Lifting robot, combined robot, storage system and goods picking and placing method

Abstract

This application relates to the field of logistics and warehousing technology, disclosing a lifting robot, a combined robot, a warehousing system, and a method for picking and placing goods. The lifting robot includes: a base, movably configured, with an internal channel for the picking and placing robot to move into along a first direction; a column, disposed on the base; and a lifting mechanism, vertically movable and connected to the column, the first direction being perpendicular to the vertical direction. The lifting mechanism has a docking component facing the channel, which cooperates with the picking and placing robot in the channel. When the lifting mechanism moves vertically relative to the column, the docking component drives the picking and placing robot to move vertically, enabling the robot to pick and place goods on shelves at different heights. Through this method, the picking and placing robot can pick and place goods on multi-layer shelves, allowing it to be applied to more work scenarios.

Description

Technical Field

[0001] This application relates to the field of logistics and warehousing technology, specifically to a lifting robot, a modular robot, a warehousing system, and a method for picking and placing goods. Background Technology

[0002] In existing warehousing systems, picking and placing robots, such as automated guided vehicles, are generally equipped with loading and unloading structures that can automatically interface with other logistics equipment to achieve full automation of cargo and material handling.

[0003] To allow for flexible and free movement of the transport cart when unloaded, it is generally small in size and low in height. However, this height limitation prevents it from performing tasks like lifting robots on multi-level shelves, thus restricting the range of applications for transport carts. Summary of the Invention

[0004] In view of the above problems, this application provides a lifting robot, a combined robot, a warehousing system and a picking and placing method to enable the picking and placing robot to pick and place goods on multi-layer shelves, so that the picking and placing robot can be applied to more work scenarios.

[0005] According to one aspect of the embodiments of this application, a lifting robot is provided, comprising: a base, movably disposed, having a channel formed inside, the channel for a picking and placing robot to move into along a first direction; a column disposed on the base; and a lifting mechanism, vertically and vertically connected to the column, the first direction being perpendicular to the vertical direction, the lifting mechanism being provided with a docking component facing the channel, the docking component being used to cooperate with the picking and placing robot in the channel, so that when the lifting mechanism moves vertically relative to the column, the docking component drives the picking and placing robot to move vertically, thereby enabling the picking and placing robot to pick and place goods on shelves at different heights.

[0006] In one alternative embodiment, the lifting mechanism is provided with at least two docking components, which are arranged facing each other along a second direction, which is perpendicular to both the first direction and the vertical direction.

[0007] In one alternative embodiment, the docking component includes a lifting arm, which is used to lift and move the picking and placing robot in the channel as the lifting mechanism moves up and down along the column.

[0008] In one alternative embodiment, the lifting arm is provided with first limiting portions at both ends along the first direction. The first limiting portions are used to abut against the two sides of the picking and placing robot along the first direction to limit the movement of the picking and placing robot on the lifting arm along the first direction.

[0009] In an alternative manner, second limiting portions are further provided on the two opposite sides between the two lifting arms. The second limiting portions are used to abut against the two sides of the picking and placing robot along the second direction, so as to limit the moving stroke of the picking and placing robot on the lifting arms along the second direction. The second direction is perpendicular to both the first direction and the vertical direction.

[0010] In an alternative manner, the docking component includes a fork arm movably connected to the lifting mechanism. When the fork arm moves relative to the lifting mechanism, it protrudes from the surface of the lifting mechanism facing the channel side, and at least a part of the projection of the fork arm and the picking and placing robot in the channel along the vertical direction overlaps, so that when the fork arm moves up and down along the vertical direction, it abuts against the picking and placing robot and drives the picking and placing robot to move up and down.

[0011] In an alternative manner, the fork arm is slidably connected to the lifting mechanism along the second direction. The second direction is perpendicular to both the first direction and the vertical direction.

[0012] In an alternative manner, the fork arm is rotatably connected to the lifting mechanism. The rotation axis of the fork arm is parallel to the first direction or the vertical direction.

[0013] In an alternative manner, the base includes a first seat body and a second seat body. The first seat body and the second seat body are arranged oppositely along the second direction. The second direction is perpendicular to both the first direction and the vertical direction; a channel is formed between the first seat body and the second seat body, and the channel is also used for the picking and placing robot to move through.

[0014] In an alternative manner, the first seat body and the second seat body are fixedly connected to each other through a fixing component. Connecting the first seat body and the second seat body through the fixing component ensures that the relative positions of the first seat body and the second seat body do not change, and ensures the stable and reliable support of the base for the upright column.

[0015] In an alternative manner, the fixing component is arranged in a "冂" shape. The two free ends of the fixing component are respectively fixedly connected to the tops of the first seat body and the second seat body. The internal area of the fixing component is connected to the channel, and the internal area of the fixing component is used for the picking and placing robot and the cargo box thereon to pass through.

[0016] In an alternative manner, the upright column includes a first upright column and a second upright column arranged on the base. The space between the bottoms of the first upright column and the second upright column is connected to the channel, and the space between the bottoms of the first upright column and the second upright column is used for the picking and placing robot and the cargo box thereon to pass through.

[0017] In an alternative manner, at least one layer of loading platforms is arranged between the first upright column and the second upright column. The loading platforms are used for the picking and placing robot to pick and place goods.

[0018] In an alternative embodiment, the lifting mechanism includes a first lifting part, a second lifting part, and a connecting part. The first and second lifting parts are respectively and vertically movably connected to the first and second columns. The connecting part is fixed between the ends of the first and second lifting parts facing away from the base. The space among the first lifting part, the second lifting part, and the connecting part is connected to the passage, allowing the picking and placing robot and the cargo box thereon to pass through. The lifting mechanism forms a "冂"-shaped structure through the cooperation of the first lifting part, the second lifting part, and the connecting part, and its interior is connected to the passage, increasing the height of the space within the passage, enabling higher cargo boxes on the picking and placing robot to pass through the passage normally.

[0019] In an alternative embodiment, a driving member is provided at the top of the column. The driving member is connected to the lifting mechanism through a transmission mechanism and is used to drive the lifting mechanism to move vertically through the transmission mechanism.

[0020] According to another aspect of the embodiments of the present application, a combined robot is further provided, which includes a picking and placing robot and a lifting robot as described in any of the above items. The lifting robot is used to dock with the picking and placing robot and drive the picking and placing robot to move vertically. The picking and placing robot is used to pick and place goods on shelves at different heights.

[0021] According to another aspect of the embodiments of the present application, a warehousing system is further provided, which includes a shelf and the above combined robot. The lifting robot is used to dock with the picking and placing robot and drive the picking and placing robot to move vertically. The picking and placing robot is used to pick and place goods on shelves at different heights.

[0022] According to another aspect of the embodiments of the present application, a picking method applied to the above combined robot is provided, which includes: controlling the lifting robot to drive the picking and placing robot to move in the horizontal and / or vertical directions so that the picking and placing robot reaches the target picking position; controlling the picking and placing robot to pick the target goods at the target picking position.

[0023] In an alternative embodiment, after controlling the picking and placing robot to pick the target goods at the target picking position, the method further includes: controlling the picking and placing robot to place the target goods on the loading platform of the lifting robot.

[0024] In an alternative embodiment, after controlling the picking and placing robot to place the target goods on the loading platform of the lifting robot, the method further includes: controlling the lifting robot to carry the target goods to the workstation.

[0025] In an alternative embodiment, after controlling the picking and placing robot to pick the target goods at the target picking position, the method further includes: controlling the picking and placing robot to separate from the lifting robot and controlling the picking and placing robot to carry the target goods to the workstation.

[0026] In one alternative approach, before controlling the picking and placing robot to retrieve the target goods at the target retrieval location, the method further includes: if there are other goods at the target retrieval location that prevent the picking and placing robot from retrieving the target goods, then controlling the picking and placing robot to retrieve the other goods and placing them in other vacant locations on the lifting robot's loading platform or shelf.

[0027] According to another aspect of the embodiments of this application, a loading and unloading method is provided, applied to the above-mentioned combined robot, comprising: controlling a lifting robot to drive a loading and unloading robot to move in the horizontal and / or vertical direction so that the loading and unloading robot reaches a target loading and unloading position; and controlling the loading and unloading robot to place the target goods at the target loading and unloading position.

[0028] In one alternative approach, before controlling the lifting robot to move the picking and placing robot in the horizontal and / or vertical direction so that the picking and placing robot reaches the target placement position, the method further includes: controlling the picking and placing robot to obtain the target goods on the shelf or the loading platform of the lifting robot.

[0029] The lifting robot provided in this application embodiment forms a channel inside a movable base for a picking and placing robot (e.g., an AGV) to move into. By setting a docking component facing the channel on the lifting mechanism, the docking component can dock with the picking and placing robot after it enters the channel, thereby driving the picking and placing robot to rise and fall. This enables the picking and placing robot to perform picking and placing operations on shelves of different heights. Furthermore, the picking and placing robot can be brought to the target location (e.g., the shelf corresponding to which picking and placing is required) by moving the base, thus enabling the picking and placing robot to have a wider range of application scenarios.

[0030] 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, the following are specific embodiments of this application. Attached Figure Description

[0031] 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. In the drawings:

[0032] Figure 1 This is a schematic diagram of the structure of a combined robot including a lifting robot and a picking and placing robot, provided in an embodiment of the present invention.

[0033] Figure 2This is a schematic diagram of the lifting robot provided in an embodiment of the present invention;

[0034] Figure 3 This is a structural schematic diagram of the combined robot during docking, provided in an embodiment of the present invention, from a frontal view.

[0035] Figure 4 This is a top-view structural diagram of the lifting platform in the lifting robot provided in an embodiment of the present invention;

[0036] Figure 5 for Figure 2 A magnified structural diagram at point A;

[0037] Figure 6 This is a schematic diagram of the structure of the combined robot provided in an embodiment of the present invention after omitting the loading platform on the picking and placing robot;

[0038] Figure 7 for Figure 6 A magnified structural diagram at point B;

[0039] Figure 8 A partial structural schematic diagram of a combined robot from a frontal view, provided in another embodiment of the present invention;

[0040] Figure 9 A partial structural schematic diagram of a combined robot from a frontal view, provided in another embodiment of the present invention;

[0041] Figure 10 This is a schematic diagram of the structure of the base in the lifting robot provided in an embodiment of the present invention;

[0042] Figure 11 This is a schematic diagram of the lifting robot provided in an embodiment of the present invention, after omitting the column;

[0043] Figure 12 This is a schematic diagram of the structure of a warehousing system provided in an embodiment of the present invention;

[0044] Figure 13 A flowchart illustrating the pickup method provided in an embodiment of the present invention;

[0045] Figure 14 A schematic flowchart of a pickup method provided in another embodiment of the present invention;

[0046] Figure 15 A schematic flowchart of a pickup method provided in another embodiment of the present invention;

[0047] Figure 16 A schematic flowchart of the delivery method provided in an embodiment of the present invention;

[0048] Figure 17This is a schematic flowchart of a delivery method provided in another embodiment of the present invention.

[0049] The reference numerals in the detailed embodiments are as follows:

[0050] 100. Lifting robot; 110. Base; 111. Channel; 112. First seat; 113. Second seat; 114. Fixed component; 115. Drive wheel; 116. Steering wheel; 120. Column; 121. First column; 122. Second column; 123. Cargo platform; 130. Lifting mechanism; 131. Docking component; 1311. Lifting platform; 1312. Lifting arm; 1313. First limiting part; 1314. Second limiting part; 1315. Fork arm; 132. First lifting part; 133. Second lifting part; 134. Connecting part; 140. Drive component; 141. Output shaft; 150. Transmission mechanism; 151. Drive wheel; 152. Flexible transmission component; 153. Driven wheel;

[0051] 200. Picking and placing robot; 210. Docking plate; 220. Chassis; 230. Picking and placing mechanism;

[0052] 300. Cargo box;

[0053] 400. Modular robots;

[0054] 500. Warehousing system; 510. Shelving. Detailed Implementation

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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).

[0061] 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.

[0062] 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.

[0063] Automated Guided Vehicles (AGVs), also known as AGV trolleys, are equipped with electromagnetic or optical automatic navigation devices that enable them to follow a prescribed navigation path and provide safety protection and various transfer functions.

[0064] Currently, warehousing systems, such as automated guided vehicles (AGVs), typically have loading and unloading mechanisms on their picking and placing robots. This allows the robots to interface automatically with other logistics equipment, enabling full automation of the handling of cargo boxes and materials.

[0065] To allow for flexible and free movement of the transport cart when unloaded, it is generally small in size and low in height. However, this height limitation prevents it from performing tasks like lifting robots on multi-level shelves, thus restricting the range of applications for transport carts.

[0066] Based on this, this application designs a lifting robot that can dock with a picking and placing robot equipped with a picking and placing mechanism, such as an autonomous navigation vehicle. After docking with the picking and placing robot, the lifting robot can drive the picking and placing robot to lift and lower, thereby enabling the picking and placing robot to pick and place boxes or materials at different heights on multi-layer shelves.

[0067] The lifting robot provided in this application embodiment includes, but is not limited to, applications in logistics warehousing, production workshops, and other fields.

[0068] Specifically, please refer to Figure 1 and Figure 2 , Figure 1 The diagram illustrates the three-dimensional structure of a combined robot, including a lifting robot and a picking / placing robot, provided in an embodiment of this application. Figure 2 The figure illustrates the three-dimensional structure of the lifting robot provided in this application embodiment. As shown, the lifting robot 100 includes a base 110, a column 120, and a lifting mechanism 130. The base 110 is movably disposed, and a channel 111 is formed inside the base 110. The channel 111 is used for the loading and unloading robot 200 to move into the channel along a first direction (the direction shown by the x-axis in the figure, and the same applies below). The column 120 is disposed on the base 110. The lifting mechanism 130 is vertically and vertically connected to the column 120 along a vertical direction (the direction shown by the z-axis in the figure, and the same applies below), and the vertical direction is perpendicular to the first direction. The lifting mechanism 130 is provided with a docking component 131 facing the channel 111. The docking component 131 is used to cooperate with the loading and unloading robot 200 in the channel 111, so that when the lifting mechanism 130 moves vertically relative to the column 120, the docking component 131 drives the loading and unloading robot 200 to move vertically, thereby enabling the loading and unloading robot 200 to load and unload goods on shelves at different heights.

[0069] The base 110 is used to support and install the column 120. The lifting mechanism 130 can be lifted and connected to the column 120 via a guide rail, lead screw, or other structure. The bottom of the base 110 can be equipped with rollers, tracks, or other mechanisms to enable the movement of the lifting robot.

[0070] The docking component 131 can dock with the picking and placing robot 200 by lifting or snapping, so that when the lifting mechanism 130 moves, the docking component 131 can drive the picking and placing robot 200 to move up and down together.

[0071] Specifically, when placing goods on the shelf, the lifting mechanism 130 lowers to the lowest point of the column 120. After the picking and placing robot 200 carrying the cargo box 300 moves along the first direction into the aisle 111, the front of the lifting robot 100 and the picking and placing robot 200 are as follows: Figure 3 As shown in the diagram, the docking component 131 on the lifting mechanism 130 is aligned with the picking and placing robot 200. Then, the lifting mechanism 130 rises vertically so that the docking component 131 can lift the picking and placing robot 200 to the corresponding shelf height. Then, the picking and placing robot 200 unloads the box onto the shelf through its picking and placing mechanism.

[0072] When retrieving goods from the shelf, the unloaded picking and placing robot 200 moves to aisle 111 and docks with the lifting robot 100. The lifting robot 100 lifts the picking and placing robot 200 to the corresponding shelf height. The picking and placing robot 200 then loads the boxes on the shelf onto the loading platform via the picking and placing mechanism. Then, the lifting robot 100 lowers the picking and placing robot 200 loaded with boxes to the ground, and the lifting robot 100 transports the loaded boxes to the required location.

[0073] The lifting robot 100 provided in this application embodiment forms a channel 111 inside a movable base 110 for a picking and placing robot 200 (e.g., an AGV) to move into. By providing a docking component 131 on the lifting mechanism 130 facing the channel 111, the docking component 131 can dock with the picking and placing robot 200 after it enters the channel 111, thereby driving the picking and placing robot 200 to rise and fall. This enables the picking and placing robot 200 to perform picking and placing operations on shelves of different heights. Furthermore, the picking and placing robot 200 can be brought to the target location (e.g., the shelf corresponding to which picking and placing is required) by moving the base 110, thus enabling the picking and placing robot 200 to have a wider range of application scenarios.

[0074] To ensure the stability of the docking component 131 when it drives the picking and placing robot 200 to move up and down, this application proposes an implementation method, which can be found in the following description. Figure 3 As shown in the figure, the lifting mechanism 130 is provided with at least two docking parts 131. The at least two docking parts 131 are arranged facing each other along the second direction (the direction shown by the y-axis in the figure). The second direction is perpendicular to the first direction and the vertical direction.

[0075] By setting at least two docking parts 131 along the second direction, the at least two docking parts 131 can dock and cooperate on both sides of the picking and placing robot 200. In this way, during the process of driving the picking and placing robot 200 to move up and down, the picking and placing robot 200 can be guaranteed to move stably and remain horizontal, preventing the picking and placing robot 200 or the cargo box on it from falling and causing safety risks.

[0076] It is understood that in some other embodiments, the lifting mechanism 130 may also be provided with a docking component 131 on only one side, but it is necessary to ensure that the docking component 131 can lift and lower the loading and unloading robot 200 smoothly and reliably.

[0077] Please see Figure 4 The figure shows a top view of the docking component 131 provided in one embodiment of this application. As shown in the figure, the docking component 131 can be configured as a lifting platform 1311, which can be connected to the lifting mechanism 130 on only one side along the second direction (the direction shown by the y-axis in the figure), or on both sides. The lifting platform 1311 is provided with a notch extending along the first direction (the direction shown by the x-axis), so that when the picking and placing robot 200 moves into the channel 111, the rollers on the picking and placing robot 200 enter the notch, so that the lifting platform 1311 is located at the bottom of the picking and placing robot 200, and then the picking and placing robot 200 can be driven to rise and fall by the lifting platform 1311. It should be noted that, in the embodiment where the lifting platform 1311 is connected to the lifting mechanism 130 only on one side along the second direction, when lifting the picking and placing robot 200, the lifting platform 1311 can cover the entire bottom surface of the picking and placing robot 200, or it can cover only at least half of the bottom surface of the picking and placing robot 200, so as to ensure that the picking and placing robot 200 can remain stable when the lifting platform 1311 drives the picking and placing robot 200 to rise and fall.

[0078] In some other embodiments, the docking component 131 can be a lifting plate provided only on one side. The picking and placing robot 200 has a groove on the side opposite to the lifting plate along the second direction. During the process of the picking and placing robot 200 moving into the channel 111, the docking component 131 extends into the groove. The depth of the groove must be greater than or equal to half the size of the picking and placing robot 200 in the second direction, so that when the lifting plate drives the picking and placing robot 200 to rise and fall through the groove, the stability of the picking and placing robot 200 can also be guaranteed.

[0079] Regarding the specific structure of the docking component 131, this application further proposes an implementation method, which can be found again in the following description. Figure 5 The figure shows Figure 2Enlarged structure at point A. As shown in the figure, the docking component 131 includes a lifting arm 1312, which is used to lift the picking and placing robot 200 in the channel 111 and drive it to move up and down when the lifting mechanism 130 moves up and down along the column 120.

[0080] The lifting arm 1312 has a simple structure, is easy to manufacture, and has a low cost. By setting the docking component 131 as the lifting arm 1312, it is beneficial to reduce the manufacturing difficulty of the lifting robot 100 and save manufacturing costs.

[0081] To ensure the stability of the lifting arm 1312 when it drives the picking and placing robot 200 to rise and fall, this application further proposes an implementation method, which can be found again in detail. Figure 5 The lifting arm 1312 is provided with a first limiting part 1313 at both ends along the first direction. The first limiting part 1313 is used to abut against the two sides of the picking and placing robot 200 along the first direction to limit the movement of the picking and placing robot 200 along the first direction on the lifting arm.

[0082] Please see Figure 6 and Figure 7 , Figure 6 The structure of the docking point between the picking and placing robot and the lifting robot's lifting arm is shown. Figure 7 It shows Figure 6 The enlarged structure at point B omits the cargo platform on the picking and placing robot. Figure 6 and Figure 7 In the specific embodiment shown, docking plates 210 are provided on both sides of the picking and placing robot 200. For this embodiment, "the first limiting part 1313 is used to abut against both sides of the picking and placing robot 200 along the first direction" means that... Figure 7 The first limiting part 1313 shown is used to abut against both sides of the docking plate 210 along the first direction.

[0083] It is understood that in some other embodiments, the lifting arm 1312 may also directly dock with the two sides of the bottom surface of the picking and placing robot 200, and the first limiting part 1313 may abut with the two sides of the picking and placing robot 200 itself along the first direction.

[0084] By setting first limiting parts 1313 at both ends of the lifting arm 1312 along the first direction, during docking, the first limiting parts 1313 abut against the two sides of the picking and placing robot 200 along the first direction, which can prevent the picking and placing robot 200 or its cargo box from falling off when the lifting arm 1312 drives the picking and placing robot 200 to rise and fall due to the tilt of the picking and placing robot 200 relative to the plane of the first direction, thereby ensuring the safety of picking and placing operations.

[0085] To further ensure the stability of the lifting arm 1312 when it drives the picking and placing robot 200 to rise and fall, this application also proposes an implementation method, which can be found again in detail. Figure 5 As shown in the figure, a second limiting part 1314 is provided on the opposite sides of the two lifting arms 1312. The second limiting part 1314 is used to abut against the two sides of the picking and placing robot 200 along the second direction to limit the movement of the picking and placing robot 200 on the lifting arm 1312 along the second direction. The second direction is perpendicular to the first direction and the vertical direction.

[0086] It is understandable that, regarding the above Figure 6 and Figure 7 In the embodiment of the picking and placing robot 200 shown, which has a docking plate 210, "the second limiting part 1314 is used to abut against both sides of the picking and placing robot 200 in the second direction" means that the second limiting part 1314 is used to abut against the docking plate 210 in the second direction. Correspondingly, in some other embodiments where the lifting arm 1312 directly docks with both sides of the bottom surface of the picking and placing robot 200, the second limiting part 1314 is used to abut against both sides of the picking and placing robot 200 itself in the second direction.

[0087] By providing second limiting parts 1314 on opposite sides between the two lifting arms 1312, during docking, the second limiting parts 1314 abut against the two sides of the picking and placing robot 200 along the second direction, which can prevent the picking and placing robot 200 or its cargo box from falling off due to the tilt of the picking and placing robot 200 relative to the plane of the second direction when the lifting arms 1312 drive the picking and placing robot 200 to rise and fall, thereby fully ensuring the safety of picking and placing operations.

[0088] To simplify the number of parts in the lifting robot 100 and optimize production efficiency, this application further proposes an implementation method, such as... Figure 5 As shown, the lifting mechanism 130, the lifting arm 1312, the first limiting part 1313 and the second limiting part 1314 are an integral structure. Specifically, the lifting mechanism 130 extends downward toward the side of the channel 111 to form the second limiting part 1314, the bottom of the second limiting part 1314 bends toward the side of the channel 111 to form the lifting arm 1312, and the lifting arm 1312 tilts upward along both sides of the first direction to form the first limiting part 1313.

[0089] Regarding the structure of the docking component 131, this application also proposes an implementation method, please refer to the following for details. Figure 8The figure shows the front view of the docking structure of the lifting robot and the picking and placing robot provided in another embodiment of this application. As shown in the figure, the docking component 131 includes a fork arm 1315 movably connected to the lifting mechanism 130. When the fork arm 1315 moves relative to the lifting mechanism 130, it protrudes from the surface of the lifting mechanism 130 facing the channel 111. The projection of the fork arm 1315 and the picking and placing robot 200 in the channel 111 along the vertical direction (the direction shown by the z-axis in the figure) at least partially coincides, so that when the fork arm 1315 moves up and down in the vertical direction, it abuts against the picking and placing robot 200 and drives the picking and placing robot 200 to move up and down.

[0090] Specifically, during the process of the picking and placing robot 200 entering the channel 111, the fork arm 1315 does not have structural interference with the picking and placing robot 200. After the picking and placing robot 200 enters the channel 111, the fork arm 1315 moves relative to the lifting mechanism 130 and protrudes from the surface of the lifting mechanism 130 facing the channel 111, so that the projection of the fork arm 1315 and the picking and placing robot 200 in the vertical direction at least partially overlaps. Thus, when the fork arm 1315 moves up and down, it drives the picking and placing robot 200 to move up and down accordingly.

[0091] The docking component 131 adopts a fork arm 1315 that is movably connected to the lifting mechanism 130. This ensures that the picking and placing robot 200 can enter the channel 111 normally. Furthermore, the fork arm 1315 moves and at least partially overlaps with the projection of the picking and placing robot 200 in the vertical direction, thereby enabling the fork arm 1315 to drive the picking and placing robot 200 to lift and perform picking and placing operations.

[0092] Regarding the structure in which the fork arm 1315 is movably connected to the lifting mechanism 130, this application further proposes a specific embodiment; please refer to the following. Figure 8 As shown in the figure, the fork arm 1315 is slidably connected to the lifting mechanism 130 along the second direction (the direction shown by the y-axis in the figure), and the second direction is perpendicular to both the first direction and the vertical direction.

[0093] Specifically, the fork arm 1315 can be a retractable piston rod on an electric cylinder, pneumatic cylinder, or hydraulic cylinder. In the initial state, the fork arm 1315 retracts into the lifting mechanism 130, such as... Figure 8 As shown in the figure, when the picking and placing robot 200 enters the channel 111, the fork arm 1315 extends in the direction shown by the arrow in the figure and at least partially overlaps with the projection of the picking and placing robot 200 in the vertical direction, thereby driving the picking and placing robot 200 to move up and down as the fork arm 1315 moves up and down.

[0094] Understandably, the 1315 fork arm can be like... Figure 8The fork arm 1315 extends into the grooves on both sides of the loading and unloading robot 200 as shown in the figure. In other embodiments, the fork arm 1315 may also extend into the gap between the bottom of the loading and unloading robot 200 and the ground.

[0095] By configuring the fork arm 1315 to slide and extend relative to the lifting mechanism 130, the fork arm 1315 can drive the picking and placing robot 200 to lift and perform picking and placing operations.

[0096] Regarding the structure in which the fork arm 1315 is movably connected to the lifting mechanism 130, this application also proposes an embodiment, which can be found in the following details. Figure 9 The figure shows the front view of the lifting robot and the picking and placing robot provided in another embodiment of this application when they dock. As shown in the figure, the fork arm 1315 is rotatably connected to the lifting mechanism 130, and the rotation axis of the fork arm 1315 is parallel to the first direction or the vertical direction.

[0097] Similarly, in the initial state, the fork arm 1315 rotates and retracts to ensure that there is no structural interference with the picking and placing robot 200 as it enters the channel 111. Figure 9 As shown in the figure, when the picking and placing robot 200 enters the channel 111, the fork arm 1315 rotates and extends in the direction shown by the arrow in the figure and at least partially overlaps with the projection of the picking and placing robot 200 in the vertical direction, thereby driving the picking and placing robot 200 to move up and down as the fork arm 1315 moves up and down.

[0098] Understandable Figure 9 The rotation axis of the fork arm 1315 shown is relative to the first direction ( Figure 1 The axis of rotation of the fork arm 1315 is parallel to the direction indicated by the x-axis. In some other embodiments, the axis of rotation of the fork arm 1315 may also be parallel to the vertical direction (in the direction shown by the x-axis). Figure 1 Parallel to the direction shown by the z-axis, that is, the fork arm 1315 rotates along the horizontal plane. This method can also ensure that the fork arm 1315 will not structurally interfere with the picking and placing robot 200 during the process of the picking and placing robot 200 entering the channel 111.

[0099] By setting the fork arm 1315 to be rotatable relative to the lifting mechanism 130, the fork arm 1315 can also drive the picking and placing robot 200 to lift and perform picking and placing operations.

[0100] Regarding the structure of the base 110, this application proposes one implementation method, please refer to the following for details. Figure 10, a three-dimensional structure of the base is shown in the figure. As shown in the figure, the base 110 includes a first base body 112 and a second base body 113. The first base body 112 and the second base body 113 are oppositely arranged along the second direction (the direction shown by the y-axis in the figure), and the second direction is perpendicular to both the first direction and the vertical direction. A channel 111 is formed between the first base body 112 and the second base body 113, and the channel 111 is also used for the picking and placing robot 200 to move through.

[0101] By separately setting the base 110 into the first base body 112 and the second base body 113, the channel 111 is made to penetrate along the first direction (the direction shown by the x-axis in the figure). Thus, the picking and placing robot 200 entering from one side of the channel 111 can exit from the other side. When multiple picking and placing robots 200 need to queue up to dock with the lifting robot 100, the subsequent queuing picking and placing robots 200 do not need to retreat to make way for the picking and placing robot 200 that has completed the operation at the exit. Therefore, the required space can be reduced and the operation efficiency can be improved.

[0102] To ensure the structural stability of the first base body 112 and the second base body 113, the present application further proposes an implementation manner. For details, please continue to refer to Figure 10 , as shown in the figure, the first base body 112 and the second base body 113 are fixedly connected to each other through a fixing component 114.

[0103] The first base body 112 and the second base body 113 are connected by the fixing component 114 to ensure that the relative positions of the first base body 112 and the second base body 113 do not change, and to ensure that the support of the base 110 for the column 120 is stable and reliable.

[0104] To enable the picking and placing robot 200 and the cargo box carried thereon to pass through the channel 111 normally, the present application further proposes an implementation manner. For details, please continue to refer to Figure 10 , as shown in the figure, the fixing component 114 is arranged in a "冂" shape. The two free ends of the fixing component 114 are respectively fixedly connected to the tops of the first base body 112 and the second base body 113. The internal area of the fixing component 114 is connected to the channel 111, and the internal area of the fixing component 114 is used for the picking and placing robot 200 and the cargo box thereon to pass through.

[0105] By setting the fixing component 114 in a "冂" shape and connecting its internal area to the channel 111, the height of the cargo box on the picking and placing robot 20 that is allowed to pass through the channel 111 can be increased, preventing the top of the cargo box on the picking and placing robot 200 from interfering with the structure of the fixing component 114 and causing the cargo box to fall.

[0106] Regarding the structure of the column 120, please refer to Figure 2 and Figure 3As shown in the figure, the column 120 includes a first column 121 and a second column 122 disposed on the base 110. The space between the bottom of the first column 121 and the second column 122 is connected to the channel 111. The space between the bottom of the first column 121 and the second column 122 is used for the loading and unloading robot 200 and the cargo box on it to pass through.

[0107] By splitting the column 120 into a first column 121 and a second column 122, and connecting the space between the bottom of the first column 121 and the second column 122 with the channel 111, the height of the cargo box of the picking and placing robot 200 that can pass through the channel 111 is also increased, so as to prevent the cargo box from falling off due to structural interference.

[0108] To achieve temporary storage of cargo containers, this application further proposes an implementation method, which can be found in the following description. Figure 2 As shown in the figure, at least one loading platform 123 is provided between the first column 121 and the second column 122. The loading platform 123 is used for the loading and unloading robot 200 to pick up and place goods.

[0109] Specifically, such as Figure 2 As shown, the loading platform 123 can be set on one side of the first column 121 and the second column 122, and the lifting mechanism 130 is set on the other side of the first column 121 and the second column 122, so that the lifting mechanism 130 can drive the picking and placing robot 200 to the same height as the loading platform 123 on one of the layers, so as to realize the picking and placing operation of the picking and placing robot 200 on the loading platform 123 on that layer.

[0110] By setting at least one loading platform 123 between the first column 121 and the second column 122, when the picking and placing robot 200 and the lifting robot 100 work together to pick up and place goods, the picking and placing robot 200 can first place the boxes to be picked up one by one on the loading platform 123. Finally, the picking and placing robot 200 removes the boxes from the loading platform 123 of the lifting robot 100 and transports them to the target location. After the picking and placing robot 200 has placed all the boxes to be picked up on the loading platform 123, the lifting robot 100 can move to a more spacious area, thereby quickly leaving a passage for subsequent passage and operations around the shelf. This working mode is conducive to improving the overall operating efficiency of the warehousing system.

[0111] Regarding the structure of the lifting mechanism 130, this application further proposes an implementation method, please refer to the following for details. Figure 2 and further combine Figure 11 , Figure 11The component structures on one side of the upright post and the base are omitted, showing the structure of the lifting mechanism and the internal structure on one side of the base. As shown in the figure, the lifting mechanism 130 includes a first lifting part 132, a second lifting part 133 and a connecting part 134. The first lifting part 132 and the second lifting part 133 are respectively liftably connected to the first upright post 121 and the second upright post 122. The connecting part 134 is fixed between the ends of the first lifting part 132 and the second lifting part 133 facing away from the base 110. The space between the first lifting part 132, the second lifting part 133 and the connecting part 134 is communicated with the channel 111 for the pick-and-place robot 200 and the cargo box thereon to pass through.

[0112] The lifting mechanism 130 jointly forms a "冂" - shaped structure through the first lifting part 132, the second lifting part 133 and the connecting part 134, and is internally communicated with the channel 111, realizing the increase in the space in the channel 111, so that the higher cargo boxes on the pick-and-place robot 200 can also normally pass through the channel 111. The connecting part 134 fixedly connects the first lifting part 132 and the second lifting part 133, enabling the first lifting part 132 and the second lifting part 133 to move up and down synchronously, ensuring the stability when the lifting mechanism 130 drives the pick-and-place robot 200 to move up and down.

[0113] In order to improve the degree of automation of the operation, an implementation manner is proposed in this application. Specifically, please refer to Figure 2 and Figure 11 , as shown in the figure, a driving part 140 is provided at the top of the upright post 120. The driving part 140 is connected to the lifting mechanism 130 through a transmission mechanism 150. The driving part 140 is used to drive the lifting mechanism 130 to move up and down through the transmission mechanism 150.

[0114] In Figure 2 and Figure 11 In the specific embodiment shown, the driving part 140 adopts a motor. The output shaft 141 formed by the driving part 140 through a reducer and a gear transmission box can be connected to the transmission mechanism 150 at both ends. The transmission mechanism 150 includes a driving wheel 151, a flexible transmission part 152 and a driven wheel 153. The driving wheel 151 is connected to the end of the output shaft 141. The driven wheel 153 is rotatably arranged on the base 110. The flexible transmission part 152 is connected between the driving wheel 151 and the driven wheel 153. The flexible transmission part 152 is fixedly connected to the lifting mechanism 130. When the driving part 140 drives the driving wheel 151 to rotate through the output shaft 141, the driving wheel 151 drives the flexible transmission part 152 between it and the driven wheel 153 to move, and the flexible transmission part 152 then drives the lifting mechanism 130 to move up and down accordingly.

[0115] It is understood that the above embodiment is only one way to automatically drive the lifting mechanism 130. In other embodiments, a screw module can also be used. Specifically, the screw can be driven by a motor to rotate so that the nut on the screw can drive the lifting mechanism 130 to rise and fall at the same time as it moves up and down.

[0116] When the drive component 140 is running, it drives the lifting mechanism 130 to move up and down through the transmission mechanism 150, thereby realizing the automated picking and placing operation when the lifting robot 100 and the picking and placing robot 200 are docked and cooperated.

[0117] Please refer to it again. Figure 10 As shown in the figure, in some embodiments, a drive wheel 115 is provided at the bottom of the base 110, and the drive wheel 115 is used to drive the base 110 to move.

[0118] By setting drive wheels 115 at the bottom of the base 110, the lifting robot 100 can be easily moved.

[0119] For further information, please refer to [link / reference]. Figure 10 As shown in the figure, in some embodiments, the bottom of the base 110 is also provided with a steering wheel 116.

[0120] By setting steering wheels 116 at the bottom of the base 110, the lifting robot 100 becomes more flexible during movement.

[0121] Furthermore, the automated movement of the lifting robot 100 can be achieved by equipping it with an automatic navigation and recognition device.

[0122] According to another aspect of the embodiments of this application, a combined robot is also provided, please refer again for details. Figure 1 As shown in the figure, the combined robot 400 includes a picking and placing robot 200 and a lifting robot 100 in any of the above embodiments. The lifting robot 100 is used to dock with the picking and placing robot 200 and drive the picking and placing robot 200 to move up and down. The picking and placing robot 200 is used to pick and place goods on shelves at different heights.

[0123] In the combined robot 400 provided in this application embodiment, the lifting robot 100 is allowed to move into the picking and placing robot 200 through the channel 111 inside the base 110. The docking part 131 on the lifting mechanism 130 docks with the picking and placing robot 200 to drive the picking and placing robot 200 to lift and lower, thereby realizing the picking and placing robot 200 to pick and place goods on shelves of different heights, so that the picking and placing robot 200 has a wider range of application scenarios.

[0124] Specifically, such as Figure 1As shown, the picking and placing robot 200 may include a chassis 220 and a picking and placing mechanism 230. The chassis 220 may be equipped with drive wheels, tracks, or other mechanisms to enable automated movement of the picking and placing robot 200. The picking and placing mechanism 230 is mounted on the chassis 220 and may be, for example, a forklift, for picking up or placing boxes or goods. The picking and placing mechanism 230 can rotate vertically relative to the chassis 220, thereby enabling picking and placing operations in various directions.

[0125] According to another aspect of the embodiments of this application, a warehousing system is also provided, please refer to [link / reference needed]. Figure 12 The figure shows the planar structure of the warehousing system. As shown in the figure, the warehousing system 500 includes shelves 510 and a combined robot 400 in the above embodiment. The lifting robot 100 is used to dock with the picking and placing robot 200 and drive the picking and placing robot 200 to move up and down. The picking and placing robot 200 is used to pick and place goods on shelves 510 at different heights.

[0126] According to another aspect of the embodiments of this application, a picking method is also provided, which is applied to the combined robot in the above embodiments, and the method can be executed by the central controller in the warehousing system. Please refer to [link / reference] for details. Figure 13 The diagram illustrates the pickup process. As shown, the pickup method includes the following steps:

[0127] Step 610: Control the lifting robot to move the picking and placing robot in the horizontal and / or vertical directions so that the picking and placing robot reaches the target picking position.

[0128] Specifically, prior to this step, sensors can be installed on at least one of the picking and placing robot and the lifting robot to detect their relative positions and achieve automated docking, so that the lifting robot can drive the picking and placing robot to move.

[0129] Step 630: Control the pick-up and drop-off robot to retrieve the target goods at the target location.

[0130] In this step, once the picking and placing robot reaches the target location, the target goods can be picked up by controlling the extension and retraction of its upper forks.

[0131] Specifically, in this solution, the target location could be, for example, a workstation in a warehouse. The lifting robot can be permanently stationed in the shelving area, primarily responsible for interfacing with the picking and placing robot to move the robot to the target area and raise it to the appropriate height. The picking and placing robot then retrieves the target goods. Through the cooperation of the lifting robot and the picking and placing robot, the retrieval of the target goods is achieved.

[0132] To improve the operational efficiency of the warehousing system, this application further proposes an implementation method, for details please refer to [link / reference needed]. Figure 14 The figure illustrates the flow of a pickup method provided in another embodiment of this application. As shown in the figure, after step 630, the following steps are also included:

[0133] Step 650: Control the picking and placing robot to place the target goods on the lifting robot's loading platform.

[0134] By placing the target goods onto the loading platform of the lifting robot using a picking and placing robot, the target goods can be temporarily stored. This allows the picking and placing robot to pick up multiple goods and place them on the loading platform for temporary storage during a single operation, thereby improving picking efficiency.

[0135] Please refer to it again. Figure 14 In some embodiments, after step 650, the method further includes the following steps:

[0136] Step 670: Control the lifting robot to carry the target goods to the workstation.

[0137] The lifting robot carries the target goods to the workstation, enabling the transportation of multiple goods at once and improving the efficiency of goods transportation.

[0138] Please see Figure 15 The figure illustrates the flow of a pickup method provided by another embodiment of this application. As shown in the figure, in some embodiments, after step 630, the following steps are further included:

[0139] Step 690: Control the picking and placing robot to detach from the lifting robot, and control the picking and placing robot to carry the target goods to the workstation.

[0140] By having a pickup and delivery robot carry the target goods to the workstation, the lifting robot can dock with the next pickup and delivery robot to retrieve the goods, thereby improving operational efficiency.

[0141] Please refer to it again. Figure 15 In some embodiments, the following steps are included before step 630:

[0142] Step 620: If there are other goods at the target pickup location that prevent the pickup robot from obtaining the target goods, then control the pickup robot to obtain the other goods and place them in other empty positions on the lifting robot's loading platform or shelf.

[0143] By controlling the picking and placing robot, other goods are placed on the loading platform of the lifting robot or other empty positions on the shelf, so that the target goods are exposed, thereby realizing the normal retrieval of the target goods.

[0144] According to another aspect of the embodiments of this application, a method for releasing goods is also provided. This method is applied to the combined robot described in the above embodiments, and the method can be executed by the central controller in the warehousing system. Please refer to [link / reference] for details. Figure 16 The diagram illustrates the process of picking up and placing goods. As shown in the diagram, the picking and placing method includes the following steps:

[0145] Step 710: Control the lifting robot to move the picking and placing robot in the horizontal and / or vertical directions so that the picking and placing robot reaches the target placement position.

[0146] Step 730: Control the picking and placing robot to place the target goods at the target placement location.

[0147] Similarly, by cooperating with the lifting robot and the picking and placing robot, the target goods can be placed at the target placement location.

[0148] Please see Figure 17 The figure illustrates the flow of a delivery method provided by another embodiment of this application. As shown in the figure, in some embodiments, the following steps are included before step 710:

[0149] Step 701: Control the picking and placing robot to obtain the target goods from the shelf or the loading platform of the lifting robot.

[0150] By temporarily storing target goods on shelves or loading platforms, the picking and placing robot can place multiple target goods in one operation, thereby improving the efficiency of the placing operation.

[0151] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way.

Claims

1. A lifting robot, characterized in that, Comprising: A base, which is movably arranged and has a channel formed inside. The channel is used for a picking and placing robot to move into along a first direction. A column, which is vertically arranged on the base. A lifting mechanism, which is vertically liftably connected to the column. The first direction is perpendicular to the vertical direction. A docking component facing the channel is arranged on the lifting mechanism. The docking component is used to cooperate with the picking and placing robot in the channel, so that when the lifting mechanism moves up and down relative to the column along the vertical direction, the docking component drives the picking and placing robot to move up and down, and further enables the picking and placing robot to pick and place goods on shelves at different heights. At least two docking components are arranged on the lifting mechanism. At least two docking components are arranged facing each other along a second direction. The second direction is perpendicular to both the first direction and the vertical direction. The docking component includes a lifting arm, which is used to lift the picking and placing robot in the channel and drive it to move up and down when the lifting mechanism moves up and down along the column. First limiting parts are arranged at both ends of the lifting arm along the first direction. The first limiting parts are used to abut against both sides of the picking and placing robot along the first direction to limit the moving stroke of the picking and placing robot on the lifting arm along the first direction.

2. The lifting robot according to claim 1, characterized in that, Second limiting parts are also arranged on the two sides facing away from each other between the two lifting arms. The second limiting parts are used to abut against both sides of the picking and placing robot along the second direction to limit the moving stroke of the picking and placing robot on the lifting arm along the second direction. The second direction is perpendicular to both the first direction and the vertical direction.

3. The lifting robot according to any one of claims 1-2, characterized in that, The base includes a first base body and a second base body. The first base body and the second base body are arranged opposite to each other along the second direction. The second direction is perpendicular to both the first direction and the vertical direction. The channel is formed between the first base body and the second base body. The channel is also used for the picking and placing robot to move through.

4. The lifting robot according to claim 3, characterized in that, The first base body and the second base body are fixedly connected to each other through a fixing component.

5. The lifting robot according to claim 4, characterized in that, The fixing component is arranged in an inverted "冂" shape. The two free ends of the fixing component are respectively fixedly connected to the tops of the first base body and the second base body. The internal area of the fixing component is connected to the channel. The internal area of the fixing component is used for the picking and placing robot and the cargo box on it to pass through.

6. The lifting robot according to any one of claims 1-2, characterized in that, The column includes a first column and a second column arranged on the base. The space between the bottoms of the first column and the second column is connected to the channel. The space between the bottoms of the first column and the second column is used for the picking and placing robot and the cargo box on it to pass through.

7. The lifting robot according to claim 6, characterized in that, At least one layer of loading platforms is arranged between the first column and the second column. The loading platforms are used for the picking and placing robot to pick and place goods.

8. The lifting robot according to claim 6, characterized in that, The lifting mechanism includes a first lifting part, a second lifting part, and a connecting part. The first lifting part and the second lifting part are respectively movably connected to the first column and the second column. The connecting part is fixed between the ends of the first lifting part and the second lifting part away from the base. The space between the first lifting part, the second lifting part, and the connecting part is connected to the channel for the loading and unloading robot and its cargo box to pass through.

9. The lifting robot according to any one of claims 1-2, characterized in that, A driving component is provided at the top of the column. The driving component is connected to the lifting mechanism through a transmission mechanism. The driving component is used to drive the lifting mechanism to move up and down through the transmission mechanism.

10. A modular robot, characterized in that, The system includes a picking and placing robot and a lifting robot as described in any one of claims 1-9, wherein the lifting robot is used to dock with the picking and placing robot and drive the picking and placing robot to move up and down, and the picking and placing robot is used to pick and place goods on shelves at different heights.

11. A warehousing system, characterized in that, The system includes a shelf and a combined robot as described in claim 10, wherein the lifting robot is used to dock with the picking and placing robot and drive the picking and placing robot to move up and down, and the picking and placing robot is used to pick and place goods on the shelf at different heights.

12. A method for picking up goods, applied to the combined robot of claim 10, characterized in that, include: Control the lifting robot to drive the picking and placing robot to move in the horizontal and / or vertical directions so that the picking and placing robot can reach the target picking position; The robot is controlled to retrieve the target goods at the target retrieval location.

13. The picking method according to claim 12, characterized in that, After the method controls the picking and placing robot to retrieve the target goods at the target retrieval location, the method further includes: The robot is controlled to place the target goods onto the loading platform of the lifting robot.

14. The picking method according to claim 13, characterized in that, After the method controls the picking and placing robot to place the target goods on the loading platform of the lifting robot, the method further includes: Control the lifting robot to carry the target cargo to the workstation.

15. The picking method according to claim 12, characterized in that, After the method controls the picking and placing robot to retrieve the target goods at the target retrieval location, the method further includes: Control the picking and placing robot to detach from the lifting robot, and control the picking and placing robot to carry the target goods to the workstation.

16. The picking method according to claim 12, characterized in that, Before controlling the picking and placing robot to retrieve the target goods at the target retrieval location, the method further includes: If there are other goods at the target pickup location that prevent the pickup robot from obtaining the target goods, then the pickup robot is controlled to obtain the other goods and place them in other vacant locations on the lifting robot's loading platform or shelf.

17. A method for loading goods, applied to the modular robot of claim 10, characterized in that, include: Control the lifting robot to drive the picking and placing robot to move in the horizontal and / or vertical directions so that the picking and placing robot reaches the target placing position; The robot is controlled to place the target goods at the target placement location.

18. The method for releasing goods according to claim 17, characterized in that, Before controlling the lifting robot to move the picking and placing robot in the horizontal and / or vertical directions so that the picking and placing robot reaches the target placing position, the method further includes: The robot is controlled to retrieve the target goods from the shelf or the loading platform of the lifting robot.

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