Warehousing system

Abstract

The utility model relates to the technical field of warehouse logistics, in particular to a warehousing system. The warehousing system includes: a carrier having goods locations; the supporting piece is at least arranged on one side of the carrier, is connected with the ground and is spaced from the ground; the pick-and-place device comprises a pick-and-place mechanism and a movement mechanism, the pick-and-place mechanism can move on the movement mechanism, and the pick-and-place mechanism can move to the target goods allocation to pick the target goods on the target goods allocation or place the target goods on the target goods allocation; the moving mechanism can move along the supporting piece, the moving mechanism drives the taking and placing mechanism to move to the goods position column where the target goods position is located under the control of the control instruction, and a gap or a channel is formed between the end, close to the ground, of the moving mechanism and the ground. The warehousing system provided by the embodiment of the utility model can prevent the taking and placing device from influencing the operation of the transportation device, so that the transportation efficiency and the throughput of the warehousing system can be improved, the reasonable load distribution of the taking and placing device can be realized, and the stability of the warehousing system is improved.

Description

TECHNICAL FIELD

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

[0002] In the warehouse system, the goods are usually stored in the warehouse area. The warehouse area is provided with shelves, and each shelf can be provided with multiple layers of storage locations to store multiple goods, so as to improve the space utilization of the warehouse area, thereby reducing the warehouse cost of the enterprise.

[0003] In order to realize the automatic taking and placing of the goods, when the goods on the shelf need to be taken out or placed on the shelf, the taking and placing device is usually used to take and place the goods on the shelf, and the transportation device is used to transport the goods taken and placed by the taking and placing device to a specified position. The taking and placing device can move on the shelf to reach a specified storage location to take and place a specified good.

[0004] However, when the taking and placing device moves on the shelf, it will interfere with the running track of the transportation device. In order to avoid affecting the taking and placing device, the transportation device usually avoids the taking and placing device, which reduces the transportation efficiency of the transportation device and affects the throughput of the warehouse system. UTILITY MODEL CONTENT

[0005] The warehouse system provided by the embodiments of the present application can avoid the influence of the taking and placing device on the operation of the transportation device, thereby improving the transportation efficiency and the throughput of the warehouse system, and also realizing the reasonable distribution of the load of the taking and placing device and improving the stability of the warehouse system.

[0006] The warehouse system provided by the embodiments of the present application comprises: a carrier which forms a storage location; a support member which is arranged at least on one side of the carrier and is connected to and spaced apart from the ground; a taking and placing device which comprises a taking and placing mechanism and a moving mechanism, the taking and placing mechanism being configured to move on the moving mechanism to a target storage location under the control of a control instruction and take or place a target good on the target storage location; the moving mechanism being configured to move along the support member under the control of the control instruction to drive the taking and placing mechanism to move to a storage location column in which the target storage location is located; and a gap or a passage being formed between the end of the moving mechanism close to the ground and the ground.

[0007] In an optional implementation, the warehouse system further comprises: at least one support column which is arranged between the support member and the ground and is connected to the support member and the ground; and the support member and / or the at least one support column are connected to the carrier.

[0008] In an optional implementation, the support corresponds to a horizontal beam of the carrier; the support column corresponds to a vertical beam of the carrier; the warehouse system further comprises a first connecting member, one end of the first connecting member being connected to the carrier and the other end being connected to the support and / or the support column.

[0009] In an optional implementation, the support comprises a first support being spaced apart from the ground and connected to the support column; the movement mechanism is movable along the first support; the first support corresponds to a first horizontal beam of the carrier closest to the ground; the storage location is located above the first horizontal beam; a space or passage is formed between the first horizontal beam and the ground; one end of the first connecting member is connected to the carrier and the other end is connected to the first support and / or the support column.

[0010] In an optional implementation, the warehouse system further comprises a transportation device configured to cooperate with the taking and placing device to transfer the target article; the space or passage formed between the end of the movement mechanism closest to the ground and the ground is configured to allow the transportation device to pass through.

[0011] In an optional implementation, when the taking and placing mechanism moves to the end of the movement mechanism closest to the ground, the side of the taking and placing mechanism closest to the ground is configured to allow the transportation device to pass through the space or passage formed between the side and the ground.

[0012] In an optional implementation, a lane is formed between two adjacent carriers; the transportation device is configured to move along the extension direction of the lane under the control of the control instruction.

[0013] In an optional implementation, the transportation device is further configured to move along the arrangement direction of the carriers under the control of the control instruction.

[0014] In an optional implementation, the transportation device is further configured to pass through the space or passage formed between the movement mechanism and the ground when moving along the extension direction of the lane or the arrangement direction of the carriers under the control of the control instruction.

[0015] In an optional implementation, the support comprises a first support being spaced apart from the ground and connected to the ground; the movement mechanism comprises a stand movable along the first support; the taking and placing mechanism is movable along the stand; along the height direction of the stand, when the taking and placing mechanism moves to the side of the stand closest to the ground, the distance between the side of the taking and placing mechanism closest to the ground and the ground is less than the distance between the side of the stand closest to the ground and the ground.

[0016] In an optional implementation, along the height direction of the stand, the distance between the end of the stand closest to the ground and the ground is greater than or equal to the distance between the first support and the ground.

[0017] In an alternative implementation, the stand comprises: a first column movable along the first support; a second column movable along the first support and spaced apart from the first column along the extending direction of the first support; an opening between the first column and the second column; and the taking-and-placing mechanism movably arranged on the first column and the second column; when the taking-and-placing mechanism moves along the first column and the second column, the taking-and-placing mechanism can pass through the opening and continue to move towards the side close to the ground; when the taking-and-placing mechanism moves through the opening to the side close to the ground, the distance between the side close to the ground of the taking-and-placing mechanism and the ground is less than the distance between the side close to the ground of the first column and the second column and the ground.

[0018] In an alternative implementation, the first column is provided with a first limiting part at the end close to the ground; the second column is provided with a second limiting part at the end close to the ground; the first limiting part and the second limiting part are configured to limit the position of the taking-and-placing mechanism on the first column and the second column, so as to avoid the taking-and-placing mechanism from slipping off the first column and the second column.

[0019] In an alternative implementation, the stand further comprises a plurality of reinforcing beams connected to the first column and the second column; the reinforcing beams are spaced apart along the height direction of the stand, and each reinforcing beam corresponds to a horizontal beam of the carrier.

[0020] In an alternative implementation, the horizontal beam of the carrier is provided with an identifier configured to indicate whether the taking-and-placing mechanism is aligned with the storage location; the reinforcing beam avoids the identifier when corresponding to the horizontal beam.

[0021] In an alternative implementation, the moving mechanism further comprises a first driving assembly; the first driving assembly is connected to the stand, and the first driving assembly is configured to drive the stand to move along the first support.

[0022] In an alternative implementation, the first driving assembly is two; along the extending direction of the first support, the two first driving assemblies are respectively located on the two sides of the stand; the moving mechanism further comprises a connecting plate connected to the side of the stand close to the first support; the two first driving assemblies are respectively connected to the two ends of the connecting plate.

[0023] In an alternative implementation, the connecting plate comprises: a connecting part; two mounting parts respectively located at the two ends of the connecting part along the extending direction of the first support; one mounting part is connected to the stand and one first driving assembly; the other mounting part is connected to the stand and the other first driving assembly; the two mounting parts and the connecting part enclose a taking-and-placing opening; the taking-and-placing mechanism is configured to take and place the target article on the storage location through the taking-and-placing opening.

[0024] In an optional implementation, the first driving assembly comprises: a first driving member arranged on the side of the mounting portion away from the first support; and a first driving wheel arranged on the side of the mounting portion facing the first support and movable along the first support; the first driving member is configured to drive the first driving wheel to move along the first support.

[0025] In an optional implementation, one of the first rolling surface of the first driving wheel and the first support is formed with a groove, and the other of the first rolling surface of the first driving wheel and the first support is embedded into the groove so as to move along the groove relative to the one.

[0026] In an optional implementation, the first support is provided with a groove, and the first driving wheel is embedded into the groove; the first driving assembly further comprises a first guide wheel connected to the side of the mounting portion facing the first support; the first guide wheel is embedded into the groove, and the first guide wheel moves along the groove side wall or bottom wall.

[0027] In an optional implementation, the support further comprises a second support arranged above the first support in the height direction of the stand and spaced apart from the first support, and the second support is connected to the carrier; the movement mechanism further comprises a second driving assembly; the second driving assembly is connected to the stand, and the second driving assembly is configured to drive the stand to move along the first support and the second support in cooperation with the first driving assembly under the control of the control instruction.

[0028] In an optional implementation, the second driving assembly comprises: a second driving wheel movable along the second support; and an elastic member arranged on the stand and abutting against the second driving wheel to apply an elastic force to the second driving wheel towards the second support.

[0029] In an optional implementation, the warehouse system further comprises: a first displacement sensor configured to detect a first movement stroke of the first driving assembly and generate a first detection signal; a second displacement sensor configured to detect a second movement stroke of the second driving assembly and generate a second detection signal; and a control mechanism configured to determine whether the first movement stroke is consistent with the second movement stroke based on the first detection signal and the second detection signal; the control mechanism is further configured to adjust a running parameter of at least one of the first driving assembly and the second driving assembly to keep the first movement stroke consistent with the second movement stroke in the case that the first movement stroke is different from the second movement stroke.

[0030] In an optional implementation, the support further comprises at least one third support arranged in the height direction of the stand and spaced apart from the first support and the second support; the movement mechanism further comprises a driven assembly; the driven assembly is connected to the stand and movable along the third support.

[0031] In an alternative implementation, the storage system further comprises a slide wire, a conductor of the slide wire is arranged on the third support, and a power receiver of the slide wire is arranged on the stand and electrically connected with the first driving assembly and the second driving assembly; the power receiver is configured to contact the conductor when the stand moves along the support.

[0032] In the storage system provided by the embodiments of the present application, the support is connected with and spaced apart from the ground, so that the support is arranged without affecting the operation of the transport device and the load acting on the support by the taking and placing device is transmitted to the ground, thereby avoiding affecting the load of the carrier and reducing the difficulty of fixing the carrier and improving the stability of the carrier. Meanwhile, the end of the movement mechanism of the taking and placing device close to the ground is spaced apart from the ground, which can also avoid affecting the operation of the transport device, and the spacing of the movement mechanism from the ground can also avoid affecting the positioning between the taking and placing mechanism arranged on the movement mechanism and the storage location due to the inclination and flatness of the ground, so as to improve the positioning accuracy of the taking and placing mechanism and the storage location. Further, when the taking and placing mechanism moves to the end of the lifting structure close to the ground, the spacing between the taking and placing mechanism and the ground can form a channel for the transport device to pass through, thereby improving the operation freedom of the transport device and facilitating the planning of the operation track of the transport device, so as to improve the transport efficiency and the throughput of the storage system. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the present application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0034] Figure 1 is a structural schematic diagram of a storage area;

[0035] Figure 2 is a structural schematic diagram of a workstation;

[0036] Figure 3 is a structural schematic diagram of another storage area;

[0037] Figure 4 is a structural schematic diagram of a storage system provided by the embodiments of the present application;

[0038] Figure 5 is a structural schematic diagram of a carrier provided by the embodiments of the present application;

[0039] Figure 6 is an enlarged view of A in Figure 5

[0040] Figure 7 ​This is a first-view structural schematic diagram of the warehousing system provided in the embodiments of this application, omitting the vehicle portion of the structure;

[0041] Figure 8 This is a second-view structural schematic diagram of the warehousing system provided in the embodiments of this application, omitting the vehicle portion of the structure;

[0042] Figure 9 This is a third-view structural schematic diagram of the warehousing system provided in the embodiments of this application, omitting the vehicle portion of the structure;

[0043] Figure 10 This is a simplified schematic diagram illustrating the cooperation between the support frame and the pick-and-place mechanism provided in the embodiments of this application;

[0044] Figure 11 yes Figure 7 Enlarged view of point B in the image;

[0045] Figure 12 This is a schematic diagram of the structure of the upright and horizontal beam provided in the embodiment of this application;

[0046] Figure 13 yes Figure 8 Enlarged view of point E in the image;

[0047] Figure 14 This is a schematic diagram illustrating the cooperation between a first support member and a first rolling surface provided in an embodiment of this application;

[0048] Figure 15 yes Figure 7 Enlarged view of point C in the image;

[0049] Figure 16 yes Figure 9 Enlarged view of point F in the image;

[0050] Figure 17 yes Figure 7 Enlarged view of point D in the image.

[0051] Illustration markings:

[0052] 10-warehouse area, P-items, 20-workstation, 21-work platform, 300-warehouse system, 310-carrier, 31a-goods location, 31b-buffer goods location, 311-horizontal beam, 3111-first horizontal beam, 3112-identifier, 312-vertical beam, 313-partition, 314-first connecting piece, 320-supporting piece, 321-first supporting piece, 322-second supporting piece, 323-third supporting piece, 330-taking and placing device, 340-transporting device, 350-taking and placing mechanism, 360-moving mechanism, 361-stand, 3611-first vertical column, 3612-second vertical column, 3613-stiffening beam, 361a-opening, 361b-first limiting part, 361c-second limiting part, 362-lifting driving assembly, 3621-transmission belt, 3622-transmission shaft, 3623-lifting driving piece, 363-first driving assembly, 3631-first driving piece, 3632-first driving wheel, 3633-first guide wheel, 363a-first rolling surface, 364-second driving assembly, 3641-second driving wheel, 3642-elastic piece, 3643-second connecting piece, 3644-follower assembly, 365-connecting plate, 3651-connecting part, 3652-mounting part, 3653-taking and placing opening, N-aisle, a-bottom wall, b-groove side wall, 370-supporting column, 381-first displacement sensor, 382-second displacement sensor, 383-control mechanism, 391-follower assembly, 392-trolley line, 3921-conductive body, 3922-power receiver. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments of the present application, other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0054] Hereinafter, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second", and the like can explicitly or implicitly include one or more features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0055] In addition, in the present application, the orientation terms such as "upper", "lower", "inner", "outer", and the like are defined with respect to the orientation of the components shown in the drawings. It should be understood that these directional terms are relative concepts, which are used for relative description and clarification, and can be changed accordingly according to the change of the orientation of the components placed in the drawings.

[0056] Figure 1 is a structural schematic diagram of a storage area, Figure 2 is a structural schematic diagram of a workstation.

[0057] As shown in Figure 1 and Figure 2 , the storage system can include a storage area 10 as shown in Figure 1 and a workstation 20 as shown in Figure 2 .

[0058] As shown in Figure 1 , in some examples, the storage area 10 is used to store articles P. For example, the storage area 10 can include at least one carrier 310, wherein each carrier 310 is formed with a plurality of storage locations 31a for storing articles P.

[0059] It should be noted that the articles P can include, but are not limited to, goods, containers (such as crates) loaded with goods, pallets, packages with goods, original packaging boxes with goods, etc.

[0060] In some examples, the carrier 310 can be a fixed carrier 310 or a mobile carrier 310.

[0061] For example, the storage area 10 can be a storage area, a buffer area, a temporary storage area, etc. In this way, the carriers 310 of the storage area 10 can be formed with storage locations, buffer locations, temporary storage locations, etc.

[0062] Optionally, the carrier 310 can be a shelf, a support frame, etc., wherein the shelf or the support frame can be formed with storage locations, buffer locations, temporary storage locations, etc.

[0063] For ease of illustration, the following establishes a coordinate system with the height direction of the carrier 310 as the z-axis direction, the width direction of the carrier 310 as the y-axis direction, and the length direction of the carrier 310 as the x-axis direction.

[0064] For example, the carrier 310 can include a plurality of horizontal beams 311 and a plurality of vertical beams 312, the plurality of vertical beams 312 enclosing a storage area of the carrier 310, and the plurality of horizontal beams 311 being spaced apart along the height direction of the carrier (such as the z-axis direction as shown) and connected with the vertical beams 312. A plurality of storage locations 31a can be formed on each horizontal beam 311 to store articles P. Figure 1

[0065] It can be understood that the articles P can also be placed directly on the horizontal beams 311 to utilize the horizontal beams 311 to support and store the articles P. Alternatively, a plurality of horizontal beams 311 can be used to form a support frame to achieve the carrying of the articles P.

[0066] ​In some examples, the storage area 10 can further include a picking device 330, which can be arranged on the carrier 310.

[0067] For example, the picking device 330 includes a moving mechanism 360 and a picking mechanism 350. The moving mechanism 360 is movably arranged on the carrier 310 and can move along the length direction of the carrier 310 (e.g., the x-axis direction as shown). Figure 1 The picking mechanism 350 is movably arranged on the moving mechanism 360 and can move along the height direction of the carrier 310 (e.g., the z-axis direction as shown). In this way, the picking mechanism 350 can be moved to any storage location 31a on the carrier 310 under the driving of the moving mechanism 360 to pick up or place the target article P at the target storage location 31a. Figure 1

[0068] In one example, when the carrier 310 is a single-deep carrier 310, the picking device 330 can be arranged on one side of the carrier 310.

[0069] In another example, when the carrier 310 is a double-deep carrier 310, the picking device 330 can be arranged on one side of the carrier 310,

[0070] In this way, the picking device 330 can pick up or place the articles P in the double-deep carrier 310. Alternatively, the picking device 330 can be arranged on both sides of the carrier 310, and the picking devices 330 arranged on the two sides of the carrier 310 can pick up or place the articles P located close to the side, respectively.

[0071] In another example, regardless of whether the carrier 310 is a single-deep carrier, a double-deep carrier or a multi-deep carrier, the picking device 330 can be arranged on both sides of the carrier 310 to pick up or place the articles P on the carrier 310. In this embodiment, the arrangement of the picking device 330 relative to the carrier 310 is not limited.

[0072] For example, the storage system can further include a transport device 340, which can cooperate with the picking device 330 to transfer the articles.

[0073] In some examples, the space between the adjacent carriers 310 can form a lane, and the picking device 330 can be arranged in the lane. Meanwhile, the transport device 340 can also run in the lane. In this way, the transport device 340 can take away the articles P picked up by the picking device 330 from the carrier 310, or hand over the articles P to the picking device 330 for placing the articles P on the carrier 310 by the picking device 330.

[0074] The following will be described by taking the transfer of the articles between the transport device 340, the picking device 330 and the carrier 310 as an example.

[0075] ​In one example, the taking and placing device 330 can take the target item from the carrier 310, and then the transporting device 340 can directly take the target item on the taking and placing device 330. Alternatively, the transporting device 340 can directly place the target item on the taking and placing device 330, so that the taking and placing device 330 places the target item on the carrier 310.

[0076] In another example, after the taking and placing device 330 takes the target item from the carrier 310, the taking and placing device 330 can place the target item on a buffer location, and the transporting device 340 takes the target item from the buffer location. Alternatively, the transporting device 340 places the target item on the buffer location, and the taking and placing device 330 takes the target item from the buffer location and places the target item on the carrier 310.

[0077] In yet another example, after the taking and placing device 330 takes the target item from the carrier 310, the taking and placing device 330 can place the target item on a buffer rack, and the transporting device 340 takes the target item from the buffer location or removes the buffer rack to transport the target item on the buffer rack.

[0078] For example, the buffer rack can be located at the bottom or side of the carrier 310, and the location of the buffer rack is not limited in the embodiment.

[0079] In addition, the buffer rack can be a fixed buffer rack or a mobile buffer rack, and the buffer rack is not limited in the embodiment.

[0080] In yet another example, the transporting device 340 places the target item on the buffer rack or removes the buffer rack storing the target item to a target location, such as the bottom or side of the carrier 310, and then the taking and placing device 330 takes the target item from the buffer location and places the target item on the carrier 310.

[0081] It can be understood that in other embodiments, the target item transferred by the transporting device 340 and the taking and placing device 330 can also come from a workbench, a mobile rack, or the like, and the embodiment is not limited.

[0082] It should be noted that the transporting device 340 can be a transfer robot. Alternatively, the transporting device 340 can be a picking robot carrying the to-be-picked item or the like, and the specific structure of the transporting device 340 is not limited in the embodiment. Meanwhile, the items transported by the transporting device 340 can include but are not limited to goods, containers containing goods, empty containers, and the like, and the containers can be boxes, original boxes, cartons, or pallets, and the like. The items transported by the transporting device 340 are not limited in the embodiment.

[0083] For example, Figure 2As shown, in some examples, the workstation 20 can have a work platform 21, a carrier 310. The work platform 21 can be used for picking objects to pick the designated items P. For example, the work surface of the work platform 21 can be adapted to the average height of the picking objects, such as workers, so that the workers can quickly pick the designated items P on the work platform 21.

[0084] The carrier 310 is located on one side of the work platform 21 and forms a storage location 31a. The carrier 310 can be used to store the designated items P transferred by the transport device 340 from the storage area 10 for the picking objects (such as picking objects) to pick the items P.

[0085] In one example, the carrier 310 can be used to buffer the designated items P to be picked up by the transport device 340 from the storage location 31a or the picking device 330 of the storage area 10, so as to avoid the transport device 340 always loading the designated items P to be picked up to wait for picking near the work platform 21, thereby reducing the waiting time of the transport device 340. In this way, the transport device 340 can unload as soon as possible and continue to carry out the carrying work, thereby improving the operation efficiency of the transport device 340.

[0086] In another example, the carrier 310 can store the remaining items P or empty containers after processing is completed, so that the transport device 340 can carry the items P or empty containers on the carrier 310 to the storage area 10. In other words, after the picking objects pick the items P in the container, the remaining items P or the container can be placed on the carrier 310, and the transport device 340 can carry the remaining items P or the empty container on the carrier 310 to the storage area 10. In this way, the picking objects do not need to place the remaining items P or the empty container on the work platform 21 to wait for the transport device 340 to carry out the next picking work, thereby improving the picking efficiency.

[0087] It can be understood that the carrier 310 can place the items P to be picked up, or the picked items P or the empty container.

[0088] For example, Figure 2 The structure of the carrier 310 shown in Figure 1 The structure of the carrier 310 shown in

[0089] Optionally, the picking device 330 can be located on the side of the carrier 310 away from the work platform 21, so as to hand over the items P on the carrier 310 to the transport device 340. At this time, the work platform 21 can be arranged close to the carrier 310, so as to facilitate the operators to take the items P from the carrier 310 or place the items P on the carrier 310.

[0090] Alternatively, the pick-and-place device 330 can be located on the side of the carrier 310 facing the work platform 21. In this way, the pick-and-place device 330 can place an item P on the carrier 310 onto the work platform 21, or place an item P on the work platform 21 onto the carrier 310.

[0091] Alternatively, the pick-and-place devices 330 can be simultaneously installed on both sides of the carrier 310. The pick-and-place device 330 on the side closer to the work platform 21 can realize the transfer of item P between the carrier 310 and the work platform 21, while the pick-and-place device 330 on the side away from the work platform 21 can realize the transfer of item P between the carrier 310 and the transport device 340. In this embodiment, the installation position of the pick-and-place device 330 on the carrier 310 is not limited.

[0092] It should be noted that the pick-and-place device 330 can also be used for inventory management. For example, the pick-and-place device 330 can remove an item P located in one storage location 31a of a carrier 310 and place it in another storage location 31a of the same carrier 310, thereby organizing the item P on the carrier 310. Alternatively, the pick-and-place device 330 can remove an item P located in storage location 31a of one carrier 310 and place it in storage location 31a of another carrier 310, thereby organizing the item P on the carrier 310. When the pick-and-place device 330 moves the item P between two carriers 310, the two carriers 310 can be arranged adjacent to each other, and the pick-and-place device 330 can be located between the two carriers 310.

[0093] It is understood that the pick-and-place device 330 can also be applied to other scenarios, and is not limited in the embodiments of this application.

[0094] like Figure 1 As shown, in some examples, in order for the pick-and-place mechanism 350 of the pick-and-place device 330 to reach any position on the carrier 310, the height of the motion mechanism 360 of the pick-and-place device 330 is typically close to or equal to the height of the vertical beam 312 of the carrier 310, so that the pick-and-place mechanism 350 can move along the motion mechanism 360 to the cargo position 31a on the carrier 310 at any height.

[0095] For example, to improve the storage efficiency of storage area 10, the width of the aisle between two adjacent carriers 310 is typically small. When the transport device 340 is running in the aisle, if the pick-and-place mechanism 350 is at the bottom of the moving mechanism 360, the pick-and-place mechanism 350 is close to the ground and will block the aisle, preventing the transport device 340 from operating within the aisle. In this case, the transport device 340 needs to wait for the pick-and-place mechanism 350 to rise along the moving mechanism 360 to above the transport device 340 before it can continue operating within the aisle.

[0096] Optionally, the movement mechanism 360 can be stationary relative to the carrier 310 when the taking-and-placing mechanism 350 is at the bottom end of the movement mechanism 360, in which case the taking-and-placing mechanism 350 stays at a position close to the ground.

[0097] Alternatively, the movement mechanism 360 can be movable relative to the carrier 310, in which case the taking-and-placing mechanism 350 moves at a position close to the ground. In this case, since the movement speed of the movement mechanism 360 relative to the carrier 310 is usually large, in order to avoid collision between the transport device 340 and the taking-and-placing mechanism 350, the transport device 340 needs to wait until the taking-and-placing mechanism 350 finishes moving at the position close to the ground and ascends along the movement mechanism 360 before it can move.

[0098] Therefore, the operation of the transport device 340 in the storage area 10 is affected by the taking-and-placing device 330, resulting in a decrease in the carrying efficiency of the transport device 340 and affecting the throughput of the storage area 10.

[0099] Optionally, the bottom end of the movement mechanism 360 can not be in contact with the ground when the taking-and-placing mechanism 350 blocks the operation of the transport device 340 in the aisle.

[0100] Alternatively, the bottom end of the movement mechanism 360 can be provided with a roller, which can be in contact with the ground and roll on the ground. The ground of the storage area 10 is usually uneven, and some positions are inclined. This can cause the position of the carrier 310 on the ground and the position of the roller on the ground to be at different levels, and the roller needs to be in contact with the inclined ground. In this case, the inclined ground increases the difficulty of alignment between the movement mechanism 360 and the carrier 310, resulting in the taking-and-placing mechanism 350 possibly failing to operate to the designated storage location 31a, affecting the operation efficiency of the taking-and-placing device 330.

[0101] Figure 3 is another schematic view of the structure of a storage area.

[0102] In combination with Figure 1 and Figure 3 , in order to solve the above problems, the height of the movement mechanism 360 can be reduced, so that the bottom end of the movement mechanism 360 has a distance H from the ground. In other words, the taking-and-placing device 330 can be suspended relative to the carrier 310. In this way, when the taking-and-placing mechanism 350 moves to the bottom end of the movement mechanism 360, the taking-and-placing mechanism 350 also has a certain distance from the ground. The distance H between the bottom end of the movement mechanism 360 and the ground or the distance between the taking-and-placing mechanism 350 and the ground can be greater than the height of the transport device 340, so that the transport device 340 can operate below the taking-and-placing mechanism 350, thereby avoiding the influence of the taking-and-placing device 330 on the operation of the transport device 340, to improve the carrying efficiency of the transport device 340.

[0103] In some examples, the transport device 340 can be provided with a carrying device to carry the articles. In this case, the distance H between the lowermost end of the movement mechanism 360 and the ground or the distance between the taking and placing mechanism 350 and the ground can be greater than the height of the transport device 340, which can be the overall height of the transport device 340 when the carrying device is empty and lowered to the lowest point, or the overall height of the transport device 340 and the articles carried by the carrying device, or the overall height of the transport device 340 and the articles carried by the carrying device when lowered to the lowest point.

[0104] In some examples, in order to facilitate the suspension of the taking and placing device 330, the taking and placing device 330 can be connected to the carrier 310 through the support 320 and move along the support 320 relative to the carrier 310. In this way, the problem of misalignment of the taking and placing device 330 and the carrier 310 and the storage location 31a due to the inclination of the ground can also be avoided, so as to improve the operation efficiency of the taking and placing device 330.

[0105] For example, the support 320 can be a track, a support plate, a support table, etc., which is not limited in the embodiment.

[0106] For example, the support 320 can be arranged on the horizontal beam 311 of the carrier 310, or the support 320 can be directly formed by the horizontal beam 311 of the carrier 310. However, arranging the support 320 on the horizontal beam 311 of the carrier 310 or forming the support 320 by the horizontal beam 311 of the carrier 310 will cause the overall load of the taking and placing device 330 to act on the carrier 310, resulting in a large load of the carrier 310. At the same time, if the taking and placing device 330 is arranged on one side of the carrier 310, the load of the carrier 310 will be unbalanced, which is prone to tilting and increases the difficulty of fixing the carrier 310.

[0107] It should be noted that the transport device 340 will also encounter the problem of the taking and placing mechanism 350 blocking the lane in the storage area 10, affecting the operation of the transport device 340 and the load stability of the carrier 310 in the working station 20, which will not be described here.

[0108] In order to solve the above problems, the embodiment of the application provides a storage system, which can reduce the load of the carrier 310 without affecting the operation of the transport device 340 by the taking and placing device 330, so as to realize the reasonable distribution of the load and improve the stability of the structure of the carrier 310 while improving the transportation efficiency.

[0109] Figure 4 is a structural schematic diagram of a storage system provided by the embodiment of the application.

[0110] Figure 5 is a structural schematic diagram of a carrier provided in an embodiment of the present application.

[0111] Figure 6 is an enlarged view of A in Figure 5

[0112] As shown in Figure 4 and Figure 5 , the warehouse system 300 provided in the embodiment of the present application includes a carrier 310, a support 320, a taking and placing device 330, and a transportation device 340.

[0113] As shown in Figure 4 to Figure 6 , in the warehouse system 300, the carrier 310 can be one or multiple.

[0114] In some examples, when the carrier 310 is multiple, the multiple carriers 310 can be arranged at intervals along the width direction (e.g., the y-axis direction in Figure 4 ) of the carrier 310. Adjacent two carriers 310 can form a lane N for the transportation device 340 or an operator to pass through.

[0115] It should be noted that the extension direction of the lane N can be the same as the length direction (e.g., the x-axis direction in Figure 5 ) of the carrier 310, and the arrangement direction of the carrier 310 can be the same as the width direction (e.g., the y-axis direction in Figure 4 ) of the carrier 310.

[0116] Exemplarily, the carrier 310 is formed with a storage location 31a for storing an article. Exemplarily, the article can include, but is not limited to, a cargo, a container loaded with the cargo, and an empty container, etc., wherein the container can be a tote, a case, a carton, or a pallet, etc. In the embodiment, the article placed on the storage location 31a is not limited.

[0117] In other embodiments, the storage location 31a can include a storage location, a temporary storage location, or a buffer storage location.

[0118] It can be understood that the related structure of the carrier 310 can refer to the description of the carrier 310 shown in Figure 1 to Figure 3 , which will not be described herein again.

[0119] Exemplarily, a partition plate 313 can also be arranged on each horizontal beam 311, and the partition plate 313 is arranged along the width direction (e.g., the y-axis direction in Figure 5 ​The partition 313 extends along the y-axis. Both ends of the partition 313 are connected to two horizontal beams 311, thus using the partition 313 to divide one layer of horizontal beams 311 into multiple storage locations 31a. It is understood that when the horizontal beams 311 are not equipped with partitions 313, there can also be multiple storage locations 31a on one layer of horizontal beams 311; this is not limited in this embodiment.

[0120] like Figure 5 and Figure 6 As shown, in some examples, the horizontal beam 311 closest to the ground can be a first horizontal beam 3111. The first horizontal beam 3111 can be spaced apart from the ground. In other words, a storage position 31a may not be formed in the space between the first horizontal beam 3111 and the ground for the transport device 340 to pass under the carrier 310. In this way, the transport device 340 can not only travel along the extension direction of the aisle N (e.g., ... Figure 5 It can move along the x-axis direction (as shown in the diagram), and can also move along the arrangement direction of the vehicle 310 (e.g., along the x-axis direction). Figure 4 The transport device 340 can move along the y-axis direction of the moving mechanism 360, and when moving along the extension direction of the aisle N or along the arrangement direction of the carrier 310, it can also pass through the gaps or channels formed between the moving mechanism 360 and the ground, and the transport device 340 will not collide with the carrier 310. This enables the transport device 340 to operate flexibly and effectively improve the operating efficiency of the transport device 340. In addition, the transport device 340 can also pass under the carrier 310 to make full use of the space under the carrier 310, thereby improving the space utilization rate of the storage system 300.

[0121] For example, the space above the first horizontal beam 3111 can be used to form a buffer storage location 31b.

[0122] Taking item shelving as an example, after the transport device 340 transports the target item to the designated vehicle 310, it can first place the target item on the buffer storage location 31b near the ground. The buffer storage location 31b near the ground is relatively low, making it easy for the transport device 340 to place the target item on it. At this time, the transport device 340 can proceed to the next transport task without waiting for the pick-up and place device 330 to remove the target item from the transport device 340, thereby improving transport efficiency. After completing the previous task, the pick-up and place device 330 can remove the target item from the buffer storage location 31b and place it on the designated storage location 31a of the vehicle 310 to realize the shelving of the target item.

[0123] It is understandable that the buffer storage location 31b can also be located on the vehicle 310 at a position away from the ground, such as at the top of the vehicle 310. In this case, the supporting structure on the transport device 340 can be raised and lowered to retrieve and place items on the buffer storage location 31b located at a higher position.

[0124] It should be noted that the process of removing items from the shelves is the reverse of the process of adding items to the shelves, and will not be elaborated here.

[0125] It is understood that in other embodiments, the storage location 31a on the first horizontal beam 3111 can also serve the same function as the storage location 31a on other horizontal beams 311, that is, the vehicle 310 may not be provided with a buffer storage location 31b. In this embodiment, the setting of storage location 31a on the vehicle 310 is not limited.

[0126] Optionally, from the above Figure 1 and Figure 2 As shown in the application scenario, the carrier 310 can be a shelf or a support frame. The shelf can be a fixed shelf, a movable shelf, or it can include both fixed and movable shelves arranged horizontally or vertically. The support frame can be a fixed support frame or a movable support frame.

[0127] In addition, the carrier 310 can also be a partitioned shelf or other structures with storage locations 31a that can realize the function of storing goods. In this embodiment, the carrier 310 is not limited.

[0128] In some examples, the support member 320 is provided at least on one side of the carrier 310. For example, along the width direction of the carrier 310, the support member 320 may be located on one side of the carrier 310 or on both sides of the carrier 310. Alternatively, the support member 320 may be provided along the width direction of the carrier 310 (e.g., ...). Figure 4 On one side of the y-axis direction, it can also be set along the length direction of the vehicle 310 (e.g., along the y-axis direction). Figure 5 The support member 320 can be positioned on one side of the x-axis direction. Alternatively, the support member 320 can be arranged around the carrier 310, that is, the support member 320 can be arranged around the carrier 310. It is understood that the relative position of the support member 320 and the carrier 310 can be adjusted according to the actual situation, and is not limited in this embodiment.

[0129] For example, the support member 320 is connected to the ground. In this way, the load acting on the support member 320 can be transferred to the ground. Compared to Figure 1 to Figure 3 The support member 320 is mounted on the vehicle 310 and connected to the ground, which can prevent the load acting on the support member 320 from being transferred to the vehicle 310, thereby improving the stability of the vehicle 310.

[0130] Optionally, the support member 320 can be directly connected to the ground. In this case, the support member 320 can be provided with a support portion extending towards the ground, so that while connecting to the ground, it can also support the rest of the support member 320, thus creating a gap between the ground and the support member 320.

[0131] Alternatively, the support 320 can be indirectly connected with the ground. In this case, the support 320 can be connected with the ground through other components or structures.

[0132] It should be noted that the ground in the embodiments of the present application can be a ground surface, or a platform surface erected on the ground surface. In the embodiments, the ground is not limited.

[0133] Further, the support 320 can be spaced apart from the ground, i.e., the end of the support 320 close to the ground has a distance h from the ground. In this way, the spaced position between the support 320 and the ground can be used for the transportation device 340 to pass through, so as to avoid the influence of the support 320 on the operation of the transportation device 340, thereby improving the transportation efficiency of the transportation device 340. In addition, the spaced arrangement of the support 320 and the ground can also simplify the planning of the operation track of the transportation device 340. In other words, when planning the operation track of the transportation device 340, the position of the support 320 can not be considered, thereby improving the flexibility of the operation track planning of the transportation device 340.

[0134] As shown in FIGS. 1, 2 and 3, the support 320 can be arranged on one side of the carrier 310 close to the carrier 310, or the support 320 can be arranged on one side of the carrier 310 away from the carrier 310 (as shown in FIG. 4), or the support 320 can be arranged above the carrier 310. Figure 4 As shown in FIGS. 1, 2 and 3, the support 320 can be arranged on one side of the carrier 310 close to the carrier 310, or the support 320 can be arranged on one side of the carrier 310 away from the carrier 310 (as shown in FIG. 4), or the support 320 can be arranged above the carrier 310. Figure 5 As shown in FIGS. 1, 2 and 3, the support 320 can be arranged on one side of the carrier 310 close to the carrier 310, or the support 320 can be arranged on one side of the carrier 310 away from the carrier 310 (as shown in FIG. 4), or the support 320 can be arranged above the carrier 310. Figure 4 As shown in FIGS. 1, 2 and 3, the support 320 can be arranged on one side of the carrier 310 close to the carrier 310, or the support 320 can be arranged on one side of the carrier 310 away from the carrier 310 (as shown in FIG. 4), or the support 320 can be arranged above the carrier 310.

[0135] In some examples, the taking and placing device 330 includes a taking and placing mechanism 350 and a moving mechanism 360.

[0136] The taking and placing mechanism 350 can move on the moving mechanism 360 to perform lifting movement on the moving mechanism 360 under the control of the control instruction, so as to reach the position of the target storage location 31a at the specified height of the carrier 310. The taking and placing mechanism 350 can take and place the target article on the target storage location 31a, i.e., the taking and placing mechanism 350 can take out the target article on the target storage location 31a, or place the target article on the target storage location 31a.

[0137] In some examples, the components of the taking and placing mechanism 350 for taking and placing the target objects can be pincers, suction cups, hooks, prongs, magnetic structures, etc. Among them, the pincers can clamp the target objects from both sides of the target objects, or can be inserted from below or hooked from above. The suction cups can act on the middle position of the side wall of the target objects, or can adjust the connection position with the target objects according to the center of gravity of the target objects. The hooks can hook the edges of the side, top, bottom of the target objects, or the protrusions, grooves and handles on the target objects. The prongs can be one or more.

[0138] For example, the taking and placing mechanism 350 can be a single deep position mechanism, a double deep position mechanism, and a multi-deep position mechanism, which can be adjusted according to the setting form of the goods positions 31a of the carriers 310.

[0139] In addition, when the taking and placing device 330 is located between two carriers 310, the taking and placing mechanism 350 can take and place the target objects on one side of the carrier 310, or can take and place the target objects on both sides of the carrier 310. When the taking and placing mechanism 350 takes and places the target objects on both sides of the carrier 310, the components of the taking and placing mechanism 350 for taking and placing the target objects can have a rotating function, or can not have a rotating function, but have a bidirectional grabbing or suction structure to take and place the target objects on both sides respectively.

[0140] It should be noted that the specific structure of the taking and placing mechanism 350 can be adjusted according to actual conditions, which is not limited in the embodiment.

[0141] In some examples, the moving mechanism 360 can move along the support 320, and the end of the moving mechanism 360 close to the ground has a distance h from the ground. Compared with the structure shown in Figure 1 , the moving mechanism 360 will not hinder the operation of the transport device 340 in the extension direction of the lane N (such as the x-axis direction in Figure 5 , and the moving mechanism 360 will not hinder the operation of the transport device 340 in the arrangement direction of the lane N (such as the y-axis direction in Figure 4 . In this way, in the two directions of the extension direction of the lane N and the arrangement direction of the lane N, the operation flexibility of the transport device 340 is higher, and when the path of the transport device 340 is planned, whether the moving mechanism 360 will hinder the operation path of the transport device 340 can not be considered, thereby improving the flexibility of the path planning of the transport device 340, and improving the control response speed of the warehouse system 300.

[0142] Furthermore, when the pick-up and place mechanism 350 moves to the end of the motion mechanism 360 near the ground, there is also a gap between the end of the pick-up and place mechanism 350 near the ground and the ground. This gap between the side of the pick-up and place mechanism 350 facing the ground and the ground can be used to form a passage for the transport device 340 to pass through. Compared to Figure 1 The structure shown indicates that the pick-and-place mechanism 350 is positioned relative to the transport device 340 along the extension direction of the roadway N (e.g., ...). Figure 5 The operation of the pick-and-place mechanism 350 along the x-axis direction will not cause obstruction, and the pick-and-place mechanism 350 will not obstruct the transport device 340 along the arrangement direction of the roadway N (e.g., ...). Figure 4 The movement of the pick-and-place mechanism 350 along the y-axis will not cause any obstruction. Simultaneously, the movement of the pick-and-place mechanism 350 on the motion mechanism 360 will not affect the operation of the transport device 340, thus ensuring that the working processes of the pick-and-place mechanism 350 and the transport device 340 do not interfere with each other, thereby improving the operational freedom of the transport device 340. In this way, when planning the path for the transport device 340, it is not necessary to consider whether the motion mechanism 360 will obstruct the operating path of the transport device 340, which improves the flexibility of path planning and thus increases transportation efficiency.

[0143] In other words, the distance between the side of the motion mechanism 360 closest to the ground and the ground, and the distance between the side of the pick-up and place mechanism 350 closest to the ground and the ground when the pick-up and place mechanism 350 moves to the side closest to the ground, can avoid obstructing the operation of the transport device 340, thereby enabling the transport device 340 to move freely on the ground, improving the flexibility of the path planning of the transport device 340 and the operational flexibility of the transport device 340, and thus improving the transport efficiency.

[0144] In some examples, when the pick-up and place mechanism 350 moves to the end of the motion mechanism 360 that is close to the ground, the distance between the side of the pick-up and place mechanism 350 facing the ground and the ground can be greater than the height of the transport device 340 in the empty state and / or loaded state, so that the transport device 340 can pass through in various states, so as to facilitate the planning of the running trajectory of the transport device 340.

[0145] It should be noted that the height of the empty state of the transport device 340 can be the overall height of the transport device 340 without the carrying structure and without carrying the articles, or the height of the empty state of the transport device 340 can be the overall height of the transport device 340 with the carrying structure and without carrying the articles, and the carrying structure is at the lowest point. The height of the loaded state of the transport device 340 can be the overall height of the articles and the transport device 340 without the carrying structure and with carrying the articles, or the height of the loaded state of the transport device 340 can be the overall height of the carrying structure, the articles and the transport device 340 with the carrying structure and with carrying the articles, and the carrying structure is at the lowest point after carrying the articles.

[0146] In the warehouse system 300 provided by the embodiments of the present application, the support 320 is connected to the ground and is spaced apart from the ground, so that the arrangement of the support 320 does not affect the operation of the transport device 340, and the load acting on the support 320 by the taking and placing device 330 can be transmitted to the ground, thereby avoiding affecting the load of the carrier 310, reducing the difficulty of fixing the carrier 310, and improving the stability of the carrier 310. At the same time, the end of the movement mechanism 360 of the taking and placing device 330 close to the ground is spaced apart from the ground, which can also avoid affecting the operation of the transport device 340, and arranging the taking and placing device 330 on the support 320 spaced apart from the ground can also avoid the influence of the inclination and flatness of the ground on the positioning between the taking and placing mechanism 350 arranged on the movement mechanism 360 and the storage location 31a, so as to improve the positioning accuracy of the taking and placing mechanism 350 and the storage location 31a. Further, when the taking and placing mechanism 350 moves to the end of the movement mechanism 360 close to the ground, the spacing between the taking and placing mechanism 350 and the ground can form a passage for the transport device 340 to pass through, thereby improving the operation freedom of the transport device 340, improving the flexibility of the path planning of the transport device 340, and further improving the transportation efficiency and the throughput of the warehouse system 300.

[0147] In combination with FIGS. 3 and 4, Figure 4 and Figure 6 As shown in FIGS. 3 and 4, in some examples, the warehouse system 300 can further include at least one support column 370. The support column 370 is located between the support 320 and the ground, for realizing the connection of the support 320 and the ground. In this way, the support column 370 can suspend the support 320 above the ground, and can also transmit the load on the support 320 to the ground.

[0148] For example, the support column 370 can be made of the same material and have the same shape as the support 320, or the support column 370 can be made of the same material and have the same shape as the vertical beam 312 of the carrier 310.

[0149] In some examples, the support 320 can be arranged on one side of the carrier 310, and the movement mechanism 360 can be arranged on the side of the support 320 away from the carrier 310, i.e., the support 320 is located between the carrier 310 and the movement mechanism 360. In this way, the movement mechanism 360 and the taking and placing mechanism 350 can be located in the lane N, and the distance between the support 320 and the carrier 310 can be reduced, so as to reduce the width of the lane N, thereby improving the space utilization of the storage area.

[0150] For example, the storage system further comprises a first connecting member 314, one end of the first connecting member 314 is connected with the carrier 310, and the other end is connected with the support 320 and / or the support column 370.

[0151] In one example, the support 320 is connected with the carrier 310 through the first connecting member 314, so as to limit the position of the support 320 by means of the carrier 310, to fix the relative position between the support 320 and the carrier 310, and to facilitate improving the positioning accuracy of the taking and placing mechanism 350 and the storage location 31a.

[0152] Optionally, the first connecting member 314 can be a bolt, so that the support 320 can be connected with the carrier 310 through the bolt. Alternatively, the first connecting member 314 can be an adhesive layer, so that the support 320 can be connected with the carrier 310 through the adhesive layer. In the present embodiment, the connection mode of the support 320 and the carrier 310 is not limited. For example, in order to facilitate the positioning of the taking and placing mechanism 350 and the storage location 31a and avoid affecting the taking and placing of the target article on the storage location 31a, the support 320 can correspond to the horizontal beam 311 of the carrier 310, i.e., the support 320 can be located at the same height as the horizontal beam 311 of the carrier 310 and be connected with the horizontal beam 311 of the carrier 310 through the first connecting member 314.

[0153] It should be noted that the support 320 can also be connected with the vertical beam 312 of the carrier 310 through the first connecting member 314, which is not limited in the present embodiment.

[0154] In another example, at least one support column 370 is connected with the carrier 310 through the first connecting member 314, so as to limit the position of the support column 370 by means of the carrier 310, to limit the position of the support 320 connected with the support column 370, to fix the relative position between the support 320 and the carrier 310, and to facilitate improving the positioning accuracy of the taking and placing mechanism 350 and the storage location 31a.

[0155] Optionally, the first connecting member 314 can be a bolt, so that the support column 370 can be connected with the carrier 310 through the bolt. Alternatively, the first connecting member 314 can be an adhesive layer, so that the support column 370 can be connected with the carrier 310 through the adhesive layer. In the embodiment, the connection manner of the support column 370 and the carrier 310 is not limited.

[0156] For example, in order to facilitate the positioning of the taking and placing mechanism 350 and the storage location 31a and avoid affecting the taking and placing of the target article on the storage location 31a, at least one support column 370 can correspond to the vertical beam 312 of the carrier 310, and at least one support column 370 can be connected with the vertical beam 312 of the carrier 310. In this way, the influence of the support column 370 on the operation of the transport device 340 can also be reduced, especially when the transport device 340 passes below the carrier 310.

[0157] It should be noted that the support column 370 can also be connected with the horizontal beam 311 of the carrier 310 through the first connecting member 314, which is not limited in the embodiment.

[0158] Optionally, the number of support columns 370 can be equal to the number of vertical beams 312 on one side of the carrier 310, or can be less than the number of vertical beams 312, which is not limited in the embodiment.

[0159] In another example, the support member 320 and the at least one support column 370 are connected with the carrier 310 through the first connecting member 314, so as to realize the relative fixation between the support member 320 and the carrier 310.

[0160] It should be noted that the connection of the support member 320 and the carrier 310 through the first connecting member 314 and the connection of the support column 370 and the carrier 310 through the first connecting member 314 can refer to the above description, which will not be repeated here.

[0161] In the embodiment, the load of the support member 320 is mainly supported by the support column 370 and transmitted to the ground. The main purpose of connecting the support member 320 and the carrier 310 and / or connecting the support column 370 and the carrier 310 is to fix the relative position between the support member 320 and the carrier 310, so as to facilitate the subsequent positioning of the storage location 31a and the article on the carrier 310. At this time, the connection of the support member 320 and the carrier 310 and / or the connection of the support column 370 and the carrier 310 is not the main transmission path of the load of the support member 320, so the influence of the load on the carrier 310 is still small, so that the stability of the carrier 310 can be maintained.

[0162] In other embodiments, a plurality of spaced cement bosses can also be provided on the ground. The support 320 can be provided above the cement bosses to connect with the ground through the cement bosses, while the support 320 is spaced apart from the ground where no cement boss is provided on the ground, to allow the transport device 340 to pass through.

[0163] Figure 7 is a structural schematic diagram of a first perspective of a warehouse system provided by an embodiment of the present application, which omits a part of structure of a carrier.

[0164] Figure 8 is a structural schematic diagram of a second perspective of a warehouse system provided by an embodiment of the present application, which omits a part of structure of a carrier.

[0165] Figure 9 is a structural schematic diagram of a third perspective of a warehouse system provided by an embodiment of the present application, which omits a part of structure of a carrier.

[0166] In combination with Figure 8 to Figure 9 As shown in the figure, in some examples, the support 320 can include a first support 321, and the movement mechanism 360 can move along the first support 321. The first support 321 is spaced apart from the ground and connected with the support column 370. The first support 321 corresponds to the first horizontal beam 3111, so that the first horizontal beam 3111 and the space below the first support 321 can both be used to form a channel for the transport device 340 to run. When the support 320 is connected with the carrier 310, the first support 321 can be connected with the first horizontal beam 3111 to maintain the relative position between the first support 321 and the first horizontal beam 3111.

[0167] For example, one end of the first connecting member 314 is connected with the carrier 310, and the other end is connected with the first support 321.

[0168] Optionally, the first support 321 can be connected with the first horizontal beam 3111 of the carrier 310 through the first connecting member 314.

[0169] Alternatively, the first support 321 can be connected with the vertical beam 312 of the carrier 310 through the first connecting member 314, which is not limited in the embodiment.

[0170] In some examples, the support 320 can further include a second support 322. The second support 322 is spaced apart from the first support 321 along the height direction of the carrier 310, and the second support 322 is located above the first support 321. In this way, the movement mechanism 360 can be connected to the first support 321 and the second support 322 at the same time, and move along the first support 321 and the second support 322 to realize the connection of both ends of the movement mechanism 360 by the first support 321 and the second support 322, reduce the possibility of deformation of the movement mechanism 360, and improve the connection stability of the movement mechanism 360.

[0171] For example, the second support 322 can be arranged corresponding to the horizontal beam 311 of the carrier 310, so as to avoid affecting the taking and placing of the goods 31a on the carrier 310 and the articles.

[0172] In an example, the second support 322 can be connected to the support column 370. In this way, the support column 370 can be used to support the second support 322.

[0173] In another example, the second support 322 can be connected to the horizontal beam 311 of the carrier 310 to realize the fixation of the second support 322.

[0174] In some examples, the support 320 can further include at least one third support 323. The third support 323 can be located between the first support 321 and the second support 322 and spaced apart from the first support 321 and the second support 322. The movement mechanism 360 can be connected to the third support 323 and move along the third support 323. In this way, the connection of both ends of the movement mechanism 360 can be realized by the first support 321 and the second support 322, and the connection of the middle position of the movement mechanism 360 can be realized by the third support 323, so as to improve the stable operation of the movement mechanism 360.

[0175] For example, when the third support 323 is multiple, the multiple third supports 323 are spaced apart along the height direction of the carrier 310, and each third support 323 can correspond to a horizontal beam 311 of the carrier 310 respectively, so as to avoid affecting the taking and placing of the goods 31a on the carrier 310 and the articles.

[0176] In an example, the third support 323 can be connected to the support column 370. In this way, the support column 370 can be used to support the third support 323.

[0177] In another example, the third support 323 can be connected to the horizontal beam 311 of the carrier 310 to realize the fixation of the third support 323.

[0178] It should be noted that when the support column 370 is connected to the first support 321, the first support 321 is connected to the first horizontal beam 3111, and the second support 322 and the third support 323 are connected to the carrier 310, the distance between the first support 321 and the ground is relatively small due to the small distance between the first horizontal beam 3111 and the ground. In this way, the height of the support column 370 can be reduced, thereby ensuring the rigidity of the support column 370 to avoid the connection position of the first support 321 and the carrier 310 being too high, which affects the overall structural stability.

[0179] In some examples, the moving mechanism 360 includes a stand 361. The stand 361 can move along the first support 321, the second support 322, and the third support 323. The taking and placing mechanism 350 can move along the stand 361.

[0180] For example, the end of the stand 361 close to the ground is greater than or equal to the distance between the first support 321 and the ground. In this way, the end of the stand 361 close to the ground can be at the same height as or higher than the bottom surface of the first support 321, thereby avoiding the occupation of the space below the first support 321 to avoid interference with the operation of the transportation device 340.

[0181] It should be noted that when the size of the first support 321 in the height direction of the carrier 310 is large, the end of the stand 361 close to the ground can be located above the end of the first support 321 close to the ground. When the size of the first support 321 in the height direction of the carrier 310 is small, the end of the stand 361 close to the ground can be located in the same plane as the end of the first support 321 close to the ground.

[0182] Optionally, the stand 361 can be a one-level stand, in which case the taking and placing mechanism 350 can be lifted on the stand 361. Alternatively, the stand 361 can be a telescopic two-level stand or a telescopic three-level stand, thereby enabling the lifting range of the taking and placing mechanism 350 to be larger.

[0183] It should be noted that the specific arrangement of the stand 361 can be selected according to actual conditions, and the present embodiment is not limited thereto, and the stand 361 is taken as a one-level stand for example.

[0184] Figure 10 is a schematic diagram of the cooperation between the stand and the taking and placing mechanism provided by the present embodiment.

[0185] In combination with Figure 10 As shown in FIG. 8, in some examples, along the height direction of the stand 361, when the taking and placing mechanism 350 moves to the side of the stand 361 close to the ground, the distance h0 (as shown in FIG. 8) between the side of the taking and placing mechanism 350 close to the ground and the ground is greater than or equal to the distance h1 (as shown in FIG. 8) between the end of the stand 361 close to the ground and the ground. Figure 10than the distance h (as shown in (b) of FIG. 3B) between the side of the stand 361 close to the ground and the ground. Figure 10 In this way, compared with the first support 321 and the stand 361, the taking and placing mechanism 350 can be further lowered below the first support 321, so as to be able to take the articles below the first support 321, thereby improving the space utilization rate below the carrier 310. Meanwhile, although the distance between the taking and placing mechanism 350 and the ground is smaller when the taking and placing mechanism 350 is lowered to the side of the stand 361 close to the ground, the taking and placing mechanism 350 is faster in taking and placing actions, and stays at this position for a shorter time. When the taking and placing mechanism 350 leaves this position (such as being located at the position shown in (a) of FIG. 3B), the stand 361 does not affect the movement stroke of the transportation device 340, thereby improving the utilization rate of the storage space while reducing the influence on the movement of the transportation device 340. In addition, when the taking and placing mechanism 350 can be closer to the ground, it is also convenient for the transportation device 340 to be able to directly dock with the taking and placing mechanism 350 to realize the exchange of articles therebetween. Figure 10

[0186] Figure 11 is an enlarged view of B in (a) of FIG. 3B. Figure 7

[0187] In combination with (a) of FIG. 3B, Figure 7 , Figure 9 , Figure 10 and Figure 11 In some examples, the stand 361 includes a first upright column 3611, a second upright column 3612, and a plurality of reinforcing beams 3613. The taking and placing mechanism 350 is located between the first upright column 3611 and the second upright column 3612 and is connected to the first upright column 3611 and the second upright column 3612, and can move up and down along the first upright column 3611 and the second upright column 3612.

[0188] In some examples, the first upright column 3611 and the second upright column 3612 are spaced apart along the extension direction of the support 320, the first upright column 3611 can move along the first support 321, the second support 322, and the third support 323, and the second upright column 3612 can move along the first support 321, the second support 322, and the third support 323.

[0189] In some examples, the first upright column 3611 and the second upright column 3612 have an opening 361a therebetween, and the taking and placing mechanism 350 is hoisted on the first upright column 3611 and the second upright column 3612. When the taking and placing mechanism 350 moves to the side close to the ground along the first upright column 3611 and the second upright column 3612, the taking and placing mechanism 350 can pass through the opening 361a. In this way, the distance h0 (as shown in (b) of FIG. 3B) between the side of the taking and placing mechanism 350 close to the ground and the ground is smaller than the distance h (as shown in (b) of FIG. 3B) between the side of the stand 361 close to the ground and the ground. Figure 10 ​​distance h (as shown in (b) of FIG. 36) between the side of the first and second uprights 3611 and 3612 close to the ground and the ground. Figure 10 as shown in (a) of FIG. 36.

[0190] For example, the first upright 3611 is provided with a first limiting part 361b at the end close to the ground, and the second upright 3612 is provided with a second limiting part 361c at the end close to the ground. The first and second limiting parts 361b and 361c can limit the position of the taking and placing mechanism 350 on the first and second uprights 3611 and 3612, so as to prevent the taking and placing mechanism 350 from slipping off the first and second uprights 3611 and 3612.

[0191] Optionally, the first and second limiting parts 361b and 361c can be limiting plates, limiting columns or other protruding structures, so as to clamp the taking and placing mechanism 350 and prevent it from falling off.

[0192] In some examples, the stand 361 further comprises a plurality of reinforcing beams 3613 arranged along the height direction of the stand 361 and located between the first and second uprights 3611 and 3612. The two ends of each reinforcing beam 3613 are connected to the first and second uprights 3611 and 3612 respectively, so as to improve the rigidity of the first and second uprights 3611 and 3612, prevent them from bending and deforming, and constrain the distance between the first and second uprights 3611 and 3612, so as to avoid the taking and placing mechanism 350 between the first and second uprights 3611 and 3612 from being pulled or pressed by the deformed first and second uprights 3611 and 3612.

[0193] For example, each reinforcing beam 3613 corresponds to a horizontal beam 311 of the carrier 310. In this way, the reinforcing beams 3613 can avoid hindering the storage locations 31a and affecting the taking and placing of the articles.

[0194] Figure 12 is a structural schematic view of the stand and the horizontal beam provided by the embodiment of the present application.

[0195] For example, the first and second uprights 3611 and 3612 are arranged in parallel and are connected to the horizontal beams 311 of the carrier 310. Figure 11 and Figure 12As shown, optionally, a plurality of markers 3112 can be arranged on the horizontal beam 311, and each marker 3112 can correspond to a storage site 31a. In this way, when the taking and placing mechanism 350 reaches the target storage site 31a, the recognition camera on the taking and placing mechanism 350 can take a picture of the marker 3112. The storage system can determine whether the taking and placing mechanism 350 is aligned with the storage site 31a according to the offset of the marker 3112 in the picture taken by the recognition camera, so as to avoid the situation that the taking and placing mechanism 350 is not accurately aligned with the storage site 31a, thereby avoiding affecting the taking and placing of subsequent articles.

[0196] For example, the marker 3112 can be a two-dimensional code, a bar code, an image code, an image mark (such as inkjet), a hole, etc. The marker 3112 can be recognized and the article information stored therein can be read.

[0197] In some examples, the reinforcing beam 3613 corresponds to the horizontal beam 311, and avoids the marker 3112 on the horizontal beam 311.

[0198] As shown in (a) of FIG. 31, Figure 12 In one example, if the marker 3112 is located near the upper side of the horizontal beam 311, the reinforcing beam 3613 can correspond to the position near the lower side of the horizontal beam 311, so as to avoid blocking the marker 3112 on the horizontal beam 311 and affecting the recognition of the marker 3112.

[0199] As shown in (b) of FIG. 31, Figure 12 In another example, if the marker 3112 is located near the lower side of the horizontal beam 311, the reinforcing beam 3613 can correspond to the position near the upper side of the horizontal beam 311, so as to avoid blocking the marker 3112 on the horizontal beam 311 and affecting the recognition of the marker 3112.

[0200] In another example, a hollow structure can be arranged on the reinforcing beam 3613 corresponding to the marker 3112 on the horizontal beam 311, so as to display the marker 3112 through the hollow structure and prevent the reinforcing beam 3613 from blocking the marker 3112 and affecting the recognition of the marker 3112. The hollow structure can be a rectangular hole, a circular hole, a triangular hole, etc.

[0201] Please refer again to Figure 7 to Figure 9 In some examples, the moving mechanism 360 further includes a first driving assembly 363 and a second driving assembly 364.

[0202] The first driving assembly 363 is connected with the first stand column 3611 and the second stand column 3612, and is arranged on the first support 321 to drive the first stand column 3611 and the second stand column 3612 to move along the first support 321. The second driving assembly 364 is connected with the first stand column 3611 and the second stand column 3612, and is arranged on the second support 322 to drive the first stand column 3611 and the second stand column 3612 to move along the second support 322. In this way, the first driving assembly 363 and the second driving assembly 364 can work together under the control of the control instruction to drive the two ends of the stand 361 in the height direction to move simultaneously, so as to avoid that when only one driving assembly is arranged at one end, the speed difference between the two ends is large, which causes the stand 361 to tilt and affects the stability of the stand 361 and the taking and placing mechanism 350.

[0203] For example, along the height direction of the stand 361, the first driving assembly 363 and the second driving assembly 364 are located between the first support 321 and the second support 322. In other words, the first driving assembly 363 is above the first support 321, and the second driving assembly 364 is below the second support 322. At this time, the second driving assembly 364 does not transmit the main load to the second support 322, and the first driving assembly 363 can transmit the main load to the first support 321 and then to the support column 370 through the first support 321, and then to the ground through the support column 370. When the second support 322 is connected and fixed through the horizontal beam 311 of the carrier 310, the load generated by the second support 322 on the carrier 310 can be reduced, thereby reducing the influence on the stability of the carrier 310.

[0204] In some examples, the first driving assembly 363 is two to provide sufficient driving force for the movement of the stand 361 along the first support 321. Along the extension direction of the first support 321, the two first driving assemblies 363 are located on the two sides of the stand 361, i.e., the two first driving assemblies 363 are located on the two sides of the first stand column 3611 and the second stand column 3612 respectively to drive the first stand column 3611 and the second stand column 3612 to move on the first support 321.

[0205] For example, the movement mechanism 360 further includes a connecting plate 365 connected to the first stand column 3611 and the second stand column 3612 on the side close to the first support 321, and along the extension direction of the first support 321, the two first driving assemblies 363 are connected to the two ends of the connecting plate 365 respectively.

[0206] Since there can be a speed difference when the two first driving assemblies 363 are running, which can cause the distance between the first column 3611 and the second column 3612 to become larger or smaller, thereby pulling or pressing the taking and placing mechanism 350 arranged between the first column 3611 and the second column 3612, affecting the connection stability of the taking and placing mechanism 350 with the first column 3611 and the second column 3612. The connecting plate 365 can realize the constraint of the two first driving assemblies 363, so that the first driving assembly 363 and the second driving assembly 364 always maintain the same distance, so that the distance between the first column 3611 and the second column 3612 does not change, so as to avoid affecting the stability of the taking and placing mechanism 350.

[0207] As shown in Figure 9 and Figure 11 , in some examples, the connecting plate 365 includes a connecting portion 3651 and two mounting portions 3652. Along the extension direction of the first support 321, the two mounting portions 3652 are respectively located at both ends of the connecting portion 3651.

[0208] Among them, one mounting portion 3652 is connected with the first column 3611 and connected with the first driving assembly 363. The other mounting portion 3652 is connected with the second column 3612 and connected with the second driving assembly 364. The two mounting portions 3652 and the connecting portion 3651 enclose the taking and placing opening 3653, and the taking and placing mechanism 350 can take and place the target article on the goods location 31a through the taking and placing opening 3653. In this way, the connection of the first driving assembly 363 and the second driving assembly 364 can be realized, and the taking and placing work of the taking and placing mechanism 350 can be avoided.

[0209] Figure 13 is an enlarged view of E in Figure 8 .

[0210] As shown in Figure 11 and Figure 13 , in some examples, the first driving assembly 363 includes a first driving member 3631 and a first driving wheel 3632, and the first driving member 3631 is used to drive the first driving wheel 3632 to move along the first support 321.

[0211] Among them, the first driving member 3631 is arranged on the side of the mounting portion 3652 away from the first support 321, wherein the side of the mounting portion 3652 away from the first support 321 refers to the side of the mounting portion 3652 away from the first support 321 along the y-axis direction in Figure 8 . The first driving wheel 3632 is arranged on the side of the mounting portion 3652 facing the first support 321, wherein the side of the mounting portion 3652 facing the first support 321 refers to the side of the mounting portion 3652 facing the first support 321 along the y-axis direction in Figure 8The y-axis direction mounting portion 3652 in the first driving member 3631 is close to one side of the first support member 321. In other words, the first driving member 3631 and the first driving wheel 3632 can be respectively located on two sides of the mounting portion 3652, and the first driving wheel 3632 can move along the first support member 321. In this way, the first driving member 3631 can be prevented from colliding with the horizontal beam 311 or the vertical beam 312 of the carrier 310.

[0212] For example, the first driving member 3631 can be a driving motor or a driving motor, which is not limited in the embodiment.

[0213] In some examples, one of the first rolling surface 363a of the first driving wheel 3632 and the first support member 321 is formed with a groove, and the other of the first rolling surface 363a of the first driving wheel 3632 and the first support member 321 is embedded into the groove and in contact with the side wall of the groove opposite to the first support member 321 along the width direction of the first support member 321, so that the other moves along the groove relative to the one.

[0214] In one example, a groove can be provided on the first support member 321, and the first driving wheel 3632 can be embedded in the groove, and the first rolling surface 363a of the first driving wheel 3632 is in contact with and rolls along the inner surface of the bottom wall a of the first support member 321.

[0215] In another example, a groove can be provided on the first rolling surface 363a of the first driving wheel 3632, and the top and the bottom of the first support member 321 are embedded in the groove, so that the rolling surface of the first driving wheel 3632 can run along the surface of the groove of the first support member 321.

[0216] Figure 14 is a schematic view of the cooperation between the first support member and the first rolling surface provided by the embodiment of the present application.

[0217] In combination Figure 13 and Figure 14 As shown in (a) of FIG. 36, in some examples, the interface shape of the groove can include, but is not limited to, a square shape, as shown in (b) and (c) of FIG. 36, a V shape, as shown in (e) and (f) of FIG. 36, an arc shape, and the like. Figure 14 Figure 14 Figure 14 For example, the first rolling surface 363a of the first driving wheel 3632 is formed with a groove, and the shape of the groove can be a square shape, a V shape, an arc shape, and the like, and correspondingly, the shape of the top or the bottom of the first support member 321 matches the shape of the groove.

[0218] Please refer again to Figure 11 and Figure 13 ​​In some examples, the first support 321 has a groove, and the first driving wheel 3632 is embedded in the groove. The first driving assembly 363 further comprises a first guide wheel 3633. The first guide wheel 3633 is connected to the mounting portion 3652 on the side of the first support 321, and is located on the same side as the first driving wheel 3632. The first guide wheel 3633 is embedded in the groove to move along the groove side wall b. In this way, the rolling surface of the first guide wheel 3633 can be in contact with any one of the two groove side walls b of the groove of the first support 321. The first guide wheel 3633 is in clearance fit with the two groove side walls b, so that the first guide wheel 3633 can move along the groove and be limited between the two groove side walls b without deviation, thereby driving the first driving wheel 3632 to move along the first support 321.

[0219] In other embodiments, if the first support 321 is arranged along the z-axis direction, the first guide wheel 3633 can move along the bottom wall a of the groove. In the present embodiment, the specific movement form of the first guide wheel 3633 is not limited.

[0220] For example, the wheel shaft of the first guide wheel 3633 can be perpendicular to the wheel shaft of the first driving wheel 3632. In this way, the first rolling surface 363a of the first driving wheel 3632 and the rolling surface of the first guide wheel 3633 are perpendicular to each other, so that when the first rolling surface 363a moves along the groove bottom surface of the first support 321, the rolling surface of the first guide wheel 3633 can roll along the groove side wall b of the first support 321.

[0221] It should be noted that when the shape of the groove of the first support 321 is different, the angle at which the wheel shaft of the first driving wheel 3632 and the wheel shaft of the first guide wheel 3633 intersect can also be other angles, which are not limited in the present embodiment. The perpendicular mentioned in the present embodiment includes but is not limited to perpendicular and approximately perpendicular relationships.

[0222] Figure 15 is an enlarged view of C in Figure 7

[0223] Figure 16 is an enlarged view of F in Figure 9 In combination with

[0224] , Figure 9 and Figure 14 , in some examples, the second driving assembly 364 comprises a second driving wheel 3641 and an elastic member 3642. Figure 16

[0225] ​​The second driving wheel 3641 can move along the second support 322, and the elastic member 3642 is arranged on the stand 361 and abuts against the second driving wheel 3641 to apply an elastic force to the second driving wheel 3641 towards the second support 322. In this way, the elastic force of the elastic member 3642 can be used to keep the second driving wheel 3641 in close connection with the second support 322, so that the second support 322 can provide sufficient friction for the second driving wheel 3641 to avoid idling of the second driving wheel 3641.

[0226] For example, when the second driving wheel 3641 is arranged close to the first column 3611, the elastic member 3642 is arranged on the first column 3611. When the second driving wheel 3641 is arranged close to the second column 3612, the elastic member 3642 can be arranged on the second column 3612.

[0227] In some examples, the second driving assembly 364 further comprises a second connecting member 3643 located below the second support 322. One end of the second connecting member 3643 is connected to the stand 361, and the other end is used to connect the elastic member 3642 and the second driving wheel 3641.

[0228] For example, one end of the second connecting member 3643 can be connected to the first column 3611, and the other end can extend away from the second column 3612 towards the first column 3611, so that the second driving wheel 3641 is located at the end of the first column 3611 away from the second column 3612, to avoid affecting the movement of the pick-and-place mechanism 350 between the first column 3611 and the second column 3612.

[0229] It should be noted that the second connecting member 3643 can be a plate or a rod, and in the present embodiment, the second connecting member 3643 is not specifically limited.

[0230] Further, the movement mechanism 360 can further comprise a follower assembly 3644 comprising a follower wheel arranged on the second support 322. When the second driving assembly 364 is connected to the first column 3611, the follower assembly 3644 is connected to the second column 3612, and the second driving assembly 364 and the follower assembly 3644 are located on opposite sides of the first column 3611 and the second column 3612, respectively. When the second driving assembly 364 is connected to the second column 3612, the follower assembly 3644 is connected to the first column 3611, and the second driving assembly 364 and the follower assembly 3644 are located on opposite sides of the first column 3611 and the second column 3612, respectively. In this way, when the second driving assembly 364 drives one of the columns to move along the second support 322, the follower assembly 3644 can follow the second driving assembly 364 to drive the other column to move along the second support 322.

[0231] It should be noted that the follower assembly 3644 can also include the elastic member 3642 to maintain the close contact between the follower wheel and the second support member 322.

[0232] It can be understood that the cooperation between the second driving wheel 3641 and the second support member 322 can refer to the cooperation between the first driving wheel 3632 and the first support member 321, which will not be described here.

[0233] In combination with Figure 11 and Figure 15 As shown in FIGS. 31 and 32, in some examples, the storage system 300 can further include a first displacement sensor 381 and a second displacement sensor 382, and a control mechanism 383.

[0234] The first displacement sensor 381 is configured to detect the first movement stroke of the first driving assembly 363 and generate a first detection signal, and the second displacement sensor 382 is configured to detect the second movement stroke of the second driving assembly 364 and generate a second detection signal. In this way, the control mechanism 383 can determine whether the first movement stroke and the second movement stroke are consistent based on the first detection signal and the second detection signal. In the case where the first movement stroke and the second movement stroke are different, the operating parameters of at least one of the first driving assembly 363 and the second driving assembly 364 can be adjusted to keep the first movement stroke and the second movement stroke consistent, so that the stand 361 does not tilt, thereby ensuring the stability of the stand 361, and further ensuring that the pick-and-place mechanism 350 does not tilt, and the position stability of the pick-and-place mechanism 350 relative to the storage location 31a on the carrier 310 is ensured.

[0235] For example, the first displacement sensor 381 and the second displacement sensor 382 can start detection at the same time, and the initial positions at which the first displacement sensor 381 and the second displacement sensor 382 start detection both correspond to the same position of the first support member 321, so that the first driving assembly 363 and the second driving assembly 364 can move along the first support member 321 and the second support member 322, respectively, at the same time.

[0236] In some examples, at least one of the first displacement sensor 381 and the second displacement sensor 382 can include, but is not limited to, a Hall sensor, an ultrasonic sensor, a laser radar sensor, an encoder, a camera, and the like.

[0237] For example, the first displacement sensor 381 and the second displacement sensor 382 can be the same sensor or different sensors, which are not limited in the present embodiment.

[0238] In some examples, the control mechanism 383 can be a driving controller.

[0239] Optionally, the control mechanism 383 can keep the first movement stroke and the second movement stroke consistent by adjusting the rotation speed of the first driving wheel 3632 and / or the rotation speed of the second driving wheel 3641.

[0240] Alternatively, the control mechanism 383 can keep the first movement stroke and the second movement stroke consistent by adjusting the output power of the first driving member 3631 and / or the second driving wheel 3641.

[0241] In the embodiment, the operating parameters adjusted by the control mechanism 383 are not limited.

[0242] Please refer to Figure 15 In some examples, the movement mechanism 360 can further include a lifting driving assembly 362. The lifting driving assembly 362 includes a transmission belt 3621, a transmission shaft 3622 and a lifting driving member 3623. The transmission belt 3621 can be two, one of which is arranged on the first stand 3611 and the other of which is arranged on the second stand 3612. The two sides of the taking and placing mechanism 350 can be connected with one transmission belt 3621 respectively, so as to be lifted along the first stand 3611 and the second stand 3612 under the driving of the transmission belt 3621. The transmission shaft 3622 is connected with the two transmission belts 3621, and the lifting driving member 3623 can be connected with the first stand 3611 or the second stand 3612 and connected with the transmission shaft 3622, so that one lifting driving member 3623 drives the two transmission belts 3621 to move. In this way, the strokes of the two transmission belts 3621 can be kept synchronous, so as to avoid the taking and placing mechanism 350 from tilting during lifting and improve the operation stability of the taking and placing mechanism 350.

[0243] For example, if the connection between the taking and placing mechanism 350 and the transmission belt 3621 is invalid, the taking and placing mechanism 350 can be limited by the first limiting part 361b and the second limiting part 361c. If the connection between the taking and placing mechanism 350 and the transmission belt 3621 is not invalid, the taking and placing mechanism 350 can be located above the first limiting part 361b and the second limiting part 361c without contacting them.

[0244] In other embodiments, the taking and placing mechanism 350 itself can also be provided with a lifting motor, so as to realize the up and down crawling of the taking and placing mechanism 350 by using its own lifting motor, thereby not needing to be driven by the transmission belt 3621. It can be understood that the lifting power structure of the taking and placing mechanism 350 on the first stand 3611 and the second stand 3612 can be adjusted according to actual conditions, which is not limited in the embodiment.

[0245] Figure 17 is Figure 7 is an enlarged view of D in

[0246] In combination with Figure 9 and Figure 17As shown, in some examples, the moving mechanism 360 further comprises a driven assembly 391 connected to the stand 361 and movable along the third support 323. In this way, the middle part of the stand 361 can be moved along the third support 323, and through the limitation of the driven assembly 391, the bending deformation of the stand 361 can be avoided, so as to improve the stability of the stand 361 and the taking and placing mechanism 350.

[0247] In some examples, the warehouse system 300 further comprises a slide wire 392, the conductor 3921 of the slide wire 392 is arranged on the third support 323, the power receiver 3922 of the slide wire 392 is arranged on the stand 361 and electrically connected with the first driving assembly 363 and the second driving assembly 364, and the power receiver 3922 can contact the conductor 3921 when moving along the stand 361 along the first support 321, the second support 322 and the third support 323.

[0248] Through the arrangement of the slide wire 392, the number of cables is reduced, the load of the cables on the taking and placing device 330 is reduced, the influence of the cables on the service life of the taking and placing device 330 is reduced, and the stable operation of the taking and placing device 330 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 330.

[0249] In addition, the taking and placing device 330 is powered by the slide wire 392, the charging efficiency is high, the waiting time of the taking and placing device 330 is short, and other taking and placing devices 330 are not needed to be replaced, so as to save the number of taking and placing devices 330. In addition, compared with the related art of using a battery to power the taking and placing device 330, the embodiment of the present application powers the taking and placing device 330 by the slide wire 392, avoids the traffic congestion caused by the battery charging process in the related art, and improves the efficiency of the taking and placing device 330.

[0250] It should be noted that other embodiments of the present application will occur to those skilled in the art, having the benefit of the description and practice of the application disclosed herein. The present application is intended to embrace all such alterations, modifications, and variations which fall within the scope of the present application, including those which do not specifically appear in the above description and accompanying drawings. The true scope of the present application is set forth in the appended claims.

[0251] It should be understood that the present application is not limited to the precise construction that has been described above and shown in the accompanying drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the present application. The true scope of the present application is set forth in the appended claims.

Claims

1. A warehousing system characterized by, The warehouse system comprises: a carrier (310) formed with a storage location (31a); a support (320) arranged at least on one side of the carrier (310) and connected to and spaced apart from the ground; a taking and placing device (330) comprising a taking and placing mechanism (350) and a moving mechanism (360), the taking and placing mechanism (350) is movable on the moving mechanism (360), and the taking and placing mechanism (350) is configured to be controlled by a control instruction to move to a target storage location (31a) on the moving mechanism (360) and take or place a target article on the target storage location (31a); the moving mechanism (360) is movable along the support (320), and the moving mechanism (360) is configured to drive the taking and placing mechanism (350) to move to a storage location row where the target storage location (31a) is located under the control of a control instruction; an end of the moving mechanism (360) close to the ground is spaced apart from or forms a passage with the ground.

2. The warehousing system according to claim 1, characterized in that, Further comprising: at least one support column (370) arranged between the support (320) and the ground and connected to the support (320) and the ground; the support (320) and / or at least one support column (370) is connected to the carrier (310).

3. The warehouse system according to claim 2, wherein the support (320) corresponds to a horizontal beam (311) of the carrier (310); the support column (370) corresponds to a vertical beam (312) of the carrier (310); the warehouse system further comprises a first connecting member (314), one end of the first connecting member (314) is connected to the carrier (310), and the other end is connected to the support (320) and / or the support column (370).

4. The warehousing system according to claim 3, characterized in that, The support (320) comprises: a first support (321) spaced apart from the ground and connected to the support column (370); the moving mechanism (360) is movable along the first support (321); the first support (321) corresponds to a first horizontal beam (3111) of the carrier (310) closest to the ground; the storage location (31a) is located above the first horizontal beam (3111); the first horizontal beam (3111) is spaced apart from or forms a passage with the ground; one end of the first connecting member (314) is connected to the carrier (310), and the other end is connected to the first support (321) and / or the support column (370).

5. The warehousing system according to any one of claims 1-3, characterized in that, Further comprising: a transport device (340) configured to cooperate with the taking and placing device (330) to transfer the target article; the space or passage formed between the end of the moving mechanism (360) close to the ground and the ground is configured to be passed through by the transport device (340).

6. The warehouse system according to claim 5, wherein When the taking-and-placing mechanism (350) moves to the end of the moving mechanism (360) close to the ground, a gap or passage formed between the side of the taking-and-placing mechanism (350) close to the ground and the ground is configured to allow the transportation device (340) to pass through.

7. The warehouse system according to claim 5, wherein, A lane (N) is formed between two adjacent carriers (310); The transportation device (340) is configured to move along the extension direction of the lane (N) under the control of the control instruction.

8. The warehouse system according to claim 7, wherein, The transportation device (340) is further configured to move along the arrangement direction of the carriers (310) under the control of the control instruction.

9. The warehouse system according to claim 8, wherein, The transportation device (340) is further configured to pass through the gap or passage formed between the moving mechanism (360) and the ground when moving along the extension direction of the lane (N) or the arrangement direction of the carriers (310) under the control of the control instruction.

10. The warehouse system according to any one of claims 1-3, wherein, The support (320) comprises a first support (321) spaced apart from the ground and connected to the ground; The moving mechanism (360) comprises a stand (361) movable along the first support (321); The taking-and-placing mechanism (350) is movable along the stand (361); When the taking-and-placing mechanism (350) moves to the side of the stand (361) close to the ground along the height direction of the stand (361), the distance between the side of the taking-and-placing mechanism (350) close to the ground and the ground is less than the distance between the side of the stand (361) close to the ground and the ground.

11. The warehouse system according to claim 10, wherein, The distance between the end of the stand (361) close to the ground and the ground is greater than or equal to the distance between the side of the first support (321) close to the ground and the ground along the height direction of the stand (361).

12. The warehousing system of claim 10, wherein, The stand (361) comprises: A first column (3611) movable along the first support (321); A second column (3612) movable along the first support (321) and spaced apart from the first column (3611) along the extension direction of the first support (321); The first column (3611) and the second column (3612) have an opening (361a) therebetween; The taking-and-placing mechanism (350) is movably arranged between the first column (3611) and the second column (3612); When the taking-and-placing mechanism (350) moves along the first column (3611) and the second column (3612), the taking-and-placing mechanism (350) can pass through the opening (361a) and continue to move to the side close to the ground. When the taking-and-placing mechanism (350) moves to the side close to the ground through the opening (361a), the side of the taking-and-placing mechanism (350) close to the ground is at a distance from the ground that is less than the distance from the ground of the side of the first stand column (3611) and the second stand column (3612) close to the ground.

13. The warehouse system of claim 12, wherein, An end of the first stand column (3611) close to the ground is provided with a first limiting part (361b); An end of the second stand column (3612) close to the ground is provided with a second limiting part (361c); The first limiting part (361b) and the second limiting part (361c) are configured to limit the position of the taking-and-placing mechanism (350) on the first stand column (3611) and the second stand column (3612) to avoid the taking-and-placing mechanism (350) from slipping off the first stand column (3611) and the second stand column (3612).

14. The warehousing system of claim 12, wherein, The stand (361) further comprises a plurality of reinforcing beams (3613) connected to the first stand column (3611) and the second stand column (3612); The reinforcing beams (3613) are arranged at intervals along the height direction of the stand (361) and correspond to the horizontal beams (311) of the carriers (310) respectively.

15. The warehouse system of claim 14, wherein, The horizontal beams (311) of the carriers (310) are provided with marks (3112) configured to indicate whether the taking-and-placing mechanism (350) is aligned with the storage locations (31a); The reinforcing beams (3613) avoid the marks (3112) when corresponding to the horizontal beams (311).

16. The warehouse system of claim 10, wherein, The movement mechanism (360) further comprises a first driving assembly (363); The first driving assembly (363) is connected to the stand (361) and configured to drive the stand (361) to move along the first support (321).

17. The warehouse system of claim 16, wherein, The first driving assembly (363) is two; Along the extension direction of the first support (321), the two first driving assemblies (363) are located on the two sides of the stand (361) respectively; The movement mechanism (360) further comprises a connecting plate (365) connected to the side of the stand (361) close to the first support (321); The two first driving assemblies (363) are connected to the two ends of the connecting plate (365) respectively.

18. The warehousing system according to claim 17, characterized in that, The connecting plate (365) comprises: A connecting part (3651); Two mounting parts (3652) located at the two ends of the connecting part (3651) along the extension direction of the first support (321); One of the mounting parts (3652) is connected to the stand (361) and one of the first driving assemblies (363). Another mounting portion (3652) is connected to the stand (361) and another first driving assembly (363); Two mounting portions (3652) and the connecting portion (3651) form a taking and placing opening (3653); The taking and placing mechanism (350) is configured to take and place target articles on the article storage space (31a) through the taking and placing opening (3653).

19. The warehousing system according to claim 18, characterized in that, The first driving assembly (363) comprises: A first driving member (3631) is arranged on the side of the mounting portion (3652) away from the first support member (321); A first driving wheel (3632) is arranged on the side of the mounting portion (3652) facing the first support member (321) and is movable along the first support member (321); The first driving member (3631) is configured to drive the first driving wheel (3632) to move along the first support member (321).

20. The warehouse system of claim 19, wherein A groove is formed on one of the first rolling surface (363a) of the first driving wheel (3632) and the first support member (321), and the other of the first rolling surface (363a) of the first driving wheel (3632) and the first support member (321) is embedded into the groove so that the other moves along the groove relative to the one.

21. The warehouse system of claim 20, wherein The first support member (321) has the groove, and the first driving wheel (3632) is embedded into the groove; The first driving assembly (363) further comprises a first guide wheel (3633) connected to the side of the mounting portion (3652) facing the first support member (321); The first guide wheel (3633) is embedded into the groove, and the first guide wheel (3633) moves along the groove side wall (b) or bottom wall (a).

22. The warehouse system of claim 16, wherein The support member (320) further comprises a second support member (322) arranged above the first support member (321) along the height direction of the stand (361), and the second support member (322) is connected to the carrier (310); The stand (361) is movable along the second support member (322); The moving mechanism (360) further comprises a second driving assembly (364); The second driving assembly (364) is connected to the stand (361), and the second driving assembly (364) is configured to drive the stand (361) to move along the first support member (321) and the second support member (322) in cooperation with the first driving assembly under the control of a control instruction.

23. The warehousing system of claim 22, wherein, The second driving assembly (364) comprises: A second driving wheel (3641) is movable along the second support member (322); An elastic member (3642) is arranged on the stand (361) and abuts against the second driving wheel (3641) to apply an elastic force to the second driving wheel (3641) towards the second support member (322).

24. The warehousing system of claim 23, wherein, The warehouse system further comprises: A first displacement sensor (381) configured to detect a first movement stroke of the first driving assembly (363) and generate a first detection signal; A second displacement sensor (382) configured to detect a second movement stroke of the second driving assembly (364) and generate a second detection signal; A control mechanism (383) configured to determine whether the first movement stroke is consistent with the second movement stroke based on the first detection signal and the second detection signal; The control mechanism (383) is further configured to adjust a running parameter of at least one of the first driving assembly (363) and the second driving assembly (364) to keep the first movement stroke consistent with the second movement stroke when the first movement stroke is inconsistent with the second movement stroke.

25. The warehouse system of claim 22, wherein: The support member (320) further comprises at least one third support member (323) arranged spaced apart from the first support member (321) and the second support member (322) along a height direction of the stand (361); The movement mechanism (360) further comprises a driven assembly (391); The driven assembly (391) is connected to the stand (361) and movable along the third support member (323).

26. The warehousing system according to claim 25, characterized in that, The warehouse system further comprises a trolley line (392); A conductor (3921) of the trolley line (392) is arranged on the third support member (323); A power receiver (3922) of the trolley line (392) is arranged on the stand (361) and electrically connected to the first driving assembly (363) and the second driving assembly (364); The power receiver (3922) is configured to contact the conductor (3921) when the stand (361) moves along the support member (320).

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