the surface, used for placing the container, of the internal conveying track of the corresponding layer, so that the second initial position of the limiting block is set, when the limiting block is located at the second initial position, the container is not influenced to move on the internal conveying track of the corresponding layer of the limiting block, when the limiting block moves upwards and leaves the second initial position, the container can be limited to be located in a first preset area, and the container is waited for subsequent transfer.

The first preset area can limit the position of the container for the limit block, and projections of the first preset areas corresponding to the limit blocks on the container conveying mechanisms on different layers on the horizontal plane are not overlapped, so that the first preset areas can be distributed on the conveying tracks in different layers in a staggered manner, and particularly, refer to fig. 6.

The sensor 228 is configured to detect whether the container has reached a first predetermined area. Here, the sensor 228 may be fixedly mounted to the container conveying mechanism 222 corresponding to the stop block 227. Thereafter, the stop block 227 is configured to be raised to a predetermined height after the sensor detects that the container has reached the first predetermined area, so as to define the container on the internal conveying track at the first predetermined area corresponding to the stop block.

When the container conveying device is specifically implemented, the driving unit of the inner conveying track can be utilized to drive the rollers to rotate, the containers placed on the surface of the inner conveying track are transferred along the conveying direction, at the moment, after the sensor detects that the containers reach a first preset area, the container can be lifted to a preset height by utilizing the limiting block, and the containers on the inner conveying track of the container are limited at the first preset area corresponding to the limiting block.

In one embodiment, the second container transfer mechanism 223 may be configured to hook a container from the corresponding level of container transport mechanisms to the corresponding lift mechanism. Reference is now made to fig. 7, which is a schematic illustration of the second container transfer mechanism. The second container transfer mechanism 223 includes a first tie bar mechanism 2231, a first pusher 2232, and a first tie bar drive unit 2233; one end of the second container transfer mechanism 223 is fixedly assembled on the corresponding lifting mechanism 224, and the other end is fixedly assembled on the container conveying mechanism 222 on the upper layer of the corresponding container conveying mechanism 222; a first toggle block 2232 is installed at one end of the first link mechanism 2231; a first drawbar drive unit 2233 is installed at the other end of the first drawbar mechanism 2231.

The first link driving unit 2233 is configured to drive the first link mechanism to extend and retract.

The first tie rod mechanism 2231 is configured to drive the first shifting block to hook the container to the corresponding lifting mechanism under the driving of the first tie rod driving unit.

Here, the first tie rod mechanism 2231 includes a first tie rod 2231-1 and a belt 2231-2, and in practical implementation, the first tie rod driving unit may be used to drive the belt to drive the first tie rod to retract, and the retraction of the first tie rod may drive the first shifting block to hook the container onto the corresponding lifting mechanism, and when the container is already on the lifting mechanism, the first tie rod driving unit may be used to drive the belt to drive the first tie rod to extend out, return to the initial position, and wait for the transfer of the next container.

In one embodiment, the lift mechanism 224 is configured to transfer multiple containers onto the same external transport track. Reference can be made to fig. 8, which is a schematic structural diagram of the lifting mechanism. The lifting mechanism 224 includes a second driving unit 2241, a second guide rail assembly 2242, and a second lifting fork 2243; the second driving unit 2241 is connected with the second guide rail group 2242; second lift-up fork 2243 is slidably mounted on second guide rail assembly 2242. Second lift-up fork 2243 may be a comb mechanism, which includes comb teeth. The comb teeth of the second jacking fork are not overlapped with the projections of the comb teeth of the external conveying track on the horizontal plane. For example, the comb teeth of the external conveying rail may be a plurality of rollers, and when the second lifting fork is used for transferring a container, the comb teeth of the second lifting fork may penetrate through a gap between the plurality of rollers of the external conveying rail.

The second driving unit 2241 is configured to drive the second rail assembly to rotate.

The second guide rail assembly 2242 is configured to drive the second jacking fork to move in the vertical direction under the driving of the second driving unit, so as to transfer the container on the lifting mechanism to the external conveying rail.

When the container is specifically implemented, the container is received at the second jacking fork of the lifting mechanism, then the second driving unit can be utilized to drive the second guide rail assembly, the second guide rail assembly drives the second jacking fork to move to the position of the external conveying track along the vertical direction, at the moment, because the comb teeth of the second jacking fork can penetrate through the gaps among a plurality of rollers of the external conveying track, the container temporarily existing on the second jacking fork can be placed on the external conveying track, after the container is transferred by the external conveying track, the second driving unit is utilized to drive the second guide rail assembly, the second jacking fork is driven to move back to the initial position of the second jacking fork along the vertical direction, and the next container is waited for transferring.

In one possible embodiment, the container transfer device may further comprise a third container transfer mechanism. Specifically, the remaining containers of the robot except the container on the bottom temporary storage mechanism can be transferred by using at least one first container transfer mechanism, a plurality of layers of container conveying mechanisms, a second container transfer mechanism corresponding to each layer of container conveying mechanism and a lifting mechanism corresponding to each second container transfer mechanism in the container transfer device. And aiming at the containers on the temporary storage mechanism at the bottommost layer of the robot, the containers can be transferred by utilizing a third container transfer mechanism. Here, the container on the temporary storage mechanism at the bottommost layer of the robot is directly transferred to the external conveying track by the third container transfer mechanism, so that the first container transfer mechanism, the container conveying mechanism, the second container transfer mechanism and the lifting mechanism corresponding to the bottommost layer of the robot are not needed, and certain structural material cost can be saved.

The first container transfer mechanism is configured to transfer the other containers except the container on the bottom temporary storage mechanism of the robot to the container conveying mechanism of the corresponding layer; the container conveying mechanism is configured to convey the container to a first preset area corresponding to the container conveying mechanism; the projections of first preset areas corresponding to the container conveying mechanisms on different layers on the horizontal plane are not overlapped; the second container transfer mechanism is configured to hook the containers at the corresponding first preset area on the container conveying mechanism of the corresponding layer onto the corresponding lifting mechanism; the projections of different second container transfer mechanisms on the horizontal plane are not overlapped; the lifting mechanism is configured to transfer the containers onto the same external conveying track; the third container transfer mechanism is configured to transfer a container on the robot bottommost buffer mechanism to the external transport track.

The controller is configured to respond to the first container transfer instruction and control the first container transfer mechanism to transfer other containers except the container on the bottommost temporary storage mechanism of the robot to the container conveying mechanism of the corresponding layer; controlling each layer of container conveying mechanism to drive the containers to a first preset area corresponding to the layer of container conveying mechanism; respectively controlling a second container transfer mechanism corresponding to each layer of container conveying mechanism, and hooking the containers from the container conveying mechanisms to lifting mechanisms corresponding to the second container transfer mechanisms; respectively controlling the lifting mechanisms to transfer the containers to the same external conveying track; and controlling the third container transfer mechanism to transfer the container on the bottommost temporary storage mechanism of the robot to the external conveying track.

In some embodiments, the third container transfer mechanism may be configured to transfer a container on the robot bottommost buffer mechanism to the external transport track. Reference is now made to fig. 9, which is a schematic illustration of a third container transfer mechanism, which includes a jacking mechanism 2261 and a tie bar transfer mechanism 2262.

It should be noted that the jacking mechanism 2261 may be a comb mechanism. The projections of the comb teeth of the temporary storage mechanism 213 and those of the jacking mechanism 2261 on the horizontal plane do not overlap; the comb teeth of the jacking mechanism 2261 do not overlap with the projections of the comb teeth of the outer conveying track 225 on the horizontal plane. Therefore, when the jacking mechanism 2261 is lifted, the container temporarily stored on the lowermost temporary storage mechanism 213 by the robot 11 can be lifted by passing through the outer conveying rail 225 and the temporary storage mechanism 213 through the gap between the comb teeth of the outer conveying rail 225 and the temporary storage mechanism 213. After the tie bar transfer mechanism 2262 transfers the container on the jacking mechanism 2261 to the second predetermined area, the jacking mechanism 2261 is retracted to the third initial position to transfer the container at the second predetermined area to the outer transport track 225. Here, the second preset area may be a position where the jacking mechanism is located right above the outer conveying rail. For example, whether a container exists in the second preset area may be detected by a sensor, and in the case that a container exists in the second preset area, a signal indicating that a container exists in the second preset area is sent to the controller, and the controller may control the jacking mechanism to perform an action of returning to the third initial position according to the signal. Here, the size of the second predetermined area may be a bottom surface size of the cargo box.

In some embodiments, the tie bar transfer mechanism 2262 may be configured to transfer a container on the jacking mechanism to a second predetermined area of the jacking mechanism.

As shown in fig. 9, the lever transferring mechanism 2262 includes a second lever mechanism 2262-1, a second shifting block 2262-2, and a second lever driving unit 2262-3. A second shifting block 2262-2 is arranged at one end of a second pull rod mechanism 2262-1; a second lever drive unit 2262-3 is installed at the other end of the second lever mechanism 2262-1.

The second link driving unit 2262-3 may be configured to drive the second link mechanism to extend and retract.

The second pull rod mechanism 2262-1 may be configured to drive the second shifting block to hook the container to a second preset area of the jacking mechanism under the driving of the second pull rod driving unit.

Here, the specific structure and the operation principle of the tie rod transfer mechanism may refer to the second container transfer mechanism described above, and are not described in detail herein.

In some embodiments, the container transfer apparatus may further comprise a fourth container transfer mechanism, which may be configured to transfer a container from the robotic bottom buffer onto the external transport track.

The fourth container transfer mechanism may include a third tie bar mechanism, a third paddle, a third tie bar drive unit, and a third paddle drive unit. The third shifting block is arranged at one end of the third pull rod mechanism; the third pull rod driving unit is installed at the other end of the third pull rod mechanism.

The third shifting block driving unit can be configured to drive the third shifting block to rotate from the initial horizontal position to the vertical position so as to hook the container.

The third link driving unit may be configured to drive the third link mechanism to extend and contract.

The third pull rod mechanism can be configured to drive the third shifting block to hook the container on the bottom temporary storage mechanism onto the external conveying track under the driving of the third pull rod driving unit.

In a possible embodiment, at least one lifting mechanism may be provided in the container transfer device, and the lifting mechanism may not correspond to the second container transfer mechanism one by one, that is, the lifting mechanism is used to transfer the containers on the multi-layer internal conveying track to the external conveying track. In a specific implementation, the container transfer device may include a lifting mechanism, and at this time, the position where the container conveyed on the conveying rails in different layers is limited may be selected arbitrarily, wherein the position where the container on each conveying rail in different layers is limited is provided with a second container transfer mechanism correspondingly. The lifting mechanism can move in a two-dimensional scene coordinate to acquire containers on the internal conveying tracks of different layers and transfer the containers to the external conveying tracks. Specifically, the first container transfer mechanism is configured to lift a plurality of containers from the robot and transfer the containers to the container conveying mechanism on different layers; the container conveying mechanism is configured to convey the container to a first preset area corresponding to the container conveying mechanism; the second container transfer mechanism is configured to hook the containers at the corresponding first preset area on the container conveying mechanism of the corresponding layer onto the lifting mechanism; the lift mechanism is configured to transfer the containers onto the same external transport track.

In conclusion, the container transfer device can transfer a plurality of containers from different layers of temporary storage mechanisms of the robot at the last time, the container transfer efficiency can be improved in a scene that the robot accesses the containers in a cargo picking scene, and the carrying efficiency of the robot in the container access flow is further improved.

The following detailed description is made on the butt joint of the robot and the container transfer device in the cargo warehousing scene to realize the transfer of the container:

in one possible embodiment, the container transfer device 12 may be configured to lift and transfer containers on different levels of container transport mechanisms to the staging mechanism of the robot.

The robot 11 may be configured to move to a container docking station to receive a container after the first container transfer mechanism lifts a container on a different level of the container transport mechanism.

Specifically, the controller may be configured to, in response to a second container transfer instruction, respectively control each lifting mechanism to lift the container to a height that is the same as the height of the first preset area corresponding to the second container transfer mechanism corresponding to the lifting mechanism, respectively control the second container transfer mechanism corresponding to each lifting mechanism, and transfer the container to the first preset area corresponding to the second container transfer mechanism; controlling the container conveying mechanism of the corresponding layer to transfer the containers to the container butt joint position of the layer; and controlling the first container transfer mechanism to transfer the containers on the container conveying mechanism to the different-layer temporary storage mechanism of the robot.

In specific implementation, the controller may be configured to, in response to the second container transfer instruction, respectively control each second driving unit to drive the corresponding second guide rail assembly of the second driving unit, and drive each second jacking fork to lift the container to a height that is the same as the height of the first preset area corresponding to the second container transfer mechanism corresponding to each lifting mechanism; then, respectively controlling a first pull rod driving unit in a second container transfer mechanism corresponding to each lifting mechanism to drive a first pull rod mechanism to stretch, and driving a first shifting block to hook containers on different second jacking forks onto an internal conveying track in a container conveying mechanism of a layer corresponding to each second container transfer mechanism; then, respectively controlling a driving unit of an internal conveying track in the container conveying mechanism to drive a roller poly-wedge belt to drive a plurality of rollers to rotate, and transferring a plurality of containers on different internal conveying tracks to container butt joint positions corresponding to the internal conveying tracks; and then, controlling a first driving unit in the first container transfer mechanism to drive the first guide rail assembly, driving the plurality of first jacking forks to lift the containers positioned in the container butt joint positions, waiting for the robot to move to the container butt joint positions, and controlling a first driving unit in the first container transfer mechanism to drive the first guide rail assembly, driving the plurality of first jacking forks to return to the first initial position so as to place the plurality of containers on different layers of temporary storage mechanisms of the robot respectively.

The controller is configured to control the third container transfer mechanism to transfer a container on the external transport track to the robot bottommost staging mechanism in response to the second container transfer instruction.

In specific implementation, the controller is configured to, in response to the second container transfer instruction, when the jacking mechanism 2261 is lifted, pass through the external conveying rail 225 and the temporary storage mechanism 213 by using a gap between comb teeth of the external conveying rail 225 and the temporary storage mechanism 213, so as to lift a container in a target area on the external conveying rail to a second preset area; when the robot reaches the container docking station, the control lever transferring mechanism 2262 hooks the container in the second predetermined area of the jacking mechanism 2261 to the temporary storage mechanism at the bottom of the robot 11.

In a possible embodiment, a multi-layer external conveying mechanism can be further provided, and a third container transfer mechanism corresponding to the multi-layer external conveying mechanism is also provided.

Here, the second container transfer instruction may be a container transfer instruction generated when the container reaches a third preset area corresponding to the external conveying track; or, when the second sensor assembly (the second sensor assembly may be the first sensor assembly) detects that the container exists in the third preset area, the container transfer instruction is sent to the controller; or, the container transfer instruction may also be issued by the cloud server. Here, the third preset region may be a preset region disposed on the outer conveying rail. The second container transfer instruction may select a suitable sending subject according to a specific application scenario, which is not limited in the embodiment of the present disclosure. Various substitutions and modifications may be made by those skilled in the art without departing from the scope of the present disclosure, and these substitutions and modifications are intended to fall within the scope of the present disclosure.

Here, the first sensor assembly and the second sensor assembly may be sensor assemblies capable of measuring distance, such as a vision sensor or a depth sensor, and the like, and a specific sensor type is not particularly limited herein.

In a further possible embodiment, the container transfer device can comprise a third container transfer device, with which containers on the external conveyor track can be transferred to the robot respective layer buffer. The implementation process may refer to an implementation process in which the controller controls the third container transfer mechanism in the cargo warehousing scene, and details are not repeated herein.

In a further possible embodiment, the container transfer device may comprise a first container transfer mechanism, a container transport mechanism, a second container transfer mechanism and a lifting mechanism, with which containers on the external transport path can be transferred to the robot respective layer buffer. The implementation process may refer to the implementation process in which the controller controls the first container transfer mechanism, the container conveying mechanism, the second container transfer mechanism, and the lifting mechanism in the cargo warehousing scene, and is not described herein again.

In conclusion, the container transfer device can transfer a plurality of containers from the outside at a time and place the containers on different layers of temporary storage mechanisms of the robot, so that the container transfer efficiency can be improved in a scene that the robot accesses the containers in a cargo picking scene, and the carrying efficiency of the robot in the container access process can be improved.

Based on the concept of the system, the disclosed embodiment also provides a container transfer device, which can be considered as including the container transfer device 12 in the above embodiment. The structure of the container transfer device can be seen in fig. 2 to 9, and repeated descriptions are omitted here.

Based on the concept of the system, the embodiment of the present disclosure further provides a robot, which may be considered as including the robot in the above embodiment. The structure of the robot may refer to the structure of the robot 11, and the work tasks performed by the robot may refer to the tasks performed by the robot 11, and repeated parts are not described herein again.

Based on the container transfer device in the container transfer system, the embodiment of the disclosure also provides a container transfer method, and the controller of the container transfer device is implemented as the main body of the container transfer method.

The container transfer device comprises an external conveying track; the robot is provided with a plurality of layers of temporary storage mechanisms, and the temporary storage mechanisms are used for temporarily storing containers;

The above description is only a preferred embodiment of the embodiments of the present disclosure, and these embodiments are based on different implementations of the overall concept of the embodiments of the present disclosure, and the scope of the embodiments of the present disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the embodiments of the present disclosure should be covered by the scope of the embodiments of the present disclosure.

Claims

1. A container transfer system, the system comprising at least one robot and at least one container transfer device; the robot is provided with a plurality of layers of temporary storage mechanisms, and the temporary storage mechanisms are used for temporarily storing containers; the container transfer device comprises an external conveying track;

the robot is configured to move to a cargo box docking position;

2. The system of claim 1, wherein the container transfer device includes a multi-level internal conveyor track;

3. The system of claim 2, wherein the container transfer device includes at least a first container transfer mechanism, a multi-tier container transport mechanism, a second container transfer mechanism corresponding to each tier of the container transport mechanism, and a lifting mechanism corresponding to each second container transfer mechanism;

4. The system of claim 3, wherein the first container transfer mechanism includes a plurality of first jacking forks; the temporary storage mechanism is a comb-shaped mechanism; the first jacking fork is a comb-shaped mechanism; the container conveying mechanism is a comb-shaped mechanism; the comb mechanism comprises comb teeth;

5. The system of any one of claims 3 to 4, wherein the container transfer device further comprises at least one stop block; the container conveying mechanism comprises an internal conveying track;

6. The system of claim 5, wherein the inner conveyor track is a comb mechanism; the comb mechanism comprises comb teeth; the limiting blocks are arranged between the comb tooth gaps of the internal conveying tracks, and the height of the second initial position of each limiting block is lower than that of the surface, used for placing the container, of the corresponding layer of the internal conveying track.

7. The system of claim 2, wherein the container transfer device includes at least a first container transfer mechanism, a multi-tier container transfer mechanism, a second container transfer mechanism corresponding to each tier of the container transfer mechanism, a lift mechanism corresponding to each second container transfer mechanism, an external conveyor track, and a third container transfer mechanism;

8. A container transfer apparatus comprising a container transfer apparatus as claimed in any one of claims 1 to 7.

9. A robot, characterized in that it comprises a robot according to any of claims 1 to 7.

10. A container transfer method applied to the container transfer apparatus according to claim 8, comprising: the container transfer device comprises an external conveying track; the robot is provided with a plurality of layers of temporary storage mechanisms, and the temporary storage mechanisms are used for temporarily storing containers;