TW202246149A - Robot and workbin transfer system - Google Patents

Abstract

Embodiments of the present disclosure provide a robot, a workbin transfer device, and a workbin transfer system. The robot includes a chassis component, a gantry component, a bin retrieval component, and at least two temporary storage mechanisms. The temporary storage mechanism is connected to the gantry component, and is provided with a gap for a corresponding transfer mechanism in the workbin transfer device to pass through to jack up a workbin on the corresponding temporary storage mechanism, or for the corresponding transfer mechanism in the workbin transfer device to pass through to fall the workbin on the corresponding transfer mechanism on the temporay storage mechanism. In embodiments of the present disclosure, the workbin transfer device can be used to transfer multiple workbins from the temporary storage mechanisms of different layers of the robot at a time, or place multiple workbins for the robot at a time, which, in scenarios where the robot accesses multiple workbins, improves the workbin transfer efficiency, thereby improving the handling efficiency of the robot in the workbin access process.

Description

Robots and bin transfer systems

CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the priority and rights of the Chinese patent application with application number 202110541968.5 and the filing date on May 18, 2021 and the Chinese patent application with application number 202111006079.5 and the filing date on August 30, 2021 , the entire content of the above-mentioned Chinese patent application is hereby incorporated by reference into this application.

The present application relates to the technical field of warehousing and logistics, and specifically relates to a robot, especially a robot suitable for the field of warehousing and logistics; the present application also relates to a material box transfer device and a material box transfer system.

A robot can carry multiple material boxes at one time, and respectively place the multiple material boxes on the multi-layer temporary storage positions of the robot. When the robot arrives at the destination and realizes the transfer of the material boxes, it is necessary to use the robot to take out the material boxes from different temporary storage mechanisms one by one and put them to the destination point (such as the conveyor line (conveyor track) or interactive cargo space, etc.), which makes the robot unable to efficiently Putting it into the material box access process will cause a waste of the robot's mobility. In order to achieve efficient cargo handling, more robots need to be invested, but it will increase the individual investment cost of the robot.

Therefore, how to improve the transfer efficiency of the magazine has become an extremely problem to be solved in this field.

To this end, embodiments of the present application provide a robot, a material box transfer device, and a material box transfer system.

According to the first aspect of the present application, a robot is provided, including: chassis components; a mast element arranged on the chassis element; a take-and-return box element, the take-and-return box element is controlled by a lifting element to move up and down along the door frame assembly; At least two temporary storage mechanisms, the temporary storage mechanism is connected on the door frame element; the temporary storage mechanism is provided with the corresponding transfer mechanism in the feeding box transfer device to pass through to lift up the material box on the corresponding temporary storage mechanism, or for The corresponding transfer mechanism in the material box transfer device passes through to drop the material box on the corresponding transfer mechanism onto the gap on the corresponding temporary storage mechanism.

According to the second aspect of the present application, a material box transfer system is provided, the material box transfer system includes the above-mentioned robot, and the above-mentioned material box transfer device; The first material box transfer mechanism of the material box transfer device is configured to transfer the material boxes on the different temporary storage mechanisms of the robot at the docking position of the material box to the corresponding internal conveying track; The bins are transferred to the temporary storage mechanism corresponding to the robot.

A robot, a material box transfer device and a material box transfer system provided in the embodiment of the present application have a gap in the temporary storage mechanism of the robot, and the material boxes on different temporary storage mechanisms of the robot can be transferred simultaneously through the corresponding material box transfer device . Compared with the prior art where the robot is used to transfer the material boxes on the temporary storage mechanism of different layers one by one, it can improve the material box transfer efficiency, and then improve the handling efficiency of the robot in the material box access process.

In order to make the above-mentioned purpose, features and advantages of the present application more comprehensible, preferred embodiments will be described in detail below together with the accompanying drawings.

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only It is a part of the embodiments of this application, not all of them. The elements of the embodiments of the application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present application.

In addition, the terms "first" and "second" in the description and scope of claims of the embodiments of the present application and the above drawings are used to distinguish similar items, but not necessarily used to describe a specific order or sequence. It is to be understood that the materials so used are interchangeable under appropriate circumstances such that the embodiments described herein can be practiced in sequences other than those illustrated or described herein.

The "plural number or several" mentioned herein means two or more. "And/or" describes the association relationship of related objects, and means that there may be three kinds of relationships. For example, A and/or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the contextual objects are an "or" relationship.

After research, it is found that a robot can carry multiple material boxes at one time, and place the multiple material boxes on the multi-layer temporary storage positions of the robot. When the robot arrives at the destination and realizes the transfer of the material boxes, it is necessary to use the robot to take out the material boxes from different temporary storage mechanisms one by one and put them to the destination point (such as the conveyor line (conveyor track) or interactive cargo space, etc.), which makes the robot unable to efficiently Putting it into the material box access process will cause a waste of the robot's mobility. In order to achieve efficient cargo handling, more robots need to be invested, but it will increase the individual investment cost of the robot.

Based on the above research, the application provides a robot, a material box transfer device, a material box transfer system and a material box transfer method, which can transfer multiple material boxes from different layers of temporary storage mechanisms of the robot at one time by using the material box transfer device, or, Placing multiple material boxes for the robot at one time can improve the efficiency of material box transfer in the scene where the robot accesses multiple material boxes, thereby improving the handling efficiency of the robot in the material box access process.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In order to facilitate the understanding of this embodiment, an application scenario of a material box transfer system disclosed in the embodiment of the present application is firstly introduced. The material box transfer system provided in the embodiment of the present application can be applied to the docking of the robot 11 and the material box transfer device 12 process. As shown in FIG. 1 , for example, the robot 11 may be a robot capable of carrying multiple material boxes at one time.

In a warehousing and logistics scenario, a possible implementation is that the cloud server 13 can issue a movement control instruction for the robot 11, where the movement control instruction can be an instruction to control the delivery of goods by the robot 11; or, it can also be an instruction to control the robot 11 to take order for goods. For example, in the scene of goods picking, the cloud server 13 can control the robot to move to the docking position of the material box transfer device 12. At this time, there are goods to be picked in the multiple temporary storage positions on the robot, and the material box transfer can be used. The device transfers a plurality of goods to wait for picking. At this time, the robot can leave the docking position of the material box and wait for the next command sent by the cloud server. For another example, in the scene of goods entering the warehouse, when the material box has been transferred to the position waiting for the robot to receive by the material box transfer device, the cloud server can control the robot to move to the cargo docking position to pick up the goods.

Here, the cloud server 13 stores the order collection area for warehouse goods, and the robot can be called to realize the goods picking through the information of the goods to be picked in the order collection area; or, the robot can be called to realize The goods are put into storage.

Another possible implementation is that the internal controller of the robot body can also be used to complete the docking process between the robot 11 and the bin transfer device 12, so as to realize efficient handling in the cargo access process.

A material box transfer system provided by an embodiment of the present application is introduced below, and the system includes at least one robot and at least one material box transfer device. Can refer to shown in Fig. 2, it is when robot and material box transfer device are docked, the structural representation of robot, material box transfer device, comprises robot 11, material box transfer device 12 and material box 23; Wherein, material box transfer device 12 can Including at least a first material box transfer mechanism 221, a multi-layer material box conveying mechanism 222, a second material box transfer mechanism 223 corresponding to each layer of material box conveying mechanism, a lifting mechanism 224 corresponding to each second material box transfer mechanism, Transit conveying track 225, third material box transfer mechanism (the third material box transfer mechanism includes jacking mechanism 2261, pull rod transfer mechanism 2262 and controller).

Here, the container transfer device 12 can realize docking with multiple robots 11 at the same time. Exemplarily, the material box transfer device 12 can realize docking with two robots 11 at the same time, at this time, different first material box transfer mechanisms 221 are respectively controlled to transfer the material boxes from different robots 11 . For example, the multiple bins on robot A are transferred using the first bin transfer mechanism A, and the multiple bins on robot B are transferred using the first bin transfer mechanism B. At this time, the first bin transfer mechanism A and the first bin transfer mechanism The box transfer mechanism B can be respectively arranged in the material box transfer device 12 at both ends of the multi-layer material box conveying mechanism 222 in the delivery direction of the material box, so that the robot A and the robot B can go to different material box docking positions of the material box transfer device 12 to realize butt.

In some embodiments, a plurality of first bin transfer mechanisms 221 can also be arranged correspondingly at both ends of the bin conveying mechanism 222 in the direction in which the bins are conveyed. The specific setting manner can be arranged according to the application scenario, and is not specifically limited here. In addition, the number of layers of the bin conveying mechanism 222 in the bin transfer device 12 can also be arranged according to specific application scenarios, and is not specifically limited here. It can be two layers, or four layers as shown in FIG. 2 . Floor.

Based on the concept of the above system, the embodiment of the present application also provides a robot that can perform the above tasks, as shown in FIG. 3 , which is a schematic structural diagram of the robot. This robot 11 comprises chassis element 111, door frame element 112 and at least two layers of temporary storage mechanism 114; Door frame element 112 is installed on the chassis element 111; The storage mechanism 114 can be used to temporarily store the material box.

Fig. 10 has shown the schematic structural diagram of another embodiment of robot 11, and robot 11 comprises the chassis element 111 that is used for walking, the door frame element 112 that is arranged on the chassis element, the elevating element 113 that is arranged on door frame element 112 and temporarily Deposit mechanism 114, and take back the box assembly 115 that is installed on the lifting element 113.

The lifting element 113 is slidingly fitted on the door frame element 112, and the retrieval box element 115 can be connected to the lifting element 113, so that the retrieval box element 115 can move up and down along the door frame assembly 112 to a suitable position under the drive of the lifting element 113 .

The temporary storage mechanism 114 is provided with at least two layers, and FIG. 10 schematically shows the structure of a six-layer temporary storage mechanism. The distance between two adjacent temporary storage mechanisms 114 is greater than the height of the material box. The retrieving box element 115 and the temporary storage mechanism 114 may be located on different sides of the door frame element 112 , for example, arranged on two opposite sides of the door frame element 112 .

The retrieval box element 115 can rotate relative to the lifting element 113, and has a telescopic fork mechanism. When working, the retrieving and returning box component 115 can remove the material box on the material shelf, and drive it to the temporary storage mechanism 114 at different levels for temporary storage. It may also be that the retrieving and returning box component 115 takes out the material boxes in the temporary storage mechanism 114 at different levels one by one, and places them in corresponding material racks for storage.

FIG. 11 schematically shows the specific structure of the lifting element 113 . The lifting component 113 has a lifting drive unit, and the retrieval box component 115 is moved vertically along the door frame component by the lifting drive unit. The retrieval box component 115 and the lifting component 113 can be connected by a slewing bearing connection 1131 , so that the retrieval box component 115 can rotate on the lifting component 113 to adjust the angle posture of the retrieval box component 115 .

FIG. 12 schematically shows the specific structure of the retrieval box component 115 . The retrieval box component 115 has a base 1151 , and a rotation driving unit 1152 that drives the base 1151 on the lifting assembly 113 . It also includes a telescopic drive unit 1153 and left and right telescopic forks 1154 . The left and right telescopic forks 1154 are arranged on opposite sides of the base 1151 , and the left and right telescopic forks 1154 can be driven to extend to a predetermined distance relative to the base 1151 by the telescopic driving unit 1153 . The left and right telescopic forks 1154 can be one-stage telescopic units, or two or more stages of telescopic units combined together.

The front ends of the left and right telescopic forks 1154 are respectively provided with a front finger 1155 and the rear end is provided with a rear finger 1156 . The front finger 1155 can be stretched out or retracted toward the opening of the left and right telescopic forks 1154. When the left and right telescopic forks 1154 stretch out to both sides of the material box, the front finger 1155 can swing to the left and right telescopic forks 1154 under the control of the drive unit. Opening location for mating with the rear side of the bin. When the left and right telescopic forks 1154 contract, the front finger 1155 can hook the rear end of the feed box and move to the base 1151 along with the left and right telescopic forks 1154 . At this time, the rear finger 1156 is engaged with the front side of the material box.

Under the action of the lifting element 113 , the retrieval box element 115 is driven to a height corresponding to the corresponding temporary storage mechanism 114 . The rotation driving unit 1152 drives the retrieval box assembly 115 to rotate to make the openings of the left and right telescopic forks 1154 face the temporary storage mechanism 114 . After the front finger 1155 is reset, the telescopic drive unit 1153 drives the left and right telescopic forks 1154 to stretch out, and drives the rear finger 1156 to push the material box on the base 1151 to the temporary storage mechanism 114 for temporary storage.

Based on the same principle, the driving box element 115 can also cooperate with each other through rotation, telescopic and other moving modes to take out the material box located in the temporary storage mechanism 114 and place it on the corresponding position of the material rack. Be specific.

The temporary storage mechanism 114 is provided with a positioning groove structure for accommodating the material box, which is beneficial to the stability of the material box storage and avoids shaking of the material box when the robot is walking. Wherein, the temporary storage mechanism 114 is also provided with a gap through which the corresponding transfer mechanism in the feed box transfer device passes. During operation, the corresponding transfer mechanism in the container transfer device can pass through the gap and lift up the container on the temporary storage mechanism 114 . Alternatively, when the transfer mechanism falls from the gap, the material box on the transfer mechanism can be dropped onto the temporary storage mechanism 114 .

In an embodiment of the present application, the gap may extend from the free end of the temporary storage mechanism 114 to the opposite end of the temporary storage mechanism. Referring to the viewing direction of FIG. 13 , the left end of the temporary storage mechanism 114 is used to connect to the door frame element 112 , and the notch extends from the right end of the temporary storage mechanism 114 to its left end.

In one embodiment of the present application, there is only one notch, so that the temporary storage mechanism has a U-shaped structure, as shown in FIG. 13 . In another embodiment of the present application, at least two notches may be provided, so that the temporary storage mechanism has a comb-like structure, as shown in FIG. 3 . The transfer mechanism in the material box transfer device corresponds to the structure of the temporary storage mechanism, so that the corresponding part of the transfer mechanism can pass through the gap of the temporary storage mechanism.

Referring to FIG. 13 , the temporary storage mechanism 11 includes a bottom plate and vertical edges 1141 connected to the opposite sides of the bottom plate and extending upward. It can form a pallet structure for temporary storage boxes with the bottom plate. The standing edge 1141 can limit the position of the material box placed on the temporary storage mechanism 114 , so that the material box is temporarily stored in the temporary storage mechanism 114 stably.

The standing sides 1141 are vertically connected to the bottom plate, and the upper parts of the standing sides 1141 can be respectively inclined outward to form folded parts 1142 , and the folded parts 1142 form the flaring structure of the temporary storage mechanism 114 . When the material box is placed in the temporary storage mechanism 114 from top to bottom, the folded portion 1142 of the vertical edge 1141 can guide the material box, even if there is a certain error between the material box and the temporary storage mechanism 114, the guide of the flaring structure Down, also can make feed box drop in the edge of temporary storage mechanism 114 completely.

In one embodiment of the present application, a guide element 116 is also provided on the door frame element 112 corresponding to the upper position of each temporary storage mechanism. The guide element has an opening area and is configured to be transported to the corresponding temporary storage mechanism. The bins are positioned.

As shown in FIG. 10 and FIG. 14 , there can be multiple sets of guide elements 116 , and they are respectively arranged above each layer temporary storage mechanism 114 .

Specifically, the guide element 116 may include two guide rods 1161 arranged at intervals, and the distance between the two guide rods 1161 is slightly larger than the width of the material box. One end of the guide rod 1161 is respectively connected to the door frame element 112 , and the extension direction of the other end is consistent with the extension direction of the temporary storage mechanism 114 . When the robot moves towards the direction of the material box, the material box can be aligned by the guidance of the two guide rods 1161 to position the material box.

In one embodiment of the present application, referring to Fig. 10 and Fig. 14 , the ends of the two guide rods 1161 away from the door frame assembly 112 respectively extend in the direction away from each other to form inclined parts 1162 (refer to the view direction of Fig. 10 , respectively extend to the respective outsides) , the two inclined portions 1162 form the flaring structure of the guide element 116 . The flaring structure is beneficial for the material box to enter between the two guide rods 1161 smoothly.

One end of the two guide rods 1161 close to the door frame element 112 is bent to form a connecting end, and the connecting end can be fixedly connected to the brake frame element 112 . A reinforcing rib 1163 is also provided at the corner of the guide rod 1161 to strengthen the structural strength of the guide rod 1161. The reinforcing rib 1163 can be set as a triangular structure or other structures adapted to the shape of the corner, which will not be described in detail here.

In one embodiment of the present application, the guide element 116 is detachably connected to the door frame element 112, so that the height between the guide element 116 and the corresponding temporary storage mechanism 114 can be adjusted to adapt to different material boxes. Detachable connection methods include, but are not limited to, conventional methods that can be imagined by those skilled in the art, such as bolt or screw fixed connection, plug-in connection, and the like. The connection positions of the two guide rods 1161 of each set of guide elements 116 can also be adjusted up and down. In one embodiment, the door frame element 112 is provided with a plurality of vertically arranged mounting holes or vertically extending elongated holes, and the guide rod 1161 is installed in the elongated holes or any one of the elongated holes through bolts, so as to realize height adjustment. Adapt to bins of different sizes.

Referring to Fig. 15, the upper opening edge of the feed box 23 has a mouth 231, and the mouth 231 is located on the outer wall around the feed box, and the mouth 231 is a reinforcement structure on the side wall of the feed box 23, which strengthens the structural strength of the opening of the feed box. The reinforcing structure may be a plurality of raised structures perpendicular to the side wall of the material box, etc.

The guide element 116 is connected to the door frame element 112 in a height-adjustable manner, so that the distance between the guide element 116 and the temporary storage mechanism 114 can be adjusted. Adjust the height of the guide element 116 on the door frame element 112, so that the guide element 116 can cooperate with the position of the mouth of the material box to swing and position the material box.

For example, in an application scenario of the present application, the material box is located on the transfer mechanism of the material box transfer device. Due to movement or other factors, the material box on the transfer mechanism may have a certain offset, such as angular offset or horizontal offset. The robot 11 needs to move to make its temporary storage mechanism under the transfer mechanism. During the moving process of the robot 11 , the guide element 116 on the gantry element cooperates with the material box on the transfer mechanism, so as to straighten the offset material box to the correct position and angle. After the robot 11 moves into place, the transfer mechanism of the material box transfer device descends and passes through the gap of the temporary storage mechanism, and the material box descends with the transfer mechanism until it falls into the temporary storage mechanism. Even if there is still a certain offset error in the material box, under the action of the expansion structure of the temporary storage mechanism, the material box can be smoothly guided to the temporary storage mechanism for temporary storage, ensuring the smooth transfer of the material box and avoiding the Problems such as falling caused by incorrect box position ensure the smoothness of system work. In addition, since the temporary storage mechanism of each layer is provided with gaps, the material boxes on each layer of the temporary storage mechanism can be transferred simultaneously through the transfer mechanism of the material box transfer device, which improves the efficiency of material box circulation.

The robot 11 is configured to move to the docking position of the material box. Here, the material box docking position includes the projected position of the temporary storage mechanism on the ground when the robot 11 and the material box transfer device 12 are docked; or, the position of each layer of the temporary storage mechanism in space.

The material box transfer device 12 is configured to transfer the multiple material boxes on the temporary storage mechanism of different layers of the robot to the internal conveying track of the corresponding layer; or transfer the material boxes on different internal conveying tracks to the docking position of the material box to the corresponding temporary storage institution.

To this end, the present application provides a bin transfer device, which includes at least two layers of internal conveying rails, which are stacked in the height direction, and each layer of internal conveying rails can correspond to the temporary storage mechanism of the robot. The internal conveying track is configured to transport the material boxes located at the material box docking position to respective preset areas; or transport the material boxes located in the preset area to the material box docking position.

The bin transfer device also includes a first bin transfer mechanism corresponding to the docking position of the inner conveyor track, and the first bin transfer mechanism is controlled by the first drive unit at the first position and the second position of the bin docking position Move back and forth between.

When the first material box transfer mechanism is at the first position, its height is lower than the height of the inner conveying track; when it is at the second position, the first material box transfer mechanism is configured to jack up the material box.

In another embodiment of the present application, the material box transfer device 12 can also be configured to transfer multiple material boxes on different internal conveying tracks to the transit conveying track; or, transfer multiple material boxes on the transit conveying track Transfer to different internal conveyor tracks.

The following is a detailed introduction to the docking between the robot and the material box transfer device in the cargo picking scene to realize the material box transfer: The material box transfer device 12 is configured to transfer a plurality of material boxes on the temporary storage mechanism on different layers of the robot to the preset area corresponding to the internal conveying track of the corresponding layer; The bins at the corresponding preset area are transferred to the transfer conveyor track. Here, the bin transfer device comprises a multi-layered internal conveyor track. Here, the size of the preset area may be the size of the bottom surface of the material box, or slightly larger than the size of the bottom surface of the material box.

The controller can be configured to, in response to the first material box transfer instruction, control the first material box transfer mechanism to lift the plurality of material boxes from the robot and transfer them to different layers of the material box conveying mechanism (including the internal conveying track); Control the material box conveying mechanism of each layer to drive the material box to the preset area corresponding to the layer of material box conveying mechanism; respectively control the second material box transfer mechanism corresponding to each layer of material box conveying mechanism, and hook the material box from the material box conveying mechanism Take it to the lifting mechanism corresponding to the second material box transfer mechanism; respectively control the lifting mechanism to transfer the material box to the transfer conveying track.

Here, the first bin transfer instruction may be a bin transfer instruction sent to the controller when the robot reaches the docking position of the bin; The material box transfer instruction sent by the controller; or, it can also be the material box transfer instruction issued by the cloud server. The first bin transfer instruction may select an appropriate sending subject according to a specific application scenario, which is not limited in this embodiment of the present application. Those skilled in the art can make various substitutions and modifications without departing from the scope of the present application, and these substitutions and modifications should all fall within the scope of the present application.

Based on the control flow of the above-mentioned controller, the specific implementation process of each mechanism will be introduced in detail below.

In one embodiment, referring to FIG. 2 , the first bin transfer mechanism 221 may be configured to lift a plurality of bins from the robot 11 and transfer them to the bin transfer mechanism 222 including an internal transfer track. Please refer to FIG. 4 , which is a schematic structural diagram of the first bin transfer mechanism. The first bin transfer mechanism 221 includes a plurality of first jacking forks 2211, a first drive unit 2212 and a first guide rail element 2213; the first drive unit 2212 is connected with the first guide rail element 2213; the plurality of first jacking forks 2211 pass through The support frame is slidably fitted on the first rail element 2213 . It can also be that the first guide rail component 2213 is slidably fitted on the material rack, and the plurality of first jacking forks 2211 are fixed on the first guide rail assembly 2213 . The connection between the above structures can be in various ways, as long as the first driving unit 2212 can drive the first lifting fork 2211 to move in the vertical direction.

When the robot moves to make its temporary storage mechanisms respectively located at the docking position of the material box corresponding to the internal conveying track, the first drive unit 2212 drives the first jacking fork 2211 to pass through the corresponding temporary storage mechanism during the lifting process. In order to jack up the material box originally located on the temporary storage mechanism to the first jacking fork 2211, or drop the material box originally located on the first lifting fork 2211 to the temporary storage mechanism.

In a specific embodiment of the present application, the temporary storage mechanism 114 shown in Fig. 3 can be a comb-shaped mechanism; the first jacking fork 2211 can also be a comb-shaped mechanism; the bin conveying mechanism 222 can be a comb-shaped mechanism, that is The internal conveying track 2221 (see Fig. 6 ) on the following material box conveying mechanism 222 is a comb-shaped mechanism; the comb-shaped mechanism includes comb teeth; the comb teeth of the temporary storage mechanism 114 and the comb teeth of the first jacking fork 2211 The projections on the horizontal plane do not overlap; the projections of the comb teeth of the first jacking fork 2211 and the comb teeth of the inner conveying track 2221 on the horizontal plane do not overlap. Exemplarily, the comb teeth of the inner conveying track can be several rollers (rollers), and when the first jacking fork is used to transfer the material box, the comb teeth of the first jacking fork can pass through the several rollers of the inner conveying track At the same time, it can also pass through the gap between the comb teeth of the corresponding layer temporary storage mechanism of the first jacking fork. Specifically, the positional relationship between the temporary storage mechanism, the first jacking fork and the internal conveying track can be referred to as shown in Figure 5, which is a flow chart of the transfer of the material box from the internal conveying track to the first jacking fork, Among them, a indicates that the first jacking fork is in the first position (the first initial position); b indicates that the first jacking fork passes through the gap between the comb teeth of the inner conveying track and leaves from the gap of the inner conveying track; c indicates the first The jacking fork is in the second position, i.e. lifting the material box.

When the first jacking fork is at the first position, the height of the first jacking fork is lower than the height of the inner conveying track. Precisely, the surface of the first jacking fork for contacting the tank is lower than the surface of the inner conveyor track for contacting the tank. When the first jacking fork is at the second position, the first jacking fork is raised to a predetermined position.

During specific implementation, the first driving unit 2212 can be used to drive the first rail element 2213 to rotate in a preset direction (such as clockwise or counterclockwise), and the first rail element 2213 can drive the first jacking fork by rotating in a preset direction. 2211 moves vertically to the docking position of the material box. At this time, since the comb teeth of the first jacking fork can pass through the gap between several rollers of the internal conveying track, it can also pass through the corresponding layer of the first jacking fork The gap between the comb teeth of the temporary storage mechanism, therefore, the material box can be lifted from the temporary storage mechanism to the second position. After the robot 11 exits the docking position of the material box, the first drive unit 2212 is used to reversely drive the first The guide rail assembly 2213 rotates in the preset reverse direction, and the first guide rail component 2213 rotates in the preset reverse direction, which can drive the first jacking fork 2211 to move to the first position in the vertical direction, so that the material box can be transferred to different layers for material box transportation Institution 222 on.

In one embodiment, the material box conveying mechanism 222 may be configured to transfer the material box to a corresponding preset area. Here, in order to prevent conflicts between the processes of moving the material boxes to the transfer conveying track, preset areas distributed in random order are set, that is, the projections of the preset areas corresponding to different layers of material box conveying mechanisms on the horizontal plane do not overlap. It can be referred to FIG. 6 , which is a schematic structural view of the bin conveying mechanism, wherein, the bin conveying mechanism 222 includes an internal conveying track 2221, and the bin transfer device 12 also includes at least one limit block 227 and each second material box. The sensor 228 corresponding to the box transfer mechanism (one limit block 227 corresponds to the sensor 228-1, and the other limit block 227 corresponds to the sensor 228-2); each layer of internal conveying track 2221 can be set correspondingly at least a limit block. Specifically, the internal conveying track is a comb mechanism; the comb mechanism includes comb teeth. Exemplarily, the comb teeth of the inner conveying track can be several rollers, and the limit block can be arranged between the gaps of the comb teeth of the inner conveying track, as shown in FIG. 6 between the gaps of several rollers.

Here, the length of the inner conveyor track is adjustable. Specifically, according to specific application scenarios, in order to set up multiple layers of internal conveying tracks and prevent the projections of preset areas on different layers of internal transporting tracks on the horizontal plane from overlapping, the length of the internal transporting tracks can be adjusted.

The limit element block 227 can be configured to limit the material box to the preset area corresponding to the limit element block on the internal conveying track; wherein, the preset area corresponding to the limit element block on the different layers of the material box conveying mechanism is in Projections on the horizontal plane do not overlap. Here, the height of the initial position of the limit block is lower than the height of the surface of the inner conveying track of the corresponding layer for placing the material box, so setting the initial position of the limit block can not affect the material when the limit block is in the initial position. The box moves on the internal conveying track of the layer corresponding to the limit block, and when the limit block moves upward and leaves the initial position, it can limit the material box to be in the preset area and wait for subsequent transfer.

The preset area can limit the position of the box for the limiter block. Since the projections of the preset areas corresponding to the limiter blocks on the different layer box conveying mechanisms on the horizontal plane do not overlap, the preset area is conveyed inside different layers. The track can be distributed randomly, as shown in Figure 6 for details.

The sensor 228 is configured to detect whether the container reaches a preset area. Here, the sensor 228 may be fixedly installed on the bin delivery mechanism 222 corresponding to the limit block 227 . Afterwards, the limiter block 227 is configured to, after the sensor detects that the material box reaches the preset area, rise to a preset height, so as to limit the material box to the preset position corresponding to the limiter block on the internal conveying track. area.

During specific implementation, the drive unit of the internal conveying track can be used to drive the roller V-belt to drive the multiple rollers on the internal conveying track to rotate, and the material box placed on the surface of the internal conveying track will be transferred along the conveying direction. At this time, the sensor detects After the material box reaches the preset area, the limit block can be used to raise it to a preset height, and the material box on the conveying track inside the layer is limited to the preset area corresponding to the limit block.

In one embodiment of the present application, two limit blocks 227 are provided. When the material box moves to a preset area, the two limit blocks 227 rise to a preset height, thereby blocking both sides of the material box . With reference to the view direction of Fig. 6, for example, when the material box is conveyed to the preset area from left to right on the internal conveying track, the stop block 227 on the right side of the material box can prevent the material box from continuing to move to the right, so that the material box Restricted to a preset area. The limit block 227 on the left side of the material box can prevent other material boxes from reaching the preset area.

In another embodiment of the present application, referring to FIG. 1 , there are two bin docking positions of the bin transfer device, which are respectively located at opposite ends thereof, and the bins are transported to a predetermined area from two directions. Thus, the two limit blocks 227 can be used to respectively limit the material boxes from two directions, so as to realize basically the same function as above.

In an embodiment, the second material box transfer mechanism 223 may be configured to hook the material box from the material box conveying mechanism of the corresponding layer to the corresponding lifting mechanism. Please refer to FIG. 7 , which is a schematic structural diagram of the second magazine transfer mechanism. The second material box transfer mechanism 223 includes a first pull rod mechanism, a first shift block 2232 and a first pull rod drive unit 2233; one end of the second material box transfer mechanism 223 can be fixedly assembled on the supporting frame of the corresponding lifting mechanism 224 or On the frame of the bin transfer device; the first shifting block 2232 is installed on one end of the first pull rod mechanism 2231; the first pull rod driving unit 2233 is installed on the other end of the first pull rod mechanism 2231.

The first pull rod driving unit 2233 is configured to drive the first pull rod mechanism to expand and contract.

The first pull rod mechanism is configured to, driven by the first pull rod driving unit, drive the first shift block to hook the material box onto the corresponding lifting mechanism.

Here, the first pull rod mechanism includes a first pull rod 2231-1 and a belt 2231-2. In practice, the first pull rod drive unit can be used to drive the belt to drive the first pull rod to retract, and the retraction of the first pull rod will drive the first shift block Hook the material box to the corresponding lifting mechanism. When the material box is already on the lifting mechanism, you can use the first pull rod drive unit to drive the belt to drive the first pull rod to extend, return to the initial position, and wait for the transfer of the next material box .

The above is only a schematic description of an implementation structure of the first pull rod mechanism, and the first pull rod drive unit can also drive the first shift block 2232 to move on the first pull rod 2231-1, so as to move the material on the inner conveying track The box is hooked to the corresponding lifting mechanism. Here, the structure of the first pull rod mechanism will not be listed one by one.

In an embodiment of the present application, the first pull rod mechanism can also be provided with a first push block, driven by the first pull rod drive unit, it can drive the first push block to push the material box on the lifting mechanism to the corresponding internal delivery on track. The first pushing block and the first shifting block 2232 may be respectively located at opposite ends of the first pull rod 2231 - 1 , and driven by the first pull rod driving unit 2233 .

In one embodiment, the lifting mechanism 224 is configured to transfer multiple material boxes to the same transfer conveyor track. Refer to FIG. 8 , which is a structural schematic view of the lifting mechanism. The lifting mechanism 224 includes a second drive unit 2241, a second guide rail element 2242 and a second jacking fork 2243; the second drive unit 2241 is connected with the second guide rail set 2242; the second jacking fork 2243 is slidably assembled on the second guide rail element 2242 on. The second jacking fork 2243 can be a comb mechanism, and the comb mechanism includes comb teeth. The projections of the comb teeth of the second jacking fork and the comb teeth of the transfer conveying track on the horizontal plane do not overlap. Exemplarily, the comb teeth of the transfer conveyor track can be several rollers, and when the second jacking fork is used to transfer the material box, the comb teeth of the second jacking fork can pass between several rollers of the transfer conveyor track gap.

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

The second guide rail element 2242 is configured to drive the second jacking fork to move vertically under the drive of the second driving unit, so as to transfer the material box on the lifting mechanism to the transfer conveying track.

During specific implementation, when the second jacking fork of the lifting mechanism receives the material box, the second drive unit can be used to drive the second guide rail element, and the second guide rail element drives the second jacking fork to move vertically to the transfer conveyor track At this time, since the comb teeth of the second jacking fork can pass through the gap between several rollers of the transfer conveyor track, the material box temporarily stored on the second jacking fork can be placed on the transfer conveyor track , when the material box is transferred by the transfer conveyor track, the second drive unit is used to drive the second guide rail element, and the second jacking fork is moved back to the initial position of the second jacking fork along the vertical direction, waiting for the next material Box transfer.

In one embodiment of the present application, the second driving unit is configured to transfer the material box on the transfer conveying track to the lifting mechanism when driving the second jacking fork to move vertically higher than the transfer conveying track. Specifically, the comb teeth of the second jacking fork can pass through the gap between several rollers of the transfer conveying track, so the material box located on the transfer conveying track can be lifted up, thereby transferring the material box to the lifting mechanism 224, and then the second driving unit 2241 can drive the second jacking fork to rise to correspond to the corresponding inner conveying track. The first pull rod driving unit of the second material box transfer mechanism 223 drives the first push block to push the material box on the lifting mechanism to the corresponding internal conveying track.

The second material box transfer mechanism 223 and the lifting mechanism 224 can be provided with a plurality of them, and can be independently controlled. Each group of second material box transfer mechanism 223 and lifting mechanism 224 corresponds to one layer of internal conveying track respectively, multiple sets of second material box transferring mechanism 223 and lifting mechanism 224 can simultaneously transfer the material boxes on different internal conveying tracks to the transfer transport track superior.

The transfer conveyor track of the present application may have the same structure and arrangement as the internal conveyor track, and the transfer conveyor track may overlap with the internal conveyor track in the height direction, for example. For example, in one embodiment of the present application, the internal conveying track of a certain layer or several layers can be used as a transfer conveying track. For example, with reference to FIG. 6 , the bottommost internal conveying track is used as a transfer conveying track, and the feed boxes on other internal conveying tracks are transferred to the bottommost internal conveying track by the second material box transfer mechanism 223 and the lifting mechanism 224 . In this embodiment, the internal conveying track used as the transfer conveying track still has a preset area and a docking position of the material box, and the material box can be connected between the internal conveying track and the material box through the corresponding first material box transfer mechanism. Transfer between robotic staging institutions. In a possible implementation manner, the container transfer device may further include a third container transfer mechanism. The third material box transfer mechanism transfers the material boxes on the temporary storage mechanism of the robot to the transit conveying track, or transfers the material boxes located on the transit conveying track to the temporary storage mechanism of the robot. In this embodiment, the transfer conveyor track can be located on any layer or any several layers of the internal conveyor track, which is selected according to the actual application scenario.

Figure 6 shows a schematic diagram of the structure of the transfer conveyor track at the bottom of the bin transfer device. The projection of the transfer conveyor track on the horizontal plane does not overlap with other internal conveyor tracks, that is, there is a predetermined distance offset. This is for the purpose of applying in certain application scenarios.

In this embodiment, for the rest of the bins of the robot except the bins on the bottommost temporary storage mechanism, at least one of the first bin transfer mechanism, the multi-layer bin transfer mechanism, and each The second material box transfer mechanism corresponding to the layer material box conveying mechanism and the lifting mechanism corresponding to each second material box transfer mechanism perform the transfer. For the material boxes on the temporary storage mechanism at the bottom of the robot, the third material box transfer mechanism can be used for transfer. Here, the third material box transfer mechanism is used to directly transfer the material boxes on the bottommost temporary storage mechanism of the robot to the transfer conveying track, and it is not necessary to set the first material box transfer mechanism, material box conveying mechanism, The second material box transfer mechanism and the lifting mechanism can save certain structural material costs.

The first material box transfer mechanism is configured to transfer the remaining material boxes of the robot except the material boxes on the temporary storage mechanism at the bottom layer to the material box conveying mechanism of the corresponding layer; the material box conveying mechanism is configured to transport the material boxes to this layer At the preset area corresponding to the material box conveying mechanism; wherein, the projections on the horizontal plane of the preset regions corresponding to the material box conveying mechanism of different layers do not overlap; the second material box transfer mechanism is configured to place the corresponding layer on the material box conveying mechanism The material boxes at the corresponding preset area are hooked to the corresponding lifting mechanism; wherein, the projections of different second material box transfer mechanisms on the horizontal plane do not overlap; the lifting mechanism is configured to transfer the material boxes to the same transfer conveyor track Above; the third material box transfer mechanism is configured to transfer the material box on the temporary storage mechanism at the bottom of the robot to the transfer conveying track.

The controller is configured to, in response to the first material box transfer instruction, control the first material box transfer mechanism to transfer the rest of the material boxes of the robot except the material boxes on the bottom temporary storage mechanism to the corresponding layer material box conveying mechanism; The layer of material box conveying mechanism drives the material box to the preset area corresponding to the layer of material box conveying mechanism; respectively controls the second material box transfer mechanism corresponding to each layer of material box conveying mechanism, and hooks the material box from the material box conveying mechanism to the On the lifting mechanism corresponding to the second material box transfer mechanism; respectively control the lifting mechanism to transfer the material box to the same transfer conveying track; control the third material box transfer mechanism to transfer the material box on the bottom temporary storage mechanism of the robot to the middle on the conveyor track.

In some embodiments, the third material box transfer mechanism may be configured to transfer the material boxes on the bottommost temporary storage mechanism of the robot to the transfer conveyor track. Please refer to FIG. 9 , which is a schematic structural diagram of the third material box transfer mechanism. The third material box transfer mechanism includes a jacking mechanism 2261 and a pull rod transfer mechanism 2262 . The jacking mechanism 2261 has a first position and a second position; when in the first position, the height of the jacking mechanism 2261 is lower than the height of the transfer conveyor track; when in the second position, the jacking mechanism 2261 is configured to pass through the robot The gap of the temporary storage mechanism jacks up the material box on the temporary storage mechanism.

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 114 and the comb teeth of the jacking mechanism 2261 on the horizontal plane do not overlap; Therefore, when the jacking mechanism 2261 is lifted, the gap between the transfer conveyor track 225 and the comb teeth of the temporary storage mechanism 114 can be used to pass through the transfer conveyor track 225 and the temporary storage mechanism 114, so that the robot 11 is temporarily stored on the bottom floor. The material box on the temporary storage mechanism 114 lifts. After the pull rod transfer mechanism 2262 transfers the material boxes on the jacking mechanism 2261 to the preset area (corresponding to the upper area of the transfer conveyor track), the jacking mechanism 2261 returns to the first position to remove the material boxes in the preset area. The case is transferred to the transfer conveyor track 225. Here, the preset area may be directly above the transfer conveying track and where the jacking mechanism is located. Exemplarily, a sensor can be used to detect whether there is a material box in the preset area, and if there is a material box, a signal that there is a material box in the preset area is sent to the controller, and the controller can control the jacking mechanism according to the signal. The action of returning to the first starting position. Here, the size of the preset area may be the size of the bottom surface of the material box.

In an embodiment of the present application, the pull rod transfer mechanism is configured to push the material box above the transfer conveying track on the jacking mechanism to a corresponding position above the temporary storage mechanism of the robot along the jacking mechanism. That is, after the material box is transported to its material box docking position or preset area along the transfer conveying track, the jacking mechanism 2261 moves from the first position to the second position, so that the material box located on the transfer conveying track Jack up. Afterwards, the pull rod transfer mechanism pushes the material box located in the preset area along the jacking mechanism 2261 to a position corresponding to the top of the temporary storage mechanism of the robot. In this way, when the jacking mechanism 2261 moves from the second position to the first position, the comb teeth of the jacking mechanism 2261 pass through the comb teeth of the temporary storage mechanism, thereby placing the material box on the temporary storage mechanism on the corresponding floor of the robot.

In some embodiments, the rod transfer mechanism 2262 can be configured to transfer the bins on the jacking mechanism to a preset area of the jacking mechanism.

As shown in FIG. 9 , the pull rod transfer mechanism 2262 includes a second pull rod mechanism 2262-1, a second shift block 2262-2, and a second pull rod driving unit 2262-3. The second shifting block 2262-2 is installed at one end of the second pull rod mechanism 2262-1; the second pull rod driving unit 2262-3 is installed at the other end of the second pull rod mechanism 2262-1.

The second pull rod mechanism 2262-1 can be configured to, driven by the second pull rod driving unit, drive the second shift block to hook the material box to the preset area of the jacking mechanism. That is to drive the second shifting block to transfer the material box on the jacking mechanism from the position above the corresponding temporary storage mechanism to the position corresponding to the transfer conveying track along the jacking mechanism.

Based on the same principle, a second push block is also provided on the second pull rod mechanism, through the second pull rod drive unit, the second push block can be driven to push the material box located in the preset area to the top of the temporary storage mechanism of the robot. That is, the second push block is driven to push the loading box of the jacking mechanism from the position above the corresponding transfer conveying track to the position corresponding to the temporary storage mechanism of the robot along the jacking mechanism.

Here, the specific structure and working principle of the pull rod transfer mechanism can refer to the above-mentioned second material box transfer mechanism, which will not be repeated here.

In some embodiments, the bin transfer device 12 may also include a fourth bin transfer mechanism, and the fourth bin transfer mechanism may be configured to transfer the bins on the bottom temporary storage mechanism 114 of the robot 1 to the transfer conveyor track superior.

The fourth material box transfer mechanism may include a third pull rod mechanism, a third shift block, a third pull rod drive unit and a third shift block drive unit. The third shift block is installed 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 driving unit of the third shifting block can be configured to drive the third shifting block to rotate from the initial horizontal position to the vertical position, so as to pick up the material box.

The third pull rod mechanism can be configured to, driven by the third pull rod drive unit, drive the third shifting block to hook the material box on the bottommost temporary storage mechanism to the transfer conveying track.

In a possible implementation manner, at least one lifting mechanism can also be set in the material box transfer device 12, and the lifting mechanism may not correspond to the second material box transferring mechanism one by one, that is, the lifting mechanism is used to transfer the material on the multi-layer internal conveying track. boxes to the transfer conveyor track. During specific implementation, the material box transfer device may include a lifting mechanism. At this time, the limited positions of the material boxes transported on the internal conveying tracks of different layers can be selected arbitrarily, wherein the limited positions of the material boxes on the internal conveying tracks of each layer must be Correspondingly, a second material box transfer mechanism is provided. The lifting mechanism can move in the two-dimensional scene coordinates to obtain the material boxes on the internal conveying track of different layers and transfer the material boxes to the transfer conveying track. Specifically, the first material box transfer mechanism is configured to lift a plurality of material boxes from the robot and transfer them to the material box conveying mechanism on a different layer; the material box conveying mechanism is configured to transport the material boxes to the layer of material At the preset area corresponding to the box conveying mechanism; the second material box transfer mechanism is configured to hook the material box at the corresponding preset area on the material box conveying mechanism of the corresponding layer to the lifting mechanism; the lifting mechanism is configured to The bins are transferred to the same transfer conveyor track.

To sum up, using the material box transfer device 12 can transfer multiple material boxes from the temporary storage mechanism 114 of the robot 11 at the last time, and can improve the material box transfer efficiency in the scenario where the robot accesses multiple material boxes in the cargo picking scene , thereby improving the handling efficiency of the robot in the bin access process.

The following is a detailed introduction to the docking between the robot and the material box transfer device in the cargo storage scene to realize the material box transfer: In a possible implementation manner, the material box transfer device 12 may be configured to lift the material boxes on the material box conveying mechanism of different layers and transfer them to the temporary storage mechanism of the robot.

The robot 11 may be configured to move to the docking position of the bins to receive the bins after the first bin transfer mechanism lifts up the bins on the bin conveying mechanism of different layers.

Specifically, the controller may be configured to, in response to the second material box transfer instruction, respectively control each lifting mechanism to lift the material box to the same height as the preset area corresponding to the second material box transferring mechanism corresponding to the lifting mechanism. At the height, respectively control the second material box transfer mechanism corresponding to each lifting mechanism to transfer the material box to the preset area corresponding to the second material box transfer mechanism; control the corresponding layer material box conveying mechanism to transfer the material box to this layer Material box docking position; control the first material box transfer mechanism to transfer the material box on the material box conveying mechanism to the temporary storage mechanism of different layers of the robot.

During specific implementation, the controller may be configured to, in response to the second material box transfer instruction, separately control each second drive unit to drive its corresponding second guide rail element, and drive each second jacking fork to lift the material box to the same level as The height of the preset area corresponding to the second material box transfer mechanism corresponding to each lifting mechanism is at the same height; after that, control the first pull rod drive unit in the second material box transfer mechanism corresponding to each lifting mechanism to drive the first A pull rod mechanism expands and contracts, driving the first shifting block to hook the material boxes on different second jacking forks to the internal conveying track in the material box conveying mechanism of the corresponding layer of each second material box transfer mechanism; after that, control them separately The drive unit of the internal conveying track in the material box conveying mechanism drives the roller V-belt to drive the multiple rollers to rotate, and transfers the multiple material boxes on the internal conveying track of different layers to the corresponding material box docking position of the internal conveying track of the layer; after that, Control the first drive unit in the first material box transfer mechanism to drive the first guide rail element, drive the plurality of first lifting forks to lift the material box at the material box docking position, wait for the robot to move to the material box docking position, and then control the first The first driving unit in a material box transfer mechanism drives the first guide rail element to drive the plurality of first jacking forks back to the first initial position, so as to respectively place the plurality of material boxes on the temporary storage mechanism on different layers of the robot.

The controller is configured to, in response to the second material box transfer instruction, control the third material box transfer mechanism to transfer the material boxes on the transfer conveying track to the bottommost temporary storage mechanism of the robot.

During specific implementation, the controller is configured to, in response to the second bin transfer command, when the jacking mechanism 2261 is lifted, it can use the gap between the transfer conveying track 225 and the comb teeth of the temporary storage mechanism 114 to pass through the transfer conveying track 225 and temporary storage mechanism 114, to lift the material box in the destination area on the transfer conveying track to the preset area; The bins in the set area are hooked to the temporary storage mechanism at the bottom of the robot 11.

In a possible implementation manner, a multi-layer external conveying line may also be provided, and a third bin transfer mechanism corresponding to the multi-layer external conveying line may also be provided.

Here, the second bin transfer instruction may be a bin transfer instruction generated when the bin arrives at the third preset area corresponding to the transfer conveyor track; or, it may also be a second sensor element (second sensor The component may be a material box transfer instruction sent to the controller when the first sensor element) detects that there is a material box in the third preset area; or, it may also be a material box transfer instruction issued by the cloud server. Here, the third preset area may be a preset area set on the transfer conveyor track. The second bin transfer instruction may select an appropriate sending subject according to a specific application scenario, which is not limited in this embodiment of the present application. Those skilled in the art can make various substitutions and modifications without departing from the scope of the present application, and these substitutions and modifications should all fall within the scope of the present application.

Here, the first sensor element and the second sensor element may be sensor elements capable of measuring distance, such as a vision sensor or a depth sensor, and the specific sensor types are not specifically limited here.

In another possible implementation manner, the material box transfer device may include a third material box transfer mechanism, and the material box transfer device may be used to transfer the material boxes on the transfer conveying track to the temporary storage mechanism on the corresponding layer of the robot. Its implementation process can refer to the implementation process of the controller controlling the third bin transfer mechanism in the above-mentioned cargo storage scenario, and will not be repeated here.

In another possible implementation manner, the bin transfer device 12 may include a first bin transfer mechanism, a bin conveying mechanism, a second bin transfer mechanism, and a lifting mechanism, and the transfer transfer device 12 may be used to transfer the conveying track The bins on the top are transferred to the temporary storage mechanism 114 on the corresponding layer of the robot 11. Its implementation process can refer to the implementation process of the controller controlling the first bin transfer mechanism, the bin conveying mechanism, the second bin transfer mechanism, and the lifting mechanism in the above-mentioned cargo storage scenario, and will not be repeated here.

To sum up, the use of the material box transfer device 12 can transfer multiple material boxes from the outside at one time and place them on the temporary storage mechanism 114 on different layers of the robot 11. In the scenario where the robot 11 accesses multiple material boxes in the scene of cargo picking, it can improve Improve the transfer efficiency of the material box, thereby improving the handling efficiency of the robot in the material box access process.

Based on the idea of the above system, the embodiment of the present application also provides a material box transfer device, which can be considered to include the material box transfer device 12 in the above embodiment. The structure of the material box transfer device can be referred to as shown in FIGS. 2-9 , and the repeated parts will not be repeated here.

When the robot 11 took away the bin from the docking position of the bin transfer device 12, first the first jacking fork of the bin transfer device lifted the bin on the multi-layer bin conveying mechanism, and then the robot 11 moved to The material box docking position, and its temporary storage mechanism 114 is located below the first jacking fork, at this moment, the material box is positioned at the top of the temporary storage mechanism 114, and the material box can be placed right under the guidance of the guide element 116 of the robot 11; then The first jacking fork moves down and passes through the comb teeth gap of the temporary storage mechanism 114 , so that the material box falls on the temporary storage mechanism 114 under the guidance of the folded portion 1142 of the standing edge 1141 .

Based on the idea of the above system, an embodiment of the present application provides a material box transfer system, including the above-mentioned robot 11 and the material box transfer device 12 . Through the cooperation of the robot 11 and the transfer mechanism in the material box transfer device 12, when the transfer mechanism passes through the gap of the temporary storage mechanism of the robot, the material boxes originally located on different temporary storage mechanisms 114 can be simultaneously transferred to the corresponding internal conveying track or transfer the bins on different internal conveying tracks to the temporary storage mechanism 114 corresponding to the robot 11.

In an embodiment of the present application, the bins on the different temporary storage mechanisms 114 of the robot 11 are selected from the storage racks. Correspondingly, the material box transfer system of the present application includes at least one storage rack, and a plurality of material boxes are stored on the at least one storage rack. The robot can select the required material boxes from different positions on the storage rack according to the preset operation instructions, and place them on different temporary storage mechanisms one by one.

Correspondingly, the robot 11 can also place the material boxes on different temporary storage mechanisms to the corresponding positions of the corresponding temporary storage racks through its retrieving and returning box components.

In an embodiment of the present application, the container transfer system includes an external transportation line, a first container transfer device, a second container transfer device, and at least one robot 11 . The transfer conveying track in the first material box transfer device is docked with the input end of the external conveying line; the transfer conveying track in the second material box transfer device is connected with the output end of the external conveying line. The first material box transfer mechanism of the first material box transfer device is configured to transfer the material boxes on the different temporary storage mechanisms of the robot at the docking position of the material box to the corresponding internal conveying track; the second material box transfer device The first material box transfer mechanism is configured to transfer the material boxes on different internal conveying tracks to the temporary storage mechanism corresponding to the robot.

Specifically, the robot 11 is configured to move to the first docking station or the second docking station. Wherein, the first bin docking position is the position where the robot 11 and the first bin transfer device transfer the bin, and the second bin docking position is the position where the robot 11 and the second bin transfer device transfer the bin. The bin transfer system may also include at least two robots 11, wherein at least one robot 11 is configured to move to the first bin docking position, and at least one robot is configured to move to the second bin docking position. The robot 11 may be the robot in the above system.

The first material box transfer device is configured to transfer the multiple material boxes on the different temporary storage mechanisms 114 of the robot 11 moved to the first material box docking position to its transfer conveyor track, and the transfer conveyor track transports the material boxes to External shipping lines. The bins are operated accordingly on the external conveyor line. The external conveying line may be a selection line for material boxes in logistics, or a packaging line, etc., and the scene of its application will not be described in detail here.

After the material box is processed on the external conveyor line, it needs to be transferred to the storage rack for storage. Thus, the material boxes on the external conveying line can be transported to the transfer conveying track of the second material box transferring device. Afterwards, the corresponding mechanism in the second material box transfer device transfers the material boxes on its transfer conveying track to different temporary storage mechanisms 114 of the robot 11 located at the second material box docking position. The robot 11 then places the material boxes on different temporary storage mechanisms 114 to corresponding positions of the corresponding storage racks for storage according to preset instructions.

In some embodiments, the bin transfer device 12 can be used to transfer multiple bins from the temporary storage mechanism 114 on different layers of the robot 11 at one time, or place a plurality of bins for the robot at one time, for the scenario where the robot 11 accesses multiple bins Among them, the docking time between the robot 11 and the bin transfer device 12 can be reduced, and the handling efficiency of the robot in the bin access process can be improved; at the same time, the total number of robots in the same scene can be reduced, and the total cost of the robot can be saved.

In some embodiments, the container transfer system includes at least one robot 11 and at least one container transfer device 12 . 16, which is a schematic structural view of the robot 11 and the bin transfer device 12 when the robot 11 is docked with the bin transfer device 12, including at least one robot 11, an external conveying line 125, a bin transfer device 12, a plurality of The material box 23 has at least one first lifting mechanism 123 , at least one second lifting mechanism 124 and a controller.

In a possible implementation manner, a plurality of first lifting mechanisms 123 and a plurality of second lifting mechanisms 124 can be set in the bin transfer device 12, for example, a set of double lifting mechanisms ( including the first lifting mechanism 123 and the second lifting mechanism 124 ), the second lifting mechanism 124 is connected to the external conveying line 125 .

The material box transfer device 12 is configured to obtain all the material boxes that are moved to the docking position of the first material box and on the temporary storage mechanism of different layers of the robot, and transfer all the material boxes to the same external conveying line in batches; The number of batch transfers is less than the number of all material boxes; or, multiple material boxes on the same external conveying line are transferred to the temporary storage mechanism on different layers of the robot.

The following is a detailed introduction to the docking between the robot and the material box transfer device 12 in the scene where the robot puts the box, to realize the material box transfer: First, the material box temporarily stored on the temporary storage mechanism 113 of the robot 11 can be transferred to the preset area on the material box transfer device 12 by using the material box transfer device 12; after that, the material box transfer device 12 determines the preset area Under the situation that has material box, material box transferring device 12 can transfer this material box on the first lifting mechanism 123; Transfer to the second lifting mechanism 124; Afterwards, under the situation that the second lifting mechanism 124 determines that there is a material box, the second lifting mechanism 124 can transfer the material box to the external conveying line 125; Afterwards, the external conveying line 125 will material The box is transported to the next link.

Exemplarily, the preset area of each layer of the material box conveying mechanism can be provided with corresponding sensors, and a plurality of sensors can be used to detect whether there is a material box at the preset area of each layer of the material box conveying mechanism. When the material box conveying mechanism determines that there are material boxes, it may be determined that there are material boxes in the preset area of a certain layer or layers of the material box conveying mechanism by using the feedback result of the sensor.

In some embodiments, the material box transfer device 12 may be configured to transfer all material boxes in batches to the first conveying mechanism on different layers of the first lifting mechanism, wherein the number of times of batch transfer is less than the number of all material boxes; Transfer multiple material boxes on the first conveying mechanism of different layers to the same external conveying line.

Specifically, the container transfer device 12 is configured to transfer the container from the preset area to the first conveying mechanism of the first lifting mechanism. The first lifting mechanism 123 is configured to move the multi-layer first conveying mechanism to the docking position of the second material box, so as to obtain the material boxes provided by the material box conveying mechanism of different layers. Here, the number of bins acquired at one time is the same as the number of layers of the first conveying mechanism. The second docking position of the material box is the position where the first conveying mechanism on each floor is located when the first lifting mechanism and the material box conveying mechanism perform the docking of the material boxes. When the first lifting mechanism is docked with the material box conveying mechanism, the material box conveying mechanism will correspond to a second material box docking position, and the first conveying mechanism can obtain the material box conveying mechanism at the second material box docking position Transported bins.

In some embodiments, the multi-layer container transfer device 12 can transfer all the containers in the preset area to the first conveying mechanism of the first lifting mechanism in batches. Here, the first lifting mechanism 123 includes a multi-layer first conveying mechanism 1231, as shown in FIG. 17 . The first conveying mechanism 1231 is used for temporarily storing and transferring the material box. For example, the first conveying mechanism 1231 includes several rollers. When realizing the function of transferring the material box, the motor can be used to drive the rollers to rotate to transfer the material box. Here, the number of batch transfers is less than the number of all bins.

Exemplarily, for the multi-layer material box conveying mechanism and the first lifting mechanism shown in FIG. 16 , it includes a six-layer material box conveying mechanism, and the first lifting mechanism includes a two-layer first conveying mechanism. Since the first lifting mechanism includes two layers of the first conveying mechanism, during the batch transfer process of all the material boxes, the material boxes on the two layers of material box conveying mechanisms can be transferred at one time, and each layer of material box conveying mechanisms can be grouped here , for example, the sequence from bottom to top is the first layer of material box conveying mechanism, the second layer of material box conveying mechanism, the third layer of material box conveying mechanism, the fourth layer of material box conveying mechanism, the fifth layer of material box conveying mechanism and For the sixth layer of material box conveying mechanism, set the first layer of material box conveying mechanism and the second layer of material box conveying mechanism as the first group, and set the third layer of material box conveying mechanism and the fourth layer of material box conveying mechanism as the second group group, and set the fifth-layer material box conveying mechanism and the sixth-layer material box conveying mechanism as the third group. Here, two layers of first conveying mechanisms may be set to move synchronously. In the initial state of the first lifting mechanism, that is, the two-layer first conveying mechanism juxtaposed in the vertical direction is located at the bottom of the first lifting mechanism. One-to-one correspondence of material box conveying mechanism. Therefore, in the initial state of the first lifting mechanism, the first group of material box conveying mechanisms can be controlled first, and the two material boxes are respectively transferred to the first conveying mechanism of different layers. At this time, the first conveying mechanism temporarily stores the material boxes; After the first conveying mechanism transfers the material box out, the first conveying mechanism of the two layers moves to the docking position of the second material box corresponding to the material box conveying mechanism of the third layer and the material box conveying mechanism of the fourth layer, and controls the second group of materials The box conveying mechanism transfers the two material boxes to the first conveying mechanism of different layers respectively; then controls the third group of material box conveying mechanism until all the material boxes on the multi-layer material box conveying mechanism are transferred out. In this process, the two-layer first conveying mechanism in the first lifting mechanism moves synchronously, goes back and forth twice up and down, and transfers all the feed boxes on the six-layer feed case conveying mechanism.

In some embodiments, the first lifting mechanism 123 is further configured to transfer the plurality of bins on the first conveying mechanism at different levels to the second conveying mechanism at different levels of the second lifting mechanism. Here, the plurality of material boxes may be the material boxes on the first conveying mechanism of all layers, or may be the material boxes on the first conveying mechanism of some layers. Specifically, the first lifting mechanism 123 is also configured to, after receiving the bins conveyed by the multi-layer bin conveying mechanism, move the multi-layer first conveying mechanism to the third docking position of the bins, and transfer the multiple bins to the second lifting mechanism on the second conveying mechanism. Here, the third docking position of the material box is the position where the first conveying mechanism of each layer is located when the first lifting mechanism and the second lifting mechanism are docking the material boxes. Here, the second lifting mechanism 124 includes a multi-layered second conveying mechanism. The second conveying mechanism is used for temporarily storing and transferring the material box. For example, the second conveying mechanism includes several rollers. When realizing the function of transferring the material box, the motor can be used to drive the rollers to rotate to transfer the material box.

Exemplarily, in the case that the number of layers of the first conveying mechanism in the first lifting mechanism is the same as that of the second conveying mechanism in the second lifting mechanism, the first conveying mechanism may correspond to the second conveying mechanism one-to-one , when docking the material boxes, all the material boxes in the first conveying mechanism can be directly transported to the second conveying mechanism on the corresponding layer, at this time, the second conveying mechanism temporarily stores the material boxes.

Exemplarily, when the number of layers of the first conveying mechanism in the first lifting mechanism is greater than the number of layers of the second conveying mechanism in the second lifting mechanism, the temporarily stored The feed box is transported to the second conveying mechanism. For example, if there are three layers of the first conveying mechanism and two layers of the second conveying mechanism, the material boxes temporarily stored on the first layer and the second layer of the first conveying mechanism are first conveyed to the first layer and the second layer of the second conveying mechanism , after the bins on the two layers of the second conveying mechanism are transported away, move the two layers of the second conveying mechanism so that any one of the second conveying mechanisms on the third layer docks with the first conveying mechanism on the third layer to receive the third layer The material box conveyed by the first conveying mechanism. The number of layers of the first conveying mechanism can be arranged in order from bottom to top, the bottom layer is the first layer, and the upper layers are respectively the second layer, the third layer, ..., the Nth layer, and N is a positive integer.

In some embodiments, the second lifting mechanism 124 is configured to transfer a plurality of bins on different levels of the second conveying mechanism to the same external conveying line 125 . Specifically, the second lifting mechanism is configured to, after receiving the bins conveyed by the first conveying mechanism of different layers, move the second conveying mechanism to the fourth docking position of the bins, and transfer the bins on the second conveying mechanism of each layer respectively onto the external delivery line 125. The fourth material box docking position is the position where the second conveying mechanism is located when the second lifting mechanism and the external conveying line 125 perform material box docking. It should be noted that an external conveying line 125 only corresponds to a fourth docking position of the material box.

Here, the mechanism used by the first conveying mechanism, the second conveying mechanism and the box conveying mechanism to transfer the bins may be the same, such as a roller or a belt, and the specific transferring mechanism is not limited in this embodiment of the disclosure.

In some other embodiments, the first lifting mechanism 123 is further configured to, after receiving the bins delivered by the multi-layer bin conveying mechanism, move the multi-layer first conveying mechanism to the docking position of the fifth bin for multiple times, respectively lift each layer The bins on a conveying mechanism are transferred to the external conveying line 125 . Here, the fifth material box docking position is the position where the first conveying mechanism is located when the first lifting mechanism is docking the material box with the external conveying line 125 .

The above-mentioned way of using the double lifting mechanism to cooperate with each other to transfer the material box, compared with the current material box transfer device 12 with only one lifting mechanism, can realize the material box transfer more quickly and improve the material box transfer efficiency.

The following is a detailed introduction to the docking between the robot and the bin transfer device 12 in the scene where the robot picks up the bins to realize the transfer of the bins: First, the external conveying line 125 can be used to transport the material box for the second lifting mechanism 124; afterward, when the second lifting mechanism 124 determines that there is a material box, the second lifting mechanism 124 can transfer the material box to the first lifting mechanism 123 Afterwards, when the first lifting mechanism 123 determines that there is a hopper, the first lifting mechanism 123 transfers the hopper to the hopper transfer device 12; when the hopper transfer device 12 determines that there is a hopper, the hopper is transferred to Transport to the preset area; when the bin transfer device 12 determines that there are bins in the preset area, the robot 11 first moves to the first docking position of the bin; after that, the bin transfer device 12 transfers the bins located in the preset area to the temporary storage mechanism 113 of the robot 11.

Exemplarily, each layer of the second conveying mechanism can be provided with a corresponding sensor, and a plurality of sensors can be used to detect whether there is a temporary storage box on the second conveying mechanism on each layer, and then determine whether there is a material box on the second lifting mechanism. Each layer of the first conveying mechanism can be provided with a corresponding sensor, and a plurality of sensors can be used to detect whether there is a temporarily stored material box on the first conveying mechanism of each layer, and then determine whether there is a material box on the first lifting mechanism.

The above-mentioned conveying link is executed only when the second lifting mechanism determines that there are material boxes, and when the second conveying mechanism on each floor has material boxes. In the same way, when the first lifting mechanism determines that there are material boxes, and when the first conveying mechanism on each floor has material boxes, the conveying link is executed, which can realize the transfer of material boxes more quickly and improve the efficiency of material box transfer .

The configuration process of each mechanism in the material box transfer device 12 will be described in detail below for the scene where the robot and the material box transfer device 12 perform box picking and docking: The external conveyor line 125 is configured to transfer the external bins to the second lift mechanism. Here, the external material box includes the material box provided by other devices, and the material box may contain goods or be an empty material box. Whether there is goods in the material box can be designed according to specific application scenarios, which is not specifically limited in the embodiments of this disclosure.

The second lifting mechanism 124 is configured to move the second conveying mechanism to the fourth docking position of the material box, so as to obtain the material box provided by the external conveying line 125 . Here, a multi-layer second conveying mechanism may be set to move synchronously. Since the multi-layer second conveying mechanism moves synchronously, the second conveying mechanism can be moved multiple times to the docking position of the fourth material box to obtain a plurality of material boxes.

The first lifting mechanism 123 is configured to move the multi-layer first conveying mechanism to the docking position of the third material box, so as to obtain a plurality of material boxes provided by the second lifting mechanism. Move the multi-layer first conveying mechanism to the docking position of the second material box, and transfer the multiple material boxes to the material box conveying mechanism of different layers. Generally, the number of layers of the first multi-layer conveying mechanism is greater than or equal to the number of layers of the second conveying mechanism, therefore, the first multi-layer conveying mechanism can obtain all the bins in the second lifting mechanism at the third bin docking position. Here, the number of layers of the material box conveying mechanism is greater than that of the first conveying mechanism, therefore, the first lifting mechanism can transfer all the temporarily stored material boxes to different layers of the material box conveying mechanism.

The container transfer device 12 is configured to transfer the container provided by the first lifting mechanism to a preset area.

The material box transfer device 12 is configured to lift all the material boxes in the preset area of the multi-layer material box conveying mechanism and transfer them to different layers of the temporary storage mechanism of the robot.

The robot 11 is configured to move to the first docking position of the bins to receive the bins after the bin transfer device 12 lifts up all the bins in the preset area of the multi-layer bin conveying mechanism.

Due to the various mechanisms used by the above-mentioned robot 11 and the bin transfer device 12 in the scene of picking up and docking with the bin transfer device 12, the various mechanisms used in the bin transfer device 12 in the scene of docking and docking with the robot and the bin transfer device 12 The mechanisms are the same, and only the movements of each mechanism are opposite. Therefore, for the specific details of the scene where the robot and the bin transfer device 12 perform box removal and docking, you can also refer to the above scene where the robot and the bin transfer device 12 perform box placement and docking, and the repeated parts will not be repeated.

The specific structure and the moving process of each mechanism in the bin transfer device 12 are described in detail below: For the first lifting mechanism 123, it can be referred to as shown in FIG. 8, which is a schematic structural view of the first lifting mechanism, wherein the first lifting mechanism 123 also includes a second drive unit 1232 and a drive element 1233; the second drive unit 1232 and the drive The elements 1233 are connected; the multi-layer first conveying mechanism 1231 is fixedly assembled on the driving element 1233 . Taking the scene where the robot puts boxes as an example, the configuration process of each component is as follows:

The first conveying mechanism 1231 is configured to transfer the temporarily stored material boxes to the second lifting mechanism.

The second driving unit 1232 is configured to drive the driving assembly to rotate.

The driving element 1233 is configured to drive the multi-layered first conveying mechanism to move vertically under the drive of the second driving unit, so as to transfer the temporary storage boxes on the first conveying mechanism to the second lifting mechanism.

Based on the above scene where the robot puts boxes, the configuration and movement of each component of the first lifting mechanism, the scene of the robot picking up boxes, the configuration and movement of each component of the first lifting mechanism can be determined. Specifically, the first conveying mechanism is configured to transfer the temporarily stored bins to the bin conveying mechanism; the second drive unit is configured to drive the drive element to rotate; the drive element is configured to, driven by the second drive unit, , driving the multi-layer first conveying mechanism to move in the vertical direction, so as to transfer the plurality of material boxes temporarily stored on the first conveying mechanism to different layers of the material box conveying mechanism.

Exemplarily, the drive assembly includes, for example, a motor, multiple timing belts (or rack and pinion, sprocket chain, ball screw, etc.).

For the specific structure of the second lifting mechanism 124 , reference may be made to the specific structural schematic diagram of the first lifting mechanism shown in FIG. 8 , and repeated descriptions will not be repeated here. The internal components in the first lifting mechanism are the same as those in the second lifting mechanism, and the driving method is the same. Only the number of layers of the first conveying mechanism in the first lifting mechanism may be different from that of the second conveying mechanism in the second lifting mechanism, and the height at which the first conveying mechanism moves may be different from that at which the second conveying mechanism moves.

In one embodiment, for the scene of transferring the material box from the robot to the external conveying line, the controller can be configured to, in response to the first material box transfer instruction, control the material box transfer device 12 to temporarily store different layers of the robot on the Lift up all the material boxes and transfer them to the preset area on the different layers of material box conveying mechanism; when it is determined that there are material boxes in the preset area, control the multi-layer material box conveying mechanism to transfer multiple material boxes from the preset area to the docking area; control the multi-layer first conveying mechanism to move to the second material box docking position; after determining that the multi-layer first conveying mechanism moves to the second material box docking position, control the multi-layer material box corresponding to the second material box docking position to convey The mechanism transfers the multiple material boxes temporarily stored in the docking area to the first conveying mechanism on different layers already located at the docking position of the second material box; when it is determined that there are material boxes on the first conveying mechanism on each layer, control the multi-layer first conveying mechanism The conveying mechanism moves to the docking position of the third material box, and transfers the multiple material boxes temporarily stored on the first conveying mechanism to the second conveying mechanism on a different layer of the second lifting mechanism; controls the second conveying mechanism to move to the fourth material box docking position, and transfer the material boxes temporarily stored on the second conveying mechanism to the external conveying line 125 respectively.

For transferring the multiple material boxes temporarily stored on the first conveying mechanism to the second conveying mechanism on different layers of the second lifting mechanism, the following different situations can be arranged: the number of layers of the first conveying mechanism is equal to the number of layers of the second conveying mechanism In this case, all the bins temporarily stored on the multi-layer first conveying mechanism can be directly transferred to the second conveying mechanism on a different layer. When the number of layers of the first conveying mechanism is greater than the number of layers of the second conveying mechanism, the controller can first control the number of partial layers of the first conveying mechanism that is the same as the number of layers of the second conveying mechanism, and first convey The material boxes temporarily stored on the mechanism are transferred to the second conveying mechanism on different layers. After the second conveying mechanism transfers the material boxes temporarily stored on it to the external conveying line 125, the position of the multi-layer second conveying mechanism can be determined and controlled. The first conveying mechanism moves to the docking position of the third material box that can be docked with the current second conveying mechanism, transfers the material box to the second conveying mechanism again, and repeats the above process until all the material boxes on the first conveying mechanism on all layers are transferred out .

Here, the first bin transfer instruction may be a bin transfer instruction sent to the controller when the robot arrives at the first bin docking position; or, it may also be when the sensor element detects that the robot is at the first bin docking position , the material box transfer instruction sent to the controller; or, it can also be the material box transfer instruction sent by the cloud server to the controller. The first bin transfer instruction may also select an appropriate sender according to a specific application scenario, which is not limited in the embodiments of the present disclosure. Without departing from the scope of the present disclosure, those skilled in the art can make various substitutions and modifications for the sending subject of the first bin transfer instruction, and these substitutions and modifications should fall within the scope of the present disclosure.

Here, the sensor element can be a sensor installed at the docking position of the first material box, and the sensor element is used to detect whether there is a robot at the docking position of the first material box, and the sensor element can be a camera or a photoelectric sensor, for example. Different types of signal transmission components such as testers.

In another embodiment, for the scene of transferring the material box from the external conveying line 125 to the robot, the controller may be configured to, in response to the second material box transfer instruction, control the second conveying mechanism to move to the fourth material box docking position, and control the external conveying line 125 to transfer the material box to the second conveying mechanism that has been positioned at the docking position of the fourth material box; when it is determined that there is a material box on the second conveying mechanism, control the multi-layer first conveying mechanism to move to the first The docking position of the three material boxes, and control the multi-layer second conveying mechanism, transfer the multiple material boxes temporarily stored on the multi-layer second conveying mechanism to the first conveying mechanism of different layers already located at the third material box docking position; after determining the multi-layer second conveying mechanism When there are material boxes on the first conveying mechanism, control the multi-layer first conveying mechanism to move to the second material box docking position, and control the multi-layer first conveying mechanism to transfer multiple material boxes to different layer material box conveying mechanisms; When there are material boxes on the box conveying mechanism, control the above-mentioned multi-layer material box conveying mechanism to transfer the multiple material boxes to the preset areas of different layer material box conveying mechanisms respectively; The transfer device 12 lifts all the bins that have been located in the preset area and transfers them to the temporary storage mechanisms of different layers of the robot.

Exemplarily, in the case of only one external conveying line, since there are multiple layers of the second conveying mechanism, when the external conveying line transfers the material box to the second conveying mechanism, it only transfers one material box at a time, so the controller will respond to multiple The second instruction moves the second conveying mechanism until the material boxes transported by the external conveying line are temporarily stored on the second conveying mechanism on each floor.

Exemplarily, when the number of layers of the second conveying mechanism is less than or equal to the number of layers of the first conveying mechanism, multiple bins temporarily stored on the second conveying mechanism of all layers can be transferred to the first conveying mechanism of different layers at one time superior.

Exemplarily, since the number of layers of the plurality of first conveying mechanisms of the first lifting mechanism is less than the number of layers of the multi-layer material box conveying mechanism, the first lifting mechanism needs to transfer the material boxes to the material box conveying mechanism in batches, in order to meet the robot's one-time handling Sufficient material boxes can maximize the use of the robot's handling capacity. Therefore, after the material box conveying mechanism transfers the material boxes to the preset area, it will immediately detect whether there are material boxes in the preset areas of the material box conveying mechanism of all layers. Next, the controller can be used to control the material box transfer device 12 to transfer all the material boxes in the preset area to the robot, so that the robot can carry all the material boxes at one time. Specifically, the jacking forks on the material box transfer device 12 move synchronously, that is, once lifted, the material boxes on all layers of the material box conveying mechanism can be lifted, and there are materials in the preset area of each layer of material box conveying mechanism. In the case of a box, control the box transfer device 12 to lift the temporary storage boxes on each layer. After the robot moves to the docking position of the first box, all the boxes are temporarily placed on different layers of the robot. depository institution. Alternatively, if the application scenario requires it, the bins transferred to the preset area can also be directly transferred to the temporary storage mechanism of the robot, which is not limited in this embodiment of the present disclosure.

Based on the above-mentioned container transfer device in the container transfer system, an embodiment of the present application further provides a container transfer method, the executive body of which is a controller that also includes the container transfer device.

The material box transfer device includes a transfer conveying track; the robot is provided with a multi-layer temporary storage mechanism, and the temporary storage mechanism is used for temporarily storing material boxes; In response to the first material box transfer instruction, the plurality of material boxes on the temporary storage mechanism on different layers of the robot are transferred to the same transfer conveyor track; or, In response to the second material box transfer instruction, the multiple material boxes on the same transfer conveying track are transferred to different layers of temporary storage mechanisms of the robot.

In an optional embodiment, the bin transfer device includes a multi-layer internal conveying track; The multiple material boxes on the temporary storage mechanism on different layers of the robot are transferred to the same transfer conveyor track, including:

Based on the first material box transfer instruction, the plurality of material boxes on the temporary storage mechanism on different layers of the robot are transferred to the preset area corresponding to the internal conveying track of the corresponding layer; The material boxes at the preset areas corresponding to the internal conveying tracks on different layers are transferred to the same transfer conveying track.

In an optional embodiment, the bin transfer device includes at least a first bin transfer mechanism, a multi-layer bin transfer mechanism, a second bin transfer mechanism corresponding to each layer of the bin transfer mechanism, and a second bin transfer mechanism corresponding to each layer of the bin transfer mechanism. The lifting mechanism corresponding to the second material box transfer mechanism; The multiple material boxes on the temporary storage mechanism on different layers of the robot are transferred to the same transfer conveyor track, including:

Based on the first material box transfer instruction, control the first material box transfer mechanism to lift the plurality of material boxes from the robot and transfer them to the material box conveying mechanism on different layers; Controlling the material box conveying mechanism of each layer to drive the material box to the preset area corresponding to the layer of material box conveying mechanism; wherein, the projections of the preset areas corresponding to the material box conveying mechanisms of different layers on the horizontal plane do not overlap; Respectively control the second material box transfer mechanism corresponding to the material box conveying mechanism on each layer, hook the material box from the material box conveying mechanism to the lifting mechanism corresponding to the second material box transfer mechanism; wherein, different The projections of the second bin transfer mechanism on the horizontal plane do not overlap; Separately control the lifting mechanism to transfer the material box to the same transfer conveying track.

In an optional embodiment, the first material box transfer mechanism includes a plurality of first jacking forks; the first jacking forks are a comb-shaped mechanism; the material box conveying mechanism is a comb-shaped mechanism; the comb-shaped mechanism includes a comb teeth; the projection of the comb teeth of the temporary storage mechanism and the comb teeth of the first jacking fork on the horizontal plane does not overlap; the projection of the comb teeth of the first jacking fork and the comb teeth of the bin conveying mechanism on the horizontal plane Do not overlap.

In an optional embodiment, the first bin transfer mechanism includes a first drive unit and a first rail element; the first drive unit is connected to the first rail element; the plurality of first jacking forks are slidably mounted on the On the first guide rail assembly; each layer of the material box conveying mechanism is matched with one of the first jacking forks; The control of the first material box transfer mechanism lifts the plurality of material boxes from the robot and transfers them to the material box conveying mechanism on different layers, including:

Controlling the first driving unit to drive the first guide rail assembly to rotate, and driving the first jacking fork to move in the vertical direction, so as to lift the plurality of material boxes on the temporary storage mechanism on different layers of the robot; Controlling the first drive unit to drive the first guide rail assembly to rotate, and driving the first jacking fork to move vertically to the first initial position, so as to transfer the plurality of material boxes to the material box conveying mechanism on different layers; wherein The height of the first initial position of the first jacking fork is lower than the height of the surface of the material box conveying mechanism of the corresponding layer for placing the material box.

In an optional embodiment, the material box conveying mechanism includes an internal conveying track and a driving unit for the conveying track; the material box transfer device includes at least one limit block; The control of the material box conveying mechanism on each layer drives the material box to the preset area corresponding to the layer of material box conveying mechanism, including:

The driving unit of the conveying track on each layer is controlled to drive the inner conveying track, and drive the material box to reach the preset area defined by the limit block of the corresponding layer.

In an optional embodiment, the second material box transfer mechanism includes a first pull rod drive unit, a first pull rod mechanism and a first shift block; the second material box transfer mechanism is fixedly assembled on the corresponding lifting mechanism; the The first shift block is installed on one end of the first pull rod mechanism; the first pull rod drive unit is installed on the other end of the first pull rod mechanism; The second material box transfer mechanism corresponding to the material box conveying mechanism on each layer is respectively controlled to hook the material box from the material box conveying mechanism to the lifting mechanism corresponding to the second material box transferring mechanism, including:

Respectively control the first pull rod drive unit corresponding to the material box conveying mechanism on each layer to drive the first pull rod mechanism, and use the first shift block to hook the material box to the lifting mechanism corresponding to the second material box transfer mechanism .

In an optional embodiment, the lifting mechanism includes a second drive unit, a second guide rail element, and a second jacking fork; the second drive unit is connected to the second guide rail element; the second jacking fork is slidably mounted on on the second track element; The second jacking fork is a comb-shaped mechanism; the comb teeth of the second jacking fork do not overlap with the projection on the horizontal plane of the comb teeth of the bin conveying mechanism; The separate control of the lifting mechanism to transfer the material box to the same transfer conveyor track, including:

The second drive unit is respectively controlled to drive the second guide rail element to rotate, and drive the second jacking fork to move in the vertical direction, so as to transfer the material box to the same transfer conveying track.

In an optional embodiment, the bin transfer device includes at least a first bin transfer mechanism, a multi-layer bin transfer mechanism, a second bin transfer mechanism corresponding to each layer of the bin transfer mechanism, and each of the bin transfer mechanisms. The lifting mechanism corresponding to the second material box transfer mechanism and the third material box transfer mechanism; The multiple material boxes on the temporary storage mechanism on different layers of the robot are transferred to the same transfer conveyor track, including:

Based on the first material box transfer instruction, control the first material box transfer mechanism to transfer the remaining material boxes of the robot except the material boxes on the bottommost temporary storage mechanism to the material box conveying mechanism on the corresponding layer; Control the material box conveying mechanism of each layer to drive the material box to the preset area corresponding to the layer of material box conveying mechanism; Respectively control the second material box transfer mechanism corresponding to the material box conveying mechanism on each layer, hook the material box from the material box conveying mechanism to the lifting mechanism corresponding to the second material box transfer mechanism; Separately control the lifting mechanism to transfer the material box to the same transfer conveyor track; Control the third material box transfer mechanism to transfer the material box on the bottom temporary storage mechanism of the robot to the transfer conveying track.

In an optional embodiment, the third bin transfer mechanism includes a jacking mechanism; the jacking mechanism is a comb-shaped mechanism; the transfer transport track is a comb-shaped mechanism; the comb-shaped mechanism includes comb teeth; The projection of the comb teeth of the temporary storage mechanism and the comb teeth of the jacking mechanism on the horizontal plane does not overlap; The projections of the comb teeth of the jacking mechanism and the comb teeth of the transfer conveying track on the horizontal plane do not overlap.

In an optional implementation manner, the transfer of multiple material boxes on the same transfer conveyor track to different layers of temporary storage mechanisms of the robot includes:

Based on the second material box transfer instruction, respectively control each of the lifting mechanisms to lift the material box to the same height as the height of the preset area corresponding to the second material box transfer mechanism corresponding to the lifting mechanism; respectively controlling the second material box transfer mechanism corresponding to each of the lifting mechanisms, and transferring the material box to the preset area corresponding to the second material box transfer mechanism; Control the material box conveying mechanism of the corresponding layer to transfer the material box to the docking position of the layer; Control the first material box transfer mechanism to transfer the material boxes on the material box conveying mechanism to different layers of temporary storage mechanisms of the robot.

In an optional implementation manner, the transfer of multiple material boxes on the same transfer conveyor track to different layers of temporary storage mechanisms of the robot includes:

Based on the second material box transfer instruction, respectively control each of the lifting mechanisms to lift the material box to the same height as the height of the preset area corresponding to the second material box transfer mechanism corresponding to the lifting mechanism; respectively controlling the second material box transfer mechanism corresponding to each of the lifting mechanisms, and transferring the material box to the preset area corresponding to the second material box transfer mechanism; Control the material box conveying mechanism of the corresponding layer to transfer the material box to the docking position of the layer; Controlling the first material box transfer mechanism to transfer the material boxes on the material box conveying mechanism to the other temporary storage mechanisms of the robot except the lowest layer of the temporary storage mechanism; Controlling the third material box transfer mechanism to transfer the material box on the destination area of the transfer conveying track to the bottommost temporary storage mechanism of the robot.

In an optional embodiment, the bin transfer device includes at least one first bin transfer mechanism, a multi-layer bin transfer mechanism, a second bin transfer mechanism corresponding to each layer of the bin transfer mechanism, and at least one lifting mechanism ; The multiple material boxes on the temporary storage mechanism on different layers of the robot are transferred to the same transfer conveyor track, including:

Based on the first material box transfer instruction, control the first material box transfer mechanism to lift the plurality of material boxes from the robot and transfer them to the material box conveying mechanism on different layers; Control the material box conveying mechanism on each layer to drive the material box to transfer to the preset area corresponding to the material box conveying mechanism on this layer; Respectively control the second material box transfer mechanism corresponding to the material box conveying mechanism on each layer, hook the material box from the material box conveying mechanism to the lifting mechanism corresponding to the second material box transfer mechanism; Control the lifting mechanism to transfer the material box to the same transfer conveyor track.

The following describes the bin transfer method applied to the above-mentioned robot and the first bin transfer device. The bin transfer method includes the following steps: Step S1000, the robot moves to make its temporary storage mechanism enter the bin docking position of the first bin transfer device; Before this step S1000, a step of the robot picking a material box from a storage rack is also included. That is, according to the corresponding control instructions, the robot can pick out the material boxes at corresponding positions one by one from different storage racks, and place them on different temporary storage mechanisms.

The robot moves to dock with the first material box transfer device, and makes its different temporary storage mechanisms be located at the material box docking positions of different internal conveying tracks of the first material box transfer device.

Step S2000, in response to the instruction of the robot temporary storage mechanism reaching the docking position of the material box, the first drive unit of the first material box transfer device drives the first material box transfer mechanism to move from the first position to the second position, the second A material box transfer mechanism passes through the gap of the temporary storage mechanism of the robot, and jacks up the material box located on the temporary storage mechanism; In this step, the material boxes on different temporary storage mechanisms are simultaneously jacked up by the first material box transfer mechanism.

Step S3000, the robot moves to make its temporary storage mechanism leave the bin docking position of the first bin transfer device; After the robot receives the control instruction, it leaves the bin location of the first bin transfer device, so that the first bin transfer mechanism and the bins on the first bin transfer mechanism can directly drop down.

Step S4000, in response to the instruction of leaving the temporary storage mechanism of the robot, the first drive unit of the first bin transfer device drives the first bin transfer mechanism to move from the second position to the first position, and places the first bin transfer mechanism The upper bins fall on the inner conveyor track.

After the robot leaves the bin location of the first bin transfer device, the first drive unit drives the first bin transfer mechanism to move to the first position, when the first bin transfer mechanism falls below the end surface of the inner conveying track , the bin falls on the inner conveyor track. Thus, the simultaneous transfer of multiple material boxes on the robot to different internal conveying tracks of the first material box transfer device is completed.

In an embodiment of the present application, the first material box transfer device includes a transfer conveying track, and also includes a second material box transfer mechanism corresponding to the preset area of the internal conveying track, and a lifting mechanism corresponding to the second material box transfer mechanism ; After step S4000, also include: Step S5000, the internal conveying track drives the material box located on the docking position of the material box to the preset area; The internal conveying track can be driven by the corresponding driving mechanism to convey the material box on it until it is conveyed to the preset area.

Step S6000, in response to the signal that the material box arrives at the preset area, the second material box transfer mechanism hooks the material box located in the preset area of the internal conveying track onto the lifting mechanism; the lifting mechanism transfers the material box to the transfer conveying on track When the material box is transported to the preset area on the internal conveying track, the second material box transfer mechanism hooks the material box on the internal conveying track to the lifting mechanism, and the lifting mechanism descends so that the material box on the lifting mechanism can be moved Fall on the transfer conveyor track.

Each layer of internal conveying track corresponds to a set of second material box transfer mechanism and lifting mechanism, and the projections of the preset areas of each layer of internal conveying track on the horizontal plane do not overlap, which makes the material boxes on each layer of internal conveying track can be simultaneously They are transferred to the transfer conveyor track, or controlled separately, and are not affected by each other.

Step S7000, the transit conveying track conveys the material box to the external conveying line.

The transfer conveying track is connected with the external conveying line, and through the drive of the corresponding driving mechanism, the material box can be directly transported to the external conveying line, so that the material box can be operated on the external conveying line.

In one embodiment of the material box transfer method of the present application, a second material box transfer device is also included, including the following steps: Step S4000', the first drive unit of the second bin transfer device drives the first bin transfer mechanism to move from the first position to the second position, the first bin transfer mechanism will be located at the docking position of the inner conveyor track The upper material box is jacked up; This step is opposite to the action of the above step S4000, that is, the material box is located on the internal conveying track. At this time, when the first material box transfer mechanism moves from the first position to the second position, the first material box transfer mechanism lifts the material box and move to the second position.

Step S5000', the robot moves to make its temporary storage mechanism enter the material box docking position of the second material box transfer device; The temporary storage mechanism of the robot enters the material box docking position of the second material box transfer device, that is, it is located between the internal conveying track of the corresponding layer and the first material box transfer mechanism.

Step S6000', in response to the instruction of the robot temporary storage mechanism reaching the bin docking position, the first drive unit of the second bin transfer device drives the first bin transfer mechanism to move from the second position to the first position , the first material box transfer mechanism passes through the gap of the temporary storage mechanism of the robot, and drops the material box on the first material box transfer mechanism onto the temporary storage mechanism of the robot; Step S7000', the robot moves to make its temporary storage mechanism leave the bin docking position of the second bin transfer device.

At this moment, the material box is temporarily stored on the temporary storage mechanism of the robot, so that the material box can be transported to a predetermined location for storage.

In an embodiment of the material box transfer method of the present application, the second material box transfer device includes a transfer conveying track, and also includes a second material box transfer mechanism corresponding to the preset area of the internal conveying track, and a second material box transfer mechanism corresponding to the second material box transfer device. The lifting mechanism corresponding to the mechanism; before the step S4000', it also includes: Step S1000', the transit conveying track of the second bin transfer device transports the bins from the external conveying line to the preset area; The external conveying line is docked with the transfer conveying track of the second material box transfer device, so that the material box can be directly transported along the external conveying line to the transfer conveying track of the second material box transfer device after being processed on the external conveying line.

Step S2000', in response to the signal that the material box arrives at the preset area, the lifting mechanism of the second material box transfer device lifts the material box on the transfer conveying track to a position corresponding to the internal conveying track; the second material box The second material box transfer mechanism of the transfer device pushes the material box on the lifting mechanism to the preset area of the internal conveying track; When the material box is transported to the preset area of the transfer conveyor track, the lifting mechanism moves from the first position to the second position. During the lifting process of the lifting mechanism, the material box on the transfer conveyor track is lifted to the corresponding floor. Internal conveyor track location. At this time, the second material box transfer mechanism can push the material box on the lifting mechanism to the preset area of the inner conveying track.

In step S3000', the internal conveying track of the second bin transfer device transports the bins located in the preset area to the docking position for the bins.

In one embodiment of the method for transferring the magazine of the present application, after step S7000', it also includes: The robot stores the material boxes on different temporary storage mechanisms on the corresponding position of at least one storage material rack by retrieving and returning the box components.

After the temporary storage mechanism of the robot receives the material boxes from the second material box transfer device, it can transfer the material boxes on different temporary storage mechanisms to the response position of the storage material rack according to the preset instructions. The bins on different temporary storage mechanisms of the same robot may need to be stored on one storage rack, or may need to be stored on different storage racks, which will not be described in detail here.

The above are only preferred specific implementations of the embodiments of the present application. These specific implementations are all based on different implementations under the overall concept of the embodiments of the present application, and the protection scope of the embodiments of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by any person familiar with the technical field within the technical scope disclosed in the embodiments of the present application shall fall within the protection scope of the embodiments of the present application.

11: Robot 12: Material box transfer device 13:Cloud server 23: Material box 111: Chassis components 112: gantry element 113: lifting element 114: Temporary storage institution 115: Retrieve and return box components 116: guide element 123: The first lifting mechanism 124: The second lifting mechanism 125: External conveyor line 221: The first material box transfer mechanism 222: Multi-layer material box conveying mechanism 223: The second material box transfer mechanism 224: Lifting mechanism 225: Transit conveyor track 227: limit block 228-1, 228-2: sensor 231: Waikou 1131: Slewing ring connection 1141: standing edge 1142: Folding Department 1151:Drive base 1152:Rotary drive unit 1153: telescopic drive unit 1154: left and right telescopic forks 1155: front finger 1156: rear finger 1161: guide rod 1162: inclined part 1163: reinforced ribs 1231: The first conveying mechanism 1232: Second drive unit 1233: drive element 2211: The first jacking fork 2212: The first drive unit 2213: The first rail element 2221: Internal conveyor track 2231-1: The first tie rod 2231-2: belt 2232: The first block 2233: The first rod drive unit 2241: Second drive unit 2242: Second rail element 2243: Second jacking fork 2261: jacking mechanism 2262: Tie rod transfer mechanism 2262-1: The second rod mechanism 2262-2: The second dial 2262-3: Second tie rod drive unit a: first position/first initial position b: Internal conveying track gap c:Second position/lift bin

FIG. 1 shows a schematic diagram of a bin transfer system provided by an embodiment of the present application; Fig. 2 shows a schematic structural diagram of the robot and the bin transfer device when the robot provided in the embodiment of the present application docks with the bin transfer device; FIG. 3 shows a schematic structural diagram of a robot provided by an embodiment of the present application; Figure 4 shows a schematic structural view of the first bin transfer mechanism provided by the embodiment of the present application; Fig. 5 shows the flow chart of the transfer of the container from the temporary storage mechanism of the robot to the first jacking fork provided by the embodiment of the present application; FIG. 6 shows a schematic structural view of the bin conveying mechanism provided by the embodiment of the present application; Fig. 7 shows a schematic structural view of the second bin transfer mechanism provided by the embodiment of the present application; Figure 8 shows a schematic structural view of the lifting mechanism provided by the embodiment of the present application; Fig. 9 shows a schematic structural view of a third bin transfer mechanism provided by the embodiment of the present application; Figure 10 shows a schematic diagram of the overall structure of the robot provided by the embodiment of the present application; Fig. 11 shows a schematic structural view of the lifting element of the robot provided by the embodiment of the present application; Fig. 12 shows a schematic structural diagram of the retrieving box element of the robot provided by the embodiment of the present application; Fig. 13 shows a schematic structural diagram of the temporary storage mechanism of the robot provided by the embodiment of the present application; Fig. 14 shows a schematic structural view of the guide rod of the robot provided by the embodiment of the present application; Figure 15 shows a schematic structural view of the feed box provided by the embodiment of the present application; Fig. 16 shows a schematic structural diagram of the robot and the external conveyor line when the robot provided in the embodiment of the present application docks with the external conveyor line; Fig. 17 shows a schematic structural diagram of the first lifting mechanism provided by the embodiment of the present application.

11: Robot

12: Material box transfer device

23: Material box

221: The first material box transfer mechanism

222: Multi-layer material box conveying mechanism

223: The second material box transfer mechanism

224: Lifting mechanism

225: Transit conveyor track

2261: jacking mechanism

2262: Tie rod transfer mechanism

Claims (15)

A robot characterized by comprising: a chassis element; a mast element disposed on a chassis element; a take-and-return box element controlled by a lifting element to move up and down along the door frame assembly; At least two temporary storage mechanisms, the temporary storage mechanism is connected on the door frame element; the temporary storage mechanism is provided with a corresponding transfer mechanism in the feeding box transfer device to pass through to lift up the material box on the corresponding temporary storage mechanism, or for The corresponding transfer mechanism in the material box transfer device passes through to drop the material box on the corresponding transfer mechanism onto the gap on the corresponding temporary storage mechanism. The robot according to claim 1, wherein: the notch extends from a free end of a temporary storage mechanism to an opposite end of the temporary storage mechanism. The robot as described in Claim 1, wherein: there is one gap, and the temporary storage mechanism is in a U-shaped structure; or there are at least two gaps, and the temporary storage mechanism is in a comb-shaped structure. A material box transfer device is characterized in that it has a material box docking position, including: At least two layers of internal conveying tracks, the internal conveying track is configured to transport the material boxes located at the docking position of the material boxes to their respective preset areas; or transport the material boxes located in the preset area to the docking position of the material boxes; A first bin transfer mechanism corresponding to the docking position of the inner conveyor track, the first bin transfer mechanism is controlled by a first drive unit between the first position and the second position of a bin docking position reciprocating movement; When located at the first position, the height of the first material box transfer mechanism is lower than the height of the inner conveying track; When located at the second position, the first material box transfer mechanism is configured to lift the material box above the temporary storage mechanism. The material box transfer device as described in Claim 4, wherein the first material box transfer mechanism includes a first jacking fork, and the first jacking fork is a comb mechanism; the comb teeth of the first jacking fork There is no overlap with the projection of the rollers of the inner conveyor track on the horizontal plane. The material box transfer device as described in claim 4, wherein the material box transfer device further comprises at least one limit block; the limit block is configured to limit the material box moving on an internal conveying track to a predetermined Regional location. The material box transfer device as described in claim 6, further comprising a sensor corresponding to each of the limit blocks; the sensor is configured to detect whether the material box reaches the preset area; The limiting block is configured to be lifted to a preset height when the sensor detects that the material box reaches the preset area, so as to limit the material box on the inner conveying track corresponding to the limiting element block. at the preset area. The material box transfer device as described in claim 4, which includes a second material box transfer mechanism corresponding to the preset area of the internal conveying track, and a lifting mechanism corresponding to the second material box transfer mechanism; The second material box transfer mechanism is configured to hook the material box on the internal conveying track onto the lifting mechanism; the lifting mechanism is configured to transfer the material box to the same transfer conveying track; or, The lifting mechanism is configured to lift the material box from the transfer conveying track to a position corresponding to the internal conveying track; the second material box transfer mechanism is configured to push the material box on the lifting mechanism to the internal conveying track on track. The material box transfer device as described in Claim 8, wherein the transfer conveying track is located in an internal conveying track, and the first material box transfer mechanism corresponding to the transfer conveying track is provided; When located at a first position, the height of the first bin transfer mechanism is lower than the height of the transfer conveying track; When located at a second position, the first material box transfer mechanism is configured to lift the material box above the temporary storage mechanism. The material box transfer device as described in claim 8, wherein, the transfer conveying track is located in an internal conveying track; and also includes a third material box transfer mechanism, the third material box transfer mechanism is configured to, the robot The material boxes on the corresponding temporary storage mechanism are transferred to the transfer conveying track, or the material boxes located on the transfer conveying track are transferred to the corresponding temporary storage mechanism of the robot. A material box transfer system, characterized by comprising a robot as described in any one of claim 1 to claim 3, and a material box transfer device as described in any one of claim 4 to claim 10; The first material box transfer mechanism of the material box transfer device is configured to transfer the material boxes on the different temporary storage mechanisms of the robot at the docking position of the material box to the corresponding internal conveying track; The bins are transferred to the temporary storage mechanism corresponding to the robot. The material box transfer system as described in claim 11, wherein the material box transfer device includes a first material box transfer device and a second material box transfer device; it also includes an external conveying line, and the first material box transfer device The transfer conveying track in the butt joint with the input end of the external conveying line; the transfer conveying track in the second bin transfer device is docked with the output end of the external conveying line; The first bin transfer mechanism of the first bin transfer device is configured to transfer the bins on the different temporary storage mechanisms of the robot at the docking position of the bins to the corresponding internal conveying track; The first bin transfer mechanism of the second bin transfer device is configured to transfer the bins on different internal conveying tracks to the temporary storage mechanism corresponding to the robot. The material box transfer system as described in claim 11, wherein the material box transfer device further includes an external conveying line, The material box transfer device is configured to transfer all the material boxes on the temporary storage mechanism on different layers of the robot to the same external conveying line in batches; wherein, the number of batch transfers is less than the number of all material boxes; or, Transfer multiple bins on the same external conveyor line to the temporary storage mechanism on different levels of the robot. The material box transfer system as described in claim 13, wherein the material box transfer device includes at least one first lifting mechanism; the first lifting mechanism includes a multi-layer first conveying mechanism, and the first conveying mechanism is used for temporary storage and transfer bins; The material box transfer device is configured to transfer all the material boxes in batches to the first conveying mechanism on different layers of the first lifting mechanism, wherein the number of batch transfers is less than the number of all the material boxes; The multiple magazines on the first conveying mechanism are transferred to the same external conveying line. The material box transfer system as described in claim 14, wherein, the material box transfer device further includes at least one second lifting mechanism; the second lifting mechanism includes a multi-layer second conveying mechanism, and the second conveying mechanism is used for temporarily Storage and transfer of bins; The first lifting mechanism is configured to transfer the plurality of bins on the first conveying mechanism on different layers to the second conveying mechanism on different layers of the second lifting mechanism; The second lifting mechanism is configured to transfer a plurality of material boxes on different layers of the second conveying mechanism to the same external conveying line.

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