Warehousing system

Abstract

The embodiment of the utility model provides a warehousing system, which comprises a first carrier, a second carrier, a third carrier and a fourth carrier, the buffer storage position is arranged at the bottom or the side of the first carrier, and the buffer storage position is configured to buffer the order goods; the taking and placing device is located on one side of the first carrier and can move relative to the first carrier; the pick-and-place device comprises a pick-and-place mechanism which is configured to be in butt joint with the storage positions so as to pick and place stock containers; the sorting mechanism is configured to sort out the order goods in the inventory container and deliver the order goods to the slow storage goods position; and the carrying robot is configured to move out the order goods on the buffer goods positions, the taking and placing device can directly sort the order goods on the goods shelf, and the goods sorting efficiency is improved.

Description

Technical Field

[0001] This application belongs to the field of warehousing and logistics technology, and in particular relates to a warehousing system. Background Technology

[0002] In a warehousing system, goods can be stored in containers on shelves in the storage area. When the warehousing system receives an order, it needs to take out the container containing the ordered goods from the shelf and pick the ordered goods in the container so that they can be packaged and shipped out later.

[0003] The existing goods picking process involves a handling robot retrieving the storage container that matches the order from the shelf and transporting it to a workstation where the ordered goods are picked. However, because the number of items in the storage container is small, the handling robot has to retrieve the storage container from the shelf multiple times and transport it to the workstation for goods picking, which reduces the efficiency of goods picking. Utility Model Content

[0004] This application provides a warehousing system that allows for direct picking of ordered goods from shelves via a pick-and-place device, thereby improving goods picking efficiency.

[0005] This application provides a warehousing system, including:

[0006] The first vehicle is equipped with storage locations, which are configured to store inventory containers.

[0007] A cache storage location is located at the bottom or side of the first vehicle and is configured to cache order goods.

[0008] A pick-and-place device is located on one side of the first vehicle and is movable relative to the first vehicle; the pick-and-place device includes:

[0009] The pick-and-place mechanism is configured to interface with storage locations to pick up and place inventory containers;

[0010] The picking mechanism is configured to pick out the order goods from the inventory containers and deliver them to the buffer storage locations;

[0011] The handling robot is configured to move order goods out of the buffer storage location.

[0012] This application provides a warehousing system. A pick-and-place device is installed on one side of a first carrier. The pick-and-place mechanism of this device docks with the storage location of the first carrier to pick and place inventory containers. The picking mechanism of this device picks out the order goods from the inventory containers and delivers them to a buffer location. In other words, the pick-and-place device can directly pick multiple order goods from various inventory containers to the buffer location from one side of the first carrier, facilitating the direct removal of the order goods by a handling robot. For example, the handling robot can directly pack and ship the order goods out of the warehouse. On the one hand, this eliminates the need for multiple transfers of inventory containers between the first carrier and the workstation, and also eliminates the need for workers to pick each item individually at the workstation. This saves time on inventory container handling and manual picking, improving the picking efficiency of goods and reducing the power consumption of the handling robot in handling multiple inventory containers, thus saving the number of handling robots required. On the other hand, the retrieval and picking of order goods does not require the coordination of multiple robots; only some simple mechanical structures are needed to pick and place inventory containers and the order goods within them, effectively reducing operating costs. On the other hand, once the handling robot has collected all the goods for an order, it can directly pack and ship them out of the warehouse without having to transport them to a workstation for sorting or sorting. The entire system is integrated on the first vehicle, and there is no need to set up additional workstations for picking operations in the limited space of the warehouse, thus improving the space utilization of the warehouse. Attached Figure Description

[0013] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the structure of a warehousing system provided in an embodiment of this application from a first-view perspective;

[0015] Figure 2 This is a schematic diagram of the structure of a warehousing system provided in an embodiment of this application from a second perspective;

[0016] Figure 3 This is an assembly diagram of the first carrier and the picking and placing device in a warehousing system provided in an embodiment of this application;

[0017] Figure 4 This is a schematic diagram of one embodiment of the pick-and-place device provided in this application;

[0018] Figure 5 This is a partial schematic diagram of a pick-and-place device provided in an embodiment of this application;

[0019] Figure 6This is a schematic diagram of the structure of a picking and placing mechanism provided in an embodiment of this application;

[0020] Figure 7 This is a schematic diagram of another structure of the pick-and-place device provided in one embodiment of this application;

[0021] Figure 8 This is a schematic diagram of the assembly of the picking component and the second driving component according to an embodiment of this application;

[0022] Figure 9a This is a schematic diagram of the structure of a delivery component provided in an embodiment of this application. Figure 1 ;

[0023] Figure 9b This is a schematic diagram of the structure of a delivery component provided in an embodiment of this application. Figure 2 ;

[0024] Figure 10 This is a schematic diagram of one type of load-bearing structure provided in an embodiment of this application. Figure 1 ;

[0025] Figure 11 This is a schematic diagram of one type of load-bearing structure provided in an embodiment of this application. Figure 2 ;

[0026] Figure 12 This is a schematic diagram of one structure of the handling robot provided in one embodiment of this application. Figure 1 ;

[0027] Figure 13 This is a schematic diagram of one structure of the handling robot provided in one embodiment of this application. Figure 2 ;

[0028] Figure 14 This is a schematic diagram of one structure of the handling robot provided in one embodiment of this application. Figure 3 ;

[0029] Figure 15 This is a schematic diagram of one structure of the handling robot provided in one embodiment of this application. Figure 4 ;

[0030] Figure 16 This is a schematic diagram of another structure of the handling robot provided in one embodiment of this application.

[0031] Explanation of reference numerals in the attached figures:

[0032] 100, 100a, 100b - First vehicle; 100c - Lane; 200 - Pick-and-place device; 300 - Load-bearing structure; 400 - Handling robot; 500 - Inventory container; 600 - Order container; 700 - Image sensor;

[0033] 110 - Storage location; 120 - Track; 121 - Lower track; 122 - Upper track; 130 - Crossbeam; 210 - Picking and placing mechanism; 220 - Picking mechanism; 230 - Stand; 240 - Traveling mechanism; 250 - First drive assembly; 260 - Second drive assembly; 270 - Third drive assembly; 310a - Delivery port; 320a - Shelf; 310 - Buffer location; 311a - Support plate; 410 - Chassis; 420 - Lifting assembly;

[0034] 211-Carrying component; 212-Pick-and-place component; 221-Picking component; 222-Delivery component; 241-Lower travel mechanism; 242-Upper travel mechanism; 251-First drive motor; 252-First slider; 261-Second drive motor; 262-Second drive wheel; 263-Second driven wheel; 264-Second transmission belt; 265-Second slider; 271-Third drive motor; 272-Third slider; 231-First slide rail; 232-Second slide rail; 233-Third slide rail; 421-Lifting mechanism; 422-Supporting component; 422a-Protrusion; 4211-First lifting component; 4212-Second lifting component;

[0035] 2211-Robotic arm; 2212-Gripper; 2213-First rotating assembly; 2214-Second rotating assembly; 2215-Air supply equipment; 2216-Third rotating assembly; 2221-Enclosure wall; 2222-Guide component; 2223-Guide drive component; 222a-First delivery port; 222b-Second delivery port;

[0036] 2211a - Sub-arm; 2212a - Gripper body; 2212b - Connecting rod. Detailed Implementation

[0037] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0038] Figure 1 This is a schematic diagram of the structure of a warehousing system provided in an embodiment of this application from a first-view perspective. Figure 2 This is a schematic diagram of the structure of a warehousing system provided in an embodiment of this application from a second perspective. Figure 3 This is an assembly diagram of a first carrier and a pick-and-place device in a warehousing system provided in an embodiment of this application. (Refer to...) Figures 1 to 3As shown in the figure, this application provides a warehousing system, including a first carrier 100.

[0039] In some examples, the first carrier 100 is located in the storage area of ​​the warehousing system. In some examples, the storage area includes multiple first carriers 100, with aisles 100c formed between adjacent first carriers 100. The first carrier 100 is provided with storage locations 110, which are configured to store inventory containers 500 (see reference). Figure 7 (As shown). Goods are stored in storage container 500.

[0040] In some examples, the first vehicle 100 can move laterally (see reference). Figure 2 Multiple storage bays 110 are provided in the x-direction (middle x direction), and the first carrier 100 is arranged along the height direction (refer to the x-direction). Figure 1 and Figure 2 The first carrier 100 is equipped with multiple storage locations 110 in the z-direction to increase its storage density. It can be understood that the lateral direction of the first carrier 100 can be the direction in which each column of the first carrier 100 is arranged. The height direction of the first carrier 100 is the direction in which each layer of the first carrier 100 is arranged.

[0041] In some examples, the first vehicle 100 is along the depth direction (refer to...) Figure 1 One or more storage locations 110 can be set in the depth direction. For example, when the first carrier 100 is set with a storage location 110 in the depth direction, the same retrieval device, such as the retrieval device 200 mentioned below, can retrieve and place the inventory container 500 in the storage location 110, that is, the first carrier 100 is a single-depth carrier.

[0042] For example, if the first carrier 100 is provided with two or more storage locations 110 along the depth direction, and the same retrieval device 200 can dock with these two or more storage locations 110 to retrieve or place the inventory container 500, then the first carrier 100 is a double-deep or multi-deep carrier.

[0043] For example, when the first carrier 100 is provided with two storage locations 110 along the depth direction, and the two storage locations 110 are respectively docked by the pick-and-place devices 200 on both sides of the first carrier 100 along the depth direction, then the first carrier 100 is a single-depth carrier.

[0044] It should be noted that the first vehicle 100 may include, but is not limited to, shelves, storage cabinets, etc.

[0045] The warehousing system in this application embodiment also includes a cache location 310, which is located at the bottom or side of the first carrier 100 and is configured to cache order goods.

[0046] In some examples, cache location 310 can directly cache order goods.

[0047] In some examples, cache location 310 can cache order goods through order container 600, that is, order container 600 is placed on cache location 310 and order goods are placed inside order container 600.

[0048] It should be noted that the inventory container 500 and the order container 600 can be containers such as bins, pallets, or boxes used for storing goods. This application embodiment does not limit the types of the inventory container 500 and the order container 600.

[0049] In some examples, the warehousing system also includes a handling robot 400, which can dock with order goods or order containers 600 on buffer locations 310 to handle order goods or order containers 600 containing order goods.

[0050] In some examples, the first vehicle 100 has a support structure 300 at its bottom, and a cache storage location 310 is provided on the support structure 300. This can save the space occupied by the cache storage location 310 in the storage area, make reasonable use of the height space of the first vehicle 100, and thus improve the storage density of the storage area.

[0051] In some examples, the support structure 300 can be an independent structure, such as a fixed carrier, placed at the bottom of the first carrier 100. That is, the support structure 300 is a fixed carrier, and the cache location 310 on this fixed carrier can be laid out in the same way as the storage location 110 of the first carrier 100. In some examples, the fixed carrier can be an additional structure set at the bottom of the first carrier 100. For example, the fixed carrier may include support legs and a support plate set on the support legs, on which the cache location 310 is formed. The handling robot 400 can dock with the cache location 310 or the order container 600 on the fixed carrier to handle order goods. For yet another example, the structure of the first carrier 100 itself can form the cache location 310. For instance, the bottom shelf 320a of the first carrier 100 is configured as the support structure 300, and the cache location 310 is formed on the shelf 320a. This cache location 310 can hold order goods or the order container 600, thus eliminating the need for an additional second carrier and simplifying the structure of the warehousing system. The handling robot 400 can dock with the buffer storage location 310 formed by the shelf 320a to retrieve order goods or order containers 600 from the buffer storage location 310, or to place order goods or order containers 600 on the buffer storage location 310.

[0052] In some examples, the support structure 300 can be a movable carrier temporarily stored at the bottom of the first carrier 100. For example, the handling robot 400 can directly move the movable carrier to transfer order goods or order containers 600. In this way, multiple buffer storage locations 310 can be set on the movable carrier to buffer multiple order goods or order containers 600, so that the handling robot 400 can move multiple order goods or order containers 600 at one time by moving the movable carrier.

[0053] In some examples, the buffer location 310 may also be located on one side of the first vehicle 100 in the horizontal direction. For example, the buffer location 310 formed by the bearing structure 300 may be located outside one end of the first vehicle 100 in the lateral direction, or it may be located on one side of the first vehicle 100 in the depth direction, such as in the tunnel 100c.

[0054] Figure 4 This is a schematic diagram of one embodiment of the pick-and-place device provided in this application. (Refer to...) Figure 3 and Figure 4 As shown, the warehousing system of this application embodiment includes a pick-and-place device 200. The pick-and-place device 200 is located on one side of the first carrier 100 and can move relative to the first carrier 100. For example, the pick-and-place device 200 can move laterally along the first carrier 100 to dock with the storage locations 110 or buffer locations 310 of each column.

[0055] In some examples, the pick-and-place device 200 may be set up independently of the first vehicle 100. For example, the pick-and-place device 200 may move within the aisle 100c of the storage area relative to the first vehicle 100.

[0056] In some examples, the pick-and-place device 200 can be suspended on one side of the first vehicle 100, for example, the pick-and-place device 200 can be suspended on the side of the tunnel 100c of the first vehicle 100 to move along the first vehicle 100, thereby reducing the walking requirements of the pick-and-place device 200 on the ground.

[0057] In some examples, the pick-and-place device 200 includes a pick-and-place mechanism 210 configured to dock with the storage location 110 to pick up or place the inventory container 500.

[0058] In some examples, the pick-and-place mechanism 210 can move along the lateral and vertical directions of the first carrier 100 to one side of each storage location 110 to facilitate docking with each storage location 110 to place the inventory container 500 on or remove the inventory container 500 from each storage location 110.

[0059] In some examples, the pick-and-place device 200 may also include a stand 230 that is laterally movable along the first carrier 100, and a pick-and-place mechanism 210 disposed on the stand 230 to laterally move along the first carrier 100 under the drive of the stand 230, thereby docking with the storage locations 110 or buffer locations 310 of each column.

[0060] In some examples, the pick-and-place device 200 can be suspended on the first carrier 100 via the stand 230 to ensure that the pick-and-place mechanism 210 can move stably along the first carrier 100.

[0061] In addition, the picking and placing mechanism 210 is movably mounted on the upright 230 and can move along the upright 230 to move along the height direction of the first carrier 100, thereby docking with the storage positions 110 on each floor.

[0062] In some examples, the pick-and-place device 200 also includes a first drive assembly 250 connected to the pick-and-place mechanism 210 to drive the pick-and-place mechanism 210 to move in the height direction of the stand 230, thereby causing the pick-and-place mechanism 210 to move in the height direction of the first carrier 100 to dock with the storage locations 110 on each floor.

[0063] Figure 5 This is a partial schematic diagram of a pick-and-place device provided in an embodiment of this application. (Refer to...) Figure 4 and Figure 5 As shown, exemplarily, the first drive assembly 250 can be disposed on the stand 230, and the pick-and-place mechanism 210 is connected to the first drive assembly 250 and can slide on the stand 230. For example, the stand 230 is provided with a first slide rail 231, and the first drive assembly 250 includes a first slider 252, which is connected to the pick-and-place mechanism 210 and slides on the first slide rail 231. The pick-and-place mechanism 210 can slide along the first slide rail 231 via the first slider 252 under the drive of the first drive assembly 250. In this way, the movement trajectory of the pick-and-place mechanism 210 on the stand 230 can be restricted, so that the pick-and-place mechanism 210 can move along the height direction of the stand 230, avoiding tilting or swinging in the width direction of the stand 230. In addition, it also reduces the frictional resistance between the pick-and-place mechanism 210 and the stand 230, and improves the stability of the movement of the pick-and-place mechanism 210 on the stand 230.

[0064] To further reduce the frictional resistance between the pick-and-place mechanism 210 and the stand 230, a roller can be provided on the first slider 252, so that the pick-and-place mechanism 210 rolls along the first slide rail 231 on the stand 230 via the roller.

[0065] It should be noted that the first drive component 250 may include, but is not limited to, a drive motor, a drive cylinder, a drive motor and a pulley structure. The embodiments of this application do not limit the structure of the first drive component 250, as long as it can drive the pick-up and put-down mechanism 210 to move in the height direction of the stand 230.

[0066] Taking the first drive assembly 250, which includes a first drive motor 251 and a pulley structure, as an example, the first drive motor 251 can be set at one end of the stand 230, such as the top end. The drive wheel of the pulley structure can be set on one side of the first drive motor 251, such as the top end of the stand 230, and connected to the output shaft of the first drive motor 251. The driven wheel of the pulley structure can be set at one end of the stand 230 away from the drive wheel, such as the bottom end. The transmission belt is sleeved on the drive wheel and the driven wheel and connected to the first slider 252.

[0067] When it is necessary to drive the pick-and-place mechanism 210 to move, the first drive motor 251 drives the drive wheel to rotate, and the transmission belt can drive the driven wheel to rotate under the drive of the drive wheel. The pick-and-place mechanism 210 can move along the height direction of the stand 230 during the movement of the transmission belt.

[0068] In some examples, the pulley structure can be a synchronous pulley structure; for example, the driving wheel and driven wheel can be synchronous pulleys, and the transmission belt can be a synchronous belt. In some examples, the pulley structure can be a sprocket structure; for example, the driving wheel and driven wheel can be sprockets, and the transmission belt can be a chain. The embodiments of this application do not limit the pulley structure.

[0069] In some examples, the drive belt may be connected to the first slider 252 to drive the pick-and-place mechanism 210.

[0070] Figure 6 This is a schematic diagram of the picking and placing mechanism provided in one embodiment of this application. (Refer to...) Figure 4 and Figure 6 As shown, in some examples, the pick-and-place mechanism 210 may include a carrier component 211 and a pick-and-place component 212. The carrier component 211 is movable in the lateral and vertical directions of the first carrier 100. For example, the carrier component 211 may be movably mounted on the stand 230, or it may slide on the stand 230 via a first drive component 250. The pick-and-place component 212 is located on the carrier component 211 and is movable between the carrier component 211 and the storage location 110 to transfer the inventory container 500 between the carrier component 211 and the storage location 110. For example, the pick-and-place component 212 may transfer the inventory container 500 on the storage location 110 to the carrier component 211, or transfer the inventory container 500 on the carrier component 211 to the storage location 110.

[0071] It is understood that the loading and unloading mechanism 210 supports the storage container 500 through the bearing component 211, so as to drive the storage container 500 to move on one side of the first carrier 100.

[0072] In some examples, the fixed end of the pick-and-place component 212 can be connected to a drive structure that drives the pick-and-place component 212 to move between the carrier component 211 and the storage location 110. The movable end of the pick-and-place component 212 (which may also be called the free end in some examples) is provided with a force-providing component that can provide force to the storage container 500, thereby enabling the movement, handling or retrieval of the storage container 500.

[0073] In a specific example of the embodiments of this application, the force providing component may be a suction cup. By controlling the vacuum degree of the suction cup cavity, the front end face of the storage container 500 is adsorbed when the vacuum degree is greater than or equal to a preset vacuum degree, thereby carrying the storage container 500 to move, or the storage container 500 is detached when the vacuum degree is less than the preset vacuum degree.

[0074] In a specific example of the embodiments of this application, the force-providing component may be a hook. At the same time, a slot for inserting the hook may be provided on the front end face of the storage container 500. When the storage container 500 is retrieved or returned, the hook may be inserted into the slot, thereby connecting with the front end face of the storage container 500 and providing a transporting force to the storage container 500.

[0075] In other specific examples of embodiments of this application, the force-providing component may also be a biaxial or multiaxial gripper mechanism, and a through hole for the gripper mechanism to be inserted is provided on the front end face of the storage container 500. When retrieving or returning the storage container 500, the gripper mechanism may be controlled to be in a clamped state and inserted into the through hole; then the gripper mechanism is opened, so that the outer wall of the gripper mechanism contacts the inner wall of the through hole, and the storage container 500 is moved by the friction between the outer wall of the gripper and the inner wall of the through hole. It is understood that in some possible examples, barbs may also be provided on the outer wall of the gripper mechanism, so that the barbs can be hooked onto the edge of the hole on the inner wall of the storage container 500, thereby ensuring that the gripper mechanism can provide sufficient moving force when moving the storage container 500.

[0076] It is also understood that in some alternative examples of the embodiments of this application, the force providing component may also be an electromagnet. Accordingly, the front end face of the storage container 500 may be made of a material that can be attracted by a magnet (e.g., ferrous material). When retrieving or returning the storage container 500, the electromagnet may be energized when the force providing component is close to or in contact with the storage container 500, thereby providing a carrying force for the storage container 500 through the magnetic attraction of the electromagnet.

[0077] It is understood that in some other possible examples of embodiments of this application, the force-providing component may also be made of a material that can be attracted by a magnet. Accordingly, an electromagnet is provided on the front end face of the storage container 500. In this way, when the storage container 500 is retrieved or returned, the electromagnet may be energized when the force-providing component is close to or in contact with the storage container 500, thereby generating a magnetic attraction between the force-providing component and the electromagnet on the storage container 500, thereby providing a carrying force for the storage container 500.

[0078] In some examples, the pick-and-place assembly 212 can be a telescopic fork assembly that extends into both sides of the storage container 500 and clamps the side walls of the storage container 500, thereby moving the storage container 500 between the carrying assembly 211 and the storage location 110. Alternatively, a front derailleur can be provided at the front end of the outermost telescopic fork in the telescopic fork assembly, and a rear derailleur can be provided at the rear end of the outermost telescopic fork.

[0079] When the container needs to be returned, the outermost telescopic fork of the telescopic fork assembly extends to both sides of the storage container 500, and can stop the rear derailleur finger on the front end of the storage container 500. As the telescopic fork extends, the rear derailleur finger moves the storage container 500 to the storage location 110.

[0080] When a box needs to be retrieved, the outermost telescopic fork of the telescopic fork assembly extends to both sides of the storage container 500, and can stop the front derailleur finger on the rear end face of the storage container 500. As the telescopic fork retracts, the front derailleur finger drives the storage container 500 to move to the bearing assembly 211.

[0081] This application does not impose any restrictions on the structure of the pick-and-place component 212, as long as it ensures that the inventory container 500 can be transferred between the carrier component 211 and the storage location 110.

[0082] Reference Figure 3 and Figure 4 As shown, the pick-and-place device 200 of this application embodiment also includes a picking mechanism 220, which is configured to pick out the order goods from the inventory container 500 and deliver them to the buffer location 310.

[0083] In some examples, picking facility 220 can directly deliver order goods to cache location 310, meaning cache location 310 directly caches order goods.

[0084] In some examples, order containers 600 are cached in cache location 310, and picking mechanism 220 delivers order goods to order containers 600 located in cache location 310. It should be noted that order containers 600 remain in cache location 310 throughout the operation of picking mechanism 210 or picking mechanism 220. After picking order goods from inventory container 500, picking mechanism 220 can move to one side of cache location 310 and deliver the order goods to order container 600.

[0085] In some examples, the picking mechanism 220 may include a robotic arm 2211 and a gripper 2212 located at the end of the robotic arm 2211. The gripper 2212 can move into the storage container 500 driven by the robotic arm 2211, pick up the order goods, and then carry the order goods out of the storage container 500 and deliver them to the order container 600 on the buffer location 310 driven by the robotic arm 2211.

[0086] In some examples, the picking mechanism 220 can move laterally along the first carrier 100 driven by the stand 230, thereby moving to the storage location 110 or buffer location 310 of each column.

[0087] In some examples, the picking mechanism 220 may be mounted on the first drive assembly 250, so that it moves with the pick-and-place mechanism 210 under the drive of the first drive assembly 250. This allows the picking mechanism 220 and the pick-and-place mechanism 210 to move in the height direction of the stand 230 under the drive of the first drive assembly 250, moving between the storage location 110 and the buffer location 310. Alternatively, the picking mechanism 220 and the pick-and-place mechanism 210 may also move laterally with the stand 230 under the drive of the first drive assembly 250, moving between the first carrier 100 and the columns of the buffer location 310.

[0088] In some examples, the picking mechanism 220 may be mounted on the pick-and-place mechanism 210 so that the picking mechanism 220 moves with the pick-and-place mechanism 210. That is, the picking mechanism 220 moves directly along the height direction of the stand 230 under the drive of the pick-and-place mechanism 210 to move between the storage location 110 and the buffer location 310. In addition, the stand 230 may drive the pick-and-place mechanism 210 and the picking mechanism 220 on the pick-and-place mechanism 210 to move laterally in the first carrier 100 to move between the first carrier 100 and the columns of the buffer location 310.

[0089] By directly mounting the picking mechanism 220 on the pick-and-place mechanism 210 or the first drive component 250 that drives the pick-and-place mechanism 210, the structure of the pick-and-place device 200 is simplified. The picking mechanism 220 can move directly between the storage location 110 and the buffer location 310 under the drive of the pick-and-place mechanism 210 or the first drive component 250, and can move synchronously with the pick-and-place mechanism 210. This simplifies the entire control logic of the pick-and-place device 200 and helps to improve the picking efficiency of the pick-and-place device 200.

[0090] It should be noted that the picking mechanism 220 can be movably mounted on the pick-and-place mechanism 210 or the first drive component 250, and can move up and down relative to the pick-and-place mechanism 210 to realize the action of taking out the order goods from the inventory container 500 and placing them in the buffer location 310 or the order container 600.

[0091] In some examples, the picking mechanism 220 can also be directly mounted on the stand 230 via an additional drive mechanism, so that it can move along the height of the stand 230 under the drive of the drive mechanism, thereby moving between the storage location 110 and the cache location 310, and realizing the action of taking out the order goods from the inventory container 500 and placing them in the cache location 310 or the order container 600.

[0092] The embodiments of this application do not limit the location of the picking mechanism 220, as long as it can ensure that the picking mechanism 220 can move up and down in the height direction of the stand 230.

[0093] For example, the robotic arm 2211 of the picking mechanism 220 can be mounted on the pick-and-place mechanism 210 so that it can move relative to the stand 230 in the height direction and move along the height direction of the first carrier 100, so that the robotic arm 2211 can descend or rise, so that the robotic arm 2211 can move from the storage location 110 side to the buffer location 310 side, thereby taking the order goods out of the inventory container 500 and delivering them to the order container 600 on the buffer location 310, and also allowing the gripper 2212 to extend into the interior of the inventory container 500 or detach from the inventory container 500 under the drive of the robotic arm 2211.

[0094] In addition, the robotic arm 2211 can be folded, extended, or rotated to deliver order goods on the gripper 2212 into the order container 600 located on the buffer storage location 310.

[0095] This application embodiment does not limit the structure of the picking mechanism 220, as long as it can ensure that the order goods in the inventory container 500 are picked out and delivered to the order container 600 on the buffer location 310.

[0096] The following is an exemplary description of the entire picking process of a warehousing system.

[0097] When the warehousing system receives an order, the picking and placing mechanism 210 of the picking and placing device 200 moves in the lateral and vertical directions of the first carrier 100 to move to one side of the storage location 110 involved in the order, i.e., the target storage location 110. For example, the stand 230 moves laterally in the first carrier 100 to drive the picking and placing mechanism 210 and the picking mechanism 220 in that lateral movement, and then the picking and placing mechanism 210 moves in the vertical direction of the first carrier 100 to reach one side of the target storage location 110.

[0098] The pick-and-place mechanism 210 retrieves the target inventory container 500 from the target storage location 110, and then the picking mechanism 220 picks out the order goods from the target inventory container 500 and delivers them to the buffer location 310.

[0099] The handling robot 400 docks with the buffer storage location 310 to remove the order goods from the buffer storage location 310, for example, by moving them to the workstation for splitting or packing and shipping.

[0100] Taking the cache location 310 as an example of directly caching order goods, the picking mechanism 220 picks out the order goods from the target inventory container 500 and delivers them to the cache location 310.

[0101] The handling robot 400 can retrieve goods from one or more cache locations 310 for multiple orders and transfer them to the workstation for splitting or packing for shipment.

[0102] Taking the cache order container 600 in the cache location 310 as an example, after the picking mechanism 220 picks the order goods from the target inventory container 500, it can deliver them to the order container 600 located in the cache location 310.

[0103] Once all the goods involved in an order have been delivered into the order container 600, the order container 600 can be moved to the workstation by the handling robot 400 for splitting or packing and shipping.

[0104] In some examples, the pick-and-place device 200 can collect the same SKU from all orders and place it into one or more buffer locations 310, such as order containers 600. For example, if all orders involve trousers and slippers, with a total of 50 pairs of trousers and 20 pairs of slippers, the pick-and-place device 210 and the picking device 220 can work together to pick the 50 pairs of trousers from each of the inventory containers 500 and place them into one or more buffer locations 310, such as one or more order containers 600, depending on the quantity of goods that the order container 600 can hold. Similarly, the pick-and-place device 210 and the picking device 220 can work together to pick the 20 pairs of slippers from each of the inventory containers 500 and place them into another order container 600 or several other order containers 600.

[0105] It should be noted that the same cache location 310 contains the same SKU. For example, one cache location 310 may contain trousers, and another cache location 310 may contain slippers. In some examples, the pick-and-place device 200 can collect all SKUs involved in each order and place them into one or more cache locations 310. For example, if the first order involves 5 pairs of trousers and 2 pairs of slippers, and the second order involves 10 pairs of trousers, 8 pairs of slippers, and 3 pairs of socks, then the pick-and-place device 210 and the picking device 220 can work together to retrieve the 5 pairs of trousers and 2 pairs of slippers from the respective inventory containers 500 and deliver them to one or more cache locations 310. It is understood that the number of cache locations 310 where all the goods for the first order are stored can be determined by the quantity of goods that can be held in each cache location 310 and the storage location of the order goods. Alternatively, through the cooperation of the pick-and-place mechanism 210 and the picking mechanism 220, 10 pairs of trousers, 8 pairs of slippers, and 3 pairs of socks can be retrieved from their respective storage containers 500 and delivered to another buffer storage location 310 or multiple other buffer storage locations 310. It is understood that the number of buffer storage locations 310 where all the goods for the second order are stored can be determined by the quantity of goods that can be accommodated in each buffer storage location 310 and the location where the order goods are stored.

[0106] It should be noted that the same cache location 310, such as order container 600, contains SKUs of the same order. For example, one order container 600 may contain only the first order's goods, while another order container 600 may contain only the second order's goods.

[0107] In some examples, when the pick-and-place device 200 receives a picking task, the pick-and-place mechanism 210 first moves to one side of one of the target storage locations 110 and takes out one of the target inventory containers 500. The picking mechanism 220 can then take out one order item from the target inventory container 500 and deliver it to the buffer location 310. Then, the pick-and-place mechanism 210 moves to one side of another target storage location 110 and takes out another target inventory container 500. The picking mechanism 220 then takes out another order item from the target inventory container 500 and delivers it to the buffer location 310, until all SKUs involved in all orders are delivered to the buffer location 310, or all SKUs in the same order are delivered to the buffer location 310.

[0108] In some examples, when the pick-and-place device 200 receives a picking task, the pick-and-place mechanism 210 first moves to one side of one of the target storage locations 110 and takes out one of the target inventory containers 500. The picking mechanism 220 can then take out one of the order items from the target inventory container 500 and store it on the picking mechanism 220. Then the pick-and-place mechanism 210 moves to one side of another target storage location 110 and takes out another target inventory container 500. The picking mechanism 220 then takes out another order item from the target inventory container 500 and stores it. This continues until the picking mechanism 220 has taken out all the same SKUs involved in all orders or all SKUs involved in the same order. Then the picking mechanism 220 moves to one side of the buffer location 310 and delivers the item to the buffer location 310.

[0109] For example, the picking mechanism 220 may be equipped with multiple robotic arms 2211 and corresponding grippers 2212, each gripper 2212 picking up goods from each order. For example, when the pick-and-place device 200 receives a picking task, the pick-and-place mechanism 210 first moves to one side of one of the target storage locations 110 and takes out one of the target inventory containers 500. One of the grippers 2212 of the picking mechanism 220, driven by the corresponding robotic arm 2211, can take out one of the order items from the target inventory container 500 and store it on the gripper 2212. Then, the pick-and-place mechanism 210 moves to one side of another target storage location 110 and takes out another target inventory container 500. The other gripper 2212 of the picking mechanism 220, driven by the corresponding robotic arm 2211, takes out another order item from the target inventory container 500 and stores it. Until the picking mechanism 220 takes out all the same SKUs involved in the order or all SKUs involved in the same order, it moves to one side of the buffer location 310 and delivers the order items on each gripper 2212 to the buffer location 310, such as the order container 600, in sequence or simultaneously.

[0110] In some examples, after the pick-and-place device 200 retrieves the same SKU from all orders and places it into one or more buffer locations 310, a single handling robot 400 can move the same SKU order to the workstation. Multiple handling robots 400 then move each SKU order from its respective buffer location 310 to the workstation. At the workstation, staff or automated picking equipment divides the order goods according to the order requirements. For example, if the first order contains 5 pairs of trousers and 2 pairs of slippers, and the second order contains 10 pairs of trousers, 8 pairs of slippers, and 3 pairs of socks, then the goods are picked from the handling robot 400 containing the trousers. Five pairs of trousers are taken from order container 600 on robot 400 and placed into the first order container 600 on the seeding wall. Then, ten pairs of trousers are taken and placed into the second order container 600 on the seeding wall. Two pairs of slippers are taken from order container 600 on robot 400 containing slippers and placed into the first order container 600 on the seeding wall. Then, eight pairs of slippers are taken and placed into the second order container 600 on the seeding wall. Three pairs of socks are taken from order container 600 on robot 400 containing socks and placed into the second order container 600 on the seeding wall. Once the first order is completely seeded into the first order container 600, the first order container 600 can be packaged and shipped. Once the second order is completely seeded into the second container, the second order container 600 can be packaged and shipped.

[0111] In some examples, after the pick-and-place device 200 has picked up all the SKUs involved in each order to one or more cache locations 310, the handling robot 400 can directly transport all the SKUs involved in the order to the workstation for packaging and outbound, without the need for secondary picking.

[0112] For example, after the pick-and-place device 200 has collected all the SKUs involved in each order into multiple cache locations 310, the handling robot 400 can move the order goods from two cache locations 310 to the workstation and deliver the order goods into the same order container 600 for subsequent packaging and outbound processing.

[0113] For example, trousers and slippers involved in an order are stored in a storage container 500 on a first carrier 100 on one side of aisle 100c, and socks are stored in a storage container 500 on a first carrier 100 on the other side of aisle 100c. In this way, by cooperating the pick-and-place mechanism 210 and the picking mechanism 220 on one side of aisle 100c, 10 pairs of trousers and 8 pairs of slippers can be picked to the buffer storage location 310 on that side of aisle 100c. By cooperating the pick-and-place mechanism 210 and the picking mechanism 220 on the other side of aisle 100c, 3 pairs of socks can be picked to the buffer storage location 310 on that side of aisle 100c. The handling robot 400 can move sequentially to the buffer storage location 310 on the side of the two aisles 100c above, collect 10 pairs of trousers, 8 pairs of slippers and 3 pairs of socks, transfer them to the workstation, and deliver the 10 pairs of trousers, 8 pairs of slippers and 3 pairs of socks into the same order container 600, and then pack and ship the order container 600 out of the warehouse.

[0114] Understandably, once the pick-and-place device 200 has retrieved all the SKUs involved in each order into the corresponding order containers 600 on multiple cache locations 310, the handling robot 400 can directly move the multiple order containers 600 to the workstation, take out the order goods from the multiple order containers 600, deliver them to the same order container 600, and pack and ship the order container 600 out of the warehouse.

[0115] This application provides a warehousing system in which a picking and placing device 200 is provided on one side of a first carrier 100. The picking and placing mechanism 210 of the picking and placing device 200 is connected to the storage location 110 of the first carrier 100 to pick and place inventory containers 500. The picking mechanism 220 of the picking and placing device 200 picks out the order goods from the inventory containers 500 and delivers them to the buffer location 310. That is, the picking and placing device 200 can directly pick multiple order goods from each inventory container 500 to the buffer location 310 on one side of the first carrier 100, so that the order goods can be transported to the workstation by the handling robot 400 for splitting or packaging and outbound.

[0116] On the one hand, there is no need to move the inventory container 500 between the first carrier 100 and the workstation multiple times, nor is it necessary for staff to pick them one by one at the workstation. This saves the time for moving the inventory container 500 and the time for manual picking, improves the picking efficiency of goods, and also reduces the power consumption of the handling robot moving the inventory container 500 more than 400 times.

[0117] On the other hand, the retrieval and picking of order goods does not require the coordination of multiple robots. Only some simple mechanical structures are needed to pick up and put down the order goods in the storage container 500, which effectively reduces operating costs.

[0118] On the other hand, when the order goods in the buffer location 310 meet the needs of a single order, the order goods can be transported to the workstation by the handling robot 400 and directly packaged and shipped out, without having to be transported to the workstation for sorting or picking. The entire system is integrated on the first carrier 100, and there is no need to set up additional workstations for picking operations in the limited space of the warehouse, thus improving the space utilization of the warehouse.

[0119] In addition, by caching the order container 600 on the cache location 310, the picking mechanism 220 can pick out the order goods from the inventory container 500 and deliver them to the order container 600 located in the cache location 310, thus eliminating the need to move the order container 600 back and forth, simplifying the picking process of the picking and placing device 200, as well as simplifying the structure and power consumption of the picking and placing device 200.

[0120] In some examples, the pick-and-place device 200 may also include an image sensor 700 configured to acquire information about the order goods inside the inventory container 500 when the pick-and-place mechanism 210 removes the inventory container 500.

[0121] The picking mechanism 220 is configured to move relative to the pick-and-place mechanism 210 based on information acquired by the image sensor 700 in order to pick up the ordered goods.

[0122] In some examples, the image sensor 700 can acquire information such as the location, shape, and placement angle of the ordered goods.

[0123] In some examples, the warehousing system may include a control device, with the picking mechanism 220 signal-connected to the control device and the image sensor 700 signal-connected to the control device. The image sensor 700 can send information about the acquired order goods to the control device, which can determine the movement trajectory of the robotic arm 2211 based on this information, such as position information, and then control the robotic arm 2211 to move so that the robotic arm 2211 drives the gripper 2212 to the location of the order goods. Then, the control device plans the movement path of the gripper 2212 based on the structural shape information and placement angle information of the order goods, and then controls the gripper 2212 to move according to the movement trajectory so that the gripping surface of the gripper 2212 contacts the side wall of the order goods that is easier to grip, so as to quickly grasp the order goods. Then, the robotic arm 2211 and the gripper 2212 can return to the initial position so that the gripper 2212 carries the order goods away from the storage container 500.

[0124] Of course, in some examples, after the gripper 2212 has picked up the order goods, the robotic arm 2211 and the gripper 2212 can also replan the path back to the initial position according to the height of the inventory container 500 and the surrounding structural components, as long as it is ensured that the robotic arm 2211, the gripper 2212 and the order goods do not collide with other structures.

[0125] In some examples, the image sensor 700 may include, but is not limited to, a 3D camera, etc.

[0126] In some examples, the image sensor 700 may be mounted on the stand 230 and may move along the height of the stand 230 so that the distance between the image sensor 700 and the pick-and-place mechanism 210 is within a preset range, so that the image sensor 700 can obtain information about the ordered goods in the inventory container 500 more clearly.

[0127] In some examples, the image sensor 700 and the pick-and-place mechanism 210 can be independently mounted on the stand 230. That is, the driving structure of the image sensor 700 and the first driving component 250 of the pick-and-place mechanism 210 are different structures. When the pick-and-place mechanism 210 moves along the height direction of the stand 230 under the drive of the first driving component 250, the image sensor 700 can move along the height direction of the stand 230 under the drive of the driving structure, so as to ensure that the distance between the image sensor 700 and the pick-and-place mechanism 210 in the height direction of the stand 230 is within a preset range.

[0128] In some examples, the image sensor 700 can be connected to the pick-and-place mechanism 210 or the first drive assembly 250, so that the image sensor 700 can move synchronously with the pick-and-place mechanism 210 under the drive of the pick-and-place mechanism 210 or the first drive assembly 250, thereby simplifying the structure and control logic of the pick-and-place device 200. For example, a mounting rod can be connected to the first slider 252, and the image sensor 700 can be fixed to the mounting rod, so that the image sensor 700 moves synchronously with the first slider 252.

[0129] In some examples, the mounting rod can be positioned above the pick-and-place mechanism 210, and the image sensor 700 can be fixed in the middle area above the pick-and-place mechanism 210 to better capture the order goods in various locations within the inventory container 500 without being obstructed by the side walls of the inventory container 500 or the support frame 230.

[0130] Reference Figure 4 As shown, in some examples, picking mechanism 220 may include picking component 221, which is configured to pick order goods from inventory container 500 and deliver the order goods to cache location 310.

[0131] For example, the picking component 221 can be the robotic arm 2211 and gripper 2212 in the example above. Based on the relevant information of the order goods obtained by the image sensor 700, such as position information, structural shape information and placement angle information, the control device can control the robotic arm 2211 to drive the gripper 2212 to take out the order goods from the inventory container 500, and deliver the order goods to the buffer storage location 310 when the picking component 221 moves to one side of the buffer storage location 310.

[0132] In some examples, after the pick-and-place mechanism 210 removes the inventory container 500 from the storage location 110, the pick-and-place mechanism 210 and the picking component 221 can move toward the buffer location 310 so that when the picking component 221 moves to one side of the buffer location 310, the order goods are delivered to the buffer location 310.

[0133] In some examples, the picking component 221 is configured to pick order goods from the inventory container 500 during or when the pick-and-place mechanism 210 moves the inventory container 500 toward the cache location 310, and to deliver the order goods to the cache location 310 when the picking component 221 reaches one side of the cache location 310.

[0134] It is understandable that when the pick-and-place mechanism 210 removes the inventory container 500 and moves it along the height of the first carrier 100, the inventory container 500 and the pick-and-place mechanism 210 remain relatively stationary; that is, the inventory container 500 does not move on the pick-and-place mechanism 210, and the order goods in the inventory container 500 remain stationary relative to the pick-and-place mechanism 210. Thus, during the movement of the inventory container 500 towards the buffer location 310 by the pick-and-place mechanism 210, the picking component 221 can perform at least one of the following actions:

[0135] Action 1: Based on the information of the order goods obtained by the image sensor 700, move the goods to the storage container 500 along the motion trajectory planned by the control equipment;

[0136] Action 2: Pick up the ordered goods;

[0137] Action 3: Take the ordered goods out of the storage container 500.

[0138] When the picking component 221 arrives at one side of the buffer location 310, the picking component 221 delivers the retrieved order goods into the buffer location 310.

[0139] In the example above, the picking component 221 utilizes the time taken by the pick-and-place mechanism 210 to move the inventory container 500 to the buffer location 310 to complete at least one of the actions of identifying the order goods, planning the picking path, and removing the order goods from the inventory container 500. This can save the entire working time of the pick-and-place device 200 from picking the inventory container 500 to delivering the order goods to the buffer location 310, thereby improving the picking and outbound efficiency of order goods.

[0140] For example, when the storage location of the inventory container 500 is far from the buffer storage location 310, during the movement of the inventory container 500 towards the buffer storage location 310 by the picking mechanism 210, the picking component 221 can perform actions one to three: based on the order information obtained by the image sensor 700, it moves along the motion trajectory planned by the control device towards the order in the inventory container 500, picks up the order, and then carries the order out of the inventory container 500. When the picking component 221 reaches one side of the buffer storage location 310, it delivers the retrieved order into the buffer storage location 310.

[0141] For example, when the storage location of the inventory container 500 is close to the buffer storage location 310, during the movement of the inventory container 500 towards the buffer storage location 310 by the picking mechanism 210, the picking component 221 can perform one or two actions: that is, based on the order information obtained by the image sensor 700, it moves along the movement trajectory planned by the control device towards the order in the inventory container 500 and picks up the order. When the picking component 221 reaches one side of the buffer storage location 310, it carries the order out of the inventory container 500 and delivers the order to the buffer storage location 310.

[0142] It is understood that during the process of the pick-and-place mechanism 210 moving the inventory container 500 toward the cache location 310, the actions performed by the picking component 221 can be adjusted according to the distance between the storage location of the inventory container 500 and the cache location 310. This application embodiment does not limit the actions of the picking component 221 when the pick-and-place mechanism 210 moves the inventory container 500 toward the cache location 310.

[0143] In some examples, when the warehousing system receives a first order and a second order, and the first order goods of the first order and the second order goods of the second order are located in the same inventory container 500, the picking component 221 is configured to pick the first order goods from the inventory container 500 and deliver them to one of the buffer locations 310, and after the pick-and-place mechanism 210 moves the inventory container 500 a first horizontal distance, the picking component 221 delivers the second order goods picked from the inventory container 500 to another buffer location 310.

[0144] It should be noted that the first horizontal distance refers to the horizontal distance between the buffer storage location 310 for placing the goods of the first order and the buffer storage location 310 for placing the goods of the second order, that is, the distance between the two buffer storage locations 310 along the lateral direction of the first carrier 100.

[0145] For example, the first order and the second order may contain the same SKU and be stored in the same inventory container 500. Of course, in other examples, the first order and the second order may contain different SKUs and be stored in the same inventory container 500.

[0146] For example, when the warehousing system receives a first order task and a second order task, and the goods in the first order task and the goods in the second order task are both stored in the same inventory container 500, the picking mechanism 210 is controlled to retrieve the inventory container 500 from the storage location 110 and move it towards one of the buffer locations 310 (e.g., the first buffer location 310). The picking component 221 can pick out the goods in the first order task from the inventory container 500 as it moves towards the first buffer location 310. Upon reaching the first buffer location, the picking component 221 will then pick out the goods in the first order task. After the first order is placed in the first cache location 310, the picking mechanism 210 can move the inventory container 500 along the lateral direction of the first carrier 100 towards another cache location 310 (e.g., the second cache location 310) by a first horizontal distance to reach one side of the second cache location 310. During the movement of the inventory container 500 towards the second cache location 310, the picking component 221 can pick out the second order from the inventory container 500 and place the second order into the second cache location 310 after the picking component 221 reaches one side of the second cache location 310.

[0147] In this embodiment, the same pick-and-place mechanism 210 transports multiple orders involving the same inventory container 500 to one side of the buffer storage location 310 at a time. Then, according to the buffer storage location 310 corresponding to different orders, the inventory container 500 is controlled to move laterally along the first carrier 100 to switch between different buffer storage locations 310. The picking component 221 picks each item from the inventory container 500 to the corresponding buffer storage location 310. This eliminates the need for multiple pick-and-place mechanisms 210 or the same pick-and-place mechanism 210 to repeatedly take the inventory container 500 from the storage location 110 and transport it to the corresponding buffer storage location 310 for picking and delivery. This can save picking time for multiple orders and improve the picking efficiency of the entire warehousing system.

[0148] In some examples, the first horizontal distance is within a preset range to shorten the path length of the picking mechanism 210 for transporting the inventory container 500 in the lateral movement of the first carrier 100, thereby improving the picking efficiency of multiple order goods. For example, the first horizontal distance can be zero, that is, the two buffer storage locations 310 are set adjacent to each other. Then, after the inventory container 500 completes the picking of the first goods on the side of the first buffer storage location 310, it does not need to move laterally along the first carrier 100. After the picking component 221 completes the delivery of the first goods, it can continue to pick out the second goods from the inventory container 500 and deliver them to the second buffer storage location 310.

[0149] By setting the first horizontal distance within a preset range, that is, by centrally setting up the cache locations 310 for the same SKU goods involving different orders, the path length of a storage container 500 moving between the cache locations 310 can be reduced, thereby improving the picking efficiency of goods for multiple orders.

[0150] Figure 7 This is a schematic diagram of another structure of the picking and placing device provided in one embodiment of this application. (Refer to...) Figure 7 As shown, in some examples, the picking mechanism 220 may include a picking component 221 and a delivery component 222, wherein the picking component 221 is configured to pick order goods from the inventory container 500. For example, the picking component 221 may be a robotic arm 2211 and a gripper 2212 as in the above examples, with the robotic arm 2211 driving the gripper 2212 to retrieve order goods from the inventory container 500.

[0151] Delivery component 222 is configured to receive order goods picked by picking component 221 and deliver them to buffer location 310. For example, after picking component 221 removes order goods from inventory container 500, it can place them on delivery component 222, which then delivers the order goods to buffer location 310, such as order container 600.

[0152] By setting the picking mechanism 220 to include a picking component 221 and a delivery component 222, the picking function and the delivery function are completed by two separate parts. This simplifies the structure of the picking component 221 and the delivery component 222 and makes it easier to flexibly control the picking component 221 and the delivery component 222.

[0153] In some examples, the delivery component 222 may move relative to the picking component 221 and the pick-and-place mechanism 210 in the height direction of the first carrier 100, and the delivery component 222 is located next to the pick-and-place mechanism 210 when the picking component 221 is in the picking state, that is, when the picking component 221 picks the order goods from the inventory container 500.

[0154] For example, the delivery component 222 is movably mounted on the stand 230 and is independently mounted relative to the picking component 221 and the pick-and-place mechanism 210. For instance, the delivery component 222 can move relative to the picking component 221 and the pick-and-place mechanism 210 in the height direction of the stand 230 to switch between the storage goods and the buffer storage location 310 on each layer of the first carrier 100.

[0155] Reference Figure 7 As shown, when the picking component 221 is in the picking state, the delivery component 222 can move to the side of the pick-and-place mechanism 210. The delivery component 222 receives the order goods picked by the picking component 221 from the inventory container 500 and carries the order goods to one side of the buffer storage location 310 to deliver the order goods to the buffer storage location 310.

[0156] For example, when the pick-and-place mechanism 210 and the picking component 221 move to the target storage location 110, after the pick-and-place mechanism 210 takes out the target inventory container 500, the picking component 221 takes out the order goods from the target inventory container 500 and delivers them to the delivery component 222 located next to the pick-and-place mechanism 210. The delivery component 222 then carries the order goods to one side of the buffer location 310 and delivers the order goods to the buffer location 310, such as the order container 600.

[0157] In some examples, before the picking and placing mechanism 210 picks up the target inventory container 500, the delivery component 222 can move to one side of the target storage location 110 simultaneously with the picking and placing mechanism 210. Alternatively, the picking and placing mechanism 210 can move to one side of the target storage location 110 first, and the delivery component 222 can move to the side of the picking and placing mechanism 210 afterward. In this embodiment, there is no restriction on the order of movement of the delivery component 222 and the picking and placing mechanism 210, as long as the picking component 221 is in the picking state and the delivery component 222 is located to the side of the picking and placing mechanism 210.

[0158] By making the delivery component 222 independent of the pick-and-place mechanism 210 and the picking component 221, it can move relative to the pick-and-place mechanism 210 and the picking component 221 in the height direction of the first carrier 100. Therefore, it is not necessary for the pick-and-place mechanism 210 and the picking component 221 to move to one side of the buffer location 310 for picking and delivery after the pick-and-place mechanism 210 takes out the target inventory container 500. Instead, the delivery component 222 only needs to move to one side of the buffer location 310 after receiving the order goods to deliver the order goods. In this way, the pick-and-place mechanism 210 and the picking component 221 do not need to move up and down repeatedly, which can reduce the power consumption of the pick-and-place device 200 and save the time occupied by the pick-and-place mechanism 210 and the picking component 221 for a single picking and delivery. This allows the pick-and-place mechanism 210 and the picking component 221 to continue moving to the side of other target storage locations 110 while the delivery component 222 moves to the buffer storage location 310 and delivers the goods, so as to retrieve and pick other order goods. This can improve the picking efficiency of the pick-and-place device 200 and adapt to the simultaneous picking of multiple order goods.

[0159] It should be noted that the side of the pick-up and place mechanism 210 refers to one side of the pick-up and place mechanism 210 and the position close to the pick-up and place mechanism 210. For example, the side of the pick-up and place mechanism 210 can be one side of the pick-up and place mechanism 210 along the lateral direction of the first carrier 100, or one side along the height direction of the first carrier 100.

[0160] In some examples, before the delivery component 222 moves the order goods to the buffer location 310, the pick-and-place mechanism 210 is configured to sequentially retrieve the inventory containers 500 from multiple storage locations 110, and the picking component 221 is configured to pick the order goods from each inventory container 500 into the delivery component 222, after which the delivery component 222 moves the multiple order goods to one side of the buffer location 310.

[0161] For example, when the pick-and-place device 200 receives a picking task, the pick-and-place mechanism 210 first moves to one side of one of the target storage locations 110, takes out one of the target inventory containers 500, and the picking component 221 can take out one of the order items from the target inventory container 500 and place it in the delivery component 222; then the pick-and-place mechanism 210 moves to one side of another target storage location 110, takes out another target inventory container 500, and the picking component 221 takes out another order item from the target inventory container 500 and places it in the delivery component 222, until the picking component 221 takes out all the same SKUs involved in the order or all the SKUs involved in the same order and places them in the delivery component 222. Then the delivery component 222 can move to one side of the buffer location 310 and deliver it to the buffer location 310. In this way, the picking component 221, delivery component 222 and pick-and-place mechanism 210 do not need to move between storage location 110 and buffer location 310 multiple times, thus improving the picking efficiency of pick-and-place device 200.

[0162] In some examples, when the picking component 221 is in the picking state, the delivery component 222 and the pick-and-place mechanism 210 are arranged side by side along the lateral side of the first carrier 100. In this way, the receiving interface of the delivery component 222 can be located on the upper side of the delivery component 222 and is not blocked by the pick-and-place mechanism 210. When the picking component 221 takes out the order goods from the inventory container 500, the receiving surface of the delivery component 222 can be delivered from the receiving interface of the delivery component 222.

[0163] In addition, since the delivery component 222 and the picking and placing mechanism 210 are arranged side by side along the transverse direction of the first carrier 100, when picking non-fragile goods, after the picking component 221 takes the order goods out of the storage container 500, it does not need to move up and down along the first carrier 100. It can only move horizontally to the receiving interface of the delivery component 222 and deliver the goods, thereby simplifying the delivery process of the picking component 221 and improving the working efficiency of the picking component 221.

[0164] In some examples, when the picking component 221 is in a non-picking state, the delivery component 222 and the pick-and-place mechanism 210 are arranged along the height or lateral direction of the first carrier 100.

[0165] In some examples, the same first carrier 100 can simultaneously perform the picking and placing of order goods using multiple pick-and-place devices 200 to improve the picking efficiency of order goods. For example, multiple pick-and-place devices 200 can be suspended on one side of the first carrier 100.

[0166] For example, when the picking component 221 is in a non-picking state, the delivery component 222 is located below the pick-and-place mechanism 210. This avoids the delivery component 222 occupying the space on one side of the pick-and-place mechanism 210 in the horizontal direction, ensuring that other pick-and-place mechanisms 210 can simultaneously pick and place the inventory containers 500 of the adjacent storage location 110, thereby improving the picking efficiency of the order goods on the first carrier 100.

[0167] It is understandable that when the pick-up and place mechanism 210 needs to move to one side of the buffer storage location 310 at the bottom of the first carrier 100, the delivery component 222 can be set on one side of the pick-up and place mechanism 210 in the horizontal direction, that is, the delivery component 222 and the pick-up and place mechanism 210 are arranged in the transverse direction of the first carrier 100. In this way, the pick-up and place mechanism 210 can move to one side of the buffer storage location 310 at the bottom of the first carrier 100 without being interfered with by the delivery component 222.

[0168] In some examples, the delivery component 222 can move horizontally relative to the pick-and-place mechanism 210. For example, the delivery component 222 can move along the width of the stand 230. Thus, the delivery component 222 can move to the horizontal side of the pick-and-place mechanism 210 when it needs to pick up order goods, or to the horizontal side of the pick-and-place mechanism 210 when the pick-and-place mechanism 210 moves to the vicinity of the buffer location 310. In other non-picking states, except when it needs to pick up order goods or when the pick-and-place mechanism 210 moves to the vicinity of the buffer location 310, it can move above or below the pick-and-place mechanism 210.

[0169] Of course, in some examples, the delivery component 222 may be located on one side of the picking mechanism 210 in the horizontal direction, and cannot move in the horizontal direction, but can only move in the height direction of the stand 230, so as to simplify the structure and control process of the picking mechanism 220.

[0170] In some examples, the delivery component 222 is located on one side of the buffer location 310. In other words, the delivery component 222 is located on one side of the buffer location 310 when the pick-and-place mechanism 210 and the picking component 221 are in either position. That is, the height of the delivery component 222 on the stand 230 remains unchanged and does not move with the movement of the pick-and-place mechanism 210 or the picking component 221.

[0171] In this example, the picking component 221 is configured to retrieve the order goods from the storage container 500 after the pick-and-place mechanism 210 picks them from the storage location 110, and place them on the delivery component 222, which then delivers the order goods to the buffer location 310. By placing the delivery component 222 on one side of the buffer location 310, the delivery component 222 can be moved in the height direction of the stand 230 without the need for a drive structure, thereby simplifying the structure of the pick-and-place device 200, making the pick-and-place device 200 lightweight and easy to control.

[0172] In some examples, the picking component 221 and the pick-and-place mechanism 210 can move relative to the delivery component 222 in the height direction of the first carrier 100. For example, the pick-and-place mechanism 210 can be movably mounted on the stand 230 independently of the delivery component 222 and can move along the height direction of the stand 230. The picking component 221 can be mounted on the pick-and-place mechanism 210 or the first drive component 250 to move along the height direction of the stand 230 under the drive of the pick-and-place mechanism 210 or the first drive component 250, thereby achieving the synchronicity of the lifting and lowering of the pick-and-place mechanism 210 and the picking component 221, while simplifying the structural configuration and control logic of the pick-and-place device 200.

[0173] In this example, the picking component 221 is configured to remove the order goods from the storage container 500 and place them on the delivery component 222 after the pick-and-place mechanism 210 picks the storage container 500 from the storage location 110. This configuration may include:

[0174] When the pick-and-place mechanism 210 removes the inventory container 500 from the storage location 110, the picking component 221 is configured to move with the pick-and-place mechanism 210 to one side of the delivery component 222, pick the order goods from the inventory container 500, and place them on the delivery component 222.

[0175] For example, the pick-and-place mechanism 210 and the picking component 221 can move simultaneously to one side of the storage location 110. After the pick-and-place mechanism 210 takes out the inventory container 500 from the storage location 110, the picking component 221 and the pick-and-place mechanism 210 can move simultaneously to one side of the delivery component 222. Then, the picking component 221 picks out the order goods from the inventory container 500 and places them on the delivery component 222. The delivery component 222 then delivers the order goods to the buffer location 310.

[0176] In some examples, the pick-and-place mechanism 210 and the picking component 221 can move simultaneously to one side of the storage location 110. After the pick-and-place mechanism 210 removes the inventory container 500 from the storage location 110, the picking component 221 picks the order goods from the inventory container 500. Then, the picking component 221 and the pick-and-place mechanism 210 can move simultaneously to one side of the delivery component 222. The picking component 221 places the order goods on the delivery component 222, and the delivery component 222 then delivers the order goods to the buffer location 310.

[0177] Based on the above, it is understood that the picking component 221 can directly pick the order goods in the inventory container 500 when the picking and placing mechanism 210 takes out the inventory container 500, or it can move with the picking and placing mechanism 210 to one side of the delivery component 222 after the inventory container 500 is taken out by the picking and placing mechanism 210, and then perform picking. This embodiment of the application does not limit the picking timing of the picking component 221. In some examples, the picking component 221 can be movably mounted on the stand 230 and can move relative to the picking and placing mechanism 210 on the first plane, so that the picking component 221 can move between the picking and placing mechanism 210 and the buffer location 310, or between the picking and placing mechanism 210 and the delivery component 222. For example, after the picking and placing mechanism 210 takes out the inventory container 500, the picking component 221 picks out the order goods in the inventory container 500 and can move along the first plane to move above the delivery component 222, and then place the order goods on the delivery component 222.

[0178] The height direction of the first carrier 100 intersects with the first plane. For example, the height direction of the first carrier 100 is perpendicular to the first plane, that is, the first plane is a horizontal plane perpendicular to the height direction of the upright 230.

[0179] The following example illustrates the movement of the picking component 221 between the pick-and-place mechanism 210 and the delivery component 222. In some examples, one end of the picking component 221 is rotatably mounted on the pick-and-place mechanism 210, so that the picking component 221 rotates around the pick-and-place mechanism 210 on a first plane, allowing the free end of the picking component 221 to move between the pick-and-place mechanism 210 and the delivery component 222. This avoids the picking component 221 from translating on the first plane during its rotation, thus preventing interference with other structures mounted on the stand 230. In other words, it provides suitable installation space for other devices mounted on the stand 230.

[0180] In some examples, the picking component 221 may move relative to the pick-and-place mechanism 210 in the height direction of the stand 230 to extend into or out of the inventory container 500 or the delivery component 222 on the pick-and-place mechanism 210. For example, after the pick-and-place mechanism 210 removes the inventory container 500, the picking component 221 may descend along the stand 230 into the inventory container 500 and pick up the order goods, then the picking component 221 may rise along the stand 230 to detach from the inventory container 500, and then move on a first plane to move above the delivery component 222 and place the order goods on the delivery component 222.

[0181] It should be noted that after the picking component 221 moves above the delivery component 222, the order goods can be placed directly on the delivery component 222. For example, for non-fragile goods, there is no need to consider the delivery height of the picking component 221 for non-fragile goods.

[0182] In some examples, after the picking component 221 moves above the delivery component 222, it can descend along the stand 230 to the receiving surface of the delivery component 222, whereby the ordered goods are placed. For example, for fragile goods, the delivery height of the picking component 221 to the fragile goods can be reduced to prevent damage when the fragile goods are delivered from the picking component 221 to the delivery component 222.

[0183] It should be noted that during the process of the picking component 221 rotating from the picking and placing mechanism 210 to above the delivery component 222 along the first plane, it can move along the height direction of the stand 230, or it can move along the height direction of the stand 230 after reaching above the delivery component 222. This application embodiment does not limit this.

[0184] In some examples, when the picking component 221 picks the order goods from the inventory container 500, the inventory container 500 may be placed in the storage location 110 by the pick-and-place mechanism 210.

[0185] For example, during the process of the pick-and-place mechanism 210 transferring the inventory container 500 to the storage location 110, the picking component 221 moves synchronously toward the delivery component 222 to improve the working efficiency of the pick-and-place device 200.

[0186] Figure 8 This is a schematic diagram of the assembly of the picking component and the second driving component according to an embodiment of this application. (Refer to...) Figure 7 and Figure 8As shown, in some examples, the pick-and-place device 200 may include a second drive assembly 260 connected to the picking assembly 221 to drive the picking assembly 221 to move relative to the pick-and-place mechanism 210 in the height direction of the stand 230, so that the picking assembly 221 can extend into or out of the inventory container 500 or the delivery assembly 222 on the pick-and-place mechanism 210.

[0187] In some examples, the second drive assembly 260 and the picking assembly 221 may be mounted on the first drive assembly 250 so as to move with the pick-and-place mechanism 210 under the drive of the first drive assembly 250. That is, the second drive assembly 260, the picking assembly 221 and the pick-and-place mechanism 210 move in the height direction of the stand 230 under the drive of the first drive assembly 250 so as to move between the storage location 110 and the buffer location 310.

[0188] For example, the second drive component 260 is fixed to the first drive component 250, and the picking component 221 is connected to the second drive component 260, so that the picking component 221 is movably set on the first drive component 250 through the second drive component 260, so that the picking component 221 can move relative to the pick-and-place mechanism 210 under the drive of the second drive component 260, so as to realize the action of taking out the order goods from the inventory container 500 and placing them in the buffer location 310 or the order container 600.

[0189] In some examples, the second drive assembly 260 and the picking assembly 221 may be mounted on the pick-and-place mechanism 210 so that the second drive assembly 260 and the picking assembly 221 move with the pick-and-place mechanism 210. That is, the second drive assembly 260 and the picking assembly 221 move directly along the height direction of the stand 230 under the drive of the pick-and-place mechanism 210 to move between the storage location 110 and the buffer location 310.

[0190] The second drive component 260 can be fixed on the pick-and-place mechanism 210, and the picking component 221 is fixed on the second drive component 260, so that the picking component 221 is movably set on the pick-and-place mechanism 210 through the second drive component 260, so that the picking component 221 can move relative to the pick-and-place mechanism 210 under the drive of the second drive component 260, so as to realize the action of taking out the order goods from the inventory container 500 and placing them in the buffer location 310 or the order container 600.

[0191] In some examples, the second drive assembly 260 and the picking assembly 221 can also be mounted on the stand 230. That is, the picking assembly 221 can move along the height direction of the stand 230 via the second drive assembly 260, thereby moving between the storage location 110 and the buffer location 310, and realizing the action of retrieving the ordered goods from the inventory container 500 and placing them in the buffer location 310 or the order container 600. It should be noted that the second drive assembly 260 may include, but is not limited to, a drive motor, a drive cylinder, and a pulley structure. This application embodiment does not limit the structure of the second drive assembly 260, as long as it can drive the picking assembly 221 to move along the height direction of the stand 230.

[0192] Taking the second drive assembly 260, which includes a second drive motor 261 and a second pulley structure, as an example, the second pulley structure includes a second drive wheel 262 and a driven wheel 263 spaced apart along the height direction of the stand 230. A second transmission belt 264 is sleeved on the second drive wheel 262 and the driven wheel 263 and connected to one end of the picking assembly 221. The second drive motor 261 is connected to the second drive wheel 262 to drive the second drive wheel 262 to rotate. The second transmission belt 264 can drive the second driven wheel 263 to rotate under the drive of the second drive wheel 262. The picking assembly 221 can move along the height direction of the stand 230 during the movement of the second transmission belt 264.

[0193] In some examples, the second drive assembly 260 may be disposed on the frame 230. For example, the second drive motor 261 may be disposed at one end of the frame 230, such as the top end. The second drive wheel 262 of the second pulley structure may be disposed on one side of the second drive motor 261, such as the top end of the frame 230. The second driven wheel 263 may be disposed at one end of the frame 230 away from the second drive wheel 262, such as the bottom end.

[0194] For example, a second slide rail 232 is provided on the stand 230, and a second slider 265 is provided on the second drive assembly 260. The second slider 265 is connected to the picking assembly 221 and slides on the second slide rail 232. The picking assembly 221 can slide along the second slide rail 232 via the second slider 265 under the drive of the second drive assembly 260. In this way, the movement trajectory of the picking assembly 221 on the stand 230 can be restricted, so that the picking assembly 221 can move along the height direction of the stand 230 and avoid tilting or swinging in the width direction of the stand 230. In addition, the frictional resistance between the picking assembly 221 and the stand 230 is reduced, and the movement stability of the picking assembly 221 on the stand 230 is improved.

[0195] To further reduce the frictional resistance between the picking component 221 and the stand 230, a roller can be provided on the second slider 265 so that the picking component 221 rolls along the second slide rail 232 on the stand 230 via the roller.

[0196] In some examples, the drive belt may be connected to a second slider 265 on the picking assembly 221 to drive the picking assembly 221 to move.

[0197] In some examples, the picking component 221 and the pick-and-place mechanism 210 can move synchronously along the height direction of the stand 230, which simplifies the program control logic of the pick-and-place device 200.

[0198] For example, the second drive component 260 can be disposed on the first drive component 250 or the pick-and-place mechanism 210. The first drive component 250 or the pick-and-place mechanism 210 can drive the second drive component 260 to move, so that the picking component 221 can move synchronously with the pick-and-place mechanism 210 in the height direction of the stand 230.

[0199] Taking the second drive assembly 260, which includes a second drive motor 261 and a second pulley structure, as an example, the second drive motor 261 can be mounted on the first slider 252 or the pick-and-place mechanism 210 of the first drive assembly 250. The second drive wheel 262 and the second driven wheel 263 are spaced apart on the first slider 252 or the pick-and-place mechanism 210 along the height direction of the stand 230. The first slider 252 is provided with a second slide rail 232. The second slider 265 of the second drive assembly 260 can be connected to the second transmission belt 264 and slide on the second slide rail 232. Thus, when the first slider 252 or the pick-and-place mechanism 210 moves up and down along the height direction of the stand 230, the second drive assembly 260 can drive the picking assembly 221 to move synchronously along the height direction of the stand 230, so that the picking assembly 221 and the pick-and-place mechanism 210 move up and down synchronously along the stand 230.

[0200] Furthermore, the second transmission belt 264 can move relative to the first slider 252 or the pick-and-place mechanism 210 under the drive of the second drive motor 261, thereby driving the picking component 221 to move relative to the first slider 252 and the pick-and-place mechanism 210 in the height direction of the stand 230. The picking component 221 can move on the second slide rail 232 via the second slider 265 driven by the second transmission belt 264, thereby reducing the frictional resistance between the picking component 221 and the first slider 252 or the pick-and-place mechanism 210.

[0201] Continue to refer to Figure 8As shown, in some examples, the pick-and-place device 200 may include a first rotating assembly 2213 connected to one end of the picking assembly 221 to drive the picking assembly 221 to rotate on a first plane. For example, one end of the picking assembly 221 is rotatably connected to a second slider 265 via a pivot, wherein the pivot is movably disposed on the second slider 265 and fixedly connected to the picking assembly 221. Thus, the first rotating assembly 2213 can drive the pivot to rotate, thereby causing the picking assembly 221 to rotate around the second slider 265.

[0202] For example, the first rotating component 2213 may include, but is not limited to, a structure in which a rotary motor is directly driven or a rotary motor is coupled with a pulley structure. The embodiments of this application do not limit the structure of the first rotating component 2213.

[0203] For example, the first rotating component 2213 may be disposed on the second slider 265.

[0204] Reference Figure 4 , Figure 7 and Figure 8 As shown, in some examples, the picking assembly 221 may include a robotic arm 2211 and a gripper 2212, wherein the robotic arm 2211 is rotatably mounted on the first drive assembly 250 or the pick-and-place mechanism 210 to rotate relative to the pick-and-place mechanism 210 in a first plane and is movable along the height direction of the stand 230. The gripper 2212 is connected to the robotic arm 2211 and is configured to pick up ordered goods from the inventory container 500.

[0205] In some examples, one end of the robotic arm 2211 may be connected to the first rotating assembly 2213 to rotate around the stand 230 under the drive of the first rotating assembly 2213, so that the gripper 2212 may translate on the first plane under the drive of the robotic arm 2211.

[0206] In some examples, one end of the robotic arm 2211 may be connected to a second drive assembly 260, such as a second slider 265, to move along the height direction of the stand 230 under the action of the second slider 265, so that the gripper 2212 may translate in the height direction of the stand 230.

[0207] To increase the movement trajectory of the gripper 2212 on the first plane for grasping order goods located at different positions within the storage container 500, the robotic arm 2211 may include multiple sub-arms 2211a connected in sequence, with each sub-arm 2211a rotating independently. For example, the robotic arm 2211 may include two sub-arms 2211a connected in sequence, one end of which, for example, the first sub-arm, is rotatably mounted on the stand 230. For example, one end of the first sub-arm is rotatably mounted on the stand 230 via the first drive assembly 250, and the other end of the first sub-arm is rotatably connected to one end of another sub-arm 2211a, for example, the second arm. The other end of the second arm is connected to the gripper 2212. Thus, the second sub-arm can rotate on the first plane during the rotation of the first sub-arm, and the second arm can also rotate on the first plane around one end of the first arm, thereby allowing the gripper 2212 to move along circular trajectories with different radii and centers.

[0208] For example, the gripper 2212 can move along a circular trajectory with the center of the first sub-arm connecting to the second drive assembly 260 and the distance between the two opposite ends of the first and second sub-arms as the radius, or it can move along a circular trajectory with the center of the second sub-arm connecting to the first arm and the length of the second arm as the radius, thereby retrieving order goods from different positions within the storage container 500.

[0209] In some examples, the pick-and-place device 200 may further include a second rotating assembly 2214, which may be disposed on the first sub-arm and can drive the second sub-arm to rotate around one end of the first sub-arm. For example, the first sub-arm and the second sub-arm 2211a are connected by a rotating shaft, which is rotatably connected to the first sub-arm and fixedly connected to the second sub-arm. In this way, the second rotating assembly 2214 can drive the rotating shaft to rotate, thereby driving the second sub-arm to rotate around one end of the first arm.

[0210] In some examples, the second rotating component 2214 may include, but is not limited to, a structure in which a rotary motor is directly driven or a rotary motor is coupled with a pulley structure. The embodiments of this application do not limit the structure of the second rotating component 2214.

[0211] In some examples, gripper 2212 may include claws that can be opened and closed to grip or release ordered goods.

[0212] In some examples, the gripper 2212 may include a suction cup configured to attract or release order goods. For example, the suction cup may attract order goods when the vacuum level inside the suction cup cavity is greater than or equal to a preset vacuum level; and may release order goods when the vacuum level inside the suction cup cavity is less than the preset vacuum level.

[0213] For example, the picking assembly 221 may also include an air source device 2215, which is connected to the inner cavity of the suction cup via a vacuum tube. When the air source device 2215 is operating, it reduces the pressure in the inner cavity of the suction cup through the vacuum tube, so that when the vacuum level in the inner cavity of the suction cup reaches a preset vacuum level, the order goods are pressed and adsorbed onto the suction cup. When the air source device 2215 increases the pressure in the inner cavity of the suction cup through the vacuum tube until the vacuum level in the inner cavity of the suction cup is less than the preset vacuum level, the order goods are detached from the suction cup, for example, and can be placed on the delivery assembly 222.

[0214] In some examples, the air source device 2215 can be mounted on the robotic arm 2211, such as the second sub-arm, so that the air source device 2215 and the suction cup move synchronously with the picking assembly 221, thereby ensuring the stability of the connection structure between the air source device 2215 and the suction cup. This also allows the picking assembly 221 to form a modular structure. During assembly, the air source device 2215, the suction cup, the first rotating assembly 2213 and the second rotating assembly 2214 are all integrated on the robotic arm 2211, and then the robotic arm 2211 is assembled on the first driving assembly 250 through the second driving assembly 260.

[0215] In some examples, the gripper 2212 may include a connecting rod and a gripper body 2212a. One end of the connecting rod is connected to one end of the robotic arm 2211, for example, a second sub-arm, and the other end of the connecting rod is connected to the gripper body 2212a. The connecting rod arrangement increases the distance between the gripper body 2212a and the robotic arm 2211, allowing the robotic arm 2211 to shorten its lifting path when carrying the gripper 2212 to pick order goods, thereby reducing power consumption.

[0216] When the gripper 2212 is a suction cup, the gripper body 2212a is the suction cup body, and the connecting rod can be a hollow rod. The inner cavity of the hollow rod can serve as a channel for the air source device 2215 to communicate with the suction cup body.

[0217] In some examples, the gripper 2212 can rotate relative to the robotic arm 2211 in a direction perpendicular to the first plane. For example, a third rotating component 2216 can be provided at the connection between the connecting rod of the gripper 2212 and the robotic arm 2211. The third rotating component 2216 can drive the connecting rod to rotate relative to the robotic arm 2211 in a direction perpendicular to the first plane, so that the gripping surface of the gripper body 2212a at one end of the connecting rod changes, thereby gripping different positions of the order goods.

[0218] For example, when the gripper body 2212a is a suction cup body, the suction cup body can rotate perpendicular to the first plane under the drive of the connecting rod, so that the suction surface of the suction cup body can be at a certain angle with the first plane, thereby allowing the suction cup body to adsorb different side walls of the order goods, so that order goods with different placement angles or irregular shapes can be quickly taken out.

[0219] In some examples, the drive components of the picking component 221 (e.g., the second drive component 260, the first rotary component 2213, the second rotary component 2214, and the third rotary component 2216) can be connected to the control equipment of the storage system, and the image sensor 700 can be connected to the control equipment. The image sensor 700 can send the acquired order goods information to the control device. The control device can determine the movement trajectory of the robotic arm 2211 based on this information, such as position information, and then control the second drive component 260, the first rotation component 2213 and the second rotation component 2214 to drive the robotic arm 2211 according to the movement trajectory, so that the robotic arm 2211 drives the gripper 2212 to the location of the order goods. Then, the control device plans the movement path of the gripper 2212 according to the structural shape information and placement angle information of the order goods, and then controls the third rotation component 2216 to drive the gripper 2212 according to the movement trajectory, so that the gripping surface of the gripper 2212 contacts the side wall of the order goods that is easier to grip, so as to quickly grasp the order goods. Then, the robotic arm 2211 and the gripper 2212 can return to the initial position along the same path, so that the gripper 2212 carries the order goods away from the storage container 500.

[0220] Reference Figure 7 As shown, in some examples, the pick-and-place device 200 may also include a third drive component 270 connected to the delivery component 222, which is slidably mounted on the stand 230 and can move along the height direction of the stand 230 under the drive of the third drive component 270 to switch between the storage location 110 and the buffer location 310.

[0221] In some examples, the third drive assembly 270 may be mounted on the stand 230, and the delivery assembly 222 may be connected to the third drive assembly 270 and slidably mounted on the stand 230. For example, the stand 230 may have a third slide rail 233, and the third drive assembly 270 may include a third slider 272 connected to the delivery assembly 222, which slides on the third slide rail 233. The delivery assembly 222 may slide along the third slide rail 233 via the third slider 272 under the drive of the third drive assembly 270. This restricts the movement trajectory of the delivery assembly 222 on the stand 230, allowing it to move along the height of the stand 230 and preventing it from tilting or swaying in the width direction of the stand 230. Furthermore, it reduces the frictional resistance between the delivery assembly 222 and the stand 230, improving the stability of the pick-and-place mechanism 210's movement on the stand 230.

[0222] To further reduce the frictional resistance between the delivery component 222 and the stand 230, a roller can be provided on the third slider 272, so that the delivery component 222 rolls along the third slide rail 233 on the stand 230 via the roller.

[0223] It should be noted that the third drive component 270 may include, but is not limited to, a drive motor, a drive cylinder, a drive motor and a pulley structure. This application embodiment does not limit the structure of the third drive component 270, as long as it can drive the delivery component 222 to move in the height direction of the stand 230.

[0224] Taking the third drive assembly 270, which includes a third drive motor 271 and a third pulley structure, as an example, the third drive motor 271 can be set at one end of the stand 230, such as the top end. The third drive wheel of the third pulley structure can be set on one side of the third drive motor 271, such as the top end of the stand 230, and connected to the output shaft of the third drive motor 271. The third driven wheel of the third pulley structure can be set at one end of the stand 230 away from the third drive wheel, such as the bottom end. The third transmission belt is sleeved on the third drive wheel and the third driven wheel and connected to the third slider 272.

[0225] When it is necessary to drive the delivery component 222 to move, the third drive motor 271 drives the third drive wheel to rotate, and the third transmission belt can drive the third driven wheel to rotate under the drive of the third drive wheel. The delivery component 222 can move along the height direction of the stand 230 during the movement of the third transmission belt.

[0226] In some examples, the third drive belt may be connected to the third slider 272 on the delivery assembly 222 to drive the delivery assembly 222 to move.

[0227] Figure 9a This is a schematic diagram of the structure of a delivery component provided in an embodiment of this application. Figure 1, Figure 9b This is a schematic diagram of the structure of a delivery component provided in an embodiment of this application. Figure 2 . Reference Figure 9a and Figure 9b As shown, in some examples, delivery component 222 may include guide 2222, which is positioned on the loading / unloading port of the order container at least when delivery component 222 delivers the order goods to the order container.

[0228] For example, the guide 2222 can be a guide plate. Taking the picking mechanism 210 retrieving the inventory container 500 from the storage location 110, with the guide 2222 located on one side of the picking mechanism 210 in the horizontal direction as an example, after the picking component 221 retrieves the order goods from the inventory container 500, it can be directly placed on the guide 2222, such as the guide plate. The guide plate can then move along the stand 230 to one side of the buffer location 310. When it is necessary to deliver the order goods on the guide plate into the order container, the guide plate can be flipped towards the order container and positioned at the pick-up / drop-off port of the order container, allowing the order goods to slide down the guide plate into the order container, or fall into the order container in a parabolic trajectory during the flipping process of the guide plate, the specific trajectory depending on the flipping speed of the guide plate.

[0229] By setting the delivery component 222 as a guide component 2222, the structure of the delivery component 222 can be simplified while ensuring the acceptance and delivery of order goods, thereby achieving miniaturization and weight reduction of the picking mechanism 220, thus saving space and reducing power consumption.

[0230] In some examples, the delivery component 222 may include a barrier wall 2221, which can be understood as a cylindrical structure and is provided with a first delivery port 222a (i.e., a receiving port) and a second delivery port 222b. For example, the first delivery port 222a and the second delivery port 222b are arranged opposite to each other along the height direction of the barrier wall 2221, and the guide member 2222 is rotatably disposed at the second delivery port 222b so as to form a receiving cavity for accommodating the order goods together with the barrier wall 2221.

[0231] The first delivery port 222a may be located on the upper part of the enclosure wall 2221, and the second delivery port 222b may be located on the lower part of the enclosure wall 2221. The first delivery port 222a is configured to allow the picking component 221 to deliver the order goods into the receiving cavity.

[0232] When order goods need to be delivered to the buffer storage location 310, the guide 2222 can rotate to be positioned on the buffer storage location 310, allowing the order goods to be delivered to the buffer storage location 310 through the second delivery port 222b and the guide 2222. For example, when there is an order container on the buffer storage location 310, the guide 2222 can rotate to be positioned on the pick-up / drop-off port of the order container, allowing the order goods to be delivered into the order container through the second delivery port 222b and the guide 2222.

[0233] It is understandable that the delivery component 222 has two states, one of which is the storage state. In the storage state, the guide 2222 is in the first position, that is, it stops at the second delivery port 222b of the enclosure wall 2221, so that the enclosure wall 2221 and the guide 2222 together form a receiving cavity for storing the order goods. For example, after the picking component 221 takes the order goods out of the inventory container 500, it can deliver them into the receiving cavity of the delivery component 222, and then the delivery component 222 carries the order goods to one side of the buffer storage location 310.

[0234] Another state is the delivery state. In the delivery state, the guide 2222 can rotate relative to the enclosure wall 2221 to the position where one end is set at the pick-up and drop-off port of the order container, i.e., the second position, so that the second delivery port 222b is open, and the order goods located in the receiving cavity can fall into the order container through the second delivery port 222b and the guide 2222.

[0235] In some examples, the delivery component 222 may include a guide drive 2223, one end of which is rotatably connected to the enclosure wall 2221 on one side of the second delivery port 222b and connected to the guide drive 2223, which can drive the guide 2222 to rotate, so that the guide 2222 switches between a first position and a second position.

[0236] In some examples, the guide drive 2223 can provide a force to the guide 2222 to rotate toward a first position, so that the guide 2222 is stably stopped at the second delivery port 222b in the retracted state.

[0237] For example, a first magnetic attractor can be provided on one of the second delivery port 222b and the guide member 2222, and a second magnetic attractor can be provided on the other of the second delivery port 222b and the guide member 2222. The guide member 2222 is stably attracted to the second delivery port 222b by the mutual attraction of the first magnetic attractor and the second magnetic attractor. The first magnetic attractor and / or the second magnetic attractor can be a magnet or a magnetic material coated on the guide member 2222 or the second delivery port 222b.

[0238] Of course, in other examples, the rotational force provided by the guide drive 2223 to the guide 2222 is sufficient to stabilize the guide 2222 in the first position, without the need for any other additional stabilizing structures.

[0239] When order goods need to be delivered, the guide drive 2223 can drive the guide 2222 to rotate to the second position, so that the guide 2222 is placed on the loading and unloading port of the order container. It is understood that the force of the guide drive 2223 driving the guide 2222 to rotate to the second position needs to be greater than the attraction force of the first magnetic attraction and the second magnetic attraction.

[0240] By configuring the delivery component 222 to include a barrier wall 2221 and a guide 2222, the delivery component 222 can stably store the order goods, ensuring that the delivery component 222 will not fall off when carrying the order goods along the stand 230.

[0241] In some examples, the storage system may include a plurality of first carriers 100, which are spaced apart and form aisles 100c between adjacent first carriers 100. The pick-and-place device 200 may be suspended on the aisle 100c side of the first carrier 100.

[0242] Reference Figure 1 As shown, in some examples, a track 120 may be provided on one side of the first carrier 100, such as the side of aisle 100c, and the stand 230 of the pick-and-place device 200 may be suspended on the track 120 and may move along the track 120. For example, the track 120 may be provided on the first carrier 100 at a position higher than the buffer location 310, and the stand 230 of the pick-and-place device 200 may move along the track 120 to drive the pick-and-place mechanism 210 and the picking mechanism 220 to different columns on the first carrier 100.

[0243] Reference Figure 2 As shown, in some examples, the pick-and-place device 200 may include a walking mechanism 240, which is mounted on the stand 230 and guided on the track 120. The walking mechanism 240 is configured to move on the track 120 to drive the stand 230 to move on the first carrier 100.

[0244] In some examples, when the pick-and-place device 200 is suspended on the first carrier 100, the charging method of the walking mechanism 240 of the pick-and-place device 200 can be adjusted. For example, the pick-and-place device 200 may include a sliding contact line, which may include a conductor and a receiver. The conductor may be a copper body wrapped in a protective sleeve. The end of the conductor is connected to a power source. The receiver makes electrical contact with the conductor, so that the electrical signal on the conductor can be transmitted to the receiver.

[0245] During setup, the conductor of the sliding contact line is placed on the track 120, and the receiver of the sliding contact line is placed on the traveling mechanism 240 and electrically connected to the traveling mechanism 240. The receiver is configured to contact the conductor when the traveling mechanism 240 moves along the track 120, so that the receiver can continuously receive power during the movement of the traveling mechanism 240 along the track 120, thereby providing power to the traveling mechanism 240 and ensuring the normal operation of the traveling mechanism 240.

[0246] By using a sliding contact line, the number of cables is reduced, thus decreasing the load on the pick-and-place device 200 and minimizing the impact of the cables on its lifespan, ensuring stable operation of the pick-and-place system. Furthermore, the reduced number of cables eliminates the need for cable chains, thereby ensuring the structural stability of the pick-and-place device 200.

[0247] In addition, the retrieval and placement device 200 is powered by a sliding contact line, which has high charging efficiency and short waiting time. It eliminates the need for other retrieval and placement devices 200, thereby saving the number of retrieval and placement devices 200 used. Furthermore, the embodiment of this disclosure uses a sliding contact line to power the retrieval and placement device 200, which avoids traffic congestion caused by the retrieval and placement device 200 moving on the ground of the aisle 100c during charging, thus improving the efficiency of the retrieval and placement device 200 in picking boxes and sorting.

[0248] In some examples, a track 120 may be provided on the first carrier 100, and the upright 230 may be suspended on the track 120 by a traveling mechanism 240 and run along the track 120. For example, a track 120 may be provided on the top crossbeam of the first carrier 100, and the traveling mechanism 240 may be located at the top of the upright 230 or at a first position, the distance between the first position and the top of the upright 230 being less than the distance between the first position and the bottom of the upright 230, thereby allowing the upright 230 to be stably suspended on the first carrier 100 by the traveling mechanism 240.

[0249] In some examples, the first vehicle 100 may be provided with multiple tracks 120, which are spaced apart along the height direction of the first vehicle 100. The upright 230 is guided and engaged with the multiple tracks 120 to move along the multiple tracks 120 on the first vehicle 100. For example, the upright 230 may be provided with multiple sets of traveling mechanisms 240 spaced apart along the height direction z. The multiple sets of traveling mechanisms 240 are correspondingly arranged with the tracks 120, so that the upright 230 runs along the corresponding tracks 120 through the multiple sets of traveling mechanisms 240, and at least one set of traveling mechanisms 240 is suspended on the track 120, so that the upright 230 is suspended on the first vehicle 100.

[0250] For example, the first vehicle 100 is provided with two tracks 120, each including a lower track 121 and an upper track 122, with the upper track 122 located above the lower track 121. The traveling mechanism 240 includes a lower traveling mechanism 241 and an upper traveling mechanism 242. The lower traveling mechanism 241 moves along the lower track 121, and the upper traveling mechanism 242 moves along the upper track 122. The upper track 122 may be located on the top crossbeam of the first vehicle 100, and the upper traveling mechanism 242 is located on the top of the upright 230 or at a first position, running along the upper track 122.

[0251] The lower track 121 or track 120 can be set on the middle crossbeam or the bottom crossbeam of the first carrier 100. The lower traveling mechanism 241 or traveling mechanism 240 is set at the middle, bottom or second position of the upright 230. The distance between the second position and the bottom of the upright 230 is less than the distance between the second position and the top of the upright 230. The lower traveling mechanism 241 or traveling mechanism 240 runs along the lower track 121 or track 120, thereby improving the running stability of the upright 230 on the first carrier 100.

[0252] For example, at least one of the lower traveling mechanism 241 and the upper traveling mechanism 242 is suspended on the corresponding track 120. For instance, the upper traveling mechanism 242 is suspended on the upper track 122, while the lower traveling mechanism 241 only runs along the lower track 121 without being suspended on it.

[0253] In some examples, each set of walking mechanisms 240, that is, the walking mechanism 240 that cooperates with the same track 120, can be one or more.

[0254] For example, if the upright 230 is an upright extending along the height direction z, and the picking mechanism 210 and the sorting mechanism 220 are movably mounted on the upright, then the traveling mechanism 240 that cooperates with one of the tracks 120 is one, and the traveling mechanism 240 is mounted on the upright.

[0255] For example, the support frame 230 includes a top connecting rod and two uprights extending along the height direction z. The top connecting rod connects the tops of the two uprights, thus forming a gantry structure. In this way, each set of traveling mechanisms 240 may include one or two traveling mechanisms 240. For example, a traveling mechanism 240 may be mounted on any one of the uprights of the support frame 230, and the traveling mechanism 240 drives the entire support frame 230 to run along the track 120 via one of the uprights.

[0256] For example, each set of traveling mechanisms 240 can be provided with two, and each upright is set on the track 120 through the traveling mechanism 240 so that the entire upright 230 runs stably along the track 120.

[0257] In some examples, the traveling mechanism 240 may include a drive element and a drive wheel, wherein the drive element is connected to the upright 230, the drive wheel is connected to the drive element, and the drive wheel is configured to run along the track 120 under the drive of the drive element.

[0258] For example, the driving component can be a motor, such as a stepper motor, a drive cylinder, a synchronous belt pulley structure, a gear and rack structure, etc. The drive shaft of the drive wheel is fixed to the output shaft of the motor. During the rotation of the motor output shaft, the drive wheel is driven to roll along the track 120, thereby driving the frame 230 to move.

[0259] In some examples, the traveling mechanism 240 may include guide wheels connected to the upright 230. The guide wheels are configured to move along the extension direction of the track 120 under the drive of the upright 230, preventing the traveling mechanism 240 from causing the upright 230 to move left or right in a direction intersecting, for example, perpendicular to, the extension direction of the track 120. This ensures the stability of the pick-and-place device 200 on the track 120 and that the position of the pick-and-place mechanism 210 on the pick-and-place device 200 relative to the storage location 110 and the buffer location 310 remains stable.

[0260] In some examples, the stand 230 of the pick-and-place device 200 can be a single stand 230, that is, the height of the stand 230 is fixed and does not change.

[0261] For example, the stand 230 includes a fixed stand 230, on which the pick-and-place mechanism 210 and the picking mechanism 220 are movably mounted. The height of the fixed stand 230 matches the height of the first carrier 100, so that the pick-and-place mechanism 210 can move along the fixed stand 230 to various positions on the first carrier 100 in the height direction z, and the pick-and-place mechanism 210 and the picking mechanism 220 can move between the storage location 110 and the buffer location 310.

[0262] In some examples, the stand 230 of the pick-and-place device 200 can also be a multi-level stand 230 structure, in which each stand 230 in the multi-level stand 230 can move relative to the upper-level stand 230 to achieve a variable overall height of the stand 230.

[0263] For example, the support frame 230 includes a fixed support frame 230 and a lifting support frame 230, wherein the fixed support frame 230 is a primary support frame 230, and the lifting support frame 230 is a support frame 230 of other levels besides the primary level. The fixed support frame 230 is connected to the traveling mechanism 240, so that the fixed support frame 230 is suspended on the track 120 of the first carrier 100 through the traveling mechanism 240 and runs along the track 120.

[0264] The lifting stand 230 is configured to move along the fixed stand 230 in the height direction so that when the lifting stand 230 is in the first state, the height of the stand 230 matches the height of the first carrier 100. The pick-up and place mechanism 210 is provided on the lifting stand 230 so that the pick-up and place mechanism 210 can move relative to the fixed stand 230 under the drive of the lifting stand 230. In addition, the pick-up and place mechanism 210 can move relative to the lifting stand 230 in the height direction z of the first carrier 100, thereby increasing the range of movement of the pick-up and place mechanism 210 in the height direction z of the first carrier 100.

[0265] In this way, the lifting stand 230 can move to different positions relative to the fixed stand 230 so that the overall height of the stand 230 adapts to the height of the first carrier 100. Thus, the pick-and-place device 200 can be mass-produced to suit first carriers 100 of different heights, thereby saving the mass production cost of the pick-and-place device 200.

[0266] In some examples, there is one lifting stand 230, which extends and retracts relative to the fixed stand 230 to allow the stand 230 to switch between different heights.

[0267] In some examples, there can be multiple lifting stands 230. Among the multiple lifting stands 230, two adjacent lifting stands 230 can move relative to each other, and the secondary lifting stand 230 moves relative to the fixed stand 230. The pick-and-place mechanism 210 is set on the lowest level lifting stand 230 and can move along the lowest level lifting stand 230. In this way, at least one of the multiple lifting stands 230 can extend or retract relative to the fixed stand 230, thereby changing the overall height of the stand 230.

[0268] In some examples (not shown in the figures), the stand 230 may be fixed on the first carrier 100, the track 120 may be movably mounted on the stand 230 and may move along the height of the stand 230 in the first carrier 100, and the pick-and-place device 200, such as the pick-and-place mechanism 210 and the picking mechanism 220, may be mounted on the track 120 and may move laterally along the track 120 in the first carrier 100, so that the pick-and-place mechanism 210 and the picking mechanism 220 may move to one side of each storage location 110 or each buffer location 310.

[0269] For example, the two uprights of the frame 230 can be respectively set at both ends of the first carrier 100 along the transverse direction of the first carrier 100. The track 120 is erected on the two uprights and can move along the height direction of the uprights. The picking mechanism 210 and the sorting mechanism 220 can be set on the track 120 through the walking mechanism 240 so that they can move along the track 120 under the drive of the walking mechanism 240.

[0270] In some examples, each of the first carriers 100 may have a pick-and-place device 200 suspended on one side, i.e., a pick-and-place device 200 is configured to pick up and place order goods on one of the first carriers 100.

[0271] For example, in a storage area, multiple first carriers 100, such as shelves, are spaced apart. Each first carrier 100, such as a shelf, has a pick-and-place device 200 suspended on the side facing the aisle 100c. The pick-and-place device 200 only docks with the shelf on one side of the pick-and-place device 200 to pick up order goods and put goods on the shelf on one side.

[0272] In some examples, the pick-and-place device 200 is suspended on the side of the tunnel 100c and is configured to pick up and place the storage containers 500 on the first vehicles 100 on both sides of the tunnel 100c, that is, the pick-and-place device 200 is shared between two adjacent first vehicles 100.

[0273] In some examples, the track 120 is mounted on a first carrier 100 on one side of the aisle 100c, and the same pick-and-place device 200 is configured to pick up and place target items on the first carriers 100 on both sides of the aisle 100c. For example, at least one pick-and-place device 200 is provided in the aisle 100c, which is suspended from a first carrier 100 on one side of the aisle 100c by a traveling mechanism 240. The pick-and-place device 200 can dock with the first carriers 100 on both sides of the aisle 100c, or with a movable carrier below the first carriers 100 on both sides. In this way, the width of the aisle 100c can be reduced, and the storage density of the storage area can be increased.

[0274] In some examples, tracks 120 may be provided on the first carriers 100 on both sides of the aisle 100c, and the pick-and-place device 200 is configured to move along the tracks 120 on both sides of the aisle 100c to pick up and place order goods on the first carriers 100 on both sides of the aisle 100c.

[0275] Figure 10 This is a schematic diagram of one embodiment of the load-bearing structure 300 provided in this application. Figure 1 , Figure 11 This is a schematic diagram of one embodiment of the load-bearing structure 300 provided in this application. Figure 2 . Reference Figure 10 and Figure 11 As shown, in some examples, where the first carrier 100 has a support structure 300 at its bottom, the support structure 300 may have an openable delivery port 310a that communicates with a buffer location 310. When the handling robot 400 is configured to dock with the buffer location 310, the delivery port 310a is open to transfer order goods from the buffer location 310 to the handling robot 400.

[0276] For example, when order goods are placed directly on the buffer storage location 310 and the handling robot 400 is configured to transfer the order goods, the support structure 300 can be configured to include a delivery port 310a so that the order goods can be dropped onto the handling robot 400 through the delivery port 310a. This simplifies the process of the handling robot 400 taking the order goods off the support structure 300 and improves the docking efficiency between the handling robot 400 and the support structure 300.

[0277] It is understandable that when the buffer storage location 310 is in the state of carrying order goods, the delivery port 310a is in the closed state. When the handling robot 400 moves to the bottom of the delivery port 310a and is ready to receive the order goods, the delivery port 310a is in the open state so that the order goods on the buffer storage location 310 fall onto the handling robot 400 through the delivery port 310a.

[0278] In some examples, the support structure 300 may include a support plate 311a, on which a buffer storage location 310 is formed, and a first end of the support plate 311a is movable relative to the first carrier 100, such as the crossbeam 130 of the first carrier 100, to switch the support plate 311a between a first position and a second position.

[0279] Reference Figure 11As shown in Figure 9, when the support plate 311a is in the first position, the second end of the support plate 311a forms an open delivery port 310a between the second end of the support plate 311a and the crossbeam 130 of the first carrier 100; when the support plate 311a is in the second position, the second end of the support plate 311a is connected to the crossbeam 130 of the first carrier 100 so that the support plate 311a carries the order goods, that is, when the support plate 311a is in the second position, the delivery port 310a is in the closed state.

[0280] For example, the first end of the support plate 311a is rotatably disposed on the crossbeam 130 of the first carrier 100 so that the support plate 311a can switch between a first position and a second position relative to the crossbeam 130 of the first carrier 100, so that an openable delivery port 310a is formed between the second end of the support plate 311a and the crossbeam 130 of the first carrier 100.

[0281] For example, the support plate 311a can also move horizontally relative to the crossbeam 130 of the first carrier 100, so that the support plate 311a can switch between a first position and a second position relative to the crossbeam 130 of the first carrier 100, so that an openable delivery port 310a is formed between the second end of the support plate 311a and the crossbeam 130 of the first carrier 100. The embodiments of this application do not limit the arrangement of the support plate 311a relative to the first carrier 100, as long as the openable delivery port 310a is formed on the support plate 311a.

[0282] In some examples, the support structure 300 may include a support plate 311a, the second end of which forms an openable delivery port 310a directly between the support plate 311a and the crossbeam 130 of the first carrier 100.

[0283] In other examples, the supporting structure 300 may include two supporting plates 311a, the first ends of which are movable relative to the crossbeam 130 of the first carrier 100, for example, rotatably mounted on the crossbeam 130 of the first carrier 100. An openable delivery port 310a is formed between the second end of one supporting plate 311a and the second end of the other supporting plate 311a; that is, an openable delivery port 310a is formed between the second end of one supporting plate 311a and the crossbeam 130 of the first carrier 100. For example, when the two supporting plates 311a rotate to a first position, their second ends are offset to form an open delivery port 310a; when the two supporting plates 311a rotate to a second position, their second ends are joined to form a closed delivery port 310a.

[0284] In some examples, a drive switch can be provided on the support structure 300, which is connected to the support plate 311a to move the support plate 311a relative to the crossbeam 130 of the first carrier 100 between a first position and a second position. For example, when the handling robot 400 moves to the bottom of the delivery port 310a and is ready to receive the order goods, the drive switch can drive the support plate 311a from the second position to the first position, so that the order goods fall from the delivery port 310a onto the handling robot 400.

[0285] For example, when the support plate 311a is rotatably mounted on the crossbeam 130 of the first carrier 100, the drive switch can be a rotary motor that drives the support plate 311a to rotate. The rotary motor drives the support plate 311a to rotate between a first position and a second position to open and close the delivery port 310a. As another example, when the support plate 311a is slidably mounted on the crossbeam 130 of the first carrier 100, the drive switch can be a stepper motor that drives the support plate 311a to translate. The stepper motor drives the support plate 311a to translate between a first position and a second position to open and close the delivery port 310a.

[0286] In some examples, the transport robot 400 is configured to trigger the support structure 300 when it moves to one side of the support structure 300, causing the delivery port 310a to switch from a closed state to an open state.

[0287] For example, when the support plate 311a is rotatably mounted on the crossbeam 130 of the first carrier 100, when the handling robot 400 moves to the bottom of the support structure 300, the handling robot 400 abuts against the first end of the support plate 311a, causing the second end of the support plate 311a to move downward to the first position. For example, the handling robot 400 has a lifting member, which moves upward to abut against the first end of the support plate 311a, causing the second end of the support plate 311a to move downward to the first position, thereby forming an open delivery port 310a between the second end of the support plate 311a and the crossbeam 130 of the first carrier 100, and the order goods fall from the delivery port 310a onto the handling robot 400.

[0288] In some examples, the lifting component on the handling robot 400 may be a support component 422 of the handling robot 400, which is configured to support ordered goods. In some examples, the lifting component on the handling robot 400 may be a structural component independent of the support component 422. The embodiments of this application do not limit the way the lifting component is set.

[0289] For example, when the support plate 311a is slidably mounted on the crossbeam 130 of the first carrier 100, the handling robot 400 has a dialing finger. As the handling robot 400 moves horizontally along the ground directly below the delivery port 310a, the dialing finger moves upward to contact the side wall of the support plate 311a or the hole on the support plate 311a. As the handling robot 400 moves horizontally, the dialing finger drives the support plate 311a to move horizontally to the first position, so that the second end of the support plate 311a forms an open delivery port 310a between the crossbeam 130 of the first carrier 100, and the order goods fall from the delivery port 310a onto the handling robot 400.

[0290] In some examples, the finger on the handling robot 400 can be a support member 422 of the handling robot 400, which is configured to support ordered goods. In some examples, the finger on the handling robot 400 can be a structural component independent of the support member 422. The embodiments of this application do not limit the way the finger is set.

[0291] Understandably, when the lifting component of the handling robot 400 moves downward, the second end of the support plate 311a can return to the second position, so that the delivery port 310a is in a closed state. Understandably, the support plate 311a and the crossbeam 130 of the first carrier 100 can be connected by an elastic element so that after the support plate 311a is freed from the force of the handling robot 400, it can return to the second position, ensuring that the buffer storage location 310 can buffer the ordered goods.

[0292] In some other examples, the support structure 300 can be a conical hopper structure (not shown in the figure), and the bottom end of the inclined side plate of the support structure 300 can be rotatably set at the bottom of the support structure 300 by a torsion spring. When the inclined side plate is in contact with the edges of the other side plates of the support structure 300, the inclined side plate and the other side plates enclose a receiving space for buffering order goods. When the top end of the inclined side plate is rotated to be lower than the bottom end, there is a distance between the inclined side plate and the edges of the other side plates of the support structure 300, such that the location of the inclined side plate (i.e., the side of the support structure 300) forms a delivery port, from which the order goods can slide out.

[0293] In this example, when the handling robot 400 moves to the side of the supporting structure 300, it abuts against the bottom end of the inclined side plate, causing the top end of the inclined side plate to rotate to a position lower than the bottom end. This opens the delivery port, allowing the order goods to slide from the supporting structure 300 onto the handling robot 400 along the inclined side plate. When the handling robot 400 receives the order goods and releases contact with the bottom end of the inclined side plate, the inclined side plate returns to its initial position (the position in contact with the edges of other side plates) under the elastic action of the torsion spring.

[0294] In this embodiment, the delivery port 310a is opened by triggering the carrying structure 300 by the handling robot 400. This avoids the situation where the delivery port 310a is opened accidentally and the goods fall out too early. It also avoids the situation where the delivery port 310a is delayed in opening when the handling robot 400 reaches the bottom of the delivery port 310a, thus delaying the docking time.

[0295] Reference Figure 3 As shown, in some examples, when the supporting structure 300 is a shelf 320a at the bottom of the first carrier 100, and a buffer storage location 310 is formed on the shelf 320a, the pick-and-place mechanism 210 can be configured to transfer containers between the storage location 110 and the buffer storage location 310; the handling robot 400 is configured to dock with the buffer storage location 310 to pick up and place containers.

[0296] For example, the pick-and-place mechanism 210 can directly take the inventory container 500 that has been matched with an order from the storage location 110 and transfer it to the buffer location 310. The handling robot 400 takes the inventory container 500 from the buffer location 310 and transports it to the workstation for picking. That is, the pick-and-place device 200 and the handling robot 400 of this application embodiment cooperate to complete the box retrieval and picking process in the related technology.

[0297] After the inventory container 500 is picked at the workstation, the handling robot 400 can move the inventory container 500 to the first carrier 100 and transfer it to the buffer storage location 310 at the bottom of the first carrier 100. The pick-and-place mechanism 210 then transfers the inventory container 500 from the buffer storage location 310 to the storage storage location 110.

[0298] For example, when the warehousing system is loading a full container onto the first carrier 100, the handling robot 400 can be configured to transfer the full container to the buffer location 310, and the pick-and-place mechanism 210 can be configured to transfer the full container from the buffer location 310 to the storage location 110.

[0299] For example, when an inventory container 500 containing goods needs to be put into storage, the inventory container 500 containing goods can first be transferred to the buffer storage location 310 by the handling robot 400, and then the picking and placing mechanism 210 can put the inventory container 500 on the corresponding storage location 110 for subsequent order picking.

[0300] In some examples, when the warehousing system moves an empty container from the first carrier 100, the pick-and-place mechanism 210 is configured to transfer the empty container from the storage location 110 to the buffer location 310, and the handling robot 400 is configured to remove the empty container from the buffer location 310.

[0301] For example, when all the order goods in the inventory container 500 on the storage location 110 are taken out, it is called an empty inventory container 500. The pick-and-place mechanism 210 can take out the empty inventory container 500 and transfer it to the buffer location 310 to serve as an order container 600.

[0302] In some examples, when the pick-and-place mechanism 210 moves the inventory container 500 to the bottom layer of the first carrier 100, and the handling robot 400 is located next to the pick-and-place mechanism 210, the picking mechanism 220 is configured to deliver the picked order goods to the handling robot 400.

[0303] Understandably, when the picking mechanism 210 moves the inventory container 500 to the bottom layer of the first carrier 100, and the handling robot 400 is located next to the picking mechanism 210, the picking mechanism 220 can directly deliver the order goods picked from the inventory container 500 to the support 422 of the handling robot 400, without having to deliver them to the bottom buffer of the first carrier 100. This saves the time for the handling robot 400 to dock with the bottom support structure 300 of the first carrier 100, and improves the picking and outbound efficiency of order goods.

[0304] The following describes the working process of the warehousing system in three scenarios.

[0305] First scene

[0306] When a warehousing system receives an order task, where one of the orders requires multiple goods and all of these goods are located in the same aisle 100c, it can perform the following actions:

[0307] The warehousing system can automatically dispatch orders to the empty buffer storage location 310 in lane 100c;

[0308] The pick-and-place mechanism 210 moves to one side of the first target storage location 110 corresponding to the first order among multiple order goods, and takes out the first target inventory container 500 from the first target storage location 110.

[0309] It is understandable that the first target storage location 100 refers to storage location 110 which stores the goods of the first order. Similarly, the first target inventory container 500 refers to inventory container 500 which stores the goods of the first order.

[0310] The picking mechanism 210 moves the first target inventory container 500 to one side of the buffer storage location 310, and the picking mechanism 220 takes out the first order goods from the first target inventory container 500 and delivers them to the buffer storage location 310.

[0311] After placing the first target inventory container 500 back into the first target storage location 110, the pick-and-place mechanism 210 moves to one side of the second target storage location 110 corresponding to the second order among multiple order goods and retrieves the second target inventory container 500 from the second target storage location 110.

[0312] The picking mechanism 210 moves the second target inventory container 500 to one side of the buffer storage location 310, and the picking mechanism 220 takes out the second order goods from the second target inventory container 500 and delivers them to the buffer storage location 310.

[0313] It is understandable that the second target storage location 100 refers to storage location 110 which stores the goods of the second order. Similarly, the second target inventory container 500 refers to inventory container 500 which stores the goods of the first order.

[0314] For example, the pick-and-place mechanism 210 takes the inventory container 500 of the first order from the storage location 110 and moves it to the empty buffer location 310. During the movement, the picking mechanism 220 can pick the first order from the inventory container 500. When the pick-and-place mechanism 210 moves the inventory container 500 to the empty buffer location 310, the picking mechanism 220 delivers the first order to the buffer location 310, and then the pick-and-place mechanism 210 puts the inventory container 500 back to the corresponding storage location 110.

[0315] The picking mechanism 210 continues to the storage location 110 where the second order goods are located, and takes the inventory container 500 containing the second order goods from the storage location 110, and moves it to the buffer location 310 again. The picking mechanism 220 picks the second order goods from the inventory container 500 and delivers them to the buffer location 310.

[0316] The handling robot 400 moves to the buffer location 310, retrieves multiple order items, and delivers them to the workstation.

[0317] For example, when the second order is delivered to the buffer storage location 310, the warehousing system can dispatch a handling robot 400 to the buffer storage location 310 to retrieve the two order items and send them to the packaging workstation for packaging and outbound delivery.

[0318] By scheduling the handling robot 400 to move toward the cache storage location 310 after the last order's goods are delivered, the waiting time of the handling robot 400 can be saved, allowing the handling robot 400 to dock and handle other order goods before picking up the order goods on the current cache storage location 310.

[0319] Of course, the embodiments of this application do not exclude the example of scheduling the handling robot 400 to move toward the cache storage location 310 before the last order goods are delivered to the cache storage location 310. Specifically, the scheduling time of the handling robot 400 can be adjusted according to factors such as the current position and current task of the handling robot 400.

[0320] Second scene

[0321] When the warehousing system receives an order task, where one of the orders contains multiple goods located in different aisles (100c), it performs the following actions:

[0322] The warehousing system dispatches orders to multiple aisles 100c and hollow buffer storage locations 310.

[0323] The picking and placing mechanism 210 of each aisle 100c moves to one side of the target storage location 110 corresponding to the ordered goods and takes out the target inventory container 500 from the target storage location 110.

[0324] Each picking mechanism 210 moves the target inventory container 500 to the buffer storage location 310 of the corresponding aisle 100c. Each picking mechanism 220 takes out the corresponding order goods from the target inventory container 500 and delivers them to the buffer storage location 310.

[0325] For example, the pick-and-place mechanism 210 on one side of aisle 100c takes the inventory container 500 of the first order from the storage location 110 and moves it to the empty buffer location 310 on the side of aisle 100c. During the movement, the picking mechanism 220 can pick the first order from the inventory container 500. When the pick-and-place mechanism 210 moves the inventory container 500 to the empty buffer location 310, the picking mechanism 220 delivers the first order to the buffer location 310, and then the pick-and-place mechanism 210 puts the inventory container 500 back to the corresponding storage location 110.

[0326] Another pick-and-place mechanism 210 on the side of aisle 100c goes to the storage location 110 where the second order goods are located, takes the inventory container 500 containing the second order goods from the storage location 110, and moves it to the empty buffer location 310 on the side of aisle 100c. The picking mechanism 220 picks the second order goods from the inventory container 500 and delivers them to the buffer location 310.

[0327] The transport robot 400 moves sequentially to the buffer storage location 310 corresponding to each aisle 100c, retrieves the goods from each order, and delivers them to the workstation.

[0328] For example, the handling robot 400 is configured to move sequentially to the buffer storage location 310 where each order item is located to retrieve multiple order items. In some examples, the picking and placing devices 200 on the two aisle sides 100c complete picking in a sequential order. When one order item is picked and the last order item begins picking, the warehousing system can schedule the handling robot 400 to go to different aisles 100c according to the path plan to collect the two order items corresponding to that order and send them to the packaging workstation for packaging and outbound delivery.

[0329] It is understandable that the above path planning could involve first moving to the side of the cache location 310 where picking has already been completed, retrieving the order goods from that cache location 310, and then moving to the side of the last cache location 310 where picking has been completed, and retrieving the order goods.

[0330] Of course, if the last order has been picked while the handling robot 400 is moving toward the first carrier 100, the above path planning can be to first move to the buffer storage location 310 where the last order has been picked and take out the order from the buffer storage location 310, and then move to other buffer storage locations 310 where the order has been picked and take out the order. This application embodiment does not restrict the order in which the handling robot 400 goes to each buffer storage location 310.

[0331] In some examples, the warehousing system can also schedule the transport robot 400 to move to the buffer storage location 310 corresponding to the first pick-up and drop-off device 200 when it starts picking up boxes; or to move to the buffer storage location 310 corresponding to one of the aisle 100c sides after the last pick-up and drop-off device 200 has completed the picking operation; or to move to the buffer storage location 310 that has been picked up after at least one pick-up and drop-off device 200 has completed the picking operation. The embodiments of this application do not limit the scheduling timing of the transport robot 400, and can be adjusted according to the current position, current status and outbound demand of the transport robot 400.

[0332] Third scene

[0333] When the warehousing system receives an order task, and the goods in the first order of the first order and the goods in the second order of the second order are located in the same target inventory container 500, the following actions are performed:

[0334] The warehousing system dispatches an order to the two empty buffer storage locations 310 in the aisle 100c corresponding to the inventory container 500. That is, the warehousing system is bound to two buffer storage locations 310 (the first buffer storage location 310 and the second buffer storage location 310).

[0335] The pick-and-place mechanism 210 moves to one side of the target storage location 110 and takes out the target inventory container 500 from the target storage location 110;

[0336] The picking mechanism 210 moves the target inventory container 500 to one side of one of the buffer storage locations 310, and the picking mechanism 220 takes the first order goods from the target inventory container 500 and delivers them to one of the buffer storage locations 310.

[0337] Picking mechanism 210 moves target inventory container 500 to one side of another buffer location 310, and picking mechanism 220 takes the second order goods from target inventory container 500 and delivers them to another buffer location 310.

[0338] The handling robot 400 moves to one of the buffer storage locations 310, retrieves all the goods for the corresponding order, and delivers them to the workstation.

[0339] For example, the pick-and-place mechanism 210 takes the inventory container 500 from the storage location 110 and moves it toward the first cache location 310. During the movement, the picking mechanism 220 can pick the first order goods from the inventory container 500. When the pick-and-place mechanism 210 moves the inventory container 500 to the first cache location 310, the picking mechanism 220 delivers the first order goods to the first cache location 310. At this time, if the first order has been picked, the warehousing system can dispatch the handling robot 400 to the first cache location 310 to collect the first order goods.

[0340] Of course, in some examples, if the first order has not been fully picked, the warehousing system can also dispatch a handling robot 400 to the first buffer storage location 310. When the handling robot 400 arrives at the first buffer storage location 310, if all the goods in the first order have been picked, the handling robot 400 will begin docking with the first buffer storage location 310 to collect all the goods in the first order. Alternatively, if the goods in the first order have not been picked when the handling robot 400 arrives at the first buffer storage location 310, the handling robot 400 can wait until all the goods in the first order have been picked before docking with the first buffer storage location 310 to collect all the goods in the first order.

[0341] After the picking mechanism 220 completes picking the goods for the first order, the pick-and-place mechanism 210 can move the inventory container 500 laterally along the first carrier 100 to one side of the second buffer storage location 310. During the movement of the inventory container 500 towards the second buffer storage location 310, the picking mechanism 220 can pick out the goods for the second order from the inventory container 500 and, upon reaching the second buffer storage location 310, deliver the goods for the second order to the second buffer storage location 310. It is understood that if the second order has been completely picked, the warehousing system can dispatch another handling robot 400 to this second buffer storage location 310 to collect the goods for the second order.

[0342] In some examples, where cache location 310 is configured to hold order goods and handling robot 400 is configured to transfer order goods, handling robot 400 can be configured to retrieve all order goods related to the same order, move to the workstation, and deliver all order goods to the order container 600 at the workstation. The order container 600 can then be packaged and shipped out.

[0343] Figure 12 This is a schematic diagram of one structure of the handling robot 400 provided in one embodiment of this application. Figure 1 , Figure 13 This is a schematic diagram of one structure of the handling robot 400 provided in one embodiment of this application. Figure 2 , Figure 14 This is a schematic diagram of one structure of the handling robot 400 provided in one embodiment of this application. Figure 3 , Figure 15 This is a schematic diagram of one structure of the handling robot 400 provided in one embodiment of this application. Figure 4 . Reference Figures 12 to 15 As shown, the handling robot 400 may include a chassis 410 and a lifting assembly 420. The chassis 410 can drive the lifting assembly 420 to move on the ground, and the lifting assembly 420 can retrieve the order container 600 from the cache location 310.

[0344] It should be noted that the lifting assembly 420 may include a lifting mechanism 421 and a support member 422 disposed at one end of the lifting mechanism 421. The lifting mechanism 421 is disposed on the chassis 410 and can be raised and lowered relative to the chassis 410. The support member 422 is disposed on the lifting mechanism 421 and is configured to carry the order goods or order container 600. The support member 422 is configured to be raised and lowered under the drive of the lifting mechanism 421 to dock with the buffer storage location 310, thereby transferring the order goods or order container 600.

[0345] Reference Figure 12As shown, in some examples, the support 422 can be a box structure with an opening at the top. For example, when the handling robot 400 handles the order goods and the buffer storage location 310 is a delivery port 310a located at the bottom of the first carrier 100, the support 422 can be a box structure with an opening at the top. That is, the edge of the support 422 extends upward to form a barrier to limit the order goods and ensure that the order goods will not fall off the support 422.

[0346] In addition, the enclosure portion of the support member 422 has a protrusion 422a, which can be used to abut against the support plate on the support structure 300. For example, the protrusion 422a can be a lifting member or a finger member of the handling robot 400 to move the support plate to the first position, so that the delivery port 310a is in the open state to complete the delivery of the order goods.

[0347] Figure 16 This is a schematic diagram of another structure of the handling robot 400 provided in one embodiment of this application. (Refer to...) Figure 16 As shown, in some other examples, when the buffer storage location 310 is a shelf 320a located at the bottom of the first carrier 100, the support member 422 may have a first comb tooth structure, and the buffer storage location 310, i.e., the shelf 320a, may also have a second comb tooth structure that cooperates with the support member 422. When it is necessary to remove the order container 600 or the order goods from the buffer storage location 310, the chassis 410 can drive the lifting assembly 420 to the bottom of the buffer storage location 310, and then the lifting mechanism 421 drives the first comb tooth structure to lift upward, so that the rack of the first comb tooth structure inserts into the gap of the rack of the second comb tooth structure, thereby lifting the order container 600 or the order goods. Then, the chassis 410 can drive the lifting assembly 420 to move horizontally, so that the first comb tooth structure disengages from the second comb tooth structure, and then the handling robot 400 carries the order container 600 or the order goods to other areas.

[0348] When it is necessary to transfer the inventory container 500 to the buffer storage location 310, the chassis 410 can drive the first comb structure of the lifting component 420 to enter the second comb structure of the buffer storage location 310 in a horizontal direction. Then, the lifting mechanism 421 drives the first output structure to descend until the inventory container 500 is supported on the second comb structure. The lifting mechanism 421 continues to drive the first comb structure to move downward until the handling robot 400 is completely located at the bottom of the buffer storage location 310 and drives out of the buffer storage location 310 horizontally.

[0349] In some examples, in order to deliver order goods from the handling robot 400 to the order container 600 at the workstation, refer to Figure 14As shown, the lifting mechanism 421 may include a first lifting component 4211 and a second lifting component 4212, wherein the first lifting component 4211 and the second lifting component 4212 are arranged side by side on the chassis 410 and connected to different positions of the support member 422 in the horizontal direction; the handling robot 400 is configured to switch the support member 422 between an inclined delivery state and a horizontal docking state by adjusting the lifting height of the first lifting component 4211 and the second lifting component 4212.

[0350] In some examples, the handling robot 400 is configured to adjust the lifting height of the first lifting assembly 4211 and the second lifting assembly 4212 at least when docking with the buffer storage location 310 so that the support 422 is in a horizontal docking state and receives the order goods or order containers on the buffer storage location 310.

[0351] For example, refer to Figure 14 As shown, when the lifting height of the first lifting component 4211 and the second lifting component 4212 is controlled so that the tops of the first lifting component 4211 and the second lifting component 4212 are raised to the same height, the support component 422 is in a horizontal docking state to dock with the buffer storage location 310, such as the delivery port 310a, to receive the order goods falling from the delivery port 310a.

[0352] In other examples, the handling robot 400 can dock with a conveyor line to receive goods or containers on the conveyor line. For example, in an inbound scenario, the handling robot 400 can dock with an inbound conveyor line to load goods or containers containing goods on the inbound conveyor line onto the first carrier 100. When docking with the inbound conveyor line, the handling robot 400 can adjust the lifting height of the first lifting component 4211 and the second lifting component 4212 so that the support component 422 is in a horizontal docking state and receives goods or containers on the inbound conveyor line.

[0353] It should be noted that the handling robot 400 can also adjust the lifting height of the first lifting component 4211 and the second lifting component 4212 in other scenarios so that the support component 422 is in a horizontal docking state to dock with other structures, thereby receiving goods, containers or pallets and other items. The embodiments of this application do not limit the specific docking scenarios.

[0354] Reference Figure 15 As shown, when the lifting height of the first lifting component 4211 and the second lifting component 4212 is controlled so that there is a height difference between the tops of the first lifting component 4211 and the second lifting component 4212, the support component 422 is in an inclined delivery state, so that the order goods on the support component 422 are delivered to the order container 600 of the workstation or delivered to the buffer storage location 310.

[0355] In some examples, the handling robot 400 is configured to adjust the lifting height of the first lifting assembly 4211 and the second lifting assembly 4212 at least when docking with an order container in a workstation, so that the support 422 is in an inclined docking state, causing the order goods on the support 422 to tip over into the order container 600. In other examples, the handling robot 400 can dock with a conveyor line to deliver goods or containers to the conveyor line. For example, in a workstation outbound packaging scenario, the handling robot 400 can dock with the workstation conveyor line to deliver order goods taken from the buffer location 310 onto the conveyor line. When docking with the workstation conveyor line, the handling robot 400 can adjust the lifting height of the first lifting component 4211 and the second lifting component 4212 so that the support component 422 is in an inclined delivery docking state, so that the order goods are flipped onto the workstation conveyor line, and then the conveyor line transfers the order goods to the order container in the workstation, or the operator delivers the order goods on the conveyor line to the order container, and then the order container is packaged and shipped out.

[0356] It should be noted that the handling robot 400 can also adjust the lifting height of the first lifting component 4211 and the second lifting component 4212 in other scenarios, so that the support component 422 is in an inclined delivery state to dock with other structures, thereby delivering goods or containers and other items to other structures. The embodiments of this application do not limit the specific docking and delivery scenarios.

[0357] It should be noted that the first lifting component 4211 and the second lifting component 4212 may both include a telescopic structure and a drive structure disposed on the scissor fork structure. The drive structure can drive the corresponding telescopic structure to extend and retract along the height direction perpendicular to the chassis 410, so as to realize the lifting and tilting of the support component 422.

[0358] The telescopic structure may include, but is not limited to, scissor fork structure, piston structure, etc., and the drive structure may include, but is not limited to, motor, drive cylinder, etc. The embodiments of this application do not limit the telescopic structure and drive structure.

[0359] This embodiment of the application sets the handling robot 400 to collect the ordered goods picked from the storage area, transport them to the workstation, and then deliver them to the order container 600 at the workstation. This achieves fully automated picking of ordered goods without human intervention, saving labor costs and improving the picking efficiency of the warehousing system.

[0360] In some examples, the same order requires one or more handling robots 400.

[0361] For example, if a single order contains multiple items, these items can be picked separately and placed into multiple buffer storage locations 310. Then, multiple handling robots 400 can retrieve the corresponding items from each buffer storage location 310. It is understood that any buffer storage location 310 can hold items of the same SKU or different SKUs.

[0362] When multiple handling robots 400 are required for the same order, all handling robots 400 are configured to deliver the corresponding order goods to the same order container 600, thus completing the collection of all order goods for the same order.

[0363] For example, if there are many items in the same order, the items can be picked separately and placed in two buffer locations 310. In this case, two handling robots 400 can retrieve the order items from the corresponding buffer locations 310 respectively. That is, one handling robot 400 collects the order items from one buffer location 310, and the other handling robot 400 collects the order items from the other buffer location 310. The two handling robots 400 carry their respective order items to the workstation, and both handling robots 400 deliver their respective order items to the same order container 600, completing the collection of all order items involved in the order, and then packing and shipping the order container 600 out of the warehouse.

[0364] In some examples, the pick-and-place device 200 and the handling robot 400 of this application embodiment cooperate to realize the shelving of goods.

[0365] For example, when the warehousing system receives a shelving task, the handling robot 400 is configured to move the goods to be shelved to the bottom empty space side of the corresponding first carrier 100, the pick and place mechanism 210 is configured to take out the target inventory container 500 and move it to the bottom empty space side, the picking mechanism 220 is configured to pick the goods to be shelved into the target inventory container 500, and the pick and place mechanism 210 is also configured to transfer the target inventory container 500 containing the goods to be shelved to the target storage location 110.

[0366] In some examples, the handling robot 400 can move the goods to be shelved to the bottom aisle 100c of the corresponding first carrier 100 without placing them on the buffer storage location 310 at the bottom of the first carrier 100. The picking mechanism 210 can move the target inventory container 500 to the bottom aisle 100c of the first carrier 100 without placing it on the buffer storage location 310 at the bottom of the first carrier 100. The picking mechanism 220 picks the goods to be shelved in the aisle 100c, that is, picks the goods to be shelved from the support 422 of the handling robot 400 to the target inventory container 500. In this way, the procedures of the picking device 200 and the handling robot 400 in the goods shelving process can be simplified, and the shelving efficiency can be improved.

[0367] In some examples, the handling robot 400 can move the goods to be shelved to the empty buffer storage location 310 at the bottom of the corresponding first carrier 100, or the picking and placing mechanism 210 can move the target inventory container 500 to the empty buffer storage location 310 at the bottom of the first carrier 100. This application embodiment does not limit this.

[0368] In some examples, goods to be shelved can be placed directly on the support 422 of the handling robot 400, or they can be placed on the support 422 through a turnover container. That is, the goods to be shelved are stored in a turnover container, and the turnover container is placed on the support 422 of the handling robot 400. In this way, the handling robot 400 can stably carry multiple goods to be shelved.

[0369] In some examples, there can be one or more items to be listed, for example,

[0370] Multiple goods awaiting shelving are stored in turnover containers, and each of the multiple goods awaiting shelving corresponds to a different target inventory container 500.

[0371] The handling robot 400 is configured to transport a turnover container with multiple goods to be shelved to the bottom empty space side of the first carrier 100, the picking and placing mechanism 210 is configured to transport each target inventory container 500 to the bottom empty space side of the first carrier 100 in sequence, and the picking component 221 is configured to pick each goods to be shelved from the turnover container to each target inventory container 500 in sequence.

[0372] Taking a turnover container carried by a handling robot 400 containing two goods to be shelved, with the first goods to be shelved corresponding to the first inventory container 500 and the second goods to be shelved corresponding to the second inventory container 500 as an example, the handling robot 400 will move the turnover container with multiple goods to be shelved to the empty space at the bottom of the first carrier 100.

[0373] The picking and placing mechanism 210 moves the first inventory container 500 from the corresponding storage location 110 to the bottom empty space side of the first carrier 100. After the picking mechanism 220 picks the first goods to be put on the shelf from the handling robot 400 into the first inventory container 500, the picking and placing mechanism 210 puts the first inventory container 500 back into the corresponding storage location 110.

[0374] The picking and placing mechanism 210 continues to move to the storage location 110 on the second storage container 500, and moves the second storage container 500 to the bottom empty space on the first carrier 100. After the picking mechanism 220 picks the second goods to be put on the shelf from the handling robot 400 into the second storage container 500, the picking and placing mechanism 210 puts the second storage container 500 back into the corresponding storage location 110, completing the shelving work of all goods to be put on the shelf.

[0375] In some examples, the pick-and-place device 200 and the handling robot 400 of this application embodiment cooperate to perform combined sorting work on two inventory containers 500.

[0376] For example, when the warehousing system receives a task to consolidate and sort goods, the picking and placing mechanism 210 is configured to move one of the storage containers 500 to the empty space at the bottom of the first carrier 100, the handling device moves the other storage container 500 to the side of one of the storage containers 500, and the picking mechanism 220 is configured to transfer the goods in one of the storage containers 500 to the other storage container 500, thereby completing the consolidation and sorting between the two storage containers 500.

[0377] The empty space at the bottom can be an empty buffer storage location 310 at the bottom of the first carrier 100, or an empty space in the aisle 100c at the bottom of the first carrier 100. The handling device can be, but is not limited to, one of the pick-and-place mechanism 210 and the handling robot 400.

[0378] For example, when two inventory containers 500 that need to be combined are located in the same aisle 100c, the handling device is a pick-and-place mechanism 210, and the bottom empty space is a buffer storage location 310 formed by the bottom shelf of the first carrier 100. In this way, the pick-and-place mechanism 210 is configured to transport one of the inventory containers 500 to the buffer storage location 310 at the bottom of the first carrier 100. That is, the bottom empty space side of the first carrier 100 is the buffer storage location 310 at the bottom of the first carrier 100. Thus, after the pick-and-place mechanism 210 places one of the inventory containers 500 on the buffer storage location 310, the carrying structure of the pick-and-place mechanism 210 can be freed up to continue picking up the other inventory container 500 and transporting the other inventory container 500 to the side of the first inventory container 500.

[0379] For example, when two inventory containers 500 that need to be combined are located in the same aisle 100c, the picking mechanism 210 can first move one of the inventory containers 500, such as the first inventory container 500, to the bottom buffer storage location 310 of the first carrier 100, and then take the other inventory container 500, such as the second inventory container 500, from the corresponding storage location 110 and move it to the vicinity of the first inventory container 500, such as in the aisle 100c near the first inventory container 500 or to the buffer storage location 310. The picking mechanism 220 then picks from one of the inventory containers... For example, all goods are taken out of the first inventory container 500 and delivered to another inventory container 500, such as the second inventory container 500. Alternatively, the picking mechanism 220 takes out all goods from the second inventory container 500 and delivers them to the first inventory container 500. Then, the pick-and-place mechanism 210 moves the inventory container 500 containing the goods of the two inventory containers 500 to the corresponding storage location 110. For example, the pick-and-place mechanism 210 moves the first inventory container 500 containing the goods of the two inventory containers 500 to the corresponding storage location 110.

[0380] In some examples, the pick-and-place mechanism 210 can place an empty inventory container 500, such as a second inventory container 500, on a buffer location 310 for the handling robot 400 to remove from the storage area.

[0381] In some examples, when two inventory containers 500 that need to be combined are located in different aisles 100c, the handling device is a handling robot 400, and the bottom empty space is either a buffer storage location 310 formed by the bottom shelf of the first carrier 100 or the aisle 100c side of the bottom of the first carrier 100. Thus, the pick-and-place mechanism 210 is configured to move one of the inventory containers 500 to the buffer storage location 310 at the bottom of the first carrier 100 or the aisle 100c side of the bottom of the first carrier 100.

[0382] The handling robot 400 moves another inventory container 500 to the side of one of the inventory containers 500. The handling robot 400 can move the other inventory container 500 to a buffer storage location 310 next to one of the inventory containers 500, or temporarily store it on the handling robot 400. For example, when two inventory containers 500 that need to be combined are located in different aisles 100c, the pick-and-place mechanism 210 of one aisle 100c can move one inventory container 500, for example, the first inventory container 500, to the bottom aisle 100c side of the first carrier 100. The pick-and-place mechanism 210 of the other aisle 100c removes the other inventory container 500, for example, the second inventory container 500, from its corresponding storage location 110 and moves it to the bottom of the corresponding aisle 100c. The handling robot 400 then moves the second inventory container 500... The goods are retrieved and transported to the aisle 100c near the first storage container 500. The picking mechanism 220 retrieves all the goods from one of the storage containers 500, such as the first storage container 500, and delivers them to another storage container 500, such as the second storage container 500. Alternatively, the picking mechanism 220 retrieves all the goods from the second storage container 500 and delivers them to the first storage container 500. Then, the pick-and-place mechanism 210 transports the storage container 500 containing the goods from the two storage containers 500 to the corresponding storage location 110.

[0383] For example, the pick-and-place mechanism 210 moves the first inventory container 500, which contains two inventory containers 500, to the corresponding storage location 110. As another example, the handling robot 400 moves the second inventory container 500, which contains two inventory containers 500, to another aisle 100c and transfers it to the buffer location 310 on the side of aisle 100c. The pick-and-place mechanism 210 on the side of aisle 100c then transfers the second inventory container 500 from the buffer location 310 to the corresponding storage location 110. Alternatively, when the handling robot 400 transfers the second inventory container 500, which contains two inventory containers 500, to the buffer location 310 on the current aisle 100c, the pick-and-place mechanism 210 on the side of aisle 100c can first transfer the empty first inventory container 500 to the buffer location 310, and then transfer the second inventory container 500 from the buffer location 310 to the storage location 110 corresponding to the first inventory container 500. The handling robot 400 can move the first inventory container 500 out of the storage area.

[0384] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A warehousing system, characterized in that, include: The first carrier (100) is provided with a storage location (110), which is configured to store an inventory container (500); A buffer storage location (310) is provided at the bottom or side of the first vehicle (100), and the buffer storage location (310) is configured to buffer order goods; A pick-and-place device (200) is located on one side of the first carrier (100) and is movable relative to the first carrier (100); the pick-and-place device (200) includes: A pick-and-place mechanism (210) is configured to dock with the storage location (110) to pick up or place the inventory container (500); The picking mechanism (220) is configured to pick out the order goods from the inventory container (500) and deliver them to the buffer location (310); A handling robot (400) is configured to remove order goods from the buffer location (310).

2. The warehousing system according to claim 1, characterized in that, The picking mechanism (220) includes: The picking component (221) is configured to pick the order goods from the inventory container (500) and deliver the order goods to the buffer location (310).

3. The warehousing system according to claim 2, characterized in that, The picking component (221) is configured to pick order goods from the inventory container (500) during the movement of the pick-and-place mechanism (210) toward the buffer location (310) or when it reaches the buffer location (310), and to deliver the order goods to the buffer location (310) when the picking component (221) reaches one side of the buffer location (310).

4. The warehousing system according to claim 2, characterized in that, When the warehousing system receives a first order and a second order, and the first order goods of the first order and the second order goods of the second order are located in the same storage container (500), the picking component (221) is configured to pick out the first order goods from the storage container (500) and deliver them to one of the buffer storage locations (310). After the pick-and-place mechanism (210) moves the storage container (500) a first horizontal distance, the picking component (221) delivers the second order goods picked out from the storage container (500) to the other buffer storage location (310). The first horizontal distance is the horizontal distance between the buffer storage location (310) where the first order goods are placed and the buffer storage location (310) where the second order goods are placed, and the first horizontal distance is within a preset range.

5. The warehousing system according to claim 1, characterized in that, The first carrier (100) has a support structure (300) at its bottom, and the buffer storage space (310) is provided on the support structure (300).

6. The warehousing system according to claim 5, characterized in that, The buffer storage location (310) is configured to place the order goods, and the handling robot (400) is configured to transfer the order goods; The supporting structure (300) has an openable delivery port (310a) that is connected to the buffer storage location (310). When the handling robot (400) is configured to dock with the buffer storage location (310), the delivery port (310a) is in an open state to transfer the order goods from the buffer storage location (310) to the handling robot (400).

7. The warehousing system according to claim 6, characterized in that, The transport robot (400) is configured to trigger the support structure (300) when it moves to one side of the support structure (300), causing the delivery port (310a) to switch from a closed state to an open state.

8. The warehousing system according to claim 5, characterized in that, The supporting structure (300) is a shelf (320a) at the bottom of the first carrier (100), and the buffer storage location (310) is formed on the shelf (320a). The buffer storage location (310) is configured to place order goods or an order container (600) containing order goods. The handling robot (400) is configured to dock with the buffer location (310) to retrieve order goods or order containers (600) from the buffer location (310) or place order goods or order containers in the buffer location (310).

9. The warehousing system according to claim 8, characterized in that, The pick-and-place mechanism (210) is configured to transfer containers between the storage location (110) and the buffer location (310); The handling robot (400) is configured to dock with the buffer location (310) to pick up and place containers.

10. The warehousing system according to claim 9, characterized in that, When the warehousing system loads a full container onto the first carrier (100), the handling robot (400) is configured to transfer the full container to the buffer storage location (310), and the pick-and-place mechanism (210) is configured to transfer the full container from the buffer storage location (310) to the storage location (110). When the warehousing system removes an empty container from the first carrier (100), the pick-and-place mechanism (210) is configured to transfer the empty container from the storage location (110) to the buffer location (310), and the handling robot (400) is configured to remove the empty container from the buffer location (310).

11. The warehousing system according to claim 1, characterized in that, When the pick-and-place mechanism (210) moves the inventory container (500) to the bottom layer of the first carrier (100), and the handling robot (400) is located beside the pick-and-place mechanism (210), the picking mechanism (220) is configured to deliver the picked order goods to the handling robot (400).

12. The warehousing system according to claim 1, characterized in that, When the warehousing system receives an order task, one of which contains multiple orders of goods, and all of the multiple orders of goods are located in the same aisle (100c), the system performs the following actions: The warehousing system dispatches orders to the empty buffer storage location (310) in the aisle (100c); The pick-and-place mechanism (210) moves to one side of the first target storage location (110) corresponding to the first order among the multiple order goods, and takes out the first target inventory container (500) from the first target storage location (110); The picking mechanism (210) moves the first target inventory container (500) to one side of the buffer storage location (310), and the picking mechanism (220) takes out the first order goods from the first target inventory container (500) and delivers them to the buffer storage location (310). After the pick-and-place mechanism (210) puts the first target inventory container (500) back into the first target storage location (110), it goes to one side of the second target storage location (110) corresponding to the second order among the multiple order goods and takes out the second target inventory container (500) from the second target storage location (110). The picking mechanism (210) moves the second target inventory container (500) to one side of the buffer location (310), and the picking mechanism (220) takes the second order goods from the second target inventory container (500) and delivers them to the buffer location (310). The handling robot (400) moves to the buffer storage location (310), retrieves the multiple order goods, and delivers them to the workstation.

13. The warehousing system according to claim 1, characterized in that, When the warehousing system receives an order task, one of which contains multiple orders of goods, and each of the multiple orders of goods is located in a different aisle (100c), the system performs the following actions: The warehousing system dispatches orders to the empty buffer locations (310) in multiple of the aisles (100c); The pick-and-place mechanism (210) of each of the aisles (100c) moves to one side of the target storage location (110) corresponding to the order goods and takes out the target storage container (500) from the target storage location (110); Each of the picking and placing mechanisms (210) transports the target inventory container (500) to the side of the buffer storage location (310) in the corresponding aisle (100c), and each of the picking mechanisms (220) takes out the corresponding order goods from the target inventory container (500) and delivers them to the buffer storage location (310); The transport robot (400) moves sequentially to the buffer storage location (310) corresponding to each of the aisles (100c), retrieves each of the order goods from the order, and delivers them to the workstation.

14. The warehousing system according to claim 1, characterized in that, When the warehousing system receives an order task, and the goods of the first order of the first order and the goods of the second order of the second order are located in the same target inventory container (500), the system performs the following actions: The warehousing system dispatches orders to the two empty buffer locations (310) in the corresponding aisle (100c) of the inventory container (500); The pick-and-place mechanism (210) moves to one side of the target storage location (110) and takes out the target storage container (500) from the target storage location (110); The picking mechanism (210) moves the target inventory container (500) to one side of one of the buffer storage locations (310), and the picking mechanism (220) takes the first order goods from the target inventory container (500) and delivers them to one of the buffer storage locations (310). The pick-and-place mechanism (210) moves the target inventory container (500) to one side of another buffer location (310), and the picking mechanism (220) takes the second order goods from the target inventory container (500) and delivers them to the other buffer location (310). The handling robot (400) moves to one of the buffer storage locations (310), retrieves all the goods for the corresponding order, and delivers them to the workstation.

15. The warehousing system according to claim 1, characterized in that, When the buffer location (310) is configured to place order goods and the handling robot (400) is configured to transfer the order goods, the handling robot (400) is configured to take out all the order goods involved in the same order, move to the workstation, and deliver all the order goods to the order container (600) of the workstation.

16. The warehousing system according to claim 15, characterized in that, One or more of the aforementioned handling robots (400) are required for the same order; When multiple handling robots (400) are required for the same order, all handling robots (400) are configured to deliver the corresponding order goods to the same order container (600) to complete the collection of all order goods for the same order.

17. The warehousing system according to claim 1, characterized in that, When the warehousing system receives a shelving task, the handling robot (400) is configured to move the goods to be shelved to the bottom empty space side of the corresponding first carrier (100), the pick-and-place mechanism (210) is configured to take out the target inventory container (500) and move it to the bottom empty space side, the picking mechanism (220) is configured to pick the goods to be shelved into the target inventory container (500), and the pick-and-place mechanism (210) is also configured to transfer the target inventory container (500) containing the goods to be shelved to the target storage location (110).

18. The warehousing system according to claim 17, characterized in that, The goods to be put on the shelves are stored in turnover containers, and the turnover containers contain multiple goods to be put on the shelves, and the multiple goods to be put on the shelves correspond to different target inventory containers (500). The handling robot (400) is configured to transport the turnover container with multiple goods to be shelved to the bottom empty space side of the first carrier (100), the picking mechanism (210) is configured to sequentially transport each of the target inventory containers (500) to the bottom empty space side of the first carrier (100), and the picking mechanism (220) is configured to sequentially pick each goods to be shelved from the turnover container into each of the target inventory containers (500).

19. The warehousing system according to claim 1, characterized in that, When the warehousing system receives a task to consolidate and sort goods, the picking and placing mechanism (210) is configured to move one of the storage containers (500) to the bottom empty space side of the first carrier (100), the handling device moves the other storage container (500) to the side of the one of the storage containers (500), and the picking mechanism (220) is configured to transfer the goods in one of the storage containers (500) to the other storage container (500), thereby completing the consolidation and sorting between the two storage containers (500).

20. The warehousing system according to claim 19, characterized in that, When two inventory containers (500) that need to be combined for sorting are located in the same aisle (100c), the handling device is the pick-and-place mechanism (210), and the bottom empty space is the buffer storage space (310) formed by the bottom shelf of the first carrier (100); The pick-and-place mechanism (210) is configured to move one of the storage containers (500) to a buffer storage location (310) at the bottom of the first vehicle (100); The pick-and-place mechanism (210) moves another storage container (500) to the side of one of the storage containers (500).

21. The warehousing system according to claim 19, characterized in that, When two inventory containers (500) that need to be combined for sorting are located in different aisles (100c), the handling device is the handling robot (400), and the bottom empty space is the buffer storage space (310) formed by the bottom shelf of the first carrier (100) or the aisle (100c) side of the bottom of the first carrier (100). The pick-and-place mechanism (210) is configured to move one of the storage containers (500) to the buffer location (310) at the bottom of the first vehicle (100) or to the side of the aisle (100c) at the bottom of the first vehicle (100); The transport robot (400) transports another storage container (500) to the side of one of the storage containers (500).

22. The warehousing system according to claim 1, characterized in that, The picking mechanism (220) includes: The picking component (221) is configured to pick the order goods from the inventory container (500); The delivery component (222) is configured to receive the order goods picked by the picking component (221) and deliver them to the buffer location (310).

23. The warehousing system according to claim 22, characterized in that, The delivery component (222) is movable relative to the picking component (221) and the pick-and-place mechanism (210) in the height direction of the first carrier (100), and when the picking component (221) is in the picking state, the delivery component (222) is located beside the pick-and-place mechanism (210). The delivery component (222) is configured to receive the order goods picked from the inventory container (500) by the picking component (221) and carry the order goods to one side of the buffer location (310) to deliver the order goods to the buffer location (310).

24. The warehousing system according to claim 23, characterized in that, Before the delivery component (222) carries the order goods to the buffer location (310), the pick-and-place mechanism (210) is configured to sequentially retrieve inventory containers (500) from a plurality of storage locations (110), and the picking component (221) is configured to pick the order goods from each of the inventory containers (500) into the delivery component (222), after which the delivery component (222) carries a plurality of order goods to one side of the buffer location (310).

25. The warehousing system according to any one of claims 1-24, characterized in that, The pick-and-place device (200) includes: The stand (230) can move laterally along the first carrier (100); The pick-and-place mechanism (210) and the picking mechanism (220) can move laterally along the first carrier (100) under the drive of the stand (230), and both the pick-and-place mechanism (210) and the picking mechanism (220) can move relative to the stand (230) along the height direction of the first carrier (100).

26. The warehousing system according to claim 25, characterized in that, The picking component (221) of the picking mechanism (220) is movable relative to the pick-and-place mechanism (210) on a first plane so that the picking component (221) moves between the pick-and-place mechanism (210) and the buffer location (310); The picking component (221) is movable relative to the pick-and-place mechanism (210) in the height direction of the stand (230) to extend into or out of the inventory container (500) or the buffer location (310); The height direction of the first vehicle (100) intersects with the first plane.

27. The warehousing system according to claim 26, characterized in that, The picking component (221) includes: The robotic arm (2211) is rotatable relative to the stand (230) on the first plane and can move along the height direction of the stand (230); A gripper (2212) is attached to the robotic arm (2211) and is configured to pick up the order goods from the inventory container (500).

28. The warehousing system according to claim 25, characterized in that, The picking component (221) of the picking mechanism (220) and the pick-and-place mechanism (210) can move synchronously along the height direction of the stand (230).

29. The warehousing system according to claim 28, characterized in that, The pick-and-place device (200) further includes: A first drive assembly (250) is connected to the pick-and-place mechanism (210) to drive the pick-and-place mechanism (210) to move in the height direction of the stand (230); A second drive assembly (260) is connected to the picking assembly (221) to drive the picking assembly (221) to move relative to the pick-and-place mechanism (210) in the height direction of the stand (230); The second drive assembly (260) and the picking assembly (221) are disposed on the first drive assembly (250) so as to move with the pick-and-place mechanism (210) under the drive of the first drive assembly (250); or, The second drive assembly (260) and the picking assembly (221) are disposed on the pick-and-place mechanism (210) to move with the pick-and-place mechanism (210).

30. The warehousing system according to any one of claims 1-24, characterized in that, The pick-and-place device (200) is suspended on the first carrier (100) and can move laterally along the first carrier (100).

31. The warehousing system according to claim 30, characterized in that, The warehousing system includes a plurality of first vehicles (100), which are spaced apart and form a passageway (100c) between two adjacent first vehicles (100); The pick-and-place device (200) is suspended on the side of the tunnel (100c) and is configured to pick up and place the storage containers (500) on the first carrier (100) on both sides of the tunnel (100c).

32. The warehousing system according to any one of claims 1-24, characterized in that, The transport robot (400) includes: Chassis (410); A lifting mechanism (421) is mounted on the chassis (410) and can be raised and lowered relative to the chassis (410); A support (422) is disposed on the lifting mechanism (421) and configured to carry order goods or order containers (600). The support (422) is configured to move up and down under the action of the lifting mechanism (421) to dock with the buffer location (310).

33. The warehousing system according to claim 32, characterized in that, The lifting mechanism (421) includes a first lifting component (4211) and a second lifting component (4212); The first lifting assembly (4211) and the second lifting assembly (4212) are arranged side by side on the chassis (410) and connected to different positions of the support member (422) in the horizontal direction; the handling robot (400) is configured to switch the support member (422) between an inclined delivery state and a horizontal docking state by adjusting the lifting height of the first lifting assembly (4211) and the second lifting assembly (4212).

34. The warehousing system according to claim 33, characterized in that, The handling robot (400) is configured to adjust the lifting height of the first lifting assembly (4211) and the second lifting assembly (4212) at least when docking with the buffer storage location (310) so that the support (422) is in a horizontal docking state and receives the order goods or order containers on the buffer storage location (310); The handling robot (400) is configured to adjust the lifting height of the first lifting assembly (4211) and the second lifting assembly (4212) at least when docking with an order container in a workstation, so that the support (422) is in an inclined docking state, causing the order goods on the support (422) to be flipped sideways into the order container (600).

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