CN113247510A - Handling device and warehousing system - Google Patents

Abstract

The application provides a carrying device and a warehousing system, wherein the carrying device comprises a box taking robot and a lifter; the box taking robot can move at the top of the goods shelf, so that the material box in the goods shelf is taken at the top of the goods shelf and conveyed to the lifting machine, or the material box on the lifting machine is conveyed into the goods shelf; the lifting machine can be lifted along the vertical direction to convey the material boxes to the lower part of the lifting machine, at least two layers of material boxes can be stacked on the lifting machine, and when the box taking robot stacks the material boxes to the lifting machine, the material boxes on the lifting machine move downwards for a preset distance. The application provides a handling device and warehouse system can reduce and get case machine robot transportation material case and occupy long time, improves the efficiency of getting thing workbin and transportation material case.

Description

Handling device and warehousing system

Technical Field

The application relates to the field of intelligent warehouse logistics, in particular to a carrying device and a warehousing system.

Background

Intelligent warehousing is an important link in the logistics process. The application of intelligent warehousing ensures the speed and accuracy of data input in each link of goods warehouse management, ensures that enterprises can timely and accurately master real data of inventory, and reasonably keeps and controls the inventory of the enterprises.

The warehousing system can comprise a box taking robot which runs on the upper layer of the dense storage shelf and can be used for taking out the material boxes placed in the dense storage warehouse and transporting the taken out material boxes to the designated positions of the warehouse from the lower layer of the shelf.

However, the box taking robot takes a long time to transport the material box, and takes a long time to take the box and transport the material box to a specified position, resulting in low efficiency of taking the box and transporting the material box.

Disclosure of Invention

The application provides a handling device and warehouse system can solve prior art, gets the punch-out equipment robot and transports the material case and occupy the longer time, and is getting the case and transporting the material case assigned position and expend longer, leads to getting the case and transports the lower problem of efficiency of material case.

In a first aspect, the application provides a carrying device, which comprises a box taking robot and a lifter;

the box taking robot can move at the top of the goods shelf, so that the material box in the goods shelf is taken at the top of the goods shelf and conveyed to the lifting machine, or the material box on the lifting machine is conveyed into the goods shelf;

the lifting machine can be lifted along the vertical direction to convey the material boxes to the lower part of the lifting machine, at least two layers of material boxes can be stacked on the lifting machine, and when the box taking robot stacks the material boxes to the lifting machine, the material boxes on the lifting machine move downwards for a preset distance.

In a possible implementation manner, the carrying device provided by the application has the advantages that the material box on the lifting machine moves downwards for the preset distance to be the height of the material box, so that the top of the material box on the lifting machine is consistent with the top height of the goods shelf.

In a possible implementation manner, the carrying device provided by the application comprises a supporting frame, a lifting unit and a freight unit, wherein the freight unit is arranged on the supporting frame, the freight unit is connected to the lifting unit, the freight unit is used for bearing a material box, and the freight unit is driven by the lifting unit to lift along the supporting frame.

In a possible implementation manner, the carrying device provided by the application, the lifting machine further comprises a controller and a detection piece, the box taking robot, the lifting unit and the detection piece are electrically connected with the controller, the detection piece is used for detecting the height of the material box carried by the box taking robot, and the controller is used for controlling the lifting unit to drive the freight unit to move for a preset distance when the box taking robot places the material box on the freight unit.

In a possible implementation manner, the carrying device provided by the application has the detection piece which is a height sensor.

In a possible implementation manner, the carrying device provided by the application has the advantages that the detection piece is located at the top of the support frame, and the detection end of the detection piece faces the box taking robot.

In a possible implementation manner, the carrying device provided by the present application includes a base and at least two supporting columns located on the base, where each supporting column is respectively close to or located at two opposite sides of the base, and a cargo unit is located between each supporting column and is slidably connected to the supporting columns;

the lifting machine further comprises a limiting unit, the limiting unit is used for limiting the moving position of the material box on the freight unit, and the limiting unit is located on at least one of the freight unit and the supporting column.

In a possible implementation manner, the carrying device provided by the application, the limiting unit comprises a lifting frame, and the lifting frame can be arranged around the freight unit;

the lifting frame is connected to the supporting column and can be lifted relative to the supporting column; alternatively, the lifting frame is located on the cargo unit and can be lifted relative to the cargo unit.

In a possible implementation manner, the carrying device provided by the application comprises a lifting frame and a driving assembly, wherein the lifting frame comprises a frame body and the driving assembly is used for driving the frame body to lift, and the frame body is connected with a supporting column in a sliding manner;

alternatively, the lifting frame is a scissor lift unit attached to the cargo unit.

In a possible implementation manner, the carrying device provided by the application, the freight unit comprises a supporting seat and a conveying assembly arranged on the supporting seat, the material box is stacked on a conveying surface of the conveying assembly, and the conveying assembly rotates relative to the supporting seat to convey the material box.

In a possible implementation manner, the carrying device provided by the application has the advantages that the limiting unit comprises a plurality of telescopic assemblies, the telescopic assemblies are arranged on the supporting seat at intervals, and the telescopic assemblies can extend towards the upper part of the supporting seat so as to surround the periphery of the material box arranged on the freight unit or retract into the supporting seat.

In a second aspect, the application provides a storage system, including goods shelves and foretell handling device, the goods shelves include a plurality of storage posts of vertical setting and the track of setting at each storage post's top, get punch-out equipment robot along the track removal, have the multilayer material case along stacking in the vertical direction in the storage post.

In one possible implementation manner, the warehouse system provided by the application has at least two lifting machines of the carrying device, and each lifting machine is respectively positioned on different sides of the goods shelf.

In a possible implementation manner, the warehousing system provided by the application further comprises a carrying robot, and the carrying robot can take and place the material box on the lifting machine.

The application provides a handling device and warehouse system, handling device get the punch-out equipment robot and lifting machine including getting, get punch-out equipment robot and pile up two at least layers of thing workbin on the lifting machine in proper order. After the material case piles up the completion, the lifting machine goes up and down along vertical direction, in order to transport the material case to the lower part of lifting machine, at this moment, can transport the material case on the lifting machine to the assigned position through other haulage equipment, perhaps the lifting machine is portable to the assigned position, thereby transport the material case on the lifting machine to the assigned position, like this, get the punch-out equipment robot only need move at the top of goods shelves can, need not to get punch-out equipment robot and leave goods shelves, therefore, it takes long time to reduce to get punch-out equipment robot transportation material case, and get punch-out equipment robot and can pile up a plurality of material cases on the lifting machine, the lifting machine once transports the lower part of lifting machine with the material case whole above that is above that, the efficiency of getting the workbin and transporting the material case is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of a handling device according to an embodiment of the present disclosure;

fig. 2a to fig. 2d are usage state diagrams of the carrying device according to the embodiment of the present application;

fig. 3 is a first schematic structural diagram of a hoist in a handling device according to an embodiment of the present disclosure;

FIG. 4 is a top view of FIG. 3;

fig. 5 is a second schematic structural diagram of a hoist in the handling device according to the embodiment of the present disclosure;

FIG. 6 is a schematic structural view of the position limiting unit in FIG. 5;

fig. 7 is a first schematic structural diagram of a cargo unit in the handling device according to the embodiment of the present disclosure;

fig. 8 is a second schematic structural view of a cargo unit in the handling device according to the embodiment of the present disclosure;

FIG. 9 is a schematic view of the telescoping assembly of FIG. 8 in an extended position;

fig. 10 is a schematic structural diagram of a warehousing system provided by an embodiment of the present application;

fig. 11 is a schematic structural view of the box picker robot and the shelf in fig. 10.

Description of reference numerals:

100-box taking robot; 110-box taking robot body; 120-a telescopic gripping mechanism; 130-a moving mechanism;

200-a hoisting machine; 210-a support frame; 211-a base; 212-support column; 220-a cargo unit; 221-a support seat; 222-a transfer assembly; 230-a detection member; 240-a limit unit; 241-a lifting frame; 2411-a frame body; 242-a telescoping assembly;

300-a shelf; 310-a storage column; 320-track;

400-material box;

500-transfer robot.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the preferred embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are a subset of the embodiments in the present application and not all embodiments in the present application. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.

In the description of the present application, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., such that a first connection, a second connection, an indirect connection via an intermediary, a connection between two elements, or an interaction between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientation or positional relationships illustrated in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application.

The terms "first," "second," and "third" (if any) in the description and claims of this application and the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein.

Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or display that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or display.

The warehousing system can be including getting punch-out equipment robot and goods shelves, and the goods shelves can be including being the columnar storage area, and each storage area is vertical to be set up, and is rectangular array and arranges, adjacent storage area butt. Each storage area may stack a plurality of material bins in a vertical direction to form a dense storage rack. The top of each storage area can be called as a grid, and the material boxes in the same storage area are taken out by the box taking robot through the grids in sequence. The box taking robot runs on the upper layer of the dense storage shelf, and the box taking robot can be used for taking out the material boxes placed in the dense storage warehouse and taking down the shelves so as to transport the taken out material boxes to a specified position (such as a sorting area) of the warehouse. However, the box taking robot takes a long time to transport the material box, and takes a long time to take the box and transport the material box to a specified position, resulting in low efficiency of taking the box and transporting the material box.

Based on this, this application provides a handling device and warehouse system, can reduce and get that the punch-out equipment robot transports material case and occupy long time, improves the efficiency of getting the thing workbin and transporting material case.

Fig. 1 is a schematic structural diagram of a handling device according to an embodiment of the present disclosure; fig. 2a to fig. 2d are usage state diagrams of the conveying device according to the embodiment of the present application. Referring to fig. 1 and 2a to 2d, the present application provides a carrying device including a box extractor robot 100 and a hoist 200.

The box taking robot 100 may move on the top of the shelf 300 to take the material box 400 in the shelf 300 on the top of the shelf 300 and carry the material box 400 to the elevator 200, or carry the material box 400 on the elevator 200 into the shelf 300.

The lifter 200 may be vertically lifted to transport the material tank 400 to a lower portion of the lifter 200, at least two layers of the material tanks 400 may be stacked on the lifter 200, and when the box taking robot 100 stacks the material tank 400 on the lifter 200, the material tank 400 on the lifter 200 moves downward by a predetermined distance.

It should be noted that the box taking robot 100 in the embodiment of the present application may be applied to different fields of warehouse-out and goods taking of stock products in manufacturing factories, warehouse-out and goods taking of stock products in retail industries, express warehouse-out and goods taking of e-commerce logistics, and the related products or goods may be industrial parts, electronic accessories or products, medicines, clothing ornaments, foods, books, and the like.

In the present application, the box taking robot 100 is located at the top of the shelf 300, and the box taking robot 100 may include a box taking robot body 110, a telescopic grabbing mechanism 120, and a moving mechanism 130. The telescopic grabbing mechanism 120 and the moving mechanism 130 are both connected with the box taking robot body 110, and the moving mechanism 130 is used for driving the box taking robot body 110 to move on the top of the shelf 300. As shown in fig. 2a, the retractable grasping mechanism 120 is retractable with respect to the box extractor robot body 110, so as to extend into the shelf 300 and extract the uppermost material box 400 stacked in the shelf 300.

After the telescopic grabbing mechanism 120 takes out the stacked uppermost material box 400 in the shelf 300, the moving mechanism 130 drives the box taking robot body 110 to move on the top of the shelf 300, so that the box taking robot body 110 moves to the edge of the shelf 300, and the material box 400 grabbed by the telescopic grabbing mechanism 120 can be placed on the lifter 200, namely, the state shown in fig. 2a to 2 b.

In particular implementations, the elevator 200 is located outside of the pallet 300 and near the edge of the pallet 300. In the state shown in fig. 2a to 2b, in order to enable the material tank 400 grabbed by the telescopic grabbing mechanism 120 to be placed at the middle position of the lifter 200, a part of the tank taking robot body 110 may be extended out of the shelf 300, so that the telescopic grabbing mechanism 120 and the material tank 400 on the telescopic grabbing mechanism 120 are extended out of the shelf 300, and the material tank 400 may be placed at the middle position of the lifter 200. In some embodiments, the box taking robot body 110 may also be provided with a telescopic portion (not shown in the drawings), the telescopic grabbing mechanism 120 is connected to the telescopic portion of the box taking robot body 110, and when the box taking robot body 110 moves to a critical position (where the critical position is a position where the box taking robot body 110 may fall off the shelf 300 when the box taking robot body 110 moves toward the outer side of the shelf 300), the telescopic grabbing mechanism 120 continues to move toward the lifter 200 by the telescopic portion stretching when it is difficult for the telescopic grabbing mechanism 120 to place the material box 400 at the middle position of the lifter 200, so that the material box 400 can be placed at the middle position of the lifter 200.

It should be noted that the telescopic grabbing mechanism 120 may be a steel cable, a steel belt, and a claw or a suction cup connected to the steel cable or the steel belt, which are commonly used by those skilled in the art, and correspondingly, the material tank 400 may also be provided with a connecting portion, such as a hook, for facilitating grabbing or suction by the telescopic grabbing mechanism 120. The moving mechanism 130 may be a first driving member connected to the first driving wheel and a first driving wheel, wherein the first driving member may be a rotating motor or a rotating cylinder. The telescopic part on the box taking robot body 110 can be a telescopic piece and a second driving piece connected with the telescopic piece, the telescopic piece is connected with the telescopic grabbing mechanism 120, and the second driving piece drives the telescopic piece to stretch and retract, so that the telescopic grabbing mechanism 120 is driven to move towards the middle position of the elevator 200. Wherein, the second driving member can be a linear motor or a hydraulic cylinder or a pneumatic cylinder. The present application does not limit the structures of the telescopic grasping mechanism 120, the moving mechanism 130, and the telescopic portion of the box picker robot body 110.

In the present application, when the box taking robot 100 stacks the material tank 400 on the lifter 200, the material tank 400 on the lifter 200 moves downward by a predetermined distance. Specifically, after one material tank 400 is placed on the lifter 200, the height of the material tank 400 exceeds the height of the shelf 300, so that when the tank taking robot 100 moves to the vicinity of the lifter 200, the height of the bottom of the material tank 400 on the tank taking robot 100 is smaller than the height of the material tank 400 on the lifter 200, and the tank taking robot 100 cannot stack the material tank 400 thereon on the material tank 400 on the lifter 200. Thus, as shown in fig. 2c, the material tanks 400 on the elevator 200 are moved downward by a preset distance, wherein the preset distance may be greater than or equal to the height of one material tank 400. Thereby, the material tank 400 on the box taking robot 100 can be smoothly stacked on the material tank 400 of the lifter 200, that is, in the state shown in fig. 2 d.

The above-mentioned process is a process in which the box taking robot 100 transports the material box 400 on the shelf 300 to the lifter 200. Correspondingly, the box taking robot 100 may also transport the material boxes 400 on the elevator 200 to the shelves 300 for stacking. This process is the reverse of the process of the box taking robot 100 transporting the material boxes 400 on the shelves 300 to the elevator 200, and will not be described herein. The box taking robot 100 takes one material box 400 from the lifting machine 200, and the material box 400 on the lifting machine 200 can be lifted by one height (the height can be smaller than or equal to the height of one material box 400), so that the next time the box taking robot 100 takes the material box 400 from the lifting machine 200 is facilitated.

The carrying device provided by the application has the advantage that the box taking robot 100 can stack at least two layers of material boxes 400 on the lifting machine 200 in sequence. After the material boxes 400 are stacked, the elevator 200 is lifted in the vertical direction to transport the material boxes 400 to the lower part of the elevator 200, at this time, the material boxes 400 on the elevator 200 can be transported to a designated position, for example, to a sorting area, or the elevator 200 can be moved to a designated position, so that the material boxes 400 on the elevator 200 are transported to a designated position, so that the box taking robot 100 only needs to move on the top of the shelf 300, and the box taking robot 100 does not need to leave the shelf 300, thereby reducing the time taken for the box taking robot 100 to transport the material boxes 400, enabling the box taking robot 100 to stack a plurality of material boxes 400 on the elevator 200, enabling the elevator 200 to transport all the material boxes 400 thereon to the lower part of the elevator 200 at one time, and improving the efficiency of taking the material boxes 400 and transporting the material boxes 400.

In some embodiments, material tank 400 on elevator 200 is moved downward a predetermined distance to the height of material tank 400 such that the top of material tank 400 on elevator 200 is at the same height as the top of pallet 300. In this way, after the box taking robot 100 takes out the material box 400 from the shelf 300, the material box 400 is directly transported to the position of the elevator 200 and stacked on the material box 400 on the elevator 200, and the telescopic grabbing mechanism 120 in the box taking robot 100 does not need to extend downwards, and the material box 400 on the telescopic grabbing mechanism is transported and stacked on the material box 400 on the elevator 200.

Next, the downward movement of the material tank 400 on the lifter 200 will be described with reference to the structure of the lifter 200.

Fig. 3 is a first schematic structural diagram of a hoist in a handling device according to an embodiment of the present disclosure; fig. 4 is a top view of fig. 3. Referring to fig. 1 to 4, in the carrying device provided by the present application, the elevator 200 includes a supporting frame 210, a lifting unit (not shown in the drawings), and a cargo unit 220, the cargo unit 220 is disposed on the supporting frame 210, the cargo unit 220 is connected to the lifting unit, the cargo unit 220 is used for carrying a cargo box 400, and the cargo unit 220 is driven by the lifting unit to lift along the supporting frame 210.

Specifically, the supporting frame 210 is used for supporting the lifting unit and the cargo unit 220, and a second driving element and a second driving wheel may be further disposed on the supporting frame 210, and the second driving element drives the second driving wheel to rotate, so as to move the elevator 200. The lifting unit may be a belt driving assembly, a chain and sprocket driving assembly, etc. which can drive the cargo unit 220 to lift or lower in the prior art, and the application is not limited thereto. The material boxes 400 may be placed on the freight unit 220, the material boxes 400 are carried by the freight unit 220, the material boxes 400 on the freight unit 220 may be stacked in a rectangular array, and the material boxes 400 on the freight unit 220 may be within the bearing range of the freight unit 220, and the embodiment is not limited herein.

In some embodiments, the lifting machine 200 further includes a controller (not shown in the drawings) and a detecting element 230, the case taking robot 100, the lifting unit and the detecting element 230 are electrically connected to the controller, the detecting element 230 is used for detecting the height of the material box 400 carried by the case taking robot 100, and the controller is used for controlling the lifting unit to drive the freight unit 220 to move a preset distance when the case taking robot 100 places the material box 400 on the freight unit 220. Thereby facilitating accurate control of the distance traveled by the cargo unit 220.

In a particular implementation, the detecting member 230 is a height sensor. The height of the material tank 400 is detected by the height sensor and the height of the material tank 400 is transmitted to the controller.

The detecting member 230 is located at the top of the supporting frame 210, and a detecting end of the detecting member 230 faces the carton picking robot 100. Thereby, it is convenient to detect the height of the material tank 400 on the tank taking robot 100.

In the carrying device provided by the present application, the supporting frame 210 includes a base 211 and at least two supporting columns 212 located on the base 211, each supporting column 212 is respectively close to or located at two opposite sides of the base 211, the freight unit 220 is located between the supporting columns 212 and is slidably connected to the supporting columns 212, wherein one of the freight unit 220 and the supporting columns 212 has a sliding slot, and the other has a sliding block matched with the sliding slot, the sliding block is inserted into the sliding slot, and the extending direction of the sliding slot or the sliding block is the same as the vertical direction, thereby providing guidance for the freight unit 220 in the lifting process.

In order to prevent the material tank 400 on the cargo unit 220 from falling down during the lifting of the cargo unit 220, in some embodiments, the elevator 200 further includes a limiting unit 240, the limiting unit 240 is used for limiting the moving position of the material tank 400 on the cargo unit 220, and the limiting unit 240 is located on at least one of the cargo unit 220 and the supporting column 212.

Specifically, the limiting unit 240 includes a lifting frame 241, and the lifting frame 241 may be disposed around the freight unit 220.

Referring to fig. 2c to 4, in one possible implementation, the limiting unit 240 is located on the supporting column 212, and the lifting frame 241 is connected to the supporting column 212 and can be lifted and lowered relative to the supporting column 212. When the container taking robot 100 places the material container 400 on the cargo unit 220, the lifting frame 241 may be moved to the upper portion of the supporting column 212, the top of the lifting frame 241 may be flush with the top of the shelf 300, and the material container 400 on the cargo unit 220 is protected by the lifting frame 241. During the movement of the freight unit 220 to the lower portion of the support column 212, the lifting frame 241 moves along with the freight unit 220, and the respective material tanks 400 are always enclosed in the lifting frame 241, thereby preventing the material tanks 400 from falling off the freight unit 220. When it is desired to pick up the bin 400 from the cargo unit 220, the lifting frame 241 may be moved upwardly to expose the material tanks 400 for easy access of the material tanks 400 from the cargo unit 220.

Fig. 5 is a second schematic structural diagram of a hoist in a handling device according to an embodiment of the present application. Referring to fig. 5, in another possible implementation, the limiting unit 240 is located on the cargo unit 220, that is, the lifting frame 241 is located on the cargo unit 220, and the lifting frame 241 can be lifted relative to the cargo unit 220. Specifically, when the cargo unit 220 is lifted, the lifting frame 241 is lifted and lowered along with the cargo unit 220, and simultaneously, the lifting frame 241 is lifted and lowered relatively, so that the material tank 400 on the cargo unit 220 is enclosed in the lifting frame 241. That is, when the container removing robot 100 places the material container 400 on the cargo unit 220, that is, when the material container 400 is stacked on the cargo unit 220, the cargo unit 220 is lowered by a predetermined height, and the lifting frame 241 is raised by the predetermined height. In the process that the freight unit 220 moves to the lower part of the supporting pole 212, the lifting frame 241 is not lifted up, and the material boxes 400 are always enclosed in the lifting frame 241. When it is desired to pick up the material box 400 from the cargo unit 220, the lifting frame 241 is lowered relative to the cargo unit 220 to expose the material boxes 400 for easy access of the material boxes 400 from the cargo unit 220.

The structure of the stopper unit 240 will be described below.

When the position limiting unit 240 is located on the supporting column 212, the lifting frame 241 includes a frame body 2411 and a driving assembly (not shown in the drawings) for driving the frame body 2411 to lift, and the frame body 2411 is slidably connected to the supporting column 212. The structure of the driving assembly may be the same as that of the lifting unit, and is not described in detail here.

Fig. 6 is a schematic structural view of the limiting unit in fig. 5. Referring to fig. 5 and 6, when the spacing unit 240 is positioned on the cargo unit 220, the lifting frame 241 is a scissor lift unit attached to the cargo unit 220. The scissor type lifting unit may be a scissor type lifting unit in the prior art, and the structure of the scissor type lifting unit is not limited herein.

Fig. 7 is a first schematic structural diagram of a cargo unit in the handling device according to the embodiment of the present disclosure. Referring to fig. 7, in the carrying apparatus provided by the present application, the cargo unit 220 includes a support base 221 and a conveying assembly 222 disposed on the support base 221, the material tank 400 is stacked on a conveying surface of the conveying assembly 222, and the conveying assembly 222 rotates relative to the support base 221 to convey the material tank 400. The supporting base 221 is used for supporting the conveying assembly 222, and the conveying assembly 222 may be a belt conveying assembly or a roller conveying assembly.

Fig. 8 is a second schematic structural view of a cargo unit in the handling device according to the embodiment of the present disclosure; fig. 9 is a schematic view of the telescoping assembly of fig. 8 in an extended state. Referring to fig. 8 and 9, when the position limiting unit 240 is located on the cargo unit 220, the position limiting unit 240 includes a plurality of telescopic assemblies 242, the telescopic assemblies 242 are spaced apart from each other on the supporting base 221, and the telescopic assemblies 242 can be extended toward the upper side of the supporting base 221 to surround the periphery of the material box 400 on the cargo unit 220 or retracted into the supporting base 221. Wherein, the telescopic assembly 242 may include a telescopic rod and a fourth driving member for driving the telescopic rod to be telescopic. The operation of the telescopic assembly 242 is the same as that of the limiting unit 240 in fig. 5, and is not described herein again.

Fig. 10 is a schematic structural diagram of a warehousing system provided by an embodiment of the present application; fig. 11 is a schematic structural view of the box picker robot and the shelf in fig. 10. Referring to fig. 10 and 11, the present application provides a storage system, which includes a shelf 300 and the carrying device provided in any one of the above embodiments, wherein the shelf 300 includes a plurality of storage columns 310 arranged vertically and a rail 320 arranged on top of each storage column 310, the box taking robot 100 moves along the rail 320, and a plurality of layers of material boxes 400 are stacked in the storage columns 310 in a vertical direction.

The structure and the working principle of the carrying device are explained in detail in the above embodiments, and are not described in detail here.

In some embodiments, the lifts 200 of the handling device have at least two, each lift 200 being located on a different side of the pallet 300. The number of the box taking robot 100 on the top of the shelf 300 may be two or more. Each box taking robot 100 may stack the material boxes 400 on different hoists 200, thereby improving the efficiency of taking the material boxes 400 and transporting the material boxes 400.

The warehousing system provided by the application further comprises a carrying robot 500, and the carrying robot 500 can pick and place the material box 400 on the lifting machine 200.

The case picker robot 100 can stack at least two layers of the material cases 400 on the lifter 200 in sequence. After the material boxes 400 are stacked, the elevator 200 is lifted in the vertical direction to transport the material boxes 400 to the lower part of the elevator 200, at this time, the material boxes 400 on the elevator 200 can be transported to a designated position, for example, to a sorting area, or the elevator 200 can be moved to a designated position, so that the material boxes 400 on the elevator 200 are transported to a designated position, so that the box taking robot 100 only needs to move on the top of the shelf 300, and the box taking robot 100 does not need to leave the shelf 300, thereby reducing the time taken for the box taking robot 100 to transport the material boxes 400, enabling the box taking robot 100 to stack a plurality of material boxes 400 on the elevator 200, enabling the elevator 200 to transport all the material boxes 400 thereon to the lower part of the elevator 200 at one time, and improving the efficiency of taking the material boxes 400 and transporting the material boxes 400.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims (14)

1. A carrying device is characterized by comprising a box taking robot and a lifter;

the box taking robot can move at the top of a goods shelf, so that the material box in the goods shelf is taken at the top of the goods shelf and conveyed to the lifting machine, or the material box on the lifting machine is conveyed into the goods shelf;

the lifting machine can be lifted along the vertical direction to convey the material boxes to the lower part of the lifting machine, at least two layers of the material boxes can be stacked on the lifting machine, and when the box taking robot stacks the material boxes to the lifting machine, the material boxes on the lifting machine move downwards for a preset distance.

2. The handling device according to claim 1, wherein the material box on the lift is moved downward by a predetermined distance corresponding to the height of the material box, so that the top of the material box on the lift is consistent with the top height of the shelf.

3. The carrying device as claimed in claim 2, wherein the lifting machine comprises a support frame, a lifting unit and a freight unit, the freight unit is arranged on the support frame, the freight unit is connected to the lifting unit, the freight unit is used for carrying the material box, and the freight unit is driven by the lifting unit to lift along the support frame.

4. The carrying device according to claim 3, wherein the lifting machine further includes a controller and a detecting member, the box taking robot, the lifting unit and the detecting member are electrically connected to the controller, the detecting member is configured to detect a height of the material box carried by the box taking robot, and the controller is configured to control the lifting unit to drive the freight unit to move the preset distance when the box taking robot places the material box on the freight unit.

5. The handling device of claim 4, wherein the detection member is a height sensor.

6. The handling device of claim 4, wherein the detection member is located at the top of the support frame, and a detection end of the detection member faces the box extractor robot.

7. The carrying device as claimed in any one of claims 3 to 6, wherein the supporting frame comprises a base and at least two supporting columns on the base, each supporting column is located near or at two opposite sides of the base, the cargo unit is located between the supporting columns and is connected with the supporting columns in a sliding manner;

the lifting machine further comprises a limiting unit, the limiting unit is used for limiting the moving position of the material box on the freight unit, and the limiting unit is located on at least one of the freight unit and the supporting column.

8. The handling device according to claim 7, wherein the stopper unit includes a lifting frame which is provided so as to surround a peripheral side of the cargo unit;

the lifting frame is connected to the supporting column and can be lifted relative to the supporting column; alternatively, the lifting frame is positioned on the cargo unit and can be lifted relative to the cargo unit.

9. The handling device of claim 8, wherein the lifting frame comprises a frame body and a driving assembly for driving the frame body to lift, the frame body being slidably connected with the support column;

or the lifting frame is a scissor type lifting unit connected to the freight unit.

10. The handling device according to claim 7, characterised in that the freight unit comprises a support base and a conveying assembly arranged on the support base, the material tank being stacked on a conveying surface of the conveying assembly, the conveying assembly being rotatable relative to the support base for conveying the material tank.

11. The carrying device according to claim 10, wherein the limiting unit comprises a plurality of telescopic assemblies, the telescopic assemblies are arranged on the supporting seat at intervals, and the telescopic assemblies can extend towards the upper part of the supporting seat to enclose the periphery of the material box on the freight unit or retract into the supporting seat.

12. A warehousing system characterized by comprising a rack and the carrying device according to any one of claims 1 to 11, the rack comprising a plurality of storage columns arranged vertically and a rail provided at the top of each of the storage columns, the box-taking robot moving along the rail, and a plurality of material boxes stacked in the vertical direction in the storage columns.

13. The warehousing system of claim 12, wherein said handling device has at least two lifts, each of said lifts located on a different side of said rack.

14. The bin storage system according to claim 12, further comprising a transfer robot that can pick and place a bin on the elevator.

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