Pallet fork assembly, warehousing robot, carrying system and warehousing system

Abstract

The utility model discloses a pallet fork assembly, a storage robot, a carrying system and a storage system, relates to the technical field of storage logistics equipment, and aims to solve the technical problem that the existing storage robot is low in warehouse-in and warehouse-out efficiency. The pallet fork assembly comprises a pallet fork base plate, a telescopic mechanism, a goods taking mechanism and a bearing mechanism; the goods taking mechanism is arranged on the telescopic mechanism, the telescopic mechanism is arranged on the pallet fork base plate, and the telescopic mechanism drives the goods taking mechanism to move in the first direction; the goods taking mechanism comprises a goods taking part; the goods taking part can move in the second direction and is connected with or propped against or separated from the material box; the bearing mechanism is arranged on the pallet fork base plate and comprises a plurality of bearing assemblies, and when the bearing mechanism is configured to be in the first state, the bearing assemblies bear the material box; and when the bearing mechanism is configured to be in the second state, each bearing assembly is separated from the material box. According to the pallet fork assembly disclosed by the invention, different box placing actions can be adopted according to different box placing positions, and the material box warehouse-in and warehouse-out efficiency is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of warehousing and logistics equipment, and in particular to a fork assembly, a warehousing robot, a handling system and a warehousing system. Background Art

[0002] With the development of the logistics industry, warehouse robots are gradually used in cargo handling, which can improve the efficiency of cargo handling. Therefore, warehouse robots have become a research hotspot in the logistics industry.

[0003] The warehouse robot includes a fork assembly, which is used to pick up and place the material box. However, the current warehouse robot has a single box placement action, resulting in low efficiency in taking the material box out and into the warehouse. Utility Model Content

[0004] In view of the above problems, the embodiments of the present disclosure provide a fork assembly, a warehouse robot, a handling system and a warehouse system, which can take different box placement actions according to different box placement positions to improve the efficiency of box warehousing and storage.

[0005] In order to achieve the above objectives, the embodiments of the present disclosure provide the following technical solutions:

[0006] A first aspect of an embodiment of the present disclosure provides a fork assembly for picking up and placing a material box, the fork assembly comprising a fork base plate, a telescopic mechanism, a picking mechanism and a supporting mechanism; the picking mechanism is arranged on the telescopic mechanism, the telescopic mechanism is arranged on the fork base plate, the telescopic mechanism is configured to drive the picking mechanism to move along a first direction relative to the fork base plate; the picking mechanism comprises a picking part, the picking part is configured to be movable along a second direction relative to the fork base plate, and to be connected to, abutted against or detached from the material box; the supporting mechanism is arranged on the fork base plate, the supporting mechanism comprises a plurality of supporting components, when the supporting mechanism is configured to be in a first state, each of the supporting components carries the material box; when the supporting mechanism is configured to be in a second state, each of the supporting components is detached from the material box.

[0007] Compared with the related art, the fork assembly provided by the embodiment of the present disclosure has the following advantages:

[0008] The fork assembly in the disclosed embodiment is provided with a supporting mechanism and a telescopic mechanism on a fork base plate, and a picking mechanism is provided on the telescopic mechanism, wherein the supporting mechanism has a plurality of supporting assemblies and forms a space for accommodating a material box.

[0009] For example, when the material box is out of the warehouse, the picking mechanism and the telescopic mechanism can be used to move the material box to the supporting mechanism. At this time, when the supporting mechanism is in the first state, the supporting assembly can contact the bottom of the material box and lift the material box. In this state, the material box is temporarily stored on the fork assembly. When the material box reaches the cache shelf, the supporting mechanism is activated and in the second state, the supporting assembly does not contact (disengages) with the bottom of the material box to release the material box. In this state, the material box can be moved out of the fork assembly.

[0010] The storage robots in the related technology have a single box placing action and are unable to provide different box placing actions according to different box placing locations, resulting in low efficiency in box outbound and inbound storage.

[0011] However, the fork assembly provided in the embodiment of the present disclosure can provide different box placement actions according to different box placement positions. For example, when the supporting mechanism is in the first state, it carries the box, and when the box reaches the specified position, the supporting mechanism moves and changes its state, so that the box quickly separates from the supporting mechanism, thereby improving the efficiency of the fork assembly in picking up and placing goods.

[0012] The second aspect of the embodiments of the present disclosure provides a warehouse robot installed on a storage shelf, the warehouse robot includes a lifting mechanism, a lifting frame, a walking mechanism and at least one fork assembly described in the first aspect; the fork assembly is installed on the lifting frame, and the lifting mechanism can drive the fork assembly to move along the second direction; the walking mechanism is arranged at the bottom, middle or upper part of the lifting frame, and the walking mechanism is configured to drive the warehouse robot to move along the third direction relative to the storage shelf. It should be noted that the advantages of the warehouse robot provided by the embodiments of the present disclosure including the above-mentioned fork assembly are not repeated here.

[0013] The third aspect of the embodiment of the present disclosure provides a handling system, including a storage shelf and the storage robot described in the second aspect; the storage shelf is provided with at least one guide rail, the guide rail extends along a third direction, and the guide rail has a limiting groove; the walking mechanism of the storage robot includes a limiting guide wheel and a walking drive wheel, the limiting guide wheel is slidably arranged in the limiting groove; the walking drive wheel contacts the top surface of the guide rail and drives the storage robot to move along the guide rail. It should be noted that the handling system provided by the embodiment of the present disclosure includes the advantages of the above-mentioned fork assembly, which will not be repeated here.

[0014] A fourth aspect of an embodiment of the present disclosure provides a warehousing system, comprising a transfer robot, a cache shelf and at least two storage shelves and the storage robot described in the second aspect; the two storage shelves are arranged at intervals to form an alley, the cache shelf is arranged in the alley, and the height of the bearing surface of the cache shelf is lower than the height of the storage layer of the storage shelf relative to the ground; the storage robot is arranged on the side of the storage shelf facing the alley; the storage robot is configured to be able to transfer material boxes between the cache shelf and the storage shelf; the transfer robot is configured to be able to transfer material boxes on the cache shelf, or, to transfer the material boxes to the cache shelf.

[0015] It should be noted that the storage system provided by the embodiment of the present disclosure has the following advantages. For the same parts, please refer to the advantages of the fork assembly mentioned above, which will not be repeated here. The difference is that the storage robot picks and places the material boxes on the two storage shelves in the same aisle through the cache shelf, thereby improving the efficiency of the material box in and out of the warehouse.

[0016] In addition to the technical problems solved by the embodiments of the present disclosure, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the fork assembly, warehouse robot, handling system and warehouse system provided by the embodiments of the present disclosure, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A schematic diagram of the structure of the storage system provided in the embodiment of the present disclosure Figure 1 ;

[0019] Figure 2 A schematic diagram of the structure of the storage system provided in the embodiment of the present disclosure Figure 2 ;

[0020] Figure 3 A schematic diagram of the structure of a single-column storage robot provided in an embodiment of the present disclosure Figure 1 ;

[0021] Figure 4 A schematic diagram of the structure of a single-column storage robot provided in an embodiment of the present disclosure Figure 2;

[0022] Figure 5 A schematic diagram of the structure of a double-column storage robot provided in an embodiment of the present disclosure;

[0023] Figure 6 A schematic diagram of a fork assembly grabbing a material box provided in an embodiment of the present disclosure;

[0024] Figure 7 A schematic diagram of the structure of a fork assembly from a first perspective provided in an embodiment of the present disclosure;

[0025] Figure 8 A schematic diagram of the structure of the fork assembly provided by the embodiment of the present disclosure from a second perspective;

[0026] Fig. 9 for Figure 8 A schematic diagram of the pickup mechanism in FIG.

[0027] Fig.10 for Figure 8 A schematic diagram of the connection between the middle telescopic mechanism and the pickup mechanism from a first perspective;

[0028] Fig.11 for Figure 8 A schematic diagram from a second perspective showing the connection between the middle telescopic mechanism and the pickup mechanism;

[0029] Fig.12 A schematic diagram of the connection between the walking mechanism and the guide rail of the storage robot provided in an embodiment of the present disclosure;

[0030] Fig.13 A schematic diagram of the structure of the cache shelf provided in an embodiment of the present disclosure.

[0031] Description of reference numerals:

[0032] 1-Fork base plate;

[0033] 2- telescopic mechanism; 21- telescopic arm; 22- first transmission mechanism; 23- first drive motor; 24- second transmission mechanism; 25- second drive motor;

[0034] 3-cargo picking mechanism; 31-cargo picking part; 32-connecting plate; 33-guide rod; 34-actuator;

[0035] 4-supporting mechanism; 41-connecting arm; 42-supporting plate;

[0036] 10- Fork assembly;

[0037] 20-lifting frame;

[0038] 30-lifting mechanism;

[0039] 40-travel mechanism; 401-limit guide wheel; 402-travel driving wheel;

[0040] 50-slide seat;

[0041] 100-Warehousing robots;

[0042] 200-Transportation robot;

[0043] 300-storage shelf; 310-guide rail; 311-limiting slot;

[0044] 400-caching shelf; 410-channel; 420-bearing edge; 430-limiting mechanism; 431-first limiting protrusion; 432-second limiting protrusion; 440-avoiding groove;

[0045] 500-material box. DETAILED DESCRIPTION

[0046] The storage robot in the related art has the technical problem of low efficiency in loading and unloading the material boxes. The inventors have found that the reason for this problem is that the storage robot in the related art has a single box placing action and cannot provide different box placing actions according to different box placing positions, resulting in low efficiency in loading and unloading the material boxes.

[0047] In response to the above technical problems, the embodiments of the present disclosure provide a fork assembly, which transfers the material box to the supporting mechanism based on a picking mechanism and a telescopic mechanism. The supporting mechanism carries the material box. When the material box reaches the specified position, the supporting mechanism operates and changes the state of the supporting mechanism to allow the material box to quickly detach from the supporting mechanism. That is, the fork assembly provided by the embodiments of the present disclosure can provide different box placing actions according to different box placing positions, thereby improving the picking and placing efficiency of the fork assembly.

[0048] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present disclosure more obvious and understandable, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0049] like Figure 1 and Figure 2 As shown, the warehousing system provided by the embodiment of the present disclosure is applied to warehousing logistics, which can store and transfer material boxes 500, etc. The warehousing system includes a warehousing robot 100, a transfer robot 200, a cache shelf 400 and at least two warehousing shelves 300.

[0050] Exemplarily, the storage system includes a plurality of storage shelves 300, and an aisle is formed between two adjacent storage shelves 300. Each aisle is provided with a number of cache shelves 400. The transfer robot 200 moves back and forth in the aisle to transfer the material boxes 500 to the cache shelves 400, or to transfer the material boxes 500 on the cache shelves 400 to other locations, such as a sorting table.

[0051] In the embodiment of the present disclosure, a plurality of cache shelves 400 are arranged in cooperation with a storage robot 100, and the cache shelf 400 is arranged at the bottom of the storage robot 100, so that the material box 500 can be transferred from the storage robot 100 to the cache shelf 400. Further, the storage robot 100 is arranged on the storage shelf 300. The storage robot 100 can be arranged on a storage shelf 300 located in the same lane, the storage robot 100 is located on the side of the storage shelf 300 facing the lane, and the storage robot 100 moves relative to the storage shelf 300 at least along the second direction.

[0052] The warehouse robot 100 is configured to be able to transfer the material box 500 between the cache shelf 400 and the storage shelf 300, that is, when leaving the warehouse, the warehouse robot 100 can transfer the material box 500 from the storage shelf 300 to the cache shelf 400, and then the transfer robot 200 transfers the material box 500 from the cache shelf 400 to the sorting table; and, when the material box 500 is put into the warehouse, the material box 500 is transferred from the sorting table to the cache shelf 400 by the transfer robot 200, and then the material box 500 is transferred to the storage shelf 300 by the warehouse robot 100.

[0053] To facilitate the description of the embodiments of the present disclosure, the coordinate system in the accompanying drawings is first explained. The X-axis direction is defined as the first direction, which is the width direction of the aisle. The Z-axis direction is defined as the second direction, which is the height direction of the storage shelf 300. The Y-axis direction is defined as the third direction, which is perpendicular to the first direction and is the length direction of the aisle.

[0054] like Figures 3 to 5 As shown, the warehouse robot 100 provided in the embodiment of the present disclosure includes a fork assembly 10, a lifting mechanism 30, a lifting frame 20 and a walking mechanism 40. The fork assembly 10 is installed on the lifting frame 20, and the lifting mechanism 30 can drive the fork assembly 10 to move along the second direction; the walking mechanism 40 is arranged at the bottom of the lifting frame 20, and the walking mechanism 40 is configured to drive the warehouse robot 100 to move along the third direction relative to the storage shelf 300.

[0055] Specifically, the lifting frame 20 is disposed on the storage shelf 300 along the second direction, and the lifting frame 20 includes at least one column, and the column extends along the second direction to provide a path for the fork assembly 10 to move along the second direction. A slide 50 is disposed between the fork assembly 10 and the lifting frame 20, and the slide 50 is slidably mounted on the lifting frame 20, that is, the fork assembly 10 is slidably mounted on the lifting frame 20 through the slide 50.

[0056] See also Figure 3 or Figure 4 In one embodiment, the lifting frame 20 includes a column, the slide 50 can be centrally mounted on the column, a portion of the slide 50 is located outside the column, and the fork assembly 10 is disposed outside the column and connected to the slide 50. Figure 5 In another embodiment, the lifting frame 20 includes two oppositely disposed columns, the slides 50 are slidably mounted on the two columns respectively, and the fork assembly 10 is disposed between the two columns and connected to the slides 50 .

[0057] In the embodiment of the present disclosure, the lifting mechanism 30 is disposed on the lifting frame 20. For example, the lifting mechanism 30 can be disposed at the top of the lifting frame 20 or at other positions, and the lifting mechanism 30 is used to provide an upward force or a downward force to the slide 50, so that the slide 50 moves up and down relative to the lifting frame 20 along the second direction, drives the fork assembly 10 to move along the lifting frame 20 along the second direction, and further realizes the transfer of the material box 500 between the storage shelf 300 and the cache shelf 400.

[0058] like Figures 6 to 8 As shown, the fork assembly 10 provided in the embodiment of the present disclosure is used for picking up and placing a material box 500. The fork assembly 10 is mounted on a slide 50, and the fork assembly 10 includes a fork base plate 1, a telescopic mechanism 2, a picking mechanism 3 and a supporting mechanism 4, wherein the fork base plate 1 is used to provide a mounting position, the telescopic mechanism 2 and the supporting mechanism 4 are both arranged on the fork base plate 1, and the fork base plate 1 is mounted on the above-mentioned slide 50.

[0059] Furthermore, the picking mechanism 3 is arranged on the telescopic mechanism 2, and the telescopic mechanism 2 is configured to drive the picking mechanism 3 to move along the first direction relative to the fork base plate 1. The picking mechanism 3 includes a picking part 31, and the picking part 31 can be connected to the material box 500, and its connection method includes but is not limited to snap-in, abutment or other methods, and the material box 500 can be dragged along the first direction so that the picking part 31 cooperates with the supporting mechanism 4 to transfer the material box 500 to be transferred to the supporting mechanism 4.

[0060] The supporting mechanism 4 includes a plurality of supporting components, which are arranged at intervals and enclose a containing space. For example, a plurality of supporting components are arranged below the fork base plate 1 along the second direction and enclose a rectangular containing space; accordingly, the material box 500 is configured as a rectangular box. It is understandable that at least part of the picking mechanism 3 is confined in the containing space, so that when the picking mechanism 3 moves relative to the fork base plate 1 along the first direction, the material box 500 can be dragged to the containing space, and further under the action of the supporting mechanism 4, the material box 500 is carried.

[0061] Furthermore, the state of the supporting mechanism 4 relative to the fork base plate 1 can be changed. When the supporting mechanism 4 is in a first state, at least part of the supporting component is in contact with the bottom of the material box 500 and carries the material box 500, that is, when the supporting mechanism 4 is in the first state, each supporting component carries the material box 500; when the supporting mechanism is in the second state, the supporting component is not in contact with the bottom of the material box 500, that is, each supporting component is detached from the material box 500.

[0062] For example, when the fork assembly 10 provided in the embodiment of the present disclosure transfers the material box 500 from the storage shelf 300 to the cache shelf 400, the specific process is as follows:

[0063] The fork assembly 10 moves to the storage location where the material box 500 to be transferred is located, the picking mechanism 3 is opposite to the material box 500, and the picking part 31 is connected to the material box 500, which can be specifically a snap connection. After completion, the telescopic mechanism 2 is actuated to move the entire picking mechanism 3 along the first direction, and drag the material box 500 into the accommodating space formed by the supporting mechanism 4. At this time, the supporting mechanism 4 is in the first state, and the material box 500 to be transferred is temporarily stored in the fork assembly 10.

[0064] Next, under the action of the lifting mechanism 30, the fork assembly 10 moves downward along the lifting frame 20 and moves to the cache shelf 400. The fork assembly 10 moves to the cache shelf 400, and the material box 500 is placed on the cache shelf 400. The supporting mechanism 4 switches from the first state to the second state, and the supporting mechanism 4 is separated from the bottom of the material box 500, that is, the fork assembly 10 is separated from the material box 500, and the transfer of the material box 500 to the cache shelf 400 is completed; finally, the transfer robot 200 transfers the material box 500 to other locations, such as a sorting table.

[0065] The storage robot of the related art has a single box placing action and cannot provide different box placing actions according to the different box placing positions, resulting in low efficiency of box outbound and inbound storage. However, the fork assembly provided in the embodiment of the present disclosure can provide different box placing actions according to the different box placing positions. For example, when the supporting mechanism is in the first state, it carries the box. When the box reaches the specified position, the supporting mechanism moves and changes its state, so that the box can quickly detach from the supporting mechanism, thereby improving the efficiency of the fork assembly in picking up and placing goods.

[0066] The supporting assembly provided in the embodiment of the present disclosure includes a connecting arm 41, a supporting plate 42 and a driving mechanism, wherein the connecting arm 41 is arranged below the fork base plate 1 along the second direction, and the length direction of the connecting arm 41 extends along the second direction, one end of the connecting arm 41 is rotatably connected to the fork base plate 1, and the second end of the connecting arm 41 is fixedly connected to the supporting plate 42 and can move with the connecting arm 41.

[0067] Exemplarily, four groups of supporting components are arranged at the bottom of the fork base plate 1, each supporting component includes a connecting arm 41 and a supporting plate 42, the connecting arm 41 may be a connecting rod, the supporting plate 42 may be a horizontal plate, and the connecting rod is vertically connected to the supporting plate 42 to form an L-shaped structure. The top surface of the supporting plate 42 is used to contact the bottom of the material box 500, and an elastic protective pad with friction may be arranged on the top surface of the supporting plate 42 to prevent the material box 500 from sliding easily on the supporting plate 42.

[0068] The driving mechanism can drive the connecting arm 41 to rotate, thereby changing the position of the supporting plate 42. For example, each supporting assembly can be provided with a corresponding driving mechanism, which can be a driving motor, which is in transmission connection with the connecting arm 41. When the driving motor is in motion, it can drive the connecting arm 41 to rotate, so that the supporting plate 42 can rotate to within the contour range of the material box 500, that is, the supporting plate 42 can be located within the projection range of the material box 500 relative to the ground. At this time, the supporting mechanism 4 is in the first state to carry the material box 500.

[0069] Furthermore, when the driving motor further moves, the connecting arm 41 can be driven to rotate, so that the supporting plate 42 can rotate to outside the contour range of the material box 500, that is, the supporting plate 42 can be located outside the projection range of the material box 500 relative to the ground, and the supporting mechanism 4 is in the second state at this time, so that the material box 500 is separated from the supporting mechanism 4. It should be noted that the driving motors of each supporting component can move synchronously, or each supporting component shares a driving motor and drives each connecting arm 41 to rotate through a linkage mechanism, and the embodiments of the present disclosure are not limited to this.

[0070] like Fig. 9 As shown, the pickup mechanism 3 provided in the embodiment of the present disclosure is located in the accommodating space, and can be opposite to the material box 500 when working. The pickup mechanism 3 includes a connecting plate 32, a guide rod 33 and an actuator 34, wherein the connecting plate 32 provides a mounting position, the guide rod 33 and the actuator 34 are arranged on the connecting plate 32, and the connecting plate 32 is connected to the telescopic mechanism 2, and the telescopic mechanism 2 can drive the connecting plate 32 to move relative to the fork base plate 1 along the first direction, thereby driving the entire pickup mechanism 3 to move along the first direction.

[0071] Furthermore, the connecting plate 32 can be a flat plate, and the guide rod 33 is vertically installed on the connecting plate 32 along the second direction and is located below the connecting plate 32. The guide rod 33 is used to limit the moving path of the picking up part 31. The picking up part 31 is sleeved on the guide rod 33, and the picking up part 31 can move up and down along the guide rod 33 under the action of the actuator 34, that is, the actuator 34 is configured to drive the picking up part 31 to move up and down along the guide rod 33.

[0072] For example, the picking mechanism 3 includes two relatively arranged guide rods 33, the two guide rods 33 are parallel and spaced apart along the second direction, the actuator 34 includes but is not limited to an actuator cylinder, the actuator 34 is arranged on one side of the two guide rods 33, and the bottom of the actuator 34 is fixed on the connecting plate 32, the telescopic rod of the actuator 34 is connected to the picking part 31, and the extending direction of the telescopic rod of the actuator 34 is consistent with the second direction. When the telescopic rod is extended or retracted, it can drive the picking part 31 to move relative to the guide rod 33.

[0073] Further, the picking part 31 includes a body and at least one hook body, the body is inserted on the guide rod 33; along the first direction, the hook body is arranged on one side of the body, and the hook body can be a stopper protruding from the body. Correspondingly, when the material box 500 is a rectangular box body, along the first direction, at least one end surface of the material box 500 is provided with a slot that cooperates with the hook body, and the slot cooperates with the hook body, for example, the slot can be arranged near the top of the box body, or the slot is formed between the box body and the box cover of the material box 500.

[0074] When the picking mechanism 3 grabs the material box 500, the hook body can be extended into the slot from top to bottom, and the hook body and the slot are limited in the first direction. At this time, the telescopic mechanism 2 is activated, and the picking mechanism 3 can apply a force along the first direction based on the hook body to drag the material box 500.

[0075] Preferably, the picking part 31 includes two hooks, which are arranged at intervals on the edge of the main body along the first direction to form a U-shaped structure. The main body is passed through the guide rod 33, and the two hooks are arranged on both sides of the guide rod 33 along the first direction; accordingly, the two end faces of the box body opposite to each other along the first direction are respectively provided with card grooves.

[0076] With such arrangement, the picking mechanism 3 can move back and forth along the first direction, and can not only quickly take out the material box 500 from the storage shelf 300, but also can quickly place the material box 500 from the supporting mechanism 4 to the storage shelf 300 when moving in the opposite direction; and can enable the storage robot 100 to operate on two storage shelves 300 located in the same aisle through the cache shelf 400, thereby further improving the operating efficiency.

[0077] like Fig.10 and Fig.11As shown, the telescopic mechanism 2 provided in the embodiment of the present disclosure includes a telescopic arm 21, a first transmission mechanism 22 and a first drive motor 23, wherein the telescopic arm 21 is connected to the fork base plate 1, and the online plate is arranged on the side of the telescopic arm 21 away from the fork base plate 1, for example, along the second direction, and the connecting plate 32 is arranged below the telescopic arm 21, and the connecting plate 32 is connected to the first transmission mechanism 22.

[0078] Furthermore, the first transmission mechanism 22 includes a transmission belt and a guide wheel. Along the first direction, the guide wheels are arranged at both ends of the telescopic arm 21, and the transmission belt is sleeved on the guide wheel. The first transmission mechanism 22 is connected to the first drive motor 23 in transmission. The first drive motor 23 is arranged on the telescopic arm 21, and the first drive motor 23 is connected to the transmission belt through the drive wheel. Then, under the action of the first drive motor 23, the transmission belt drives the connecting plate 32 to move along the first direction, and then drives the fork assembly 10 to move relative to the fork base plate 1 or the telescopic arm 21 along the first direction.

[0079] Further, in order to improve the displacement of the fork assembly 10 along the first direction, the telescopic mechanism 2 provided in the embodiment of the present disclosure can be multi-stage telescopic, and the present embodiment does not limit this. Exemplarily, the telescopic mechanism 2 in the embodiment of the present disclosure can be two-stage telescopic, and the telescopic mechanism 2 also includes a second transmission mechanism 24 and a second drive motor 25, and the second drive motor 25 is arranged on the fork base plate 1, and the second drive motor 25 and the first drive motor 23 are arranged on both sides of the telescopic arm 21 along the third direction.

[0080] In the disclosed embodiment, the telescopic arm 21 is disposed below the fork base plate 1, and the telescopic arm 21 is slidably mounted on the fork base plate 1 and can move relative to the fork base plate 1 along a first direction. For example, the telescopic arm 21 and the fork base plate 1 are provided with a slide rail, the slide rail extends along the first direction, and the telescopic arm 21 is slidably mounted on the slide rail.

[0081] The second drive motor 25 is connected to the telescopic arm 21 through the second transmission mechanism 24 to drive the telescopic arm 21 to move along the first direction relative to the fork base plate 1. For example, the second transmission mechanism 24 is a transmission tooth segment provided on the telescopic arm 21, the transmission tooth segment extends along the first direction, and the second drive motor 25 is connected to the transmission tooth segment through a driving gear.

[0082] Furthermore, under the action of the second drive motor 25, the telescopic arm 21 can be driven to move along the first direction, and then the fork assembly 10 can be driven to move along the first direction relative to the fork base plate 1 to achieve the secondary extension and retraction of the telescopic mechanism 2. It can be understood that the first drive motor 23 and the second drive motor 25 can operate at the same time to increase the moving speed of the picking mechanism 3 along the first direction, that is, to improve the operating efficiency of the warehousing robot 100.

[0083] To further improve the operation efficiency of the storage robot 100, the storage robot 100 in the disclosed embodiment may include two fork assemblies 10, and the two fork assemblies 10 are symmetrically arranged on the slide 50 along the third direction. For example, when the lifting frame 20 includes a column, the two fork assemblies 10 are symmetrically arranged on the slide 50 along the third direction, and the slide 50 is slidably mounted on the column, and the two fork assemblies 10 are respectively located on both sides of the column.

[0084] Furthermore, when the lifting frame 20 includes two oppositely disposed upright posts, the two fork assemblies 10 are symmetrically arranged on the slide 50 and located between the two upright posts, and the slide 50 is slidably mounted on the two upright posts. With such an arrangement, the storage robot 100 can transfer two material boxes 500 at the same time during one upward and downward movement, thereby improving storage efficiency.

[0085] like Fig.12 As shown, the storage robot 100 provided in the embodiment of the present disclosure moves relative to the storage shelf 300 along the second direction driven by its walking mechanism 40, so as to improve the working range of the storage robot 100. It should be noted that the embodiment of the present application sets the storage robot 100 movable along the second direction on the storage shelf 300, which is defined as a handling system, that is, the handling system includes the storage shelf 300 and the above-mentioned storage robot 100.

[0086] Specifically, the walking mechanism 40 is arranged on the lifting frame 20, and the walking mechanism 40 can be arranged at the bottom and / or the middle and / or the bottom of the lifting frame 20 along the second direction, that is, the lifting frame 20 is provided with a walking mechanism 40 at least at its bottom, middle and top along the second direction. Preferably, the lifting frame 20 is provided with a walking mechanism 40 at its bottom, middle and top respectively.

[0087] The traveling mechanism 40 is configured to drive the storage robot 100 to move along the third direction relative to the storage shelf 300. Accordingly, the storage shelf 300 is provided with at least one guide rail 310, which extends along the third direction, and the traveling mechanism 40 moves on the guide rail 310.

[0088] Exemplarily, the storage shelf 300 is provided with a first guide rail, which is provided at the bottom of the storage shelf 300 and extends along the third direction. The first guide rail has a limiting groove 311 extending along the third direction, and the limiting groove 311 is configured as a U-shaped groove, and the opening of the U-shaped groove faces downward.

[0089] The walking mechanism 40 includes a base and a limiting guide wheel 401 and a walking driving wheel 402 arranged on the base. The base has a mounting plate on the side facing the limiting groove 311. The limiting guide wheel 401 is rotatably connected to the mounting plate. When the limiting guide wheel 401 is embedded in the limiting groove 311, the mounting plate at least covers a portion of the notch of the limiting groove 311.

[0090] The walking mechanism 40 also includes a walking driving wheel 402 and a driving motor that is transmission-connected to the walking driving wheel 402. The driving motor drives the walking driving wheel 402 to rotate. The walking driving wheel 402 contacts the top surface of the first guide rail and moves along the top surface of the first guide rail. For example, the walking mechanism 40 includes a walking driving wheel 402 and a driven wheel. The walking driving wheel 402 is a driving wheel and is connected to the driving motor. The driving wheel and the driven wheel are connected by a belt transmission. Such an arrangement can improve the moving reliability of the walking mechanism 40 on the first guide rail.

[0091] The storage shelf 300 of the disclosed embodiment may also be provided with a second guide rail and a third guide rail, and the second guide rail and the third guide rail are respectively provided in parallel with the first guide rail. Along the second direction, the second guide rail and the third guide rail are sequentially and spaced above the first guide rail, the second guide rail is located in the middle of the storage shelf, and the third guide rail is located at the top of the storage shelf.

[0092] Further, the position of the lifting frame 20 corresponding to the second guide rail and the third guide rail may only be provided with a limited guide wheel 401, without a travel drive wheel 402 and a drive motor, and the limited guide wheel 401 is limited in the limited groove 311 of the second guide rail. In this way, the lifting frame 20 can improve the stability of the lifting frame 20 moving along the third direction of the storage shelf 300 under the limitation of the second guide rail and the third guide rail. It is understandable that the middle and top of the lifting frame 20 can also be selectively provided with a travel drive wheel 402 and a drive motor, and the embodiment of the present application is not limited to this.

[0093] In the disclosed embodiment, the storage shelf 300 is provided with a guide rail, which enables the storage robot 100 to move along the third direction on the storage shelf 300, that is, the storage robot 100 can move along the second direction and the third direction relative to the storage shelf 300, thereby expanding the operation range of the storage robot 100. For example, a storage robot 100 can be provided on the storage shelf 300, which can realize the picking and placing of the material box 500 in each storage location of the entire storage shelf 300, thereby improving the operation efficiency.

[0094] Further, in the embodiment of the present disclosure, at least one cache shelf 400 is disposed in the lane, and the cache shelf 400 is disposed at least in the second direction opposite to the supporting mechanism 4 of the storage robot 100. For example, a plurality of cache shelves 400 are disposed in the lane, and the plurality of cache shelves 400 are arranged in the lane at intervals along the third direction. Optionally, the cache shelf 400 can be detachably connected to the ground of the lane.

[0095] like Fig.13As shown, the cache shelf 400 provided in the embodiment of the present disclosure has a passage 410 for the transfer robot 200 to shuttle. Preferably, a certain height is maintained between the lowest storage level of the storage shelf 300 and the ground to form a passage at the bottom of the storage shelf 300, and the passage 410 of the cache shelf 400 is connected with the passage at the bottom of the storage shelf 300. Specifically, the passage 410 of the cache shelf 400 can be arranged perpendicular to the passage direction at the bottom of the storage shelf 300. In addition, the bearing surface of the cache shelf 400 is lower than the storage layer of the storage shelf 300 relative to the ground, specifically, at least lower than the height of a material box 500, so that the transfer robot 200 can shuttle between the storage shelf 300 and the cache shelf 400.

[0096] Further, along the second direction, the top of the cache shelf 400 matches the height of the supporting mechanism 4 of the fork assembly 10 when it is at the lowest position, so that the material box 500 can be placed on the cache shelf 400. For example, the height of the supporting mechanism 4 at the lowest position is below the top of the cache shelf 400, so that the material box 500 can be placed on the top of the cache shelf 400.

[0097] The top of the cache shelf 400 is provided with a top opening connected to the channel 410, and the two sides of the top opening form a load-bearing edge 420, and the load-bearing edge 420 can abut against the bottom of the material box 500 to carry the material box 500. In this way, an avoidance space can be formed in the middle of the cache shelf 400, which is convenient for the transfer robot 200 and the fork assembly 10 to move in the cache shelf 400.

[0098] Exemplarily, each cache shelf 400 includes two supporting plates that are opposite and spaced apart, the bottom of the supporting plates are connected to the ground of the alley or to the storage shelves 300 on both sides, the tops of the supporting plates protrude toward each other and form supporting edges 420, the top of the entire supporting plate is L-shaped, and the two supporting edges 420 are spaced apart along the third direction.

[0099] In the embodiment of the present disclosure, a side of the load-bearing edge 420 facing the channel 410 is provided with an avoidance groove 440 in communication therewith, and the notch of the avoidance groove 440 is in communication with the top opening. When the material box 500 is placed on the cache shelf 400, the support plate 42 can extend into the avoidance groove 440 and be located below the load-bearing edge 420. When the bottom of the material box 500 contacts the load-bearing edge 420, the support plate 42 of the fork assembly 10 rotates by a preset angle, and then the support plate 42 is separated from the material box 500, and further rises from the avoidance groove 440 along the second direction to exit the avoidance groove 440, thereby completing the placement of the material box 500 on the cache shelf 400.

[0100] It is understandable that when transferring the material box 500 from the buffer shelf 400 to the fork assembly 10, the picking mechanism 3 is adjusted so that the picking mechanism 3 is located at one side of the material box 500 and connected or abutted with the material box 500. Specifically, according to the position of the material box 500 to be placed, the support plate 42 is lowered from one side of the avoidance groove 440 to the bottom of the load-bearing edge 420, and then the support plate 42 is rotated at one end angle and rotated to the bottom of the material box 500; further, the support plate 42 rises and abuts against the bottom of the material box 500, thereby transferring the material box 500 to the fork assembly 10.

[0101] On the basis of the above-mentioned embodiments, each load-bearing edge 420 of the cache shelf 400 in the disclosed embodiment is respectively provided with a limiting mechanism 430, and the limiting mechanism 430 is used to limit the material box 500 along a first direction, and its limiting direction is consistent with the extension direction of the channel 410; in other words, when the transfer robot 200 carries the material box 500 and moves from another place to the cache shelf 400, the transfer robot 200 enters from one side of the channel 410 along the first direction, and slides the material box 500 from one side of the top of the cache shelf 400 to the other side, and the limiting mechanism 430 is configured to limit the sliding displacement of the material box 500 on the cache shelf 400.

[0102] Specifically, along the extension direction of the channel 410 of the cache shelf 400, the limiting mechanism 430 includes a first limiting protrusion 431 and a second limiting protrusion 432 respectively arranged at both ends of the channel 410, that is, along the first direction, the two ends of each load-bearing edge 420 are respectively arranged at the first limiting protrusion 431 and the second limiting protrusion 432, and the first limiting protrusion 431 and the second limiting protrusion 432 are respectively rotatably connected to the load-bearing edge 420.

[0103] The load-bearing edge 420 is provided with mounting grooves for each limiting protrusion. For example, the load-bearing edge 420 is provided with a first mounting groove for mounting a first limiting protrusion 431, and the first limiting protrusion 431 is rotatably connected in the first mounting groove; and a second mounting groove for mounting a second limiting protrusion 432, and the second limiting protrusion 432 is rotatably connected in the second mounting groove. The rotation axis of each limiting protrusion is consistent with the third direction, and the rotation directions are toward each other and opposite to each other, that is, the first limiting protrusion 431 and the second limiting protrusion 432 rotate toward each other around the rotation axis.

[0104] The top ends of the first limiting protrusion 431 and the second limiting protrusion 432 protrude from the top surface of the load-bearing edge 420, and the first limiting protrusion 431 and the second limiting protrusion 432 can only rotate in one direction. For example, the first limiting protrusion 431 and the second limiting protrusion 432 are respectively provided with elastic parts such as torsion springs. Under the action of the elastic parts, the top ends of the first limiting protrusion 431 and the second limiting protrusion 432 can protrude from the top surface of the load-bearing edge 420.

[0105] For example, when the material box 500 slides from one side of the load-bearing edge 420 to the first limiting protrusion 431, the material box 500 is crimped on the first limiting protrusion 431 and overcomes the elastic force of the elastic member to press the first limiting protrusion 431 to a horizontal state, that is, the first limiting protrusion 431 can be flush with the top surface of the load-bearing edge 420. When the material box 500 moves to the second limiting protrusion 432, the material box 500 abuts against the second limiting protrusion 432, that is, the second limiting protrusion 432 can limit the material box 500 in the first direction.

[0106] It is understandable that the spacing between the first limiting protrusion 431 and the second limiting protrusion 432 in the first direction is smaller than the length of the material box 500 along the first direction, so that one end of the material box 500 can be pressed on the first limiting protrusion 431, and the end face of the material box 500 on the other side abuts against the second limiting protrusion 432.

[0107] Based on the above storage system, the embodiment of the present disclosure further provides a scheduling method, which is as follows:

[0108] In response to the first command to move the material box 500 out of the storage shelf 300, the warehouse robot 100 controls the picking mechanism 3 to move to the position of the material box 500, controls the telescopic mechanism 2 to transfer the material box 500 to its supporting mechanism 4; controls the lifting mechanism 30 to move the material box 500 to the top of the cache shelf 400; controls the supporting mechanism 4 to temporarily store the material box 500 on the cache shelf 400; and responds to the second command to transfer the material box 500 to the target position by the transfer robot 200, moves to the cache shelf 400, and transfers the material box 500 to the target position.

[0109] Exemplarily, the warehousing system includes a dispatching center, which is connected to the warehousing robot 100 and the transfer robot 200 by signals, and the dispatching center sends a first command to the warehousing robot 100 to move the material box 500 out of the storage shelf 300, that is, a command to move the material box 500 from the storage shelf 300 to the buffer shelf 400. In addition, the dispatching center sends a second command to the transfer robot 200 to move the material box 500 from the buffer shelf 400 to a target location, wherein the target location may be a sorting station.

[0110] The warehouse robot 100 receives the first command and responds, and controls the picking mechanism 3 to move to the storage location where the material box 500 is located. At this time, the picking mechanism 3 is opposite to the end face of the material box 500, and the picking part 31 of the picking mechanism 3 is engaged with the slot of the material box 500 to complete the connection between the picking mechanism 3 and the material box 500.

[0111] Next, the telescopic mechanism 2 is controlled to move, and the material box 500 is transferred to its supporting mechanism 4. For example, the supporting mechanism 4 is adjusted to the first state and forms a storage space; the telescopic mechanism 2 performs secondary telescopic movement and drives the material box 500 to move along the first direction, so that the material box 500 can be moved out of the warehouse. During the moving process, one end of the material box 500 gradually enters the storage space of the supporting mechanism 4, and the supporting plate 42 of the supporting mechanism 4 contacts the bottom of the material box 500, thereby moving the material box 500 to the fork assembly 10.

[0112] Furthermore, the lifting mechanism 30 is controlled to move, and the fork assembly 10 is driven to move downward along the lifting frame 20, so as to move the material box 500 to the top of the cache shelf 400, and the supporting plate 42 of the supporting mechanism 4 is inserted into the avoidance groove 440 of the cache shelf 400, so that the bottom of the material box 500 can contact the top of the cache shelf 400. Finally, the supporting mechanism 4 is operated to switch the supporting mechanism 4 to the second state, at which time the supporting plate 42 rotates and disengages from the bottom of the material box 500, and the material box 500 is placed on the cache shelf 400. In this process, after the material box 500 is completely moved to the fork assembly 10 and before the material box 500 is separated from the fork assembly 10, the picking mechanism 3 is controlled to disengage from the material box 500.

[0113] The transfer robot 200 receives the second command and responds, the transfer robot 200 moves to the cache shelf 400, enters the channel 410 of the cache shelf 400, and further transfers the material box 500 to the transfer robot 200, and then the transfer robot 200 transfers the material box 500 to the target position (for example, the sorting table) along the planned path, thereby completing the transfer of the material box 500 from the cache shelf 400 to the target position.

[0114] And / or the transfer robot 200 responds to the third command to transfer the material box 500 to the target position, and moves the material box 500 at the target position to the cache shelf 400; the storage robot 100 responds to the fourth command to transfer the material box 500 to the storage shelf 300; controls the lifting mechanism 30 to move to the bottom of the cache shelf 400, controls the supporting mechanism 4 to move, and moves with the material box 500 to the supporting mechanism 4; controls the lifting mechanism 30 to move the material box 500 to the target storage location of the storage shelf 300; controls the telescopic mechanism 2 and the picking mechanism 3 to move, and places the material box 500 at the target storage location.

[0115] It should be noted that in this process, the material box 500 is transferred from the target location to the cache shelf 400 through the transfer robot 200, and then the material box 500 is stored in the target storage location through the storage robot 100 to complete the warehousing of the material box 500. This process is the opposite of the above-mentioned process of outbound storage of the material box 500, and will not be repeated here.

[0116] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0117] It should be noted that the phrases "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments", etc. mentioned in the specification indicate that the described embodiments may include certain features, structures or characteristics, but not every embodiment may include the certain features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when describing certain features, structures or characteristics in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such features, structures or characteristics in conjunction with other embodiments, whether explicitly or not explicitly described.

[0118] In general, terms should be understood, at least in part, by the context in which they are used. For example, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in a singular sense, or may be used to describe a combination of features, structures, or characteristics in a plural sense, depending, at least in part, on the context. Similarly, terms such as "a," "an," or "the" may also be understood to convey singular usage or to convey plural usage, depending, at least in part, on the context.

[0119] In addition, spatially relative terms, such as "below," "below," "beneath," "above," "above," etc., may be used herein for ease of description to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the figures. The device may have other orientations (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein may likewise be interpreted accordingly.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A fork assembly for picking up and placing a material box, characterized in that: The fork assembly includes a fork base plate, a telescopic mechanism, a picking mechanism and a supporting mechanism; The cargo pickup mechanism is disposed on the telescopic mechanism, the telescopic mechanism is disposed on the fork base plate, and the telescopic mechanism is configured to drive the cargo pickup mechanism to move relative to the fork base plate along a first direction; The picking mechanism comprises a picking part, which is configured to be movable along a second direction relative to the fork base plate and to be connected to, abutted against, or separated from the material box; The supporting mechanism is arranged on the fork base plate, and the supporting mechanism includes a plurality of supporting components. When the supporting mechanism is configured to be in a first state, each supporting component carries the material box; when the supporting mechanism is configured to be in a second state, each supporting component is detached from the material box.

2. The fork assembly according to claim 1, characterized in that: The supporting assembly includes a connecting arm, a supporting plate and a driving mechanism; Along the second direction, one end of the connecting arm is rotatably connected to the fork base plate, and the supporting plate is connected to the other end of the connecting arm and rotates with the connecting arm; The supporting mechanism is configured such that when it is in a first state, the supporting plate can lift the bottom of the material box; when the supporting mechanism is configured such that it is in a second state, the supporting plate is separated from the bottom of the material box; The driving mechanism is configured to drive each of the connecting arms to rotate so as to switch the state of the supporting mechanism.

3. The fork assembly according to claim 1, characterized in that: The pickup mechanism also includes a connecting plate, a guide rod and an actuator; The connecting plate is used to connect with the telescopic mechanism, and the guide rod is vertically mounted on the connecting plate along the second direction; The picking-up part is sleeved on the guide rod, and the picking-up part is connected to the actuator; the actuator is configured to drive the picking-up part to move up and down along the guide rod.

4. The fork assembly according to claim 3, characterized in that: The cargo picking unit comprises a hook body; The material box is provided with a slot on at least one end surface along the first direction, and the hook body is engaged with the slot. Under the action of the telescopic mechanism, the hook body applies a force to the material box along the first direction.

5. The fork assembly according to claim 3, characterized in that: The telescopic mechanism includes a telescopic arm, a first transmission mechanism and a first drive motor; The telescopic arm is connected to the fork base plate, and the connecting plate is slidably connected to a side of the telescopic arm away from the fork base plate along the second direction; The first driving motor is connected to the first transmission mechanism, and the first transmission mechanism is connected to the connecting plate; the connecting plate moves relative to the fork base plate along a first direction under the drive of the first transmission mechanism.

6. The fork assembly according to claim 5, characterized in that: The telescopic mechanism also includes a second transmission mechanism and a second drive motor; The telescopic arm is slidably mounted on the fork base plate, and the second drive motor and the first drive motor are arranged on both sides of the telescopic arm opposite to each other along a third direction; The second driving motor is connected to the second transmission mechanism, and the second transmission mechanism drives the telescopic arm to move along a first direction relative to the fork base plate.

7. A storage robot installed on a storage shelf, characterized in that: The warehouse robot comprises a lifting mechanism, a lifting frame, a walking mechanism and at least one fork assembly as described in any one of claims 1 to 6; The fork assembly is mounted on the lifting frame, and the lifting mechanism can drive the fork assembly to move along the second direction; The walking mechanism is arranged at the bottom and / or the middle and / or the top of the lifting frame; The walking mechanism is configured to drive the storage robot to move along a third direction relative to the storage shelf.

8. The storage robot according to claim 7, characterized in that: The storage robot further includes a slide seat, which is arranged between a fork base plate of the fork assembly and the lifting frame; The fork base plate moves relative to the lifting frame along a second direction via the slide seat.

9. The storage robot according to claim 8, characterized in that: The warehouse robot includes two fork assemblies; Along the third direction, the fork assemblies are symmetrically arranged on the slide seat.

10. The storage robot according to claim 9, characterized in that: The lifting frame includes a column; The slide seat is slidably mounted on the column, and the two fork assemblies are symmetrically arranged on both sides of the column.

11. The storage robot according to claim 9, characterized in that: The lifting frame comprises two oppositely arranged upright posts; The slide seats are slidably mounted on the two upright posts respectively, and the two fork assemblies are symmetrically arranged between the two upright posts.

12. A transport system, characterized in that: Comprising a storage shelf and a storage robot as described in any one of claims 7 to 11; The storage shelf is provided with at least one guide rail, the guide rail extends along a third direction, and the guide rail has a limiting groove; The walking mechanism of the storage robot includes a limiting guide wheel and a walking drive wheel. The limiting guide wheel is slidably arranged in a limiting groove. The walking drive wheel contacts the top surface of the guide rail and drives the storage robot to move along the guide rail.

13. A storage system, characterized in that: It comprises a transfer robot, a cache shelf, at least two storage shelves and a storage robot as described in any one of claims 7 to 11; Two storage racks are arranged at intervals to form an alley, the cache rack is arranged in the alley, and the height of the bearing surface of the cache rack is lower than the height of the storage layer of the storage rack relative to the ground; The storage robot is arranged on a side of the storage shelf facing the lane; The storage robot is configured to be able to transfer the material box between the cache shelf and the storage shelf; The transfer robot is configured to transfer the material box on the cache shelf, or to transfer the material box to the cache shelf.

14. The storage system according to claim 13, characterized in that: The cache shelf has a passage for the transfer robot to shuttle; The top of the cache shelf is provided with a top opening communicating with the passage, and two sides of the top opening form load-bearing edges; The load-bearing edge is used to bear the material box, and the side of the load-bearing edge facing the channel has a avoidance groove connected thereto, and the avoidance groove cooperates with the supporting mechanism of the storage robot; The supporting plate of the supporting mechanism can extend into the avoidance groove, and after rotating at a preset angle, it can be separated from the material box and exit the avoidance groove.

15. The storage system according to claim 14, characterized in that: The cache shelf is also provided with a limit mechanism; Along the extension direction of the channel, the limiting mechanism includes a first limiting protrusion and a second limiting protrusion respectively arranged at two ends of the channel; The first limiting protrusion and the second limiting protrusion are respectively rotatably connected to the mounting groove of the load-bearing edge; the top ends of the first limiting protrusion and the second limiting protrusion both protrude from the load-bearing edge; The first limiting protrusion and the second limiting protrusion are configured to rotate toward each other and at least rotate to be flush with the load-bearing edge.

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