Warehousing system and scheduling method thereof

Abstract

The embodiment of the invention provides a warehousing system and a scheduling method thereof, and the system comprises a first carrier which is provided with a storage location which is configured to store an inventory container; the second carrier is adjacent to the first carrier and is provided with a buffer storage position, and the buffer storage position is configured to buffer the order container; the first taking and placing device is located on one side of the first carrier and the second carrier, a first track is arranged in a storage area where the first carrier is located, the first taking and placing device is provided with a first walking mechanism, and the first walking mechanism is hung on the first track and can move along the first track relative to the first carrier; the first pick-and-place device comprises a first pick-and-place mechanism which is configured to be in butt joint with the storage positions so as to pick and place stock containers; and the first sorting mechanism is configured to sort out the order goods in the inventory container and deliver the order goods to the order container located on the second carrier, and the transfer robot moves out the order container with the order goods, so that the goods sorting efficiency is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of warehousing and logistics, and in particular, relates to a warehousing system. Background Art

[0002] In a warehousing system, items are usually stored in shelves. The items on each shelf are picked up, placed and transferred by a pick-and-place device on one side of the shelf. For example, the pick-and-place mechanism of the pick-and-place device can move on each layer or column of the shelf to take out the items on the target shelf and transfer them to a transport robot, which transports the items to a workstation for processing.

[0003] In order to improve the storage density of the warehousing system, the current shelves are relatively high, and the picking and placing devices take a long time to pick up and place items on high-level shelves, which affects the efficiency of item transfer on the entire shelf. Summary of the invention

[0004] The embodiments of the present application provide a warehousing system and a scheduling method thereof, which improve the efficiency of cargo picking.

[0005] On the one hand, an embodiment of the present application provides a warehousing system, including a first carrier, which is provided with a storage location, and the storage location is configured to store inventory containers; a second carrier is arranged adjacent to the first carrier and is provided with a cache location, and the cache location is configured to cache order containers; a first pick-and-place device is located on one side of the first carrier and the second carrier, and the storage area where the first carrier is located is provided with a first track, the first pick-and-place device is provided with a first walking mechanism, the first walking mechanism is suspended from the first track, and can move relative to the first carrier along the first track; the first pick-and-place device includes: a first pick-and-place mechanism, which is configured to dock with the storage location to pick up and place the inventory container; a first picking mechanism, which is configured to pick out the order goods in the inventory container and deliver them to the order container located on the second carrier, and a handling robot, which is configured to move out the order container with the order goods.

[0006] Another aspect of the present application embodiment provides a scheduling method for a warehousing system, using the above-mentioned warehousing system, including:

[0007] Based on the scheduling task, control the first pick-and-place mechanism to move to one side of the target storage location and take out the target inventory container;

[0008] The first picking mechanism is controlled to pick out the ordered goods in the target inventory container and deliver them to the order container on the second carrier; the transport robot is controlled to move out the order container containing the ordered goods.

[0009] The embodiment of the present application provides a warehousing system and a scheduling method thereof, wherein a pick-and-place device is arranged on one side of a first carrier and a second carrier, and the pick-and-place mechanism of the pick-and-place device is docked with the storage cargo position of the first carrier to pick and place the inventory container, and the picking mechanism of the pick-and-place device picks out the order goods in the inventory container and delivers them to the order container, and temporarily stores the order container in the cache cargo position, that is, the pick-and-place device can directly pick multiple order goods from each inventory container to the order container at the first carrier, so that the order container storing only the order goods can be transported to the workstation by the transport robot for binary division, or the order container can be directly shipped out of the warehouse for packaging. On the one hand, there is no need to transport the inventory container between the first carrier and the workstation multiple times, and there is no need for the staff to pick one by one at the workstation, which can save the transportation time of the inventory container and the manual picking time, improve the picking efficiency of the goods, and reduce the power consumption of the transport robot for transporting the inventory container multiple times. On the other hand, the removal and picking of the order goods do not require the coordination and cooperation of multiple robots, and only some simple mechanical structures are needed to pick and place the inventory container and the order goods in the inventory container, which effectively reduces the operating cost. On the other hand, when the order goods in the order container meet a single order, the order container can be directly packaged and shipped out of the warehouse without having to be transported to the workstation for binary or seeding. The entire system is integrated on the first carrier, and there is no need to set up an additional workstation for picking operations in the limited space of the warehouse, thereby improving the space utilization of the warehouse. In addition, by caching the order container on the cache position of the second carrier, the picking mechanism can deliver the order goods in the inventory container to the order container located at the cache position after picking them out, thereby eliminating the need to transport the order container back and forth, simplifying the picking process of the pick-and-place device, and also simplifying the structure and power consumption of the pick-and-place device. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0011] Figure 1 This is a schematic diagram of the structure of a storage system provided in one embodiment of the present application. Figure 1 ;

[0012] Figure 2 is a schematic diagram of the structure of a pick-and-place device provided in one embodiment of the present application;

[0013] Figure 3 is a schematic diagram of the structure of a transport robot provided in one embodiment of the present application;

[0014] Figure 4is a partial schematic diagram of a pick-and-place device provided in one embodiment of the present application;

[0015] Figure 5 It is a structural schematic diagram of a pick-and-place mechanism provided in one embodiment of the present application;

[0016] Figure 6 This is a schematic diagram of the structure of a storage system provided in one embodiment of the present application. Figure 2 ;

[0017] Figure 7 This is a schematic diagram of the structure of a storage system provided in one embodiment of the present application. Figure 3 ;

[0018] Figure 8 It is a schematic diagram of the assembly of a first picking component and a second driving component provided in one embodiment of the present application;

[0019] Fig. 9 This is a schematic diagram of the structure of the delivery component provided in one embodiment of the present application. Figure 1 ;

[0020] Fig.10 This is a schematic diagram of the structure of the delivery component provided in one embodiment of the present application. Figure 2 ;

[0021] Fig.11 It is a structural schematic diagram of another storage system provided by an embodiment of the present application from one perspective;

[0022] Fig.12 is a structural schematic diagram of another storage system provided by an embodiment of the present application from another perspective;

[0023] Fig.13 It is a structural schematic diagram of a first carrier and a first pick-and-place device of another storage system provided by an embodiment of the present application;

[0024] Fig.14 It is a structural schematic diagram of a first carrier and a second pick-and-place device in another storage system provided by an embodiment of the present application.

[0025] Description of reference numerals:

[0026] 100, 100a, 100b-first carrier; 100c-lane; 200a-first pick-and-place device; 200b-second pick-and-place device; 300-second carrier; 400-handling robot; 500-inventory container; 510-first inventory container; 520-second inventory container; 600-order container; 700a-first image sensor; 700b-second image sensor;

[0027] 110-storage cargo position; 110a-first storage cargo position; 110b-second storage cargo position; 110c-temporary storage cargo position; 120a-first track; 120b-second track; 210a-first pick-and-place mechanism; 210b-second pick-and-place mechanism; 220a-first picking mechanism; 220b-second picking mechanism; 230a-first stand; 230b-second stand; 240a-first walking mechanism; 240b-second walking mechanism; 250-first drive assembly; 260-second drive assembly; 270-third drive assembly; 280-fourth drive assembly; 290-fifth drive assembly; 310-cache cargo position;

[0028] 211a-first bearing structure; 211b-second bearing structure; 211c-third bearing structure; 212-pick-and-place structure; 221a-first picking assembly; 221b-second picking assembly; 222-delivery assembly; 223-pick-and-place assembly; 251-first drive motor; 252-first slider; 261-second drive motor; 262-second drive wheel; 263-second driven wheel; 264-second transmission belt; 265-second slider; 271-third drive motor; 272-third slider; 231-first slide rail; 232-second slide rail; 233-third slide rail;

[0029] 2211-mechanical arm; 2212-gripper; 2213-first rotating assembly; 2214-second rotating assembly; 2215-air source device; 2216-third rotating assembly; 2221-enclosing wall; 2222-guide member; 2223-guide driving member; 222a-first delivery port; 222b-second delivery port;

[0030] 2211a-sub-arm; 2212a-gripper body; 2212b-connecting rod. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0032] Figure 1 This is a schematic diagram of the structure of a storage system provided in one embodiment of the present application. Figure 1 , Figure 2 Schematic diagram of the structure of a pick-and-place device provided in one embodiment of the present application. Figure 1 and Figure 2As shown, an embodiment of the present application provides a storage system, including a first carrier 100 .

[0033] In some examples, the first carrier 100 is located in a storage area of ​​a warehousing system and is provided with a storage location 110 , which is configured to store inventory containers 500 .

[0034] In some examples, the first carrier 100 can be moved in a lateral direction (see Figure 1 In the x direction), a plurality of rows of storage locations 110 are arranged, and the first carrier 100 is arranged in the height direction (refer to Figure 1 The first carrier 100 is provided with multiple layers of storage cargo spaces 110 in the z direction to improve the storage density of the first carrier 100. It can be understood that the transverse direction of the first carrier 100 can be the arrangement direction of each column of the first carrier 100. The height direction of the first carrier 100 is the arrangement direction of each layer of the first carrier 100.

[0035] In some examples, the first carrier 100 is arranged along the depth direction (refer to Figure 1 One or more storage locations 110 may be provided in the y direction of the first carrier 100. For example, when the first carrier 100 is provided with one storage location 110 along the depth direction, the same pick-and-place device, such as the pick-and-place device mentioned below, such as the first pick-and-place device 200a, may pick and place the inventory container 500 in the storage location 110, that is, the first carrier 100 is a single-depth carrier.

[0036] For another example, when the first carrier 100 is provided with two or more storage locations 110 along the depth direction, the same first picking and placing device 200a can be docked with these two or more storage locations 110 to pick and place inventory containers 500, then the first carrier 100 is a double-depth or multi-depth carrier.

[0037] For another example, when the first carrier 100 is provided with two storage locations 110 along the depth direction, and the two storage locations 110 are docked by the first pick-and-place devices 200a on both sides of the first carrier 100 along the depth direction, the first carrier 100 is a single-depth carrier.

[0038] It should be noted that the first carrier 100 may include but is not limited to a shelf, a storage cabinet, etc.

[0039] The warehousing system of the embodiment of the present application further includes a second carrier 300 , which is disposed adjacent to the first carrier 100 and is provided with a cache location 310 , and the cache location 310 is configured to cache order containers.

[0040] It should be noted that the inventory container 500 and the order container may be a container structure for storing goods, such as a material box, a pallet, and an original box. The embodiment of the present application does not limit the types of the inventory container 500 and the order container 600.

[0041] In some examples, the second carrier 300 is located at the bottom of the first carrier 100. In this way, the space occupied by the second carrier 300 in the storage area can be saved, and the height space of the first carrier 100 can be reasonably utilized, thereby improving the storage density of the storage area.

[0042] In some examples, the second carrier 300 may be a fixed carrier placed at the bottom of the first carrier 100 , and the cache cargo locations 310 on the fixed carrier may be arranged in a manner consistent with the storage cargo locations 110 of the first carrier 100 .

[0043] The warehousing system of the embodiment of the present application further includes a handling robot 400, which can remove the order container containing the ordered goods. For example, the handling robot 400 can dock with the order container on the fixed carrier to carry the order container. In some examples, the fixed carrier can be a structure additionally arranged at the bottom of the first carrier 100, for example, the fixed carrier can include support legs and a load plate arranged on the support legs, and the cache cargo position 310 is formed on the load plate.

[0044] For another example, the structure of the first carrier 100 itself can be used as the second carrier 300. For example, the bottom layer of the first carrier 100 is configured as the second carrier 300. In this way, there is no need to set up the second carrier 300 additionally, thereby simplifying the structure of the storage system.

[0045] In some examples, the second carrier 300 may be a movable carrier temporarily stored at the bottom of the first carrier 100. For example, the transport robot 400 may directly transport the movable carrier to transfer the order container. In this way, a plurality of cache locations 310 may be provided on the movable carrier to cache a plurality of order containers, so that the transport robot 400 can transport a plurality of order containers at one time by transporting the movable carrier.

[0046] In some examples, the second carrier 300 may also be located on one side of the first carrier 100 along the horizontal direction, for example, the second carrier 300 may be located outside one end of the first carrier 100 along the lateral direction, or may be located on one side of the first carrier 100 along the depth direction, such as in the tunnel 100c.

[0047] Figure 3 Schematic diagram of the structure of a handling robot provided by an embodiment of the present application. Figure 2 and Figure 3As shown, the transport robot 400 may include a chassis 410 and a lifting assembly 420 . The chassis 410 may drive the lifting assembly 420 to walk on the ground, and the lifting assembly 420 may take out the order container on the cache location 310 .

[0048] It should be noted that the lifting assembly 420 may include a lifting member and a supporting member arranged at one end of the lifting mechanism, the supporting member may be a first comb tooth structure, and the cache storage location 310 on the second carrier 300 may also be a second comb tooth structure that cooperates with the supporting member. When it is necessary to take out the order container on the cache storage location 310, the chassis 410 may drive the lifting assembly 420 to enter the bottom of the cache storage location 310, and then the lifting member drives the first comb tooth structure to lift up, so that the rack of the first comb tooth structure is inserted into the rack gap of the second comb tooth structure, thereby lifting the order container, and then the chassis 410 may drive the lifting assembly 420 to move horizontally, so that the first comb tooth structure is separated from the second comb tooth structure, and then the handling robot 400 supports the order container to move to other areas.

[0049] When the inventory container to be put on the shelf needs to be transferred to the cache storage location 310, the chassis 410 can drive the first comb tooth structure of the lifting assembly 420 to enter the second comb tooth structure of the cache storage location 310 in the horizontal direction, and then the lifting member drives the first output structure to descend until the inventory container is supported on the second comb tooth structure. The lifting member continues to drive the first comb tooth structure to move downward until the handling robot 400 is completely located at the bottom of the cache storage location 310 and drives out of the second carrier 300 horizontally.

[0050] Continue to refer to Figure 1 and Figure 2 As shown, the warehousing system of the embodiment of the present application includes a first picking and placing device 200a, which is located on one side of the first carrier 100 and the second carrier 300 and can move relative to the first carrier 100 and the second carrier 300. For example, the first picking and placing device 200a can move laterally along the first carrier 100 and the second carrier 300 to dock with the storage locations 110 or cache locations 310 of each column.

[0051] In some examples, the first pick-and-place device 200a may be disposed independently of the first carrier 100 , for example, the first pick-and-place device 200a may travel within the lane 100c of the storage area to move relative to the first carrier 100 and the second carrier 300 .

[0052] In some examples, the first pick-and-place device 200a can be suspended on one side of the first carrier 100. For example, the first pick-and-place device 200a can be suspended on the aisle side of the first carrier 100 to move along the first carrier 100, thereby reducing the walking requirements of the first pick-and-place device 200a on the ground.

[0053] In some examples, the first pick-and-place device 200 a includes a first pick-and-place mechanism 210 a , which is configured to dock with the storage location 110 to pick up and place the inventory container 500 .

[0054] In some examples, the first picking and placing mechanism 210a can move in the lateral and height directions of the first carrier 100 to move to one side of each storage location 110 to facilitate docking with each storage location 110 to place the inventory container 500 on each storage location 110 or take the inventory container 500 out from each storage location 110.

[0055] In some examples, the first picking and placing device 200a may also include a first stand 230a, which can move laterally along the first carrier 100 and the second carrier 300. The first picking and placing mechanism 210a is disposed on the first stand 230a to move laterally along the first carrier 100 and the second carrier 300 driven by the first stand 230a, thereby docking with the storage cargo positions 110 or the cache cargo positions 310 of each column.

[0056] In some examples, the first pick-and-place device 200 a may be suspended on the first carrier 100 via a first stand 230 a to ensure that the first pick-and-place mechanism 210 a can stably move along the first carrier 100 .

[0057] In addition, the first pick-and-place mechanism 210a can be movably disposed on the first stand 230a and can move along the first stand 230a to move along the height direction of the first carrier 100 so as to dock with the storage cargo locations 110 at each layer.

[0058] In some examples, the first picking and placing device 200a also includes a first driving assembly 250, which is connected to the first picking and placing mechanism 210a to drive the first picking and placing mechanism 210a to move in the height direction of the first stand 230a, thereby causing the first picking and placing mechanism 210a to move along the height direction of the first carrier 100 to dock with the storage cargo spaces 110 on each layer.

[0059] Figure 4 is a partial schematic diagram of a pick-and-place device provided in one embodiment of the present application. Figure 2 and Figure 4As shown, illustratively, the first driving assembly 250 may be disposed on the first stand 230a, and the first pick-and-place mechanism 210a is connected to the first driving assembly 250 and may be slidably disposed on the first stand 230a. For example, the first stand 230a is provided with a first slide rail 231, and the first driving assembly 250 includes a first slider 252, which is connected to the first pick-and-place mechanism 210a and slidably disposed on the first slide rail 231. The first pick-and-place mechanism 210a can slide along the first slide rail 231 through the first slider 252 under the drive of the first driving component 250. In this way, the movement trajectory of the first pick-and-place mechanism 210a on the first frame 230a can be restricted, so that the first pick-and-place mechanism 210a can move along the height direction of the first frame 230a to avoid tilting or swinging in the width direction of the first frame 230a. In addition, the friction resistance between the first pick-and-place mechanism 210a and the first frame 230a is also reduced, thereby improving the movement stability of the first pick-and-place mechanism 210a on the first frame 230a.

[0060] In order to further reduce the friction resistance between the first pick-and-place mechanism 210a and the first stand 230a, a roller may be provided on the first slider 252 so that the first pick-and-place mechanism 210a rolls along the first slide rail 231 on the first stand 230a via the roller.

[0061] It should be noted that the first drive component 250 may include but is not limited to a drive motor, a drive cylinder, a drive motor and a pulley structure. The embodiment of the present application does not limit the structure of the first drive component 250, as long as it can drive the first pick-and-place mechanism 210a to move in the height direction of the first stand 230a.

[0062] Taking the example of the first drive component 250 including the first drive motor 251 and the pulley structure, the first drive motor 251 can be arranged at one end of the first frame 230a, such as the top end, the driving wheel of the pulley structure can be arranged on one side of the first drive motor 251, such as the top end of the first frame 230a, and connected to the output shaft of the first drive motor 251, the driven wheel of the pulley structure can be arranged at an end of the first frame 230a away from the driving wheel, such as the bottom end, the transmission belt is mounted on the driving wheel and the driven wheel, and is connected to the first slider 252.

[0063] When the first pick-and-place mechanism 210a needs to be driven to move, the first drive motor 251 drives the drive wheel to rotate, and the transmission belt can drive the driven wheel to rotate under the drive of the drive wheel. The first pick-and-place mechanism 210a can move along the height direction of the first stand 230a during the movement of the transmission belt.

[0064] In some examples, the pulley structure may be a synchronous pulley structure, for example, the driving wheel and the driven wheel may be synchronous pulleys, and the transmission belt may be a synchronous belt. In some examples, the pulley structure may be a sprocket structure, for example, the driving wheel and the driven wheel may be sprockets, and the transmission belt may be a chain. The embodiments of the present application do not limit the pulley structure.

[0065] In some examples, a transmission belt may be connected to the first slider 252 to drive the first pick-and-place mechanism 210a to move.

[0066] Figure 5 Schematic diagram of the structure of the pick-and-place mechanism provided by an embodiment of the present application. Figure 2 and Figure 5 As shown, in some examples, the pick-and-place mechanism, such as the first pick-and-place mechanism 210a, may include a first bearing structure 211a and a pick-and-place structure 212, wherein the first bearing structure 211a may move in the lateral and height directions of the first carrier 100, for example, the first bearing structure 211a may be movably disposed on the first stand 230a, for example, the first bearing structure 211a may be slidably disposed on the first stand 230a through the first driving assembly 250, and the pick-and-place structure 212 is located on the first bearing structure 211a, and may move between the first bearing structure 211a and the storage location 110 to transfer the inventory container 500 between the first bearing structure 211a and the storage location 110. For example, the pick-and-place structure 212 may transfer the inventory container 500 on the storage location 110 to the first bearing structure 211a, or transfer the inventory container 500 on the first bearing structure 211a to the storage location 110.

[0067] It can be understood that the first pick-and-place mechanism 210 a supports the inventory container 500 through the first supporting structure 211 a to drive the inventory container 500 to move on one side of the first carrier 100 .

[0068] In some examples, the fixed end of the picking and placing structure 212 can be connected to the driving structure, which drives the picking and placing structure 212 to move between the first supporting structure 211a and the storage location 110. The movable end of the picking and placing structure 212 (which may also be called a free end in some examples) is provided with a force providing component that can provide force to the front end surface of the inventory container 500, thereby realizing the movement, transportation or retrieval of the inventory container 500.

[0069] In a specific example of an embodiment of the present application, the force providing component can be a suction cup, which controls the vacuum degree of the inner cavity of the suction cup to adsorb the front end surface of the inventory container 500 when the vacuum degree is greater than or equal to a preset vacuum degree, thereby carrying the inventory container 500 to move, or detaches the inventory container 500 when the vacuum degree is less than a preset vacuum degree.

[0070] In a specific example of an embodiment of the present application, the force-providing component may be a hook. At the same time, a slot for inserting the hook may be provided on the front end surface of the inventory container 500. When the inventory container 500 is taken or returned, the hook may be inserted into the slot, thereby connecting with the front end surface of the inventory container 500 and providing a carrying force to the inventory container 500.

[0071] In some other specific examples of the embodiments of the present application, the force providing component may also be a double-axis or multi-axis clamping mechanism, and a through hole for inserting the clamping mechanism is provided on the front end surface of the inventory container 500; when the inventory container 500 is taken back, the clamping mechanism may be specifically controlled to be in a clamped state and inserted into the through hole; then the clamping mechanism is opened, so that the outer wall of the clamping mechanism contacts the inner wall of the through hole, and the inventory container 500 is carried by the friction between the outer wall of the clamping mechanism and the inner wall of the through hole. It can be understood that in some possible examples, a barb may also be provided on the outer wall of the clamping mechanism, so that the barb may be hooked on the edge of the hole on the inner wall of the inventory container 500, thereby ensuring that the clamping mechanism can provide sufficient carrying force when carrying the inventory container 500.

[0072] It can also be understood that in some other optional examples of the embodiments of the present application, the force-providing component can also be an electromagnet. Accordingly, the front end face of the inventory container 500 can be specifically made of a material that can be adsorbed by a magnet (such as an iron material). When the inventory container 500 is taken or returned, the electromagnet can be powered on when the force-providing component is close to or in contact with the inventory container 500, thereby providing a carrying force for the inventory container 500 through the magnetic attraction of the electromagnet to the inventory container 500.

[0073] It can be understood that in some other possible examples of the embodiments of the present application, the force providing component can also be made of a material that can be attracted by a magnet, and accordingly, an electromagnet is set on the front end face of the inventory container 500; in this way, when the inventory container 500 is taken or returned, the electromagnet can be powered on when the force providing component is close to or in contact with the inventory container 500, so that a magnetic attraction force is generated between the force providing component and the electromagnet on the inventory container 500, thereby providing a carrying force for the inventory container 500.

[0074] In some examples, the pick-and-place structure 212 may be a telescopic fork assembly, which extends into both sides of the inventory container 500 and clamps the two side walls of the inventory container 500, thereby driving the inventory container 500 to move between the first bearing structure 211a and the storage location 110. Of course, a front shift finger may be provided at the front end of the outermost telescopic fork in the telescopic fork assembly, and a rear shift finger may be provided at the rear end of the outermost telescopic fork.

[0075] When it is necessary to return the box, after the outermost telescopic fork of the telescopic fork assembly is extended to both sides of the inventory container 500, the rear shift finger can be stopped at the front end surface of the inventory container 500. As the telescopic fork is extended, the rear shift finger drives the inventory container 500 to move to the storage location 110.

[0076] When it is necessary to take a box, after the outermost telescopic fork of the telescopic fork assembly extends to both sides of the inventory container 500, the front shift finger can be stopped at the rear end face of the inventory container 500. As the telescopic fork retracts, the front shift finger drives the inventory container 500 to move to the first supporting structure 211a.

[0077] The embodiment of the present application does not limit the structure of the pick-and-place structure 212 , as long as it can ensure that the inventory container 500 can be transferred between the first supporting structure 211a and the storage location 110 .

[0078] Reference Figure 2 As shown, the first pick-and-place device 200a of the embodiment of the present application further includes a first picking mechanism 220a, which is configured to pick out the order goods in the inventory container 500 and deliver them to the order container located on the second carrier 300.

[0079] It should be noted that, during the operation of the first pick-and-place mechanism 210a or the first picking mechanism 220a, the order container is always located on the cache storage location 310 of the second carrier 300. After the first picking mechanism 220a picks out the order goods from the inventory container 500, it can move to one side of the cache storage location 310 of the second carrier 300 and deliver the order goods to the order container.

[0080] In some examples, the first picking mechanism 220a may include a robotic arm and a gripper disposed at the end of the robotic arm, which may be driven by the robotic arm to move into the inventory container 500 and take the ordered goods, and then driven by the robotic arm to carry the ordered goods out of the inventory container 500 and deliver them to the order container on the cache location 310.

[0081] In some examples, the first picking mechanism 220a may be disposed on the first stand 230a of the first picking and placing device 200a, so as to move laterally along the first carrier 100 and the second carrier 300 under the drive of the first stand 230a, thereby moving to the storage locations 110 or cache locations 310 of each column.

[0082] It should be noted that the first picking mechanism 220a is disposed on the first stand 230a, including the first picking mechanism 220a being directly disposed on the first stand 230a, and also including the first picking mechanism 220a being indirectly disposed on the first stand 230a.

[0083] In some examples, the robotic arm of the first picking mechanism 220a can be movably disposed on the first stand 230a and can move in the height direction relative to the first stand 230a to move in the height direction of the first carrier 100, so that the robotic arm can descend or ascend, and the robotic arm can move from the storage location 110 side to the cache location 310 side, thereby taking the ordered goods out of the inventory container 500 and delivering them to the order container on the cache location 310, and also allowing the gripper to extend into the interior of the inventory container 500 or detach from the inventory container 500 under the drive of the robotic arm.

[0084] In addition, the robotic arm can be folded, extended or rotated to deliver the order goods on the gripper to the order container located on the cache location 310.

[0085] The embodiment of the present application does not limit the structure of the first picking mechanism 220a, as long as it can ensure that the order goods in the inventory container 500 are picked out and delivered to the order container on the cache location 310.

[0086] The following is an exemplary introduction to the entire picking process of the warehousing system.

[0087] When the warehouse system receives a picking task, the first pick-and-place mechanism 210a of the first pick-and-place device 200a moves in the lateral and height directions of the first carrier 100 to move to one side of the storage location 110 involved in the order, i.e., the target storage location 110. For example, the first stand 230a moves in the lateral direction of the first carrier 100 to drive the first pick-and-place mechanism 210a and the first picking mechanism 220a to move in the lateral direction, and then the first pick-and-place mechanism 210a moves in the height direction of the first carrier 100 to reach one side of the target storage location 110.

[0088] The first pick-and-place mechanism 210a takes out the target inventory container 500 from the target storage location 110, and then the first picking mechanism 220a picks out the order goods in the target inventory container 500 and delivers them to the order container located at the cache location.

[0089] After the multiple order goods involved in the order are delivered into the order container, the order container can be transported to the workstation by the transport robot 400 for binary separation or packaging and shipment.

[0090] In some examples, the first pick-and-place device 200a can be used to collect the same SKU involved in all orders into one or more order containers. For example, all orders involve trousers and slippers, where all orders involve 50 pairs of trousers and 20 pairs of slippers. Then, the first pick-and-place mechanism 210a and the first picking mechanism 220a can be used to pick the 50 pairs of trousers from each inventory container 500 and deliver them to one of the order containers or multiple order containers, which can be determined by the number of goods that can be accommodated in the order container. In addition, the first pick-and-place mechanism 210a and the first picking mechanism 220a can be used to pick the 20 pairs of slippers from each inventory container 500 and deliver them to another order container or multiple order containers, which can be determined by the number of goods that can be accommodated in the order container.

[0091] It should be noted that the same SKU is contained in the same order container. For example, one order container contains trousers and another order container contains slippers.

[0092] In some examples, the first pick-and-place device 200a can collect all SKUs involved in each order into one or more order containers. For example, if the first order involves 5 pairs of trousers and 2 pairs of slippers, and the second order involves 10 pairs of trousers and 8 pairs of slippers, the 5 pairs of trousers and 2 pairs of slippers can be taken out from each inventory container 500 and delivered to one or more order containers through the cooperation of the first pick-and-place mechanism 210a and the first picking mechanism 220a. It can be understood that the number of order containers where all order goods of the first order are stored can be determined by the number of goods that can be accommodated in the order container.

[0093] In addition, the first pick-and-place mechanism 210a and the first picking mechanism 220a can cooperate to take out 10 pairs of trousers and 8 pairs of slippers from each inventory container 500 and deliver them to another order container or multiple order containers. It can be understood that the number of order containers for storing all the order goods of the second order can be determined by the number of goods that can be accommodated in the order container.

[0094] It should be noted that the same order container contains the SKUs of the same order. For example, one order container only contains the ordered goods of the first order, and the other order container only contains the ordered goods of the second order.

[0095] In some examples, when the first pick-and-place device 200a receives a picking task, the first pick-and-place mechanism 210a first moves to the side of one of the target storage locations 110 and takes out one of the target inventory containers 500. The first picking mechanism 220a can take out one of the order goods from the target inventory container 500 and deliver it to the order container first; then the first pick-and-place mechanism 210a moves to the side of another target storage location 110 and takes out another target inventory container 500. The first picking mechanism 220a takes out another order goods from the target inventory container 500 and delivers it to the order container, until the same sku involved in all orders is delivered to the order container, or all skus in the same order are delivered to the order container.

[0096] In some examples, when the first pick-and-place device 200a receives a picking task, the first pick-and-place mechanism 210a first moves to one side of one of the target storage locations 110 and takes out one of the target inventory containers 500. The first picking mechanism 220a can take out one of the order goods from the target inventory container 500 and store it on the first picking mechanism 220a; then the first pick-and-place mechanism 210a moves to one side of another target storage location 110 and takes out another target inventory container 500. The first picking mechanism 220a then takes out another order goods from the target inventory container 500 for storage, until the first picking mechanism 220a takes out the same sku involved in all orders or all skus involved in the same order, and then moves to one side of the cache location 310 and delivers it to the order container.

[0097] Exemplarily, the first picking mechanism 220a may be provided with a plurality of robotic arms and corresponding grippers, and each gripper picks up the goods of each order respectively. For example, when the first pick-and-place device 200a receives a picking task, the first pick-and-place mechanism 210a first moves to one side of one of the target storage locations 110 and takes out one of the target inventory containers 500. One of the grippers of the first picking mechanism 220a, driven by the corresponding robotic arm, can take out one of the order goods from the target inventory container 500 and store it on the gripper; then the first pick-and-place mechanism 210a moves to one side of another target storage location 110 and takes out another target inventory container 500. Another gripper of the first picking mechanism 220a, driven by the corresponding robotic arm, takes out another order goods from the target inventory container 500 for storage; until the first picking mechanism 220a takes out the same sku involved in all orders or all skus involved in the same order, it moves to one side of the cache location 310 and delivers the order goods on each gripper to the order container in sequence or simultaneously.

[0098] In some examples, after the first pick-and-place device 200a picks up the same SKU involved in all orders into one or more order containers, the transport robot 400 can transport the order container to a workstation, where a worker or an automatic picking device divides the order goods in the order container into two parts according to the requirements of each order. For example, if the first order involves 5 pairs of trousers and 2 pairs of slippers, and the second order involves 10 pairs of trousers and 8 pairs of slippers, then 5 pairs of trousers are taken out from the order container storing the trousers and delivered to the first order container of the seed wall. In a single container, 10 pairs of trousers are taken out from the order container storing trousers and delivered to the second order container of the sowing wall, 2 pairs of slippers are taken out from the order container storing slippers and delivered to the first order container of the sowing wall, 8 pairs of slippers are taken out from the order container storing slippers and delivered to the second order container of the sowing wall. When the first order goods are completely sown into the first order container, the first order container can be packed and shipped out. When the second order goods are completely sown into the second container, the second order container can be packed and shipped out.

[0099] In some examples, after the first pick-and-place device 200a collects all SKUs involved in each order into one order container, the handling robot 400 can directly carry the order container to the seeding wall for packaging and shipment, without having to carry it to the workstation for secondary picking. After the first pick-and-place device 200a collects all SKUs involved in each order into multiple, for example, two order containers, the handling robot 400 can carry the two order containers to the workstation, take out the order goods in the two order containers, and seed them into the same order container on the seeding wall for subsequent packaging and shipment.

[0100] The embodiment of the present application provides a warehousing system, by setting a first pick-and-place device 200a on one side of a first carrier 100 and a second carrier 300, the first pick-and-place mechanism 210a of the first pick-and-place device 200a is docked with the storage cargo position 110 of the first carrier 100 to pick up and place the inventory container 500, the first picking mechanism 220a of the first pick-and-place device 200a picks out the order goods in the inventory container 500 and delivers them to the order container, and temporarily stores the order container in the cache cargo position 310, that is, the first pick-and-place device 200a can directly pick multiple order goods from each inventory container 500 into the order container on one side of the first carrier 100, so that the order container that only stores each order goods can be transported to the workstation for binary separation by the transport robot 400, or the order container can be directly shipped out for packaging.

[0101] On the one hand, there is no need to transport the inventory container 500 between the first carrier 100 and the workstation multiple times, nor is there a need for staff to pick them one by one at the workstation. This can save the transportation time and manual picking time of the inventory container 500, improve the picking efficiency of goods, and reduce the power consumption of the transport robot 400 when transporting the inventory container 500 multiple times.

[0102] On the other hand, the removal and picking of ordered goods do not require the coordination of multiple robots. Only some simple mechanical structures are needed to take and place the inventory container 500 and the ordered goods in the inventory container 500, which effectively reduces the operating costs.

[0103] On the other hand, when the order goods in the order container meet a single order, the order container can be directly packaged and shipped out without being transported to a workstation for binary sorting or seeding. The entire system is integrated on the first carrier 100, and there is no need to set up an additional workstation for picking operations within the limited space of the warehouse, thereby improving the space utilization rate of the warehouse.

[0104] In addition, by caching the order container on the cache location 310 of the second carrier 300, the first picking mechanism 220a can deliver the order goods picked out from the inventory container 500 to the order container located in the cache location 310, thereby eliminating the need to transport the order container back and forth, thereby simplifying the picking process of the first picking and placing device 200a and also simplifying the structure and power consumption of the first picking and placing device 200a.

[0105] Reference Figure 2 As shown, in some examples, the first picking mechanism 220a may include a first picking component 221a and a delivery component 222, wherein the first picking component 221a is configured to pick out the ordered goods from the inventory container 500. For example, the first picking component 221a may be the mechanical arm 2211 and the gripper 2212 in the above example, and the mechanical arm 2211 drives the gripper 2212 to take out the ordered goods from the inventory container 500.

[0106] The delivery component 222 is configured to receive the order goods picked by the first picking component 221a and deliver them to the order container. For example, after the first picking component 221a takes out the order goods from the inventory container 500, it can be placed on the delivery component 222, and the delivery component 222 then delivers the order goods to the order container located on the cache storage position 310.

[0107] By setting the first picking mechanism 220a to include a first picking component 221a and a delivery component 222, the picking function and the delivery function are respectively completed by two parts. In this way, the structure of the first picking component 221a and the delivery component 222 can be simplified, and flexible control of the first picking component 221a and the delivery component 222 is also facilitated.

[0108] In some examples, the delivery component 222 can move in the height direction of the first carrier 100 relative to the first picking component 221a and the first pick-and-place mechanism 210a, and when the first picking component 221a is in a picking state, that is, when the first picking component 221a picks the order goods from the inventory container 500, the delivery component 222 is located next to the first pick-and-place mechanism 210a.

[0109] Exemplarily, the delivery component 222 is movably arranged on the first stand 230a and is independently arranged relative to the first picking component 221a and the first pick-and-place mechanism 210a. For example, the delivery component 222 can move in the height direction of the first stand 230a relative to the first picking component 221a and the first pick-and-place mechanism 210a to switch between the storage of goods on each layer of the first carrier 100 and the cache cargo position 310 of the second carrier 300.

[0110] Reference Figure 1 and Figure 2 As shown, when the first picking component 221a is in the picking state, the delivery component 222 can move to the side of the first pick-and-place mechanism 210a, the delivery component 222 receives the order goods picked up by the first picking component 221a from the inventory container 500, and moves to one side of the second carrier 300 with the order goods, so as to deliver the order goods to the order container on the cache location 310.

[0111] Figure 6 This is a schematic diagram of the structure of a storage system provided in one embodiment of the present application. Figure 2 . Reference Figure 1 and Figure 6 As shown, for example, when the first pick-and-place mechanism 210a and the first picking component 221a move to the target storage location 110, after the first pick-and-place mechanism 210a takes out the target inventory container 500, the first picking component 221a takes out the order goods in the target inventory container 500 and delivers them to the delivery component 222 located next to the first pick-and-place mechanism 210a. The delivery component 222 then carries the order goods to one side of the cache location 310 of the second carrier 300 and delivers the order goods to the order container.

[0112] In some examples, before the first pick-and-place mechanism 210a picks up the target inventory container 500, the delivery component 222 may move to one side of the target storage location 110 simultaneously with the first pick-and-place mechanism 210a, or the first pick-and-place mechanism 210a may first move to one side of the target storage location 110, and the delivery component 222 may then move to the side of the first pick-and-place mechanism 210a. The embodiment of the present application does not restrict the movement sequence of the delivery component 222 and the first pick-and-place mechanism 210a, as long as the delivery component 222 is located next to the first pick-and-place mechanism 210a when the first picking component 221a is in the picking state.

[0113] By making the delivery component 222 independent of the first pick-and-place mechanism 210a and the first picking component 221a, it can move in the height direction of the first carrier 100 relative to the first pick-and-place mechanism 210a and the first picking component 221a, thereby eliminating the need for the first pick-and-place mechanism 210a and the first picking component 221a to move to one side of the cache location 310 for picking and delivery after the first pick-and-place mechanism 210a takes out the target inventory container 500. Instead, the delivery component 222 only needs to move to one side of the cache location 310 after receiving the ordered goods to deliver the ordered goods. In this way, the first pick-and-place mechanism 210a and the first picking component 221a do not need to move up and down repeatedly, which can reduce the power consumption of the first pick-and-place device 200a and save the time occupied by a single picking and delivery for the first pick-and-place mechanism 210a and the first picking component 221a, so that the first pick-and-place mechanism 210a and the first picking component 221a can continue to move to the side of other target storage locations 110 during the movement and delivery of the delivery component 222 to the cache location 310, and take out and pick other order goods, thereby improving the picking efficiency of the first pick-and-place device 200a and adapting to the simultaneous picking of multiple orders.

[0114] It should be noted that the side of the first pick-and-place mechanism 210a refers to one side of the first pick-and-place mechanism 210a and a position close to the first pick-and-place mechanism 210a. For example, the side of the first pick-and-place mechanism 210a can be one side of the first pick-and-place mechanism 210a along the lateral direction of the first carrier 100, or one side along the height direction of the first carrier 100.

[0115] In some examples, when the first picking component 221a is in the picking state, the delivery component 222 and the first pick-and-place mechanism 210a are arranged side by side along the horizontal direction of the first carrier 100, so that the receiving interface of the delivery component 222 can be set on the upper side of the delivery component 222 and is not blocked by the first pick-and-place mechanism 210a. After the first picking component 221a takes out the ordered goods in the inventory container 500, the receiving surface of the delivery component 222 can be delivered from the receiving interface of the delivery component 222.

[0116] In addition, since the delivery component 222 and the first pick-and-place mechanism 210a are arranged side by side along the horizontal direction of the first carrier 100, when picking non-fragile goods, after the first picking component 221a takes out the ordered goods from the inventory container 500, it is no longer necessary to move up and down along the first carrier 100, but only needs to move horizontally to the top of the receiving interface of the delivery component 222 and deliver it, thereby simplifying the delivery process of the first picking component 221a and improving the working efficiency of the first picking component 221a.

[0117] In some examples, when the first picking component 221 a is in a non-picking state, the delivery component 222 and the first pick-and-place mechanism 210 a are arranged along the height direction or the lateral direction of the first carrier 100 .

[0118] In some examples, the same first carrier 100 can simultaneously pick and place and select the ordered goods through multiple first pick-and-place devices 200 a to improve the picking efficiency of the ordered goods. For example, multiple first pick-and-place devices 200 a can be hung on one side of the first carrier 100 .

[0119] Exemplarily, when the first picking component 221a is in a non-picking state, the delivery component 222 is located below the first pick-and-place mechanism 210a. In this way, the delivery component 222 can be avoided from occupying the space on one side of the first pick-and-place mechanism 210a in the horizontal direction, ensuring that other first pick-and-place mechanisms 210a can simultaneously pick up and place the inventory containers 500 in the adjacent storage locations 110, thereby improving the picking efficiency of the ordered goods on the first carrier 100.

[0120] Figure 7 This is a schematic diagram of the structure of a storage system provided in one embodiment of the present application. Figure 3 . Reference Figure 7 As shown, in some examples, the first pick-and-place mechanism 210 a is further configured to move between the first carrier 100 and the second carrier 300 to transfer the inventory container 500 between the storage location 110 and the buffer location 310 .

[0121] For example, when all the ordered goods in the inventory container 500 on the storage location 110 are taken out, it is called an empty inventory container 500. The first pick-and-place mechanism 210a can take out the empty inventory container 500 and transfer it to the cache location 310 as an order container.

[0122] For another example, when an inventory container 500 filled with goods needs to be put into storage and put on the shelf, the inventory container 500 filled with goods can first be transferred to the cache location 310 by the transport robot 400, and then the first pick-and-place mechanism 210a can put the inventory container 500 on the corresponding storage location 110 for subsequent order picking.

[0123] It can be understood that when the first pick-and-place mechanism 210a needs to move to one side of the cache cargo position 310 at the bottom of the first carrier 100, the delivery component 222 can be set on one side of the first pick-and-place mechanism 210a in the horizontal direction, that is, the delivery component 222 and the first pick-and-place mechanism 210a are arranged horizontally along the first carrier 100. In this way, the first pick-and-place mechanism 210a can move to one side of the cache cargo position 310 at the bottom of the first carrier 100 without being interfered with by the delivery component 222.

[0124] In some examples, the delivery component 222 can move in a horizontal direction relative to the first pick-and-place mechanism 210a. For example, the delivery component 222 can move in the width direction of the first stand 230a. In this way, the delivery component 222 can move to one side of the first pick-and-place mechanism 210a in the horizontal direction when it is necessary to accept order goods, and can move to one side of the first pick-and-place mechanism 210a in the horizontal direction when the first pick-and-place mechanism 210a moves to the vicinity of the cache storage location 310. In other non-picking states except when it is necessary to accept order goods or the first pick-and-place mechanism 210a moves to the vicinity of the cache storage location 310, the delivery component 222 can move to the top or bottom of the first pick-and-place mechanism 210a.

[0125] Of course, in some examples, the delivery component 222 may be disposed on one side of the first pick-and-place mechanism 210a in the horizontal direction, and cannot move in the horizontal direction, but can only move in the height direction of the first stand 230a, so as to simplify the structure and control process of the first picking mechanism 220a.

[0126] In some examples, the delivery component 222 is located on one side of the second carrier 300. In other words, when the first pick-and-place mechanism 210a and the first picking component 221a are in any position, the delivery component 222 is located on one side of the second carrier 300, that is, the height of the delivery component 222 on the first stand 230a remains unchanged and does not move with the movement of the first pick-and-place mechanism 210a or the first picking component 221a.

[0127] In this example, the first picking component 221a is configured to pick up the inventory container 500 from the storage location 110 after the first pick-and-place mechanism 210a picks up the order goods from the inventory container 500 and places them on the delivery component 222, and then the delivery component 222 delivers the order goods to the order container on the cache location 310. By arranging the delivery component 222 on one side of the second carrier 300, there is no need for a driving structure to drive the delivery component 222 to move in the height direction of the first stand 230a, thereby simplifying the structure of the first pick-and-place device 200a, making the first pick-and-place device 200a lightweight and simple to control.

[0128] In some examples, the first picking component 221a and the first pick-and-place mechanism 210a can move relative to the delivery component 222 in the height direction of the first carrier 100. For example, the first picking component 221a and the first pick-and-place mechanism 210a can be independent of the delivery component 222, movably disposed on the first stand 230a, and can move along the height direction of the first stand 230a.

[0129] In this example, the first picking component 221a is configured to take out the ordered goods from the inventory container 500 after the first pick-and-place mechanism 210a picks out the inventory container 500 from the storage location 110, and place the ordered goods on the delivery component 222, which may include:

[0130] When the first pick-and-place mechanism 210a takes out the inventory container 500 from the storage location 110 , the first picking component 221a is configured to move to one side of the delivery component 222 with the first pick-and-place mechanism 210a , and pick out the ordered goods from the inventory container 500 and place them on the delivery component 222 .

[0131] For example, the first pick-and-place mechanism 210a and the first picking component 221a can move to one side of the storage location 110 at the same time. After the first pick-and-place mechanism 210a takes out the inventory container 500 from the storage location 110, the first picking component 221a and the first pick-and-place mechanism 210a can move to one side of the delivery component 222 at the same time. Then, the first picking component 221a picks out the order goods from the inventory container 500 and places them on the delivery component 222. The delivery component 222 then delivers the order goods to the order container.

[0132] In some examples, the first pick-and-place mechanism 210a and the first picking component 221a can move to one side of the storage location 110 at the same time. After the first pick-and-place mechanism 210a takes out the inventory container 500 from the storage location 110, the first picking component 221a picks out the order goods from the inventory container 500. Then, the first picking component 221a and the first pick-and-place mechanism 210a can move to one side of the delivery component 222 at the same time. The first picking component 221a places the order goods on the delivery component 222, and the delivery component 222 delivers the order goods to the order container.

[0133] Based on the above, it can be known that the first picking component 221a can directly pick the order goods in the inventory container 500 when the first pick-and-place mechanism 210a takes out the inventory container 500, or it can move to the side of the delivery component 222 with the first pick-and-place mechanism 210a after the first pick-and-place mechanism 210a takes out the inventory container 500, and then pick them. The embodiment of the present application does not limit the picking timing of the first picking component 221a.

[0134] In some examples, the first picking component 221a may be movably disposed on the first stand 230a and may move on the first plane relative to the first pick-and-place mechanism 210a so that the first picking component 221a moves between the first pick-and-place mechanism 210a and the delivery component 222. For example, after the first pick-and-place mechanism 210a takes out the inventory container 500, the first picking component 221a picks out the order goods in the inventory container 500, and then moves along the first plane to move to the top of the delivery component 222, and then places the order goods on the delivery component 222.

[0135] The height direction of the first carrier 100 intersects with the first plane. For example, the height direction of the first carrier 100 is perpendicular to the first plane, that is, the first plane is a horizontal plane perpendicular to the height direction of the first stand 230a.

[0136] In some examples, one end of the first picking component 221a can be rotatably disposed on the first stand 230a so that the first picking component 221a can rotate around the first stand 230a on the first plane, so that the free end of the first picking component 221a moves between the first pick-and-place mechanism 210a and the delivery component 222. In this way, the connection structure between the first picking component 221a and the first stand 230a can be simplified. In addition, the first picking component 221a can be prevented from translating on the first plane during the rotation on the first plane, thereby preventing interference with other structures disposed on the first stand 230a. In other words, a suitable installation space can be provided for other devices disposed on the first stand 230a.

[0137] In some examples, the first picking component 221a can move in the height direction of the first stand 230a relative to the first pick-and-place mechanism 210a to extend into or out of the inventory container 500 or the delivery component 222 on the first pick-and-place mechanism 210a. For example, after the first pick-and-place mechanism 210a takes out the inventory container 500, the first picking component 221a can descend along the first stand 230a to the inside of the inventory container 500 and take out the ordered goods, and then the first picking component 221a rises along the first stand 230a to detach from the inventory container 500, and then moves on the first plane to move above the delivery component 222 and place the ordered goods on the delivery component 222.

[0138] It should be noted that after the first picking component 221a moves to the top of the delivery component 222, the ordered goods can be directly placed on the delivery component 222. For example, for non-fragile goods, there is no need to consider the delivery height of the first picking component 221a for non-fragile goods.

[0139] In some examples, after the first picking component 221a moves to the top of the delivery component 222, it can be lowered along the first stand 230a to the receiving surface of the delivery component 222, and then the ordered goods can be placed on the receiving surface. For example, for fragile goods, the delivery height of the first picking component 221a to the fragile goods can be lowered to prevent the fragile goods from being damaged when being delivered from the first picking component 221a to the delivery component 222.

[0140] It should be noted that, during the process of rotating from the first pick-and-place mechanism 210a to above the delivery component 222 along the first plane, the first picking component 221a can move along the height direction of the first stand 230a, or it can move along the height direction of the first stand 230a after reaching above the delivery component 222. The embodiment of the present application does not impose any restrictions on this.

[0141] In some examples, when the first picking component 221 a picks the ordered goods out of the inventory container 500 , the inventory container 500 may be placed in the storage location 110 under the drive of the first pick-and-place mechanism 210 a .

[0142] Illustratively, during the process of the first pick-and-place mechanism 210a transferring the inventory container 500 to the storage location 110, the first picking component 221a simultaneously moves toward the delivery component 222 to improve the working efficiency of the first pick-and-place mechanism 200a.

[0143] Figure 8 1 is a schematic diagram of the assembly of the picking assembly and the second driving assembly provided in one embodiment of the present application. Figure 4 and Figure 8 As shown, in some examples, the first picking and placing device 200a may include a second drive component 260, which is connected to the first picking component 221a to drive the first picking component 221a to move relative to the first picking and placing mechanism 210a in the height direction of the first stand 230a, so that the first picking component 221a can extend into or out of the inventory container 500 or the delivery component 222 on the first picking and placing mechanism 210a.

[0144] It should be noted that the second drive component 260 may include but is not limited to a drive motor, a drive cylinder, a drive motor and a pulley structure. The embodiment of the present application does not limit the structure of the second drive component 260, as long as it can drive the first picking component 221a to move in the height direction of the first stand 230a.

[0145] Taking the second drive assembly 260 including the second drive motor 261 and the second pulley structure as an example, the second pulley structure includes a second drive wheel 262 and a second driven wheel 263 spaced apart along the height direction of the first stand 230a, and the second transmission belt 264 is sleeved on the second drive wheel 262 and the second driven wheel 263, and is connected to one end of the first picking assembly 221a. The second drive motor 261 is connected to the second drive wheel 262 to drive the second drive wheel 262 to rotate, and the second transmission belt 264 can drive the second driven wheel 263 to rotate under the drive of the second drive wheel 262, and the first picking assembly 221a can move along the height direction of the first stand 230a during the movement of the second transmission belt 264.

[0146] In some examples, the second drive assembly 260 may be disposed on the first frame 230a. For example, the second drive motor 261 may be disposed at one end of the first frame 230a, such as the top end. The second drive wheel 262 of the second pulley structure may be disposed on one side of the second drive motor 261, such as the top end of the first frame 230a. The second driven wheel 263 may be disposed at an end of the first frame 230a away from the second drive wheel 262, such as the bottom end.

[0147] Exemplarily, the first stand 230a is provided with a second slide rail 232, and the second drive assembly 260 is provided with a second slider 265, which is connected to the first picking assembly 221a and slidably arranged on the second slide rail 232. The first picking assembly 221a can slide along the second slide rail 232 through the second slider 265 under the drive of the second drive assembly 260, so that the movement trajectory of the first picking assembly 221a on the first stand 230a can be restricted, so that the first picking assembly 221a can move along the height direction of the first stand 230a, avoiding tilting or swinging in the width direction of the first stand 230a. In addition, the friction resistance between the first picking assembly 221a and the first stand 230a is also reduced, thereby improving the movement stability of the first picking assembly 221a on the first stand 230a.

[0148] In order to further reduce the friction resistance between the first picking component 221a and the first stand 230a, a roller may be provided on the second slider 265 so that the first picking component 221a can roll along the second slide rail 232 on the first stand 230a via the roller.

[0149] In some examples, the transmission belt can be connected to the second slider 265 on the first picking component 221a to drive the first picking component 221a to move.

[0150] In some examples, the first picking component 221a and the first pick-and-place mechanism 210a may move synchronously along the height direction of the first stand 230a, thereby simplifying the program control logic of the first pick-and-place device 200a.

[0151] For example, the second driving assembly 260 can be arranged on the first driving assembly 250, and the first driving assembly 250 can drive the second driving assembly 260 to move, so that the first picking assembly 221a can move synchronously with the first pick-and-place mechanism 210a in the height direction of the first stand 230a. That is, in this example, the first picking assembly 221a is movably arranged on the first stand 230a through the first driving assembly 250.

[0152] Taking the second driving assembly 260 including the second driving motor 261 and the second pulley structure as an example, the second driving motor 261 can be arranged on the first slider 252, the second driving wheel 262 and the second driven wheel 263 are arranged on the first slider 252 at intervals along the height direction of the first frame 230a, the first slider 252 is provided with a second slide rail 232, and the second slider 265 of the second driving assembly 260 can be connected to the second transmission belt 264 and slidably arranged on the second slide rail 232. In this way, when the first slider 252 is lifted and lowered along the height direction of the first frame 230a, the first picking assembly 221a can be driven by the second driving assembly 260 to move synchronously along the height direction of the first frame 230a, so that the first picking assembly 221a and the first pick-and-place mechanism 210a are lifted and lowered synchronously along the first frame 230a.

[0153] In addition, the second transmission belt 264 can move relative to the first slider 252 under the drive of the second driving motor 261 to drive the first picking component 221a to move relative to the first slider 252 in the height direction of the first stand 230a, so that the first picking component 221a moves relative to the first pick-and-place mechanism 210a. The first picking component 221a can move on the second slide rail 232 through the second slider 265 under the drive of the second transmission belt 264 to reduce the friction resistance between the first picking component 221a and the first slider 252.

[0154] Continue to refer to Figure 8 As shown, in some examples, the first pick-and-place device 200a may include a first rotating component 2213, which is connected to one end of the first picking component 221a to drive the first picking component 221a to rotate on the first plane relative to the first stand 230a. For example, one end of the first picking component 221a is rotatably connected to the second slider 265 via a rotating shaft, wherein the rotating shaft is movably disposed on the second slider 265 and fixedly connected to the first picking component 221a, so that the first rotating component 2213 can be driven to rotate by the rotating shaft to drive the first picking component 221a to rotate around the second slider 265.

[0155] Exemplarily, the first rotating component 2213 may include but is not limited to a rotating motor directly driven, a rotating motor and a pulley structure coordinated, etc. The embodiment of the present application does not limit the structure of the first rotating component 2213.

[0156] Exemplarily, the first rotating component 2213 may be disposed on the second sliding block 265 .

[0157] Reference Figure 4 and Figure 8 As shown, in some examples, the first picking component 221a may include a mechanical arm 2211 and a gripper 2212, wherein the mechanical arm 2211 is rotatably disposed on the first stand 230a to rotate relative to the first stand 230a on a first plane and can move along the height direction of the first stand 230a. The gripper 2212 is connected to the mechanical arm 2211, and the gripper 2212 is configured to take the ordered goods in the inventory container 500.

[0158] In some examples, one end of the robotic arm 2211 may be connected to the first rotating component 2213 to rotate around the first stand 230a under the drive of the first rotating component 2213, so that the gripper 2212 can translate on the first plane driven by the robotic arm 2211.

[0159] In some examples, one end of the robotic arm 2211 may be connected to a second drive assembly 260, such as a second slider 265, to move along the height direction of the first stand 230a under the action of the second slider 265, so that the gripper 2212 can translate in the height direction of the first stand 230a.

[0160] In order to increase the movement trajectory of the gripper 2212 in the first plane so as to grab the ordered goods located at different positions in the inventory container 500, the robot arm 2211 may include a plurality of sub-arms 2211a that are rotatably connected in sequence, and each sub-arm 2211a rotates independently of each other.

[0161] For example, the robotic arm 2211 may include two sub-arms 2211a connected in sequence, wherein one end of one of the sub-arms 2211a, such as the first sub-arm 2211a, is rotatably disposed on the first stand 230a. For example, one end of the first sub-arm 2211a is rotatably disposed on the first stand 230a through the first driving assembly 250, and the other end of the first sub-arm 2211a is rotatably connected to one end of another sub-arm 2211a, such as the second sub-arm 2211a, and the other end of the second sub-arm 2211a is connected to the gripper 2212. In this way, the second sub-arm 2211a can rotate on the first plane during the rotation of the first sub-arm 2211a, and the second sub-arm 2211a can also rotate on the first plane around one end of the first sub-arm 2211a, so that the gripper 2212 can move along a circular trajectory with different radii and centers.

[0162] For example, the gripper 2212 can move along a circular trajectory with the center being the end of the first sub-arm 2211a connected to the second driving assembly 260 and the distance between the opposite ends of the first sub-arm 2211a and the second sub-arm 2211a as the radius, or it can move along a circular trajectory with the center being the end of the second sub-arm 2211a connected to the first sub-arm 2211a and the length of the second sub-arm 2211a as the radius, so that ordered goods at different positions in the inventory container 500 can be taken.

[0163] In some examples, the first pick-and-place device 200a may further include a second rotating assembly 2214, which may be disposed on the first sub-arm 2211a and may drive the second sub-arm 2211a to rotate around one end of the first sub-arm 2211a. For example, the first sub-arm 2211a and the second sub-arm 2211a are connected via a rotating shaft, which may be rotatably connected to the first sub-arm 2211a, and the rotating shaft may be fixedly connected to the second sub-arm 2211a, so that the second rotating assembly 2214 may drive the rotating shaft to rotate, thereby driving the second sub-arm 2211a to rotate around one end of the first sub-arm 2211a.

[0164] In some examples, the second rotating component 2214 may include, but is not limited to, a rotating motor direct drive, a rotating motor and a pulley structure, etc. The embodiment of the present application does not limit the structure of the second rotating component 2214.

[0165] In some examples, the gripper 2212 may include a claw that can be opened and closed to grab or release the ordered goods.

[0166] In some examples, the gripper 2212 may include a suction cup configured to absorb or release the ordered goods. For example, when the vacuum degree of the suction cup cavity is greater than or equal to a preset vacuum degree, the suction cup may absorb the ordered goods; when the vacuum degree of the suction cup cavity is less than the preset vacuum degree, the suction cup may release the ordered goods.

[0167] Exemplarily, the first picking component 221a may further include an air source device 2215, which may be connected to the inner cavity of the suction cup through a vacuum tube. When the air source device 2215 is in operation, the air source device 2215 reduces the pressure of the inner cavity of the suction cup through the vacuum tube, so that when the vacuum degree of the inner cavity of the suction cup reaches a preset vacuum degree, the ordered goods are pressed and adsorbed on the suction cup. When the air source device 2215 increases the pressure of the inner cavity of the suction cup through the vacuum tube until the vacuum degree of the inner cavity of the suction cup is less than the preset vacuum degree, the ordered goods are detached from the suction cup, and may be placed on the delivery component 222, for example.

[0168] In some examples, the air source device 2215 can be set on the robot arm 2211, such as the second sub-arm 2211a, so that the air source device 2215 and the suction cup move synchronously with the first picking component 221a, thereby ensuring the stability of the connection structure between the air source device 2215 and the suction cup, and also allowing the first picking component 221a to form a modular structure. During assembly, the air source device 2215, the suction cup, the first rotating component 2213 and the second rotating component 2214 are all integrated on the robot arm 2211, and then the robot arm 2211 is assembled on the first driving component 250 through the second driving component 260.

[0169] In some examples, the gripper 2212 may include a connecting rod 2212b and a gripper body 2212a, wherein one end of the connecting rod 2212b is connected to one end of the mechanical arm 2211, such as the second sub-arm 2211a, and the other end of the connecting rod 2212b is connected to the gripper body 2212a. The provision of the connecting rod 2212b may increase the distance between the gripper body 2212a and the mechanical arm 2211, so that when the mechanical arm 2211 carries the gripper 2212 to pick up the ordered goods, the lifting path of the mechanical arm 2211 may be shortened, thereby reducing power consumption.

[0170] When the gripper 2212 is a suction cup, the gripper body 2212a is a suction cup body, and the connecting rod 2212b can be a hollow rod, and the inner cavity of the hollow rod can be used as a channel for the air source device 2215 to communicate with the suction cup body.

[0171] In some examples, the gripper 2212 can rotate relative to the robotic arm 2211 in a direction perpendicular to the first plane. For example, a third rotating component 2216 can be set on the side where the connecting rod 2212b of the gripper 2212 is connected to the robotic arm 2211. The third rotating component 2216 can drive the connecting rod 2212b to rotate relative to the robotic arm 2211 in a direction perpendicular to the first plane, so that the gripping surface direction of the gripper body 2212a at one end of the connecting rod 2212b changes, thereby grasping different positions of the ordered goods.

[0172] For example, when the gripper body 2212a is a suction cup body, the suction cup body can be rotated perpendicular to the first plane under the drive of the connecting rod 2212b, so that the adsorption surface of the suction cup body can be oriented to have a certain angle with the first plane, so that the suction cup body can adsorb different side walls of the order goods, so that the order goods with different placement angles or irregular structures can be quickly taken out.

[0173] In some examples, the first pick-and-place device 200a may further include a first image sensor 700a, which is configured to obtain information of the ordered goods in the inventory container 500 when the first pick-and-place mechanism 210a takes out the inventory container 500;

[0174] The first picking component 221a is configured to move relative to the first pick-and-place mechanism 210a according to information acquired by the first image sensor 700a to pick up the ordered goods.

[0175] In some examples, the first image sensor 700a may obtain location information, structural shape information, placement angle information, etc. of the ordered goods.

[0176] In some examples, the warehousing system may include a controller, and each driving component of the first picking component 221a (e.g., the second driving component 260, the first rotating component 2213, the second rotating component 2214, and the third rotating component) may be connected to the controller signal, and the first image sensor 700a may be connected to the controller signal. The first image sensor 700a can send the information of the acquired order goods to the controller, and the controller can determine the motion trajectory of the robot 2211 based on the information, such as the position information, and then control the second driving component 260, the first rotating component 2213 and the second rotating component 2214 to drive the robot 2211 according to the motion trajectory, so that the robot 2211 drives the gripper 2212 to move to the location of the order goods. Then the controller plans the motion path of the gripper 2212 according to the structural shape information and placement angle information of the order goods, and then controls the third rotating component 2216 to drive the gripper 2212 according to the motion trajectory, so that the gripping surface of the gripper 2212 contacts the side wall of the order goods that is easier to grip, so as to quickly grip the order goods, and then the robot 2211 and the gripper 2212 can return to the initial position along the original route, so that the gripper 2212 carries the order goods out of the inventory container 500.

[0177] Of course, in some examples, after the gripper 2212 grabs the ordered goods, the robotic arm 2211 and the gripper 2212 may also re-plan the path to return to the initial position according to the height of the inventory container 500 and the surrounding structural parts, as long as the robotic arm 2211, the gripper 2212 and the ordered goods do not collide with other structures.

[0178] In some examples, the first image sensor 700a may include, but is not limited to, a 3D camera, etc.

[0179] In some examples, the first image sensor 700a can be set on the first stand 230a and can move along the height direction of the first stand 230a so that the distance between the first image sensor 700a and the first picking and placing mechanism 210a is within a preset range, so that the first image sensor 700a can obtain the information of the order goods in the inventory container 500 more clearly.

[0180] In some examples, the first image sensor 700a and the first pick-and-place mechanism 210a may be independently arranged on the first stand 230a, that is, the driving structure of the first image sensor 700a and the first driving component 250 of the first pick-and-place mechanism 210a are different structures. When the first pick-and-place mechanism 210a moves along the height direction of the first stand 230a driven by the first driving component 250, the first image sensor 700a may move along the height direction of the first stand 230a driven by the driving structure to ensure that the distance between the first image sensor 700a and the first pick-and-place mechanism 210a in the height direction of the first stand 230a is within a preset range.

[0181] In some examples, the first image sensor 700a may be connected to the first pick-and-place mechanism 210a or the first drive assembly 250, so that the first image sensor 700a can move synchronously with the first pick-and-place mechanism 210a driven by the first pick-and-place mechanism 210a or the first drive assembly 250, so as to simplify the structure and control logic of the first pick-and-place device 200a. For example, a mounting rod may be connected to the first slider 252, and the first image sensor 700a is fixed to the mounting rod, so that the first image sensor 700a moves synchronously with the first slider 252.

[0182] In some examples, the mounting rod can be disposed above the first pick-and-place mechanism 210a, and the first image sensor 700a can be fixed in the middle area above the first pick-and-place mechanism 210a to better acquire the ordered goods at various locations within the inventory container 500 without being blocked by structures such as the side walls of the inventory container 500 or the first stand 230a.

[0183] Reference Figure 2 As shown, in some examples, the first picking and placing device 200a may also include a third driving assembly 270, which is connected to the delivery assembly 222. The delivery assembly 222 can be slidably disposed on the first stand 230a, and can move along the height direction of the first stand 230a under the drive of the third driving assembly 270 to switch between the storage cargo position 110 and the cache cargo position 310.

[0184] Reference Figure 2 and Figure 4As shown, in some examples, the third drive assembly 270 can be disposed on the first stand 230a, and the delivery assembly 222 is connected to the third drive assembly 270 and can be slidably disposed on the first stand 230a. For example, a third slide rail 233 is disposed on the first stand 230a, and the third drive assembly 270 includes a third slider 272, which is connected to the delivery assembly 222 and is slidably disposed on the third slide rail 233. The delivery component 222 can slide along the third slide rail 233 through the third slider 272 under the drive of the third driving component 270. In this way, the movement trajectory of the delivery component 222 on the first frame 230a can be restricted, so that the delivery component 222 can move along the height direction of the first frame 230a to avoid tilting or swinging in the width direction of the first frame 230a. In addition, the friction resistance between the delivery component 222 and the first frame 230a is also reduced, thereby improving the movement stability of the first pick-up and place mechanism 210a on the first frame 230a.

[0185] In order to further reduce the friction resistance between the delivery component 222 and the first stand 230a, a roller may be provided on the third slider 272 so that the delivery component 222 can roll along the third slide rail 233 on the first stand 230a via the roller.

[0186] It should be noted that the third drive component 270 may include but is not limited to a drive motor, a drive cylinder, a drive motor and a pulley structure. The embodiment of the present application does not limit the structure of the third drive component 270, as long as it can drive the delivery component 222 to move in the height direction of the first stand 230a.

[0187] Taking the third drive assembly 270 including the third drive motor 271 and the third pulley structure as an example, the third drive motor 271 can be arranged at one end of the first frame 230a, such as the top end; the third drive wheel of the third pulley structure can be arranged on one side of the third drive motor 271, such as the top end of the first frame 230a, and connected to the output shaft of the third drive motor 271; the third driven wheel of the third pulley structure can be arranged at an end of the first frame 230a away from the third drive wheel, such as the bottom end; the third transmission belt is mounted on the third drive wheel and the third driven wheel, and connected to the third slider 272.

[0188] When it is necessary to drive the delivery component 222 to move, the third drive motor 271 drives the third drive wheel to rotate, and the third transmission belt can drive the third driven wheel to rotate under the drive of the third drive wheel. The delivery component 222 can move along the height direction of the first stand 230a during the movement of the third transmission belt.

[0189] In some examples, the third transmission belt can be connected to the third slider 272 on the delivery component 222 to drive the delivery component 222 to move.

[0190] Fig. 9 This is a schematic diagram of the structure of the delivery component provided in one embodiment of the present application. Figure 1 , Fig.10 This is a schematic diagram of the structure of the delivery component provided in one embodiment of the present application. Figure 2 . Reference Fig. 9 and Fig.10 As shown, in some examples, the delivery component 222 may include a guide member 2222, and the guide member 2222 is placed on the pick-up and placement port of the order container at least when the delivery component 222 delivers the order goods to the order container.

[0191] Exemplarily, the guide member 2222 may be a guide plate. When the first pick-and-place mechanism 210a takes out the inventory container 500 from the storage location 110, the guide member 2222 is located on one side of the first pick-and-place mechanism 210a in the horizontal direction. After the first picking component 221a takes out the order goods from the inventory container 500, it can be directly placed on the guide member 2222, such as a guide plate, and then the guide plate can move along the first stand 230a to one side of the cache location 310. When it is necessary to deliver the order goods on the guide plate to the order container, the guide plate can be flipped toward the order container side and set up at the pick-and-place opening of the order container, so that the order goods slide along the guide plate into the order container, or fall into the order container in a parabolic trajectory during the flipping of the guide plate, which can be determined by the flipping speed of the guide plate.

[0192] By setting the delivery component 222 as a guide member 2222, the structure of the delivery component 222 can be simplified on the basis of ensuring the acceptance and delivery of the ordered goods, and the miniaturization and lightweight of the first picking mechanism 220a can be achieved, thereby saving space and reducing power consumption.

[0193] In some examples, the delivery component 222 may include a retaining wall 2221, which may be understood as a cylindrical structure and is provided with a first delivery port 222a (i.e., a receiving port) and a second delivery port 222b. For example, the first delivery port 222a and the second delivery port 222b are relatively arranged along the height direction of the retaining wall 2221, and the guide member 2222 is rotatably arranged at the second delivery port 222b to jointly enclose with the retaining wall 2221 to form a accommodating cavity for accommodating the ordered goods.

[0194] The first delivery port 222a may be located at the upper portion of the enclosure wall 2221, and the second delivery port 222b is located at the lower portion of the enclosure wall 2221. The first delivery port 222a is configured for the first picking component 221a to deliver the ordered goods to the accommodating cavity.

[0195] When the ordered goods need to be delivered to the order container, the guide member 2222 can be rotated to a position set on the pick-up and drop-out port of the order container, so that the ordered goods are delivered to the order container through the second delivery port 222b and the guide member 2222.

[0196] It can be understood that the delivery component 222 is provided with two states, one of which is a storage state. In the storage state, the guide member 2222 is in the first position, that is, it is stopped at the second delivery port 222b of the enclosure wall 2221, so that the enclosure wall 2221 and the guide member 2222 together enclose a storage cavity for storing the ordered goods. For example, after the first picking component 221a takes out the ordered goods from the inventory container 500, it can be delivered to the storage cavity of the delivery component 222, and then the delivery component 222 carries the ordered goods to move to one side of the cache location 310.

[0197] Another state is the delivery state. In the delivery state, the guide member 2222 can be rotated relative to the enclosure wall 2221 to a second position where one end is placed on the pick-up and release port of the order container, so that the second delivery port 222b is open, and the order goods located in the accommodating cavity can fall into the order container through the second delivery port 222b and the guide member 2222.

[0198] In some examples, the delivery assembly 222 may include a guide drive 2223, one end of which is rotatably connected to a retaining wall 2221 on one side of the second delivery port 222b and is connected to the guide drive 2223. The guide drive 2223 can drive the guide 2222 to rotate, so that the guide 2222 switches between the first position and the second position.

[0199] In some examples, the guide driving member 2223 can provide a force for the guide member 2222 to rotate toward the first position, so that the guide member 2222 is stably stopped at the second delivery port 222b in the storage state.

[0200] For example, a first magnetic member may be provided on one of the second delivery port 222b and the guide member 2222, and a second magnetic member may be provided on the other of the second delivery port 222b and the guide member 2222, and the guide member 2222 may be stably attached to the second delivery port 222b by mutual adsorption of the first magnetic member and the second magnetic member. The first magnetic member and / or the second magnetic member may be a magnet or a magnetic material coated on the guide member 2222 or the second delivery port 222b.

[0201] Of course, in other examples, the rotational force provided by the guide driving member 2223 to the guide member 2222 is sufficient to stabilize the guide member 2222 in the first position, and no other additional stabilizing structure is required.

[0202] When the ordered goods need to be delivered, the guide driving member 2223 can drive the guide member 2222 to rotate to the second position so that the guide member 2222 is placed at the receiving and placing opening of the order container. It can be understood that the force of the guide driving member 2223 driving the guide member 2222 to rotate to the second position must be greater than the adsorption force of the first magnetic member and the second magnetic member.

[0203] By configuring the delivery component 222 to include a retaining wall 2221 and a guide member 2222, the delivery component 222 can stably store the ordered goods, ensuring that the ordered goods will not fall when the delivery component 222 moves along the first stand 230a.

[0204] In some examples, the storage system may include a plurality of first carriers 100, the plurality of first carriers 100 are arranged at intervals, and a lane 100c is formed between two adjacent first carriers 100. The first pick-and-place device 200a may be suspended on the lane 100c side of the first carrier 100.

[0205] Reference Figure 1 As shown, in some examples, a first track 120a may be provided on one side of the first carrier 100, such as the lane side, and a first stand 230a of the first pick-and-place device 200a may be suspended on the first track 120a and may move along the first track 120a. For example, the first track 120a is provided at a position higher than the second carrier 300 on the first carrier 100, and the first stand 230a of the first pick-and-place device 200a may move along the first track 120a to drive the first pick-and-place mechanism 210a and the first picking mechanism 220a to move to positions of different columns on the first carrier 100 or the second carrier 300.

[0206] Reference Figure 2 As shown, in some examples, the first picking and placing device 200a may include a first walking mechanism 240a, which is disposed on the first stand 230a and guided on the first track 120a. The first walking mechanism 240a is configured to move on the first track 120a to drive the first stand 230a to move on the first carrier 100.

[0207] In some examples, when the first picking and placing device 200a is suspended on the first carrier 100, the charging method of the first walking mechanism 240a of the first picking and placing device 200a can be adjusted. For example, the first picking and placing device 200a may include a busbar, and the busbar may include a conductor and a current receiver, wherein the conductor may be a copper body wrapped in a protective cover, and the end of the conductor is connected to a power source, and the current receiver is in electrical contact with the conductor, so that the electrical signal on the conductor can be transmitted to the current receiver.

[0208] During the setting, the conductor of the busbar is set on the first track 120a, the current collector of the busbar is set on the first traveling mechanism 240a and is electrically connected to the first traveling mechanism 240a, and the current collector is configured to contact the conductor when the first traveling mechanism 240a moves along the first track 120a, so that the current collector can continue to receive electricity during the movement along the first track 120a driven by the first traveling mechanism 240a, so as to provide electrical energy to the first traveling mechanism 240a and ensure the normal operation of the first traveling mechanism 240a.

[0209] By setting the busbar, the number of cables is reduced, and the load of the cables on the first pick-and-place device 200a is reduced, thereby reducing the impact of the cables on the life of the first pick-and-place device 200a and ensuring the stable operation of the pick-and-place device. In addition, the reduction in the number of cables also eliminates the need to use a drag chain, thereby ensuring the structural stability of the first pick-and-place device 200a.

[0210] In addition, the first pick-and-place device 200a is powered by the busbar, with high charging efficiency and short waiting time for the first pick-and-place device 200a, and no other first pick-and-place device 200a is needed to replace it, thereby saving the number of first pick-and-place devices 200a used. In addition, the embodiment of the present disclosure powers the first pick-and-place device 200a by the busbar, thereby avoiding the traffic congestion caused by the first pick-and-place device 200a walking on the ground of the alley 100c in the related technology during the charging process, thereby improving the first pick-and-place device 200a's efficiency in retrieving and picking boxes.

[0211] In some examples, a first track 120a may be provided on the first carrier 100, and the first stand 230a is suspended on the first track 120a through a first running mechanism 240a and runs along the first track 120a. For example, a first track 120a may be provided on the top crossbeam of the first carrier 100, and the first running mechanism 240a is provided at the top or the first position of the first stand 230a, and the distance between the first position and the top of the first stand 230a is smaller than the distance between the first position and the bottom of the first stand 230a, so that the first stand 230a is stably suspended on the first carrier 100 through the first running mechanism 240a.

[0212] In some examples, the first carrier 100 may be provided with a plurality of first rails 120a, the plurality of first rails 120a are arranged at intervals along the height direction of the first carrier 100, and the first stand 230a cooperates with the plurality of first rails 120a to guide and move along the plurality of first rails 120a on the first carrier 100. For example, the first stand 230a may have a plurality of sets of first running mechanisms 240a arranged at intervals along the height direction z, and the plurality of sets of first running mechanisms 240a are arranged corresponding to the first rails 120a, so that the first stand 230a runs along the corresponding first rails 120a through the plurality of sets of first running mechanisms 240a, and at least one set of first running mechanisms 240a is suspended on the first rail 120a, so that the first stand 230a is suspended on the first carrier 100.

[0213] For example, two first rails 120a are provided on the first carrier 100, and the two first rails 120a respectively include a lower rail 121 and an upper rail 122, and the upper rail 122 is located above the lower rail 121. The first running mechanism 240a includes a lower running mechanism 241 and an upper running mechanism 242, the lower running mechanism 241 moves along the lower rail 121, and the upper running mechanism 242 moves along the upper rail 122. The upper rail 122 can be provided on the top crossbeam of the first carrier 100, the upper running mechanism 242 is provided at the top or the first position of the first stand 230a, and the upper running mechanism 242 runs along the upper rail 122.

[0214] The lower track 121 can be set on the middle beam or the bottom beam of the first carrier 100, and the lower walking mechanism 241 is set in the middle, bottom or second position of the first frame 230a. The distance between the second position and the bottom of the first frame 230a is smaller than the distance between the second position and the top of the first frame 230a. The lower walking mechanism 241 runs along the lower track 121, thereby improving the running stability of the first frame 230a on the first carrier 100.

[0215] Exemplarily, at least one of the lower walking mechanism 241 and the upper walking mechanism 242 is suspended on the corresponding first rail 120a. For example, the upper walking mechanism 242 is suspended on the upper rail 122, and the lower walking mechanism 241 only runs along the lower rail 121 without being suspended on the lower rail 121.

[0216] In some examples, each set of first running mechanisms 240 a , that is, the first running mechanisms 240 a cooperating with the same first track 120 a , may be one or more.

[0217] For example, the first frame 230a is a pole extending along the height direction z, and the first pick-and-place mechanism 210a and the first picking mechanism 220a are movably arranged on the pole. Then, the first walking mechanism 240a cooperating with one of the first rails 120a is one, and one first walking mechanism 240a is arranged on the pole.

[0218] For another example, the first frame 230a includes a top connecting rod and two vertical rods extending in the height direction z, and the top connecting rod is connected between the tops of the two vertical rods, so that the first frame 230a is formed into a gantry structure. In this way, each set of first walking mechanisms 240a may include one or two first walking mechanisms 240a. For example, one first walking mechanism 240a may be set on any vertical rod of the first frame 230a, and the first walking mechanism 240a drives the entire first frame 230a to run along the first track 120a through one vertical rod.

[0219] For another example, each group of first traveling mechanisms 240a may be provided with two, and each upright pole is arranged on the first track 120a through the first traveling mechanism 240a, so that the entire first upright frame 230a can run stably along the first track 120a.

[0220] In some examples, the first walking mechanism 240a may include a driving member and a driving wheel, wherein the driving member is connected to the first stand 230a, the driving wheel is connected to the driving member, and the driving wheel is configured to run along the first track 120a under the drive of the driving member.

[0221] Exemplarily, the driving member can be a motor such as a stepping motor, a driving cylinder, a synchronous pulley structure, a gear rack structure, etc. The driving shaft of the driving wheel is fixed to the output shaft of the motor. During the rotation, the motor output shaft drives the driving wheel to roll along the first track 120a to drive the first stand 230a to move.

[0222] In some examples, the first walking mechanism 240a may include a guide wheel connected to the first stand 230a, and the guide wheel is configured to move along the extension direction of the first rail 120a under the drive of the first stand 230a, so as to prevent the first walking mechanism 240a from driving the first stand 230a to move left and right along a direction intersecting, for example, perpendicular to the extension direction of the first rail 120a, thereby ensuring the stability of the first picking and placing device 200a on the first rail 120a and the stability of the position of the first picking and placing mechanism 210a on the first picking and placing device 200a relative to the storage cargo position 110 and the cache cargo position 310.

[0223] In some examples, the first stand 230a of the first picking and placing device 200a may be a primary stand, that is, the height of the first stand 230a is fixed and does not change.

[0224] For example, the first stand 230a includes a fixed stand, and the first pick-and-place mechanism 210a and the first picking mechanism 220a are movably arranged on the fixed stand. The height of the fixed stand matches the height of the first carrier 100, so that the first pick-and-place mechanism 210a can move along the fixed stand to various positions along the height direction z of the first carrier 100, so that the first pick-and-place mechanism 210a and the first picking mechanism 220a can move between the storage cargo position 110 and the cache cargo position 310.

[0225] In some examples, the first stand 230a of the first picking and placing device 200a may also be a multi-level first stand 230a structure, and each first stand 230a in the multi-level first stand 230a may move relative to the upper first stand 230a to achieve the overall variable height of the first stand 230a.

[0226] For example, the first stand 230a includes a fixed stand and a lifting stand, wherein the fixed stand is a first-level stand 230a, and the lifting stand is a first-level stand 230a other than the first-level stand. The fixed stand is connected to the first walking mechanism 240a, so that the fixed stand is suspended on the first track 120a of the first carrier 100 through the first walking mechanism 240a and runs along the first track 120a.

[0227] The lifting frame is configured to move in the height direction along the fixed frame, so that when the lifting frame is in the first state, the height of the first frame 230a matches the height of the first carrier 100. The first pick-and-place mechanism 210a is arranged on the lifting frame, so that the first pick-and-place mechanism 210a can move relative to the fixed frame under the drive of the lifting frame. In addition, the first pick-and-place mechanism 210a can move relative to the lifting frame along the height direction z of the first carrier 100, so that the movement range of the first pick-and-place mechanism 210a in the height direction z of the first carrier 100 is increased.

[0228] In this way, the lifting frame can move to different positions relative to the fixed frame, so that the overall height of the first frame 230a adapts to the height of the first carrier 100. In this way, the first pick-and-place device 200a can be mass-produced to be suitable for first carriers 100 of different heights, thereby saving the mass production cost of the first pick-and-place device 200a.

[0229] In some examples, there is one lifting stand, which is telescopic relative to the fixed stand to enable the first stand 230a to switch between different heights.

[0230] In some examples, there may be multiple lifting frames, among which two adjacent lifting frames can move relative to each other, and the secondary lifting frame moves relative to the fixed frame. The first picking and placing mechanism 210a is set on the lowest lifting frame and can move along the lowest lifting frame. In this way, at least one of the multiple lifting frames can be extended and retracted relative to the fixed frame, so that the overall height of the first frame 230a can be changed.

[0231] In some examples (not shown in the figures), the first stand 230a can be fixed on the first carrier 100, the first track 120a is movably arranged on the first stand 230a, and can move along the first stand 230a in the height direction of the first carrier 100, and the first picking and placing device 200a, such as the first picking and placing mechanism 210a and the first picking mechanism 220a, is arranged on the first track 120a, and can move laterally along the first track 120a on the first carrier 100, so that the first picking and placing mechanism 210a and the first picking mechanism 220a can move to one side of each first storage location 110a or each cache location 310.

[0232] For example, the two vertical poles of the first frame 230a can be respectively arranged at the two ends of the first carrier 100 along the horizontal direction of the first carrier 100, the first track 120a is erected on the two vertical poles and can move along the height direction of the vertical poles, the first picking and placing mechanism 210a and the first picking mechanism 220a can be arranged on the first track 120a through the first walking mechanism 240a, so as to move along the first track 120a driven by the first walking mechanism 240a.

[0233] In some examples, a first pick-and-place device 200 a may be suspended on one side of each first carrier 100 , that is, one first pick-and-place device 200 a is configured to pick and place and select the ordered goods on one of the first carriers 100 .

[0234] For example, in a storage area, a plurality of first carriers 100, such as shelves, are arranged at intervals, and a first picking and placing device 200a is suspended on the side of each first carrier 100, such as a shelf, facing the aisle 100c. The first picking and placing device 200a is only docked with the shelf on one side of the first picking and placing device 200a to pick ordered goods and put goods on the shelves on one side.

[0235] In some examples, the first pick-and-place device 200a is suspended on the side of the lane 100c and is configured to pick up and place the inventory containers 500 on the first carriers 100 on both sides of the lane 100c, that is, the first pick-and-place device 200a is shared between two adjacent first carriers 100.

[0236] In some examples, the first track 120a is disposed on the first carrier 100 on one side of the lane 100c, and the same first pick-and-place device 200a is configured to pick and place target items on the first carriers 100 on both sides of the lane 100c. For example, at least one first pick-and-place device 200a is disposed in the lane 100c, and the first pick-and-place device 200a is suspended on a first carrier 100 on one side of the lane 100c through a first walking mechanism 240a. The first pick-and-place device 200a can dock with the first carriers 100 on both sides of the lane 100c, and can also dock with movable carriers under the first carriers 100 on both sides. In this way, the width of the lane 100c can be reduced, and the storage density of the storage area can be improved.

[0237] In some examples, first tracks 120a may be provided on the first carriers 100 on opposite sides of the alley 100c, and the first pick-and-place devices 200a may be configured to move along the first tracks 120a on both sides of the alley 100c to pick and place the ordered goods on the first carriers 100 on both sides of the alley 100c.

[0238] Fig.11 is a structural schematic diagram of another storage system provided by an embodiment of the present application from one perspective. Fig.12 is a structural schematic diagram from another perspective of another storage system provided by an embodiment of the present application, Fig.13 is a structural schematic diagram of a first carrier and a first pick-and-place device of another storage system provided in one embodiment of the present application. Fig.14 Schematic diagram of the structure of a first carrier and a second pick-and-place device in another storage system provided by an embodiment of the present application. Figures 11 to 14 As shown, the embodiment of the present application provides another storage system, including a first carrier 100. The specific structure of the first carrier 100 can refer to the above example. Different from the above example, the first carrier 100 of the embodiment of the present application is higher and has more layers. For the convenience of description, the storage locations 110 of each layer of the first carrier 100 can be divided into a first storage location 110a and a second storage location 110b along the height direction.

[0239] The first storage location 110a is located below the second storage location 110b, that is, the first storage location 110a is a low-level storage location 110 near the bottom of the first carrier 100, and the second storage location 110b is a high-level storage location 110 near the top of the first carrier 100.

[0240] Taking the example that the first carrier 100 is provided with 20 layers of storage cargo locations 110, the first storage cargo location 110a may be the storage cargo location 110 at the 10th layer and below from the bottom to the top of the first carrier 100, and the second storage cargo location 110b may be the storage cargo location 110 at the 11th layer and above from the bottom to the top of the first carrier 100. Of course, the first storage cargo location 110a may be the storage cargo location 110 at the 9th layer and below from the bottom to the top of the first carrier 100, and the second storage cargo location 110b may be the storage cargo location 110 at the 10th layer and above from the bottom to the top of the first carrier 100. The embodiment of the present application does not limit the number of layers of the first storage cargo location 110a and the second storage cargo location 110b.

[0241] The storage system of the embodiment of the present application further includes a second carrier 300, which is provided with a cache cargo position 310, and the cache cargo position 310 is configured to cache a first item and a second item. The first item is an item stored in the first storage cargo position 110a, and the second item is an item stored in the second storage cargo position 110b.

[0242] It should be noted that the items in the embodiment of the present application may include but are not limited to order containers 600, inventory containers 500, order goods, non-order goods, etc. Among them, the order container 600 is a container that only contains order goods, and the inventory container 500 is a container that contains order goods and non-order goods.

[0243] In some examples, the inventory container 500 includes a first inventory container 510 and a second inventory container 520 , the first storage location 110 b is configured to store the first inventory container 510 , and the second storage location 110 b is configured to store the first inventory container 520 .

[0244] For example, the first item may include but is not limited to an order container, a first inventory container 510, order goods, non-order goods, etc.; the second item may include but is not limited to an order container, a second inventory container 520 inventory container 500, order goods, non-order goods, etc.

[0245] The specific structure of the second carrier 300 can refer to the above example, and will not be described in detail here. The storage system of the embodiment of the present application further includes a temporary storage location 110c, which is configured to temporarily store the second article.

[0246] The warehousing system of the embodiment of the present application may also include a first picking and placing device 200a, which is located on one side of the first storage location 110a. For example, the first picking and placing device 200a includes a first stand 230a and a first walking mechanism 240a. The storage area where the first carrier 100 and the second carrier 300 are located is provided with a first track 120a. The first walking mechanism 240a is suspended on the first track 120a and moves along the first track 120a on the side of the first storage location 110a. The first picking and placing device 200a is configured to dock with the first storage location 110a to pick up and place the first item on the first storage location 110a, and transfer the first item between the first storage location 110a and the cache location 310.

[0247] In some examples, the first item may include a first inventory container 510, and the first inventory container 510 contains ordered goods and non-ordered goods. In some examples, different from the above-mentioned pick-and-place device 200, the first pick-and-place device 200a of the embodiment of the present application includes a first pick-and-place mechanism 210a for picking and placing the first inventory container 510, and no picking mechanism 220 is provided. The first pick-and-place mechanism 210a is configured to pick and place the first inventory container 510 on the first storage location 110a, and transfer the first inventory container 510 between the first storage location 110a and the cache location 310.

[0248] In some examples, the first pick-and-place mechanism 210a is disposed on the first stand 230a to move along each column of the first storage locations 110a driven by the first stand 230a, thereby docking with the first storage locations 110a or the cache locations 310 in each column.

[0249] In addition, the first pick-and-place mechanism 210a may be movably disposed on the first stand 230a, and may move along the first stand 230a to move along the first storage locations 110a of each layer, thereby docking with the first storage locations 110a of each layer.

[0250] When the warehousing system receives a box picking task and the corresponding target item is the first item, the first picking and placing mechanism 210a of the first picking and placing device 200a can take out the first inventory container 510 from the first storage location 110a and transfer it to the cache location 310 of the second carrier 300, and then the transport robot 400 transports the first inventory container 510 on the cache location 310 to the workstation for picking and other tasks.

[0251] The warehousing system of the embodiment of the present application also includes a second picking and placing device 200b, which is located on one side of the second storage location 110b. For example, the second picking and placing device 200b includes a second stand 230b and a second walking mechanism 240b. The storage area is provided with a second track 120b. The second walking mechanism 240b is suspended on the second track 120b and moves along the second track 120b on the side of the second storage location 110b. The second picking and placing device 200b is configured to dock with the second storage location 110b to pick up and place the second item on the second storage location 110b, and transfer the second item between the second storage location 110b and the temporary storage location 110c.

[0252] In some examples, the second item may include a second inventory container 520, and the second inventory container 520 stores ordered goods and non-ordered goods. In some examples, different from the above-mentioned pick-and-place device 200, the second pick-and-place device 200b of the embodiment of the present application includes a second pick-and-place mechanism 210b for picking up and placing the second inventory container 520, and does not provide a picking mechanism 220. The second pick-and-place mechanism 210b is configured to pick up and place the second inventory container 520 on the second storage location 110b, and transfer the second inventory container 520 between the second storage location 110b and the temporary storage location 110c.

[0253] In some examples, the second pick-and-place mechanism 210b is disposed on the second stand 230b to move along each column of the second storage locations 110b driven by the second stand 230b, thereby docking with the second storage locations 110b or the cache locations 310 in each column.

[0254] In addition, the second pick-and-place mechanism 210b may be movably disposed on the second stand 230b, and may move along the second stand 230b to move along each layer of the second storage locations 110b, thereby docking with each layer of the second storage locations 110b.

[0255] In some examples, the second stand 230b can be fixed on the first carrier 100, the second track 120b is movably disposed on the second stand 230b and can move along the second stand 230b in the height direction of the first carrier 100, and the second pick-and-place device 200b, such as the second pick-and-place mechanism 210b and the second picking mechanism 220b, is disposed on the second track 120b and can move laterally along the second track 120b in the first carrier 100, so that the second pick-and-place mechanism 210b and the second picking mechanism 220b can move to one side of each second storage location 110b or each temporary storage location 110c.

[0256] In some examples, the first stand 230a and the second stand 230b may be integrally formed stands, and the first rail 120a and the second rail 120b may be movably disposed on the stands along the height direction of the first carrier 100 .

[0257] For example, a stand is hung on one side of the first carrier 100, and the two uprights of the stand can be respectively arranged at the two ends of the first carrier 100 along the horizontal direction of the first carrier 100, the first track 120a and the second track 120b are set on the two uprights and can move along the height direction of the uprights, the first pick-and-place mechanism 210a and the first picking mechanism 220a can be set on the first track 120a through the first walking mechanism 240a, so that they can move along the first track 120a under the drive of the first walking mechanism 240a, and the first track 120a can drive the first pick-and-place mechanism 210a and the first picking mechanism 220a to move in the height direction of the stand; the second pick-and-place mechanism 210b and the second picking mechanism 220b can be set on the second track 120b through the second walking mechanism 240b, so that they can move along the second track 120b under the drive of the second walking mechanism 240b, and the second track 120b can drive the second pick-and-place mechanism 210b and the second picking mechanism 220b to move in the height direction of the stand.

[0258] When the warehousing system receives a box-picking task and the corresponding target item is the second item, the second pick-and-place mechanism 210b of the second pick-and-place device 200b can take out the second inventory container 520 from the second storage location 110b and transfer it to the temporary storage location 110c.

[0259] In the embodiment of the present application, the first pick-and-place device 200a is further configured to transfer the second item between the temporary storage location 110c and the cache location 310. For example, the first pick-and-place device 210a is configured to transfer the second inventory container 520 between the temporary storage location 110c and the cache location 310.

[0260] For example, after the second picking and placing device 200b is transferred to the temporary storage location 110c via the second item, such as the second inventory container 520, the first picking and placing device 200a can take out the second inventory container 520 from the temporary storage location 110c through the first picking and placing mechanism 210a and transfer it to the cache location 310. Then the transport robot 400 transports the second inventory container 520 on the cache location 310 to the workstation for picking and other tasks.

[0261] In the embodiment of the present application, a first pick-and-place device 200a and a second pick-and-place device 200b are arranged on one side of the first carrier 100, and the first pick-and-place device 200a is responsible for picking up and placing the first item in the lower storage location 110, and the second pick-and-place device 200b is responsible for picking up and placing the second item in the upper storage location 110. In addition, a temporary storage location 110c is arranged, so that the second item taken out from the upper storage location 110 by the second pick-and-place device 200b is temporarily stored in the temporary storage location 110c, and the first pick-and-place device 200a transfers the second item in the temporary storage location 110c to the cache location 310, so that the transport robot 400 can take it out and transport it to the workstation. On the one hand, the embodiment of the present application can increase the height of the first carrier 100 and make full use of the upper space of the first carrier 100, thereby increasing the storage density; on the other hand, the retrieval and placement of items in the low-level storage locations 110 and the high-level storage locations 110 are decoupled from each other and do not affect each other, thereby enhancing the upper limit of the throughput of the first carrier 100.

[0262] In addition, when the second item in the high-level storage location 110 is called, the operating speed of the second picking and placing device 200b is basically not lost, thereby improving the picking and placing efficiency of high and low-level items as a whole.

[0263] In some examples, the temporary storage location 110c can be the second pick-and-place mechanism 210b of the second pick-and-place device 200b, that is, after the second pick-and-place mechanism 210b of the second pick-and-place device 200b takes out the second item, such as the second inventory container 520, from the second storage location 110b, it can move to the vicinity of the pick-and-place mechanism 210 of the first pick-and-place device 200a, and then the first pick-and-place mechanism 210a of the first pick-and-place device 200a takes out the second inventory container 520 from the second pick-and-place mechanism 210b and transfers it to the cache location 310.

[0264] In some examples, the temporary storage location 110c may be a temporary storage tray disposed on the second stand 230b of the second pick-and-place device 200b. After the second pick-and-place mechanism 210b of the second pick-and-place device 200b takes out the second item, such as the second inventory container 520, from the second storage location 110b, the second item may be transferred to the temporary storage tray on the second pick-and-place device 200b, and then the first pick-and-place mechanism 210a of the first pick-and-place device 200a takes out the second inventory container 520 from the temporary storage tray and transfers it to the cache location 310.

[0265] In some examples, the temporary storage location 110c can be located on the first carrier 100 and between the first storage location 110a and the second storage location 110b. In other words, the middle storage location 110 of the first carrier 100 can be used as the temporary storage location 110c. For example, the first carrier 100 includes the second storage location 110b, the temporary storage location 110c, the first storage location 110a and the cache location 310 arranged in sequence along the height direction.

[0266] For example, after the second pick-and-place mechanism 210b of the second pick-and-place device 200b takes out the second item, such as the second inventory container 520, from the second storage location 110b, it can be transferred to the temporary storage location 110c on the first carrier 100, and then the first pick-and-place mechanism 210a of the first pick-and-place device 200a takes out the second inventory container 520 from the temporary storage location 110c and transfers it to the cache location 310.

[0267] By setting the temporary storage location 110c on the first carrier 100, the second pick-and-place device 200b and the first pick-and-place device 200a do not need to dock, thereby saving the waiting time and docking time caused by the docking of the two, and improving the working efficiency of the first pick-and-place device 200a and the second pick-and-place device 200b. For example, after the second pick-and-place device 200b takes out the second item, it can be directly transferred to the temporary storage location 110c without waiting for the first pick-and-place device 200a to dock. The idle first pick-and-place device 200a can take out the second item from the temporary storage location 110c and transfer it to the cache location 310 without docking with the second pick-and-place device 200b, so that the second pick-and-place device 200b performs the next box retrieval action.

[0268] In some examples, the first item may include a first inventory container 510 and ordered goods, wherein the first inventory container 510 stores ordered goods and non-order goods; the second item includes a second inventory container 520 and ordered goods, wherein the second inventory container 520 stores ordered goods and non-order goods.

[0269] It should be noted that the order goods stored in the first inventory container 510 and the second inventory container 520 may be goods of the same order or goods of different orders, goods of the same sku of different orders or goods of different sku of different orders, and the embodiment of the present application does not limit this.

[0270] The first pick-and-place device 200 a of the embodiment of the present application can take out the first inventory container 510 from the first storage location 110 a , pick out the ordered goods from the first inventory container 510 , and then transfer them to the cache location 310 .

[0271] In some examples, the first picking and placing device 200a may include a first picking and placing mechanism 210a and a first picking mechanism 220a, wherein the first picking and placing mechanism 210a is configured to pick and place the first inventory container 510 on the first storage location 110a; the first picking mechanism 220a is configured to pick out the ordered goods from the first inventory container 510 and transfer them to the cache location 310.

[0272] It should be noted that the ordered goods can be cached in the cache location 310 via the order container.

[0273] In some examples, an order container is provided on the cache storage location 310, and the first picking mechanism 220a can pick out the order goods from the first inventory container 510 and deliver them to the order container on the cache storage location 310. For example, during the operation of the first pick-and-place mechanism 210a and the first picking mechanism 220a, the order container is located on the cache storage location 310, and after the first picking mechanism 220a picks out the order goods from the first inventory container 510, it can be delivered to the order container located in the cache storage location 310, thereby eliminating the need to carry the order container back and forth, simplifying the picking process of the first pick-and-place device 200a, and also simplifying the structure and power consumption of the first pick-and-place device 200a, and being suitable for the bottom storage storage location 110 with a higher order hit rate, and realizing fast picking and delivery of order goods.

[0274] In some examples, the first picking mechanism 220a can take out the order container on the buffer storage location 310. After the first pick-and-place mechanism 210a takes out the first inventory container 510, the first picking mechanism 220a can take out the order goods in the first inventory container 510 and place them in the order container, and then the first picking mechanism 220a transfers the order container to the buffer storage location 310.

[0275] In some examples, the structures of the first pick-and-place mechanism 210a and the first picking mechanism 220a, and the working process of picking and placing the first inventory container 510 and picking the ordered goods are consistent with the first pick-and-place device 200a in the above examples.

[0276] For example, when the warehousing system receives a picking task and the ordered goods are ordered goods, the first picking and placing mechanism 210a of the first picking and placing device 200a moves in the lateral and height directions of the first storage location 110a to move to the storage location 110 involved in the order, i.e., one side of the target first storage location 110a. For example, the stand 230 moves in the lateral direction of the first storage location 110a to drive the first picking and placing mechanism 210a and the first picking mechanism 220a to move in the lateral direction, and then the first picking and placing mechanism 210a moves in the height direction of the first storage location 110a to reach one side of the target first storage location 110a.

[0277] The first pick-and-place mechanism 210a takes out the target first inventory container 510 from the target first storage location 110a, and then the first picking mechanism 220a picks out the order goods in the target first inventory container 510 and delivers them to the order container located at the cache location.

[0278] After the multiple order goods involved in the order are delivered into the order container, the order container can be transported to the workstation or packed for shipment by the transport robot 400.

[0279] In some examples, the second pick-and-place device 200b may include a second pick-and-place mechanism 210b and a second picking mechanism 220b, wherein:

[0280] The second pick-and-place mechanism 210b is configured to pick up and place the second inventory container 520 on the second storage location 110b;

[0281] The second picking mechanism 220b is configured to pick out the ordered goods from the second inventory container 520 and transfer them to the temporary storage location 110c.

[0282] In some examples, the structures of the second pick-and-place mechanism 210b and the second picking mechanism 220b, and the working process of picking and placing the second inventory container 520 and picking the ordered goods are consistent with the first pick-and-place device 200a in the above examples.

[0283] For example, when the warehousing system receives a picking task and the ordered goods are ordered goods, the second picking and placing mechanism 210b of the second picking and placing device 200b moves in the lateral and height directions of the second storage location 110b to move to the storage location 110 involved in the order, i.e., one side of the target second storage location 110b. For example, the stand 230 moves in the lateral direction of the second storage location 110b to drive the second picking and placing mechanism 210b and the second picking mechanism 220b to move in the lateral direction, and then the second picking and placing mechanism 210b moves in the height direction of the second storage location 110b to reach one side of the target second storage location 110b.

[0284] The second pick-and-place mechanism 210b takes out the target second inventory container 520 from the target second storage location 110b, and then the second picking mechanism 220b picks out the ordered goods in the target second inventory container 520 and transfers them to the temporary storage location 110c.

[0285] It should be noted that the ordered goods can be temporarily stored in the temporary storage location 110c via the order container.

[0286] In some examples, an order container is provided on the temporary storage location 110 c , and the second picking mechanism 220 b can pick out the ordered goods from the second inventory container 520 and deliver them to the order container on the temporary storage location 110 c .

[0287] In some examples, the second picking mechanism 220b can take out the order container on the temporary storage location 110c. After the second pick-and-place mechanism 210b takes out the second inventory container 520, the second picking mechanism 220b can take out the order goods in the second inventory container 520 and place them in the order container, and then the second picking mechanism 220b transfers the order container to the temporary storage location 110c. In this way, the second picking mechanism 220b can pick all the multiple order goods involved in the order into the order container, and then transfer the order container to the temporary storage location 110c. This setting method can be applicable to high-level storage locations 110 with a lower order hit rate.

[0288] The first pick-and-place mechanism 210 a is further configured to transfer the ordered goods between the temporary storage location 110 c and the cache location 310 .

[0289] For example, after multiple order goods involved in an order are delivered to the order container, the order container can be transferred to the cache location 310 through the first pick-and-place mechanism 210a of the first pick-and-place device 200a, so that the transport robot 400 can transport it to the workstation or pack it for shipment.

[0290] In some examples, the second picking mechanism 220b can take out the order container on the temporary storage location 110c. After the second pick-and-place mechanism 210b takes out the second inventory container 520, the second picking mechanism 220b can take out the order goods in the second inventory container 520 and place them in the order container, and then the second picking mechanism 220b transfers the order container to the temporary storage location 110c.

[0291] In this example, the first pick-and-place device 200a and the second pick-and-place device 200b implement the retrieval and return of inventory containers 500 on the first storage location 110a and the second storage location 110b and the picking of ordered goods, and the working processes of the two are decoupled from each other, thereby enhancing the high throughput limit of the entire first carrier 100.

[0292] It should be noted that the order container 600 used to store the ordered goods in the second inventory container 520 and the order container 600 used to store the ordered goods in the first inventory container 510 can be the same order container or different order containers.

[0293] In some examples, when the first picking and placing device 200a and the second picking and placing device 200b pick up the same sku involved in all orders into one or more order containers, and a part of the order goods of the same sku involved in all orders are stored in the first inventory container 510, and the other part of the order goods are stored in the second inventory container 520, then the order container 600 used to store the order goods in the second inventory container 520 and the order container 600 used to store the order goods in the first inventory container 510 can be the same order container.

[0294] Alternatively, when the first picking and placing device 200a and the second picking and placing device 200b pick up all the SKUs involved in each order into one or more order containers, and a part of the order goods involved in any order are stored in the first inventory container 510, and the other part of the order goods are stored in the second inventory container 520, then the order container 600 used to store the order goods in the second inventory container 520 and the order container 600 used to store the order goods in the first inventory container 510 can be the same order container.

[0295] Taking the example that part of the order goods of the same sku involved in all orders are stored in the first inventory container 510, and the other part of the order goods are stored in the second inventory container 520, the second picking mechanism 220b of the second picking and placing device 200b can first pick part of the order goods involved in the same sku from the second inventory container 520 to the order container 600, and the order container 600 can be placed on the temporary storage location 110c, and then the first picking and placing mechanism 210a of the first picking and placing device 200a transfers the order container 600 to the cache location 310, and the other part of the order goods involved in the same sku are picked out from the first inventory container 510 by the first picking mechanism 220a, and delivered to the order container 600 transferred from the temporary storage location 110c to the cache location 310, and finally the order container 600 is transferred to the workstation by the handling robot 400 for binary division or packaging and shipment.

[0296] In the above example, a portion of the order goods may be first picked from the first inventory container 510 to the order container 600 on the cache storage location 310 by the first picking mechanism 220a of the first picking and placing device 200a, and then the order container 600 may be transferred to the temporary storage location 110c by the first picking and placing mechanism 210a, and then another portion of the order goods may be picked from the second inventory container 520 to the order container 600 by the second picking mechanism 220b of the second picking and placing device 200b, and the order container 600 may be temporarily stored in the temporary storage location 110c, and then, the order container 600 may be transferred from the temporary storage location 110c to the cache storage location 310 by the first picking and placing mechanism 210a of the first picking and placing device 200a, and then transported out by the handling robot 400.

[0297] In some examples, when the first picking and placing device 200a and the second picking and placing device 200b pick up the same sku involved in all orders into one or more order containers, and all the order goods of one sku involved in all the orders are stored in the first inventory container 510, and all the order goods of another sku are stored in the second inventory container 520, then the order container 600 used to store the order goods in the second inventory container 520 and the order container 600 used to store the order goods in the first inventory container 510 can be different order containers.

[0298] Alternatively, when the first picking and placing device 200a and the second picking and placing device 200b pick up all SKUs involved in each order into one or more order containers, and the order goods stored in the first inventory container 510 and the second inventory container 520 are order goods of different orders, then the order container 600 used to store the order goods in the second inventory container 520 and the order container 600 used to store the order goods in the first inventory container 510 can be different order containers.

[0299] In some examples, the first item includes a first inventory container 510, in which ordered goods and non-ordered goods are stored, and the first pick-and-place device 200a is configured to transfer the first inventory container 510 between the first storage location 110a and the buffer location 310. For example, the first inventory container 510 can be transferred between the first storage location 110a and the buffer location 310 by the first pick-and-place mechanism 210a of the first pick-and-place device 200a.

[0300] The second item includes a second inventory container 520 and an ordered item. The second inventory container 520 stores the ordered items and the non-ordered items. The second pick-and-place device 200b is configured to take out the second inventory container 520 on the second storage location 110b, pick out the ordered items in the second inventory container 520, and transfer them to the temporary storage location 110c. For example, the second pick-and-place mechanism 210b of the second pick-and-place device 200b is configured to pick up and place the second inventory container 520 on the second storage location 110b;

[0301] The second picking mechanism 220b of the second picking and placing device 200b is configured to pick out the ordered goods from the second inventory container 520 and transfer them to the temporary storage location 110c.

[0302] The first picking and placing mechanism 210 a is further configured to transfer the ordered goods to the buffer location 310 .

[0303] It can be understood that in this example, the first pick-and-place device 200a is configured to transfer the first inventory container 510 between the first storage location 110a and the cache location 310, that is, the first pick-and-place device 200a implements the box-retrieving and returning work. The second pick-and-place device 200b can directly pick the order goods in the second inventory container 520, and transfer them to the temporary storage location 110c through the order container, and then transfer the order container to the cache location 310 through the first pick-and-place mechanism 210a.

[0304] In some examples, the second item includes a second inventory container 520, in which ordered goods and non-ordered goods are stored, and the second pick-and-place device 200b is configured to transfer the second inventory container 520 between the second storage location 110b and the temporary storage location 110c. For example, the second inventory container 520 can be transferred between the second storage location 110b and the temporary storage location 110c by the second pick-and-place mechanism 210b of the second pick-and-place device 200b.

[0305] In this example, the first item includes a first inventory container 510 and an ordered item, and the first inventory container 510 stores the ordered item and the non-ordered item. The first pick-and-place device 200a is configured to take out the first inventory container 510 on the first storage location 110a, pick out the ordered item in the first inventory container 510, and transfer it to the cache location 310. For example,

[0306] The first pick-and-place mechanism 210a of the first pick-and-place device 200a is configured to pick up and place the first inventory container 510 on the first storage location 110a, and the first picking mechanism 220a of the first pick-and-place device 200a is configured to pick out the ordered goods from the first inventory container 510 and transfer them to the cache location 310.

[0307] The first pick-and-place mechanism 210a of the first pick-and-place device 200a is further configured to transfer the second inventory container 520 between the temporary storage location 110c and the cache location 310.

[0308] It can be understood that in this example, the second pick-and-place device 200b can directly transfer the second inventory container 520 between the second storage cargo position 110b and the temporary storage cargo position 110c, that is, the second pick-and-place device 200b is configured to perform the work of picking up and returning boxes; the first pick-and-place device 200a is configured to directly pick out the order goods in the first inventory container 510, and can cache the order container on the cache cargo position 310, so that the handling robot 400 can directly pack the order container out of the warehouse or transport it to the workstation for further processing. In addition, the first pick-and-place mechanism 210a also transfers the second storage container on the temporary storage cargo position 110c to the cache cargo position 310, so that the handling robot 400 can transport it to the workstation for picking.

[0309] Reference Fig.14 As shown, in some examples, the second picking mechanism 220b may include a pick and place component 223 and a second picking component 221b.

[0310] The pick-and-place component 223 is configured to dock with the temporary storage location 110c to pick up and place the order container.

[0311] In some examples, the structures of the pick-and-place assembly 223, the first pick-and-place mechanism 210a, and the second pick-and-place mechanism 210b are consistent, and can all refer to the structure of the first pick-and-place mechanism 210a in the above example. For example, the pick-and-place assembly 223, the first pick-and-place mechanism 210a, and the second pick-and-place mechanism 210b can all include a bearing structure 211 and a pick-and-place structure 212. For the convenience of description, the bearing structure of the first pick-and-place mechanism 210a can be referred to as the first bearing structure 211a, the bearing structure of the second pick-and-place mechanism 210b can be referred to as the second bearing structure 211b, and the bearing structure of the pick-and-place assembly 223 can be referred to as the third bearing structure 211c.

[0312] The second supporting structure 211b can move in the lateral and height directions of the first carrier 100. For example, the second supporting structure 211b can be movably arranged on the second stand 230b. The pick-and-place structure 212 is located on the second supporting structure 211b and can move between the second supporting structure 211b and the second storage location 110b to transfer the second inventory container 520 between the second supporting structure 211b and the second storage location 110b. The second picking component 221b is configured to pick out the ordered goods from the second inventory container 520 and deliver them to the order container located on the pick-and-place component 223.

[0313] It should be noted that the structure of the second picking component 221b may be consistent with the structure of the first picking component 221a of the first picking and placing device 200a in the above example, and will not be repeated here.

[0314] The first pick-and-place mechanism 210 a is configured to transfer order containers between the temporary storage location 110 c and the buffer location 310 .

[0315] For example, when the warehousing system receives a picking task and the ordered goods are ordered goods, the pick-and-place component 223 of the second picking mechanism 220b takes out the order container from the temporary storage location 110c, and the second pick-and-place mechanism 210b moves in the lateral and height directions of the second storage location 110b to move to the storage location 110 involved in the order, that is, one side of the target second storage location 110b; the second pick-and-place mechanism 210b takes out the target second inventory container 520 from the target second storage location 110b, and then the second picking component 221b picks out the order goods in the target second inventory container 520 and places them in the order container, and the pick-and-place component 223 then transfers the order container to the temporary storage location 110c.

[0316] In some examples, when the second picking component 221b is in the picking state, that is, when the second picking component 221b picks the order goods from the second inventory container 520, the pick-and-place component 223 is located beside the second pick-and-place mechanism 210b, and the order container is arranged on the pick-and-place component 223;

[0317] The second picking component 221b is configured to pick up the order goods from the second inventory container 520 and deliver them to the order container on the pick-and-place component 223. The pick-and-place component 223 is configured to carry the order container to one side of the temporary storage location 110c and place the order container on one side of the temporary storage location 110c.

[0318] In some examples, the pick-and-place component 223 can move in the height direction of the second stand 230b relative to the second pick-and-place mechanism 210b. In this way, after the second picking component 221b picks the order goods from the second inventory container 520 and delivers them to the order container, the pick-and-place component 223 can carry the order container to one side of the temporary storage location 110c and place the order container on the temporary storage location 110c.

[0319] In some examples, the pick-and-place component 223 and the second pick-and-place mechanism 210b can move synchronously in the height direction of the second stand 230b, so that the pick-and-place component 223 and the second pick-and-place mechanism 210b can move synchronously to one side of the temporary storage location 110c, and the pick-and-place component 223 takes out the order container, and then the pick-and-place component 223 and the second pick-and-place mechanism 210b can move synchronously to one side of the target second storage location 110b, and the second pick-and-place mechanism 210b takes out the target second inventory container 520, and then the second picking component 221b picks up the order goods from the second inventory container 520 and delivers them to the order container on the pick-and-place component 223, the pick-and-place component 223 and the pick-and-place mechanism 210 move synchronously to one side of the temporary storage location 110c, and the pick-and-place component 223 transfers the order container with the order goods to the temporary storage location 110c.

[0320] It should be noted that, in this example, the pick-and-place component 223 can also pick up and place the second inventory container 520, and the second pick-and-place mechanism 210b can pick up and place the order container.

[0321] By making the pick-and-place assembly 223 and the second pick-and-place mechanism 210b move synchronously, the control logic of the second pick-and-place device 200b can be simplified.

[0322] In the above example, the third supporting structure 211c of the pick-and-place assembly 223 and the second supporting structure 211b of the second pick-and-place mechanism 210b can be connected to each other. For example, the third supporting structure 211c of the pick-and-place assembly 223 and the second supporting structure 211b of the second pick-and-place mechanism 210b can be an integrally formed one-piece.

[0323] Reference Figure 1 As shown, in some examples, the second pick-and-place device 200b may include a fourth drive assembly 280, and the fourth drive assembly 280 is connected to the second pick-and-place mechanism 210b to drive the second pick-and-place mechanism 210b to move in the height direction of the second stand 230b. For example, the fourth drive assembly 280 may be connected to the second bearing structure 211b to drive the second bearing structure 211b to move in the height direction of the second stand 230b.

[0324] In some examples, the pick-and-place assembly 223 is connected to the fourth drive assembly 280, and the fourth drive assembly 280 is configured to drive the pick-and-place assembly 223 to move synchronously with the second pick-and-place mechanism 210b along the height direction of the second stand 230b.

[0325] Reference Fig.14 As shown, exemplarily, the third supporting structure 211c of the pick-and-place assembly 223 is connected to the second supporting structure 211b of the second pick-and-place mechanism 210b, and the fourth driving assembly 280 can drive the third supporting structure 211c supporting structure 211 and the second supporting structure 211b supporting structure 211 to move synchronously, thereby making the pick-and-place assembly 223 and the second pick-and-place mechanism 210b move synchronously along the second stand 230b.

[0326] In some examples, after the second pick-and-place mechanism 210b takes the second inventory container 520 out of the second storage location 110b, the second picking component 221b can pick the order goods in the second inventory container 520 and place the picked order goods in the order container when the pick-and-place component 223 and the second pick-and-place mechanism 210b move to one side of the temporary storage location 110c, and then the pick-and-place component 223 places the order container on the temporary storage location 110c.

[0327] It should be noted that the fourth driving component 280 can directly refer to the structure of the first driving component 250 in the above example, which will not be described in detail here.

[0328] In some examples, before the second pick-and-place mechanism 210b takes out the second inventory container 520 from the second storage location 110b, the pick-and-place component 223 can directly take out the order container from the temporary storage location 110c and move it to one side of the second storage location 110b with the second pick-and-place mechanism 210b.

[0329] In some examples, before the second pick-and-place mechanism 210b takes out the second inventory container 520 from the second storage location 110b, the pick-and-place component 223 does not take the order container first. After the second pick-and-place mechanism 210b takes out the second inventory container 520 from the second storage location 110b, the second picking component 221b can move the pick-and-place component 223 and the second pick-and-place mechanism 210b to one side of the temporary storage location 110c. The pick-and-place structure 212 of the pick-and-place component 223 takes out the order container from the temporary storage location 110c to receive the order goods picked up by the second picking component 221b. After the order goods are placed in the order container, the pick-and-place structure 212 of the pick-and-place component 223 places the order container on the temporary storage location 110c.

[0330] In some examples, before the pick-and-place component 223 carries the order container to the temporary storage location 110c, the second pick-and-place mechanism 210b is configured to take out the second inventory container 520 from the multiple second storage locations 110b, and the second picking component 221b is configured to pick the order goods on the multiple second storage locations 110b into the order container, and then the pick-and-place component 223 carries the order container to one side of the temporary storage location 110c.

[0331] In some examples, the order goods involved in each second order can be distributed in different second inventory containers 520. Therefore, the pick-and-place component 223, the second pick-and-place mechanism 210b and the second picking component 221b can move to one side of each target second storage location 110b, and the second pick-and-place mechanism 210b takes out each second inventory container 520. After the second picking component 221b picks each order goods into the order container, the pick-and-place component 223 moves to one side of the temporary storage location 110c and transfers the order container to the temporary storage location 110c. In this way, the repeated movement of the pick-and-place component 223 between the second storage location 110b and the temporary storage location 110c can be reduced, thereby simplifying the picking process of each order goods by the second pick-and-place device 200b.

[0332] In some examples, when the second picking component 221b is in the picking state, the pick-and-place component 223 and the second pick-and-place mechanism 210b are arranged side by side in the lateral direction of the first carrier 100;

[0333] When the second picking component 221 b is in a non-picking state, the pick-and-place component 223 and the second pick-and-place mechanism 210 b are arranged along the height direction of the first carrier 100 or are disposed side by side in the horizontal direction.

[0334] The position layout of the pick-and-place component 223 and the second picking component 221b can directly refer to the position layout of the delivery component 222 and the first picking component 221a of the first pick-and-place device 200a in the above example, and will not be repeated here.

[0335] In some examples, the pick-and-place component 223 may always be located on the temporary storage location 110c, and the second pick-and-place mechanism 210b and the second picking component 221b may move in the height direction of the second stand 230b relative to the pick-and-place component 223. After the second pick-and-place mechanism 210b takes out the second inventory container 520 on the second storage location 110b, it may drive the second inventory container 520 to move to the side of the pick-and-place component 223, and then the second picking component 221b takes out the order goods from the second inventory container 520 and places them in the order container on the pick-and-place component 223, and finally the pick-and-place component 223 places the order container on the temporary storage location 110c.

[0336] In some examples, the second picking component 221b is movably disposed on the second stand 230b and can move on the second plane relative to the second pick-and-place mechanism 210b so that the second picking component 221b can move between the second pick-and-place mechanism 210b and the order container on the pick-and-place component 223. The second picking component 221b can move in the height direction of the second stand 230b relative to the second pick-and-place mechanism 210b to extend into or out of the second inventory container 520 or the order container on the second pick-and-place mechanism 210b.

[0337] In some examples, the structure and working process of the second picking component 221b can directly refer to the first picking component 221a of the first picking and placing device 200a in the above example, and will not be repeated here.

[0338] In some examples, the second picking component 221b and the second pick-and-place mechanism 210b may move synchronously along the height direction of the second stand 230b to simplify the control logic of the second pick-and-place device 200b.

[0339] Reference Figure 2 and Figure 4 As shown, for example, the second pick-and-place device 200b may include a fifth driving assembly 290, and the second driving assembly 260 is connected to the second picking assembly 221b to drive the second picking assembly 221b to move relative to the second pick-and-place mechanism 210b in the height direction of the second stand 230b;

[0340] The fifth driving assembly 290 is connected to the fourth driving assembly 280, and the fourth driving assembly 280 is also configured to drive the fifth driving assembly 290 to move, so that the second picking assembly 221b moves with the second pick-and-place mechanism 210b.

[0341] It should be noted that the structure of the fifth drive assembly 290 and the way of cooperating with the fourth drive assembly 280 can directly refer to the cooperating structure of the second drive assembly 260 and the first drive assembly 250 in the above example, and will not be repeated here.

[0342] In addition, when the fourth driving assembly 280 is connected to the pick-and-place assembly 223, the fourth driving assembly 280 can drive the pick-and-place assembly 223, the second picking assembly 221b and the second pick-and-place mechanism 210b to move synchronously in the height direction of the second stand 230b.

[0343] In some examples, the second pick-and-place device 200b may further include a second image sensor 700b. The second image sensor 700b is configured to obtain information about the ordered goods in the second inventory container 520 when the second pick-and-place mechanism 210b takes out the second inventory container 520. The second picking component 221b is configured to move relative to the second pick-and-place mechanism 210b according to the information obtained by the second image sensor 700b to take the ordered goods.

[0344] The second image sensor 700b is disposed on the second stand 230b and can move along the height direction of the second stand 230b so that the distance between the second image sensor 700b and the second pick-and-place mechanism 210b is within a preset range.

[0345] It should be noted that the configuration and working principle of the first image sensor 700a and the second image sensor 700b can be directly referred to the relevant content of the first image sensor 700a in the above example, and will not be repeated here.

[0346] In some examples, the pick-and-place component 223 of the second pick-and-place mechanism 210b or the second picking mechanism 220b is further configured to move between the second storage location 110b and the temporary storage location 110c to transfer the second inventory container 520 between the second storage location 110b and the temporary storage location 110c.

[0347] For example, when all the ordered goods in the second inventory container 520 on the second storage location 110b are taken out, it is called an empty inventory container 500. The second pick-and-place mechanism 210b can take out the empty inventory container 500 and transfer it to the temporary storage location 110c as an order container.

[0348] For another example, when the second inventory container 520 filled with goods needs to be put into the warehouse and put on the shelf, the second inventory container 520 filled with goods can first be transferred to the cache storage location 310 by the handling robot 400, and then the second inventory container 520 can be transferred to the temporary storage location 110c by the first pick-and-place mechanism 210a, and then the second inventory container 520 can be put on the shelf to the corresponding second storage location 110b by the second pick-and-place mechanism 210b or the pick-and-place component 223 of the second picking mechanism 220b to prepare for subsequent order picking.

[0349] Reference Fig.11 and Fig.12 As shown, in some examples, the first pick-and-place device 200a may be configured to pick up and place first items in the first storage locations 110a on both sides of the lane 100c, that is, the first carriers 100 on both sides of the lane 100c share the first pick-and-place device 200a.

[0350] The second picking and placing device 200b is configured to pick up and place the second items in the second storage locations 110b on both sides of the aisle 100c, that is, the first carriers 100 on both sides of the aisle 100c share the second picking and placing device 200b, which can reduce the number of picking and placing devices 200 in the warehousing system, save space in the storage area, and thus improve the storage density of the storage area.

[0351] In some examples, the first track 120a and the second track 120b may be both disposed on the first carrier 100 on one side of the lane 100c, so that the first pick-and-place device 200a and the second pick-and-place device 200b may both be suspended above and below the first carrier 100 on one side.

[0352] In some examples, the first track 120a may be disposed on the first carrier 100a on one side of the alley 100c, and the second track 120b may be disposed on the first carrier 100b on the other side of the alley 100c. In this way, the first pick-and-place device 200a and the second pick-and-place device 200b may be suspended on different first carriers 100, thereby reducing interference between the two when they move on the same first carrier 100 and simplifying the assembly structure of each first carrier 100 and the corresponding pick-and-place device 200.

[0353] In some examples, the first carrier 100 on opposite sides of the lane 100c may be provided with a first track 120a and a second track 120b, and the first pick-and-place device 200a is configured to move along the first track 120a on both sides of the lane 100c to pick and place the ordered goods in the first storage locations 110a on both sides of the lane 100c. The second pick-and-place device 200b is configured to move along the second track 120b on both sides of the lane 100c to pick and place the ordered goods in the second storage locations 110b on both sides of the lane 100c.

[0354] The embodiment of the present application further provides a scheduling method for a warehousing system, using the above-mentioned warehousing system, and the scheduling method includes:

[0355] S100 , based on the picking task, control the first pick-and-place mechanism 210a to move to one side of the target storage location 110 , and take out the target inventory container 500 .

[0356] For example, when receiving a picking task, the controller of the warehousing system can control the lateral movement of the first picking and placing device 200a on the first carrier 100, and control the first picking and placing mechanism 210a to move along the height direction of the first stand 230a, so that the first picking and placing mechanism 210a moves to one side of the target storage location 110; then the picking and placing structure 212 of the first picking and placing mechanism 210a takes out the target inventory container 500 on the storage location 110, and temporarily stores it on the first supporting structure 211a of the first picking and placing mechanism 210a.

[0357] S200 , controlling the first picking mechanism 220a to pick out the ordered goods in the target inventory container 500 , and delivering them to the order container on the second carrier 300 .

[0358] For example, after the first pick-and-place mechanism 210a takes out the target inventory container 500 , the controller may control the first picking mechanism 220a to pick out the ordered goods from the target inventory container 500 and deliver them to the order container at the bottom of the first carrier 100 .

[0359] S300, controlling the transport robot 400 to move out the order container containing the ordered goods. It can be understood that the ordered goods in S300 are the ordered goods picked from the first inventory container.

[0360] For example, when the order goods in the order container are all the goods of an order, the transport robot 400 can directly pack the order container for shipment.

[0361] In some examples, S200, i.e., controlling the first picking mechanism 220a to pick out the ordered goods in the target inventory container 500 and deliver them to the order container on the second carrier 300, may include:

[0362] S210, controlling the first picking component 221a of the first picking mechanism 220a to take out the ordered goods from the target inventory container 500, and placing the ordered goods in the delivery component 222 of the first picking mechanism 220a.

[0363] For example, the controller can plan the movement trajectory of the first picking component 221a based on the information of the order goods fed back by the image sensor, and then control the first picking component 221a to move to the corresponding order goods in the target inventory container 500 along the movement trajectory, and control the gripper 2212 of the first picking component 221a to pick up the order goods. Then the controller can control the first picking component 221a to return to the top of the inventory container 500 along the original movement trajectory, and then control the first picking component 221a to rotate to the top of the delivery component 222, and then place the order goods on the delivery component 222.

[0364] S220 , control the delivery component 222 to deliver the ordered goods to the order container located on the second carrier 300 .

[0365] For example, when the delivery component 222 is located at one side of the cache location 310, the controller can control the guide member 2222 of the delivery component 222 to rotate to be placed on the pick-up and placement port of the order container, and then the order goods can fall into the order container along the guide member 2222.

[0366] In some examples, the delivery component 222 can move in the height direction of the first carrier 100 relative to the first picking component 221a and the first pick-and-place mechanism 210a, and when the first picking component 221a picks the order goods from the target inventory container 500, the delivery component 222 is located beside the first pick-and-place mechanism 210a;

[0367] Then S210, i.e. controlling the first picking component 221a of the first picking mechanism 220a to take out the ordered goods from the target inventory container 500 and place the ordered goods in the delivery component 222 of the first picking mechanism 220a, may include:

[0368] S211 , when the first picking component 221 a picks out the ordered goods in the target inventory container 500 , the first picking component 221 a is controlled to deliver the ordered goods to the delivery component 222 .

[0369] For example, before the first pick-and-place mechanism 210a takes out the inventory container 500 from the storage location 110, the controller can control the delivery component 222 to move to the side of the first pick-and-place mechanism 210a, and then when the first picking component 221a picks out the order goods in the target inventory container 500, the first picking component 221a delivers the order goods to the delivery component 222.

[0370] In this way, S220 controls the delivery component 222 to deliver the order goods to the order container on the second carrier 300, including: controlling the delivery component 222 to carry the order goods to one side of the second carrier 300, and delivering the order goods to the order container on the cache location 310.

[0371] In some examples, when the first pick-and-place mechanism 210a takes out the target inventory container 500 from the target storage location 110, the delivery component 222 is located at one side of the second carrier 300. Then S210, i.e., controlling the first picking component 221a of the first picking mechanism 220a to take out the ordered goods from the target inventory container 500 and place the ordered goods on the delivery component 222 of the first picking mechanism 220a, may include:

[0372] S212, when the first pick-and-place mechanism 210a takes out the target inventory container 500 from the target storage location 110, control the first picking component 221a and the first pick-and-place mechanism 210a to move to one side of the target cache location 310 of the second carrier 300;

[0373] S213, controlling the first picking component 221a of the first picking mechanism 220a to take out the ordered goods from the target inventory container 500, and placing them in the delivery component 222 of the first picking mechanism 220a.

[0374] In some examples, S100, i.e., based on the picking task, controlling the first pick-and-place mechanism 210a to move to one side of the target storage location 110 and taking out the target inventory container 500, may include:

[0375] S110, based on the first scheduling task, controlling the first pick-and-place mechanism 210a to move to one side of the target first storage location 110a, and taking out the target first inventory container 510;

[0376] For example, when receiving a scheduling task, the controller of the warehousing system can control the lateral movement of the first picking and placing device 200a on the side of the first storage location 110a, and control the first picking and placing mechanism 210a to move along the height direction of the first stand 230a, so that the first picking and placing mechanism 210a moves to one side of the target first storage location 110a; then the picking and placing structure 212 of the first picking and placing mechanism 210a takes out the target first inventory container 510 on the first storage location 110a, and temporarily stores it on the first supporting structure 211a of the first picking and placing mechanism 210a.

[0377] S120 , controlling the first picking mechanism 220a to pick out the ordered goods in the target first inventory container 510 , and delivering them to the order container on the second carrier 300 .

[0378] For example, after the first pick-and-place mechanism 210a takes out the target first inventory container 510 , the controller may control the first picking mechanism 220a to pick out the order goods from the target first inventory container 510 and deliver them to the order container at the bottom of the first carrier 100 .

[0379] In some examples, the scheduling method of the warehousing system may further include:

[0380] S400 , based on the second scheduling task, control the second pick-and-place mechanism 210 b to move to one side of the target second storage location 110 b , and take out the target second inventory container 520 .

[0381] For example, when receiving a scheduling task, the controller of the warehousing system can control the lateral movement of the second picking and placing device 200b on the side of the second storage location 110b, and control the second picking and placing mechanism 210b to move along the height direction of the second stand 230b, so that the second picking and placing mechanism 210b moves to one side of the target second storage location 110b; then the picking and placing structure 212 of the second picking and placing mechanism 210b takes out the target second inventory container 510 on the second storage location 110b, and temporarily stores it on the second supporting structure 211b of the second picking and placing mechanism 210b.

[0382] S500, controlling the second picking mechanism 220b to pick out the ordered goods in the second inventory container 520, and storing them in the temporary storage location 110c through the order container.

[0383] For example, after the second pick-and-place mechanism 210b takes out the target second inventory container 520, the controller may control the second picking mechanism 220b to pick out the ordered goods from the target second inventory container 520 and deliver them to the order container.

[0384] S600 , control the first pick-and-place mechanism 210 a to transfer the order container from the temporary storage location 110 c to the cache location 310 .

[0385] S700 , controlling the transport robot 400 to move out the order container containing the ordered goods.

[0386] It can be understood that the ordered goods in S700 are the ordered goods picked from the second inventory container.

[0387] In some examples, when the second picking component 221b is in the picking state, the pick-and-place component 223 of the second picking mechanism 220b is located beside the second pick-and-place mechanism 210b, and an order container is disposed on the pick-and-place component 223;

[0388] Then S500, i.e. controlling the second picking mechanism 220b to pick out the ordered goods in the second inventory container 520 and store them in the temporary storage location 110c through the order container, may include:

[0389] S510, control the second picking component 221b to pick out the ordered goods in the second inventory container 520 and deliver them to the order container.

[0390] For example, before the second pick-and-place mechanism 210b takes out the second inventory container 520 from the second storage location 110b, the controller can control the pick-and-place component 223 and the second pick-and-place mechanism 210b to move to one side of the second storage location 110b at the same time, and then the second pick-and-place mechanism 210b takes out the second inventory container 520 from the second storage location 110b, and the second picking component 221b picks out the order goods in the target second inventory container 520 and delivers them to the order container on the pick-and-place component 223.

[0391] S520, control the pick-and-place component 223 to carry the order container to one side of the temporary storage location 110c, and place the order container in the temporary storage location 110c.

[0392] For example, the controller may control the pick-and-place component 223 and the second pick-and-place mechanism 210b to move to one side of the temporary storage location 110c at the same time, and the pick-and-place component 223 places the order container on the temporary storage location 110c.

[0393] In some examples, S520, i.e., controlling the pick-and-place component 223 to carry the order container to move to one side of the temporary storage location 110c, and placing the order container in front of the temporary storage location 110c, the scheduling method of the embodiment of the present application may include:

[0394] S530, controlling the second pick-and-place mechanism 210b to take out the second inventory container 520 from the plurality of second storage locations 110b;

[0395] S540, control the second picking component 221b to dispatch the order goods on the plurality of second inventory containers 520 to the order container.

[0396] In some examples, the order goods involved in each second order can be distributed in different second inventory containers 520. Therefore, the pick-and-place component 223, the second pick-and-place mechanism 210b and the second picking component 221b can move to one side of each target second storage location 110b, and the second pick-and-place mechanism 210b takes out each second inventory container 520. After the second picking component 221b picks each order goods into the order container 600, the pick-and-place component 223 moves to one side of the temporary storage location 110c and transfers the order container 600 to the temporary storage location 110c. In this way, the repeated movement of the pick-and-place component 223 between the second storage location 110b and the temporary storage location 110c can be reduced, thereby simplifying the picking process of each order goods by the second pick-and-place device 200b.

[0397] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not used to limit the protection scope of the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A storage system, characterized in that: include: A first carrier (100) is provided with a storage location (110), wherein the storage location (110) is configured to store inventory containers (500); A second carrier (300) is disposed adjacent to the first carrier (100) and is provided with a cache location (310), wherein the cache location (310) is configured to cache order containers (600); A first pick-and-place device (200a) is located on one side of the first carrier (100) and the second carrier (300), and a first track (120a) is provided in the storage area where the first carrier (100) is located. The first pick-and-place device (200a) is provided with a first walking mechanism (240a), and the first walking mechanism (240a) is suspended on the first track (120a) and can move along the first track (120a) relative to the first carrier (100); The first taking and placing device (200a) comprises: A first pick-and-place mechanism (210a) is configured to dock with the storage location (110) to pick up and place the inventory container (500); A first picking mechanism (220a) is configured to pick out the ordered goods in the inventory container (500) and deliver them to the order container (600) located on the second carrier (300); The transport robot (400) is configured to move out the order container containing the ordered goods.

2. The storage system according to claim 1, characterized in that: The first picking mechanism (220a) comprises: A first picking component (221a), configured to pick out ordered goods from the inventory container (500); The delivery component (222) is configured to receive the order goods picked by the first picking component (221a) and deliver them to the order container (600).

3. The storage system according to claim 2, characterized in that: The delivery component (222) can move in the height direction of the first carrier (100) relative to the first picking component (221a) and the first pick-and-place mechanism (210a), and when the first picking component (221a) is in a picking state, the delivery component (222) is located beside the first pick-and-place mechanism (210a); The delivery component (222) is configured to receive the order goods picked out from the inventory container (500) by the first picking component (221a), and to carry the order goods to one side of the second carrier (300) to deliver the order goods to the order container (600) on the cache location (310).

4. The storage system according to claim 3, characterized in that: When the first picking component (221a) is in a picking state, the delivery component (222) and the first pick-and-place mechanism (210a) are arranged side by side in a lateral direction of the first carrier (100); When the first picking component (221a) is in a non-picking state, the delivery component (222) and the first pick-and-place mechanism (210a) are arranged along the height direction or the transverse direction of the first carrier (100).

5. The storage system according to claim 2, characterized in that: The delivery component (222) is located on one side of the second carrier (300); The first picking component (221a) is configured to take out the ordered goods from the inventory container (500) and place them on the delivery component (222) after the first pick-and-place mechanism (210a) picks out the inventory container (500) from the storage location (110).

6. The storage system according to claim 5, characterized in that: The first picking component (221a) and the first pick-and-place mechanism (210a) can move relative to the delivery component (222) in the height direction of the first carrier (100); The first picking component (221a) is configured to take out the ordered goods from the inventory container (500) and place them on the delivery component (222) after the first pick-and-place mechanism (210a) picks out the inventory container (500) from the storage location (110), and comprises: When the first pick-and-place mechanism (210a) takes out the inventory container (500) from the storage location (110), the first picking component (221a) is configured to move to one side of the delivery component (222) with the first pick-and-place mechanism (210a), pick out the ordered goods from the inventory container (500), and place them on the delivery component (222).

7. The storage system according to claim 2, characterized in that: The delivery component (222) comprises a guide member (2222), and the guide member (2222) is set on the pick-up and drop-down opening of the order container (600) at least when the delivery component (222) delivers the order goods to the order container (600).

8. The storage system according to claim 7, characterized in that: The delivery component (222) further comprises a retaining wall (2221), wherein the retaining wall (2221) is provided with a first delivery port (222a) and a second delivery port (222b); the guide member (2222) is rotatably disposed at the second delivery port (222b) so as to enclose together with the retaining wall (2221) a receiving cavity for receiving the ordered goods, and when the ordered goods need to be delivered to the order container (600), the guide member (2222) is rotated to a position set at a pick-up and drop-out port of the order container (600), so that the ordered goods are delivered to the order container (600) through the second delivery port (222b) and the guide member (2222); the first delivery port (222a) is configured for the first picking component (221a) to deliver the ordered goods to the receiving cavity.

9. The storage system according to claim 2, characterized in that: The first taking and placing device (200a) comprises: A first stand (230a) capable of moving laterally along the first carrier (100) and the second carrier (300); The first pick-and-place mechanism (210a) and the first picking mechanism (220a) are respectively arranged on the first stand (230a) so as to move laterally along the first carrier (100) and the second carrier (300) under the drive of the first stand (230a), and the first pick-and-place mechanism (210a) and the first picking mechanism (220a) can both move in the height direction of the first carrier (100) relative to the first stand (230a).

10. The storage system according to claim 9, characterized in that: The first picking component (221a) is movably arranged on the first stand (230a) and can move on a first plane relative to the first pick-and-place mechanism (210a), so that the first picking component (221a) moves between the first pick-and-place mechanism (210a) and the delivery component (222); The first picking component (221a) can move relative to the first pick-and-place mechanism (210a) in the height direction of the first stand (230a) to extend into or out of the inventory container (500) or the delivery component (222); Wherein, the height direction of the first carrier (100) intersects with the first plane.

11. The storage system according to claim 10, characterized in that: The first picking component (221a) comprises: a component that rotates on a plane and can move along the height direction of the first stand (230a); A gripper (2212) is connected to the robotic arm (2211), and the gripper (2212) is configured to take the ordered goods in the inventory container (500).

12. The storage system according to claim 9, characterized in that: The first picking component (221a) and the first picking and placing mechanism (210a) can move synchronously along the height direction of the first stand (230a).

13. The storage system according to claim 12, characterized in that: The first taking and placing device (200a) further comprises: A first driving assembly (250) connected to the first pick-and-place mechanism (210a) to drive the first pick-and-place mechanism (210a) to move in a height direction of the first stand (230a); a second driving assembly (260) connected to the first picking assembly (221a) to drive the first picking assembly (221a) to move in a height direction of the first stand (230a) relative to the first pick-and-place mechanism (210a); The second driving component (260) is arranged on the first driving component (250), and the first driving component (250) is also configured to drive the second driving component (260) to move, so that the first picking component (221a) moves with the first picking and placing mechanism (210a).

14. The storage system according to claim 9, characterized in that: The first taking and placing device (200a) further comprises: A first image sensor (700a) is configured to obtain information about the ordered goods in the inventory container (500) when the first pick-and-place mechanism (210a) takes out the inventory container (500); The first picking component (221a) is configured to move relative to the first pick-and-place mechanism (210a) according to information acquired by the first image sensor (700a) so as to pick up the ordered goods; the first image sensor (700a) is disposed on the first stand (230a) and can move along the height direction of the first stand (230a) so that the distance between the first image sensor (700a) and the first pick-and-place mechanism (210a) is within a preset range.

15. The storage system according to claim 9, characterized in that: The first taking and placing device (200a) further comprises: A third driving component (270) connected to the delivery component (222); The delivery component (222) is slidably mounted on the first stand (230a), and can move along the height direction of the first stand (230a) driven by the third drive component (270).

16. The storage system according to claim 1, characterized in that: The first pick-and-place mechanism (210a) is also configured to move between the first carrier (100) and the second carrier (300) to transfer the inventory container (500) between the storage location (110) and the buffer location (310).

17. The storage system according to claim 1, characterized in that: The storage cargo position comprises a first storage cargo position (110a) and a second storage cargo position (110b), wherein the first storage cargo position (110a) is located below the second storage cargo position (110b); The inventory container comprises a first inventory container (510) and a second inventory container (520), the first storage location (110a) is configured to store the first inventory container (510), and the second storage location (110b) is configured to store the first inventory container (510); The first pick-and-place device (200a) is suspended on the side of the first storage location (110a), and the first pick-and-place mechanism (210a) is configured to dock with the first storage location (110a) to pick and place the first inventory container (510), and the first picking mechanism (220a) is configured to pick out the order goods in the first inventory container (510) and deliver them to the order container (600) located on the second carrier (300); The storage system further comprises a temporary storage location (110c) and a second pick-and-place device (200b), wherein the second pick-and-place device (200b) comprises: A second pick-and-place mechanism (210b) is configured to dock with the second storage location (110b) to pick up and place the second inventory container (520); A second picking mechanism (220b) is configured to pick out the ordered goods from the second inventory container (520) and store them in the temporary storage location (110c) through the order container (600); The first pick-and-place mechanism (210a) is also configured to transfer the order container (600) between the temporary storage location (110c) and the cache location (310).

18. The storage system according to claim 17, characterized in that: The second picking mechanism (220b) comprises: A pick-and-place component (223) is configured to dock with the temporary storage location (110c) to pick up and place the order container (600); The second picking component (221b) is configured to pick out the ordered goods from the second inventory container (520) and deliver them to the order container (600) located on the pick-and-place component (223).

19. The storage system according to claim 18, characterized in that: When the second picking component (221b) is in a picking state, the pick-and-place component (223) is located beside the second pick-and-place mechanism (210b), and an order container (600) is arranged on the pick-and-place component (223); The second picking component (221b) is configured to pick up the order goods from the second inventory container (520) and deliver them to the order container (600) on the pick-and-place component (223); the pick-and-place component (223) is configured to carry the order container (600) to one side of the temporary storage location (110c) and place the order container (600) in the temporary storage location (110c).

20. The storage system according to claim 19, characterized in that: Before the pick-and-place component (223) carries the order container (600) to the temporary storage location (110c), the second pick-and-place mechanism (210b) is configured to take out second inventory containers (520) from multiple second storage locations (110b), and after the second picking component (221b) is configured to pick the order goods from multiple second inventory containers (520) into the order container (600), the pick-and-place component (223) carries the order container (600) to one side of the temporary storage location (110c).

21. The storage system according to claim 19, characterized in that: When the second picking component (221b) is in a picking state, the pick-and-place component (223) and the second pick-and-place mechanism (210b) are arranged side by side in a lateral direction of the first carrier (100); When the second picking component (221b) is in a non-picking state, the pick-and-place component (223) and the second pick-and-place mechanism (210b) are arranged along the height direction of the first carrier (100) or are arranged side by side in the transverse direction.

22. The storage system according to claim 18, characterized in that: The second taking and placing device (200b) comprises: A second stand (230b) capable of moving laterally along the first carrier (100) and the second carrier (300); The second pick-and-place mechanism (210b) and the second picking mechanism (220b) are respectively arranged on the second stand (230b) so as to move laterally along the first carrier (100) driven by the second stand (230b), and the second pick-and-place mechanism (210b) and the second picking mechanism (220b) can both move in the height direction of the first carrier (100) relative to the second stand (230b).

23. The storage system according to claim 22, characterized in that: The second picking component (221b) is movably arranged on the second stand (230b) and can move on a second plane relative to the second pick-and-place mechanism (210b), so that the second picking component (221b) moves between the second pick-and-place mechanism (210b) and the order container (600) on the pick-and-place component (223); The second picking component (221b) can move in the height direction of the second stand (230b) relative to the second pick-and-place mechanism (210b) to extend into or out of the second inventory container (520) or the order container (600).

24. The storage system according to claim 22, characterized in that: The second picking component (221b) and the second pick-and-place mechanism (210b) can move synchronously along the height direction of the second stand (230b).

25. The storage system according to claim 24, characterized in that: The second taking and placing device (200b) further comprises: a fourth driving assembly (280), connected to the second picking and placing mechanism (210b), so as to drive the second picking and placing mechanism (210b) to move in a height direction of the second stand (230b); a fifth driving assembly (290) connected to the second picking assembly (221b) to drive the second picking assembly (221b) to move in a height direction of the second stand (230b) relative to the second pick-and-place mechanism (210b); Wherein, the fifth driving component (290) is arranged on the fourth driving component (280), and the fourth driving component (280) is also configured to drive the fifth driving component (290) to move, so that the second picking component (221b) moves with the second picking and placing mechanism (210b).

26. The storage system according to claim 25, characterized in that: The pick-and-place assembly (223) is connected to the fourth drive assembly (280); The fourth driving assembly (280) is configured to drive the pick-and-place assembly (223) to move synchronously with the second pick-and-place mechanism (210b) along the height direction of the second stand (230b).

27. The storage system according to claim 22, characterized in that: The second taking and placing device (200b) further comprises: a second image sensor (700b) configured to acquire information of the ordered goods in the second inventory container (520) when the second pick-and-place mechanism (210b) takes out the second inventory container (520); The second picking component (221b) is configured to move relative to the second pick-and-place mechanism (210b) according to information acquired by the second image sensor (700b) so as to pick up the ordered goods; the second image sensor (700b) is arranged on the second stand (230b) and can move along the height direction of the second stand (230b) so that the distance between the second image sensor (700b) and the second pick-and-place mechanism (210b) is within a preset range.

28. The storage system according to claim 18, characterized in that: The second pick-and-place mechanism (210b) or the pick-and-place assembly (223) is also configured to move between the second storage location (110b) and the temporary storage location (110c) to transfer the second inventory container (520) between the second storage location (110b) and the temporary storage location (110c).

29. The storage system according to claim 17, characterized in that: The storage system comprises a plurality of the first carriers (100), the plurality of the first carriers (100) are arranged at intervals, and a lane (100c) is formed between two adjacent first carriers (100); The first track (120a) is located on the first carrier (100a) on one side of the lane (100c), and the first picking and placing device (200a) is configured to pick and place the first inventory container (510) on the first carrier (100) on both sides of the lane (100c).

30. The storage system according to claim 29, characterized in that: A second track (120b) is provided on the first carrier (100b) on the other side of the lane (100c); the second picking and placing device (200b) further includes a second walking mechanism (240b), which is suspended on the second track (120b) and can move along the second track (120b) relative to the first carrier (100b); the second picking and placing device (200b) is configured to pick up and place the second inventory containers (520) on the first carrier (100) on both sides of the lane (100c).

31. The storage system according to any one of claims 1 to 30, characterized in that: The second carrier (300) is located at the bottom of the first carrier (100).

32. The storage system according to claim 31, characterized in that: The layer plate at the bottom of the first carrier (100) is configured as the second carrier (300).

33. A scheduling method for a warehousing system, using the warehousing system according to any one of claims 1 to 32, characterized in that: The scheduling method comprises: Based on the scheduling task, controlling the first pick-and-place mechanism (210a) to move to one side of the target storage location and taking out the target inventory container; Controlling the first picking mechanism (220a) to pick out the ordered goods in the target inventory container and deliver them to the order container (600) located on the second carrier (300); The transport robot (400) is controlled to move out the order container containing the ordered goods.

34. The scheduling method of the warehousing system according to claim 33, characterized in that: The controlling the first picking mechanism (220a) to pick out the ordered goods in the target inventory container and deliver them to the order container (600) located on the second carrier (300) comprises: Controlling the first picking component (221a) of the first picking mechanism (220a) to take out the ordered goods from the target inventory container and place the ordered goods in the delivery component (222) of the first picking mechanism (220a); The delivery component (222) is controlled to deliver the ordered goods to the order container (600) located on the second carrier (300).

35. The scheduling method of the warehousing system according to claim 34, characterized in that: The delivery component (222) can move in the height direction of the first carrier (100) relative to the first picking component (221a) and the first pick-and-place mechanism (210a), and when the first picking component (221a) is in a picking state, the delivery component (222) is located beside the first pick-and-place mechanism (210a); The controlling the first picking component (221a) of the first picking mechanism (220a) to take out the ordered goods from the target inventory container and place the ordered goods in the delivery component (222) of the first picking mechanism (220a) comprises: when the first picking component (221a) picks out the ordered goods from the target inventory container, controlling the first picking component (221a) to deliver the ordered goods to the delivery component (222); The controlling the delivery component (222) to deliver the ordered goods to the order container (600) located on the second carrier (300) includes: controlling the delivery component (222) to carry the ordered goods to one side of the second carrier (300), and delivering the ordered goods to the order container (600) on the cache location (310).

36. The scheduling method of the warehousing system according to claim 33, characterized in that: Based on the scheduling task, controlling the first pick-and-place mechanism (210a) to move to one side of the target storage location and taking out the target inventory container comprises: Based on the first scheduling task, controlling the first pick-and-place mechanism (210a) to move to one side of the target first storage location (110a), and taking out the target first inventory container (510); Controlling the first picking mechanism (220a) to pick out the ordered goods in the target inventory container and deliver them to the order container (600) located on the second carrier (300), including: controlling the first picking mechanism (220a) to pick out the ordered goods in the target first inventory container (510) and deliver them to the order container (600) located on the second carrier (300); The scheduling method further includes: Based on the second scheduling task, controlling the second pick-and-place mechanism (210b) to move to one side of the target second storage location (110b), and taking out the target second inventory container (520); Controlling the second picking mechanism (220b) to pick out the ordered goods in the second inventory container (520), and storing them in the temporary storage location (110c) through the order container (600); Controlling the first pick-and-place mechanism (210a) to transfer the order container (600) from the temporary storage location (110c) to the cache location (310); The transport robot (400) is controlled to move out the order container containing the ordered goods.

37. The scheduling method of the warehousing system according to claim 36, characterized in that: When the second picking component (221b) is in a picking state, the pick-and-place component (223) is located beside the second pick-and-place mechanism (210b), and an order container (600) is arranged on the pick-and-place component (223); The controlling the second picking mechanism (220b) to pick out the ordered goods in the second inventory container (520) and store them in the temporary storage location (110c) through the order container (600) comprises: Controlling the second picking component (221b) to pick out the ordered goods in the second inventory container (520) and deliver them to the order container (600) on the pick-and-place component (223); The pick-and-place component (223) is controlled to carry the order container (600) to one side of the temporary storage location (110c), and the order container (600) is placed in the temporary storage location (110c).

38. The scheduling method of the warehousing system according to claim 37, characterized in that: Before controlling the pick-and-place component (223) to carry the order container (600) to move to one side of the temporary storage location (110c), the scheduling method includes: Controlling the second pick-and-place mechanism (210b) to take out a second inventory container (520) from the plurality of second storage locations (110b); The second picking component (221b) is controlled to pick the ordered goods from the plurality of second inventory containers (520) into an order container (600).

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