Material storing and taking device, control method of material storing and taking device, robot and movable platform

Abstract

A material storing and taking device and a control method, a robot and a movable platform, the material storing and taking device comprises a machine body (100), a taking and placing device (200) and a shielding assembly (300), the machine body (100) is provided with a plurality of warehouses (101) for accommodating materials, and the warehouses (101) are provided with windows (102) for the materials to enter and exit; the taking and placing device (200) is used for transferring materials into a target warehouse through a window (102) of the target warehouse in the multiple warehouses (101) or transferring the materials out through the window (102) of the target warehouse; the shielding assembly (300) is movably connected to the machine body (100) and used for shielding the window (102), shielding of the window (102) of the corresponding target warehouse can be automatically released, windows (102) of other warehouses except the target warehouse can be shielded, and after shielding of the window (102) of the target warehouse by the taking and placing device (200) is released, material transferring is completed; after material transfer is completed, the shielding assembly (300) automatically shields the window (102) of the target warehouse.

Description

Material storage and retrieval device, control method for material storage and retrieval device, robot and movable platform Technical Field

[0001] The present application relates to the technical field of material storage and transportation, and in particular to a material storage and retrieval device, a control method for the material storage and retrieval device, a robot, and a movable platform. Background Art

[0002] With the rapid development of warehousing and logistics technology, more and more equipment is being used to store or transport materials in order to improve storage and transportation efficiency. Existing material storage and retrieval devices often rely on manual operations for picking up and placing goods, as well as opening and closing doors. This is inconvenient and results in low overall efficiency.

[0003] Application Contents

[0004] In order to solve the problem that operations such as picking up and placing goods and opening and closing shielding doors of existing material storage and retrieval devices usually rely on manual operation, which is inconvenient to operate and has low overall efficiency, the embodiments of the present application provide a material storage and retrieval device, a control method for the material storage and retrieval device, a robot and a movable platform.

[0005] In a first aspect, an embodiment of the present application provides a material storage and retrieval device, the material storage and retrieval device comprising:

[0006] A fuselage, wherein the fuselage is provided with a plurality of cargo compartments for accommodating materials, and the cargo compartments have windows for allowing materials to enter or exit;

[0007] a pick-and-place device, the pick-and-place device being used to transfer materials into a target warehouse among the multiple warehouses through a window of the target warehouse, or to transfer materials out of the target warehouse through the window of the target warehouse; and

[0008] a shielding assembly, movably connected to the fuselage, for shielding the window;

[0009] The shielding assembly is configured to automatically release the obstruction on the window of the corresponding target warehouse and to block the windows of other warehouses other than the target warehouse. The picking and placing device is configured to complete the transfer of materials after the obstruction on the window of the target warehouse is released; after the material transfer is completed, the shielding assembly automatically blocks the window of the target warehouse.

[0010] In a second aspect, an embodiment of the present application further discloses a control method for a material storage and retrieval device, the control method comprising:

[0011] Receiving a user instruction, wherein the user instruction includes a pickup instruction or a storage instruction;

[0012] Determine the target warehouse among multiple warehouses;

[0013] Controlling the shielding component to release the shielding of the target cargo hold and shielding other cargo holds except the target cargo hold;

[0014] Control the pick-and-place device to transfer the material to the target warehouse or transfer the material out of the target warehouse.

[0015] In a third aspect, the present application also discloses a robot, comprising:

[0016] A fuselage, wherein the fuselage is provided with a plurality of cargo compartments for accommodating materials, and the cargo compartments have windows for allowing materials to enter or exit;

[0017] a pick-and-place device, the pick-and-place device being used to transfer materials into a target warehouse among the multiple warehouses through a window of the target warehouse, or to transfer materials out of the target warehouse through the window of the target warehouse;

[0018] a shielding assembly, movably connected to the fuselage and used for shielding the cargo hold;

[0019] The controller, the pick-and-place device and the shielding assembly are all electrically connected to the controller; the controller is used to control the shielding assembly to release the shielding of the corresponding window of the target warehouse, and to block the windows of other warehouses other than the target warehouse, and to control the pick-and-place device to complete the transfer of materials after the target warehouse is released from the shielding; after the material transfer is completed, the controller controls the shielding assembly to block the window of the target warehouse again.

[0020] In a fourth aspect, an embodiment of the present application further provides a material storage and retrieval device, comprising:

[0021] a fuselage, wherein the fuselage is provided with a plurality of cargo compartments for accommodating materials;

[0022] a plurality of cargo hold modules, the plurality of cargo hold modules being detachably connected to the fuselage and arranged in sequence and spaced apart, for dividing the fuselage into the plurality of cargo holds;

[0023] The warehouse board layer module includes:

[0024] a second conveying assembly, the second conveying assembly being used to convey materials out of the cargo hold or to convey materials that have just entered the cargo hold into the cargo hold;

[0025] and a second conveying drive mechanism, wherein the second conveying mechanism is connected to the second conveying assembly and is used to drive the second conveying assembly to operate.

[0026] In a fifth aspect, the embodiment of the present application further provides a movable platform, which comprises: a platform base and the above-mentioned material storage and retrieval device; wherein,

[0027] The material storage and retrieval device is connected to the platform base.

[0028] In an embodiment of the present application, a material storage and retrieval device is provided with a plurality of warehouses for accommodating materials, and each warehouse is provided with a window for taking in and placing materials. By providing a taking-in and placing device, materials can be taken out of the warehouse through the window of the warehouse, or external materials can be transferred into the warehouse. By providing a movable shielding component to automatically open or block the window, the protection of the privacy inside the warehouse can be improved. Specifically, before the taking-in and placing device takes in and places materials or during the process of taking in and placing materials, the shielding component can be released from blocking the window of the target warehouse, and after the material transfer is completed, the window of the target warehouse can be blocked. In this way, materials can be automatically put in or out of the warehouse, and at the same time, the shielding component automatically opens the target warehouse or automatically closes the warehouse. It is convenient for the automatic taking in and placing of materials, and can effectively protect the privacy inside the warehouse, reducing the risk of material loss in the warehouse.

[0029] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0031] FIG1 schematically shows a structural diagram of a material storage and retrieval device according to an embodiment of the present application;

[0032] FIG2 schematically shows one of the partial structural diagrams of the material storage and retrieval device according to an embodiment of the present application;

[0033] FIG3 schematically shows a structural diagram of a first curtain body assembly according to an embodiment of the present application;

[0034] FIG4 schematically shows an enlarged view of the circled portion A in FIG3 according to an embodiment of the present application;

[0035] FIG5 schematically shows a structural diagram of a second curtain body assembly according to an embodiment of the present application;

[0036] FIG6 schematically shows one of the structural diagrams of a warehouse plate layer module according to an embodiment of the present application;

[0037] FIG7 schematically shows an enlarged view of the circled portion A in FIG6 according to an embodiment of the present application;

[0038] FIG8 schematically shows a structural diagram of a first tensioning screw according to an embodiment of the present application;

[0039] FIG9 schematically shows an enlarged view of the circled portion B in FIG6 according to an embodiment of the present application;

[0040] FIG10 schematically shows a second structural diagram of a warehouse plate layer module according to an embodiment of the present application;

[0041] FIG11 schematically shows an enlarged view of the circled portion A in FIG10 according to an embodiment of the present application;

[0042] FIG12 schematically shows a structural diagram of an expanded state of a side door module according to an embodiment of the present application;

[0043] FIG13 schematically shows a structural diagram of a side door module in a flat state according to an embodiment of the present application;

[0044] FIG14 schematically shows a second partial structural diagram of the material storage and retrieval device according to an embodiment of the present application;

[0045] FIG15 schematically shows a partial structural diagram of a side door module according to an embodiment of the present application;

[0046] FIG16 schematically shows a third partial structural diagram of the material storage and retrieval device according to an embodiment of the present application;

[0047] FIG17 schematically shows an enlarged view of the circled portion A in FIG10 according to an embodiment of the present application;

[0048] FIG18 schematically shows a fourth partial structural diagram of the material storage and retrieval device according to an embodiment of the present application;

[0049] FIG19 schematically shows one structural diagram of a pick-and-place device according to an embodiment of the present application;

[0050] FIG20 schematically shows a second structural diagram of the pick-and-place device according to an embodiment of the present application;

[0051] FIG21 schematically shows a schematic diagram of a material transfer device according to an embodiment of the present application;

[0052] FIG22 schematically shows a fourth partial structural diagram of the material storage and retrieval device according to an embodiment of the present application;

[0053] FIG23 schematically shows an enlarged view of the circled portion A in FIG22 according to an embodiment of the present application;

[0054] FIG24 schematically shows an enlarged view of the circled portion B in FIG22 according to an embodiment of the present application;

[0055] FIG25 schematically shows a fifth partial structural diagram of the material storage and retrieval device according to an embodiment of the present application;

[0056] FIG26 schematically shows an enlarged view of the circled portion A in FIG25 according to an embodiment of the present application;

[0057] FIG27 schematically shows an enlarged view of the circled portion B in FIG25 according to an embodiment of the present application;

[0058] FIG28 schematically shows a cross-sectional view of a supporting mechanism according to an embodiment of the present application;

[0059] FIG29 schematically shows an enlarged view of the circled portion A in FIG28 according to an embodiment of the present application;

[0060] FIG30 schematically shows a structural diagram of a shielding assembly according to an embodiment of the present application;

[0061] FIG31 schematically shows a structural diagram of another shielding assembly according to an embodiment of the present application;

[0062] FIG32 schematically shows a structural diagram of another shielding assembly according to an embodiment of the present application;

[0063] FIG33 schematically shows a structural diagram of yet another shielding assembly according to an embodiment of the present application;

[0064] FIG34 schematically shows a flow chart of a control method for a material storage and retrieval device according to an embodiment of the present application;

[0065] FIG35 schematically shows a flow chart of another method for controlling a material storage and retrieval device according to an embodiment of the present application;

[0066] Figure 36 schematically shows a flow chart of a control method for another material storage and retrieval device according to an embodiment of the present application.

[0067] Description of reference numerals:

[0068] 100, fuselage; 101, cargo compartment; 102, window; 103, guide groove; 104, first limiting member; 105, second limiting member; 106, limiting groove; 107, mounting groove; 108, shielding member; 109, first elastic member; 110, access port; 111, second electrical connector; 112, third trigger member; 113, socket; 114, initial position sensor; 200, access device; 201, supporting mechanism; 2011, first conveyor assembly; 20111, first conveyor belt; 2012, first conveyor drive mechanism; 2013, hook; 201 4. First sensor; 2015. Second sensor; 20151. First side sensor; 20152. Second side sensor; 202. Lifting drive mechanism; 203. Folding drive mechanism; 204. Fourth sensor; 2041. Fourth trigger; 205. Third sensor; 300. Shielding assembly; 301. Opening and closing end; 302. First curtain assembly; 3021. First curtain; 3022. Curtain drive mechanism; 3023. First reel; 3024. Second trigger; 30241. First trigger; 30242. Second trigger; 3025. A trigger; 303, second curtain body assembly; 3031, second curtain body; 3032, second reel; 3033, second housing; 3034, tensioner; 3035, curtain guide shaft; 3041, sliding door; 3042, sliding drive assembly; 3051, rotating door; 3052, rotating drive assembly; 400, warehouse layer module; 401, second transmission assembly; 4011, second transmission belt; 4012, second rotating shaft; 4013, first tensioning device; 40131, first tensioning nut; 40132, first tensioning screw; 402, second transmission drive Mechanism; 4021, synchronous belt; 4022, second tensioning device; 40221, tensioning bearing wheel; 40222, adjusting slider; 4023, second transmission drive motor; 403, fastener; 404, first electrical connector; 405, warehouse plate outer frame; 406, baffle; 500, side door module; 501, fixing bracket; 502, first side door panel; 503, second side door panel; 504, third side door panel; 505, pin shaft; 506, synchronous retaining member; 507, locking mechanism; 508, second elastic member; 600, controller; 700, automatic walking device. Specific embodiments

[0069] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0070] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly refer to one or more of the features. Throughout the description of this application, unless otherwise specified, "plurality" means two or more. Furthermore, "and / or" in the specification and claims refers to at least one of the connected entities, and the character " / " generally indicates an "or" relationship between the connected entities.

[0071] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0072] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0073] A material storage and retrieval device is provided in an embodiment of the present application. The material storage and retrieval device can be applied to logistics storage and transportation, including but not limited to material storage, cargo handling, express delivery, building delivery, automatic food delivery and other scenarios.

[0074] 1 , which shows a schematic structural diagram of a material storage and retrieval device according to an embodiment of the present application, and FIG2 schematically shows a partial schematic structural diagram of the material storage and retrieval device according to an embodiment of the present application.

[0075] The material storage and retrieval device includes: a fuselage 100, a retrieval device 200, and a shielding assembly 300. The fuselage 100 is provided with multiple (two or more) cargo compartments 101 for accommodating materials, each having a window 102 for allowing materials to enter or exit the cargo compartment. The retrieval device 200 is used to transfer materials into a target cargo compartment through the window 102 of the target cargo compartment among the multiple cargo compartments 101, or to transfer materials out of the target cargo compartment through the window 102 of the target cargo compartment. The shielding assembly 300 is movably connected to the fuselage 100 and is used to shield the window 102. The shielding assembly 300 is configured to automatically unblock the window 102 of the corresponding target cargo compartment and shield the windows 102 of other cargo compartments 101 outside the target cargo compartment. The retrieval device 200 is configured to complete the material transfer after the window 102 of the target cargo compartment is unblocked. After the material transfer is completed, the shielding assembly 300 automatically shields the window 102 of the target warehouse, while the windows 102 of other warehouses other than the target warehouse remain in the shielded state.

[0076] In an embodiment of the present application, a material storage and retrieval device is provided with multiple bins 101 for storing materials. Each bin 101 is provided with a window 102 for placing and retrieving materials. By providing a retrieval device 200, materials can be removed from the bin 101 or transferred from outside into the bin 101 through the windows 102 of the bin 101. By providing a movable shielding assembly 300 to automatically open or block the windows 102, privacy protection within the bin 101 can be improved. Specifically, the shielding assembly 300 can be removed from the window 102 of the target bin before or during the retrieval and placement device 200, and then blocked again after the material transfer is complete. This allows materials to be automatically loaded and unloaded from the bin 101, while the shielding assembly 300 automatically opens or closes the target bin. This facilitates the automatic retrieval of materials while effectively protecting privacy within the bin 101 and reducing the risk of material loss within the bin 101.

[0077] The material storage and retrieval device in the embodiment of the present application can be used for material storage and retrieval at a fixed location, and can also be used for movement between different target locations to achieve mobile distribution of materials. By providing a simple and reliable pick-up and placement device 200 and a shielding component 300, the material storage and retrieval device can automatically pick up, transport, and unload goods in an open environment, thereby realizing the function of automatically picking up and placing materials. At the same time, during the material transfer process within the cargo hold 101 of the material storage and retrieval device, the shielding component 300 is used to at least partially shield the cargo hold 101, thereby improving the protection of privacy within the cargo hold 101 and reducing the risk of material loss within the cargo hold 101.

[0078] It should be noted that the target cargo hold is a cargo hold, among the multiple cargo holds 101 provided on the fuselage 100, from which materials need to be transferred in or out by the pick-and-place device 200. During the material transfer process, the shielding assembly 300 releases the shielding of the window of the target cargo hold. After the material transfer is completed, the shielding assembly 300 shields the window of the target cargo hold.

[0079] For example, in the scenario of building delivery, autonomous goods delivery can be achieved through the material storage and retrieval device without the participation of service personnel. Once the user is unable to receive the goods in time, the material storage and retrieval device can be moved to the receiving location specified by the user. Then, the shielding component 300 removes the obstruction of the window of the target warehouse, and the picking and placing device 200 transfers the goods out of the target warehouse. The shielding component 300 blocks the window of the target warehouse again, and then the picking and placing device 200 places the goods on the ground or storage surface corresponding to the receiving location (such as a table or shelf, etc.), thereby realizing automatic delivery of goods. The process is simple and efficient.

[0080] For another example, in the scenario of express delivery, the user does not need to wait for the courier to come to the door, but only needs to put the package on the ground at the door of the room or on a predetermined storage surface (such as a desktop or shelf, etc.), the material storage and retrieval device moves to the location of the package to be picked up, and the package on the ground or the predetermined storage surface is extracted by the pick-up and placement device 200, the shielding component 300 removes the obstruction of the window of the target warehouse, the pick-up and placement device 200 transfers the package into the target warehouse, and the shielding component 300 again blocks the window of the target warehouse, completing the package collection operation and realizing the user's portable mailing. The material storage and retrieval device of the present application can realize the autonomous collection of packages and effectively protect the user's privacy. It should be noted that in the embodiment of the present application, the user can also put the material into the pick-up and placement device 200, and then the pick-up and placement device 200 automatically transfers the material into the warehouse 101, or the pick-up and placement device 200 transfers the material out of the warehouse 101, and the user takes the material out of the pick-up and placement device 200. The material transfer method of the pick-and-place device 200 may be conveyor belt transmission, mechanical gripping, suction cup absorption, etc.

[0081] Specifically, the material storage and retrieval device includes a body 100, on which are disposed a plurality of cargo bins 101 for accommodating materials. Each cargo bin 101 is provided with a corresponding window 102 for allowing materials to enter or exit the cargo bin 101. The provision of multiple cargo bins 101 for storing multiple materials enhances the material storage and transportation capabilities of the material storage and retrieval device. Each cargo bin 101 has a storage space, and the storage spaces of different cargo bins 101 can be of the same or different sizes, allowing different cargo bins 101 to be used to store different materials.

[0082] In some embodiments, the fuselage 100 is provided with multiple cargo compartments 101. These compartments 101 can be stacked vertically or arranged side by side horizontally. Furthermore, the multiple cargo compartments 101 can be arranged in an array. For example, multiple vertical layers of cargo compartments can be provided on the fuselage 100, each layer comprising multiple juxtaposed cargo compartments 101. By rationally arranging the distribution structure of the multiple cargo compartments 101 on the fuselage 100, the space occupied by the cargo compartments 101 can be reduced, helping to optimize the overall structural layout of the material storage and retrieval device and facilitating the retrieval of materials.

[0083] A picking and placing device 200 is provided in the material storage and retrieval device, and the picking and placing device 200 is at least partially movable relative to the warehouse 101, so that materials outside the warehouse 101 can be transferred to the inside of the warehouse 101 through the window 102 of the warehouse 101, and materials inside the warehouse 101 can be transferred to the outside of the warehouse 101.

[0084] A shielding assembly 300 is further provided in the material storage and retrieval device. The shielding assembly 300 is movably connected to the fuselage 100 , thereby enabling shielding of the window 102 of the cargo hold 101 and unshielding of the window 102 of the cargo hold 101 .

[0085] Specifically, when the picking and placing device 200 needs to transfer materials from the outside of the target warehouse to the inside of the target warehouse, or transfer materials from the inside of the target warehouse to the outside of the target warehouse, the shielding component 300 releases the shielding effect on the window 102 of the target warehouse, so that the picking and placing device 200 transfers the external materials into the target warehouse through the window 102 of the target warehouse. At the same time, the shielding component 300 can block the windows 102 of other warehouses 101 in multiple warehouses 101 except the target warehouse, so as to improve the shielding and protection effect on other warehouses 101 except the target warehouse during the material transfer process.

[0086] After the transfer of materials to the target warehouse is completed, the window 102 of the target warehouse is blocked by the shielding assembly 300, so that the shielding assembly 300 can block the windows 102 of all warehouses 101. The coordinated use of the pick-and-place device 200 and the shielding assembly 300 can not only achieve smooth pick-and-place of materials in the target warehouse, but also effectively block the windows 102 of warehouses 101 outside the corresponding target warehouse, thereby enhancing the safety protection of the warehouse 101.

[0087] In some embodiments, a controller 600 can be provided in the material access device to control the picking and placing device 200 and the shielding assembly 300. Specifically, the controller 600 is electrically connected to the picking and placing device 200 and the shielding assembly 300, thereby achieving effective shielding or opening of the window 102 of the warehouse 101 while achieving material transfer to the target warehouse.

[0088] Optionally, referring to Figure 1 , the retrieval and placement device 200 includes a supporting mechanism 201 for supporting materials. The supporting mechanism 201 is configured to be movable relative to the fuselage 100 and to move to a target position corresponding to a target cargo hold. In response to the supporting mechanism 201 moving to the corresponding target position, the shielding assembly 300 is configured to correspondingly release the shielding of the window 102 of the target cargo hold. It should be noted that when the cargo holds 101 are stacked vertically, the target position can be aligned with the bottom of the target cargo hold, or slightly below or above the bottom of the target cargo hold. When the cargo holds 101 are arranged side by side horizontally, the target position can be flush with a side wall of the target cargo hold, or slightly above or below the side wall. Furthermore, the following description will focus on an embodiment in which the cargo holds 101 are stacked vertically. Those skilled in the art will appreciate that the principles of the embodiment in which the cargo holds 101 are stacked horizontally and vertically are the same.

[0089] In an embodiment of the present application, the picking and placing device 200 includes a supporting mechanism 201, which can move relative to the fuselage 100. When materials need to be transferred, the supporting mechanism 201 can be used to support the materials to be transferred. For example, the supporting mechanism 201 can automatically collect materials from the ground or the storage surface, or the user can directly put the materials into the supporting mechanism 201. Thereafter, the supporting mechanism 201 transfers the materials into the target warehouse, or transfers the materials out of the target warehouse. Specifically, the materials can be transferred to the ground or the storage surface, or they can stay on the supporting mechanism 201 and wait for the user to take them away. In an embodiment of the present application, when the supporting mechanism 201 moves to the corresponding target position, the shielding component 300 correspondingly releases the shielding of the window of the target warehouse. Therefore, the shielding assembly 300 is linked to the pick-and-place device 200, so that when the supporting mechanism 201 is located at the target position corresponding to the target cargo bin, the window 102 of the target cargo bin is unblocked. After the pick-and-place device transfers the materials, the window 102 of the target cargo bin is automatically shielded again, thereby achieving both smooth material transfer and protection of the cargo bin 101. In the embodiment of the present application, since the cargo bins 101 are stacked in a vertical direction, the supporting mechanism 201 is configured to be able to move up and down relative to the fuselage 100.

[0090] It should be noted that the supporting mechanism 201 is movably connected to the fuselage 100 , and the supporting mechanism 201 has a certain carrying capacity, and can carry the material and move along the fuselage 100 so as to move it to the target position corresponding to the target cargo hold.

[0091] Optionally, referring to FIG2 , the shielding assembly 300 has an opening and closing end 301 for opening to expose the window 102 or closing to cover the window 102. The shielding assembly 300 is configured to be movable relative to the fuselage 100 to adjust the position of the opening and closing end 301 relative to the fuselage 100. When the pick-up and place device 200 needs to transfer materials, in response to the support mechanism 201 moving to the corresponding target position, the opening and closing end 301 also moves to the vicinity of the target position, and the opening and closing end 301 releases the obstruction on the window 102 of the target cargo compartment, and the shielding assembly 300 covers the windows 102 of other cargo compartments 101 other than the target cargo compartment. After the transfer is completed, the opening and closing end 301 again covers the window 102 of the target cargo compartment. It should be noted that the "near the target position" in the embodiment of the present application can specifically be flush with the target position, or slightly below the target position, or a certain height within the height range of the target cargo compartment, or flush with the top of the target cargo compartment or slightly above the top.

[0092] In an embodiment of the present application, the shielding assembly 300 has an opening and closing end 301. During the material transfer process, the shielding assembly 300 moves relative to the fuselage 100, and moves the opening and closing end 301 to the vicinity of the window of the target cargo warehouse. Thereafter, the opening and closing end 301 opens to expose the window 102 of the target cargo warehouse so as to transfer materials into or out of the target cargo warehouse, or the opening and closing end 301 is closed to cover the window 102 of the target cargo warehouse so as to protect the target cargo warehouse.

[0093] Specifically, during the material transfer process using the pick-and-place device 200, the supporting mechanism 201 is moved relative to the fuselage 100 to move the supporting mechanism 201 to the target position corresponding to the target cargo hold. At the same time, the opening and closing end 301 of the shielding assembly 300 is also moved to the vicinity of the target position. Then, the opening and closing end 301 of the shielding assembly 300 is opened to remove the obstruction of the window 102 of the target cargo hold, thereby facilitating the pick-and-place device 200 to transfer materials into the target cargo hold through the window 102, or to transfer materials out of the target cargo hold. During the material transfer process, the shielding assembly 300 can block the windows 102 of other cargo holds 101 except the target cargo hold to prevent materials inside other cargo holds 101 from being exposed or lost. Furthermore, after the pick-and-place device 200 completes the material transfer, the opening and closing end 301 can be controlled to close, so that the shielding assembly 300 covers the windows of all cargo compartments 101 of the fuselage 100, thereby achieving shielding of the target cargo compartment by the shielding assembly 300. In the embodiment of the present application, the shielding assembly 300 moves to adjust the position of the opening and closing end 301, allowing the shielding assembly 300 to flexibly control the blocking and opening of different cargo compartments.

[0094] The opening and closing end 301 can be opened or closed relative to the window 102 of the target cargo bin. When the opening and closing end 301 is in the open state, the window 102 of the target cargo bin is exposed from the shielding area of ​​the shielding assembly 300, so that materials can be transferred from the window 102. When the opening and closing end 301 is in the closed state, the shielding assembly 300 shields the window 102 of the target cargo bin.

[0095] It should be noted that the specific settings of the open state and the closed state of the opening and closing end 301 can be determined according to the position and size of the window 102 of the target warehouse, and the embodiment of the present application does not limit this.

[0096] Optionally, referring to FIG2 , a shielding assembly 300 includes a first curtain assembly 302 and a second curtain assembly 303. The first curtain assembly 302 and the second curtain assembly 303 are arranged along the movement direction of the support mechanism 201 of the retrieval device 200. A first end of the first curtain assembly 302 proximate to the second curtain assembly 303 and a second end of the second curtain assembly 303 proximate to the first curtain assembly 302 combine to form an opening / closing end 301. In response to the opening / closing end 301 moving to a position near a target, the first curtain assembly 302 and / or the second curtain assembly 303 continue to move to open or close the opening / closing end 301. Specifically, only the first curtain assembly 302, only the second curtain assembly 303, or both the first curtain assembly 302 and 303 can be moved. In this embodiment of the present application, the shielding assembly 300 includes a first curtain assembly 302 and a second curtain assembly 303. The first curtain assembly 302 and the second curtain assembly 303 are arranged opposite each other along the movement direction of the support mechanism 201. One end of the first curtain assembly 302 and one end of the second curtain assembly 303 combine to form an opening and closing end 301. By moving the first curtain assembly 302 or the second curtain assembly 303, the opening and closing end 301 can be opened to expose the window 102 of the target warehouse, facilitating the transfer of materials into or out of the target warehouse, or closed to block the window 102 of the target warehouse. By arranging the first curtain assembly 302 and the second curtain assembly 303, the opening and closing end 301 of the shielding assembly 300 is formed by one end of the first curtain assembly 302 and one end of the second curtain assembly 303. The opening and closing end 301 can be opened or closed by moving the first curtain assembly 302 or the second curtain assembly, providing convenient operation.

[0097] Specifically, the support mechanism 201 is movable relative to the fuselage 100. Along the direction of movement of the support mechanism 201, the first curtain assembly 302 and the second curtain assembly 303 are positioned opposite each other. The end of the first curtain assembly 302 closest to the second curtain assembly 303 serves as the first end of the second curtain assembly 303, while the end of the second curtain assembly 303 closest to the first curtain assembly 302 serves as the second end of the second curtain assembly 303. The first end of the second curtain assembly 303 and the second end of the second curtain assembly 303 cooperate to form the opening and closing end 301. During material transfer to the target cargo hold, the opening and closing end 301 can be opened or closed by moving at least one of the first curtain assembly 302 and the second curtain assembly 303 relative to the fuselage 100.

[0098] In a specific application, as shown in FIG2 , the first curtain body assembly 302 and the second curtain body assembly 303 are arranged opposite to each other in a vertical direction, the lower end of the first curtain body assembly 302 is the first end of the second curtain body assembly 303 , and the top end of the second curtain body assembly 303 is the second end of the second curtain body assembly 303 .

[0099] In the direction of movement of the support mechanism 201, when the first end of the first curtain assembly 302 and the second end of the second curtain assembly 303 are relatively close to each other, the opening and closing end 301 is closed. When the first end of the first curtain assembly 302 and the second end of the second curtain assembly 303 are relatively far apart, the opening and closing end 301 is opened. It should be noted that in other embodiments, the shielding assembly 300 may include only one curtain assembly. In this case, the opening and closing end 301 is the free end of the curtain assembly. When the free end moves closer to the support mechanism 201, the opening and closing end 301 is closed. When the free end moves away from the support mechanism 201, the window 102 is exposed, which is the opening and closing end 301. Alternatively, the opening and closing end 301 may be an opening provided by the single curtain assembly and a shielding door assembly provided at the opening. The position of the opening is adjusted by moving the curtain assembly, and the opening and closing of the opening and closing end 301 is controlled by controlling the shielding door assembly. In short, the specific structure of the shielding component 300 is not limited to those listed in the embodiments of the present application, and the specific structure of the opening and closing end 301 is not limited to those listed in the embodiments of the present application. Those skilled in the art can make reasonable changes and settings.

[0100] During material transfer using the pick-and-place device 200, the first end of the first curtain assembly 302 and the second end of the second curtain assembly 303 are simultaneously controlled to move as the support mechanism 201 moves to the target location corresponding to the target warehouse. Consequently, when the support mechanism 201 moves to the target location corresponding to the target warehouse, the opening and closing end 301 also moves to the vicinity of the target location. Furthermore, the movement of at least one of the first curtain assembly 302 and the second curtain assembly 303 enables the opening and closing end 301 to be opened or closed, thereby exposing or obscuring the window 102 of the target warehouse. When materials need to be transferred into or out of the target warehouse, the opening and closing end 301 is controlled to open, and after the transfer is complete, the opening and closing end 301 is controlled to close. This allows for flexible operation of the opening and closing end 301 and facilitates coordination between the opening and closing end 301 and the support mechanism 201.

[0101] Optionally, the first curtain assembly 302 is disposed above the supporting mechanism 201, and the second curtain assembly 303 is disposed below the supporting mechanism 201. It should be noted that the first curtain assembly 302 is disposed above the supporting mechanism 201, including being disposed above the supporting mechanism 201, or having the first end of the first curtain assembly 302 overlap with the supporting mechanism 201. The second curtain assembly 303 is disposed below the supporting mechanism 201, including being disposed below the supporting mechanism 201, or having the second end of the second curtain assembly 303 overlap with the supporting mechanism 201. Optionally, the first curtain assembly 302 is disposed above the supporting mechanism 201, and the second end of the second curtain assembly 303 is flush with or slightly below the supporting surface of the supporting mechanism 201. In the embodiment of the present application, in response to the support mechanism 201 moving to the target position, the opening and closing end 301 moves to the vicinity of the target position. At this time, the first curtain assembly 302 moves to expose the window 102 of the target warehouse, allowing the picking and placing device 200 to transfer materials; after the material transfer is completed, the first curtain assembly 302 moves to cover the window 102 of the target warehouse.

[0102] In this embodiment of the present application, the first curtain assembly 302 is positioned on the supporting side of the support mechanism 201, and the second end of the second curtain assembly 303 is positioned flush with or slightly below the supporting surface of the support mechanism 201. When materials need to be transferred from a target warehouse, the first end of the first curtain assembly 302 is controlled to move away from the support mechanism 201, thereby opening the opening end 301 and exposing the target warehouse's window 102, facilitating the transfer of materials into or out of the target warehouse. After the materials are transferred, the first end of the first curtain assembly 302 is controlled to move toward the support mechanism 201, thereby re-covering the target warehouse's window 102. This facilitates the smooth transfer of materials and improves the safety and protection of the target warehouse.

[0103] Specifically, the supporting mechanism 201 is provided with a supporting surface for supporting the material to be transferred, wherein the supporting surface of the supporting mechanism 201 refers to the surface on the supporting mechanism 201 that directly contacts the material. As shown in Figure 18, the supporting surface of the supporting mechanism 201 is the upper surface of the supporting mechanism 201.

[0104] As shown in Figure 2, the first curtain body assembly 302 and the second curtain body assembly 303 are arranged opposite to each other, wherein the first curtain body assembly 302 is arranged on the side of the supporting mechanism 201 close to the supporting surface, and the second curtain body assembly 303 is arranged on the side of the supporting mechanism 201 away from the supporting surface, and the second end of the second curtain body assembly 303 is arranged flush with the supporting surface of the supporting mechanism 201, or slightly lower than the supporting surface of the supporting mechanism 201.

[0105] In a specific application, the movement of the first curtain assembly 302 allows the first end of the first curtain assembly 302 to move relatively closer to or farther away from the second end of the second curtain assembly 303, thereby opening or closing the opening and closing end 301. When the opening and closing end 301 is open, the first end of the first curtain assembly 302 is relatively farther away from the second end of the second curtain assembly 303, creating a certain distance between the first end of the first curtain assembly 302 and the supporting surface of the supporting mechanism 201. This facilitates the transfer of materials from the supporting surface of the supporting mechanism 201 and prevents the first end of the first curtain assembly 302 from blocking the materials.

[0106] During material transfer using the retrieval device 200, the support mechanism 201 moves to the target location corresponding to the target warehouse, and the opening and closing end 301 simultaneously moves to the vicinity of the target location. The movement of the first curtain assembly 302 causes the opening and closing end 301 to open, revealing the window 102 of the target warehouse. This allows the retrieval device 200 to transfer materials into or out of the target warehouse. After the material transfer is complete, the first curtain assembly 302 moves again, closing the opening and closing end 301 and obscuring the window 102 of the target warehouse. This effectively coordinates the material transfer by the retrieval device 200 and the obstruction assembly 300 to obscure the window 102 of the target warehouse.

[0107] It can be understood that by making the second end of the second curtain assembly 303 flush with the supporting surface of the supporting mechanism 201 or slightly lower than the supporting surface, when the target warehouse is located in the middle of multiple warehouses 101, the second curtain assembly 303 can be used to shield other warehouses 101 below the target warehouse, thereby preventing the warehouses 101 from being exposed or materials from being lost.

[0108] Optionally, referring to Figures 1 and 2 , when the support mechanism 201 is in its initial position, the first curtain assembly 302 individually shields the windows 102 of multiple cargo holds 101. The initial position is flush with or slightly below the bottom of the first-tier cargo hold 101 closest to the ground. As shown in Figure 18 , an initial position sensor 114 is provided at a corresponding position on the fuselage 100. The retrieval device 200 is equipped with a trigger corresponding to the initial position sensor 114. The initial position sensor 114 triggers the retrieval device 200 to determine that it is in its initial position. When the target cargo hold is the first-tier cargo hold 101, during material transfer, the first curtain assembly 302 individually shields the windows 102 of all cargo holds 101 other than the target hold.

[0109] Specifically, the initial position of the support mechanism 201 can be the position to which the support mechanism 201 resets before each material transfer operation, or after each material transfer operation. This provides a positional reference for the movement of the retrieval device 200 and the shielding assembly 300, facilitates calibration and adjustment of the positions of the retrieval device 200 and the shielding assembly 300, and improves the precision of the movement control of the retrieval device 200 and the shielding assembly 300. As shown in FIG2 , the multiple cargo compartments 101 of the fuselage 100 are stacked vertically. The initial position of the support mechanism 201 can be set to be flush with or slightly below the bottom of the lowest cargo compartment 100.

[0110] It is understandable that when the supporting mechanism 201 is in the initial position, since the second end of the second curtain body assembly 303 is flush with or slightly lower than the supporting surface of the supporting mechanism 201, the cargo bin 101 is not provided at the position corresponding to the second curtain body assembly 303. At this time, the second curtain body assembly 303 does not provide a shielding effect on the cargo bin 101.

[0111] Specifically, the supporting mechanism 201 is movably connected to the fuselage 100, and the supporting mechanism 201 can be raised and lowered along the fuselage 100. The first curtain assembly 302 is disposed above the supporting mechanism 201, and the first end of the first curtain assembly 302 can also be raised and lowered along the fuselage 100. Therefore, when the supporting mechanism 201 is raised and lowered to a target position corresponding to a target cargo hold, the first end of the first curtain assembly 302 can also be raised and lowered to near the target position. It should be noted that the raising and lowering of the first end of the first curtain assembly 302 and the raising and lowering of the supporting mechanism 201 can be achieved by providing different lifting mechanisms, so as to adjust the distance between the first end of the first curtain assembly 302 and the supporting mechanism 201.

[0112] Optionally, the first curtain assembly 302 is a rolling curtain structure, and / or the second curtain assembly 303 is a rolling curtain structure. In this embodiment of the present application, at least one of the first curtain assembly 302 and the second curtain assembly 303 can be configured as a rolling curtain structure, which is movably connected to the fuselage 100. By rolling and unfolding the rolling curtain structure, the first curtain assembly 302 or the second curtain assembly 303 can be moved relative to the fuselage 100, thereby providing a shielding effect for different cargo compartments 101. The use of a rolling curtain structure not only simplifies the structure but also facilitates installation and operation.

[0113] Optionally, referring to FIG. 3 , the first curtain assembly 302 includes a first curtain 3021 and a curtain driving mechanism 3022 . The curtain driving mechanism 3022 is mounted on the body 100 and connected to the first curtain 3021 . The curtain driving mechanism 3022 can be used to drive the first curtain 3021 to move.

[0114] In the embodiment of the present application, by providing the first curtain body 3021 and the curtain body driving mechanism 3022, the first curtain body 3021 can be moved relative to the fuselage 100 by the driving action of the curtain body driving mechanism 3022, thereby enabling the first curtain body 3021 to block the window 102 of the target cargo hold and to release the first curtain body 3021 from blocking the window 102 of the target cargo hold.

[0115] Specifically, the first curtain assembly 302 may include a first curtain 3021 and a curtain drive mechanism 3022. The curtain drive mechanism 3022 is mounted to the fuselage 100, and the first curtain 3021 is connected to the curtain drive mechanism 3022. The first curtain 3021 can move relative to the fuselage 100, and the curtain drive mechanism 3022 can drive the first curtain 3021 to move relative to the fuselage 100. In this way, during the material transfer process, the movement of the first curtain 3021 can change the relative position of the first curtain 3021 and the cargo hold 101, so that the first curtain 3021 can cover the window 102 of the cargo hold 101, or release the cover of the window 102 of the corresponding cargo hold 101.

[0116] Optionally, referring to Figure 5 , the second curtain assembly 303 includes a second curtain 3031. One end of the second curtain 3031 is connected to the fuselage 100, and the other end is connected to the supporting mechanism 201. The supporting mechanism 201 is capable of driving the movement of the second curtain 3031. Specifically, the second end of the second curtain 3031 moves relative to the fuselage 100 along with the supporting mechanism 201. As the supporting mechanism 201 moves, the second curtain 3031 can partially shield the window 102 of the cargo compartment 101, thereby achieving a coordinated effect between the retrieval device 200 and the shielding assembly 300.

[0117] Specifically, the curtain driving mechanism 3022 can drive the first curtain 3021 to move up and down relative to the body 100, and the second curtain 3031 can move up and down relative to the body 100 along with the supporting mechanism 201. The structural design of the embodiment of the present application is reasonable and ingenious, which can reduce production costs and control difficulty.

[0118] Optionally, the first curtain body 3021 has a roll-up sheet structure, a curtain fabric structure, or a venetian blind structure. In the embodiment of the present application, the first curtain body 3021 can be configured as any of the roll-up sheet structure, the curtain fabric structure, or the venetian blind structure. This facilitates the rolling and unfolding of the first curtain body 3021, facilitates the installation and layout of the first curtain body 3021 on the fuselage 100, and has a simple structure and low manufacturing cost.

[0119] Optionally, the second curtain body 3031 is a roll-up sheet structure, a curtain fabric structure, or a venetian blind structure. In the embodiment of the present application, the second curtain body 3031 can be configured as any of the roll-up sheet structure, the curtain fabric structure, or the venetian blind structure, which facilitates the rolling and unfolding of the first curtain body 3021 and the installation layout of the second curtain body 3031 on the fuselage 100. It also has a simple structure and low manufacturing cost.

[0120] Optionally, referring to Figure 18 , guide grooves 103 extending along the direction of movement of the support mechanism 201 are provided on both sides of the housing 100. The edges of the first curtain body 3021 are at least partially embedded in the guide grooves 103, allowing the first curtain body 3021 to slide within the guide grooves 103. The guide grooves 103 serve to limit and guide the first curtain body 3021. As shown in Figure 18 , the guide grooves 103 provided on both sides of the housing 100 extend vertically. Of course, the specific location and dimensions of the guide grooves 103 on the housing 100 can be determined based on the structure of the first curtain body 3021, so as to facilitate flexible and stable movement of the first curtain body 3021 relative to the housing 100. This is not a limitation of this embodiment of the present application.

[0121] Optionally, referring to FIG3 , the first curtain body assembly 302 further includes: a first reel 3023 , the first reel 3023 being mounted on the body 100 , and the first curtain body 3021 being wound around the first reel 3023 ; and a curtain body driving mechanism 3022 for driving the first reel 3023 to rotate, thereby driving the first curtain body 3021 to move through the rotation of the first reel 3023 , thereby facilitating the storage and movement of the first curtain body 3021 .

[0122] Specifically, one end of the first curtain body 3021 is fixedly connected to the first reel 3023, and the first curtain body 3021 is wound around the first reel 3023, while the other end of the first curtain body 3021 (i.e., the first end) is movably connected to the body 100. When the first reel 3023 is driven to rotate by the curtain body driving mechanism 3022, the first end can be raised and lowered.

[0123] In some embodiments, the body 100 is provided with a plurality of cargo compartments 101, which are stacked sequentially from bottom to top, and the first reel 3023 can be provided at the top of the body 100. Of course, the position of the first reel 3023 on the body 100 and the direction of rotation of the first reel 3023 driven by the curtain drive mechanism 3022 can be set according to actual needs and are not limited in this embodiment of the present application.

[0124] Optionally, referring to Figures 2 to 4, a first trigger 3025 is provided at the first end of the first curtain body 3021, and a first limiter 104 is provided at a position close to the first reel 3023 on the body 100; when the first end of the first curtain body 3021 moves toward the first reel 3023 until the first trigger 3025 abuts against the first limiter 104, the curtain body driving mechanism 3022 stops driving the first reel 3023 to rotate.

[0125] In the embodiment of the present application, a first trigger 3025 is provided at an end of the first curtain body 3021 away from the first reel 3023, and a first position-limiting member 104 is provided on the body 100 near the first reel 3023. The first trigger 3025 and the first position-limiting member 104 interact to limit the movement of the first curtain body 3021, thereby improving the precise control of the movement of the first curtain body 3021.

[0126] In some embodiments, the first limit member 104 may include an in-position switch, which is electrically connected to the curtain driving mechanism 3022. When the first curtain body 3021 moves toward the direction close to the first roller 3023, the first trigger 3025 on the first curtain body 3021 abuts against the in-position switch, triggering the in-position switch, thereby stopping the curtain driving mechanism 3022.

[0127] Of course, the first trigger 3025 and the first stopper 104 may also adopt other triggering mechanisms, such as an infrared triggering mechanism, a pressure triggering mechanism, a magnetic induction triggering mechanism, etc., and the operation of the curtain driving mechanism 3022 is controlled by the contact between the first trigger 3025 and the first stopper 104. Other types of triggering mechanisms may also be used, and this embodiment of the application does not limit this.

[0128] 20 , the support mechanism 201 is provided with a first sensor 2014 for detecting the entry or exit of materials into or out of the support mechanism 201. When the first trigger 3025 cooperates with the first sensor 2014, it can also be used to detect whether the first sensor 2014 is in an abnormal state.

[0129] In this embodiment of the present application, a first sensor 2014 is provided on the support mechanism 201. This first sensor 2014 can detect the movement of materials into or out of the support mechanism 201, facilitating monitoring of the material transfer process and enabling more accurate control of the material transfer process. Furthermore, a first trigger 3025 can be used to sense the first sensor 2014 and detect its operating status, ensuring proper operation.

[0130] Specifically, one or more first sensors 2014 are set on the supporting mechanism 201. When the supporting mechanism 201 moves to the corresponding position of the target warehouse, the material is transferred into or out of the target warehouse. During this process, the first sensor 2014 can detect the transfer of the material and then control the transfer process.

[0131] Furthermore, along the moving direction of the supporting mechanism 201, the first trigger 3025 is arranged opposite to the first sensor 2014. When the first curtain body 3021 and the supporting mechanism 201 are relatively close to each other, the first sensor 2014 and the first trigger 3025 can sense each other, so that it can be determined whether the first sensor 2014 is abnormal based on the sensing state.

[0132] For example, if there is no signal feedback from first sensor 2014 when first trigger 3025 and first sensor 2014 are in close proximity, this indicates an abnormality in first sensor 2014. Furthermore, before the material storage and retrieval device begins operation, it must perform a self-check to ensure that all components are in their proper positions. When first curtain 3021 and support mechanism 201 are both in their proper positions, first sensor 2014 and first trigger 3025 are in close proximity, allowing first sensor 2014 to sense first trigger 3025. If first sensor 2014 cannot sense first trigger 3025, this indicates a reset abnormality, requiring abnormality handling for the material storage and retrieval device.

[0133] In some embodiments, the first sensor 2014 can be a diffuse reflection photoelectric sensor, mounted on the support mechanism 201 with its emitter facing upward. Optionally, the diffuse reflection photoelectric sensor is mounted on one end of the support mechanism 201 near the cargo bin. When materials enter the cargo bin 101 from the support mechanism 201, the diffuse reflection photoelectric sensor is triggered and emits a signal as the materials pass through it. When the diffuse reflection photoelectric sensor signal disappears, it indicates that the materials have entered the cargo bin 101. The support mechanism 201 can be configured to stop operating after a preset delay after the diffuse reflection photoelectric sensor signal disappears. For another example, when materials in the cargo bin 101 need to be transferred to the support mechanism 201, the diffuse reflection photoelectric sensor is triggered and emits a signal as the materials pass through it. When the diffuse reflection photoelectric sensor signal disappears, it indicates that the materials have left the cargo bin 101 and entered the support mechanism 201. The support mechanism 201 can be configured to stop operating after a preset delay after the diffuse reflection photoelectric sensor signal disappears.

[0134] Optionally, the first trigger 3025 is further configured to cooperate with the first sensor 2014 to obtain the distance between the first curtain body 3021 and the retrieval device 200. In the embodiment of the present application, the first trigger 3025 is provided on the first curtain body 3021, and the first sensor 2014 is provided on the supporting mechanism 201. Through the cooperation of the first trigger 3025 and the first sensor 2014, the distance between the first curtain body 3021 and the retrieval device 200 can be obtained, facilitating adjustment of the position between the first curtain body 3021 and the supporting mechanism 201.

[0135] During the relative movement of the first curtain body 3021 and the supporting mechanism 201, when the first sensor 2014 on the supporting mechanism 201 senses the first trigger 3025 on the first curtain body 3021, it indicates that the first curtain body 3021 and the supporting mechanism 201 are relatively close. In this case, the relative movement speed between the first curtain body 3021 and the supporting mechanism 201 needs to be controlled to prevent collision between the first curtain body 3021 and the supporting mechanism 201.

[0136] It is understood that when the supporting mechanism 201 moves along the fuselage 100 to the target position, the first curtain body 3021 is also controlled to move near the target position. The first trigger 3025 and the first sensor 2014 can sense each other to obtain the distance between the first curtain body 3021 and the supporting mechanism 201, thereby preventing the first curtain body 3021 and the supporting mechanism 201 from colliding and causing damage. The distance between the first curtain body 3021 and the supporting mechanism 201 is also prevented from being too far away from each other, thereby partially exposing the cargo hold 101 and reducing the shielding effect of the first curtain body 3021 on the cargo hold 101.

[0137] Optionally, referring to FIG. 20 , the supporting mechanism 201 is provided with a second sensor 2015, and referring to FIG. 4 , the first curtain body 3021 is further provided with a second trigger 3024. Alternatively, the supporting mechanism 201 is provided with the second trigger 3024, and the first curtain body 3021 is provided with the second sensor 2015. The second sensor 2015 is configured to obtain the distance between the first curtain body 3021 and the supporting mechanism 201 based on the second trigger 3024. The controller 600 of the material storage and retrieval device is configured to control the movement of the supporting mechanism 201 and / or the first curtain body 3021 based on the obtained distance information between the first curtain body 3021 and the supporting mechanism 201, thereby preventing the first curtain body 3021 from colliding with the supporting mechanism 201.

[0138] In this embodiment of the present application, a second sensor 2015 is provided on one of the supporting mechanism 201 and the first curtain body 3021, and a second trigger 3024 is provided on the other. The second sensor 2015 and the second trigger 3024 cooperate to obtain the distance between the first curtain body 3021 and the supporting mechanism 201. The controller 600 controls the movement of at least one of the supporting mechanism 201 and the first curtain body 3021 based on the obtained distance information to prevent collision between the first curtain body 3021 and the supporting mechanism 201, thereby improving the safety of the relative movement between the supporting mechanism 201 and the first curtain body 3021.

[0139] Specifically, the supporting mechanism 201 can move relative to the body 100, and the first curtain body 3021 can also move relative to the body 100. When one of the supporting mechanism 201 and the first curtain body 3021 approaches the other, there is a risk of collision, potentially damaging the supporting mechanism 201 and the first curtain body 3021. To address this issue, a second trigger 3024 can be provided on the end of the first curtain body 3021 near the supporting mechanism 201, and a second sensor 2015 can be provided on the supporting mechanism 201. Alternatively, a second sensor 2015 can be provided on the end of the first curtain body 3021 near the supporting mechanism 201, and a second trigger 3024 can be provided on the supporting mechanism 201. The interaction between the second trigger 3024 and the second sensor 2015 can determine the distance between the first curtain body 3021 and the supporting mechanism 201, thereby facilitating control of the movement process.

[0140] In some embodiments, the second trigger 3024 can be a permanent magnet or a Hall sensor, and the second sensor 2015 can be the other of the permanent magnet and the Hall sensor. Of course, the second trigger 3024 and the second sensor 2015 can also be an infrared transmitter and an infrared receiver, and other matching structures can also be selected, which is not limited in this embodiment of the application.

[0141] Optionally, referring to FIG20 , the second sensor 2015 includes a first side sensor 20151. Referring to FIG18 , the second sensor 2015 also includes a second side sensor 20152. The first side sensor 20151 and the second side sensor 20152 are respectively disposed on either side of the supporting mechanism 201. Referring to FIG4 , the second trigger 3024 includes a first trigger member 30241 and a second trigger member 30242. The first trigger member 30241 and the second trigger member 30242 are respectively disposed on either side of the first curtain body 3021. The first trigger member 30241 corresponds to the first side sensor 20151, and the second trigger member 30242 corresponds to the second side sensor 20152. The second trigger member 30242 is further away from the supporting mechanism 201 than the first trigger member 30241, and a gap exists between the first trigger member 30241 and the second trigger member 30242 in the direction of movement of the first curtain body 3021. When the first side sensor 20151 senses the first triggering element 30241, the supporting mechanism 201 and / or the first curtain body 3021 adjust their movement speed in the first direction so that the distance between the supporting mechanism 201 and the first curtain body 3021 is less than a preset threshold. When the second side sensor 20152 senses the second triggering element 30242, the supporting mechanism 201 and / or the first curtain body 3021 stop moving or adjust their movement speed in the first direction to prevent the first curtain body 3021 from colliding with the supporting mechanism 201.

[0142] In the embodiment of the present application, the first trigger member 30241 is configured to correspond to the first side sensor 20151, and the second trigger member 30242 is configured to correspond to the second side sensor 20152. Therefore, when the supporting mechanism 201 and the first curtain body 3021 move relative to each other, when the first trigger member 30241 and the first side sensor 20151 interact, the movement speed of at least one of the supporting mechanism 201 and the first curtain body 3021 is adjusted. When the second trigger member 30242 and the second side sensor 20152 interact, the movement speed of at least one of the supporting mechanism 201 and the first curtain body 3021 is further adjusted, or the supporting mechanism 201 and the first curtain body 3021 are stopped. This maintains a certain distance between the supporting mechanism 201 and the first curtain body 3021, thereby preventing the supporting mechanism 201 and the first curtain body 3021 from colliding due to their proximity.

[0143] Specifically, the end of the first curtain body 3021 closest to the supporting mechanism 201 is the first end. A first triggering member 30241 and a second triggering member 30242 are respectively disposed on either side of the first end of the first curtain body 3021. The first triggering member 30241 and the second triggering member 30242 are respectively disposed on either side of the first curtain body 3021 in a direction perpendicular to the movement of the first curtain body 3021. A certain distance exists between the first triggering member 30241 and the second triggering member 30242 in the direction of movement of the first curtain body 3021.

[0144] Correspondingly, a first side sensor 20151 and a second side sensor 20152 are respectively provided on the supporting mechanism 201. Along the moving direction perpendicular to the supporting mechanism 201, the first side sensor 20151 and the second side sensor 20152 are respectively provided on both sides of the supporting mechanism 201, so that the first trigger member 30241 corresponds to the first side sensor 20151, and the second trigger member 30242 corresponds to the second side sensor 20152.

[0145] In the embodiment of the present application, both the first curtain body 3021 and the supporting mechanism 201 can move relative to the body 100, and the movement direction of the first curtain body 3021 is parallel to the movement direction of the supporting mechanism 201, that is, the first curtain body 3021 and the supporting mechanism 201 can move relative to each other.

[0146] Specifically, as at least one of the first curtain member 3021 and the supporting mechanism 201 moves along the body 100, the first end of the first curtain member 3021 approaches the supporting mechanism 201. When the first side sensor 20151 senses the first triggering member 30241, the distance between the first end of the first curtain member 3021 and the supporting mechanism 201 reaches a preset threshold. The movement speed of the supporting mechanism 201 and / or the first curtain member 3021 is adjusted to maintain the distance between the supporting mechanism 201 and the first curtain member 3021 within a certain range.

[0147] Then, the first end of the first curtain body 3021 and the supporting mechanism 201 move closer to each other. When the second side sensor 20152 senses the second trigger 30242, the distance between the first end of the first curtain body 3021 and the supporting mechanism 201 has reached the minimum safe distance. The movement speed of the supporting mechanism 201 and / or the first curtain body 3021 is further adjusted, or the supporting mechanism 201 and / or the first curtain body 3021 are stopped to prevent the first curtain body 3021 from colliding with the supporting mechanism 201.

[0148] Specifically, the preset threshold value may be the maximum safe distance between the first curtain body 3021 and the supporting mechanism 201. It should be noted that when the first curtain body 3021 and the supporting mechanism 201 are in close proximity, a safe distance range exists between the first end of the first curtain body 3021 and the supporting mechanism 201. This safe distance range includes a maximum safe distance and a minimum safe distance. When the distance between the first end of the first curtain body 3021 and the supporting mechanism 201 is greater than the maximum safe distance, the distance between the first curtain body 3021 and the supporting mechanism 201 is too great, and the first curtain body 3021 cannot effectively block the window 102 of the cargo hold 101. When the distance between the first end of the first curtain body 3021 and the supporting mechanism 201 is less than the minimum safe distance, the distance between the first curtain body 3021 and the supporting mechanism 201 is too small, and the first curtain body 3021 is likely to collide with the supporting mechanism 201.

[0149] Of course, the size of the gap between the first triggering member 30241 and the second triggering member 30242 on the first curtain body 3021 can be determined according to a safe distance range, and this embodiment of the present application does not impose any limitation on this.

[0150] Optionally, the preset threshold is between 5 and 20 mm. Specifically, the preset threshold can be any value such as 5 mm, 7 mm, 9 mm, 10 mm, 12 mm, 14 mm, 16 mm, 18 mm, or 20 mm. In this embodiment of the present application, a reasonable preset threshold is set to ensure that when the first curtain body 3021 and the supporting mechanism 201 approach each other, a certain safety distance is maintained between the first end of the first curtain body 3021 and the supporting mechanism 201, thereby preventing collision between the first curtain body 3021 and the supporting mechanism 201 and improving the safety of the device.

[0151] Optionally, the second sensor 2015 is a Hall sensor, and the second trigger 3024 is a magnetic member that cooperates with the Hall sensor. In the embodiment of the present application, the cooperation of the Hall sensor and the magnetic member has a simple structure, saves installation space, is easy to install and use, and has low cost.

[0152] Optionally, referring to FIG. 5 , the second curtain body assembly 303 further includes a second reel 3032 . The second reel 3032 is mounted on the body 100 . The second curtain body 3031 is wound around the second reel 3032 and connected to the supporting mechanism 201 .

[0153] In the embodiment of the present application, the body 100 is provided with a second reel 3032 , and the second curtain body 3031 is wound on the second reel 3032 . By driving the second reel 3032 to rotate, the second curtain body 3031 can be expanded and retracted, so that the second curtain body 3031 moves relative to the body 100 , facilitating the control of the second curtain body 3031 .

[0154] Specifically, the second curtain body assembly 303 includes: a second roller 3032 and a second curtain body 3031. One end of the second curtain body 3031 is connected to the second roller 3032, and the other end of the second curtain body 3031 is connected to the supporting mechanism 201. The second curtain body 3031 can move relative to the fuselage 100. When the supporting mechanism 201 moves relative to the fuselage 100, it can drive the second curtain body 3031 to move relative to the fuselage 100.

[0155] In practice, by mounting the second reel 3032 on the body 100, the second reel 3032 can rotate relative to the body 100. As the second reel 3032 rotates, the second curtain 3031 can be wound around the second reel 3032. Rotating the second reel 3032 forward increases the number of turns of the second curtain 3031 around the reel 3032, thereby retracting the second curtain 3031. Conversely, rotating the second reel 3032 backward decreases the number of turns of the second curtain 3031 around the reel 3032, thereby extending the second curtain 3031.

[0156] The corresponding relationship between the rotation direction of the second roller 3032 and the contraction or expansion of the second curtain body 3031 can be set according to actual needs, and the embodiment of the present application does not limit this.

[0157] Optionally, referring to Figure 5, the second curtain body assembly 303 also includes a second shell 3033, the second shell 3033 is installed on the body 100, the second reel 3032 is set in the second shell 3033, the second curtain body 3031 is wound on the second reel 3032 and at least partially extends outside the second shell 3033, and the part of the second curtain body 3031 extending outside the second shell 3033 is used to connect with the supporting mechanism 201.

[0158] In this embodiment of the present application, a second housing 3033 is provided on the body 100. The second housing 3033 defines a receiving cavity. A second reel 3032 is disposed within the receiving cavity of the second housing 3033. One end of a second curtain body 3031 is connected to the second reel 3032. The second curtain body 3031 is wound around the second reel 3032. The other end of the second curtain body 3031 and a portion of the second housing 3033 extend outside the second housing 3033. The other end of the second curtain body 3031 can be connected to the supporting mechanism 201 and can move with the supporting mechanism 201 relative to the body 100. In this way, the second housing 3033 stores and protects the second reel 3032 and the second curtain body 3031, preventing them from being disturbed by external forces during movement.

[0159] Optionally, referring to Figure 17 , the supporting mechanism 201 and the second curtain body 3031 are detachably connected. In this embodiment of the present application, the supporting mechanism 201 and the second curtain body 3031 are detachably connected, so that when the supporting mechanism 201 and the second curtain body 3031 are connected, the second curtain body 3031 can move along the body 100 with the supporting mechanism 201. When the supporting mechanism 201 and the second curtain body 3031 are disconnected, the supporting mechanism 201 moves independently, while the second curtain body 3031 remains stationary. This facilitates the coordinated control of the supporting mechanism 201 and the second curtain body 3031, adapting to different usage scenarios.

[0160] The detachable connection method between the supporting mechanism 201 and the second curtain body 3031 may include plugging or snapping, etc. The embodiment of the present application does not specifically limit the detachable connection method between the supporting mechanism 201 and the second curtain body 3031.

[0161] Optionally, when the supporting mechanism 201 moves between multiple warehouses 101, the supporting mechanism 201 is connected to the second curtain body 3031; when the supporting mechanism 201 moves outside the warehouse 101, the second curtain body 3031 is separated from the supporting mechanism 201.

[0162] In the embodiment of the present application, when the supporting mechanism 201 moves between multiple cargo bins 101, it is connected to the second curtain body 3031, so that the supporting mechanism 201 drives the second curtain body 3031 to move, thereby utilizing the second curtain body 3031 to provide a shielding effect on part of the cargo bins 101. When the supporting mechanism 201 moves to a position outside the multiple cargo bins 101, the second curtain body 3031 is disconnected from the supporting mechanism 201, allowing the supporting mechanism 201 to move independently.

[0163] The fuselage 100 is provided with a plurality of cargo compartments 101, and the supporting mechanism 201 is movable relative to the fuselage 100. When the supporting mechanism 201 moves within positions corresponding to the plurality of cargo compartments 101, the second curtain 3031 remains connected to the supporting mechanism 201 and moves along with the supporting mechanism 201, allowing the second curtain 3031 to partially shield the cargo compartments 101. When the supporting mechanism 201 moves to a position outside of the positions corresponding to the plurality of cargo compartments 101 on the fuselage 100, the second curtain 3031 is disconnected from the supporting mechanism 201, allowing the supporting mechanism 201 to continue moving while the second curtain 3031 remains disconnected, allowing other operations to be performed using the supporting mechanism 201.

[0164] In some embodiments, multiple cargo compartments 101 are stacked vertically on the fuselage 100, and the supporting mechanism 201 is movable up and down along the fuselage 100. When the supporting mechanism 201 moves between the multiple cargo compartments 101, the second curtain 3031 moves with the supporting mechanism 201, thereby shielding the cargo compartments 101 below the supporting mechanism 201. When the supporting mechanism 201 moves to a position between the first cargo compartment 101 on the lower level and the ground, the second curtain 3031 detaches from the supporting mechanism 201, thereby maintaining its position when the supporting mechanism 201 moves in this position.

[0165] Optionally, referring to FIG17 , the support mechanism 201 is provided with a hook 2013 for detachably connecting to the end of the second curtain body 3031. In this embodiment of the present application, by providing the hook 2013 on the support mechanism 201, when the support mechanism 201 and the second curtain body 3031 need to move together, the hook 2013 of the support mechanism 201 hooks onto one end of the second curtain body 3031, thereby connecting the support mechanism 201 and the second curtain body 3031. When the support mechanism 201 needs to move independently, the hook 2013 of the support mechanism 201 is disconnected from the second curtain body 3031, allowing the second curtain body 3031 to remain stationary while the support mechanism 201 moves. This detachable connection method simplifies the connection structure and facilitates both connection and disconnection between the support mechanism 201 and the second curtain body 3031.

[0166] Optionally, referring to FIG18 , a second stopper 105 is provided on the fuselage 100. In response to the support mechanism 201 moving toward the bottom of the fuselage 100 and beyond the cargo hold 101, the second stopper 105 limits the second curtain body 3031 to prevent the second curtain body 3031 from further movement, thereby releasing the connection between the second curtain body 3031 and the support mechanism 201. When the support mechanism 201 moves toward the cargo hold 101, the hook 2013 on the support mechanism 201 can connect with the second curtain body 3031.

[0167] In the embodiment of the present application, a second stopper 105 is provided on the fuselage 100. When the supporting mechanism 201 moves to a position outside the corresponding position of the multiple cargo compartments 101 on the fuselage 100, the supporting mechanism 201 can continue to move relative to the fuselage 100, but the second stopper 105 prevents the second curtain body 3031 from continuing to move, thereby disconnecting the second curtain body 3031 from the supporting mechanism 201.

[0168] Specifically, the supporting mechanism 201 is provided with a hook portion 2013. When the supporting mechanism 201 moves from an area outside the position corresponding to the cargo hold 101 to the position corresponding to the cargo hold 101, the hook portion 2013 on the supporting mechanism 201 can be connected with the end of the second curtain body 3031, thereby driving the second curtain body 3031 to move along the fuselage 100. In this way, during the movement of the supporting mechanism 201, the second curtain body 3031 blocks the cargo hold 101 that the supporting mechanism 201 passes through.

[0169] In a specific application, when the supporting mechanism 201 moves from the position corresponding to the cargo warehouse 101 to an area outside the corresponding position of the cargo warehouse 101, the second limit member 105 can prevent the second curtain body 3031 from continuing to move, while the supporting mechanism 201 can continue to move, thereby disconnecting the hook portion 2013 of the supporting mechanism 201 from the end of the second curtain body 3031.

[0170] In some embodiments, multiple cargo compartments 101 are stacked vertically on the fuselage 100, and the supporting mechanism 201 is movable up and down along the fuselage 100. A second stopper 105 is disposed on the fuselage 100, and the second stopper 105 is flush with or slightly lower than the bottom of the first cargo compartment 101 in the lower layer. When the supporting mechanism 201 moves below the first cargo compartment 101, the second stopper 105 prevents the second curtain 3031 from further movement, thereby disconnecting the hook 2013 of the supporting mechanism 201 from the end of the second curtain 3031.

[0171] Optionally, referring to Figure 18, both sides of the fuselage 100 have limiting grooves 106 extending along the movement direction of the second curtain body 3031, the edge of the second curtain body 3031 is at least partially embedded in the limiting groove 106, and the end of the limiting groove 106 is the second limiting member 105.

[0172] In this embodiment of the present application, limiting slots 106 are provided on both sides of the housing 100. The edges of the second curtain body 3031 are embedded in the limiting slots 106, allowing the edges of the second curtain body 3031 to slide within the limiting slots 106. The limiting slots 106 guide and limit the movement of the second curtain body 3031. Furthermore, second limiting members 105 are provided at the ends of the limiting slots 106. When the second curtain body 3031 moves to the ends of the limiting slots 106 along with the supporting mechanism 201, the second limiting members 105 are prevented from further movement, thereby disconnecting the hook portion 2013 of the supporting mechanism 201 from the end of the second curtain body 3031.

[0173] The guide groove 103 and the limiting groove 106 can be a single groove provided on the body 100. The extending direction of the groove is consistent with the movement direction of the supporting mechanism 201, thereby allowing the edge of the first curtain body 3021 to be at least partially embedded in the groove. Simultaneously, the edge of the second curtain body 3031 can also be at least partially embedded in the groove. The single groove can be used to guide and limit the first and second curtain bodies 3021, 3031, thereby simplifying the structural design of the body 100.

[0174] Optionally, referring to Figure 5, the second curtain body assembly 303 further includes: a tensioner 3034, which is connected to the second reel 3032. The tensioner 3034 is used to provide a restoring force to the second reel 3032 to roll up the second curtain body 3031. When the supporting mechanism 201 moves in a direction away from the first curtain body assembly 302, the second curtain body 3031 can be rolled up and retracted under the action of the restoring force.

[0175] In the embodiment of the present application, a tensioner 3034 is provided in connection with the second reel 3032. When the supporting mechanism 201 moves away from the first curtain body assembly 302, the second curtain body 3031 moves along with the supporting mechanism 201 toward the second reel 3032. The tensioner 3034 provides a restoring force to the second reel 3032 for curling and retracting the second curtain body 3031, thereby winding the second curtain body 3031 around the second reel 3032 and curling and retracting the extended second curtain body 3031.

[0176] The first end of the second curtain body 3031 is connected to the second reel 3032, and the second end of the second curtain body 3031 is connected to the supporting mechanism 201. The second curtain body 3031 can be wound around the second reel 3032. When the supporting mechanism 201 moves toward the first curtain body assembly 302, the supporting mechanism 201 drives the second end of the second curtain body 3031 to move, and the second curtain body 3031 drives the second reel 3032 to rotate. At this time, the tensioner 3034 connected to the second reel 3032 generates a pre-restoring force.

[0177] In a specific application, when the supporting mechanism 201 moves away from the first curtain body assembly 302, the supporting mechanism 201 drives the second end of the second curtain body 3031 to move. At this time, the pre-restoring force of the tensioner 3034 drives the second reel 3032 to rotate, thereby winding the second curtain body 3031 around the second reel 3032, thereby enabling the second curtain body 3031 to move relative to the machine body 100. At the same time, the tensioning effect of the tensioner 3034 ensures that the second curtain body 3031 remains in a tensioned state during movement, preventing the second curtain body 3031 from bending or folding.

[0178] Optionally, referring to FIG. 5 , the second curtain body assembly 303 further includes a rotatable curtain guide shaft 3035 , which is disposed between the second reel 3032 and the supporting mechanism 201 , and is used to guide the movement of the second curtain body 3031 .

[0179] In the embodiment of the present application, a curtain guide shaft 3035 is provided between the second reel 3032 and the supporting mechanism 201. One end of the second curtain body 3031 is connected to the second reel 3032, and the other end of the second curtain body 3031 is connected to the supporting mechanism 201. The second curtain body 3031 between the second reel 3032 and the supporting mechanism 201 passes through the curtain guide shaft 3035, and the curtain guide shaft 3035 guides the second curtain body 3031.

[0180] The curtain guide shaft 3035 can be fixedly connected to the body 100, or can be rotatably connected to the body 100. Therefore, when the second curtain body 3031 moves relative to the body 100, the curtain guide shaft 3035 also rotates relative to the body 100, thereby reducing the frictional resistance between the curtain guide shaft 3035 and the second curtain body 3031 and making the movement of the second curtain body 3031 more flexible.

[0181] In this embodiment of the present application, the material storage and retrieval device includes a controller 600. When materials need to be deposited, the controller 600 determines the target storage bin for the materials based on received material size information and the status of the bin 101 controlled by the material storage and retrieval device. When materials need to be retrieved from bin 101, the controller 600 searches for the corresponding target bin based on the order number or material number. This allows the controller 600 to quickly and accurately determine the location of the target bin, facilitating other material transfer and blocking operations.

[0182] It is understood that the controller 600 can be electrically connected to multiple warehouses 101, and the controller 600 can obtain warehouse information corresponding to each warehouse 101, wherein the warehouse information may include: the warehouse number, the warehouse size information, and the warehouse usage status. When inventory is required, the controller 600 can match the corresponding target warehouse based on the material information to be stored. When picking up goods, it can automatically identify the warehouse 101 number that matches the order number based on the order number, and then determine the corresponding target warehouse based on the warehouse 101 number, wherein the order number may include: material size information, etc.

[0183] In some embodiments, the controller 600 can also be electrically connected to the picking and placing device 200 and the shielding component 300 respectively, so that after determining the target warehouse, the controller 600 controls the picking and placing device 200 to move to the position corresponding to the target warehouse to perform material transfer operations, and controls the shielding component 300 to shield the corresponding warehouse 101 and lift the shielding of the target warehouse.

[0184] Optionally, referring to FIG. 18 , the pick-and-place device 200 further includes a lifting drive mechanism 202 , which is mounted on the body 100 and connected to the supporting mechanism 201 , and is configured to drive the supporting mechanism 201 to vertically lift and lower.

[0185] In an embodiment of the present application, the fuselage 100 is provided with a plurality of cargo bins 101, and the plurality of cargo bins 101 are arranged in sequence along the vertical direction. The picking and placing device 200 includes a lifting drive mechanism 202, and the lifting drive mechanism 202 is connected to the fuselage 100. The lifting drive mechanism 202 is connected to the supporting mechanism 201. The lifting device can drive the supporting mechanism 201 to rise and fall vertically, so that the supporting mechanism 201 can carry materials and move up and down along the fuselage 100.

[0186] Specifically, the supporting mechanism 201 can be slidably connected to the fuselage 100, and the lifting drive mechanism 202 is connected to the supporting mechanism 201. The lifting drive mechanism 202 is used to drive the supporting mechanism 201 to slide up and down along the fuselage 100 to realize the vertical lifting of the supporting mechanism 201 relative to the fuselage 100, thereby facilitating the up and down movement of the supporting mechanism 201.

[0187] Optionally, referring to Figure 18, the lifting drive mechanism 202 can drive the supporting mechanism 201 to move along the fuselage 100 to the ground at the bottom of the fuselage 100 to realize self-service pickup from the ground, or the material storage and retrieval device automatically unloads to the ground, thereby realizing the automatic pickup and unloading functions of the material storage and retrieval device.

[0188] Optionally, the supporting mechanism 201 has an expanded state and a stored state; wherein, the supporting mechanism 201 can support materials and transfer the materials to a target warehouse among the multiple warehouses 101 when in the expanded state, or transfer the materials in the warehouse 101 out through the window 102 of the target warehouse.

[0189] In the embodiment of the present application, when the support mechanism 201 is in the deployed state, it can transfer materials outside the material storage and retrieval device into the cargo hold 101, or transfer materials inside the cargo hold 101 out of the material storage and retrieval device. When the support mechanism 201 is in the stowed state, it can save space occupied by the support mechanism 201 and reduce the overall volume of the material storage and retrieval device.

[0190] The supporting mechanism 201 has a supporting surface for carrying materials. When the supporting mechanism 201 is in the stowed state, the supporting surface of the supporting mechanism 201 is close to the fuselage 100 . When the supporting mechanism 201 is in the unfolded state, a preset angle is formed between the supporting surface of the supporting mechanism 201 and the fuselage 100 .

[0191] Among them, when the supporting mechanism 201 is in the unfolded state, the specific angle of the preset angle between the supporting surface of the supporting mechanism 201 and the fuselage 100 can be set as needed, and the embodiment of the present application does not limit this.

[0192] Optionally, referring to Figures 19 and 20, the picking and placing device 200 also includes: a folding drive mechanism 203, which is connected to the supporting mechanism 201 and is used to drive the supporting mechanism 201 to fold so that the supporting mechanism 201 can be converted between the unfolded state and the retracted state.

[0193] In an embodiment of the present application, by providing a folding drive mechanism 203, the supporting mechanism 201 can be rotated relative to the fuselage, and the folding drive mechanism 203 is connected to the supporting mechanism 201. The folding drive mechanism 203 can drive the supporting mechanism 201 to fold and move relative to the fuselage 100 to change the position of the supporting mechanism 201 relative to the fuselage 100, thereby enabling the supporting mechanism 201 to switch between the unfolded state and the stowed state.

[0194] Optionally, referring to Figure 21, during the process of transferring materials from the warehouse 101 into the supporting mechanism 201, the supporting surface of the supporting mechanism 201 is folded to a horizontal state. After the materials are completely transferred to the supporting mechanism 201, the supporting mechanism 201 is folded to an inclined state tilted toward the ground.

[0195] In the embodiment of the present application, in the process of transferring the materials in the cargo warehouse 101 to the ground or the storage surface by using the pick-and-place device 200, the folding drive mechanism 203 drives the supporting mechanism 201 to move so that the supporting surface of the supporting mechanism 201 is folded to a horizontal state, so that the materials in the cargo warehouse 101 can be transferred to the supporting surface of the supporting mechanism 201. Then, after the materials are completely transferred to the supporting mechanism 201, the folding drive mechanism 203 further drives the supporting mechanism 201 to fold so that the supporting surface of the supporting mechanism 201 is folded to an inclined state inclined toward the ground or the storage surface, so that the materials on the supporting mechanism 201 can be transferred to the ground or the storage surface. It should be noted that the lifting drive mechanism 202 and the folding drive mechanism 203 can adopt existing lifting drive mechanisms and rotation drive mechanisms, and those skilled in the art can set them according to actual needs. The embodiment of the present application does not limit this.

[0196] Specifically, referring to Figure 20, the supporting mechanism 201 includes a first conveying component 2011 and a first conveying drive mechanism 2012. The first conveying component 2011 is used to transfer materials into the warehouse 101 or transfer materials out of the warehouse 101. The first conveying drive mechanism 2012 is connected to the first conveying component 2011 and is used to drive the first conveying component 2011 to operate.

[0197] In an embodiment of the present application, the supporting mechanism 201 includes a first conveying component 2011 and a first conveying drive mechanism 2012. The first conveying drive mechanism 2012 is connected to the first conveying component 2011. The first conveying drive mechanism 2012 can drive the first conveying component 2011 to operate, and then the first conveying component 2011 can be used to transfer materials, so that the supporting mechanism 201 can both carry materials and transfer materials.

[0198] Specifically, when the material carried by the supporting mechanism 201 needs to be transferred to the target warehouse, the first conveying component 2011 is driven by the first conveying drive mechanism 2012 to operate, and then the material on the supporting mechanism 201 is transferred to the target warehouse. When the material in the target warehouse needs to be taken out, the first conveying component 2011 is driven by the first conveying drive mechanism 2012 to operate to transfer the material in the target warehouse out.

[0199] Optionally, referring to FIG20 , the first conveying assembly 2011 includes a first conveyor belt 20111 for moving materials. Referring to FIG1 , the material storage and retrieval device further includes an automatic travel device 700, which is disposed on the body 100. When the retrieval device 200 transfers materials to the ground or a storage surface, the linear velocity of the automatic travel device 700 is substantially equal to, and in the opposite direction of, the linear velocity of any point on the supporting surface of the first conveyor belt 20111 for supporting the materials.

[0200] In an embodiment of the present application, a first conveyor belt 20111 is provided in the picking and placing device 200. The first conveyor belt 20111 can transfer materials. The first conveyor belt 20111 has a supporting surface for supporting materials. When the materials carried in the picking and placing device 200 need to be transferred to the ground or the containing surface, the first conveyor belt 20111 is controlled to operate to drive the materials from the supporting surface to the ground or the containing surface. At the same time, the fuselage 100 is moved in the opposite direction of the material movement direction, so that the materials slide to the ground or the containing surface.

[0201] Optionally, referring to FIG. 22 , the material storage and retrieval device further includes: a plurality of warehouse board layer modules 400 , wherein the plurality of warehouse board layer modules 400 are sequentially arranged at intervals to separate the fuselage 100 into a plurality of cargo holds 101 .

[0202] In this embodiment of the present application, multiple compartment modules 400 are provided on the fuselage 100. These compartment modules 400 are spaced apart to divide the fuselage 100 into multiple cargo compartments 101. By adjusting the position of two adjacent compartment modules 400, the structural dimensions of the resulting cargo compartments 101 can be adjusted to accommodate storage requirements for materials of varying sizes, thereby enhancing the applicability of the material storage and retrieval device.

[0203] It should be noted that the number of the compartment layer modules 400 provided in the fuselage 100 and the setting position of each compartment layer module 400 can be adjusted according to actual needs, and the embodiment of the present application does not impose any restrictions on this.

[0204] Optionally, referring to Figure 6, the warehouse plate layer module 400 includes a second conveying component 401 and a second conveying drive mechanism 402. The second conveying component 401 can be docked with the first conveying component 2011 on the supporting mechanism 201, and is used to transfer materials located on the first conveying component 2011 to the warehouse 101, or transfer materials in the warehouse 101 to the first conveying component 2011; the second conveying drive mechanism 402 is connected to the second conveying component 401, and is used to drive the second conveying component 401 to operate.

[0205] In an embodiment of the present application, a second conveying component 401 is provided in the warehouse plate layer module 400. The second conveying component 401 can drive the movement of materials stored in the corresponding warehouse 101. Through the linkage effect of the second conveying component 401 in the warehouse plate layer module 400 and the first conveying component 2011 on the supporting mechanism 201, the transfer of materials between the supporting mechanism 201 and the target warehouse can be realized.

[0206] Specifically, the warehouse deck module 400 includes a second conveyor assembly 401 and a second conveyor drive mechanism 402. The second conveyor drive mechanism 402 is connected to the second conveyor assembly 401 and can drive the second conveyor assembly 401. The second conveyor assembly 401 interfaces with (e.g., aligns with) the first conveyor assembly 2011 on the support mechanism 201 to facilitate material transfer between the second conveyor assembly 401 and the first conveyor assembly 2011. Specifically, the first conveyor assembly 2011 conveys material to the entry window 102, and the second conveyor assembly 401 continues to convey the material to the target warehouse; alternatively, the second conveyor assembly 401 conveys material to the entry window 102, and the first conveyor assembly 2011 continues to transfer the material out of the target warehouse and into the support mechanism 201.

[0207] Optionally, referring to Figure 6, the second conveying component 401 includes: a second conveyor belt 4011 and a second rotating shaft 4012, the second conveyor belt 4011 is sleeved outside the second rotating shaft 4012; the second conveying drive mechanism 402 is connected to the second rotating shaft 4012 to drive the second rotating shaft 4012 to drive the second conveyor belt 4011 to operate.

[0208] In an embodiment of the present application, a second conveyor belt 4011 is arranged to be sleeved outside the second rotating shaft 4012, and the second rotating shaft 4012 is connected to the second conveying drive mechanism 402. The second conveying drive mechanism 402 can drive the second rotating shaft 4012 to rotate, and then the second conveyor belt 4011 is driven by the second rotating shaft 4012 to run, and the second conveyor belt 4011 can realize the transfer function of materials.

[0209] Specifically, the warehouse plate layer module 400 may include a warehouse plate outer frame 405, the warehouse plate outer frame 405 can be connected to the fuselage 100, the second rotating shaft 4012 is rotatably connected to the warehouse plate outer frame 405, the second conveyor belt 4011 is mounted outside the second rotating shaft 4012, the second rotating shaft 4012 is connected to the second conveying drive mechanism 402, and the second rotating shaft 4012 is driven to rotate by the second conveying drive mechanism 402 to drive the second conveyor belt 4011 to operate.

[0210] It can be understood that a second conveyor belt 4011 is provided at the bottom of each warehouse 101. When the warehouse 101 is used to store materials, the materials are placed on the second conveyor belt 4011. When the materials need to be transferred, the second conveyor belt 4011 is driven to run by the second rotating shaft 4012, and then the second conveyor belt 4011 drives the materials to move.

[0211] In some embodiments, the second conveyor assembly 401 may include multiple second rotating shafts 4012, each connected to the warehouse panel outer frame 405, and spaced apart in parallel. A second conveyor belt 4011 is disposed over the multiple second rotating shafts 4012. The provision of multiple second rotating shafts 4012 improves the overall load-bearing capacity of the second conveyor assembly 401 during material storage and transfer, thereby enhancing the safety and stability of the warehouse 101.

[0212] 6 and 7 , the second conveyor assembly 401 further includes a first tensioning device 4013 connected to the second conveyor belt 4011 to tension the second conveyor belt 4011. In the embodiment of the present application, the first tensioning device 4013 is connected to the second conveyor belt 4011 to tension the second conveyor belt 4011, thereby ensuring smooth operation of the second conveyor belt 4011.

[0213] Specifically, as shown in Figure 6, the warehouse plate layer module 400 may include a warehouse plate outer frame 405, a first tensioning device 4013 is installed on the warehouse plate outer frame 405, and the second rotating shaft 4012 is movably connected to the warehouse plate outer frame 405. The relative position of the second rotating shaft 4012 and the warehouse plate outer frame 405 can be adjusted by the first tensioning device 4013, thereby adjusting the tension of the second conveyor belt 4011.

[0214] Optionally, referring to Figures 6 to 8, the first tensioning device 4013 includes: a first tensioning nut 40131 and a first tensioning screw 40132, the first tensioning screw 40132 is connected to the second rotating shaft 4012, and under the drive of the first tensioning nut 40131, the first tensioning screw 40132 can drive the second rotating shaft 4012 to move to achieve tensioning of the second conveyor belt 4011.

[0215] In the embodiment of the present application, the first tensioning device 4013 includes a first tensioning nut 40131 and a first tensioning screw 40132. The first tensioning nut 40131 is threadedly connected to the first tensioning screw 40132, and the first tensioning screw 40132 is connected to the second rotating shaft 4012. By rotating the first tensioning nut 40131, the relative position of the first tensioning nut 40131 and the first tensioning screw 40132 can be adjusted. In this way, the first tensioning screw 40132 can drive the second rotating shaft 4012 to move, thereby tensioning the second conveyor belt 4011, preventing the second conveyor belt 4011 from loosening, and ensuring that the second conveyor belt 4011 is in a properly tensioned state for smooth material transfer.

[0216] Specifically, the first tensioning screw 40132 is movably connected to the compartment plate outer frame 405, the first tensioning nut 40131 is threadedly connected to the first tensioning screw 40132, and the end of the second rotating shaft 4012 is connected to the first tensioning screw 40132. Rotating the first tensioning nut 40131 can adjust the relative position of the first tensioning screw 40132 and the compartment plate outer frame 405, thereby driving the second rotating shaft 4012 to move and adjust the position of the second rotating shaft 4012.

[0217] 6 and 9 , the second transmission drive mechanism 402 includes a synchronous belt 4021 and a second tensioning device 4022 . The synchronous belt 4021 is connected to the second rotating shaft 4012 . The second tensioning device 4022 is connected to the synchronous belt 4021 to achieve tensioning of the synchronous belt 4021 .

[0218] In the embodiment of the present application, the second transmission drive mechanism 402 includes a second transmission drive motor 4023, a synchronous belt 4021 and a second tensioning device 4022. The second transmission drive motor 4023 is connected to the second rotating shaft 4012 through the synchronous belt 4021, so that the driving force of the second transmission drive motor 4023 is transmitted to the second rotating shaft 4012 through the synchronous belt 4021 to drive the second rotating shaft 4012 to rotate. By setting the second tensioning device 4022 to abut against the synchronous belt 4021, the second tensioning device 4022 can realize the tensioning effect of the synchronous belt 4021, thereby preventing the synchronous belt 4021 from loosening and improving the transmission effect of the synchronous belt 4021.

[0219] In some embodiments, referring to FIG11 , the second tensioning device 4022 may include an adjustment slider 40222 and a tensioning bearing wheel 40221. The adjustment slider 40222 is movably connected to the outer frame 405 of the storage plate. The tensioning bearing wheel 40221 is connected to the adjustment slider 40222. The tensioning bearing wheel 40221 abuts against the synchronous belt 4021 and can rotate with the synchronous belt 4021. By adjusting the relative position of the adjustment slider 40222 and the outer frame 405 of the storage plate, the abutting pressure between the tensioning bearing wheel 40221 and the synchronous belt 4021 can be adjusted, thereby adjusting the tension of the synchronous belt 4021. By adjusting the cooperation between the slider 40222 and the tensioning bearing wheel 40221, the synchronous belt 4021 can be tensioned and the friction resistance between the tensioning bearing wheel 40221 and the synchronous belt 4021 can be reduced, thereby reducing the influence of the second tensioning device 4022 on the transmission effect of the synchronous belt 4021.

[0220] Optionally, referring to Figure 22, a plurality of spaced installation slots 107 are provided in the fuselage 100, and the warehouse plate layer modules 400 are detachably connected to the installation slots 107 to adjust the distance between two adjacent warehouse plate layer modules 400, thereby adjusting the size of the cargo hold 101.

[0221] In an embodiment of the present application, a plurality of spaced apart mounting grooves 107 are provided on both sides of the fuselage 100, and the warehouse plate layer module 400 is detachably connected to the mounting groove 107. By adjusting the distance between two adjacent warehouse plate layer modules 400, the size of the cargo hold 101 formed by the warehouse plate layer module 400 can be adjusted to meet the storage requirements of materials of different sizes.

[0222] Specifically, multiple mounting slots 107 are provided on both sides of the fuselage 100, spaced apart from each other. The mounting slots 107 extend perpendicular to the direction of movement of the support mechanism 201. At least a portion of the cargo hold module 400 can be inserted into the mounting slots 107, thereby enclosing two adjacent cargo hold modules 400 and the fuselage 100 to form the cargo hold 101. Providing the mounting slots 107 on the fuselage 100 facilitates the installation and removal of the cargo hold modules 400, allowing the position of each cargo hold module 400 to be adjusted as needed to form cargo holds 101 of varying sizes.

[0223] In some embodiments, as shown in FIG22 , each mounting slot 107 extends horizontally, and multiple mounting slots 107 on both sides of the fuselage 100 can be arranged in parallel and spaced apart in the vertical direction, thereby facilitating adjustment of the installation position of the compartment panel modules 400. The distance between two adjacent compartment panel modules 400 can be determined based on actual needs and is not limited in this embodiment of the present application.

[0224] Optionally, referring to Figures 23 and 24 , a first elastic member 109 is further provided on the inner side of the mounting slot 107, and the storage panel module 400 is plugged into and engaged with the first elastic member 109. In the embodiment of the present application, a first elastic member 109 is provided in each mounting slot 107, and the storage panel module 400 is plugged into and engaged with the first elastic member 109. When the storage panel module 400 is inserted into the mounting slot 107, the storage panel module 400 squeezes the first elastic member 109, causing the first elastic member 109 to elastically deform. The rebound force of the first elastic member 109 thereby clamps the storage panel module 400. This prevents the storage panel module 400 from sliding within the mounting slot 107 during operation of the material storage and retrieval device, thereby improving the stability and safety of the storage panel module 400.

[0225] It should be noted that the first elastic member 109 may be an elastic rubber strip and may be made of an elastic material, such as ethylene-propylene rubber (EPR), butadiene rubber (BR), or thermoplastic elastomer (TPE). Of course, the first elastic member 109 may also be made of other elastic materials, which are not limited in the present embodiment.

[0226] Optionally, as shown in FIG26 , both sides of the deck module 400 are detachably connected to the fuselage 100 via fasteners 403. In this embodiment of the present application, both sides of the deck module 400 are connected to the fuselage 100 via fasteners 403 to enhance the secure connection between the deck module 400 and the fuselage 100 while also facilitating disassembly.

[0227] It can be understood that after the warehouse panel layer module 400 is inserted into the installation groove 107, the warehouse panel layer module 400 is fixed to the fuselage using the fastener 403, and the warehouse panel layer module 400 can be moved along the extension direction of the installation groove 107, thereby improving the stability of the warehouse panel layer module 400.

[0228] Specifically, the fasteners 403 can be at least one of screws and bolts. First mounting holes are provided on both sides of the fuselage 100 at positions corresponding to the mounting slots 107, and corresponding second mounting holes are provided on the deck module 400. After the deck module 400 is inserted into the mounting slots 107, the fasteners 403 pass through the second mounting holes on the deck module 400 and connect with the first mounting holes provided on the fuselage 100, thereby achieving a fixed connection between the deck module 400 and the fuselage 100. The screws can be threadedly connected between the first mounting holes and the second mounting holes, thereby facilitating installation and removal.

[0229] Optionally, referring to Figure 27, a first electrical connector 404 is provided on the warehouse plate layer module 400, and at least one second electrical connector 111 that can adapt to the first electrical connector 404 is provided on the fuselage 100, and the first electrical connector 404 and the second electrical connector 111 are detachably docked.

[0230] In this embodiment of the present application, a first electrical connector 404 is provided on the deck module 400, and a second electrical connector 111 is provided on the fuselage 100. The first electrical connector 404 is adapted to mate with the second electrical connector 111. The first electrical connector 404 and the second electrical connector 111 are detachably connected, thereby facilitating the electrical connection between the deck module 400 and the fuselage 100. When multiple deck modules 400 are simultaneously connected to the fuselage 100, this facilitates optimized circuit connections and enhances the overall aesthetics of the material storage and retrieval device.

[0231] The first electrical connector 404 and the second electrical connector 111 can adopt a male and female plug structure to facilitate the detachable connection between the first electrical connector 404 and the second electrical connector 111. Of course, the first electrical connector 404 and the second electrical connector 111 can also adopt other detachable electrical connection structures, which are not limited in this embodiment of the present application.

[0232] Optionally, referring to FIG. 25 , the fuselage 100 is provided with a socket 113 communicating with the mounting groove 107 for inserting the compartment plate module 400 , and the socket 113 is provided with a flexible shielding member 108 .

[0233] In an embodiment of the present application, the fuselage 100 is provided with a socket 113, which is connected to the installation slot 107, so as to facilitate the insertion of the warehouse plate layer module 400 into the installation slot 107 through the socket 113. The socket 113 can play a guiding role to facilitate the docking of the warehouse plate layer module 400 with the installation slot 107. At the same time, a flexible shielding member 108 is provided at the socket 113. Without affecting the installation of the warehouse plate layer module 400, it can play a shielding role on the socket 113 to prevent debris from entering the socket 113 or the installation slot 107.

[0234] Optionally, the shielding member 108 includes bristles. In the embodiment of the present application, the shielding member 108 can be set as bristles, which is simple, practical and low in cost.

[0235] Optionally, referring to Figure 14, the fuselage 100 is provided with a take-in / take-out port 110 connected to the cargo hold 101, and the take-in / take-out port 110 and the window 102 are located on different sides of the fuselage 100; the material storage and retrieval device also includes a side door module 500, which is used to cover the take-in / take-out port 110.

[0236] In the embodiment of the present application, each cargo hold 101 is provided with a corresponding access opening 110, which communicates with the interior of the cargo hold 101. The access opening 110 and the window 102 are located on different sides of the body 100, making it convenient for people to manually place materials into or remove materials from the cargo hold 101 through the access opening 110. Furthermore, a side door module 500 is provided to shield the access opening 110, preventing materials inside the cargo hold 101 from being exposed or lost, thereby improving the safety of the cargo hold 101.

[0237] Specifically, each cargo compartment 101 is provided with a corresponding window 102 and a pick-up / drop-out opening 110. The pick-up / drop-out opening 110 and the window 102 are located on different sides of the fuselage 100. The window 102 is used by the pick-up / drop-out device 200 to transfer materials into or out of the cargo compartment 101, while the pick-up / drop-out opening 110 is used for manual transfer of materials into or out of the cargo compartment 101. For example, a delivery person can place materials in or out of the pick-up / drop-out opening 110. By arranging the window 102 and the pick-up / drop-out opening 110 on different sides of the fuselage 100, conflicts between manual operation and the automatic pick-up / drop-out device 200 are avoided, making the overall structural arrangement of the fuselage 100 more rational.

[0238] Optionally, referring to Figures 12 to 14, the cross-sectional shape of the side door module 500 can be in a flattened state as shown in Figure 13, and in an expanded state as shown in Figure 12. When the side door module 500 blocks the access opening 110, the cross-sectional shape of the side door module 500 is in the expanded state, so that the shape of the side door module 500 is adapted to the shapes of the fuselage 100 and the compartment layer module 400. When the side door module 500 no longer blocks the access opening 110, the cross-sectional shape of the side door module 500 is in a flattened state, thereby reducing the space occupied by the side door module 500.

[0239] In the embodiment of the present application, the side door module 500 can switch between a flat state and an expanded state. When blocking the access opening 110 of the cargo hold 101, the side door module 500 assumes the expanded state, thereby adapting to the shape of the fuselage 100 and the compartment layer module 400 and improving the overall aesthetics of the material storage and retrieval device. When the side door module 500 no longer blocks the access opening 110, it assumes the flat state, thereby reducing the space occupied by the side door module 500 and improving the structural layout of the material storage and retrieval device.

[0240] Optionally, referring to Figure 12, the side door module 500 includes: a fixed bracket 501, the fixed bracket 501 is connected to the fuselage 100; a first side door panel 502, one side of the first side door panel 502 is rotatably connected to the fixed bracket 501; a second side door panel 503, one side of the second side door panel 503 is rotatably connected to the other side of the first side door panel 502; and a third side door panel 504, one side of the third side door panel 504 is rotatably connected to the other side of the second side door panel 503, and the other side of the third side door panel 504 is rotatably connected to the fixed bracket 501; wherein, in the expanded state, the fixed bracket 501, the first side door panel 502, the second side door panel 503 and the third side door panel 504 are enclosed to form a three-dimensional shape, and in the flat state, the fixed bracket 501, the first side door panel 502, the second side door panel 503 and the third side door panel 504 are enclosed to form a flat shape.

[0241] In an embodiment of the present application, the fixed bracket 501 is rotatably connected to the first side door panel 502, the first side door panel 502 and the second side door panel 503, the second side door panel 503 and the third side door panel 504, and the third side door panel 504 and the fixed bracket 501, so as to facilitate the switching of the side door module 500 between the flat state and the expanded state, so that the side door module 500 can adapt to different usage requirements and improve the applicability of the side door module 500.

[0242] It should be noted that the cross-sectional shape of the three-dimensional shape formed by the side door module 500 in the expanded state can be rectangular, trapezoidal, etc. The three-dimensional shape formed by the side door module 500 in the expanded state can be determined according to the specific shapes of the fuselage 100 and the warehouse panel module 400 so as to adapt to the shapes of the fuselage 100 and the warehouse panel module 400.

[0243] In some embodiments, as shown in FIG14 , when the side door module 500 blocks the access opening 110 of the cargo compartment 101, the side door module 500 is in an expanded state. In this state, the fixing bracket 501 is connected to the fuselage 100, the first side door panel 502 is positioned near the access opening 110, and the third side door panel 504 is positioned away from the access opening 110. A gap exists between the first side door panel 502 and the third side door panel. The second side door panel 503 is connected to the fuselage 100 via a locking mechanism 507, thereby securing the side door module 500 to the fuselage 100. To remove the obstruction of the access opening 110 of the cargo compartment 101, the locking mechanism 507 between the first side door panel 502 and the fuselage 100 is opened, allowing the first side door panel 502 to mate with the third side door panel, flattening the side door module 500 and reducing the space occupied by the side door module 500.

[0244] 12 , the first side door panel 502 and the fixed bracket 501, the first side door panel 502 and the second side door panel 503, the third side door panel 504 and the second side door panel 503, and the third side door panel 504 and the fixed bracket 501 can all be rotatably connected via pins 505. In the embodiment of the present application, the rotatable connection is achieved using pins 505, which simplifies the structure and reduces the cost.

[0245] Optionally, referring to Figure 12, the side door module 500 also includes a second elastic member 508, which is used to provide an elastic restoring force for quickly switching to a flat state, so that the side door module 500 can quickly switch between the expanded state and the flat state, to avoid safety hazards such as pinching the operator's hands when opening the side door module 500.

[0246] In a specific application, as shown in FIG12 , one end of the second elastic member 508 is connected to the first side door panel 502, and the other end of the second elastic member 508 is connected to the fixing bracket 501. When the side door module 500 blocks the access opening 110 of the cargo compartment 101 and the side door module 500 is in an expanded state, the second elastic member 508 is pre-stretched. When the side door module 500 contacts and blocks the access opening 110 of the cargo compartment 101, the second elastic member 508 can quickly switch to a flat state under the action of the elastic restoring force.

[0247] It should be noted that the second elastic member can be selected from: elastic members such as springs and rubber strips. Of course, other elastic members can also be selected, and the embodiments of the present application do not limit this.

[0248] Optionally, referring to FIG10 , the deck module 100 may be provided with a baffle 406 on a side adjacent to the side door module 500 for shielding the side door module 500. The baffle 406 may be connected to the deck frame 405 . The baffle 406 can reduce the gap between the deck module 100 and the side door module 500 , thereby preventing materials from falling through the gap when the deck module 100 is used to store materials, or preventing an operator from placing materials into the gap when placing materials from the loading / unloading opening 110 of the cargo hold 101 .

[0249] Optionally, referring to FIG15 , there are multiple side door modules 500, and adjacent side door modules 500 can be connected and combined to accommodate different sizes of cargo compartments 101. In this embodiment of the present application, by providing multiple side door modules 500 on the fuselage 100, adjacent side door modules 500 can be connected and combined to form a larger side door module 500 to provide shielding for the larger cargo compartment 101. Thus, the size of the corresponding side door module 500 can be adjusted according to the size of the cargo compartment 101 to ensure that the side door module 500 matches the cargo compartment 101.

[0250] In some embodiments, multiple side door modules 500 can be sequentially connected to the fuselage 100 along the vertical direction. The fuselage is provided with multiple installation slots spaced apart vertically, with side door modules 500 correspondingly positioned between adjacent installation slots 107. In specific applications, the arrangement of the corresponding side door modules 500 can be determined based on the position and number of the compartment layer modules 400 installed in the installation slots 107 of the fuselage 100. This allows each cargo hold 101 to correspond to a corresponding side door module 500, or a combination of multiple side door modules 500. This allows the side door modules 500 to provide shielding for cargo holds of varying sizes.

[0251] Optionally, referring to FIG. 15 , the material storage and retrieval device further includes a synchronization retaining member 506 , which is configured to be connected to at least two side door modules 500 to achieve synchronous rotation of the at least two side door modules 500 .

[0252] In the embodiment of the present application, by providing a synchronous retaining member 506 that is detachably connected to the side door module 500, different numbers of side door modules 500 can be selected according to the size of different access openings 110. Multiple side door modules 500 can be connected together using the synchronous retaining member 506 to form an integrated combined side door module 500. This facilitates the synchronous rotation of multiple connected side door modules 500 relative to the body 100, thereby enabling the blocking or unblocking of the same access opening 110, making operation more convenient and flexible, and improving the applicability of the material storage and retrieval device.

[0253] In some embodiments, the synchronization retaining member 506 can be a connecting plate. When multiple side door modules 500 need to be connected and combined together, the second side door panels 503 in two adjacent side door modules 500 can be connected together through the connecting plate in the multiple side door modules 500 so that the two adjacent side door modules 500 move synchronously.

[0254] Of course, the first side door panels 502 of two adjacent side door modules 500 can also be connected by a synchronization retaining member 506, or the third side door panels 504 of two adjacent side door modules 500 can be connected by a synchronization retaining member 506. This allows the multiple side door modules 500 to move synchronously, and the reassembled side door module 500 can also switch between a flat state and an expanded state.

[0255] Optionally, referring to Figure 18, the material storage and retrieval device also includes a plurality of third trigger members 112 arranged along the arrangement direction of the cargo warehouse 101 and a third sensor 205 arranged on the picking and placing device 200. The third sensor 205 is used to generate a trigger signal when the supporting mechanism 201 of the picking and placing device 200 for supporting materials passes through the third trigger member 112, thereby obtaining the position of the supporting mechanism 201.

[0256] In an embodiment of the present application, a plurality of third trigger members 112 are provided on the fuselage 100, and the plurality of third trigger members 112 are provided along the arrangement direction of the cargo hold 101, and a third sensor 205 is provided on the picking and placing device 200, so that when the supporting mechanism 201 in the picking and placing device 200 moves relative to the fuselage 100, when the supporting mechanism 201 moves to the position corresponding to the target cargo hold, the third trigger member 112 at the corresponding position can trigger the third sensor 112, so as to accurately detect the moving position of the supporting mechanism 201.

[0257] It should be noted that the fuselage 100 is provided with multiple cargo bins 101, and each cargo bin 101 corresponds to at least one third trigger member 112. Therefore, when the supporting mechanism 201 of the picking and placing device 200 passes through each cargo bin 101, the third sensor 205 on the picking and placing device 200 can sense the third trigger member 112 corresponding to each cargo bin 101, and then the third sensor 112 is triggered, so that the real-time position of the supporting mechanism 201 can be determined according to the corresponding position of the third trigger member 112 that triggers the third sensor 205.

[0258] Optionally, referring to FIG. 19 and FIG. 20 , the material storage and retrieval device further includes a fourth sensor 204 provided on the retrieval device 200 , and the fourth sensor 204 is used to detect whether foreign matter is clamped during the operation of the retrieval device 200 .

[0259] In an embodiment of the present application, a fourth sensor 204 is provided in the picking and placing device 200. The fourth sensor 204 can detect whether the picking and placing device 200 is holding foreign objects during operation. When the fourth sensor 204 is triggered, the picking and placing device 200 is promptly controlled to stop moving, thereby avoiding safety accidents and improving the safety of the material storage and retrieval device.

[0260] For example, during the folding and lifting process of the pick-and-place device 200, the space around the pick-and-place device 200 is prone to a risk of pinching hands or crushing foreign objects. The fourth sensor 204 can sense even slight external forces. During the operation of the pick-and-place device 200, if the fourth sensor 204 is triggered, the pick-and-place device 200 immediately stops, preventing safety accidents.

[0261] Optionally, the number of the fourth sensors 204 is at least three, and the at least three fourth sensors 204 are respectively arranged on both sides and the bottom of the supporting mechanism 201 .

[0262] In this embodiment of the present application, fourth sensors 204 are provided on both sides of the support mechanism 201 to prevent foreign objects from becoming trapped in the folding space of the support mechanism 201 during the folding process. Furthermore, a fourth sensor 204 is also provided at the bottom of the support mechanism 201 to prevent foreign objects from becoming trapped in the bottom space of the support mechanism 201 during the lifting process. By providing multiple fourth sensors 204 around the support mechanism 201, effective safety monitoring of hazardous areas during the operation of the support mechanism 201 is achieved, thereby improving the safety of the support mechanism 201 during its movement.

[0263] Optionally, referring to Figure 29, the supporting mechanism 201 is further provided with a fourth trigger member 2041 at a position corresponding to the fourth sensor 204. The fourth trigger member 2041 is movably connected to the supporting mechanism 201. The fourth trigger member 2041 can trigger the fourth sensor 204 in response to the user's touch operation.

[0264] In an embodiment of the present application, a fourth trigger member 2041 is provided on the support mechanism 201 at a position corresponding to the fourth sensor 204. The fourth trigger member 2041 is movably connected to the support mechanism. When the fourth trigger member 2041 is subjected to external touch pressure, the fourth trigger member 2041 moves relative to the support mechanism, thereby triggering the fourth sensor 204 to control the support mechanism 201 to stop moving. Through the cooperation of the fourth trigger member 2041 and the fourth sensor 204, it is possible to effectively monitor the dangerous areas during the operation of the support mechanism 201, thereby improving the safety of the movement of the support mechanism 201. Specifically, the fourth trigger member 2041 can be provided at the bottom of the support mechanism 201, and the fourth sensor 204 is located between the fourth trigger member 2041 and the support mechanism 201. The fourth trigger member 2041 and the fourth sensor 204 are arranged relative to each other, and the fourth trigger member 2041 can be rotatably connected to the support mechanism 201. When the fourth triggering member 2041 is subjected to an external force, the fourth triggering member 2041 moves toward the fourth sensor 204 to trigger the fourth sensor 204 .

[0265] In a specific application, when the supporting mechanism 201 is raised and lowered along the body 100 , if a foreign object is trapped in the bottom space of the supporting mechanism 201 , the fourth triggering member 2041 is touched by the foreign object and moves toward the fourth sensor 204 , thereby triggering the fourth sensor 204 .

[0266] It should be noted that the bottom of the supporting mechanism 201 may be provided with multiple fourth triggering members 2041 and multiple fourth sensors 204, with the positions and numbers of the fourth triggering members 2041 corresponding to the four sensors 204. The specific structures of the fourth triggering members 2041 and the four sensors 204 can be designed according to actual needs with reference to existing technologies.

[0267] The linear velocity of the main body 100 is controlled to be approximately equal to the linear velocity of the first conveyor belt 20111, so that the material can slide smoothly to the ground or the receiving surface, thereby preventing friction damage between the material and the ground or the receiving surface. Of course, the specific linear velocity can be set according to actual needs and is not limited in this embodiment of the present application.

[0268] It should be noted that in other embodiments, as shown in Figures 30 and 31 , the shielding assembly 300 may include a sliding door 3041 and a sliding drive assembly 3042 that drives the sliding door 3041; specifically, the sliding drive assembly 3042 drives the sliding door 3041 back and forth. Alternatively, as shown in Figures 32 and 33 , the shielding assembly 300 may include a rotating door 3051 and a rotating drive assembly 3052 that drives the rotating door 3051; specifically, the rotating drive assembly 3052 drives the rotating door 3051 back and forth. Furthermore, the sliding door 3041 or rotating door 3051 may be a single door or a double door. The number of sliding doors 3041 or rotating doors 3051 is not limited and may be one, two, or more. Furthermore, the shielding assembly 300 is not limited to the embodiments listed in this application; those skilled in the art may configure it according to actual needs.

[0269] In summary, the material storage and retrieval device described in the embodiments of the present application can at least include the following advantages:

[0270] In an embodiment of the present application, the material storage and retrieval device is provided with a plurality of warehouses 101 for accommodating materials, and each warehouse 101 is provided with a window 102 for taking and placing materials. By providing a taking and placing device 200, materials can be taken out of the warehouse 101 through the window 102 of the warehouse 101, or external materials can be placed into the warehouse 101. By providing a movable shielding component 300 to shield the window 102, the protection of the privacy inside the warehouse 101 can be improved. By providing the shielding component 300 and the taking and placing device 200 to operate automatically, the shielding component 300 can be released from the window 102 of the target warehouse when the taking and placing device 200 needs to take or place materials, and after the material transfer is completed, the window 102 of the target warehouse can be shielded. In this way, the automatic taking and placing of materials is convenient, and the privacy inside the warehouse 101 can be effectively protected, and the risk of material loss in the warehouse 101 can be reduced. Moreover, the structure is simple and easy to automatically control.

[0271] 34 , a flow chart of a method for controlling a material storage and retrieval device according to an embodiment of the present application is shown. The method for controlling a material storage and retrieval device according to an embodiment of the present application includes the following specific steps:

[0272] Step 101: Receive a user instruction, wherein the user instruction includes a pickup instruction or a stocking instruction.

[0273] In an embodiment of the present application, after receiving a pickup instruction or inventory instruction issued by the user, the controller 600 can obtain material information and warehouse information, wherein the material information at least includes: material size information, corresponding number information, etc., and the warehouse information at least includes: the vacancy status of the warehouse, etc.

[0274] Specifically, when a user issues a stocking instruction or a pickup instruction, the user can actively input the corresponding material information, and the controller 600 can automatically detect the usage of the warehouse 101 to obtain the warehouse 101 information. Of course, it is also possible to set up a detection device to detect and obtain the material information of the target material, and send the detected material information to the controller 600.

[0275] Step 102: Determine a target warehouse among multiple warehouses.

[0276] In an embodiment of the present application, material information and warehouse information are obtained based on the received instruction information, so as to determine the location of the target warehouse for picking up and placing materials.

[0277] Specifically, when inventory is needed, the target warehouse can be determined based on the availability of warehouses and the received material size information; when shipment is needed, the target warehouse can be determined based on the order number. The order information may include the location or number of the target warehouse.

[0278] In the embodiments of the present application, multiple cargo bins 101 can be stacked vertically or arranged side by side horizontally. The following description will focus on the embodiment in which the cargo bins 101 are stacked vertically. Those skilled in the art will appreciate that the principles of the horizontally stacked and vertically stacked configurations are the same.

[0279] Step 103: Control the shielding component to release the shielding of the target cargo hold, and shield other cargo holds except the target cargo hold.

[0280] In this embodiment of the present application, the shielding assembly 300 is controlled to remove the shielding from the target warehouse, thereby exposing the window 102 of the target warehouse, thereby facilitating the transfer of materials into or out of the target warehouse through the window 102. Simultaneously, the shielding assembly 300 is controlled to shield the other warehouses 101 outside the target warehouse, thereby protecting the interiors of the other warehouses 101 during the process of taking or placing materials.

[0281] Step 104: Control the pick-and-place device to transfer the material to the target warehouse or transfer the material out of the target warehouse.

[0282] It should be noted that the control method of the material storage and retrieval device in the embodiment of the present application can be applied to the material storage and retrieval device in any of the above embodiments. The specific structure of the material storage and retrieval device can be found in the above content, and the embodiment of the present application will not be repeated here.

[0283] In summary, the material storage and retrieval device control method described in the embodiments of the present application can at least include the following advantages:

[0284] In an embodiment of the present application, by receiving a user instruction, the user instruction includes a pickup instruction or a storage instruction; determining a target warehouse among multiple warehouses 101; controlling the shielding component 300 to remove the shielding of the target warehouse and at the same time shield the other warehouses 101 outside the target warehouse; controlling the pick-up and placement device 200 to transfer materials to the target warehouse or to transfer materials out through the window 102 of the target warehouse. By controlling the shielding component 300 to remove the shielding of the target warehouse and at the same time shielding the other warehouses 101 outside the target warehouse, and then controlling the pick-up and placement device 200 to transfer materials into or out of the target warehouse through the window 102 of the target warehouse, the material transfer between the pick-up and placement device 200 and the target warehouse is facilitated, and the privacy inside the other warehouses 101 can be effectively protected, thereby reducing the risk of material loss in the other warehouses 101 and achieving the linkage effect of cargo pick-up and placement and warehouse 101 shielding.

[0285] 35 , a flow chart of another method for controlling a material storage and retrieval device according to an embodiment of the present application is shown. The method for controlling a material storage and retrieval device according to an embodiment of the present application includes the following specific steps:

[0286] Step 201: receiving a user instruction, wherein the user instruction includes a pickup instruction or a storage instruction;

[0287] In the embodiment of the present application, the specific embodiment process of this step can be performed with reference to step 101, and the embodiment of the present application will not be repeated here.

[0288] Step 202: Determine a target warehouse among multiple warehouses.

[0289] In the embodiment of the present application, the specific embodiment process of this step can be performed with reference to step 201, and the embodiment of the present application will not be repeated here.

[0290] Step 203: Control the supporting mechanism of the pick-and-place device for supporting the material to move to a target position corresponding to the target warehouse.

[0291] In the embodiment of the present application, the pick-and-place device 200 includes a supporting mechanism 201, which is used to support materials during the material transfer process. The supporting mechanism 201 is controlled to move to a target position corresponding to a target warehouse, so that materials can be transferred between the supporting mechanism 201 and the target warehouse.

[0292] Optionally, step 203 may include: controlling the supporting mechanism to move to a target position corresponding to the target cargo warehouse, and simultaneously the shielding assembly also moves so that the opening and closing end of the shielding assembly moves to the vicinity of the target position.

[0293] In the embodiment of the present application, when the supporting mechanism 201 is controlled to move to the target position corresponding to the target warehouse, the shielding assembly 300 is simultaneously controlled to move so that the opening and closing end 301 of the shielding assembly 300 is also moved to the vicinity of the target position corresponding to the target warehouse.

[0294] Optionally, the shielding assembly 300 includes a first curtain assembly 302 and a second curtain assembly 303 , wherein a first end of the first curtain assembly 302 close to the second curtain assembly 303 and a second end of the second curtain assembly 303 close to the first curtain assembly 302 are combined to form an opening and closing end 301 .

[0295] When the supporting mechanism 201 is controlled to move to the target position corresponding to the target warehouse, the first curtain assembly 302 and the second curtain assembly 303 are simultaneously controlled to move, so that the opening and closing end 301 formed by the first end of the first curtain assembly 302 and the second end of the second curtain assembly 303 moves to the vicinity of the target position, thereby realizing the linkage between the picking and placing device 200 and the shielding assembly 300.

[0296] Optionally, in one embodiment, when the user instruction is an inventory instruction, before step 203, the following steps are further included:

[0297] Control the support mechanism to move to a set height that is convenient for users to place goods, so that users can place materials on the support mechanism.

[0298] Optionally, in another embodiment, when the user instruction is an inventory instruction, before step 203, the following steps may be further performed:

[0299] The supporting mechanism 201 is controlled to move to the ground or a placing surface (a table or a shelf, etc.), and the picking and placing device 200 automatically transfers the materials into the supporting mechanism 201 .

[0300] In the embodiment of the present application, when a user needs to stock up, the user issues a stocking command, and the supporting mechanism 201 moves relative to the body 100 to a set height that is convenient for the user to place the items, thereby facilitating the user to place the items on the retrieval device 200. Alternatively, the user may place the items on the ground or a storage surface in advance. After the user issues a stocking command, the supporting mechanism 201 moves to the ground or a storage surface (such as a table or shelf), and the retrieval device 200 automatically transfers the items to the supporting mechanism 201.

[0301] Step 204: Control the shielding component to release the shielding of the target cargo warehouse, and shield other cargo warehouses except the target cargo warehouse.

[0302] In an embodiment of the present application, the shielding component 300 is controlled to remove the shielding of the target warehouse to expose the window 102 of the target warehouse, so as to facilitate the transfer of materials into or out of the target warehouse through the window 102. At the same time, the shielding component 300 is controlled to shield other warehouses 101 outside the target warehouse.

[0303] Optionally, the shielding assembly 300 includes a first curtain assembly 302 and a second curtain assembly 303, wherein a first end of the first curtain assembly 302 adjacent to the second curtain assembly 303 and a second end of the second curtain assembly 303 adjacent to the first curtain assembly 302 are combined to form an opening and closing end 301; then the step of controlling the shielding assembly to release the shielding of the target cargo hold in step 204 specifically includes:

[0304] The supporting mechanism and the second curtain assembly are controlled to stop moving, and the first curtain assembly is controlled to continue moving until the target cargo hold is opened.

[0305] Specifically, when the supporting mechanism 201 moves to the target position and the opening and closing end 301 of the shielding assembly 300 also moves to the vicinity of the target position, the supporting mechanism 201 and the second curtain assembly 303 are controlled to stop moving, and the first curtain assembly 302 is further controlled to continue moving, so that the first end of the first curtain assembly 302 moves in a direction away from the second end of the second curtain assembly 303. A certain gap exists between the first end of the first curtain assembly 302 and the second end of the second curtain assembly 303, and the gap just corresponds to the window 102 of the target warehouse, so that the opening and closing end 301 opens to expose the window 102, thereby removing the obstruction of the window 102 of the target warehouse.

[0306] Step 205: Control the pick-and-place device to transfer the material to the target warehouse or transfer the material out of the target warehouse.

[0307] In the embodiment of the present application, the pick-and-place device 200 is controlled to move to the position corresponding to the target warehouse, and the external materials are transferred into the target warehouse, or the materials in the target warehouse are transferred out of the target warehouse.

[0308] Optionally, the supporting mechanism 201 includes a first conveyor belt 20111, a warehouse plate module 400 is correspondingly provided at the bottom of the warehouse 101, and the warehouse plate module 400 includes a second conveyor belt 4011; if the user instruction is a pickup instruction, step 205 may include:

[0309] Step 2051a: Control the operation of the first conveyor belt and the second conveyor belt on the warehouse plate layer module corresponding to the target warehouse to transfer materials from the second conveyor belt to the first conveyor belt.

[0310] In the embodiment of the present application, the support mechanism 201 includes a first conveyor belt 20111. During material transfer, the first conveyor belt 20111 can move away from the warehouse 101. Accordingly, a warehouse floor module 400 is provided at the bottom of the warehouse 101. The warehouse floor includes a second conveyor belt 4011. The second conveyor belt 4011 can move toward the support mechanism 201. During material transfer, the running direction of the first conveyor belt 20111 is antiparallel to that of the second conveyor belt 4011.

[0311] Specifically, the first conveyor belt 20111 in the supporting mechanism 201 and the second conveyor belt 4011 in the target warehouse are controlled to run synchronously so as to transfer the materials in the target warehouse from the second conveyor belt 4011 to the first conveyor belt 20111. During the material transfer process, the movement directions of the first conveyor belt 20111 and the second conveyor belt are consistent.

[0312] In some embodiments, the operating linear speed of the first conveyor belt 20111 can be controlled to be the same as the operating linear speed of the second conveyor belt 4011 so that materials can be smoothly transferred between the first conveyor belt 20111 and the second conveyor belt 4011.

[0313] Step 2052a: When the material completely enters the supporting mechanism or enters the middle area of ​​the supporting mechanism, control the first conveyor belt and the second conveyor belt to stop running.

[0314] In the embodiment of the present application, after all the materials have entered the supporting mechanism 201, the first conveyor belt 20111 and the second conveyor belt 4011 are controlled to stop running so that the materials are placed on the supporting mechanism 201. The specific location where the materials are placed after entering the supporting mechanism 201 can be set according to actual needs and is not limited in this embodiment.

[0315] Optionally, after step 2052a, the method further includes:

[0316] a1, controlling the first curtain assembly to move until it covers the target cargo hold;

[0317] a2, controlling the supporting mechanism to leave the target warehouse;

[0318] a3, controlling the first curtain body assembly and the second curtain body assembly to move along with the supporting mechanism;

[0319] a4, controlling the supporting mechanism to move to a pickup position; wherein the pickup position includes the ground or a placing surface or a set height that is convenient for users to pick up goods.

[0320] In this embodiment of the present application, after all the materials have entered the support mechanism 201, the first end of the first curtain assembly 302 is further controlled to move toward the second curtain assembly 303 until the first curtain assembly 302 covers the target cargo compartment. The support mechanism 201 is then controlled to move relative to the fuselage 100 so that the support mechanism 201 moves away from the position corresponding to the target cargo compartment. During this movement of the support mechanism 201 relative to the fuselage 100, the first curtain assembly 302 and the second curtain assembly 303 are controlled to move synchronously therewith.

[0321] When the support mechanism 201 moves to the pickup position, the support mechanism 201, the first curtain assembly 302, and the second curtain assembly 303 are controlled to stop moving synchronously. The pickup position may include the ground, a storage surface, or a set height convenient for users to access items. It should be noted that this set height can be a pre-set height suitable for a person's height to facilitate storage and retrieval, or it can be automatically set based on the user's height using a built-in recognition module within the material storage and retrieval device.

[0322] It should be noted that controlling the first curtain assembly 302 and the second curtain assembly 303 to move with the supporting mechanism 201 means controlling the first curtain assembly 302 and the second curtain assembly 303 to move synchronously while controlling the support mechanism 201 to move. In this embodiment of the present application, the first curtain assembly 302 is configured to move autonomously. For example, referring to FIG3 , the first curtain assembly 302 includes a first curtain body 3021 and a curtain driving mechanism 3022. The curtain driving mechanism 3022 is mounted on the body 100 and connected to the first curtain body 3021. The curtain driving mechanism 3022 can be used to drive the first curtain body 3021 to move. The second curtain assembly 303 is configured to move with the supporting mechanism. For example, referring to FIG5 , the second curtain assembly 303 includes a second curtain body 3031. One end of the second curtain body 3031 is connected to the body 100 and the other end is connected to the supporting mechanism 201. The supporting mechanism 201 can drive the second curtain body 3031 to move.

[0323] Optionally, when the pickup position is at the set height, after step a4, the method further includes:

[0324] After the material leaves the supporting mechanism, the picking and placing device is controlled to move to a preset initial position.

[0325] In this embodiment of the present application, the support mechanism 201 moves to a set height, and the user removes materials from the support mechanism 201. After the materials are removed from the support mechanism 201, the pick-and-place device 200 is controlled to move to a preset initial position for the next retrieval operation. The initial position is flush with or slightly below the bottom of the first-level cargo hold 101 closest to the ground.

[0326] Optionally, when the pickup location is the ground or the storage surface, after step a4, the following steps may be further included:

[0327] controlling the operation of the first conveyor belt to transfer the material to the ground or a storage surface;

[0328] After the material leaves the pick-up and placement device, the pick-up and placement device is controlled to move to a preset initial position.

[0329] Specifically, after the support mechanism 201 moves to the ground or a storage surface, the first conveyor belt 20111 can be controlled to rotate toward the ground or storage surface to transfer the material to the ground or storage surface, thereby allowing the material to be released from the support mechanism 201 and placed on the ground or storage surface, thereby achieving automatic unloading of the material. After the material is completely released from the retrieval device 200, the retrieval device 200 is controlled to move to a preset initial position to facilitate the next retrieval operation.

[0330] Optionally, the step of controlling the first conveyor belt to transfer the material to the ground or the storage surface specifically includes:

[0331] The first conveyor belt is controlled to operate while the main body of the material storage and retrieval device moves simultaneously. The linear velocity of any point on the supporting surface of the first conveyor belt for supporting materials is approximately equal to and in the opposite direction of the linear velocity of the main body of the material storage and retrieval device. In this embodiment of the present application, the material storage and retrieval device includes an automatic travel device 700 to drive the main body 100. The linear velocity of the main body 100 is the linear velocity of the automatic travel device 700.

[0332] In the example of the present application, in the process of transferring the material on the supporting mechanism 201 to the ground or the holding surface, the first conveyor belt 20111 is controlled to rotate toward the ground or the holding surface, so that the material is transferred from the supporting mechanism 201 to the ground or the holding surface. At the same time, the body 100 of the material storage and retrieval device is controlled to move in the opposite direction, that is, the moving direction of the body 100 is opposite to the running direction of the first conveyor belt 20111, and the moving linear speed of the first conveyor belt 20111 is controlled to be approximately equal to the moving linear speed of the body 100, so that the material is smoothly transferred to the ground or the holding surface, avoiding friction damage between the material and the ground or the holding surface.

[0333] Optionally, the supporting mechanism 201 includes a first conveyor belt 20111, a storage board module 400 is correspondingly provided at the bottom of the warehouse 101, and the storage board module 400 includes a second conveyor belt 4011; if the user instruction is an inventory instruction, step 205 may include:

[0334] Step 2051b: Control the first conveyor belt of the supporting mechanism and the second conveyor belt on the warehouse plate layer module corresponding to the target warehouse to operate, so as to transfer the material from the first conveyor belt to the second conveyor belt.

[0335] In the embodiment of the present application, the support mechanism 201 includes a first conveyor belt 20111. During material transfer, the first conveyor belt 20111 can move toward the warehouse 101. Accordingly, a warehouse floor module 400 is provided at the bottom of the warehouse 101. The warehouse floor module 400 includes a second conveyor belt 4011. The second conveyor belt 4011 can move toward the direction away from the support mechanism 201. During material transfer, the running direction of the first conveyor belt 20111 is antiparallel to the running direction of the second conveyor belt 4011.

[0336] Specifically, the first conveyor belt 20111 in the supporting mechanism 201 and the second conveyor belt 4011 in the target warehouse are controlled to run synchronously so as to transfer the material on the supporting mechanism 201 from the first conveyor belt 20111 to the second conveyor belt 4011. During the material transfer process, the movement directions of the first conveyor belt 20111 and the second conveyor belt are consistent.

[0337] In some embodiments, the operating linear speed of the first conveyor belt 20111 can be controlled to be the same as the operating linear speed of the second conveyor belt 4011 so that materials can be smoothly transferred between the first conveyor belt 20111 and the second conveyor belt 4011.

[0338] Step 2052b, when the material completely enters the warehouse 101 or the middle area of ​​the warehouse 101, control the first conveyor belt 20111 and the second conveyor belt 4011 to stop running.

[0339] In the embodiment of the present application, after all the materials have entered the cargo warehouse 101, the first conveyor belt 20111 and the second conveyor belt 4011 are controlled to stop running so that the materials are parked in the cargo warehouse 101. The specific location where the materials are parked after entering the cargo warehouse 101 can be set according to actual needs and is not limited in this embodiment.

[0340] Optionally, after step 2052b, the method further includes:

[0341] b1, controlling the first curtain assembly to move until it covers the target cargo hold;

[0342] b2, controlling the supporting mechanism to leave the target warehouse;

[0343] b3, controlling the first curtain body assembly and the second curtain body assembly to move along with the pick-and-place device;

[0344] b4. When the supporting mechanism moves to a preset initial position, the supporting mechanism and the first curtain body assembly and the second curtain body assembly are controlled to stop moving.

[0345] In this embodiment of the present application, after all the materials have entered the cargo hold 101, the first end of the first curtain assembly 302 is further controlled to move toward the second curtain assembly 303 until the first curtain assembly 302 covers the target cargo hold. The supporting mechanism 201 is then controlled to move relative to the fuselage 100 so that the supporting mechanism 201 moves away from the position corresponding to the target cargo hold. During this movement of the supporting mechanism 201 relative to the fuselage 100, the first curtain assembly 302 and the second curtain assembly 303 are controlled to move synchronously therewith. When the supporting mechanism 201 reaches the preset initial position, the supporting mechanism 201, the first curtain assembly 302, and the second curtain assembly 303 are controlled to stop moving synchronously.

[0346] It should be noted that controlling the first curtain body assembly 302 and the second curtain body assembly 303 to move following the supporting mechanism 201 means controlling the first curtain body assembly 302 and the second curtain body assembly 303 to move synchronously while controlling the supporting mechanism 201 to move.

[0347] In summary, the material storage and retrieval device control method described in the embodiments of the present application can at least include the following advantages:

[0348] In an embodiment of the present application, by receiving user instructions, the user instructions include picking instructions or inventory instructions; determining a target warehouse among multiple warehouses 101; controlling the supporting mechanism 201 of the picking and placing device 200 for supporting materials to move to the target position corresponding to the target warehouse; controlling the shielding component 300 to release the shielding of the target warehouse, and at the same time shielding other warehouses 101 outside the target warehouse; controlling the picking and placing device 200 to transfer the materials to the target warehouse or transfer the materials out through the window 102 of the target warehouse. By moving both the supporting mechanism 201 and the shielding component 300 to the target position, the shielding component 300 is controlled to release the shielding of the target warehouse, and at the same time shield other warehouses 101 outside the target warehouse, the picking and placing device 200 is controlled to transfer materials into or out of the target warehouse through the window 102 of the target warehouse, thereby facilitating the transfer of materials between the picking and placing device 200 and the target warehouse, and effectively protecting the privacy inside other warehouses 101, reducing the risk of material loss in other warehouses 101, and realizing the linkage effect of cargo picking and placing and warehouse shielding.

[0349] 36 , a flow chart of another method for controlling a material storage and retrieval device according to an embodiment of the present application is shown. The method for controlling a material storage and retrieval device according to an embodiment of the present application specifically includes the following steps:

[0350] Step 301 : When the material storage and retrieval device is powered on, control the material storage and retrieval device to perform a self-check.

[0351] In an embodiment of the present application, when the material storage and retrieval device is required to perform a picking or storage operation, the material storage and retrieval device is controlled to be powered on, and the material storage and retrieval device is controlled to perform a self-check to detect whether all parts of the material storage and retrieval device are in a normal operating state, so as to restore the material storage and retrieval device to a normal operating state to perform subsequent operations.

[0352] Optionally, step 301 includes:

[0353] Step 3011: When the power-on state of the material storage and retrieval device meets a first preset condition, a first self-check operation is performed.

[0354] In an embodiment of the present application, a first preset condition of the material storage and access device can be set in advance, and then after the material storage and access device is powered on, it is determined whether the power-on status of the material storage and access device meets the first preset condition. When the power-on status of the material storage and access device meets the first preset condition, a first self-test operation can be performed.

[0355] The first preset condition is that the material storage and retrieval device is powered on for the first time and / or the material storage and retrieval device is powered on for the first time after the structure of the material storage and retrieval device is changed.

[0356] It is understandable that when the material storage and retrieval device is powered on for the first time, or when it is powered on for the first time after the structure of the material storage and retrieval device is changed, the status of the various parts of the material storage and retrieval device is unknown. The controller 600 needs to perform a self-test operation to determine whether the status of the various parts of the material storage and retrieval device is normal. If the status is normal, subsequent material transfer operations are performed. If the status is abnormal, the working status of the various parts of the material storage and retrieval device needs to be restored to the initial state for subsequent accurate control.

[0357] Optionally, the pick-and-place device 200 includes a supporting mechanism 201 for supporting materials, a folding drive mechanism 203 for driving the supporting mechanism 201 to flip, and a lifting drive mechanism 202 for driving the supporting mechanism 201 to lift and lower. The first self-check operation in step 3011 includes:

[0358] Controlling the folding drive mechanism to reset;

[0359] When the folding drive mechanism is reset normally, controlling the lifting drive mechanism to reset;

[0360] When the lifting drive mechanism is reset normally, controlling the shielding assembly 300 to reset;

[0361] When the shielding assembly is reset normally, the folding drive mechanism is controlled to drive the supporting mechanism to switch from the stored state to the unfolded state;

[0362] When the taking-and-placing device switches from the stored state to the deployed state normally, controlling the shielding assembly to rise and fall;

[0363] When the shielding assembly is raised and lowered normally, controlling the lifting drive mechanism to raise and lower;

[0364] When the lifting drive mechanism is lifted and lowered normally, the supporting mechanism and the shielding assembly are controlled to be lifted and lowered in sequence to achieve the height calibration and structure inspection of the cargo hold.

[0365] Step 3012: When the power-on status of the material storage and retrieval device does not meet the first preset condition, perform a second self-check operation.

[0366] In the embodiment of the present application, when it is determined that the power-on state of the material storage and retrieval device does not meet the first preset condition, a second self-check operation is performed accordingly, wherein the second self-check operation is different from the first self-check operation.

[0367] Optionally, the pick-and-place device 200 includes a supporting mechanism 201 for supporting materials, a folding drive mechanism 203 for driving the supporting mechanism 201 to flip, and a lifting drive mechanism 202 for driving the supporting mechanism 201 to lift and lower. The second self-test operation in step 3012 includes:

[0368] Controlling the folding drive mechanism to reset;

[0369] When the folding drive mechanism is reset normally, controlling the lifting drive mechanism to reset;

[0370] When the lifting drive mechanism is reset normally, the shielding assembly is controlled to be reset.

[0371] Step 302: Receive a user instruction, where the user instruction includes a pickup instruction or a stocking instruction.

[0372] In the example of the present application, the specific implementation process of this step can be performed with reference to step 101, and the example of the present application will not be repeated here.

[0373] Step 303: Determine a target warehouse among multiple warehouses.

[0374] In the example of the present application, the specific implementation process of this step can be performed with reference to step 102, and the example of the present application will not be repeated here.

[0375] Step 304: Control the shielding component to release the shielding of the target cargo warehouse, and shield other cargo warehouses except the target cargo warehouse.

[0376] In the example of the present application, the specific implementation process of this step can be performed with reference to step 103, and the example of the present application will not be repeated here.

[0377] Step 305: Control the pick-and-place device to transfer the material to the target warehouse or transfer the material out through the window of the target warehouse.

[0378] In the example of the present application, the specific implementation process of this step can be performed with reference to step 104, and the example of the present application will not be repeated here.

[0379] In summary, the material storage and retrieval device control method described in the embodiments of the present application can at least include the following advantages:

[0380] In the embodiment of the present application, when the material storage and retrieval device is powered on, the device is controlled to perform a self-check and receive user instructions, including a pickup instruction or a storage instruction; a target warehouse is determined among multiple warehouses 101; the shielding assembly 300 is controlled to remove the shielding from the target warehouse and simultaneously shield the other warehouses 101 outside the target warehouse; and the retrieval device 200 is controlled to transfer materials to the target warehouse or to transfer materials out through the window 102 of the target warehouse. By performing a self-check on the material storage and retrieval device before performing retrieval and placement, all parts of the material storage and retrieval device are reset, facilitating subsequent precise control. Then, the shielding component 300 is controlled to release the shielding of the target warehouse, and at the same time shield other warehouses 101 outside the target warehouse, and then the picking and placing device 200 is controlled to transfer materials into or out of the target warehouse through the window 102 of the target warehouse, thereby facilitating the transfer of materials between the picking and placing device 200 and the target warehouse, and effectively protecting the privacy inside other warehouses 101, reducing the risk of material loss in other warehouses 101, and improving the accuracy and safety of the material storage and retrieval device.

[0381] The embodiment of the present application also provides another robot, which includes: a body 100, on which are provided a plurality of cargo bins 101 for accommodating materials, and the cargo bins 101 have windows 102 for allowing materials to enter or exit; a pick-and-place device 200, which is used to transfer materials into a target cargo bin through the window 102 of the target cargo bin among the plurality of cargo bins 101, or to transfer materials out of the target cargo bin through the window 102; a shielding component 300, which is movably connected to the body 100 and is used to In the blocked warehouse 101; the controller 600, the pick-and-place device 200 and the blocking component 300 are all electrically connected to the controller 600; the controller 600 is used to control the blocking component 300 to release the blocking of the window 102 of the corresponding target warehouse, and block the windows 102 of other warehouses 101 outside the target warehouse, and control the pick-and-place device 200 to complete the transfer of materials after the target warehouse is unblocked; after the material transfer is completed, the controller 600 controls the blocking component 300 to block the window 102 of the target warehouse again.

[0382] In an embodiment of the present application, the robot is provided with a plurality of warehouses 101 for accommodating materials, and each warehouse 101 is provided with a window 102 for taking and placing materials. By setting a taking and placing device 200, materials can be taken out of the warehouse 101 through the window 102 of the warehouse 101, or external materials can be placed into the warehouse 101. A movable shielding component 300 is provided to shield the window 102 to improve the protection of the privacy inside the warehouse 101. Moreover, in the process of the taking and placing device 200 taking and placing materials from the warehouse 101, the shielding component 300 is released from the window 102 of the corresponding warehouse 101 through the controller 600. After the material transfer is completed, the shielding component 300 shields the window 102 of the target warehouse, which is convenient for the automatic taking and placing of materials in the warehouse 101, and can effectively protect the privacy inside the warehouse 101, reducing the risk of loss of materials in the warehouse 101. The structure is simple, easy to operate under automatic control, and the overall safety of the robot is higher.

[0383] It should be noted that the specific structure and working principle of the robot described in this embodiment can refer to the material storage and retrieval devices described in the aforementioned embodiments, and will not be described in detail in this embodiment.

[0384] The embodiment of the present application also provides another material storage and retrieval device, which includes: a fuselage 100, on which are provided a plurality of cargo bins 101 for accommodating materials; a plurality of bin plate layer modules 400, which are detachably connected to the fuselage 100 and are arranged in sequence and spaced apart, for dividing the fuselage 100 into a plurality of cargo bins 101; the bin plate layer modules 400 include: a second conveying component 401, which is used to transport materials out of the cargo bin 101 or to transport materials that have just entered the cargo bin 101 to the inside of the cargo bin 101; and a second conveying drive mechanism 402, which is connected to the second conveying component 401 and is used to drive the second conveying component 401 to operate.

[0385] In an embodiment of the present application, a plurality of warehouse plate layer modules 400 are detachably connected to the fuselage 100. The fuselage 100 can be divided into a plurality of cargo holds 101 by means of a plurality of warehouse plate layer modules 400 arranged at intervals. The warehouse plate layer module 400 includes a second conveying component 401, which is driven to operate by a second conveying drive mechanism 402. The second conveying component 401 transports materials out of the cargo hold 101 or transports materials that have just entered the cargo hold 101 to the interior of the cargo hold 101, thereby enabling the automatic taking and placing of materials to be achieved by means of a material storage and retrieval device.

[0386] Specifically, the material storage and retrieval device includes a fuselage 100, and a plurality of bin plate layer modules 400 are arranged on the fuselage 100. The plurality of bin plate layer modules 400 are arranged at intervals, and two adjacent bin plate layer modules 400 and the fuselage 100 can be enclosed to form a cargo hold 101 for accommodating materials. A plurality of bin plate layer modules 400 can be formed by forming a plurality of cargo holds 101. By adjusting the position of the bin plate layer module 400 on the fuselage 100, the size of the corresponding cargo hold 101 can be adjusted to form cargo holds 101 of different sizes to meet the storage needs of materials of different sizes.

[0387] The warehouse plate layer module 400 includes a second conveying drive mechanism 402 and a second conveying component 401. The second conveying mechanism is connected to the second conveying component 401. The second conveying drive mechanism 402 can drive the second conveying component 401 to move relative to the fuselage 100, thereby driving the material in the cargo warehouse 101 to move, so as to move the material in the cargo warehouse 101 out of the cargo warehouse 101, or move the material into the cargo warehouse 101.

[0388] It should be noted that the specific structure and working principle of the material storage and retrieval device described in this embodiment can refer to the material storage and retrieval devices described in the aforementioned embodiments, and this embodiment will not be repeated here.

[0389] An embodiment of the present application further provides a movable platform, which includes: a platform base and the material storage and retrieval device described in the above embodiment; wherein the material storage and retrieval device is connected to the platform base.

[0390] It should be noted that the movable platform in the embodiment of the present application may include the material storage and retrieval device in any of the above embodiments. The specific structure of the material storage and retrieval device can be found in the contents of the above embodiments, and the embodiments of the present application will not be repeated here.

[0391] In the embodiment of the present application, the material storage and retrieval device is provided with a plurality of warehouses 101 for accommodating materials, and each warehouse 101 is provided with a window 102 for taking and placing materials. By setting a taking and placing device 200, materials can be taken out of the warehouse 101 through the window 102 of the warehouse 101, or external materials can be put into the warehouse 101. A movable shielding component 300 is provided to shield the window 102 to improve the protection of the privacy inside the warehouse 101, and by setting the shielding component 300 and the taking and placing device 200, the material can be taken out of the warehouse 101 through the window 102 of the warehouse 101. The device 200 is linked to the storage device 200 so that when the picking and placing device 200 is picking up and placing materials from the cargo warehouse 101, the shielding component 300 can remove the shielding of the window 102 of the corresponding cargo warehouse 101. After the material transfer is completed, the shielding component 300 shields the window 102 of the target cargo warehouse, which is convenient for the automatic picking and placing of materials in the cargo warehouse 101, and can effectively protect the privacy inside the cargo warehouse 101, thereby reducing the risk of loss of materials in the cargo warehouse 101. The structure is simple, easy to operate with automatic control, and the overall safety of the material storage and retrieval device is higher.

[0392] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0393] References herein to "one embodiment," "an embodiment," or "one or more embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Furthermore, please note that instances of the phrase "in one embodiment" do not necessarily all refer to the same embodiment.

[0394] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures, and techniques are not shown in detail so as not to obscure the understanding of this description.

[0395] In the claims, any reference signs placed between brackets shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present application may be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

[0396] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A material storage and retrieval device, characterized in that: The material storage and access device includes: A fuselage, wherein the fuselage is provided with a plurality of cargo compartments for accommodating materials, and the cargo compartments have windows for allowing materials to enter or exit; a pick-and-place device, the pick-and-place device being used to transfer materials into a target warehouse among the multiple warehouses through a window of the target warehouse, or to transfer materials out of the target warehouse through the window of the target warehouse; and a shielding assembly, movably connected to the fuselage, for shielding the window; The shielding assembly is configured to automatically release the obstruction on the window of the corresponding target warehouse and to block the windows of other warehouses other than the target warehouse. The picking and placing device is configured to complete the transfer of materials after the obstruction on the window of the target warehouse is released; after the material transfer is completed, the shielding assembly automatically blocks the window of the target warehouse.

2. The material storage and retrieval device according to claim 1, characterized in that: The picking and placing device includes a supporting mechanism for supporting materials, and the supporting mechanism is configured to be movable relative to the fuselage and to move to a target position corresponding to a target cargo hold. In response to the supporting mechanism moving to the corresponding target position, the shielding assembly is configured to correspondingly release the shielding of the window of the target cargo hold.

3. The material storage and retrieval device according to claim 2, characterized in that: The shielding assembly has an opening and closing end for opening to expose the window or closing to cover the window, and the shielding assembly is configured to be movable relative to the fuselage to adjust the position of the opening and closing end relative to the fuselage; In response to the support mechanism moving to the corresponding target position, the opening and closing end also moves to the vicinity of the target position, and the opening and closing end releases the obstruction of the window of the target warehouse.

4. The material storage and retrieval device according to claim 3, characterized in that: The shielding assembly includes: a first curtain assembly and a second curtain assembly, wherein the first curtain assembly and the second curtain assembly are arranged along the moving direction of the supporting mechanism, and a first end of the first curtain assembly close to the second curtain assembly and a second end of the second curtain assembly close to the first curtain assembly are combined to form the opening and closing end; In response to the opening and closing end moving to the vicinity of the target position, the first curtain body component and / or the second curtain body component continues to move to open or close the opening and closing end.

5. The material storage and retrieval device according to claim 4, characterized in that: The first curtain body assembly includes: a first curtain body and a curtain body driving mechanism, and the curtain body driving mechanism is used for driving the first curtain body to move.

6. The material storage and retrieval device according to claim 4, characterized in that: The second curtain body assembly includes a second curtain body, and the second curtain body is connected to the supporting mechanism, and the supporting mechanism can drive the second curtain body to move.

7. The material storage and retrieval device according to claim 5, characterized in that: The first curtain body assembly is configured to move independently to open or close the opening and closing ends.

8. The material storage and retrieval device according to any one of claims 4 to 7, characterized in that: When the supporting mechanism is located at an initial position, the first curtain assembly independently blocks the windows of the plurality of cargo bins, and the initial position is flush with or slightly lower than a side of the first-layer cargo bin away from the other cargo bins.

9. The material storage and retrieval device according to any one of claims 4 to 7, characterized in that: The first curtain body assembly is a rolling curtain structure; and / or the second curtain body assembly is a rolling curtain structure.

10. The material storage and retrieval device according to claim 9, characterized in that: The first curtain body is a roll-up sheet, a curtain fabric or a venetian blind; and / or the second curtain body is a roll-up sheet, a curtain fabric or a venetian blind.

11. The material storage and retrieval device according to any one of claims 4 to 7, characterized in that: The plurality of cargo compartments are arranged vertically, and the supporting mechanism is configured to be able to move up and down relative to the fuselage.

12. The material storage and retrieval device according to claim 11, characterized in that: The first curtain body assembly is arranged corresponding to the upper side of the supporting mechanism, and the second curtain body assembly is arranged corresponding to the lower side of the supporting mechanism.

13. The material storage and retrieval device according to claim 5, characterized in that: Both sides of the body are provided with guide grooves arranged along the moving direction of the supporting mechanism, and the edge of the first curtain body is at least partially embedded in the guide grooves.

14. The material storage and retrieval device according to claim 5, characterized in that: The first curtain body assembly further includes: a first reel, the first reel being mounted on the fuselage, the first curtain being wound on the first reel; The curtain driving mechanism is used to drive the first roller to rotate, so that the first curtain moves through the rotation of the first roller.

15. The material storage and retrieval device according to claim 14, characterized in that: A first trigger is provided at the end of the first curtain body, and a first limiting member is provided at a position of the curtain body close to the first reel; When the end of the first curtain body moves toward the first roller shaft until the first trigger abuts against the first limiting member, the curtain body driving mechanism stops driving the first roller shaft to rotate.

16. The material storage and retrieval device according to claim 15, characterized in that: The supporting mechanism is provided with a first sensor, which is used to detect whether materials enter or exit the supporting mechanism. The first trigger cooperates with the first sensor to detect whether the first sensor is in an abnormal state.

17. The material storage and retrieval device according to claim 16, characterized in that: The first trigger is further configured to cooperate with the first sensor to obtain a distance between the first curtain body and the taking and placing device.

18. The material storage and retrieval device according to claim 5, characterized in that: The supporting mechanism is provided with a second sensor, and the first curtain body is also provided with a second trigger; or the supporting mechanism is provided with a second trigger, and the first curtain body is provided with a second sensor; The second sensor is used to obtain the distance between the first curtain body and the supporting mechanism based on the triggering of the second trigger; The controller of the material access device is used to control the movement of the supporting mechanism and / or the first curtain body based on the acquired distance information between the first curtain body and the supporting mechanism to avoid collision between the first curtain body and the supporting mechanism.

19. The material storage and retrieval device according to claim 18, characterized in that: The second sensor includes a first side sensor and a second side sensor, wherein the first side sensor and the second side sensor are respectively arranged on both sides of the supporting mechanism; The second trigger includes a first trigger member and a second trigger member, the first trigger member and the second trigger member are respectively provided on both sides of the first curtain body, the first trigger member corresponds to the first side sensor, the second trigger member corresponds to the second side sensor, the second trigger member is farther away from the supporting mechanism than the first trigger member, and there is a gap between the first trigger member and the second trigger member in the movement direction of the first curtain body; When the first side sensor senses the first trigger member, the supporting mechanism and / or the first curtain body adjusts the movement speed in the first direction so that the distance between the supporting mechanism and the first curtain body is less than a preset threshold; when the second side sensor senses the second trigger member, the supporting mechanism and / or the first curtain body stops moving or adjusts the movement speed in the first direction to avoid collision between the first curtain body and the supporting mechanism.

20. The material storage and retrieval device according to claim 19, characterized in that: The preset threshold is 5 to 20 mm.

21. The material storage and retrieval device according to claim 18, characterized in that: The second sensor is a Hall sensor, and the second trigger is a magnetic component that cooperates with the Hall sensor.

22. The material storage and retrieval device according to claim 6, characterized in that: The second curtain body assembly further includes: A second reel is installed on the machine body, and the second curtain body is wound on the second reel and connected to the supporting mechanism.

23. The material storage and retrieval device according to claim 22, characterized in that: The second curtain body assembly also includes: a second shell, the second shell is installed on the fuselage, the second reel is arranged in the second shell, the second curtain body is wound on the second reel and at least partially extends outside the second shell, and the part of the second curtain body extending outside the second shell is used to be connected to the supporting mechanism.

24. The material storage and retrieval device according to claim 6, characterized in that: The supporting mechanism is detachably connected to the second curtain body.

25. The material storage and retrieval device according to claim 24, characterized in that: When the supporting mechanism moves between the plurality of cargo warehouses, the supporting mechanism is connected to the second curtain body; when the supporting mechanism moves to a place outside the cargo warehouse, the second curtain body is separated from the supporting mechanism.

26. The material storage and retrieval device according to claim 25, characterized in that: The supporting mechanism is provided with a hook portion, and the hook portion is used for detachably connecting with the end portion of the second curtain body.

27. The material storage and retrieval device according to claim 25, characterized in that: A second limiting member is provided on the fuselage. In response to the supporting mechanism moving toward the bottom of the fuselage and beyond the cargo hold, the second limiting member limits the second curtain body to prevent the second curtain body from continuing to move, thereby releasing the connection between the second curtain body and the supporting mechanism; when the supporting mechanism moves toward the cargo hold, the hook on the supporting mechanism can be connected with the second curtain body.

28. The material storage and retrieval device according to claim 27, characterized in that: Both sides of the body are provided with limiting grooves extending along the movement direction of the second curtain body, the edge of the second curtain body is at least partially embedded in the limiting grooves, and the ends of the limiting grooves are the second limiting members.

29. The material storage and retrieval device according to claim 22, characterized in that: The second curtain body assembly also includes: a tensioner, which is connected to the second roller, and is used to provide a restoring force to the second roller to roll up the second curtain body. When the supporting mechanism moves in a direction away from the first curtain body assembly, the second curtain body can be rolled up and recovered under the action of the restoring force.

30. The material storage and retrieval device according to claim 22, characterized in that: The second curtain body assembly further includes a rotatable curtain guide shaft, which is arranged between the second winding shaft and the supporting mechanism, and is used to guide the movement of the second curtain body.

31. The material storage and retrieval device according to claim 1, characterized in that: The controller of the material storage and retrieval device is configured to: When inventory is needed, the controller determines the target warehouse based on the vacant warehouse situation and the received material size information; When shipment is required, the controller determines the target warehouse according to the order number.

32. The material storage and retrieval device according to claim 2, characterized in that: The multiple cargo bins are arranged vertically, and the picking and placing device further includes: a lifting drive mechanism, which is installed on the fuselage and connected to the supporting mechanism, and is used to drive the supporting mechanism to lift and lower vertically.

33. The material storage and retrieval device according to claim 32, characterized in that: The lifting drive mechanism can drive the supporting mechanism to move to the ground at the bottom of the fuselage to realize self-service pickup from the ground or automatic unloading to the ground.

34. The material storage and retrieval device according to claim 2, characterized in that: The supporting mechanism includes: a first conveying assembly, the first conveying assembly being used to transfer materials into the cargo bin or to transfer materials out of the cargo bin; and a first conveying drive mechanism, wherein the first conveying drive mechanism is connected to the first conveying assembly and is used to drive the first conveying assembly to operate.

35. The material storage and retrieval device according to claim 1 or 34, characterized in that: The material storage and retrieval device further includes: a plurality of warehouse board layer modules, which are arranged in sequence and spaced apart to separate the fuselage into a plurality of the cargo holds.

36. The material storage and retrieval device according to claim 35, characterized in that: The warehouse board layer module includes: a second conveying assembly, which can be docked with the first conveying assembly on the supporting mechanism and is used to transfer materials on the first conveying assembly to the warehouse, or transfer materials in the warehouse to the first conveying assembly; and a second conveying drive mechanism, wherein the second conveying drive mechanism is connected to the second conveying assembly and is used to drive the second conveying assembly to operate.

37. The material storage and retrieval device according to claim 36, characterized in that: The second conveying assembly includes: a second conveying belt and a second rotating shaft, wherein the second conveying belt is sleeved outside the second rotating shaft; The second conveying driving mechanism is connected to the second rotating shaft to drive the second rotating shaft to drive the second conveyor belt to operate.

38. The material storage and retrieval device according to claim 37, characterized in that: The second conveying assembly further includes a first tensioning device connected to the second conveyor belt to achieve tensioning of the second conveyor belt.

39. The material storage and retrieval device according to claim 38, characterized in that: The first tensioning device includes: a first tensioning nut and a first tensioning screw, the first tensioning screw is connected to the second rotating shaft, and under the drive of the first tensioning nut, the first tensioning screw can drive the second rotating shaft to move to achieve tensioning of the second conveyor belt.

40. The material storage and retrieval device according to claim 37, characterized in that: The second transmission drive mechanism includes a synchronous belt and a second tensioning device. The synchronous belt is connected to the second rotating shaft, and the second tensioning device is connected to the synchronous belt to achieve tensioning of the synchronous belt.

41. The material storage and retrieval device according to claim 35, characterized in that: A plurality of installation slots arranged at intervals are provided in the fuselage, and the warehouse plate layer modules are detachably connected to the installation slots to adjust the distance between two adjacent warehouse plate layer modules, thereby adjusting the size of the cargo hold.

42. The material storage and retrieval device according to claim 41, characterized in that: A first elastic member is further provided on the inner side of the installation groove, and the warehouse plate layer module is plugged into and matched with the first elastic member.

43. The material storage and retrieval device according to claim 41, characterized in that: Both sides of the compartment plate module are detachably connected to the fuselage via fasteners.

44. The material storage and retrieval device according to claim 41, characterized in that: The compartment plate layer module is provided with a first electrical connector, and the fuselage is provided with at least one second electrical connector that can be adapted to the first electrical connector, and the first electrical connector and the second electrical connector are detachably connected.

45. The material storage and retrieval device according to claim 41, characterized in that: The fuselage is provided with a socket which is communicated with the installation groove and for inserting the compartment plate layer module, and the socket is provided with a flexible shielding member.

46. ​​The material storage and retrieval device according to claim 45, characterized in that: The shielding member includes bristles.

47. The material storage and retrieval device according to claim 1, characterized in that: The fuselage is provided with a take-in / take-out opening communicating with the cargo hold, wherein the take-in / take-out opening and the window are located on different sides of the fuselage; The material storage and retrieval device further includes a side door module, which is used to cover the material access opening.

48. The material storage and retrieval device according to claim 47, characterized in that: The cross-sectional shape of the side door module has a flat state and an expanded state; When the side door module blocks the access opening, the cross-sectional shape of the side door module is in the expanded state, so that the shape of the side door module is adapted to the shape of the fuselage and the compartment panel module; When the side door module is no longer blocking the access opening, the cross-sectional shape of the side door module is in the flat state, so as to reduce the space occupied by the side door module.

49. The material storage and retrieval device according to claim 48, characterized in that: The side door module includes: a fixing bracket connected to the fuselage; a first side door panel, one side of the first side door panel being rotatably connected to the fixing bracket; a second side door panel, one side of the second side door panel being rotatably connected to the other side of the first side door panel; and a third side door panel, one side of the third side door panel being rotatably connected to the other side of the second side door panel, and the other side of the third side door panel being rotatably connected to the fixing bracket; In the expanded state, the fixed bracket, the first side door panel, the second side door panel and the third side door panel are combined to form a rectangular shape; in the flat state, the fixed bracket, the first side door panel, the second side door panel and the third side door panel are combined to form a flat shape.

50. The material storage and retrieval device according to claim 49, characterized in that: The first side door panel and the fixed bracket, the first side door panel and the second side door panel, the third side door panel and the second side door panel, and the third side door panel and the fixed bracket can all be rotatably connected via pins.

51. The material storage and retrieval device according to claim 49, characterized in that: The side door module further includes: a second elastic member, the second elastic member being used to provide an elastic restoring force for quickly switching to the flat state; And / or, the warehouse plate layer module is further provided with a baffle for shielding the side door module on a side close to the side door module.

52. The material storage and retrieval device according to claim 47, characterized in that: There are multiple side door modules, and adjacent side door modules can be connected and combined to adapt to different warehouse sizes.

53. The material storage and retrieval device according to claim 52, characterized in that: The material storage and retrieval device further includes a synchronization retaining member, which is used to connect with at least two of the side door modules to achieve synchronous rotation of the at least two side door modules.

54. The material storage and retrieval device according to claim 1, characterized in that: The supporting mechanism has an expanded state and a stored state; wherein, In the expanded state, the supporting mechanism can support materials and transfer the materials to a target cargo bin among the plurality of cargo bins, or transfer the materials in the cargo bin out through a window of the target cargo bin.

55. The material storage and retrieval device according to claim 52, characterized in that: The taking and placing device further includes a folding drive mechanism, which is connected to the supporting mechanism and is used to drive the supporting mechanism to fold so that the supporting mechanism is switched between the unfolded state and the stored state.

56. The material storage and retrieval device according to claim 1 or 55, characterized in that: During the process of transferring the materials in the warehouse into the supporting mechanism, the supporting surface of the supporting mechanism is folded to a horizontal state. After the materials are completely transferred to the supporting mechanism, the supporting mechanism is folded to an inclined state tilted toward the ground.

57. The material storage and retrieval device according to claim 1, characterized in that: It also includes several third trigger members arranged along the arrangement direction of the cargo warehouse and a third sensor arranged on the picking and placing device. The third sensor is used to generate a trigger signal when the supporting mechanism of the picking and placing device for supporting materials passes through the third trigger member, thereby obtaining the position of the supporting mechanism.

58. The material storage and retrieval device according to claim 1, characterized in that: It also includes a fourth sensor provided on the pick-and-place device, and the fourth sensor is used to detect whether foreign objects are clamped during the operation of the pick-and-place device.

59. The material storage and retrieval device according to claim 58, characterized in that: The number of the fourth sensors is at least three, and the at least three fourth sensors are respectively arranged on both sides and the bottom of the supporting mechanism.

60. The material storage and retrieval device according to claim 59, characterized in that: The supporting mechanism is further provided with a fourth triggering member at a position corresponding to the fourth sensor. The fourth triggering member is movably connected to the supporting mechanism. The fourth triggering member can trigger the fourth sensor in response to a user's touch operation.

61. The material storage and retrieval device according to claim 1, characterized in that: It also includes an automatic walking device, which is arranged on the fuselage. The pick-up and placement device has a first conveyor belt for moving the material. When the pick-up and placement device automatically transfers the material to the ground or the holding surface, the moving linear speed of the automatic walking device is approximately equal to the moving linear speed of any point on the supporting surface of the first conveyor belt for supporting the material, and the direction is opposite.

62. The material storage and retrieval device according to claim 1, characterized in that: The shielding assembly includes a sliding door and a sliding drive assembly for driving the sliding door to move; or, the shielding assembly includes a rotating door and a rotating drive assembly for driving the rotating door to rotate.

63. The material storage and retrieval device according to claim 1, characterized in that: It also includes a controller, which is electrically connected to the taking and placing device and the shielding component.

64. A control method for a material storage and retrieval device, characterized in that: The control method includes: Receiving a user instruction, wherein the user instruction includes a pickup instruction or a storage instruction; Determine the target warehouse among multiple warehouses; Controlling the shielding component to release the shielding of the target cargo hold and shielding other cargo holds other than the target cargo hold; Control the pick-and-place device to transfer the material to the target warehouse or transfer the material out of the target warehouse.

65. The control method according to claim 64, characterized in that: The step of determining a target cargo bin among the plurality of cargo bins and the step of controlling the shielding component to contact and shield the target cargo bin while shielding other cargo bins other than the target cargo bin further includes: The supporting mechanism of the pick-and-place device for supporting materials is controlled to move to a target position corresponding to the target warehouse.

66. The control method according to claim 65, characterized in that: The step of controlling the supporting mechanism to move to the target position corresponding to the target warehouse specifically includes: The supporting mechanism is controlled to move to a target position corresponding to the target cargo bin, and the shielding assembly is also moved at the same time, so that the opening and closing end of the shielding assembly moves to the vicinity of the target position.

67. The control method according to claim 66, characterized in that: The step of controlling the blocking component to remove the blocking of the target cargo hold specifically includes: The opening and closing end is controlled to open to expose the target cargo compartment.

68. The control method according to claim 65 or 67, characterized in that: The shielding assembly includes a first curtain assembly and a second curtain assembly, the first curtain assembly is configured to move independently, and the second curtain assembly is configured to move following the supporting mechanism, and a first end of the first curtain assembly close to the second curtain assembly and a second end of the second curtain assembly close to the first curtain assembly are combined to form the opening and closing end; The step of controlling the supporting mechanism to move to the target position corresponding to the target warehouse specifically includes: Controlling the supporting mechanism to move to a target position corresponding to the target cargo hold, and simultaneously moving the first curtain assembly and the second curtain assembly so that the opening and closing end moves to the vicinity of the target position; The step of controlling the blocking component to release the blocking of the target cargo hold specifically includes: The supporting mechanism and the second curtain assembly are controlled to stop moving, and the first curtain assembly is controlled to continue moving so that the opening and closing end is opened to expose the target cargo compartment.

69. The control method according to claim 68, characterized in that: The supporting mechanism includes a first conveyor belt, and a warehouse board layer module is correspondingly provided at the bottom of the warehouse, and the warehouse board layer module includes a second conveyor belt; In the case where the user instruction is a pickup instruction, the step of controlling the pickup and placement device to transfer the material to the target warehouse or to transfer the material out of the target warehouse includes: Controlling the operation of the first conveyor belt and the second conveyor belt on the warehouse plate module corresponding to the target warehouse to transfer materials from the second conveyor belt to the first conveyor belt; When the material completely enters the supporting mechanism or enters the middle area of ​​the supporting mechanism, the first conveyor belt and the second conveyor belt are controlled to stop running.

70. The control method according to claim 69, characterized in that: After the material completely enters the supporting mechanism, the method further includes: Controlling the first curtain assembly to move until the target cargo warehouse is covered; Controlling the supporting mechanism to leave the target warehouse; Controlling the first curtain body assembly and the second curtain body assembly to move along with the supporting mechanism; Control the supporting mechanism to move to a pickup position; wherein the pickup position includes the ground or a placing surface or a set height that is convenient for users to pick up goods.

71. The control method according to claim 70, characterized in that: When the pickup position is at the set height, the control method further includes: After the material leaves the supporting mechanism, the picking and placing device is controlled to move to a preset initial position.

72. The control method according to claim 70, characterized in that: When the pickup location is the ground or the storage surface, the control method further includes: controlling the operation of the first conveyor belt to transfer materials to the ground or a storage surface; After the material leaves the supporting mechanism, the picking and placing device is controlled to move to a preset initial position.

73. The control method according to claim 72, characterized in that: The step of controlling the first conveyor belt to transfer the material to the ground or the storage surface specifically includes: The first conveyor belt is controlled to operate, and the body of the material storage and retrieval device also moves at the same time. The moving linear speed of any point on the supporting surface of the first conveyor belt for supporting materials is roughly equal to and in the opposite direction to the moving linear speed of the body of the material storage and retrieval device.

74. The control method according to claim 68, characterized in that: The supporting mechanism includes a first conveyor belt, and a warehouse board layer module is correspondingly provided at the bottom of the warehouse, and the warehouse board layer module includes a second conveyor belt; In the case where the user instruction is an inventory instruction, the step of controlling the picking and placing device to transfer the material to the target warehouse or to transfer the material out of the target warehouse includes: Controlling the operation of the first conveyor belt of the supporting mechanism and the second conveyor belt on the warehouse plate layer module corresponding to the target warehouse to transfer materials from the first conveyor belt to the second conveyor belt; When the material completely enters the cargo warehouse or the middle area of ​​the cargo warehouse, the first conveyor belt and the second conveyor belt are controlled to stop running.

75. The control method according to claim 74, characterized in that: After the material completely enters the warehouse, the method further includes: Controlling the first curtain assembly to move until the target cargo warehouse is covered; Controlling the supporting mechanism to leave the target warehouse; Controlling the first curtain body assembly and the second curtain body assembly to move along with the supporting mechanism; When the supporting mechanism moves to a preset initial position, the supporting mechanism and the first curtain body assembly and the second curtain body assembly are controlled to stop moving.

76. The material storage and retrieval device control method according to claim 65, characterized in that: In the case where the user instruction is an inventory instruction, before the step of controlling the supporting mechanism to move to the target position corresponding to the target warehouse, the method further includes: The supporting mechanism is controlled to move to a set height that is convenient for users to place goods, so that users can place materials on the supporting mechanism.

77. The material storage and retrieval device control method according to claim 65, characterized in that: In the case where the user instruction is an inventory instruction, before the step of controlling the supporting mechanism to move to the target position corresponding to the target warehouse, the method further includes: The supporting mechanism is controlled to move to the ground or the containing surface, and the picking and placing device automatically transfers the materials into the supporting mechanism.

78. The control method according to claim 64, characterized in that: The control method further includes: When the material storage and retrieval device is powered on, the material storage and retrieval device is controlled to perform a self-check.

79. The control method according to claim 78, characterized in that: The step of controlling the material storage and retrieval device to perform self-inspection includes: When the power-on state of the material storage and retrieval device meets the first preset condition, performing a first self-check operation; When the power-on state of the material storage and retrieval device does not meet the first preset condition, performing a second self-check operation; The first self-test operation is different from the second self-test operation; the first preset condition is: the material storage and access device is powered on for the first time and / or the material storage and access device is powered on for the first time after the structure is changed.

80. The control method according to claim 79, characterized in that: The pick-and-place device includes a supporting mechanism for supporting materials, a folding drive mechanism for driving the supporting mechanism to flip, and a lifting drive mechanism for driving the supporting mechanism to lift. The first self-test operation includes: Controlling the folding drive mechanism to reset; When the folding drive mechanism is reset normally, controlling the lifting drive mechanism to reset; When the lifting drive mechanism is reset normally, controlling the shielding assembly to reset; When the shielding assembly is reset normally, the folding drive mechanism is controlled to drive the supporting mechanism to switch from the stored state to the unfolded state; When the taking-and-placing device switches from the stored state to the deployed state normally, controlling the shielding assembly to rise and fall; When the shielding assembly is raised and lowered normally, controlling the lifting drive mechanism to raise and lower; When the lifting drive mechanism is lifted and lowered normally, the lifting of the supporting mechanism and the lifting of the shielding assembly are controlled in sequence to achieve the height calibration and structure inspection of the cargo hold.

81. The control method according to claim 79, characterized in that: The pick-and-place device includes a supporting mechanism for supporting materials, a folding drive mechanism for driving the supporting mechanism to flip, and a lifting drive mechanism for driving the supporting mechanism to lift. The second self-test operation includes: Controlling the folding drive mechanism to reset; When the folding drive mechanism is reset normally, controlling the lifting drive mechanism to reset; When the lifting drive mechanism is reset normally, the shielding assembly is controlled to be reset.

82. A robot, characterized in that: include: A fuselage, wherein the fuselage is provided with a plurality of cargo compartments for accommodating materials, and the cargo compartments have windows for allowing materials to enter or exit; a pick-and-place device, the pick-and-place device being used to transfer materials into a target warehouse among the multiple warehouses through a window of the target warehouse, or to transfer materials out of the target warehouse through the window of the target warehouse; a shielding assembly, movably connected to the fuselage and used for shielding the cargo hold; The controller, the pick-and-place device and the shielding assembly are all electrically connected to the controller; the controller is used to control the shielding assembly to release the shielding of the corresponding window of the target warehouse, and to block the windows of other warehouses other than the target warehouse, and to control the pick-and-place device to complete the transfer of materials after the target warehouse is released from the shielding; after the material transfer is completed, the controller controls the shielding assembly to block the window of the target warehouse again.

83. A material storage and retrieval device, characterized in that: include: a fuselage, wherein the fuselage is provided with a plurality of cargo compartments for accommodating materials; a plurality of cargo hold modules, the plurality of cargo hold modules being detachably connected to the fuselage and arranged in sequence and spaced apart, for dividing the fuselage into the plurality of cargo holds; The warehouse board layer module includes: a second conveying assembly, the second conveying assembly being used to convey materials out of the cargo hold or to convey materials that have just entered the cargo hold into the cargo hold; and a second conveying drive mechanism, wherein the second conveying mechanism is connected to the second conveying assembly and is used to drive the second conveying assembly to operate.

84. A movable platform, characterized in that The movable platform comprises: a platform base and a material access device according to any one of claims 1 to 63; wherein, The material storage and retrieval device is connected to the platform base.

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