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 second carrier is adjacent to the first carrier and is provided with a buffer storage position, and the buffer storage position is configured to buffer the order container; the taking and placing device is located on one side of the first carrier and the second carrier and can move relative to the first carrier and the second 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 order container located on the second carrier, and the transfer robot is configured to move out the order container with the order goods.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of warehouse logistics, and particularly relates to a warehouse system. BACKGROUND

[0002] In the warehouse system, goods can be stored in containers on the shelves in the storage area. When the warehouse system receives an order task, the container storing the order goods needs to be taken out from the shelf, and the order goods in the container needs to be picked to facilitate subsequent packaging and delivery.

[0003] The existing goods picking process is to take out the storage container that hits the order from the shelf by the carrying robot, and carry the storage container to the workstation to pick the order goods. However, since the goods in the storage container that hits the order are less, the carrying robot needs to take out the storage container from the shelf multiple times to carry it to the workstation for goods picking, which reduces the goods picking efficiency. Invention content

[0004] The application provides a warehouse system, which improves the goods picking efficiency.

[0005] The application provides a warehouse system, which improves the goods picking efficiency.

[0006] The warehouse system provided by the embodiments of the present application comprises a first carrier and a second carrier. The first carrier comprises a plurality of storage spaces. The second carrier comprises a plurality of buffer spaces. The first carrier and the second carrier are arranged in parallel. A picking device is arranged on one side of the first carrier. The picking device comprises a picking mechanism and a picking mechanism. The picking mechanism is connected to the storage spaces of the first carrier. The picking mechanism is used to pick and place the inventory containers. The picking mechanism is used to pick the order goods in the inventory containers and deliver the order goods to the order containers. The order containers are temporarily stored in the buffer spaces. The picking device can directly pick a plurality of order goods from the inventory containers to the order containers on one side of the first carrier, so as to facilitate the transport robot to transport the order containers storing the order goods to the workstation for two-division, or directly deliver the order containers to the warehouse for packaging. On the one hand, the inventory containers do not need to be transported between the first carrier and the workstation multiple times, and the workers do not need to pick the order goods one by one at the workstation. The transport time of the inventory containers and the manual picking time can be saved, the picking efficiency of the goods is improved, and the power consumption of the transport robot for transporting the inventory containers multiple times is reduced. On the other hand, the picking device only needs some simple mechanical structures to pick and place the inventory containers and the order goods in the inventory containers, without the need for multiple robots to coordinate and cooperate, thereby effectively reducing the operation cost. On the other hand, when the order goods in the order container meet a single order, the order container can be directly packaged and delivered, without the need for further transportation to the workstation for two-division or sowing. The entire system is integrated on the first carrier, and there is no need to additionally set a workstation for picking operation in the limited space of the warehouse, so that the space utilization of the warehouse can be improved. In addition, by temporarily storing the order containers in the buffer spaces of the second carrier, the picking mechanism can deliver the order goods in the inventory containers to the order containers in the buffer spaces after picking, so that the order containers do not need to be transported back and forth, the picking process of the picking device is simplified, and the structure and power consumption of the picking device are also simplified.

[0007] In another aspect, the embodiment of the present application provides a warehouse system, a first carrier, a first storage location and a second storage location are arranged on the first carrier, the first storage location is arranged below the second storage location; a second carrier is arranged adjacent to the first carrier, and the second carrier is provided with a buffer location, the buffer location is configured to buffer the first article and the second article; a temporary storage location is configured to temporarily store the second article; a first taking and placing device is arranged on one side of the first storage location, and the first taking and placing device is provided with a first walking mechanism, the storage area where the first carrier and the second carrier are arranged is provided with a first track, the first walking mechanism is hung on the first track and moves along the first track on the side of the first storage location, and the first taking and placing device is configured to be connected with the first storage location to take and place the first article on the first storage location and transfer the first article between the first storage location and the buffer location; a second taking and placing device is arranged on one side of the second storage location, and the second taking and placing device is provided with a second walking mechanism, the storage area is provided with a second track, the second walking mechanism is hung on the second track and moves along the second track on the side of the second storage location, and the second taking and placing device is configured to be connected with the second storage location to take and place the second article on the second storage location and transfer the second article between the second storage location and the temporary storage location; wherein the first taking and placing device is further configured to transfer the second article between the temporary storage location and the buffer location; and a carrying robot is configured to remove the first article or the second article on the buffer location.

[0008] By arranging the first taking and placing device and the second taking and placing device on one side of the first carrier, the first taking and placing device is responsible for taking and placing the first article on the low-layer storage location, the second taking and placing device is responsible for taking and placing the second article on the high-layer storage location, and the temporary storage location is arranged to temporarily store the second article taken from the high-layer storage location by the second taking and placing device on the temporary storage location, and the first taking and placing device transfers the second article on the temporary storage location to the buffer location for the carrying robot to remove and carry to the workstation. On the one hand, the embodiment of the present application can increase the height of the first carrier, and can fully utilize the upper space of the first carrier to increase the storage density; on the other hand, the taking and placing of the first article on the low-layer storage location and the second article on the high-layer storage location are decoupled and do not affect each other, and the throughput upper limit of the first carrier is enhanced. In addition, when the second article on the high-layer storage location is called, the running speed of the second taking and placing device is basically not lost, and the taking and placing efficiency of the high-layer and low-layer articles is improved as a whole. BRIEF DESCRIPTION OF DRAWINGS

[0009] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creating any creative labor.

[0010] Figure 1is a structural schematic of one of the warehouse systems provided in an embodiment of the present application Figure One ;

[0011] Figure 2 is a structural schematic of the picking device provided in an embodiment of the present application

[0012] Figure 3 is a structural schematic of the picking robot provided in an embodiment of the present application

[0013] Figure 4 is a partial structural schematic of the picking device provided in an embodiment of the present application

[0014] Figure 5 is a structural schematic of the picking mechanism provided in an embodiment of the present application

[0015] Figure 6 is a structural schematic of one of the warehouse systems provided in an embodiment of the present application Figure Two ;

[0016] Figure 7 is a structural schematic of one of the warehouse systems provided in an embodiment of the present application Figure Three ;

[0017] Figure 8 is an assembly schematic of the picking assembly and the second driving assembly provided in an embodiment of the present application

[0018] Figure 9 is a structural schematic of the delivery assembly provided in an embodiment of the present application Figure One ;

[0019] Figure 10 is a structural schematic of the delivery assembly provided in an embodiment of the present application Figure Two ;

[0020] Figure 11 is a structural schematic of one of the warehouse systems provided in an embodiment of the present application

[0021] Figure 12 is a structural schematic of one of the warehouse systems provided in an embodiment of the present application

[0022] Figure 13 is a structural schematic of the first carrier and the first picking device in the warehouse system provided in an embodiment of the present application

[0023] Figure 14 is a structural schematic of the first carrier and the second picking device in the warehouse system provided in an embodiment of the present application

[0024] Legend of reference signs:

[0025] 100, 100a, 100b - first carrier; 100c - aisle; 200 - picking device; 200a - first picking device; 200b - second picking device; 300 - second carrier; 400 - handling robot; 500 - inventory container; 510 - first inventory container; 520 - second inventory container; 600 - order container; 700 - image sensor; 700a - first image sensor; 700b - second image sensor; 110 - storage location; 110a - first storage location; 110b - second storage location; 110c - temporary storage location; 120 - track; 120a - first track; 120b - second track; 210 - picking mechanism; 210a - first picking mechanism; 210b - second picking mechanism; 220 - picking mechanism; 220a - first picking mechanism; 220b - second picking mechanism; 230 - stand; 230a - first stand; 230b - second stand; 240 - travelling mechanism; 240a - first travelling mechanism; 240b - second travelling mechanism; 250 - first drive assembly; 260 - second drive assembly; 270 - third drive assembly; 280 - fourth drive assembly; 290 - fifth drive assembly; 310 - buffer location; 211 - carrying structure; 211a - first carrying structure; 211b - second carrying structure; 211c - third carrying structure; 212 - picking structure; 221 - picking assembly; 221a - first picking assembly; 221b - second picking assembly; 222 - delivery assembly; 223 - picking assembly; 251 - first drive motor; 252 - first sliding block; 261 - second drive motor; 262 - second drive wheel; 263 - second driven wheel; 264 - second transmission belt; 265 - second sliding block; 271 - third drive motor; 272 - third sliding block; 231 - first sliding rail; 232 - second sliding rail; 233 - third sliding rail; 2211 - mechanical arm; 2212 - gripper; 2213 - first rotating assembly; 2214 - second rotating assembly; 2215 - air supply device; 2216 - third rotating assembly; 2221 - enclosing wall; 2222 - guide; 2223 - guide driving member; 222a - first delivery port; 222b - second delivery port; 2211a - sub-arm; 2212a - gripper body; 2212b - connecting rod. DETAILED DESCRIPTION

[0026] In order to make the technical personnel in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person of ordinary skill in the art without creative labor should belong to the scope of protection of the present application.

[0027] Figure 1 is a structural schematic of one of the warehouse systems provided by an embodiment of the present application Figure One , Figure 2 is a structural schematic of a picking and placing device provided by an embodiment of the present application. As shown in Figure 1 and Figure 2 , an embodiment of the present application provides a warehouse system, which includes a first carrier 100.

[0028] In some examples, the first carrier 100 is located in a storage area of the warehouse system. The first carrier 100 is provided with storage locations 110, which are configured to store inventory containers 500. In some examples, the first carrier 100 can be provided with multiple columns of storage locations 110 in a lateral direction (refer to x direction in Figure 1 , and multiple layers of storage locations 110 in a height direction (refer to z direction in Figure 1 ) to improve the storage density of the first carrier 100. It can be understood that the lateral direction of the first carrier 100 is the arrangement direction of each column of the first carrier 100. The height direction of the first carrier 100 is the arrangement direction of each layer of the first carrier 100.

[0029] In some examples, the first carrier 100 can be provided with one or more storage locations 110 in a depth direction (refer to y direction in Figure 1 ). For example, when the first carrier 100 is provided with one storage location 110 in the depth direction, the same picking and placing device, such as the picking and placing device 200 mentioned below, can perform picking and placing of inventory containers 500 on the storage location 110, i.e., the first carrier 100 is a single-depth carrier.

[0030] For another example, when the first carrier 100 is provided with two or more storage locations 110 in the depth direction, the same picking and placing device 200 can be docked with the two or more storage locations 110 to pick and place inventory containers 500, i.e., the first carrier 100 is a double-depth or multi-depth carrier.

[0031] For another example, when the first carrier 100 is provided with two storage locations 110 in the depth direction, the two storage locations 110 are respectively docked by picking and placing devices 200 on both sides of the first carrier 100 in the depth direction, i.e., the first carrier 100 is a single-depth carrier. It should be noted that the first carrier 100 can include, but is not limited to, shelves, storage cabinets, etc.

[0032] The warehouse system of an embodiment of the present application further includes a second carrier 300, which is provided adjacent to the first carrier 100 and is provided with buffer locations 310 configured to buffer order containers.

[0033] It should be noted that the inventory container 500 and the order container can be a box, a tray, a case, or the like, and the application does not limit the type of the inventory container 500 and the order container 600.

[0034] In some examples, the second carrier 300 is located at the bottom of the first carrier 100, so that the second carrier 300 can save the occupied space in the storage area, reasonably utilize the height space of the first carrier 100, and thus improve the storage density of the storage area. In some examples, the second carrier 300 can be a fixed carrier placed at the bottom of the first carrier 100, and the buffer storage locations 310 on the fixed carrier can be consistent with the layout of the storage locations 110 of the first carrier 100.

[0035] The warehouse system provided by the application also includes a carrying robot 400, which can move the order container loaded with the order goods on the buffer storage location 310. For example, the carrying robot 400 can be docked with the order container on the fixed carrier to carry the order container. In some examples, the fixed carrier can be a structure additionally arranged at the bottom of the first carrier 100, for example, the fixed carrier can include support legs and a bearing plate arranged on the support legs, and the buffer storage locations 310 are formed on the bearing plate.

[0036] For another example, the structure of the first carrier 100 itself can be the second carrier 300, for example, the bottom layer plate of the first carrier 100 is configured as the second carrier 300, so that the second carrier 300 does not need to be additionally arranged, and the structure of the warehouse system is simplified.

[0037] In some examples, the second carrier 300 can be a movable carrier temporarily arranged at the bottom of the first carrier 100, for example, the carrying robot 400 can directly carry the movable carrier to transfer the order container. In this way, a plurality of buffer storage locations 310 can be arranged on the movable carrier to buffer a plurality of order containers, so that the carrying robot 400 can carry a plurality of order containers at a time by carrying the movable carrier.

[0038] In some examples, the second carrier 300 can also be located at one side of the first carrier 100 in the horizontal direction, for example, the second carrier 300 can be located outside one end of the first carrier 100 in the transverse direction, or can be located at one side of the first carrier 100 in the depth direction, for example, in the aisle 100c.

[0039] Figure 3 FIG. 1 is a structural schematic diagram of a carrying robot provided by an embodiment of the application. Referring to FIG. 1, the carrying robot 400 includes a base 410, a lifting mechanism 420, and a carrying mechanism 430. Figure 2 and Figure 3As shown, the carrying robot 400 can include a chassis 410 and a lifting assembly 420, the chassis 410 can drive the lifting assembly 420 to walk on the ground, and the lifting assembly 420 can take out the order container on the buffer storage 310.

[0040] It should be noted that the lifting assembly 420 can include a lifting member and a supporting member arranged at one end of the lifting mechanism, the supporting member can be a first comb structure, and the buffer storage 310 on the second carrier 300 is also a second comb structure matched with the supporting member. When it is needed to take out the order container on the buffer storage 310, the chassis 410 can drive the lifting assembly 420 to enter the bottom of the buffer storage 310, and then the lifting member drives the first comb structure to be lifted upward, so that the rack of the first comb structure is inserted into the rack gap of the second comb structure, thereby lifting the order container, and then the chassis 410 can drive the lifting assembly 420 to move horizontally, so that the first comb structure is separated from the second comb structure, and then the carrying robot 400 supports the order container to move to other areas.

[0041] When it is needed to transfer the inventory container to be shelved to the buffer storage 310, the chassis 410 can drive the first comb structure of the lifting assembly 420 to enter the second comb structure of the buffer storage 310 in the horizontal direction, and then the lifting member drives the first output structure to descend until the inventory container is supported on the second comb structure, and the lifting member continues to drive the first comb structure to move downward until the carrying robot 400 is completely located at the bottom of the buffer storage 310 and horizontally drives out of the second carrier 300.

[0042] Continuing to refer to Figure 1 and Figure 2 As shown, the warehouse system of the embodiment of the present application includes a taking and placing device 200, the taking and placing device 200 is located at one side of the first carrier 100 and the second carrier 300, and can move relative to the first carrier 100 and the second carrier 300, for example, the taking and placing device 200 can move in the transverse direction of the first carrier 100 and the second carrier 300 to be docked with each row of storage storages 110 or buffer storages 310.

[0043] In some examples, the taking and placing device 200 can be arranged independently of the first carrier 100, for example, the taking and placing device 200 can walk in the aisle 100c of the storage area to move relative to the first carrier 100 and the second carrier 300.

[0044] In some examples, the taking and placing device 200 can be suspended on one side of the first carrier 100, for example, the taking and placing device 200 can be suspended on the aisle side of the first carrier 100 to move along the first carrier 100, thereby reducing the walking requirement of the taking and placing device 200 to the ground.

[0045] In some examples, the picking and placing device 200 comprises a picking and placing mechanism 210 configured to interface with the storage locations 110 to pick and place the inventory containers 500.

[0046] In some examples, the picking and placing mechanism 210 can move in the lateral direction and the height direction of the first carrier 100 to move to a side of each storage location 110 to facilitate the interface with each storage location 110 to place the inventory containers 500 on each storage location 110 or pick the inventory containers 500 from each storage location 110.

[0047] In some examples, the picking and placing device 200 can further comprise a stand 230 movable in the lateral direction of the first carrier 100 and the second carrier 300, and the picking and placing mechanism 210 is disposed on the stand 230 to move in the lateral direction of the first carrier 100 and the second carrier 300 under the drive of the stand 230 to interface with each column of storage locations 110 or buffer locations 310.

[0048] In some examples, the picking and placing device 200 can be suspended on the first carrier 100 by the stand 230 to ensure that the picking and placing mechanism 210 can stably move in the first carrier 100. In addition, the picking and placing mechanism 210 can be movably disposed on the stand 230 and movable in the stand 230 to move in the height direction of the first carrier 100 to interface with each layer of storage locations 110.

[0049] In some examples, the picking and placing device 200 further comprises a first driving assembly 250 connected with the picking and placing mechanism 210 to drive the picking and placing mechanism 210 to move in the height direction of the stand 230, so that the picking and placing mechanism 210 moves in the height direction of the first carrier 100 to interface with each layer of storage locations 110.

[0050] Figure 4 FIG. 1 is a partial schematic view of a picking and placing device according to an embodiment of the present application. Referring to FIG. 1, the picking and placing device 200 is provided in a warehouse 100 comprising a plurality of storage locations 110 and a plurality of buffer locations 310. Figure 2 and Figure 4As shown, the first driving assembly 250 is arranged on the stand 230, and the taking-and-placing mechanism 210 is connected with the first driving assembly 250 and is slidably arranged on the stand 230. For example, the stand 230 is provided with a first sliding rail 231, and the first driving assembly 250 includes a first sliding block 252 connected with the taking-and-placing mechanism 210 and slidably arranged on the first sliding rail 231. The taking-and-placing mechanism 210 can slide along the first sliding rail 231 through the first sliding block 252 under the driving of the first driving assembly 250. In this way, the movement track of the taking-and-placing mechanism 210 on the stand 230 can be limited, so that the taking-and-placing mechanism 210 can move along the height direction of the stand 230, and is prevented from tilting or swinging in the width direction of the stand 230. In addition, the frictional resistance between the taking-and-placing mechanism 210 and the stand 230 is reduced, and the movement stability of the taking-and-placing mechanism 210 on the stand 230 is improved.

[0051] To further reduce the frictional resistance between the taking-and-placing mechanism 210 and the stand 230, a roller can be arranged on the first sliding block 252, so that the taking-and-placing mechanism 210 rolls along the first sliding rail 231 on the stand 230 through the roller.

[0052] It should be noted that the first driving assembly 250 can include but is not limited to a driving motor, a driving cylinder, a driving motor and a pulley structure, etc. The structure of the first driving assembly 250 is not limited in the embodiments of the present application, as long as the first driving assembly 250 can drive the taking-and-placing mechanism 210 to move in the height direction of the stand 230.

[0053] Taking the first driving assembly 250 including a first driving motor 251 and a pulley structure as an example, the first driving motor 251 can be arranged at one end, for example, the top end, of the stand 230, a driving wheel of the pulley structure can be arranged at one side, for example, the top end, of the stand 230 and is connected with the output shaft of the first driving motor 251, a driven wheel of the pulley structure can be arranged at the end, for example, the bottom end, of the stand 230 away from the driving wheel, and a transmission belt is sleeved on the driving wheel and the driven wheel and is connected with the first sliding block 252.

[0054] When the taking-and-placing mechanism 210 needs to be driven to move, the first driving motor 251 drives the driving wheel to rotate, the transmission belt can drive the driven wheel to rotate under the driving of the driving wheel, and the taking-and-placing mechanism 210 can move in the height direction of the stand 230 in the movement process of the transmission belt.

[0055] In some examples, the pulley structure can be a synchronous pulley structure, for example, the driving wheel and the 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 the driven wheel can be sprockets, and the transmission belt can be a chain. The pulley structure is not limited in the embodiments of the present application.

[0056] In some examples, the transmission belt can be connected with the first slider 252 to drive the taking and placing mechanism 210 to move. Figure 5 is a structural schematic diagram of a taking and placing mechanism provided in an embodiment of the present application. Referring to Figure 2 and Figure 5 In some examples, the taking and placing mechanism 210 can include a carrying structure 211 and a taking and placing structure 212, where the carrying structure 211 can move along the lateral direction and the height direction of the first carrier 100, for example, the carrying structure 211 can be movably arranged on the stand 230, for example, the carrying structure 211 can slide on the stand 230 through the first driving assembly 250, the taking and placing structure 212 is located on the carrying structure 211 and can move between the carrying structure 211 and the storage location 110 to transfer the inventory container 500 between the carrying structure 211 and the storage location 110. For example, the taking and placing structure 212 can transfer the inventory container 500 on the storage location 110 to the carrying structure 211, or transfer the inventory container 500 on the carrying structure 211 to the storage location 110.

[0057] It can be understood that the taking and placing mechanism 210 supports the inventory container 500 through the carrying structure 211 to drive the inventory container 500 to move on one side of the first carrier 100.

[0058] In some examples, the fixed end of the taking and placing structure 212 can be connected with a driving structure to drive the taking and placing structure 212 to move between the carrying structure 211 and the storage location 110, and the movable end (which can also be referred to as the free end in some examples) of the taking and placing structure 212 is provided with a force providing component which can provide force to the front end face of the inventory container 500, so as to realize the movement, carrying or taking and returning of the inventory container 500.

[0059] In a specific example of an embodiment of the present application, the force providing component can be a suction cup, and the vacuum degree of the inner cavity of the suction cup is controlled to adsorb the front end face of the inventory container 500 when the vacuum degree is greater than or equal to a preset vacuum degree, so as to carry the inventory container 500 to move, or to release the inventory container 500 when the vacuum degree is less than the preset vacuum degree.

[0060] In a specific example of an embodiment of the present application, the force providing component can be a hook, and a slot for the hook to insert can be provided on the front end face of the inventory container 500, and the hook can be inserted into the slot to connect with the front end face of the inventory container 500 and provide the carrying force to the inventory container 500 when the inventory container 500 is taken or returned.

[0061] In some other specific examples of the embodiments of the present application, the force providing component can also be a double-axle or multi-axle gripper mechanism, and a through hole is arranged on the front end face of the inventory container 500 for the gripper mechanism to be inserted into; when the inventory container 500 is taken or returned, the gripper mechanism can be controlled to be in a clamping state and inserted into the through hole; then the gripper mechanism is opened, so that the outer side wall of the gripper mechanism is in contact with the inner wall of the through hole, and the inventory container 500 is carried by the friction force between the outer side wall of the gripper and the inner wall of the through hole. It can be understood that in some possible examples, barbs can also be arranged on the outer side wall of the gripper mechanism, so that the barbs can be hooked on the hole along the inner wall of the inventory container 500, thereby ensuring that the gripper mechanism can provide sufficient carrying force when carrying the inventory container 500.

[0062] It can also be understood that in some other optional examples of the embodiments of the present application, the force providing component can also be an electromagnet, and correspondingly, the front end face of the inventory container 500 can be made of a material (such as a ferrous material) that can be attracted by a magnet; when the inventory container 500 is taken or returned, the electromagnet can also be powered when the force providing component approaches or contacts the inventory container 500, so as to provide the carrying force of the inventory container 500 by the magnetic attraction force of the electromagnet on the inventory container 500.

[0063] It can be understood that in some other possible examples of the embodiments of the present application, the force providing component can also be made of a material that can be attracted by a magnet, and correspondingly, an electromagnet is arranged on the front end face of the inventory container 500; in this way, when the inventory container 500 is taken or returned, the electromagnet can be powered when the force providing component approaches or contacts the inventory container 500, so that the magnetic attraction force between the force providing component and the electromagnet on the inventory container 500 is generated, thereby providing the carrying force of the inventory container 500.

[0064] In some examples, the taking and placing structure 212 can be a telescopic fork assembly which extends into both sides of the inventory container 500 and clamps the two side walls of the inventory container 500, thereby driving the inventory container 500 to move between the carrying structure 211 and the storage location 110. Of course, a front pushing finger can be arranged at the front end of the outermost telescopic fork in the telescopic fork assembly, and a rear pushing finger can be arranged at the rear end of the outermost telescopic fork.

[0065] When the inventory container 500 needs to be returned, the outermost telescopic fork of the telescopic fork assembly extends into both sides of the inventory container 500, and the rear pushing finger can be stopped at the front end face of the inventory container 500; the rear pushing finger moves with the telescopic fork, thereby driving the inventory container 500 to move to the storage location 110.

[0066] When the storage container 500 needs to be taken out, the outermost level of the telescopic fork assembly extends to both sides of the storage container 500, and the front finger stop is stopped at the rear end face of the storage container 500. When the telescopic fork is retracted, the front finger drives the storage container 500 to move to the bearing structure 211.

[0067] The embodiments of the present application do not limit the structure of the taking and placing structure 212, as long as the storage container 500 can be transferred between the bearing structure 211 and the storage location 110.

[0068] Referring to Figure 2 The taking and placing device 200 of the embodiments of the present application further includes a picking mechanism 220 configured to pick out the order goods in the storage container 500 and deliver them into the order container located on the second carrier 300.

[0069] It should be noted that during the working process of the taking and placing mechanism 210 or the picking mechanism 220, the order container is always located on the buffer location 310 of the second carrier 300. After the picking mechanism 220 picks out the order goods in the storage container 500, it can move to one side of the buffer location 310 of the second carrier 300 and deliver the order goods into the order container.

[0070] In some examples, the picking mechanism 220 can include a mechanical arm and a gripper provided at the end of the mechanical arm. The gripper can be moved into the storage container 500 under the action of the mechanical arm, take the order goods, and then carry the order goods out of the storage container 500 under the action of the mechanical arm and deliver them into the order container on the buffer location 310.

[0071] In some examples, the picking mechanism 220 can be provided on the stand 230 of the taking and placing device 200 to move along the transverse direction of the first carrier 100 and the second carrier 300 under the action of the stand 230, so as to move to the storage location 110 or the buffer location 310 of each row.

[0072] It should be noted that the picking mechanism 220 provided on the stand 230 includes that the picking mechanism 220 is directly provided on the stand 230, and also includes that the picking mechanism 220 is indirectly provided on the stand 230.

[0073] In some examples, the mechanical arm of the picking mechanism 220 is movably arranged on the stand 230 and is movable relative to the stand 230 in the height direction, so as to be movable in the height direction of the first carrier 100, so that the mechanical arm can be lowered or raised, so that the mechanical arm can be moved from the side of the storage location 110 to the side of the buffer location 310, so as to take out the order goods from the inventory container 500 and deliver the order goods into the order container on the buffer location 310, and so that the gripper is extended into the interior of the inventory container 500 or separated from the inventory container 500 under the action of the mechanical arm. In addition, the mechanical arm can be folded, telescopic or rotated, so as to deliver the order goods on the gripper into the order container on the buffer location 310.

[0074] The embodiments of the present application do not limit the structure of the picking mechanism 220, as long as the order goods in the inventory container 500 can be picked out and delivered into the order container on the buffer location 310.

[0075] The entire picking process of the warehouse system is exemplarily introduced below.

[0076] When the warehouse system receives a picking task, the taking and placing mechanism 210 of the taking and placing device 200 moves in the lateral direction and the height direction of the first carrier 100, so as to move to the side of the target storage location 110 related to the order. For example, the stand 230 moves in the lateral direction of the first carrier 100, so as to drive the taking and placing mechanism 210 and the picking mechanism 220 to move in the lateral direction, and then the taking and placing mechanism 210 moves in the height direction of the first carrier 100, so as to reach the side of the target storage location 110.

[0077] The taking and placing mechanism 210 takes out the target inventory container 500 from the target storage location 110, and then the picking mechanism 220 picks out the order goods in the target inventory container 500 and delivers the order goods into the order container on the buffer location.

[0078] When the order goods related to the order are all delivered into the order container, the order container can be carried by the carrying robot 400 to the workstation for two-division or packaging for outbound. For example, when the order goods in the order container are all the goods of an order, the carrying robot 400 can directly package the order container for outbound.

[0079] In some examples, the picking device 200 can pick all the skus involved in all the orders into one or more order containers. For example, all the orders involve long pants and slippers, and all the orders involve 50 long pants and 20 pairs of slippers, then the 50 long pants can be picked from the respective inventory containers 500 by the cooperation of the picking mechanism 210 and the picking mechanism 220 and delivered into one order container or multiple order containers, which can be determined by the number of goods that can be accommodated in the order container. In addition, the 20 pairs of slippers can be picked from the respective inventory containers 500 by the cooperation of the picking mechanism 210 and the picking mechanism 220 and delivered into another order container or multiple order containers, which can be determined by the number of goods that can be accommodated in the order container.

[0080] It should be noted that the same order container accommodates the same sku. For example, one order container accommodates long pants and another order container accommodates slippers.

[0081] In some examples, the picking device 200 can pick all the skus involved in each order into one or more order containers. For example, the first order involves 5 long pants and 2 pairs of slippers, and the second order involves 10 long pants and 8 pairs of slippers, then the 5 long pants and 2 pairs of slippers can be picked from the respective inventory containers 500 by the cooperation of the picking mechanism 210 and the picking mechanism 220 and delivered into one order container or multiple order containers. It can be understood that the number of order containers for storing all the order goods of the first order can be determined by the number of goods that can be accommodated in the order container.

[0082] In addition, the 10 long pants and 8 pairs of slippers can be picked from the respective inventory containers 500 by the cooperation of the picking mechanism 210 and the picking mechanism 220 and delivered into another order container or multiple order containers. It can be understood that the number of order containers for storing all the order goods of the second order can be determined by the number of goods that can be accommodated in the order container.

[0083] It should be noted that the same order container accommodates the same order sku, for example, one order container only accommodates the order goods of the first order, and another order container only accommodates the order goods of the second order.

[0084] In some examples, when the picking device 200 receives a picking task, the taking and placing 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 mechanism 220 can take out one of the order goods from the target inventory container 500 and deliver it to the order container first; then the taking and placing mechanism 210 moves to the side of another target storage location 110 and takes out another target inventory container 500, and the picking mechanism 220 takes out another order good from the target inventory container 500 and delivers it to the order container, until all order-related same skus are delivered to the order container or all skus in the same order are delivered to the order container.

[0085] In some examples, when the picking device 200 receives a picking task, the taking and placing 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 mechanism 220 can take out one of the order goods from the target inventory container 500 and deliver it to the order container first; then the taking and placing mechanism 210 moves to the side of another target storage location 110 and takes out another target inventory container 500, and the picking mechanism 220 takes out another order good from the target inventory container 500 and delivers it to the order container, until all order-related same skus are delivered to the order container or all skus in the same order are delivered to the order container.

[0086] For example, when the picking device 200 receives a picking task, the taking and placing 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 one of the grippers of the picking mechanism 220 can take out one of the order goods from the target inventory container 500 under the driving of the corresponding mechanical arm and store it on the gripper; then the taking and placing mechanism 210 moves to the side of another target storage location 110 and takes out another target inventory container 500, and another gripper of the picking mechanism 220 takes out another order good from the target inventory container 500 under the driving of the corresponding mechanical arm; until the picking mechanism 220 takes out all order-related same skus or all skus related to the same order, and then moves to the side of the buffer location 310 and delivers the order goods on the grippers to the order container in turn or simultaneously.

[0087] In some examples, when the picking and placing device 200 picks all the skus involved in all the orders into one or more order containers, the order containers can be carried by the carrying robot 400 to a workstation, where a worker or an automatic picking device divides the order goods in the order containers according to the requirements of each order. For example, the first order goods involve 5 pairs of trousers and 2 pairs of slippers, and the second order involves 10 pairs of trousers and 8 pairs of slippers. 5 pairs of trousers are picked from the order container storing the trousers and delivered to the first order container of the seeding wall, 10 pairs of trousers are picked from the order container storing the trousers and delivered to the second order container of the seeding wall, 2 pairs of slippers are picked from the order container storing the slippers and delivered to the first order container of the seeding wall, and 8 pairs of slippers are picked from the order container storing the slippers and delivered to the second order container of the seeding wall. When the first order goods are completely seeded into the first order container, the first order container can be packed and shipped. When the second order goods are completely seeded into the second container, the second order container can be packed and shipped.

[0088] In some examples, when the picking and placing device 200 picks all the skus involved in each order into one order container, the carrying robot 400 can directly carry the order container to the seeding wall for packing and shipping without carrying it to the workstation for secondary picking. When the picking and placing device 200 picks all the skus involved in each order into multiple, for example, two order containers, the carrying robot 400 can carry the two order containers to the workstation, pick out the order goods in the two order containers, and seed them into the same order container on the seeding wall for subsequent packing and shipping.

[0089] The embodiments of the present application provide a warehouse system. The picking and placing device 200 is arranged on one side of the first carrier 100 and the second carrier 300. 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 the inventory container 500. The picking mechanism 220 of the picking and placing device 200 picks the order goods in the inventory container 500 and delivers them to the order container. The order container is temporarily stored in 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 order container on one side of the first carrier 100, so as to carry only the order container storing the order goods to the workstation by the carrying robot 400 for division, or directly pack and ship the order container.

[0090] On the one hand, the inventory container 500 does not need to be carried between the first carrier 100 and the workstation multiple times, and the worker does not need to pick each order one by one at the workstation, which can save the carrying time of the inventory container 500 and the manual picking time, improve the picking efficiency of the goods, and reduce the power consumption of the carrying robot 400 for carrying the inventory container 500 multiple times.

[0091] On the other hand, the order goods picking and taking out do not need to be coordinated by multiple robots, and only need some simple mechanical structures to take and place the inventory containers 500 and the order goods in the inventory containers 500, thereby effectively reducing the operation cost.

[0092] In another aspect, when the order goods in the order container satisfy a single order, the order container can be directly packed and shipped out without being transported to the workstation for secondary distribution or sowing, and the entire system is integrated on the first carrier 100, and there is no need to additionally set a workstation for the picking operation in the limited space of the warehouse, thereby improving the space utilization of the warehouse.

[0093] In addition, by buffering the order container on the buffer storage location 310 of the second carrier 300, after the picking mechanism 220 picks out the order goods in the inventory container 500, the order goods can be delivered into the order container located at the buffer storage location 310, thereby eliminating the need to transport the order container back and forth, simplifying the picking process of the taking and placing device 200, and also simplifying the structure and power consumption of the taking and placing device 200.

[0094] Referring to Figure 2 In some examples, the picking mechanism 220 can include a picking assembly 221 and a delivery assembly 222, wherein the picking assembly 221 is configured to pick out the order goods from the inventory container 500. For example, the picking assembly 221 can be the mechanical arm 2211 and the gripper 2212 in the above examples, and the gripper 2212 is driven by the mechanical arm 2211 to take out the order goods from the inventory container 500.

[0095] The delivery assembly 222 is configured to receive the order goods picked out by the picking assembly 221 and deliver the order goods into the order container. For example, after the picking assembly 221 takes out the order goods in the inventory container 500, the order goods can be placed on the delivery assembly 222, and the delivery assembly 222 delivers the order goods into the order container located at the buffer storage location 310. By setting the picking mechanism 220 to include the picking assembly 221 and the delivery assembly 222, the picking function and the delivery function are completed by two parts respectively, and thus the structure of the picking assembly 221 and the delivery assembly 222 can be simplified, and the picking assembly 221 and the delivery assembly 222 can be flexibly controlled.

[0096] In some examples, the delivery assembly 222 can move relative to the picking assembly 221 and the taking and placing mechanism 210 in the height direction of the first carrier 100, and when the picking assembly 221 is in the picking state, i.e., the picking assembly 221 picks out the order goods from the inventory container 500, the delivery assembly 222 is located beside the taking and placing mechanism 210.

[0097] Exemplarily, the delivery assembly 222 is movably arranged on the stand 230 and independently arranged relative to the picking assembly 221 and the taking-and-placing mechanism 210. For example, the delivery assembly 222 can move relative to the picking assembly 221 and the taking-and-placing mechanism 210 in the height direction of the stand 230, so as to switch between the storage goods of each layer of the first carrier 100 and the buffer storage locations 310 of the second carrier 300.

[0098] Referring to FIGS. 1, 2 and 3, the picking assembly 221 is in the picking state, and the delivery assembly 222 is located at the side of the taking-and-placing mechanism 210. Figure 1 Figure 2 As shown in FIGS. 1, 2 and 3, when the picking assembly 221 is in the picking state, the delivery assembly 222 can move to the side of the taking-and-placing mechanism 210. The delivery assembly 222 receives the order goods picked out by the picking assembly 221 from the inventory container 500, and carries the order goods to the side of the second carrier 300, so as to deliver the order goods into the order container on the buffer storage location 310.

[0099] Figure 6 FIG. 1 is a structural schematic diagram of one of the warehouse systems provided in an embodiment of the present application. Figure Two Referring to FIGS. 1, 2 and 3, the picking assembly 221 is in the picking state, and the delivery assembly 222 is located at the side of the taking-and-placing mechanism 210. Figure 1 Figure 6 As shown in FIGS. 1, 2 and 3, when the picking assembly 221 is in the picking state, the delivery assembly 222 can move to the side of the taking-and-placing mechanism 210. The delivery assembly 222 receives the order goods picked out by the picking assembly 221 from the inventory container 500, and carries the order goods to the side of the second carrier 300, so as to deliver the order goods into the order container on the buffer storage location 310.

[0100] In some examples, before the taking-and-placing mechanism 210 takes the target inventory container 500, the delivery assembly 222 can move to the side of the target storage location 110 simultaneously with the taking-and-placing mechanism 210, or the taking-and-placing mechanism 210 can move to the side of the target storage location 110 first, and then the delivery assembly 222 moves to the side of the taking-and-placing mechanism 210. The embodiments of the present application do not limit the sequence of the movement of the delivery assembly 222 and the taking-and-placing mechanism 210, as long as the delivery assembly 222 is located at the side of the taking-and-placing mechanism 210 when the picking assembly 221 is in the picking state.

[0101] ​​The delivery assembly 222 is independent of the taking-and-placing mechanism 210 and the picking assembly 221, and can move relative to the taking-and-placing mechanism 210 and the picking assembly 221 in the height direction of the first carrier 100. Therefore, after the target inventory container 500 is taken out by the taking-and-placing mechanism 210, the taking-and-placing mechanism 210 and the picking assembly 221 do not need to move to one side of the buffer storage location 310 for picking and delivery. Instead, after the order goods are received by the delivery assembly 222, the delivery assembly 222 can move to one side of the buffer storage location 310 for delivery of the order goods. In this way, the taking-and-placing mechanism 210 and the picking assembly 221 do not need to move up and down repeatedly, which can reduce the power consumption of the taking-and-placing device 200, and save the time occupied by the taking-and-placing mechanism 210 and the picking assembly 221 for a single picking and delivery. During the movement of the delivery assembly 222 to the buffer storage location 310 and the delivery, the taking-and-placing mechanism 210 and the picking assembly 221 can continue to move to the other side of the target storage location 110 to take out and pick other order goods, thereby improving the picking efficiency of the taking-and-placing device 200 and adapting to the simultaneous picking of multiple order goods. It should be noted that the side of the taking-and-placing mechanism 210 refers to one side of the taking-and-placing mechanism 210 and close to the taking-and-placing mechanism 210. For example, the side of the taking-and-placing mechanism 210 can be one side of the taking-and-placing mechanism 210 in the transverse direction of the first carrier 100 or in the height direction of the first carrier 100.

[0102] In some examples, when the picking assembly 221 is in the picking state, the delivery assembly 222 is arranged side by side with the taking-and-placing mechanism 210 in the transverse direction of the first carrier 100. In this way, the receiving port of the delivery assembly 222 can be arranged on the upper side of the delivery assembly 222 and is not blocked by the taking-and-placing mechanism 210. After the order goods in the inventory container 500 are taken out by the picking assembly 221, the receiving surface of the delivery assembly 222 can be delivered from the receiving port of the delivery assembly 222. In addition, since the delivery assembly 222 is arranged side by side with the taking-and-placing mechanism 210 in the transverse direction of the first carrier 100, when picking non-frangible goods, after the order goods are taken out from the inventory container 500 by the picking assembly 221, the picking assembly 221 does not need to move up and down along the first carrier 100, but only needs to move horizontally above the receiving port of the delivery assembly 222 and then deliver, thereby simplifying the delivery process of the picking assembly 221 and improving the working efficiency of the picking assembly 221.

[0103] In some examples, when the picking assembly 221 is in the non-picking state, the delivery assembly 222 is arranged in the height direction or the transverse direction of the first carrier 100. In some examples, the same first carrier 100 can be used by multiple taking-and-placing devices 200 to simultaneously take out and pick order goods, thereby improving the picking efficiency of the order goods. For example, multiple taking-and-placing devices 200 can be hung on one side of the first carrier 100.

[0104] 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.

[0105] Figure 7 This is a schematic diagram of the structure of one of the warehousing systems provided in an embodiment of this application. Figure Three . Reference Figure 7 As shown, in some examples, the pick-and-place mechanism 210 is also configured to move between the first carrier 100 and the second carrier 300 to transfer the inventory container 500 between the storage location 110 and the buffer location 310. For example, when all the order goods in the inventory container 500 on the storage location 110 have been removed, referred to as an empty inventory container 500, the pick-and-place mechanism 210 can remove the empty inventory container 500 and transfer it to the buffer location 310 as an order container.

[0106] 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 will put the inventory container 500 into the corresponding storage location 110 for subsequent order picking.

[0107] 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.

[0108] 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 order goods need to be received, or when the pick-and-place mechanism 210 moves to the vicinity of the buffer location 310. In other non-picking states, except when order goods need to be received 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. Of course, in some examples, the delivery component 222 can be positioned on the horizontal side of the pick-and-place mechanism 210 and cannot move horizontally, but only along the height of the stand 230, to simplify the structure and control process of the picking mechanism 220.

[0109] In some examples, the delivery assembly 222 is located at one side of the second carrier 300, in other words, the delivery assembly 222 is located at one side of the second carrier 300 when the taking and placing mechanism 210 and the picking assembly 221 are at any position, that is, the height of the delivery assembly 222 on the stand 230 does not change and does not move with the movement of the taking and placing mechanism 210 or the picking assembly 221.

[0110] In this example, the picking assembly 221 is configured to take order goods from the inventory container 500 after the taking and placing mechanism 210 picks the inventory container 500 from the storage location 110, and places the order goods on the delivery assembly 222, and then the delivery assembly 222 delivers the order goods to the order container on the buffer location 310. By arranging the delivery assembly 222 at one side of the second carrier 300, it is not necessary to drive the structure to drive the delivery assembly 222 to move in the height direction of the stand 230, thereby simplifying the structure of the taking and placing device 200, making the taking and placing device 200 lightweight and control simple.

[0111] In some examples, the picking assembly 221 and the taking and placing mechanism 210 can move in the height direction of the first carrier 100 relative to the delivery assembly 222. For example, the picking assembly 221 and the taking and placing mechanism 210 can be movably arranged on the stand 230 independently of the delivery assembly 222, and can move in the height direction of the stand 230.

[0112] In this example, the picking assembly 221 is configured to take order goods from the inventory container 500 after the taking and placing mechanism 210 picks the inventory container 500 from the storage location 110, and places the order goods on the delivery assembly 222, which can include:

[0113] When the taking and placing mechanism 210 takes the inventory container 500 from the storage location 110, the picking assembly 221 is configured to move to one side of the delivery assembly 222 with the taking and placing mechanism 210, and pick order goods from the inventory container 500 and place them on the delivery assembly 222.

[0114] For example, the taking and placing mechanism 210 and the picking assembly 221 can simultaneously move to one side of the storage location 110, and after the taking and placing mechanism 210 takes the inventory container 500 from the storage location 110, the picking assembly 221 and the taking and placing mechanism 210 can simultaneously move to one side of the delivery assembly 222, and then the picking assembly 221 picks order goods from the inventory container 500 and places them on the delivery assembly 222, and the delivery assembly 222 delivers the order goods to the order container.

[0115] In some examples, the picking component 221 can be moved to one side of the storage location 110 simultaneously with the taking and placing mechanism 210, after the taking and placing mechanism 210 takes out 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 taking and placing mechanism 210 can be moved to one side of the delivery component 222 simultaneously, the picking component 221 places the order goods on the delivery component 222, and the delivery component 222 delivers the order goods into the order container.

[0116] Based on the above, the picking component 221 can directly pick the order goods in the inventory container 500 when the taking and placing mechanism 210 takes out the inventory container 500, or can move to one side of the delivery component 222 with the taking and placing mechanism 210 after the taking and placing mechanism 210 takes out the inventory container 500, and then pick the order goods, and the embodiments of the present application do not limit the picking time of the picking component 221.

[0117] In some examples, the picking component 221 can be movably arranged on the stand 230 and can move on the first plane relative to the taking and placing mechanism 210, so that the picking component 221 moves between the taking and placing mechanism 210 and the delivery component 222, for example, after the taking and placing mechanism 210 takes out the inventory container 500, the picking component 221 picks the order goods in the inventory container 500, and then moves on the first plane to move above the delivery component 222, and then places the order goods on the delivery component 222. Wherein, 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 stand 230.

[0118] In some examples, one end of the picking component 221 can be rotatably arranged on the stand 230, so that the picking component 221 rotates on the first plane around the stand 230, so that the free end of the picking component 221 moves between the taking and placing mechanism 210 and the delivery component 222, thus, the connection structure of the picking component 221 and the stand 230 can be simplified, in addition, the picking component 221 can avoid translating on the first plane during rotating on the first plane, thereby interfering with other structures arranged on the stand 230, in other words, other devices arranged on the stand 230 can be provided with a suitable installation space.

[0119] In some examples, the picking component 221 can 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 can descend along the stand 230 into the inventory container 500 and pick up the order goods. Then, the picking component 221 rises along the stand 230 to detach from the inventory container 500 and moves on the first plane to move above the delivery component 222 and place the order goods on the delivery component 222. 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, the delivery height of the picking component 221 for non-fragile goods does not need to be considered.

[0120] 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, and then place the ordered goods on the receiving surface. For example, for fragile goods, the delivery height of the picking component 221 to the fragile goods can be reduced to avoid damage when the fragile goods are delivered from the picking component 221 to the delivery component 222. It should be noted that during the process of the picking component 221 rotating from the pick-and-place 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.

[0121] 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.

[0122] 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.

[0123] 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 4 and Figure 8 As 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.

[0124] It should be noted that the second driving assembly 260 can include but is not limited to a driving motor, a driving cylinder, a driving motor and a pulley structure, etc., and the embodiments of the present application do not limit the structure of the second driving assembly 260 as long as it can drive the sorting assembly 221 to move in the height direction of the stand 230.

[0125] Taking the second driving assembly 260 including the second driving motor 261 and the second pulley structure as an example, the second pulley structure includes the second driving wheel 262 and the second driven wheel 263 which are arranged at intervals in the height direction of the stand 230, and the second transmission belt 264 is sleeved on the second driving wheel 262 and the second driven wheel 263 and connected with one end of the sorting assembly 221. The second driving motor 261 is connected with the second driving wheel 262 to drive the second driving wheel 262 to rotate, and the second transmission belt 264 can drive the second driven wheel 263 to rotate under the driving of the second driving wheel 262, and the sorting assembly 221 can move in the height direction of the stand 230 in the movement process of the second transmission belt 264.

[0126] In some examples, the second driving assembly 260 can be arranged on the stand 230, for example, the second driving motor 261 can be arranged at one end of the stand 230, for example, the top end, the second driving wheel 262 of the second pulley structure can be arranged at one side of the second driving motor 261, for example, the top end of the stand 230, and the second driven wheel 263 can be arranged at the end of the stand 230 away from the second driving wheel 262, for example, the bottom end.

[0127] Exemplarily, the stand 230 is provided with the second sliding rail 232, and the second driving assembly 260 is provided with the second sliding block 265 which is connected with the sorting assembly 221 and slides on the second sliding rail 232. The sorting assembly 221 can slide along the second sliding rail 232 through the second sliding block 265 under the driving of the second driving assembly 260, so that the movement track of the sorting assembly 221 on the stand 230 can be limited, so that the sorting assembly 221 can move in the height direction of the stand 230, avoiding tilting or swinging in the width direction of the stand 230, and in addition, the frictional resistance between the sorting assembly 221 and the stand 230 is also reduced, and the movement stability of the sorting assembly 221 on the stand 230 is improved.

[0128] In order to further reduce the frictional resistance between the sorting assembly 221 and the stand 230, a roller can be arranged on the second sliding block 265, so that the sorting assembly 221 rolls along the second sliding rail 232 on the stand 230 through the roller.

[0129] In some examples, the transmission belt can be connected with the second sliding block 265 on the sorting assembly 221 to drive the sorting assembly 221 to move.

[0130] In some examples, the picking assembly 221 and the pick-and-place mechanism 210 can be synchronously moved along the height direction of the stand 230, so that the program control logic of the pick-and-place device 200 can be simplified.

[0131] For example, the second driving assembly 260 can be arranged on the first driving assembly 250, and the first driving assembly 250 can drive the second driving assembly 260 to move, so that the picking assembly 221 can be synchronously moved with the pick-and-place mechanism 210 along the height direction of the stand 230. That is, in this example, the picking assembly 221 is movably arranged on the stand 230 by the first driving assembly 250.

[0132] For example, the second driving assembly 260 can be arranged on the first driving assembly 250, and the first driving assembly 250 can drive the second driving assembly 260 to move, so that the picking assembly 221 can be synchronously moved with the pick-and-place mechanism 210 along the height direction of the stand 230. That is, in this example, the picking assembly 221 is movably arranged on the stand 230 by the first driving assembly 250.

[0133] In addition, the second transmission belt 264 can be driven by the second driving motor 261 to move relative to the first sliding block 252, so as to drive the picking assembly 221 to move relative to the first sliding block 252 along the height direction of the stand 230, so that the picking assembly 221 moves relative to the pick-and-place mechanism 210. Wherein, the picking assembly 221 can be driven by the second transmission belt 264 to move on the second sliding rail 232 through the second sliding block 265, so as to reduce the frictional resistance between the picking assembly 221 and the first sliding block 252.

[0134] Continuing to refer to Figure 8As shown, in some examples, the picking device 200 can include a first rotating assembly 2213 connected to one end of the picking assembly 221 to drive the picking assembly 221 to rotate in the first plane relative to the stand 230. For example, one end of the picking assembly 221 is rotatably connected to the second sliding block 265 through a rotating shaft movably arranged on the second sliding block 265 and fixedly connected to the picking assembly 221, so that the first rotating assembly 2213 can drive the rotating shaft to rotate to drive the picking assembly 221 to rotate around the second sliding block 265. For example, the first rotating assembly 2213 can include, but is not limited to, a direct drive of a rotating motor, a structure cooperating with a pulley structure of a rotating motor, etc., and the embodiments of the present application do not limit the structure of the first rotating assembly 2213. For example, the first rotating assembly 2213 can be arranged on the second sliding block 265.

[0135] Referring to Figure 4 and Figure 8 As shown, in some examples, the picking assembly 221 can include a mechanical arm 2211 and a gripper 2212, wherein the mechanical arm 2211 is rotatably arranged on the stand 230 to rotate in the first plane relative to the stand 230 and can move along the height direction of the stand 230. The gripper 2212 is connected to the mechanical arm 2211 and is configured to take order goods in the inventory container 500.

[0136] In some examples, one end of the mechanical arm 2211 can 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 can be driven by the mechanical arm 2211 to translate in the first plane.

[0137] In some examples, one end of the mechanical arm 2211 can be connected to the second driving assembly 260, for example, the second sliding block 265, to move along the height direction of the stand 230 under the action of the second sliding block 265, so that the gripper 2212 can translate in the height direction of the stand 230.

[0138] In order to increase the movement trajectory of the gripper 2212 in the first plane to grasp order goods located at different positions in the inventory container 500, the mechanical arm 2211 can include a plurality of sub-arms 2211a rotatably connected in sequence, and each sub-arm 2211a rotates independently of each other.

[0139] For example, the mechanical arm 2211 can include two sequentially connected sub-arms 2211a, one end of one sub-arm 2211a, for example, the first sub-arm 2211a, is rotatably arranged on the stand 230, for example, the first end of the first sub-arm 2211a is rotatably arranged on the stand 230 through the first driving assembly 250, the other end of the first sub-arm 2211a is rotatably connected with one end of the other sub-arm 2211a, for example, the second sub-arm 2211a, the other end of the second sub-arm 2211a is connected with the gripper 2212, in this way, the second sub-arm 2211a can rotate in the first plane during the rotation of the first sub-arm 2211a, and the second sub-arm 2211a can also rotate around one end of the first sub-arm 2211a in the first plane, so that the gripper 2212 can move along the circumferential trajectory of different radii and centers.

[0140] For example, the gripper 2212 can move along the circumferential trajectory with the center being the end of the first sub-arm 2211a connected with the second driving assembly 260, and the distance between the two ends of the first sub-arm 2211a and the second sub-arm 2211a opposite to each other being the radius, or can move along the circumferential trajectory with the center being the end of the first sub-arm 2211a connected with the second sub-arm 2211a, and the length of the second sub-arm 2211a being the radius, so that the order goods in different positions in the inventory container 500 can be taken.

[0141] In some examples, the taking and placing device 200 can further include a second rotating assembly 2214, which can be arranged on the first sub-arm 2211a and can drive the second sub-arm 2211a to rotate around one end of the first sub-arm 2211a. For example, the first sub-arm 2211a and the second sub-arm 2211a are connected through a rotating shaft, the rotating shaft is rotatably connected with the first sub-arm 2211a, and the rotating shaft is fixedly connected with the second sub-arm 2211a, so that the second rotating assembly 2214 can drive the rotating shaft to rotate, thereby driving the second sub-arm 2211a to rotate around one end of the first sub-arm 2211a.

[0142] In some examples, the second rotating assembly 2214 can include but is not limited to a structure of a rotating motor directly driving, a structure of a rotating motor cooperating with a pulley structure, etc., and the embodiments of the present application do not limit the structure of the second rotating assembly 2214.

[0143] In some examples, the gripper 2212 can include a claw, and the order goods can be grabbed or released through the opening and closing of the claw.

[0144] In some examples, the gripper 2212 can include a suction cup, and the suction cup is configured to adsorb or release the order goods. For example, when the vacuum degree of the inner cavity of the suction cup is greater than or equal to a preset vacuum degree, the suction cup can adsorb the order goods; when the vacuum degree of the inner cavity of the suction cup is less than the preset vacuum degree, the suction cup can release the order goods.

[0145] Exemplarily, the picking assembly 221 can further include a gas source device 2215, which can be in communication with the inner cavity of the suction disc through a vacuum pipe. When the gas source device 2215 is in operation, the gas source device 2215 can reduce the pressure of the inner cavity of the suction disc through the vacuum pipe, so that when the vacuum degree of the inner cavity of the suction disc reaches a preset vacuum degree, the order goods are pressed and adsorbed on the suction disc. When the gas source device 2215 pressurizes the inner cavity of the suction disc through the vacuum pipe until the vacuum degree of the inner cavity of the suction disc is less than the preset vacuum degree, the order goods are detached from the suction disc, for example, and can be placed on the delivery assembly 222.

[0146] In some examples, the gas source device 2215 can be arranged on the mechanical arm 2211, for example, the second sub-arm 2211a, so that the gas source device 2215 and the suction disc move synchronously with the picking assembly 221, thereby ensuring the stability of the connection structure of the gas source device 2215 and the suction disc, and also making the picking assembly 221 form a modular structure. When assembling, the gas source device 2215, the suction disc, the first rotating assembly 2213 and the second rotating assembly 2214 are all integrated on the mechanical arm 2211, and then the mechanical arm 2211 is assembled on the first driving assembly 250 through the second driving assembly 260.

[0147] In some examples, the gripper 2212 can include a connecting rod 2212b and a gripper body 2212a. One end of the connecting rod 2212b is connected to one end of the mechanical arm 2211, for example, the second sub-arm 2211a, and the other end of the connecting rod 2212b is connected to the gripper body 2212a. The arrangement of the connecting rod 2212b can increase the distance between the gripper body 2212a and the mechanical arm 2211, so that when the mechanical arm 2211 carries the gripper 2212 to pick order goods, the lifting path of the mechanical arm 2211 can be reduced, thereby reducing power consumption.

[0148] When the gripper 2212 is a suction disc, the gripper body 2212a is a suction disc body, and the connecting rod 2212b can be a hollow rod. The inner cavity of the hollow rod can serve as a passage for the gas source device 2215 to communicate with the suction disc body.

[0149] In some examples, the gripper 2212 can rotate relative to the mechanical arm 2211 in a direction perpendicular to the first plane. For example, a third rotating assembly 2216 can be arranged at the connection between the connecting rod 2212b of the gripper 2212 and the mechanical arm 2211. The third rotating assembly 2216 can drive the connecting rod 2212b to rotate relative to the mechanical 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 2212b changes direction, thereby being able to grip different positions of the order goods.

[0150] For example, when the gripper body 2212a is a suction cup body, the suction cup body can be rotated perpendicularly to the first plane under the driving of the connecting rod 2212b, so that the suction surface of the suction cup body is directed to have a certain angle with the first plane, so that the suction cup body can suck different side walls of the order goods, so that the order goods with different placement angles or special structures can be quickly taken out.

[0151] In some examples, the taking and placing device 200 can further include an image sensor 700 configured to acquire information of the order goods in the inventory container 500 when the taking and placing mechanism 210 takes out the inventory container 500.

[0152] The picking assembly 221 is configured to move relative to the taking and placing mechanism 210 according to the information acquired by the image sensor 700 to take the order goods.

[0153] In some examples, the image sensor 700 can acquire position information, structural shape information, placement angle information, etc. of the order goods.

[0154] In some examples, the warehouse system can include a controller, and each driving assembly (for example, the second driving assembly 260, the first rotating assembly 2213, the second rotating assembly 2214, and the third rotating assembly) of the picking assembly 221 can be signal-connected with the controller, and the image sensor 700 can be signal-connected with the controller. The image sensor 700 can send the acquired information of the order goods to the controller, and the controller can determine a movement trajectory of the mechanical arm 2211 based on the information, for example, the position information, and then control the second driving assembly 260, the first rotating assembly 2213, and the second rotating assembly 2214 to drive the mechanical arm 2211 according to the movement trajectory, so that the mechanical arm 2211 drives the gripper 2212 to move to the position of the order goods, and then the controller plans a movement path of the gripper 2212 according to the structural shape information and the placement angle information of the order goods, and then controls the third rotating assembly 2216 to drive the gripper 2212 according to the movement trajectory, so that the gripping surface of the gripper 2212 is in contact with the side wall of the order goods which is easy to be gripped, to quickly grasp the order goods, and then the mechanical arm 2211 and the gripper 2212 can return to the initial position along the original path, so that the gripper 2212 carries the order goods away from the inventory container 500.

[0155] Of course, in some examples, after the gripper 2212 grasps the order goods, the mechanical arm 2211 and the gripper 2212 can also re-plan the path to return to the initial position according to the height of the inventory container 500 and the surrounding structures, as long as the mechanical arm 2211, the gripper 2212, and the order goods do not collide with other structures.

[0156] In some examples, the image sensor 700 can include but is not limited to a 3D camera, etc.

[0157] In some examples, the image sensor 700 can be arranged on the stand 230 and can move along the height direction of the stand 230 so that the distance between the image sensor 700 and the picking and placing mechanism 210 is within a preset range, so that the image sensor 700 can more clearly acquire the information of the order goods in the inventory container 500.

[0158] In some examples, the image sensor 700 and the picking and placing mechanism 210 can be independently arranged on the stand 230, i.e., the driving structure of the image sensor 700 and the first driving assembly 250 of the picking and placing mechanism 210 are different structures. When the picking and placing mechanism 210 moves along the height direction of the stand 230 under the driving of the first driving assembly 250, the image sensor 700 can move along the height direction of the stand 230 under the driving of the driving structure, so as to ensure that the distance between the image sensor 700 and the picking and placing mechanism 210 in the height direction of the stand 230 is within a preset range.

[0159] In some examples, the image sensor 700 can be connected with the picking and placing mechanism 210 or the first driving assembly 250, so that the image sensor 700 can move synchronously with the picking and placing mechanism 210 under the driving of the picking and placing mechanism 210 or the first driving assembly 250, so as to simplify the structure and control logic of the picking and placing device 200. For example, a mounting rod can be connected on the first sliding block 252, and the image sensor 700 is fixed on the mounting rod, so that the image sensor 700 moves synchronously with the first sliding block 252.

[0160] In some examples, the mounting rod can be arranged above the picking and placing mechanism 210, and the image sensor 700 can be fixed in the middle area above the picking and placing mechanism 210, so as to better acquire the order goods in each position of the inventory container 500 without being blocked by the side wall of the inventory container 500 or the structure of the stand 230.

[0161] Referring to Figure 2 In some examples, the picking and placing device 200 can further include a third driving assembly 270 connected with the delivery assembly 222. The delivery assembly 222 can slide on the stand 230 and can move along the height direction of the stand 230 under the driving of the third driving assembly 270, so as to switch between the storage location 110 and the buffer location 310.

[0162] Referring to Figure 2 and Figure 4As shown, in some examples, the third driving assembly 270 can be arranged on the stand 230, the delivery assembly 222 is connected with the third driving assembly 270 and can slide on the stand 230. For example, the third sliding rail 233 is arranged on the stand 230, the third driving assembly 270 includes the third sliding block 272 connected with the delivery assembly 222, and the third sliding block 272 slides on the third sliding rail 233. The delivery assembly 222 can slide along the third sliding rail 233 by the third sliding block 272 under the driving of the third driving assembly 270. In this way, the movement track of the delivery assembly 222 on the stand 230 can be limited, so that the delivery assembly 222 can move along the height direction of the stand 230, and the delivery assembly 222 is prevented from tilting or swinging in the width direction of the stand 230. In addition, the frictional resistance between the delivery assembly 222 and the stand 230 is also reduced, and the movement stability of the pick-and-place mechanism 210 on the stand 230 is improved.

[0163] To further reduce the frictional resistance between the delivery assembly 222 and the stand 230, a roller can be arranged on the third sliding block 272, so that the delivery assembly 222 rolls along the third sliding rail 233 on the stand 230 through the roller.

[0164] It should be noted that the third driving assembly 270 can include but is not limited to a driving motor, a driving cylinder, a driving motor and a pulley structure, etc. The structure of the third driving assembly 270 is not limited in the embodiment of the application, as long as the third driving assembly 270 can drive the delivery assembly 222 to move in the height direction of the stand 230.

[0165] Taking the third driving assembly 270 including the third driving motor 271 and the third pulley structure as an example, the third driving motor 271 can be arranged at one end, for example, the top end of the stand 230, the third driving wheel of the third pulley structure can be arranged at one side, for example, the top end of the stand 230, and is connected with the output shaft of the third driving motor 271, the third driven wheel of the third pulley structure can be arranged at the end, for example, the bottom end of the stand 230 away from the third driving wheel, and the third transmission belt is sleeved on the third driving wheel and the third driven wheel and is connected with the third sliding block 272.

[0166] When the delivery assembly 222 needs to be driven to move, the third driving motor 271 drives the third driving wheel to rotate, the third transmission belt can drive the third driven wheel to rotate under the driving of the third driving wheel, and the delivery assembly 222 can move in the height direction of the stand 230 in the movement process of the third transmission belt.

[0167] In some examples, the third transmission belt can be connected with the third sliding block 272 on the delivery assembly 222 to drive the delivery assembly 222 to move.

[0168] Figure 9 is a structural schematic diagram of the delivery assembly provided by an embodiment of the applicationFigure One , Figure 10 This is a schematic diagram of the structure of a delivery component provided in an embodiment of this application. Figure Two . Reference Figure 9 and Figure 10 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.

[0169] 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.

[0170] 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.

[0171] 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 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 to form a receiving cavity with the barrier wall 2221 to accommodate the order goods. The first delivery port 222a may be located at the upper part of the barrier wall 2221, and the second delivery port 222b may be located at the lower part of the barrier wall 2221. The first delivery port 222a is configured to allow the picking component 221 to deliver the order goods into the receiving cavity.

[0172] When the order goods need to be delivered into the order container, the guide 2222 can be rotated to a position where it is arranged on the access opening of the order container, so that the order goods are delivered into the order container through the second delivery opening 222b and the guide 2222. It can be understood that the delivery assembly 222 is provided with two states, one of which is a storage state, in which the guide 2222 is in the first position, i.e., stopped at the second delivery opening 222b of the enclosing wall 2221, so that the enclosing wall 2221 and the guide 2222 together enclose a containing cavity for storing order goods. For example, after the order goods in the inventory container 500 are taken out by the picking assembly 221, they can be delivered into the containing cavity of the delivery assembly 222, and then the delivery assembly 222 carries the order goods to one side of the buffer storage location 310.

[0173] The other state is a delivery state, in which the guide 2222 can be rotated relative to the enclosing wall 2221 to a position where one end of the guide 2222 is arranged on the access opening of the order container, i.e., the second position, so that the second delivery opening 222b is open, and the order goods in the containing cavity can fall into the order container through the second delivery opening 222b and the guide 2222.

[0174] In some examples, the delivery assembly 222 can include a guide drive 2223, one end of the guide 2222 can be rotatably connected to the enclosing wall 2221 on one side of the second delivery opening 222b, and connected with the guide drive 2223. The guide drive 2223 can drive the guide 2222 to rotate, so that the guide 2222 switches between the first position and the second position.

[0175] In some examples, the guide drive 2223 can provide a force to the guide 2222 to rotate to the first position, so that the guide 2222 is stably stopped at the second delivery opening 222b in the storage state.

[0176] For example, a first magnetic member can be arranged on one of the second delivery opening 222b and the guide 2222, and a second magnetic member can be arranged on the other one of the second delivery opening 222b and the guide 2222. The first magnetic member and the second magnetic member are attracted to each other, so as to stably attract the guide 2222 to the second delivery opening 222b. The first magnetic member and / or the second magnetic member can be a magnet or a magnetic material coated on the guide 2222 or the second delivery opening 222b. Of course, in other examples, the rotating force provided by the guide drive 2223 to the guide 2222 is sufficient to stably position the guide 2222 in the first position, and no additional stabilizing structure is needed.

[0177] When the order goods need to be delivered, the guide driving member 2223 can drive the guide member 2222 to rotate to the second position, so that the guide member 2222 is placed on the taking and placing opening of the order container. It can be understood that the force of the guide driving member 2223 driving the guide member 2222 to rotate to the second position needs to be greater than the adsorption force of the first magnetic attraction member and the second magnetic attraction member.

[0178] By setting the delivery assembly 222 to include the enclosing wall 2221 and the guide member 2222, the delivery assembly 222 can stably accommodate the order goods, and ensure that the delivery assembly 222 does not fall when carrying the order goods to move along the stand 230.

[0179] In some examples, the warehouse system can include a plurality of first carriers 100, and the plurality of first carriers 100 are arranged at intervals, and a lane 100c is formed between adjacent two first carriers 100. The taking and placing device 200 can be suspended on the lane 100c side of the first carrier 100.

[0180] Referring to Figure 1 In some examples, one side of the first carrier 100, for example, the lane side, can be provided with a track 120, and the stand 230 of the taking and placing device 200 can be suspended on the track 120 and can move along the track 120. For example, the track 120 is arranged on the first carrier 100 higher than the second carrier 300, and the stand 230 of the taking and placing device 200 can move along the track 120 to drive the taking and placing mechanism 210 and the picking mechanism 220 to move to different columns on the first carrier 100 or the second carrier 300.

[0181] Referring to Figure 2 In some examples, the taking and placing device 200 can include a walking mechanism 240, which is arranged on the stand 230 and is guided on the track 120, and the walking mechanism 240 is configured to move on the track 120 to drive the stand 230 to move on the first carrier 100.

[0182] In some examples, when the taking and placing device 200 is suspended on the first carrier 100, the charging mode of the walking mechanism 240 of the taking and placing device 200 can be adjusted. For example, the taking and placing device 200 can include a slide wire, and the slide wire can include a conductive body and a power receiver. The conductive body can be a copper body wrapped by a protective sleeve, and the end of the conductive body is connected with a power supply. The power receiver is in electrical contact with the conductive body, so that the electrical signal on the conductive body can be transmitted to the power receiver.

[0183] When the trolley is set, the conductor of the trolley is arranged on the track 120, the current collector of the trolley is arranged on the walking mechanism 240 and is electrically connected with the walking mechanism 240, and the current collector is configured to contact the conductor when the walking mechanism 240 moves along the track 120, so that the current collector can continuously receive power when moving along the track 120 driven by the walking mechanism 240, to provide power for the walking mechanism 240 and ensure the normal work of the walking mechanism 240.

[0184] By setting the trolley, the number of cables is reduced, the load of the cable on the taking and placing device 200 is reduced, the life of the taking and placing device 200 is affected, and the stable operation of the taking and placing device 200 is ensured. In addition, the reduction of the number of cables also eliminates the need to use a drag chain, thereby ensuring the structural stability of the taking and placing device 200. In addition, the taking and placing device 200 is powered by the trolley, the charging efficiency is high, the waiting time of the taking and placing device 200 is short, and other taking and placing devices 200 are not needed to replace, thereby saving the number of taking and placing devices 200 used. In addition, the taking and placing device 200 is powered by the trolley, which avoids the traffic congestion caused by the taking and placing device 200 walking on the ground of the tunnel 100c during charging in the related art, and improves the efficiency of the taking and placing device 200.

[0185] In some examples, the first carrier 100 can be provided with a track 120, and the stand 230 is suspended on the track 120 by the walking mechanism 240 and moves along the track 120. For example, a track 120 can be arranged on the top beam of the first carrier 100, and the walking mechanism 240 is arranged at the top of the stand 230 or a first position, and the distance between the first position and the top of the stand 230 is less than the distance between the first position and the bottom of the stand 230, so that the stand 230 is stably suspended on the first carrier 100 by the walking mechanism 240.

[0186] In some examples, the first carrier 100 can be provided with a plurality of tracks 120, which are spaced apart along the height direction of the first carrier 100, and the stand 230 is guided by the plurality of tracks 120 to move on the first carrier 100 along the plurality of tracks 120. For example, a plurality of groups of walking mechanisms 240 can be spaced apart along the height direction z on the stand 230, and the plurality of groups of walking mechanisms 240 are correspondingly arranged with the tracks 120, so that the stand 230 moves along the corresponding tracks 120 by the plurality of groups of walking mechanisms 240 respectively, and at least one group of walking mechanisms 240 is suspended on the track 120, so that the stand 230 is suspended on the first carrier 100. For example, the first carrier 100 is provided with two tracks 120, and the two tracks 120 respectively include a lower track 121 and an upper track 122, and the upper track 122 is located above the lower track 121. The walking mechanism 240 includes a lower walking mechanism 241 and an upper walking mechanism 242, and the lower walking mechanism 241 moves along the lower track 121, and the upper walking mechanism 242 moves along the upper track 122. The upper track 122 can be arranged on the top beam of the first carrier 100, and the upper walking mechanism 242 is arranged at the top or a first position of the stand 230, and the upper walking mechanism 242 moves along the upper track 122.

[0187] The lower track 121 can be arranged on the middle beam or the bottom beam of the first carrier 100, and the lower walking mechanism 241 is arranged at the middle, the bottom or a second position of the stand 230, and the distance between the second position and the bottom of the stand 230 is less than the distance between the second position and the top of the stand 230, and the lower walking mechanism 241 moves along the lower track 121, thereby improving the running stability of the stand 230 on the first carrier 100.

[0188] For example, at least one of the lower walking mechanism 241 and the upper walking mechanism 242 is suspended on the corresponding track 120, for example, the upper walking mechanism 242 is suspended on the upper track 122, and the lower walking mechanism 241 only moves along the lower track 121 without being suspended on the lower track 121.

[0189] In some examples, each group of walking mechanisms 240, i.e., the walking mechanisms 240 cooperating with the same track 120, can be one or multiple.

[0190] For example, the stand 230 is a vertical rod extending along the height direction z, and the taking and placing mechanism 210 and the picking mechanism 220 are movably arranged on the vertical rod, and the walking mechanism 240 cooperating with one of the tracks 120 is one, and one walking mechanism 240 is arranged on the vertical rod.

[0191] For another example, the stand 230 includes a top connecting rod and two vertical rods extending along the height direction z, the top connecting rod is connected between the top of the two vertical rods, so that the stand 230 is formed as a portal structure. In this way, each group of the walking mechanism 240 can include one or two walking mechanisms 240. For example, one walking mechanism 240 can be arranged on any one vertical rod of the stand 230, and the walking mechanism 240 drives the entire stand 230 to run along the track 120 through the vertical rod.

[0192] For another example, each group of the walking mechanism 240 can be provided with two, and each vertical rod is arranged on the track 120 through the walking mechanism 240, so that the entire stand 230 stably runs along the track 120.

[0193] In some examples, the walking mechanism 240 can include a driving member and a driving wheel, wherein the driving member is connected with the stand 230, and the driving wheel is connected with the driving member and is configured to run along the track 120 under the driving of the driving member.

[0194] For example, the driving member can be a motor such as a stepper motor, a driving cylinder, a synchronous pulley structure, a gear and rack structure, etc., the driving shaft of the driving wheel is fixed with the output shaft of the motor, and the motor output shaft drives the driving wheel to roll along the track 120 in the rotation process to drive the stand 230 to move.

[0195] In some examples, the walking mechanism 240 can include a guide wheel connected with the stand 230, and the guide wheel is configured to move along the extension direction of the track 120 under the driving of the stand 230, so as to avoid the walking mechanism 240 driving the stand 230 to move left and right along a direction intersecting with the extension direction of the track 120, for example, perpendicular to the extension direction, to ensure the stability of the taking and placing device 200 on the track 120, and the position of the taking and placing mechanism 210 on the taking and placing device 200 relative to the storage location 110 and the buffer location 310 remains stable.

[0196] In some examples, the stand 230 of the taking and placing device 200 can be a primary stand, that is, the height of the stand 230 is fixed and does not change.

[0197] For example, the stand 230 includes a fixed stand, and the taking and placing mechanism 210 and the picking mechanism 220 are movably arranged on the fixed stand, the height of the fixed stand matches the height of the first carrier 100, so that the taking and placing mechanism 210 can move along the fixed stand at each position of the first carrier 100 along the height direction z, so that the taking and placing mechanism 210 and the picking mechanism 220 can move between the storage location 110 and the buffer location 310.

[0198] In some examples, the stand 230 of the taking-and-placing device 200 can also be a multi-stage stand 230 structure, and each stand 230 in the multi-stage stand 230 can move relative to the upper stand 230 to achieve variable overall height of the stand 230.

[0199] For example, the stand 230 includes a fixed stand and a lifting stand, where the fixed stand is a first-stage stand 230, and the lifting stand is a stand 230 other than the first stage. The fixed stand is connected with the traveling mechanism 240, so that the fixed stand is suspended on the track 120 of the first carrier 100 by the traveling mechanism 240 and runs along the track 120. The lifting stand is configured to move along the fixed stand in the height direction, so that when the lifting stand is in a first state, the height of the stand 230 matches the height of the first carrier 100, and the taking-and-placing mechanism 210 is arranged on the lifting stand, so that the taking-and-placing mechanism 210 can move relative to the fixed stand under the driving of the lifting stand, and in addition, the taking-and-placing mechanism 210 can move along the height direction z of the first carrier 100 relative to the lifting stand, so that the movement range of the taking-and-placing mechanism 210 in the height direction z of the first carrier 100 is increased.

[0200] In this way, the lifting stand can move to different positions relative to the fixed stand to adapt the overall height of the stand 230 to the height of the first carrier 100. In this way, the taking-and-placing device 200 can be mass-produced to be applicable to first carriers 100 of different heights, thereby saving the mass production cost of the taking-and-placing device 200. In some examples, there is one lifting stand, and the lifting stand extends and retracts relative to the fixed stand to achieve switching of the stand 230 between different heights. In some examples, there are multiple lifting stands, and among the multiple lifting stands, adjacent two lifting stands can move relative to each other, and the second-stage lifting stand moves relative to the fixed stand, the taking-and-placing mechanism 210 is arranged on the lowest-stage lifting stand and can move along the lowest-stage lifting stand, so that extension and retraction of at least one of the multiple lifting stands relative to the fixed stand can achieve change of the overall height of the stand 230.

[0201] In some examples (not shown in the figures), the stand 230 can be fixed on the first carrier 100, the track 120 is movably arranged on the stand 230 and can move along the height direction of the stand 230, and the taking and placing device 200 such as the taking and placing mechanism 210 and the picking mechanism 220 is arranged on the track 120 and can move along the track 120 in the transverse direction of the first carrier 100, so that the taking and placing mechanism 210 and the picking mechanism 220 can move to one side of each storage location 110 or each buffer location 310. For example, two vertical rods of the stand 230 can be arranged at two ends of the first carrier 100 in the transverse direction of the first carrier 100, the track 120 is arranged on the two vertical rods and can move along the height direction of the vertical rods, and the taking and placing mechanism 210 and the picking mechanism 220 can be arranged on the track 120 by the walking mechanism 240 to move along the track 120 under the driving of the walking mechanism 240.

[0202] In some examples, the taking and placing device 200 can be hung on one side of each first carrier 100, that is, one taking and placing device 200 is configured to take and place order goods on one first carrier 100. For example, in the storage area, a plurality of first carriers 100 such as shelves are arranged at intervals, and each first carrier 100 such as a shelf has a taking and placing device 200 hung on one side of the first carrier 100, which is only connected to the shelf on the side of the taking and placing device 200 to pick and place order goods on the shelf on the side.

[0203] In some examples, the taking and placing device 200 is hung on the side of the aisle 100c and is configured to take and place inventory containers 500 on the first carriers 100 on both sides of the aisle 100c, that is, the taking and placing device 200 is shared by two adjacent first carriers 100.

[0204] In some examples, the track 120 is arranged on the first carrier 100 on one side of the aisle 100c, and the same taking and placing device 200 is configured to take and place target items on the first carriers 100 on both sides of the aisle 100c. For example, at least one taking and placing device 200 is arranged in the aisle 100c, the taking and placing device 200 is hung on one first carrier 100 on one side of the aisle 100c by the walking mechanism 240, and the taking and placing device 200 can be connected to the first carriers 100 on both sides of the aisle 100c or to the movable carriers 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 improved.

[0205] In some examples, the track 120 can be arranged on the first carriers 100 on opposite sides of the aisle 100c, and the taking and placing device 200 is configured to move along the tracks 120 on both sides of the aisle 100c to take and place order goods on the first carriers 100 on both sides of the aisle 100c.

[0206] The embodiment of the present application also provides a picking method of a warehouse system, which adopts Figure 1 The picking method of the warehouse system comprises the following steps of:

[0207] S100, based on a picking task, the taking and placing mechanism 210 is controlled to move to one side of the target storage location 110 and take out the target inventory container 500.

[0208] For example, when the controller of the warehouse system receives the picking task, the taking and placing device 200 is controlled to move in the transverse direction of the first carrier 100, and the taking and placing mechanism 210 is controlled to move in the height direction of the stand 230, so that the taking and placing mechanism 210 moves to one side of the target storage location 110; then the taking and placing structure 212 of the taking and placing mechanism 210 takes out the target inventory container 500 on the storage location 110 and temporarily stores it on the bearing structure 211 of the taking and placing mechanism 210.

[0209] S200, the picking mechanism 220 is controlled to pick out the order goods in the target inventory container 500 and deliver them into the order container located on the second carrier 300.

[0210] For example, after the taking and placing mechanism 210 takes out the target inventory container 500, the controller can control the picking mechanism 220 to pick out the order goods from the target inventory container 500 and deliver them into the order container at the bottom of the first carrier 100.

[0211] In some examples, S200, i.e., controlling the picking mechanism 220 to pick out the order goods in the target inventory container 500 and deliver them into the order container located on the second carrier 300, can comprise:

[0212] S210, the picking assembly 221 of the picking mechanism 220 is controlled to take out the order goods from the target inventory container 500 and place the order goods on the delivery assembly 222 of the picking mechanism 220.

[0213] For example, the controller can plan a motion trajectory of the picking assembly 221 based on the information of the order goods fed back by the image sensor, then control the picking assembly 221 to move to the corresponding order goods of the target inventory container 500 along the motion trajectory, and control the gripper 2212 of the picking assembly 221 to pick up the order goods, then the controller can control the picking assembly 221 to return to above the inventory container 500 along the original motion trajectory, then control the picking assembly 221 to rotate to above the delivery assembly 222, and then place the order goods on the delivery assembly 222.

[0214] S220, the delivery assembly 222 is controlled to deliver the order goods into the order container located on the second carrier 300.

[0215] For example, when the delivery assembly 222 is located at one side of the buffer storage 310, the controller can control the guide 2222 of the delivery assembly 222 to rotate to be arranged on the taking and placing opening of the order container, and then the order goods can fall into the order container along the guide 2222.

[0216] In some examples, the delivery assembly 222 can move relative to the picking assembly 221 and the taking and placing mechanism 210 in the height direction of the first carrier 100, and when the picking assembly 221 is in the picking state, the delivery assembly 222 is located at the side of the taking and placing mechanism 210.

[0217] Then S210, i.e. controlling the picking assembly 221 of the picking mechanism 220 to pick out the order goods from the target inventory container 500 and place the order goods on the delivery assembly 222 of the picking mechanism 220, can include:

[0218] S211, when the picking assembly 221 picks out the order goods in the target inventory container 500, controlling the picking assembly 221 to deliver the order goods to the delivery assembly 222.

[0219] For example, before the taking and placing mechanism 210 takes out the inventory container 500 from the storage storage 110, the controller can control the delivery assembly 222 to move to the side of the taking and placing mechanism 210, and then when the picking assembly 221 picks out the order goods in the target inventory container 500, the picking assembly 221 delivers the order goods to the delivery assembly 222.

[0220] In this way, S220, i.e. controlling the delivery assembly 222 to deliver the order goods into the order container located on the second carrier 300, includes: controlling the delivery assembly 222 to carry the order goods to move to one side of the second carrier 300, and deliver the order goods into the order container on the buffer storage 310.

[0221] In some examples, when the taking and placing mechanism 210 takes out the target inventory container 500 from the target storage storage 110, the delivery assembly 222 is located at one side of the second carrier 300. Then S210, i.e. controlling the picking assembly 221 of the picking mechanism 220 to pick out the order goods from the target inventory container 500 and place the order goods on the delivery assembly 222 of the picking mechanism 220, can include:

[0222] S212, when the taking and placing mechanism 210 takes out the target inventory container 500 from the target storage storage 110, controlling the picking assembly 221 and the taking and placing mechanism 210 to move to one side of the target buffer storage 310 of the second carrier 300.

[0223] S213, controlling the picking assembly 221 of the picking mechanism 220 to pick out the order goods from the target inventory container 500 and place the order goods on the delivery assembly 222 of the picking mechanism 220.

[0224] Figure 11 is a structural schematic diagram of one of the perspectives of another warehouse system provided by an embodiment of the present application, Figure 12 is a structural schematic diagram of another perspective of another warehouse system provided by an embodiment of the present application, Figure 13 is a structural schematic diagram of a first carrier and a first taking and placing device in another warehouse system provided by an embodiment of the present application, Figure 14 is a structural schematic diagram of a first carrier and a second taking and placing device in another warehouse system provided by an embodiment of the present application. Referring to Figures 11 to 14 , the embodiment of the present application provides another warehouse system, which includes a first carrier 100. The specific structure of the first carrier 100 can refer to the above examples. Different from the above examples, the height of the first carrier 100 of the embodiment of the present application is higher, and the number of layers is more. For the convenience of description, each layer of the storage location 110 of the first carrier 100 can be divided into a first storage location 110a and a second storage location 110b along the height direction.

[0225] Among them, the first storage location 110a is located below the second storage location 110b, that is, the first storage location 110a is the low layer storage location 110 close to the bottom of the first carrier 100, and the second storage location 110b is the high layer storage location 110 close to the top of the first carrier 100.

[0226] Taking that the first carrier 100 is provided with 20 layers of storage locations 110 as an example, the first storage location 110a can be the storage location 110 of the 10th layer and below from bottom to top of the first carrier 100, and the second storage location 110b can be the storage location 110 of the 11th layer and above from bottom to top of the first carrier 100. Of course, the first storage location 110a can be the storage location 110 of the 9th layer and below from bottom to top of the first carrier 100, and the second storage location 110b can be the storage location 110 of the 10th layer and above from bottom to top of the first carrier 100, and the embodiment of the present application does not limit the number of layers of the first storage location 110a and the second storage location 110b.

[0227] The warehouse system of the embodiment of the present application also includes a second carrier 300, and the second carrier 300 is provided with a buffer location 310, and the buffer location 310 is configured to buffer first articles and second articles. Among them, the first articles are articles stored in the first storage location 110a, and the second articles are articles stored in the second storage location 110b. The first articles or the second articles on the buffer location 310 can be removed by the carrying robot 400.

[0228] It should be noted that the articles of the embodiments of the present application can include, but are not limited to, order containers 600, inventory containers 500, order goods, non-order goods, etc. Among them, the order container 600 is a container that only contains order goods, and the inventory container 500 is a container that contains order goods and non-order goods. For example, the first article can include, but is not limited to, an order container 600, a first inventory container 510, an order good, a non-order good, etc.; the second article can include, but is not limited to, an order container, a second inventory container 520, an order good, a non-order good, etc. The specific structure of the second carrier 300 can refer to the above examples, which will not be described here.

[0229] The warehouse system of the embodiments of the present application further includes a temporary storage location 110c configured to temporarily store the second article.

[0230] The warehouse system of the embodiments of the present application can further include a first picking device 200a located on one side of the first storage location 110a. For example, the first picking device 200a is provided with a first stand 230a and a first walking mechanism 240a. The storage area where the first carrier 100 and the second carrier 300 are located is provided with a first track 120a. The first walking mechanism 240a is suspended from the first track 120a and moves along the first track 120a on the side of the first storage location 110a. The first picking device 200a is configured to be docked with the first storage location 110a to pick and place the first article on the first storage location 110a and transfer the first article between the first storage location 110a and the buffer location 310.

[0231] In some examples, the first article can include a first inventory container 510 containing order goods and non-order goods. In some examples, unlike the above-mentioned picking device 200, the first picking device 200a of the embodiments of the present application includes a first picking mechanism 210a for picking and placing the first inventory container 510, and does not provide a picking mechanism 220. The first picking mechanism 210a is configured to pick and place the first inventory container 510 on the first storage location 110a and transfer the first inventory container 510 between the first storage location 110a and the buffer location 310.

[0232] In some examples, the first picking mechanism 210a is arranged on the first stand 230a to move along each column of the first storage location 110a under the drive of the first stand 230a, so as to be docked with each column of the first storage location 110a or the buffer location 310.

[0233] In addition, the first picking mechanism 210a can be movably arranged on the first stand 230a and can move along the first stand 230a to move along each layer of the first storage location 110a, so as to be docked with each layer of the first storage location 110a.

[0234] When the warehouse system receives a bin picking task, and the corresponding target item is the first item, the first picking mechanism 210a of the first picking device 200a can pick the first inventory container 510 from the first storage location 110a and transfer it to the buffer location 310 of the second carrier 300, and then the transfer robot 400 carries the first inventory container 510 on the buffer location 310 to the workstation for picking or other work.

[0235] Of course, the embodiment of the present application also does not exclude that the first picking device 200a is set to be consistent with the structure of the above-mentioned picking device 200, and only transfers the first inventory container 510 between the first storage location 110a and the buffer location 310.

[0236] The warehouse system of the embodiment of the present application also includes a second picking device 200b located on one side of the second storage location 110b. For example, the second picking device 200b is provided with a second stand 230b and a second walking mechanism 240b, and the storage area is provided with a second track 120b. The second walking mechanism 240b is suspended from the second track 120b and moves along the second track 120b on the side of the second storage location 110b. The second picking device 200b is configured to be docked with the second storage location 110b to pick and place the second item on the second storage location 110b and transfer the second item between the second storage location 110b and the temporary storage location 110c.

[0237] In some examples, the second item can include a second inventory container 520, and the second inventory container 520 stores order goods and non-order goods. In some examples, unlike the above-mentioned picking device 200, the second picking device 200b of the embodiment of the present application includes a second picking mechanism 210b for picking and placing the second inventory container 520, and does not set a picking mechanism 220. The second picking mechanism 210b is configured to pick and place the second inventory container 520 on the second storage location 110b and transfer the second inventory container 520 between the second storage location 110b and the temporary storage location 110c.

[0238] In some examples, the second picking mechanism 210b is arranged on the second stand 230b to move along each column of the second storage location 110b under the driving of the second stand 230b, so as to be docked with each column of the second storage location 110b or the buffer location 310. In addition, the second picking mechanism 210b can be movably arranged on the second stand 230b and move along the second stand 230b to move along each layer of the second storage location 110b, so as to be docked with each layer of the second storage location 110b.

[0239] In some examples (not shown in the figures), the first upright 230a can be fixed on the first carrier 100, the first track 120a can be movably arranged on the first upright 230a and can move along the first upright 230a in the height direction of the first carrier 100, and the first pick-and-place device 200a such as the first pick-and-place mechanism 210a and the first picking mechanism 220a can be arranged on the first track 120a and can move along the first track 120a in the lateral direction of the first carrier 100, so that the first pick-and-place mechanism 210a and the first picking mechanism 220a can move to one side of each first storage location 110a or each buffer location 310.

[0240] In some examples, the second upright 230b can be fixed on the first carrier 100, the second track 120b can be movably arranged on the second upright 230b and can move along the second upright 230b in the height direction of the first carrier 100, and the second pick-and-place device 200b such as the second pick-and-place mechanism 210b and the second picking mechanism 220b can be arranged on the second track 120b and can move along the second track 120b in the lateral direction of the first carrier 100, so that the second pick-and-place mechanism 210b and the second picking mechanism 220b can move to one side of each second storage location 110b or each buffer location 110c.

[0241] In some examples, the first upright 230a and the second upright 230b can be an integrated upright, and the first track 120a and the second track 120b can be movably arranged on the upright in the height direction of the first carrier 100.

[0242] For example, a upright can be hung on one side of the first carrier 100, two upright rods of the upright can be arranged at two ends of the first carrier 100 in the lateral direction of the first carrier 100 respectively, the first track 120a and the second track 120b can be arranged on the two upright rods and can move in the height direction of the upright rods, the first pick-and-place mechanism 210a and the first picking mechanism 220a can be arranged on the first track 120a through the first traveling mechanism 240a to move along the first track 120a under the driving of the first traveling mechanism 240a, and the first track 120a can drive the first pick-and-place mechanism 210a and the first picking mechanism 220a to move in the height direction of the upright, and the second pick-and-place mechanism 210b and the second picking mechanism 220b can be arranged on the second track 120b through the second traveling mechanism 240b to move along the second track 120b under the driving of the second traveling mechanism 240b, and the second track 120b can drive the second pick-and-place mechanism 210b and the second picking mechanism 220b to move in the height direction of the upright.

[0243] When the storage system receives a bin picking task and the corresponding target item is the second item, the second picking mechanism 210b of the second picking device 200b can pick the second inventory container 520 from the second storage location 110b and transfer it to the temporary storage location 110c.

[0244] Of course, the embodiments of the present application also do not exclude that the second picking device 200b is configured to be consistent with the structure of the above-mentioned picking device 200, and only transfers the second inventory container 520 between the second storage location 110b and the temporary storage location 110c.

[0245] In the embodiments of the present application, the first picking device 200a is also configured to transfer the second item between the temporary storage location 110c and the buffer location 310. For example, the first picking mechanism 210a is configured to transfer the second inventory container 520 between the temporary storage location 110c and the buffer location 310.

[0246] For example, after the second picking device 200b transfers the second item, such as the second inventory container 520, to the temporary storage location 110c, the first picking device 200a can pick the second inventory container 520 from the temporary storage location 110c by the first picking mechanism 210a and transfer it to the buffer location 310, and then the transfer robot 400 transfers the second inventory container 520 on the buffer location 310 to the workstation for picking and other work.

[0247] The embodiments of the present application can increase the height of the first carrier 100 by arranging the first picking device 200a and the second picking device 200b on one side of the first carrier 100, and by arranging the first picking device 200a to be responsible for picking the first item of the low-level storage location 110, and the second picking device 200b to be responsible for picking the second item of the high-level storage location 110, and by arranging the temporary storage location 110c to temporarily store the second item picked by the second picking device 200b from the high-level storage location 110 on the temporary storage location 110c, and by arranging the first picking device 200a to transfer the second item on the temporary storage location 110c to the buffer location 310 for the transfer robot 400 to pick and transfer to the workstation. On the one hand, the embodiments of the present application can increase the storage density by utilizing the upper space of the first carrier 100; on the other hand, the picking of the first item of the low-level storage location 110 and the picking of the second item of the high-level storage location 110 are decoupled and do not affect each other, thereby enhancing the throughput upper limit of the first carrier 100. In addition, when the second item of the high-level storage location 110 is called, the running speed of the second picking device 200b is basically not lost, and the efficiency of picking the high and low level items is improved as a whole.

[0248] In some examples, the temporary storage location 110c can be a second picking mechanism 210b of the second picking device 200b, i.e., after the second picking mechanism 210b of the second picking device 200b picks the second item, e.g., the second inventory container 520, from the second storage location 110b, the second picking mechanism 210b of the second picking device 200b can move to the vicinity of the picking mechanism 210 of the first picking device 200a, and then the first picking mechanism 210a of the first picking device 200a picks the second inventory container 520 from the second picking mechanism 210b and transfers the second inventory container 520 to the buffer location 310.

[0249] In some examples, the temporary storage location 110c can be a temporary storage tray arranged on the second stand 230b of the second picking device 200b. After the second picking mechanism 210b of the second picking device 200b picks the second item, e.g., the second inventory container 520, from the second storage location 110b, the second picking mechanism 210b of the second picking device 200b can move to the temporary storage tray on the second picking device 200b, and then the first picking mechanism 210a of the first picking device 200a picks the second inventory container 520 from the temporary storage tray and transfers the second inventory container 520 to the buffer location 310.

[0250] In some examples, the temporary storage location 110c can be located on the first carrier 100 and between the first storage location 110a and the second storage location 110b, in other words, a middle layer of the storage locations 110 of the first carrier 100 can be used as the temporary storage location 110c, for example, the first carrier 100 includes the second storage location 110b, the temporary storage location 110c, the first storage location 110a and the buffer location 310 arranged in sequence along the height direction.

[0251] For example, after the second picking mechanism 210b of the second picking device 200b picks the second item, e.g., the second inventory container 520, from the second storage location 110b, the second picking mechanism 210b of the second picking device 200b can move to the temporary storage location 110c on the first carrier 100, and then the first picking mechanism 210a of the first picking device 200a picks the second inventory container 520 from the temporary storage location 110c and transfers the second inventory container 520 to the buffer location 310.

[0252] By arranging the temporary storage location 110c on the first carrier 100, the second picking device 200b and the first picking device 200a do not need to be docked, thereby saving the waiting time and docking time caused by the docking of the two, and improving the working efficiency of the first picking device 200a and the second picking device 200b. For example, after the second picking device 200b picks the second item, the second picking device 200b can move to the temporary storage location 110c without waiting for the first picking device 200a to dock, and the idle first picking device 200a can pick the second item from the temporary storage location 110c and transfer the second item to the buffer location 310 without docking with the second picking device 200b, thereby enabling the second picking device 200b to perform the next picking and placing action.

[0253] In some examples, the first article can include a first inventory container 510 and order goods, and the order goods are stored in the first inventory container 510 and non-order goods; and the second article includes a second inventory container 520 and order goods, and the order goods are stored in the second inventory container 520 and non-order goods.

[0254] It should be noted that the order goods stored in the first inventory container 510 and the second inventory container 520 can be goods of the same order, goods of different orders, the same sku goods of different orders, or different sku goods of different orders, and the present application does not limit the same.

[0255] The first taking and placing device 200a of the present application can take out the first inventory container 510 from the first storage location 110a, and pick the order goods from the first inventory container 510, and then transfer to the buffer location 310.

[0256] In some examples, the first taking and placing device 200a can include a first taking and placing mechanism 210a and a first picking mechanism 220a, wherein the first taking and placing mechanism 210a is configured to take and place the first inventory container 510 on the first storage location 110a; and the first picking mechanism 220a is configured to pick the order goods from the first inventory container 510 and transfer to the buffer location 310.

[0257] It should be noted that the order goods can be buffered on the buffer location 310 through the order container 600.

[0258] In some examples, the buffer location 310 is provided with the order container 600, and the first picking mechanism 220a can pick the order goods from the first inventory container 510 and deliver them into the order container 600 on the buffer location 310. For example, during the working process of the first taking and placing mechanism 210a and the first picking mechanism 220a, the order container 600 is located on the buffer location 310, and after the first picking mechanism 220a picks the order goods from the first inventory container 510, it can be delivered into the order container 600 located on the buffer location 310, so that the order container 600 does not need to be carried back and forth, simplifying the picking process of the first taking and placing device 200a, and also simplifying the structure and power consumption of the first taking and placing device 200a, which is suitable for the bottom storage location 110 with a high order hit rate, and can realize the rapid picking and delivery of order goods.

[0259] In some examples, the first picking mechanism 220a can take out the order container 600 on the buffer location 310. After the first taking and placing mechanism 210a takes out the first inventory container 510, the first picking mechanism 220a can take out the order goods in the first inventory container 510 and place them in the order container 600, and then the first picking mechanism 220a transfers the order container 600 to the buffer location 310.

[0260] In some examples, the structure of the first taking and placing mechanism 210a and the first picking mechanism 220a, the working process of taking and placing the first inventory container 510 and picking the order goods are consistent with the taking and placing device 200 in the above examples. For example, when the warehouse system receives a picking task and the first inventory container 510 has the hit order goods, the first taking and placing mechanism 210a of the first taking and placing device 200a moves in the lateral and height directions of the first storage location 110a to move to the side of the target first storage location 110a related to the order. For example, the stand 230 moves in the lateral direction of the first storage location 110a to drive the first taking and placing mechanism 210a and the first picking mechanism 220a to move in the lateral direction, and then the first taking and placing mechanism 210a moves in the height direction of the first storage location 110a to reach the side of the target first storage location 110a.

[0261] The first taking and placing mechanism 210a takes out the target first inventory container 510 from the target first storage location 110a, and then the first picking mechanism 220a picks the order goods in the target first inventory container 510 and delivers them into the order container 600 on the buffer location.

[0262] When the order goods related to the order are all delivered into the order container 600, the order container 600 can be transported to a work station or packed for outbound by the transport robot 400.

[0263] In some examples, the second taking and placing device 200b can include a second taking and placing mechanism 210b and a second picking mechanism 220b, where the second taking and placing mechanism 210b is configured to take and place the second inventory container 520 on the second storage location 110b, and the second picking mechanism 220b is configured to pick the order goods from the second inventory container 520 and transfer them to the buffer location 110c. In some examples, the structure of the second taking and placing mechanism 210b and the second picking mechanism 220b, the working process of taking and placing the second inventory container 520 and picking the order goods are consistent with the taking and placing device 200 in the above examples.

[0264] For example, when the warehouse system receives a picking task and the second inventory container 520 has the hit order goods, the second taking and placing mechanism 210b of the second taking and placing device 200b moves in the lateral and height directions of the second storage location 110b to move to a side of the storage location 110 involved in the order, i.e., the target second storage location 110b. For example, the rack 230 moves in the lateral direction of the second storage location 110b to drive the second taking and placing mechanism 210b and the second picking mechanism 220b to move in the lateral direction, and then the second taking and placing mechanism 210b moves in the height direction of the second storage location 110b to reach a side of the target second storage location 110b.

[0265] The second taking and placing mechanism 210b takes the target second inventory container 520 from the target second storage location 110b, and then the second picking mechanism 220b picks the order goods in the target second inventory container 520 and transfers them to the temporary storage location 110c. It should be noted that the order goods can be temporarily stored on the temporary storage location 110c through the order container 600.

[0266] In some examples, the temporary storage location 110c is provided with an order container 600, and the second picking mechanism 220b can pick the order goods from the second inventory container 520 and deliver them to the order container 600 on the temporary storage location 110c.

[0267] In some examples, the second picking mechanism 220b can take the order container 600 on the temporary storage location 110c. When the second taking and placing mechanism 210b takes the second inventory container 520, the second picking mechanism 220b can take the order goods in the second inventory container 520 and place them in the order container 600, and then the second picking mechanism 220b transfers the order container 600 to the temporary storage location 110c. In this way, the second picking mechanism 220b can pick multiple order goods involved in an order into the order container 600 and then transfer the order container 600 to the temporary storage location 110c, and this arrangement can be suitable for high-level storage locations 110 with a low order hit rate.

[0268] The first taking and placing mechanism 210a is also configured to transfer order goods between the temporary storage location 110c and the buffer location 310.

[0269] For example, when multiple order goods involved in an order are delivered into the order container 600, the first taking and placing mechanism 210a of the first taking and placing device 200a can transfer the order container 600 to the buffer location 310 for the transfer robot 400 to transfer to a work station or pack for outbound shipment.

[0270] In some examples, the second picking mechanism 220b can take out the order container 600 on the temporary storage location 110c. After the second taking and placing mechanism 210b takes out the second inventory container 520, the second picking mechanism 220b can take out the order goods in the second inventory container 520 and place them in the order container 600, and then the second picking mechanism 220b transfers the order container 600 to the temporary storage location 110c. It should be noted that the order container 600 used to store the order goods in the second inventory container 520 and the order container 600 used to store the order goods in the first inventory container 510 can be the same order container or different order containers.

[0271] In some examples, when the first taking and placing device 200a and the second taking and placing device 200b summarize all skus involved in all orders into one or more order containers, and part of the order goods in the same sku involved in all orders are stored in the first inventory container 510 and the other part of the order goods are stored in the second inventory container 520, the order container 600 used to store the order goods in the second inventory container 520 and the order container 600 used to store the order goods in the first inventory container 510 can be the same order container.

[0272] Alternatively, when the first taking and placing device 200a and the second taking and placing device 200b summarize all skus involved in each order into one or more order containers, and part of the order goods involved in any one order are stored in the first inventory container 510 and the other part of the order goods are stored in the second inventory container 520, the order container 600 used to store the order goods in the second inventory container 520 and the order container 600 used to store the order goods in the first inventory container 510 can be the same order container.

[0273] Taking the example of part of the order goods in the same sku involved in all orders being stored in the first inventory container 510 and the other part of the order goods being stored in the second inventory container 520, first, the second picking mechanism 220b of the second taking and placing device 200b can pick part of the order goods in the same sku from the second inventory container 520 into the order container 600, and place the order container 600 on the temporary storage location 110c, then the first taking and placing mechanism 210a of the first taking and placing device 200a transfers the order container 600 to the buffer location 310, picks the other part of the order goods in the same sku from the first inventory container 510 through the first picking mechanism 220a, and delivers them into the order container 600 transferred from the temporary storage location 110c to the buffer location 310, and finally the order container 600 is transferred to the workstation by the transfer robot 400 for sorting or packaging for outbound.

[0274] In the above example, a portion of the order goods from the first inventory container 510 can also be picked by the first picking mechanism 220a of the first taking and placing device 200a into the order container 600 on the buffer storage location 310, and then the order container 600 is transferred by the first taking and placing mechanism 210a to the temporary storage location 110c, and another portion of the order goods is picked by the second picking mechanism 220b of the second taking and placing device 200b into the order container 600 from the second inventory container 520, and the order container 600 is temporarily stored on the temporary storage location 110c, and then the order container 600 is transferred by the first taking and placing mechanism 210a of the first taking and placing device 200a from the temporary storage location 110c to the buffer storage location 310, and is carried out by the carrying robot 400.

[0275] In some examples, when the first taking and placing device 200a and the second taking and placing device 200b are used to put all the skus involved in all the orders into one or more order containers, and all the order goods of one sku involved in all the orders are stored in the first inventory container 510, and all the order goods of another sku are stored in the second inventory container 520, the order container 600 used to store the order goods in the second inventory container 520 and the order container 600 used to store the order goods in the first inventory container 510 can be different order containers.

[0276] Alternatively, when the first taking and placing device 200a and the second taking and placing device 200b are used to put all the skus involved in each order into one or more order containers, and the order goods stored in the first inventory container 510 and the second inventory container 520 are order goods of different orders respectively, the order container 600 used to store the order goods in the second inventory container 520 and the order container 600 used to store the order goods in the first inventory container 510 can be different order containers.

[0277] In this example, the first taking and placing device 200a and the second taking and placing device 200b implement the taking and placing of the inventory containers 500 on the first storage location 110a and the second storage location 110b and the picking of the order goods, and the working processes of the two are decoupled from each other, which enhances the high throughput upper limit of the entire first carrier 100.

[0278] In some examples, the first item includes the first inventory container 510, the first inventory container 510 stores order goods and non-order goods, and the first taking and placing device 200a is configured to transfer the first inventory container 510 between the first storage location 110a and the buffer storage location 310. For example, the first taking and placing mechanism 210a of the first taking and placing device 200a can be used to transfer the first inventory container 510 between the first storage location 110a and the buffer storage location 310.

[0279] The second item includes a second inventory container 520 and the order goods, and the order goods and non-order goods are stored in the second inventory container 520. The second taking and placing device 200b is configured to take out the second inventory container 520 on the second storage location 110b, and pick the order goods in the second inventory container 520 and transfer to the temporary storage location 110c. For example, the second taking and placing mechanism 210b of the second taking and placing device 200b is configured to take and place the second inventory container 520 on the second storage location 110b;

[0280] The second picking mechanism 220b of the second taking and placing device 200b is configured to pick the order goods from the second inventory container 520 and transfer to the temporary storage location 110c.

[0281] The first taking mechanism 210a is further configured to transfer the order goods to the buffer location 310.

[0282] It can be understood that in this example, the first taking and placing device 200a is configured to transfer the first inventory container 510 between the first storage location 110a and the buffer location 310, that is, the first taking and placing device 200a implements the taking and returning box work. The second taking and placing device 200b can directly pick the order goods in the second inventory container 520 and transfer to the temporary storage location 110c through the order container 600, and then transfer the order container 600 to the buffer location 310 through the first taking mechanism 210a.

[0283] In some examples, the second item includes a second inventory container 520, and the order goods and non-order goods are stored in the second inventory container 520, and the second taking and placing device 200b is configured to transfer the second inventory container 520 between the second storage location 110b and the temporary storage location 110c. For example, the second taking and placing mechanism 210b of the second taking and placing device 200b can transfer the second inventory container 520 between the second storage location 110b and the temporary storage location 110c.

[0284] In this example, the first item includes a first inventory container 510 and order goods, and the order goods and non-order goods are stored in the first inventory container 510. The first taking and placing device 200a is configured to take out the first inventory container 510 on the first storage location 110a, and pick the order goods in the first inventory container 510 and transfer to the buffer location 310. For example,

[0285] The first taking and placing mechanism 210a of the first taking and placing device 200a is configured to take and place the first inventory container 510 on the first storage location 110a, and the first picking mechanism 220a of the first taking and placing device 200a is configured to pick the order goods from the first inventory container 510 and transfer to the buffer location 310. The first taking and placing mechanism 210a of the first taking and placing device 200a is also configured to transfer the second inventory container 520 between the temporary storage location 110c and the buffer location 310. It can be understood that in this example, the second taking and placing device 200b can directly transfer the second inventory container 520 between the second storage location 110b and the temporary storage location 110c, that is, the second taking and placing device 200b is configured to perform the taking and placing work; the first taking and placing device 200a is configured to directly pick the order goods in the first inventory container 510, and can be buffered on the buffer location 310 through the order container 600, so as to be directly packed out of the warehouse by the transport robot 400 or transported to the workstation for further one-side sorting. In addition, the first taking and placing mechanism 210a also transfers the second storage container on the temporary storage location 110c to the buffer location 310, so as to be transported to the workstation by the transport robot 400 for picking.

[0286] Referring to FIGS. 1, 2 and 3, Figure 2 and Figure 11 In some examples, the first picking mechanism 220a can include a first picking assembly 221a and a delivery assembly 222, as shown in FIGS. 1, 2 and 3. The first picking assembly 221a is configured to pick the order goods from the first inventory container 510, and the delivery assembly 222 is configured to receive the order goods picked by the first picking assembly 221a and deliver the order goods into the order container 600 on the buffer location 310. It should be noted that the structures and working processes of the first picking assembly 221a and the delivery assembly 222 are consistent with those of the taking and placing device 200 in the above examples, and will not be described here.

[0287] Referring to FIGS. 1, 2 and 3, Figure 14 In some examples, the second picking mechanism 220b can include a taking and placing assembly 223 and a second picking assembly 221b.

[0288] The taking and placing assembly 223 is configured to be docked with the temporary storage location 110c to take and place the order container 600.

[0289] In some examples, the pick-and-place assembly 223, the first pick-and-place mechanism 210a, and the second pick-and-place mechanism 210b are structurally consistent, and the structure of the pick-and-place mechanism 210 in the above examples can be referred to. For example, the pick-and-place assembly 223, the first pick-and-place mechanism 210a, and the second pick-and-place mechanism 210b can each include a carrying structure 211 and a pick-and-place structure 212. For the convenience of description, the carrying structure of the first pick-and-place mechanism 210a can be referred to as a first carrying structure 211a, the carrying structure of the second pick-and-place mechanism 210b can be referred to as a second carrying structure 211b, and the carrying structure of the pick-and-place assembly 223 can be referred to as a third carrying structure 211c.

[0290] The second carrying structure 211b can move in the lateral direction and the height direction of the first carrier 100, for example, the second carrying structure 211b can be movably arranged on the second stand 230b, the pick-and-place structure 212 is located on the second carrying structure 211b, and can move between the second carrying structure 211b and the second storage location 110b to transfer the second inventory container 520 between the second carrying structure 211b and the second storage location 110b. The second picking assembly 221b is configured to pick order goods from the second inventory container 520 and deliver them into the order container 600 located on the pick-and-place assembly 223.

[0291] It should be noted that the structure of the second picking assembly 221b can be consistent with the structure of the picking assembly 221 of the pick-and-place device 200 in the above examples, which will not be described here. The first pick-and-place mechanism 210a is configured to transfer the order container 600 between the temporary storage location 110c and the buffer storage location 310.

[0292] For example, when the warehouse system receives a picking task and the order goods are order goods, the pick-and-place assembly 223 of the second picking mechanism 220b takes the order container 600 from the temporary storage location 110c, and the second pick-and-place mechanism 210b moves in the lateral direction and the height direction of the second storage location 110b to move to the side of the second storage location 110 involved in the order, i.e., the target second storage location 110b; the second pick-and-place mechanism 210b takes the target second inventory container 520 from the target second storage location 110b, and then the second picking assembly 221b picks the order goods in the target second inventory container 520 and places them in the order container 600, and the pick-and-place assembly 223 transfers the order container 600 to the temporary storage location 110c.

[0293] In some examples, when the second picking assembly 221b is in a picking state, i.e., the second picking assembly 221b picks order goods from the second inventory container 520, the pick-and-place assembly 223 is located beside the second pick-and-place mechanism 210b, and the order container 600 is arranged on the pick-and-place assembly 223;

[0294] The second picking assembly 221b is configured to, after picking the order goods from the second inventory container 520, deliver the order goods into the order container 600 on the taking-and-placing assembly 223. The taking-and-placing assembly 223 is configured to carry the order container 600 to one side of the temporary storage location 110c and place the order container 600 on the one side of the temporary storage location 110c.

[0295] In some examples, the taking-and-placing assembly 223 can move relative to the second taking-and-placing mechanism 210b in the height direction of the second stand 230b. Thus, after the second picking assembly 221b picks the order goods from the second inventory container 520 and delivers the order goods into the order container 600, the taking-and-placing assembly 223 can carry the order container 600 to one side of the temporary storage location 110c and place the order container 600 on the temporary storage location 110c.

[0296] In some examples, the taking-and-placing assembly 223 and the second taking-and-placing mechanism 210b can move synchronously in the height direction of the second stand 230b. Thus, the taking-and-placing assembly 223 and the second taking-and-placing mechanism 210b can move synchronously to one side of the temporary storage location 110c, and the order container 600 can be taken out by the taking-and-placing assembly 223. Then, the taking-and-placing assembly 223 and the second taking-and-placing mechanism 210b can move synchronously to one side of the target second storage location 110b, and the target second inventory container 520 can be taken out by the second taking-and-placing mechanism 210b. Then, after the second picking assembly 221b picks the order goods from the second inventory container 520, the order goods can be delivered into the order container 600 on the taking-and-placing assembly 223. The taking-and-placing assembly 223 and the second taking-and-placing mechanism 210b can move synchronously to one side of the temporary storage location 110c, and the order container 600 provided with the order goods can be transferred to the temporary storage location 110c by the taking-and-placing assembly 223. It should be noted that, in this example, the taking-and-placing assembly 223 can also take and place the second inventory container 520, and the second taking-and-placing mechanism 210b can also take and place the order container 600.

[0297] By synchronously moving the taking-and-placing assembly 223 and the second taking-and-placing mechanism 210b, the control logic of the second taking-and-placing device 200b can be simplified.

[0298] In the above examples, the third bearing structure 211c of the taking-and-placing assembly 223 and the second bearing structure 211b of the second taking-and-placing mechanism 210b can be connected to each other. For example, the third bearing structure 211c of the taking-and-placing assembly 223 and the second bearing structure 211b of the second taking-and-placing mechanism 210b can be an integral piece formed integrally.

[0299] Referring to Figure 1As shown, in some examples, the second pick-and-place device 200b can include a fourth driving assembly 280 connected with the second pick-and-place mechanism 210b to drive the second pick-and-place mechanism 210b to move in the height direction of the second stand 230b. For example, the fourth driving assembly 280 can be connected with the second carrier structure 211b to drive the second carrier structure 211b to move in the height direction of the second stand 230b.

[0300] In some examples, the pick-and-place assembly 223 is connected with the fourth driving assembly 280, which is configured to drive the pick-and-place assembly 223 to move synchronously with the second pick-and-place mechanism 210b in the height direction of the second stand 230b.

[0301] Referring to Figure 14 As shown, for example, the third carrier structure 211c of the pick-and-place assembly 223 is connected with the second carrier structure 211b of the second pick-and-place mechanism 210b, and the fourth driving assembly 280 can drive the third carrier structure 211c and the second carrier structure 211b to move synchronously, so that the pick-and-place assembly 223 and the second pick-and-place mechanism 210b move synchronously in the height direction of the second stand 230b.

[0302] In some examples, after the second pick-and-place mechanism 210b takes out the second inventory container 520 from the second storage location 110b, the second picking assembly 221b can pick the order goods in the second inventory container 520 and place the picked order goods in the order container 600 when the pick-and-place assembly 223 and the second pick-and-place mechanism 210b move to one side of the temporary storage location 110c, and then the pick-and-place assembly 223 places the order container 600 on the temporary storage location 110c.

[0303] It should be noted that the fourth driving assembly 280 can refer directly to the structure of the first driving assembly 250 in the above examples, which will not be described here.

[0304] In some examples, before the second pick-and-place mechanism 210b takes out the second inventory container 520 from the second storage location 110b, the pick-and-place assembly 223 can directly take out the order container 600 from the temporary storage location 110c and move to one side of the second storage location 110b with the second pick-and-place mechanism 210b.

[0305] In some examples, before the second taking-and-placing mechanism 210b takes the second inventory container 520 from the second storage location 110b, the taking-and-placing assembly 223 does not take the order container 600. After the second taking-and-placing mechanism 210b takes the second inventory container 520 from the second storage location 110b, the second picking assembly 221b can take the order container 600 from the temporary storage location 110c by the taking structure 212 of the taking-and-placing assembly 223 when the taking-and-placing assembly 223 and the second taking-and-placing mechanism 210b move to the side of the temporary storage location 110c, so as to receive the order goods picked by the second picking assembly 221b. After the order goods are placed in the order container 600, the taking structure 212 of the taking-and-placing assembly 223 places the order container 600 on the temporary storage location 110c.

[0306] In some examples, before the taking-and-placing assembly 223 carries the order container 600 to the temporary storage location 110c, the second taking-and-placing mechanism 210b is configured to take the second inventory container 520 from a plurality of second storage locations 110b. After the second picking assembly 221b picks the order goods in the plurality of second inventory containers 520 into the order container 600, the taking-and-placing assembly 223 carries the order container 600 to the side of the temporary storage location 110c.

[0307] In some examples, each order goods involved in each second order can be distributed in different second inventory containers 520. Therefore, the taking-and-placing assembly 223, the second taking-and-placing mechanism 210b, and the second picking assembly 221b can move to the side of each target second storage location 110b, the second taking-and-placing mechanism 210b takes each second inventory container 520, and the second picking assembly 221b picks each order goods into the order container 600. After that, the taking-and-placing assembly 223 moves to the side of the temporary storage location 110c and transfers the order container 600 to the temporary storage location 110c. In this way, the taking-and-placing assembly 223 can reduce the repeated movement between the second storage location 110b and the temporary storage location 110c, thereby simplifying the picking process of the second taking-and-placing device 200b for each order goods.

[0308] In some examples, when the second picking assembly 221b is in the picking state, the taking-and-placing assembly 223 and the second taking-and-placing mechanism 210b are arranged side by side along the transverse direction of the first carrier 100.

[0309] When the second picking assembly 221b is in the non-picking state, the taking-and-placing assembly 223 and the second taking-and-placing mechanism 210b are arranged along the height direction of the first carrier 100 or arranged side by side along the transverse direction. The position layout of the taking-and-placing assembly 223 and the second picking assembly 221b can refer to the position layout of the delivery assembly 222 and the picking assembly 221 of the taking-and-placing device 200 in the above examples, which will not be described here.

[0310] In some examples, the pick-and-place assembly 223 may always be located on the temporary storage location 110c, and the second pick-and-place mechanism 210b and the second picking assembly 221b may move relative to the pick-and-place assembly 223 in the height direction of the second stand 230b. When the second pick-and-place mechanism 210b removes the second inventory container 520 from the second storage location 110b, it can move the second inventory container 520 to the side of the pick-and-place assembly 223. Then, the second picking assembly 221b removes the order goods from the second inventory container 520 and places them in the order container 600 on the pick-and-place assembly 223. Finally, the pick-and-place assembly 223 places the order container 600 on the temporary storage location 110c.

[0311] In some examples, the second picking component 221b is movably mounted on the second stand 230b and is movable relative to the second pick-and-place mechanism 210b on a second plane to move between the second pick-and-place mechanism 210b and the order container 600 on the pick-and-place component 223b. The second picking component 221b is also movable relative to the second pick-and-place mechanism 210b in the height direction of the second stand 230b to extend into or out of the second inventory container 520 or the order container 600 on the second pick-and-place mechanism 210b.

[0312] In some examples, the structure and operation of the second picking component 221b can be directly referred to the picking component 221 of the picking and placing device 200 in the above examples, and will not be described again here.

[0313] In some examples, the second picking component 221b and the second pick-and-place mechanism 210b can move synchronously along the height direction of the second stand 230b to simplify the control logic of the second pick-and-place device 200b.

[0314] Reference Figure 2 and Figure 4 As shown, for example, the second pick-and-place device 200b may include a fifth drive assembly 290, and the second drive assembly 260 is connected to the second picking assembly 221b to drive the second picking assembly 221b to move relative to the second pick-and-place mechanism 210b in the height direction of the second stand 230b.

[0315] The fifth drive assembly 290 is connected to the fourth drive assembly 280, and the fourth drive assembly 280 is also configured to drive the fifth drive assembly 290 to move so that the second picking assembly 221b moves with the second pick-and-place mechanism 210b.

[0316] It should be noted that the structure of the fifth drive component 290 and its cooperation with the fourth drive component 280 can be directly referred to the cooperation structure of the second drive component 260 and the first drive component 250 in the above example, and will not be repeated here.

[0317] In addition, when the fourth driving assembly 280 is connected with the taking and placing assembly 223, the fourth driving assembly 280 can drive the taking and placing assembly 223, the second picking assembly 221b and the second taking mechanism 210b to move synchronously in the height direction of the second stand 230b.

[0318] Referring to Figure 2 As shown in FIG. 7, in some examples, the first taking device 200a can further include an image sensor 700 (e.g., a first image sensor 700a) configured to acquire information of order goods in the first inventory container 510 when the first taking mechanism 210a takes out the first inventory container 510. The first picking assembly 221a is configured to move relative to the first taking mechanism 210a according to the information acquired by the first image sensor 700a to pick the order goods.

[0319] In some examples, the second taking device 200b can further include an image sensor 700 (e.g., a second image sensor 700b) configured to acquire information of order goods in the second inventory container 520 when the second taking mechanism 210b takes out the second inventory container 520. The second picking assembly 221b is configured to move relative to the second taking mechanism 210b according to the information acquired by the second image sensor 700b to pick the order goods.

[0320] The second image sensor is arranged on the second stand 230b and is movable in the height direction of the second stand 230b so that the distance between the second image sensor and the second taking mechanism 210b is within a preset range.

[0321] It should be noted that the arrangement and working principle of the first image sensor 700a and the second image sensor 700b can refer to the related content of the image sensor 700 of the taking device 200 in the above examples, which will not be described here.

[0322] In some examples, the taking assembly 223 of the second taking mechanism 210b or the second picking mechanism 220b is further configured to move between the second storage location 110b and the temporary storage location 110c to transfer the second inventory container 520 between the second storage location 110b and the temporary storage location 110c.

[0323] For example, when the order goods in the second inventory container 520 on the second storage location 110b are all taken out, which is called an empty inventory container 500, the second taking mechanism 210b can take out the empty inventory container 500 and transfer it to the temporary storage location 110c to serve as an order container 600.

[0324] For another example, when a second inventory container 520 loaded with goods needs to be put on the shelf, the second inventory container 520 loaded with goods can be first transferred to the buffer location 310 by the transfer robot 400, and then transferred to the temporary storage location 110c by the first picking device 210a, and then put on the corresponding second storage location 110b by the second picking device 210b or the picking assembly 223 of the second picking device 220b, for subsequent order picking.

[0325] Referring to Figures 11 to 14 As shown in some examples, the first picking device 200a can be configured to pick and place the first goods of the first storage locations 110a on both sides of the aisle 100c, i.e., the first picking device 200a is shared by the first carriers 100 on both sides of the aisle 100c.

[0326] The second picking device 200b is configured to pick and place the second goods of the second storage locations 110b on both sides of the aisle 100c, i.e., the second picking device 200b is shared by the first carriers 100 on both sides of the aisle 100c, which can reduce the number of picking devices 200 in the warehouse system, save the space of the storage area, and thus improve the storage density of the storage area.

[0327] In some examples, the first track 120a and the second track 120b can be arranged on the first carrier 100 on one side of the aisle 100c, so that the first picking device 200a and the second picking device 200b can be suspended in the upper and lower areas of the first carrier 100 on one side.

[0328] In some examples, the first track 120a can be arranged on the first carrier 100a on one side of the aisle 100c, and the second track 120b can be arranged on the first carrier 100b on the other side of the aisle 100c, so that the first picking device 200a and the second picking device 200b can be suspended on different first carriers 100, thereby reducing interference when moving on the same first carrier 100, and simplifying the assembly structure of each first carrier 100 and the corresponding picking device 200.

[0329] In some examples, the first track 120a and the second track 120b can be arranged on the first carriers 100 on both sides of the aisle 100c, the first picking device 200a is configured to move along the first track 120a on both sides of the aisle 100c to pick and place the order goods of the first storage locations 110a on both sides of the aisle 100c. The second picking device 200b is configured to move along the second track 120b on both sides of the aisle 100c to pick and place the order goods of the second storage locations 110b on both sides of the aisle 100c.

[0330] The embodiment of the present application also provides another scheduling method of the warehouse system, which adopts the warehouse system described in the embodiment, and the scheduling method comprises the following steps:

[0331] S100, based on a first scheduling task, controlling the first taking and placing device 200a to move to one side of a target first storage location 110a, take out a target first article, and transfer to the buffer location 310; and controlling the transfer robot 400 to move the first article on the buffer location 310.

[0332] In some examples, the first taking and placing mechanism 210a can move along the lateral direction of the first storage location 110a with the first stand 230a, and the first taking and placing mechanism 210a also moves along the height direction of the first stand 230a to reach one side of the target first storage location 110a. Then the taking and placing structure 212 of the first taking and placing mechanism 210a takes out the first article from the target first storage location 110a and places the first article on the first carrying structure 211a.

[0333] The first taking and placing mechanism 210a carries the first article to one side of the buffer location 310 and places the first article on the buffer location 310 through the taking and placing structure 212.

[0334] S200, based on a second scheduling task, controlling the second taking and placing device 200b to move to one side of a target second storage location 110b, take out a target second article, and transfer to the temporary storage location 110c, controlling the first taking and placing device 200a to transfer the second article to the buffer location 310, and controlling the transfer robot 400 to move the second article on the buffer location 310.

[0335] In some examples, the second taking and placing mechanism 210b can move along the lateral direction of the second storage location 110b with the second stand 230b, and the second taking and placing mechanism 210b also moves along the height direction of the second stand 230b to reach one side of the target second storage location 110b. Then the taking and placing structure 212 of the second taking and placing mechanism 210b takes out the second article from the target second storage location 110b and places the second article on the second carrying structure 211b.

[0336] The second taking and placing mechanism 210b carries the second article to one side of the temporary storage location 110c and places the second article on the temporary storage location 110c through the taking and placing structure 212.

[0337] The first taking and placing mechanism 210a moves along the first storage location 110a until reaching one side of the temporary storage location 110c, the taking and placing structure 212 of the first taking and placing mechanism 210a takes out the second article from the temporary storage location 110c and places the second article on the first carrying structure 211a, and then carries the first article to one side of the buffer location 310 and places the first article on the buffer location 310 through the taking and placing structure 212.

[0338] In some examples, S100, i.e., based on the first scheduling task, controlling the first pick-and-place device 200a to move to one side of the target first storage location 110a, pick up the target first item, and transfer to the buffer location 310, includes:

[0339] S110, based on the first scheduling task, controlling the first pick-and-place mechanism 210a to move to one side of the target first storage location 110a and pick up the target first inventory container 510.

[0340] For example, when the controller of the warehouse system receives a scheduling task, it can control the first pick-and-place device 200a to move laterally at the side of the first storage location 110a, and control the first pick-and-place mechanism 210a to move along the height direction of the first vertical frame 230a, so that the first pick-and-place mechanism 210a moves to one side of the target first storage location 110a; then the pick-and-place structure 212 of the first pick-and-place mechanism 210a picks up the target first inventory container 510 on the first storage location 110a and temporarily stores it on the first carrying structure 211a of the first pick-and-place mechanism 210a.

[0341] S120, controlling the first picking mechanism 220a to pick out the order goods in the target first inventory container 510 and deliver them into the order container located on the second carrier 300.

[0342] For example, after the first pick-and-place mechanism 210a picks up the target first inventory container 510, the controller can control the first picking mechanism 220a to pick out the order goods from the target first inventory container 510 and deliver them into the order container at the bottom of the first carrier 100.

[0343] In some examples, S120, i.e., controlling the first picking mechanism 220a to pick out the order goods in the target first inventory container 510 and deliver them into the order container located on the second carrier 300, can include:

[0344] S121, controlling the first picking component 221a of the first picking mechanism 220a to pick out the order goods from the target first inventory container 510 and place them on the delivery component 222 of the first picking mechanism 220a.

[0345] For example, the controller can plan a motion trajectory of the first picking assembly 221a based on the information of the order goods fed back by the first image sensor 700a, then control the first picking assembly 221a to move to the corresponding order goods of the target first inventory container 510 along the motion trajectory, and control the gripper 2212 of the first picking assembly 221a to pick up the order goods, then the controller can control the first picking assembly 221a to return to above the first inventory container 510 along the motion trajectory, then control the first picking assembly 221a to rotate to above the delivery assembly 222, and then place the order goods on the delivery assembly 222.

[0346] S122, control the delivery assembly 222 to deliver the order goods into the order container located on the second carrier 300. For example, when the delivery assembly 222 is located at one side of the buffer storage 310, the controller can control the guide 2222 of the delivery assembly 222 to rotate to be arranged on the taking and placing opening of the order container, and then the order goods can fall into the order container along the guide 2222. In some examples, the delivery assembly 222 can move in the height direction of the first carrier 100 relative to the first picking assembly 221a and the first taking and placing mechanism 210a, and when the first picking assembly 221a is in the picking state, i.e., the first picking assembly 221a picks the order goods from the first inventory container 510, the delivery assembly 222 is located beside the first taking and placing mechanism 210a;

[0347] S121, i.e., control the first picking assembly 221a to pick the order goods from the target first inventory container 510 and place the order goods on the delivery assembly 222, can include: S121a, when the first picking assembly 221a picks the order goods in the target first inventory container 510, control the first picking assembly 221a to deliver the order goods to the delivery assembly 222.

[0348] For example, before the first taking and placing mechanism 210a takes the first inventory container 510 from the first storage 110a, the controller can control the delivery assembly 222 to move to the side of the first taking and placing mechanism 210a, and then when the first picking assembly 221a picks the order goods in the target first inventory container 510, the first picking assembly 221a delivers the order goods to the delivery assembly 222.

[0349] Therefore, S122, i.e., control the delivery assembly 222 to deliver the order goods into the order container located on the second carrier 300, includes: control the delivery assembly 222 to carry the order goods to one side of the second carrier 300, and deliver the order goods into the order container on the buffer storage 310.

[0350] Correspondingly, the control of the carrying robot 400 to move the first article on the buffer storage 310 out can include:

[0351] The conveying robot 400 moves out the order container in which the order goods are placed. For example, when the order goods in the order container are all the goods of an order, the conveying robot 400 can directly package the order container for outbound.

[0352] In some examples, S200, i.e., based on the second scheduling task, controlling the second taking and placing device 200b to move to one side of the target second storage location 110b, taking out the target second inventory container 520, can include:

[0353] S210, based on the second scheduling task, controlling the second taking and placing mechanism 210b to move to one side of the target second storage location 110b, and taking out the target second inventory container 520. For example, when the controller of the warehouse system receives the scheduling task, it can control the second taking and placing device 200b to move laterally at the side of the second storage location 110b, and control the second taking and placing mechanism 210b to move along the height direction of the second vertical frame 230b, so that the second taking and placing mechanism 210b moves to one side of the target second storage location 110b; then the taking and placing structure 212 of the second taking and placing mechanism 210b takes out the target second inventory container 510 on the second storage location 110b and temporarily stores it on the second carrying structure 211b of the second taking and placing mechanism 210b.

[0354] S220, controlling the second picking mechanism 220b to pick out the order goods in the second inventory container 520 and store them in the order container in the temporary storage location 110c. For example, after the second taking and placing mechanism 210b takes out the target second inventory container 520, the controller can control the second picking mechanism 220b to pick out the order goods from the target second inventory container 520 and deliver them to the order container.

[0355] S230, controlling the first taking and placing mechanism 210a to transfer the order container from the temporary storage location 110c to the buffer location 310. In some examples, when the second picking assembly 221b of the second picking mechanism 220b is in a picking state, the taking and placing assembly 223 of the second picking mechanism 220b is located beside the second taking and placing mechanism 210b, and the order container is arranged on the taking and placing assembly 223.

[0356] S220, i.e., controlling the second picking mechanism 220b to pick out the order goods in the second inventory container 520 and store them in the order container in the temporary storage location 110c, can include:

[0357] S221, control the second picking assembly 221b to pick out the order goods in the second inventory container 520 and deliver to the order container. For example, before the second taking and placing mechanism 210b takes out the second inventory container 520 from the second storage site 110b, the controller can control the taking and placing assembly 223 and the second taking and placing mechanism 210b to move to one side of the second storage site 110b at the same time, and then the second taking and placing mechanism 210b takes out the second inventory container 520 from the second storage site 110b, and the second picking assembly 221b picks out the order goods in the target second inventory container 520 and delivers to the order container on the taking and placing assembly 223.

[0358] S222, control the taking and placing assembly 223 to carry the order container to move to one side of the temporary storage site 110c and place the order container on the temporary storage site 110c.

[0359] For example, the controller can control the taking and placing assembly 223 and the second taking and placing mechanism 210b to move to one side of the temporary storage site 110c at the same time, and the taking and placing assembly 223 places the order container on the temporary storage site 110c.

[0360] In some examples, before S222, i.e., control the taking and placing assembly 223 to carry the order container to move to one side of the temporary storage site 110c and place the order container on the temporary storage site 110c, the dispatching method of the embodiment of the application can include:

[0361] S223, control the second taking and placing mechanism 210b to take out the second inventory container 520 from the plurality of second storage sites 110b;

[0362] S224, control the second picking assembly 221b to dispatch the order goods on the plurality of second storage sites 110b to the order container.

[0363] In some examples, each order goods involved in each second order can be distributed in different second inventory containers 520, therefore, the taking and placing assembly 223, the second taking and placing mechanism 210b and the second picking assembly 221b can move to one side of each target second storage site 110b, the second taking and placing mechanism 210b takes out each second inventory container 520, and after the second picking assembly 221b picks out each order goods to the order container 600, the taking and placing assembly 223 moves to one side of the temporary storage site 110c again and transfers the order container 600 to the temporary storage site 110c, thus, the repeated movement of the taking and placing assembly 223 between the second storage site 110b and the temporary storage site 110c can be reduced, and the picking process of the second taking and placing device 200b on each order goods can be simplified.

[0364] Accordingly, the control of the carrying robot 400 to move out the second article on the buffer storage location 310 can include: control of the carrying robot 400 to move out the order container in which the order goods are placed. For example, when the order goods in the order container are all the goods of an order, the carrying robot 400 can directly pack the order container for outbound.

[0365] The above detailed description of the embodiments of the present application has further detailed the purposes, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above is only a specific implementation of the embodiments of the present application and is not used to limit the protection scope of the embodiments of the present application. Any modification, equivalent replacement, improvement, etc. made on the basis of the technical solutions of the embodiments of the present application shall be included in the protection scope of the embodiments of the present 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); The second vehicle (300) is disposed adjacent to the first vehicle (100) and is provided with a buffer storage location (310), which is configured as a buffer order container; A pick-and-place device is located on one side of the first carrier (100) and the second carrier (300), and is movable relative to the first carrier (100) and the second carrier (300); the pick-and-place device 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 order container located on the second carrier (300); A handling robot (400) is configured to remove the order container containing the ordered goods; The pick-and-place device includes: The stand (230) can move laterally along the first carrier (100) and the second carrier (300); The pick-and-place mechanism (210) and the picking mechanism (220) are respectively mounted on the stand (230) so that they can move laterally along the first carrier (100) and the second carrier (300) 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); The picking mechanism (220) includes: The picking component (221) is configured to pick the order goods from the inventory container (500); A delivery component (222) is configured to receive order goods picked by the picking component (221) and deliver them to the order container; the picking component (221) includes: The robotic arm (2211) is rotatable relative to the stand (230) on a 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).

2. The warehousing system according to claim 1, 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 second carrier (300) to deliver the order goods to the order container on the buffer location (310).

3. The warehousing system according to claim 2, characterized in that, 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); 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).

4. The warehousing system according to claim 1, characterized in that, The delivery component (222) is located on one side of the second vehicle (300); 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).

5. The warehousing system according to claim 4, characterized in that, The picking component (221) and the pick-and-place mechanism (210) are movable relative to the delivery component (222) in the height direction of the first carrier (100); The picking component (221) is configured to, after the pick-and-place mechanism (210) picks the inventory container (500) from the storage location (110), remove the order goods from the inventory container (500) and place them on the delivery component (222), including: 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).

6. The warehousing system according to claim 1, characterized in that, The delivery component (222) includes a guide (2222), which is positioned on the loading / unloading port of the order container at least when the delivery component (222) delivers the order goods to the order container.

7. The warehousing system according to claim 6, characterized in that, The delivery component (222) further includes a enclosure wall (2221), which is provided with a first delivery port (222a) and a second delivery port (222b). The guide (2222) is rotatably disposed at the second delivery port (222b) to form a receiving cavity for accommodating the order goods together with the enclosure wall (2221). When the order goods need to be delivered to the order container, the guide rotates to the position of the pick-up and drop-off port of the order container, so that the order goods are delivered into the order container through the second delivery port (222b) and the guide (2222). The first delivery port (222a) is configured to allow the picking component (221) to deliver the order goods into the receiving cavity.

8. The warehousing system according to claim 1, characterized in that, The picking component (221) is movably mounted on the stand (230) and can move relative to the pick-and-place mechanism (210) on a first plane so that the picking component (221) can move between the pick-and-place mechanism (210) and the delivery component (222); 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 delivery component (222); The height direction of the first vehicle (100) intersects with the first plane.

9. The warehousing system according to claim 8, characterized in that, The robotic arm (2211) is rotatably mounted on the stand (230) to rotate relative to the stand (230) on the first plane.

10. The warehousing system according to claim 1, characterized in that, The picking component (221) and the picking and placing mechanism (210) can move synchronously along the height direction of the stand (230).

11. The warehousing system according to claim 10, characterized in that, The pick-and-place device 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 component (260) is disposed on the first drive component (250), and the first drive component (250) is further configured to drive the second drive component (260) to move so that the picking component (221) moves with the pick-and-place mechanism (210).

12. The warehousing system according to claim 1, characterized in that, The pick-and-place device further includes: An image sensor (700) is 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); The picking component (221) is configured to move relative to the pick-and-place mechanism (210) based on information acquired by the image sensor (700) to pick up the order goods; The image sensor (700) is mounted on the stand (230) and can 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.

13. The warehousing system according to claim 1, characterized in that, The pick-and-place device further includes: The third drive component (270) is connected to the delivery component (222); The delivery component (222) 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).

14. The warehousing system according to claim 1, characterized in that, The pick-and-place mechanism (210) is also configured to move between the first carrier (100) and the second carrier (300) to transfer the inventory container (500) between the storage location (110) and the buffer location (310).

15. The warehousing system according to any one of claims 1-14, characterized in that, The shelf at the bottom of the first vehicle (100) is configured as the second vehicle (300).

16. The warehousing system according to any one of claims 1-14, characterized in that, The pick-and-place device is suspended on the first carrier (100) and can move laterally along the first carrier (100).

17. The warehousing system according to claim 16, 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 is suspended on the side of the tunnel (100c) and is configured to pick up and place the storage containers (500) on the first vehicle (100) on both sides of the tunnel (100c).

18. A warehousing system, characterized in that, include: The first vehicle (100) is provided with a first storage location (110a) and a second storage location (110b), wherein the first storage location (110a) is located below the second storage location (110b); The second vehicle (300) is arranged adjacent to the first vehicle (100) and is provided with a buffer storage location (310), which is configured to buffer the first item and the second item; Temporary storage location (110c) is configured to temporarily store a second item; A first pick-and-place device (200a) is located on one side of the first storage location (110a), and the first pick-and-place device (200a) is provided with a first walking mechanism (240a). The storage area where the first carrier (100) and the second carrier (300) are located is provided with a first track (120a). The first walking mechanism (240a) is suspended on the first track (120a) and moves along the first track (120a) on the side of the first storage location (110a). The first pick-and-place device (200a) is configured to dock with the first storage location (110a) to pick up and place a first item on the first storage location (110a) and transfer the first item between the first storage location (110a) and the buffer location (310). A second pick-and-place device (200b) is located on one side of the second storage location (110b), and the second pick-and-place device (200b) is provided with a second traveling mechanism (240b). The storage area is provided with a second track (120b), and the second traveling mechanism (240b) is suspended on the second track (120b) and moves along the second track (120b) on the side of the second storage location (110b). The second pick-and-place device (200b) is configured to dock with the second storage location (110b) to pick up and place a second item on the second storage location (110b) and transfer the second item between the second storage location (110b) and the temporary storage location (110c); wherein, the first pick-and-place device (200a) is also configured to transfer the second item between the temporary storage location (110c) and the buffer location (310); A handling robot (400) is configured to remove the first item or the second item from the buffer location (310).

19. The warehousing system according to claim 18, characterized in that, The shelf at the bottom of the first vehicle (100) is configured as the second vehicle (300).

20. The warehousing system according to claim 18, characterized in that, The temporary storage location (110c) is located on the first carrier (100) and between the first storage location (110a) and the second storage location (110b).

21. The warehousing system according to claim 18, characterized in that, The first item includes a first inventory container (510) and ordered goods, wherein the first inventory container (510) stores the ordered goods and non-ordered goods; The second item includes a second inventory container (520) and ordered goods, wherein the second inventory container (520) stores the ordered goods and non-ordered goods; The first pick-and-place device (200a) includes: The first pick-and-place mechanism (210a) is configured to pick up and place the first inventory container (510) on the first storage location (110a); The first picking mechanism (220a) is configured to pick the order goods from the first inventory container (510) and transfer them to the buffer location (310); The second pick-and-place device (200b) includes: The second pick-and-place mechanism (210b) is configured to pick up and place the second inventory container (520) on the second storage location (110b); The second picking mechanism (220b) is configured to pick the order goods from the second inventory container (520) and transfer them to the temporary storage location (110c); The first pick-and-place mechanism (210a) is also configured to transfer order goods between the temporary storage location (110c) and the buffer location (310).

22. The warehousing system according to claim 18, characterized in that, The first item includes a first storage container (510) which stores ordered goods and non-ordered goods; The first pick-and-place device (200a) includes: The first pick-and-place mechanism (210a) is configured to pick up and place a first inventory container (510) on the first storage location (110a) and transfer the first inventory container (510) between the first storage location (110a) and the buffer location (310).

23. The warehousing system according to claim 22, characterized in that, The second item includes a second inventory container (520) which stores ordered goods and non-ordered goods; The second pick-and-place device (200b) includes: The second pick-and-place mechanism (210b) is configured to pick up and place the second inventory container (520) on the second storage location (110b) and transfer the second inventory container (520) between the second storage location (110b) and the temporary storage location (110c). The first pick-and-place mechanism (210a) is configured to transfer the second inventory container (520) between the temporary storage location (110c) and the buffer location (310).

24. The warehousing system according to claim 22, characterized in that, The second item includes a second inventory container (520) and ordered goods, wherein the second inventory container (520) stores ordered goods and non-ordered goods; The second pick-and-place device (200b) includes: The second pick-and-place mechanism (210b) is configured to pick up and place the second inventory container (520) on the second storage location (110b); The second picking mechanism (220b) is configured to pick the order goods from the second inventory container (520) and transfer them to the temporary storage location (110c); The first pick-and-place mechanism (210a) is also configured to transfer order goods on the temporary storage location (110c) to the buffer storage location (310).

25. The warehousing system according to claim 18, characterized in that, The second item includes a second inventory container (520) which stores ordered goods and non-ordered goods; The first item includes a first inventory container (510) and ordered goods, wherein the first inventory container (510) stores the ordered goods and non-ordered goods; The second pick-and-place device (200b) includes: The second pick-and-place mechanism (210b) is configured to pick up and place the second inventory container (520) on the second storage location (110b) and transfer the second inventory container (520) between the second storage location (110b) and the temporary storage location (110c). The first pick-and-place device (200a) includes: The first pick-and-place mechanism (210a) is configured to pick up and place the first inventory container (510) on the first storage location (110a); The first picking mechanism (220a) is configured to pick the order goods from the first inventory container (510) and transfer them to the buffer location (310); The first pick-and-place mechanism (210a) is also configured to transfer the second inventory container (520) between the temporary storage location (110c) and the buffer location (310).

26. The warehousing system according to claim 21 or 25, characterized in that, The buffer location (310) is where an order container is placed, and the first picking mechanism (220a) is configured to pick the order goods from the first inventory container (510) and deliver them to the order container on the buffer location (310); The handling robot (400) is configured to remove the order container containing the ordered goods.

27. The warehousing system according to claim 26, characterized in that, The first picking mechanism (220a) includes: The first picking component (221a) is configured to pick the order goods from the first inventory container (510); The delivery component (222) is configured to receive the order goods picked by the first picking component (221a) and deliver them to the order container on the buffer location (310).

28. The warehousing system according to claim 27, characterized in that, The delivery component (222) can move relative to the first picking component (221a) and the first pick-and-place mechanism (210a) in the height direction of the first carrier (100), and when the first picking component (221a) is in the picking state, the delivery component (222) is located beside the first pick-and-place mechanism (210a). The delivery component (222) is configured to receive the order goods picked from the first inventory container (510) by the first picking component (221a) and move the order goods to one side of the second carrier (300) to deliver the order goods into the order container on the buffer location (310).

29. The warehousing system according to claim 28, characterized in that, When the first picking component (221a) is in the picking state, the delivery component (222) and the first pick-and-place mechanism (210a) are arranged side by side along the lateral side of the first carrier (100); When the first picking component (221a) is in a non-picking state, the delivery component (222) and the first pick-and-place mechanism (210a) are arranged along the height or lateral direction of the first carrier (100).

30. The warehousing system according to claim 27, characterized in that, The delivery component (222) is located on one side of the second vehicle (300); The first picking component (221a) is configured to take the order goods from the first storage container (510) and place them on the delivery component (222) after the first pick-and-place mechanism (210a) picks the first storage container (510) from the first storage location (110a).

31. The warehousing system according to claim 30, characterized in that, The first picking component (221a) and the first pick-and-place mechanism (210a) are movable relative to the delivery component (222) in the height direction of the first carrier (100); The first picking component (221a) is configured to, after the first pick-and-place mechanism (210a) picks the first inventory container (510) from the first storage location (110a), remove the order goods from the first inventory container (510) and place them on the delivery component (222), including: When the first pick-and-place mechanism (210a) removes the first inventory container (510) from the first storage location (110a), the first picking component (221a) is configured to move with the first pick-and-place mechanism (210a) to one side of the delivery component (222), pick the order goods from the first inventory container (510), and place them on the delivery component (222).

32. The warehousing system according to claim 27, characterized in that, The delivery component (222) includes a guide (2222), which is positioned on the loading / unloading port of the order container at least when the delivery component (222) delivers the order goods to the order container.

33. The warehousing system according to claim 32, characterized in that, The delivery component (222) further includes a enclosure wall (2221), which is provided with a first delivery port (222a) and a second delivery port (222b). The guide (2222) is rotatably disposed at the second delivery port (222b) to form a cavity for accommodating the order goods together with the enclosure wall (2221). When the order goods need to be delivered to the order container, the guide (2222) rotates to the position of the pick-up and drop-off port of the order container, so that the order goods are delivered into the order container through the second delivery port (222b) and the guide (2222). The first delivery port (222a) is configured to allow the first picking component (221a) to deliver the order goods into the receiving cavity.

34. The warehousing system according to claim 21 or 24, characterized in that, The second picking mechanism (220b) includes: The pick-and-place component (223) is configured to dock with the temporary storage location (110c) to pick up and place order containers; The second picking component (221b) is configured to pick the order goods from the second inventory container (520) and deliver them to the order container located on the pick-and-place component (223); The first pick-and-place mechanism (210a) is configured to transfer the order container between the temporary storage location (110c) and the buffer location (310).

35. The warehousing system according to claim 34, characterized in that, When the second picking component (221b) is in the picking state, the pick-and-place component (223) is located beside the second pick-and-place mechanism (210b), and an order container is placed on the pick-and-place component (223); The second picking component (221b) is configured to pick up the order goods from the second inventory container (520) and deliver them to the order container on the pick-and-place component (223), which is configured to carry the order container to one side of the temporary storage location (110c) and place the order container on the temporary storage location (110c).

36. The warehousing system according to claim 35, characterized in that, Before the pick-and-place assembly (223) moves the order container to the temporary storage location (110c), the second pick-and-place mechanism (210b) is configured to retrieve the second inventory container (520) from a plurality of second storage locations (110b), and the second picking assembly (221b) is configured to pick the order goods from the plurality of second inventory containers (520) into the order container, after which the pick-and-place assembly (223) moves the order container to one side of the temporary storage location (110c).

37. The warehousing system according to claim 35, characterized in that, When the second picking component (221b) is in the picking state, the pick-and-place component (223) and the second pick-and-place mechanism (210b) are arranged side by side along the lateral side of the first carrier (100); When the second picking component (221b) is in a non-picking state, the pick-and-place component (223) and the second pick-and-place mechanism (210b) are arranged along the height direction of the first carrier (100) or arranged side by side laterally.

38. The warehousing system according to claim 34, characterized in that, The second pick-and-place device (200b) includes: The second upright (230b) can move laterally along the first carrier (100) and the second carrier (300); The second pick-and-place mechanism (210b) and the second picking mechanism (220b) are respectively mounted on the second stand (230b) so as to move laterally along the first carrier (100) under the drive of the second stand (230b), and both the second pick-and-place mechanism (210b) and the second picking mechanism (220b) can move relative to the second stand (230b) in the height direction of the first carrier (100).

39. The warehousing system according to claim 38, characterized in that, The second picking component (221b) is movably mounted on the second stand (230b) and is movable relative to the second pick-and-place mechanism (210b) on a second plane, so that the second picking component (221b) moves between the second pick-and-place mechanism (210b) and the order container on the pick-and-place component (223); The second picking component (221b) is movable relative to the second pick-and-place mechanism (210b) in the height direction of the second stand (230b) to extend into or out of the second inventory container (520) or the order container.

40. The warehousing system according to claim 38, characterized in that, The second picking component (221b) and the second pick-and-place mechanism (210b) can move synchronously along the height direction of the second stand (230b).

41. The warehousing system according to claim 40, characterized in that, The second pick-and-place device (200b) further includes: A fourth drive assembly (280) is connected to the second pick-and-place mechanism (210b) to drive the second pick-and-place mechanism (210b) to move in the height direction of the second stand (230b); A fifth drive assembly (290) is connected to the second picking assembly (221b) to drive the second picking assembly (221b) to move relative to the second pick-and-place mechanism (210b) in the height direction of the second stand (230b); The fifth drive component (290) is disposed on the fourth drive component (280), and the fourth drive component (280) is further configured to drive the fifth drive component (290) to move so that the second picking component (221b) moves with the second pick-and-place mechanism (210b).

42. The warehousing system according to claim 41, characterized in that, The pick-and-place component (223) is connected to the fourth drive component (280); The fourth drive assembly (280) is configured to drive the pick-and-place assembly (223) to move synchronously with the second pick-and-place mechanism (210b) along the height direction of the second stand (230b).

43. The warehousing system according to claim 21 or 24, characterized in that, The pick-and-place component (223) of the second pick-and-place mechanism (210b) or the second picking mechanism (220b) is also configured to move between the second storage location (110b) and the temporary storage location (110c) to transfer the second inventory container (520) between the second storage location (110b) and the temporary storage location (110c).

44. The warehousing system according to claim 18, 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 first pick-and-place device (200a) is configured to pick up and place the first item in the first storage location (110a) on both sides of the aisle (100c); The second pick-and-place device (200b) is configured to pick up and place second items in the second storage locations (110b) on both sides of the aisle (100c).

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