Goods transfer equipment, goods taking and placing assembly, control method and equipment and storage medium

Abstract

The invention relates to the technical field of logistics storage, and discloses a goods taking and placing assembly, a control method of the goods taking and placing assembly, goods transferring equipment, a goods taking and placing assembly control device and a computer readable storage medium. The bearing table is configured to allow goods containers to enter and exit along the two ends of the first horizontal direction, and the butt joint piece is configured to slide relative to the bearing table and rotate relative to the bearing table; the butt joint piece can rotate to a first position and a second position; when the butt joint piece is located at the first position, the butt joint piece can be in butt joint with the cargo container so that the cargo container can be pulled to the bearing table or pushed out of the bearing table in the first horizontal direction. When the butt-joint piece is located at the second position, the butt-joint piece can avoid the cargo container on the bearing table and slide from one end of the bearing table to the other end of the bearing table in the first horizontal direction. By means of the mode, on the premise that goods are taken and placed in multiple directions, the production cost of the pallet fork is reduced, and the operation reliability is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of logistics warehousing, and particularly relates to a goods picking and placing component, a control method thereof, a goods transfer device, a goods picking and placing component control device, and a computer-readable storage medium. Background Art

[0002] With the increasing requirement for operation efficiency in the logistics system, the degree of automation is also getting higher and higher. In each link of goods transfer, it is necessary to pick and place goods on each platform. Currently, a forklift is mostly used to pick up and place the goods container.

[0003] The existing forklift is limited by the structural characteristics of its telescopic mechanism and can only perform automatic picking and placing of goods containers in a single direction. If it is desired to pick and place goods containers in different directions, it is necessary to turn the forklift or the orientation of the device where the forklift is located. In order to achieve the turning of the forklift or the device where it is located, a complex motion mechanism needs to be set up, which will not only increase the cost but also reduce the reliability of the forklift operation. Summary of the Invention

[0004] In view of the above problems, the present application provides a goods picking and placing component, a control method thereof, a goods transfer device, a goods picking and placing component control device, and a computer-readable storage medium, which can reduce the production cost of the forklift and ensure the operation reliability while realizing multi-directional goods picking and placing.

[0005] According to one aspect of the present application, a goods picking and placing component is provided, including: a bearing platform and a docking member. The docking member is arranged on the bearing platform. The bearing platform is configured such that both ends along the first horizontal direction are available for the goods container to enter and exit. The docking member is configured to slide relative to the bearing platform along the first horizontal direction and rotate relative to the bearing platform along an axis parallel to the second horizontal direction; there is an included angle between the first horizontal direction and the second horizontal direction; the docking member can rotate to a first position and a second position; when the docking member is configured to be in the first position, the docking member faces the first horizontal direction; when the docking member is configured to be in the second position, the docking member faces away from the bearing space on the bearing platform; when the docking member is in the first position, it can be docked with the goods container to pull the goods container along the first horizontal direction onto the bearing platform or push it out from the bearing platform; when the docking member is in the second position, it can avoid the goods container on the bearing platform and slide from one end to the other end of the bearing platform along the first horizontal direction.

[0006] According to another aspect of the present application, a method for controlling a pick-and-place component is provided. The pick-and-place component includes a carrier and a docking member, and the docking member is disposed on the carrier. The carrier is configured such that both ends in the first horizontal direction are available for the goods container to enter and exit. The docking member is configured to slide relative to the carrier in the first horizontal direction and rotate relative to the carrier about an axis parallel to the second horizontal direction; there is an included angle between the first horizontal direction and the second horizontal direction; the docking member can be rotated to a first position and a second position; when the docking member is configured to be in the first position, the docking member faces the first horizontal direction; when the docking member is configured to be in the second position, the docking member faces away from the loading space on the carrier; the first horizontal direction includes opposite first and second directions; the method includes: when the pick-and-place component reaches the picking position, adjusting the docking member to the first position and docking with the goods container located outside the carrier; after the docking is completed, moving the docking member along the first direction to transfer the goods container to the carrier; after the goods container is transferred to the carrier, adjusting the docking member to the second position and moving the docking member along the second direction so that the docking member moves from one end of the goods container to the other end; when the pick-and-place component reaches the placing position, adjusting the docking member to the first position and moving the docking member along the first direction to transfer the goods container out of the carrier.

[0007] According to another aspect of the present application, a goods transfer device is provided, including a device body and the above-mentioned pick-and-place component, and the pick-and-place component is disposed on the device body.

[0008] According to another aspect of the present application, a control device for a pick-and-place component is provided, including a memory and at least one processor; the memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the above-mentioned method for controlling the pick-and-place component.

[0009] According to another aspect of the present application, a computer-readable storage medium is provided, in which computer-executable instructions are stored, and when the processor executes the computer-executable instructions, the above-mentioned method for controlling the pick-and-place component is implemented.

[0010] The picking and placing component provided by the embodiment of the present application sets the carrying platform to have openings at both ends, sets the docking component to rotate and slide relative to the carrying platform, and can straddle the cargo container on the carrying platform. Thus, it can not only realize picking and placing goods from any one of the two ends of the carrying platform without rotating the carrying platform, but also realize pushing out the cargo container from the other end after picking up the cargo container from one end of the carrying platform. And when the area of the carrying platform is sufficient, it can also pick up multiple cargo containers from one end onto the carrying platform, thereby realizing the diversity of picking and placing operations to meet different operation scenarios. At the same time, since it is not necessary to rotate the orientation of the carrying platform when picking and placing goods from both ends, the space utilization rate of the warehousing system where the picking and placing component is located can be improved. And since the docking component can achieve corresponding actions only with simple rotating pairs and linear moving pairs, the cost is low and the work is stable and reliable.

[0011] The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the specific embodiments of the present application are specifically exemplified below. Brief Description of the Drawings

[0012] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present application. And throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0013] Figure 1 is a schematic structural diagram of the warehousing system provided by the embodiment of the present invention;

[0014] Figure 2 is a schematic structural diagram of the picking and placing component provided by the first embodiment of the present invention;

[0015] Figure 3 is a schematic structural diagram of the picking and placing component carrying a cargo container provided by the first embodiment of the present invention;

[0016] Figure 4 is a schematic structural diagram of a perspective of a cargo container provided by the embodiment of the present invention;

[0017] Figure 5 is a schematic structural diagram of another perspective of a cargo container provided by the embodiment of the present invention;

[0018] Figure 6a is a schematic structural diagram of the picking and placing component when pulling a cargo container from one end provided by the first embodiment of the present invention;

[0019] Figure 6b is atFigure 6a Schematic structural diagram of the loading and unloading component after pulling the goods container to the carrying platform on the basis of

[0020] Figure 6c On the basis of Figure 6b Schematic structural diagram of the loading and unloading component when the docking part crosses the goods container on the basis of

[0021] Figure 6d On the basis of Figure 6c Schematic structural diagram of the loading and unloading component when the docking part reaches the other end of the goods container and abuts against the goods container on the basis of

[0022] Figure 6e On the basis of Figure 6d Schematic structural diagram of the loading and unloading component when the docking part pushes the goods container a first preset distance on the basis of

[0023] Figure 6f On the basis of Figure 6e Schematic structural diagram of the loading and unloading component when the docking part retreats a second preset distance and rotates 180° on the basis of

[0024] Figure 6g On the basis of Figure 6f Schematic structural diagram of the loading and unloading component when the docking part pushes the goods container out from the other end on the basis of

[0025] Figure 6h On the basis of Figure 6g Schematic structural diagram of the loading and unloading component when the docking part separates from the goods container on the basis of

[0026] Figure 7a Front perspective structural diagram of the loading and unloading component when the docking part is in a docking state with the goods container provided by the second embodiment of the present invention;

[0027] Figure 7b Front structural diagram of the loading and unloading component when the docking part is in a separated state from the goods container provided by the second embodiment of the present invention;

[0028] Figure 8a Side perspective structural diagram of the loading and unloading component when the docking part is in a docking state with an external goods container provided by the second embodiment of the present invention;

[0029] Figure 8b On the basis of Figure 8a Side perspective structural diagram of the loading and unloading component when the docking part pulls the goods container to the carrying platform on the basis of

[0030] Figure 8c On the basis of Figure 8b Side perspective structural diagram of the loading and unloading component when the docking part crosses the goods container and abuts against it behind the goods container on the basis of

[0031] Figure 8d Based on Figure 8c the side perspective structural schematic diagram of the pick - and - place component after the docking part pushes the cargo container forward by a first preset distance;

[0032] Figure 8e Based on Figure 8d the side perspective structural schematic diagram of the pick - and - place component after the docking part retreats by a second preset distance and rotates 180°;

[0033] Figure 8f Based on Figure 8e the side perspective structural schematic diagram of the pick - and - place component after the docking part pushes the cargo container forward;

[0034] Figure 9a The front perspective structural schematic diagram of the pick - and - place component when the docking part provided in the third embodiment of the present invention is in a state of being docked with the cargo container;

[0035] Figure 9b The front structural schematic diagram of the pick - and - place component when the docking part provided in the third embodiment of the present invention is in a state of being separated from the cargo container;

[0036] Figure 10a The front perspective structural schematic diagram of the pick - and - place component when the docking part provided in the fourth embodiment of the present invention is in a state of being docked with the cargo container;

[0037] Figure 10b The front structural schematic diagram of the pick - and - place component when the docking part provided in the fourth embodiment of the present invention is in a state of being separated from the cargo container;

[0038] Figure 11a The front structural schematic diagram of the pick - and - place component when the docking part provided in the fifth embodiment of the present invention is in a state of being separated from the cargo container;

[0039] Figure 11b The front perspective structural schematic diagram of the pick - and - place component when the docking part provided in the fifth embodiment of the present invention is in a state of being docked with the cargo container;

[0040] Figure 11c The side perspective structural schematic diagram of the pick - and - place component when the docking part provided in the fifth embodiment of the present invention is in a state of being docked with the cargo container;

[0041] Figure 12a The front structural schematic diagram of the pick - and - place component when the docking part provided in the sixth embodiment of the present invention is in a state of being separated from the cargo container;

[0042] Figure 12b The front perspective structural schematic diagram of the pick - and - place component when the docking part provided in the sixth embodiment of the present invention is in a state of being docked with the cargo container;

[0043] Figure 12c Schematic side perspective view of the picking and placing component when the docking part provided in the sixth embodiment of the present invention is in a state of docking with the cargo container;

[0044] Figure 13 Schematic structural view of the docking part in the picking and placing component provided in the embodiment of the present invention;

[0045] Figure 14 Schematic structural view of the picking and placing component carrying the cargo container provided in the seventh embodiment of the present invention;

[0046] Figure 15 Schematic structural view of the cargo transfer device provided in the embodiment of the present invention;

[0047] Figure 16 Schematic flow chart of the control method of the picking and placing component provided in the embodiment of the invention;

[0048] Figure 17a Schematic structural view of the picking and placing component when pulling the cargo container from one end provided in the eighth embodiment of the present invention;

[0049] Figure 17b At Figure 17a Schematic structural view of the picking and placing component after pulling the cargo container to the carrying platform on the basis of;

[0050] Figure 17c At Figure 17b Schematic structural view of the picking and placing component when the docking part straddles the cargo container on the basis of;

[0051] Figure 17d At Figure 17c Schematic structural view of the picking and placing component after the docking part reaches the other end of the cargo container and abuts against the cargo container on the basis of;

[0052] Figure 17e At Figure 17d Schematic structural view of the picking and placing component after the docking part pushes the cargo container out from the other end on the basis of;

[0053] Figure 18a Shows the schematic structural view of the picking and placing component when pulling the cargo container from one end provided in the ninth embodiment of the present invention;

[0054] Figure 18b At Figure 18a Schematic structural view of the picking and placing component after pulling the cargo container to the carrying platform on the basis of;

[0055] Figure 18c At Figure 18b Schematic structural view of the picking and placing component after the docking part rotates to the second position on the basis of;

[0056] Figure 18d For the structure schematic diagram of the picking and placing component after the docking part crosses the cargo container to reach the other end based on Figure 18c ;

[0057] Figure 18e For the structure schematic diagram of the picking and placing component after the docking part rotates to the second sub - position and docks with the cargo container based on Figure 18d ;

[0058] Figure 18f For the structure schematic diagram of the picking and placing component after the cargo container is moved out of the carrying platform based on Figure 18e ;

[0059] The reference numerals in the specific embodiments are as follows:

[0060] 100, picking and placing component; 110, carrying platform; 1101, depression; 111, side wall; 112, slide rail; 120, docking part; 1201, connecting component; 121, rotating connection part; 1211, first end; 1212, second end; 122, bridging part; 1221, protrusion; 123, docking part; 1231, first plate body; 1232, second plate body; 1233, third plate body; 130, sliding seat; 140, driving mechanism; 141, first driving part; 142, driving wheel; 143, driven wheel; 144, flexible transmission part; 151, second driving part; 160, conveying mechanism;

[0061] 200, cargo container; 210, mating part;

[0062] 300, shelf; 310, storage space;

[0063] 400, aisle

[0064] 500, cargo transfer equipment; 510, equipment body;

[0065] 1000, warehousing system. Specific embodiments

[0066] Hereinafter, embodiments of the technical solutions of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present application, so they are only examples and cannot be used to limit the protection scope of the present application.

[0067] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs; the terms used herein are for the purpose of describing specific embodiments only and are not intended to limit this application; the terms "comprising" and "having" and any variations thereof in the specification and claims of this application and the above description of the drawings are intended to cover non-exclusive inclusion.

[0068] In the description of the embodiments of this application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "a plurality" is more than two, unless otherwise specifically defined.

[0069] Referring to "embodiments" herein means that the specific features, structures or characteristics described in connection with the embodiments can be included in at least one embodiment of this application. The phrase appearing in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0070] In the description of the embodiments of this application, the term "and / or" is merely a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can mean: the existence of A, the simultaneous existence of A and B, and the existence of B. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after.

[0071] In the description of the embodiments of this application, the term "a plurality" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0072] In the description of the embodiments of this application, the orientation or positional relationship indicated by technical terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of this application and simplifying the description, and does not indicate or imply that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of this application.

[0073] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installation", "connection", "linkage", "fixation" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can also be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0074] In a warehousing system, the picking and placing of goods are essential steps in each link. A forklift is a component widely used in equipment such as robots in the warehousing system for automated picking and placing of goods. It generally consists of a carrying platform and a telescopic arm telescopically connected to the carrying platform. The end of the telescopic arm has a rotatable push-pull rod. After the telescopic arm extends, the push-pull rod rotates to the rear of the goods, and then the telescopic arm contracts to pull the goods onto the carrying platform through the push-pull rod. When placing the goods, the goods are pushed out of the carrying platform by a push plate at the rear end of the telescopic arm or a push plate slidably arranged at the rear end of the carrying platform.

[0075] Limited by the working characteristics of the forklift, it can only pick and place goods in a single orientation. In order to pick and place goods in different directions, the forklift can be rotatably arranged on the equipment it is on, or the entire equipment where the forklift is located can be rotatably arranged. Thus, by rotating the entire equipment or rotating the forklift relative to the equipment it is on, the direction of the forklift for picking and placing goods can be reversed. For this, it is inevitably necessary to design a corresponding motion mechanism to achieve this. Since the forklift needs to carry goods, the motion mechanism for realizing its rotation generally has a complex structure. And as the main structure for installing and supporting the forklift, the equipment where the forklift is located also requires a complex motion mechanism to achieve rotation. These reasons will all lead to an increase in cost and complexity of the structure, and further result in a decrease in the reliability of the forklift's work. At the same time, the area in the warehousing system for picking and placing goods also needs to reserve space for the reversal of the forklift, which also leads to a decrease in the space utilization rate of the warehousing system.

[0076] Based on this, the present application adopts a loading and unloading platform that can perform loading and unloading operations at both ends, and a docking member that can slide and rotate is connected to the loading and unloading platform. By using the docking member to flip and face the cargo container for docking, it is possible to perform loading and unloading operations at either end of the loading and unloading platform without reversing the loading and unloading platform. The loading and unloading component does not need to reverse its orientation, which is beneficial to improving the space utilization rate of the warehousing system. At the same time, the structure of the docking member is relatively light, and only a simple rotating mechanism and a linear motion mechanism are required to achieve flipping and sliding, with low cost and stable and reliable operation. Further, when there is a cargo container on the loading and unloading platform, the docking member can also reach from one end of the cargo container to the other end, so that not only can the cargo container be pulled from one end of the loading and unloading platform and then pushed out from the other end of the loading and unloading platform, but also multiple cargo containers can be sequentially pulled from one end to the loading and unloading platform, realizing flexible or large-scale loading and unloading of the cargo container.

[0077] According to one aspect of the embodiments of the present application, a loading and unloading component is provided. The loading and unloading component includes, but is not limited to, various cargo transfer devices such as multi-bin handling robots, single-bin handling robots, lifting handling robots, shelf-climbing robots, loading and unloading equipment installed on shelves, and stackers in the field of logistics warehousing.

[0078] Specifically, please refer to Figures 1 to 3 , Figure 1 which shows an application scenario of the loading and unloading component provided by the embodiments of the present application. Figure 2 which shows a three-dimensional structure of the loading and unloading component from one perspective. Figure 3 which shows a three-dimensional structure of the loading and unloading component after pulling the cargo container. As shown in the figure, the loading and unloading component 100 includes a loading and unloading platform 110 and a docking member 120. The docking member 120 is arranged on the loading and unloading platform 110. The loading and unloading platform 110 is configured such that both ends along the first horizontal direction (the direction indicated by the double arrow X in the figure) are available for the cargo container to enter and exit. The docking member 120 is configured to slide relative to the loading and unloading platform 110 along the first horizontal direction and rotate relative to the loading and unloading platform 110 along an axis parallel to the second horizontal direction (the direction indicated by the double arrow Y in the figure). Among them, there is an included angle between the first horizontal direction and the second horizontal direction. In the illustrated embodiment, this included angle is 90°, and in some other embodiments, this included angle can also be any angle greater than 0° and less than 180°.

[0079] The docking member 120 can be rotated to a first position ( Figure 2 the state shown) and a second position ( Figure 3 the state shown). Among them, when the docking member 120 is configured to be in the first position, the docking member 120 faces the first horizontal direction; when the docking member 120 is configured to be in the second position, the docking member 120 faces away from the loading space on the loading and unloading platform 110, where the loading space refers to the space on the loading and unloading platform 110 for placing the cargo container 200.

[0080] It should be noted that the orientation of the docking member 120 refers to the direction in which the component on the docking member 120 used for docking with the cargo container 200 faces relative to the overall structure of the docking member 120. Figure 2 and Figure 3 The docking member 120 shown in FIG is a hook structure as an example. Figure 2 As shown in FIG, when the docking member 120 is in the first position, the component of the docking member 120 for docking with the cargo container 200 is the docking portion 123 shown in the figure. Compared to the docking member 120 as a whole, the docking portion 123 faces one of the two directions included in the first horizontal direction, namely, the direction toward the upper right corner as shown in the double arrow A. Of course, when the docking member 120 is in the first position, its direction may also face the other direction in the first horizontal direction, namely, the direction toward the lower left corner as shown in the double arrow A. In this regard, it should be noted that the fact that the docking member 120 faces the first horizontal direction when in the first position does not mean that the direction of the docking member 120 must be exactly the same as the first horizontal direction. The direction of the docking member 120 may also be approximately the same as the first horizontal direction and at a certain angle to the first horizontal direction. Of course, this angle should not be too large and should be sufficient to ensure that the docking member 120 can form a reliable docking with the cargo container 200.

[0081] Also, take the docking member 120 as an example, which is a hook structure. Figure 3 As shown in , when the docking piece 120 is in the second position, the docking piece 120 is facing upward, and the space on the loading platform 110 for placing the cargo container 200 is located below the docking piece 120, so the docking piece 120 is facing away from the loading space on the loading platform 110.

[0082] Based on this, when the docking member 120 is in the first position, it can dock with the cargo container 200 to pull the cargo container 200 along the first horizontal direction to the loading platform 110 or push it out from the loading platform 110. When the docking member 120 is in the second position, it can avoid the cargo container 200 on the loading platform 110 and slide from one end of the loading platform 110 to the other end along the first horizontal direction.

[0083] The sliding connection between the docking member 120 and the supporting platform 110 can be achieved by means of friction fit between the slider and the slide rail, rolling fit between the pulley and the pulley, etc. The rotational connection between the docking member 120 and the supporting platform 110 can be achieved by means of hole-axis fit, hinges, etc. For example, the sliding and rotational fit between the docking member 120 and the supporting platform 110 can be simultaneously formed by a slide and an axis structure that is clamped to the slide and can rotate relative to the slide. Their specific implementation methods are not limited here.

[0084] Specifically, if Figure 2As shown, the sliding stroke of the docking member 120 can reach both ends of the loading platform 110 along the direction indicated by the double arrow X. When the docking member 120 slides to either end, after the docking member 120 flips outwards to the first position, the part for docking with the cargo container 200 protrudes from the loading platform 110 to ensure normal docking with the cargo container 200.

[0085] Please refer to Figure 2 and Figure 3 , the docking member 120 can adopt a hook structure. At least one end of the cargo container 200 can be provided with a mating portion 210 for engaging with the docking member 120 in a snap-fit manner. When the docking member 120 is in the first position, it is snap-connected to the mating portion 210 through the hook structure to pull the cargo container 200 onto the loading platform.

[0086] Specifically, the mating portion 210 can be a groove with an upward opening. Correspondingly, the docking member 120 can have hooks on both the upper and lower sides as shown in Figure 2 . One hook is bent upwards and one hook is bent downwards. By flipping, the docking member 120 can hook the downward-bent hook to the corresponding side of the cargo container, so that the external cargo container 200 can be pulled onto the loading platform 110 at both ends of the loading platform 110. Conversely, the mating portion 210 can also be a groove with a downward opening, and each time it is snap-connected to the groove is the hook located above. It should be noted that in some embodiments, the docking member 120 can be provided with only 1 hook. For example, when the mating portion 210 is provided with a groove with an upward opening, the docking member 120 is provided with 1 downward-bent hook, and when the mating portion 210 is provided with a groove with a downward opening, the docking member 120 is provided with 1 upward-bent hook.

[0087] In some embodiments, the mating portion 210 can also be a through hole that is open at both the upper and lower sides as shown in Figure 4 and Figure 5 , or it can also be two grooves, one of which is open upwards and the other is open downwards. Based on this, the docking member 120 can only have a hook in one direction, and the hook snaps into the mating portion 210 with an upward opening of the cargo container 200 at one end, and snaps into the mating portion 210 with a downward opening of the cargo container 200 at the other end.

[0088] For any of the above embodiments, in addition to the groove, the mating portion 210 can also adopt similar structures such as a baffle, a clamping block, etc., as long as the pulling force of the docking member 120 can act on it to realize the pulling of the cargo container 200.

[0089] In addition, the docking member 120 can also adopt a suction cup to adsorb the surface of the cargo container 200 to realize the pulling of the cargo container 200.

[0090] Regarding the manner in which the docking member 120 docks with the cargo container 200 and pushes it out of the loading platform 110, after the docking member 120 mates with the mating portion 210 on the cargo container 200, the thrust can be applied to the cargo container 200 by pushing the mating portion 210, or the cargo container 200 can be directly abutted against the outer surface of the cargo container 200 to push the cargo container 200 to move.

[0091] In Figure 1 In the scene shown, the picking and placing component 100 is applied to a robot that works in the aisle between adjacent shelves 300 and performs picking and placing operations on the storage positions 310 of the shelves 300. It can be understood that Figure 1 This is only an exemplary scene provided by this application. Of course, the picking and placing component 100 can also be applied to loading and unloading equipment provided on the shelves, etc.

[0092] For the convenience of understanding, the following provides a working process of the picking and placing component for illustration:

[0093] Please refer to Figures 6a to 6h sequentially. First, as shown in Figure 6a , when the docking member 120 slides to the left end of the loading platform 110 and rotates to the first position, it docks with the cargo container 200 outside the left end of the loading platform 110. Then, the cargo container 200 is pulled to the right and pulled onto the loading platform 110, presenting the state shown in Figure 6b .

[0094] In Figure 6b Based on the state shown, after the docking member 120 rotates to the second position and separates from the cargo container 200, it moves to the left and crosses the cargo container 200 (the state shown in Figure 6c ) and then reaches the left end. Then, the docking member 120 rotates to the first position again, presenting the state shown in Figure 6d .

[0095] In Figure 6d In the state shown, the docking member 120 slides a predetermined distance to the right, and at the same time, pushes the cargo container 200 to slide a predetermined distance and then presents the state shown in Figure 6e . Then, the docking member 120 can slide a predetermined distance to the left and rotate approximately 180° clockwise or counterclockwise, presenting the state shown in Figure 6f . Then, in this state, the cargo container 200 is pushed out of the loading platform 110 to the right, presenting the state shown in Figure 6g . After that, the docking member 120 moves and / or rotates and separates from the cargo container 200, presenting the state shown in Figure 6h . At this time, the work of pulling the cargo container 200 from the left end of the loading platform 110 and pushing it out from the right end is completed.

[0096] It should be noted that Figures 6d to 6fThe working process is a method adopted to fully push out the cargo container 200 when the sliding stroke of the docking member 120 along the first horizontal direction (the left - right direction in the figure, i.e., the direction indicated by the double - arrow X in Figure 2 is limited. In some other embodiments, when the sliding stroke of the docking member 120 along the first horizontal direction is sufficient, the docking member 120 assumes the state shown in Figure 6c . After crossing over the cargo container 200, it can be directly rotated to the state shown in Figure 6f to push out the cargo container 200.

[0097] The above is about the working process of pulling the cargo container 200 from one end of the loading platform 110 and pushing it out to the other end of the loading platform 110. In addition, the picking - placing component 100 provided in this application can also pull or push out multiple cargo containers 200 from both ends respectively. Specifically, when the size of the loading platform 110 along the first horizontal direction is sufficient to accommodate two or more cargo containers 200, the docking member 120 can first pull a cargo container 200 from one end onto the loading platform 110. Then, after crossing over the cargo container 200 on the loading platform 110, it can pull the cargo container 200 from this end onto the loading platform 110 again, so as to realize the picking of a larger number of cargo containers 200. Conversely, it can realize the placing of a larger number of cargo containers 200.

[0098] In the specific embodiment provided in the above figure, the docking member 120 is slidably and rotatably connected to both sides of the loading platform 110 along the second horizontal direction (the direction indicated by the double - arrow Y in Figure 2 ). In some other embodiments, the docking member 120 can also be provided only on one side of the loading platform 110 along the second horizontal direction.

[0099] In addition to the above - mentioned embodiments, as shown in Figure 7a and 7b , the front - perspective structure of the picking - placing component at the first position and the second position is shown in the figure. When the structural conditions permit, the docking member 120 can also be provided on the top of the loading platform 110. Its specific working process is as shown in the side - perspective structure in Figures 8a to 8f . First, as shown in Figure 8a , the docking member 120 slides to the right - most end and rotates clockwise to the first position. After docking with the cargo container 200 outside the right - end of the loading platform 110 and pulling it onto the loading platform 110, the docking member 120 rotates counter - clockwise to the second position and separates from the cargo container 200, assuming the state shown in Figure 8b . Secondly, after the docking member 120 slides to the right past the cargo container 200, it rotates clockwise to the first position again and abuts against the back of the cargo container 200, assuming the state shown in Figure 8cThe state shown. Next, after the docking member 120 drives the cargo container 200 to move leftward together by a predetermined distance, the docking member 120 then slides rightward alone by a predetermined distance and rotates approximately 180° clockwise or counterclockwise to be in the Figure 8e state shown. Finally, based on the state shown in Figure 8e , the docking member 120 slides leftward and pushes the cargo container 200 out from the other end.

[0100] Similarly, based on the embodiments shown in Figure 7a and Figure 7b , it is also possible to connect only one side of the docking member 120 to the carrier 110, specifically as shown in the front perspective structures in Figure 9a and Figure 9b . Figure 7a and Figure 7b In the embodiments shown, a recess 1101 is provided at the top of the carrier 110 to provide space for the rotation of the docking member 120. In contrast, as shown in Figure 10a and Figure 10b , the top of the carrier 110 can also be set high enough so that a relatively high connecting member 1201 can be provided, and the docking member 120 is rotatably connected to the bottom end of the connecting member 1201, so that a space for the normal rotation of the docking member 120 is formed at the top.

[0101] Similarly, as shown in the front perspective structures in Figure 11a and Figure 11b and the side perspective structure in Figure 11c , the docking member 120 can also be provided at the bottom of the carrier 110. The mating portion 210 with a groove is located at the bottom of one end of the cargo container 200. The working principle is the same as that of the embodiments shown in Figure 7a and Figure 7b , and will not be elaborated here. In addition, as shown in the front perspective structures in Figure 12a and Figure 12b and the side perspective structure in Figure 12c , the docking member 120 can also be provided on the side wall of the carrier 110 in a manner different from that of the embodiment shown in Figure 2 . At this time, the mating portion 210 with a groove is also located on the side wall of the cargo container 200. The working principle is also the same as that of the embodiments shown in Figure 7a and Figure 7b .

[0102] In summary, the cargo pick-up and placement assembly 100 provided in the embodiment of the present application, by configuring the platform 110 to be open at both ends and configuring the docking member 120 to rotate and slide relative to the platform 110 and to be able to straddle the cargo containers 200 on the platform 110, not only allows cargo to be picked up and placed from either end of the platform 110 without rotating the platform 110, but also allows cargo containers 200 to be picked up from one end of the platform 110 and then pushed out from the other end. Furthermore, if the platform 110 has sufficient area, multiple cargo containers 200 can be picked up from one end and placed on the platform 110, thereby achieving a variety of cargo pick-up and placement operations to meet different operational scenarios. Furthermore, since the platform 110 does not need to be rotated when picking up and placing cargo from both ends, the space utilization rate of the storage system in which the cargo pick-up and placement assembly 100 is located can be improved. Furthermore, since the docking member 120 only requires simple rotational and linear motion joints to achieve the corresponding movements, the cost is low and the operation is stable and reliable.

[0103] Regarding the specific structure of the docking member 120, this application proposes an implementation method, please refer to Figure 2 and Figure 3 As shown in the figure, the carrying platform 110 has a sidewall 111 on at least one side along a second horizontal direction (indicated by the double arrow Y in the figure), the second horizontal direction being perpendicular to the first horizontal direction. The docking member 120 includes a rotating connection portion 121, a bridging portion 122, and a docking portion 123. The first end 1211 of the rotating connection portion 121 is slidably connected to the inner side of the sidewall 111, i.e., the side facing the carrying space, and the first end 1211 of the rotating connection portion 121 is rotatably connected to the sidewall 111 along an axis parallel to the second horizontal direction. The bridge portion 122 is provided at the second end 1212 of the rotating connection portion 121, and the docking portion 123 is provided on the side of the bridge portion 122 away from the rotating connection portion 121. The rotating connection portion 121 has a first preset length, which can be specifically a straight plate, a connecting rod or a column with a certain length. Therefore, after the bridge portion 122 is provided at the second end 1212 of the rotating connection portion 121, when the bridge portion 122 is rotated to face the upper side of the load-bearing platform 110, there is a certain distance of accommodation space, so that the cargo container 200 can be avoided. Preferably, the bridge portion 122 is vertically provided at the second end 1212 of the rotating connection portion 121. In addition, the rotating connection portion 121 and the bridge portion 122 can be integrally formed or fixedly connected. The docking portion 123 is used to rotate with the rotating connection portion 121 to the first position (such as Figure 2 The bridging portion 122 and the docking portion 123 are used to rotate with the rotating connecting portion 121 to the second position (as shown in the figure). Figure 3When in the position shown, it slides along the first horizontal direction, passes over the top of the cargo container 200 on the carrier 110 from one end of the carrier 110, and reaches the other end.

[0104] Specifically, the side wall 111 can be integrally formed with the carrier 110. For example, it can be formed by bending a sheet metal part, which is beneficial to simplifying the production and preparation process and improving efficiency. The rotational connection of the first end 1211 of the rotational connection part 121 with the side wall 111 can be achieved by means of shaft-hole fitting, hinge, etc., and the sliding connection can be realized by mechanisms such as slide rails and sliders, or protrusions and chutes.

[0105] As Figure 2 shown, two side walls 111 can be provided, and the rotational connection parts 121 are oppositely arranged on the two side walls 111, so that the two rotational connection parts 121 are symmetrically arranged with respect to the axis parallel to the second horizontal direction, and the bridging part 122 is arranged between the two rotational connection parts 121 to enhance the overall stability of the docking part 120. Of course, only one side wall 111 and one rotational connection part 121 can also be provided, or two side walls 111 can be provided, but only one side wall is provided with a rotational connection part 121. The specific working principle is the same as that of Figure 2 and Figure 3 the embodiments shown, and will not be elaborated here.

[0106] In the actual operation scenario, the top of the carrier 110 generally has a large space or is an open structure. In order to prevent the cost increase caused by the need to re-open the mold design of the carrier 110, in this embodiment, the docking part 120 is made to cross over the top of the cargo container 200 to achieve the docking part 120 reaching from one end of the cargo container 200 on the carrier 110 to the other end. Compared with the way that the docking part 120 passes by the side or bottom of the cargo container 200 on the carrier 110, the way of passing from the top does not require reserving a space for the movement of the docking part 120 at the bottom or side of the carrier 110, and there is no requirement for the structural shape of the carrier 110, which is beneficial to simplifying the structure of the carrier 110 and reducing the overall cost of the picking and placing component 100.

[0107] To ensure the stability when picking up and placing the cargo container 200, the present application further proposes an implementation manner. Specifically, please refer to Figure 2 again. As shown in the figure, both sides of the carrier 110 along the second horizontal direction (the direction shown by the double arrow Y in the figure) have side walls 111. There are two rotational connection parts 121, which are respectively slidably and rotationally connected to the side walls 111 on both sides, and the bridging part 122 bridges between the two rotational connection parts 121.

[0108] By providing a rotating connection part 121 on the side walls 111 on both sides and bridging the bridging part 122 between the two rotating connection parts 121, it is possible to ensure that both ends of the bridging part 122 are supported, ensuring the stability and reliability when pulling and pushing the cargo container 200.

[0109] Regarding the structure of the docking part 123, the present application proposes an implementation manner. For details, please refer back to Figure 3 , as shown in the figure, the docking part 123 is a two-way hook, so that the docking member 120 can be respectively docked with the cargo container 200 on the corresponding side when facing the two sides of the loading platform 110.

[0110] Adopting a hook to dock with a hook or a groove on the cargo container 200 makes the structure of the docking part 123 simple, and can effectively reduce the docking operation space that needs to be reserved between the cargo containers 200, thereby improving the storage density of the warehousing system.

[0111] Specifically, the first position includes a first sub-position and a second sub-position. When the docking member 120 is in the first sub-position and the second sub-position, it faces in opposite directions, that is, when the docking member 120 is in the first sub-position, it faces one end of the loading platform 110, and when it is in the second sub-position, it faces the other end of the loading platform 110. Further, when the docking member 120 is in the first sub-position and is located at one end of the loading platform 110 where the cargo container 200 enters and exits (as shown in Figure 6a the state), or when it is in the second sub-position and is located at the other end of the loading platform 110 where the cargo container 200 enters and exits (as shown in Figure 6g the state), the docking part 123 can be clamped with the mating part 210 of the cargo container 200 outside the loading platform 110 to pull the cargo container 200 onto the loading platform 110.

[0112] Regarding the specific structure of the two-way hook, the present application proposes an implementation manner. For details, please refer back to Figure 13 , the figure shows the structure of the docking member. As shown in the figure, the docking part 123 includes a first plate body 1231, a second plate body 1232 and a third plate body 1233. One end of the first plate body 1231 is connected to the bridging part 122, the second plate body 1232 and the third plate body 1233 are connected to the other end of the first plate body 1231, the second plate body 1232 and the third plate body 1233 are both arranged at an angle with the first plate body 1231 and the extending directions of the second plate body 1232 and the third plate body 1233 are opposite.

[0113] In Figure 13In the illustrated embodiment, the first plate 1231 is parallel to the horizontal plane of the first horizontal direction when in the first position, and one end of the first plate 1231 along the first horizontal direction is connected to the bridge portion 122 or is integrally formed with the bridge portion 122. The second plate 1232 and the third plate 1233 are both arranged perpendicular to the first plate 1231, and are respectively arranged on either side of the end of the first plate 1231 facing away from the bridge portion 122. In other embodiments, the second plate 1232 and / or the third plate 1233 may not be arranged perpendicular to the first plate 1231, for example, the second plate 1232 and / or the third plate 1233 may be arranged at an acute or obtuse angle to the first plate 1231.

[0114] Specifically, the second plate 1232 is used when the docking member 120 is in the first sub-position and is located at one end of the carrier 110 for the cargo container 200 to enter and exit (e.g., Figure 6a The third plate 1233 is used when the docking member 120 is in the second sub-position and is located at the other end of the loading platform 110 for the cargo container to enter and exit (as shown in the state). Figure 6g It should be noted that in some embodiments, the third plate 1233 may also be connected to the matching portion 210 of the cargo container 200 outside the carrier 110. Figure 6a In the state shown, the second plate 1232 is engaged or hooked with the matching portion 210 of the cargo container 200. Figure 6g The state shown is that it is snap-connected or hooked with the matching portion 210 of the cargo container 200 .

[0115] The docking portion 123 utilizes a bidirectional hook formed by a first plate 1231, a second plate 1232, and a third plate 1233 to reliably engage with the mating portion 210, thereby allowing the cargo container 200 to be pulled or placed on either end of the platform 110. Alternatively, the docking portion 123 may utilize two separate hooks arranged in a mirrored manner to form a bidirectional hook.

[0116] In order to ensure that the cargo container can be pulled or pushed out easily and labor-savingly, this application also proposes an implementation method. Figure 14 The figure shows another structure of a cargo pick-up and placement assembly. As shown in the figure, a conveyor mechanism 160 is provided on the carrier platform 110 along a first horizontal direction (indicated by the double-headed arrow X in the figure). The docking member 120 is used to pull the cargo container 200 onto the conveyor mechanism 160, which is used to drive the cargo container 200 along the first horizontal direction.

[0117] Specifically, the transmission mechanism 160 can be used as follows Figure 14The synchronous belt transmission mechanism shown in the figure can of course also adopt a drum-type transmission mechanism or the like. And the transmission plane of the transmission mechanism 160 is set higher than the bottom surface of the carrier 110, so as to ensure that when the cargo container 200 is pulled onto the transmission mechanism 160 and moves along with it, there will be no friction with the bottom surface of the carrier 110, ensuring that the movement of the cargo container 200 is easy and labor-saving.

[0118] After the docking member 120 pulls at least part of the cargo container 200 outside the carrier 110 onto the carrier 110, the transmission mechanism 160 can drive the cargo container 200 to move alone from the bottom to move the cargo container 200 to the middle of the carrier 110, or the docking member 120 and the transmission mechanism 160 can also jointly drive the cargo container 200 to move to move the cargo container 200 to the middle of the carrier 110 or output it from the other end of the carrier 110.

[0119] Considering that in the method of using the docking member 120 alone to pull or push the cargo container 200, when the weight of the cargo container 200 is large, a large frictional force will be formed with the bottom surface of the carrier 110, which will cause the docking member 120 to pull or push the cargo container 200 with difficulty and slowness. Based on this, in this embodiment, a transmission mechanism 160 is provided on the carrier 110. By cooperating the transmission mechanism 160 with the docking member 120 to pull or push the cargo container 200, the effect of easy and labor-saving movement of the cargo container 200 can be achieved, making the operation stable and reliable.

[0120] In order to improve the structural stability of the docking member 120, the present application further proposes an implementation manner. For details, please refer to Figure 13 As shown in the figure, a protrusion 1221 is provided on the side of the bridging portion 122 facing away from the rotation connection portion 121, and one end of the first plate body 1231 is connected to the protrusion 1221.

[0121] Considering that when the second plate body 1232 or the third plate body 1233 is clamped or hooked to the cargo container 200 and pulls or pushes the cargo container 200, the acting force transmitted to the bridging portion 122 through the first plate body 1231 is relatively large. In order to prevent the bridging portion 122 from deforming under force and affecting the normal operation, in this embodiment, a protrusion 1221 is provided on the bridging portion 122 to enhance its structural strength. After connecting the first plate body 1231 to the protrusion 1221, it can be ensured that the bridging portion 122 can stably bear the acting force transmitted from the first plate body 1231, ensuring the structural stability of the bridging portion 122, and thus ensuring the normal operation of the docking member 120.

[0122] Regarding the sliding connection structure between the docking member 120 and the carrier 110, the present application proposes an implementation manner. For details, please refer to Figure 2, as shown in the figure, a slide rail 112 is arranged on the carrier 110 along the first horizontal direction. The picking and placing component 100 further includes a sliding seat 130, which is slidably engaged with the slide rail 112, and the docking component 120 is rotatably connected to the sliding seat 130.

[0123] Specifically, the sliding seat 130 can be a slider slidably connected to the slide rail 112, and the docking component 120 can be rotatably connected to the sliding seat 130 by means of hole-shaft cooperation, hinge, etc. By the sliding cooperation between the sliding seat 130 and the slide rail 112, and the docking component 120 being rotatably connected to the sliding seat 130, the straightness of the sliding of the docking component 120 relative to the carrier 110 can be ensured.

[0124] In order to realize the automatic movement of the docking component, the present application further proposes an implementation manner. Specifically, please refer to again Figure 2 , as shown in the figure, a driving mechanism 140 is arranged on the carrier 110, the sliding seat 130 is connected to the driving mechanism 140, and the driving mechanism 140 is used to drive the sliding seat 130 to slide relative to the carrier 110 along the first horizontal direction. Specifically, the driving mechanism 140 can adopt driving mechanisms such as belt and pulley, sprocket and chain, lead screw module, telescopic rod, etc., which are not limited herein.

[0125] Regarding the specific structure of the driving mechanism, the present application proposes an implementation manner. Specifically, please refer to again Figure 2 , as shown in the figure, the driving mechanism 140 includes a first driving member 141, a driving wheel 142, a driven wheel 143 and a flexible transmission member 144. The driving wheel 142 and the driven wheel 143 are respectively rotatably arranged at opposite ends of the carrier 110 along the first horizontal direction. The first driving member 141 is fixed to the carrier 110, and the output shaft of the first driving member 141 is fixedly connected to the driving wheel 142. The flexible transmission member 144 is connected between the driving wheel 142 and the driven wheel 143, and the sliding seat 130 is fixedly connected to the flexible transmission member 144. The first driving member 141 is used to drive the driving wheel 142 to rotate, and then drive the flexible transmission member 144 to move, so that the sliding seat 130 slides relative to the carrier 110 along the first horizontal direction with the flexible transmission member 144.

[0126] Specifically, the flexible transmission member 144 can adopt structures such as synchronous belt, chain, steel wire rope, etc. The transmission method using the flexible transmission member can ensure the transmission efficiency, and thus improve the sliding speed of the docking component 120 relative to the carrier 110.

[0127] In order to realize the automatic flipping of the docking component, the present application also proposes an implementation manner. Specifically, please continue to refer to Figure 2, as shown in the figure, a second driving member 151 is fixedly arranged on the sliding seat 130. The second driving member 151 is configured to be fixedly connected to the flexible transmission member 144. The output shaft of the second driving member 151 is connected to the docking member 120 for driving the docking member 120 to rotate.

[0128] After the second driving member 151 is fixedly arranged on the sliding seat 130, the docking member 120 is driven to rotate by the second driving member 151, so that the automatic rotation of the docking member 120 can be realized. Further, the automatic rotation of the docking member 120 combined with the automatic sliding of the docking member 120 in the above embodiment can enable the picking and placing component 100 to realize fully automatic picking and placing operations. In the case of meeting various operation modes, it is also beneficial to improve the operation efficiency.

[0129] According to another aspect of the embodiments of the present application, a goods transfer device is further provided. For details, please refer to Figure 15 , the structure of the goods transfer device is shown in the figure. As shown in the figure, the goods transfer device 500 includes a device body 510 and the picking and placing component 100 in any of the above embodiments.

[0130] By adopting the picking and placing component 100 in any of the above embodiments, the goods transfer device 500 provided by the embodiments of the present application can not only realize the goods transfer from any one end to the other end without turning the picking and placing component 100, but also realize the transfer of multiple goods containers 200 by sequentially picking up multiple goods containers 200 from one end and then sequentially pushing out multiple goods containers 200 from the other end, meeting different operation scenarios.

[0131] In order to perform goods transfer operations at different heights, the present application further proposes an implementation manner. For details, please refer to Figure 15 , as shown in the figure, the picking and placing component 100 is vertically liftably connected to the device body 510 (in the direction of the double arrow Z shown in the figure).

[0132] In addition, in some embodiments, the picking and placing component 100 can also be rotatably connected to the device body along a vertical axis (an axis parallel to the double arrow Z in Figure 15 . By rotatably arranging the picking and placing component 100 along the vertical axis, the goods transfer at both ends in the front and rear directions and the goods transfer at both ends in the left and right directions can be realized by the rotation of the picking and placing component 100 itself without moving the device body 510.

[0133] According to another aspect of the embodiments of the present application, a warehousing system is further provided. For details, please refer to Figure 1, as shown in the figure, the storage system 1000 includes a shelf 300 and the cargo transfer device 500 in any of the above embodiments. The cargo transfer device can move independently or move on a track, can move along a track provided at the bottom or top of the roadway, or can move along a track provided on the shelf 300. The shelf 300 is used to place the cargo container 200, and the cargo transfer device 500 is used to pick up and place the cargo container 200 on at least one of the two adjacent shelves 300 when it is in the roadway 400 between two adjacent shelves 300.

[0134] It should be noted that the cargo transfer device 500 can pick up and place goods only on one shelf 300, or when it is in the roadway 400 between two adjacent shelves 300, it can transfer the cargo container 200 on one shelf 300 to another shelf 300. And during this transfer process, neither the cargo transfer device 500 nor the picking and placing component 100 thereon needs to perform any movement, which can ensure the high efficiency of the operation.

[0135] According to another aspect of the embodiments of the present application, there is also provided a method for controlling a picking and placing component. First, please refer to Figure 2 and Figure 3 , as shown in the figure, the picking and placing component 100 includes a carrying platform 110 and a docking member 120. The docking member 120 is arranged on the carrying platform 110. The carrying platform 110 is configured such that both ends along the first horizontal direction (the direction indicated by the double arrow X in the figure) are available for the cargo container to enter and exit. The docking member 120 is configured to slide relative to the carrying platform 110 along the first horizontal direction and rotate relative to the carrying platform along an axis parallel to the second horizontal direction (the direction indicated by the double arrow Y in the figure). There is an included angle between the first horizontal direction and the second horizontal direction. The docking member 120 can be rotated to a first position and a second position. When the docking member 120 is configured to be in the first position, the docking member 120 faces the first horizontal direction. When the docking member 120 is configured to be in the second position, the docking member 120 faces away from the carrying space on the carrying platform 110. The first horizontal direction includes opposite first directions ( Figure 6a and Figure 17a the direction indicated by the arrow X1 in the figure) and second directions ( Figure 6a and Figure 17a the direction indicated by the arrow X2 in the figure).

[0136] Please refer to Figure 16 and Figures 17a to 17e , Figure 16 which shows the flow of the method for controlling the picking and placing component, Figures 17a to 17e and

[0137] Step 10: When the picking and placing component 100 reaches the picking position, adjust the docking component 120 to the first position and dock it with the cargo container located outside the carrying platform 110. The state of the picking and placing component corresponding to this step after docking is as shown in Figure 17a shown.

[0138] Step 30: After docking is completed, move the docking component 120 along the first direction to transfer the cargo container 200 to the carrying platform 110. The state of the picking and placing component 100 corresponding to this step after the transfer is completed is as shown in Figure 17b shown.

[0139] Step 50: After the cargo container 200 is transferred to the carrying platform 110, adjust the docking component 120 to the second position and move the docking component 120 along the second direction so that the docking component 120 moves from one end of the cargo container 200 to the other end. The state of the picking and placing component 100 corresponding to the state when the docking component 120 passes through the cargo container 200 in this step is as shown in Figure 17c shown, and the state after the docking component 120 moves to the other end of the cargo container 200 is as shown in Figure 17d shown.

[0140] Step 70: When the picking and placing component 100 reaches the placing position, adjust the docking component 120 to the first position and move the docking component 120 along the first direction to transfer the cargo container 200 out of the carrying platform 110. The state of the picking and placing component 100 corresponding to the state after the cargo container 200 is transferred out of the carrying platform 110 in this step is as shown in Figure 17e shown.

[0141] Further, in some embodiments, the first position includes a first sub-position ( Figure 17a the state shown) and a second sub-position ( Figure 17d the state shown), and the docking component 120 faces the second direction and the first direction when it is in the first sub-position and the second sub-position respectively. In the above Step 10, the docking component is adjusted to the first sub-position, and in the above Step 70, the docking component 120 is adjusted to the second sub-position. By using the Figures 17a to 17e way shown, after the external cargo container 200 is pulled from one end to the carrying platform 110, the cargo container 200 can be completely pushed out from the other end.

[0142] It can be understood that, in addition to the above way, the first position may also only include Figure 17a the state shown in one position, and after the step corresponding to the Figure 17c state shown, the docking component 120 can also be rotated again to the Figure 17a state shown, and the cargo container 200 can be pushed out from the other end through its back surface.

[0143] Combined with Figures 17a to 17eAccording to the operation mode of pulling the goods container 200 from one end and pushing it out from the other end mentioned above, when the docking member 120 pulls the goods container 200 at the first sub-position as shown in Figure 17b and slides to the maximum stroke on the right side, in order to make the docking member 120 cross over the goods container 200 and rotate to the second sub-position and then be able to abut against the goods container 200, as shown in Figure 17d , it is necessary to ensure that the distance D1 between the left maximum sliding stroke of the docking member 120 and the left side of the goods container 200 is greater than or equal to the dimension D2 of the docking member 120 along the first horizontal direction when it rotates to the second sub-position. Inevitably, this requires setting the dimension of the carrying platform 110 along the first horizontal direction to be relatively large, resulting in a need to reserve a large space in the warehousing system to arrange the picking and placing component 100, which affects the space utilization rate of the warehousing system.

[0144] Based on the above problems, in order to fully reduce the dimension of the picking and placing component 100 along the first horizontal direction and at the same time realize the operation mode of pulling the goods container 200 from one end and pushing it out from the other end, the present application further proposes an implementation manner. Further, the first position includes a first sub-position and a second sub-position, and the docking member 120 faces the second direction and the first direction when it is at the first sub-position and the second sub-position respectively. Please refer to Figures 6a to 6h again. The above step 70 includes the following steps:

[0145] Step 71: Adjust the docking member 120 to the first sub-position (refer to the state shown in Figure 6d ), and move the docking member 120 and the goods container 200 a first preset distance L1 along the first direction (refer to the state shown in Figure 6e ).

[0146] Step 73: Then move the docking member 120 a second preset distance L2 along the second direction, and adjust the docking member 120 to the second sub-position (refer to the state shown in Figure 6f ).

[0147] Step 75: Move the docking member 120 along the first direction to transfer the goods container 200 out of the carrying platform 110 (refer to the states shown in Figure 6g and Figure 6h ).

[0148] It should be noted that the magnitudes of the first preset distance L1 and the second preset distance L2 can be adjusted as needed, as long as the above operation process can be normally realized.

[0149] In the above manner, on the premise of ensuring that the cargo container 200 can be completely pushed out from the other end, the sliding stroke required for the docking member 120 along the first horizontal direction is effectively shortened. Furthermore, the size of the loading platform 110 along the first horizontal direction can be reduced, improving the space utilization rate of the storage system where the picking and placing component 100 is located.

[0150] In order to fully reduce the size of the picking and placing component 100 along the first horizontal direction and simultaneously implement the operation mode of pulling the cargo container 200 from one end and pushing it out from the other end, the present application also proposes an implementation manner. For details, please refer to Figures 18a to 18f , as shown in the figure, a conveying mechanism 160 is arranged on the loading platform 110 along the first horizontal direction (the direction indicated by the double arrow X in the figure). The above step 30 includes the following steps:

[0151] Step 32: After docking is completed (refer to the state shown in Figure 18a ), move the docking member 120 along the first direction to transfer at least part of the cargo container 200 onto the conveying mechanism 160.

[0152] Step 34: Drive the cargo container 200 to move along the first direction jointly by the docking member 120 and the conveying mechanism 160 to completely transfer the cargo container 200 onto the loading platform 110 (refer to the state shown in Figure 18b ).

[0153] Then, for the states passed through in the subsequent step 50, refer to Figure 18c and 18d , which is the same as described above and will not be elaborated here.

[0154] Furthermore, in some embodiments, the first position includes a first sub-position and a second sub-position. When the docking member 120 is in the first sub-position and the second sub-position, it faces the second direction and the first direction respectively. A conveying mechanism 160 is arranged on the loading platform 110 along the first horizontal direction (the direction indicated by the double arrow X in the figure). Step 70 includes the following steps:

[0155] Step 72: Drive the cargo container 200 to move along the first direction by the conveying mechanism 160 for a third preset distance and adjust the docking member 120 to the second sub-position (refer to the state shown in Figure 18e ).

[0156] Step 74: Drive the cargo container 200 to move along the first direction by the docking member 120 to transfer the cargo container 200 out of the loading platform 110 (refer to the state shown in Figure 18f ). It should be noted that when the conveying mechanism 160 contacts the cargo container 200, the conveying mechanism 160 can assist the docking member 120 to drive the cargo container 200 to move.

[0157] The principle of reducing the size of the picking and placing component 100 in the first horizontal direction in this embodiment is the same as that of Figures 6a to 6h the embodiment shown, with the difference being that: Figures 6a to 6h In the embodiment shown, after the goods container 200 is just pulled to the bearing platform 110 along the first direction, the docking component 120 crosses the goods container 200 along the second direction and first abuts against the goods container 200 from its back and then pushes it a certain distance along the first direction, and then the front surface of the docking component 120 abuts against the goods container 200 to completely push out the goods container 200. In this embodiment, by utilizing the characteristic that the conveying mechanism 160 can drive the goods container 200 to move, after the goods container 200 is just pulled to the bearing platform 110 along the first direction, the conveying mechanism 160 drives the goods container 200 to move a certain distance along the first direction, so that after the docking component 120 crosses the goods container 200 along the second direction, it can directly abut against the goods container 200 from the front surface, and then the docking component 120 and the conveying mechanism 160 jointly drive the goods container 200 to completely move out of the bearing platform 110 along the first direction.

[0158] In addition to being able to reduce the size of the picking and placing component 100 in the first horizontal direction, by the cooperation of the conveying mechanism 160 and the docking component 120 to drive the goods container 200 to move, it can also make it easy and labor-saving to drive the goods container 200 and ensure the stability of the operation.

[0159] It should be further noted that the picking and placing component control method provided in this embodiment can be applied to any picking and placing component in the embodiments of the present application, as long as it includes the necessary structure for implementing the picking and placing component control method provided in this embodiment.

[0160] According to another aspect of the embodiments of the present application, there is also provided a picking and placing component control device, including a memory and at least one processor; the memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the picking and placing component control method of any of the above embodiments.

[0161] According to another aspect of the present application, there is also provided a computer-readable storage medium, in which computer-executable instructions are stored, and when the processor executes the computer-executable instructions, the picking and placing component control method of any of the above embodiments is implemented.

[0162] 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 foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way.

Claims

1. A picking and placing component, characterized in that, Comprising: A loading platform and a docking member, the docking member is disposed on the loading platform, the loading platform is configured such that both ends along the first horizontal direction are accessible to the cargo container, the docking member is configured to slide relative to the loading platform along the first horizontal direction and rotate relative to the loading platform about an axis parallel to the second horizontal direction; there is an included angle between the first horizontal direction and the second horizontal direction; The docking member can be rotated to a first position and a second position; When the docking member is configured to be in the first position, the docking member faces the first horizontal direction; When the docking member is configured to be in the second position, the docking member faces away from the loading space on the loading platform; When the docking member is in the first position, it can be docked with the cargo container to pull the cargo container along the first horizontal direction onto the loading platform or push it out from the loading platform; When the docking member is in the second position, it can avoid the cargo container on the loading platform and slide from one end to the other end of the loading platform along the first horizontal direction.

2. The pick-and-place component according to claim 1, characterized in that, At least one side of the loading platform along the second horizontal direction has a side wall, and the second horizontal direction is perpendicular to the first horizontal direction; The docking member includes a rotating connection portion, a bridging portion and a docking portion. The first end of the rotating connection portion is slidably connected to the inner side of the side wall and is rotatably connected to the side wall about an axis parallel to the second horizontal direction. The bridging portion is disposed at the second end of the rotating connection portion, and the docking portion is disposed on the side of the bridging portion away from the rotating connection portion; The docking portion is used to dock with the mating portion of the cargo container when it rotates to the first position along with the rotating connection portion; The bridging portion and the docking portion are used to slide along the first horizontal direction and reach the other end from one end of the loading platform after passing over the top of the cargo container on the loading platform when they rotate to the second position along with the rotating connection portion.

3. The picking and placing component according to claim 2, wherein The rotating connection portion has a first preset length, and the bridging portion is perpendicularly disposed on the rotating connection portion.

4. The pick-and-place component according to claim 2, wherein Both sides of the loading platform along the second horizontal direction have the side walls. There are two rotating connection portions which are oppositely disposed on the side walls on both sides, and the bridging portion bridges between the two rotating connection portions.

5. The picking and placing component according to claim 1, characterized in that The docking member includes a hook or a suction cup, so that the docking member can be respectively docked with the cargo containers on the corresponding sides when facing the two sides of the loading platform respectively.

6. The pick-and-place component according to claim 2, wherein, The docking portion is a two-way hook, and the docking portion includes a first plate body, a second plate body and a third plate body; One end of the first plate body is connected to the bridging portion, the second plate body and the third plate body are connected to the other end of the first plate body. The second plate body and the third plate body are both disposed at an angle to the first plate body and the extending directions of the second plate body and the third plate body are opposite.

7. The picking and placing component according to claim 6, wherein, A protrusion is provided on the side of the bridging portion away from the rotating connection portion, and one end of the first plate body is connected to the protrusion.

8. The pick-and-place component according to any one of claims 1-7, characterized in that A conveying mechanism is disposed on the loading platform along the first horizontal direction, and the conveying mechanism is used to drive the cargo container to move along the first horizontal direction.

9. The pick-and-place component according to claim 8, wherein, The transfer mechanism includes a synchronous belt transfer mechanism and / or a roller-type transfer mechanism.

10. The pick-and-place component according to any one of claims 1-7, characterized in that, A slide rail is provided on the carrier table along the first horizontal direction. The picking and placing component further includes a sliding seat, which is slidably engaged with the slide rail, and the docking member is rotatably connected to the sliding seat.

11. The pick-and-place component according to claim 10, characterized in that, A driving mechanism is provided on the carrier table. The sliding seat is connected to the driving mechanism, and the driving mechanism is configured to drive the sliding seat to slide relative to the carrier table along the first horizontal direction.

12. The picking and placing component according to claim 11, characterized in that, The driving mechanism includes a first driving member, a driving wheel, a driven wheel, and a flexible transmission member. The driving wheel and the driven wheel are respectively rotatably provided at opposite ends of the carrier table along the first horizontal direction. The first driving member is fixed to the carrier table, and the output shaft of the first driving member is fixedly connected to the driving wheel. The flexible transmission member is connected between the driving wheel and the driven wheel, and the sliding seat is fixedly connected to the flexible transmission member. The first driving member is configured to drive the driving wheel to rotate, and then drive the flexible transmission member to move, so that the sliding seat slides relative to the carrier table along the first horizontal direction with the flexible transmission member. A second driving member is fixedly provided on the sliding seat. The second driving member is configured to be fixedly connected to the flexible transmission member, and the output shaft of the second driving member is connected to the docking member for driving the docking member to rotate.

13. A method for controlling a picking and placing component, characterized in that, The picking and placing component includes a carrier table and a docking member. The docking member is provided on the carrier table. The carrier table is configured such that both ends along the first horizontal direction are accessible to the cargo container. The docking member is configured to slide relative to the carrier table along the first horizontal direction and rotate relative to the carrier table along an axis parallel to the second horizontal direction. An angle exists between the first horizontal direction and the second horizontal direction. The docking member can be rotated to a first position and a second position. When the docking member is in the first position, the docking member faces the first horizontal direction. When the docking member is in the second position, the docking member faces away from the loading space on the carrier table. The first horizontal direction includes an opposite first direction and second direction. The method includes: When the picking and placing component reaches the picking position, adjust the docking member to the first position and dock with the cargo container located outside the carrier table. After the docking is completed, move the docking member along the first direction to transfer the cargo container to the carrier table. After the cargo container is transferred to the carrier table, adjust the docking member to the second position and move the docking member along the second direction so that the docking member moves from one end of the cargo container to the other end. When the picking and placing component reaches the placing position, adjust the docking member to the first position and move the docking member along the first direction to transfer the cargo container out of the carrier table.

14. The method for controlling the pick-and-place component according to claim 13, characterized in that, The first position includes a first sub-position and a second sub-position. When the docking member is in the first sub-position and the second sub-position, it faces the second direction and the first direction respectively. When the picking and placing component reaches the picking position, adjusting the docking member to the first position and docking with a cargo container located outside the carrier table includes: When the picking and placing component reaches the picking position, adjusting the docking member to the first sub-position and docking with a cargo container located outside the carrier table; When the picking and placing component reaches the placing position, adjusting the docking member to the first position and moving the docking member along the first direction to transfer the cargo container out of the carrier table includes: When the picking and placing component reaches the placing position, adjusting the docking member to the second sub-position and moving the docking member along the first direction to transfer the cargo container out of the carrier table.

15. The method for controlling the pick-and-place component according to claim 13, characterized in that, The first position includes a first sub-position and a second sub-position. When the docking member is at the first sub-position and the second sub-position, it faces the second direction and the first direction respectively; Adjusting the docking member to the first position and moving the docking member along the first direction to transfer the cargo container out of the carrier table includes: Adjusting the docking member to the first sub-position and moving the docking member and the cargo container a first preset distance along the first direction; Then moving the docking member a second preset distance along the second direction and adjusting the docking member to the second sub-position; Moving the docking member along the first direction to transfer the cargo container out of the carrier table.

16. The pick-and-place component control method according to claim 13, wherein A conveying mechanism is arranged on the carrier table along the first horizontal direction; After the docking is completed, moving the docking member along the first direction to transfer the cargo container to the carrier table includes: After the docking is completed, moving the docking member along the first direction to transfer at least part of the cargo container onto the conveying mechanism; Driving the cargo container to move along the first direction through the cooperation of the docking member and the conveying mechanism to completely transfer the cargo container to the carrier table.

17. The control method of the picking and placing component according to claim 13, characterized in that, The first position includes a first sub-position and a second sub-position. When the docking member is at the first sub-position and the second sub-position, it faces the second direction and the first direction respectively; A conveying mechanism is arranged on the carrier table along the first horizontal direction; Adjusting the docking member to the first position and moving the docking member along the first direction to transfer the cargo container out of the carrier table includes: Driving the cargo container to move a third preset distance along the first direction through the conveying mechanism and adjusting the docking member to the second sub-position; Driving the cargo container to move along the first direction through the docking member to transfer the cargo container out of the carrier table.

18. A cargo transfer device, characterized in that, It includes an equipment body and a picking and placing component as described in any one of claims 1-12, and the picking and placing component is arranged on the equipment body.

19. A control device for a picking and placing component, characterized in that, It includes: A memory and at least one processor; The memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, such that the at least one processor executes the picking and placing component control method according to any one of claims 13-17.

20. A computer-readable storage medium, characterized in that, Computer-executable instructions are stored in the computer-readable storage medium, and when the processor executes the computer-executable instructions, the picking and placing component control method according to any one of claims 13-17 is implemented.

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