Pallets, picking and placing methods, electronic equipment, storage media and warehousing systems

Abstract

This application relates to the field of intelligent warehousing system technology, and discloses a pallet, a picking and placing method, electronic equipment, a storage medium, and a warehousing system. The pallet includes: a base plate and a plurality of finger plates extending from a first side of the base plate along a first direction. The plurality of finger plates are spaced apart along a second direction, with a gap between adjacent finger plates. Both the first and second directions are directions in a horizontal plane parallel to the base plate, and the first and second directions intersect. The base plate and the plurality of finger plates are used together to carry goods. This application reduces equipment costs and improves the operating efficiency of handling robots.

Description

Technical Field

[0001] This application relates to the field of intelligent warehousing system technology, specifically to a pallet, a picking and placing method, electronic equipment, storage medium, and warehousing system. Background Technology

[0002] A smart warehousing system is a system that utilizes advanced information technology and automated equipment to achieve efficient storage and handling of goods. It enables automated identification, picking, handling, and storage of goods. In a smart warehousing system, goods are typically placed on pallets, which are then placed on shelves. Handling robots retrieve the pallets and goods from the shelves together and transport them to the target location.

[0003] In some scenarios within intelligent warehousing systems, it's necessary to separate goods from pallets and remove goods from them. However, current methods for separating goods from pallets are complex to design, costly, and inefficient. Therefore, achieving low-cost and highly efficient separation of goods from pallets is a pressing issue that needs to be addressed. Summary of the Invention

[0004] In view of the above problems, embodiments of this application provide a pallet, a method for picking and placing goods, an electronic device, a computer-readable storage medium, and a warehousing system to solve the problems of complex design, high cost, and low efficiency of the existing technology for separating goods and pallets.

[0005] According to a first aspect of the present application, a pallet is provided, the pallet comprising: a base plate; and a plurality of finger plates extending from a first side of the base plate along a first direction, the plurality of finger plates being spaced apart along a second direction, with a plate gap between adjacent finger plates, the first direction and the second direction being directions in a horizontal plane parallel to the base plate, the first direction intersecting the second direction; the base plate and the plurality of finger plates are used together to carry goods.

[0006] In some embodiments, the pallet is used to pick up and place goods from a second connecting device, the second connecting device including a plurality of spaced comb teeth with a tooth gap between adjacent comb teeth, the plurality of comb teeth being used to carry goods; the finger plate is positioned to match the tooth gap, the plate gap is positioned to match the comb teeth, and along the second direction, the width of the finger plate is smaller than the tooth gap matching the finger plate, the plate gap is larger than the width of the comb teeth matching the plate gap, so that when the pallet picks up and places goods from the second connecting device, the finger plate can pass through the tooth gap in a vertical direction, so that the pallet contacts the bottom of the goods placed on the comb teeth to transfer the goods from the second connecting device to the pallet, or to detach the goods in the pallet from the pallet to transfer the goods from the pallet to the second connecting device.

[0007] In some embodiments, the tray is placed on a first connecting device, the first connecting device including a plurality of cantilever beams spaced apart for supporting the tray; the finger plate is positioned to match the cantilever beams, and along the second direction, the width of the finger plate is greater than the width of the cantilever beam matching the finger plate.

[0008] In some embodiments, the substrate and the plurality of finger plates together form the bottom plate of the tray, and a baffle connected to the bottom plate is vertically disposed on the outer periphery of the bottom plate.

[0009] In some embodiments, along the first direction, the size ratio of the finger plate to the substrate is greater than or equal to 2:1.

[0010] In some embodiments, the first direction is perpendicular to the side surface of the first side of the substrate, and the first direction is perpendicular to the second direction.

[0011] In some embodiments, the cross-section of the finger plate is rectangular.

[0012] In some embodiments, the bottom of the plurality of finger plates is used to contact the plurality of top grippers of the handling robot respectively so that the pallet is carried by the plurality of top grippers.

[0013] According to a second aspect of the embodiments of this application, a method for picking up and placing goods is provided, applied to a handling robot. The handling robot includes a lifting assembly, a carrying platform, and a plurality of top-holding members spaced apart on the carrying platform. The plurality of top-holding members are used to carry a pallet. The lifting assembly can raise or lower the carrying platform by lifting or lowering it. The pallet includes a base plate and a plurality of finger plates extending from a first side of the base plate along a first direction. The plurality of finger plates are spaced apart along a second direction, with a gap between adjacent finger plates. The first direction and the second direction are both directions in a plane parallel to the base plate, and the first direction intersects the second direction. The base plate and the plurality of finger plates are used together to carry goods. The method includes: The transport robot is controlled to move to the second docking position. The plurality of top-holding components of the transport robot carry the pallet, and the pallet is lifted. The first item is placed in the pallet. The second docking position is provided with a second docking device, which includes a plurality of spaced comb teeth with a tooth gap between adjacent comb teeth. When the transport robot moves to the second docking position, the plurality of top-holding components are inserted into the tooth gaps of the plurality of comb teeth. The lifting assembly is controlled to descend so that the pallet carried by the plurality of top-holding components descends. The plurality of finger plates pass through the tooth gaps in a vertical direction. The bottom of the first item contacts the comb teeth. The first item is transferred to the second docking device, and the pallet is detached from the first item.

[0014] In some embodiments, after the first item is transferred to the second connecting device, the method further includes: controlling the handling robot to walk to a third connecting position, the third connecting position being provided with a third connecting device, the third connecting device including a plurality of spaced comb teeth with a tooth gap between adjacent comb teeth, the plurality of comb teeth being used to carry the second item, the position of the plurality of finger plates corresponding to the position of the tooth gap of the plurality of comb teeth when the handling robot walks to the third connecting position; controlling the lifting assembly to lift, so that the tray carried by the plurality of top holding members rises, the plurality of finger plates passing through the tooth gap along the vertical direction to contact the bottom of the second item and lift the second item away from the third connecting device; controlling the handling robot to drive away from the third connecting position.

[0015] In some embodiments, the plurality of top-holding members of the handling robot carry the pallet and the pallet is lifted, and the second item is placed inside the pallet; the method further includes: controlling the handling robot to walk to a fourth docking position, the fourth docking position being provided with a fourth docking device, the fourth docking device including a plurality of cantilever beams spaced apart, with a beam gap between adjacent cantilever beams, the position of the plurality of top-holding members corresponding to the position of the beam gap of the plurality of cantilever beams when the handling robot walks to the fourth docking position; controlling the lifting assembly to descend, the plurality of top-holding members passing through the beam gap along the vertical direction to detach the pallet from the plurality of top-holding members and place it on the plurality of cantilever beams.

[0016] In some embodiments, before controlling the transport robot to walk to the second docking position, the method further includes: controlling the transport robot to walk to a first docking position, the first docking position being provided with a first docking device, the first docking device including a plurality of cantilever beams spaced apart, with beam gaps between adjacent cantilever beams, the plurality of cantilever beams carrying the pallet, the pallet containing the first goods, the position of the plurality of top-holding members corresponding to the position of the beam gaps of the plurality of cantilever beams when the transport robot walks to the first docking position; controlling the lifting assembly to lift, the plurality of top-holding members passing through the beam gaps along the vertical direction to contact the bottom of the pallet and lift the pallet away from the first docking device; controlling the transport robot to leave the first docking position.

[0017] According to a third aspect of the present application, an electronic device is provided, comprising: a processor and a memory, wherein the memory stores executable instructions, and the processor is capable of executing the executable instructions to implement the picking and placing method described above.

[0018] According to a fourth aspect of the present application, a computer-readable storage medium is provided, the storage medium storing executable instructions that, when executed on an electronic device, cause the electronic device to perform the picking and placing method as described above.

[0019] According to a fifth aspect of the present application, a warehousing system is provided, comprising: a shelf for storing pallets containing goods, the pallet including a base plate and a plurality of finger plates extending from a first side of the base plate along a first direction, the plurality of finger plates being spaced apart along a second direction, with a gap between adjacent finger plates, the first direction and the second direction being directions in a horizontal plane parallel to the base plate, the first direction intersecting the second direction; the base plate and the plurality of finger plates jointly serving to carry goods; a workstation for receiving goods to be processed or outputting processed goods; and a handling robot including a lifting assembly, a carrying platform, and a plurality of top-holding members spaced apart on the carrying platform, the plurality of top-holding members being used to carry the pallet, the lifting assembly raising or lowering causing the carrying platform to rise or fall; the handling robot for removing the pallet from the shelf and separating the goods from the pallet to transfer the separated goods to the workstation.

[0020] In some embodiments, the handling robot performs the following steps: controlling the handling robot to walk to a second docking position, wherein the plurality of top-holding components of the handling robot carry the pallet and the pallet is lifted, the pallet contains a first item, a second docking device is provided at the second docking position, the second docking device includes a plurality of spaced comb teeth, with a tooth gap between adjacent comb teeth, and the plurality of top-holding components are inserted into the tooth gaps of the plurality of comb teeth when the handling robot walks to the second docking position; controlling the lifting assembly to descend, so that the pallet carried by the plurality of top-holding components descends, the plurality of finger plates pass through the tooth gaps in a vertical direction, the bottom of the first item contacts the comb teeth, the first item is transferred to the second docking device and the pallet is detached from the first item.

[0021] In some embodiments, the first and fourth connecting devices of the shelf each have a plurality of cantilever beams spaced apart, with a beam gap between adjacent cantilever beams; the second and third connecting devices of the workstation each have a plurality of comb teeth spaced apart, with a tooth gap between adjacent comb teeth; the plurality of top-holding members of the handling robot are a plurality of top plates extending along the first direction, and the plurality of top plates are spaced apart along the second direction; when the handling robot docks with the first or fourth connecting device of the shelf, the top plate can pass through the beam gap between the cantilever beams; when the handling robot docks with the second or third connecting device of the workstation, the top plate can pass through the tooth gap between the comb teeth.

[0022] In some embodiments, the number of cantilever beams of the shelf and the number of finger plates of the pallet are both N. The handling robot includes N sets of top plates, each set of top plates includes two top plates, and there is a top plate gap between the two top plates in each set of top plates. The N cantilever beams, the N finger plates, and the N sets of top plates are matched in position. Along the second direction, the width of the finger plate is greater than the width of the cantilever beam matched with the finger plate, and the top plate gap between the two top plates in each set of top plates is greater than the width of the cantilever beam matched with it and less than the width of the finger plate matched with it.

[0023] In some embodiments, the number of finger plates of the tray is N, the number of comb teeth of the workstation is N-1, the handling robot includes N sets of top plates, each set of top plates includes two top plates, there is a top plate group gap between adjacent sets of top plates, the N-1 comb teeth, the plate gaps of the N finger plates and the top plate group gaps of the N sets of top plates are matched in position, the N finger plates and the N sets of top plates are matched in position; along the second direction, the width of the finger plate is less than the tooth gap that matches the finger plate, the plate gap is greater than the width of the comb tooth that matches the plate gap, the top plate gap between two top plates in each set of top plates is less than the width of the finger plate that matches it, and the top plate group gap between adjacent sets of top plates is greater than the width of the comb tooth that matches it.

[0024] This embodiment of the application uses multiple finger plates spaced apart on one side of a pallet base plate. The base plate and finger plates jointly support the goods, and there are gaps between the finger plates. The top gripper of the handling robot can hold the finger plates to support the pallet containing the goods and lift the pallet. After the handling robot moves the pallet and goods to the second docking position, the lifting component drives the top gripper to descend. Due to the gaps between the finger plates, the finger plates can pass through the gaps between the comb teeth set at the second docking position under the action of the top gripper, so that the goods in the pallet are left above the comb teeth, thereby achieving separation of the goods in the pallet from the pallet. This method has a simple structure, reduces equipment costs, simplifies the separation steps of goods and pallets, and improves the operating efficiency of the handling robot.

[0025] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below. Attached Figure Description

[0026] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings.

[0027] In the attached diagram:

[0028] Figure 1a A schematic diagram of the structure of the warehousing system provided in an embodiment of this application is shown;

[0029] Figure 1b A top view of the warehousing system provided in an embodiment of this application is shown;

[0030] Figure 2 A schematic diagram of the structure of the first connecting device in an embodiment of this application is shown;

[0031] Figure 3 A schematic diagram of the structure of the second connecting device in an embodiment of this application is shown;

[0032] Figure 4a A perspective view of the handling robot provided in an embodiment of this application in a first state is shown;

[0033] Figure 4b A side view of the handling robot provided in an embodiment of this application in a first state is shown;

[0034] Figure 4c A perspective view of the handling robot provided in an embodiment of this application in a second state is shown;

[0035] Figure 5 A schematic diagram of the scissor fork mechanism and the support platform in an embodiment of this application is shown;

[0036] Figure 6 A schematic diagram of the tray structure in an embodiment of this application is shown;

[0037] Figure 7a This invention provides a schematic diagram showing the dimensional relationship between the finger plate of the tray and the cantilever beam of the first connecting device in an embodiment of this application.

[0038] Figure 7b This illustration shows a schematic diagram of the dimensional relationship between the finger plate of the tray and the comb teeth of the second connecting device in an embodiment of this application;

[0039] Figure 8 A flowchart illustrating the goods retrieval and placement method provided in an embodiment of this application is shown;

[0040] Figure 9a This diagram illustrates the first positional relationship between the handling robot and the first connecting device during the picking and placing of goods.

[0041] Figure 9b This diagram illustrates the second positional relationship between the handling robot and the first connecting device during the picking and placing of goods.

[0042] Figure 9c This diagram illustrates the third positional relationship between the handling robot and the first connecting device during the picking and placing of goods.

[0043] Figure 9d This diagram illustrates the first positional relationship between the handling robot and the second connecting device during the picking and placing of goods.

[0044] Figure 9e A top view shows the first positional relationship between the handling robot and the second connecting device during the picking and placing of goods;

[0045] Figure 9f A side view shows the first positional relationship between the handling robot and the second connecting device during the picking and placing of goods;

[0046] Figure 9g This diagram illustrates the second positional relationship between the handling robot and the second connecting device during the picking and placing of goods.

[0047] Figure 9h A side view shows the initial positional relationship between the handling robot and the third connecting device during the picking and placing of goods;

[0048] Figure 9i A top view showing the first positional relationship between the handling robot and the third connecting device during the picking and placing of goods;

[0049] Figure 10 A flowchart illustrating the goods retrieval and placement method provided in an embodiment of this application is shown;

[0050] Figure 11 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown.

[0051] The reference numerals in the detailed embodiments are as follows:

[0052] 100. Warehousing system;

[0053] 10. Shelves;

[0054] 20. Workstation; 21. Inbound workstation; 22. Outbound workstation; 23. Picking workstation; 24. Inbound / Outbound workstation;

[0055] 30. Tray; 31. Substrate; 32. Finger plate; 33. Plate gap; 34. Base plate; 35. Baffle;

[0056] 40. Transport robots;

[0057] 41. Chassis; 411. Shell; 412. Wheels;

[0058] 42. Support platform; 421. First top plate; 422. Second top plate; 423. Fixing plate; 424. First connecting plate; 425. Second connecting plate; 4251. Sliding hole;

[0059] 43. Lifting assembly; 43a. First end; 43b. Second end; 431. Scissor fork mechanism; 4311. Support rod; 4311a. First support rod; 4311b. Second support rod; 4311c. Third support rod; 4311d. Fourth support rod; 4312. Connecting rod; 4312a. First connecting rod; 4312b. Second connecting rod;

[0060] 50. Control device;

[0061] 61. First connecting device; 611. First crossbeam; 612. Cantilever beam; 62. Second connecting device; 621. Second crossbeam; 622. Comb teeth;

[0062] 70. Goods;

[0063] 300. Electronic device; 302. Processor; 304. Memory; 306. Computer program. Detailed Implementation

[0064] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0065] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0066] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0067] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0068] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A exists, A and B exist simultaneously, and B exists. In addition, the character " / " in this document generally indicates that the related objects before and after it have an "or" relationship.

[0069] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0070] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0071] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0072] Intelligent warehousing systems utilize advanced information technology and automated equipment to achieve efficient storage and handling of goods, enabling automated identification, picking, handling, and storage. Cardboard boxes are typically used for storage in intelligent warehousing systems. However, because cardboard boxes are easily deformed and cannot be accurately retrieved by automated handling devices such as robots, they are usually placed in pallets made of more robust and durable materials before being placed on shelves. This prevents damage to the boxes during storage or handling. For some goods, they can be placed directly in pallets without additional cardboard packaging. Handling robots can remove pallets and boxes from the shelves together and transport them to the target location, such as a conveyor line at a workstation or another shelf. Pallets are usually labeled with tags, such as barcodes or QR codes, making it easier to quickly identify and track goods within the cardboard boxes in the warehouse management system. Furthermore, the size and shape of pallets are usually standardized, which also makes it easy for handling robots to interact with them.

[0073] In some scenarios within intelligent warehousing systems, it's necessary to separate goods from pallets and remove the goods from the pallets. The goods here can be individual items, cartons containing goods, or empty cartons. The following section uses cartons as an example to introduce several technical solutions for separating cartons from pallets.

[0074] For example, a robotic arm can be used to remove cartons from a pallet, achieving automatic separation of cartons and pallets, but the cost of robotic arms is relatively high.

[0075] Alternatively, a through-hole can be installed at the bottom of the pallet. When the pallet loaded with cartons arrives at the separation equipment on the workstation's conveyor line, the ejector plate is lifted from below the conveyor line. The ejector pins pass through the through-hole at the bottom of the pallet, lifting the cartons a short distance to create a gap between the cartons and the pallet. Then, the workstation's arm-like structure (hereinafter referred to as the arm) moves under the cartons, bypassing the ejector pins. The ejector plate then descends, causing the cartons to fall onto the arm, which subsequently transports the cartons to another surface, thus separating the cartons from the pallet. In this solution, the workstation structure is complex and costly; furthermore, due to the numerous and non-parallel mechanical actions, efficiency is low.

[0076] For example, a raised / lower structure can be incorporated into the inner bottom and side walls of the pallet, creating a gap between the bottom of the carton and the bottom of the pallet after the carton is placed on it. Once the pallet loaded with cartons reaches the unloading device at the workstation, the workstation extends a comb-like structure into the gap between the carton and the pallet. The comb-like structure then transports the carton to another surface, separating the carton from the pallet. However, this raised / lower structure increases the pallet's material cost and reduces its usable internal dimensions.

[0077] Therefore, how to achieve low-cost and high-efficiency separation of cartons and pallets is an urgent problem to be solved.

[0078] Figure 1a A schematic diagram of the structure of the warehousing system provided in an embodiment of this application is shown. Figure 1b A top view of the warehousing system provided in an embodiment of this application is shown. Figure 1a and Figure 1b As shown, the warehousing system 100 includes shelves 10 and workstations 20. Shelves 10 are used to store containers, which are used to hold goods. Goods can be individual items, cartons containing goods, or empty cartons. Containers can be bins or pallets; this embodiment uses the pallet 30 shown in the figure as an example. Workstations 20 are used to receive goods to be processed or to output processed goods.

[0079] like Figure 1b As shown, the warehousing system 100 includes multiple shelves 10. Workstations 20 may include inbound workstations 21, outbound workstations 22, and picking workstations 23. Those skilled in the art will understand that the various workstations 20 described above may be workstations with only one function, or workstations 20 with two or three functions, such as inbound / outbound workstation 24. Workstations 20 are typically equipped with conveyor lines, which can directly transport goods, transport pallets 30 containing goods, or transport empty pallets 30.

[0080] The warehousing system 100 also includes a handling robot 40, of which one or more may be installed. The handling robot 40 is responsible for transferring goods between the conveyor lines of the shelves 10 and workstations 20. The handling robot 40 can move goods to be received from the receiving workstation 21 to the shelves 10, goods to be shipped from the shelves 10 to the shipping workstation 22, or goods to be picked from the shelves 10 to the picking workstation 23. For example, the handling robot 40 removes a pallet 30 containing goods from the shelf 10 and separates the goods from the pallet 30 to transfer the separated goods to workstation 20. The warehousing system 100 also includes a control device 50 for scheduling the handling robots 40 to perform handling tasks.

[0081] Aisles are provided between shelves 10, between shelves 10 and workstations 20, and / or between workstations 20, allowing passage for handling robots 40 or personnel. The handling robot 40 may be an automated guided robot that achieves positioning by recognizing guide lines or graphic codes (such as QR codes or barcodes) on the ground, thereby enabling movement within the storage system 100.

[0082] Shelf 10 and workstation 20 have docking positions, each equipped with a docking device. The handling robot 40 docks with the docking device of shelf 10 or workstation 20 to access pallets 30 and / or goods. Shelf 10 and workstation 20 have at least two types of docking devices: a first docking device and a second docking device. Figure 2 A schematic diagram of the structure of the first connecting device in an embodiment of this application is shown, as follows: Figure 2 As shown, the first connecting device 61 can be installed at the first connecting position of the shelf 10 or workstation 20. The first connecting device 61 includes a first crossbeam 611 and multiple cantilever beams 612 for supporting pallets 30. The first crossbeam 611 is fixed to the uprights of the shelf 10 by bolting or other means, and the multiple cantilever beams 612 are vertically connected to the first crossbeam 611 in the horizontal plane. Of course, the first connecting device 61 can also directly support goods. Figure 3 A schematic diagram of the structure of the second connecting device in an embodiment of this application is shown, as follows: Figure 3 As shown, the second connecting device 62 can be installed at the second connecting position of the shelf 10 or the workstation 20. The second connecting device 62 includes a second crossbeam 621 and a plurality of spaced comb teeth 622. The second crossbeam 621 is fixed to the upright of the conveyor line of the workstation 20 by bolting or other means. The plurality of comb teeth 622 are vertically connected to the second crossbeam 621 in the horizontal plane, and there is a tooth gap between two adjacent comb teeth 622. The plurality of comb teeth 622 are used to carry goods. Of course, the second connecting device 62 can also be used to carry pallets 30.

[0083] Figure 4a This illustration shows a perspective view of the handling robot provided in an embodiment of this application in its first state. Figure 4b This illustration shows a side view of the handling robot provided in an embodiment of this application in its first state. Figure 4c A perspective view of the handling robot provided in this application embodiment in a second state is shown. The handling robot 40 includes a chassis 41, a support platform 42, and a lifting assembly 43. Of course, the handling robot 40 typically also includes components not shown in the figure, such as a walking motor, a main control unit, and a battery.

[0084] The chassis 41 includes a housing 411 and a walking mechanism disposed on the housing 411. The walking mechanism includes a drive component (not shown in the figure) and walking wheels 412. The drive component drives the walking wheels 412 to rotate, thereby realizing the movement of the handling robot 40. For example, the drive component drives the walking wheels 412 to rotate forward, thereby realizing the movement of the handling robot 40. The drive component drives the walking wheels 412 to rotate in reverse, thereby realizing the movement of the handling robot 40 in reverse.

[0085] The lifting assembly 43 has a first end 43a and a second end 43b (as shown in the figure) that are opposite each other in the vertical direction (Z direction or the negative direction of Z direction, i.e., -Z direction). Figure 4b As shown), the first end 43a is fixed to the chassis 41, and the second end 43b can move vertically away from the first end 43a (in the Z direction as shown in the figure) or towards the first end 43a (in the negative Z direction, i.e., the -Z direction as shown in the figure). When the lifting assembly raises, the second end 43b moves vertically away from the first end 43a; when the lifting assembly lowers, the second end 43b moves vertically towards the first end 43a. Figure 4a and Figure 4b In the first state shown, the second end 43b of the lifting assembly 43 is located away from the first end 43a; Figure 4c In the second state shown, the second end 43b of the lifting assembly 43 is positioned close to the first end 43a.

[0086] A support platform 42 is located at the second end 43b of the lifting assembly 43. Multiple support members are spaced apart on the support platform 42, each supporting member being used to support the pallet 30 and / or goods. Raising or lowering the lifting assembly 43 causes the support platform 42 to rise or fall, thereby causing the pallet 30 supported by the support members to rise or fall. During docking with the first connecting device 61 to pick up or place the pallet 30, or with the second connecting device 62 to pick up or place goods, the support members pass through the beam gaps between the cantilever beams 612 of the first connecting device 61, or through the tooth gaps between the comb teeth 622 of the second connecting device 62.

[0087] The support platform 42 has a flat plate structure. The top support includes one or more combinations of a top pin, a top plate, and a top block. The top support only needs to be able to support the goods and pass through the beam gaps of the cantilever beams or the tooth gaps of the comb teeth. For example, the shape, size, and quantity of the top support should be compatible with the shape, size, and quantity of the beam gaps between the cantilever beams and the tooth gaps between the comb teeth. In the embodiment shown in the figure, the top support is a top plate structure, such as... Figures 4a to 4c As shown, the top support consists of multiple first top plates 421, each of which extends along a first direction (Y direction), and the multiple first top plates 421 are spaced apart along a second direction (X direction).

[0088] The handling robot 40 is also equipped with a fixed plate 423, which is fixed to the top of the housing 411 of the chassis 41. Multiple second top plates 422 are spaced apart on the fixed plate 423. The first top plate 421 and the second top plate 422 work together to support the pallet 30 and / or goods. The first top plate 421 is located on the support platform 42, and therefore can rise and fall with the lifting assembly 43, thus passing through the beam gaps of the cantilever beam 612 or the tooth gaps of the comb teeth 622 during the handling of the pallet 30 or goods. The second top plates 422 are located on the fixed plate 423, which does not move with the rising or falling of the lifting assembly 43, therefore the second top plates 422 will not pass through the beam gaps of the cantilever beam 612 or the tooth gaps of the comb teeth 622.

[0089] The lifting assembly 43 can achieve the movement of its second end 43b relative to its first end 43a through methods such as scissor forks, lifting rods (hydraulic, electric, or pneumatic), screw lifting, chain lifting, gear lifting, and crank lifting. This application embodiment uses a scissor fork as an example for illustration. The scissor fork mechanism can achieve a large travel distance, has a small volume when retracted to meet the application scenario's requirement for a small size in the handling robot 40, has a strong load capacity, and provides smooth lifting, ensuring the safe transportation of pallets and goods.

[0090] Figure 5 A schematic diagram of the scissor fork mechanism and the support platform in an embodiment of this application is shown. Figure 5 As shown, please continue reading. Figure 4a and Figure 4b The lifting assembly 43 includes a drive mechanism (not shown) and a scissor fork mechanism 431 connected to each other. The bottom and top ends of the scissor fork mechanism 431, which are opposite each other in the vertical direction, are the first end 43a and the second end 43b of the lifting assembly 43, respectively. The drive mechanism is used to drive the scissor fork mechanism 431 to extend so that the second end 43b moves in the vertical direction away from the first end 43a, and to drive the scissor fork mechanism 431 to retract so that the second end 43b moves in the vertical direction closer to the first end 43a.

[0091] The driving mechanism of the lifting assembly 43 can be a motor. The motor output shaft rotates, and the rotation is converted into linear motion through a rotary-linear motion conversion mechanism (such as a ball screw mechanism, crank-slider mechanism, gear and rack mechanism, etc.), driving the scissor fork mechanism 431 to move, thereby causing the scissor fork mechanism 431 to extend and retract. The driving mechanism of the lifting assembly 43 can reuse the walking motor of the handling robot 40, that is, the walking motor is used to drive the handling robot 40 to move and also to drive the scissor fork mechanism 431 to lift and lower. In this way, there is no need to set up an additional lifting motor, thereby simplifying the structural design and reducing costs.

[0092] The scissor fork mechanism 431 includes two sets of support rods arranged opposite each other in the horizontal direction (X direction as shown in the figure). Each set of support rods includes at least two support rods 4311, which are crossed and hinged at the intersection. Both ends of each support rod 4311 are rotatably connected to the ends of a corresponding support rod 4311 in the other set of support rods via connecting rods 4312. A drive mechanism drives at least one connecting rod 4312 to move, causing the two sets of support rods to extend or retract. The connecting rod 4312 is axially arranged in the X direction. The drive mechanism drives at least one of the two connecting rods 4312 arranged opposite each other in the Y direction to move towards the other, causing the two sets of support rods to extend, so that the second end 43b moves vertically away from the first end 43a to lift the tray 30; the drive mechanism also drives at least one of the two connecting rods 4312 arranged opposite each other in the Y direction to move away from the other, causing the two sets of support rods to retract, so that the second end 43b moves vertically towards the first end 43a to lower the tray 30. For example, as... Figure 5 As shown, the first connecting rod 4312a is slidably connected to the chassis 41, and the second connecting rod 4312b is fixedly connected to the chassis 41. The drive mechanism drives the first connecting rod 4312a to move toward the second connecting rod 4312b, making the included angle between the two cross-hinged support rods 4311 in each group of support rods smaller, and the second end 43b moves vertically away from the first end 43a to lift the tray 30. Alternatively, the drive mechanism can drive the first connecting rod 4312a to move away from the second connecting rod 4312b, making the included angle between the two cross-hinged support rods 4311 in each group of support rods larger, and the second end 43b moves vertically toward the first end 43a to lower the tray 30. Of course, the drive mechanism can also simultaneously drive the first connecting rod 4312a and the second connecting rod 4312b to move toward each other or away from each other, so that the scissor fork mechanism 431 extends or retracts. The scissor fork mechanism 431 in this embodiment is a two-stage scissor fork mechanism, meaning that each set of support rods includes two pairs of cross-hinged support rods 4311. The two pairs of support rods 4311 are arranged vertically, and the adjacent ends of each pair of support rods 4311 are rotatably connected to the other pair via the connecting rod 4312. Using a two-stage scissor fork mechanism allows for a greater travel distance to the second end 43b when the chassis 41 of the handling robot 40 has a fixed size. Of course, more stages of the scissor fork mechanism can be used as needed to achieve a greater travel distance to the second end 43b; this application does not limit this.

[0093] In the scissor fork mechanism 431, the uppermost support rod 4311 in the vertical direction is used to set up the support platform 42. One end of the bottom of the support platform 42 is hinged to two support rods 4311, and the other end is slidably connected to two other support rods 4311. Specifically, one end of the bottom of the support platform 42 is provided with two first connecting plates 424. The first support rod 4311a and the second support rod 4311b are respectively hinged to the two first connecting plates 424 through connecting rods 4312. The other end of the bottom of the support platform 42 is provided with two second connecting plates 425. The second connecting plates 425 have sliding holes 4251, and the connecting rod 4312 can move within the sliding holes 4251. The third support rod 4311c and the fourth support rod 4311d are respectively slidably connected to the two second connecting plates 425 through connecting rods 4312.

[0094] Figure 6 A schematic diagram of the tray structure in an embodiment of this application is shown, as follows: Figure 6 As shown, the tray 30 includes a base plate 31 and a plurality of finger plates 32 extending from a first side of the base plate 31 along a first direction (Y direction). The plurality of finger plates 32 are spaced apart along a second direction (X direction). There is a plate gap between two adjacent finger plates 32. The first direction and the second direction are both directions in a horizontal plane parallel to the base plate 31. The first direction intersects the second direction, that is, there is an angle between the first direction and the second direction. The base plate 31 and the plurality of finger plates 32 are used together to carry goods.

[0095] In the embodiment shown in the figure, the first direction (Y direction) is perpendicular to the side surface of the first side of the substrate 31, and the first direction (Y direction) and the second direction (X direction) are perpendicular. In this way, the finger plate 32 extends perpendicularly from the side surface of the first side of the substrate 31, which not only facilitates processing, but also makes the outer periphery of the tray 30 regular and improves the utilization rate of the storage space of the shelf 10.

[0096] The cross-section of the finger plate 32 is rectangular. The rectangular cross-section not only facilitates processing, but also increases the lateral dimension of the finger plate 32 in the horizontal plane, thereby providing more stable support for the goods.

[0097] Both the substrate 31 and the finger plates 32 can be flat. The substrate 31 and the multiple finger plates 32 together form the bottom plate 34 of the pallet 30. A baffle 35 connected to the bottom plate 34 is vertically arranged on the outer periphery of the bottom plate 34. The baffle 35 is used to prevent goods from being moved out of the pallet 30, and its height can be lower than that of a conventional bin. Goods are placed on the bottom plate 34 formed by the substrate 31 and the multiple finger plates 32. The bottom of the multiple finger plates 32 is used to contact the multiple top grippers of the handling robot 40 so that the pallet 30 is supported by the multiple top grippers. For example, the first top plate 421 of the handling robot 40 contacts the finger plate 32, and the second top plate 422 contacts the substrate 31, thereby jointly supporting the pallet 30.

[0098] Along the first direction (Y direction), the size ratio of the finger plate 32 to the substrate 31 is greater than or equal to 2:1. This allows for a reduction in the size of the substrate 31 while keeping the size of the base plate 34 constant, thereby saving materials and reducing costs.

[0099] The tray 30 is used to place on the first connecting device 61. When the tray 30 is placed on the first connecting device 61, the base plate 31 and the finger plate 32 of the tray 30 can both contact the cantilever beam 612 of the first connecting device 61. The finger plate 32 is positioned to match the cantilever beam 612, so that the finger plate 32 can contact the cantilever beam 612.

[0100] The number of finger plates 32 can be the same as the number of cantilever beams 612 of the first connecting device 61, for example, refer to Figure 2 and Figure 6 As shown, there are five cantilever beams 612 and five finger plates 32, with each finger plate 32 corresponding to one of the five cantilever beams 612. Alternatively, the number of finger plates 32 can be less than the number of cantilever beams 612. In this case, when the tray 30 is placed on the first connecting device 61, the finger plates 32 only contact a portion of the cantilever beams 612, and only those finger plates 32 that contact the cantilever beams 612 are matched with their positions. Conversely, the number of finger plates 32 can also be more than the number of cantilever beams 612. In this case, when the tray 30 is placed on the first connecting device 61, some finger plates 32 do not contact the cantilever beams 612 and remain suspended, and only those finger plates 32 that contact the cantilever beams 612 are matched with their positions.

[0101] The handling robot 40 can lift and lower the first top plate 421 via the lifting component 43 to pick up and put down the pallet 30 from the first connecting device 61. Figure 7a This illustration shows a schematic diagram of the dimensional relationship between the finger plate of the pallet and the cantilever beam of the first connecting device in an embodiment of this application. Figure 7a As shown, along the second direction (X direction), the width w1 of the finger plate 32 is greater than the width w2 of the cantilever beam 612 that matches the finger plate 32. Thus, when the handling robot 40 retrieves the pallet 30 from the first docking position, the first top plate 421 extends vertically upwards from the bottom of the cantilever beam 612 through the gaps between the multiple cantilever beams 612. It then contacts the finger plate 32 carried by each cantilever beam 612 through the two first top plates 421 located on either side of each cantilever beam 612 to lift the pallet 30, achieving stable support and lifting of the pallet 30.

[0102] In some embodiments, the number of cantilever beams 612 of the shelf 10 and the number of finger plates 32 of the pallet 30 are both N. The handling robot 40 includes N sets of first top plates, each set of first top plates including two first top plates 421, with a gap between the two first top plates 421 in each set. The N cantilever beams 612, N finger plates 32, and N sets of first top plates are matched in position (i.e., each set of first top plates is used to support one finger plate 32), where N is an integer, N≥2. Figure 2 and Figure 6 As shown, the shelving 10 has five cantilever beams 612 and five finger plates 32 on the pallet 30. The handling robot 40 includes five sets of first top plates, each set of first top plates including two first top plates 421, with a gap between the two first top plates 421 in each set. The five cantilever beams 612, five finger plates 32, and five sets of first top plates are positioned correctly. Please continue reading. Figure 7a Along the second direction (X direction), the width w1 of the finger plate 32 is greater than the width w2 of the cantilever beam 612 that matches the finger plate 32. The gap between the two first top plates 421 in each group of first top plates (the size w3 shown in the figure) is greater than the width w2 of the cantilever beam 612 that matches it and less than the width w1 of the finger plate 32 that matches it.

[0103] The handling robot 40 can use the pallet 30 to pick up and put away goods from the second docking device 62. Figure 7b This illustration shows a schematic diagram of the dimensional relationship between the finger plate of the tray and the comb teeth of the second connecting device in an embodiment of this application. Figure 7b As shown, the gap between the finger plate 32 and the tooth 622 is matched, and the gap between the plates is matched with the position of the tooth 622. Along the second direction (X direction), the width w1 of the finger plate 32 is smaller than the gap between the teeth that matches the finger plate 32 (size w4 as shown in the figure), and the gap between the plates (size w5 as shown in the figure) is larger than the width w6 of the tooth 622 that matches the gap between the plates. This allows the finger plate 32 to pass through the gap between the teeth vertically when the pallet 30 is picking up or putting down goods from the second connecting device 62, so that the pallet 30 contacts the bottom of the goods placed on the tooth 622 to transfer the goods from the second connecting device 62 to the pallet 30, or to remove the goods in the pallet 30 from the pallet 30 to transfer the goods from the pallet 30 to the second connecting device 62.

[0104] Figure 7bIn the illustrated embodiment, there are four comb teeth 622, three tooth gaps, five finger plates 32, and four plate gaps. The three middle finger plates 32 are positioned to match the three tooth gaps of the comb teeth 622, while the two outer finger plates 32 are not located within the tooth gaps of the comb teeth 622. The four plate gaps are positioned to match the four comb teeth 622, and the four comb teeth 622 are located within the four plate gaps. That is, when the pallet 30 takes goods from or places items on the second connecting device 62, three finger plates 32 pass vertically through the three tooth gaps, and the presence of the four plate gaps ensures that the movement of the pallet 30 is not obstructed by the comb teeth 622.

[0105] In some embodiments, the number of finger plates 32 of the pallet 30 is N, the number of comb teeth 622 of the workstation 20 is N-1, and the handling robot 40 includes N sets of first top plates. Each set of first top plates includes two first top plates 421, and there is a top plate group gap between adjacent sets of first top plates. The plate gaps of the N-1 comb teeth 622, the N finger plates 32, and the top plate group gaps of the N sets of first top plates are matched in position. The N finger plates 32 and the N sets of first top plates are matched in position (that is, each set of first top plates is used to support one finger plate 32), where N is an integer, N≥2. Figure 7b As shown, along the second direction (X direction), the width w1 of the finger plate 32 is less than the tooth gap (dimension w4 shown in the figure) that matches the finger plate 32, the plate gap (dimension w5 shown in the figure) is greater than the width w6 of the comb tooth 622 that matches the plate gap, the top plate gap (dimension w3 shown in the figure) between the two first top plates 421 in each group of first top plates is less than the width w1 of the finger plate 32 that matches it, and the top plate group gap (dimension w7 shown in the figure) between two adjacent groups of first top plates is greater than the width w6 of the comb tooth 622 that matches it.

[0106] The method for picking up and placing goods using the pallet 30 in the above embodiments is described below.

[0107] Figure 8 A flowchart illustrating the picking and placing method provided in an embodiment of this application is shown. This method is applied to the aforementioned handling robot. Figures 9a to 9h The diagram shows the positional relationship between the handling robot and each connecting device, as well as its positional relationship with the pallet and goods during the picking and placing process.

[0108] like Figure 8 As shown, the method for picking up and placing goods includes the following steps:

[0109] Step 101: Control the handling robot to walk to the first docking position. The first docking position is equipped with a first docking device, which carries a pallet and the first goods.

[0110] Step 102: Control the lifting assembly to raise the tray, and multiple top supports pass through the beam gap in the vertical direction so that the multiple top supports contact the bottom of the tray and lift the tray away from the first connecting device.

[0111] Step 103: Control the transport robot to move away from the first docking position.

[0112] In steps 101 to 103, the first docking position is the docking position of the shelf, where the handling robot retrieves a pallet containing goods from the shelf. First, the handling robot 40 moves to the first docking position (e.g., ...). Figure 9a As shown), at this time, the positions of the multiple first top plates 421 correspond to the positions of the beam gaps of the multiple cantilever beams 612. The lifting platform 42 is extended by the scissor fork mechanism 431, causing the first top plates 421 to rise and contact the bottom of the pallet 30, specifically, contacting the bottom of the finger plates 32 of the pallet 30 (as shown). Figure 9b As shown), and to detach the pallet 30 from the cantilever beam 612 of the shelf by a certain distance (e.g. Figure 9c (As shown), and then moves out of the first docking position. Moving out of the first docking position means that the transport robot 40 moves out from under the first docking device or passes under the first docking device. The same applies to moving out of other docking positions as described below.

[0113] Step 104: Control the transport robot to walk to the second docking position, where a second docking device is installed.

[0114] Step 105: Control the lifting assembly to descend so that the pallet carried by multiple top holders descends, multiple finger plates pass through the tooth gaps in the vertical direction, the bottom of the first item contacts the comb teeth, the first item is transferred to the second connecting device and the pallet is separated from the first item.

[0115] In steps 104 and 105, the second docking position is the docking position of the workstation. The handling robot separates the goods from the pallet and transfers the goods to the workstation docking position. When the handling robot 40 moves to the second docking position, the base plate 31 of the pallet 30 is located on the outer side above the comb teeth 622, that is, the base plate 31 of the pallet 30 will not be blocked by the comb teeth 622 when it descends with the scissor fork mechanism 431; while the finger plates 32 of the pallet 30 are generally located above the comb teeth 622 and their positions correspond to the tooth gaps of the comb teeth 622. At this time, multiple first top plates 421 are inserted into the tooth gaps of multiple comb teeth 622 (e.g., Figure 9d , Figure 9e and Figure 9f As shown, Figure 9fThe dotted line indicates the location of the end of the comb teeth 622. The retraction of the scissor fork mechanism 431 lowers the support platform 42, causing the pallet 30 to descend as well. The first top plate 421 and the finger plates 32 of the pallet 30 pass through the gaps between the comb teeth 622. After the goods 70 inside the pallet 30 come into contact with the comb teeth 622, they are blocked from descending further, thus transferring the goods 70 to the second connecting device 62, and the pallet 30 detaches from the goods 70 (e.g., ...). Figure 9g (As shown).

[0116] Step 106: Control the handling robot to walk to the third docking position, where a third docking device is set up, and the third docking device carries the second goods.

[0117] Step 107: Control the lifting assembly to raise the pallet supported by multiple top supports, and multiple finger plates pass through the tooth gaps in the vertical direction to contact the bottom of the second goods and lift the second goods away from the third connecting device.

[0118] Step 108: Control the transport robot to move away from the third docking position.

[0119] In steps 106 to 108, the third docking position is also a docking position of the workstation. After transferring the goods in the pallet to the second docking device, the handling robot goes to the third docking position of the current workstation or another workstation to retrieve the goods. The third docking device at the third docking position has the second goods placed on it. The third docking device has the same or similar structure as the second docking device, and also includes multiple comb teeth distributed at intervals. There is a tooth gap between two adjacent comb teeth, and the multiple comb teeth are used to carry the goods.

[0120] When the transport robot 40 moves to the third docking position, the base plate 31 of the tray 30 is located on the outer side below the comb teeth 622, meaning that the base plate 31 of the tray 30 will not be blocked by the comb teeth 622 when it rises with the lifting assembly 43; while the finger plates 32 of the tray 30 are generally located below the comb teeth 622, and the positions of the multiple finger plates 32 correspond to the positions of the tooth gaps of the multiple comb teeth 622 (e.g., Figure 9h and Figure 9i As shown, and please refer to Figure 9g , Figure 9i The dotted line indicates the location of the end of the comb teeth 622. The extension of the scissor fork mechanism 431 raises the support platform 42, causing the pallet 30 to rise as well. The first top plate 421 and the finger plates 32 of the pallet 30 pass through the gaps between the comb teeth 622. The pallet 30 (specifically, the finger plates 32) contacts the bottom of the goods 70. The scissor fork mechanism 431 continues to extend, lifting the pallet 30 and the goods 70, causing the goods 70 to detach from the comb teeth 622 (please refer to...). Figure 9d (As shown), and then drive out of the third docking position.

[0121] Step 109: Control the transport robot to move to the fourth docking position, where a fourth docking device is installed.

[0122] Step 110: Control the lifting assembly to descend, and multiple top holders pass through the beam gaps in the vertical direction to disengage the pallet from the multiple top holders and place it on the multiple cantilever beams.

[0123] In steps 109 to 110, the fourth connection position is the shelf connection position. After the handling robot picks up the goods, it places the pallet containing the goods at the shelf connection position. The fourth connection device has the same or similar structure as the first connection device, and also includes multiple cantilever beams distributed at intervals. There is a beam gap between two adjacent cantilever beams. The multiple cantilever beams are used to support the pallet and goods.

[0124] When the handling robot 40 moves to the fourth docking position, the pallet 30 and the goods 70 are positioned above the cantilever beam 612, and the positions of the multiple first top plates 421 correspond to the positions of the beam gaps of the multiple cantilever beams 612. At this time, the multiple first top plates 421 are inserted into the beam gaps of the multiple cantilever beams 612 (please refer to...). Figure 9c (As shown). The scissor fork mechanism 431 retracts, causing the support platform 42 to descend, which in turn lowers the pallet 30 and the goods 70 until the bottom of the pallet 30 contacts the cantilever beam 612 (please refer to...). Figure 9b As shown), the scissor fork mechanism 431 continues to retract, causing the first top plate 421 to descend below the bottom of the cantilever beam 612, thereby disengaging the first top plate 421 from the bottom of the pallet 30. The pallet 30 and the goods 70 inside are then transferred to the fourth connecting device (see reference). Figure 9a (As shown).

[0125] This embodiment of the application arranges multiple finger plates 32 at intervals on one side of the base plate 31 of the pallet 30. The base plate 31 and the finger plates 32 jointly support the goods 70, and there are gaps between the finger plates 32. The top holding member of the handling robot 40 can hold the finger plates 32 to support the pallet 30 containing the goods 70 and lift the pallet 30. After the handling robot 40 transports the pallet 30 and the goods 70 to the second docking position, the lifting component 43 drives the top holding member to descend. Since there are gaps between the finger plates 32, the finger plates 32 can pass through the gaps between the comb teeth 622 set at the second docking position under the action of the top holding member, so that the goods 70 in the pallet 30 are left above the comb teeth 622, thereby achieving the separation of the goods 70 in the pallet 30 and the pallet 30. This method has a simple structure, reduces equipment costs, simplifies the separation steps of the goods 70 and the pallet 30, and improves the operating efficiency of the handling robot 40.

[0126] When using existing handling robots to separate goods and pallets, the handling robot first places the pallet at the workstation, then the workstation's equipment separates the goods and pallet, and finally the handling robot retrieves the pallet from the workstation. Using the handling robot 40 and pallet 30 of this embodiment, the handling robot 40 can directly separate the goods 70 and pallet 30 at workstation 20 and place the goods 70 there. The handling robot 40 does not need to perform the additional step of retrieving the pallet 30 from workstation 20, simplifying the separation process and improving the operating efficiency of the handling robot 40. Because the efficiency of separating the goods 70 and pallet 30 at workstation 20 is improved, the number of workstations 20 can be reduced, saving space.

[0127] Figure 10 A flowchart illustrating the picking and placing method provided in this application embodiment is shown. This method is applied to the aforementioned handling robot 40. For example, the handling robot 40 includes a lifting assembly 43, a support platform 42, and multiple supporting members spaced apart on the support platform 42. The multiple supporting members are used to support the pallet 30. The lifting assembly 43 can raise or lower the support platform 42. Figure 10 As shown, the method includes the following steps:

[0128] Step 201: Control the transport robot to walk to the second docking position. The multiple top holding parts of the transport robot carry the pallet and the pallet is lifted. The first item is placed in the pallet. The second docking position is equipped with a second docking device. The second docking device includes multiple comb teeth that are spaced apart. There is a tooth gap between two adjacent comb teeth. When the transport robot walks to the second docking position, the multiple top holding parts are inserted into the tooth gap of the multiple comb teeth.

[0129] Step 202: Control the lifting assembly to descend so that the pallet carried by multiple top holders descends, multiple finger plates pass through the tooth gaps in the vertical direction, the bottom of the first item contacts the comb teeth, the first item is transferred to the second connecting device and the pallet is separated from the first item.

[0130] In some embodiments, after the first goods are transferred to the second receiving device, the method further includes:

[0131] Control the transport robot to walk to the third docking position. The third docking position is equipped with a third docking device. The third docking device includes multiple comb teeth that are spaced apart. There is a tooth gap between two adjacent comb teeth. The multiple comb teeth are used to carry the second goods. When the transport robot walks to the third docking position, the position of multiple finger plates corresponds to the position of the tooth gap of the multiple comb teeth.

[0132] The lifting assembly is controlled to rise, so that the pallet supported by multiple top supports is raised, and multiple finger plates pass through the tooth gaps in the vertical direction to contact the bottom of the second goods and lift the second goods away from the third connecting device.

[0133] Control the transport robot to move away from the third docking position.

[0134] In some embodiments, multiple top-mounted components of the handling robot carry a pallet and the pallet is lifted, with a second item placed inside the pallet; the method further includes:

[0135] Control the transport robot to walk to the fourth docking position. The fourth docking position is equipped with a fourth docking device. The fourth docking device includes multiple cantilever beams that are spaced apart. There is a beam gap between two adjacent cantilever beams. When the transport robot walks to the fourth docking position, the positions of multiple top holding parts correspond to the positions of the beam gaps of the multiple cantilever beams.

[0136] The control lifting assembly descends, and multiple top holders pass through the beam gaps in a vertical direction to disengage the pallet from the multiple top holders and place it on multiple cantilever beams.

[0137] In some embodiments, before controlling the transport robot to walk to the second docking position, the method further includes:

[0138] Control the transport robot to walk to the first docking position. The first docking position is equipped with a first docking device. The first docking device includes multiple cantilever beams that are spaced apart. There is a beam gap between two adjacent cantilever beams. The multiple cantilever beams carry a pallet. The pallet contains the first goods. When the transport robot walks to the first docking position, the positions of multiple top holding parts correspond to the positions of the beam gaps of the multiple cantilever beams.

[0139] The lifting assembly is controlled to rise, and multiple top supports pass through the beam gap in a vertical direction so that the multiple top supports contact the bottom of the pallet and lift the pallet away from the first connecting device;

[0140] Control the transport robot to move away from the first docking position. Figure 11 The diagram shows a structural schematic of an electronic device provided in an embodiment of this application. The specific embodiments of this application do not limit the specific implementation of the electronic device.

[0141] like Figure 11 As shown, the electronic device 300 may include a processor 302 and a memory 304.

[0142] The processor 302 is used to execute the computer program 306, which can specifically execute the relevant steps in the above-described embodiment of the method for picking up and placing goods.

[0143] Specifically, computer program 306 may include computer-executable instructions.

[0144] Processor 302 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The electronic device may include one or more processors of the same type, such as one or more CPUs; or it may include processors of different types, such as one or more CPUs and one or more ASICs.

[0145] Memory 304 is used to store computer program 306. Memory 304 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0146] This application provides a computer-readable storage medium storing at least one executable instruction. When the executable instruction is executed on an electronic device, it causes the electronic device to perform the operation of the picking and placing method as described in the above embodiment.

[0147] This application provides a computer program product, including a computer program that, when executed by a processor, implements the picking and placing method of the above embodiment.

[0148] This application provides a computer program that can be called by a processor to cause an electronic device to perform the picking and placing method of the above embodiment.

[0149] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, the embodiments of this application are not directed to any particular programming language. It should be understood that the content of this application described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of this application.

[0150] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0151] Similarly, it should be understood that, in order to simplify this application and aid in understanding one or more of the various aspects of the invention, features of the embodiments of this application are sometimes grouped together in a single embodiment, figure, or description thereof in the above description of exemplary embodiments of this application. However, this method of disclosure should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim.

[0152] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0153] It should be noted that the above embodiments are illustrative of this application and not restrictive, and those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A tray characterized in that, The tray is independent of a carrying robot, the carrying robot comprises a lifting assembly and a plurality of top holders, the lifting assembly can lift or lower the plurality of top holders, the tray comprises: a base plate; and a plurality of finger plates extending from a first side of the base plate in a first direction, the plurality of finger plates are spaced apart in a second direction, and an inter-plate gap is formed between adjacent two finger plates, the first direction and the second direction are both directions in a horizontal plane parallel to the base plate, and the first direction intersects the second direction; the base plate and the plurality of finger plates are used to jointly carry goods, and bottoms of the plurality of finger plates are used to respectively contact the plurality of top holders of the carrying robot to enable the tray to be carried by the plurality of top holders, so that the tray can be carried and moved by the carrying robot; the tray is used to accommodate goods, and the tray accommodating the goods can be taken out from a first docking device and carried to a second docking device by the carrying robot, and the goods in the tray are separated from the tray to transfer the goods from the tray to the second docking device; the first docking device comprises a plurality of cantilever beams spaced apart, the plurality of cantilever beams are used to carry the tray, the finger plates are positionally matched with the cantilever beams, and in the second direction, a width of the finger plate is greater than a width of the cantilever beam matched with the finger plate, so that when the tray accommodating the goods is taken out from the first docking device, the plurality of top holders can contact the tray bottom and lift the tray to separate the tray from the first docking device; the second docking device comprises a plurality of comb teeth spaced apart, an inter-tooth gap is formed between adjacent two comb teeth, and the plurality of comb teeth are used to carry goods; the finger plates are positionally matched with the inter-tooth gaps, and the inter-plate gaps are positionally matched with the comb teeth, in the second direction, a width of the finger plate is less than the inter-tooth gap matched with the finger plate, and the inter-plate gap is greater than a width of the comb tooth matched with the inter-plate gap, so that when the tray takes or puts the goods from the second docking device, the finger plate can pass through the inter-tooth gap in a vertical direction, so that the tray contacts the bottom of the goods placed on the comb teeth to transfer the goods from the second docking device to the tray, or the goods in the tray are separated from the tray to transfer the goods from the tray to the second docking device.

2. The tray of claim 1, wherein, The base plate and the plurality of finger plates jointly form a bottom plate of the tray, and a baffle connected with the bottom plate is vertically arranged at an outer periphery of the bottom plate.

3. The tray of claim 1, wherein, In the first direction, a size ratio of the finger plate to the base plate is greater than or equal to 2:

1.

4. The tray of claim 1, wherein, The first direction is perpendicular to a side surface of the first side of the base plate, and the first direction and the second direction are perpendicular.

5. The tray of claim 4, wherein, The cross section of the finger plate is rectangular.

6. A method for taking and putting goods, applied to a carrying robot, the carrying robot comprises a lifting assembly, a carrying table, and a plurality of top holders spaced apart on the carrying table, the plurality of top holders are used to carry a tray as claimed in any one of claims 1-5, and the lifting assembly can lift or lower the carrying table, and the method comprises: ​ The method further comprises: controlling the carrying robot to travel to a second docking position, the plurality of top holders of the carrying robot carrying the tray and the tray being lifted, the tray containing the first goods, the second docking position being provided with a second docking device, the second docking device comprising a plurality of comb teeth distributed at intervals, adjacent two comb teeth having a tooth gap, the plurality of top holders being inserted into the tooth gaps of the plurality of comb teeth when the carrying robot travels to the second docking position; 7. The method according to claim 6, wherein controlling the lifting assembly to lower, the plurality of top holders carrying the tray being lowered, the plurality of finger plates passing through the tooth gaps in the vertical direction, the bottom of the first goods being in contact with the comb teeth, the first goods being transferred to the second docking device and the tray being separated from the first goods. After the first goods are transferred to the second docking device, the method further comprises: controlling the carrying robot to travel to a third docking position, the third docking position being provided with a third docking device, the third docking device comprising a plurality of comb teeth distributed at intervals, adjacent two comb teeth having a tooth gap, the plurality of comb teeth being used to carry second goods, the positions of the plurality of finger plates corresponding to the positions of the tooth gaps of the plurality of comb teeth when the carrying robot travels to the third docking position; controlling the lifting assembly to lift, the plurality of top holders carrying the tray being lifted, the plurality of finger plates passing through the tooth gaps in the vertical direction to contact the bottom of the second goods and lift the second goods to separate from the third docking device; 8. The method according to claim 7, wherein, controlling the carrying robot to drive away from the third docking position. The plurality of top holders of the carrying robot carrying the tray and the tray being lifted, the tray containing the second goods, the method further comprises: controlling the carrying robot to travel to a fourth docking position, the fourth docking position being provided with a fourth docking device, the fourth docking device comprising a plurality of cantilever beams distributed at intervals, adjacent two cantilever beams having a beam gap, the positions of the plurality of top holders corresponding to the positions of the beam gaps of the plurality of cantilever beams when the carrying robot travels to the fourth docking position; 9. The method according to claim 6 or 7, wherein controlling the lifting assembly to lower, the plurality of top holders passing through the beam gaps in the vertical direction to separate the tray from the plurality of top holders and place the tray on the plurality of cantilever beams. Before the controlling the carrying robot to travel to a second docking position, the method further comprises: controlling the carrying robot to travel to a first docking position, the first docking position being provided with a first docking device, the first docking device comprising a plurality of cantilever beams distributed at intervals, adjacent two cantilever beams having a beam gap, the plurality of cantilever beams carrying the tray, the tray containing the first goods, the positions of the plurality of top holders corresponding to the positions of the beam gaps of the plurality of cantilever beams when the carrying robot travels to the first docking position; controlling the lifting assembly to lift, the plurality of top holders passing through the beam gaps in the vertical direction to contact the bottom of the tray and lift the tray to separate from the first docking device; The handling robot is controlled to drive away from the first docking position.

10. An electronic device, comprising: The method comprises: The processor and the memory, the memory stores executable instructions, the processor can execute the executable instructions to realize the method as claimed in any one of claims 6-9.

11. A computer readable storage medium, characterized in that, The storage medium stores executable instructions, when the executable instructions run on the electronic device, the electronic device executes the method as claimed in any one of claims 6-9.

12. A warehousing system characterized by, The method comprises: A shelf for storing the tray as claimed in any one of claims 1-5, the tray stores goods; A workstation for receiving goods to be operated or outputting operated goods; and A handling robot, the handling robot comprises a lifting assembly, a carrying table and a plurality of top holders arranged on the carrying table, the plurality of top holders are used for carrying the tray, the lifting assembly lifts or lowers the carrying table to ascend or descend; the handling robot is used for taking out the tray from the shelf, and separating the goods and the tray to transfer the separated goods to the workstation.

13. The warehousing system according to claim 12, characterized in that, The handling robot performs the following steps: The handling robot is controlled to walk to a second docking position, the plurality of top holders of the handling robot carry the tray and the tray is lifted, the tray stores first goods, the second docking position is provided with a second docking device, the second docking device comprises a plurality of spaced distribution comb teeth, adjacent two comb teeth have a tooth gap, the plurality of top holders are inserted into the tooth gap of the plurality of comb teeth when the handling robot walks to the second docking position; The lifting assembly is controlled to descend, so that the tray carried by the plurality of top holders descends, the plurality of finger plates pass through the tooth gap in the vertical direction, the bottom of the first goods contacts the comb teeth, the first goods are transferred to the second docking device and the tray is separated from the first goods.

14. The warehousing system of claim 12, wherein, The first docking device and the fourth docking device of the shelf each have a plurality of cantilever beams arranged at intervals, adjacent two cantilever beams have a beam gap; The second docking device and the third docking device of the workstation each have a plurality of comb teeth arranged at intervals, adjacent two comb teeth have a tooth gap; The plurality of top holders of the handling robot are a plurality of top plates extending in the first direction, the plurality of top plates are arranged at intervals in the second direction; When the handling robot is docked with the first docking device or the fourth docking device of the shelf, the top plate can pass through the beam gap between the cantilever beams; when the handling robot is docked with the second docking device or the third docking device of the workstation, the top plate can pass through the tooth gap between the comb teeth.

15. The warehousing system according to claim 14, characterized in that, The number of cantilever beams of the shelf and the number of finger plates of the tray are N, the handling robot comprises N groups of top plates, each group of top plates comprises two top plates, the two top plates in each group of top plates have a top plate gap, the N cantilever beams, the N finger plates and the N groups of top plates are position matched. In the second direction, the width of the finger plate is greater than the width of the cantilever beam matched with the finger plate, the top plate gap between the two top plates in each group of top plates is greater than the width of the cantilever beam matched therewith and less than the width of the finger plate matched therewith.

16. The warehousing system of claim 14, wherein, The number of finger plates of the tray is N, the number of comb teeth of the work station is N-1, the handling robot comprises N groups of top plates, each group of top plates comprises two top plates, and there is a top plate group gap between two adjacent groups of top plates, the N-1 comb teeth, the plate gap of the N finger plates and the top plate group gap of the N groups of top plates are positionally matched, and the N finger plates and the N groups of top plates are positionally matched; In the second direction, the width of the finger plate is less than the width of the inter-tooth gap matched with the finger plate, the plate gap is greater than the width of the comb tooth matched with the plate gap, the top plate gap between the two top plates in each group of top plates is less than the width of the finger plate matched therewith, and the top plate group gap between two adjacent groups of top plates is greater than the width of the comb tooth matched therewith.

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