WO2021223757A1 - 一种取箱设备及提取货箱的方法 - Google Patents

一种取箱设备及提取货箱的方法 Download PDF

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Publication number
WO2021223757A1
WO2021223757A1 PCT/CN2021/092479 CN2021092479W WO2021223757A1 WO 2021223757 A1 WO2021223757 A1 WO 2021223757A1 CN 2021092479 W CN2021092479 W CN 2021092479W WO 2021223757 A1 WO2021223757 A1 WO 2021223757A1
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WO
WIPO (PCT)
Prior art keywords
box
cargo
target
storage
boxes
Prior art date
Application number
PCT/CN2021/092479
Other languages
English (en)
French (fr)
Inventor
王启铭
李洪波
王堃
Original Assignee
北京极智嘉科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202010380133.1A external-priority patent/CN111422547A/zh
Priority claimed from CN202011148324.1A external-priority patent/CN112208991A/zh
Priority claimed from CN202011149973.3A external-priority patent/CN112389920A/zh
Application filed by 北京极智嘉科技股份有限公司 filed Critical 北京极智嘉科技股份有限公司
Publication of WO2021223757A1 publication Critical patent/WO2021223757A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0464—Storage devices mechanical with access from above
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed

Definitions

  • the present disclosure relates to the field of logistics technology, and in particular to a container taking device and a method for taking out a container.
  • Intensive storage technology has emerged. Intensive storage is to make one by one vertical racks, and then put the containers in the shelves in turn, the containers and the containers. Stacked up, and then above the shelf is the passage of the robot. The robot moves above the shelf to the target box, and picks up the box according to the process.
  • intensive storage technology there are shortcomings of low hit rate of picking boxes, taking a long time to remove the lower layer of boxes, and the need to move the upper layer obstructed boxes in order, which is inefficient.
  • a dense storage warehouse with a three-dimensional grid structure is composed of a plurality of vertical storage columns and a track set on the top of the plurality of storage columns, and each storage column can be stacked in the vertical direction.
  • the box taking equipment can run on the top track. By extending the box taking mechanism vertically downwards into the storage column, the goods in the storage column can be picked up to complete the transportation of the target storage box from the storage column to the storage column.
  • the process on the box taking equipment is shown in Figures 20A to 20D.
  • 20A to 20D are schematic diagrams of the process in which the box taking equipment in the prior art lifts out the target storage box in the storage column of the storage rack.
  • FIG. 20A is shown a schematic side view of multiple storage columns of a storage shelf, in which goods are stacked in the storage column in a vertical direction.
  • the tops of the multiple storage columns are provided with rails, and the box picking equipment is on the rails.
  • the box taking equipment can be regarded as composed of two parts, one is the box taking mechanism, which can be constructed to extend from the top of the storage column into the storage column to extract the target storage box that needs to be transported.
  • the other part is a moving mechanism through which the box taking equipment can move on the track.
  • Figure 20B is a top view of the storage rack. Assuming that the target storage box is in the M2 storage column, the box removal device can be moved to the position of M1 by the moving mechanism, so that the box removal mechanism can be directly above the M2 storage column. . Similarly, when the target storage box is in the M4 storage column, the box removal device can be moved to the M3 position by the moving mechanism, so that the box removal mechanism can be directly above the M4 storage column.
  • the box picking mechanism can be extended into the storage column where the target storage box is located to dock the target storage box, as shown in FIG. 20C.
  • the box removal mechanism can retract in the direction shown in FIG. 20C and lift out the target storage box, as shown in FIG. 20D.
  • the box picking device can actually only lift one cargo from the storage column at a time, and when the target storage box is above When other obstructive storage boxes are stacked, it is necessary to repeatedly extract other obstructive storage boxes on the target storage box in the storage column, thereby severely reducing the warehouse handling efficiency, as shown in FIG. 21.
  • FIG. 21 is a schematic diagram of other obstructive storage boxes stacked above the target storage box in the prior art.
  • Storage box 1 and storage box 2 are first lifted out of the storage column, and then the target storage box is lifted out of the storage column by a box removal device, and the storage box 1 and storage box 2 need to be put back again later In the storage column.
  • the box removal device needs to complete multiple extraction actions and put back actions to obtain the target storage box, resulting in low efficiency.
  • the purpose of the present disclosure is to overcome the shortcomings of the prior art, and provide a box taking device and a method for taking out a cargo box.
  • the present disclosure provides a box taking equipment, including: a body that can move on the top of a vertical shelf, and a lifting device connected to the body;
  • the cabin is arranged in the accommodation cabin and can transfer the cargo box lifted by the lifting device to the box storage mechanism in the accommodation cabin.
  • the target cargo box extracted by the hoisting device can be unloaded through the additional storage compartment and the box storage mechanism, so that the hoisting device can be free to transfer non-target cargo boxes.
  • the present disclosure also provides a method for taking out a cargo box, using the above-mentioned box taking device; the method includes:
  • the cargo box of the target is located on the Nth floor in the vertical cargo well; the N is greater than or equal to 2;
  • the other cargo boxes are reinserted into the vertical cargo well through the box storage mechanism.
  • the present disclosure also provides a method for taking a box, the method is executed by a box taking device, and the method is applied to a dense storage warehouse with a three-dimensional grid structure, and the dense storage warehouse includes a vertical A plurality of cargo wells and a track arranged on the top of the plurality of cargo wells, a plurality of cargo boxes are stacked in a vertical direction in the cargo well, the box taking equipment runs on the track, the box taking equipment A space for accommodating a cargo box is provided inside, and an opening is provided on the side of the box taking device for the cargo box to enter the box taking device; wherein:
  • the present disclosure also provides a container taking device, which is applied to a dense storage warehouse with a three-dimensional grid structure.
  • the dense storage warehouse includes a plurality of vertical cargo wells and A track on the top of the multiple cargo wells, a plurality of cargo boxes are stacked in the vertical direction in the cargo well, and the box taking device runs on the track;
  • the box taking device includes: a first moving mechanism, A lifting device, a first box storage mechanism, and a storage compartment with an opening on the side, the storage compartment being used for accommodating a cargo box;
  • the first moving mechanism is configured to move to a designated position corresponding to the position of the cargo well according to the position of the cargo well where the target cargo box is located, so that the lifting device is located at the position of the cargo well where the target cargo box is located;
  • the lifting device is used to lift out the target cargo box from the cargo well where the target cargo box is located, or simultaneously lift out a plurality of cargo boxes containing the target cargo box, wherein the lifted cargo box is The lowermost container is the target container, and other containers above the target container are lifted to separate the target container from other containers above it, and the first container storage mechanism After the target cargo box is received in the holding compartment, put other cargo boxes above the target cargo box back into the cargo well;
  • the first box storage mechanism is used to take out the target box from the box lifted by the lifting device, and receive the target box from the opening on the side of the storage compartment. In the accommodation compartment.
  • the present disclosure also provides a method for taking boxes, the method is executed by a box taking device, and the method is applied to a dense storage warehouse with a three-dimensional grid structure, and the dense storage warehouse includes a vertical A plurality of cargo wells and a track arranged on the top of the plurality of cargo wells, a plurality of cargo boxes are stacked in a vertical direction in the cargo well, the box taking equipment runs on the track, the box taking equipment A space for accommodating a plurality of cargo boxes is arranged inside, and an opening is provided on the side of the box taking device for the cargo box to enter the box taking device; wherein:
  • the cargo box is lifted to separate the target cargo box from the cargo box above it, and the target cargo box is received into the box taking device from the opening on the side of the box taking device, and the cargo box above the target cargo box fall;
  • the present disclosure also provides a method for taking boxes, the method is executed by a box taking device, and the method is applied in a dense storage warehouse with a three-dimensional grid structure, and the dense storage warehouse includes horizontal multiple A cargo well and a rail arranged at one end of the cargo wells, a plurality of cargo boxes are stacked in the cargo well in a horizontal direction, the box taking equipment runs on the track, and the box taking equipment is arranged inside There is a space for accommodating a plurality of cargo boxes, and an opening is provided on the side of the box taking device for the cargo box to enter the box taking device; wherein:
  • the cargo box is separated from the target cargo box, and the target cargo box is received into the box taking device from the opening on the side of the box taking device;
  • the present disclosure also provides a container taking device, which is used in a dense storage warehouse with a three-dimensional grid structure.
  • the dense storage warehouse includes a plurality of vertical cargo wells and The rails on the tops of the multiple cargo wells have a plurality of cargo boxes stacked in the vertical direction in the cargo well, and the box taking equipment runs on the track;
  • the box taking equipment includes: a second moving mechanism, a lifting device The device, the second box storage mechanism, and a plurality of storage compartments with openings on the side, each storage compartment is used to contain a cargo box;
  • the second moving mechanism is used to move to a designated position corresponding to the position of the target cargo well according to the position of the target cargo well where at least part of the target cargo well is to be transported, so that the lifting device Located at the position of the target cargo well, and the designated position is adjacent to the target cargo well;
  • the lifting device is used to lift a plurality of cargo boxes from the target cargo well, wherein the removed cargo boxes include one or more target cargo boxes; and, for the one or more target cargo boxes For each target container in the target container, lift the container above the target container to separate the target container from the container above it, and after the second container storage organization puts the target container into a storage compartment, The cargo box above the target cargo box is dropped; and, after the one or more target cargo boxes are all received in the box taking device, the remaining cargo boxes are put back into the target cargo well;
  • the second box storage mechanism is used to lift the cargo box above the target cargo box by the lifting device for each target cargo box in the one or more target cargo boxes so that the target cargo box and the above After the cargo container is separated, the target cargo container is received into the container from an opening on the side of the container.
  • the present disclosure also provides a container retrieval device, which is applied in a dense storage warehouse with a three-dimensional grid structure.
  • the dense storage warehouse includes a plurality of horizontal cargo wells and is arranged at The track at one end of the multiple cargo wells, wherein a plurality of cargo boxes are stacked in a horizontal direction in the cargo well, and the box taking equipment runs on the track;
  • the box taking equipment includes: a second moving mechanism, a lifting device, The second box storage mechanism and a plurality of storage compartments with openings on the side, each storage compartment is used for accommodating a cargo box;
  • the second moving mechanism is used to move to a designated position corresponding to the position of the target cargo well according to the position of the target cargo well where at least part of the target cargo well is to be transported, so that the lifting device Located at the position of the target cargo well, and the designated position is adjacent to the target cargo well;
  • the lifting device is used to lift a plurality of cargo boxes from the target cargo well, wherein, one or more cargo boxes included in the taken-out plurality of cargo boxes; and, for the one or more target cargo boxes For each target container in the target container, separate the target container from the container in front of the target container according to the direction in which the container is taken out of the target storage, and place the container in the one or more target containers. After all received into the container taking equipment, put the remaining containers back into the target cargo well;
  • the second box storage mechanism is configured to, for each target box in the one or more target boxes, after the lifting device separates the box in front of the target box from the target box, The opening on the side of the containment compartment receives the target cargo box into the containment compartment.
  • the target container extracted by the lifting device can be unloaded through the additional storage compartment and the storage mechanism, so that the lifting device can be free to transfer non-target cargo. box.
  • the container picking device moves along the track to a designated position adjacent to the cargo well where the target cargo box is located
  • multiple cargo boxes containing the target cargo box can be lifted from the cargo well , And support the multiple containers, and then lift other containers above the target container to separate the target container from other containers above it, and then collect the target container from the opening on the side of the container picking device
  • the other lifted cargo boxes are finally put back into the cargo well, so that when the target cargo box is stacked under other blocked cargo boxes, the target cargo box can be lifted out through a one-time removal process, which reduces the operating cost of the warehouse. Realize the improvement of handling efficiency.
  • the container picking equipment can be lifted out from the cargo well after moving along the track to a designated position adjacent to the cargo well where multiple target cargo containers are located.
  • the container picking device can lift other containers above the target container to separate the target container With other cargo boxes above it, the target cargo box is collected into the box picking device from the opening on the side of the storage robot.
  • the container taking equipment can finally put other containers back into the cargo well.
  • the container picking device can take out multiple target containers from the cargo well and collect them into the container picking device through one container picking task, which reduces the warehouse operation cost and realizes the improvement of handling efficiency.
  • FIG. 1 is a schematic diagram of an application scenario of a storage robot provided by an embodiment of the present disclosure
  • Figure 2 is a schematic structural diagram of a storage robot provided by an embodiment of the present disclosure
  • FIG. 3 is a schematic structural diagram of a card installation mechanism of a storage robot provided by an embodiment of the present disclosure
  • FIGS. 4 and 5 are schematic diagrams of cooperation between the clamping mechanism and the cargo box provided by the embodiments of the present disclosure
  • 6 to 11 are schematic diagrams of the process of extracting the first-tier container by the storage robot provided by the embodiments of the present disclosure
  • 12 to 14 are schematic diagrams of the process of extracting the second-tier container by the storage robot according to an embodiment of the present disclosure
  • FIGS 15 to 19 are flowcharts of the storage robot extracting the fourth-tier container according to the embodiment of the present disclosure.
  • 20A to 20D are schematic diagrams of the process of lifting out the storage box in the storage column by the box taking device in the prior art
  • 21 is a schematic diagram of other obstructive storage boxes stacked above the target storage box in the prior art
  • FIG. 22 is a schematic flow chart of a method for taking a box provided in an embodiment of this specification.
  • FIG. 23 is a schematic diagram of moving the box taking device provided by the embodiment of the specification to a designated position
  • Figure 24 is a schematic diagram of lifting out multiple storage boxes provided in this specification provided by an embodiment of this specification.
  • Figure 25 is a schematic structural diagram of the box taking device provided by the embodiment of the specification.
  • Fig. 26 is a schematic diagram of the distribution of rails on the top of each storage column of a warehouse provided by an embodiment of this specification;
  • Figure 27 is a schematic structural diagram of another box taking device provided by an embodiment of the specification.
  • Figure 28 is a schematic structural diagram of another box taking device provided by an embodiment of this specification.
  • Figure 29 is a schematic diagram of storing the target in the first storage unit provided in this specification.
  • Figure 30 is a schematic structural diagram of another box taking device provided by an embodiment of this specification.
  • FIG. 31 is a schematic diagram of the process of lifting out the storage box by another box taking device provided in an embodiment of this specification.
  • Figure 32 is a schematic structural diagram of another box taking device provided by an embodiment of this specification.
  • 33A and 33B are schematic diagrams of the storage box provided by the embodiment of this specification.
  • Figure 34 is a schematic diagram of the first telescopic assembly provided with linkage components provided in this specification;
  • Figure 35 is a schematic diagram of another method for taking boxes provided in this manual.
  • Figures 36A to 36C are schematic diagrams of lifting out multiple storage boxes provided in this manual.
  • Figure 37 is a schematic structural diagram of another box taking device provided in this manual.
  • Figure 38 is a schematic structural diagram of another box taking device provided in this manual.
  • Figure 39 is a schematic structural diagram of another box taking device provided in this manual.
  • FIG. 40 is a schematic diagram of storing the target in the second storage unit provided in this specification.
  • Figure 41 is a schematic structural diagram of another box taking device provided in this manual.
  • Figure 42 is a schematic diagram of transferring two target containers to the corresponding second storage unit provided in this specification.
  • Figure 43 is a schematic structural diagram of another box taking device provided in this manual.
  • Figure 44 is a schematic diagram of another form of storage box provided in this specification.
  • Figure 45 is a schematic diagram of a second telescopic assembly provided with a linkage telescopic component provided in this specification;
  • Figure 46 is a schematic diagram of the box taking equipment provided in this manual located on both sides of the storage shelf;
  • Figure 47 is a schematic structural diagram of another box taking device provided in this manual.
  • Figure 48 is a schematic diagram of the lateral box-taking equipment provided with the third telescopic mechanism and the fourth telescopic mechanism provided in this specification;
  • Figure 49 is a schematic diagram of the lateral box-taking device provided in this specification moving the target storage box to the second storage unit.
  • FIG. 1 illustrates an application scenario of a storage robot.
  • the storage robot provided by an embodiment of the present disclosure is applied to a vertical shelf 1.
  • a vertical storage robot is often constructed.
  • the vertical rack 1 a plurality of shafts 2 are arranged in the vertical rack 1, and the cargo boxes are put into the shaft 2 from the top, and a plurality of cargo boxes are stacked in the shaft 2.
  • a storage robot When the cargo box needs to be taken out, a storage robot is used, and the top of the vertical shelf 1 is provided with a track, and the storage robot can walk on the track. When the removed cargo box is located below, it is necessary to take out the cargo box located above it.
  • the storage robot in the prior art only has a grasping device, so it can only take out the cargo boxes one by one, and the work efficiency is very low. For this reason, an embodiment of the present disclosure provides a storage robot. A detailed description will be given below in conjunction with the drawings and specific embodiments.
  • Fig. 2 illustrates a storage robot provided by an embodiment of the present disclosure.
  • the robot provided by the embodiment of the present disclosure includes a body 10, the body 10 is a rectangular parallelepiped structure, and one end of the rectangular parallelepiped structure has a gap to form a structure with a "7" shape in cross section.
  • the main body 10 is provided with a four-way shuttle 40 through which the main body 10 can move on a vertical shelf.
  • the four-way shuttle 40 is a common walking device in the prior art, so it will not be repeated here.
  • the four-way shuttle 40 can walk on the track of the vertical rack and can walk over different shafts as needed.
  • the body 10 is connected with a lifting device, which is used to lift at least one cargo box in the vertical cargo rack.
  • the lifting device includes a clamping mechanism 23 and a lifting mechanism 20 that drives the clamping mechanism 23 to move in a vertical direction.
  • the lifting mechanism 20 includes two rotating shafts rotatably connected to the main body 10 and arranged oppositely. As shown in FIG. 2, the two rotating shafts are symmetrically arranged above the gap; each rotating shaft is wound with a lifting belt 22, which A rigid belt can also be a synchronous belt; when a rigid belt is used, one end of the lifting belt 22 is fixed on the corresponding rotating shaft, and the other end is connected with the clamping mechanism 23.
  • the two rotating shafts are arranged oppositely, the two lifting belts 22 and the two clamping mechanisms 23 are also arranged correspondingly.
  • the clamping mechanism 23 is used for clamping the cargo box. Therefore, the distance between the two clamping mechanisms 23 should be equal to or greater than the width of the cargo box to ensure that the clamping mechanism 23 can be clamped to the cargo box.
  • the lifting mechanism 20 also includes a driving mechanism 21 for driving the rotation of two rotating shafts;
  • the driving mechanism 21 includes a driving motor, and a gear box connected with the driving motor, and the gear box has two synchronized output shafts,
  • the two output shafts are connected to the two rotating shafts in a one-to-one correspondence.
  • the two output shafts and the two rotating shafts are connected by a timing belt, so that the two clamping mechanisms can be driven at the same time when the drive motor is working. Rise or fall.
  • the output shaft can also be connected to the rotating shaft through a gear box, and corresponding effects can also be achieved.
  • the distance between the two opposite rotating shafts can be adjusted in a manner. It can be moved and can be locked in different positions; for example, a plurality of assembly positions (such as through assembly holes or holding clamps) are provided on the main body 10 along a direction perpendicular to the length of the rotating shaft to be fixedly connected to the bearing seat; when the rotating shaft is adjustable, The driving mechanism 21 can ensure reliable connection with the rotating shaft through synchronization belts of different lengths.
  • the bearing housings can be fixed in different assembly positions to adjust the distance between the two clamping mechanisms 23 to ensure that the clamping mechanism 23 can be clamped to the two opposite sides of the cargo box. Edges.
  • the clamping mechanism includes a lifting plate 232 fixedly connected to the lifting belt, and a clamping plate 231 that is rotatably connected to the lifting plate 232 and can be locked at a set position; wherein the lifting plate 232 is an inverted concave shape, and a notch is provided on the lifting plate 232 233.
  • the card board 231 is located in the gap 233 and is rotatably connected with the lifting board 232 through a rotating shaft penetrated therethrough. As shown in Figure 4; when the lifting plate 232 has not reached the position, the clamping plate 231 is located in the notch 233, and the clamping plate 231 overlaps the lifting plate 232 to form a vertical plate.
  • the loading box will not be stuck, as shown in Figure 5
  • the card plate 231 rotates to the first position
  • one end of the card plate 231 protrudes outside the lifting plate 232 to form a " ⁇ " shaped hook shape.
  • One end of the card plate 231 (away from the card plate 231 and the lifting plate 232) Rotate one end of the connection) can be clamped to the cargo box.
  • the clamping mechanism further includes a torsion spring 234.
  • One end of the torsion spring 234 is in pressure contact with the lifting plate 232, and the other end is in pressure contact with the card plate 231; and under the elastic force of the torsion spring 234, the card plate 231 is pushed to rotate to The first position.
  • the clamping mechanism further includes a driving assembly for driving the clamping plate 231 to rotate to a set position; wherein the clamping plate 231 is an iron clamping plate 231 or the clamping plate 231 is provided with a magnet 2311 capable of being attracted to the electromagnet 235.
  • the driving assembly includes an electromagnet 235 arranged on the lifting plate 232, and when the electromagnet 235 is energized, the card plate 231 can be attracted. Or the driving assembly is arranged on the main body, and when the lifting plate 232 rises to the set position, the electromagnet 235 is opposite to the card plate 231, and can attract the card plate 231 when it is energized.
  • the storage robot provided by the embodiment of the present disclosure further includes a accommodating assembly for accommodating the cargo box lifted by the lifting device.
  • the main body is provided with a containment compartment on the side of the lifting device, that is, the part of the main body on the side of the gap is a containment compartment.
  • the lifting belt of the lifting mechanism and the containment compartment are arranged side by side.
  • a telescopic device 30 that can transfer the cargo box lifted by the lifting device to the container is provided in the containment cabin (the telescopic device in the present disclosure corresponds to the first box storage mechanism and/or the second box storage mechanism).
  • the telescopic device 30 may include a bracket fixedly connected to the body, and a telescopic fork or a telescopic plate that is slidably connected to the bracket, wherein the telescopic fork or the telescopic plate can be driven by an air cylinder, or other common devices that can realize the expansion and contraction of the driving component.
  • driving such as a synchronous motor or a rack and pinion assembly
  • the above-mentioned driving parts are all common driving parts, and will not be repeated here.
  • the telescopic device 30 can be extended from the containment compartment.
  • the telescopic device 30 is located below the cargo box, and then the lifting belt 22 is lowered to make the cargo box fall onto the telescopic device 30, and then pass The electromagnet 235 attracts the chuck plate 234, so that the chuck mechanism 23 and the cargo box are out of the chuck state.
  • the retractable device 30 is recovered to drive the cargo box into the containment compartment.
  • FIGS. 6-11 show a schematic flow chart of the storage robot 200 according to an embodiment of the present disclosure extracting the first-tier cargo box.
  • the storage robot 200 reaches above the target pick-up shaft 100, and the specific walking mode and alignment mode are the same as those of the existing storage robot 200, which will not be repeated here.
  • the clamping plate clamps the edge of the target container 300 under the action of the torsion spring; as shown in FIG. 8, then The lifting mechanism lifts the target cargo box 300 up through the transmission action of the lifting belt; as shown in FIG.
  • the lifting height of the target cargo box 300 is slightly higher than the height of the telescopic mechanism 30 inside the storage robot 200, and then the telescopic mechanism 30 extends ,
  • the lifting mechanism lowers the target container 300, and places the target container 300 above the telescopic fork; as shown in Figure 10, the lifting mechanism is slightly lowered at this time, and the electromagnets on both sides of the lifting plate start to work, and the iron or installed
  • the pallet with the magnet becomes the retracted state; as shown in FIG. 11, at the same time, the telescopic fork is retracted with the target cargo box 300, put into the storage robot 200, and starts transportation.
  • the method includes: synchronously lifting the target cargo box in the vertical derrick and other cargo boxes on the target cargo box to the outside of the vertical derrick through a lifting device; extending the telescopic device to Under the lifting device; lower the lifting device to the target container and other containers until the telescopic device supports the target container; use the lifting device to lift other containers; use the telescopic device to retrieve the target container to the holding compartment; use the telescopic device to collect other cargo Put the box back into the vertical cargo well.
  • FIGS. 12-14 are schematic diagrams of the process of extracting the second-tier container by the storage robot 200 according to an embodiment of the present disclosure.
  • the storage robot 200 reaches the top of the designated shaft 100 and releases the clamping mechanism 23 downward. After the lifting plate passes the target cargo box 300, the clamping plate clamps the edge of the target cargo box 300 under the action of the torsion spring, as shown in FIG. 12.
  • the lifting mechanism lifts the first-tier container and the target container 300 (second-tier container) through the transmission of the lifting belt; the height of the two containers is slightly higher than the telescopic device 30 inside the storage robot 200 Then the telescopic device 30 extends, the lifting mechanism lowers the cargo box, and the target cargo box 300 is placed above the telescopic mechanism 30; at this time, the lifting mechanism drops slightly, and the electromagnets on both sides of the lifting plate begin to work, and the iron Or the pallet with magnets becomes retracted; then the lifting mechanism rises to make the pallet jam the first layer of cargo box and drive the first layer of cargo box to move upward, keeping the upper and lower boxes at a certain distance; as shown in the figure.
  • the retractable device 30 is retracted with the target cargo box 300 and placed in the storage robot 200; then the storage robot 200 moves the upper non-target cargo box (the first layer cargo box) on the clamping mechanism 20 and places it in The vertical shaft 100 next to it is used as a temporary storage; during temporary storage, the lifting mechanism is slightly lowered, and after the pallet is separated from the lower edge of the cargo box, the storage robot 200 moves away from here as a whole to start transportation.
  • the extraction method is similar to that of the two-layer container, so I won't repeat it here.
  • FIGs. 15-19 are flowcharts of the storage robot 200 according to an embodiment of the present disclosure extracting the fourth-level container.
  • the storage robot 200 extracts the fourth-level container.
  • FIGs 15-17 on the basis of the previous mode of taking the first layer of containers, it is added that the 3 layers above the fourth layer of cargo boxes are lifted and then transported to the side shaft 100 for temporary storage.
  • the temporary storage method please refer to the method of temporarily storing the first-layer container when taking the two-layer container.
  • Figure 18 and Figure 19 then take the fourth layer of containers according to the pattern of taking the first layer of containers.
  • the storage robot provided by the embodiment of the present disclosure can unload the target cargo box 300 extracted by the lifting device through the additional storage compartment and the telescopic device, so that the lifting device can be freed to transfer non-targets.
  • the cargo container improves work efficiency.
  • FIG. 22 is a schematic diagram of the box taking method provided in this embodiment, which specifically includes the following steps:
  • S2200 Move to a designated position, where the designated position is adjacent to the storage column where the target storage box is located.
  • the storage box in the following embodiment corresponds to the cargo box in the above embodiment
  • the storage box in the following embodiment may be the cargo box in the above embodiment.
  • the storage column in the following embodiment corresponds to the cargo well in the above embodiment, and the storage column in the following embodiment may be the cargo well in the above embodiment.
  • the box retrieval method is applied to a dense storage warehouse with a three-dimensional grid structure.
  • the dense storage warehouse includes a plurality of vertical storage columns and a plurality of storage columns.
  • the specific structure of the dense storage warehouse can refer to the structure of the warehouse in FIGS. 20A to 20D and FIG. 21.
  • the box taking method is specifically executed by a box taking device, which runs on the top track. A space for accommodating a storage box is provided inside the box taking device, and an opening is provided on the side of the box taking device for the storage box to enter the box taking device.
  • the box taking device in this embodiment has the same projected area as the box taking device shown in FIGS. 20A to 20D and 21, that is, when the box taking device is on the track When driving up, the projected area continues to occupy two adjacent storage columns.
  • the server controlling the operation of the box taking device can determine the storage location of the target storage box that needs to be lifted out in the dense storage warehouse, and the location includes at least: the target storage The location of the storage column and the storage location of the target when stored in the storage column. As shown in FIG. 21, in each storage column, each storage box is stacked and stored, so the target storage box may be in multiple storage positions in the depth direction of the storage column.
  • the server can determine the box-taking device that performs the task of taking the box according to the determined storage location of the target storage box in the dense storage-type warehouse, and send the instruction.
  • the box picking device can be moved to a designated location, so that the target storage box can be acquired by performing subsequent steps.
  • the box taking device needs to occupy the positions of two adjacent storage columns in the warehouse, so the designated position is adjacent to the storage column where the target storage box is located.
  • the storage box can be lifted out of the storage column where the target storage box is located.
  • the server can also move to according to the box taking equipment.
  • the path of the storage column where the target storage box is located, and the designated location is determined.
  • the server can plan the path according to the location of the box taking device and the location of the storage column where the target storage box is located, and determine the moving path of the box taking device to the storage column. After that, the position of the other storage column adjacent to the storage column in the movement path is taken as the designated position. Then, the moving path and the designated position are sent to the box taking device, and the box taking device can move to the specified position along the moving path.
  • FIG. 23 is a schematic diagram of moving the box taking device provided by this embodiment to a designated position.
  • Figure 23 is a top view of the warehouse, the thick arrow indicates the moving path of the box taking equipment, the designated position is M2, the position of the storage column where the target storage box is located is M1, and the designated position is on the moving path with the target storage box. The position of other storage columns adjacent to the storage column.
  • S2202 If there are one or more other storage boxes above the target storage box, lift out multiple storage boxes from the storage column and support the multiple storage boxes, where the most lifted storage boxes are the most The storage box below is the target storage box.
  • the box removal device can lift more from the storage column. Storage boxes, and support each of the lifted storage boxes, wherein the lowermost storage box among the lifted storage boxes is the target storage box.
  • the server can record the storage column and storage location of the storage box. Therefore, when the server determines the target storage box, it can determine that the target storage box is in storage.
  • the storage position in the column the box taking device can, after arriving at the designated position, dock with the target storage box in the storage column according to the determined storage position of the target storage box, and then lift the docked target storage box, Until the lifted height of the target storage box reaches the height of the opening on the side of the box taking device, the box taking device can also support the lifted storage box.
  • the storage position is the position where the storage box is stacked on the storage column. When the storage column is vertical, the storage position can represent the depth position of the storage box in the storage column. According to the storage location, the box-removing device can determine how much it needs to descend from the track at the top of the storage column to dock with the target storage box.
  • the box taking device may only take out the target storage box.
  • Figure 24 is a schematic diagram of lifting out multiple storage boxes provided in this manual. Regardless of whether there are other obstructive storage boxes above the target storage box, the box removal device can dock the target storage box according to the storage position of the target storage box, and Extract the target storage box. In addition, when the height of the target storage box after being lifted out is the height of the opening on the side of the box taking device, the box taking device can also support each storage box that has been taken out, and the bottom support is the target storage box. This is the dark storage box in Figure 24.
  • S2204 Lift other storage boxes above the target storage box to separate the target storage box from other storage boxes above it, and collect the target storage box into the withdrawal from the opening on the side of the box removal device. Box equipment.
  • the box taking device in order to take out the target storage box from each storage box that has been lifted out, and to receive the box taking device, the box taking device may lift up other storage boxes above the target storage box to make the target storage box The storage box is separated from the other storage boxes that have been lifted out, and then the target storage box is collected from the opening on the side of the box taking device into the box taking device.
  • each storage box taken out is equivalent to hanging on a storage column. Therefore, in step S2202, the box taking device can support the taken out For each storage box, afterwards, since the box removal device is located in the storage column adjacent to the storage column where the target storage box is located, and the height of the removed target storage box is the same as the height of the side opening of the box removal device, it should be taken.
  • the box equipment can collect the target storage box from the side.
  • the box taking device can be docked with another storage box adjacent above the target storage box.
  • the box taking device only supports the target storage box, and the height of the target storage box is consistent with the height of the side opening, and the box taking device can receive the target storage box from the side.
  • the box taking equipment can also first contact the docking with the target storage box, and then dock with another storage box adjacent to the upper side of the target storage box. Since the lifted storage boxes have been supported, the positions of the lifted storage boxes will not change after the docking is released.
  • the box picking device after the box picking device receives the target storage box, it can also put other docked storage boxes back into the storage column, and then move the received storage box to other locations as needed. For processing such as picking, this manual does not limit how to proceed.
  • the box taking device can be docked with the target storage box and extract the target storage box. Then, when there is no other storage box above the target storage box, after lifting out the target storage box, the box taking device can support the target storage box, and from the opening on the side of the box taking device, the target storage box Included in the box-taking equipment.
  • the box taking device since the box taking device only lifts out the target storage box, the box taking device can also receive the target storage box from the opening on the side of the box taking device without supporting the target storage box. Take the box in the equipment.
  • the server can record the storage column and storage location of the storage box, so when determining the target storage box, the server can determine Whether there are other storage boxes stacked above the target storage box. Therefore, when the box taking device reaches the designated position, the server can determine whether the box taking device needs to perform steps S2204 to S2206 according to whether there are other storage boxes stacked above the target storage box, or whether it only needs to lift out the target storage box and retrieve the box from it.
  • the opening on the side of the equipment puts the target storage box into the pick-up equipment and sends the corresponding instructions.
  • the instruction can also be sent to the box picking device together with the instruction for controlling the box picking device to move to the specified position, and it can be specifically set as needed, which is not limited in this manual.
  • this specification also provides a box taking device, as shown in FIG. 25.
  • Figure 25 is a schematic structural diagram of a box taking device provided in this specification.
  • the box-taking equipment is used in a dense storage warehouse with a three-dimensional grid structure.
  • the dense storage warehouse includes a plurality of vertical storage columns and a track set on the top of the plurality of storage columns.
  • a plurality of storage boxes are stacked in the direction, and the box taking equipment runs on the track.
  • the box taking equipment includes: a first moving mechanism 2500, a first box taking mechanism 2501 (the first box taking mechanism in the following embodiment corresponds to the lifting device in the above embodiment, and the first in the following embodiment
  • the box taking mechanism can be the lifting device in the above embodiment
  • the first box storing mechanism 2502 (the first box storing mechanism in the following embodiment corresponds to the telescopic device in the above embodiment, the first in the following embodiment
  • the box storage mechanism may be the telescopic device in the above embodiment) and the first storage unit 2503 with an opening on the side (the first storage unit in the following embodiment corresponds to the storage compartment in the above embodiment, in the following embodiment
  • the first storage unit may be the storage compartment in the above-mentioned embodiment), the first storage unit 2503 is used for accommodating a storage box, that is, the storage space of the first storage unit 2503 can be used for storing a storage box.
  • the projected area of the box removal device occupies the position of two storage columns.
  • the first moving mechanism 2500, the first storage box The mechanism 2502 and the first storage unit 2503 are usually arranged in the main structure of the box taking device, and the projection area occupies a storage column position.
  • the first box taking mechanism 2501 is arranged outside the main structure of the box taking device.
  • the first box taking mechanism The position of the storage column occupied by the projection area of 2501 is adjacent to the position of the storage column occupied by the projection area of the main structure of the box taking device. Refer to the representation of the position occupied by the box taking device in the schematic diagram of FIG. 21.
  • the first moving mechanism 2500 is configured to move to a designated position corresponding to the position of the storage column according to the position of the storage column where the target storage box is located, so that the first box taking mechanism 2501 is located at the position of the storage column where the target storage box is located .
  • the storage boxes can be put into the storage main from above. Therefore, in order to enable the box picking equipment to travel along the track and reach the designated position, it is necessary to check each storage column in the warehouse.
  • the tracks on the top of the multiple storage columns in this specification are grid-distributed, as shown in Figure 26.
  • Fig. 26 is a schematic diagram of the rail distribution on the top of each storage column in the warehouse provided in this specification.
  • the dark areas are the rails, and the rectangles filled with diagonal lines are the storage boxes stacked in the storage columns.
  • the first moving mechanism 2500 since the first moving mechanism 2500 needs to move based on the track and reach the designated position corresponding to the position of the storage column where the target storage box is located, the first moving mechanism 2500 at least includes a track for moving in different directions.
  • the driving structure for traveling is, for example, a driving mechanism similar to the first moving mechanism of the four-way shuttle in the prior art.
  • the first moving mechanism 2500 can be arranged at the bottom of the main structure of the box taking device and contact with the track.
  • the first box taking mechanism 2501 is used to lift out the target storage box from the storage column where the target storage box is located, or simultaneously lift out a plurality of storage boxes containing the target storage box, wherein the lifted storage box
  • the bottom storage box in the middle is the target storage box, and other storage boxes above the target storage box are lifted to separate the target storage box from other storage boxes above it, and the target storage box is stored in the first storage box mechanism 2502
  • the other storage boxes above the target storage box are put back into the storage column.
  • the first box taking mechanism 2501 when the first moving mechanism 2500 arrives at the designated position, the first box taking mechanism 2501 should face the storage column where the target storage box is located, and the first box taking mechanism 2501 can store the storage box according to the target storage box.
  • the storage position in the column extends into the storage column to dock with the target storage box.
  • the first box taking mechanism 2501 may include: a first fixed baffle 25010, a first docking assembly 25011, and a first telescopic assembly 25012, as shown in FIG. 27.
  • the first fixed baffle 25010 and the first docking assembly 25011 are connected by a first telescopic assembly 25012.
  • the first fixed baffle 25010 is connected to the main structure of the box taking device, so by adjusting the length of the first telescopic assembly 25012, the first docking assembly 25011 can be sent into the storage column or lifted out of the storage column.
  • the specific form of the first telescopic assembly 25012 can be in various forms, which can be in the form of a chain, in the form of a rubber belt, or in the form of a telescopic rod, and other forms will not be illustrated here.
  • the first telescopic assembly 25012 in the first box taking mechanism 2501 can first For the storage position of the storage box, adjust the telescopic length so that the first docking component 25011 connected to it extends into the storage position where the target storage box is located in the storage column.
  • the first docking component 25011 is used for docking with the target storage box when the first telescopic component 25012 is adjusted in length and reaches the storage location where the target storage box is located.
  • the specific method used by the first docking component 25011 to connect with the target storage box is not limited in this specification.
  • it can be docked with the target storage box by a manipulator, or connected with a screw through a screw hole, or a suction cup can be used to absorb the storage box.
  • the superficial way is achieved with the target storage box.
  • the first telescopic component 25012 is also used to continuously adjust the telescopic length when the first docking component 25011 is docked with the target storage box, and remove the target storage box and the at least one other storage box from where the target storage box is located. Pull out the storage column to make the target storage box reach the position of the side opening of the first storage unit 2503.
  • the first box storage mechanism 2502 is used to take out the target storage box from the storage box lifted out by the first box removal mechanism 2501, and from the opening on the side of the first storage unit 2503, the target storage box Stored in the first storage unit 2503.
  • the first box storage mechanism 2502 may at least include: a first telescopic pallet 25020 and a first drag assembly 25021, as shown in FIG. 28.
  • the first telescopic pallet 25020 and the first drag assembly 25021 can be retracted in the main structure of the box taking device by default, that is, stored in the box taking device In the main structure.
  • the first telescopic pallet 25020 is used to extend from the bottom of the first storage unit 2503 to support the target storage box when the target storage box reaches the position of the side opening of the first storage unit 2503.
  • the first drag assembly 25021 is used to pass the target storage box from the first retractable pallet 25020 through the side of the first storage unit 2503 after the first retractable pallet 25020 supports the target storage box. Drag the opening into the first storage unit.
  • the first telescopic pallet 25020 is used to extend from the bottom of the first storage unit 2503 to support the target storage box and other storage boxes above the target storage box.
  • the first docking component 25011 is also used to stop docking with the target storage box after the first telescopic pallet 25020 receives the target storage box and other storage boxes above the target storage box.
  • the first telescopic component 25012 is also used to, after the first docking component 25011 stops docking, according to the storage position of a storage box adjacent above the target storage box, that is, a storage box adjacent above the target storage box At the current height, readjust the telescopic length so that the first docking component 25011 reaches the storage position of the adjacent storage box above the target storage box.
  • the first docking component 25011 after the first telescopic component 25012, is re-adjusted in its telescopic length, it is docked with an adjacent storage box above the target storage box.
  • the first drag component 25021 is used for after the first docking component 25011 is docked with a storage box adjacent above the target storage box, the target storage box passes through the first telescopic pallet 25020 An opening on the side of the storage unit 2503 is dragged into the first storage unit 2503.
  • the above process of taking out the target storage box from the storage box lifted out from the first box taking mechanism 2501 and storing it in the first storage unit may be as shown in FIG. 29.
  • FIG. 29 is a schematic diagram of storing the target in the first storage unit provided in this specification.
  • first storage unit 2503 of the box taking device shown in FIG. 29 there is a first drag assembly 25021, and a first telescopic pallet 25020 is provided under the first storage unit 2503.
  • first drag assembly 25021 In the first storage unit 2503 of the box taking device shown in FIG. 29, there is a first drag assembly 25021, and a first telescopic pallet 25020 is provided under the first storage unit 2503.
  • the main structure of the box taking device is located adjacent to the storage column where the target storage box is located.
  • the first fixed baffle 25010 of the box taking device is located directly above the storage column where the target storage box is located and needs to be transported.
  • the target storage box of is the third storage box from the top to the bottom in the storage column, as shown in 29a in Figure 29.
  • the box taking device can adjust the telescopic length of the first telescopic component 25012 according to the storage position of the target storage box in the storage column, so that the first docking component 25011 moves to the target storage box and docks with the target storage box , As shown in Figure 29, 29b.
  • the box taking device can continue to adjust the length of the first telescopic assembly 25012, thereby lifting the first three storage boxes in the storage column from the storage column, as shown in 29c in FIG. 29.
  • the first telescopic pallet 25020 provided in the box taking equipment protrudes from below the first storage unit 2503, so as to support the three storage boxes on the storage column through the first telescopic pallet 25020. Above the mouth, as shown in 29d in Figure 29. Since the first telescopic pallet 25020 has lifted the three storage boxes above the delivery port of the storage column, the docking of the first docking assembly 25011 with the target storage box can be released, and the first telescopic assembly 25012 can be adjusted.
  • the box taking device can extend the set first drag assembly 25021, and store the target storage box into the first storage unit 2503 from the side opening of the first storage unit 2503, as shown in 29f-29g in Figure 29. Narrated.
  • the target storage box in the first storage unit 2503 can still be erected by the first drag assembly 25021, or is supported by the ground of the first storage unit 2503. Then, after determining that the target storage box has been transferred to the first storage unit 2503, the box removal device can retract the first telescopic pallet 25020 under the first storage unit 2503, as shown in 29h in FIG. 29.
  • the box taking device can adjust the telescopic length of the first telescopic assembly 25012 to put the remaining two storage boxes back into the storage column, as shown in 29i in FIG. 29.
  • the first storage unit 2503 provided in the box taking device can be used to store a container.
  • the storage box extracted by the box removal device is equivalent to being stored between the first fixed baffle 25010 and the first telescopic pallet 25020 after being supported by the first telescopic pallet 25020
  • the space between the first fixed baffle 25010 and the first telescopic pallet 25020 of the box taking device is limited, so the maximum number of storage boxes that can be extracted by the box taking device is also limited.
  • the first telescopic assembly 25012 is also used when the target storage box is received in the first storage unit 2503.
  • adjust the telescopic length to make the first docking component reach the original position of the target storage box in the storage column.
  • the first docking component 25011 is also used to stop docking with a storage box adjacent above the target storage box when reaching the original position, and stack other storage boxes above the target storage box in the storage column .
  • the storage column containing the target storage box can be lifted out of the storage column. And support the multiple storage boxes, and then lift other storage boxes above the target storage box to separate the target storage box from the other storage boxes above it, and then remove the target storage box from the opening on the side of the box removal device In the storage box collection equipment, the other storage boxes that were lifted are finally put back into the storage column, so that when the target storage box is stacked under the other storage boxes that are obstructed, the target storage box can be lifted out through a single removal process, which reduces The operating cost of the warehouse has improved the handling efficiency.
  • the first telescopic assembly 25012 in the box taking equipment may be composed of: a first telescopic mechanism 3000, a second telescopic mechanism 3001, and a first movable baffle 3002. Wherein, both ends of the first telescopic mechanism 3000 are connected to the first movable baffle 3002 and the first fixed baffle 25010, and both ends of the second telescopic mechanism 3001 are connected to the first movable baffle 3002 and the first docking Components 25011.
  • the first movable baffle when the first box taking mechanism 2501 lifts out each storage box, the first movable baffle can be formed by the first movable baffle 3002, the first docking assembly 25011, and the second telescopic mechanism 3001 to form a semi-enclosed structure that fixes each storage box, so that each storage box can be taken out. It is more stable when in a box.
  • the first movable baffle 3002 it is convenient to divide the first telescopic assembly 25012 into two groups (ie, the first telescopic mechanism 3000 and the second telescopic mechanism 3001).
  • the first telescopic mechanism 3000 and the second telescopic mechanism 3001 can reduce the size of the stretching deformation of a single first telescopic component, which is beneficial to maintain the effectiveness of the component structure and reduce the appearance of the material structure of the first telescopic component Probability of destruction.
  • the box taking device may first determine the storage position of the other storage box in the storage column that is closest to the first fixed baffle 25010, that is, the storage position in the storage column. The storage location of the top storage box.
  • the second telescopic mechanism 3001 is used to adjust the telescopic length according to the determined storage position of the other storage box closest to the first fixed baffle in the storage column and the storage position of the target storage box, so that the When the first moving baffle 3002 reaches the nearest other storage box, the first docking assembly 25012 reaches the storage position of the target storage box, as shown by 31a in FIG. 31.
  • the first telescopic mechanism 3000 is used to adjust the telescopic length according to the storage position of the nearest other storage box, so that the first movable baffle 3002 reaches the other storage box, as shown in 31b in FIG. 31.
  • the first docking component 25011 is used for docking with the target storage box when it reaches the target storage box.
  • the first telescopic mechanism 3000 is also used to adjust the telescopic length when the first docking component 25011 is docked with the target storage box, and will be located at least one of the first moving baffle 3002 and the first docking component 25011 The storage box is lifted out of the storage column, as shown by 31c in Figure 331.
  • the first telescopic pallet 25020 is used to extend from the bottom of the first storage unit 2503 to support the target storage box and the upper part of the target storage box when the first box taking mechanism 2501 lifts out the target storage box
  • Other storage boxes are shown as 31d in Figure 31.
  • the second telescopic mechanism 3001 is also used for when the first telescopic pallet 25020 supports the target storage box, according to the storage position of the nearest other storage box and the other adjacent one above the target storage box. For the storage position of the storage box, adjust the telescopic length so that the first docking assembly 25011 reaches an adjacent storage box above the target storage box, as shown in 31e in FIG. 31.
  • the first docking component 25011 is also used for docking with another storage box adjacent above the target storage box when it reaches another storage box adjacent above the target storage box.
  • the first drag component 25021 is used for after the first docking component 25011 is docked with another storage box adjacent above the target storage box, the target storage box passes through the first telescopic pallet 25020. An opening on the side of the storage unit 2503 is dragged into the first storage unit 2503, as shown by 31f in FIG. 31.
  • a first trigger mechanism 3003 may also be provided on the first movable baffle 3002.
  • the box removal device can determine whether the first docking assembly 25011 has moved to the target through the first trigger mechanism. At the storage box, it is determined whether the first docking component 25011 needs to be controlled for docking, as shown in FIG. 32.
  • the first trigger mechanism 3003 is configured to send a trigger signal to the first docking assembly 25011 when the first movable baffle 3002 reaches the other storage box closest to the first fixed baffle in the storage column .
  • the first docking component 25011 is configured to determine that it can dock with the target storage box and dock with the target storage box when the trigger signal is received.
  • the specific form of the first triggering mechanism 3003 is not limited in this specification.
  • the specific first triggering mechanism 3003 may be a telescopic probe extending out of the first movable baffle 3002. When the first movable baffle 3002 reaches the storage When there is another storage box in the column that is closest to the first fixed baffle 25010, the probe is compressed back to the first movable baffle 3002, and a trigger signal is sent.
  • the first trigger mechanism 3003 is a non-contact distance measuring device, and when it is determined that the distance between the first movable baffle 3002 and the storage box is less than a preset threshold, a trigger signal is sent.
  • the specific form of the storage box can be various, for example, it can be a rectangular storage box with grooves, or an inverted trapezoidal storage box with grooves, or a storage box with a baffle on the top, etc. , As shown in Figures 33A and 33B.
  • Figures 33A to 33B are schematic diagrams of several forms of storage boxes provided in this specification.
  • FIG. 33A shows a rectangular storage box with grooves on the periphery.
  • the first docking component 25011 can be connected to the rectangular storage box through the grooves provided on the periphery of the rectangular storage box. Goods are placed in the rectangular storage box, and the intensive storage of the goods is realized by stacking each rectangular storage box in the storage shelf.
  • Fig. 33B shows an inverted trapezoidal storage box provided with a groove.
  • the box taking device controls the first docking component 25011 to dock with the groove of the inverted trapezoidal storage box to realize the extraction or placement of the inverted trapezoidal storage box.
  • the server may be multiple specific mechanisms for the server to determine the target storage box that needs to be transported.
  • the target storage box that needs to be moved can be determined from the storage shelf according to the order request of each user; for another example, the server can allocate instructions according to the obtained goods (for example, according to the actual demand, the storage shelf needs to be If the stored goods are allocated to another storage shelf, the server can assign the corresponding goods allocation instructions) to determine the target storage box that needs to be moved from the storage shelf; for another example, the server can be based on the storage situation of the goods in the storage shelf. , Carry out the allocation of goods in the storage shelf to average the number of goods stored in each position in the storage shelf.
  • the server may generate a transport instruction and send the transport instruction to the selected box fetching device.
  • the server can select the box picking equipment in many ways. For example, according to the location of the box picking equipment on the storage shelf and the location of the storage column where the target storage box is located, the picking device that is closer to the storage column where the target storage box is located can be selected. Box equipment; for another example, the server can randomly select a box picking device from the idle box picking devices and send a handling instruction to it; for another example, the server can select the one with more sufficient remaining power according to the remaining power of each box picking device Take the box equipment and send the handling instructions to it. Other methods will not be described in detail here.
  • the first telescopic assembly 25012 is actually composed of multiple components. Taking the first telescopic assembly 25012 in the form of a chain as an example, one chain can be regarded as one component. There is no specific limitation on how many components are included in the first telescopic assembly 25012. Taking the first telescopic component 25012 in the form of a chain as an example, the first telescopic component 25012 may include two chains, four chains, or six chains.
  • each component in the first telescopic assembly 25012 can be independently telescopic, that is, the telescopic length of each component is independently controlled by the box taking device, and is not affected by the telescopic length of other components.
  • these components need to be adjusted synchronously to ensure that the telescopic lengths of these components are the same (it can also ensure that the telescopic speeds of these components are the same) .
  • each component in the first telescopic assembly 25012 may also be linked, that is, each component is linked when telescoping, and is affected by the length of the other components. As shown in Figure 15.
  • Figure 34 is a schematic diagram of a first telescopic assembly provided with a linkage component provided in this specification.
  • FIG. 34 is a schematic diagram of the inside of the first movable baffle 3002 or the first fixed baffle 25010.
  • the first telescopic assembly 25012 connected to the first movable baffle 3002 there are two parts protruding from the inside to the outside.
  • the two parts are wound on the rotating shaft arranged inside the first moving baffle 3002 (the two parts wound on the rotating shaft can actually be a whole, for example, if the part is a chain, then the first moving baffle 3002 will start from The two chains extending inside are actually a chain connected together). It can be seen from Figure 34 that when the rotating shaft rotates clockwise, these two parts will synchronously extend outward, and when the rotating shaft rotates counterclockwise, these two telescopic parts will synchronously retract inward.
  • FIG. 34 only shows a linkage mode of components, and in practical applications, other linkage modes can also be used to control components to perform synchronous expansion and contraction, which will not be illustrated here.
  • FIG. 35 is a schematic diagram of a box taking method provided by this embodiment, which specifically includes the following steps:
  • S3501 Move to a designated position adjacent to the target storage column where at least part of the target storage boxes of the multiple target storage boxes to be transported is located.
  • the storage box in the following embodiment corresponds to the cargo box in the above embodiment, and the storage box in the following embodiment may be the cargo box in the above embodiment.
  • the storage column in the following embodiment corresponds to the cargo well in the above embodiment, and the storage column in the following embodiment may be the cargo well in the above embodiment.
  • the box retrieval method is applied to a dense storage warehouse with a three-dimensional grid structure.
  • the dense storage warehouse includes a plurality of vertical storage columns and is arranged on the plurality of storage columns.
  • the box taking method is specifically executed by a box taking device, which runs on the top track.
  • a space for accommodating a storage box is arranged inside the box taking device, and an opening is provided on the side of the box taking device for the storage box to enter the box taking device.
  • the box taking device in this embodiment has the same projected area as the box taking device shown in FIGS. 20A to 20D and 21, that is, when the box taking device is on the track When driving up, the projected area continues to occupy two adjacent storage columns.
  • the control center that controls the operation of the box taking device can determine the storage location of the target storage box that needs to be lifted out in the dense storage warehouse, and the location includes at least: the target The location of the storage column where the storage is located, and the storage location of the stack when the target is stored in the storage column.
  • the target storage box may be in multiple storage positions in the depth direction of the storage column.
  • control center can determine the box picking device that performs the box picking task according to the determined storage location of the target storage box in the dense storage warehouse, and send instructions.
  • the box taking device can be moved to a designated location, so that the target storage box can be obtained by performing subsequent steps.
  • the box taking device needs to occupy the positions of two adjacent storage columns in the warehouse, so the designated position is adjacent to the storage column where the target storage box is located.
  • the storage box can be lifted out of the storage column where the target storage box is located.
  • the storage column where the target storage box is located may be referred to as the target storage column.
  • control center can also be based on the box taking equipment Move to the path of the target storage column where the target storage box is located, and determine the specified location.
  • the control center can plan the path according to the position of the box taking equipment and the position of the target storage column where the target storage box is located, and determine the movement of the box taking equipment to the target storage column. path. After that, the positions of other storage columns adjacent to the target storage column in the movement path are used as the designated positions. Then, the moving path and the designated position are sent to the box taking device, and the box taking device can move to the specified position along the moving path.
  • S3502 Lift a plurality of storage boxes from the target storage column and support the plurality of storage boxes, wherein the plurality of storage boxes taken out includes one or more target storage boxes.
  • the box taking device can take out at least one target storage box from the target storage column. Therefore, after the box taking device is moved to a designated position, the box taking device can lift more than one target storage column from the target storage column.
  • the multiple storage boxes that have been lifted contain at least one target storage box that needs to be taken out of the target storage column.
  • the bottom storage box may be other storage boxes. At least one target storage box that needs to be taken out is located above the other storage boxes. Of course, among the lifted storage boxes, the bottom storage box may also be the target storage box located at the bottom of the target storage column.
  • the control center when each storage box is stored in the dense storage warehouse, the control center will record the storage column where the storage box is located and the corresponding storage location. Therefore, for any target storage box, the control center is determining the target storage When storing boxes, the target storage column where the target storage box is located and its corresponding storage location can be determined. After the box picking device arrives at the designated location, it can determine the needs and storage locations of each target storage box. Which storage box of the target storage column is to be docked, and the multiple storage boxes containing these target storage boxes are lifted from the target storage column. The box taking device can also support the lifted storage box.
  • the storage position is the position where the storage box is stacked on the storage column. When the storage column is vertical, the storage position can represent the depth position of the storage box in the storage column. According to the storage location, the box picking device can determine how much to go down from the track on the top of the storage column to connect with the storage box that needs to be docked.
  • the box picking device can take out the other storage boxes above the target storage box or between the target storage boxes.
  • the box taking device can only take out at least one target storage box that needs to be taken out.
  • 36A to 36C are schematic diagrams of lifting out multiple storage boxes provided in this specification.
  • FIG. 36A shows the situation where there are other storage boxes above the target storage box and between the target storage boxes.
  • the box picking device determines the storage location of the target storage box at the bottom of the target storage column, and based on the storage location, docks the target storage box, and extracts the target storage box and the storage location.
  • the box taking device can also support each of the removed storage boxes, and the bottom support is the target storage box, that is, the dark storage box at the bottom in FIG. 36A.
  • FIG. 36B also belongs to the situation where there are other storage boxes above the target storage box and between the target storage boxes.
  • the box taking method shown in FIG. 36B is different from that in FIG. 36A.
  • the box taking device can determine the storage position of the storage box adjacent to the lowermost target storage box in the target storage column, and according to the storage position, The storage box is docked, and the storage box and the storage box located above the storage box are extracted. After the storage box is removed from the target storage column, the box removal device can also support each storage box that has been taken out, and the storage box is the lowest supported storage box. Among them, located above the storage box and adjacent to the storage box is the dark-colored target storage box located at the bottom of the target storage column in FIG. 36B.
  • FIG. 36C belongs to the case where there are no other storage boxes above the target storage box and between the target storage boxes. That is, the multiple target storage boxes that need to be taken out are all adjacent, and are all located above other storage boxes in the target storage column.
  • the box picking device can determine the storage location of the target storage box located at the bottom of the target storage column, and according to the storage location, the target storage box is docked, and the target storage box and the storage location are extracted. Other target storage boxes above the target storage box. After the target storage box is removed from the target storage column, the box taking device can also support the taken out target storage boxes.
  • FIGS. 36A to 36C only illustrate three box-taking methods in the form of examples, but in practical applications, other box-taking methods may also be included.
  • the box picking device can also determine the storage position of the storage box adjacent to the lowermost target storage box in the target storage column, and dock the storage box according to the storage position. And extract the storage box and each target storage box located above the storage box. After the storage box is removed from the target storage column, the box taking device can also support the removed storage box and each target storage box. Other methods will not be illustrated in detail here.
  • S3503 For each target storage box in the one or more target storage boxes, repeat the following actions until the one or more target storage boxes are all received in the box taking device: the target storage box The upper storage box is lifted to separate the target storage box from the storage box above it, and the target storage box is received into the box removal device from the opening on the side of the box taking device, and the storage box above the target storage box The storage box falls.
  • the box removal device may, for each target storage box, place the target storage box above the target storage box. Lift up the other storage boxes to separate the target storage box from the other storage boxes that have been lifted, and then collect the target storage box from the opening on the side of the box taking device into the box taking device.
  • step S3502 the box taking device can be taken out. Afterwards, since the box taking device is located in a storage column adjacent to the target storage column where the target storage box is located, the box taking device can sequentially receive the target storage boxes from the side.
  • the box taking device can be docked with another storage box adjacent to the upper side of the target storage box.
  • the box removal device only supports the target storage box and the storage box located below the target storage box, and since there is no other method for pressing the target storage box at this time, the box removal device can set the target storage box. The storage box is easily collected from the side into the box picking device.
  • the box taking device can drop the lifted storage box and other storage boxes that have been lifted together, and then lift the storage box above the next target storage box , In order to receive the next target storage box into the box removal device, and so on, until all the removed target storage boxes are received into the box removal device.
  • the box removal device can also put other docked storage boxes back into the target storage column, and subsequently, the received storage box can be used as needed. Transport to other locations for picking and other processing. This manual does not limit how to proceed.
  • the box taking device moves along the track to a designated position adjacent to the target storage column where the target storage box is located, multiple storage boxes containing at least one target storage box can be lifted from the target storage column.
  • the storage box and support the multiple storage boxes.
  • the box removal device can lift other storage boxes above the target storage box to separate the target storage box and the storage box above it, and then Put the target storage box into the box removal device from the opening on the side of the box removal device.
  • the box removal device can put other lifted storage boxes back into the box.
  • the container removal equipment can lift and receive multiple target storage boxes through a single removal task, which reduces the warehouse operation cost and realizes the improvement of handling efficiency.
  • the box taking equipment may take out the storage boxes that need to be transported from multiple storage columns in one box taking task, so if the box taking equipment takes out multiple target storage boxes from the above-mentioned target storage columns , And after these target storage boxes are received in the box removal device, when the box removal device still has space to store the storage box, the box removal device can move to the next designated location.
  • the next designated position mentioned here refers to the target storage column adjacent to at least some of the multiple target storage boxes that need to be transported, that is, the target storage column where the target storage box that needs to be removed is located adjacent to the target storage column. Location.
  • the box taking equipment can extract multiple storage boxes from the adjacent target storage column at the next designated position and support these storage boxes.
  • the multiple storage boxes taken out from the target storage column contain at least one that needs to be transported.
  • the box taking device can lift the storage box above the target storage box for each target storage box taken out, so that the target storage box is separated from the storage box above it, and then the box taking device can be removed from the side of the box taking device The opening of the target storage box is received into the box picking device, and the storage box above the target storage box is dropped. In this way, the box taking device can sequentially receive the target storage boxes that still need to be transported into the box taking device, and return the remaining storage boxes to the target storage column adjacent to the next designated position.
  • the box taking device can go to each target storage column in turn to take the box until all the target storage boxes that need to be taken out are taken out, or the box taking device does not have extra space to store the target storage box.
  • the present disclosure also provides a box taking device, as shown in FIG. 37.
  • Figure 37 is a schematic structural diagram of a box taking device provided in this specification.
  • the box-taking equipment is used in a dense storage warehouse with a three-dimensional grid structure.
  • the dense storage warehouse includes a plurality of vertical storage columns and a track set on the top of the plurality of storage columns.
  • a plurality of storage boxes are stacked in the direction, and the box taking equipment runs on the track.
  • the box taking equipment includes: a second moving mechanism 500 (the second moving mechanism in the following embodiment corresponds to the first moving mechanism in the above embodiment), and a second box taking mechanism 501 (in the following embodiment)
  • the second box taking mechanism corresponds to the lifting device in the above embodiment
  • the second box taking mechanism in the following embodiment may be the lifting device in the above embodiment
  • the second box storing mechanism 502 in the following embodiment
  • the second storage mechanism corresponds to the first storage mechanism in the above embodiment
  • a plurality of second storage units 503 with openings on the side (the second storage unit in the following embodiment corresponds to the storage in the above embodiment)
  • the second storage unit in the following embodiments may be the storage compartment in the above-mentioned embodiment), and each second storage unit 503 is used for accommodating one storage box.
  • the projected area of the box taking device occupies the position of two storage columns.
  • the second moving mechanism 500, the second storage box The mechanism 502 and the second storage unit 503 are usually arranged in the main structure of the box taking equipment, and the projected area occupies the position of a storage column.
  • the second box taking mechanism 501 is arranged outside the main structure of the box taking device.
  • the position of the target storage column occupied by the projection area of 501 is adjacent to the position of the storage column occupied by the projection area of the main structure of the box taking device. Refer to the representation of the position occupied by the box taking device in the schematic diagram of FIG. 21.
  • the second moving mechanism 500 is configured to move to a designated position corresponding to the position of the target storage column according to the position of the target storage column where the target storage box is located, so that the second box taking mechanism 501 is located in the target storage where the target storage box is located. The position of the column.
  • the storage boxes can be put into the storage columns from above the storage columns or taken out from above the storage columns. Therefore, in order to enable the box retrieval equipment to travel along the track and reach the designated Position: Pick and place storage boxes for each storage column in the warehouse.
  • the tracks on the top of multiple storage columns are grid-distributed, as shown in Figure 26.
  • Fig. 26 is a schematic diagram of the rail distribution on the top of each storage column in the warehouse provided in this specification.
  • the dark areas are the rails, and the rectangles filled with diagonal lines are the storage boxes stacked in the storage columns.
  • the second moving mechanism 500 since the second moving mechanism 500 needs to move based on tracks and reach the designated position corresponding to the position of the target storage column where the target storage box is located, the second moving mechanism 500 at least includes tracks for moving in different directions.
  • the driving structure for upward travel is, for example, a driving mechanism similar to the second moving mechanism of the four-way shuttle in the prior art.
  • the second moving mechanism 500 may be arranged at the bottom of the main structure of the box taking device and contact the track.
  • the second box taking mechanism 501 is used to lift at least one target storage box from the target storage column, or simultaneously lift multiple storage boxes containing at least one target storage box, wherein the lowermost of the lifted storage boxes
  • the storage box of can be the lowest target storage box in the target storage column, or the storage box located below the lowest target storage box in the target storage column.
  • the box taking device can lift up other storage boxes above the target storage box for each target storage box, so as to separate the target storage box from other storage boxes above it, and perform the target storage in the second storage box 502.
  • the box taking device can sequentially receive the lifted target storage boxes into the second storage unit 503, and put the remaining storage boxes back into the target storage column.
  • the second box-taking mechanism 501 when the second moving mechanism 500 reaches the designated position, the second box-taking mechanism 501 should face the target storage column where the target storage box is located. Accordingly, the second box-taking mechanism 501 can store according to the target The storage position of the box in the target storage column is extended into the target storage column to connect with the storage box located at the bottom of the target storage column or the storage box below the target storage box at the bottom of the target storage column.
  • the second box taking mechanism 501 can also be docked with any target storage box in the target storage column or a storage box below any target storage box.
  • the second box taking mechanism 501 may include: a second fixed baffle 5010 (the second fixed baffle in the following embodiment corresponds to the first fixed baffle in the foregoing embodiment), and a second docking assembly 5011 (The second docking component in the following embodiment corresponds to the first docking component in the above embodiment) and the second telescopic component 5012 (the second telescopic component in the following embodiment corresponds to the first telescopic component in the above embodiment) Component), as shown in Figure 38.
  • the second fixed baffle 5010 and the second docking assembly 5011 are connected by a second telescopic assembly 5012.
  • the second fixed baffle 5010 is connected to the main structure of the box taking device, so by adjusting the length of the second telescopic assembly 5012, the second docking assembly 5011 can be sent into the target storage column or lifted out of the target storage column.
  • the specific form of the second telescopic assembly 5012 can be in various forms, which can be in the form of a chain, in the form of a rubber belt, or in the form of a telescopic rod, and other forms will not be illustrated here.
  • the second telescopic assembly 5012 in the second box taking mechanism 501 can first adjust the telescopic length according to the storage position of the target storage box, so that the second telescopic component connected to it can be adjusted.
  • the docking component 5011 extends into the storage position where the storage box that needs to be docked is located in the target storage column.
  • the second docking component 5011 is used for docking with the storage box when the second telescopic component 5012 is adjusted in length and reaches the storage location where the storage box needs to be docked.
  • the specific method used by the second docking component 5011 to be docked with the storage box that needs to be docked is not limited in this specification.
  • it can be docked with the storage box that needs to be docked by a manipulator, or docked by a similar screw hole and screw docking method.
  • Or use the suction cup to absorb the surface of the storage box to realize the docking with the storage box that needs to be docked.
  • the second telescopic component 5012 is also used to continue to adjust the telescopic length after the second docking component 5011 is docked with the storage box that needs to be docked, and the storage box and the storage box located on the storage box are removed from the target storage Lift out of the column.
  • the storage box that needs to be docked may be the target storage box located at the bottom of the target storage column, or other storage boxes.
  • the lifted storage box contains at least one target storage box.
  • the second box storage mechanism 502 is used to take out the target storage box from the storage box lifted by the second box removal mechanism 501, and store the target storage box into the second storage box from the opening on the side of the second storage unit 503 In the storage unit 503.
  • the second box storage mechanism 502 may at least include: a second telescopic pallet 5020 (the second telescopic pallet in the following embodiment corresponds to the first telescopic pallet in the above embodiment) and a second The drag component 5021 (the second drag component in the following embodiment corresponds to the first drag component in the above embodiment), as shown in FIG. 39.
  • the second telescopic pallet 5020 and the second drag assembly 5021 can be retracted in the main structure of the box taking device by default, that is, stored in the box taking device In the main structure.
  • the second telescopic pallet 5020 is used to extend from the bottom of the second storage unit 503 to support the removed storage box when the removed storage box reaches the position of the side opening of the bottom second storage unit 203 box.
  • the second dragging assembly 5021 is used to drag the target storage box separated from the upper storage box through the opening on the side of the second storage unit 503 after the second retractable pallet 5020 supports the removed storage boxes
  • each second storage unit 503 may be provided with a second drag component 5021.
  • the second telescopic pallet 5020 is used to remove the storage box from the second storage unit 503.
  • the bottom of the second storage unit 503 extends to support each storage box taken out.
  • the second docking assembly 5011 is also used to stop the docking with the storage box that needs to be docked when the box is taken out of the target storage column after the second telescopic pallet 5020 supports each storage box that has been taken out.
  • the second telescopic component 5012 is also used to, after the second docking component 5011 stops docking, for each target storage box, according to the storage position of a storage box adjacent above the target storage box, that is, with the target storage box
  • the current height of a storage box adjacent to the upper part is readjusted to adjust the telescopic length so that the second docking assembly 5011 reaches the storage position of a storage box adjacent to the target storage box.
  • the second docking assembly 5011 is docked with a storage box adjacent to the upper side of the target storage box after the second telescopic assembly 5012 has been adjusted for its telescopic length.
  • the second drag component 5021 is used to transfer the target storage box from the second storage unit 503 ( That is, the opening on the side of the second storage unit (the height of the target storage box) is dragged into the second storage unit 503.
  • the above process of taking out the target storage box from the storage box lifted out from the second box taking mechanism 501 and storing it in the second storage unit may be as shown in FIG. 40.
  • FIG. 40 is a schematic diagram of storing the target in the second storage unit provided in this specification.
  • FIG. 40 There is a second drag assembly 5021 in each second storage unit 503 of the box taking equipment shown in FIG. 40, and a second telescopic pallet 5020 is provided under the second storage unit 503 at the bottom.
  • the main structure of the box taking device is located adjacent to the storage column where the target storage box is located, and the second fixed baffle 5010 of the box taking device is located directly above the target storage column where the target storage box is located.
  • the target storage box to be transported is the first storage box and the third storage box from the top to the bottom in the target storage column, as shown in 40a in FIG. 40.
  • the box taking device can adjust the telescopic length of the second telescopic component 5012 according to the storage positions of the two target storage boxes in the target storage column, so that the second docking component 5011 moves to the lowest target storage box. And dock with the lowermost target storage box, as shown in 40b in Figure 40.
  • the box taking device can continue to adjust the length of the second telescopic assembly 5012, so as to lift the first three storage boxes in the target storage column from the target storage column, as shown in 40c in FIG. 40.
  • the second telescopic pallet 5020 provided in the box taking equipment protrudes from the bottom of the second storage unit 503, so as to support the three storage boxes on the target storage through the second telescopic pallet 5020.
  • Above the delivery port of the column as shown in 40d in Fig. 40.
  • the box removal device can extend the second drag assembly 5021 set in the first second storage unit 503 from the top to the bottom, as shown in FIG. 40 40e, and drag the first target storage box to the first second storage unit 503, as shown in 40f in FIG. 40.
  • the second telescopic pallet 5020 Since the second telescopic pallet 5020 has lifted the three storage boxes above the delivery port of the target storage column, the docking of the second docking assembly 5011 with the lowermost target storage box can be released, and the second docking unit 5011 can be adjusted.
  • the length of the telescopic assembly 5012 enables the second docking assembly 5011 to move up to the second storage box, and to be docked with the second storage box. Then, by adjusting the length of the second telescopic assembly 5012 again, the storage box docked by the second docking assembly 5011 is lifted, so that the lowest target storage box held by the second telescopic pallet 5020 is separated from the other storage boxes, as shown in the figure 40g in 40 shows.
  • the box taking device can extend the second drag assembly 5021 provided in the third second storage unit 503, and receive the lowest target storage box from the side opening of the third second storage unit 503 In the third second storage unit 503, as shown in 40h-40i in FIG. 40.
  • the target storage box in the second storage unit 503 can still be erected by the second drag assembly 5021, or is supported by the bottom surface of the second storage unit 503. Then, after determining that the two target storage boxes have been transferred to the second storage unit 503, the box taking equipment can retract the second telescopic pallet 5020 to the bottom of the second storage unit 503, as shown in the figure 40 in 40j.
  • the box taking device can adjust the telescopic length of the second telescopic assembly 5012, and put the remaining storage box back into the target storage column, as shown by 40k in FIG. 40.
  • the storage box extracted by the box removal device is equivalent to being stored between the second fixed baffle 5010 and the second telescopic pallet 5020 after being supported by the second telescopic pallet 5020
  • the space between the second fixed baffle 5010 and the second telescopic pallet 5020 of the box taking device is limited, so the maximum number of storage boxes that can be extracted by the box taking device is also limited.
  • the second telescopic assembly 5012 is also used to receive all the extracted target storage boxes into the first storage column.
  • the second storage unit 503 adjust the telescopic length according to the storage position of the storage box docked by the second docking component 5011 when each storage box is taken out from the target storage column, so that the second docking component 5011 can be taken out from the target storage column.
  • Each storage box is the original position of the storage box docked by the second docking assembly 5011.
  • the second docking component 5011 is also used to stop docking with the storage box docked with it when it reaches the original position, so as to stack the remaining storage boxes in the target storage column.
  • the box taking equipment After the box taking equipment moves along the track to a designated position adjacent to the target storage column where the target storage box is located, it can be lifted from the target storage column containing at least one Multiple storage boxes of the target storage box and support the multiple storage boxes, and then for each target storage box, lift other storage boxes above the target storage box to separate the target storage box from other storage above it Then put the target storage box into the box removal device from the opening on the side of the box removal device, and finally put the remaining storage boxes back into the target storage column, so that the box removal device can pass the box removal task once Multiple target storage boxes can be lifted out and stored in the box taking equipment, which reduces warehouse operation costs and improves handling efficiency.
  • the present disclosure also provides another box taking device, as shown in FIG. 41.
  • the second telescopic assembly 5012 in the box taking equipment can be made up of: a third telescopic mechanism 600 (the third telescopic mechanism in the following embodiment corresponds to the first telescopic mechanism in the above-mentioned embodiment), a fourth telescopic mechanism 601 (the following The fourth telescopic mechanism in the embodiment corresponds to the second telescopic mechanism in the above embodiment) and the second movable baffle 602 (the second movable baffle in the following embodiment corresponds to the first movable baffle in the above embodiment). Plate) composition.
  • both ends of the third telescopic mechanism 600 are connected to the second movable baffle 602 and the second fixed baffle 5010, and both ends of the fourth telescopic mechanism 601 are connected to the second movable baffle 602 and the second docking Components 5011.
  • both ends of the third telescopic mechanism 600 are connected to the second movable baffle 602 and the second fixed baffle 5010
  • both ends of the fourth telescopic mechanism 601 are connected to the second movable baffle 602 and the second docking Components 5011.
  • the second box taking mechanism 501 lifts out each storage box
  • the second docking assembly 5011, and the fourth telescopic mechanism 601 to form a semi-enclosing structure that fixes each storage box, so that each storage box can be taken out. More stable when storing the box.
  • the second movable baffle 602 it is convenient to divide the second telescopic assembly 5012 into two groups (ie, the third telescopic mechanism 600 and the fourth telescopic mechanism 601).
  • the third telescopic mechanism 600 and the fourth telescopic mechanism 601 can reduce the size of the stretching deformation of a single second telescopic component, which is beneficial to maintain the effectiveness of the component structure and reduce the appearance of the material structure of the second telescopic component Probability of destruction.
  • the box taking device can take out multiple target storage boxes from the target storage column, and store these target storage boxes into the second storage unit of the box taking device, as shown in FIG. 42.
  • FIG. 42 is a schematic diagram of transferring two target containers to the corresponding second storage unit provided in this specification.
  • the box taking device shown in FIG. 42 has four second storage units 503, and each second storage unit 503 is provided with a second drag component 5021, which is arranged below the lowest second storage unit 503 There is a second telescopic pallet 5020, which is used to support the storage boxes stacked in the vertical direction extracted from the target storage column by the box-taking device.
  • the box taking device can adjust the telescopic length of the third telescopic mechanism 600 and the telescopic length of the fourth telescopic mechanism 601 according to the storage positions of the two target storage boxes in the target storage column, so that the second movable baffle 602 can move Go to the top storage box stacked in the target storage column, and move the second docking assembly 5011 to the bottom target storage box (ie the fourth storage box), and dock the bottom target storage box, As shown in Figure 42 at 42b.
  • the distance between the storage box that needs to be docked by the second docking assembly 5011 and the second fixed baffle 5010 is not less than the distance between the target storage box farthest from the second fixed baffle 5010 and the second fixed baffle 5010 .
  • the box taking device extracts the four storage boxes from the target storage column (as shown by 42c in Figure 42), the four storage boxes can be placed on the target storage column by extending the second telescopic pallet 5020. Supported above the shipping port.
  • the second drag component 5021 provided in the second storage unit 503 corresponding to the first target storage box ie, the second storage box
  • the second docking component 5011 can be moved to the first one.
  • the first storage box is grabbed to lift the first storage box upward to realize the first storage box and the first storage box below. The separation between the two target storage boxes.
  • the box fetching device can control the second drag component 5021 to drag the first target storage box to its corresponding second storage unit 503 (that is, the second second storage unit from the top to the bottom) ), as shown in Figure 42 42d ⁇ 42e.
  • the box picking device After determining that the first target storage box has been placed in its corresponding second storage unit, the box picking device adjusts the telescopic length of the third telescopic mechanism 600 to place the first storage box docked by the second docking assembly 5011 in On the third storage box (that is, the adjacent storage box below the first target storage box). Further, the box taking device can extend the second drag component 5021 in the second storage unit 503 corresponding to the second target storage box (ie, the fourth storage box), and dock the third drag component 5011 through the second docking component 5011. Two storage boxes (ie, the adjacent storage box with the second target storage box above) are lifted upwards to drag the second target storage box to its corresponding second storage unit 503 through the second drag component 5021 , As shown in Figure 42 at 42f and 42g.
  • the box removal device can retract the second telescopic pallet 5020 to the bottom of the second storage unit 503, and remove the remaining other storage boxes.
  • the storage box is put back into the target storage column through the second docking assembly 5011, the third telescopic mechanism 600, and the fourth telescopic mechanism 601, thereby completing the entire process of extracting multiple target storage boxes from the target storage column.
  • each second storage unit is separated by a dashed dividing line. In practical applications, each second storage unit does not need to be separated. In this case, Figure 40 And the separation line in Figure 42 does not actually exist. Of course, each of the second storage units can also be separated by partitions, partitions, etc.
  • a second trigger mechanism 603 may also be provided on the second movable baffle 602 (the second trigger mechanism in the following embodiment corresponds to the first trigger mechanism in the above embodiment).
  • the box removal device can determine whether the second docking assembly 5011 has moved through the second trigger mechanism 603 Go to the storage box that needs to be docked, and then determine whether it is necessary to control the second docking component 5011 to dock, as shown in FIG. 43.
  • the second trigger mechanism 603 is configured to send a trigger to the second docking assembly 5011 when the second movable baffle 602 reaches the storage box closest to the second fixed baffle 5010 in the target storage column Signal.
  • the second docking component 5011 is used to determine that the storage box that needs to be docked can be docked when the trigger signal is received.
  • the specific form of the second triggering mechanism 603 is not limited in this specification.
  • the specific second triggering mechanism 603 may be a telescopic probe extending out of the second moving baffle 602. When the second moving baffle 602 reaches the target When a storage box in the storage column is closest to the second fixed baffle 5010, the probe is compressed back to the second movable baffle 602, and a trigger signal is sent.
  • the second trigger mechanism 603 is a non-contact distance measuring device, and when it is determined that the distance between the second movable baffle 602 and the storage box is less than a preset threshold, a trigger signal is sent.
  • the specific form of the storage box can be various, for example, it can be a rectangular storage box with grooves, or an inverted trapezoidal storage box with grooves, or a storage box with a baffle on the top, etc. , As shown in Figure 14A, Figure 14B, and Figure 44.
  • FIG. 14A shows a rectangular storage box with grooves on the periphery, and the second docking component can be connected to the rectangular storage box through the grooves provided on the periphery of the rectangular storage box. Goods are placed in the rectangular storage box, and the intensive storage of the goods is realized by stacking each rectangular storage box in the storage shelf.
  • Fig. 14B is an inverted trapezoidal storage box provided with a groove.
  • the box taking device controls the second docking component to hook the groove of the inverted trapezoidal storage box to realize the extraction or placement of the inverted trapezoidal storage box.
  • Fig. 44C shows a storage box with a baffle on the top.
  • the goods are placed on a pallet.
  • the upper baffle can be used to stack other storage boxes.
  • the box picking device can control the second docking component to grab the upper baffle to extract or place the goods, and it can also control the second docking component to grab the pallet to realize the picking or placing of the goods.
  • the control center can determine the target storage box that needs to be transported. For example, according to the order request of each user, the target storage box that needs to be moved can be determined from the storage shelf; for another example, the control center can allocate instructions according to the obtained goods (for example, according to actual needs, a storage shelf needs to be placed in a storage shelf). If the stored goods are allocated to another storage shelf, the control center can assign the corresponding goods allocation instructions) to determine the target storage box that needs to be moved from the storage shelf; for another example, the control center can follow the order of each storage column in the storage shelf. For the storage of goods, the goods are allocated in the storage shelf to average the quantity of goods stored in each storage column in the storage shelf.
  • the control center can generate a transport instruction and send the transport instruction to the selected box removal device.
  • the control center can select the box picking equipment in many ways. For example, according to the location of the box picking equipment on the storage shelf and the location of the storage column where the target storage box is located, it can select the target storage column that is closer to the target storage box.
  • the control center can randomly select a box-taking device from the idle box-taking devices and send a handling instruction to it; for another example, the control center can select the remaining box based on the remaining power of each box-taking device The box-taking equipment with sufficient power will send a handling instruction to it. Other methods will not be described in detail here.
  • the second telescopic component 5012 is actually composed of multiple telescopic components. Taking the second telescopic component 5012 in the form of a chain as an example, a chain can be regarded as a telescopic component. There is no specific limitation on how many telescopic components are included in the second telescopic assembly 5012. Taking the second telescopic component 5012 in the form of a chain as an example, the second telescopic component 5012 may include two chains, four chains, or six chains. The same is true for the third telescopic mechanism 600 and the fourth telescopic mechanism 601 included in the second telescopic assembly 5012.
  • each telescopic component in the second telescopic assembly 5012 can be independently telescopic, that is, the telescopic length of each telescopic component is independently controlled by the box taking device, and is not affected by other telescopic components.
  • the box picking device needs to adjust these telescopic components simultaneously to ensure that the telescopic lengths of these telescopic components are the same (it can also ensure the telescopic speed of these telescopic components). Are the same).
  • each telescopic component in the second telescopic assembly 5012 may also be linked telescopically, that is, each telescopic component is linked when telescoping and is affected by the telescopic length of other telescopic components.
  • Figure 45 is a schematic diagram of a second telescopic assembly provided with a linkage telescopic component provided in this specification.
  • FIG. 45 is a schematic diagram of the inside of the second movable baffle 602.
  • the second movable baffle 602 is arranged on the rotating shaft (the two telescopic parts wound on the rotating shaft can actually be a whole, for example, if the telescopic part is a chain, then the second movable baffle 602 extends from the inside The two chains are actually one chain connected together). It can be seen from Figure 45 that when the rotating shaft rotates clockwise, the two telescopic parts will synchronously extend outward, and when the rotating shaft rotates counterclockwise, the two telescopic parts will synchronously retract inward.
  • FIG. 45 only shows a linkage mode of the telescopic component, and in practical applications, other linkage methods can also be used to control the telescopic component to perform synchronous expansion and contraction, which will not be illustrated one by one here.
  • a second telescopic pallet can also be provided at the bottom of each second storage unit of the box taking equipment. In this way, the box taking equipment can reach each target storage box in the target storage box.
  • the second telescopic pallet 5020 extends from the bottom of the second storage unit 503 corresponding to the target storage box to support the target storage box and the target The storage box above the storage box.
  • the second docking component 5011 stops docking with the target storage box and is adjacent to the target storage box. Storage box docking.
  • the second drag component 5021 set in the second storage unit 503 corresponding to the target storage box can pass the target storage box from the second telescopic pallet 5020 through the second storage corresponding to the target storage box. Drag the opening on the side of the unit 503 to the second storage unit 503 corresponding to the target storage box.
  • Figure 46 is a schematic diagram of the box taking equipment provided in this manual located on both sides of the storage shelf.
  • the box picking equipment is used in a dense storage warehouse with a three-dimensional grid structure.
  • the dense storage warehouse includes multiple horizontal storage columns and a track set at one end of the multiple storage columns. There are multiple storage boxes stacked in the horizontal direction in the storage columns.
  • the box-taking equipment runs on the track, the box-taking equipment includes: a second moving mechanism, a second box-taking mechanism, a second box-storing mechanism, and a plurality of second storage units with openings on the side, each of the second storage units Used to hold a storage box.
  • the left side of the warehouse is provided with a track for the box-taking equipment to travel (in fact, there are tracks for the box-taking equipment to travel around the storage shelf), and the box-taking equipment can carry goods on the left side of the storage shelf.
  • the second telescopic component of the box taking equipment is horizontally telescopic.
  • the box taking device suitable for FIG. 46 is shown in FIG. 47 on the second telescopic pallet arrangement.
  • Figure 47 is a schematic structural diagram of another box taking device provided in this specification.
  • the second telescoping assembly 7012 can be adjusted to extend the second docking assembly 7011 into the target storage column, and then the gap between the second fixed baffle 7010 and the second docking assembly 7011 Multiple storage boxes are extracted from the target storage column.
  • the box taking equipment is provided with a plurality of second storage units 703, and a plurality of flat pallets are arranged above the second storage unit 703, and the plurality of storage boxes taken out can be placed on these pallets.
  • second telescopic components 7012 such as chains and rubber belts are not suitable, so a rigid second telescopic component 7012 such as telescopic rods should be selected.
  • a third telescopic mechanism and a fourth telescopic mechanism can also be provided in this type of lateral box-taking equipment.
  • the specific structure is shown in FIG. 48.
  • Fig. 48 is a schematic diagram of a lateral box-taking device provided with a third telescopic mechanism and a fourth telescopic mechanism provided in this specification.
  • the second telescopic assembly 7012 is also divided into two parts, the third telescopic mechanism 800 and the fourth telescopic mechanism 801. Between the telescopic mechanism 800 and the fourth telescopic mechanism 801, a second movable baffle 802 is provided. Furthermore, in the second movable baffle 802, a second triggering mechanism 803 may be further provided, so that the second triggering mechanism 803 can be used to control the second docking assembly 7011 to dock with the storage box that needs to be docked.
  • a pallet can be provided on each second storage unit to Drag the storage box extracted from the target storage column above the second storage unit, and move the target storage box to its corresponding second storage unit by controlling the opening and closing of the storage box, as shown in FIG. 49.
  • Figure 49 is a schematic diagram of the lateral box-taking device provided in this specification moving the target storage box to the second storage unit.
  • the box taking equipment in Figure 49 is provided with four second storage units 703, and each second storage unit 703 is provided with an openable and closing pallet 704.
  • the box taking equipment is removed from a storage shelf (not shown in Figure 18).
  • four storage boxes are extracted.
  • the third and fourth storage boxes (according to the distance from the target storage column (the target storage column is not shown in Figure 49) to the shipping port are from small to large). (Sorted in order) is the target storage box that the box picking device needs to carry.
  • the box taking device adjusts the extension lengths of the third telescopic mechanism 800 and the fourth telescopic mechanism 801, so that the second moving baffle 802 moves to the first storage box, and the second docking assembly 7011 moves to the fourth storage box (ie The second target storage box), and the second target storage box is docked by controlling the second docking component 7011, as shown in 49a in FIG. 49. Then, by retracting the fourth telescopic mechanism 801, the box taking equipment can extract the four storage boxes from the target storage column, and support the four storage boxes through the pallet 704 set on each second storage unit 703 It rests on top of each second storage unit 703, as shown in 49b in FIG. 49.
  • the box taking device can open the pallet 704 of the second storage unit 703 corresponding to the third storage box, so that the first target storage box falls into the second storage unit 703 under the influence of gravity, and then Then close the pallet 704, and move the second docking assembly 7011 to the second storage box to grab the second storage box, as shown in 49c to 49e in FIG. 49.
  • the box picking device can open the pallet 704 of the second storage unit 703 corresponding to the fourth storage box, so that the second target storage box falls into its corresponding second storage unit 703 under the influence of gravity, and then Close the pallet 704.
  • the container picking device determines that all the target storage boxes that need to be transported have been transferred to the second storage unit 703
  • the third telescopic mechanism 800 and/or the second telescopic assembly 801 of the fourth telescopic mechanism can be adjusted again to transfer other Then put the two storage boxes in the target storage column, as shown in 49f and 49g in Figure 49.
  • the target storage boxes are put into the second storage unit 703 one by one, but in fact, as long as the pallet 704 of each second storage unit 703 is set in a reasonable position , It can be realized that all the extracted target storage boxes are transferred to the second storage unit 703 at the same time, and the specific examples are not described in detail.
  • each second storage unit 703 of the box removal device in the example of FIG. 48 may also be provided with a second drag component.
  • the device can smoothly move the target storage box to its corresponding second storage unit 703 through the second drag component.
  • the second drag component moves the target storage box to the second storage unit 703, which is similar to the above
  • the working mode of the second drag and drop component is similar in the way of vertically taking boxes, so I won't go into details here.
  • the horizontal box-taking equipment there can be many ways to move on the track on the side of the warehouse.
  • the box equipment and by controlling the movement of the sling, realizes the movement of the box-taking equipment on the track on the side of the warehouse. Other methods will not be described in detail here.
  • the storage robot in the above embodiment includes a body that can move on the top of the vertical shelf, and a lifting device connected to the body; and the body is provided with a containment compartment located on one side of the lifting device. Therefore, the above-mentioned storage robot can run on the top track of the dense storage warehouse with a three-dimensional grid structure, and can obtain the target storage box in the storage column by using the lifting device, the telescopic device, and the storage compartment, and store the target storage box in Inside the robot body. Therefore, the storage robot in the above embodiment corresponds to the box taking device in the above embodiment.
  • the improvement of a technology can be clearly distinguished between hardware improvements (for example, improvements in circuit structures such as diodes, transistors, switches, etc.) or software improvements (improvements in method flow).
  • hardware improvements for example, improvements in circuit structures such as diodes, transistors, switches, etc.
  • software improvements improvements in method flow.
  • the improvement of many methods and processes of today can be regarded as a direct improvement of the hardware circuit structure.
  • Designers almost always get the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that the improvement of a method flow cannot be realized by the hardware entity module.
  • a programmable logic device for example, a Field Programmable Gate Array (Field Programmable Gate Array, FPGA)
  • PLD Programmable Logic Device
  • FPGA Field Programmable Gate Array
  • HDL Hardware Description Language
  • ABEL Advanced Boolean Expression Language
  • AHDL Altera Hardware Description Language
  • HDCal JHDL
  • Lava Lava
  • Lola MyHDL
  • PALASM RHDL
  • VHDL Very-High-Speed Integrated Circuit Hardware Description Language
  • Verilog Verilog
  • the controller can be implemented in any suitable manner.
  • the controller can take the form of, for example, a microprocessor or a processor and a computer-readable medium storing computer-readable program codes (such as software or firmware) executable by the (micro)processor. , Logic gates, switches, application specific integrated circuits (ASICs), programmable logic controllers and embedded microcontrollers. Examples of controllers include but are not limited to the following microcontrollers: ARC625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicon Labs C8051F320, the memory controller can also be implemented as part of the memory control logic.
  • controllers in addition to implementing the controller in a purely computer-readable program code manner, it is entirely possible to program the method steps to make the controller use logic gates, switches, application specific integrated circuits, programmable logic controllers, and embedded logic.
  • the same function can be realized in the form of a microcontroller or the like. Therefore, such a controller can be regarded as a hardware component, and the devices included in it for realizing various functions can also be regarded as a structure within the hardware component. Or even, the device for realizing various functions can be regarded as both a software module for realizing the method and a structure within a hardware component.
  • a typical implementation device is a computer.
  • the computer may be, for example, a personal computer, a laptop computer, a cell phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or Any combination of these devices.
  • the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
  • the instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • the computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • the memory may include non-permanent memory in computer readable media, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). Memory is an example of computer readable media.
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash memory
  • Computer-readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology.
  • the information can be computer-readable instructions, data structures, program modules, or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices. According to the definition in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.
  • this specification can be provided as a method, a system or a computer program product. Therefore, this specification may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this specification can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types.
  • This specification can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network.
  • program modules can be located in local and remote computer storage media including storage devices.

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Abstract

本公开提供了一种取箱设备及提取货箱的方法，该取箱设备包括：可在竖直货架顶部移动的本体，与所述本体连接的提升装置；所述本体内设置有位于所述提升装置一侧的容纳舱，设置在所述容纳舱内并可将所述提升装置提升的货箱转运到所述容纳舱内的存箱机构。在上述技术方案中，通过增设的容纳舱以及存箱机构，可以将提升装置提取的目标货箱转存，从而可以将提升装置空闲出来用来转运非目标的货箱。

Description

一种取箱设备及提取货箱的方法
本公开要求在2020年05月08日提交中国专利局、申请号为202010380133.1、申请名称为“一种存储机器人及提取货箱的方法”；在2020年10月23日提交中国专利局、申请号为2020011148324.1、申请名称为“一种取箱方法以及取箱设备”；在2020年10月23日提交中国专利局、申请号为2020011149973.3、申请名称为“一种取箱方法以及取箱设”的中国专利的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及物流技术领域，尤其涉及到一种取箱设备及提取货箱的方法。
背景技术
随着物流行业的发展，物流仓库占地面积增大，仓储租金提高，出现了密集存储技术，密集存储是制作一个个的竖井货架，然后将货箱依次放入货架中，货箱和货箱垒叠起来，然后货架上方是机器人的通道，机器人在货架上方移动至目标货箱上方，并且按照流程取货箱。在目前普遍应用的密集存储技术中，存在取货箱命中率低，取下层货箱耗费时间长，并且需要将上层阻碍的货箱依次挪位置，效率低下的缺点。
另外，为了在有限的空间存储尽可能多的货物，密集存储方式应运而生，这种存储方式因为尽可能的减少了仓储货架之间的过道区域，所以实现了货物在仓储货架中的紧密堆放，从而实现了在有限空间的货物密集存储。
目前，一种三维网格结构的密集存储式仓库，是由竖直的多个存储柱以及设置在该多个存储柱的顶部的轨道组成的，每个存储柱内沿竖直方向可堆叠存储多个存储箱。该取箱设备可在该顶部的轨道上运行，通过将取箱机构竖直向下伸入到存储柱中，将存储柱中的货物抓取上来，以完成将 目标存储箱从存储柱搬运到取箱设备上的过程，如图20A～20D所示。
图20A～20D为现有技术中取箱设备将仓储货架的存储柱中的目标存储箱提起出的过程示意图。
在图20A中示出了仓储货架的多个存储柱侧视示意图，在该仓储货架中货物按照竖直方向堆放在存储柱中，该多个存储柱的顶部设有轨道，取箱设备在轨道上行驶，该取箱设备可以看做是由两个部分组成，一个是取箱机构，可构从存储柱的顶部伸入到存储柱中，以提取需要搬运的目标存储箱。另一部分为移动机构，取箱设备可以通过该移动机构在轨道上移动。
具体详见图20B，图20B为仓储货架的俯视图，假设目标存储箱在M2存储柱中，取箱设备可以通过移动机构移动到M1的位置，以取箱机构能够正对M2存储柱的正上方。同理，目标存储箱在M4存储柱中时，取箱设备可通过移动机构移动到M3的位置，使取箱机构能够正对M4存储柱的正上方。
假设取箱设备需要搬运图20A中的目标存储箱时，可以将取箱机构伸入到该目标存储箱所在的存储柱中，以对接该目标存储箱，如图20C所示。一旦与该目标存储箱对接，则取箱机构可以按照图20C所示的方向收回，提起出该目标存储箱，如图20D所示。
虽然能够按照上述的方法实现将目标存储箱从存储柱中提起出，但是从上述示意图可以看出，取箱设备实际上每次只能从存储柱中提起出一个货物，而当目标存储箱上方堆叠有其他阻碍存储箱时，则需要反复提取该存储柱中该目标存储箱上的其他阻碍存储箱，从而严重降低了仓库搬运效率，如图21所示。
图21为现有技术中目标存储箱上方堆叠有其他阻碍存储箱的示意图。
假设位于存储柱上方的取箱设备需要搬运图21所示的目标存储箱，即图21中标有“X”的存储箱，则需要多个取箱设备配合，先由2个取箱设备分别将存储箱1、存储箱2先从存储柱中提起出来，然后再由1个取箱设 备将目标存储箱从存储柱提起出来，并且，后续还需要将存储箱1、存储箱2再放回到存储柱中。
从这里可以看出，当目标存储箱上方堆叠有阻碍存储箱时，取箱设备需要完成多次的提取动作以及放回的动作，才能获取目标存储箱，导致效率较低。
因此，如何能够有效地提高货物的搬运效率，是一个亟待解决的问题。
发明内容
本公开的目的是为了克服现有技术的不足，提供了一种取箱设备及提取货箱的方法。
本公开是通过以下技术方案实现：
第一方面，本公开提供了一种取箱设备，包括：可在竖直货架顶部移动的本体，与所述本体连接的提升装置；所述本体内设置有位于所述提升装置一侧的容纳舱，设置在所述容纳舱内并可将所述提升装置提升的货箱转运到所述容纳舱内的存箱机构。在上述技术方案中，通过增设的容纳舱以及存箱机构，从而可以将提升装置提取的目标货箱转存，从而可以将提升装置空闲出来用来转运非目标的货箱。
第二方面，本公开还提供了一种提取货箱的方法，采用上述的取箱设备；所述方法包括：
目标的货箱位于所述竖直货井中的第N层；所述N大于或等于2；
通过所述提升装置将所述竖直井架内所述目标货箱及所述目标货箱上的其他货箱同步提升到所述竖直井架外；
将所述存箱机构伸出到所述提升装置下方；
将所述提升装置下放所述目标货箱及所述其他货箱，直至所述存箱机构支撑所述目标货箱；
通过所述提升装置提升所述其他货箱；
通过所述存箱机构将所述目标货箱回收到所述容纳舱；
通过所述存箱机构将所述其他货箱重新放入到所述竖直货井。
第三方面，本公开还提供了一种取箱方法，所述方法由取箱设备执行，所述方法应用在三维网格结构的密集存储式仓库中，所述密集存储式仓库包括竖直的多个货井以及设置在所述多个货井的顶部的轨道，所述货井内沿竖直方向堆叠有多个货箱，所述取箱设备运行在所述轨道上，所述取箱设备内部设置有容纳一个货箱的空间，所述取箱设备侧方设置有一开口，供所述货箱进入所述取箱设备中；其中：
移动至指定位置，所述指定位置与所述目标货箱所在的货井相邻；
如果目标货箱的上方存在一个或多个其他货箱，从所述货井中提起出多个货箱并承托所述多个货箱，其中，取出的多个货箱中最下方的货箱为所述目标货箱；
将所述目标货箱上方的其他货箱提起以使所述目标货箱与其上方的其他货箱分离，并从所述取箱设备侧方的开口将所述目标货箱收入所述取箱设备中；
将提起的所述其他货箱重新放回所述货井中。
第四方面，本公开还提供了一种取箱设备，所述取箱设备应用在三维网格结构的密集存储式仓库中，所述密集存储式仓库包括竖直的多个货井以及设置在所述多个货井的顶部的轨道，所述货井内沿竖直方向堆叠有多个货箱，所述取箱设备运行在所述轨道上；所述取箱设备包括：第一移动机构、提升装置、第一存箱机构以及侧方具有开口的容纳舱，所述容纳舱用于容纳一个货箱；
所述第一移动机构，用于根据目标货箱所在的货井的位置，移动至所述货井的位置对应的指定位置，使提升装置位于所述目标货箱所在的货井的位置；
所述提升装置，用于从所述目标货箱所在的货井中提起出所述目标货箱，或，同时提起出包含所述目标货箱的多个货箱，其中，提起出的货箱中最下方的货箱为所述目标货箱，并将所述目标货箱上方的其它货箱提起以使所述目标货箱与其上方的其它货箱分离，并在第一存箱机构将所述目标货箱收入所述容纳舱后，将所述目标货箱上方的其它货箱重新放回所述货井中；
所述第一存箱机构，用于从所述提升装置提起出的货箱中，将所述目标货箱取出，并从所述容纳舱侧方的开口，将所述目标货箱收入所述容纳舱中。
第五方面，本公开还提供了一种取箱方法，所述方法由取箱设备执行，所述方法应用在三维网格结构的密集存储式仓库中，所述密集存储式仓库包括竖直的多个货井以及设置在所述多个货井的顶部的轨道，所述货井内沿竖直方向堆叠有多个货箱，所述取箱设备运行在所述轨道上，所述取箱设备内部设置有容纳多个货箱的空间，所述取箱设备侧方设置有一开口，供所述货箱进入所述取箱设备中；其中：
移动至一个指定位置，所述指定位置与需要搬运的多个目标货箱中的至少部分目标货箱所在的目标货井相邻，所述多个目标货箱所占空间的容量不超过所述取箱设备内部设置的容纳多个货箱的空间的容量；
从所述目标货井中提起出来多个货箱并承托所述多个货箱，其中，取出的多个货箱中包含一个或多个目标货箱；
针对所述一个或多个目标货箱中的每个目标货箱，重复执行以下动作直到所述一个或多个目标货箱全部收入到所述取箱设备中为止：将该目标货箱上方的货箱提起以使该目标货箱与其上方的货箱分离，并从所述取箱设备侧方的开口将该目标货箱收入到所述取箱设备中，将该目标货箱上方的货箱落下；
将剩余的其他货箱重新放回所述目标货井中。
第六方面，本公开还提供了一种取箱方法，所述方法由取箱设备执行，所述方法应用在三维网格结构的密集存储式仓库中，所述密集存储式仓库包括水平的多个货井以及设置在所述多个货井的一端的轨道，所述货井内沿水平方向堆叠有多个货箱，所述取箱设备运行在所述轨道上，所述取箱设备内部设置有容纳多个货箱的空间，所述取箱设备侧方设置有一开口，供所述货箱进入所述取箱设备中；其中：
移动至一个指定位置，所述指定位置与需要搬运的多个目标货箱中的至少部分目标货箱所在的目标货井相邻，所述多个目标货箱所占空间的容量不超过所述取箱设备内部设置的容纳多个货箱的空间的容量；
从所述目标货井中提取出来多个货箱并承托所述多个货箱，其中，取出的多个货箱中包含一个或多个目标货箱；
针对所述一个或多个目标货箱中的每个目标货箱，重复执行以下动作直到所述一个或多个目标货箱全部收入到所述取箱设备中为止：将该目标货箱前方的货箱与该目标货箱分离，并从所述取箱设备侧方的开口将该目标货箱收入到所述取箱设备中；
将剩余的其他货箱重新放回所述目标货井中。
第七方面，本公开还提供了一种取箱设备，所述取箱设备应用在三维网格结构的密集存储式仓库中，所述密集存储式仓库包括竖直的多个货井以及设置在所述多个货井顶部的轨道，所述货井内沿竖直方向堆叠有多个货箱，所述取箱设备运行在所述轨道上；所述取箱设备包括：第二移动机构、提升装置、第二存箱机构以及侧方具有开口的多个容纳舱，每个容纳舱用于容纳一个货箱；
所述第二移动机构，用于根据需要搬运的多个目标货箱中的至少部分目标货箱所在的目标货井的位置，移动至所述目标货井的位置对应的指定位置，使提升装置位于所述目标货井的位置，所述指定位置与所述目标货 井相邻；
所述提升装置，用于从所述目标货井中提起出来多个货箱，其中，取出的多个货箱中包含一个或多个目标货箱；以及，针对所述一个或多个目标货箱中的每个目标货箱，将该目标货箱上方的货箱提起以使该目标货箱与其上方的货箱分离，并在第二存箱机构将该目标货箱收入一个容纳舱后，将该目标货箱上方的货箱落下；以及，在所述一个或多个目标货箱全部收入到所述取箱设备中后，将剩余的其他货箱重新放回所述目标货井中；
所述第二存箱机构，用于针对所述一个或多个目标货箱中的每个目标货箱，在提升装置将该目标货箱上方的货箱提起以使该目标货箱与其上方的货箱分离后，从一个容纳舱侧方的开口将该目标货箱收入到所述容纳舱中。
第八方面，本公开还提供了一种取箱设备，所述取箱设备应用在三维网格结构的密集存储式仓库中，所述密集存储式仓库包括水平的多个货井以及设置在所述多个货井一端的轨道，所述货井内沿水平方向堆叠有多个货箱，所述取箱设备运行在所述轨道上；所述取箱设备包括：第二移动机构、提升装置、第二存箱机构以及侧方具有开口的多个容纳舱，每个容纳舱用于容纳一个货箱；
所述第二移动机构，用于根据需要搬运的多个目标货箱中的至少部分目标货箱所在的目标货井的位置，移动至所述目标货井的位置对应的指定位置，使提升装置位于所述目标货井的位置，所述指定位置与所述目标货井相邻；
所述提升装置，用于从所述目标货井中提起出来多个货箱，其中，取出的多个货箱中包含的一个或多个货箱；以及，针对所述一个或多个目标货箱中的每个目标货箱，按照将货箱从所述目标存储住中取出的方向，将该目标货箱与该目标货箱前方的货箱分离，并在所述一个或多个目标货箱全部收入到所述取箱设备中后，将剩余的其他货箱重新放回所述目标货井 中；
所述第二存箱机构，用于针对所述一个或多个目标货箱中的每个目标货箱，在提升装置将该目标货箱前方的货箱与该目标货箱分离后，从一个容纳舱侧方的开口将该目标货箱收入到所述容纳舱中。
在上述第一方面或第二方面技术方案中，通过增设的容纳舱以及存箱机构，从而可以将提升装置提取的目标货箱转存，从而可以将提升装置空闲出来用来转运非目标的货箱。
在第三方面或第四方面的技术方案中，取箱设备沿轨道移动至目标货箱所在的货井相邻的指定位置后，可从该货井中提起出包含目标货箱的多个货箱，并承托该多个货箱，再将目标货箱上方的其他货箱提起，以分离目标货箱与其上方的其他货箱，然后从取箱设备侧方的开口将目标货箱收入取箱设备中，最后将提起的其他货箱重新放回该货井中，使得目标货箱堆叠在阻碍的其他货箱下方时，可以通过一次取箱过程将目标货箱提起出，降低了仓库运行成本，实现了搬运效率的提升。
在第五方面、第六方面、第七方面或第八方面的技术方案中，取箱设备沿轨道移动至多个目标货箱所在的货井相邻的指定位置后，可从该货井中提起出包含多个目标货箱的多个货箱，并承托该多个货箱，针对每个目标货箱，取箱设备可以将该目标货箱上方的其他货箱提起，以分离该目标货箱与其上方的其他货箱，然后从存储机器人侧方的开口将该目标货箱收入取箱设备中。在将多个目标货箱分别收入到取箱设备中后，取箱设备最后可以将其他货箱重新放回该货井中。这样可以使取箱设备通过一次取箱任务将多个目标货箱从货井中取出并收入到取箱设备中，降低了仓库运行成本，实现了搬运效率的提升。
附图说明
为了更清楚地说明本公开实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，此处的附图被并入说明书中并构成本说明书中的一部分，这些附图示出了符合本公开的实施例，并与说明书一起用于说明本公开的技术方案。应当理解，以下附图仅示出了本公开的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1是本公开实施例提供的存储机器人的应用场景示意图；
图2是本公开实施例提供的存储机器人的结构示意图；
图3是本公开实施例提供的存储机器人的卡装机构的结构示意图；
图4及图5是本公开实施例提供的卡装机构与货箱的配合示意图；
图6～图11是本公开实施例提供的存储机器人提取第一层货箱的流程示意图；
图12～图14是本公开实施例提供的存储机器人提取第二层货箱的流程示意图；
图15～图19是本公开实施例提供的存储机器人提取第四层货箱的流程图。
图20A～20D为现有技术中取箱设备将存储柱中的存储箱提起出的过程示意图；
图21为现有技术中目标存储箱上方堆叠有其他阻碍存储箱的示意图；
图22本说明书实施例提供的取箱方法的流程示意图；
图23为本说明书实施例提供的取箱设备移动至指定位置的示意图；
图24为本说明书实施例提供的本说明书提供的提起出多个存储箱的示意图；
图25为本说明书实施例提供的取箱设备的结构示意图；
图26为本说明书实施例提供的仓库各存储柱顶部的轨道的分布示意 图；
图27为本说明书实施例提供的另一种取箱设备的结构示意图；
图28为本说明书实施例提供的另一种取箱设备的结构示意图；
图29为本说明书提供的将目标存储收入第一存储单元中的示意图；
图30为本说明书实施例提供的另一种取箱设备的结构示意图；
图31为本说明书实施例提供的另一种取箱设备提起出存储箱的过程示意图；
图32为本说明书实施例提供的另一种取箱设备的结构示意图；
图33A和33B为本说明书实施例提供的存储箱示意图；
图34为本说明书提供的设有联动部件的第一伸缩组件的示意图；
图35为本说明书提供的另一种取箱方法的示意图；
图36A～36C为本说明书提供的提起出多个存储箱的示意图；
图37为本说明书提供的另一种取箱设备的结构示意图；
图38为本说明书提供的另一种取箱设备的结构示意图；
图39为本说明书提供的另一种取箱设备的结构示意图；
图40为本说明书提供的将目标存储收入第二存储单元中的示意图；
图41为本说明书提供的另一种取箱设备的结构示意图；
图42为本说明书提供的将两个目标容器移送至对应第二存储单元中的示意图；
图43为本说明书提供的另一种取箱设备的结构示意图；
图44为本说明书提供的另一种形式的存储箱示意图；
图45为本说明书提供的设有联动伸缩部件的第二伸缩组件的示意图；
图46为本说明书提供的取箱设备位于仓储货架两侧的示意图；
图47为本说明书提供的另一种取箱设备的结构示意图；
图48为本说明书提供的设有第三伸缩机构和第四伸缩机构的横向取箱 的取箱设备示意图；
图49为本说明书提供的横向取箱的取箱设备将目标存储箱移送到第二存储单元中的示意图。
具体实施方式
为了使本公开的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本公开进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本公开，并不用于限定本公开。
为方便理解本公开实施例提供的存储机器人(对应于下述实施例中的取箱设备，可以为下述实施例中的取箱设备)，首先对其应用场景进行说明。如图1所示，图1示例出了存储机器人的应用场景，本公开实施例提供的存储机器人应用于竖直货架1，现有技术中的物流仓库中为了提高空间的利用面积，往往建设竖直货架1，竖直货架1内设置有多个竖井2，货箱由顶部放入到竖井2内，且竖井2中层叠放置多个货箱。在需要取出货箱时，采用存储机器人，竖直货架1的顶部设置有轨道，存储机器人可在轨道上行走。当取出的货箱的位于下方时，需要将位于其上方的货箱取出，而现有技术中的存储机器人只具备抓取装置，因此只能将货箱一个个的取出，工作效率非常低，为此本公开实施例提供了一种存储机器人。下面结合附图以及具体的实施例进行详细的说明。
如图2所示，图2示例出了本公开实施例提供的存储机器人。本公开实施例提供的机器人包含一个本体10，该本体10为一个长方体结构，且该长方体结构的一端具有缺口形成一个截面为“7”字形的结构。本体10上设置有四向穿梭车40，本体10通过四向穿梭车40可在竖直货架上移动。其中，四向穿梭车40为现有技术中的常见行走装置，因此在此不再赘述，四向穿梭车40可在竖直货架的轨道上行走，并可根据需要行走到不同的竖井上方。
继续参考图2，本体10连接有提升装置，该提升装置用于提升竖直货 架内的至少一个货箱。由图2中可以看出，提升装置包含卡装机构23以及驱动卡装机构23沿竖直方向运动的提升机构20。其中提升机构20包括与本体10转动连接且相对设置的两个转轴，如图2中所示，两个转轴对称设置在缺口的上方；每个转轴上缠绕有提升带22，该提升带22可以为刚性带也可以为同步带；在采用刚性带时，提升带22的一端固定在对应的转轴上，另一端与卡装机构23连接。在两个转轴相对设置时，两个提升带22及两个卡装机构23也对应设置。卡装机构23用于卡装货箱，因此设置的两个卡装机构23之间的间距的距离应该等于或者大于货箱的宽度，以保证卡装机构23可以卡装到货箱上。
继续参考图2，提升机构20还包括用于驱动两个转轴转动的驱动机构21；该驱动机构21包含驱动电机，以及与驱动电机连接的齿轮箱，且齿轮箱具有两个同步的输出轴，两个输出轴与两个转轴一一对应连接，如图2中所示，两个输出轴与两个转轴通过同步带连接，以使得在驱动电机工作时，可同时带动两个卡装机构23上升或者下降。当然上述仅仅为一个具体的示例，除了上述同步带外，输出轴也可以通过齿轮箱与转轴连接，同样可以达到相应的效果。
作为一种可变的方案，在设置两个相对的转轴时，两个相对的转轴之间的间距可以做成可调的方式，如转轴通过轴承座与本体10连接，轴承座可以相对本体10移动并可锁定在不同的位置；示例性的，本体10上沿垂直于转轴长度的方向上设置多个装配位(如通过装配孔或者抱夹)与轴承座固定连接；在转轴可调时，驱动机构21可以通过不同长度的同步带来保证与转轴的可靠连接。当存储机器人需要搬运不同宽度的货箱时，可以将轴承座固定在不同的装配位，以调整两个卡装机构23之间的间距，保证卡装机构23可以卡装到货箱相对的两个边沿。
一并参考图3，图3示例出了卡装机构的具体结构。卡装机构包括与提升带固定连接的提升板232，与提升板232转动连接并可锁定在设定位置的卡板231；其中提升板232为倒置的凹字形，提升板232上设置有一个缺口 233。卡板231位于该缺口233内，并且通过穿设的转轴与提升板232转动连接。如图4所示；当提升板232未达到位置时，卡板231位于缺口233内，卡板231与提升板232重叠，形成一个竖直板，此时不会卡装货箱，如图5所示，卡板231转动到第一位置时，卡板231的一端外凸于提升板232外，形成一个“√”形的钩子形状，卡板231的一端(远离卡板231与提升板232转动连接的一端)可卡装到货箱。此外，卡装机构还包括扭簧234，扭簧234一端与提升板232抵压接触，另一端与卡板231抵压接触；且在扭簧234的弹性力作用下，推动卡板231转动到第一位置。另外，卡装机构还包括驱动卡板231转动设定位置的驱动组件；其中，卡板231为铁质卡板231或卡板231内设置有可与电磁铁235吸附的磁铁2311。而驱动组件包括设置在提升板232上的电磁铁235，且电磁铁235通电时，可吸附卡板231。或者驱动组件设置在到本体上，在提升板232上升到设定位置时，电磁铁235与卡板231相对，并在通电时可以吸附卡板231。
继续参考图2，本公开实施例提供的存储机器人还包括用于容纳提升装置提升的货箱的容纳组件。如图2中所示，本体内设置有位于提升装置一侧的容纳舱，即位于缺口一侧的部分本体内为一个容纳舱，在水平方向上，提升机构的提升带与容纳舱并排设置。容纳舱内设置有可将提升装置提升的货箱转运到容纳舱内的伸缩装置30(本公开中的伸缩装置对应于第一存箱机构和/或第二存箱机构)。其中，伸缩装置30可以包含与本体固定连接的支架，以及与支架滑动连接的伸缩叉、或者伸缩板，其中，伸缩叉或伸缩板可以通过气缸驱动，或者其他常见可实现驱动部件伸缩的装置来驱动，如同步电机或者齿轮齿条组件，上述的驱动部件均为常见的驱动部件，在此不再赘述。
在提升装置将货箱从竖井中取出后，伸缩装置30可从容纳舱中伸出，伸缩装置30位于货箱的下方，之后向下放提升带22使得货箱落到伸缩装置30上，再通过电磁铁235吸附卡板234，使得卡装机构23与货箱脱离卡装状态。回收伸缩装置30，带动货箱进入到容纳舱。为方便理解本公开实 施例提供的存储机器人，下面结合具体的应用场景进行详细的描述。
首先参考图6～图11，图6～图11示出了本公开实施例提供的存储机器人200提取第一层货箱的流程示意图。如图6所示，存储机器人200到达目标取货竖井100上方，具体的行走方式以及对位方式与现有的存储机器人200相同，在此不再赘述。然后向下释放卡装机构23，如图7所示，卡装机构23经过目标货箱300后，在扭簧的作用下卡板将目标货箱300边沿卡住；如图8所示，然后提升机构通过提升带的传动作用，将目标货箱300提升上来；如图9所示，目标货箱300提升的高度略高于存储机器人200内部的伸缩机构30的高度，然后伸缩机构30伸出，提升机构将目标货箱300下降，将目标货箱300放置于伸缩叉上方；如图10所示，此时提升机构略微下降，并且提升板两侧的电磁铁开始工作，将铁质或者装有磁铁的卡板变成收回状态；如图11所示，同时伸缩叉带着目标货箱300收回，收纳入存储机器人200体内，开始运输。
在目标的货箱位于竖直货井中的第N层；N大于或等于2时，详细说明一下目标货箱的搬运方法。在搬运时采用上述任一项的存储机器人；该方法包括：通过提升装置将竖直井架内目标货箱及目标货箱上的其他货箱同步提升到竖直井架外；将伸缩装置伸出到提升装置下方；将提升装置下放目标货箱及其他货箱，直至伸缩装置支撑目标货箱；通过提升装置提升其他货箱；通过伸缩装置将目标货箱回收到容纳舱；通过伸缩装置将其他货箱重新放入到竖直货井。
如图12～图14所示，图12～图14是本公开实施例提供的存储机器人200提取第二层货箱的流程示意图。存储机器人200到达指定竖井100上方，向下释放卡装机构23，提升板经过目标货箱300后，在扭簧的作用下卡板将目标货箱300边沿卡住，如图12所示。然后提升机构通过提升带的传动作用，将第一层货箱与目标货箱300(第二层货箱)提升上来；将两个货箱提升的高度略高于存储机器人200内部的伸缩装置30的高度，然后伸缩装置30伸出，提升机构将货箱下降，将目标货箱300放置于伸缩机构30上 方；此时升降机构略微下降，并且提升板两侧的电磁铁开始工作，将铁质或者装有磁铁的卡板变成收回状态；然后提升机构上升，使卡板卡住第一层货箱，并且带动第一层货箱向上移动，使上下两个货箱保持一定距离；如图13所示，伸缩装置30带着目标货箱300收回，收纳入存储机器人200体内；然后存储机器人200将卡装机构20上的上层非目标货箱(第一层货箱)，移动并且放置在旁边的竖井100上作为暂时存放；在暂时存放时，将提升机构略微下降，在卡板脱离货箱下边缘后，存储机器人200整体移动离开此处，开始运输。
在目标货箱为第三层货箱时，提取方法与提取两层货箱类似，因此在此不再赘述。
当目标货箱超过提升装置的提升限度时，如图15～图19所示，图15～图19是本公开实施例提供的存储机器人200提取第四层货箱的流程图。如图15～图17所示，在之前的取第一层货箱模式基础上，增加了先将第四层货箱上面的3层阻碍货箱提升然后搬运至旁边竖井100上暂存，具体的暂存方式可以参考取两层货箱时将第一层货箱暂存的方式。如图18及图19所示，然后按照取第一层货箱的模式取第四层货箱。
通过上述描述可以看出，本公开实施例提供的存储机器人通过增设的容纳舱以及伸缩装置，从而可以将提升装置提取的目标货箱300转存，从而可以将提升装置空闲出来用来转运非目标的货箱，提高了工作效率。
以下结合一些附图和实施例，详细说明本申请各实施例提供取箱方法以及取箱设备(下述实施例中的取箱设备对应于上述实施例中的存储机器人，下述实施例中的取箱设备可以为上述实施例中的存储机器人)的技术方案。
图22为本实施例提供的取箱方法的示意图，具体包括以下步骤：
S2200：移动至指定位置，所述指定位置与所述目标存储箱所在的存储柱相邻。其中，下述实施例中的存储箱对应于上述实施例中的货箱，下述 实施例中的存储箱可以为上述实施例中的货箱。下述实施例中的存储柱对应于上述实施例中的货井，下述实施例中的存储柱可以为上述实施例中的货井。
在本实施例提供一个或多个实施例中，该取箱方法应用在三维网格结构的密集存储式仓库中，该密集存储式仓库包括竖直的多个存储柱以及设置在该多个存储柱的顶部的轨道，该密集存储式仓库的具体结构可以参考图20A～20D以及图21中仓库的结构。并且，在本实施例中，具体由取箱设备执行该取箱方法，该取箱设备运行在顶部的轨道上。该取箱设备内部设置有容纳一个存储箱的空间，取箱设备侧方设置有一开口，供存储箱进入该取箱设备中。
需要说明的是，本实施例中的取箱设备，与在图20A～20D和图21所示的取箱设备，在投影面积上所占据的面积一致，也就是说，当取箱设备在轨道上行驶时投影面积续占据两个相邻的存储柱。
具体的，在该取箱设备执行取箱的过程中，可由控制取箱设备运行的服务器确定需要提起出的目标存储箱在该密集存储式仓库中存储的位置，该位置至少包括：该目标存储所在的存储柱的位置，以及该目标存储在该存储柱中的堆叠存放时的存储位。如图21中所示的，在每个存储柱中，各存储箱都是堆叠存储的，因此该目标存储箱可能在该存储柱纵深方向上的多个存储位上。
之后，该服务器可根据确定出的目标存储箱在该密集存储式仓库中存储的位置，确定执行取箱任务的取箱设备，并发送指令。
则取箱设备可以移动至指定位置，以便通过执行后续步骤获取目标存储箱。其中，如前所述该取箱设备在该仓库中需要占据两个相邻的存储柱的位置，因此该指定位置为与所述目标存储箱所在的存储柱相邻。则取箱设备位于指定位置时，可以从目标存储箱所在的存储柱中提起出存储箱。
另外，在本实施例中，由于与目标存储箱所在的存储柱相邻的位置至 少有4个，为了减少取箱设备移动路径的长度，提高运行效率，该服务器还可根据取箱设备移动至目标存储箱所在的存储柱的路径，确定指定位置。
具体的，该服务器在确定取箱设备后，可根据该取箱设备的位置以及该目标存储箱所在的存储柱的位置，进行路径规划，确定该取箱设备到达该存储柱的移动路径。之后，将该移动路径中与该存储柱相邻的其他存储柱的位置，作为指定位置。然后，将该移动路径以及该指定位置发送至取箱设备，则取箱设备可沿该移动路径移动至该指定位置。
如图23所示，图23为本实施例提供的取箱设备移动至指定位置的示意图。其中，图23为仓库俯视图，粗线箭头表示该取箱设备的移动路径，该指定位置为M2，目标存储箱所在的存储柱的位置为M1，指定位置为在该移动路径上与目标存储箱所在的存储柱相邻的其他存储柱的位置。
S2202：如果目标存储箱的上方存在一个或多个其他存储箱，从所述存储柱中提起出多个存储箱并承托所述多个存储箱，其中，提起出的多个存储箱中最下方的存储箱为所述目标存储箱。
在一个或多个实施例中，如果目标存储箱的上方存在一个或多个其他存储箱，则在该取箱设备在移动至指定位置后，该取箱设备可从该存储柱中提起出多个存储箱，并承托提起出的各存储箱，其中，提起出的多个存储箱中最下方的存储箱为该目标存储箱。
具体的，由于每个存储箱存放在该密集存储式仓库时，该服务器都可记录该存储箱所在存储柱以及存储位，因此服务器在确定目标存储箱时，便可确定该目标存储箱在存储柱中的存储位，则该取箱设备在到达指定位置后可根据确定出的目标存储箱的存储位，在该存储柱中与该目标存储箱对接，然后，将对接的目标存储箱提升，直至目标存储箱提起的高度到达该取箱设备侧方的开口的高度为止，该取箱设备还可承托提起出的存储箱。其中，存储位为存储箱在存储柱上堆叠后的位置，当存储柱是竖直时，存储位可表征存储箱在存储柱中的纵深位置。根据存储位，取箱设备可以确 定需要从存储柱顶部的轨道下探多少才能与目标存储箱对接。
由于目标存储箱的上方存在一个或多个其他存储箱，而各存储箱都是堆叠存放的，因此在提升目标存储箱时，可将目标存储箱的上方存在的其他存储箱一并带出。
当然，若目标存储箱上方不存在其他存储箱时，则该该取箱设备可仅将该目标存储箱取出。
图24为本说明书提供的提起出多个存储箱的示意图，无论该目标存储箱上方是否有其他阻碍的存储箱，该取箱设备都可以根据目标存储箱的存储位，对接目标存储箱，并提取出目标存储箱。并且，当目标存储箱提起出后的高度，为该取箱设备侧方的开口的高度时，该取箱设备还可承托取出的各存储箱，其中最下方承托的是目标存储箱，即图24中深色的存储箱。
S2204：将所述目标存储箱上方的其他存储箱提起以使所述目标存储箱与其上方的其他存储箱分离，并从所述取箱设备侧方的开口将所述目标存储箱收入所述取箱设备中。
在一个或多个实施例中，该取箱设备为了将目标存储箱从提起出的各存储箱中取出，并收入该取箱设备，可将该目标存储箱上方的其他存储箱提起，使目标存储箱与提起出的其他存储箱分离，然后再将目标存储箱从取箱设备侧方的开口，收入该取箱设备。
如前所述，该取箱设备的投影面积占据了两个存储柱的位置，因此取出的各存储箱相当于悬空在一个存储柱上，因此在步骤S2202中该取箱设备可承托取出的各存储箱，之后，由于该取箱设备是位于与目标存储箱所在的存储柱相邻的存储柱的，而取出的目标存储箱的高度与取箱设备侧方开口的高度相同，因此该取箱设备可从侧方将目标存储箱收入。
具体的，首先，该取箱设备可与该目标存储箱上方相邻的一个其他存储箱对接。
然后，再将对接的其他存储箱提起，以使该对接的其他存储箱上方的 各存储箱也一并提起。
之后，此时取箱设备仅承托目标存储箱，并且目标存储箱的高度与侧方开口高度一致，取箱设备便可将目标存储箱从侧方收入。
另外，该取箱设备在于其他存储箱对接前，还可先接触与目标存储箱的对接，再与目标存储箱上方相邻的一个其他存储箱对接。由于已经承托了提起出的各存储箱，因此在解除对接后提起出的各存储箱的位置不会出现变化。
S2206：将提起的所述其他存储箱重新放回所述存储柱中。
在一个或多个实施例中，取箱设备再将目标存储箱收入后，还可将对接的其他存储箱放回该存储柱中，后续则可根据需要将收入的存储箱搬运至其他位置进行拣货等处理，本说明书对于后续怎么进行处理不做限制。
基于图22所示的取箱过程，取箱设备沿轨道移动至目标存储箱所在的存储柱相邻的指定位置后，可从该存储柱中提起出包含目标存储箱的多个存储箱，并承托该多个存储箱，再将目标存储箱上方的其他存储箱提起，以分离目标存储箱与其上方的其他存储箱，然后从取箱设备侧方的开口将目标存储箱收入取箱设备中，最后将提起的其他存储箱重新放回该存储柱中，使得目标存储箱堆叠在阻碍的其他存储箱下方时，可以通过一次取箱过程将目标存储箱提起出，降低了仓库运行成本，实现了搬运效率的提升。
另外，如在步骤S2202中所述的，无论目标存储箱上方是否堆叠有其他阻碍的存储箱，该取箱设备都可以与目标存储箱对接，并提取出目标存储箱。则当目标存储箱的上方不存在其它存储箱时，取箱设备在提起出该目标存储箱后，可承托该目标存储箱，并从该取箱设备侧方的开口，将该目标存储箱收入该取箱设备中。
当然，由于取箱设备仅提起出了目标存储箱，因此该取箱设备也可在不承托该目标存储箱的情况下，从该取箱设备侧方的开口，将该目标存储箱收入该取箱设备中。
进一步地，在本说明书中，由于每个存储箱存放在该密集存储式仓库时，该服务器都可记录该存储箱所在存储柱以及存储位，因此在确定目标存储箱时，该服务器便可以确定该目标存储箱上方是否堆叠存放有其他存储箱。于是，当取箱设备达到指定位置时，该服务器可根据目标存储箱上方是否堆叠有其他存储箱，确定取箱设备需要执行步骤S2204～S2206，还是只需要提起出目标存储箱，并从取箱设备侧方的开口，将目标存储箱收入取箱设备中，并发送相应的指令。
当然，该指令也可以是与控制取箱设备移动至指定位置的指令一同发送至取箱设备的，具体可根据需要设置，本说明书对此不做限制。
基于图22所示的取箱过程示意图，图20A～20D、图21所示的三维网格结构的密集存储式仓库的结构，本说明书还提供一种取箱设备，如图25所示。
图25为本说明书提供的一种取箱设备的结构示意图。该取箱设备应用在三维网格结构的密集存储式仓库中，该密集存储式仓库包括竖直的多个存储柱以及设置在该多个存储柱的顶部的轨道，该存储柱内沿竖直方向堆叠有多个存储箱，该取箱设备运行在该轨道上。
其中，该取箱设备包括：第一移动机构2500、第一取箱机构2501(下述实施例中的第一取箱机构对应于上述实施例中的提升装置，下述实施例中的第一取箱机构可以为上述实施例中的提升装置)、第一存箱机构2502(下述实施例中的第一存箱机构对应于上述实施例中的伸缩装置，下述实施例中的第一存箱机构可以为上述实施例中的伸缩装置)以及侧方具有开口的第一存储单元2503(下述实施例中的第一存储单元对应于上述实施例中的容纳舱，下述实施例中的第一存储单元可以为上述实施例中的容纳舱)，该第一存储单元2503用于容纳一个存储箱，即该第一存储单元2503的存储空间可用于存储一个存储箱。并且，如在前述取箱过程中所述的，该取箱设备的投影面积占据两个存储柱的位置，具体在该取箱设备的各部 件来说，第一移动机构2500、第一存箱机构2502以及第一存储单元2503通常设置在取箱设备的主体结构内，投影面积占据一个存储柱的位置，第一取箱机构2501则设置在取箱设备的主体结构外，第一取箱机构2501的投影面积占据的存储柱的位置，与取箱设备的主体结构的投影面积所占据存储柱的位置相邻，可参考图21示意图中取箱设备占据位置的表示。
该第一移动机构2500，用于根据目标存储箱所在的存储柱的位置，移动至该存储柱的位置对应的指定位置，使第一取箱机构2501位于该目标存储箱所在的存储柱的位置。
由于该密集存储式仓库包含竖直的多个存储柱，存储箱可从存储主上方放入存储主内，因此为了能使取箱设备能沿轨道行驶，并到达指定位置对仓库中各个存储柱进行存储箱的取放，在本说明书中多个存储柱的顶部的轨道为网格分布的，如图26所示。
图26为本说明书提供的仓库各存储柱顶部的轨道的分布示意图，其中深色区域为轨道，斜线填充的矩形为在存储柱中堆叠存放的存储箱。
在本说明书中，由于该第一移动机构2500需要基于轨道移动，并到达目标存储箱所在的存储柱的位置对应的指定位置，因此该第一移动机构2500至少包含用于在不同方向的轨道上行驶的驱动结构，例如与现有技术中的四向穿梭车的第一移动机构类似的驱动机构。并且，该第一移动机构2500可设置在该取箱设备的主体结构的底部，与轨道接触。
该第一取箱机构2501，用于从该目标存储箱所在的存储柱中提起出该目标存储箱，或，同时提起出包含该目标存储箱的多个存储箱，其中，提起出的存储箱中最下方的存储箱为该目标存储箱，并将该目标存储箱上方的其它存储箱提起以使该目标存储箱与其上方的其它存储箱分离，并在第一存箱机构2502将该目标存储箱收入该第一存储单元2503后，将该目标存储箱上方的其它存储箱重新放回该存储柱中。
在本说明书中，当该第一移动机构2500到达指定位置时，该第一取箱 机构2501应正对目标存储箱所在的存储柱，则该第一取箱机构2501可根据目标存储箱在存储柱中的存储位，通过伸入该存储柱中，以与目标存储箱对接。
具体的，该第一取箱机构2501可包括：第一固定挡板25010、第一对接组件25011以及第一伸缩组件25012，如图27所示。并且，该第一固定挡板25010和第一对接组件25011通过第一伸缩组件25012连接。该第一固定挡板25010与该取箱设备的主体结构连接，因此通过调整第一伸缩组件25012的长度，可以将该第一对接组件25011送入存储柱内或从存储柱内提出。
在本说明书中，第一伸缩组件25012的具体形式可以有多种，可以是链条形式的，可以是胶皮带形式的，抑或是伸缩棍形式的，其他形式在此就不一一举例说明了。
在第一取箱机构2501提取目标存储箱时，首先，若该目标存储箱上方堆叠有至少一个其他存储箱时，则该第一取箱机构2501中的第一伸缩组件25012，可先根据目标存储箱的存储位，调整伸缩长度，使得其连接的第一对接组件25011伸入到存储柱中该目标存储箱所在的存储位。
其次，该第一对接组件25011，用于当第一伸缩组件25012调整长度后，到达该目标存储箱所在的存储位时，与该目标存储箱对接。其中，第一对接组件25011具体采用何种方式与目标存储箱对接本说明书不做限制，例如，可以通过机械手与目标存储箱对接，或者通过螺孔与螺丝对接的方式，或者采用吸盘吸附存储箱表面的方式，实现与目标存储箱。
然后，该第一伸缩组件25012，还用于当该第一对接组件25011与该目标存储箱对接时，继续调整伸缩长度，将该目标存储箱以及该至少一个其他存储箱从该目标存储箱所在的存储柱中拉出，使该目标存储箱到达该第一存储单元2503侧方开口的位置。
该第一存箱机构2502，用于从该第一取箱机构2501提起出的存储箱中， 将该目标存储箱取出，并从该第一存储单元2503侧方的开口，将该目标存储箱收入该第一存储单元2503中。
在本说明书中，该第一存箱机构2502可以至少包括：第一伸缩托板25020和第一拖拽组件25021，如图28所示。并且，为了避免阻碍第一取箱机构2501提起出存储箱，该第一伸缩托板25020和第一拖拽组件25021默认可为收缩在取箱设备的主体结构中，也就是收纳在取箱设备的主体结构中。
当目标存储箱上方没有堆叠其他存储箱时，则在第一取箱机构2501在将目标存储箱提起出后。
该第一伸缩托板25020，用于在该目标存储箱到达该第一存储单元2503侧方开口的位置时，从该第一存储单元2503底部伸出以承托该目标存储箱。
该第一拖拽组件25021，用于在该第一伸缩托板25020承托该目标存储箱后，将该目标存储箱从该第一伸缩托板25020上经过该第一存储单元2503侧方的开口拖拽到该第一存储单元中。
当目标存储箱上方堆叠有至少一个其他存储箱时，则在第一取箱机构2501的第一对接组件25011对接的目标存储箱当提起出的高度到达第一存储单元2503侧方开口的高度后，该第一伸缩托板25020，用于从该第一存储单元2503底部伸出以承托该目标存储箱以及该目标存储箱上方的其它存储箱。
该第一对接组件25011，还用于在该第一伸缩托板25020承接该目标存储箱以及该目标存储箱上方的其它存储箱之后，停止与该目标存储箱对接。
该第一伸缩组件25012，还用于在该第一对接组件25011停止对接后，根据该目标存储箱上方相邻的一个存储箱的存储位，即，与目标存储箱上方相邻的一个存储箱当前的高度，重新调整伸缩长度，使该第一对接组件25011到达该目标存储箱上方相邻的一个存储箱的存储位。
该第一对接组件25011，在该第一伸缩组件25012，重新调整伸缩长度 后，与该目标存储箱上方相邻的一个存储箱对接。
所述第一拖拽组件25021，用于在该第一对接组件25011与该目标存储箱上方相邻的一个存储箱对接后，将该目标存储箱从该第一伸缩托板25020上经过该第一存储单元2503侧方的开口拖拽到该第一存储单元2503中。
上述从第一取箱机构2501提起出的存储箱中的取出目标存储箱，并收入第一存储单元的过程，可如图29所示。
图29为本说明书提供的将目标存储收入第一存储单元中的示意图。
在图29所示的取箱设备的第一存储单元2503中有一个第一拖拽组件25021，在第一存储单元2503的下方设置有第一伸缩托板25020。从图29中可以看出，取箱设备的主体结构位于目标存储箱所在存储柱的相邻存储柱，取箱设备的第一固定挡板25010位于目标存储箱所在存储柱的正上方，需要搬运的目标存储箱为该存储柱中从上向下数第三个存储箱，如图29中的29a所示。
取箱设备可以根据目标存储箱在该存储柱中所处的存储位，调整第一伸缩组件25012的伸缩长度，以使第一对接组件25011移动到目标存储箱处，并与目标存储箱进行对接，如图29中的29b所示。
而后，取箱设备可以继续调整第一伸缩组件25012的长度，从而将该存储柱中前三个存储箱从该存储柱中提起出来，如图29中的29c所示。与此同时，取箱设备中设置的第一伸缩托板25020从第一存储单元2503的下方伸出，以通过该第一伸缩托板25020将这三个存储箱托在该存储柱的出货口上方，如图29中的29d所示。由于第一伸缩托板25020已将这三个存储箱在该存储柱的出货口上方托起，则可以解除将第一对接组件25011与目标存储箱的对接，并调整第一伸缩组件25012的长度，使第一对接组件25011上移至第二个存储箱处，并与第二个存储箱对接。并再次调整第一伸缩组件25012的长度，将第一对接组件25011对接的存储箱提起，使得第一伸缩托板25020托起的目标存储箱，与其他存储箱分离，如图29中的29e 所述。
然后，取箱设备可以将设置的第一拖拽组件25021伸出，并将目标存储箱从第一存储单元2503的侧方开口收入第一存储单元2503中，如图29中的29f-29g所述。
其中，目标存储箱在第一存储单元2503可内依然是通过第一拖拽组件25021架起的，或者是有第一存储单元2503的地面承托的。而后，取箱设备在确定已将目标存储箱移送至第一存储单元2503中后，可以将第一伸缩托板25020再收回至第一存储单元2503的下方，如图29中的29h所示。
进一步地，取箱设备可以调整第一伸缩组件25012的伸缩长度，以将其余的两个存储箱再放回至该存储柱中，如图29中的29i所示。
从上述示例中可以看出，取箱设备中设置的第一存储单元2503可以用于存储一个容器。
需要说明的是，在实际应用中，由于取箱设备提取出的存储箱在被第一伸缩托板25020承托后，相当于存放在第一固定挡板25010和第一伸缩托板25020之间，而取箱设备的第一固定挡板25010和第一伸缩托板25020之间的空间是有限的，因此该取箱设备可提取出的存储箱的最大数量也是有限的。
另外，在本说明书提供的取箱设备中，该取箱设备在将其他存储箱放回该存储柱时，该第一伸缩组件25012，还用于当该目标存储箱收入该第一存储单元2503时，根据目标存储箱原本在该存储柱中存放时的存储位，调整伸缩长度，使该第一对接组件到达该目标存储箱在该存储柱中原位置。
该第一对接组件25011，则还用于在到达该原位置时，停止与该目标存储箱上方相邻的一个存储箱对接，将该目标存储箱上方的其它存储箱堆叠存放在该存储柱中。
基于图25、27以及28所示的取箱设备，该取箱设备沿轨道移动至目标存储箱所在的存储柱相邻的指定位置后，可从该存储柱中提起出包含目 标存储箱的多个存储箱，并承托该多个存储箱，再将目标存储箱上方的其他存储箱提起，以分离目标存储箱与其上方的其他存储箱，然后从取箱设备侧方的开口将目标存储箱收入取箱设备中，最后将提起的其他存储箱重新放回该存储柱中，使得目标存储箱堆叠在阻碍的其他存储箱下方时，可以通过一次取箱过程将目标存储箱提起出，降低了仓库运行成本，实现了搬运效率的提升。
另外，本说明书还提供另一种取箱设备，如图30所示。该取箱设备中的第一伸缩组件25012可由：第一伸缩机构3000、第二伸缩机构3001以及第一移动挡板3002组成。其中，该第一伸缩机构3000的两端连接该第一移动挡板3002以及该第一固定挡板25010，该第二伸缩机构3001的两端连接该第一移动挡板3002以及该第一对接组件25011。其中，在第一取箱机构2501提起出各存储箱时，可由第一移动挡板以3002、第一对接组件25011以及第二伸缩机构3001组成固定各存储箱的半包围结构，使得取出各存储箱时更稳定。同时，通过设置该第一移动挡板3002可以方便在将第一伸缩组件25012分为两组(即，第一伸缩机构3000和第二伸缩机构3001)，当第一伸缩组件25012采用性材质且伸缩长度较长时，通过第一伸缩机构3000和第二伸缩机构3001可减少单个第一伸缩组件的拉伸形变的大小，有利于保持组件结构的有效性，减少第一伸缩组件的材料结构出现破坏的概率。
当该目标存储箱上方堆叠有至少一个其他存储箱时，该取箱设备可先确定该存储柱中距离该第一固定挡板25010最近的一个其他存储箱的存储位，也就是该存储柱中最上方的一个存储箱的存储位。
则该第二伸缩机构3001，用于根据确定出的该存储柱中距离该第一固定挡板最近的一个其他存储箱的存储位，以及该目标存储箱的存储位，调整伸缩长度，使该第一移动挡板3002到达该最近的一个其他存储箱时，该第一对接组件25012达到该目标存储箱的存储位，如图31中的31a所示。
该第一伸缩机构3000，用于根据该最近的一个其他存储箱的存储位， 调整伸缩长度，使该第一移动挡板3002到达该其他存储箱，如图31中的31b所示。
该第一对接组件25011，用于当到达该目标存储箱时，与该目标存储箱对接。
该第一伸缩机构3000，还用于当该第一对接组件25011与该目标存储箱对接时，调整伸缩长度，将位于该第一移动挡板3002以及该第一对接组件25011之间的至少一个存储箱从该存储柱中提起出，如图331中的31c所示。
则后续第一存箱机构2502取出目标存储箱的过程为：
该第一伸缩托板25020，用于当该第一取箱机构2501提起出该目标存储箱时，从该第一存储单元2503底部伸出以承托该目标存储箱以及该目标存储箱上方的其它存储箱，如图31中的31d所示。
该第二伸缩机构3001，还用于当该第一伸缩托板25020承托该目标存储箱时，根据该最近的一个其他存储箱的存储位，以及与该目标存储箱上方相邻的一个其他存储箱的存储位，调整伸缩长度，使该第一对接组件25011达到该目标存储箱上方相邻的一个存储箱，如图31中的31e所示。
该第一对接组件25011，还用于当到达该目标存储箱上方相邻的一个其他存储箱时，与该目标存储箱上方相邻的一个其他存储箱对接。
该第一拖拽组件25021，用于在该第一对接组件25011与该目标存储箱上方相邻的一个其他存储箱对接后，将该目标存储箱从该第一伸缩托板25020上经过该第一存储单元2503侧方的开口拖拽到该第一存储单元2503中，如图31中的31f所示。
需要说明的是，图31中省略了将该目标存储箱上方相邻的一个其他存储箱提起，以分离该目标存储箱和其他存储箱的过程，以及省略了后续将其他存储箱放回该存储柱的过程，相应的内容可参考图29的流程，当然，在放回存储箱时，取箱设备也是通过调节该第一伸缩机构3000的长度实现 的。
另外，在本说明书中，在该第一移动挡板3002上还可设置有第一触发机构3003。在事先根据目标存储箱在存储柱中的储货位，调整第一伸缩机构3000的伸缩长度的前提下，取箱设备可通过该第一触发机构，确定第一对接组件25011是否已经移动到目标存储箱处，进而确定出是否需要控制第一对接组件25011进行对接，如图32所示。
具体的，该第一触发机构3003，用于当该第一移动挡板3002到达该存储柱中距离该第一固定挡板最近的一个其他存储箱时，向该第一对接组件25011发送触发信号。
则该第一对接组件25011，用于在接收到该触发信号时，确定可与该目标存储箱对接，并与该目标存储箱对接。
其中，该第一触发机构3003具体形式本说明书不做限制，具体的该第一触发机构3003可以是伸出第一移动挡板3002的可伸缩探针，当第一移动挡板3002到达该存储柱中距离该第一固定挡板25010最近的一个其他存储箱时，探针被压缩回第一移动挡板3002，并发送触发信号。或者，该第一触发机构3003为非接触式测距装置，当确定第一移动挡板3002与存储箱的距离小于预设阈值时，发送触发信号。
在本说明书中，存储箱的具体形式可以有多种，如可以是设有凹槽的矩形存储箱、或是设有凹槽的倒梯形存储箱，抑或是上方设有挡板的存储箱等，如图33A和33B所示。
图33A～33B为本说明书提供的几种形式的存储箱示意图。
图33A为在四周设有凹槽的矩形存储箱，第一对接组件25011可以通过该矩形存储箱四周设置的凹槽与该矩形存储箱对接。该矩形存储箱中放置有货物，通过将各矩形存储箱在仓储货架中的堆叠存储，实现了对货物的密集存储。
图33B为设有凹槽的倒梯形存储箱，取箱设备通过控制第一对接组件 25011与倒梯形存储箱的凹槽对接，实现对该倒梯形存储箱的提取或是放置。
当然，除了上述介绍的几种形式的存储箱外，还可以是其他形式的存储箱，在此就不详细举例说明了。
更进一步地，在本说明书中，服务器确定需要搬运的目标存储箱的具体机制可以有多种。例如，可以根据各用户的下单请求，从仓储货架中确定出需要搬运的目标存储箱；再例如，服务器可以根据获取到的货物调配指令(如根据实际的需求，需要将一个仓储货架中的存储的货物调配到另一个仓储货架中，则服务器可以相应的货物调配指令)，从仓储货架中确定出需要搬运的目标存储箱；再例如，服务器可以按照仓储货架中各货位的货物存储情况，在该仓储货架中进行货物调配，以平均该仓储货架中各货位所存储的货物数量。
在确定出需要搬运的目标存储箱后，该服务器可以生成搬运指令，并将该搬运指令发送选取出的取箱设备。其中，服务器选取取箱设备的方式可以有多种，例如，可以根据取箱设备在仓储货架所在的位置以及目标存储箱所在存储柱的位置，选取出距离目标存储箱所在存储柱较近的取箱设备；再例如，服务器可以从闲置的取箱设备中随机选取一个取箱设备，向其发送搬运指令；再例如，服务器可以根据各取箱设备的剩余电量情况，选取出剩余电量较为充足的取箱设备，向其发送搬运指令，其他方式在此就不详细举例说明了。
另外，在本说明书中，第一伸缩组件25012实际上是由多个部件构成的，以链条形式的第一伸缩组件25012为例，一根链条可以视作是一个部件。而该第一伸缩组件25012中具体包含多少的部件，则没有具体的限制。还以链条形式的第一伸缩组件25012为例，该第一伸缩组件25012可以包含有两根链条，也可以包含有四根链条，抑或是可以包含有六根链条。
进一步地，第一伸缩组件25012中的每个部件可以独立伸缩，即，每 个部件的伸缩长度都是由取箱设备独立控制的，不受其他部件伸缩长度的影响。对于这种情况来说，搬运设备在调整第一伸缩组件25012的伸缩长度时，需要同步调整这些部件，以保证这些部件的伸缩长度是相同的(也可以保证这些部件的伸缩速率是相同的)。
除此之外，第一伸缩组件25012中的每个部件也可以是联动的，即，每个部件在伸缩时都是联动的，受其他部件的伸缩长度影响。如图15所示。
图34为本说明书提供的设有联动部件的第一伸缩组件的示意图。
在图34为第一移动挡板3002或第一固定挡板25010内部的示意图，在该第一移动挡板3002连接的第一伸缩组件25012中，从内向外伸出有两个部件，这两个部件缠绕在第一移动挡板3002内部设置的转动轴上(缠绕在转动轴上的这两个部件实际上可以是一个整体，如，若部件为链条，那么从第一移动挡板3002从内部伸出的两根链条实际上是连在一起的一根链条)。从图34中可以看出，当转动轴顺时针转动时，这两个部件将同步向外伸出，而当转动轴逆时针转动时，这两个伸缩部件将同步向内收回。
需要说明的是，图34只是示出了一种部件的联动方式，而在实际应用中，也可以通过其他的联动方式控制部件进行同步伸缩，在此就不一一举例说明了。
以下结合另外一些附图，详细说明本申请实施例提供取箱方法以及取箱设备(下述实施例中的取箱设备对应于上述实施例中的存储机器人，下述实施例中的取箱设备可以为上述实施例中的存储机器人)的技术方案。
图35为本实施例提供的一种取箱方法的示意图，具体包括以下步骤：
S3501：移动至一个指定位置，所述指定位置与需要搬运的多个目标存储箱中的至少部分目标存储箱所在的目标存储柱相邻。其中，下述实施例中的存储箱对应于上述实施例中的货箱，下述实施例中的存储箱可以为上述实施例中的货箱。下述实施例中的存储柱对应于上述实施例中的货井，下述实施例中的存储柱可以为上述实施例中的货井。
在本说明书提供一个或多个实施例中，该取箱方法应用在三维网格结构的密集存储式仓库中，该密集存储式仓库包括竖直的多个存储柱以及设置在该多个存储柱的顶部的轨道，该密集存储式仓库的具体结构可以参考图20A～20D以及图21中仓库的结构。并且，在本实施例中，具体由取箱设备执行该取箱方法，该取箱设备运行在顶部的轨道上。该取箱设备内部设置有容纳存储箱的空间，取箱设备侧方设置有开口，供存储箱进入该取箱设备中。
需要说明的是，本实施例中的取箱设备，与在图20A～20D和图21所示的取箱设备，在投影面积上所占据的面积一致，也就是说，当取箱设备在轨道上行驶时投影面积续占据两个相邻的存储柱。
具体的，在该取箱设备执行取箱的过程中，可由控制取箱设备运行的控制中心确定需要提起出的目标存储箱在该密集存储式仓库中存储的位置，该位置至少包括：该目标存储所在的存储柱的位置，以及目标存储在该存储柱中的堆叠存放时的存储位。如图21中所示的，在每个存储柱中，各存储箱都是堆叠存储的，因此目标存储箱可能在该存储柱纵深方向上的多个存储位上。
之后，该控制中心可根据确定出的目标存储箱在该密集存储式仓库中存储的位置，确定执行取箱任务的取箱设备，并发送指令。
相应的，取箱设备可以移动至指定位置，以便通过执行后续步骤获取目标存储箱。其中，如前所述该取箱设备在该仓库中需要占据两个相邻的存储柱的位置，因此该指定位置为与所述目标存储箱所在的存储柱相邻。而当取箱设备位于指定位置时，可以从目标存储箱所在的存储柱中提起出存储箱。在本实施例中，可以将目标存储箱所在的存储柱称之为是目标存储柱。
另外，在本实施例中，由于与目标存储箱所在的目标存储柱相邻的位置至少有4个，为了减少取箱设备移动路径的长度，提高运行效率，该控 制中心还可根据取箱设备移动至目标存储箱所在的目标存储柱的路径，确定指定位置。
具体的，该控制中心在确定取箱设备后，可根据该取箱设备的位置以及该目标存储箱所在的目标存储柱的位置，进行路径规划，确定该取箱设备到达该目标存储柱的移动路径。之后，将该移动路径中与该目标存储柱相邻的其他存储柱的位置，作为指定位置。然后，将该移动路径以及该指定位置发送至取箱设备，则取箱设备可沿该移动路径移动至该指定位置。
S3502：从所述目标存储柱中提起出来多个存储箱并承托所述多个存储箱，其中，取出的多个存储箱中包含一个或多个目标存储箱。
在一个或多个实施例中，取箱设备可以从目标存储柱取出至少一个目标存储箱，所以，取箱设备在移动至指定位置后，该取箱设备可从该目标存储柱中提起出多个存储箱，并承托提起出的各存储箱。其中，提起出的多个存储箱中包含有需要从该目标存储柱中取出的至少一个目标存储箱，在提起出来的多个存储中，最下方的存储箱可以是其他存储箱，这种情况下，需要取出的至少一个目标存储箱均位于该其他存储箱的上方。当然，在提起出来的多个存储箱中，最下方的存储箱也可以是位于目标存储柱中最下方的目标存储箱。
具体的，由于每个存储箱存放在该密集存储式仓库时，控制中心都会记录存储箱所在存储柱以及相应的存储位，因此，对于任意一个目标存储箱来说，控制中心在确定该目标存储箱时，可确定该目标存储箱所在的目标存储柱及其相应的存储位，而该取箱设备在到达指定位置后，可根据确定出的各目标存储箱的存储位，来确定出需要与该目标存储柱中的哪一存储箱进行对接，并将包含有这些目标存储箱的多个存储箱从目标存储柱中提升。该取箱设备还可承托提起出的存储箱。其中，存储位为存储箱在存储柱上堆叠后的位置，当存储柱是竖直时，存储位可表征存储箱在存储柱中的纵深位置。根据存储位，取箱设备可以确定需要从存储柱顶部的轨道 下探多少才能与需要对接的存储箱进行对接。
当目标存储箱的上方或是目标存储箱之间存在一个或多个其他存储箱时，取箱设备可将目标存储箱的上方或是目标存储箱之间的存在的其他存储箱一并带出。当然，若是目标存储箱上方以及目标存储箱之间不存在其他存储箱，则该取箱设备可仅将需要取出的至少一个目标存储箱取出。
图36A～36C为本说明书提供的提起出多个存储箱的示意图。
图36A为目标存储箱上方以及目标存储箱之间存在其他存储箱的情况。对于这种情况来说，取箱设备确定出位于目标存储柱中最下方的目标存储箱的存储位，并根据该存储位，对该目标存储箱进行对接，并提取出该目标存储箱以及位于该目标存储箱上方的存储箱。当该目标存储箱从目标存储柱中移出后，该取箱设备还可承托取出的各存储箱，其中最下方承托的是目标存储箱，即图36A中最下方深色的存储箱。
图36B也属于目标存储箱上方以及目标存储箱之间存在其他存储箱的情况。但是，图36B所示的取箱方式与图36A有所不同，取箱设备可以确定出位于目标存储柱中最下方的目标存储箱相邻下方的存储箱的存储位，并根据该存储位，对该存储箱进行对接，并提取出该存储箱以及位于该存储箱上方的存储箱。当该存储箱从目标存储柱中移出后，该取箱设备还可承托取出的各存储箱，其中最下方承托的即为该存储箱。其中，位于该存储箱上方，且与该存储箱相邻的即为图36B中位于目标存储柱中最下方的深色的目标存储箱。
图36C属于目标存储箱上方以及目标存储箱之间不存在其他存储箱的情况。即需要取出的多个目标存储箱均是相邻的，且在目标存储柱中均位于其他存储箱之上。对于这种情况，取箱设备可以确定出位于目标存储柱中最下方的目标存储箱的存储位，并根据该存储位，对该目标存储箱进行对接，并提取出该目标存储箱以及位于该目标存储箱上方的其他目标存储箱。当该目标存储箱从目标存储柱中移出后，该取箱设备还可承托取出的 各目标存储箱。
需要说明的是，上述图36A～36C只是以示例的形式说明了三种取箱方式，但是在实际应用中，还可以包括其他取箱方式。例如，对于36C的情况来说，取箱设备也可以确定出位于目标存储柱中最下方的目标存储箱相邻下方的存储箱的存储位，并根据该存储位，对该存储箱进行对接，并提取出该存储箱以及位于该存储箱上方的各目标存储箱。当该存储箱从目标存储柱中移出后，该取箱设备还可承托取出的该存储箱以及各目标存储箱。其他方式在此就不详细举例说明了。
S3503：针对所述一个或多个目标存储箱中的每个目标存储箱，重复执行以下动作直到所述一个或多个目标存储箱全部收入到所述取箱设备中为止：将该目标存储箱上方的存储箱提起以使该目标存储箱与其上方的存储箱分离，并从所述取箱设备侧方的开口将该目标存储箱收入到所述取箱设备中，将该目标存储箱上方的存储箱落下。
在一个或多个实施例中，该取箱设备为了将各目标存储箱从提起出的各存储箱中取出，并收入该取箱设备，可针对每个目标存储箱，将该目标存储箱上方的其他存储箱提起，使该目标存储箱与提起出的其他存储箱分离，然后再将该目标存储箱从取箱设备侧方的开口，收入该取箱设备。
如前所述，该取箱设备的投影面积占据了两个存储柱的位置，因此取出的各存储箱相当于悬空在一个目标存储柱上，因此在步骤S3502中该取箱设备可承托取出的各存储箱，之后，由于该取箱设备是位于与目标存储箱所在的目标存储柱相邻的存储柱，因此该取箱设备可从侧方将各目标存储箱依次收入。
具体的，首先，针对每个目标存储箱，该取箱设备可与该目标存储箱上方相邻的一个其他存储箱对接。
然后，再将对接的其他存储箱提起，以使该对接的其他存储箱上方的各存储箱也一并提起。此时取箱设备仅承托该目标存储箱以及位于该目标 存储箱下方的存储箱，而由于此时没有其他存储箱压在该目标存储箱的方法，所以，取箱设备便可将该目标存储箱轻松的从侧方收入到取箱设备中。
在将一个目标存储箱收入到该取箱设备中后，取箱设备可以将提升的存储箱及其一并提升的其他存储箱落下，然后，在对下一个目标存储箱上方的存储箱进行提升，以将下一个目标存储箱收入到该取箱设备中，以此类推，直至将所有取出的目标存储箱均收入到取箱设备中为止。
S3504：将剩余的其他存储箱重新放回所述目标存储柱中。
在一个或多个实施例中，取箱设备再将取出的至少一个目标存储箱收入后，还可将对接的其他存储箱放回该目标存储柱中，后续则可根据需要将收入的存储箱搬运至其他位置进行拣货等处理，本说明书对于后续怎么进行处理不做限制。
基于图35所示的取箱过程，取箱设备沿轨道移动至目标存储箱所在的目标存储柱相邻的指定位置后，可从该目标存储柱中提起出包含至少一个目标存储箱的多个存储箱，并承托该多个存储箱，而后，针对每个目标存储箱，取箱设备可以将该目标存储箱上方的其他存储箱提起，以分离该目标存储箱与其上方的存储箱，然后从取箱设备侧方的开口将该目标存储箱收入取箱设备中，在将取出的所有目标存储箱均收入到取箱设备中后，取箱设备可以将提起的其他存储箱重新放回该目标存储柱中，这样可以使取箱设备通过一次取箱任务，即可将多个目标存储箱提起并收入，降低了仓库运行成本，实现了搬运效率的提升。
进一步地，由于在实际应用中，取箱设备可能在一次取箱任务中从多个存储柱中取出需要搬运的存储箱，所以，若是取箱设备在上述目标存储柱中取出多个目标存储箱，并将这些目标存储箱收入到取箱设备后，该取箱设备仍有空间存放存储箱时，取箱设备可以移动到下一指定位置。这里提到的下一指定位置即是指与需要搬运的多个目标存储箱中的至少部分目标存储箱所在的目标存储柱相邻，即还需要取出的目标存储箱所在目标存 储柱相邻的位置。取箱设备可以从该下一指定位置相邻的目标存储柱中提取出来多个存储箱并承托这些存储箱，从该目标存储柱中取出的多个存储箱中包含有至少一个还需要搬运的目标存储箱。
取箱设备可以针对取出的每个目标存储箱，将该目标存储箱上方的存储箱提起，以使该目标存储箱与其上方的存储箱分离，而后，取箱设备可以从该取箱设备侧方的开口将该目标存储箱收入到取箱设备中，并将该目标存储箱上方的存储箱落下。通过这种方式，取箱设备可以将还需要搬运的目标存储箱依次收入到取箱设备中，并将剩余的其他存储箱重新返回到该下一指定位置相邻的目标存储柱中。
以此类推，取箱设备可以依次前往各目标存储柱进行取箱，直至将需要取出的所有目标存储箱全部取出，或是取箱设备没有额外的空间存放目标存储箱为止。
基于图35所示的取箱过程示意图，图20A～20D、图21所示的三维网格结构的密集存储式仓库的结构，本公开还提供一种取箱设备，如图37所示。
图37为本说明书提供的一种取箱设备的结构示意图。该取箱设备应用在三维网格结构的密集存储式仓库中，该密集存储式仓库包括竖直的多个存储柱以及设置在该多个存储柱的顶部的轨道，该存储柱内沿竖直方向堆叠有多个存储箱，该取箱设备运行在该轨道上。
其中，该取箱设备包括：第二移动机构500(下述实施例中的第二移动机构对应于上述实施例中的第一移动机构)、第二取箱机构501(下述实施例中的第二取箱机构对应于上述实施例中的提升装置，下述实施例中的第二取箱机构可以为上述实施例中的提升装置)、第二存箱机构502(下述实施例中的第二存箱机构对应于上述实施例中的第一存箱机构)以及侧方具有开口的多个第二存储单元503(下述实施例中的第二存储单元对应于上述实施例中的容纳舱，下述实施例中的第二存储单元可以为上述实施例中的 容纳舱)，每个第二存储单元503用于容纳一个存储箱。并且，如在前述取箱过程中所述的，该取箱设备的投影面积占据两个存储柱的位置，具体在该取箱设备的各部件来说，第二移动机构500、第二存箱机构502以及第二存储单元503通常设置在取箱设备的主体结构内，投影面积占据一个存储柱的位置，第二取箱机构501则设置在取箱设备的主体结构外，第二取箱机构501的投影面积占据的目标存储柱的位置，与取箱设备的主体结构的投影面积所占据存储柱的位置相邻，可参考图21示意图中取箱设备占据位置的表示。
该第二移动机构500，用于根据目标存储箱所在的目标存储柱的位置，移动至该目标存储柱的位置对应的指定位置，使第二取箱机构501位于该目标存储箱所在的目标存储柱的位置。
由于该密集存储式仓库包含竖直的多个存储柱，存储箱可从存储柱上方放入存储柱内或是从存储柱上方取出，因此为了能使取箱设备能沿轨道行驶，并到达指定位置对仓库中各个存储柱进行存储箱的取放，在本说明书中多个存储柱的顶部的轨道为网格分布的，如图26所示。
图26为本说明书提供的仓库各存储柱顶部的轨道的分布示意图，其中深色区域为轨道，斜线填充的矩形为在存储柱中堆叠存放的存储箱。
在本说明书中，由于该第二移动机构500需要基于轨道移动，并到达目标存储箱所在的目标存储柱的位置对应的指定位置，因此该第二移动机构500至少包含用于在不同方向的轨道上行驶的驱动结构，例如与现有技术中的四向穿梭车的第二移动机构类似的驱动机构。并且，该第二移动机构500可设置在该取箱设备的主体结构的底部，与轨道接触。
该第二取箱机构501，用于从目标存储柱中提起出至少一个目标存储箱，或，同时提起出包含至少一个目标存储箱的多个存储箱，其中，提起出的存储箱中最下方的存储箱可以是位于目标存储柱中最下方的目标存储箱，也可以是位于目标存储柱中最下方的目标存储箱下方的存储箱。而后， 取箱设备可以针对每个目标存储箱，将该目标存储箱上方的其他存储箱提起，以使该目标存储箱与其上方的其他存储箱分离，并在第二存箱机构502将该目标存储箱收入该目标存储箱对应的第二存储单元503后，将该目标存储箱上方的其他存储箱落下。取箱设备可以通过这种方式，将提起出来的各目标存储箱依次收入到设置的第二存储单元503中，并将剩余的其他存储箱重新放回该目标存储柱中。
在本说明书中，当该第二移动机构500到达指定位置时，该第二取箱机构501应正对目标存储箱所在的目标存储柱，相应的，该第二取箱机构501可根据目标存储箱在目标存储柱中的存储位，通过伸入该目标存储柱中，以位于目标存储柱中最下方的目标存储箱，或是目标存储柱中最下方的目标存储箱下方的存储箱对接。当然，第二取箱机构501也可以与目标存储柱中任意一个目标存储箱或是任意一个目标存储箱下方的存储箱进行对接。
具体的，该第二取箱机构501可包括：第二固定挡板5010(下述实施例中的第二固定挡板对应于上述实施例中的第一固定挡板)、第二对接组件5011(下述实施例中的第二对接组件对应于上述实施例中的第一对接组件)以及第二伸缩组件5012(下述实施例中的第二伸缩组件对应于上述实施例中的第一伸缩组件)，如图38所示。并且，该第二固定挡板5010和第二对接组件5011通过第二伸缩组件5012连接。该第二固定挡板5010与该取箱设备的主体结构连接，因此通过调整第二伸缩组件5012的长度，可以将该第二对接组件5011送入目标存储柱内或从目标存储柱内提出。
在本说明书中，第二伸缩组件5012的具体形式可以有多种，可以是链条形式的，可以是胶皮带形式的，抑或是伸缩棍形式的，其他形式在此就不一一举例说明了。
在第二取箱机构501提取目标存储箱时，首先，该第二取箱机构501中的第二伸缩组件5012，可先根据目标存储箱的存储位，调整伸缩长度， 使得其连接的第二对接组件5011伸入到目标存储柱中需要对接的存储箱所在的存储位。
而后，该第二对接组件5011，用于当第二伸缩组件5012调整长度后，到达需要对接的存储箱所在的存储位时，与该存储箱对接。其中，第二对接组件5011具体采用何种方式与需要对接的存储箱对接本说明书不做限制，例如，可以通过机械手与需要对接的存储箱对接，或者通过类似螺孔与螺丝对接的方式进行对接，或者采用吸盘吸附存储箱表面的方式，实现与需要对接的存储箱的对接。
然后，该第二伸缩组件5012，还用于当该第二对接组件5011与需要对接的存储箱对接后，继续调整伸缩长度，将该存储箱以及位于该存储箱之上的存储箱从目标存储柱中提起出来。其中，需要对接的存储箱可以是位于目标存储柱中最下方的目标存储箱，也可以是其他存储箱。而提起出来的存储箱中至少包含有一个目标存储箱。
该第二存箱机构502，用于从该第二取箱机构501提起出的存储箱中，将目标存储箱取出，并从第二存储单元503侧方的开口，将目标存储箱收入第二存储单元503中。
在本说明书中，该第二存箱机构502可以至少包括：第二伸缩托板5020(下述实施例中的第二伸缩托板对应于上述实施例中的第一伸缩托板)和第二拖拽组件5021(下述实施例中的第二拖拽组件对应于上述实施例中的第一拖拽组件)，如图39所示。并且，为了避免阻碍第二取箱机构501提起出存储箱，该第二伸缩托板5020和第二拖拽组件5021默认可为收缩在取箱设备的主体结构中，也就是收纳在取箱设备的主体结构中。
该第二伸缩托板5020，用于在取出的最下方的存储箱到达最下方的第二存储单元203侧方开口的位置时，从该第二存储单元503底部伸出以承托取出的存储箱。
该第二拖拽组件5021，用于在该第二伸缩托板5020承托取出的各存储 箱后，将与上方存储箱分离的目标存储箱经过第二存储单元503侧方的开口拖拽到该第二存储单元503中。其中，每个第二存储单元503中均可以设有一个第二拖拽组件5021。
当第二取箱机构501的第二对接组件5011对接的存储箱提起出的高度到达最下方的第二存储单元503侧方开口的高度后，该第二伸缩托板5020，用于从该第二存储单元503底部伸出以承托取出的各存储箱。
该第二对接组件5011，还用于在该第二伸缩托板5020承托取出的各存储箱之后，停止与在从目标存储柱中取箱时需要对接的存储箱的对接。
该第二伸缩组件5012，还用于在该第二对接组件5011停止对接后，针对每个目标存储箱，根据该目标存储箱上方相邻的一个存储箱的存储位，即，与目标存储箱上方相邻的一个存储箱当前的高度，重新调整伸缩长度，使该第二对接组件5011到达该目标存储箱上方相邻的一个存储箱的存储位。
该第二对接组件5011，在该第二伸缩组件5012，重新调整伸缩长度后，与该目标存储箱上方相邻的一个存储箱对接。
第二拖拽组件5021，用于在该第二对接组件5011与该目标存储箱上方相邻的一个存储箱对接后，将该目标存储箱从该目标存储箱对应的该第二存储单元503(即与该目标存储箱高度相当的第二存储单元)侧方的开口拖拽到该第二存储单元503中。
上述从第二取箱机构501提起出的存储箱中的取出目标存储箱，并收入第二存储单元的过程，可如图40所示。
图40为本说明书提供的将目标存储收入第二存储单元中的示意图。
在图40所示的取箱设备的每个第二存储单元503中有一个第二拖拽组件5021，在最下方的第二存储单元503的下方设置有第二伸缩托板5020。从图40中可以看出，取箱设备的主体结构位于目标存储箱所在目标存储柱的相邻存储柱，取箱设备的第二固定挡板5010位于目标存储箱所在目标存 储柱的正上方，需要搬运的目标存储箱为目标存储柱中从上向下数第一个存储箱和第三个存储箱，如图40中的40a所示。
取箱设备可以根据这两个目标存储箱在该目标存储柱中所处的存储位，调整第二伸缩组件5012的伸缩长度，以使第二对接组件5011移动到最下方的目标存储箱处，并与最下方的目标存储箱进行对接，如图40中的40b所示。
而后，取箱设备可以继续调整第二伸缩组件5012的长度，从而将该目标存储柱中前三个存储箱从该目标存储柱中提起出来，如图40中的40c所示。与此同时，取箱设备中设置的第二伸缩托板5020从最下方的第二存储单元503的下方伸出，以通过该第二伸缩托板5020将这三个存储箱托在该目标存储柱的出货口上方，如图40中的40d所示。
由于第一个目标存储箱的上方没有其他存储箱，则取箱设备可以将从上向下数第一个第二存储单元503中设置的第二拖拽组件5021伸出，如图40中的40e所示，并将第一个目标存储箱拖拽至第一个第二存储单元503中，如图40中的40f所示。
由于第二伸缩托板5020已将这三个存储箱在该目标存储柱的出货口上方托起，所以可以解除将第二对接组件5011与最下方的目标存储箱的对接，并调整第二伸缩组件5012的长度，使第二对接组件5011上移至第二个存储箱处，并与第二个存储箱对接。而后，通过再次调整第二伸缩组件5012的长度，将第二对接组件5011对接的存储箱提起，使得第二伸缩托板5020托起的最下方的目标存储箱，与其他存储箱分离，如图40中的40g所示。
然后，取箱设备可以将设置在第三个第二存储单元503中的第二拖拽组件5021伸出，并将最下方的目标存储箱从第三个第二存储单元503的侧方开口收入第三个第二存储单元503中，如图40中的40h-40i所示。
其中，目标存储箱在第二存储单元503可内依然是通过第二拖拽组件5021架起的，或者是有第二存储单元503的底面承托的。而后，取箱设备 在确定已将这两个目标存储箱全部移送至第二存储单元503中后，可以将第二伸缩托板5020再收回至最下方的第二存储单元503的下方，如图40中的40j所示。
进一步地，取箱设备可以调整第二伸缩组件5012的伸缩长度，以剩余的一个存储箱再放回至该目标存储柱中，如图40中的40k所示。
需要说明的是，在实际应用中，由于取箱设备提取出的存储箱在被第二伸缩托板5020承托后，相当于存放在第二固定挡板5010和第二伸缩托板5020之间，而取箱设备的第二固定挡板5010和第二伸缩托板5020之间的空间是有限的，因此该取箱设备可提取出的存储箱的最大数量也是有限的。
另外，在本说明书提供的取箱设备中，该取箱设备在将其他存储箱放回该目标存储柱时，该第二伸缩组件5012，还用于当提取出的所有目标存储箱收入该第二存储单元503时，根据在从目标存储柱中取出各存储箱时第二对接组件5011所对接的存储箱的存储位，调整伸缩长度，使该第二对接组件5011到达从目标存储柱中取出各存储箱时第二对接组件5011所对接的存储箱的原位置。
该第二对接组件5011，则还用于在到达该原位置时，停止与其对接的存储箱对接，以将剩余的存储箱堆叠存放在该目标存储柱中。
基于图37、38以及39所示的取箱设备，该取箱设备沿轨道移动至目标存储箱所在的目标存储柱相邻的指定位置后，可从该目标存储柱中提起出包含有至少一个目标存储箱的多个存储箱，并承托该多个存储箱，而后，针对每个目标存储箱，将该目标存储箱上方的其他存储箱提起，以分离该目标存储箱与其上方的其他存储箱，然后从取箱设备侧方的开口将该目标存储箱收入取箱设备中，最后将提起的剩余其他存储箱重新放回该目标存储柱中，这样可以使取箱设备通过一次取箱任务即可将多个目标存储箱提起出来并存放在取箱设备中，降低了仓库运行成本，实现了搬运效率的提 升。
另外，本公开还提供另一种取箱设备，如图41所示。该取箱设备中的第二伸缩组件5012可由：第三伸缩机构600(下述实施例中的第三伸缩机构对应于上述实施例中的第一伸缩机构)、第四伸缩机构601(下述实施例中的第四伸缩机构对应于上述实施例中的第二伸缩机构)以及第二移动挡板602(下述实施例中的第二移动挡板对应于上述实施例中的第一移动挡板)组成。其中，该第三伸缩机构600的两端连接该第二移动挡板602以及该第二固定挡板5010，该第四伸缩机构601的两端连接该第二移动挡板602以及该第二对接组件5011。其中，在第二取箱机构501提起出各存储箱时，可有第二移动挡板以602、第二对接组件5011以及第四伸缩机构601组成固定各存储箱的半包围结构，使得取出各存储箱时更稳定。同时，通过设置该第二移动挡板602可以方便在将第二伸缩组件5012分为两组(即，第三伸缩机构600和第四伸缩机构601)，当第二伸缩组件5012采用柔性材质且伸缩长度较长时，通过第三伸缩机构600和第四伸缩机构601可减少单个第二伸缩组件的拉伸形变的大小，有利于保持组件结构的有效性，减少第二伸缩组件的材料结构出现破坏的概率。
按照上述结构，取箱设备可以在目标存储柱中取出多个目标存储箱，并将这些目标存储箱收入到取箱设备的第二存储单元中，如图42所示。
图42为本说明书提供的将两个目标容器移送至对应第二存储单元中的示意图。
图42所示的取箱设备中设有四个第二存储单元503，每个第二存储单元503中均设有一个第二拖拽组件5021，在最下方的第二存储单元503的下方设置有第二伸缩托板5020，用于承托取箱设备从目标存储柱中提取出的在竖直方向上堆放的各存储箱。
取箱设备需要从目标存储柱中取出的目标存储箱有两个，分别是该目标存储柱中从上向下数的第二个存储箱以及第四个存储箱，如图42中的42a 所示。取箱设备可以根据这两个目标存储箱在目标存储柱中所处的存储位，调整第三伸缩机构600的伸缩长度以及第四伸缩机构601的伸缩长度，以使第二移动挡板602移动到堆放在目标存储柱中最上方的存储箱处，以及使第二对接组件5011移动到最下方的目标存储箱(即第四个存储箱)处，并对最下方的目标存储箱实施对接，如图42中的42b所示。其中，第二对接组件5011需要对接的存储箱与第二固定挡板5010之间的距离，不小于距离第二固定挡板5010最远的目标存储箱与第二固定挡板5010之间的距离。
取箱设备将这四个存储箱从目标存储柱中提取出后(如图42中的42c所示)，可以通过伸出第二伸缩托板5020，将这四个存储箱在该目标存储柱的出货口上方承托。同时，可以先将第一个目标存储箱(即第二个存储箱)对应的第二存储单元503中设置的第二拖拽组件5021伸出，以及将第二对接组件5011移动到第一个存储箱处(即第一个目标存储箱上方的相邻存储箱)，对第一个存储箱实施抓取，以将第一个存储箱向上提升，实现第一个存储箱与下方的第一个目标存储箱之间的分离。与此同时，取箱设备可以控制该第二拖拽组件5021，将第一个目标存储箱拖拽至其对应的第二存储单元503中(即从上向下数第二个第二存储单元)，如图42中的42d～42e所示。
在确定已将第一个目标存储箱放置其对应的第二存储单元中后，取箱设备通过调整第三伸缩机构600的伸缩长度，将第二对接组件5011对接的第一个存储箱放置在第三个存储箱上(即第一个目标存储箱在下方的相邻存储箱)。进一步地，取箱设备可以将第二个目标存储箱(即第四个存储箱)对应的第二存储单元503中的第二拖拽组件5021伸出，并通过第二对接组件5011对接第三个存储箱(即第二个目标存储箱在上方的相邻存储箱)向上提升，以通过该第二拖拽组件5021，将第二个目标存储箱拖拽至其对应的第二存储单元503中，如图42中的42f和42g所示。
将这两个目标存储箱全部收入至其对应的第二存储单元503中后，取箱设备可以将第二伸缩托板5020收回至最下方的第二存储单元503的下方，并将剩余的其他存储箱通过第二对接组件5011、第三伸缩机构600以及第四伸缩机构601放回至目标存储柱中，从而完成了从目标存储柱中提取出多个目标存储箱的整个过程。
在图40和图42中，用虚线的分隔线将每个第二存储单元进行了分隔，在实际应用中，每个第二存储单元之间可以不设分隔，在这种情况下，图40和图42中的分隔线实际上是不存在的。当然也可以通过诸如分隔板、分隔条等将每个第二存储单元进行分隔。
另外，在本说明书中，在该第二移动挡板602上还可设置有第二触发机构603(下述实施例中的第二触发机构对应于上述实施例中的第一触发机构)。在事先根据目标存储箱在目标存储柱中的储货位，调整第三伸缩机构600的伸缩长度的前提下，取箱设备可通过该第二触发机构603，确定第二对接组件5011是否已经移动到需要对接的存储箱处，进而确定出是否需要控制第二对接组件5011进行对接，如图43所示。
具体的，该第二触发机构603，用于当该第二移动挡板602到达该目标存储柱中距离该第二固定挡板5010最近的一个存储箱时，向该第二对接组件5011发送触发信号。
该第二对接组件5011，用于在接收到该触发信号时，确定可与需要对接的存储箱进行对接。
其中，该第二触发机构603具体形式本说明书不做限制，具体的该第二触发机构603可以是伸出第二移动挡板602的可伸缩探针，当第二移动挡板602到达该目标存储柱中距离该第二固定挡板5010最近的一个存储箱时，探针被压缩回第二移动挡板602，并发送触发信号。或者，该第二触发机构603为非接触式测距装置，当确定第二移动挡板602与存储箱的距离小于预设阈值时，发送触发信号。
在本说明书中，存储箱的具体形式可以有多种，如可以是设有凹槽的矩形存储箱、或是设有凹槽的倒梯形存储箱，抑或是上方设有挡板的存储箱等，如图14A、图14B、图44所示。
图14A为在四周设有凹槽的矩形存储箱，第二对接组件可以通过该矩形存储箱四周设置的凹槽与该矩形存储箱对接。该矩形存储箱中放置有货物，通过将各矩形存储箱在仓储货架中的堆叠存储，实现了对货物的密集存储。
图14B为设有凹槽的倒梯形存储箱，取箱设备通过控制第二对接组件勾住倒梯形存储箱的凹槽，实现对该倒梯形存储箱的提取或是放置。
图44C为上方设有挡板的存储箱，货物放置在托盘上，通过这种形式的存储箱进行货物存放时，上方挡板可以用于堆放其他存储箱。而取箱设备可以通过控制第二对接组件抓取上方挡板，来实现货物的提取或是放置，也可以通过控制第二对接组件抓取托盘，来实现货物的提取或是放置。
当然，除了上述介绍的几种形式的存储箱外，还可以是其他形式的存储箱，在此就不详细举例说明了。
更进一步地，在本说明书中，控制中心确定需要搬运的目标存储箱的具体机制可以有多种。例如，可以根据各用户的下单请求，从仓储货架中确定出需要搬运的目标存储箱；再例如，控制中心可以根据获取到的货物调配指令(如根据实际的需求，需要将一个仓储货架中的存储的货物调配到另一个仓储货架中，则控制中心可以相应的货物调配指令)，从仓储货架中确定出需要搬运的目标存储箱；再例如，控制中心可以按照仓储货架中各存储柱的货物存储情况，在该仓储货架中进行货物调配，以平均该仓储货架中各存储柱所存储的货物数量。
在确定出需要搬运的目标存储箱后，该控制中心可以生成搬运指令，并将该搬运指令发送选取出的取箱设备。其中，控制中心选取取箱设备的方式可以有多种，例如，可以根据取箱设备在仓储货架所在的位置以及目 标存储箱所在存储柱的位置，选取出距离目标存储箱所在目标存储柱较近的取箱设备；再例如，控制中心可以从闲置的取箱设备中随机选取一个取箱设备，向其发送搬运指令；再例如，控制中心可以根据各取箱设备的剩余电量情况，选取出剩余电量较为充足的取箱设备，向其发送搬运指令，其他方式在此就不详细举例说明了。
在本说明书中，第二伸缩组件5012实际上是由多个伸缩部件构成的，以链条形式的第二伸缩组件5012为例，一根链条可以视作是一个伸缩部件。而该第二伸缩组件5012中具体包含多少的伸缩部件，则没有具体的限制。还以链条形式的第二伸缩组件5012为例，该第二伸缩组件5012可以包含有两根链条，也可以包含有四根链条，抑或是可以包含有六根链条。第二伸缩组件5012包括的第三伸缩机构600和第四伸缩机构601亦是如此。
进一步地，第二伸缩组件5012中的每个伸缩部件可以独立伸缩，即，每个伸缩部件的伸缩长度都是由取箱设备独立控制的，不受其他伸缩部件的影响。对于这种情况来说，取箱设备在调整第二伸缩组件5012的伸缩长度时，需要同步调整这些伸缩部件，以保证这些伸缩部件的伸缩长度是相同的(也可以保证这些伸缩部件的伸缩速率是相同的)。
除此之外，第二伸缩组件5012中的每个伸缩部件也可以是联动伸缩的，即，每个伸缩部件在伸缩时都是联动的，受其他伸缩部件的伸缩长度影响。
图45为本说明书提供的设有联动伸缩部件的第二伸缩组件的示意图。
在图45为第二移动挡板602内部的示意图，在该第二移动挡板602连接的第二伸缩组件5012中，从内向外伸出有两个伸缩部件，这两个伸缩部件缠绕在第二移动挡板602内部设置的转动轴上(缠绕在转动轴上的这两个伸缩部件实际上可以是一个整体，如，若伸缩部件为链条，那么从第二移动挡板602从内部伸出的两根链条实际上是连在一起的一根链条)。从图45中可以看出，当转动轴顺时针转动时，这两个伸缩部件将同步向外伸出，而当转动轴逆时针转动时，这两个伸缩部件将同步向内收回。
需要说明的是，图45只是示出了一种伸缩部件的联动方式，而在实际应用中，也可以通过其他的联动方式控制伸缩部件进行同步伸缩，在此就不一一举例说明了。
在本说明书中，取箱设备设置的每个第二存储单元的底部也可以均设置一个第二伸缩托板，这样一来，取箱设备针对每个目标存储箱，可以在该目标存储箱到达该目标存储箱对应的第二存储单元503侧方开口的位置时，从该目标存储箱对应的第二存储单元503底部伸出第二伸缩托板5020，以承托该目标存储箱以及该目标存储箱上方的存储箱。相应的，第二对接组件5011在第二伸缩托板5020承托该目标存储箱以及该目标存储箱上方的存储箱之后，停止与该目标存储箱对接，并与该目标存储箱上方相邻的存储箱对接。这样一来，该目标存储箱对应的第二存储单元503中设置的第二拖拽组件5021，即可将该目标存储箱从第二伸缩托板5020上经过该目标存储箱对应的第二存储单元503侧方的开口拖拽至该目标存储箱对应的第二存储单元503中。
在上述图21中示出的取箱设备是在仓储货架上方进行货物搬运的方式来说，决定了第二伸缩托板5020需要设置在取箱设备的下方，而实际上，取箱设备也可以在仓储货架的两侧进行货物搬运，相应的，第二伸缩托板的设置方式也将有所不同，所以，本说明书还提供了另外一种形式的取货方式，如图45所示。
图46为本说明书提供的取箱设备位于仓储货架两侧的示意图。
取箱设备应用在三维网格结构的密集存储式仓库中，密集存储式仓库包括水平的多个存储柱以及设置在多个存储柱一端的轨道，存储柱内沿水平方向堆叠有多个存储箱，取箱设备运行在该轨道上，取箱设备包括：第二移动机构、第二取箱机构、第二存箱机构以及侧方具有开口的多个第二存储单元，每个第二存储单元用于容纳一个存储箱。在图46中，仓库的左侧设有供取箱设备行驶的轨道(实际上仓储货架的四周都设有可供取箱设 备行驶的轨道)，取箱设备可以在仓储货架的左侧进行货物搬运。在图46中，取箱设备的第二伸缩组件是进行横向伸缩的。而相比于图21所示的方式来说，适用于图46的取箱设备在第二伸缩托板设置上如图47所示。
图47为本说明书提供的另一种取箱设备的结构示意图。
取箱设备在到达目标存储柱后，可以通过调整第二伸缩组件7012，将第二对接组件7011伸入到目标存储柱中，进而将第二固定挡板7010以及第二对接组件7011之间的多个存储箱从目标存储柱中提取出来。取箱设备设有多个第二存储单元703，第二存储单元703的上方设有平铺的多个托板，取出的多个存储箱可以放置在这些托板上。
在这种情况下，诸如链条、胶皮带等柔性的第二伸缩组件7012并不适用，所以要选择使用诸如伸缩棍等刚性的第二伸缩组件7012。
进一步地，也可以在这种横向取箱的取箱设备中设置第三伸缩机构和第四伸缩机构，具体结构如图48所示。
图48为本说明书提供的设有第三伸缩机构和第四伸缩机构的横向取箱的取箱设备示意图。
与上述图41所示的取箱设备类似，图48所述的取箱设备中，也是将第二伸缩组件7012分为了两个部分，第三伸缩机构800和第四伸缩机构801，在第三伸缩机构800和第四伸缩机构801之间，设有第二移动挡板802。进一步地，在第二移动挡板802，还可以设有第二触发机构803，以通过该第二触发机构803，来控制第二对接组件7011与需要对接的存储箱进行对接。
另外，由于图48中的取箱设备相比于纵向取箱的取箱设备来说，是横向在仓库上行驶的，所以，可以在每个第二存储单元上都设置一个托板，以在第二存储单元的上方拖住从目标存储柱中提取出来的存储箱，并通过控制存储箱的开合，将目标存储箱移送到其对应的第二存储单元中，如图49所示。
图49为本说明书提供的横向取箱的取箱设备将目标存储箱移送到第二存储单元中的示意图。
图49中的取箱设备中设有四个第二存储单元703，每个第二存储单元703上设有可开合的托板704，取箱设备从仓储货架(并未在图18中示出)中提取出四个存储箱，其中，第三和第四个存储箱(按照与目标存储柱(目标存储柱并未在图49中示出)的出货口的距离由小到大的顺序进行排序)为取箱设备需要搬运的目标存储箱。取箱设备通过调整第三伸缩机构800以及第四伸缩机构801的伸缩长度，使得第二移动挡板802移动到第一个存储箱，以及第二对接组件7011移动到第四个存储箱(即第二个目标存储箱)，并通过控制第二对接组件7011对接第二个目标存储箱，如图49中的49a所示。而后，取箱设备通过收回第四伸缩机构801，可以将这四个存储箱从目标存储柱中提取出来，并通过各第二存储单元703上设置的托板704，将这四个存储箱承托在各第二存储单元703的上方，如图49中的49b所示。
进一步地，取箱设备可以打开第三个存储箱所对应的第二存储单元703的托板704，以使第一个目标存储箱在重力的影响下落入到该第二存储单元703中，而后再合上该托板704，并将第二对接组件7011移动到第二个存储箱处，以对第二个存储箱进行抓取，如图49中的49c～49e所示。
取箱设备可以打开第四个存储箱所对应的第二存储单元703的托板704，以使第二个目标存储箱在重力的影响下落入到其对应的第二存储单元703中，而后再合上该托板704。取箱设备在确定出已将需要搬运的目标存储箱全部移送到第二存储单元703中后，可以再次调整第三伸缩机构800和/或第四伸缩机构的第二伸缩组件801，以将其他的两个存储箱再放回到目标存储柱中，如图49中的49f、49g所示。
需要说明的是，在图49的示例中，目标存储箱是一个个放入到第二存储单元703中的，而实际上，只要各第二存储单元703的托板704设置在合理的位置上，可以实现将提取出的所有目标存储箱同时移送到第二存储 单元703中，具体就不详细举例说明了。
进一步地，在图49示例中，目标存储箱是以自由下落的方式移送到第二存储单元703中的，这种方式可能会使目标存储箱或是目标存储箱中的货物受损。所以，为了保证能够将目标存储箱平稳的移送至其对应的第二存储单元703中，图48示例中取箱设备的各第二存储单元703中也可以设有第二拖拽组件，取箱设备可以通过第二拖拽组件，将目标存储箱平稳的移送到其对应的第二存储单元703中，第二拖拽组件的将目标存储箱移送到第二存储单元703中的方式，与上述纵向取箱的方式中第二拖拽组件的工作方式类似，所以在此就不详细赘述了。
在本说明书中，无论是对于图47还是图48所示的取箱设备，其取箱的过程与上述纵向取箱的基本逻辑是相同的，所以，在此不对这两种取箱设备进行取箱的过程做具体的说明了。
另外，对于横向取箱的取箱设备来说，其在仓库一侧的轨道上进行移动的方式可以有多种，如，可以在仓库一侧的上方设置吊索，通过吊索来吊起取箱设备，并通过控制吊索的移动，来实现取箱设备在仓库一侧的轨道上的移动，其他方式在此就不详细举例说明了。
应当说明的是上述实施例中的存储机器人包括可在竖直货架顶部移动的本体，与所述本体连接的提升装置；并且所述本体内设置有位于所述提升装置一侧的容纳舱。因此上述存储机器人能够运行在三维网格结构的密集存储式仓库的顶部的轨道，并且利用提升装置、伸缩装置和容纳舱等能够获取到存储柱中的目标存储箱，并将目标存储箱存储到机器人本体内。因此，上述实施例在中的存储机器人对应于上述实施例中的取箱设备。
在20世纪90年代，对于一个技术的改进可以很明显地区分是硬件上的改进(例如，对二极管、晶体管、开关等电路结构的改进)还是软件上的改进(对于方法流程的改进)。然而，随着技术的发展，当今的很多方法流程的改进已经可以视为硬件电路结构的直接改进。设计人员几乎都通过 将改进的方法流程编程到硬件电路中来得到相应的硬件电路结构。因此，不能说一个方法流程的改进就不能用硬件实体模块来实现。例如，可编程逻辑器件(Programmable Logic Device,PLD)(例如现场可编程门阵列(Field Programmable Gate Array，FPGA))就是这样一种集成电路，其逻辑功能由用户对器件编程来确定。由设计人员自行编程来把一个数字系统“集成”在一片PLD上，而不需要请芯片制造厂商来设计和制作专用的集成电路芯片。而且，如今，取代手工地制作集成电路芯片，这种编程也多半改用“逻辑编译器(logic compiler)”软件来实现，它与程序开发撰写时所用的软件编译器相类似，而要编译之前的原始代码也得用特定的编程语言来撰写，此称之为硬件描述语言(Hardware Description Language，HDL)，而HDL也并非仅有一种，而是有许多种，如ABEL(Advanced Boolean Expression Language)、AHDL(Altera Hardware Description Language)、Confluence、CUPL(Cornell University Programming Language)、HDCal、JHDL(Java Hardware Description Language)、Lava、Lola、MyHDL、PALASM、RHDL(Ruby Hardware Description Language)等，目前最普遍使用的是VHDL(Very-High-Speed Integrated Circuit Hardware Description Language)与Verilog。本领域技术人员也应该清楚，只需要将方法流程用上述几种硬件描述语言稍作逻辑编程并编程到集成电路中，就可以很容易得到实现该逻辑方法流程的硬件电路。
控制器可以按任何适当的方式实现，例如，控制器可以采取例如微处理器或处理器以及存储可由该(微)处理器执行的计算机可读程序代码(例如软件或固件)的计算机可读介质、逻辑门、开关、专用集成电路(Application Specific Integrated Circuit，ASIC)、可编程逻辑控制器和嵌入微控制器的形式，控制器的例子包括但不限于以下微控制器：ARC 625D、Atmel AT91SAM、Microchip PIC18F26K20以及Silicone Labs C8051F320，存储器控制器还可以被实现为存储器的控制逻辑的一部分。本领域技术人员也知 道，除了以纯计算机可读程序代码方式实现控制器以外，完全可以通过将方法步骤进行逻辑编程来使得控制器以逻辑门、开关、专用集成电路、可编程逻辑控制器和嵌入微控制器等的形式来实现相同功能。因此这种控制器可以被认为是一种硬件部件，而对其内包括的用于实现各种功能的装置也可以视为硬件部件内的结构。或者甚至，可以将用于实现各种功能的装置视为既可以是实现方法的软件模块又可以是硬件部件内的结构。
上述实施例阐明的系统、装置、模块或单元，具体可以由计算机芯片或实体实现，或者由具有某种功能的产品来实现。一种典型的实现设备为计算机。具体的，计算机例如可以为个人计算机、膝上型计算机、蜂窝电话、相机电话、智能电话、个人数字助理、媒体播放器、导航设备、电子邮件设备、游戏控制台、平板计算机、可穿戴设备或者这些设备中的任何设备的组合。
为了描述的方便，描述以上装置时以功能分为各种单元分别描述。当然，在实施本说明书时可以把各单元的功能在同一个或多个软件和/或硬件中实现。
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个 机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。内存是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括 暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、商品或者设备中还存在另外的相同要素。
本领域技术人员应明白，本说明书的实施例可提供为方法、系统或计算机程序产品。因此，本说明书可采用完全硬件实施例、完全软件实施例或结合软件和硬件方面的实施例的形式。而且，本说明书可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本说明书可以在由计算机执行的计算机可执行指令的一般上下文中描述，例如程序模块。一般地，程序模块包括执行特定任务或实现特定抽象数据类型的例程、程序、对象、组件、数据结构等等。也可以在分布式计算环境中实践本说明书，在这些分布式计算环境中，由通过通信网络而被连接的远程处理设备来执行任务。在分布式计算环境中，程序模块可以位于包括存储设备在内的本地和远程计算机存储介质中。
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于系统实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
以上所述仅为本说明书的实施例而已，并不用于限制本说明书。对于本领域技术人员来说，本说明书可以有各种更改和变化。凡在本说明书的 精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本说明书的权利要求范围之内。

Claims (42)

  1. 一种取箱设备，包括：可在竖直货架顶部移动的本体，与所述本体连接的提升装置；
    所述本体内设置有位于所述提升装置一侧的容纳舱，设置在所述容纳舱内并可将所述提升装置提升的货箱转运到所述容纳舱内的存箱机构。
  2. 根据权利要求1所述的取箱设备，所述提升装置包括用于卡装所述至少一个货箱的卡装机构，以及用于驱动所述卡装机构沿竖直方向运动的提升机构。
  3. 根据权利要求2所述的取箱设备，所述提升机构包括与所述本体转动连接且相对设置的两个转轴，缠绕在每个转轴上的提升带；以及用于驱动所述两个转轴转动的驱动机构；其中，
    所述提升带的一端固定在所述转轴，另一端设置有所述卡装机构。
  4. 根据权利要求3所述的取箱设备，所述驱动机构包括驱动电机，以及与所述驱动电机连接的齿轮箱，且所述齿轮箱具有两个同步的输出轴，所述两个输出轴与所述两个转轴一一对应连接。
  5. 根据权利要求2～4任一项所述的取箱设备，所述卡装机构包括与所述提升带固定连接的提升板，与所述提升板转动连接并可锁定在设定位置的卡板；还包括驱动所述卡板转动所述设定位置的驱动组件；其中，
    在所述卡板转动到第一位置时，所述卡板的一端外凸于所述提升板外，并可卡装到所述货箱。
  6. 根据权利要求5所述的取箱设备，所述驱动组件包括设置在所述提升板上的电磁铁，且所述电磁铁通电时，可吸附所述卡板。
  7. 根据权利要求6所述的取箱设备，所述卡板为铁质卡板或所述卡板内设置有可与所述电磁铁吸附的磁铁。
  8. 根据权利要求5～7任一项所述的取箱设备，所述卡装机构还包括扭簧，所述扭簧一端与所述提升板抵压接触，另一端与所述卡板抵压接触；且在所述扭簧的弹性力作用下，推动所述卡板转动到所述第一位置。
  9. 根据权利要求1～8任一项所述的取箱设备，所述存箱机构包括与所述本体固定连接的支架，以及与所述支架滑动连接的伸缩叉。
  10. 根据权利要求1～9任一项所述的取箱设备，所述本体上设置有四向穿梭车，所述本体通过所述四向穿梭车可在所述竖直货架上移动。
  11. 一种提取货箱的方法，采用如权利要求1～10任一项所述的取箱设备；所述方法包括：
    目标的货箱位于所述竖直货井中的第N层；所述N大于或等于2；
    通过所述提升装置将所述竖直井架内所述目标货箱及所述目标货箱上的其他货箱同步提升到所述竖直井架外；
    将所述存箱机构伸出到所述提升装置下方；
    将所述提升装置下放所述目标货箱及所述其他货箱，直至所述存箱机构支撑所述目标货箱；
    通过所述提升装置提升所述其他货箱；
    通过所述存箱机构将所述目标货箱回收到所述容纳舱；
    通过所述存箱机构将所述其他货箱重新放入到所述竖直货井。
  12. 一种取箱方法，所述方法由取箱设备执行，所述方法应用在三维网格结构的密集存储式仓库中，所述密集存储式仓库包括竖直的多个货井以及设置在所述多个货井的顶部的轨道，所述货井内沿竖直方向堆叠有多个货箱，所述取箱设备运行在所述轨道上，所述取箱设备内部设置有容纳一个货箱的空间，所述取箱设备侧方设置有一开口，供所述货箱进入所述取箱设备中；其中：
    移动至指定位置，所述指定位置与所述目标货箱所在的货井相邻；
    如果目标货箱的上方存在一个或多个其他货箱，从所述货井中提起出多个货箱并承托所述多个货箱，其中，取出的多个货箱中最下方的货箱为所述目标货箱；
    将所述目标货箱上方的其他货箱提起以使所述目标货箱与其上方的其他货箱分离，并从所述取箱设备侧方的开口将所述目标货箱收入所述取箱设备中；
    将提起的所述其他货箱重新放回所述货井中。
  13. 根据权利要求12所述的方法，所述方法还包括：
    如果目标货箱的上方不存在其它货箱，提起出所述目标货箱，并从所述取箱设备侧方的开口，将所述目标货箱收入所述取箱设备中。
  14. 根据权利要求12所述的方法，从所述货井中提起出多个货箱，包括：
    确定所述目标货箱在所述货井中的存储位；
    根据所述存储位，在所述货井中与所述目标货箱对接；
    提升所述目标货箱，使所述目标货箱一并带出自身上方堆叠的其它货箱，直至所述目标货箱到达所述取箱设备侧方的开口为止。
  15. 根据权利要求12所述的方法，将所述目标货箱上方的其他货箱提起以使所述目标货箱与其上方的其他货箱分离，包括：
    与所述目标货箱上方相邻的一个货箱对接；
    将所述对接的货箱提起，以使所述对接的货箱上方的其它货箱也一并提起。
  16. 一种取箱设备，所述取箱设备应用在三维网格结构的密集存储式仓库中，所述密集存储式仓库包括竖直的多个货井以及设置在所述多个货井的顶部的轨道，所述货井内沿竖直方向堆叠有多个货箱，所述取箱设备运行在所述轨道上；所述取箱设备包括：第一移动机构、提升装置、第一 存箱机构以及侧方具有开口的容纳舱，所述容纳舱用于容纳一个货箱；
    所述第一移动机构，用于根据目标货箱所在的货井的位置，移动至所述货井的位置对应的指定位置，使提升装置位于所述目标货箱所在的货井的位置；
    所述提升装置，用于从所述目标货箱所在的货井中提起出所述目标货箱，或，同时提起出包含所述目标货箱的多个货箱，其中，提起出的货箱中最下方的货箱为所述目标货箱，并将所述目标货箱上方的其它货箱提起以使所述目标货箱与其上方的其它货箱分离，并在第一存箱机构将所述目标货箱收入所述容纳舱后，将所述目标货箱上方的其它货箱重新放回所述货井中；
    所述第一存箱机构，用于从所述提升装置提起出的货箱中，将所述目标货箱取出，并从所述容纳舱侧方的开口，将所述目标货箱收入所述容纳舱中。
  17. 根据权利要求16所述的取箱设备，所述提升装置包括：第一固定挡板、第一对接组件以及第一伸缩组件，所述第一固定挡板和所述第一对接组件通过所述第一伸缩组件连接。
  18. 根据权利要求17所述的取箱设备，如果所述目标货箱上方堆叠有至少一个其他货箱；其中，
    所述第一伸缩组件，用于调整伸缩长度，使所述第一对接组件到达所述目标货箱所在的存储位；
    所述第一对接组件，用于当到达所述目标货箱所在的存储位时，与所述目标货箱对接；
    所述第一伸缩组件，还用于当所述第一对接组件与所述目标货箱对接时，调整伸缩长度，将所述目标货箱以及所述至少一个其他货箱从所述目标货箱所在的货井中拉出，使所述目标货箱到达所述容纳舱侧方开口的位置。
  19. 根据权利要求18所述的取箱设备，所述第一存箱机构包括第一伸缩托板和第一拖拽组件，所述第一伸缩托板位于所述容纳舱底部；
    所述第一伸缩托板，用于在所述目标货箱到达所述容纳舱侧方开口的位置时，从所述容纳舱底部伸出以承托所述目标货箱以及所述目标货箱上方的其它货箱；
    所述第一对接组件，还用于在所述第一伸缩托板承接所述目标货箱以及所述目标货箱上方的其它货箱之后，停止与所述目标货箱对接，并重新与所述目标货箱上方相邻的一个货箱对接；
    所述第一伸缩组件，还用于在所述第一对接组件停止对接后，重新调整伸缩长度，使所述第一对接组件到达所述目标货箱上方相邻的一个货箱的存储位；
    所述第一拖拽组件，用于在所述第一对接组件与所述目标货箱上方相邻的一个货箱对接后，将所述目标货箱从所述第一伸缩托板上经过所述容纳舱侧方的开口拖拽到所述容纳舱中。
  20. 根据权利要求19所述的取箱设备，
    所述第一伸缩组件，还用于当所述目标货箱收入所述容纳舱时，调整伸缩长度，使所述第一对接组件到达所述目标货箱在所述货井中原位置；
    所述第一对接组件，还用于在到达所述原位置时，停止与所述目标货箱上方相邻的一个货箱对接，将所述目标货箱上方的其它货箱堆叠存放在所述货井中。
  21. 根据权利要求16所述的取箱设备，所述第一伸缩组件包括：第一伸缩机构、第二伸缩机构以及第一移动挡板，所述第一伸缩机构的两端连接所述第一移动挡板以及所述第一固定挡板，所述第二伸缩机构的两端连接所述第一移动挡板以及所述第一对接组件。
  22. 根据权利要求21所述的取箱设备，当所述目标货箱上方堆叠有至少一个其他货箱时；
    所述第二伸缩机构，用于根据所述货井中距离所述第一固定挡板最近的一个其他货箱的存储位，以及所述目标货箱的存储位，调整伸缩长度，使所述第一移动挡板到达所述最近的一个其他货箱时，所述第一对接组件达到所述目标货箱的存储位；
    所述第一伸缩机构，用于根据所述最近的一个其他货箱的存储位，调整伸缩长度，使所述第一移动挡板到达所述其他货箱；
    所述第一对接组件，用于当到达所述目标货箱时，与所述目标货箱对接；
    所述第一伸缩机构，还用于当所述第一对接组件与所述目标货箱对接时，调整伸缩长度，将位于所述第一移动挡板以及所述第一对接组件之间的至少一个货箱从所述货井中提起出。
  23. 根据权利要求22所述的取箱设备，所述第一移动挡板上还包括：第一触发机构；
    所述第一触发机构，用于当所述第一移动挡板到达所述货井中距离所述第一固定挡板最近的一个其他货箱时，向所述第一对接组件发送触发信号；
    所述第一对接组件，用于接收到所述触发信号时，与所述目标货箱对接。
  24. 根据权利要求22所述的取箱设备，所述第一存箱机构包括第一伸缩托板和第一拖拽组件，所述第一伸缩托板位于所述容纳舱底部；
    所述第一伸缩托板，用于当所述提升装置提起出所述目标货箱时，从所述容纳舱底部伸出以承托所述目标货箱以及所述目标货箱上方的其它货箱；
    所述第二伸缩机构，还用于当所述第一伸缩托板承托所述目标货箱时，根据所述最近的一个其他货箱的存储位，以及与所述目标货箱上方相邻的一个其他货箱的存储位，调整伸缩长度，使所述第一对接组件达到所述目 标货箱上方相邻的一个货箱；
    所述第一对接组件，还用于当到达所述目标货箱上方相邻的一个其他货箱时，与所述目标货箱上方相邻的一个其他货箱对接；
    所述第一拖拽组件，用于在所述第一对接组件与所述目标货箱上方相邻的一个其他货箱对接后，将所述目标货箱从所述第一伸缩托板上经过所述容纳舱侧方的开口拖拽到所述容纳舱中。
  25. 一种取箱方法，所述方法由取箱设备执行，所述方法应用在三维网格结构的密集存储式仓库中，所述密集存储式仓库包括竖直的多个货井以及设置在所述多个货井的顶部的轨道，所述货井内沿竖直方向堆叠有多个货箱，所述取箱设备运行在所述轨道上，所述取箱设备内部设置有容纳多个货箱的空间，所述取箱设备侧方设置有一开口，供所述货箱进入所述取箱设备中；其中：
    移动至一个指定位置，所述指定位置与需要搬运的多个目标货箱中的至少部分目标货箱所在的目标货井相邻，所述多个目标货箱所占空间的容量不超过所述取箱设备内部设置的容纳多个货箱的空间的容量；
    从所述目标货井中提起出来多个货箱并承托所述多个货箱，其中，取出的多个货箱中包含一个或多个目标货箱；
    针对所述一个或多个目标货箱中的每个目标货箱，重复执行以下动作直到所述一个或多个目标货箱全部收入到所述取箱设备中为止：将该目标货箱上方的货箱提起以使该目标货箱与其上方的货箱分离，并从所述取箱设备侧方的开口将该目标货箱收入到所述取箱设备中，将该目标货箱上方的货箱落下；
    将剩余的其他货箱重新放回所述目标货井中。
  26. 根据权利要求25所述的方法，所述方法还包括：
    如果从所述目标货井中取出的多个货箱只包含有所述多个目标货箱， 将所述多个目标货箱依次收入到所述取箱设备中。
  27. 根据权利要求25所述的方法，所述取出的多个货箱中最下方的货箱为所述一个或多个目标货箱中的一个目标货箱。
  28. 根据权利要求25所述的方法，将从目标货井中取出多个货箱，包括：
    确定位于所述目标货井中里侧的一个货箱的存储位，其中，在该货箱上方堆叠有一个或多个货箱；
    根据所述存储位，在所述目标货井中与位于所述目标货井中的该货箱对接；
    提起位于所述目标货井中的该货箱，使位于所述目标货井中该货箱一并带出自身上方堆叠的货箱一起被提起出所述目标货井。
  29. 根据权利要求25所述的方法，将该目标货箱上方的货箱提起以使该目标货箱与其上方的货箱分离，包括：
    与该目标货箱上方相邻的货箱对接；
    将所述对接的货箱提起，以使所述对接的货箱上方的货箱也一并被提升。
  30. 根据权利要求25所述的方法，所述方法还包括：
    移动到下一指定位置，所述下一指定位置与需要搬运的多个目标货箱中的至少部分目标货箱所在的目标货井相邻；
    从所述下一指定位置相邻的目标货井中提取出来多个货箱并承托所述多个货箱，其中，取出的多个货箱中包含一个或多个目标货箱；
    针对所述一个或多个目标货箱中的每个目标货箱，重复执行以下动作直到所述一个或多个目标货箱全部收入到所述取箱设备中为止：将该目标货箱上方的货箱提起以使该目标货箱与其上方的货箱分离，并从所述取箱设备侧方的开口将该目标货箱收入到所述取箱设备中，将该目标货箱上方的货箱落下；
    将剩余的其他货箱重新放回所述下一指定位置相邻的目标货井中。
  31. 一种取箱方法，所述方法由取箱设备执行，所述方法应用在三维网格结构的密集存储式仓库中，所述密集存储式仓库包括水平的多个货井以及设置在所述多个货井的一端的轨道，所述货井内沿水平方向堆叠有多个货箱，所述取箱设备运行在所述轨道上，所述取箱设备内部设置有容纳多个货箱的空间，所述取箱设备侧方设置有一开口，供所述货箱进入所述取箱设备中；其中：
    移动至一个指定位置，所述指定位置与需要搬运的多个目标货箱中的至少部分目标货箱所在的目标货井相邻，所述多个目标货箱所占空间的容量不超过所述取箱设备内部设置的容纳多个货箱的空间的容量；
    从所述目标货井中提取出来多个货箱并承托所述多个货箱，其中，取出的多个货箱中包含一个或多个目标货箱；
    针对所述一个或多个目标货箱中的每个目标货箱，重复执行以下动作直到所述一个或多个目标货箱全部收入到所述取箱设备中为止：将该目标货箱前方的货箱与该目标货箱分离，并从所述取箱设备侧方的开口将该目标货箱收入到所述取箱设备中；
    将剩余的其他货箱重新放回所述目标货井中。
  32. 一种取箱设备，所述取箱设备应用在三维网格结构的密集存储式仓库中，所述密集存储式仓库包括竖直的多个货井以及设置在所述多个货井顶部的轨道，所述货井内沿竖直方向堆叠有多个货箱，所述取箱设备运行在所述轨道上；所述取箱设备包括：第二移动机构、提升装置、第二存箱机构以及侧方具有开口的多个容纳舱，每个容纳舱用于容纳一个货箱；
    所述第二移动机构，用于根据需要搬运的多个目标货箱中的至少部分目标货箱所在的目标货井的位置，移动至所述目标货井的位置对应的指定位置，使提升装置位于所述目标货井的位置，所述指定位置与所述目标货井相邻；
    所述提升装置，用于从所述目标货井中提起出来多个货箱，其中，取出的多个货箱中包含一个或多个目标货箱；以及，针对所述一个或多个目标货箱中的每个目标货箱，将该目标货箱上方的货箱提起以使该目标货箱与其上方的货箱分离，并在第二存箱机构将该目标货箱收入一个容纳舱后，将该目标货箱上方的货箱落下；以及，在所述一个或多个目标货箱全部收入到所述取箱设备中后，将剩余的其他货箱重新放回所述目标货井中；
    所述第二存箱机构，用于针对所述一个或多个目标货箱中的每个目标货箱，在提升装置将该目标货箱上方的货箱提起以使该目标货箱与其上方的货箱分离后，从一个容纳舱侧方的开口将该目标货箱收入到所述容纳舱中。
  33. 根据权利要求32所述的取箱设备，所述提升装置包括：第二固定挡板、第二对接组件以及第二伸缩组件，所述第二固定挡板和所述第二对接组件通过所述第二伸缩组件连接。
  34. 根据权利要求33所述的取箱设备，
    所述第二伸缩组件，用于调整伸缩长度，使所述第二对接组件到达位于所述目标货井中里侧的一个货箱所在的存储位，其中，在该货箱上方堆叠有一个或多个货箱；
    所述第二对接组件，用于当到达所述存储位时，与位于所述目标货井中的该货箱对接；
    所述第二伸缩组件，还用于当所述第二对接组件与位于所述目标货井中的该货箱对接时，调整伸缩长度，并将位于所述目标货井中的该货箱及其上方堆叠的货箱从所述目标货井中提起出来。
  35. 根据权利要求34所述的取箱设备，所述第二存箱机构包括第二伸缩托板和第二拖拽组件，所述第二伸缩托板位于每个容纳舱底部；
    所述第二伸缩托板，用于针对所述一个或多个目标货箱中的每个目标货箱，在该目标货箱到达该目标货箱对应的容纳舱侧方开口的位置时，从 该目标货箱对应的容纳舱底部伸出以承托该目标货箱以及该目标货箱上方的货箱；
    所述第二对接组件，还用于在所述第二伸缩托板承托该目标货箱以及该目标货箱上方的货箱之后，停止与该目标货箱对接，并与该目标货箱上方相邻的货箱对接；
    所述第二伸缩组件，还用于在所述第二对接组件停止对接后，重新调整伸缩长度，使所述第二对接组件到达该目标货箱上方相邻的货箱的位置；
    所述第二拖拽组件，用于在所述第二对接组件与该目标货箱上方相邻的货箱对接后，将该目标货箱从所述第二伸缩托板上经过该目标货箱对应的容纳舱侧方的开口拖拽至该目标货箱对应的容纳舱中。
  36. 根据权利要求35所述的取箱设备，
    所述第二伸缩组件，还用于当所述一个或多个目标货箱全部收入到所述取箱设备中，根据调整的伸缩长度，使所述第二对接组件到达位于提起出来的剩余的其他货箱中最下方的货箱在所述目标货井中的原位置；
    所述第二对接组件，还用于在到达所述原位置时，停止与位于所述剩余的其他货箱中最下方的货箱对接，以将所述剩余的其他货箱堆叠存放在所述目标货井中。
  37. 根据权利要求32所述的取箱设备，所述第二伸缩组件包括：第三伸缩机构、第四伸缩机构以及第二移动挡板，所述第三伸缩机构的两端连接所述第二移动挡板以及所述第二固定挡板，所述第四伸缩机构的两端连接所述第二移动挡板以及所述第二对接组件。
  38. 根据权利要求37所述的取箱设备，
    所述第四伸缩机构，用于根据所述目标货井中距离所述第二固定挡板最近的货箱的存储位，以及所述目标货井中距离所述第二固定挡板最远的目标货井的存储位，调整伸缩长度，使所述第二移动挡板到达距离所述第二固定挡板最近的货箱时，所述第二对接组件到达需要对接的货箱的存储 位，所述第二对接组件需要对接的货箱与所述第二固定挡板之间的距离，不小于距离所述第二固定挡板最远的目标货箱与所述第二固定挡板之间的距离；
    所述第三伸缩机构，用于根据距离所述第二固定挡板最近的货箱的存储位，调整伸缩长度，使所述第二移动挡板到达距离所述第二固定挡板最近的货箱；
    所述第二对接组件，用于当到达所述需要对接的货箱时，与所述需要对接的货箱对接；
    所述第三伸缩机构，还用于当所述第二对接组件与所述需要对接的货箱对接时，调整伸缩长度，将位于所述第二移动挡板以及所述第二对接组件之间的多个货箱从所述目标货井中取出。
  39. 根据权利要求38所述的取箱设备，所述第二移动挡板上还包括：第二触发机构；
    所述第二触发机构，用于当所述第二移动挡板到达所述目标货井中距离所述第二固定挡板最近的货箱时，向所述第二对接组件发送触发信号；
    所述第二对接组件，用于接收到所述触发信号时，与所述需要对接的货箱对接。
  40. 根据权利要求38所述的取箱设备，所述第二存箱机构包括第二伸缩托板和第二拖拽组件，所述第二伸缩托板位于每个容纳舱底部；
    所述第二伸缩托板，用于针对所述一个或多个目标货箱中的每个目标货箱，从该目标货箱对应的容纳舱底部伸出以承托该目标货箱以及该目标货箱上方的货箱；
    所述第四伸缩机构，还用于当所述第二伸缩托板承托该目标货箱时，根据距离所述第二固定挡板最近的货箱的存储位，以及与该目标货箱上方相邻的货箱的存储位，调整伸缩长度，使所述第二对接组件到达该目标货箱上方相邻的货箱；
    所述第二对接组件，还用于当到达该目标货箱上方相邻的货箱时，与该目标货箱上方相邻的货箱对接；
    所述第二拖拽组件，用于在所述第二对接组件与该目标货箱上方相邻的货箱对接后，将该目标货箱从所述第二伸缩托板上经过该目标货箱对应的容纳舱侧方的开口拖拽到该目标货箱对应的容纳舱中。
  41. 根据权利要求32所述的取箱设备，
    所述第二移动机构，还用于如果已将所述一个或多个目标货箱全部收入到所述取箱设备中，则移动到下一指定位置，所述下一指定位置与需要搬运的多个目标货箱中的至少部分目标货箱所在的目标货井相邻；
    所述提升装置，还用于从所述下一指定位置相邻的目标货井中提取出来多个货箱并承托所述多个货箱，其中，取出的多个目标货箱中包含一个或多个目标货箱；针对所述一个或多个目标货箱中的每个目标货箱，将该目标货箱上方的货箱提起以使该目标货箱与其上方的货箱分离，并在第二存箱机构将该目标货箱收入一个容纳舱后，将该目标货箱上方的货箱落下；以及，在所述一个或多个目标货箱全部收入到所述取箱设备中后，将剩余的其他货箱重新放回所述目标货井中；
    所述第二存箱机构，还用于针对所述一个或多个目标货箱中的每个目标货箱，在提升装置将该目标货箱上方的货箱提起以使该目标货箱与其上方的货箱分离后，从一个容纳舱侧方的开口将该目标货箱收入到所述容纳舱中。
  42. 一种取箱设备，所述取箱设备应用在三维网格结构的密集存储式仓库中，所述密集存储式仓库包括水平的多个货井以及设置在所述多个货井一端的轨道，所述货井内沿水平方向堆叠有多个货箱，所述取箱设备运行在所述轨道上；所述取箱设备包括：第二移动机构、提升装置、第二存箱机构以及侧方具有开口的多个容纳舱，每个容纳舱用于容纳一个货箱；
    所述第二移动机构，用于根据需要搬运的多个目标货箱中的至少部分 目标货箱所在的目标货井的位置，移动至所述目标货井的位置对应的指定位置，使提升装置位于所述目标货井的位置，所述指定位置与所述目标货井相邻；
    所述提升装置，用于从所述目标货井中提起出来多个货箱，其中，取出的多个货箱中包含的一个或多个货箱；以及，针对所述一个或多个目标货箱中的每个目标货箱，按照将货箱从所述目标存储住中取出的方向，将该目标货箱与该目标货箱前方的货箱分离，并在所述一个或多个目标货箱全部收入到所述取箱设备中后，将剩余的其他货箱重新放回所述目标货井中；
    所述第二存箱机构，用于针对所述一个或多个目标货箱中的每个目标货箱，在提升装置将该目标货箱前方的货箱与该目标货箱分离后，从一个容纳舱侧方的开口将该目标货箱收入到所述容纳舱中。
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