Cargo handling system

Abstract

The invention provides a goods carrying system which comprises a carrying robot, the carrying robot comprises a rotatable goods taking and placing device, the carrying robot is configured to enable the extending directions of the goods taking and placing device to be opposite, and the goods taking and placing device is driven by a driving assembly to be close to or away from a goods allocation in the two goods taking and placing directions; the carrying robot judges whether the extending direction of the goods taking and placing device is the direction of the execution goods allocation or not; and the goods taking and placing device is controlled to take and place goods.

Description

Technical Field

[0001] This application relates to the technical field of warehousing equipment, and particularly to a goods handling system. Background Art

[0002] In the warehousing and logistics industry, it is usually necessary to use a handling cart to handle the goods on the warehouse shelves. Common handling carts include a handling cart that travels along the track on the shelf or an AGV that travels freely on the ground. Among them, the handling cart is provided with a forklift, and a fork for hooking goods is arranged on the forklift. The forklift can extend in one direction relative to the handling cart body to hook the goods.

[0003] The existing handling cart grabs goods through a lever that can extend to both sides. However, the position of the lever is fixed and the extension length is fixed, so that the position of the goods that the handling cart can grab is also fixed, and it cannot grab goods at multiple depths. Moreover, in order to ensure that the lever can smoothly pick up the goods, a certain gap needs to be left between the bins, which reduces the warehousing density and the grabbing efficiency. Summary of the Invention

[0004] The technical solution adopted by this application to solve the above technical problems is as follows:

[0005] A goods handling system, comprising:

[0006] A handling robot, the handling robot includes a rotatable picking and placing device, configured to make the extending directions of the picking and placing devices opposite, and the picking and placing devices approach or move away from the cargo space in two picking and placing directions respectively under the drive of a drive assembly, and the picking and placing devices can extend and retract along the picking and placing direction;

[0007] The handling robot obtains the execution cargo space information and travels to the roadway where the execution cargo space is located;

[0008] The handling robot determines whether the extending direction of the picking and placing device is the direction where the execution cargo space is located;

[0009] If so, control the picking and placing device to extend; otherwise, control the picking and placing device to rotate until the extending direction of the picking and placing device is the direction of the execution cargo space;

[0010] The handling robot controls the picking and placing device to perform picking and placing operations.

[0011] Preferably, the picking and placing device includes a straight-line component and a picking and placing component arranged on the straight-line component; the straight-line component moves back and forth under the drive of a straight-line drive assembly, and drives the picking and placing component to approach or move away from the cargo space.

[0012] Preferably, a rotating component is provided between the straight-line component and the picking and placing component. The rotating component includes a rotating table. The picking and placing component is fixedly connected to the rotating table through a rotating table mounting plate. The rotating table is connected to a rotating drive component, and drives the picking and placing component to rotate under the drive of the rotating drive component.

[0013] Preferably, the picking and placing component includes a picking and placing drive mechanism, a telescopic mechanism, and a picking and placing mechanism that are connected in sequence. The picking and placing drive mechanism controls the telescopic movement of the telescopic mechanism. When the telescopic mechanism extends, the picking and placing mechanism approaches the cargo position, and when the telescopic mechanism retracts, the picking and placing mechanism moves away from the cargo position.

[0014] Preferably, the picking and placing mechanism includes a grasping member and a grasping drive member that drives the grasping member to act. The output end of the grasping drive member is connected to the grasping member to control the grasping or releasing of the goods by the grasping member.

[0015] Preferably, it further includes:

[0016] Judge the depth of the cargo position of the execution cargo position. When the cargo position depth is a single-depth position, the handling robot adjusts to the first posture or the second posture. When the cargo position depth is a multi-depth position, the handling robot adjusts to the second posture.

[0017] Preferably, controlling the picking and placing device to rotate includes:

[0018] The picking and placing device moves to the center position of the handling robot, and then the picking and placing device performs a rotating action. During the rotation of the picking and placing device, at least part of the projection on the ground coincides with the projection of the handling robot on the ground.

[0019] Preferably, the handling robot further includes a chassis and a vehicle body frame. The chassis and the vehicle body frame form a placement groove that runs through from front to back. The picking and placing device is arranged in the placement groove.

[0020] Preferably, the handling robot further includes a bearing part for bearing goods. The goods slide along the bearing part under the traction of the picking and placing device.

[0021] Preferably, a guiding strip is provided between the vehicle body frame and the bearing part for limiting the position when the goods slide along the bearing part; walking wheels are provided between the chassis and the vehicle body frame, and the walking direction of the handling robot is perpendicular to the extending direction of the picking and placing device along the placement groove.

[0022] Beneficial effects: The rotatable loading and unloading device on the handling robot of the present application can grab the goods on both sides of the handling robot without changing the position of the handling robot. The handling robot can determine whether the position of the goods is consistent with the extended position of the loading and unloading device, and thus control the rotation of the loading and unloading device to grab the goods on both sides, improving the handling efficiency. Description of the Drawings

[0023] Figure 1 is a schematic structural diagram of a goods handling system provided by the present application;

[0024] Figure 2 is a schematic flow diagram of a goods handling method provided by the present application;

[0025] Figure 3 is a schematic structural diagram of a loading and unloading device provided by the present application;

[0026] Figure 4 is a schematic structural diagram of a loading and unloading component provided by the present application;

[0027] Figure 5 is Figure 4 a partial enlarged view of part A in

[0028] Figure 6 is a schematic structural diagram of another loading and unloading device provided by the present application;

[0029] Figure 7 is a schematic structural diagram of yet another loading and unloading device provided by the present application;

[0030] Figure 8 is a schematic structural diagram of a handling robot provided by the present application;

[0031] Figure 9 is a schematic flow diagram of another goods handling method provided by the present application. Detailed Description of the Embodiments

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some, rather than all, of the embodiments of the present application. The components of the embodiments of the present application described and illustrated herein can generally be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the present application claimed, but merely represents selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative efforts fall within the scope of protection of the present application.

[0033] SeeFigure 1-9 , this application discloses a goods handling system, including:

[0034] A handling robot 700, the handling robot 700 includes a rotatable picking and placing device 710, configured to make the extending directions of the picking and placing device 710 opposite, the picking and placing device 710 approaches or moves away from the goods location in two picking and placing directions respectively under the drive of a drive assembly, and the picking and placing device 710 can extend and retract along the picking and placing direction;

[0035] The handling robot 700 obtains the execution goods location information and travels to the roadway where the execution goods location is located;

[0036] The handling robot 700 determines whether the extending direction of the picking and placing device 710 is the direction where the execution goods location is located;

[0037] If so, control the picking and placing device 710 to extend; otherwise, control the picking and placing device 710 to rotate until the extending direction of the picking and placing device 710 is the direction of the execution goods location;

[0038] The handling robot 700 controls the picking and placing device 710 to perform picking and placing operations.

[0039] Before the handling robot 700 executes a new handling task, it may be executing other handling tasks or may be in a standby state. However, regardless of the state, when the form direction of the handling robot 700 reaches the execution goods location for the handling task, the traveling direction remains unchanged. However, since the handling robot 700 of this application is provided with a rotatable picking and placing device 710 which can extend in two directions, therefore, when the handling robot 700 travels to the execution goods location, the extending direction of the picking and placing device 710 is not necessarily the direction where the execution goods location is located. Thus, it is necessary to first determine whether the direction where the execution goods location is located is the extending direction of the picking and placing device. If they are consistent, the picking and placing operation can be directly executed. If they are inconsistent, the extending direction of the picking and placing device 710 needs to be rotated until it is consistent with the execution goods location.

[0040] Since the traveling direction of the handling robot 700 of this application is fixed, therefore, the extending direction of the picking and placing device 710 can be predicted after the handling robot 700 travels to the position. Therefore, the rotation control of the picking and placing device 710 can be performed during the walking process of the handling robot 700, or the rotation adjustment can be performed after the handling robot 700 travels to the position.

[0041] The picking and placing device 710 includes a straight-line component 100 and a picking and placing component 200 provided on the straight-line component 100; the straight-line component 100 moves back and forth under the drive of a straight-line drive assembly 300 and drives the picking and placing component 200 to approach or move away from the goods location.

[0042] When the picking and placing device 710 disclosed in this application is in use, the straight-line component 200 will drive the picking and placing component 100 close to the cargo space, and the picking and placing component 100 will grab the goods. Since cargo spaces are provided on both sides of the traveling track, and the direction of picking and placing goods by the picking and placing device last time and the next time may not be the same. In order to improve the efficiency of picking and placing goods, the picking and placing component 100 and the straight-line component 200 are set to be rotatably connected. The picking and placing device does not need to specifically adjust the traveling direction. Only the picking and placing component 100 needs to rotate the angle according to the picking direction so that the picking and placing direction after rotation is changed to the opposite direction, and the angle rotation of the picking and placing component 100 and the traveling of the picking and placing device can be carried out synchronously.

[0043] In order to realize the rotational connection between the picking and placing component 100 and the straight-line component 200, in a possible embodiment, a rotating component 400 is provided between the straight-line component 200 and the picking and placing component 100. The rotating component 400 includes a rotating table 410. The picking and placing component 100 is fixedly connected to the rotating table 410 through a rotating table mounting plate 420. The rotating table 410 is connected to a rotation driving component 430, and drives the picking and placing component 100 to rotate under the drive of the rotation driving component 430.

[0044] Specifically, an output shaft is provided at the center of the rotating table 410. The output shaft is fixedly connected to the rotating table mounting plate 420. When the output shaft rotates, it drives the rotating table mounting plate 420 to rotate, thereby realizing the rotation of the picking and placing component 100.

[0045] In other possible embodiments, the rotating component 400 can also be a transmission bearing structure. The bearing is composed of an inner bearing sleeve and an outer bearing sleeve sleeved together. The inner bearing sleeve and the outer bearing sleeve are respectively fixed on the picking and placing component 100 and the straight-line component 200, and a transmission belt is provided on the outer bearing sleeve. The outer bearing sleeve is driven to rotate through the transmission belt, thereby realizing the rotation of the picking and placing device.

[0046] In the embodiment of this application, the straight-line component 200 drives the picking and placing component 100 to approach or move away from the cargo space for picking and placing operations. When the application scenario is a multi-depth cargo space, it is difficult for the picking and placing component 100 to grab the goods in the deep cargo space. Therefore, in other embodiments, the picking and placing component 100 can be telescopic along the picking and placing direction. The picking and placing component 100 is in the extended state close to the cargo space and in the retracted state away from the cargo space.

[0047] When the picking and placing device disclosed in this application is in use, the straight-line component 200 will drive the picking and placing component 100 close to the cargo space. When the picking and placing component 100 is handling the goods in the outermost cargo space, the picking and placing component 100 may not extend outwards, or the extended part is used for grabbing the goods. When it is necessary to grab the goods in a deeper cargo space, the picking and placing component 100 extends outwards until it touches the goods, and then the picking and placing component 100 retracts so that the goods are placed on the handling trolley.

[0048] In this application, the telescopic mechanisms 220 of the straight-line component 200 and the pick-and-place component 100 for realizing the telescopic function are two different structures, but their specific implementation methods can be the same or different. For example, the straight-line component 200 can be a slide rail and slider structure, a hydraulic structure, a scissor lift, or a lead screw and nut 242 structure, etc. Similarly, the telescopic mechanism 220 of the pick-and-place component 100 can also adopt a slide rail and slider structure, a hydraulic structure, a scissor lift, or a lead screw and nut 242 structure. During implementation, both the straight-line component 200 and the telescopic mechanism 220 can adopt a slide rail and slider structure, or the straight-line component 200 can adopt a slide rail and slider structure while the telescopic mechanism 220 adopts a scissor lift structure. Details are not listed one by one here.

[0049] In the embodiments disclosed in this application, in order to compensate for the telescopic distance of the pick-and-place component 100, the straight-line component 200 is provided at the same time. The straight-line component 200 can drive the pick-and-place component 100 to move back and forth. In a possible embodiment, the straight-line component 200 includes sliding wheels, and walking limit grooves are provided on both sides of the sliding wheels. The sliding wheels walk in the walking limit grooves; the straight-line driving component 300 is connected to the sliding wheels to drive the sliding wheels to walk.

[0050] In other possible embodiments, the straight-line component 200 includes a straight-line slider 110 and straight-line guide rails 120 provided on both sides of the straight-line slider 110, and the straight-line slider (110) slides along the straight-line guide rails 120.

[0051] A straight-line mounting seat 111 is provided between the straight-line slider 110 and the straight-line guide rails 120. The straight-line slider 110 is arranged on the straight-line mounting seat 111, and both ends of the straight-line mounting seat 111 are respectively slidably connected to the straight-line guide rails 120.

[0052] The embodiments of this application also include the straight-line driving component 300 for driving the straight-line component 200 to travel, including a straight-line driving motor 310 and a straight-line transmission group 320. The output end of the straight-line driving motor 310 is in transmission connection with the straight-line transmission group 320, and the straight-line component 200 is fixedly connected to the straight-line transmission group 320. The straight-line component 200 is driven to move through the straight-line transmission group 320.

[0053] The straight-line transmission group 320 includes a belt pulley group. The belt pulley group includes transmission wheels 321 provided at both ends and a synchronous belt 322 wound around the transmission wheels 321. The straight-line driving motor 310 is in transmission connection with at least one of the transmission wheels 321, and the straight-line component 200 is fixedly connected to the synchronous belt 322. The straight-line component 200 is driven to move through the synchronous belt 322.

[0054] When the direct drive motor 310 rotates, its output shaft drives one of the transmission wheels 321 to rotate. Since the synchronous belt 322 is in a tensioned state on the transmission wheels 321 at both ends, as the transmission wheel 321 rotates, the transmission belt slides accordingly. The linear movement assembly 200 is fixedly connected to the synchronous belt 322, thereby driving the linear movement assembly 200 to move forward.

[0055] In other possible embodiments, the linear transmission group 320 can also be a combination of gears and chains. The gears are fixedly arranged on the linear movement assembly 200 and connected to the output shaft of the linear drive assembly 300. When the linear drive assembly 300 rotates, the gears move along the chain, and the chain can simultaneously position the moving direction of the linear movement assembly 200.

[0056] In other possible embodiments, all drive assemblies in this application can share one motor.

[0057] In the pick-and-place device disclosed in this application, the pick-and-place assembly 100 includes a pick-and-place drive mechanism 210, a telescopic mechanism 220, and a pick-and-place mechanism 230 that are connected in sequence. The pick-and-place drive mechanism 210 controls the telescopic mechanism 220 to extend and retract along the pick-and-place direction. When the telescopic mechanism 220 extends, the pick-and-place mechanism 230 approaches the cargo position, and when the telescopic mechanism 220 retracts, the pick-and-place mechanism 230 moves away from the cargo position.

[0058] The pick-and-place drive mechanism 210 includes a drive mounting plate 211 and a telescopic drive motor 212 arranged on the drive mounting plate 211. The output end of the telescopic drive motor 212 is drivingly connected to a telescopic transmission mechanism 240, and the telescopic transmission mechanism 240 is connected to the telescopic mechanism 220 to control the telescopic mechanism 220 to extend and retract along the pick-and-place direction. In other possible embodiments, the pick-and-place drive structure can also only be provided with the telescopic drive motor 212, and the output shaft of the telescopic drive motor 212 is directly drivingly connected to the telescopic transmission mechanism 240, and only the telescopic drive motor 212 is used to drive the telescopic mechanism 220 to move.

[0059] The telescopic transmission mechanism 240 includes a transmission lead screw 241 and a nut 242. The transmission lead screw 241 is drivingly connected to the output end of the telescopic drive motor 212. A nut 242 is arranged in a matching manner on the transmission lead screw 241. The nut 242 is fixedly connected to the telescopic mechanism 220. The transmission lead screw 241 drives the telescopic mechanism 220 to extend and retract along the pick-and-place direction under the drive of the drive motor.

[0060] When the telescopic drive motor 212 rotates, it drives the transmission lead screw 241 to rotate. The nuts 242 sleeved on the transmission lead screw 241 approach or move away from each other along the transmission lead screw 241. The nuts 242 are fixedly connected to the telescopic mechanism 220. As the position of the nuts 242 changes, the shape of the telescopic mechanism 220 changes accordingly, thereby realizing the telescopic function of the telescopic mechanism 220.

[0061] The picking and placing mechanism 230 includes a grasping member 232 and a grasping drive member 231 for driving the grasping member 232 to act. The output end of the grasping drive member 231 is in transmission connection with the grasping member 232 to control the grasping member 232 to grasp or release goods.

[0062] In a possible embodiment, the grasping member 232 can be a hook, a lever, a suction cup or other structures that can interact with the goods. The specific structure adopted can be adjusted according to the shape of the actual storage location of the goods to be transported. For example, when the goods are bins, since there are bent parts at the edges of the bins, they can be hooked by means of a hook. For storage locations that are smooth-surfaced containers, such as cardboard boxes, since there are no positions available for hooking, the grasping member 232 can be in the form of a lever or a suction cup. For different grasping members 232, the grasping drive member 231 also changes accordingly. For example, when the grasping member 232 is a hook or a lever, the grasping drive member 231 can be a motor. When the grasping member 232 is a suction cup type, the grasping drive member 231 can be a negative pressure generator.

[0063] One end of the telescopic mechanism 220 close to the storage location is provided with a picking and placing mounting frame 221, and the grasping member 232 and the grasping drive member 231 are arranged on the picking and placing mounting frame 221.

[0064] The picking and placing mounting frame 221 includes a first mounting frame 2211 and a second mounting frame 2212 arranged vertically. The picking and placing mechanism 230 is arranged on the first mounting frame 2211. A guiding slider 222 is fixedly arranged on one end of the telescopic mechanism 220 close to the storage location. The guiding slider 222 slides on the first mounting frame 2211 as the telescopic mechanism 220 expands and contracts.

[0065] The picking and placing mechanism 230 is arranged at one end of the telescopic mechanism 220 close to the storage location. However, since the telescopic mechanism 220 frequently switches between the extended and retracted states, if the picking and placing mechanism 230 is directly arranged on the telescopic mechanism 220, it will cause the installation part to be unstable. Therefore, a picking and placing mounting frame 221 is arranged on the telescopic mechanism 220, and the picking and placing mechanism 230 is arranged on the picking and placing mounting frame 221, which can avoid the influence of the state switching of the telescopic mechanism 220 on the stability of the picking and placing mechanism 230.

[0066] Further, in order to fix the pick-and-place mounting bracket 221, the pick-and-place mounting bracket 221 includes a vertical first mounting bracket 2211 and a second mounting bracket 2212. One end of the second mounting bracket 2212 is fixedly connected to the midpoint of the first mounting bracket 2211, and the other end is hinged to the telescopic mechanism 220. Both ends of the first mounting bracket 2211 are respectively hinged to the telescopic mechanism 220, which can prevent the pick-and-place mounting bracket 221 from displacing relative to the telescopic mechanism 220 and improve the fixing firmness of the pick-and-place mechanism 230.

[0067] The handling robot 700 further includes a chassis 500 and a vehicle body frame 510. The chassis 500 and the vehicle body frame 510 form a placement groove that penetrates from front to back, and the pick-and-place device 710 is disposed in the placement groove.

[0068] The handling robot 700 further includes a bearing portion 400 for bearing goods. The goods slide along the bearing portion 400 under the traction of the pick-and-place device 710.

[0069] Since the goods to be handled are generally heavy, in order to prevent the pick-and-place device from always bearing the weight of the goods, a bearing portion 400 is provided on the handling robot in this application. The grabbed goods are borne on the bearing portion 400, which is convenient for long-distance handling.

[0070] A guiding strip 520 is provided between the vehicle body frame 510 and the bearing portion 400 for limiting the position when the goods slide along the bearing portion 400; a traveling wheel 530 is provided between the chassis 500 and the vehicle body frame 510. The traveling direction of the handling robot 700 is perpendicular to the extending direction of the pick-and-place device 710 along the placement groove.

[0071] The traveling wheel 530 includes a rail traveling wheel 530 that contacts the traveling rail; alternatively, the traveling wheel 530 includes a ground traveling wheel 530 that contacts the ground.

[0072] The handling robot provided in this application can achieve two-way rotary grasping, and can achieve traveling on the rail and on the ground by selecting two installation methods of the rail traveling wheel 530 and the ground traveling wheel 530. It can be imagined that the rail traveling wheel 530 and the ground traveling wheel 530 can also be installed on the handling robot at the same time.

[0073] The pick-and-place method disclosed in this application further includes:

[0074] Judge the depth of the storage location of the execution storage location. When the depth of the storage location is a single-depth location, the handling robot 700 is adjusted to the first pose or the second pose. When the depth of the storage location is a multi-depth location, the handling robot 700 is adjusted to the second pose.

[0075] To improve the warehousing density, the shelves in the existing warehousing system are set as double-deep or multi-deep positions, that is, multiple bins are longitudinally placed by extending the depth inward within a unit storage location in the driving aisle. For the shelves designed earlier, only one bin can be longitudinally placed, which is called a single-deep position. This application can be applicable to application scenarios with various storage location depths. For the single-deep position application scenario, since the loading and unloading device 710 of this application can approach the storage location under the drive of the drive component, only the loading and unloading device 710 needs to be moved closer to the storage location to grab the bin.

[0076] For the multi-deep position application scenario, since the handling robot is docked on the driving track, it is difficult to grab the extended bin only by moving the loading and unloading device 710. Therefore, after the loading and unloading device 710 moves to the edge of the handling robot 700, it needs to continue to extend to the extended storage location through the telescopic structure.

[0077] In this application, the first pose of the handling robot is that the loading and unloading device 710 moves back and forth without telescoping, and the second pose is that the loading and unloading device 710 moves back and forth and also telescopes back and forth. It should be noted that the handling robot 700 can also adopt the second pose when handling single-deep position goods, but can only adopt the second pose when handling multi-deep position goods. Adopting the second pose when handling single-deep position goods can ensure that the center of gravity of the loading and unloading device is closer to the center of gravity of the handling robot 700, and can better maintain the stability of the handling robot 700.

[0078] The control of the rotation of the loading and unloading device 710 in this application includes;

[0079] The loading and unloading device 710 moves to the central position of the handling robot 700, and then the loading and unloading device 710 performs a rotation action. During the rotation of the loading and unloading device 710, at least part of its projection on the ground coincides with the projection of the handling robot 700 on the ground.

[0080] The placement groove of the handling robot 700 has a rectangular projection. The loading and unloading device 710 can perform rotation and direction change at any position within this projection range. However, since the loading and unloading device 710 has a certain weight, the more it deviates from the center point of the projection of the handling robot 700, the more likely the handling robot 700 is to have a center of gravity offset, and in severe cases, it will cause tipping. Therefore, in the preferred case, the center point of the projection of the loading and unloading device 710 coincides with the center point of the projection of the handling robot 700 during the rotation process, that is, the center of gravity of the loading and unloading device 710 coincides with the center of gravity of the handling robot 700, so as to ensure the stability of the rotation process.

[0081] In this application, the rotatable picking and placing device on the handling robot can grab the goods on both sides of the handling robot without changing the position of the handling robot. The handling robot can determine whether the position of the goods is consistent with the extended position of the picking and placing device, and thus control the rotation of the picking and placing device to grab the goods on both sides, improving the handling efficiency.

[0082] Certainly, this application can also have many other embodiments. Without departing from the spirit and essence of this application, those skilled in the art can make various corresponding changes and deformations according to this application. However, these corresponding changes and deformations should all fall within the protection scope of the appended claims of this application.

Claims

1. A goods handling system, characterized in that, Including: A handling robot (700), the handling robot (700) includes a rotatable picking and placing device (710) configured to make the extending directions of the picking and placing device (710) opposite to each other. The picking and placing device (710) approaches or moves away from the goods location in two picking and placing directions respectively under the drive of a drive assembly, and the picking and placing device (710) can extend and retract along the picking and placing direction. The handling robot (700) obtains the execution goods location information and travels to the roadway where the execution goods location is located. The handling robot (700) determines whether the extending direction of the picking and placing device (710) is the direction where the execution goods location is located. If so, it controls the picking and placing device (710) to extend; otherwise, it controls the picking and placing device (710) to rotate until the extending direction of the picking and placing device (710) is the direction of the execution goods location. The handling robot (700) controls the picking and placing device (710) to perform the picking and placing operation.

2. The goods handling system according to claim 1, characterized in that The picking and placing device (710) includes a straight-line moving assembly (100) and a picking and placing assembly (200) arranged on the straight-line moving assembly (100); the straight-line moving assembly (100) moves back and forth under the drive of a straight-line drive assembly (300) and drives the picking and placing assembly (200) to approach or move away from the goods location.

3. The goods handling system according to claim 2, characterized in that, A rotating assembly (400) is arranged between the straight-line moving assembly (100) and the picking and placing assembly (200). The rotating assembly (400) includes a rotating table (410). The picking and placing assembly (200) is fixedly connected to the rotating table (410) through a rotating table mounting plate (420). The rotating table (410) is connected to a rotating drive assembly (430) and drives the picking and placing assembly (200) to rotate under the drive of the rotating drive assembly (430).

4. The goods handling system according to claim 3, wherein The picking and placing assembly (200) includes a picking and placing drive mechanism (210), a telescopic mechanism (220), and a picking and placing mechanism (230) connected in sequence. The picking and placing drive mechanism (210) controls the telescopic movement of the telescopic mechanism (220). When the telescopic mechanism (220) extends, the picking and placing mechanism (230) approaches the goods location, and when the telescopic mechanism (220) retracts, the picking and placing mechanism (230) moves away from the goods location.

5. The goods handling system according to claim 4, characterized in that, The picking and placing mechanism (230) includes a grasping member (232) and a grasping drive member (231) for driving the grasping member (232) to act. The output end of the grasping drive member (231) is connected to the grasping member (232) to control the grasping member (232) to grasp or release the goods.

6. The goods handling system according to claim 1, characterized in that Also including: Judging the depth of the goods location of the execution goods location. When the goods location depth is a single-depth position, the handling robot (700) is adjusted to the first pose or the second pose. When the goods location depth is a multi-depth position, the handling robot (700) is adjusted to the second pose.

7. The goods handling system according to claim 1, characterized in that, The controlling the picking and placing device (710) to rotate includes: The picking and placing device (710) moves to the central position of the handling robot (700), and then the picking and placing device (710) performs a rotation action. During the rotation of the picking and placing device (710), at least a part of the projection on the ground coincides with the projection of the handling robot (700) on the ground.

8. The goods handling system according to claim 1, wherein, The handling robot (700) further includes a chassis (500) and a vehicle body frame (510). The chassis (500) and the vehicle body frame (510) form a placement groove that runs through from front to back, and the picking and placing device (710) is arranged in the placement groove.

9. The goods handling system according to claim 8, wherein The handling robot (700) further includes a loading part (400) for loading goods, and the goods slide along the loading part (400) under the traction of the picking and placing device (710).

10. The goods handling system according to claim 9, characterized in that, A guiding strip (520) is arranged between the vehicle body frame (510) and the loading part (400) for limiting the position when the goods slide along the loading part (400); a walking wheel (530) is arranged between the chassis (500) and the vehicle body frame (510), and the walking direction of the handling robot (700) is perpendicular to the extending direction of the picking and placing device (710) along the placement groove.

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