Goods taking and placing mechanism, carrying robot, warehousing system and carrying method

Abstract

The embodiment of the invention provides a goods taking and placing mechanism, a carrying robot, a warehousing system and a carrying method. The goods taking and placing mechanism comprises a tray assembly and two sets of telescopic pallet forks. The tray assembly comprises a support and a movable tray. The two groups of telescopic forks can bidirectionally extend or retract relative to the bracket; the movable tray can slide bidirectionally relative to the bracket; the movable tray is used for sliding towards the goods shelf direction when goods taking and placing operation is executed until the front edge of the movable tray abuts against the goods shelf, so that a gap between the front edge of the movable tray and the goods shelf is eliminated; the two sets of telescopic forks are used for stretching into the storage positions of the goods shelf to take and place goods and can be matched with the movable trays to complete transferring of the goods between the storage positions and the movable trays. By applying the embodiment of the invention, the condition that the goods fall into the gap between the tray and the goods shelf when the goods are taken and placed can be effectively avoided, so that the maintenance time caused by the condition is obviously reduced, and the working efficiency of carrying is improved.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics technology, and in particular to a picking and placing mechanism, a handling robot, a warehousing system, and a handling method. Background Technology

[0002] In the field of warehousing and logistics technology, racks are typically used to store goods, and handling robots are used to retrieve and place goods on the racks. The handling robots are located in aisles between two adjacent rows of racks, and can move goods from the first rack on one side of the aisle to the second rack on the other side, achieving double-sided handling.

[0003] Currently, the handling robots capable of double-sided loading have horizontally extendable and rotating picking mechanisms. However, during double-sided loading, goods may become stuck between the robot and the shelving, preventing normal picking and placing, resulting in low handling efficiency. Furthermore, a large aisle space is required between the first and second shelving units to allow the picking mechanism to rotate, leading to low shelving density and limited storage capacity in the warehousing system. Summary of the Invention

[0004] The purpose of this application is to provide a picking and placing mechanism, a handling robot, a warehousing system, and a handling method to improve handling efficiency. The specific technical solution is as follows:

[0005] This application provides a picking and placing mechanism, including: a pallet assembly and two sets of telescopic forks; the pallet assembly includes: a support and a movable pallet; the two sets of telescopic forks are respectively disposed on both sides of the support, and can extend or retract bidirectionally relative to the support along its length direction; the movable pallet is slidably disposed on the support, and can slide bidirectionally relative to the support along the extension and retraction direction of the telescopic forks; the movable pallet is used to slide towards the shelf direction when performing picking and placing operations until the front edge of the movable pallet abuts against the shelf to eliminate the gap between the front edge of the movable pallet and the shelf; the two sets of telescopic forks are used to extend into the storage position of the shelf to pick and place goods, and can cooperate with the movable pallet to complete the transfer of goods between the storage position and the movable pallet.

[0006] This application embodiment also provides a handling robot, including: the above-mentioned picking and placing mechanism, and a gantry; the gantry is used to be hung on a shelf and can move horizontally relative to the first shelf and the second shelf; the pallet assembly of the picking and placing mechanism is movably connected to the gantry; the picking and placing mechanism can move up and down relative to the gantry, and move horizontally under the drive of the gantry, so as to pick up and place goods in the storage position of the shelf.

[0007] This application embodiment also provides a warehousing system, including the above-mentioned handling robot and multiple shelves; the handling robot is slidably hung on the shelf via a horizontal rail set on the shelf; the horizontal rail is fixed to the side of the shelf near the aisle;

[0008] The handling robot can move along the aisle based on the horizontal track to pick up and put away goods in the storage positions of the shelves on both sides of the aisle.

[0009] This application embodiment also provides a handling method applied to a control device, wherein the control device is communicatively connected to the handling robot of the aforementioned warehousing system; the method includes:

[0010] The system instructs the mast of the handling robot to move the picking and placing mechanism horizontally, and instructs the picking and placing mechanism of the handling robot to move vertically relative to the mast, aligning the picking and placing mechanism with the target goods on the first shelf among multiple shelves; it instructs the moving pallet of the picking and placing mechanism to cooperate with two sets of telescopic forks to move the target goods on the first shelf onto the moving pallet; it instructs the mast of the handling robot to move the picking and placing mechanism horizontally, and instructs the picking and placing mechanism of the handling robot to move vertically relative to the mast, aligning the picking and placing mechanism with the target storage location on the first shelf or the second shelf; the second shelf is another shelf among the multiple shelves; it instructs the moving pallet of the picking and placing mechanism to cooperate with two sets of telescopic forks to move the target goods from the moving pallet to the target storage location.

[0011] Beneficial effects of the embodiments in this application:

[0012] The picking and placing mechanism, handling robot, warehousing system, and handling method provided in this application embodiment include a pallet assembly of the picking and placing mechanism comprising a support and a movable pallet. Since the movable pallet is slidably mounted on the support, it can slide bidirectionally relative to the support along the extension direction of the telescopic forks. Therefore, when performing picking and placing operations, it can slide towards the shelf until the front edge of the movable pallet abuts against the shelf, eliminating the gap between the front edge of the movable pallet and the shelf. This effectively prevents goods from getting stuck in the gap between the pallet and the shelf during picking and placing, significantly reducing maintenance time caused by this situation and improving handling efficiency.

[0013] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0015] Figure 1 A perspective view of the picking and placing mechanism provided in the embodiments of this application;

[0016] Figure 2 A perspective view of the warehousing system provided in the embodiments of this application;

[0017] Figure 3 for Figure 1 The diagram shown is a 3D view of the loading and unloading mechanism with the telescopic forks extended.

[0018] Figure 4 for Figure 1 A 3D view of the tray assembly shown;

[0019] Figure 5 for Figure 4 An exploded view of the tray assembly shown.

[0020] Figure 6 for Figure 4 A perspective view of the moving pallet of the pallet assembly shown, when it is against the shelf;

[0021] Figure 7 for Figure 3 A three-dimensional view of the picking and placing mechanism after the goods have moved with the mobile pallet;

[0022] Figure 8 This is a partial schematic diagram of the loading and unloading mechanism when the stop bar extends above the moving pallet;

[0023] Figure 9 for Figure 3 A 3D view of the telescopic forks shown;

[0024] Figure 10 for Figure 9 A three-dimensional view of the telescopic forks from another angle;

[0025] Figure 11 for Figure 10 A 3D view of the telescopic forks when they are extended in the reverse direction.

[0026] Figure 12 for Figure 1 The image shown is a 3D view of the loading and unloading mechanism after the guide plates have been removed from the telescopic forks.

[0027] Figure 13 for Figure 11 An exploded view of the telescopic forks shown.

[0028] Figure 14 for Figure 13 A three-dimensional view of the fixed arm shown;

[0029] Figure 15 for Figure 13 A three-dimensional view of the primary telescopic boom is shown.

[0030] Figure 16 for Figure 13 A three-dimensional view of the two-stage telescopic boom shown;

[0031] Figure 17 for Figure 1 The image shown is a 3D view of the loading and unloading mechanism after the pallet assembly has been removed.

[0032] Figure 18a for Figure 1 The diagram shows the first state of the picking and placing mechanism during the process of picking up goods from the first shelf.

[0033] Figure 18b for Figure 1 The diagram shows the second state of the picking and placing mechanism during the process of picking up goods from the first shelf;

[0034] Figure 19a for Figure 1 The diagram shows the first state of the picking and placing mechanism as it places goods onto the first shelf.

[0035] Figure 19b for Figure 1 The diagram shows the second state of the picking and placing mechanism as it places goods onto the first shelf.

[0036] Figure 20a for Figure 1 The diagram shows the first state of the picking and placing mechanism as it picks up goods from the first shelf and places them on the second shelf.

[0037] Figure 20b for Figure 1 The diagram shows the second state of the picking and placing mechanism as it picks up goods from the first shelf and places them on the second shelf.

[0038] Figure 20c for Figure 1 The diagram shows the third state of the picking and placing mechanism as it picks up goods from the first shelf and places them on the second shelf.

[0039] Figure 20d for Figure 1 The diagram shows the fourth state of the picking and placing mechanism as it picks up goods from the first shelf and places them on the second shelf.

[0040] Figure 20e for Figure 1 The diagram shows the fifth state of the picking and placing mechanism as it picks up goods from the first shelf and places them on the second shelf.

[0041] Figure 21 A flowchart of the handling method provided in this application;

[0042] Figure 22 for Figure 21 A flowchart of one specific implementation of step S200 shown;

[0043] Figure 23 for Figure 21 A flowchart of one specific implementation of step S400 shown;

[0044] Figure 24 for Figure 21 A flowchart of another specific implementation of step S200 shown;

[0045] Figure 25 for Figure 21 The flowchart shows another specific implementation of step S400.

[0046] Figure label:

[0047] 1 handling robot; 10 picking and placing mechanisms; 20 gantry frames;

[0048] Pallet assembly 100; bracket 110; first support beam 111; second support beam 112; guide rail 113; slider 114; movable pallet 120; receiving slot 121; pallet drive motor 130; drive gear 131; rack 132; stop bar 140; support roller 150; roller track 160;

[0049] Telescopic forks 200; fixed arms 210; first fixed arms 210a; second fixed arms 210b; telescopic fork arms 220; first-stage telescopic arms 221; second-stage telescopic arms 222; transmission assembly 223; first transmission belt 2231; second transmission belt 2232; belt fastener 2233; picking assembly 224; shift fork assembly 2241; shift fork 2241a; first end shift fork assembly 2241-1; second end shift fork assembly 2241-2; reversing shift fork assembly 2241-3; shift fork drive motor 2242; telescopic rollers 225; slide grooves 226; slide rails 227; guide plates 230; guide bell mouth 240;

[0050] Power mechanism 300; power assembly 310; first motor 310a; power transmission assembly 320; first power transmission assembly 320a; second power transmission assembly 320b; gear set 321; gear 3211; synchronous pulley set 322; synchronous pulley 3221; synchronous belt 323; drive shaft 330;

[0051] 400 barcode scanners; 500 detection sensors;

[0052] Aisle 2; First shelf 3A; Second shelf 3B; Goods 4; Horizontal rail 5. Detailed Implementation

[0053] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0054] As mentioned in the background section, in the field of warehousing and logistics technology, shelves are typically used to store goods, and handling robots are used to retrieve and place goods on the shelves. The handling robot is located in the aisle between two adjacent rows of shelves, and can move goods from the first shelf on one side of the aisle to the second shelf on the other side of the aisle, realizing double-sided handling.

[0055] Currently, the handling robots capable of double-sided order fulfillment have horizontally extendable and rotating picking mechanisms. During double-sided order fulfillment, the robot retrieves goods from the first shelf using the picking mechanism, then rotates the goods using the picking mechanism before placing them on the second shelf. This process involves numerous steps, resulting in low handling efficiency. Furthermore, it requires a large aisle space between the first and second shelves to accommodate the picking mechanism's rotation, leading to low shelf density and limited storage capacity in the warehousing system.

[0056] To improve handling efficiency and storage capacity of warehousing systems, embodiments of this application provide a picking and placing mechanism, a handling robot, a warehousing system, and a handling method, which are described in detail below.

[0057] First, the picking and placing mechanism provided in the embodiments of this application will be described in detail.

[0058] See Figures 1 to 3 The picking and placing mechanism 10 includes a pallet assembly 100 and two sets of telescopic forks 200. The pallet assembly 100 includes a support 110 and a movable pallet 120. The two sets of telescopic forks 200 are respectively disposed on both sides of the support 110 and can extend or retract in both directions relative to the support 110 along its length. The movable pallet 120 is slidably disposed on the support 110 and can slide in both directions relative to the support 110 along the extension and retraction direction of the telescopic forks 200. When performing picking and placing operations, the movable pallet 120 can slide towards the shelf until the front edge of the movable pallet 120 abuts against the shelf to eliminate the gap between the front edge of the movable pallet 120 and the shelf. The two sets of telescopic forks 200 are used to extend into the storage position of the shelf to pick up and place goods 4, and can cooperate with the movable pallet 120 to complete the transfer of goods 4 between the storage position and the movable pallet 120.

[0059] Therefore, the picking and placing mechanism provided in this application embodiment can slide towards the shelf when performing picking and placing operations until the front edge of the movable pallet 120 abuts against the shelf, thereby eliminating the gap between the front edge of the movable pallet 120 and the shelf. This effectively prevents goods from getting stuck in the gap between the pallet and the shelf during picking and placing, significantly reducing maintenance time caused by this situation and improving handling efficiency.

[0060] In some embodiments of this application, the picking and placing mechanism 10 can, based on the cooperation of two sets of telescopic forks 200 and the moving pallet 120, directly move the target goods located on the first shelf 3A on one side of the aisle 2 to the second shelf 3B located on the other side of the aisle 2.

[0061] Specifically, such as Figures 1 to 3 As shown, two sets of telescopic forks 200 can extend toward the target goods 4 on the first shelf 3A located on one side of the aisle 2 and move the target goods 4. Then the telescopic forks 200 retract to move the target goods 4 onto the moving pallet 120. After that, they extend toward the second shelf 3B on the other side of the aisle 2 and move the target goods 4 from the moving pallet 120 to the target storage position on the second shelf 3B.

[0062] The movable pallet 120 is capable of sliding towards the first shelf 3A before or simultaneously with the extension of the two sets of telescopic forks 200 towards the first shelf 3A to move the target goods 4, until its front edge abuts against the first shelf 3A; and, before or simultaneously with the extension of the two sets of telescopic forks 200 towards the second shelf 3B to move the target goods 4, it moves towards the second shelf 3B until its front edge abuts against the second shelf 3B. It should be noted that the "front edge" here refers to the front edge of the movable pallet 120 in the direction of travel. Figure 2 In the diagram, if the mobile pallet 120 moves towards the first shelf 3A on the left, then the left edge of the mobile pallet 120 is its front edge. Conversely, if the mobile pallet 120 moves towards the second shelf 3B on the right, then the right edge of the mobile pallet 120 is its front edge.

[0063] In other words, before the two sets of telescopic forks 200 pick up the target goods 4 from the first shelf 3A, the front edge of the movable pallet 120 abuts against the first shelf 3A, ensuring there is no gap between the front edge of the movable pallet 120 and the first shelf 3A. This allows the two sets of telescopic forks 200 to smoothly move the target goods 4 onto the movable pallet 120, preventing the target goods 4 from getting stuck between the picking and placing mechanism 10 and the first shelf 3A. Similarly, before the two sets of telescopic forks 200 move the target goods 4 from the movable pallet 120 to the target storage position on the second shelf 3B, the front edge of the movable pallet 120 abuts against the second shelf 3B, ensuring there is no gap between the front edge of the movable pallet 120 and the second shelf 3B. This allows the two sets of telescopic forks 200 to smoothly move the target goods 4 to the target storage position on the second shelf 3B, preventing the target goods 4 from getting stuck between the picking and placing mechanism 10 and the second shelf 3B.

[0064] like Figure 3 As shown, in this embodiment, each set of telescopic forks 200 includes: a fixed arm 210 and a telescopic fork arm 220; the fixed arm 210 is fixedly disposed on both sides of the bracket 110, and the telescopic fork arm 220 is slidably disposed on the fixed arm 210; the telescopic fork arm 220 can extend or retract in both directions relative to the fixed arm 210 along its length direction under the drive of the power mechanism 300.

[0065] To achieve dual-sided loading and unloading in existing handling robots, a large space needs to be reserved in the aisles to allow the picking mechanism to move the goods from the first shelf to the loading platform, and then turn the goods to place them on the second shelf. However, in this embodiment, the telescopic fork arm 220 of the picking and unloading mechanism 10 can extend and retract in both directions, achieving dual-sided loading and unloading. The aisle 2 only needs to reserve space for the length of one piece of goods 4, thus allowing for the arrangement of more shelves to improve the storage capacity of the warehousing system.

[0066] The picking and placing mechanism 10 provided in this application embodiment includes a telescopic fork 200 comprising a fixed arm 210 and a telescopic fork arm 220. Driven by the power mechanism 300, the telescopic fork arm 220 can extend and retract bidirectionally along the length direction of the telescopic fork 200, so that the telescopic fork arm 220 can move the goods 4 on the first shelf 3A located on one side of the aisle 2 to the second shelf 3B located on the other side of the aisle 2. Compared with the existing double-sided handling process, the step of rotating the goods 4 driven by the picking and placing mechanism 10 is omitted, which improves the handling efficiency and can also reduce the aisle space to increase the shelf density of the warehousing system, thereby improving the storage capacity of the warehousing system.

[0067] In addition to enabling double-sided order fulfillment, the order fulfillment mechanism 10 provided in this application embodiment can also perform single-sided order fulfillment, that is, move the goods 4 on the first shelf 3A or the second shelf 3B to the pallet assembly 100, and then move the goods 4 from the pallet assembly 100 to other empty spaces on the shelf.

[0068] In some embodiments of this application, see Figures 4 to 6 A pallet drive motor 130 is mounted on the pallet assembly 100, and the pallet drive motor 130 is drivenly connected to the movable pallet 120. The movable pallet 120 is connected to the support 110 through a sliding connection structure; the movable pallet 120 can slide bidirectionally relative to the support 110 along the extension direction of the telescopic forks 200 based on the sliding connection structure under the drive of the pallet drive motor 130.

[0069] Specifically, the two sides of the bracket 110 are fixedly connected to the fixed arms 210 of the two sets of telescopic forks 200, and the top is slidably connected to the movable pallet 120. The pallet drive motor 130 is mounted on the bracket 110 and is drivenly connected to the movable pallet 120, which can drive the movable pallet 120 to move along the telescopic direction of the telescopic forks 200.

[0070] During the picking and placing of goods, the mobile pallet 120 can move toward the first shelf 3A or the second shelf 3B under the drive of the pallet drive motor 130, and abut against the first shelf 3A or the second shelf 3B to cooperate with the telescopic fork arm 220 to move the goods 4.

[0071] Specifically, the bracket 110 includes two fixedly connected first support beams 111 and 112. The two first support beams 111 and 112 are spaced apart and are both arranged parallel to the length of the telescopic fork 200. The two second support beams 112 are also spaced apart and are both arranged perpendicular to the length of the telescopic fork 200. Multiple spaced guide rails 113 are fixed to the top of the second support beams 112, and the guide rails 113 are parallel to the length of the telescopic fork 200. A corresponding slider 114 is fixed to the bottom of the movable pallet 120, and the slider 114 is slidably connected to the guide rails 113 so that the movable pallet 120 can move based on the guide rails 113.

[0072] The pallet drive motor 130 is fixed to the bracket 110, and a drive gear 131 is sleeved on its output shaft. A rack 132 is fixed to the bottom of the movable pallet 120. The rack 132 is parallel to the length direction of the telescopic forks 200 and meshes with the drive gear 131. The drive gear 131 rotates under the drive of the pallet drive motor 130, causing the rack 132 to drive the movable pallet 120 to move toward the first shelf 3A or the second shelf 3B.

[0073] In this embodiment, when retrieving goods from the first shelf 3A, the movable pallet 120 and the telescopic fork arm 220 can work simultaneously. Before the telescopic fork arm 220 moves the goods 4 from the first shelf 3A to the movable pallet 120, the front edge of the movable pallet 120 just needs to abut against the first shelf 3A. When placing goods onto the second shelf 3B, the movable pallet 120 can move the goods 4 until the front edge of the movable pallet 120 abuts against the second shelf 3B, after which the telescopic fork arm 220 continues to move the goods 4.

[0074] If fixed pallet assemblies are used, the gap between the fixed pallet assemblies and the racks poses a risk that goods 4 may become stuck in the gaps during movement. If goods 4 do become stuck, the picking and placing mechanism 10 cannot handle the situation automatically, requiring manual intervention to adjust the position of goods 4, thus reducing picking and placing efficiency. Furthermore, due to the high rack heights, such as 8 meters, 10 meters, or 12 meters, this situation also necessitates the use of aerial work platforms or similar equipment, further reducing picking and placing efficiency.

[0075] This embodiment employs a movable pallet assembly. The movable pallet 120 moves along the extension direction of the telescopic forks 200 to abut against the shelf, thus eliminating the gap between the pallet assembly 100 of the picking and placing mechanism 10 and the shelf. This prevents the goods 4 from getting stuck in the gap during picking and placing, further improving handling efficiency. The movable pallet assembly carries the goods 4 to the position abutting against the shelf; it does not participate in placing or removing the goods 4 from the shelf, which still requires the telescopic forks 220.

[0076] In some embodiments of this application, such as Figures 4 to 8 As shown, the pallet assembly 100 also includes: two stop assemblies; the two stop assemblies are respectively movably disposed at both ends of the movable pallet 120 along the extension direction of the telescopic forks 200; when the movable pallet 120 is located in the middle of the support 110, the stop assemblies extend upward to above the movable pallet 120 to abut against both ends of the goods 4 to ensure that the goods 4 do not move; when the movable pallet 120 moves to abut against the shelf, the stop assemblies retract downward to no higher than the movable pallet 120 to ensure that the goods 4 can move smoothly to the movable pallet 120 or smoothly move from the movable pallet 120 to the shelf.

[0077] Specifically, such as Figures 4 to 8 As shown, each stop assembly includes: a stop 140 and a support roller 150 connected to each other.

[0078] The movable pallet 120 has receiving grooves 121 at both ends along the extension direction of the telescopic fork 200, and the extension direction of the receiving grooves 121 is perpendicular to the extension direction of the telescopic fork 200. The top of the bracket 110 is fixed with a roller track 160 extending along the extension direction of the telescopic fork 200; the two ends of the roller track 160 have downward inclined surfaces.

[0079] The stop lever 140 is movably disposed in the receiving groove 121 and can move up and down relative to the receiving groove 121, and the extension direction of the stop lever 140 is parallel to the receiving groove 121. Both ends of the stop lever 140 extend out of the movable tray 120 and bend downward to connect with the support roller 150, and make rolling contact with the roller track 160 through the support roller 150.

[0080] When the movable tray 120 is located in the middle of the bracket 110, the support roller 150 is located in the non-sloping area of ​​the roller track 160, causing the stop bar 140 to extend upwards out of the receiving groove 121. Figure 6 As shown, when the movable pallet 120 moves to abut against the shelf, the support roller 150 rolls onto the inclined surface of the roller track 160, causing the stop bar 140 to move downwards to be accommodated in the receiving slot 121.

[0081] In the embodiments of this application, the baffle 140 can protect the goods 4 on the mobile pallet 120. During the movement of the goods 4 by the mobile pallet 120, it can prevent the goods 4 from slipping between the goods 4 and the mobile pallet 120, thus preventing the goods 4 from falling off the mobile pallet 120. The support rollers 150 can be provided so that the baffle 140 can automatically retract and extend with the movement of the mobile pallet 120 without the need for additional control components. When the mobile pallet 120 moves to a position where it is against the shelf, the baffle 140 can be lowered into the receiving slot 121 without interfering with the goods 4.

[0082] like Figure 5 As shown, a barcode scanner 400 and a detection sensor 500 are installed on one second support beam 112 facing the first shelf 3A, and another barcode scanner 400 and a detection sensor 500 are installed on the other second support beam 112 facing the second shelf 3B. The barcode scanner 400 is used to identify the QR code on the first shelf 3A or the second shelf 3B to accurately locate the target storage location on the shelf. The detection sensor 500 is used to detect whether there is any goods 4 in the desired location on the shelf when goods are being retrieved or placed.

[0083] In addition, the picking and placing mechanism 10 also includes several other sensors, such as: a zero-position sensor for determining the initial position of the telescopic fork arm 220; an internal cargo sensor for detecting whether there is cargo 4 on the moving pallet 120; a direction sensor for detecting the direction in which the telescopic fork arm 220 extends; and a cargo positioning sensor for detecting whether the cargo protrudes or is tilted when it is placed on the shelf.

[0084] In the embodiments of this application, such as Figure 2 As shown, the first shelf 3A and the second shelf 3B can be single-depth shelves or multi-depth shelves. When using single-depth shelves, the extension stroke of the telescopic fork arm 220 is shorter, so the telescopic fork arm 220 can adopt a single-stage extension or a multi-stage extension form; when using multi-depth shelves, in order to retrieve and place goods 4 at greater depths, the extension stroke of the telescopic fork arm 220 is longer, so the telescopic fork arm 220 needs to adopt a multi-stage extension form, for example, Figure 2 In the embodiment shown, the first shelf 3A and the second shelf 3B are double-deep shelves, and the telescopic fork arm 220 adopts a two-stage telescopic form, which will be described in detail below.

[0085] In some embodiments of this application, such as Figure 2 As shown, the shelf in this embodiment is a multi-depth shelf. See also... Figures 9 to 11 Each telescopic fork arm 220 includes a primary telescopic arm 221, a secondary telescopic arm 222, a transmission assembly 223, and a pickup assembly 224.

[0086] The primary telescopic arm 221 is located between the fixed arm 210 and the secondary telescopic arm 222, and the two sides of the primary telescopic arm 221 are slidably connected to the fixed arm 210 and the secondary telescopic arm 222, respectively.

[0087] The power mechanism 300 is mounted on the fixed arm 210 and is driven to connect with the first-stage telescopic arm 221. It is used to drive the first-stage telescopic arm 221 to extend or retract relative to the fixed arm 210 toward the first shelf 3A or the second shelf 3B.

[0088] The transmission assembly 223 is mounted on the first-stage telescopic boom 221 and connected to the second-stage telescopic boom 222.

[0089] The picking component 224 is mounted on the secondary telescopic arm 222 and is used to follow the bidirectional extension and retraction of the secondary telescopic arm 222 to pick up and place goods 4 on the shelf.

[0090] The primary telescopic arm 221 drives the secondary telescopic arm 222 to extend and retract relative to the primary telescopic arm 221 toward the shelf via the transmission assembly 223, so that the picking assembly 224 can pick up and place goods 4 in a deep position on the shelf away from the picking and placing mechanism 10.

[0091] Specifically, such as Figure 3 As shown, the fixed arm 210, the first-stage telescopic arm 221, and the second-stage telescopic arm 222 are arranged sequentially from the outside to the inside. The two sides of the first-stage telescopic arm 221 are slidably connected to the fixed arm 210 and the second-stage telescopic arm 222 via slide grooves 226 and slide rails 227, respectively. The slide grooves 226 and slide rails 227 are arranged along the telescopic direction of the telescopic forks 200.

[0092] like Figure 10 and Figure 11 As shown, a sliding groove 226 is fixed on the fixed arm 210, and a slide rail 227 is fixed on the primary telescopic arm 221 at a position corresponding to the sliding groove 226. The sliding groove 226 and the slide rail 227 are slidably connected, so that the primary telescopic arm 221 can move horizontally relative to the fixed arm 210 along the slide rail 227, which serves as a guide to prevent the telescopic direction of the primary telescopic arm 221 from deviating and improve the stability of the primary telescopic arm 221 during telescopic movement. In other embodiments of this application, the slide rail 227 may also be provided on the fixed arm 210, and the sliding groove 226 may be provided on the primary telescopic arm 221. This application does not limit this to the latter.

[0093] The sliding groove 226 and sliding rail 227 between the primary telescopic boom 221 and the secondary telescopic boom 222 are set in the same way as described above, and will not be repeated here.

[0094] The power mechanism 300 drives the first-stage telescopic boom 221 in a manner that can be driven by a motor-driven synchronous belt pulley or a motor-driven lead screw and nut, etc. This application does not limit the method.

[0095] The picking and placing method of the picking component 224 is not limited in this application. The picking component 224 can be a hook, suction cup or lever, etc., to hook, pick up or move the goods 4.

[0096] In this embodiment, the telescopic fork arm 220 employs a two-stage telescopic design, increasing the picking and placing range of the telescopic forks 200, enabling it to pick up and place goods 4 at greater depths on multi-depth shelves. In the retracted state, both the primary telescopic arm 221 and the secondary telescopic arm 222 can be fully retracted to the inside of the fixed arm 210, resulting in a shorter length of the telescopic forks 200, which can adapt to narrower aisles 2, thereby improving the racking density and storage capacity of the warehousing system.

[0097] In existing material handling robots, because they need to rotate within the aisle to achieve double-sided material handling, the entire robot is confined to a rotation circle when retracted. Therefore, the length of the robot's telescopic arm is limited within this rotation circle when retracted. The diameter of this rotation circle is smaller than the aisle width.

[0098] To retrieve and place goods deep within the shelving, the travel of the telescopic arm needs to be extended, while ensuring that the arm's length is limited within the rotation circle when retracted. Therefore, a three-stage telescopic arm is added, enabling the robot to perform three-stage extension and retraction to retrieve and place goods deep within the shelving.

[0099] However, the above settings will increase the thickness of the forks of the handling robot, which will also increase the spacing between goods on the shelf. It must be greater than the sum of the thicknesses of the first, second, and third telescopic arms in order for the telescopic arms of the handling robot to smoothly extend into the gaps on both sides of the target goods.

[0100] The picking and placing mechanism of this application embodiment adopts a bidirectional telescopic method to realize double-sided order handling, without rotation range limitation. This allows the telescopic arm of the picking and placing mechanism of this application embodiment to be longer than that of the prior art in the same width aisle. The travel of the three-stage telescopic fork of the prior art can be achieved by using a two-stage telescopic fork. Therefore, the fork thickness will be smaller, the left and right spacing of goods on the shelf will be smaller, and more goods can be arranged, thereby improving the storage capacity of the warehousing system.

[0101] In the aforementioned prior art, in order to accommodate the thickness of the three-stage telescopic fork, the left-right spacing of the goods is 140mm-160mm. However, with the picking and placing mechanism of the present application embodiment, the left-right spacing of the goods can be 80mm. That is to say, the left-right spacing of the goods is reduced by 60mm-80mm, saving more space to accommodate more goods.

[0102] Furthermore, in this embodiment, only one power mechanism 300 is provided to drive the extension and retraction of the first-stage telescopic arm 221. No additional power mechanism is provided to drive the extension and retraction of the second-stage telescopic arm 222 separately. Instead, the first-stage telescopic arm 221 drives the extension and retraction of the second-stage telescopic arm 222 through the transmission assembly 223, which simplifies the extension and retraction control of the telescopic fork arm 220. Since the power mechanism to drive the second-stage telescopic arm 222 separately is eliminated, the installation of the telescopic fork arm 220 is simpler, the structure is more compact, and the volume and weight of the telescopic fork arm 220 are reduced, thereby reducing the weight of the picking and placing mechanism 10 and the load on the handling robot 1.

[0103] In some embodiments of this application, see Figures 10 to 16 The transmission assembly 223 includes: a first transmission belt 2231 and a second transmission belt 2232.

[0104] One end of the first transmission belt 2231 is fixed to the first end of the fixed arm 210, and the other end extends along the length of the fixed arm 210, passes over the telescopic roller 225 on the second end of the first telescopic arm 221, and is fixed to the first end of the second telescopic arm 222.

[0105] One end of the second transmission belt 2232 is fixed to the second end of the second-stage telescopic arm 222, and the other end extends along the length of the second-stage telescopic arm 222, passes over the telescopic roller 225 on the first end of the first-stage telescopic arm 221, and is fixed to the second end of the fixed arm 210.

[0106] When the fixed arm 210, the first end of the first-stage telescopic arm 221, and the first end of the second-stage telescopic arm 222 are all located at the same end of the telescopic fork 200 in the retracted state.

[0107] The second end of the fixed arm 210, the second end of the first-stage telescopic arm 221, and the second end of the second-stage telescopic arm 222 are all located at the other end of the telescopic fork 200 in the retracted state.

[0108] For ease of description, the first end of the fixed arm 210, the first-stage telescopic arm 221, and the second-stage telescopic arm 222 are all... Figure 10 The right end and the second end of the telescopic fork 200 shown are both Figure 10 The left end of the telescopic fork 200 shown.

[0109] like Figure 10 and Figure 11 As shown, when the power mechanism 300 drives the first-stage telescopic arm 221 to extend toward the first shelf 3A (not shown in the figure) located on one side of the aisle 2, the second end of the first-stage telescopic arm 221 pushes the first transmission belt 2231, so that the first transmission belt 2231 drives the second-stage telescopic arm 222 to extend toward the first shelf 3A.

[0110] When the power mechanism 300 drives the first-stage telescopic arm 221 to extend toward the second shelf 3B (not shown in the figure) located on the other side of the aisle 2, the first end of the first-stage telescopic arm 221 pushes the second transmission belt 2232, so that the second transmission belt 2232 drives the second-stage telescopic arm 222 to extend toward the second shelf 3B.

[0111] Specifically, such as Figure 14 and Figure 16 As shown, the ends of the first transmission belt 2231 and the second transmission belt 2232 are both fixed to the fixed arm 210, the first-stage telescopic arm 221 or the second-stage telescopic arm 222 by belt fasteners 2233.

[0112] Both ends of the primary telescopic boom 221 have through holes for accommodating telescopic rollers 225, whose axes are vertical. The two telescopic rollers 225 need to be staggered in height to avoid overlap of the first transmission belt 2231 and the second transmission belt 2232, which could cause interference during transmission. Specifically, it can be as follows... Figure 10 and Figure 11 As shown, the telescopic roller 225 at the first end is located in the top region of the first telescopic arm 221, and the telescopic roller 225 at the second end is located in the bottom region of the first telescopic arm 221, so that the first transmission belt 2231 is lower than the second transmission belt 2232.

[0113] By using the embodiments of this application, two transmission belts are set to realize the transmission between the first-stage telescopic arm 221 and the second-stage telescopic arm 222, which makes the transmission component structure simple. Moreover, the transmission belt is located in the gap between the fixed arm 210, the first-stage telescopic arm 221 and the second-stage telescopic arm 222, which improves the space utilization and makes the telescopic fork 200 compact.

[0114] During the extension of the first telescopic arm 221, the second telescopic arm 222 will be driven by the first transmission belt 2231 or the second transmission belt 2232 to perform secondary transmission synchronously on the first telescopic arm 221, which improves the picking and placing efficiency of the picking and placing mechanism 10; the extension direction of the second telescopic arm 222 is always consistent with that of the first telescopic arm 221, realizing double the stroke of the telescopic fork arm 220.

[0115] In some embodiments of this application, see Figure 3 and Figure 17 The power mechanism 300 includes a power assembly 310 and two sets of power transmission assemblies 320. Each set of power transmission assemblies 320 is mounted on the fixed arm 210 of a set of telescopic forks 200 and is connected to the primary telescopic arm 221 on the fixed arm 210.

[0116] The power unit 310 is driven to connect with two sets of power transmission units 320, and can drive the two sets of power transmission units 320 to drive the first telescopic arms 221 of the two sets of telescopic forks 200 to extend and retract relative to the fixed arms 210 toward the first shelf 3A or the second shelf 3B.

[0117] In the embodiments of this application, the power transmission assembly 320 is driven by the power assembly 310 to extend and retract the primary telescopic arm 221, making the extension and retraction control of the primary telescopic arm 221 relatively simple. The two sets of power transmission assemblies 320 respectively drive the extension and retraction of the two primary telescopic arms 221, so that the extension and retraction of the two primary telescopic arms 221 are synchronized and do not interfere with each other.

[0118] The aforementioned power assembly 310 may include one motor or two motors, which will be described separately below.

[0119] When the power assembly 310 includes a motor, that motor, namely the first motor 310a, can be driven and connected to two sets of power transmission assemblies respectively via a transmission component, or as follows: Figure 9 and Figure 17 As shown, the motor is directly driven by a set of power transmission components 320, and a transmission component is set between the two sets of power transmission components 320 to achieve indirect drive connection with another set of power transmission components 320. The specific implementation method is as follows:

[0120] like Figure 3 , Figure 9 and Figure 17 As shown, the power assembly 310 includes a first motor 310a. The first motor 310a is mounted on the side of the first fixed arm 210a of the two sets of telescopic forks 200 away from the first telescopic arm 221. The two sets of power transmission assemblies 320 are respectively mounted on the side of the two fixed arms 210 near the first telescopic arm 221.

[0121] The first motor 310a is driven to be connected to the first power transmission assembly 320a on the first fixed arm 210a; the first power transmission assembly 320a and the second power transmission assembly 320b are connected by a transmission shaft 330 located below the tray assembly 100.

[0122] Driven by the first motor 310a, the first power transmission assembly 320a can drive the first telescopic arm 221 on the first fixed arm 210a to extend and retract relative to the first fixed arm 210a, and transmit power to the second power transmission assembly 320b through the transmission shaft 330, so that the second power transmission assembly 320b can drive the first telescopic arm 221 on the second fixed arm 210b to extend and retract relative to the second fixed arm 210b.

[0123] By applying the above structure, the number of motors in the picking and placing mechanism 10 can be reduced, thereby reducing the weight of the picking and placing mechanism 10. By using a first motor 310a to drive two sets of power transmission components 320, energy consumption can be reduced, costs can be lowered, and the space occupied by the first motor 310a can be reduced, making the overall picking and placing mechanism 10 more compact. It can also ensure that the two sets of power transmission components 320 synchronously drive the two primary telescopic arms 221 to extend and retract.

[0124] The aforementioned power transmission component 320 may be in the form of a sprocket and chain, a gear and rack, or a synchronous belt pulley; this application does not limit this to any particular type.

[0125] When the power assembly 310 includes two motors, each motor independently drives a power transmission assembly 320 to extend and retract a primary telescopic arm 221 relative to the fixed arm 210. The specific implementation method is as follows:

[0126] The power assembly 310 includes two second motors (not shown in the figure). The two second motors are respectively mounted on the two fixed arms 210 of the two sets of telescopic forks 200 on the side away from the first-stage telescopic arm 221. The two sets of power transmission assemblies 320 are respectively mounted on the side of the two fixed arms 210 near the first-stage telescopic arm 221.

[0127] Each second motor is driven by the power transmission assembly 320 on its fixed arm 210. Each second motor can drive the corresponding power transmission assembly 320 to extend and retract the primary telescopic arm 221 on its fixed arm 210 relative to the fixed arm 210.

[0128] Using this structure, the power assembly 310 includes two second motors, each of which is responsible for driving only one set of power transmission assemblies 320, making control relatively simple. The power mechanism 300 in this embodiment differs from the power mechanism 300 in the above embodiment, which only includes one first motor 310a, only in the number of motors. The two second motors need to be mounted on two fixed arms 210 respectively, and there is no need to provide a drive shaft 330. The structure of the power transmission assembly 320 in both embodiments can be completely identical.

[0129] In some embodiments of this application, such as Figures 9 to 12 As shown, regardless of whether the power assembly 310 includes one or two motors, each power transmission assembly 320 includes: a gear set 321, a timing pulley set 322, and a timing belt 323. The gear set 321, the timing pulley set 322, and the timing belt 323 are all installed on the side of the fixed arm 210 near the first-stage telescopic arm 221.

[0130] The synchronous belt 323 of each power transmission assembly 320 is wound around the synchronous pulley set 322, and its outer surface has serrations; the top surface of the synchronous belt 323 is parallel to the bottom edge of the first-stage telescopic arm 221; the bottom edge of the first-stage telescopic arm 221 has serrations and meshes with the synchronous belt 323.

[0131] When the power assembly 310 includes a first motor 310a

[0132] The motor shaft of the first motor 310a passes through the first fixed arm 210a and is drivenly connected to the gear set 321 of the first power transmission assembly 320a. The gear set 321 of the first power transmission assembly 320a and the gear set 321 of the second power transmission assembly 320b are connected by a transmission shaft 330.

[0133] The gear set 321 of the first power transmission assembly 320a rotates under the drive of the first motor 310a, and drives the gear set 321 of the second power transmission assembly 320b to rotate synchronously through the transmission shaft 330, so that the gear set 321 of each power transmission assembly 320 drives the synchronous belt 323 to rotate, thereby driving the first-stage telescopic arm 221 to extend and retract relative to the fixed arm 210.

[0134] When the power assembly 310 includes two second motors

[0135] The motor shaft of each second motor passes through the fixed arm 210 to which it is located and is driven to connect with the gear set 321 of the power transmission assembly 320 on the fixed arm 210. Under the drive of a second motor, the gear set 321 of each power transmission assembly 320 drives the synchronous belt 323 to rotate, thereby causing the primary telescopic arm 221 to extend and retract relative to the fixed arm 210.

[0136] By applying the embodiments of this application, the bidirectional extension and retraction of the telescopic fork arm 220 can be achieved by driving the motor to rotate forward and reverse. The synchronous belt 323 meshes with the gear set 321 and the first-stage telescopic arm 221, resulting in a larger contact area at the meshing point and smoother transmission.

[0137] The specific structure of the power transmission component 320 will be described in detail below, taking the power component 310, which includes a first motor 310a, as an example.

[0138] like Figure 10 As shown, the first-stage telescopic arm 221 and the first transmission belt 2231 are installed in the upper region of the fixed arm 210, and the gear set 321, the synchronous pulley set 322 and the synchronous belt 323 are installed in the lower region of the fixed arm 210.

[0139] The gear set 321 is located at the bottom of the fixed arm 210, and the synchronous pulley set 322 is located above the gear set 321. The top surface of the synchronous belt 323 wound on the synchronous pulley set 322 meshes with the bottom edge of the first-stage telescopic arm 221, and the bottom surface meshes with the gear set 321.

[0140] Gear set 321 includes at least one gear 3211, in Figure 10 In the illustrated embodiment, there are three gears 3211 arranged along the telescopic fork arm 220. Adjacent gears 3211 have a certain gap to allow the synchronous belt 323 to pass through. The synchronous belt 323 passes through two gaps sequentially, meshing with the upper parts of the left and right gears 3211 and the lower part of the middle gear 3211. The middle gear 3211 is mounted on the motor shaft of the first motor 310a and can drive the synchronous belt 323 to rotate under the drive of the first motor 310a, thereby driving the gears 3211 on both sides and the synchronous pulley set 322 to rotate. In other embodiments of this application, the gears 3211 on both sides can be removed, and only one gear 3211 is connected to the first motor 310a and the synchronous belt 323. Using multiple gears 3211, compared to using a single gear 3211, increases the contact area between the gear set 321 and the synchronous belt 323, resulting in smoother transmission.

[0141] Synchronizer pulley set 322 includes at least two synchronizer pulleys 3221, in Figure 10 In the embodiment shown, two synchronous pulleys 3221 are spaced apart along the telescopic fork arm 220 so that the transmission direction of the top and bottom surfaces of the synchronous belt 323 is parallel to the telescopic direction.

[0142] The specific mounting position of drive shaft 330 is as follows: Figure 17 As shown, the two ends of the drive shaft 330 are respectively connected to the gear sets 321 of the two sets of power transmission components 320, so that the gear sets 321 of the two sets of power transmission components 320 rotate synchronously.

[0143] Specifically, the drive shaft 330 is arranged perpendicular to the length direction of the telescopic fork 200, and its two ends are connected to the rotation centers of two opposing gears 3211 in the two sets of gears 321. Figure 17 In the embodiment shown, both ends of the drive shaft 330 are connected to the rotation center of the intermediate gear 3211.

[0144] The drive shaft 330 is arranged in the manner described above, and the gear sets 321 of the two sets of power transmission components 320 are connected through the drive shaft 330, so that the two gear sets 321 rotate synchronously, avoiding the asynchronous extension and retraction caused by the inconsistent extension and retraction speeds of the extension and retraction arms 220 of the two sets of telescopic forks 200, and realizing the synchronous action of a single power source.

[0145] The following is a detailed description of the picking component 224, which adopts a lever design.

[0146] In some embodiments of this application, such as Figure 1 , Figure 3 , Figure 12 and Figure 16 As shown, the picking assembly 224 includes at least two pairs of shift fork assemblies 2241 and a shift fork drive motor 2242.

[0147] At least two pairs of shift fork groups 2241 are spaced apart along the length of the secondary telescopic arm 222; each pair of shift fork groups 2241 includes two shift forks 2241a, which are arranged opposite to each other on the two secondary telescopic arms 222.

[0148] The shift fork drive motor 2242 is connected to the shift fork 2241a and can drive the shift fork 2241a to rotate.

[0149] During the process of retrieving goods from the first shelf 3A, all forks 2241a are in a vertically upward position. After the secondary telescopic arm 222 extends to both sides of the goods 4, see... Figure 18a and Figure 18b The pair of forks 2241 located at the rear of cargo 4 rotate to a horizontal inward position, and then... Figure 18b As shown, the secondary telescopic arm 222 retracts, causing the fork assembly 2241 to move the goods 4 onto the pallet assembly 100.

[0150] During the process of placing goods onto the first shelf 3A, see Figure 19a and Figure 19b The pair of forks 2241 located at the rear of cargo 4 are in a horizontal inward position, and then as follows Figure 19b As shown, the secondary telescopic arm 222 extends toward the first shelf 3A, so that the fork assembly 2241 moves the goods 4 onto the first shelf 3A.

[0151] It should be noted that during the picking process, the rear end of goods 4 refers to the side of goods 4 that is away from the picking and placing mechanism 10; during the placing process, the rear end of goods 4 refers to the side of goods 4 that is away from the first shelf 3A.

[0152] The process of retrieving goods from shelf 3B and placing goods onto shelf 3B is the same as described above, and will not be repeated here.

[0153] See Figures 20a to 20e When retrieving goods from the first shelf 3A on one side of aisle 2 and placing goods onto the second shelf 3B on the other side of aisle 2,

[0154] During the picking process, the picking and placing mechanism 10 moves to the first position corresponding to the target goods 4 on the first shelf 3A, with all its forks 2241a in a vertically upward state. When the secondary telescopic arm 222 extends to both sides of the goods 4, a pair of fork groups 2241 located at the rear end of the goods 4 rotates to a horizontally inward state. Then, the secondary telescopic arm 222 retracts, causing the fork group 2241 to move the goods 4 onto the pallet assembly 100.

[0155] Afterwards, the picking and placing mechanism 10 moves to the second position corresponding to the target placement location on the second shelf 3B. During the placement process, a pair of forks 2241 located at the rear end of the goods 4 are in a horizontal inward state. Then, the secondary telescopic arm 222 extends toward the second shelf 3B, so that the forks 2241 move the goods 4 onto the second shelf 3B.

[0156] It should be noted that during the picking process, the rear end of goods 4 refers to the side of goods 4 that is away from the picking and placing mechanism 10; during the placing process, the rear end of goods 4 refers to the side of goods 4 that is away from the second shelf 3B.

[0157] Goods 4 are in the form of a bin, which can move between the pallet assembly 100 and the shelf under the action of the fork assembly 2241.

[0158] The position, quantity, and combination of the shift fork group 2241 can be set to adapt to the picking and placing of material boxes of different specifications. Figure 3 In the illustrated embodiment, the length of the hopper is approximately equal to the interval between the first and third pairs of shift fork groups 2241. Therefore, this hopper size can be retrieved and placed using the cooperation of the first and third pairs of shift fork groups 2241. In other embodiments of this application, the combination of shift fork groups 2241 can be changed, allowing hoppers of other sizes to be retrieved and placed using the cooperation of the first and second pairs of shift fork groups 2241, or the first and fourth pairs of shift fork groups 2241. It should be noted that a hopper size does not refer to a single hopper with a specific external dimension, but rather to multiple hoppers with external dimensions within a certain range.

[0159] like Figure 16As shown, each shift fork drive motor 2242 is mounted on the PCB board, located inside the secondary telescopic arm 222, and electrically connected to each shift fork assembly 2241.

[0160] In this embodiment of the application, the fork assembly 2241 is used to move the goods 4. Controlling the rotation of each fork 2241a is simple, requiring only the fork drive motor 2242. The forks 2241a are small in size and are mounted on the secondary telescopic arm 222, thus not encroaching on the space between the two sets of telescopic forks 200. Therefore, the distance between the two sets of telescopic forks 200 can be set smaller, close to the width of the goods 4, thereby reducing the size of the picking and placing mechanism 10. The multiple pairs of fork assemblies 2241 allow the picking and placing mechanism 10 to handle goods of various sizes, increasing its application scenarios.

[0161] The picking component 224 may also include only a pair of fork assemblies 2241, which will be described in detail below.

[0162] In some embodiments of this application, such as Figure 1 , Figure 3 , Figure 12 , Figure 16 and Figure 17 As shown, the picking assembly 224 includes: a pair of shift forks 2241 and a shift fork drive motor 2242.

[0163] The shift fork assembly 2241 includes two shift forks 2241a, which are arranged opposite to each other on two secondary telescopic arms 222.

[0164] The shift fork drive motor 2242 is connected to the shift fork 2241a and can drive the shift fork 2241a to rotate, so as to switch between a vertically upward state and a horizontally inward state.

[0165] When retrieving goods from the first shelf 3A on one side of aisle 2 and placing goods onto the second shelf 3B on the other side of aisle 2.

[0166] During the picking process, the fork 2241a is in a vertical upward position. When the secondary telescopic arm 222 extends the fork 2241a to the rear end of the goods 4, the fork 2241a rotates to a horizontal inward position. Then, the secondary telescopic arm 222 drives the fork 2241a to retract, so that the fork 2241a moves the goods 4 onto the pallet assembly 100.

[0167] During the loading process, the fork 2241a remains horizontal and inward, and the secondary telescopic arm 222 drives the fork 2241a to extend toward the second shelf 3B, so that the fork 2241a moves the goods 4 onto the second shelf 3B.

[0168] Specifically, when the picking component 224 includes only a pair of fork assemblies 2241, it can provide... Figure 1Any one of the four pairs of fork groups 2241 shown can move the goods 4 onto the pallet assembly 100 and then continue to move towards the second shelf 3B following the secondary telescopic arm 222, pushing the goods 4 onto the second shelf 3B.

[0169] Compared to the above embodiment with multiple pairs of shift fork groups 2241, in the embodiment of this application, the shift fork drive motor 2242 is only responsible for controlling the rotation of one pair of shift fork groups 2241, which simplifies the control, but the loading and unloading mechanism 10 is suitable for a smaller variety of goods specifications.

[0170] In this embodiment, the shift fork group 2241 can be one or more pairs. When the number of shift fork groups 2241 is one, its specific position on the secondary telescopic arm 222 is not limited in this application. Figures 20a to 20e As shown, the fork assembly 2241 can be a first end fork assembly 2241-1. The first end fork assembly 2241-1 moves the goods 4 on the first shelf 3A onto the pallet assembly 100, and then continues to move the goods 4 onto the second shelf 3B. If the goods 4 located deep inside the second shelf 3B are to be moved onto the first shelf 3A, the secondary telescopic arm 222 will extend a longer distance from the rear end of the target goods 4 when the arm is extended to pick up the goods, so that the first end fork assembly 2241-1 contacts and connects with the rear end of the goods 4. With the above configuration, only one pair of fork assemblies 2241 is required, which simplifies control, but the stroke of the telescopic forks 200 needs to be set to be relatively long.

[0171] When the number of shift fork assemblies 2241 is 2, their specific positions on the secondary telescopic arm 222 are not limited in this application, such as... Figures 20a to 20e As shown, the fork assembly 2241 may include a first end fork assembly 2241-1 and a second end fork assembly 2241-2. The first end fork assembly 2241-1 moves the goods 4 deep inside the first shelf 3A to the second shelf 3B, and the second end fork assembly 2241-2 moves the goods 4 deep inside the second shelf 3B to the first shelf 3A. Compared to the above scheme with only one pair of fork assemblies 2241, the stroke of the telescopic forks 200 can be shortened, that is, the lengths of the fixed arm 210, the first-stage telescopic arm 221, and the second-stage telescopic arm 222 can be shortened, thereby reducing the aisle width and increasing the density of the shelves.

[0172] The number of shift fork groups 2241 can be greater than 2, as detailed below.

[0173] In some embodiments of this application, such as Figure 16 and Figure 17As shown, the number of shift fork groups 2241 is multiple pairs, including: a first end shift fork group 2241-1 and a second end shift fork group 2241-2 disposed at both ends of the length direction of the secondary telescopic arm 222, and at least two pairs of reversing shift fork groups 2241-3 disposed between the first end shift fork group 2241-1 and the second end shift fork group 2241-2 and spaced apart; the first end shift fork group 2241-1 and the second end shift fork group 2241-2 respectively cooperate with one of the pairs of reversing shift fork groups 2241-3, so that the cooperation distance is consistent with the length of the target cargo 4.

[0174] like Figures 20a to 20c As shown, during the picking process, when the secondary telescopic arm 222 extends to both sides of the target cargo 4, the first end fork assembly 2241-1 located at the rear end of the target cargo 4 rotates to a horizontal inward state and contacts and connects with the rear end of the cargo 4.

[0175] like Figure 20d and Figure 20e As shown, during the loading process, the front end of the target cargo 4 is first aligned with the position of the second end fork assembly 2241-2, and the rear end of the target cargo 4 is aligned with the position of a target reversing fork assembly 2241-3. Then, the target reversing fork assembly 2241-3 is rotated to a horizontal inward state to contact and connect with the target cargo 4. The target reversing fork assembly 2241-3 moves the target cargo 4 onto the second shelf 3B.

[0176] It should be noted that during the picking process, the rear end of goods 4 refers to the side of goods 4 away from the picking and placing mechanism 10; during the placing process, the front end of goods 4 refers to the side of goods 4 close to the second shelf 3B, and the rear end refers to the side of goods 4 away from the second shelf 3B.

[0177] The lengths of the fixed arm 210, the first-stage telescopic arm 221, and the second-stage telescopic arm 222 are all no less than the length of the target cargo 4, so that the picking and placing mechanism can fully support the target cargo 4 and ensure safety during handling. Figure 20c In the embodiment shown, four pairs of fork assemblies 2241 are provided on the secondary telescopic arm 222, and the length of the target cargo 4 is less than the length of the secondary telescopic arm 222. When the target cargo 4 is moved onto the movable pallet 120, the rear end of the target cargo 4 corresponds to the position of the first end fork assembly 2241-1, and the front end corresponds to the position of one of the reversing fork assemblies 2241-3.

[0178] In this scenario, if a fixed pallet assembly is used, after the telescopic fork arm 220 moves the goods onto the pallet, the pallet cannot adjust the position of the goods. The goods can only be moved a considerable distance by the telescopic fork arm 220 after the picking / placing mechanism 10 reaches the target placement position. The goods are then moved from the end closest to the picking rack to the end closest to the placement rack, and finally onto the placement rack. In other words, with a fixed pallet assembly, the goods need to stop at the placement position (or picking position) before the telescopic arm moves them within the pallet assembly. This prolonged stopping time affects handling efficiency.

[0179] By using a movable pallet assembly, the goods 4 can be moved to the end closer to the target shelf while the picking and placing mechanism 10 is moving towards the target placement location. This way, upon reaching the target placement location, the goods 4 are closer to the shelf, and the telescopic fork arm 220 only needs to push the goods 4 a short distance to complete the placement. Applying this placement method with a movable pallet assembly eliminates the need for the telescopic fork arm 220 to move the goods 4 from the end closer to the picking shelf to the end closer to the placement shelf, shortening the dwell time of the picking and placing mechanism 10 at the placement location and thus improving picking and placing efficiency. The processes of the movable pallet 120 adjusting the position of the goods 4 and the picking and placing mechanism 10 moving towards the target placement location can be performed simultaneously, seamlessly connecting the actions and further improving picking and placing efficiency.

[0180] When performing the above-mentioned delivery process, it can be done as follows: Figure 20d As shown, the moving pallet 120 moves the target goods 4 toward the second shelf 3B, so that the front end of the target goods 4 corresponds to the position of the second end fork assembly 2241-2, and the rear end corresponds to the position of another reversing fork assembly 2241-3. Then, as... Figure 20e As shown, the goods are unloaded by the telescopic fork arm 220.

[0181] By applying the embodiments of this application, an end fork assembly and a reversing fork assembly are provided, enabling the picking and placing mechanism 10 to handle smaller-sized goods 4.

[0182] If, during the loading process, the position of the target goods 4 is not adjusted in advance so that the front end of the target goods 4 corresponds to the position of the second end fork assembly 2241-2, but the goods 4 is directly pushed towards the second shelf 3B by the first end fork assembly 2241-1, loading can also be achieved. However, it is necessary to ensure that the extension stroke of the telescopic fork arm 220 is long enough so that the first end fork assembly 2241-1 can extend to the target storage position on the second shelf 3B.

[0183] By applying the embodiments of this application, compared with the above-described loading process, if the position of the target goods 4 is adjusted first so that the front end of the target goods 4 corresponds to the position of the second end fork assembly 2241-2, and then the reversing fork assembly 2241-3 pushes the goods 4 to the second shelf 3B, the telescopic fork arm 220 does not need to extend a long distance. That is, the telescopic stroke of the telescopic fork arm 220 can be set to be shorter. In the retracted state, the length of the telescopic fork 200 is smaller, which can further reduce the aisle space, arrange more shelves, and improve the storage capacity of the warehousing system.

[0184] In some embodiments of this application, such as Figure 3 and Figure 10 As shown, each set of telescopic forks 200 also includes a guide plate 230.

[0185] The guide plates 230 of the two sets of telescopic forks 200 are respectively fixed on the opposite sides of the two fixed arms 210. The guide plates 230 extend along the telescopic direction of the telescopic forks 200, and both ends are bent toward their corresponding fixed plates 210.

[0186] Specifically, the distance between the two guide plates 230 is not less than the width of the goods 4, so that the goods 4 can move between the two guide plates 230 under the action of the telescopic fork arm 220 or the movable pallet 120. The bend at the same end of the two guide plates 230 forms a guide flare 240 facing the shelf opening, which can guide the goods 4 and facilitate the goods 4 to move back and forth between the pallet assembly 100 and the shelf.

[0187] The guide plate 230 is installed on the side of the synchronous pulley set 322 near the pallet assembly 100, which can protect the synchronous pulley set 322 and the synchronous belt 323 from being hit by the goods 4 and affecting the drive of the power mechanism 300 to the telescopic fork arm 220.

[0188] The following is a detailed description of the handling robot 1 provided in the embodiments of this application.

[0189] like Figure 2 , Figures 20a to 20e As shown, the handling robot 1 includes: the picking and placing mechanism 10 described in any of the above embodiments, and the gantry 20.

[0190] The mast 20 is used to hang on the shelf and can move horizontally relative to the shelf.

[0191] The pallet assembly 100 of the picking and placing mechanism 10 is movably connected to the mast 20; the picking and placing mechanism 10 can move up and down relative to the mast 20, and move horizontally under the action of the mast 20, in order to pick up and place goods in the storage position of the shelf.

[0192] Specifically, the gantry 20 is equipped with a lateral movement drive mechanism and a lifting drive mechanism to drive the gantry 20 to move horizontally and the loading / unloading mechanism 10 to move vertically. This application does not limit the specific structure of the lateral movement drive mechanism and the lifting drive mechanism.

[0193] Existing material handling robots typically consist of a moving chassis that can move on the ground to move the mast and picking / placing mechanisms to retrieve goods at different locations on shelves. To ensure stability during transport, the robot's movement speed is relatively slow, resulting in low efficiency. Using this type of robot requires sufficient space in the aisles for the chassis to move freely. Furthermore, when picking up or placing goods on higher shelves, the robot lacks a support point at that height, causing significant swaying of the mast. Therefore, the aisles need to have increased safety margins, further reducing the space utilization of the warehousing system.

[0194] Compared to existing transport robots that move along aisles via a moving chassis, the transport robot 1 provided in this application embodiment is mounted on a shelf via a gantry 20, which allows for faster movement. Furthermore, the gantry 20 has a fulcrum on the shelf, making the picking and placing mechanism 10 more stable when it moves to a higher position on the gantry 20. Therefore, the safety margin and walking space reserved in the aisle are smaller, which improves transport efficiency and warehouse space utilization.

[0195] The handling robot 1 provided in this application embodiment includes a pallet assembly 100 of a picking and placing mechanism 10 comprising a support 110 and a movable pallet 120. Since the movable pallet 120 is slidably mounted on the support 110, it can slide bidirectionally relative to the support 110 along the extension direction of the telescopic forks 200. Therefore, when performing picking and placing operations, it can slide towards the shelf until the front edge of the movable pallet 120 abuts against the shelf, eliminating the gap between the front edge of the movable pallet 120 and the shelf. This effectively prevents goods 4 from getting stuck in the gap between the pallet and the shelf during picking and placing, significantly reducing maintenance time caused by this situation and improving handling efficiency.

[0196] Furthermore, the telescopic fork 200 of the picking and placing mechanism 10 of the handling robot 1 includes a fixed arm 210 and a telescopic fork arm 220. Driven by the power mechanism 300, the telescopic fork arm 220 can extend and retract in both directions along the length of the telescopic fork 200, so that the telescopic fork arm 220 can move the goods 4 on the first shelf 3A on one side of the aisle 2 to the second shelf 3B on the other side of the aisle 2. Compared with the existing double-sided handling process, the step of rotating the goods 4 driven by the picking and placing mechanism 10 is omitted, which improves the handling efficiency and can also reduce the aisle space to increase the shelf density of the storage system, thereby improving the storage capacity of the storage system.

[0197] The warehousing system provided in the embodiments of this application will now be described in detail.

[0198] like Figure 2 As shown, the warehousing system includes: the handling robot 1 described in the above embodiment and multiple shelves.

[0199] The handling robot 1 is slidably mounted on the shelf via a horizontal rail 5 set on the shelf; the horizontal rail 5 is fixed to the side of the shelf near the aisle 2; the handling robot 1 can move along the aisle 2 based on the horizontal rail 5 to pick up and put down the goods 4 on the storage positions of the shelves on both sides of the aisle 2.

[0200] Specifically, there are multiple horizontal tracks 5, spaced apart along the height of the shelf. The mast 20 of the handling robot 1 is slidably connected to each horizontal track 5, which can improve the stability of the handling robot 1 during horizontal movement. Figure 2 As shown, there are two horizontal tracks 5, which ensures that the handling robot 1 on the shelf can move along any trajectory, thus improving efficiency.

[0201] In the warehousing system provided in this application embodiment, the handling robot 1 is mounted on the horizontal track 5 of the shelf, allowing for faster movement. Furthermore, the mast 20 has a fulcrum on the shelf, making the picking and placing mechanism 10 more stable when moving to the high position of the mast 20. Therefore, the safety margin and walking space reserved in the aisle are smaller, improving handling efficiency and warehouse space utilization. The pallet assembly 100 of the picking and placing mechanism 10 includes a support 110 and a movable pallet 120. Since the movable pallet 120 is slidably mounted on the support 110, it can slide bidirectionally relative to the support 110 along the extension direction of the telescopic forks 200. Therefore, when performing picking and placing operations, it can slide towards the shelf until the front edge of the movable pallet 120 abuts against the shelf, eliminating the gap between the front edge of the movable pallet 120 and the shelf. This effectively prevents goods from getting stuck in the gap between the pallet and the shelf during picking and placing, significantly reducing maintenance time caused by this situation and improving handling efficiency.

[0202] Furthermore, the picking and placing mechanism 10 of the handling robot 1 has a telescopic fork 200 including a fixed arm 210 and a telescopic fork arm 220. Driven by the power mechanism 300, the telescopic fork arm 220 can extend and retract bidirectionally along the length direction of the telescopic fork 200, so that the telescopic fork arm 220 can move the goods 4 on the first shelf 3A on one side of the aisle 2 to the second shelf 3B on the other side of the aisle 2. Compared with the existing double-sided handling process, the step of rotating the goods 4 driven by the picking and placing mechanism 10 is omitted, which improves the handling efficiency and can also reduce the aisle space to increase the shelf density of the storage system, thereby improving the storage capacity of the storage system.

[0203] The transport method provided in the embodiments of this application will now be described in detail.

[0204] The handling method provided in this application is applied to a control device, which is communicatively connected to the handling robot of the aforementioned warehousing system.

[0205] See Figure 21 , Figure 21 A flowchart illustrating the handling method provided in this application. Figure 21 As shown, the process includes the following steps:

[0206] Step S100: Instruct the gantry of the handling robot to drive the picking and placing mechanism to move horizontally, and instruct the picking and placing mechanism of the handling robot to move vertically relative to the gantry, so that the picking and placing mechanism is aligned with the target goods on the first shelf among multiple shelves;

[0207] Step S200: Instruct the moving pallet of the picking and placing mechanism to cooperate with the two sets of telescopic forks to move the target goods on the first shelf onto the moving pallet;

[0208] Specifically, in this step, the mobile pallet can be first instructed to move to abut against the first shelf; then, the two sets of telescopic forks can be instructed to extend and retract toward the first shelf to pull the target goods onto the mobile pallet.

[0209] Step S300: Instruct the gantry of the handling robot to move the picking and placing mechanism horizontally, and instruct the picking and placing mechanism of the handling robot to move vertically relative to the gantry, so that the picking and placing mechanism is aligned with the target storage location on the first shelf or the second shelf; the second shelf is another shelf among the plurality of shelves;

[0210] Step S400: Instruct the moving pallet of the picking and placing mechanism to cooperate with the two sets of telescopic forks to move the target goods from the pallet assembly to the target storage location.

[0211] If the target storage location is on the second shelf on the other side of the aisle, in this step, the mobile pallet can be instructed to move the target goods toward the second shelf until they are against the second shelf; then, the two sets of telescopic forks can be instructed to extend toward the second shelf and push the target goods to the target storage location on the second shelf.

[0212] This embodiment of the application is applied to the aforementioned warehousing system. During the retrieval and placement of goods, the moving pallet of the retrieval and placement mechanism cooperates with two sets of telescopic forks. The moving pallet can abut against the shelf, thereby eliminating the gap between the front edge of the moving pallet and the shelf. This effectively prevents goods from getting stuck in the gap between the pallet and the shelf during retrieval and placement, significantly reducing maintenance time caused by this situation and improving handling efficiency.

[0213] In this embodiment, the drive telescopic fork arm can extend and retract bidirectionally along the length of the telescopic fork to move goods on the first shelf on one side of the aisle to the second shelf on the other side of the aisle. Compared with the existing double-sided sorting process, the step of rotating the goods driven by the picking and placing mechanism is omitted, which improves the handling efficiency and can also reduce the aisle space to increase the shelf density of the warehousing system, thereby improving the storage capacity of the warehousing system.

[0214] Specifically, in some embodiments of this application, each set of telescopic forks includes: a fixed arm and a telescopic fork arm; the telescopic fork arm includes a primary telescopic arm, a secondary telescopic arm, a transmission assembly, and a picking assembly; the picking assembly includes: at least two pairs of shift fork groups; the at least two pairs of shift fork groups are spaced apart along the length direction on the secondary telescopic arm; each pair of shift fork groups includes two shift forks.

[0215] In this case, see Figure 22 , Figure 22 for Figure 21 A flowchart illustrating one specific implementation of step S200 is shown. Figure 22 As shown, it may include:

[0216] Step S201a: Instruct the mobile pallet to move until it abuts against the first shelf;

[0217] Step S202a: Instruct all shift forks to rotate to the vertically upward position;

[0218] Step S203a: Instruct the first-stage telescopic arm to extend toward the first shelf, and the first-stage telescopic arm drives the second-stage telescopic arm to extend toward the first shelf through the transmission assembly;

[0219] Step S204a: After the secondary telescopic arm extends to both sides of the target cargo, the pair of forks located at the rear end of the target cargo are instructed to rotate to a horizontal inward state so that the pair of forks can contact and connect with the rear end of the target cargo.

[0220] Step S205a: Instruct the first-stage telescopic arm to retract away from the first shelf, so that the first-stage telescopic arm drives the second-stage telescopic arm to retract via the transmission assembly, so that the pair of forks moves the target goods onto the mobile pallet.

[0221] Also see Figure 23 , Figure 23 for Figure 21 The flowchart illustrates a specific implementation of step S400. For example... Figure 23 As shown, it may include:

[0222] Step S401a: Instruct the mobile pallet to move the target goods toward the second shelf until they are against the second shelf;

[0223] Step S402a: Instruct a pair of forks located at the rear end of the cargo to rotate to a horizontal inward position;

[0224] Step S403a: Instruct the first-stage telescopic arm to extend toward the second shelf. The first-stage telescopic arm drives the second-stage telescopic arm to extend toward the second shelf through the transmission assembly, so that the pair of forks moves the target goods to the target storage position on the second shelf.

[0225] In this embodiment, after the target cargo is moved to the target storage position, the pair of forks at the rear end of the cargo can be instructed to switch to a vertically upward state to release the contact between the forks and the target cargo, and the telescopic fork arms can be retracted so that the target cargo is retained in the target storage position.

[0226] In this embodiment, the telescopic fork arm employs a two-stage telescopic design. By instructing the first-stage telescopic arm to extend or retract, the first-stage telescopic arm drives the second-stage telescopic arm to extend or retract via a transmission assembly. This, in conjunction with the moving pallet, completes the picking and placing of goods, simplifying the control of the telescopic fork arm's extension and retraction. It also reduces the size and weight of the telescopic fork arm, thereby lightening the weight of the picking and placing mechanism and reducing the load on the handling robot. Furthermore, the extension and retraction of the second-stage telescopic arm is controlled by instructing the rotation of the fork assembly, enabling the picking and placing of goods in conjunction with the second-stage telescopic arm, further simplifying the control process during picking and placing.

[0227] In some embodiments, the number of fork groups is multiple pairs, including: a first end fork group and a second end fork group disposed at both ends of the length direction of the secondary telescopic arm, and at least two pairs of reversing fork groups disposed at intervals between the first end fork group and the second end fork group; the first end fork group and the second end fork group respectively cooperate with one of the pairs of reversing fork groups, such that the cooperation distance is consistent with the length of the target goods; the length of the movable pallet is consistent with the length of the target goods.

[0228] In this case, see Figure 24 , Figure 24 for Figure 21 A flowchart illustrating another specific implementation of step S200. (See attached flowchart.) Figure 24 As shown, it may include:

[0229] Step S201b: Instruct the mobile pallet to move to abut against the first shelf;

[0230] Step S202b: Instruct all shift forks to rotate to the vertically upward position;

[0231] Step S203b: Instruct the first-stage telescopic arm to extend toward the first shelf, and the first-stage telescopic arm drives the second-stage telescopic arm to extend toward the first shelf through the transmission assembly;

[0232] Step S204b: After the secondary telescopic arm extends to both sides of the target cargo, the first end fork assembly located at the rear end of the target cargo is instructed to rotate to a horizontal inward state so that the first end fork assembly contacts and connects with the rear end of the target cargo.

[0233] Step S205b: Instruct the first-stage telescopic arm to retract away from the first shelf. The first-stage telescopic arm drives the second-stage telescopic arm to retract through the transmission assembly, so that the first end fork assembly moves the target goods onto the mobile pallet.

[0234] Also see Figure 25 , Figure 25 for Figure 21 The flowchart shows another specific implementation of step S400. (See attached flowchart.) Figure 25 As shown, it may include:

[0235] Step S401b: Instruct the mobile pallet to move the target goods to abut against the second shelf, and the front end of the target goods corresponds to the position of the second end fork group, and the rear end of the target goods corresponds to the position of a target reversing fork group;

[0236] Step S402b: Instruct a target reversing fork assembly at the rear end of the target cargo to rotate to a horizontal inward position so that the target reversing fork assembly contacts and connects with the target cargo.

[0237] Step S403b: Instruct the first-stage telescopic arm to extend toward the second shelf. The first-stage telescopic arm drives the second-stage telescopic arm to extend toward the second shelf through the transmission assembly, so that the target reversing fork group moves the target goods to the target storage position on the second shelf.

[0238] In this embodiment, after the target cargo is moved to the target storage position, the target reversing fork group can be instructed to switch to the vertical upward state to release the contact connection between the target reversing fork group and the target cargo, and the telescopic fork arm can be retracted to retain the target cargo in the target storage position.

[0239] By applying the embodiments of this application, the position of the target goods is adjusted by instructing the moving pallet to move so that the front end of the target goods corresponds to the position of the second end fork assembly. Then, the reversing fork assembly is instructed to push the goods to the second shelf. This allows the telescopic fork arm to not need to extend a long distance. That is, the telescopic stroke of the telescopic fork arm can be set to be shorter. In the retracted state, the length of the telescopic fork is even shorter, which can further reduce the aisle space, arrange more shelves, and improve the storage capacity of the warehousing system.

[0240] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0241] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0242] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A picking and placing mechanism, characterized in that, include: Pallet assembly (100) and two sets of telescopic forks (200); The tray assembly (100) includes: a support (110) and a movable tray (120); The two sets of telescopic forks (200) are respectively arranged on both sides of the bracket (110) and can extend or retract in both directions relative to the bracket (110) along their length direction. The movable pallet (120) is slidably mounted on the bracket (110) and can slide bidirectionally relative to the bracket (110) along the extension and retraction direction of the telescopic forks (200); The mobile pallet (120) is used to slide toward the shelf when performing the picking and placing of goods operation until the front edge of the mobile pallet (120) abuts against the shelf to eliminate the gap between the front edge of the mobile pallet (120) and the shelf. The two sets of telescopic forks (200) are used to reach into the storage position of the shelf to pick up and put down goods (4), and can cooperate with the mobile pallet (120) to complete the transfer of goods (4) between the storage position and the mobile pallet (120).

2. The picking and placing mechanism according to claim 1, characterized in that, The two sets of telescopic forks (200) are used to extend toward the target goods (4) on the first shelf (3A) located on one side of the aisle (2) and move the target goods (4). Then the telescopic forks (200) retract to move the target goods (4) onto the mobile pallet (120). Then they extend toward the second shelf (3B) on the other side of the aisle (2) and move the target goods (4) from the mobile pallet (120) to the target storage position on the second shelf (3B). The movable pallet (120) is used to move toward the first shelf (3A) before or simultaneously with the extension of the two sets of telescopic forks (200) toward the first shelf (3A) to move the target goods (4), until its front edge abuts against the first shelf (3A); and to slide toward the second shelf (3B) before or simultaneously with the extension of the two sets of telescopic forks (200) toward the second shelf (3B) to move the target goods (4), until its front edge abuts against the second shelf (3B).

3. The picking and placing mechanism according to claim 1, characterized in that, A tray drive motor (130) is mounted on the bracket (110), and the tray drive motor (130) is drivenly connected to the movable tray (120); The movable tray (120) and the support (110) are connected by a sliding connection structure; The mobile pallet (120) can slide bidirectionally relative to the bracket (110) along the extension and retraction direction of the telescopic forks (200) based on the sliding connection structure, driven by the pallet drive motor (130).

4. The picking and placing mechanism according to any one of claims 1 to 3, characterized in that, The tray assembly (100) further includes: two stop assemblies; The two stop bar assemblies are respectively movably disposed at both ends of the movable pallet (120) along the extension and retraction direction of the telescopic forks (200); when the movable pallet (120) is located in the middle of the bracket (110), the stop bar assembly extends upward to above the movable pallet (120) to abut against both ends of the goods (4); When the movable pallet (120) moves to abut against the shelf, the stop assembly retracts downward to no higher than the movable pallet (120).

5. The picking and placing mechanism according to claim 4, characterized in that, Each of the aforementioned stop assembly includes: a stop (140) and a support roller (150) connected to each other; The movable pallet (120) is provided with receiving grooves (121) at both ends along the extension direction of the telescopic fork (200), and the extension direction of the receiving grooves (121) is perpendicular to the extension direction of the telescopic fork (200). The top of the bracket (110) is fixed with a roller track (160) extending along the telescopic direction of the telescopic fork (200); the two ends of the roller track (160) have downward inclined surfaces. The stop bar (140) is movably disposed in the receiving groove (121) and can move up and down relative to the receiving groove (121), and the extension direction of the stop bar (140) is parallel to the receiving groove (121); The two ends of the stop bar (140) extend out of the movable tray (120) and bend downward, making rolling contact with the roller track (160) through the support roller (150); When the movable tray (120) is located in the middle of the bracket (110), the support roller (150) is located in the non-sloping area of ​​the roller track (160), causing the stop bar (140) to extend upward out of the receiving groove (121); When the movable pallet (120) moves to abut against the shelf, the support roller (150) rolls onto the inclined surface of the roller track (160), causing the stop bar (140) to move downward to be accommodated in the receiving slot (121).

6. The picking and placing mechanism according to claim 1, characterized in that, Each telescopic fork (200) includes: a fixed arm (210) and a telescopic fork arm (220); The fixed arm (210) is fixedly disposed on both sides of the bracket (110), and the telescopic fork arm (220) is slidably disposed on the fixed arm (210); The telescopic fork arm (220) can extend or retract in both directions relative to the fixed arm (210) along its length direction under the drive of the power mechanism (300).

7. The picking and placing mechanism according to claim 6, characterized in that, The rack is a multi-depth rack, and each of the telescopic forks (220) includes a primary telescopic arm (221), a secondary telescopic arm (222), a transmission assembly (223), and a picking assembly (224); The first-stage telescopic arm (221) is located between the fixed arm (210) and the second-stage telescopic arm (222), and the two sides of the first-stage telescopic arm (221) are slidably connected to the fixed arm (210) and the second-stage telescopic arm (222), respectively. The power mechanism (300) is mounted on the fixed arm (210) and drivenly connected to the first-stage telescopic arm (221), and is used to drive the first-stage telescopic arm (221) to extend or retract in both directions relative to the fixed arm (210); The transmission assembly (223) is mounted on the first-stage telescopic arm (221) and connected to the second-stage telescopic arm (222); The picking component (224) is mounted on the secondary telescopic arm (222) and is used to follow the movement of the secondary telescopic arm (222) to pick up and place goods (4) on the shelf; The primary telescopic arm (221) drives the secondary telescopic arm (222) to extend and retract relative to the primary telescopic arm (221) toward the shelf via the transmission assembly (223), so that the picking assembly (224) can pick up and place goods (4) on the shelf away from the picking and placing mechanism (10).

8. The picking and placing mechanism according to claim 7, characterized in that, The transmission assembly (223) includes: a first transmission belt (2231) and a second transmission belt (2232); One end of the first transmission belt (2231) is fixed to the first end of the fixed arm (210), and the other end extends along the length of the fixed arm (210), passes around the telescopic roller (225) on the second end of the first telescopic arm (221), and is fixed to the first end of the second telescopic arm (222). One end of the second transmission belt (2232) is fixed to the second end of the secondary telescopic arm (222), and the other end extends along the length of the secondary telescopic arm (222), passes around the telescopic roller (225) on the first end of the primary telescopic arm (221), and is fixed to the second end of the fixed arm (210). The first end of the fixed arm (210), the first end of the first-stage telescopic arm (221), and the first end of the second-stage telescopic arm (222) are all located at the same end of the telescopic fork (200) in the retracted state. The second end of the fixed arm (210), the second end of the first-stage telescopic arm (221), and the second end of the second-stage telescopic arm (222) are all located at the other end of the telescopic fork (200) in the retracted state; When the power mechanism (300) drives the first-stage telescopic arm (221) to extend toward the first shelf (3A) located on one side of the aisle (2), the second end of the first-stage telescopic arm (221) pushes the first transmission belt (2231) so that the first transmission belt (2231) drives the second-stage telescopic arm (222) to extend toward the first shelf (3A); When the power mechanism (300) drives the first-stage telescopic arm (221) to extend toward the second shelf (3B) on the other side of the aisle (2), the first end of the first-stage telescopic arm (221) pushes the second transmission belt (2232) so that the second transmission belt (2232) drives the second-stage telescopic arm (222) to extend toward the second shelf (3B).

9. The picking and placing mechanism according to claim 7 or 8, characterized in that, The power mechanism (300) includes: a power assembly (310) and two sets of power transmission assemblies (320); Each of the power transmission components (320) is mounted on the fixed arm (210) of a set of telescopic forks (200) and is connected to the primary telescopic arm (221) on the fixed arm (210). The power unit (310) is driven to connect with the two sets of power transmission units (320), and can drive the two sets of power transmission units (320) to drive the first-stage telescopic arms (221) of the two sets of telescopic forks (200) to extend or retract in both directions relative to the fixed arm (210).

10. The picking and placing mechanism according to claim 9, characterized in that, The power assembly (310) includes: a first motor (310a); The first motor (310a) is mounted on the first fixed arm (210a) of the two sets of telescopic forks (200) on the side away from the first telescopic arm (221); the two sets of power transmission assemblies (320) are respectively mounted on the side of the two fixed arms (210) close to the first telescopic arm (221); The first motor (310a) is driven to be connected to the first power transmission assembly (320a) on the first fixed arm (210a); the first power transmission assembly (320a) and the second power transmission assembly (320b) are connected by a transmission shaft (330) located below the tray assembly (100); Driven by the first motor (310a), the first power transmission assembly (320a) can drive the first telescopic arm (221) on the first fixed arm (210a) to extend and retract relative to the first fixed arm (210a), and transmit power to the second power transmission assembly (320b) through the transmission shaft (330), so that the second power transmission assembly (320b) drives the first telescopic arm (221) on the second fixed arm (210b) to extend and retract relative to the second fixed arm (210b).

11. The picking and placing mechanism according to claim 9, characterized in that, The power assembly (310) includes: two second motors; The two second motors are respectively installed on the two fixed arms (210) of the two sets of telescopic forks (200) on the side away from the first telescopic arm (221); the two sets of power transmission components (320) are respectively installed on the side of the two fixed arms (210) close to the first telescopic arm (221); Each of the second motors is driven to connect to the power transmission assembly (320) on its fixed arm (210); Each of the second motors can drive the corresponding power transmission component (320) to cause the first-stage telescopic arm (221) on its fixed arm (210) to extend or retract in both directions relative to the fixed arm (210).

12. The picking and placing mechanism according to claim 7, characterized in that, The picking assembly (224) includes: a pair of fork assemblies (2241) and a fork drive motor (2242); The shift fork assembly (2241) includes two shift forks (2241a), which are disposed opposite to each other on two secondary telescopic arms (222); The shift fork drive motor (2242) is driven to drive the shift fork (2241a) and can drive the shift fork (2241a) to rotate, so as to switch between a vertically upward state and a horizontally inward state; When retrieving goods from the first shelf (3A) on one side of the aisle (2) and placing goods on the second shelf (3B) on the other side of the aisle (2), During the picking process, the fork (2241a) is in a vertically upward state. When the secondary telescopic arm (222) extends the fork (2241a) to the rear end of the goods (4), the fork (2241a) rotates to a horizontally inward state. Then, the secondary telescopic arm (222) drives the fork (2241a) to retract, so that the fork (2241a) moves the goods (4) onto the mobile pallet (120). During the loading and unloading process, the fork (2241a) remains horizontal and inward, and the secondary telescopic arm (222) drives the fork (2241a) to extend toward the second shelf (3B), so that the fork (2241a) moves the goods (4) onto the second shelf (3B).

13. The picking and placing mechanism according to claim 7, characterized in that, The picking component (224) includes: at least two pairs of shift fork groups (2241) and shift fork drive motors (2242); The at least two pairs of shift fork groups (2241) are spaced apart along the length direction on the secondary telescopic arm (222); each pair of shift fork groups (2241) includes two shift forks (2241a), which are arranged opposite to each other on the two secondary telescopic arms (222); The shift fork drive motor (2242) is driven by the shift fork (2241a) and can drive the shift fork (2241a) to rotate; When retrieving goods from the first shelf (3A) on one side of the aisle (2) and placing goods on the second shelf (3B) on the other side of the aisle (2), During the picking process, all the forks (2241a) are in a vertically upward state. When the secondary telescopic arm (222) extends to both sides of the goods (4), a pair of forks (2241) located at the rear end of the goods (4) rotate to a horizontally inward state. Then the secondary telescopic arm (222) retracts, so that the fork group (2241) moves the goods (4) onto the mobile pallet (120). During the loading process, a pair of forks (2241) located at the rear end of the goods (4) are in a horizontal inward state. Then, the secondary telescopic arm (222) extends toward the second shelf (3B), so that the forks (2241) move the goods (4) onto the second shelf (3B).

14. The picking and placing mechanism according to claim 13, characterized in that, The number of the shift fork groups (2241) is multiple pairs, including: a first end shift fork group (2241-1) and a second end shift fork group (2241-2) disposed at both ends of the length direction of the secondary telescopic arm (222), and at least two pairs of reversing shift fork groups (2241-3) disposed between the first end shift fork group (2241-1) and the second end shift fork group (2241-2) and spaced apart; the first end shift fork group (2241-1) and the second end shift fork group (2241-2) respectively cooperate with one of the pairs of reversing shift fork groups (2241-3) so that the cooperation distance is consistent with the length of the target cargo (4); During the picking process, when the secondary telescopic arm (222) extends to both sides of the target cargo (4), the first end fork assembly (2241-1) located at the rear end of the target cargo (4) rotates to a horizontal inward state and contacts and connects with the rear end of the cargo (4); During the loading process, the front end of the target goods (4) is aligned with the position of the second end fork group (2241-2) by moving the pallet (120), and the rear end of the target goods (4) is aligned with the position of a target reversing fork group (2241-3). Then, the target reversing fork group (2241-3) is rotated to a horizontal inward state to contact and connect with the target goods (4). The target reversing fork group (2241-3) moves the target goods (4) onto the second shelf (3B).

15. The picking and placing mechanism according to claim 6, characterized in that, Each set of telescopic forks (200) also includes: a guide plate (230); The guide plates (230) of the two sets of telescopic forks (200) are respectively fixed on the opposite sides of the two fixed arms (210); The guide plate (230) extends along the telescopic direction of the telescopic fork (200), and both ends are bent toward their corresponding fixed arms (210).

16. A transport robot, characterized in that, include: The picking and placing mechanism (10) according to any one of claims 1 to 15, and the gantry (20); The gantry (20) is used to be hung on the shelf and can move horizontally relative to the shelf; The pallet assembly (100) of the picking and placing mechanism (10) is movably connected to the mast (20); the picking and placing mechanism (10) can move up and down relative to the mast (20) and move horizontally under the drive of the mast (20) to pick up and place goods in the storage position of the shelf.

17. A warehousing system, characterized in that, Includes the handling robot (1) as described in claim 16 and multiple shelves; The handling robot is slidably mounted on the shelf via a horizontal rail (5) set on the shelf; the horizontal rail (5) is fixed to the side of the shelf near the aisle (2); The handling robot (1) is able to move along the aisle (2) based on the horizontal track (5) to pick up and put down goods on the storage positions of the shelves on both sides of the aisle (2).

18. A method for handling materials, characterized in that, The control device is applied to a control device that is communicatively connected to the handling robot of the warehousing system of claim 17. The method includes: The gantry of the handling robot is instructed to move the picking and placing mechanism horizontally, and the picking and placing mechanism of the handling robot is instructed to move vertically relative to the gantry, so that the picking and placing mechanism is aligned with the target goods on the first shelf among multiple shelves; The moving pallet of the picking and placing mechanism is instructed to cooperate with two sets of telescopic forks to move the target goods on the first shelf onto the moving pallet; The gantry of the handling robot is instructed to move the picking and placing mechanism horizontally, and the picking and placing mechanism of the handling robot is instructed to move vertically relative to the gantry, so that the picking and placing mechanism is aligned with the target storage location on the first shelf or the second shelf; the second shelf is another shelf among the plurality of shelves; The moving pallet of the picking and placing mechanism cooperates with two sets of telescopic forks to move the target goods from the moving pallet to the target storage location.

19. The handling method according to claim 18, characterized in that, The moving pallet of the picking and placing mechanism, in conjunction with two sets of telescopic forks, moves the target goods on the first shelf onto the moving pallet, including: Instruct the mobile pallet to move until it is against the first shelf; The two sets of telescopic forks are instructed to extend or retract toward the first shelf, pulling the target goods onto the mobile pallet; With the first and second shelves located on opposite sides of the aisle, and the target storage location located on the second shelf, the moving pallet instructing the picking and placing mechanism, in conjunction with two sets of telescopic forks, moves the target goods from the moving pallet to the target storage location, including: The instruction states that the mobile pallet moves the target goods toward the second shelf until they are against the second shelf; The two sets of telescopic forks are instructed to extend toward the second shelf, pushing the target goods to the target storage location on the second shelf.

20. The handling method according to claim 19, characterized in that, Each telescopic fork assembly includes: a fixed arm and a telescopic fork arm; the telescopic fork arm includes a primary telescopic arm, a secondary telescopic arm, a transmission assembly, and a picking assembly; the picking assembly includes: at least two pairs of shift fork groups; the at least two pairs of shift fork groups are spaced apart along the length direction on the secondary telescopic arm; each pair of shift fork groups includes two shift forks; The instruction to extend and retract the two sets of telescopic forks toward the first shelf to pull the target goods onto the moving pallet includes: Instruct all shift forks to rotate to the vertically upward position; The first-stage telescopic arm is instructed to extend toward the first shelf, and the first-stage telescopic arm drives the second-stage telescopic arm to extend toward the first shelf via the transmission assembly; After the secondary telescopic arm extends to both sides of the cargo, it instructs a pair of forks located at the rear end of the target cargo to rotate to a horizontal inward position so that the pair of forks contacts and connects with the rear end of the target cargo. The first-stage telescopic arm is instructed to retract away from the first shelf, and the first-stage telescopic arm drives the second-stage telescopic arm to retract via the transmission assembly, so that the pair of forks moves the target goods onto the mobile pallet; The instruction to extend the two sets of telescopic forks toward the second shelf and push the target goods to the target storage location on the second shelf includes: Instructs a pair of forks located at the rear end of the cargo to rotate to a horizontal inward position; The first-stage telescopic arm is instructed to extend toward the second shelf, and the first-stage telescopic arm drives the second-stage telescopic arm to extend toward the second shelf through the transmission assembly, so that the pair of forks moves the target goods to the target storage position on the second shelf.

21. The handling method according to claim 20, characterized in that, The number of shift fork groups is multiple pairs, including: a first end shift fork group and a second end shift fork group disposed at both ends of the length direction of the secondary telescopic arm, and at least two pairs of reversing shift fork groups disposed at intervals between the first end shift fork group and the second end shift fork group; the first end shift fork group and the second end shift fork group respectively cooperate with one of the pairs of reversing shift fork groups, such that the cooperation distance is consistent with the length of the target cargo. The length of the mobile pallet is the same as the length of the target goods; The instruction to extend and retract the two sets of telescopic forks toward the first shelf to pull the target goods onto the moving pallet includes: Instruct all shift forks to rotate to the vertically upward position; The first-stage telescopic arm is instructed to extend toward the first shelf, and the first-stage telescopic arm drives the second-stage telescopic arm to extend toward the first shelf via the transmission assembly; After the secondary telescopic arm extends to both sides of the target cargo, the first end fork assembly located at the rear end of the target cargo is instructed to rotate to a horizontal inward position so that the first end fork assembly contacts and connects with the rear end of the target cargo. The first-stage telescopic arm is instructed to retract away from the first shelf, and the first-stage telescopic arm drives the second-stage telescopic arm to retract through the transmission assembly, so that the first end fork group moves the target goods onto the mobile pallet; The instruction to move the mobile pallet to move the target goods toward the second shelf until they are against the second shelf includes: The mobile pallet is instructed to move the target goods to abut against the second shelf, and the front end of the target goods corresponds to the position of the second end fork group, and the rear end of the target goods corresponds to the position of a target reversing fork group; The instruction to extend the two sets of telescopic forks toward the second shelf and push the target goods to the target storage location on the second shelf includes: Instruct a target reversing fork assembly at the rear end of the target cargo to rotate to a horizontal inward position so that the target reversing fork assembly contacts and connects with the target cargo; The first-stage telescopic arm is instructed to extend toward the second shelf, and the first-stage telescopic arm drives the second-stage telescopic arm to extend toward the second shelf through the transmission assembly, so that the target reversing fork group moves the target goods to the target storage position on the second shelf.

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