Patent Description:
During handling of the robots in the related logistics filed, initial AGV robots handle shelves. With the development of the technologies, most manufactures start to handle work bins, paper boxes or other goods storage apparatus.

<CIT> relates to a warehousing system. The warehousing system has a main housing frame that has a pair of columns in which there are a number of compartments on either side of a central duct. Located in the duct is a vertically movable handling device. This can index to access either of the storage columns by swinging through <NUM> degrees. The handling unit has an extension slide locate components for storage and has an actuator system.

<CIT>, which comprises the features mentioned in the preamble of claim <NUM>, relates to an apparatus for moving an object along a longitudinal direction at least between a first position and a second position, comprising a base, an arm, which is arranged on the base, a driver, which can be moved along the longitudinal direction by the arm, wherein the driver can be pivoted relative to the arm and transferred by a pivoting movement between an engagement position and a release position, and a first drive for transferring the driver, wherein the first drive is operatively connected to the driver via a coupling mechanism, wherein the coupling mechanism has at least two shafts which are provided with teeth and can be displaced relative to one another along the longitudinal direction, wherein the shafts engage with one another via the teeth, and therefore a rotary movement of the first drive is coupled to the pivoting movement of the driver.

In view of this, the present invention provides a container retrieval apparatus and a robot, to improve handling effect.

The present invention provides a container retrieval apparatus according to claim <NUM>.

By using the at least three arms to retrieve a container, goods can be retrieved from a deeper warehouse.

The arrangement of the selection mechanism can realize that three arms or two section arms are selectively extended, to realize goods retrieval from the warehouse of different depths.

In a specific implementable solution, the first section arm is provided with a first limit rib configured to limit oscillation of the first timing belt in a horizontal direction; the middle arm is provided with a second limit rib configured to limit oscillation of the first timing belt in the horizontal direction, and a third limit rib configured to limit oscillation of the second timing belt in the horizontal direction; and the tail section arm is provided with a fourth limit rib configured to limit oscillation of the second timing belt in the horizontal direction. The arrangement of limit ribs can improve stability of the timing belts when movement.

In a specific implementable solution, the first limit rib and the second limit rib are arranged oppositely, and the first limit rib and the second limit rib define a gap therebetween for accommodating the first timing belt; and the third limit rib and the fourth limit rib are arranged oppositely, and the third limit rib and the fourth limit rib define a gap therebetween for accommodating the second timing belt. The arrangement of limit ribs can improve stability of the timing belts when movement.

In a specific implementable solution, the second limit rib is provided with two guide protrusions configured to limit oscillation of the first timing belt in a vertical direction; the fourth limit rib is provided with two guide protrusions configured to limit oscillation of the second timing belt in the vertical direction. The arrangement of limit ribs can improve stability of the timing belts when movement.

In a specific implementable solution, in a second direction, an arrangement position of the first timing belt is lower than an arrangement position of the second timing belt; and the second direction is perpendicular to the first direction. Movement space is left for the cable.

In a specific implementable solution, heights of the three arms of each extendable arm in the second direction satisfy: H2≤H1<H3, in which H1 is a height of the first section arm in the second direction, H2 is a height of the middle arm in the second direction, and H3 is a height of the tail section arm in the second direction. Movement space is left for the cable.

In a specific implementable solution, the body is provided with a power supply device; the shifting finger structure includes a steering engine fixed to the tail end of the tail section arm, a shifting finger connected to the steering engine, and a cable connected to the steering engine, the cable being connected to the power supply apparatus. The shifting finger structure is driven by the steering engine, reducing mechanical abrasion.

In a specific implementable solution, the cable includes a first cable and a second cable, the first cable and the second cable are each a tank chain cable; the at least three arms are three arms, and a middle arm of the three arms is provided with an adapter module; the first cable has a first end fixed to a side wall of the body, and the first cable has a second end connected to the adapter module; the second cable has a first end connected to the adapter module, and the second cable has a second end connected to the steering engine and the sensor assembly. Arrangement of the cable is facilitated.

In a specific implementable solution, in each extendable arm, the first cable and the second cable are misaligned in a third direction; and the third direction is perpendicular to the first direction and the second direction. Arrangement of the cable is facilitated.

In a specific implementable solution, the tail section arm is provided with a sensor assembly configured to detect the container to be handled; the sensor assembly is connected to the control device through the cable; and the control device is further configured to control the shifting finger structure to rotate to a position where the container to be handled can be shifted, when the sensor assembly detects the container to be handled. Thus, accuracy of handling is improved.

In a specific implementable solution, the sensor assembly includes through-beam sensors arranged at two tail section arms of two opposite extendable arms, and forward detectors arranged at tail section arms of the two extendable arms. Accuracy when retrieving the goods is improved.

In a specific implementable solution, a robot including a container retrieval apparatus according to any of the above-described implementations is provided.

In order to clearly explain technical solutions of embodiments of the present invention, the accompanying drawings used in the embodiments are briefly introduced below, the accompanying drawings herein are incorporated into the specification and constitute a part of the specification. Theses accompanying drawings illustrate embodiments conform to the present invention and are used to explain the technical solutions of the present invention together with the specification.

In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described below with reference to the accompanying drawings. It is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without paying creative efforts, fall into the protection scope of the present invention.

Existing telescopic forks for retrieving containers and paper boxes most have a mode of first stage being fixed, and second stage being telescopic. However, with changes in arrangement way of the shelves, the handling apparatus in the related art cannot retrieve containers at an inner side and an outer side of the shelf, and cannot meet handling requirements.

For convenience of understanding a container retrieval apparatus provided by embodiments of the present invention, the container retrieval apparatus provided by embodiments of the present invention will be illustrated in detail below in combination with <FIG> and <FIG>. As illustrated in <FIG> and <FIG>, the container retrieval apparatus provided by embodiments of the present invention is used to handle containers in a stockroom. In a stockroom, containers are stored on shelves <NUM>, and the shelves <NUM> need to be adaptively placed according to the environment of the stockroom. As illustrated in <FIG>, the shelves <NUM> are arranged in two rows, and a goods retrieval passage is provided between the two rows of shelves <NUM>. However, with the increasing demand for the utilization of stockroom area, as illustrated in <FIG>, the shelves <NUM> in the related art are arranged in four rows, and the goods retrieval passage is provided between the four rows of shelves <NUM>. In order to adapt to the way of retrieving goods in a stockroom with arrangement of shelves <NUM> in four rows, embodiments of the present invention provide a container retrieval apparatus, which is illustrated in detail below in combination with specific drawings.

First, the container is explained, the container in the present invention refers to a box for containing finished or semi-finished products, including but not being limited to a plastic box, a paper box, a wood box, or other common containers.

Reference is also made to <FIG> and <FIG>. <FIG> and <FIG> illustrate structural schematic view of the container retrieval apparatus provided by embodiments of the present invention in different states.

Reference is first made to <FIG> illustrates a structural schematic view when an extendable arm <NUM> of the container retrieval apparatus is not extended. For convenience of understanding the container retrieval apparatus provided by embodiments of the present invention, a XYZ three-dimensional coordinate system is established with reference to a placement direction of the shelves, in which the Z direction is a vertical direction, the X direction and Y direction are horizontal directions, the X direction points a direction in which goods retrieval is available on the shelf, and the Y direction is perpendicular to the X direction. For consistence with description of a first direction, a second direction and a third direction hereinafter, the following first direction refers to the X direction, the second direction refers to the Z direction, and the third direction refers to the Y direction.

Continuing to refer to <FIG>, a major structure of the container retrieval apparatus at least includes a body <NUM> and an extendable device. First, the body <NUM> is explained, the body <NUM> in <FIG> has a cuboid structure, and its interior is provided with a corresponding cuboid warehouse <NUM>. The warehouse <NUM> has a goods inlet <NUM>, and this goods inlet <NUM> may also serve as a goods outlet. The container can enter the warehouse <NUM> from the goods inlet <NUM> and also can be removed from the warehouse <NUM> from the goods inlet <NUM>. In combination with a structure in <FIG>, the body <NUM> includes a cuboid structure enclosed by three side walls and a bottom wall, a side without providing a side wall serves as the goods inlet <NUM> of the warehouse <NUM>, and an opening direction of the goods inlet <NUM> is oriented in the X direction, such that goods retrievable from the shelf can enter the warehouse <NUM> of the body <NUM> from the goods inlet <NUM>. It should be understood that the body <NUM> illustrated in <FIG> has a cuboid shape, which is merely one specific example of the body <NUM> in the present invention. The body <NUM> provided by embodiments of the present invention may further employ other shapes, such as a cylinder, an elliptical column shape, a multi-sided body shape, or other shapes. The shape of the warehouse <NUM> may also employ other shapes, such as an elliptical shape, a multi-sided body shape, which only needs to match the container.

Continuing to refer to <FIG>, the extendable device provided by embodiments of the present invention includes extendable arms arranged at two opposite sides of the goods inlet <NUM>. With reference to a structure illustrated in <FIG>, two extendable arms <NUM> are symmetrically arranged at two sides of the goods inlet <NUM>, and each extendable arm <NUM> is connected to one side wall of the body <NUM>. A space between the two extendable arms <NUM> is a space where a container to be handled is located. By the two extendable arms <NUM>, the container to be handled can be limited in the space, and the container to be handled can be pulled into the warehouse <NUM> when the extendable arms <NUM> retract. For convenience of understanding a structure of the extendable arm <NUM>, explanation is made correspondingly with reference to <FIG> below.

<FIG> illustrates a state of the extendable arms <NUM> when the container retrieval apparatus is retrieving goods. The two extendable arms <NUM> have the same structure, and therefore, one of the extendable arms <NUM> is taken as an example for explanation. The extendable arm <NUM> includes at least three arms that are slidable relatively, and the extendable arm <NUM> including three arms is taken as an example for explanation below. With reference to <FIG> and <FIG>, the three arms include: a first section arm <NUM>, a middle arm <NUM> and a tail section arm <NUM>. The first section arm <NUM>, the middle arm <NUM> and the tail section arm <NUM> are arranged in a direction along the side wall of the body <NUM> to which the first section arm <NUM> is slidably connected and pointing to an interior of the warehouse <NUM>. The first section arm <NUM> is slidably connected to the body <NUM>, the middle arm <NUM> is slidably connected to the first section arm <NUM>, the tail section arm <NUM> is slidably connected to the middle arm <NUM>, and sliding directions of the three arms are sliding along the first direction (the X direction). That is, the three arms can slide along a goods retrieval direction, to realize extension and retraction of the extendable arm <NUM> along the goods retrieval direction. With reference to <FIG>, when the three arms are retracted, the three arms are overlapped and located in the warehouse <NUM>; with reference to <FIG>, when the three arms are extended, the three arms extend along the first direction, and the three arms extend to an outside of the warehouse <NUM>.

Continuing to refer to <FIG>, a tail end of the tail section arm <NUM> away from the body <NUM> is provided with a shifting finger structure <NUM>, and the shifting finger structure <NUM> is used to shift the container to be handled. As one specific example, the shifting finger structure <NUM> includes a steering engine <NUM> fixed to the tail end of the tail section arm <NUM>, and a shifting finger <NUM> connected to the steering engine <NUM>. With reference to <FIG>, the steering engine <NUM> is fixed to the tail end of the tail section arm <NUM>, the shifting finger <NUM> is connected to the steering engine <NUM>, and the shifting finger <NUM> can be driven to rotate by the steering engine <NUM>. The shifting finger <NUM> has two positions: an operation position and an avoidance position. When the shifting finger <NUM> operates, the steering engine <NUM> drives the shifting finger <NUM> to rotate to a horizontal position, and a length direction of the shifting finger <NUM> is along the Y direction. The shifting fingers <NUM> of the two extendable arms <NUM> are arranged oppositely, and extend into the space defined by the two extendable arms <NUM>, such that the container to be handled can be pulled when the extendable arms <NUM> are retracted. When the extendable arm <NUM> are inserted into the shelf, the shifting fingers <NUM> do not need to operate, and in this case the shifting fingers <NUM> are in the avoidance position. The shifting fingers <NUM> under the driving of the steering engine <NUM> are rotated until their length directions are along the Z direction, to avoid blocking the container to be handled from entering the space between the extendable arms <NUM> when the extendable arms <NUM> are inserted into the shelf. When the steering engine <NUM> is employed to drive the shifting finger <NUM>, mechanical structure abrasion in the related art does not exist, to improve operational reliability of the shifting finger structure <NUM>, compared to a situation in the related art where a mechanical structure is employed to drive the shifting finger <NUM>. Certainly, the shifting finger structure provided by embodiments of the present invention may also employ other structures that can shift the container to be handled.

When the steering engine <NUM> is in use, the steering engine <NUM> is powered through a cable, and the cable is connected to a power supply apparatus. The power supply apparatus may be an accumulator or other power source available, and the power supply apparatus is arranged in the body <NUM>. As illustrated in <FIG>, the cable includes a first cable <NUM> and a second cable <NUM>. The first cable <NUM> and the second cable <NUM> are tank chain cables. The middle arm <NUM> is provided with an adapter module <NUM>, a first end of the first cable <NUM> is fixed to the side wall of the body <NUM>, and connected to the power supply apparatus; and a second end of the first cable <NUM> is connected to the adapter module <NUM>. A first end of the second cable <NUM> is connected to the adapter module <NUM>, and a second end of the second cable <NUM> is connected with the steering engine <NUM>. The adapter module <NUM> may achieve electrical connection of the first cable <NUM> and the second cable <NUM>. When the above-described structure is employed, the second cable <NUM> can be extended and retracted with extension and retraction of the tail section arm <NUM>, and the second cable <NUM> can be extended and retracted with extension and retraction of the first section arm <NUM> and the middle arm <NUM>. When two section cables are employed, it is not only ensured that the cable moves following the extension and retraction of the three arms, but also ensured that the connection of the cable with the power supply apparatus and the steering engine <NUM> is reliable. In a specific implementable solution, in each extendable arm <NUM>, the first cable <NUM> and the second cable <NUM> are misaligned in a third direction; in which the third direction is perpendicular to the first direction and the second direction. As illustrated in <FIG>, when the first cable <NUM> and the second cable <NUM> employ the misaligned arrangement, the first cable <NUM> and the second cable <NUM> will not interfere with each other during the extension and the retraction, ensuring that movement spaces for two cables can be realized within limited space, and ensuring that the connection of the cable with the power supply apparatus and the steering engine <NUM> is reliable when the extendable arms <NUM> are extended or retracted.

As one optional implementation, when the shifting finger structure <NUM> provided by embodiments of the present invention is powered by employing the cable, a sensor assembly <NUM> may be arranged at the tail end of the tail section arm <NUM> away from the body <NUM> for detecting the container, and the sensor assembly <NUM> may be connected to the control device of the container retrieval apparatus through the cable. When two-stage cable is employed, the second cable <NUM> is not only connected to the steering engine <NUM> but also connected to the sensor assembly <NUM>, to send a signal of the sensor assembly <NUM> to the control device. The control device can be used to control the steering engine <NUM> to drive the shifting finger <NUM> to rotate to a position where the container to be handled can be shifted when the sensor assembly <NUM> detects the container to be handled. Thus, accuracy during handling the container is improved. When the sensor assembly <NUM> is provided, the sensor assembly <NUM> may contain different sensors. For example, the sensor assembly <NUM> includes through-beam sensors <NUM> arranged at two tail section arms <NUM> of the two opposite extendable arms <NUM>, and forward detectors <NUM> arranged at the tail section arms <NUM> of the two extendable arms <NUM>. Accuracy when retrieving the goods is improved. When in use, a situation in an extendable direction of the extendable arms <NUM> can be detected by the forward detectors <NUM>, to ensure that the extendable arms <NUM> are located two sides of the container to be handled during the extension and the retraction, thereby ensuring accuracy when the extendable arms <NUM> are extended or retracted. In addition, it can be determined whether the positions of the shifting fingers <NUM> are in place, and whether the container to be handled is stuck when the shifting fingers <NUM> are rotated, by the detection between the through-beam sensors <NUM>. After receiving the above-described signal, the control device can control the steering engine <NUM> of the shifting finger structure <NUM> to operate, to get the container to be handled stuck accurately. It can be seen from the above description that when the cable is employed, the extendable arm <NUM> provided by embodiments of the present invention may be provided with the sensor assembly <NUM>, to improve reliability of the whole container retrieval apparatus when in operation.

It should be understood that, the above-described control device may be a single chip computer, a PLC or an industrial control computer, and the above-described control device controls components to operate according to detected signal of the sensor assembly <NUM>, which is common functions of the control device, and thus the present invention does not further describe signal interaction situations between the sensor assembly <NUM> and the control device in detail.

In one optional implementing solution, when the container retrieval apparatus does not contain the sensor assembly, the control device is further configured to control the shifting finger structure to rotate to a position where the container to be handled can be shifted. In this case, the control device directly sends a control command to the shifting finger structure, and does not need data collected by the sensor assembly.

In one optional implementing solution, the control device may also control the extension and retraction of the extendable arm <NUM>. Specifically, the control device is connected to the driving device, and control the extension and retraction of the extendable arm <NUM> through the driving device.

As illustrated in <FIG>, when the extendable arm is in operation, its extension and retraction are controlled by the driving device. The driving device includes a driving assembly <NUM> configured to drive the first section arm <NUM> of each extendable arm to slide relative to the body <NUM>, and a linkage mechanism configured to drive linkage between adjacent arms of each extendable arm. The linkage mechanism can drive the linkage between the arms. For example, the linkage mechanism may employ different structures such as a timing belt, a transmission belt. As one specific example, the linkage mechanism employs a closed-loop timing belt.

A specific driving assembly <NUM> illustrated in <FIG> includes a driving motor (not indicated in the figures) arranged at the body <NUM>, and a transmission shaft (not indicated in the figures) connected to the driving motor through a belt (not indicated in the figures). The transmission shaft is used to synchronously drive two timing belts <NUM> arranged at the body <NUM>, and the two timing belts are used to respectively drive the first section arms <NUM> of the two extendable arms to slide relative to the body <NUM>. In addition, the driving device further includes a closed-loop timing belt for driving linkage between adjacent arms of each extendable arm. The closed-loop timing belt shown in <FIG> includes a first timing belt <NUM> and a second timing belt <NUM>. The first timing belt <NUM> is arranged at the first section arm <NUM>, and the first timing belt <NUM> is separately fixedly connected to the body <NUM> and the middle arm <NUM> and used to drive the middle arm <NUM> to slide relative to the body <NUM>. The second timing belt <NUM> is arranged at the middle arm <NUM>, and the second timing belt <NUM> is separately fixedly connected to the first section arm <NUM> and the tail section arm <NUM> and used to drive the tail section arm <NUM> to slide relative to the first section arm <NUM>. As illustrated in <FIG>, along the second direction (the Z direction), an arrangement position of the first timing belt <NUM> is lower than an arrangement position of the second timing belt <NUM>, and thus space is left for the above-described first cable and second cable, such that the first cable, the second cable and the two timing belts can be arranged along the second direction, the space of the extendable arm can be reasonably utilized, and the space occupied by the cables and the timing belts can be reduced.

Reference is also made to <FIG> illustrates a schematic view of fitting between the timing belts and the three arms. As one optional solution, the first section arm <NUM> is provided with a first limit rib for limiting oscillation of the first timing belt <NUM> in a horizontal direction; and the middle arm <NUM> is provided with a second limit rib <NUM> for limiting oscillation of the first section arm <NUM> in the horizontal direction. The first limit rib (not illustrated in <FIG> due to occlusion of the first timing belt <NUM>) is located in a space enclosed by the first timing belt <NUM> to support the first timing belt <NUM> from inside. The second limit rib <NUM> is arranged at a face of the middle arm <NUM> towards the first section arm <NUM>, the first limit rib and the second limit rib <NUM> are arranged oppositely, and a gap is defined between the first limit rib and the second limit rib <NUM> for accommodating the first timing belt <NUM>. The oscillation of the first timing belt <NUM> in the horizontal direction (the Y direction) is limited by cooperation of the first limit rib and the second limit rib <NUM>, ensuring reliability of transmission of the first timing belt <NUM>. Additionally, as one optional solution, the second limit rib <NUM> is provided with two guide protrusions for limiting oscillation of the first timing belt <NUM> in a vertical direction (the Z direction), and thus oscillation of the first timing belt <NUM> in the horizontal and vertical directions can be limited to improve reliability of the transmission of the first timing belt <NUM>.

Continuing to refer to <FIG>, as one optional solution, the middle arm <NUM> is provided with a third limit rib for limiting oscillation of the second timing belt <NUM> in the horizontal direction, and the tail section arm <NUM> is provided with a fourth limit rib <NUM> for limiting oscillation of the second timing belt <NUM> in the horizontal direction. The third limit rib (not illustrated in <FIG> due to occlusion of the second timing belt <NUM>) is located in a space enclosed by the second timing belt <NUM> to support the second timing belt <NUM> from inside. The fourth limit rib <NUM> is arranged at a face of the tail section arm <NUM> towards the middle arm <NUM>, the third limit rib and the fourth limit rib <NUM> are arranged oppositely, and a gap is defined between the third limit rib and the fourth limit rib <NUM> for accommodating the second timing belt <NUM>. The oscillation of the second timing belt <NUM> in the horizontal direction (the Y direction) is limited by cooperation of the third limit rib and the fourth limit rib <NUM>, ensuring reliability of transmission of the second timing belt <NUM>. Additionally, as one optional solution, the fourth limit rib <NUM> is provided with two guide protrusions for limiting oscillation of the second timing belt <NUM> in the vertical direction (the Z direction), and thus oscillation of the second timing belt <NUM> in the horizontal and vertical directions can be limited to improve reliability of the transmission of the second timing belt <NUM>.

As one optional solution, the first section arm <NUM> is provided with a fifth limit rib for limiting the second timing belt <NUM>, the fifth limit rib is arranged at a face of the first section arm <NUM> towards the middle arm <NUM>, and the fifth limit rib and the third limit rib together limit the oscillation of the second timing belt <NUM> in the horizontal direction.

Additionally, when the above-described limit ribs are employed, thickness of the arms in the horizontal direction (the Y direction) can increase by providing the limit ribs, to enhance structural strength of each arm and improve reliability of the extendable arms when in use.

As illustrated in <FIG>, a side view of the extendable arm is illustrated in <FIG>. As one optional solution, heights of the three arms of each extendable arm along the second direction satisfy: H2≤H1<H3, in which H1 is a height of the first section arm <NUM> in the second direction, H2 is a height of the middle arm <NUM> in the second direction, and H3 is a height of the tail section arm <NUM> in the second direction. Movement space is left for the cable. When the above-described structure is employed, arrangement positions of the first timing belt and the second timing belt are combined with arrangement positions of the first cable and the second cable. Variation in the heights of the three arms in the Z direction ensures that there is enough space on the tail section arm <NUM> for arranging structures, such as the above-described shifting finger structure, sensor assembly and second cable. Meanwhile, the tail section arm <NUM> employs a relatively high height, which improves stability of pulling the container to be handled. The middle arm <NUM> employs a relatively low height, such that there is enough space left under the middle arm <NUM> for arranging the adapter module and folding the first cable and the second cable. When the first section arm <NUM> employs the above-described height, the middle arm <NUM> and the tail end arm can be stably supported, and meanwhile a space is left for arranging structures such as the above-described first cable and first timing belt.

In order to improve universality of the container retrieval apparatus provided by embodiments of the present invention, and to adapt the arrangement way of the shelves illustrated in <FIG> and <FIG>, as one expanded example, the extendable arm provided by embodiments of the present invention is configured as an adjustable extendable arm. For example, the tail section arm may be provided with a selection mechanism, and the selection mechanism is used to selectively connect the tail section arm with the second timing belt and the middle arm. When the tail section arm and the middle arm are connected by the selection mechanism, the connection between the tail section arm and the second timing belt is released. In a specific implementable solution, the selection mechanism includes a first magnetic member arranged at the second timing belt, a second magnetic member arranged at the middle arm; and a first electromagnet and a second electromagnet arranged at the tail section arm. In which, the first electromagnet can attract the first magnetic member when energized, and the second electromagnet can attract the second magnetic member when energized. The first electromagnet and the second electromagnet may be connected to the control device through cables, and operational states of the first electromagnet and the second electromagnet are controlled by the control device. When the three section arms need to be extended, the control device controls the first electromagnet to attract the first magnetic member, and controls the second electromagnet to be deenergized. In this case, the second timing belt is fixedly connected to the tail section arm, locking between the tail section arm and the middle arm is released, and the tail section arm may slide relative to the middle arm. When the driving device is in operation, the second timing belt may drive the linkage of the first section arm and the tail section arm, and all the three arms may be extended. In this case, it can be applied to the arrangement way of the shelves illustrated in <FIG>, the container located inside the shelf <NUM> can be retrieved, as the container retrieval apparatus <NUM> illustrated in <FIG>. When two arms need to be extended, the control device controls the second electromagnet to attract the second magnetic member, and controls the first electromagnet to be deenergized. In this case, the tail section arm is fixed to the middle arm by the attraction effect of the second electromagnet and the second magnetic member. Meanwhile, fixed connection between the tail section arm and the second timing belt is released, and when the driving device drives the extendable arm, only the first section arm and the middle arm are extended, and the tail section arm does not extend out from the middle arm, to realize the effect that two arms are extended. It may be applied to the arrangement way of the shelf in <FIG>, and applied to retrieve container located on an outer side of shelf <NUM> in <FIG>, as the container retrieval apparatus <NUM> illustrated in <FIG>.

It can be seen from the above description that, the arrangement of the selection mechanism can realize selective fixed connection of the tail section arm with the second timing belt or the middle arm. Thus, different operation ways are selected depending on different operational environment, improving adaptation of the container retrieval apparatus.

In one optional implementing solution, the first magnetic member and the second magnetic member may be iron blocks embedded in the second timing belt and the middle arm, or other materials that can be attracted magnetically. Additionally, the arrangement positions of the first magnetic member and the second magnetic member may be set according to actual needs, and the arrangement positions of the corresponding first electromagnet and second electromagnet may be set according to actual situation, to ensure attractable connection between two corresponding ones, and meet above movement requirements after attraction.

It can be seen from the above description, the container retrieval apparatus provided by embodiments of the present invention can employ three arms to retrieve the container, and can realize goods retrieval from deeper warehouse. Additionally, the arrangement of the sensor assembly and the control device can realize accurate goods retrieval.

Claim 1:
A container retrieval apparatus, comprising:
a body (<NUM>) defining a warehouse (<NUM>) therein, the warehouse (<NUM>) having a goods inlet (<NUM>);
an extendable device comprising extendable arms (<NUM>) arranged on two opposite sides of the goods inlet (<NUM>); each extendable arm (<NUM>) comprising at least three arms capable of sliding relatively, the at least three arms being extendable in a first direction, the first direction being a goods inlet and outlet direction of the warehouse (<NUM>), wherein a first section arm (<NUM>) of the at least three arms is slidably connected to the body (<NUM>), a tail end of a tail section arm (<NUM>) away from the body (<NUM>) is provided with a shifting finger structure (<NUM>);
a control device configured to control the shifting finger structure (<NUM>) to rotate to a position where a container to be handled can be shifted; and
a driving device comprising a driving assembly (<NUM>) configured to drive the first section arm (<NUM>) of each extendable arm (<NUM>) to slide relative to the body (<NUM>), and a linkage mechanism configured to drive linkage between adjacent arms of each extendable arm (<NUM>),
characterized in that
the linkage mechanism is a closed-loop timing belt, the at least three arms are three arms, and the closed-loop timing belt comprises a first timing belt (<NUM>) and a second timing belt (<NUM>),
the first timing belt (<NUM>) is arranged at the first section arm (<NUM>), and the first timing belt (<NUM>) is fixedly connected to the body (<NUM>) and a middle arm (<NUM>) of the three arms separately, and configured to drive the middle arm (<NUM>) to slide relative to the body (<NUM>);
the second timing belt (<NUM>) is arranged at the middle arm (<NUM>), and the second timing belt (<NUM>) is fixedly connected to the first section arm (<NUM>) and the tail section arm (<NUM>) separately, and configured to drive the tail section arm (<NUM>) to slide relative to the first section arm (<NUM>); and
the tail section arm (<NUM>) is provided with a selection mechanism configured to selectively connect the tail section arm (<NUM>) with the second timing belt (<NUM>) and the middle arm (<NUM>); and fixed connection between the tail section arm (<NUM>) and the second timing belt (<NUM>) is released when the tail section arm (<NUM>) is fixedly connected to the middle arm (<NUM>) by the selection mechanism.