Warehousing system

Abstract

The embodiment of the utility model provides a warehousing system which comprises a carrier, a storage unit and a control unit. The taking and placing device is hung on the track on one side of the carrier, and comprises a lifting mechanism which is movably arranged on the track and moves on the carrier along the track; the taking and placing mechanism is arranged on the lifting mechanism and can move along the lifting mechanism, and the taking and placing mechanism is configured to take and return target objects on the goods allocation; the guide wheel is connected with the lifting mechanism and arranged on the track in a rolling mode, and the guide wheel is configured to move in the extending direction of the track under driving of the lifting mechanism; wherein the extending direction of the rolling shaft of the guide wheel is parallel to the taking and placing direction of the taking and placing mechanism, the distance between the taking and placing mechanism and the goods position on the carrier is shortened, and the taking and placing efficiency of the taking and placing mechanism is improved.

Description

Technical Field

[0001] The present application relates to the technical field of warehousing and logistics, and in particular to a warehousing system. Background Art

[0002] In a warehousing system, a pick-and-place device is usually provided on one side of a carrier such as a shelf, and an article is placed back on the shelf or taken out of the shelf through a pick-and-place mechanism on the pick-and-place device.

[0003] In the related art, in order to improve the utilization rate of storage space, the picking and placing device can be hung on one side of the carrier. For example, the picking and placing device can be hung on a track on one side of the carrier and move along the track so that the picking and placing device moves laterally along the carrier.

[0004] However, in the related art, the distance between the pick-and-place mechanism and the cargo position of the carrier in the pick-and-place device is relatively long, which affects the pick-and-place efficiency of the pick-and-place mechanism. Utility Model Content

[0005] The embodiment of the present application provides a warehousing system, which shortens the distance between a pick-and-place mechanism and a cargo position on a carrier, and improves the pick-and-place efficiency of the pick-and-place mechanism.

[0006] An embodiment of the present application provides a warehousing system, including: a carrier, which forms a cargo space; a pick-and-place device, which is suspended on a track on one side of the carrier, and the pick-and-place device includes: a lifting mechanism, which is movably arranged on the track and moves along the track on the carrier; a pick-and-place mechanism, which is arranged on the lifting mechanism and can move along the lifting mechanism, and the pick-and-place mechanism is configured to pick up and return target items on the cargo space; a guide wheel, which is connected to the lifting mechanism and is rollingly arranged on the track, and the guide wheel is configured to move along the extension direction of the track under the drive of the lifting mechanism; wherein the extension direction of the rolling axis of the guide wheel is parallel to the pick-and-place direction of the pick-and-place mechanism.

[0007] In some embodiments, a groove is formed on one of the rolling surface and the track of the guide wheel, and the other of the rolling surface and the track of the guide wheel is embedded in the groove so that the other moves along the groove relative to the one.

[0008] In some embodiments, the guide wheel is a V-shaped wheel, and the V-shaped recessed portion on the rolling surface of the guide wheel is configured as a groove.

[0009] In some embodiments, the height of the track is greater than the thickness of the track, wherein the thickness direction of the track is parallel to the pick-and-place direction of the pick-and-place mechanism, and the height direction of the track is parallel to the height direction of the carrier.

[0010] In some embodiments, the lifting mechanism includes: a stand; a pick-and-place mechanism disposed on the stand and configured to move in the height direction of the stand; a drive assembly disposed on the stand, the drive assembly being configured to move along a track to drive the stand to move on the carrier.

[0011] In some embodiments, the driving assembly includes: a driving member connected to the stand; a driving wheel connected to the driving member, and the driving wheel is configured to move along the track under the drive of the driving member to drive the stand to move along the carrier.

[0012] In some embodiments, there is at least one driving assembly, and the driving wheel in at least one driving assembly is located on the side of the track, and the rolling surface of the driving wheel contacts the side of the track so as to roll along the side of the track under the drive of the driving member.

[0013] In some embodiments, the storage system further includes: an elastic member, which is disposed on the stand, the elastic member abuts against the driving wheel and applies an elastic force toward the track to the driving wheel.

[0014] In some embodiments, the storage system further includes: a fastener disposed on the frame and extending toward the track; an elastic member sleeved on the fastener and configured to squeeze the driving wheel under the action of the fastener.

[0015] In some embodiments, a plurality of tracks are formed on one side of the vehicle, the plurality of tracks are spaced apart along the height direction of the vehicle, and the plurality of tracks include a first track and a second track, the first track is located above the second track; the guide wheels include a first guide wheel and a second guide wheel, the first guide wheel is rollingly arranged on the first track, and the second guide wheel is rollingly arranged on the second track.

[0016] In some embodiments, the stand has a plurality of drive assemblies spaced apart along the height direction, and the plurality of drive assemblies include a first drive assembly and a second drive assembly; the first drive assembly is disposed at a first portion of the stand, and is configured to drive the first portion to move along a first track, and the second drive assembly is disposed at a second portion of the stand, and is configured to drive the second portion to move along a second track.

[0017] In some embodiments, the driving wheels of the first driving assembly and the second driving assembly are both disposed on the side of the track and roll along the side of the track; and at least one of the first guide wheel and the second guide wheel is suspended on the top of the corresponding track.

[0018] In some embodiments, one of the first guide wheel and the second guide wheel is located at the top of the corresponding track, and the other of the first guide wheel and the second guide wheel is located at the bottom of the corresponding track.

[0019] In some embodiments, the first guide wheel is located at the top of the first track and the second guide wheel is located at the bottom of the second track;

[0020] The storage system further includes auxiliary wheels, which are arranged below the first track and are configured to roll along the bottom of the first track when the second guide wheel is separated from the second track.

[0021] In some embodiments, the warehousing system also includes: a first displacement sensor, configured to detect a first movement stroke of the first part and generate a first detection signal; a second displacement sensor, configured to detect a second movement stroke of the second part and generate a second detection signal; a control mechanism, configured to determine whether the first movement stroke is consistent with the second movement stroke based on the first detection signal and the second detection signal; and is also configured to adjust the output power of at least one of the first drive component and the second drive component when the first movement stroke is different from the second movement stroke, so that the first movement stroke and the second movement stroke remain consistent.

[0022] In some embodiments, at least one of the first displacement sensor and the second displacement sensor is an encoder, and the encoder is connected to the corresponding first part or second part, and the encoder is configured to generate a first detection signal or a second detection signal during the movement of the first part or the second part along the track.

[0023] In some embodiments, the encoder includes an encoder wheel, and the warehousing system includes a power provider. The encoder wheel cooperates with the power provider, and the power provider is configured to drive the encoder wheel to rotate when the first part or the second part moves along the corresponding track to generate a first detection signal or a second detection signal.

[0024] In some embodiments, the rolling surface of the encoder wheel contacts the surface of the track; when the first portion or the second portion moves along the track, the friction between the rolling surface of the encoder wheel and the track drives the encoder wheel to rotate, and the track is configured as a power provider.

[0025] In some embodiments, the encoder wheel is located on the side of the track, and the rolling surface of the encoder wheel contacts the side of the track to roll along the side of the track; or, the encoder wheel is located on the first surface of the track, and the rolling surface of the encoder wheel contacts the first surface of the track to roll along the first surface of the track, and the corresponding guide wheel on the track is located on the second surface of the track, one of the first surface and the second surface is the top of the track, and the other of the first surface and the second surface is the bottom of the track.

[0026] In some embodiments, the storage system further includes: a fixed plate having a middle portion and a connecting portion connected to an end of the middle portion, the middle portion is connected to the track, and the connecting portion is connected to the carrier.

[0027] In some embodiments, the middle portion is located at the intersection area of ​​the crossbeam and the longitudinal beam of the carrier and is connected to the crossbeam, a part of the connecting portion is located at the connection between the crossbeam and the longitudinal beam in the intersection area, and the connecting portion spans the connection and is connected to the longitudinal beam; there is a reserved space between the connecting portions to avoid the fixing parts of the connection.

[0028] An embodiment of the present application provides a warehousing system, in which a guide wheel is set on a track in a rolling manner, and the extension direction of the rolling axis of the guide wheel is parallel to the pick-and-place direction of the pick-and-place mechanism, that is, the guide wheel is set vertically on the track. In this way, the size of the track occupied is reduced, so that when the track is set, its size in the thickness direction can be reduced, so that the distance between the pick-and-place mechanism on the lifting mechanism and the carrier is shortened, thereby shortening the pick-and-place distance of the pick-and-place mechanism. On the one hand, the efficiency of the pick-and-place mechanism in picking up and placing the target items on the carrier is improved. On the other hand, the shortening of the pick-and-place distance can also improve the docking accuracy between the pick-and-place mechanism and the target cargo position on the carrier, so that the pick-and-place structure can more accurately place the target item on the target cargo position of the carrier, or more accurately take out the target item on the carrier without interfering with the items on other cargo positions other than the target cargo position. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, 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 only 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.

[0030] Figure 1 It is a structural schematic diagram of a workstation provided by an embodiment of the present application;

[0031] Figure 2 It is a structural schematic diagram of a storage area provided in one embodiment of the present application;

[0032] Figure 3 This is a schematic diagram of the structure of the track and lifting mechanism provided in one embodiment of the present application. Figure 1 ;

[0033] Figure 4 yes Figure 3 A partial enlarged view of the middle A;

[0034] Figure 5 yes Figure 4 A structural diagram from another perspective;

[0035] Figure 6 This is a schematic diagram of the structure of the track and lifting mechanism provided in one embodiment of the present application. Figure 2 ;

[0036] Figure 7 is an overall schematic diagram of a lifting mechanism provided in one embodiment of the present application;

[0037] Figure 8 yes Figure 7 A partial enlarged view of point B in the middle;

[0038] Fig. 9 yes Figure 7 A partial enlarged view of point C in the middle;

[0039] Fig.10 yes Figure 8 A structural diagram from another perspective;

[0040] Fig.11 It is a partial structural schematic diagram of a lifting mechanism provided in one embodiment of the present application;

[0041] Fig.12 is a structural schematic diagram of a fixing plate provided in one embodiment of the present application;

[0042] Fig.13 It is a schematic diagram of the structure of the intersection area of ​​the cross beam and the longitudinal beam in the carrier provided in one embodiment of the present application.

[0043] Description of reference numerals:

[0044] 10-workstation; 20-storage area;

[0045] 11-working platform; 12-supporting frame; 21-shelf;

[0046] 100-carrier; 200-pick-and-place device;

[0047] 101-cargo position; 110-shelf; 120-crossbeam; 130-longitudinal beam; 140-track; 150-crossing area; 160-third fixing member; 210-lifting mechanism; 220-pick-and-place mechanism; 230-guide wheel; 240-groove; 250-travel assembly; 260-encoder; 270-fixed plate; 280-auxiliary wheel;

[0048] 141-top; 142-bottom; 143-side; 140a-first track; 140b-second track; 211-stand; 212-driving assembly; 213-driving device; 214-elastic member; 215-fastener; 216-mounting member; 230a-first guide wheel; 230b-second guide wheel; 250a-first walking assembly; 250b-second walking assembly; 261-encoder wheel; 271-middle part; 272-connecting part; 273-second fixing member; 151-connecting part;

[0049] 2111-column; 2112-top connecting rod; 2121-driving member; 2122-driving wheel; 212a-first driving assembly; 212b-second driving assembly; 260a-first encoder; 260b-second encoder; 272a-first connecting part; 272b-second connecting part; 151a-first connection; 151b-second connection; 2721-avoidance part; 2722-reserved space. DETAILED DESCRIPTION

[0050] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0051] It should be noted that many specific details are set forth in the following description to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific implementation methods disclosed below.

[0052] In the description of the present application, it should be understood that the terms "upper", "lower", "horizontal", "bottom", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In the present application, unless otherwise clearly specified and limited, a first feature being "upper" or "lower" than a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.

[0053] In this application, unless otherwise clearly specified and limited, the terms "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. However, if it is indicated as a direct connection, it means that the two connected entities are not connected through an intermediate structure, but are only connected to form a whole through a connecting structure. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0054] In this application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0055] Figure 1 is a schematic diagram of the structure of a workstation provided by an embodiment of the present application, Figure 2 Schematic diagram of the structure of the storage area provided by an embodiment of the present application. Figure 1 and Figure 2 As shown, an embodiment of the present application provides a warehousing system, including a carrier 100 , wherein a cargo space 101 for storing articles is formed on the carrier 100 .

[0056] The storage system of the embodiment of the present application may include a storage area 20 and a workstation 10. Figure 2 As shown, the storage area 20 is used to store items. For example, a plurality of carriers 100 arranged at intervals may be provided in the storage area 20 , and the carriers 100 have a plurality of cargo spaces 101 , which are used to store items.

[0057] It should be noted that articles may include but are not limited to goods, containers loaded with goods such as boxes, packages containing goods, original packaging boxes containing goods, etc.

[0058] In some examples, the carrier 100 may include, but is not limited to, a shelf 110 and a pallet device, etc. The shelf 110 may be a fixed shelf or a mobile shelf.

[0059] Reference Figure 2 As shown, the shelf 110 may include a crossbeam 120 and a longitudinal beam 130, wherein a plurality of longitudinal beams 130 enclose a storage area of ​​the shelf 110, and a plurality of crossbeams 120 are arranged along a height direction of the longitudinal beams 130 (refer to Figure 2 The storage area is arranged at intervals (shown in the z direction), and partitions are fixed on each layer of beams 120, and cargo spaces 101 are formed on the partitions. Figure 2 As shown, along the first direction of the shelf 110, that is, the length direction (refer to Figure 2 A plurality of cargo spaces 101 are arranged at intervals (shown in the x direction). In addition, a plurality of longitudinal beams 130 are arranged at intervals along the length direction of the shelf 110 to stabilize the cross beam 120.

[0060] Reference Figure 1As shown, the workstation 10 may have a work platform 11 and a support frame 12, wherein the work platform 11 is configured for a picking object to sort or pick a target item P. Exemplarily, the work surface of the work platform 11 may be adapted to the general height of the picking object, such as a worker, so that the worker can quickly pick the target item on the work platform 11.

[0061] The support frame 12 is located on one side of the work platform 11 and is formed with a cargo space 101. The support frame 12 is configured to store target items, such as target items to be picked, transferred from the storage area 20 by the transport robot, so that the operating object, such as the picking object, can pick the target items to be picked. For example, the transport robot transfers the target items on the shelf 110 in the storage area 20 to the workstation 10, and can first store them on the cargo space 101 of the support frame 12, thereby reducing the waiting time of the transport robot, so that the transport robot can successfully complete the unloading and continue with the next work task.

[0062] Alternatively, the support frame 12 is configured to store items or empty containers remaining after processing is completed, in preparation for the transfer of the transport robot to the storage area 20. For example, when the operating object has completed picking the target goods in the container, the remaining goods and containers can be stored on the support frame 12 first, thereby reducing the time the operating object waits for the transport robot, allowing the operating object to continue picking other target items. In addition, the time the transport robot waits for the operating object can be reduced, allowing the transport robot to successfully complete loading and transport to the storage area 20 or other workstations 10.

[0063] Exemplarily, the support frame 12 may include a plurality of cross beams 120 and a plurality of longitudinal beams 130, wherein each cross beam 120 may extend along a first direction, such as the x-direction, and a plurality of cross beams 120 may be arranged at intervals along a height direction, such as the z-axis direction, and the longitudinal beams 130 may extend along the z-axis direction, and a stable frame structure is formed by fixing the cross beams 120 on the longitudinal beams 130, and a cargo space 101 is formed above each cross beam 120 along the z-axis direction. It can be understood that each cargo space 101 may be formed by a plurality of (e.g., two) cross beams 120 arranged at intervals along a second direction, such as the y-axis direction. The second direction is the depth direction of the support frame 12.

[0064] The carrier 100 of the embodiment of the present application may include but is not limited to the carrier 100 of the storage area 20, the support frame 12 of the workstation 10, etc.

[0065] The storage system of the embodiment of the present application further includes a pick-and-place device 200, which is suspended on a track 140 on one side of the carrier 100 and moves along the track 140, so that the pick-and-place device 200 can stably move along the carrier 100, thereby reaching the target cargo position 101 on the carrier 100 to transfer the target item. The extension direction of the track 140 can be the length direction of the carrier 100, that is, the first direction x.

[0066] Taking the carrier 100 as the shelf 110 of the storage area 20 as an example, a track 140 can be set on the aisle side of the shelf 110, and the track 140 can extend along the length direction of the shelf 110. The picking and placing device 200 is suspended on the track 140 and moves along the track 140, so that the picking and placing device 200 can move to the target cargo location 101 of the shelf 110 and place the target item on the target cargo location 101. For example, the target item to be shelved transferred from the shelving workstation 10 can be placed on the target cargo location 101 to complete the shelving work; or the target item on the target cargo location 101 can be taken out. For example, the target item can be taken out and transferred to the picking workstation 10 via a handling robot for picking work.

[0067] In the storage area 20 , an alley is formed between two adjacent shelves 110 , and the picking and placing device 200 is located on a side of the shelf 110 facing the alley.

[0068] Taking the carrier 100 as the support frame 12 of the workstation 10 as an example, the pick-and-place device 200 is disposed on one side of the support frame 12, and is at least configured to pick and place target items on at least one of the cargo position 101 of the support frame 12 and the work platform 11. For example, a track 140 may be disposed on one side of the support frame 12, and the pick-and-place device 200 is suspended on the track 140 and runs along the track 140 to move to each cargo position 101 of the support frame 12.

[0069] In some examples, the picking and placing device 200 can be set on the side of the support frame 12 facing the working platform 11. For example, a track 140 is set on the side of the support frame 12 facing the working platform 11, and the picking and placing device 200 is suspended on the track 140. In this way, the picking and placing device 200 is configured to pick up and place items on at least one of the cargo space 101 of the support frame 12 and the working platform 11. For example, the picking and placing device 200 can transfer items between the support frame 12 and the working platform 11.

[0070] In some other examples, the pick-and-place device 200 may be disposed on the side of the support frame 12 facing away from the working platform 11. For example, a track 140 may be disposed on the side of the support frame 12 facing away from the working platform 11, and the pick-and-place device 200 may be suspended on the track 140. In this way, the pick-and-place device 200 is configured to pick and place items on at least one of the cargo space 101 of the support frame 12, the working platform 11, and the carrier 100a. For example, the pick-and-place device 200 may transfer items between the support frame 12 and the working platform 11, or may transfer items between the support frame 12 and a carrying device.

[0071] It should be noted that, in some examples, the carrying device may be a mobile carrier that is directly transported from the storage area 20 to the workstation 10. For example, a transport robot may transport a mobile carrier with target items that have been hit by multiple orders to the workstation 10, and then transfer the target items on the mobile carrier to the support frame 12 through the pick-and-place device 200 for picking or sorting. Alternatively, the pick-and-place device 200 may transfer the target items on the support frame 12 to the mobile carrier, and the mobile carrier is then transported to the storage area 20 by the transport robot to put the target items on the shelves.

[0072] In some examples, the carrying device can also be a transport robot, which directly docks with the pick-and-place device 200 to transfer the target items on the transport robot to the support frame 12 for picking; or transfer the target items on the support frame 12 to the transport robot for shelving.

[0073] Reference Figure 1 As shown, the pick-and-place device 200 of the embodiment of the present application includes a lifting mechanism 210 and a pick-and-place mechanism 220. The pick-and-place mechanism 220 is configured to pick and place target objects and is disposed on the lifting mechanism 210. The lifting mechanism 210 is movably disposed on the track 140 and moves along the track 140 on the carrier 100 to drive the pick-and-place mechanism 220 to move along the carrier 100, so that the pick-and-place mechanism 220 can move to positions corresponding to different columns of the carrier 100.

[0074] In some examples, the pick-and-place mechanism 220 is movably disposed on the lifting mechanism 210 and is configured to move along the lifting mechanism 210 under the drive of the driving device 213, that is, to move relative to the lifting mechanism 210 in the height direction of the carrier 100 to positions corresponding to different layers of the carrier 100.

[0075] The driving device 213 may include a driving structure and a transmission structure. The driving structure is connected to the transmission structure to drive the transmission structure to move. The transmission structure is connected to the pick-and-place mechanism 220 so that the transmission structure drives the pick-and-place mechanism 220 to move under the drive of the driving structure.

[0076] It should be noted that the driving structure may include but is not limited to a motor, a driving cylinder, etc. The transmission structure may include but is not limited to one of a chain drive, a gear drive, and a roller screw drive. The embodiment of the present application does not limit the specific structure of the driving structure and the transmission structure, as long as the pick-and-place mechanism 220 can be ensured.

[0077] Figure 3 This is a schematic diagram of the structure of the track and lifting mechanism provided in one embodiment of the present application. Figure 1 , Figure 4 yes Figure 3 A partial enlarged view of point A in the middle. Figure 5 yes Figure 4 Another structural diagram of the perspective. Figure 1 , Figures 3 to 5 As shown, in some examples, the lifting mechanism 210 includes a driving assembly 212 and a stand 211. The height direction of the stand 211 is parallel to the height direction of the carrier 100; the pick-and-place mechanism 220 is disposed on the stand 211 and is configured to move in the height direction of the stand 211. The driving assembly 212 is disposed on the stand 211 and is matched on the track 140. The driving assembly 212 is configured to move along the track 140 to drive the stand 211 to move on the carrier 100.

[0078] Reference Figure 1 As shown, in some examples, the pick-and-place mechanism 220 is movably disposed on the stand 211 and can move relative to the stand 211 along the height direction z of the carrier 100, so that the pick-and-place mechanism 220 can move to cargo locations 101 at different levels of the carrier 100. In this way, the pick-and-place mechanism 220 can move in the length direction and height direction of the carrier 100 to reach the target cargo location 101 in the cargo location 101. The pick-and-place mechanism 220 is configured to dock with the cargo location 101 to retrieve the target item.

[0079] In some examples, the stand 211 may be a single-stage stand, that is, the height of the stand 211 is fixed and does not change.

[0080] In some examples, the stand 211 is a multi-stage stand, for example, the stand 211 includes a fixed stand and a lifting stand, the fixed stand is connected to the driving assembly 212 and moves along the track 140, the lifting stand can move relative to the fixed stand, and the pick-and-place mechanism 220 is arranged on the lifting stand, so that when the lifting stand is lifted along the fixed stand, it can drive the pick-and-place mechanism 220 to move in the height direction of the carrier 100. In addition, the pick-and-place mechanism 220 can be movably arranged on the lifting stand to move along the lifting stand, so that the pick-and-place mechanism 220 moves in the height direction of the carrier 100.

[0081] The setting of the multi-level stand allows the overall height of the stand 211 to be adjusted according to the actual height of the carrier 100. For example, by raising and lowering the lifting stand on the fixed stand, the overall height of the stand 211 can be adjusted to accommodate carriers 100 of different heights, so that the pick-and-place mechanism 220 can be docked with carriers 100 of different heights.

[0082] It should be noted that in the embodiment of the present application, the pick-and-place mechanism 220 can transfer the target object by various methods such as adsorption, pulling, hooking, clamping, etc. For example, the pick-and-place mechanism 220 can be a suction cup structure, which can be adsorbed on the side wall of the target object by negative pressure adsorption or magnetic adsorption; the pick-and-place mechanism 220 can also be a structure such as a fork, a mechanical arm, etc. that can realize the pulling-type transfer of the target object, or a hooking mechanism that can hook the front edge of the target object. The embodiment of the present application does not limit the structure of the pick-and-place member.

[0083] Reference Figure 4 and Figure 5 As shown, the pick-up and placement device 200 of the embodiment of the present application also includes a guide wheel 230, which is connected to the lifting mechanism 210. For example, the guide wheel 230 is connected to the stand 211 of the lifting mechanism 210 and is rollingly arranged on the track 140. The guide wheel 230 is configured to move along the extension direction of the track 140 under the drive of the lifting mechanism 210, so as to prevent the lifting mechanism 210 from moving left and right along a direction intersecting with the extension direction of the track 140, for example, a direction perpendicular to the extension direction of the track 140. For example, it prevents the driving component 212 from driving the stand 211 to move left and right along a direction perpendicular to the extension direction of the track 140, thereby ensuring the stability of the pick-up and placement device 200 on the track 140 and maintaining a stable position of the pick-up and placement mechanism 220 on the pick-up and placement device 200 relative to the cargo position 101.

[0084] It should be noted that the above-mentioned movement of the lifting mechanism 210 along the track 140 means that the lifting mechanism 210 moves along the thickness direction of the track 140. The thickness direction of the track 140 is parallel to the pick-and-place direction of the pick-and-place mechanism 220. Figure 1 Shown in the y direction.

[0085] Reference Figure 4 As shown, it can be understood that the guide wheel 230 and the driving assembly 212 together form a traveling assembly 250 of the pick-and-place device 200 , and the traveling assembly 250 moves along the track 140 on the carrier 100 to drive the entire pick-and-place device 200 to move along the carrier 100 .

[0086] Figure 6 This is a schematic diagram of the structure of the track and lifting mechanism provided in one embodiment of the present application. Figure 2 , Figure 7 is an overall schematic diagram of a lifting mechanism provided in an embodiment of the present application, Figure 8 yes Figure 7 A partial enlarged view of point B in the middle. Fig. 9 yes Figure 7 A partial enlarged view of the C in the middle. Figures 6 to 9 As shown, in some examples, the guide wheel 230 can be set at the top 141 or the bottom 142 of the track 140, and can roll centered along the center of the track 140, so that the drive assembly 212 drives the stand 211 to roll centered along the track 140.

[0087] In the related art, the rolling axis of the guide wheel extends along the height direction z of the track, so that the rolling surface of the guide wheel contacts the side wall of the track. For example, the track may include a bottom wall and two side walls arranged opposite to each other in the thickness direction, the guide wheel is located in a track groove formed by the bottom wall and the two side walls, and the rolling surface of the guide wheel contacts the inner surfaces of the two side walls and rolls along the inner surfaces of the two side walls.

[0088] It can be understood that the two side walls of the track limit the guide wheel along the thickness direction of the track, so that the guide wheel can move along the extension direction of the track without deviation in the thickness direction.

[0089] However, in the above example, the diameter direction of the guide wheel is parallel to the thickness direction of the track, which makes the size of the track along the thickness direction larger than the diameter of the guide wheel, resulting in a larger thickness of the track, which increases the distance between the pick-and-place mechanism on the lifting mechanism and the carrier, affecting the efficiency of the pick-and-place mechanism in picking up and placing items.

[0090] Reference Figure 8 and Fig. 9 As shown, in the embodiment of the present application, the extending direction of the rolling axis of the guide wheel 230 is parallel to the pick-and-place direction of the pick-and-place mechanism 220, that is, the extending direction of the rolling axis of the guide wheel 230 is parallel to the thickness direction of the track 140, referring to Figure 8 and Fig. 9 As shown in the y direction, the rolling surface of the guide wheel 230 rolls along the top 141 or the bottom 142 of the track 140 .

[0091] The pick-and-place direction of the pick-and-place mechanism 220 is the direction in which the pick-and-place mechanism 220 extends from the stand 211 to the cargo position 101, or retracts from the cargo position 101 to the stand 211. Figure 1 Shown in the y direction.

[0092] It can be understood that in this example, the thickness direction of the guide wheel 230 is consistent with the thickness direction of the track 140, so that the width dimension of the track 140 can be reduced to reduce the distance between the pick-up and placement mechanism 220 on the stand 211 and the carrier 100, thereby reducing the pick-up and placement distance of the pick-up and placement mechanism 220, thereby improving the pick-up and placement accuracy and efficiency of the pick-up and placement mechanism 220.

[0093] In addition, when the thickness of the track 140 is reduced, the height of the track 140 can be increased to increase the bearing capacity of the track 140 for the pick-and-place device 200. The height direction of the track 140 is parallel to the height direction of the carrier 100. Figure 8 Shown in the z direction.

[0094] In some examples, the height of the track 140 may be greater than the thickness of the track 140. For example, the height of the track 140 may be between 60 mm and 70 mm, and the thickness of the track 140 may be between 10 mm and 20 mm. It is understood that the longitudinal cross-sectional bending coefficient of the track 140 is proportional to the cube of the height of the track 140. In this way, the track 140 is made thinner while its height is increased, which can meet the load-bearing capacity in the height direction, ensuring that the pick-and-place device 200 can be stably supported and suspended on the track 140 and can move stably along the track 140.

[0095] For example, the height of the track 140 may be 60 mm, 62 mm, 64 mm, 67 mm, or 70 mm, etc. The thickness of the track 140 may be 10 mm, 12 mm, 14 mm, 17 mm, or 20 mm, etc.

[0096] Reference Figure 8 and Fig. 9 As shown, in some examples, when the rolling axis of the guide wheel 230 is consistent with the thickness direction of the track 140, in order to achieve the limiting effect of the guide wheel 230 along the width direction of the track 140, a groove 240 is formed on one of the rolling surface of the guide wheel 230 and the track 140, and the other of the rolling surface of the guide wheel 230 and the track 140 is embedded in the groove 240 and contacts the side walls of the groove 240 opposite to each other along the width direction of the track 140, so that the other moves along the groove 240 relative to one of them.

[0097] For example, a groove 240 (such as the above-mentioned track groove) can be set on the track 140, and the guide wheel 230 can be embedded in the groove 240, and the rolling surface of the guide wheel 230 contacts the inner surface of the bottom wall of the track 140 and rolls along the inner surface of the bottom wall, and the two end surfaces of the guide wheel 230 contact one of the two side walls, that is, the guide wheel 230 is gap-fitted with the two side walls, so that the guide wheel 230 can run along the groove 240 and can also be confined between the two side walls without deviation.

[0098] Reference Figure 8 and Fig. 9As shown, for another example, a groove 240 can be opened on the rolling surface of the guide wheel 230, and the top 141 or the bottom 142 of the track 140 is embedded in the groove 240, so that the rolling surface of the guide wheel 230 extends along the track 140 to the surface of the groove 240 for operation, and the groove 240 cooperates with the two side walls of the track 140 opposite to the top 141 or the bottom 142 of the track 140 to realize the limiting effect on the guide wheel 230 along the thickness direction of the track 140.

[0099] The groove 240 is formed on the rolling surface of the guide wheel 230, and the end (top 141 or bottom 142) of the track 140 is embedded in the groove 240. On the one hand, the guide wheel 230 can roll along the end surface of the track 140, and the two side walls of the end of the track 140 limit the guide wheel 230, so that the guide wheel 230 does not deviate in the thickness direction of the track 140, thereby ensuring that the lifting mechanism 210 moves stably along the extension direction of the track 140 without left and right deviation. On the other hand, the end of the track 140 is embedded in the groove 240, so that the thickness of the track 140 can be further reduced, thereby further shortening the distance between the pick-up and placement mechanism 220 and the carrier 100, so that the pick-up and placement efficiency and pick-up and placement accuracy of the pick-up and placement mechanism 220 can be improved.

[0100] In some examples, the cross-sectional shape of the groove 240 may include, but is not limited to, a square, a V-shaped, an arc-shaped, or other suitable shapes. For example, a groove 240 is formed on the rolling surface of the guide wheel 230, and the cross-sectional shape of the groove 240 may be a square, a V-shaped, an arc-shaped, or other suitable shape. Accordingly, the end shape of the track 140 matches the shape of the groove 240, so that the end side wall of the track 140 plays a limiting role on the guide wheel 230.

[0101] Reference Figure 8 and Fig. 9 As shown, taking the cross-sectional shape of the groove 240 as a V-shape as an example, the rolling surface of the guide wheel 230 is provided with a V-shaped groove along the circumferential direction. For example, the guide wheel 230 is a V-type wheel, and the V-shaped recessed portion on the rolling surface of the guide wheel 230 is configured as the groove 240, i.e., the V-shaped groove.

[0102] Accordingly, the top 141 or the bottom of the track 140 is formed into a V-shaped structure. For example, the two side walls of the top 141 of the track 140 are configured as inclined surfaces 141a, and the distance between the two inclined surfaces 141a gradually decreases from the middle to the end of the track 140. When the top 141 of the track 140 extends into the V-shaped groove, the two inclined surfaces 141a of the track 140 contact the groove wall of the V-shaped groove, so that the guide wheel 230 rolls along the two inclined surfaces 141a of the track 140 and limits the deviation in the width direction of the track 140. In addition, the setting of the V-shaped groove can reduce the contact area between the rolling surface of the guide wheel 230 and the track 140, thereby reducing the friction resistance between the guide wheel 230 and the track 140, so that the guide wheel 230 runs smoothly along the track 140.

[0103] It should be noted that the two inclined surfaces 141 a at the top of the track 140 are opposite and inclined along the thickness direction of the track 140 .

[0104] Fig.10 yes Figure 8 Another structural diagram of the perspective. Figure 8 and Fig.10 As shown, in some examples, the driving assembly 212 may include a driving member 2121 and a driving wheel 2122, wherein the driving member 2121 is connected to the stand 211, the driving wheel 2122 is connected to the driving member 2121, and the driving wheel 2122 is configured to run along the track 140 under the drive of the driving member 2121.

[0105] Exemplarily, the driving member 2121 can be a motor such as a stepping motor, a driving cylinder, a synchronous pulley structure, a gear rack structure, etc. The driving shaft of the driving wheel 2122 is fixed to the output shaft of the motor. During the rotation, the output shaft of the motor drives the driving wheel 2122 to roll along the track 140 to drive the stand 211 to move.

[0106] In some examples, a track 140 may be provided on the carrier 100, and the frame 211 of the lifting mechanism 210 is guided and matched on the track 140 through the travel assembly 250, and runs along the track 140. For example, a track 140 may be provided on the top crossbeam 120 of the carrier 100, and the travel assembly 250 may be one, and the travel assembly 250 is provided at the top or the first position of the frame 211, and the distance between the first position and the top of the frame 211 is smaller than the distance between the first position and the bottom of the frame 211, so that the frame 211 can stably move along the carrier 100 through the travel assembly 250.

[0107] For example, the driving assembly 212 in the walking assembly 250 rolls along the surface of the track 140 to drive the stand 211 to move along one side of the carrier 100, and the guide wheel 230 is guided and matched with the top 141 or the bottom 142 of the track 140 to limit the left and right movement of the stand 211 in the thickness direction of the track 140.

[0108] Fig.11 Schematic diagram of a partial structure of a lifting mechanism provided by an embodiment of the present application. Figure 2 , Figure 6 Figure 7 and Fig.11 As shown, in some examples, the carrier 100 may be provided with a plurality of tracks 140, and a plurality of walking components 250 may be arranged on the frame 211 of the lifting mechanism 210 at intervals along the height direction z, and the plurality of walking components 250 are arranged corresponding to the tracks 140. For example, a plurality of driving components 212 are arranged along the height direction of the frame 211, and each driving component 212 is guided and cooperated with the track 140 through a guide wheel 230, so that the frame 211 runs along the corresponding track 140 through the plurality of driving components 212 and the guide wheel 230.

[0109] For example, two rails 140 are provided on the carrier 100, and the two rails 140 are respectively a first rail 140a and a second rail 140b, wherein the first rail 140a is located above the second rail 140b. For example, the first rail 140a, i.e., the upper rail 140, can be provided at the top of the carrier 100, and the second rail 140b, i.e., the lower rail 140, can be provided in the middle or at the bottom of the carrier 100.

[0110] Reference Fig.11 As shown, in some examples, the plurality of walking components 250 include a first walking component 250a and a second walking component 250b, and correspondingly, the plurality of driving components 212 include a first driving component 212a and a second driving component 212b, and the plurality of guide wheels 230 include a first guide wheel 230a and a second guide wheel 230b.

[0111] Reference Figure 6 and Fig.11 As shown, the first walking assembly 250a is arranged at the top or the first position of the stand 211, and the first walking assembly 250a drives the entire pick-and-place device 200 to run along the first track 140a. The distance between the first position and the top of the stand 211 is smaller than the distance between the first position and the bottom of the stand 211.

[0112] For example, the first driving assembly 212a is disposed at the first portion of the stand 211 and is configured to drive the first portion to move along the first track 140a. The first portion is the portion where the first walking assembly 250a is connected to the stand 211. The first portion may be the top of the stand 211 or the portion where the first position of the stand 211 is located.

[0113] For example, the driving wheel 2122 of the first driving assembly 212a moves along the first track 140a under the drive of the driving member 2121, so as to drive the first part of the stand 211 to move along the first track 140a. The first guide wheel 230a is rollingly disposed on the first track 140a and moves along the extension direction of the first track 140a, so that the stand 211 carrying the pick-and-place mechanism 220 can stably run along the first track 140a in the length direction of the carrier 100.

[0114] The second walking assembly 250b is disposed at the middle, bottom or second position of the stand 211. The distance between the second position and the bottom of the stand 211 is smaller than the distance between the second position and the top of the stand 211. The second walking assembly 250b drives the entire pick-and-place device 200 to move along the second track 140b. For example, the second driving assembly 212b is disposed at the second portion of the stand 211 and is configured to drive the second portion to move along the second track 140b. The second portion is the portion where the second walking assembly 250b is used to connect to the stand 211. The second portion may be the middle or bottom of the stand 211, or the portion where the second position of the stand 211 is located.

[0115] For example, the driving wheel 2122 in the second driving assembly 212b moves along the second track 140b under the drive of the driving member 2121, so as to drive the second portion of the stand 211 to move along the second track 140b. The second guide wheel 230b is rollingly disposed on the second track 140b and moves along the extension direction of the second track 140b, so that the stand 211 carrying the pick-and-place mechanism 220 can stably operate along the second track 140b in the length direction of the carrier 100.

[0116] In some examples, the first travel assembly 250a may be one or more, that is, the travel assembly 250 that cooperates with the first track 140a may be one or more. Correspondingly, the second travel assembly 250b may be one or more, that is, the travel assembly 250 that cooperates with the second track 140b may be one or more.

[0117] Reference Figure 4As shown, in some examples, the frame 211 is a column 2111 extending along the height direction z, and the pick-and-place mechanism 220 is movably arranged on the column 2111 , and there is one walking component 250 cooperating with one of the tracks 140 , and one walking component 250 is arranged on the column 2111 .

[0118] For example, there is one first traveling assembly 250a, which is connected to the first portion of the column 2111, and the first traveling assembly 250a drives the first portion of the column 2111 to move along the first track 140a.

[0119] For another example, there is one second traveling assembly 250b, which is connected to the second portion of the column 2111, and the second traveling assembly 250b drives the second portion of the column 2111 to move along the second track 140b.

[0120] In some examples, the stand 211 may include a top connecting rod 2112 and two columns 2111 extending in the height direction z, and the top connecting rod 2112 is connected between the tops of the two columns 2111, so that the stand 211 is formed into a gantry structure. In this way, the first walking assembly 250a and the second walking assembly 250b may each include one or two.

[0121] Reference Figure 4 and Figure 5 As shown, for example, the first walking component 250a can be one, and the first walking component 250a can be set on any column 2111 of the frame 211. The first walking component 250a drives the first part of the entire frame 211 to move along the first track 140a through a column 2111.

[0122] In some examples, one of the columns 2111 can be engaged with the track 140 through the walking assembly 250, and the other column 2111 can be engaged with the track 140 only through the guide wheel 230. On the one hand, it can simplify the structural setting of the picking and placing device 200 and reduce the weight of the picking and placing device 200. On the other hand, the other column 2111 is engaged with the track 140 through the guide wheel 230 to improve the stability of the column 2111 moving along the extension direction of the track 140, thereby improving the stability of the entire frame 211 moving along the extension direction of the track 140.

[0123] For another example, there may be two first walking assemblies 250a, and the two first walking assemblies 250a may be respectively arranged on the two columns 2111 of the frame 211, that is, one of the first walking assemblies 250a is arranged on the first part of one of the columns 2111, and the other first walking assembly 250a is arranged on the first part of the other column 2111. The two first walking assemblies 250a drive the first parts of the two columns 2111 at the same time to drive the first part of the entire frame 211 to move along the first track 140a.

[0124] Correspondingly, the second walking assembly 250b can be one, and the second walking assembly 250b can be set on any column 2111 of the frame 211. The second walking assembly 250b drives the second part of the entire frame 211 to move along the second track 140b through one column 2111.

[0125] For another example, there may be two second walking assemblies 250b, and the two second walking assemblies 250b may be respectively arranged on the two columns 2111 of the frame 211, that is, one of the second walking assemblies 250b is arranged on the second part of one of the columns 2111, and the other second walking assembly 250b is arranged on the second part of the other column 2111. The two second walking assemblies 250b drive the second parts of the two columns 2111 at the same time to drive the second part of the entire frame 211 to move along the second track 140b.

[0126] In some examples, when the first walking assembly 250a and the second walking assembly 250b are both one, the first walking assembly 250a and the second walking assembly 250b can be set on the same column 2111 or on different columns 2111.

[0127] In some examples, the driving wheel 2122 in at least one driving assembly 212 may be located at the top 141 or the bottom 142 of the track 140, and the rolling surface of the driving wheel 2122 rolls along the top surface or the bottom surface of the track 140. It is understood that when the driving wheel 2122 is disposed at the top 141 of the track 140, the driving wheel 2122 also serves to suspend the stand 211 on the track 140.

[0128] Exemplarily, the driving wheels 2122 in the first driving assembly 212a and the second driving assembly 212b may be located at the top 141 or the bottom 142 of the track 140, wherein the driving wheels 2122 in the first driving assembly 212a and the second driving assembly 212b may be located at the same or different positions on the track 140. For example, the driving wheel 2122 in the first driving assembly 212a is located at the top 141 of the first track 140a, and the driving wheel 2122 in the second driving assembly 212b is located at the top 141 or the bottom 142 of the second track 140b.

[0129] Of course, in some examples, the driving wheel 2122 of one of the first driving assembly 212a and the second driving assembly 212b is located at the top 141 or the bottom 142 of the corresponding track 140, and the driving wheel 2122 of the other of the first driving assembly 212a and the second driving assembly 212b is located at other parts of the corresponding track 140 (the side 143 described below). For example, the driving wheel 2122 of the first driving assembly 212a is located at the top 141 or the bottom 142 of the first track 140a, and the driving wheel 2122 of the second driving assembly 212b is located at other parts of the second track 140b (the side 143 described below).

[0130] Reference Figures 8 to 10 As shown, in some examples, the driving wheel 2122 in at least one driving assembly 212 may be located on the side 143 of the track 140. It is understood that the side 143 of the track 140 faces the thickness direction of the track 140. For example, the driving wheel 2122 may be located on the side of the track 140 facing away from the carrier 100, and the rolling surface of the driving wheel 2122 contacts the side 143 of the track 140, so that the rolling surface of the driving wheel 2122 rolls along the side 143 of the track 140. In this way, when the stand 211 jumps up and down, the rolling surface of the driving wheel 2122 can be prevented from detaching from the track 140 and idling, thereby ensuring that the driving wheel 2122 drives the gantry to run stably along the track 140.

[0131] In some examples, in order to make the rolling surface of the driving wheel 2122 stably contact with the side surface 143 of the track 140, the storage system may further include an elastic member 214, which is arranged on the frame 211. The elastic member 214 abuts against the driving wheel 2122 and applies an elastic force toward the track 140 to the driving wheel 2122. Through the elastic force of the elastic member 214, the rolling surface of the driving wheel 2122 is stably pressed against the side surface 143 of the track 140.

[0132] In some examples, the elastic member 214 may be disposed on a side of the driving wheel 2122 away from the track 140 , and one end (e.g., the first end) of the elastic member 214 is fixed to the stand 211 , and the other end (e.g., the second end) of the elastic member 214 abuts against the rolling surface of the driving wheel 2122 .

[0133] In this example, the elastic member 214 is in a compressed state, and the elastic member 214 has an elastic force toward the driving wheel 2122. In this way, the second end of the elastic member 214 can squeeze the driving wheel 2122 under the action of the elastic force, so that the driving wheel 2122 obtains a certain positive pressure, so that the rolling surface of the driving wheel 2122 can contact the side 143 of the track 140 more stably, thereby ensuring that the driving wheel 2122 and the side 143 of the track 140 have sufficient friction to drive the entire pick-up and placement device 200 to move, and avoiding the driving wheel 2122 from idling.

[0134] It should be noted that the elastic force direction of the elastic member 214 is the direction from the first end to the second end of the elastic member 214. In addition, when the second end of the elastic member 214 abuts against the rolling surface of the driving wheel 2122 facing away from the track 140, the normal rotation of the driving wheel 2122 will not be affected.

[0135] In some examples, the elastic member 214 may be disposed on the end face side of the driving wheel 2122. For example, the first end of the elastic member 214 is fixed to the stand 211, and the second end of the elastic member 214 abuts against any position of the end face of the driving wheel 2122, and exerts an elastic force on the driving wheel 2122 toward the track 140. It is understood that, in this example, the elastic member 214 is obliquely disposed on the end face side of the driving wheel 2122, and the elastic force direction of the elastic member 214 and the side surface 143 of the track 140 form an angle, so that the positive pressure exerted by the elastic member 214 on the driving wheel 2122 is the component of the elastic force of the elastic member 214, and the component provides the driving wheel 2122 with a positive pressure applied to the side surface 143 of the track 140.

[0136] It should be noted that the end face of the driving wheel 2122 refers to the end faces of the driving wheel 2122 that are opposite to each other in the thickness direction.

[0137] In some examples, one end of the elastic member 214 can be directly fixed to the stand 211 to simplify the structural arrangement of the pick-and-place device 200 .

[0138] In some examples, the storage system may further include a fastener 215, which is disposed on the stand 211 and extends toward the track 140, and the elastic member 214 is sleeved on the fastener 215 and configured to squeeze the driving wheel 2122 under the action of the fastener 215. For example, the fastener 215 may be a structure such as a screw, a bolt, or a rivet that is detachably fixed to the stand 211. Exemplarily, a mounting member 216 may be fixed to the stand 211, and the mounting member 216 has a mounting hole such as a threaded hole that matches the fastener 215, and the fastener 215 is inserted into the mounting member 216 to achieve a detachable connection with the stand 211.

[0139] The elastic member 214 is sleeved on the fastener 215, and under the cooperation of the end cover of the fastener 215 or the threaded surface of the fastener 215 and the elastic member 214, the fastener 215 is continuously screwed into the elastic member 214, and the elastic member 214 is continuously compressed, so that the second end of the elastic member 214 squeezes the driving wheel 2122.

[0140] The provision of the fastener 215 enables the elastic member 214 to be stably assembled on the stand 211, thereby ensuring that the elastic member 214 stably applies elastic force to the driving wheel 2122. In addition, the elastic member 214 is also detachably provided on the stand 211, so that the elastic member 214 can be replaced in time as needed, so that a damaged elastic member 214 can be replaced with an intact elastic member 214, or an elastic member 214 with different elastic force can be selected.

[0141] For example, the elastic member 214 may be a butterfly spring, which may be one or more. The butterfly spring is sleeved on the fastener 215, and is restricted by the end cover of the fastener 215 so that the butterfly spring stably abuts against the rolling surface of the driving wheel 2122 facing away from the track 140.

[0142] In some examples, the pressure of the drive wheel 2122 on the track 140 can be adjusted by increasing or decreasing the number of butterfly springs to ensure that the degree of wear of the rolling surface of the drive wheel 2122, the butterfly springs, and the side surface 143 of the track 140 are within an appropriate range.

[0143] In addition, the elastic member 214 is fixed to the stand 211 by the fastener 215. Thus, the pressure of the elastic member 214 on the driving wheel 2122 can be adjusted by adjusting the degree to which the fastener 215 is screwed into the elastic member 214, thereby adjusting the degree of wear of the rolling surface of the driving wheel 2122, the butterfly spring and the side 143 of the track 140 to within an appropriate range.

[0144] During a working task, the clamping force of the fastener 215 and the elastic member 214 on the driving wheel 2122 can be kept constant, thereby ensuring that the friction between the rolling surface of the driving wheel 2122 and the side 143 of the track 140 remains constant, thereby ensuring the stability of the driving wheel 2122 driving the entire picking and placing device 200 to move along the track 140.

[0145] In some examples, the drive wheels 2122 in the first drive assembly 212a and the second drive assembly 212b may be located on the side 143 of the track 140 .

[0146] Of course, in some examples, the driving wheel 2122 of one of the first driving assembly 212a and the second driving assembly 212b is located at the side 143 of the corresponding track 140, and the driving wheel 2122 of the other of the first driving assembly 212a and the second driving assembly 212b is located at other parts of the corresponding track 140 (such as the top 141 or the bottom 142 described above). For example, the driving wheel 2122 of the first driving assembly 212a is located at the side 143 of the first track 140a, and the driving wheel 2122 of the second driving assembly 212b is located at the top 141 or the bottom 142 of the second track 140b. For another example, the driving wheel 2122 of the first driving assembly 212a is located at the top 141 or the bottom 142 of the first track 140a, and the driving wheel 2122 of the second driving assembly 212b is located at the side 143 of the second track 140b.

[0147] In some examples, the pick-and-place device 200 is suspended on the track 140 via a traveling assembly 250 , so that the pick-and-place device 200 can move stably along the carrier 100 .

[0148] For example, when there is one traveling assembly 250 , the traveling assembly 250 is suspended on the track 140 .

[0149] For another example, when the traveling assembly 250 includes a first traveling assembly 250 a and a second traveling assembly 250 b , at least one of the first traveling assembly 250 a and the second traveling assembly 250 b may be suspended on the corresponding track 140 .

[0150] Exemplarily, the first walking assembly 250a and the second walking assembly 250b are both suspended on the track 140; or, the first walking assembly 250a is suspended on the first track 140a, and the second walking assembly 250b is arranged on the side 143 of the second track 140b to move along the side 143 of the second track 140b; or, the second walking assembly 250b is suspended on the second track 140b, and the first walking assembly 250a is arranged on the side 143 of the first track 140a to move along the side 143 of the first track 140a.

[0151] It should be noted that the walking component 250 is suspended on the track 140. The driving wheel 2122 in the walking component 250 can be set at the top 141 of the track 140 so that the driving wheel 2122 is suspended on the track 140, or the guide wheel 230 in the walking component 250 can be set at the top 141 of the track 140 so that the guide wheel 230 is suspended on the track 140.

[0152] Reference Figure 8 and Fig. 9 As shown, in some examples, when the driving wheels 2122 of the first driving component 212a and the second driving component 212b are both disposed on the side 143 of the track 140 and roll along the side 143 of the track 140, at least one of the first guide wheel 230a and the second guide wheel 230b is suspended from the top 141 of the corresponding track 140, so that at least one walking component 250 is suspended on the corresponding track 140 through the guide wheel 230, thereby allowing the picking and placing device 200 to be suspended on the carrier 100 through at least one walking component 250.

[0153] In some examples, the first guide wheel 230 a and the second guide wheel 230 b are both suspended from the top 141 of the corresponding track 140 .

[0154] For example, the first guide wheel 230a is suspended on the top 141 of the first track 140a, specifically, the top 141 of the first track 140a is embedded in the groove 240 of the rolling surface of the first guide wheel 230a, so that the first guide wheel 230a rolls along the top 141 of the first track 140a, or the first guide wheel 230a is embedded in the groove 240 of the first track 140a, and the rolling surface of the first guide wheel 230a moves along the inner bottom wall of the groove 240. The second guide wheel 230b is suspended on the top 141 of the second track 140b, specifically, the top 141 of the second track 140b is embedded in the groove 240 of the rolling surface of the second guide wheel 230b, so that the second guide wheel 230b rolls along the top 141 of the second track 140b, or the second guide wheel 230b is embedded in the groove 240 of the second track 140b, and the rolling surface of the second guide wheel 230b moves along the inner bottom wall of the groove 240.

[0155] In some examples, one of the first guide wheel 230a and the second guide wheel 230b is located at the top 141 of the corresponding track 140, and the other of the first guide wheel 230a and the second guide wheel 230b is located at the bottom 142 of the corresponding track 140. In this way, when either the first walking component 250a or the second walking component 250b jumps up and down, the guide wheel 230 in one of the walking components 250 can move stably along the track 140 without causing the entire walking component 250 and the pick-up and placement device 200 to deviate from the track 140.

[0156] In some examples, the first guide wheel 230a is disposed at the bottom 142 of the first track 140a, for example, the bottom 142 of the first track 140a may be embedded in the groove 240 of the rolling surface of the first guide wheel 230a, so that the first guide wheel 230a rolls along the bottom 142 of the first track 140a. The second guide wheel 230b is disposed at the top 141 of the second track 140b, for example, the top 141 of the second track 140b may be embedded in the groove 240 of the rolling surface of the second guide wheel 230b, so that the second guide wheel 230b rolls along the top 141 of the second track 140b.

[0157] In this way, when any walking component 250 drives the entire pick-and-place device 200 to jump upward, the second guide wheel 230b will move upward and disengage from the second track 140b, and the first guide wheel 230a will move upward and more stably contact the bottom 142 of the first track 140a to roll stably along the bottom 142 of the first track 140a.

[0158] When any walking assembly 250 drives the entire pick-and-place device 200 to jump downward, the first guide wheel 230a will move downward and disengage from the first track 140a, and the second guide wheel 230b will move downward and more stably contact the top 141 of the second track 140b to roll stably along the top 141 of the second track 140b.

[0159] In some examples, the first guide wheel 230a is disposed at the top 141 of the first track 140a, for example, the top 141 of the first track 140a may be embedded in the groove 240 of the rolling surface of the first guide wheel 230a, so that the first guide wheel 230a rolls along the top 141 of the first track 140a. The second guide wheel 230b is disposed at the bottom 142 of the second track 140b, for example, the bottom 142 of the second track 140b may be embedded in the groove 240 of the rolling surface of the second guide wheel 230b, so that the second guide wheel 230b rolls along the bottom 142 of the second track 140b.

[0160] In this way, when any walking component 250 drives the entire pick-and-place device 200 to jump upward, the first guide wheel 230a will move upward and disengage from the first track 140a, and the second guide wheel 230b will move upward and more stably contact the bottom 142 of the second track 140b to roll stably along the bottom 142 of the second track 140b.

[0161] When any walking assembly 250 drives the entire pick-and-place device 200 to jump downward, the second guide wheel 230b will move downward and disengage from the second track 140b, and the first guide wheel 230a will move downward and more stably contact the top 141 of the first track 140a to roll stably along the top 141 of the first track 140a.

[0162] By setting the first guide wheel 230a at the top 141 of the first track 140a and the second guide wheel 230b at the bottom 142 of the second track 140b, all the tracks 140 are clamped between the first guide wheel 230a and the second guide wheel 230b. On the one hand, it can ensure that when the walking component 250 and the entire pick-up and placement device 200 jump up and down, the entire pick-up and placement device 200 will not be separated from the track 140, so that one of the guide wheels 230 can stably move along the corresponding track 140, thereby improving the stability of the pick-up and placement device 200 moving along the track 140. On the other hand, the first guide wheel 230a located above the stand 211 is arranged at the top 141 of the first track 140a, so that the top of the lifting mechanism 210 or the first part close to the top is suspended on the first track 140a, and the structure below the first part of the lifting mechanism 210 can be vertically arranged on one side of the carrier 100 by gravity, compared with the bottom of the lifting mechanism 210 or the second part close to the bottom suspended on the second track 140b, the assembly stability of the lifting mechanism 210 on one side of the carrier 100 is improved, thereby ensuring that the pick-and-place mechanism 220 on the lifting mechanism 210 can stably retrieve and return the target item.

[0163] Reference Figure 4 and Figure 5 As shown, in some examples, when the first guide wheel 230a is located at the top 141 of the first track 140a and the second guide wheel 230b is located at the bottom 142 of the second track 140b, an auxiliary wheel 280 can be set below the first track 140a, and the auxiliary wheel 280 is connected to the stand 211 and is configured to roll along the bottom 142 of the first track 140a when the second guide wheel 230b is detached from the second track 140b, so that the first guide wheel 230a and the auxiliary wheel 280 can stably roll along the upper and lower surfaces of the first track 140a.

[0164] It should be noted that the auxiliary wheel 280 may not contact the first track 140a when the second guide wheel 230b has not separated from the second track 140b, that is, there is a gap between the auxiliary wheel 280 and the bottom 142 of the first track 140a, so as to avoid that when the second guide wheel 230b and the auxiliary wheel 280 both move along the corresponding track 140, when the pick-up and placement device 200 jumps up and down, either the second guide wheel 230b or the auxiliary wheel 280 may be stuck on the corresponding track 140 and unable to move.

[0165] For example, when the first track 140a and the second track 140b are not parallel, resulting in a smaller spacing between the first track 140a and the second track 140b, the second guide wheel 230b will be separated from the second track 140b during the movement of the first guide wheel 230a along the top 141 of the first track 140a. When the second guide wheel 230b is separated from the second track 140b, the second part of the stand 211 cannot stably move along the second track 140b, causing the movement of the second part of the stand 211 equivalent to the first part to be delayed, resulting in the entire stand 211 tilting left and right in the extension direction of the track 140, which will cause the auxiliary wheel 280 and the first guide wheel 230a to tilt upward. When the auxiliary wheel 280 is tilted upward, it will contact the bottom 142 of the first track 140a and move along the bottom 142 of the first track 140a, thereby ensuring that the stand 211 can at least stably move along the first track 140a under the action of the auxiliary wheel 280.

[0166] In addition, when the second guide wheel 230b is separated from the second track 140b, the auxiliary wheel 280 moves along the bottom 142 of the first track 140a, so that the first guide wheel 230a can be restricted from moving upward and separating from the top 141 of the first track 140a, thereby improving the stability of the first guide wheel 230a on the first track 140a. The first guide wheel 230a and the auxiliary wheel 280 roll along the upper and lower surfaces of the first track 140a respectively, which can increase the contact area between the lifting mechanism 210 and the first track 140a, so that when the second guide wheel 230b is separated from the second track 140b, it can ensure that the lifting mechanism 210 moves stably along the first track 140a.

[0167] In some examples, an auxiliary wheel 280 may be connected to one of the columns 2111 and an auxiliary wheel 280 may be connected to the other column 2111 , so that the two columns 2111 may move stably along the track 140 under the action of the corresponding guide wheels 230 and auxiliary wheels 280 .

[0168] In some examples, any column 2111 may be provided with one or more auxiliary wheels 280, and when the second guide wheel 230b is separated from the second track 140b, the one or more auxiliary wheels 280 roll along the bottom 142 of the first track 140a. When there are multiple auxiliary wheels 280, the number of auxiliary wheels 280 may be 2 or more, which may be adjusted according to the actual weight of the actual pick-and-place device 200.

[0169] In some examples, a warehousing system may include a first motion sensor, a second motion sensor, and a control mechanism.

[0170] Wherein, the first displacement sensor is configured to detect a first movement stroke of the first part and generate a first detection signal;

[0171] The second displacement sensor is configured to detect a second movement stroke of the second part and generate a second detection signal.

[0172] The control mechanism is configured to determine whether the first movement stroke is consistent with the second movement stroke based on the first detection signal and the second detection signal; and is also configured to adjust the output power of at least one of the first drive component 212a and the second drive component 212b when the first movement stroke is different from the second movement stroke, so that the first movement stroke and the second movement stroke are consistent, so that the stand 211 will not tilt, thereby ensuring the structural stability of the stand 211, and also ensuring that the pick-and-place mechanism 220 will not tilt, thereby ensuring the position stability of the pick-and-place mechanism 220 relative to the cargo position 101 on the carrier 100.

[0173] In some examples, before the stand 211 moves along the first direction, the first portion can have a first initial coordinate position.

[0174] In some examples, along the first direction, any one of the first side end and the second side end of the track 140 opposite to each other along the extension direction can be the origin coordinate. For example, in some examples, the lifting mechanism 210 moves from the first side end to the second side end as a specific example. The first side end can be used as the origin coordinate of the lifting mechanism 210 moving along the first direction.

[0175] In some examples, the first initial coordinate position may be an origin coordinate position.

[0176] In some examples, the control mechanism may determine the first current position coordinates of the first part based on the first detection signal.

[0177] In some examples, after determining the first current position coordinates of the first part, the control mechanism may determine the first movement stroke based on the first current position coordinates and the first initial position coordinates.

[0178] In some examples, the lifting mechanism 210 may start to move along the first direction at any position between the first side end and the second side end.

[0179] In some examples, the first initial position coordinates may be position coordinates when the first part starts to move along the first direction. In other words, the first initial position coordinates may be position coordinates of any position between the first side end and the second side end relative to the origin coordinates.

[0180] In some examples, the control mechanism may determine the first motion stroke based on the first current position coordinates and the first initial position coordinates.

[0181] In some examples, before the stand 211 moves along the first direction, the second portion can have a second initial coordinate position.

[0182] In some examples, along the first direction, any one of the first side end and the second side end can be an origin coordinate. For example, in some examples, the lifting mechanism 210 moves from the first side end to the second side end as a specific example. The first side end can be used as the origin coordinate of the lifting mechanism 210 moving along the first direction.

[0183] In some examples, the second initial coordinate position may be an origin coordinate position.

[0184] In some examples, the control mechanism may determine the second current position coordinates of the second part based on the second detection signal.

[0185] In some examples, after determining the second current position coordinates of the second part, the control mechanism may determine the second movement stroke based on the second current position coordinates and the second initial position coordinates.

[0186] In some examples, the lifting mechanism 210 may start to move along the first direction at any position between the first side end and the second side end.

[0187] In some examples, the second initial position coordinates may be position coordinates when the second part starts to move along the first direction. In other words, the second initial position coordinates may be position coordinates of any position between the first side end and the second side end relative to the origin coordinates.

[0188] In some examples, the control mechanism may determine the second movement range based on the second current position coordinates and the second initial position coordinates.

[0189] In some examples, at least one of the first displacement sensor and the second displacement sensor may include, but is not limited to, a Hall sensor, an ultrasonic sensor, a lidar sensor, and the like.

[0190] Taking the Hall sensor as an example, a plurality of magnetic parts can be arranged at intervals on the first track 140a along the extension direction of the first track 140a. The Hall sensor, for example, the first Hall sensor is arranged on the first part of the stand 211. When the first part of the stand 211 moves along the first track 140a, the first Hall sensor can sense the corresponding magnetic parts, thereby generating a first detection signal to determine the first current position coordinates of the first part, and then determine the first movement stroke of the first part based on the first initial position coordinates.

[0191] Correspondingly, a plurality of magnetic parts can be arranged at intervals on the second track 140b along the extension direction of the second track 140b, and a Hall sensor, such as a second Hall sensor, can be arranged on the second part of the stand 211. When the second part of the stand 211 moves along the second track 140b, the second Hall sensor can sense the corresponding magnetic parts, thereby generating a second detection signal to determine the second current position coordinates of the second part, and then determine the second movement range of the second part based on the second initial position coordinates.

[0192] Reference Figures 8 to 10 As shown, in some examples, at least one of the first displacement sensor and the second displacement sensor can be an encoder 260, which is connected to the corresponding first part or the second part, and the encoder 260 is configured to generate a first detection signal or a second detection signal during the movement of the first part or the second part along the track 140.

[0193] Reference Figure 8 As shown, in some examples, the first displacement sensor may include a first encoder 260a. The first encoder 260a may be connected to the first part, and when the first part moves along the first track 140a driven by the first walking assembly 250a, the first encoder 260a generates a first detection signal.

[0194] Reference Fig. 9 As shown, in some examples, the second displacement sensor may include a second encoder 260b. The second encoder 260b may be connected to the second part, and when the second part moves along the track 140 driven by the second walking assembly 250b, the second encoder 260b generates a second detection signal.

[0195] In some examples, the encoder 260 can be a rotary encoder having an encoder wheel 261. The warehousing system can also include a power provider, the encoder wheel 261 cooperates with the power provider, and the power provider is configured to drive the encoder wheel 261 to rotate when the first part or the second part moves along the corresponding track 140 to generate a first detection signal or a second detection signal.

[0196] It can be understood that when the first part or the second part moves along the corresponding track 140, the power provider simultaneously drives the encoder wheel 261 to rotate, so that the angular displacement of the encoder wheel 261 is converted into a first detection signal or a second detection signal to characterize the movement range of the first part or the second part.

[0197] For example, the first encoder 260a is a rotary encoder. When the first part moves along the first track 140a driven by the first walking component 250a, the power provider can drive the encoder wheel 261 of the first encoder 260a to rotate synchronously, so that the first encoder 260a generates a first detection signal, and the first detection signal is used to characterize the movement range of the first part along the track 140.

[0198] For example, the second encoder 260b is a rotary encoder. When the second part moves along the second track 140b driven by the second walking component 250b, the power provider can drive the encoder wheel 261 of the second encoder 260b to rotate synchronously, so that the second encoder 260b generates a second detection signal, and the second detection signal is used to characterize the movement range of the second part along the track 140.

[0199] In some examples, the power provider may be the track 140. For example, the rolling surface of the encoder wheel 261 contacts the surface of the track 140, and when the first portion or the second portion moves along the track 140, the friction between the rolling surface of the encoder wheel 261 and the track 140 drives the encoder wheel 261 to rotate.

[0200] For example, when the first part moves along the first track 140a, the friction between the rolling surface of the encoder wheel 261 of the first encoder 260a and the first track 140a drives the encoder wheel 261 to rotate, so that the first encoder 260a generates a first detection signal. For another example, when the second part moves along the second track 140b, the friction between the rolling surface of the encoder wheel 261 of the second encoder 260b and the second track 140b drives the encoder wheel 261 to rotate, so that the second encoder 260b generates a second detection signal.

[0201] In some examples, the power provider may include a rack disposed on the track 140, and the encoder wheel 261 is a gear structure, and the encoder wheel 261 is meshed with the rack. When the first part or the second part of the stand 211 moves along the corresponding track 140, since the encoder wheel 261 is meshed with the rack, the rack can drive the encoder wheel 261 to rotate, thereby generating a first detection signal. For example, a rack can be disposed on the first track 140a, and the encoder wheel 261 of the first encoder 260a is a gear structure and meshed with the rack on the first track 140a. When the first part moves along the first track 140a, the rack drives the encoder wheel 261 of the first encoder 260a to rotate, thereby generating a first detection signal.

[0202] For another example, a rack can be set on the second track 140b, and the encoder wheel 261 of the second encoder 260b is a gear structure and meshes with the rack on the second track 140b. When the second part moves along the second track 140b, the rack drives the encoder wheel 261 of the second encoder 260b to rotate, thereby generating a second detection signal.

[0203] In some examples, the power provider may include a chain. The encoder wheel 261 of the encoder 260, such as the first encoder 260a, may be a gear or a toothed disc. The gear or toothed disc may be engaged with the chain. When the first part or the second part of the stand 211 moves along the corresponding track 140, the gear or toothed disc may rotate under the action of the chain, thereby generating the first detection signal or the second detection signal.

[0204] In some examples, the power provider may include a synchronous belt or a timing belt. The encoder wheel 261 of the encoder 260, such as the first encoder 260a, is configured as a gear. The gear may be engaged with the synchronous belt or the timing belt. When the first portion or the second portion of the stand 211 moves along the corresponding track 140, the gear may rotate driven by the synchronous belt or the timing belt, thereby generating a first detection signal or a second detection signal.

[0205] In some examples, the encoder wheel 261 may be located on the side of the track 140, and the rolling surface of the encoder wheel 261 cooperates with the side surface 143 of the track 140 to roll along the side surface 143 of the track 140. In this way, the encoder wheel 261 does not need to occupy the space in the thickness direction of the track 140, so that the size of the track 140 can be reduced during installation, thereby further shortening the pick-and-place distance between the pick-and-place mechanism 220 and the carrier 100.

[0206] For example, the encoder wheel 261 may be located on the side of the track 140 , and when the rolling surface of the encoder wheel 261 is an arc surface, the rolling surface of the encoder wheel 261 contacts the side surface 143 of the track 140 so as to roll along the side surface 143 of the track 140 under the action of the friction force with the track 140 .

[0207] In order to make the rolling surface of the encoder wheel 261 contact the side surface 143 of the track 140 more stably, an elastic member 214, such as a second elastic member 214, can be provided on the stand 211. The elastic member 214 can abut against the encoder wheel 261 and exert an elastic force on the encoder wheel 261 toward the track 140. It can be understood that the specific matching mode of the second elastic member 214 and the encoder wheel 261 can refer to the matching mode of the first elastic member 214 and the driving wheel 2122 mentioned above, which will not be repeated here.

[0208] For another example, the rolling surface of the encoder wheel 261 is a gear surface, and the gear surface can mesh with the rack on the side 143 of the track 140, so that when the stand 211 moves along the track 140, the rack can drive the encoder wheel 261 to roll.

[0209] In some examples, the encoder wheel 261 is located on the first surface of the track 140, and the rolling surface of the encoder wheel 261 contacts the first surface of the track 140 to roll along the first surface of the track 140. The corresponding guide wheel 230 on the track 140 is located on the second surface of the track 140. One of the first surface and the second surface is the top 141 of the track 140, and the other of the first surface and the second surface is the bottom 142 of the track 140. In other words, the encoder wheel 261 and the guide wheel 230 are respectively located on different surfaces of the corresponding track 140, thereby providing a suitable space for the assembly of the encoder wheel 261 and the guide wheel 230, and avoiding interference between the encoder wheel 261 and the guide wheel 230.

[0210] For example, the encoder wheel 261 is located at the top 141 of the track 140, and the rolling surface of the encoder wheel 261 can roll under the friction force of the top 141 of the track 140, and the guide wheel 230 is located at the bottom 142 of the track 140, and the guide wheel 230 can roll along the bottom 142 of the track 140. Exemplarily, the encoder wheel 261 of the first encoder 260a is located at the top 141 of the first track 140a, and the rolling surface of the encoder wheel 261 can roll under the friction force of the top 141 of the first track 140a, and the first guide wheel 230a is located at the bottom 142 of the first track 140a, and the first guide wheel 230a can roll along the bottom 142 of the first track 140a.

[0211] In some examples, the extension direction of the rolling axis of the encoder wheel 261 may be parallel to the pick-and-place direction of the pick-and-place mechanism 220 , so as to reduce the size occupied by the encoder wheel 261 in the thickness direction of the track 140 .

[0212] Among them, the cooperation between the rolling surface of the encoder wheel 261 and the top 141 or bottom 142 of the track 140 does not require a limiting structure such as a groove 240. For example, the arc rolling surface of the encoder wheel 261 can directly contact the top 141 or bottom 142 of the planar structure of the track 140.

[0213] In some examples, the manner in which the rolling surface of the encoder wheel 261 cooperates with the track 140 may be similar to the manner in which the guide wheel 230 cooperates with the track 140 , for example, and will not be described in detail herein.

[0214] In some examples, the encoder 260 may be a draw wire encoder, and the power provider may include a draw wire (which may also be referred to as a draw rope in some examples).

[0215] In some examples, the wire of the wire encoder can be connected to the first side end of the track 140. When the first part or the second part moves along the track 140 toward the second side end, the wire can be pulled out, so that the wire encoder generates a detection signal.

[0216] For example, the first encoder 260a is a wire encoder, and the wire of the wire encoder can be connected to the first side end of the first track 140a. When the first part moves along the first track 140a to the second side end, the wire can be pulled out, so that the wire encoder generates a first detection signal.

[0217] For example, the second encoder 260b is a wire encoder, and the wire of the wire encoder can be connected to the first side end of the second track 140b. When the second part moves along the second track 140b to the second side end, the wire can be pulled out, so that the wire encoder generates a second detection signal.

[0218] In some examples, the wire of the wire encoder may be connected to the second side end. When the first portion or the second portion moves along the track 140 toward the second side end, the wire may be retracted, so that the wire encoder generates a detection signal.

[0219] For example, the first encoder 260a is a wire encoder, and the wire of the wire encoder can be connected to the second side end of the first track 140a. When the first part moves along the first track 140a to the second side end, the wire can be retracted, so that the wire encoder generates a first detection signal.

[0220] For example, the second encoder 260b is a wire encoder, and the wire of the wire encoder can be connected to the second side end of the second track 140b. When the second part moves toward the second side end along the second track 140b, the wire can be retracted, so that the wire encoder generates a second detection signal.

[0221] Fig.12 is a schematic diagram of the structure of a fixing plate provided in an embodiment of the present application, Fig.13 1 is a schematic diagram of the structure of the cross beam and the longitudinal beam intersection area in the carrier provided by an embodiment of the present application. Fig.12 and Fig.13 As shown, in some examples, the storage system may further include a fixing plate 270 , and the rail 140 is fixed to the carrier 100 via the fixing plate 270 .

[0222] In some examples, the fixing plate 270 has a middle portion 271 and a connecting portion 272 connected to an end of the middle portion 271 , the middle portion 271 is connected to the track 140 , and the connecting portion 272 is connected to the carrier 100 .

[0223] For example, the middle portion 271 has two ends relatively arranged along the height direction, wherein one connection portion 272, such as the first connection portion 272a, is connected to one end of the middle portion 271 along the length direction, and the other connection portion 272, such as the second connection portion 272b, is connected to the other end of the middle portion 271 along the length direction. In this way, the two connection portions 272 can be fixed on the beam 120 of the carrier 100, and the middle portion 271 is fixed on the track 140.

[0224] Since the height dimension of the track 140 is limited, the first fixing member 273 between the middle portion 271 and the track 140 will be relatively limited. By providing connecting portions 272 on both sides of the middle portion 271, the connecting portions 272 are connected to the carrier 100. The size of the connecting portion 272 can be enlarged, so that the second fixing member between the connecting portion 272 and the carrier 100 can be larger than the force-bearing area of ​​the first fixing member 273, thereby ensuring that the track 140 is stably fixed on the carrier 100.

[0225] In some examples, the first fixing member 273 and the second fixing member can be fixing members such as screws, bolts or rivets, and the second fixing member can be selected to have a structure with a radial dimension larger than the first fixing member 273, so that the track 140 is fixed to the carrier 100 through the fixing plate 270 and the larger second fixing member.

[0226] In addition, the setting of the fixing plate 270 can replace the shear force of the screws that directly fix the track 140 on the carrier 100, so that the first fixing member 273 can stably fix the middle part 271 of the fixing plate 270 on the track 140, and can also stably fix the connecting part 272 of the fixing plate 270 on the carrier 100, thereby avoiding the first fixing member 273 and the second fixing member from loosening.

[0227] In some examples, the fixing plate 270 may be a sheet metal structure.

[0228] In some examples, the connection portion 272 of the fixing plate 270 can be fixed to the longitudinal beam 130 of the carrier 100 by a second fixing member to increase the matching area between the connection portion 272 and the carrier 100, so that the second fixing member can use a larger structure to fix the connection portion 272 and the carrier 100. In addition, the connection portion 272 is fixed to the longitudinal beam 130, which also prevents the connection portion 272 from extending out of the upper and lower sides of the cross beam 120 in the height direction, thereby blocking the exit of the cargo space 101.

[0229] In some examples, the middle portion 271 of the fixing plate 270 is located at the intersection area 150 of the cross beam 120 and the longitudinal beam 130 of the carrier 100 and is connected to the cross beam 120, a portion of the connecting portion 272 is located at the connection 151 between the cross beam 120 and the longitudinal beam 130 in the intersection area 150, and the connecting portion 272 spans the connection 151 and is connected to the longitudinal beam 130.

[0230] Reference Fig. 9 and Fig.12 As shown, at least a portion of the connection portion 272 may protrude in a direction away from the connection 150a so that a reserved space 2722 is provided between the connection portion 272 and the connection 151 , and the reserved space 2722 is used to avoid a fixing member of the connection 151 , such as the third fixing member 160 .

[0231] For example, the cross beam 120 and the longitudinal beam 130 of the carrier 100 are arranged crosswise, and in the intersection area 150, the cross beam 120 is fixed to the longitudinal beam 130 by a plurality of third fixing members 160. In the intersection area 150, there are two locations where the third fixing members 160 are arranged, i.e., the connection 151 connecting the cross beam 120 and the longitudinal beam 130, one of the connection 151, such as the first connection 151a, is located near the top of the cross beam 120, i.e., the position near the top of the cross beam 120 is connected by one or more third fixing members 160, and the other connection 151, such as the second connection 151b, is located near the bottom of the cross beam 120, i.e., the position near the bottom of the cross beam 120 is connected by one or more third fixing members 160.

[0232] In some examples, the third fixing member 160 may include but is not limited to structural members such as screws, bolts, and rivets.

[0233] In some examples, the middle portion 271 of the fixing plate 270 is located between the first connection 151a and the second connection 151b of the beam 120, that is, the projection of the middle portion 271 of the fixing plate 270 on the carrier 100 is located between the first connection 151a and the second connection 151b.

[0234] The connection portion 272 of the fixing plate 270 extends in the height direction of the middle portion 271, crosses the connection 151, and is connected to the longitudinal beam 130 on one side of the connection 151. For example, the connection portion 272 at the upper portion of the middle portion 271 crosses the first connection 151a and is connected to the longitudinal beam 130 on the upper side of the first connection 151a, and the connection portion 272 at the lower portion of the middle portion 271 can cross the second connection 151b and be connected to the longitudinal beam 130 on the lower side of the second connection 151b.

[0235] It can be understood that a portion of the connection portion 272, such as the avoidance portion 2721, is located at the connection 151, that is, the orthographic projection of the avoidance portion 2721 of the connection portion 272 on the carrier 100 is located at the connection 151, and the connection 151 is provided with a third fixing member 160. Therefore, the avoidance portion 2721 of the connection portion 272 can be protruded in a direction away from the connection 151 to form a reserved space 2722 between the avoidance portion 2721 of the connection portion 272 and the connection 151, thereby playing a role in avoiding the third fixing member 160.

[0236] For example, the avoidance portion 2721 of the first connection portion 272a may protrude in a direction away from the first connection portion 151a to avoid the third fixing member 160 of the first connection portion 151a. The avoidance portion 2721 of the second connection portion 272b may protrude in a direction away from the second connection portion 151b to avoid the third fixing member 160 of the second connection portion 151b.

[0237] In some examples, a pick-and-place device 200 may be suspended on one side of each carrier 100 , that is, one pick-and-place device 200 is configured to pick up and place an item on one of the carriers 100 .

[0238] For example, in the storage area 20, multiple carriers 100 such as shelves 110 are arranged at intervals, and a pick-up and placement device 200 is suspended on the side of each shelf 110 facing the aisle. The pick-up and placement device 200 only docks with the shelf 110 on one side of the pick-up and placement device 200 to retrieve and return items from the shelf 110 on one side.

[0239] In some examples, two adjacent carriers 100 may share the pick-and-place device 200 .

[0240] For example, in the storage area 20 , two shelves 110 on both sides of the lane share a pick-and-place device 200 .

[0241] In some examples, for two adjacent shelves 110, a track may be set on the shelf 110 on one side of the aisle, and the picking and placing device 200 is suspended on the shelf 110 on one side through the track 140 and is configured to pick and place target items on the shelves 110 on both sides of the aisle.

[0242] In some examples, tracks 140 may be provided on the shelves 110 on opposite sides of the aisle, and the picking and placing device 200 is configured to move along the tracks 140 on both sides of the aisle to pick and place target items on the shelves 110 on both sides of the aisle.

[0243] In some examples, the pick-and-place mechanism 220 of the pick-and-place device 200 can be centrally arranged in the aisle so that the distance between the pick-and-place mechanism 220 and the shelves on both sides of the aisle is equal. In this way, the docking distance between the pick-and-place mechanism 220 and the shelves on both sides can be equal, thereby facilitating the control of the docking process between the pick-and-place mechanism 220 and the shelves on both sides and also making the docking accuracy higher.

[0244] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not used to limit the protection scope of the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A storage system, characterized in that: include: A carrier (100) is formed with a cargo space (101); A pick-and-place device (200) is suspended on a track (140) on one side of the carrier (100), and the pick-and-place device (200) comprises: A lifting mechanism (210) is movably disposed on the track (140) and moves along the track (140) on the carrier (100); a pick-up and place mechanism (220), which is arranged on the lifting mechanism (210) and can move along the lifting mechanism (210), and the pick-up and place mechanism (220) is configured to pick up and return target items on the cargo position (101); A guide wheel (230) connected to the lifting mechanism (210) and rollingly arranged on the track (140), wherein the guide wheel (230) is configured to move along an extension direction of the track (140) under the drive of the lifting mechanism (210); Wherein, the extension direction of the rolling axis of the guide wheel (230) is parallel to the pick-and-place direction of the pick-and-place mechanism (220).

2. The storage system according to claim 1, characterized in that: A groove (240) is formed on one of the rolling surface of the guide wheel (230) and the track (140), and the other of the rolling surface of the guide wheel (230) and the track (140) is embedded in the groove (240) so that the other moves along the groove (240) relative to the one.

3. The storage system according to claim 2, characterized in that: The guide wheel (230) is a V-shaped wheel, and the V-shaped recessed portion on the rolling surface of the guide wheel (230) is configured as the groove (240).

4. The storage system according to claim 1, characterized in that: The height of the track (140) is greater than the thickness of the track (140), wherein the thickness direction of the track (140) is parallel to the pick-and-place direction of the pick-and-place mechanism (220), and the height direction of the track (140) is parallel to the height direction of the carrier (100).

5. The storage system according to any one of claims 1 to 4, characterized in that: The lifting mechanism (210) comprises: A stand (211); the pick-and-place mechanism (220) is disposed on the stand (211) and is configured to move in a height direction of the stand (211); A driving assembly (212) is disposed on the stand (211), and the driving assembly (212) is configured to move along the track (140) to drive the stand (211) to move on the carrier (100).

6. The storage system according to claim 5, characterized in that: The drive assembly (212) comprises: A driving member (2121) connected to the stand (211); A driving wheel (2122) is connected to the driving member (2121), and the driving wheel (2122) is configured to move along the track (140) under the drive of the driving member (2121) to drive the stand (211) to move along the carrier (100).

7. The storage system according to claim 6, characterized in that: There is at least one driving component (212), and the driving wheel (2122) in at least one of the driving components (212) is located on the side surface (143) of the track (140), and the rolling surface of the driving wheel (2122) is in contact with the side surface (143) of the track (140) so as to roll along the side surface (143) of the track (140) under the drive of the driving member (2121).

8. The storage system according to claim 7, characterized in that: The storage system also includes: An elastic member (214) is arranged on the stand (211); the elastic member (214) abuts against the driving wheel (2122) and applies an elastic force toward the track (140) to the driving wheel (2122).

9. The storage system according to claim 8, characterized in that: The storage system also includes: A fastener (215) is disposed on the stand (211) and extends toward the track (140); The elastic member (214) is sleeved on the fastener (215), and is configured to squeeze the driving wheel (2122) under the action of the fastener (215).

10. The storage system according to claim 7, characterized in that: A plurality of tracks (140) are formed on one side of the carrier (100), the plurality of tracks (140) are arranged at intervals along the height direction of the carrier (100), and the plurality of tracks (140) include a first track (140a) and a second track (140b), wherein the first track (140a) is located above the second track (140b); The guide wheel (230) comprises a first guide wheel (230a) and a second guide wheel (230b); the first guide wheel (230a) is rollably disposed on the first track (140a); and the second guide wheel (230b) is rollably disposed on the second track (140b).

11. The storage system according to claim 10, characterized in that: The stand (211) is provided with a plurality of drive assemblies (212) spaced apart along a height direction, and the plurality of drive assemblies (212) include a first drive assembly (212a) and a second drive assembly (212b); The first driving component (212a) is disposed at a first portion of the stand (211) and is configured to drive the first portion to move along the first track (140a); the second driving component (212b) is disposed at a second portion of the stand (211) and is configured to drive the second portion to move along the second track (140b).

12. The storage system according to claim 11, characterized in that: The driving wheels (2122) of the first driving assembly (212a) and the second driving assembly (212b) are both arranged on the side surface (143) of the track (140) and roll along the side surface (143) of the track (140); At least one of the first guide wheel (230a) and the second guide wheel (230b) is suspended on a top (141) of the corresponding track (140).

13. The storage system according to claim 12, characterized in that: One of the first guide wheel (230a) and the second guide wheel (230b) is located at the top (141) of the corresponding track (140), and the other of the first guide wheel (230a) and the second guide wheel (230b) is located at the bottom (142) of the corresponding track (140).

14. The storage system according to claim 13, characterized in that: The first guide wheel (230a) is located at the top (141) of the first track (140a), and the second guide wheel (230b) is located at the bottom (142) of the second track (140b); The storage system further comprises auxiliary wheels (280), wherein the auxiliary wheels (280) are arranged below the first track (140a), and the auxiliary wheels (280) are configured to roll along the bottom (142) of the first track (140a) when the second guide wheel (230b) is detached from the second track (140b).

15. The storage system according to claim 11, characterized in that: The storage system also includes: A first displacement sensor is configured to detect a first movement stroke of the first part and generate a first detection signal; a second displacement sensor, configured to detect a second movement stroke of the second part and generate a second detection signal; The control mechanism is configured to determine whether the first movement stroke is consistent with the second movement stroke based on the first detection signal and the second detection signal; and is also configured to adjust the output power of at least one of the first drive component (212a) and the second drive component (212b) when the first movement stroke is different from the second movement stroke, so that the first movement stroke and the second movement stroke remain consistent.

16. The storage system according to claim 15, characterized in that: At least one of the first displacement sensor and the second displacement sensor is an encoder (260), and the encoder (260) is connected to the corresponding first part or second part, and the encoder (260) is configured to generate the first detection signal or the second detection signal during the movement of the first part or the second part along the track (140).

17. The storage system according to claim 16, characterized in that: The encoder (260) includes an encoder wheel (261), and the warehousing system includes a power provider. The encoder wheel (261) cooperates with the power provider, and the power provider is configured to drive the encoder wheel (261) to rotate when the first part or the second part moves along the corresponding track (140) to generate the first detection signal or the second detection signal.

18. The storage system according to claim 17, characterized in that: The rolling surface of the encoder wheel (261) contacts the surface of the track (140); When the first part or the second part moves along the track (140), the friction between the rolling surface of the encoder wheel (261) and the track (140) drives the encoder wheel (261) to rotate, and the track (140) is configured as the power provider.

19. The storage system according to claim 18, characterized in that: The encoder wheel (261) is located on a side surface (143) of the track (140), and a rolling surface of the encoder wheel (261) contacts the side surface (143) of the track (140) so as to roll along the side surface (143) of the track (140); Alternatively, the encoder wheel (261) is located on the first surface of the track (140), and the rolling surface of the encoder wheel (261) contacts the first surface of the track (140) to roll along the first surface of the track (140), and the corresponding guide wheel (230) on the track (140) is located on the second surface of the track (140), one of the first surface and the second surface is the top (141) of the track (140), and the other of the first surface and the second surface is the bottom (142) of the track (140).

20. The storage system according to any one of claims 1-4 and 6-19, characterized in that: The storage system also includes: The fixing plate (270) comprises a middle portion (271) and a connecting portion (272) connected to the end of the middle portion (271), wherein the middle portion (271) is connected to the track (140), and the connecting portion (272) is connected to the carrier (100).

21. The storage system according to claim 20, characterized in that: The middle portion (271) is located at the intersection area (150) of the cross beam (120) and the longitudinal beam (130) of the carrier (100), and is connected to the cross beam (120); a portion of the connecting portion (272) is located at the connection (151) between the cross beam (120) and the longitudinal beam (130) in the intersection area (150), and the connecting portion (272) spans the connection (151) and is connected to the longitudinal beam (130); A reserved space (2722) is provided between the connecting portion (272) and the connecting point (151) to avoid the fixing member of the connecting point (151).

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