Driving device, bearing device, warehousing equipment and warehousing system

Abstract

The embodiment of the utility model discloses a driving device, a bearing device, storage equipment and a storage system. The driving device provided by the embodiment of the utility model comprises two execution assemblies; the transmission assembly is connected with the two execution assemblies respectively; and the driving piece is connected with the transmission assembly so as to drive the execution assembly to operate synchronously through the transmission assembly. The driving device has the advantages of being simple in structure, low in manufacturing cost, good in synchronism and the like.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to the technical field of warehouse logistics, in particular, to a driving device, a carrying device having the driving device, a warehouse equipment and a warehouse system. BACKGROUND

[0002] The box taking device is arranged on two execution assemblies of the carrying device (for example, a portal frame). In the related art, two driving members are used to drive the two execution assemblies, and then the two execution assemblies drive the box taking device to move in the upward / downward direction or the horizontal direction. The related art has the defect of poor synchronization of the two execution assemblies. CONTENT OF THE UTILITY MODEL

[0003] Embodiments of the present disclosure aim to at least solve one of the technical problems in the related art. To this end, the present disclosure proposes a driving device, a carrying device, a warehouse equipment and a warehouse system.

[0004] The driving device of the present disclosure comprises two execution assemblies, a transmission assembly connected with the two execution assemblies respectively, and a driving member connected with the transmission assembly to drive the execution assemblies to run synchronously through the transmission assembly.

[0005] The driving device of the present disclosure has the advantages of simple structure, low manufacturing cost and good synchronization.

[0006] Optionally, the transmission assembly comprises a speed reducer, an input shaft of the speed reducer is connected with the driving member, and two output shafts of the speed reducer are respectively detachably connected with the two execution assemblies.

[0007] Optionally, the transmission assembly further comprises a transmission shaft, and at least one of the two execution assemblies is detachably connected with the output shaft of the speed reducer through the transmission shaft.

[0008] Optionally, each execution assembly comprises a first rotating member, a second rotating member and a first connecting member, the first rotating member and the second rotating member are arranged at intervals, the first connecting member is arranged around the first rotating member and the second rotating member, and the transmission assembly is connected with the first rotating member of each execution assembly.

[0009] The carrying device of the present disclosure comprises two carrying members arranged at intervals and a driving device, wherein the driving device is the driving device of the present disclosure, and two execution assemblies of the driving device are arranged on the two carrying members respectively.

[0010] The carrying device of the present disclosure has the advantages of simple structure, low manufacturing cost and good synchronization.

[0011] Optionally, the execution assembly is embedded in the bearing.

[0012] Optionally, the bearing device further comprises a limiting assembly, the limiting assembly is arranged on the first connecting piece of the execution assembly, and the limiting assembly is movably fitted in the first limiting slot and the second limiting slot.

[0013] Optionally, the limiting assembly comprises a limiting body, a first limiting piece and a second limiting piece, the limiting body is connected with the first connecting piece, the first limiting piece and the second limiting piece are arranged on the limiting body, the first limiting piece is movably fitted with the bottom wall surface of the first limiting slot, and the second limiting piece is movably fitted with the bottom wall surface of the second limiting slot, so as to limit in the first direction.

[0014] Optionally, the first limiting slot has two side wall surfaces opposite in a second direction, the second limiting slot has two side wall surfaces opposite in the second direction, the second direction forms a preset angle with the first direction, the limiting assembly comprises a limiting body, a third limiting piece and a fourth limiting piece, the limiting body is connected with the first connecting piece, the third limiting piece and the fourth limiting piece are arranged on the limiting body, the third limiting piece is movably fitted with the two side wall surfaces of the first limiting slot, and the fourth limiting piece is movably fitted with the two side wall surfaces of the second limiting slot, so as to limit in the second direction.

[0015] Optionally, the limiting body comprises a bearing part, a first mounting part and a second mounting part, the first mounting part and the second mounting part are connected with the bearing part and are spaced apart from each other along the first direction, and the execution assembly is located between the first mounting part and the second mounting part, wherein the first limiting piece is arranged on the first mounting part, and the second limiting piece is arranged on the second mounting part.

[0016] Optionally, the bearing device further comprises a bearing seat, the bearing seat is arranged on the bearing, and the first rotating piece of the execution assembly is rotatably arranged on the bearing seat.

[0017] Optionally, the bearing seat comprises a seat body, the first rotating piece is rotatably arranged on the seat body, and a first limiting protrusion and a second limiting protrusion are arranged on the seat body, the first limiting protrusion extends into the first limiting slot and is fitted with one side wall surface of the first limiting slot, and the second limiting protrusion extends into the second limiting slot and is fitted with one side wall surface of the second limiting slot.

[0018] Optionally, the carrier is provided with a positioning groove having two side wall surfaces opposite in the first direction, and the bearing seat is provided with a positioning portion fitted in the positioning groove.

[0019] Optionally, the carrier extends in a third direction, and the carrier is provided with a reinforcing member.

[0020] The warehouse equipment of the embodiment of the present disclosure comprises: a carrier device, which is the carrier device of the embodiment of the present disclosure; and a taking and placing device, which is movably arranged between adjacent carriers of the carrier device.

[0021] The warehouse equipment of the embodiment of the present disclosure has the advantages of simple structure, low manufacturing cost and good synchronization.

[0022] The warehouse system of the embodiment of the present disclosure comprises: a carrier; and a first warehouse equipment, which is the warehouse equipment of the embodiment of the present disclosure, and is configured to drive the taking and placing device to move relative to the carrier device according to a carrying instruction, so as to obtain a target object from the carrier or carry the target object to the carrier.

[0023] The warehouse system of the embodiment of the present disclosure has the advantages of simple structure, low manufacturing cost and good synchronization.

[0024] Optionally, the warehouse equipment is configured to drive the taking and placing device to move relative to the carrier device according to a carrying instruction, so as to obtain a target object from the carrier and carry the target object to a specified position, or obtain a target object from a specified position and carry the target object to the carrier.

[0025] Optionally, the warehouse system further comprises a management system, the warehouse equipment is in communication connection with the management system, and the management system is configured to send a carrying instruction to the warehouse equipment, and the warehouse equipment is configured to drive the taking and placing device to move according to the carrying instruction.

[0026] Optionally, the carrier comprises a goods shelf, and the warehouse equipment is configured to drive the taking and placing device to move according to a carrying instruction, so as to obtain a target object from the goods shelf or carry the obtained target object to the goods shelf.

[0027] Optionally, the carrier comprises a bin robot, and the warehouse equipment is configured to drive the taking and placing device to move according to a carrying instruction, so as to obtain a target object from the bin robot or carry the obtained target object to the bin robot.

[0028] Optionally, the carrier includes a first rack and a second rack, and the storage device is configured to drive the pick-and-place device to move according to the carrying instruction to obtain a target object located in at least one of the first rack and the second rack, or carry the obtained target object to at least one of the first rack and the second rack, or carry a target object of one of the first rack and the second rack to the other of the first rack and the second rack.

[0029] Optionally, the carrier includes a sorting device, and the storage device is configured to drive the pick-and-place device to move according to the carrying instruction to obtain a target object from the sorting device or carry the obtained target object to the sorting device.

[0030] Optionally, the carrier is multiple, and the storage device is configured to drive the pick-and-place device to move according to the carrying instruction to carry a target object located in at least one carrier to at least another carrier or a designated location, or carry a target object located in a designated location to at least one carrier, wherein the multiple carriers include one or more of a rack, a bin robot, a seeding wall, and a sorting device.

[0031] Optionally, the storage system further includes a first storage device configured to carry the carrier to a working area of the storage device, and the storage device is configured to obtain a target object from or place a target object on the carrier carried by the first storage device to the working area of the storage device; or the storage device is configured to obtain a target object from or place a target object on the carrier, and the first storage device is configured to move away from the carrier from the working area of the storage device.

[0032] Optionally, the storage system further includes a multi-layer platform and a first storage device, the multi-layer platform is spaced apart along the height direction, and at least one carrier is arranged on each layer of the platform, and the first storage device is configured to carry a target object or a carrier with a target object to a working area of the storage device, and the storage device is configured to obtain the target object and carry the target object to a designated location.

[0033] Optionally, the storage system further includes a multi-layer platform and a first storage device, the multi-layer platform is spaced apart along the height direction, and at least one first storage device is arranged on each layer of the platform, and each layer of the platform corresponds to at least one carrier.

[0034] The storage device is configured to carry the target object to the platform of the corresponding layer and deliver it to the first storage device, and the first storage device is configured to carry the target object obtained from the storage device to the carrier on the platform of the corresponding layer; or, the first storage device is configured to carry the target object obtained from the storage device to the carrier on the platform of the corresponding layer, and the storage device is configured to carry the carrier to the designated position.

[0035] Optionally, the storage system further comprises a workstation, an inventory area, and a storage device, the inventory area and the storage device being located at the workstation, and the storage device being configured to carry the carrier containing the target object to the working area of the storage device and / or carry the carrier from the working station to the inventory area.

[0036] Optionally, the storage device is configured to drive the taking and placing device to move in the second direction and / or in the third direction to the position of the target container of the carrier, drive the taking and placing device to move at least in the first direction to obtain the target container from the carrier and guide the target container into the containing space of the taking and placing device.

[0037] Optionally, the storage device is configured to contain the target container in the containing space of the taking and placing device, drive the taking and placing device to move in the second direction and / or in the third direction to the designated placement position of the carrier, and drive the taking and placing device to move at least in the first direction to place the target container at the designated placement position of the carrier.

[0038] Optionally, the storage device is configured to contain the target container in the containing space of the taking and placing device, drive the taking and placing device to move in the second direction and / or in the third direction to the working position of the workstation, and drive the taking and placing device to move at least in the first direction to place the target container at the working position of the workstation. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 is a structural schematic diagram of a storage device according to an embodiment of the present disclosure;

[0040] Figure 2 is a partial structural schematic diagram of a carrying device according to an embodiment of the present disclosure;

[0041] Figure 3 is a partial structural schematic diagram of a carrying device according to an embodiment of the present disclosure;

[0042] Figure 4 is a partial structural schematic diagram of a carrying device according to an embodiment of the present disclosure;

[0043] Figure 5is a structural schematic view of a bearing of a bearing device according to an embodiment of the present disclosure;

[0044] Figure 6 is a partial structural schematic view of a bearing of a bearing device according to an embodiment of the present disclosure;

[0045] Figure 7 is a structural schematic view of a bearing seat of a bearing device according to an embodiment of the present disclosure;

[0046] Figure 8 is a structural schematic view of a bearing seat of a bearing device according to an embodiment of the present disclosure;

[0047] Figure 9 is a partial structural schematic view of a bearing device according to an embodiment of the present disclosure;

[0048] Figure 10 is a partial structural schematic view of a bearing device according to an embodiment of the present disclosure;

[0049] Figure 11 is a partial structural schematic view of a bearing device according to an embodiment of the present disclosure;

[0050] Figure 12 is a structural schematic view of a warehouse system according to an embodiment of the present disclosure;

[0051] Figure 13 is a structural schematic view of a taking and placing device according to an embodiment of the present disclosure;

[0052] Figure 14 is a structural schematic view of a taking and placing device according to an embodiment of the present disclosure;

[0053] Figure 15 is a partial structural schematic view of a taking and placing device according to an embodiment of the present disclosure;

[0054] Figure 16 is a partial structural schematic view of a taking and placing device according to an embodiment of the present disclosure.

[0055] Figure 17 is a side view of a workbench according to an embodiment of the present disclosure;

[0056] Figure 18 is a partial enlarged view of a workbench according to an embodiment of the present disclosure;

[0057] Figure 19 is a partial structural schematic view of a workbench according to an embodiment of the present disclosure;

[0058] Figure 20 is a side view of a workbench according to an embodiment of the present disclosure;

[0059] Figure 21is a partial enlarged view of the workbench according to an embodiment of the present disclosure;

[0060] Figure 22 is a partial structural schematic view of the workbench according to an embodiment of the present disclosure;

[0061] Figure 23 is a top view of the workbench according to an embodiment of the present disclosure;

[0062] Figure 24 is a front view of the workbench according to an embodiment of the present disclosure;

[0063] Figure 25 is a structural schematic view of a warehouse system according to an embodiment of the present disclosure;

[0064] Figure 26 is a structural schematic view of a warehouse system according to an embodiment of the present disclosure;

[0065] Figure 27 is a structural schematic view of a warehouse system according to an embodiment of the present disclosure;

[0066] Figure 28 is a structural schematic view of a warehouse system according to an embodiment of the present disclosure;

[0067] Figure 29 is a perspective view of a warehouse device according to an embodiment of the present disclosure;

[0068] Figure 30 is Figure 29 is a partial enlarged view at D;

[0069] Figure 31 is Figure 29 is a partial enlarged view at E;

[0070] Figure 32 is a front view of the warehouse device from another perspective according to an embodiment of the present disclosure;

[0071] Figure 33 is a front view of the warehouse device according to an embodiment of the present disclosure;

[0072] Figure 34 is a left view of the warehouse device according to an embodiment of the present disclosure;

[0073] Figure 35 is a top view of the warehouse device according to an embodiment of the present disclosure;

[0074] Figure 36 is a front view of the warehouse device according to another embodiment of the present disclosure;

[0075] Figure 37 is a front view of the warehouse device according to yet another embodiment of the present disclosure;

[0076] Figure 38 This is a front view of a storage facility according to another embodiment of the present disclosure;

[0077] Figure 39 This is a perspective view of a warehousing system according to another embodiment of the present disclosure;

[0078] Figure 40 This is a right view of a warehousing system according to another embodiment of the present disclosure;

[0079] Figure 41 This is a perspective view of a warehousing system according to an embodiment of the present disclosure;

[0080] Figure 42 This is a perspective view of a warehousing system according to an embodiment of the present disclosure from another angle;

[0081] Figure 43 This is a left view of a warehousing system according to an embodiment of the present disclosure;

[0082] Figure 44 This is a top view of a warehousing system according to an embodiment of the present disclosure;

[0083] Figure 45 This is a perspective view of a warehousing system according to another embodiment of the present disclosure;

[0084] Figure 46 This is a left view of a warehousing system according to another embodiment of the present disclosure. Detailed Implementation

[0085] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0086] The driving device 10 according to an embodiment of the present disclosure is described below with reference to the accompanying drawings. Figures 1-11 As shown, the drive device 10 according to an embodiment of this disclosure includes two actuation components 13, a transmission component 18, and a drive member 15. The transmission component 18 is connected to the two actuation components 13 respectively. The drive member 15 is connected to the transmission component 18 to drive the actuation components 13 to operate synchronously via the transmission component 18.

[0087] According to the embodiments of the present disclosure, the drive device 10 drives two execution components 13 simultaneously by using a drive member 15 to drive the two execution components 13. This simplifies the structure of the drive device 10, reduces the manufacturing cost of the drive device 10, and improves the synchronization of the two execution components 13.

[0088] Therefore, the driving device 10 according to the embodiment of the present disclosure has the advantages of simple structure, low manufacturing cost, good synchronization, and the like.

[0089] As shown in Figures 1-28 , the warehouse equipment 100 according to the embodiment of the present disclosure comprises the carrying device 1 and the taking and placing device 2.

[0090] The carrying device 1 comprises at least two carrying members 11, and the carrying members 11 are arranged at intervals along a second direction. For example, the carrying members 11 are arranged side by side along the second direction. The second direction is at a preset angle with the first direction, for example, the second direction is orthogonal to the first direction.

[0091] Optionally, the taking and placing device 2 can be multiple, and the multiple taking and placing devices 2 are arranged between the adjacent two carrying members 11 and arranged along a third direction. In this way, the warehouse equipment 100 can realize multiple taking and placing to improve work efficiency.

[0092] The carrying members 11 are at least three, and one taking and placing device 2 or multiple taking and placing devices 2 arranged along the third direction is arranged between the adjacent two carrying members 11. In this way, the warehouse equipment 100 can realize multiple platforms and multiple taking and placing to improve work efficiency.

[0093] The carrying device 1 further comprises an execution assembly 13, a transmission assembly 18, and a driving member 15. The execution assembly 13 is arranged on the carrying member 11. The transmission assembly 18 is connected with the two execution assemblies 13 on the adjacent two carrying members 11 respectively.

[0094] The adjacent two execution assemblies 13 can be driven by the driving member 15 or different driving members 15. The different driving members 15 are connected with the transmission assembly 18 respectively to drive the two execution assemblies 13 to operate respectively through the transmission assembly 18, and the structure is stable and has no transmission error. The driving member 15 is connected with the transmission assembly 18 to drive the two execution assemblies 13 to operate synchronously through the transmission assembly 18. By driving the two execution assemblies 13 on the adjacent two carrying members 11 to operate synchronously through the driving member 15, the structure of the carrying device 1 and the warehouse equipment 100 can be simplified, the manufacturing cost of the carrying device 1 and the warehouse equipment 100 can be reduced, and the synchronization of the two execution assemblies 13 on the adjacent two carrying members 11 can be improved.

[0095] As shown in Figure 3 , the transmission assembly 18 comprises a speed reducer 181 and a transmission shaft 182. The speed reducer 181 has an input shaft and an output shaft, and the input shaft of the speed reducer 181 is connected with the driving member 15. The two execution assemblies are detachably connected with the output shaft of the speed reducer 181 respectively. At least one of the two execution assemblies is detachably connected with the output shaft of the speed reducer 181 through the transmission shaft 182.

[0096] The input shaft of the speed reducer 181 is connected with the driving shaft of the driving member 15, and the output shaft of the speed reducer 181 extends along the second direction. The output shaft of the speed reducer 181 is connected with two execution assemblies 13 on two adjacent bearing members 11. Thus, the two execution assemblies 13 on the two adjacent bearing members 11 can be controlled more accurately, and the displacement of the pick-and-place device 2 in the third direction can be controlled more accurately.

[0097] Optionally, the driving member 15 comprises a motor. The rotation axis of the driving member 15 extends along the third direction or the first direction, and the first direction, the second direction and the third direction are perpendicular to each other. For example, the first direction is as shown by the arrow A in Figure 1 、 Figure 4 、 Figure 5 、 Figure 9 、 Figure 12 、 Figure 17 and Figure 23 , the second direction is as shown by the arrow C in Figure 2 、 Figure 3 、 Figure 14 、 Figure 23 and Figure 24 , and the third direction is as shown by the arrow B in Figures 1-3 、 Figure 12 and Figure 17 .

[0098] As shown in Figure 2 and Figure 3 , the execution assembly 13 further comprises a shaft 133 connected with the first rotating member 132 of the execution assembly 13. The first end of the shaft 133 is detachably connected with the first end of the output shaft of the speed reducer 181. Thus, the transmission assembly 18 and different execution assemblies 13 can constitute relatively independent module units, so that the transmission assembly 18 and different execution assemblies 13 can be not only connected together, but also at least one of the transmission assembly 18 and different execution assemblies 13 can be disassembled, transported, replaced, etc.

[0099] Optionally, the transmission shaft 182 extends along the second direction. The first end of the transmission shaft 182 is detachably connected with the first end of the output shaft of the speed reducer 181, and the second end of the transmission shaft 182 is detachably connected with the first end of the shaft 133 of one execution assembly 13. By arranging the transmission shaft 182 connected with the speed reducer 181 and the shaft 133 of one execution assembly 13, the length of the shaft 133 of the one execution assembly 13 can be reduced, so that the execution assembly 13 can be more convenient for transportation, disassembly, replacement, etc.

[0100] Specifically, by connecting the shaft 133 of the one execution assembly 13 to the reducer 181 through the transmission shaft 182, not only the length of the shaft 133 of the one execution assembly 13 can be reduced, but also the reducer 181 can be arranged away from the shaft 133 of the one execution assembly 13 and close to the shaft 133 of the other execution assembly 13, thereby reducing the length of the shaft 133 of the other execution assembly 13.

[0101] As shown in Figure 2 and Figure 3 , a first end of the transmission shaft 182 is detachably connected to a first end of an output shaft of the reducer 181 through a coupling 1343 (e.g., a plum coupling), and a second end of the transmission shaft 182 is detachably connected to a first end of the shaft 133 of the one execution assembly 13 through a coupling 1344 (e.g., a plum coupling). A first end of the shaft 133 of the other execution assembly 13 is detachably connected to a second end of the output shaft of the reducer 181 through a coupling 1345 (e.g., a plum coupling).

[0102] Optionally, the driving shaft of the driving member 15 extends in the second direction. In this way, the transmission assembly 18 and the driving member 15 can be more compact and occupy less space.

[0103] As shown in Figure 2 and Figure 3 , the frame body includes a connecting beam 161 and a plurality of third bearing seats 162. The connecting beam 161 extends in the second direction, and the connecting beam 161 is connected to each of the adjacent two load carriers 11. The reducer 181 is arranged on the connecting beam 161, so as to more stably and easily install the reducer 181 and the driving member 15.

[0104] The plurality of bearing seats 162 are arranged on the connecting beam 161 and spaced apart in the second direction, and each bearing seat 162 is provided with a bearing, and the transmission shaft 182 is rotatably supported by the plurality of bearings. In this way, the transmission shaft 182 can be more stably installed, and the transmission shaft 182 can more stably transmit power.

[0105] As shown in Figure 9-11 , Figures 4-6 and Figure 9 , the execution assembly 13 includes a first rotating member 132, a second rotating member 134, and a first connecting member 131. The first rotating member 132 and the second rotating member 134 are arranged on the load carrier 11 and rotatable relative to the load carrier 11 in the third direction, and the driving member is connected to the first rotating member 132. The first connecting member 131 is arranged around the first rotating member 132 and the second rotating member 134, and the first connecting member 131 is connected to the pick-and-place platform 28. The execution assembly 13 is configured to drive the pick-and-place platform 28 to move in the third direction.

[0106] Optionally, the execution assembly 13 is embedded in the carrier 11. In this way, the structure of the execution assembly 13 and the carrier 11 can be more compact, and the space occupied by the execution assembly 13 and the carrier 11 can be reduced, thereby reducing the space occupied by the carrier device 1.

[0107] The first connecting member 131 is configured as a belt, and the first rotating member 132 and the second rotating member 134 are both configured as pulleys. Alternatively, the first connecting member 131 is configured as a chain, and the first rotating member 132 and the second rotating member 134 are both configured as sprockets.

[0108] Optionally, the driving member 15 and the transmission assembly 18 are adjacent to the upper end of the execution assembly 13 in the up-down direction. That is, the driving member 15 and the transmission assembly 18 are adjacent to the upper end of the carrier 11 in the up-down direction. In this way, the driving member (the first rotating member 132) of the execution assembly 131 is located above, so that the gravity of the taking and placing device 2 can be used to provide tension to the first connecting member 131.

[0109] If the second rotating member 134 of the execution assembly 13 is the driving member, the first connecting member 131 needs to be applied with upward tension, and the gravity of the taking and placing device 2 will counteract the tension of the first connecting member 131. Therefore, a larger tension needs to be applied to the first connecting member 131.

[0110] By making the first rotating member 132 of the execution assembly 13 the driving member, the tension on the first connecting member 131 can be effectively reduced. In this way, not only the service life of the first connecting member 131 can be prolonged, but also the width of the first connecting member 131 can be reduced, so as to reduce the volume and the occupied space of the execution assembly 13, and reduce the manufacturing cost of the execution assembly 13.

[0111] As shown in Figure 1 and Figure 1 The carrier 11 has a first limiting slot 115 and a second limiting slot 116, and the opening 1153 of the first limiting slot 115 and the opening 1163 of the second limiting slot 116 are oppositely open in the first direction.

[0112] In order to make the technical solutions of the present application easier to be understood, the technical solutions of the present application are described below by taking the first direction as the front-back direction. The first limiting slot 115 is located in front of the second limiting slot 116, the opening 1153 of the first limiting slot 115 is open toward the rear, and the opening 1163 of the second limiting slot 116 is open toward the front.

[0113] For example, the second direction is the left-right direction, and the third direction is the up-down direction. The first direction is shown by the arrow A in Figure 1 , the second direction is shown by the arrow B in Figures 9-11 , and the third direction is shown by the arrow C in Figures 9-11As shown by arrow C in the diagram.

[0114] like Figures 9-11 As shown, the supporting device 1 also includes a limiting component 14, which is disposed on the first connecting member 131. The pick-and-place platform 28 is connected to at least one of the limiting component 14 and the first connecting member 131. The limiting component 14 is movably fitted within the first limiting groove 115 and the second limiting groove 116. By providing the first limiting groove 115 and the second limiting groove 116 with relatively open openings, the limiting component 14 can be positioned inside the supporting device 1. This reduces the space occupied by the limiting component 14 in the first direction, thereby reducing the space occupied by the supporting device 1 in the first direction.

[0115] like Figures 4-6 As shown, the limiting assembly 14 includes a limiting body 141, a first limiting member 142, and a second limiting member 143. The limiting body 141 is connected to the first connecting member 131 so that the limiting body 141 can move under the action of the first connecting member 131. The first limiting member 142 and the second limiting member 143 are disposed on the limiting body 141. The first limiting member 142 is movably engaged with the bottom wall surface of the first limiting groove 115, and the second limiting member 143 is movably engaged with the bottom wall surface of the second limiting groove 116 to limit movement in a first direction. This makes the structure of the limiting assembly 14 more reasonable.

[0116] like Figures 9-11 As shown, the first limiting member 142 is configured as a first roller, and the first limiting member 142 can roll against the bottom wall surface of the first limiting groove 115. The second limiting member 143 is configured as a second roller, and the second limiting member 143 can roll against the bottom wall surface of the second limiting groove 116. This makes the structure of the limiting assembly 14 simpler and more reasonable.

[0117] Alternatively, a first slide rail is provided on the bottom wall of the first limiting groove 115, and the first limiting member 142 has a first sliding groove that mates with the first slide rail. A second slide rail is provided on the bottom wall of the second limiting groove 116, and the second limiting member 143 has a second sliding groove that mates with the second slide rail. This makes the structure of the limiting assembly 14 simpler and more reasonable.

[0118] like Figures 9-11 as well as Figures 4-6 As shown, the first limiting groove 115 has two opposite sidewalls in the second direction, and the second limiting groove 116 has two opposite sidewalls in the second direction, with the second direction forming a preset angle with the first direction. The limiting assembly 14 includes a limiting body 141, a third limiting member 144, and a fourth limiting member 145.

[0119] The limiting body 141 is connected with the first connecting member 131, so that the limiting body 141 moves under the driving of the first connecting member 131. The third limiting member 144 and the fourth limiting member 145 are arranged on the limiting body 141, the third limiting member 144 is movably matched with the two side wall surfaces of the first limiting slot 115, and the fourth limiting member 145 is movably matched with the two side wall surfaces of the second limiting slot 116, so as to limit in the second direction.

[0120] Thus, the third limiting member 144 and the fourth limiting member 145 can limit in the second direction, so that the limiting body 141 moves more accurately and stably along with the first connecting member 131, thereby making the taking and placing device 2 move more accurately and stably along with the execution assembly 13 up and down.

[0121] As shown in Figure 9 , the third limiting member 144 is configured as a third roller, and the third limiting member 144 is rollably abutted against the two side wall surfaces of the first limiting slot 115, and the fourth limiting member 145 is configured as a fourth roller, and the fourth limiting member 145 is rollably abutbed against the two side wall surfaces of the second limiting slot 116. Thus, the structure of the limiting assembly 14 can be more simple and reasonable.

[0122] Alternatively, the two side wall surfaces of the first limiting slot 115 are provided with third sliding rails, the third limiting member 144 has third sliding grooves matched with the third sliding rails, the two side wall surfaces of the second limiting slot 116 are provided with fourth sliding rails, and the fourth limiting member 145 has fourth sliding grooves matched with the fourth sliding rails. Thus, the structure of the limiting assembly 14 can be more simple and reasonable.

[0123] Optionally, as shown in Figures 9-11 and Figures 9-11 , the first limiting slot 115 has a first side wall surface 1151 and a second side wall surface 1152 opposite in the second direction, and the second limiting slot 116 has a third side wall surface 1161 and a fourth side wall surface 1162 opposite in the second direction. The third limiting member 144 is movably abutted against the first side wall surface 1151 and the second side wall surface 1152, and the fourth limiting member 145 is movably abutted against the third side wall surface 1161 and the fourth side wall surface 1162.

[0124] As shown in Figure 10As shown, the limiting body 141 comprises a bearing portion 1414, a first mounting portion 1411 and a second mounting portion 1412, and the taking-and-placing platform 28 is arranged on the bearing portion 1414. The first mounting portion 1411 and the second mounting portion 1412 are connected with the bearing portion 1414. The first mounting portion 1411 and the second mounting portion 1412 are spaced apart from each other along the first direction. The execution assembly 13 is located between the first mounting portion 1411 and the second mounting portion 1412 along the first direction. The first limiting piece 142 is arranged on the first mounting portion 1411, and the second limiting piece 143 is arranged on the second mounting portion 1412. In this way, the structure of the limiting body 141 and the limiting assembly 14 can be more reasonable, and the structure of the limiting assembly 14 and the execution assembly 13 can be more compact.

[0125] Optionally, the third limiting piece 144 is arranged on the first mounting portion 1411, and the fourth limiting piece 145 is arranged on the second mounting portion 1412. In this way, the structure of the limiting assembly 14 can be more reasonable.

[0126] As shown in Figure 11 , the first connecting piece 131 is located between the first mounting portion 1411 and the second mounting portion 1412 along the first direction, and the first limiting groove 115, the second limiting groove 116, the first connecting piece 131, the first mounting portion 1411 and the second mounting portion 1412 are arranged opposite to each other along the first direction. In this way, the structure of the bearing device 1 can be more reasonable.

[0127] As shown in Figures 9-11 and Figures 9-11 , the limiting body 141 further comprises a connecting portion 1413, and the connecting portion 1413 is connected with each of the first mounting portion 1411 and the second mounting portion 1412. The bearing portion 1414 is arranged on the connecting portion 1413. In this way, the structure of the limiting body 141 and the limiting assembly 14 can be more reasonable, and it is more convenient to install the taking-and-placing platform 28 (the taking-and-placing device 2).

[0128] As shown in Figure 10 , the first mounting portion 1411, the second mounting portion 1412, the connecting portion 1413 and the bearing portion 1414 are all plate-shaped. The first connecting piece 131 can be a belt (for example, a synchronous belt), and the thickness direction of each of the first connecting piece 131, the first mounting portion 1411 and the second mounting portion 1412 is consistent with the first direction. The thickness direction of the connecting portion 1413 is consistent with the second direction. The thickness direction of the bearing portion 1414 is perpendicular to the first direction and the second direction, for example, the thickness direction of the bearing portion 1414 is consistent with the third direction. In this way, the structure of the limiting assembly 14 and the bearing device 1 can be more reasonable.

[0129] For example, the thickness direction of the bearing portion 1414 is consistent with the up-down direction. The first connecting piece 131, the first mounting portion 1411, and the second mounting portion 1412 are parallel to each other, and the first connecting piece 131 (the first mounting portion 1411, the second mounting portion 1412), the connecting portion 1413, and the bearing portion 1414 are perpendicular to each other.

[0130] As shown in Figure 11 , the first limiting groove 115, the second limiting groove 116, and the execution assembly 13 are arranged opposite to each other in the first direction, so that the first limiting piece 142, the second limiting piece 143, and the execution assembly 13 are arranged opposite to each other in the first direction. Thus, the structure of the bearing device 1 can be more reasonable.

[0131] As shown in Figure 4 and Figure 7 , the bearing device 1 comprises an adjusting assembly 12, and the adjusting assembly 12 comprises a fixed connecting piece 121, a moving connecting piece 122, and a threaded piece 123. Each of the fixed connecting piece 121 and the moving connecting piece 122 is connected with the first connecting piece 131, and the fixed connecting piece 121 is arranged on the bearing piece 11, and the moving connecting piece 122 is movably arranged on the bearing piece 11 in the up-down direction, i.e., the fixed connecting piece 121 cannot move in the up-down direction.

[0132] The threaded piece 123 is rotatably arranged on the bearing piece 11, and the threaded piece 123 extends in the up-down direction. The moving connecting piece 122 is provided with a threaded hole, and a portion of the threaded piece 123 is threadedly fitted in the threaded hole. Thus, by rotating the threaded piece 123, the moving connecting piece 122 can be moved in the up-down direction, so as to change the tension of the first connecting piece 131.

[0133] As shown in Figure 8 , Figure 6 and Figures 4-6 , the bearing device 1 further comprises a bearing seat 136, and the bearing seat 136 is arranged on the bearing piece 11, and the first rotating piece 132 is rotatably arranged on the bearing seat 136. Thus, the first rotating piece 132 can be more stably installed on the bearing piece 11.

[0134] The bearing seat 136 comprises a seat body 1361, a first limiting protrusion 1363, and a second limiting protrusion 1364, and the first rotating piece 132 is rotatably arranged on the seat body 1361. The first limiting protrusion 1363 and the second limiting protrusion 1364 are arranged on the seat body 1361. The first limiting protrusion 1363 extends into the first limiting groove 115, and the first limiting protrusion 1363 is in contact with one side wall surface of the first limiting groove 115. The second limiting protrusion 1364 extends into the second limiting groove 116, and the second limiting protrusion 1364 is in contact with one side wall surface of the second limiting groove 116.

[0135] For example, the first limiting protrusion 1363 is in abutment with the first side wall surface 1151 of the first limiting groove 115, and the second limiting protrusion 1364 is in abutment with the third side wall surface 1161 of the second limiting groove 116. In this way, the bearing seat 136 can be more accurately and stably installed, and the first rotating member 132 and the shaft 133 thereof can be more accurately installed, thereby improving the coaxiality of the shaft 133 and the transmission shaft 182.

[0136] As shown in Figure 9 , the carrier 11 is provided with a positioning groove 11851 having two side wall surfaces opposite in the first direction, and the bearing seat is provided with a positioning portion 1365 fitted in the positioning groove 11851. In this way, the positioning groove 11851 can be used to limit the bearing seat 136 in the first direction, so that the structure of the carrier device 1 can be more reasonable, and the bearing seat 136 can be more accurately and stably installed.

[0137] Optionally, the carrier 11 extends along the third direction, and the carrier 11 is provided with a reinforcing member. In this way, the structure of the carrier 11 and the carrier device 1 can be more stable, so that the pick-and-place device 2 can be better supported.

[0138] In one example of the embodiments of the present disclosure, the first limiting groove 115 and the second limiting groove 116 both extend in the horizontal direction, and the limiting body 141 is movably arranged in the horizontal direction. That is, the execution assembly 13 can drive the limiting body 141 to move in the horizontal direction, the first limiting member 142 is movably fitted in the first limiting groove 115 in the horizontal direction, and the second limiting member 143 is movably fitted in the second limiting groove 116 in the horizontal direction.

[0139] In another example of the embodiments of the present disclosure, the first limiting groove 115 and the second limiting groove 116 both extend in the up-down direction, and the limiting body 141 is movably arranged in the up-down direction. That is, the execution assembly 13 can drive the limiting body 141 to move in the up-down direction, the first limiting member 142 is movably fitted in the first limiting groove 115 in the up-down direction, and the second limiting member 143 is movably fitted in the second limiting groove 116 in the up-down direction. Optionally, the carrier device 1 can be a portal, and the carrier 11 includes a column.

[0140] As shown in Figure 4 and Figures 4-6 , the carrier 11 of the carrier device 1 includes a first portion 1171, a second portion 1172, a first limiting plate 1181, a second limiting plate 1182, a third limiting plate 1183, and a fourth limiting plate 1184. The first portion 1171 and the second portion 1172 are oppositely and spacedly arranged in the first direction.

[0141] A first limiting plate 1181 and a second limiting plate 1182 are disposed at a distance from each other along a second direction in the first portion 1171, and a first limiting groove 115 is defined between the first portion 1171, the first limiting plate 1181, and the second limiting plate 1182. A third limiting plate 1183 and a fourth limiting plate 1184 are disposed at a distance from each other along a second direction in the second portion 1172, and a second limiting groove 116 is defined between the second portion 1172, the third limiting plate 1183, and the fourth limiting plate 1184.

[0142] The first limiting protrusion 1363 extends into the first limiting groove 115 and cooperates with the first limiting plate 1181 so that the first limiting plate 1181 can limit the first limiting protrusion 1363 (bearing housing 136) in the second direction. The second limiting protrusion 1364 extends into the second limiting groove 116 and cooperates with the third limiting plate 1183 so that the third limiting plate 1183 can limit the second limiting protrusion 1364 (bearing housing 136) in the second direction.

[0143] Therefore, the first limiting plate 1181 and the third limiting plate 1183 can not only cooperate with the limiting component 14, but also with the bearing seat 136, thereby making the structure of the carrier 11 simpler and the manufacturing cost lower. In other words, the carrier 11 does not need to be designed with different structures for cooperating with the limiting component 14 and the bearing seat 136 respectively.

[0144] like Figure 9 As shown, the seat 1361 is located between the second limiting plate 1182 and the fourth limiting plate 1184 in the first direction, and the seat 1361 cooperates with the second limiting plate 1182 and the fourth limiting plate 1184. Thus, the second limiting plate 1182 and the fourth limiting plate 1184 can limit the seat 1361 (bearing seat 136) in the first direction, thereby allowing for more precise and stable installation of the bearing seat 136, and consequently, more precise installation of the first rotating member 132 and its shaft 133, improving the coaxiality of the shaft 133 and the transmission shaft 182.

[0145] Furthermore, the second limiting plate 1182 and the fourth limiting plate 1184 can not only cooperate with the limiting component 14, but also with the bearing housing 136, thereby simplifying the structure of the carrier 11 and reducing manufacturing costs. In other words, the carrier 11 does not need to have different structures for cooperating with the limiting component 14 and the bearing housing 136 respectively.

[0146] like Figure 5 as well as Figure 6As shown, the second limiting plate 1182 is L-shaped and includes a first sub-plate 11821 and a second sub-plate 11822 connected together. A first limiting groove 115 is defined between the first part 1171, the first limiting plate 1181, and the first sub-plate 11821. The seat 1361 mates with the second sub-plate 11822. This effectively increases the contact area between the seat 1361 (bearing seat 136) and the second sub-plate 11822 (second limiting plate 1182), thereby limiting the seat 1361 (bearing seat 136) more precisely and stably, so as to install the bearing seat 136 more precisely and stably.

[0147] The fourth limiting plate 1184 can be L-shaped and includes a connected third sub-plate 11841 and a fourth sub-plate 11842. A second limiting groove 116 is defined between the second part 1172, the third limiting plate 1183, and the third sub-plate 11841. The seat 1361 mates with the fourth sub-plate 11842. This effectively increases the contact area between the seat 1361 (bearing seat 136) and the fourth sub-plate 11842 (fourth limiting plate 1184), thereby more accurately and stably limiting the seat 1361 (bearing seat 136) for more accurate and stable installation of the bearing seat 136.

[0148] like Figures 4-6 and Figure 6 As shown, the support member 11 includes a support plate 1186, which is located between the second sub-plate 11822 and the fourth sub-plate 11842 in a first direction, and is connected to both the second sub-plate 11822 and the fourth sub-plate 11842. A seat 1361 is supported on the support plate 1186, which has a clearance groove 11861 for accommodating the shaft 133 of the upper first rotating member 132. This allows for a more stable installation of the bearing seat 136.

[0149] like Figures 4-6 As shown, the carrier 11 includes a fifth limiting plate 1185, a second limiting plate 1182 (fourth limiting plate 1184) located in the second direction between the fifth limiting plate 1185 and the first limiting plate 1181, and the second limiting plate 1182 (fourth limiting plate 1184) located in the second direction between the fifth limiting plate 1185 and the third limiting plate 1183.

[0150] At least a portion of the seat body 1361 is located between the fifth limiting plate 1185 and the first limiting plate 1181 and the third limiting plate 1183 in the second direction, and the seat body 1361 cooperates with the fifth limiting plate 1185. Thus, the seat body 1361 (the bearing seat 136) can be limited in the second direction by the fifth limiting plate 1185, the first limiting plate 1181 and the third limiting plate 1183, so that the bearing seat 136 can be more accurately and stably installed, and the first rotating member 132 and the shaft 133 thereof can be more accurately installed, and the coaxiality of the shaft 133 and the transmission shaft 182 is improved.

[0151] As shown in Figure 4 , the fifth limiting plate 1185 is provided with a positioning groove 11851, and the positioning groove 11851 has a fifth side wall surface 11852 and a sixth side wall surface 11853 opposite in the first direction. The positioning portion 1365 of the bearing seat 136 cooperates between the fifth side wall surface 11852 and the sixth side wall surface 11853 in the first direction. The positioning portion 1365 of the bearing seat 136 is supported on the bottom wall surface 11854 of the positioning groove 11851.

[0152] Thus, the bearing seat 136 can be limited in the first direction by the fifth side wall surface 11852 and the sixth side wall surface 11853, and in the third direction by the bottom wall surface 11854 of the positioning groove 11851. Thus, the structure of the bearing device 1 and the bearing member 11 can be more reasonable, and the bearing seat 136 can be more accurately and stably installed.

[0153] As shown in Figure 7 , the fifth limiting plate 1185 includes a plate body 11855 and a third limiting protrusion 11856. The plate body 11855 is provided with the positioning groove 11851. The third limiting protrusion 11856 is arranged on the plate body 11855, and the seat body 1361 cooperates with the third limiting protrusion 11856. That is, the bearing seat 136 is limited in the second direction by the third limiting protrusion 11856, the first limiting plate 1181 and the third limiting plate 1183.

[0154] Thus, the bearing seat 136 can be installed on the bearing member 11 by a fastener (such as a bolt, a screw, etc.) passing through the plate body 11855 and the third limiting protrusion 11856 and cooperating in the seat body 1361. By arranging the third limiting protrusion 11856 on the plate body 11855, the bearing seat 136 can not only be limited in the second direction by the third limiting protrusion 11856, but also be installed on the bearing member 11 by the fastener passing through the third limiting protrusion 11856. That is, the third limiting protrusion 11856 has both limiting and installing functions.

[0155] As shown in Figure 8 ,Figure 4 and Figure 7 As shown in

[0156] The first connecting portion 13613 and the second connecting portion 13614 are located between the first seat body 13611 and the second seat body 13612 in the second direction. The first connecting portion 13613 and the second connecting portion 13614 are spaced apart in the first direction. The first connecting portion 13613 is connected to the first seat body 13611 and the second seat body 13612, and the second connecting portion 13614 is connected to the first seat body 13611 and the second seat body 13612. Thus, the structure of the bearing seat 136 can be more reasonable and stable.

[0157] Optionally, the bearing seat 136 can be integrally formed or in a split structure. When the bearing seat 136 is integrally formed, the first seat body 13611, the second seat body 13612, the first connecting portion 13613, and the second connecting portion 13614 are integrally formed. Thus, the stress on the bearing seat 136 can be more uniform, avoiding excessive local stress on the bearing seat 136, which can cause instability or even damage to the bearing seat 136. In addition, the bearing seat 136 can also be a split structure.

[0158] As shown in Figure 8 , Figures 12-16 and Figures 13-16 The first limiting protrusion 1363 is provided on the first seat body 13611 and / or the first connecting portion 13613, the second limiting protrusion 1364 is provided on the first seat body 13611 and / or the second connecting portion 13614, and the positioning portion 1365 of the bearing seat 136 is provided on the second seat body 13612. Thus, the structure of the bearing seat 136 can be more reasonable.

[0159] Optionally, the carrier 11 has a first side and a second side in the first direction. The first end portion 211 of the pick-and-place assembly 21 is connected to the pick-and-place platform 28, the second end portion 212 of the pick-and-place assembly 21 extends away from the carrier 11 and beyond the pick-and-place platform 28, and the second end portion 212 of the pick-and-place assembly 21 is located on the first side or the second side of the carrier 11.

[0160] Therefore, the pick-and-place assembly 21 can extend from the carrier 11 towards a direction away from the workbench 3, so as to avoid the pick-and-place device 2 occupying the space of the workbench 3, thereby reducing the volume and space occupied by the workbench 3. Moreover, the size of the pick-and-place assembly 21 in the first direction can be effectively reduced, so as to not only greatly reduce the volume and space occupied by the pick-and-place assembly 21, but also effectively reduce the time for conveying the target objects on the pick-and-place assembly 21.

[0161] Optionally, the carrier 11 has a first side and a second side in the first direction, and the pick-and-place platform 28 is connected to a position between the first end 211 of the pick-and-place assembly 21 and the second end 212 of the pick-and-place assembly 21. The first end 211 of the pick-and-place assembly 21 extends beyond the pick-and-place platform 28 away from the carrier 11 and is located at the first side of the carrier 11. The second end 212 of the pick-and-place assembly 21 extends beyond the pick-and-place platform 28 away from the carrier 11 and is located at the second side of the carrier 11. Therefore, the structure of the storage device 100 can be more reasonable.

[0162] The pick-and-place assembly 21 comprises a containing space 213 provided with an opening in the first direction. The pick-and-place assembly 21 is configured to obtain the target objects from the specified positions and place them in the containing space 213, or obtain the target objects from the containing space 213 and place them in the specified positions. Therefore, the structure of the pick-and-place assembly 21 can be more reasonable.

[0163] As shown in Figure 13 , the pick-and-place assembly 21 comprises a first support 22, a second support 23 and a pick-and-place member 263.

[0164] The first support 22 has a first end 221 and a second end 222 opposite to each other in the first direction, and the first end 221 of the first support 22 is connected to the pick-and-place platform 28. The second support 23 has a first end 231 and a second end 232 opposite to each other in the first direction, and the first end 231 of the second support 23 is connected to the pick-and-place platform 28. The first support 22 and the second support 23 are spaced apart in a second direction to form the containing space 213 provided with an opening in the first direction, and the second direction forms a preset angle with the first direction.

[0165] The pick-and-place member 263 is located between the first support 22 and the second support 23 in the second direction. The pick-and-place member 263 and the opening are at least one, and the pick-and-place member 263 is configured to pass through any one of the at least one opening to obtain the target objects from the specified positions or place the target objects in the specified positions. Alternatively, the pick-and-place member 263 and the opening are multiple, and the multiple pick-and-place members 263 are configured to pass through the corresponding openings respectively to obtain the target objects from the specified positions or place the target objects in the specified positions.

[0166] For example, the second end portion 222 of the first support 22 is away from the worktable 3 in the first direction relative to the first end portion 221 of the first support 22. The second end portion 232 of the second support 23 is away from the worktable 3 in the first direction relative to the first end portion 231 of the second support 23. That is, the first support 22 extends from the pick-and-place platform 28 in the first direction to a direction away from the worktable 3, and the second support 23 extends from the pick-and-place platform 28 in the first direction to a direction away from the worktable 3.

[0167] In other words, the first end portion 221 of the first support 22 is between the worktable 3 and the second end portion 222 of the first support 22 in the first direction. The first end portion 231 of the second support 23 is between the worktable 3 and the second end portion 232 of the second support 23 in the first direction.

[0168] Alternatively, the first end portion 221 of the first support 22 is between the station of the worktable 3 and the second end portion 222 of the first support 22 in the first direction. The first end portion 231 of the second support 23 is between the station of the worktable 3 and the second end portion 232 of the second support 23 in the first direction.

[0169] For example, the first end portion 221 of the first support 22 is a front end portion of the first support 22, and the second end portion 222 of the first support 22 is a rear end portion of the first support 22. The first end portion 231 of the second support 23 is a front end portion of the second support 23, and the second end portion 232 of the second support 23 is a rear end portion of the second support 23. The first support 22 and the second support 23 are spaced apart in the left-right direction.

[0170] As shown in Figure 15 , the pick-and-place assembly 21 further comprises a mounting seat 29, which can be provided on the pick-and-place platform 28. The first end portion 221 of the first support 22 and the first end portion 231 of the second support 23 are provided on the mounting seat 29, i.e., the first end portion 221 of the first support 22 and the first end portion 231 of the second support 23 are provided on the carrier device 1 through the mounting seat 29. In this way, the pick-and-place assembly 21 can be more conveniently and stably mounted on the pick-and-place platform 28.

[0171] Alternatively, the mounting seat 29 is flat. In this way, not only can the mounting seat 29 be more conveniently and stably provided on the pick-and-place platform 28, but also the first support 22 and the second support 23 can be more conveniently and stably mounted on the mounting seat 29.

[0172] As shown in Figure 13 and Figure 13As shown in FIG. 1, the first support 22 includes a first support beam 224, a first mounting portion 225, and a first connecting portion 226. The first support beam 224 is connected to the first mounting portion 225 through the first connecting portion 226. The first mounting portion 225 is arranged on the pick-and-place platform 28. The size of the first mounting portion 225 in the first direction is smaller than the size of the first support beam 224 in the first direction. In this way, the space occupied by the first mounting portion 225 and the first support 22 can be reduced, and the space not occupied by the first mounting portion 225 can be used to avoid the cables. That is, by making the size of the first mounting portion 225 in the first direction smaller than the size of the first support beam 224 in the first direction, a space for avoiding the cables can be formed.

[0173] As shown in FIG. 1, Figure 16 the first mounting portion 225 includes a first plate portion 2251 and a first rod portion 2252, and the first rod portion 2252 is arranged on the first plate portion 2251. The first rod portion 2252 is connected to the first support beam 224 through the first connecting portion 226. The first plate portion 2251 is arranged on the pick-and-place platform 28. For example, the first plate portion 2251 is arranged on the mounting seat 29. By connecting the first plate portion 2251 to the pick-and-place platform 28, the first support 22 can be more stably and conveniently mounted on the pick-and-place platform 28.

[0174] As shown in FIG. 1, Figure 13 and Figure 13 the second support 23 includes a second support beam 234, a second mounting portion 235, and a second connecting portion 236, and the second support beam 234 is connected to the second mounting portion 235 through the second connecting portion 236. The second mounting portion 235 is arranged on the pick-and-place platform 28. The size of the second mounting portion 235 in the first direction is smaller than the size of the second support beam 234 in the first direction. In this way, the space occupied by the second mounting portion 235 and the second support 23 can be reduced, and the space not occupied by the second mounting portion 235 can be used to avoid the cables. That is, by making the size of the second mounting portion 235 in the first direction smaller than the size of the second support beam 234 in the first direction, a space for avoiding the cables can be formed.

[0175] As shown in FIG. 1, Figure 15 the second mounting portion 235 includes a second plate portion 2351 and a second rod portion 2352, and the second rod portion 2352 is arranged on the second plate portion 2351. The second rod portion 2352 is connected to the second support beam 234 through the second connecting portion 236. The second plate portion 2351 is arranged on the pick-and-place platform 28. For example, the second plate portion 2351 is arranged on the mounting seat 29. By connecting the second plate portion 2351 to the pick-and-place platform 28, the second support 23 can be more stably and conveniently mounted on the pick-and-place platform 28.

[0176] As shown in FIG. 1, Figure 16 and Figures 12-15As shown, there are multiple first connecting portions 226, which are spaced apart along a first direction. This allows for a more stable connection between the first support beam 224 and the first mounting portion 225, thereby improving the structural strength of the first support member 22. Figures 12-14 As shown, there are multiple second connecting portions 236, which are spaced apart along the first direction. This allows the second support beam 234 and the second mounting portion 235 to be connected more securely, thereby improving the structural strength of the second support member 23.

[0177] Optionally, the upper end of the first connecting portion 226 is connected to the first support beam 224, and the lower end of the first connecting portion 226 is connected to the first mounting portion 225. The upper end of the second connecting portion 236 is connected to the second support beam 234, and the lower end of the second connecting portion 236 is connected to the second mounting portion 235. This makes the structure of the first support member 22 and the second support member 23 more reasonable.

[0178] like Figure 16 As shown, the second end 222 of the first support member 22 is a free end, so that the first support member 22 forms a first cantilever. This makes the structure of the pick-and-place assembly 21 simpler and more rational. Figure 13 as well as Figure 15 As shown, the second end 232 of the second support member 23 is a free end, so that the second support member 23 forms a second cantilever. This makes the structure of the pick-and-place device 2 simpler and more reasonable.

[0179] like Figure 16 , Figure 13 and Figure 15 As shown, the pick-and-place platform 28 includes a first guide portion 281, and the pick-and-place component 21 includes a second guide portion 241. The second guide portion 241 cooperates with the first guide portion 281 to guide the movement of the pick-and-place component 21 along a second direction, which forms a preset angle with the first direction. This allows the pick-and-place component 21 to move more accurately and stably along the second direction.

[0180] Optionally, one of the first guide part 281 and the second guide part 241 has a matching groove, and a size of the matching groove in the first direction is less than or equal to the second preset value, that is, a size of the other of the first guide part 281 and the second guide part 241 in the first direction is less than or equal to the second preset value. In this way, the stress of the one of the first guide part 281 and the second guide part 241 can be improved, so that the one of the first guide part 281 and the second guide part 241 can bear the structural deformation and force brought by the first support 22 and the second support 23, especially the structural deformation and force brought by the first support 22 and the second support 23 constituting a cantilever, so as to make the pick-and-place assembly 21 more stably installed on the pick-and-place platform 28.

[0181] The size of the one of the first guide part 281 and the second guide part 241 in the first direction is greater than or equal to the third preset value. In this way, the stress of the one of the first guide part 281 and the second guide part 241 can be improved, so that the one of the first guide part 281 and the second guide part 241 can bear the structural deformation and force brought by the first support 22 and the second support 23, especially the structural deformation and force brought by the first support 22 and the second support 23 constituting a cantilever, so as to make the pick-and-place assembly 21 more stably installed on the pick-and-place platform 28.

[0182] Optionally, the first guide part 281 is at least two and is arranged at intervals along the first direction, and the second guide part 241 is at least two and is arranged corresponding to the first guide part 281. In this way, not only can the pick-and-place assembly 21 be more accurately and stably moved along the second direction, but also the pick-and-place assembly 21 can be more stably installed on the pick-and-place platform 28.

[0183] The interval between adjacent first guide parts 281 is greater than or equal to the first preset value. In this way, the stress of the second guide part 241 can be improved, so that the second guide part 241 can bear the structural deformation and force brought by the first support 22 and the second support 23, especially the structural deformation and force brought by the first support 22 and the second support 23 constituting a cantilever, so as to make the pick-and-place assembly 21 more stably installed on the pick-and-place platform 28.

[0184] For example, the first guide part 281 can be a guide rail, and the second guide part 241 can be a sliding block. The first guide part 281 is a sliding block, and the second guide part 241 is a guide rail.

[0185] As Figure 16 , Figure 13 and Figure 14As shown, the pick-and-place platform 28 includes a rack 282, and the pick-and-place assembly 21 includes a gear 242. The rack 282 extends in a second direction and is located between adjacent first guide portions 281 in a first direction. The gear 242 meshes with the rack 282 so that by rotating the gear 242, the gear 242 moves in the second direction, thereby driving the pick-and-place assembly 21 to move in the second direction.

[0186] Optionally, motor 271 drives gear 242 to rotate. The drive shaft of motor 271 is connected to the input shaft of reducer 272, and the output shaft of reducer 272 is connected to gear 242. Reducer 272 is mounted on mounting base 29. This allows for a more rational structure of the pick-and-place assembly 21.

[0187] like Figure 1 and Figure 12 As shown, the pick-and-place assembly 21 further includes a first support portion 251 and a second support portion 252, which are spaced apart in a first direction. The first support portion 251 is connected to each of the first support member 22 and the second support member 23, and the second support portion 252 is connected to each of the first support member 22 and the second support member 23. The first conveying member 261 of the pick-and-place assembly 21 is supported on the first support portion 251 and the second support portion 252, and the second conveying member 262 of the pick-and-place assembly 21 is supported on the first support portion 251 and the second support portion 252. This makes the structure of the pick-and-place assembly 21 more reasonable.

[0188] Optionally, the first support portion 251 is connected to the first end 221 of the first support member 22 and the first end 231 of the second support member 23, and the second support portion 252 is connected to the second end 222 of the first support member 22 and the second end 232 of the second support member 23.

[0189] For example, the first support portion 251 is located in front of the second support portion 252. The first support portion 251 is connected to the front end of the first support beam 224 and the front end of the second support beam 234, and the second support portion 252 is connected to the rear end of the first support beam 224 and the rear end of the second support beam 234.

[0190] Optionally, the pick-and-place member 263 is movable between a disengaged position and a pick-and-place position along a first direction. The pick-and-place member 263 is also movable between an extended position and a retracted position along a vertical direction. When the pick-and-place member 263 moves from the extended position to the retracted position, it moves downwards. When the pick-and-place member 263 moves from the retracted position to the extended position, it moves upwards.

[0191] When the pick-and-place member 263 is used to transport the target object, it moves from the disengaged position to the pick-and-place position and from the retracted position to the extended position. Subsequently, the pick-and-place member 263 transports the target object to the first conveyor 261 and the second conveyor 262 for transport using these components. After the first conveyor 261 and the second conveyor 262 are activated, the pick-and-place member 263 moves from the extended position to the retracted position to avoid interference between the pick-and-place member 263 and the target object.

[0192] The picking and placing device 2 can include picking and placing components 263 such as suction cups, hooks, levers, gripping forks, and magnetic suction structures. The position of the force exerted by the suction cup on the container / goods is not limited to the centerline of the side of the container / goods, and can be adjusted according to the center of gravity of the container / goods. The hook can grab the edge, top edge, bottom edge, protrusions or handles on the side of the container / goods, and can also grab the grooves, protrusions or handles on the bottom of the container / goods. The picking and placing device 2 can pick up and place containers / goods in a single position or in multiple positions. Taking the suction cup as an example, the suction cup can be a unidirectional suction cup that picks up containers / goods in two directions by rotating itself; the suction cup can also be a bidirectional suction cup that picks up containers / goods in two directions.

[0193] Optionally, when the pick-and-place device 2 transports the target object on the carrier to the worktable 3, the pick-and-place component 263 moves from front to back so that the pick-and-place component 263 moves from the disengagement position to the pick-and-place position. When the pick-and-place device 2 transports the target object on the worktable 3 to the carrier, the pick-and-place component 263 moves from back to front so that the pick-and-place component 263 moves from the disengagement position to the pick-and-place position.

[0194] like Figures 17-24 , Figure 23 as well as Figures 17-24 As shown, the storage equipment 100 also includes a workbench 3, which includes a main body 31 and a detector 34. The main body 31 includes a workstation 311. The detector 34 is located on the main body 31, and the minimum distance between the detector 34 and the pick-and-place assembly 21 in the first direction is greater than or equal to a preset value.

[0195] By ensuring that the minimum distance between the detector 34 and the pick-and-place component 21 in the first direction is greater than or equal to a preset value, the detector 34 is brought closer to the worker and further away from the pick-and-place component 21. Therefore, when the worker's body accidentally extends towards the pick-and-place component 21, the detector 34 can detect the worker's body earlier and more promptly, providing more time for controlling the next operation of the pick-and-place component 21. This effectively avoids interference between the worker's body and the pick-and-place component 21 or the target object on it, thereby further improving safety.

[0196] Workstation 311 of workbench 3 may include rollers or conveyor lines to facilitate the transfer of containers / goods. Buffer positions / racks may also be provided above, below, or beside workbench 3 to buffer containers or goods. Containers / goods on buffer positions / racks can be retrieved using the box-picking device 2 or manually. A conveyor line may also be provided next to workstation 311 of workbench 3 to transport picked goods. A docking area for large items, pallets, irregularly shaped items, and conventional cargo-type mobile carriers may also be provided next to workbench 3 for manual picking.

[0197] like Figures 17-24 As shown, workstation 311 has a first end 3111 and a second end 3112 in a first direction. When a worker performs picking, sorting, or other operations on workstation 3, the first end 3111 is adjacent to the worker in the first direction relative to the second end 3112. The pick-and-place assembly 21 transports the target object to workstation 311 via the second end 3112, and the worker performs picking, sorting, or other operations on the target object at workstation 311. The target object can be goods, containers containing goods, etc.

[0198] The minimum distance between detector 34 and the second end 3112 of workstation 311 in the first direction is greater than or equal to a preset value. Therefore, when the worker's body accidentally extends towards the pick-and-place assembly 21, detector 34 can detect the worker's body earlier and more timely, thus providing more time for controlling the next operation of pick-and-place assembly 21, so as to effectively avoid interference between the worker's body and pick-and-place assembly 21 or the target object on pick-and-place assembly 21, thereby further improving safety.

[0199] For example, the first end 3111 of station 311 is located in front of the second end 3112 of station 311. The detector 34 is located behind the first end 3111.

[0200] like Figure 24 As shown, the workbench 3 also includes a stop, which is located on the main body 31 and is used to prevent the operator from approaching the pick-and-place component 21. By setting the stop, the operator's body can be stopped, thereby further preventing the operator's body from accidentally extending towards the pick-and-place component 21, so as to more effectively avoid interference between the operator's body and the pick-and-place component 21 or the target object on the pick-and-place component 21, and thus further improve safety.

[0201] like Figure 17As shown, the stopper includes a first stopper 321. The main body 31 has a first side edge 312 and a second side edge 313 in a second direction orthogonal to the first direction, i.e., the first side edge 312 and the second side edge 313 are opposite in the second direction. The work station 311 is located between the first side edge 312 and the second side edge 313 in the second direction. The first stopper 321 is provided on the main body 31 and located at at least one of the first side edge 312 and the second side edge 313.

[0202] By providing the first stopper 321, the first stopper 321 can be used to stop the body of the worker, thereby further preventing the body of the worker from extending in the direction of approaching the pick-and-place assembly 21 from the side of the work station 311, so as to more effectively avoid the body of the worker from interfering with the pick-and-place assembly 21 and the target object on the pick-and-place assembly 21, thereby further improving safety.

[0203] As shown, Figure 19 The workbench 3 further includes a second stopper 322 provided on the main body 31 and spaced apart from the work station 311 in a third direction orthogonal to the second direction and the first direction and opposite to each other. By providing the second stopper 322, the second stopper 322 can be used to stop the body of the worker, thereby further preventing the body of the worker from extending in the direction of approaching the pick-and-place assembly 21, so as to more effectively avoid the body of the worker from interfering with the pick-and-place assembly 21 and the target object on the pick-and-place assembly 21, thereby further improving safety.

[0204] As shown, Figure 20 , Figures 22-24 , Figures 17-24 and Figures 17-19 The main body 31 includes a table body 314 and a mounting bracket 315, the work station 311 is provided on the table body 314, and the mounting bracket 315 is connected to the table body 314. The first stopper 321 is connected to the table body 314 and the mounting bracket 315, and the second stopper 322 is mounted on the mounting bracket 315. At least one of the mounting bracket 315, the first stopper 321 and the second stopper 322 is provided with a detector 34. Thus, the structure of the main body 31 and the workbench 3 can be more reasonable.

[0205] For example, the mounting bracket 315 is adjacent to the second end 3112 in the first direction. For example, the mounting bracket 315 is located behind the table body 314 (work station 311).

[0206] The table body 314 comprises a first mounting portion 3141 and a second mounting portion 3142, and the work station 311 is located between the first mounting portion 3141 and the second mounting portion 3142 in the second direction, i.e., the first mounting portion 3141 and the second mounting portion 3142 are opposite in the second direction. The mounting rack 315 comprises a third mounting portion 3153 and a fourth mounting portion 3154, and the work station 311 is located between the third mounting portion 3153 and the fourth mounting portion 3154 in the second direction, i.e., the third mounting portion 3153 and the fourth mounting portion 3154 are opposite in the second direction.

[0207] One first stopper 321 is arranged in at least one of the first mounting portion 3141 and the third mounting portion 3153, and another first stopper 321 is arranged in at least one of the second mounting portion 3142 and the fourth mounting portion 3154. That is, the first side edge 312 of the main body 31 can comprise the first mounting portion 3141 and the third mounting portion 3153, and the second side edge 313 of the main body 31 can comprise the second mounting portion 3142 and the fourth mounting portion 3154.

[0208] The work station 311 is located between the two first stoppers 321 in the second direction. Thus, the bodies of the workers can be stopped by the two first stoppers 321, so as to further prevent the bodies of the workers from extending in the direction of approaching the pick-and-place assembly 21 from the two sides of the work station 311, so as to more effectively avoid the interference between the bodies of the workers and the pick-and-place assembly 21 and the target objects on the pick-and-place assembly 21, and further improve the safety.

[0209] As shown in Figure 23 , the at least one of the first mounting portion 3141 and the third mounting portion 3153 is provided with a first mounting piece 331 having a first clamping groove, and one first stopper 321 is clamped in the first clamping groove. The at least one of the second mounting portion 3142 and the fourth mounting portion 3154 is provided with a second mounting piece 332 having a second clamping groove, and another first stopper 321 is clamped in the second clamping groove.

[0210] By arranging the first mounting piece 331 having the first clamping groove and the second mounting piece 332 having the second clamping groove, the two first stoppers 321 can be more stably and conveniently mounted on the main body 31 of the workbench 3.

[0211] As shown in Figure 24 and Figures 20-24 and Figure 17 , the first mounting portion 3141 is provided with the first mounting piece 331, and the third mounting portion 3153 is provided with a third mounting piece 333 having a third clamping groove, and one first stopper 321 is clamped in the first clamping groove and the third clamping groove.

[0212] As shown in Figure 20 , the second mounting part 3142 is provided with a second mounting piece 332, and the fourth mounting part 3154 is provided with a fourth mounting piece 334, the fourth mounting piece 334 has a fourth clamping groove, and the other first stop piece 321 is clamped in the second clamping groove and the fourth clamping groove. In this way, both first stop pieces 321 can be installed on the table body 314 and the mounting frame 315, so that the two first stop pieces 321 can be more stably and more conveniently installed on the main body 31 of the workbench 3.

[0213] Optionally, the first clamping groove penetrates the first mounting piece 331 in the front-rear direction, the second clamping groove penetrates the second mounting piece 332 in the front-rear direction, and the openings of the first clamping groove and the second clamping groove are both open upward. The third clamping groove penetrates the third mounting piece 333 in the up-down direction, the fourth clamping groove penetrates the fourth mounting piece 334 in the up-down direction, and the openings of the third clamping groove and the fourth clamping groove are both open forward. In this way, one first stop piece 321 can be more conveniently clamped in the first clamping groove and the third clamping groove, and the other first stop piece 321 can be more conveniently clamped in the second clamping groove and the fourth clamping groove.

[0214] As shown in Figure 23 , Figure 24 and Figure 19 , the mounting frame 315 has a third end portion 3151 and a fourth end portion 3152 opposite in the first direction, and the fourth end portion 3152 is adjacent to the first end portion 3111 relative to the third end portion 3151 in the first direction. For example, the fourth end portion 3152 is the front end portion of the mounting frame 315, and the third end portion 3151 is the rear end portion of the mounting frame 315. The fourth end portion 3152 includes a third mounting part 3153 and a fourth mounting part 3154, that is, the third mounting piece 333 and the fourth mounting piece 334 are both arranged on the fourth end portion 3152 of the mounting frame 315. In this way, the structure of the workbench 3 can be more reasonable.

[0215] As shown in Figure 22 , the second stop piece 322 is connected to at least one of the first stop piece 321 and the fourth end portion 3152. In this way, the second stop piece 322 can be more stably and more conveniently installed.

[0216] For example, the first mounting piece 331 and the second mounting piece 332 are both arranged on the upper surface 3143 of the table body 314, and the third mounting piece 333 and the fourth mounting piece 334 are both arranged on the front surface 3155 of the mounting frame 315 (the fourth end portion 3152). The second stop piece 322 is connected to each of the upper portion 3213 of each first stop piece 321 and the front surface 3155 of the mounting frame 315 (the fourth end portion 3152).

[0217] In one of the embodiments of the present disclosure, the mounting rack 315 is provided with the detector 34. Optionally, the fourth end 3152 of the mounting rack 315 is provided with the detector 34. In this way, the detector 34 can be closer to the worker and farther away from the pick-and-place assembly 21, so that the detector 34 can detect the worker's body earlier and more timely, so as to provide more time for the next operation of controlling the pick-and-place assembly 21 (for example, stopping the movement of the pick-and-place assembly 21), effectively avoiding the interference between the worker's body and the pick-and-place assembly 21 or the target object on the pick-and-place assembly 21, and further improving the safety.

[0218] Optionally, the detector 34 is a grating detector or a radar detector. The emitting end 341 and the receiving end 342 of the grating detector can be arranged in the second direction (for example, the left-right direction) or the up-down direction. The emitting end 341 and the receiving end 342 of the grating detector can be directly opposite in the second direction or the up-down direction. The emitting end 341 and the receiving end 342 of the grating detector can also be obliquely opposite in the second direction or the up-down direction, for example, the emitting end 341 of the grating detector is in front of (behind) the receiving end 342 of the grating detector.

[0219] In another embodiment of the present disclosure, the first stopper 321 is provided with the detector 34. In this way, the detector 34 can be closer to the worker and farther away from the pick-and-place assembly 21, so that the detector 34 can detect the worker's body earlier and more timely, so as to provide more time for the next operation of controlling the pick-and-place assembly 21 (for example, stopping the movement of the pick-and-place assembly 21), effectively avoiding the interference between the worker's body and the pick-and-place assembly 21 or the target object on the pick-and-place assembly 21, and further improving the safety.

[0220] Optionally, the detector 34 is a grating detector or a radar detector. The emitting end 341 and the receiving end 342 of the grating detector can be arranged in the second direction (for example, the left-right direction) or the up-down direction. The emitting end 341 and the receiving end 342 of the grating detector can be directly opposite in the second direction or the up-down direction. The emitting end 341 and the receiving end 342 of the grating detector can also be obliquely opposite in the second direction or the up-down direction, for example, the emitting end 341 of the grating detector is in front of (behind) the receiving end 342 of the grating detector.

[0221] As shown in FIG. 6, Figure 19 the emitting end 341 of the grating detector is arranged on one first stopper 321 (the other first stopper 321), and as shown in FIG. 6, Figure 22 the receiving end 342 of the grating detector is arranged on the other first stopper 321 (one first stopper 321). For example, Figure 17The first stop 321 shown is provided on the first side 312 of the worktable 3. Figure 20 The first stop 321 shown is provided on the second side 313 of the worktable 3.

[0222] In another embodiment of this disclosure, the second stop 322 is provided with a detector 34. This allows the detector 34 to be closer to the worker and further away from the pick-and-place assembly 21, enabling the detector 34 to detect the worker's body earlier and more promptly. This provides more time for controlling the next operation of the pick-and-place assembly 21 (e.g., stopping the pick-and-place assembly 21 from moving), effectively preventing interference between the worker's body and the pick-and-place assembly 21 or the target object on the pick-and-place assembly 21, thereby further improving safety.

[0223] Optionally, detector 34 is a grating detector or a radar detector. The transmitting end 341 and receiving end 342 of the grating detector can be spaced apart along a second direction (e.g., left-right direction) or spaced apart along a vertical direction. The transmitting end 341 and receiving end 342 of the grating detector can face each other directly in the second direction or vertical direction. Alternatively, the transmitting end 341 and receiving end 342 of the grating detector can be diagonally opposite each other in the second direction or vertical direction, for example, the transmitting end 341 of the grating detector is located in front of (behind) the receiving end 342 of the grating detector. For example, the transmitting end 341 of the grating detector is disposed on the second stop member 322 (stage 314), and the receiving end 342 of the grating detector is disposed on the stage 314 (second stop member 322).

[0224] like Figure 23 , Figures 17-23 and Figure 25 As shown, the main body 31 includes multiple workstations 311, which are spaced apart along the second direction. The workbench 3 also includes a blocking member 323, which is provided between two adjacent workstations 311. For example, a workstation 311 may be located between a first stop member 321 and a blocking member 323 in the second direction, or a workstation 311 may be located between two adjacent blocking members 323 in the second direction.

[0225] By providing a shielding element 323 between two adjacent workstations 311, each workstation 311 can be detected independently. When a worker's body accidentally extends from one or more workstations 311 towards the pick-and-place assembly 21, the detector 34 can detect the worker's body, preventing the pick-and-place assembly 21 from conveying target objects to these workstations 311 or from conveying target objects from these workstations 311 to other locations. The pick-and-place assembly 21 can then convey target objects to other workstations 311 (workstations 311 where the worker's body has not been detected) and convey target objects from other workstations 311 to other locations, thereby improving work efficiency.

[0226] Optionally, at least one of the first stopper 321 and the shielding member 323 adjacent to each other is provided with the detector 34, and at least one of the shielding members 323 adjacent to each other is provided with the shielding member 323. That is, at least one of the first stopper 321 and the shielding member 323 most adjacent to the first stopper 321 in the second direction is provided with the detector 34. In this way, the accuracy of detection can be improved.

[0227] For example, at least one of one first stopper 321 and the shielding member 323 most adjacent to the one first stopper 321 in the second direction is provided with the detector 34, and at least one of another first stopper 321 and the shielding member 323 most adjacent to the another first stopper 321 in the second direction is provided with the detector 34.

[0228] The first stopper 321 includes a first edge 3215 and a second edge 3216 opposite in the first direction, and the shielding member 323 includes a first edge 3232 and a second edge 3233 opposite in the first direction. The first edge 3215, 3232 is farther away from the pick-and-place assembly 21 in the first direction than the second edge 3216, 3233, that is, the first edge 3215, 3232 is closer to the first end 3111 of the work station 311 in the first direction than the second edge 3216, 3233. The detector 34 is arranged at the first edge 3215.

[0229] In this way, the detector 34 can be closer to the worker and farther away from the pick-and-place assembly 21, so that the detector 34 can detect the worker's body earlier and more timely, so as to provide more time for the next operation of the pick-and-place assembly 21, effectively avoiding the interference between the worker's body and the pick-and-place assembly 21 and the target object on the pick-and-place assembly 21, and further improving the safety.

[0230] For example, the first edge 3215 of the first stopper 321 is a front edge, and the second edge 3216 is a rear edge. The first edge 3232 of the shielding member 323 is a front edge, and the second edge 3233 of the shielding member 323 is a rear edge.

[0231] For example, the first edge 3215, 3232 of at least one of one first stopper 321 and the shielding member 323 most adjacent to the one first stopper 321 in the second direction is provided with the detector 34, and the first edge 3215, 3232 of at least one of another first stopper 321 and the shielding member 323 most adjacent to the another first stopper 321 in the second direction is provided with the detector 34.

[0232] For example, the first edge 3215, 3232 of at least one of one first stopper 321 and the shielding member 323 most adjacent to the one first stopper 321 in the second direction is provided with the detector 34, and the first edge 3215, 3232 of at least one of another first stopper 321 and the shielding member 323 most adjacent to the another first stopper 321 in the second direction is provided with the detector 34. Figures 29 to 40As shown, the first edges 3215, 3232 comprise inclined sections 3217, 3234 inclined away from the pick-and-place assembly 21 in the first direction, and the detector 34 is arranged on the inclined section 3217. That is, the first edge 3215 of the first stopper 321 comprises the inclined section 3217, and the first edge 3232 of the shield 323 comprises the inclined section 3234.

[0233] In this way, the detector 34 can be arranged closer to the worker and farther away from the pick-and-place assembly 21, so that the detector 34 can detect the worker's body earlier and more timely, so as to provide more time for the next operation of the pick-and-place assembly 21, effectively avoiding the interference between the worker's body and the pick-and-place assembly 21 and the target object on the pick-and-place assembly 21, and further improving the safety.

[0234] For example, the lower part of the inclined section 3217 of the first stopper 321 is adjacent to the first end 3111 in the first direction relative to the upper part of the inclined section 3217 of the first stopper 321, i.e., the inclined section 3217 of the first stopper 321 is inclined forward from top to bottom. The lower part of the inclined section 3234 of the shield 323 is adjacent to the first end 3111 in the first direction relative to the upper part of the inclined section 3234 of the shield 323, i.e., the inclined section 3234 of the shield 323 is inclined forward from top to bottom.

[0235] Optionally, the inclined section 3217, 3234 of the at least one of the first stopper 321 and the cooperating shield 323 is provided with the detector 34. The inclined section 3234 of the at least one of the two adjacent shields 323 is provided with the detector 34.

[0236] Optionally, the detector 34 is a radar detector. For example, the inclined section 3217 of one of the first stoppers 321 is provided with a radar detector, or the inclined section 3234 of the shield 323 most adjacent to the one of the first stoppers 321 in the second direction is provided with a radar detector. The inclined section 3217 of another of the first stoppers 321 is provided with a radar detector, or the inclined section 3234 of the shield 323 most adjacent to the another of the first stoppers 321 in the second direction is provided with a radar detector. The inclined section 3234 of one of the two adjacent shields 323 is provided with a radar detector.

[0237] Optionally, the detector is a grating detector. For example, the inclined section 3234 of one of the two adjacent shields 323 is provided with a transmitting end 341 (receiving end 342) of a grating detector, and the inclined section 3234 of the other of the two adjacent shields 323 is provided with a receiving end 342 (transmitting end 341) of the grating detector.

[0238] The inclined section 3217 of one of the first stoppers 321 is provided with the emitting end 341 (the receiving end 342) of the grating detector, and the inclined section 3234 of the shield 323 closest to the one of the first stoppers 321 in the second direction is provided with the receiving end 342 (the emitting end 341) of the grating detector. The inclined section 3217 of the other of the first stoppers 321 is provided with the emitting end 341 (the receiving end 342) of the grating detector, and the inclined section 3234 of the shield 323 closest to the other of the first stoppers 321 in the second direction is provided with the receiving end 342 (the emitting end 341) of the grating detector.

[0239] The warehouse system of the embodiments of the present disclosure comprises a carrier and a warehouse device, and the warehouse device is the warehouse device 100 of the embodiments of the present disclosure. The warehouse device is configured to drive the taking and placing device 2 to move relative to the carrying device 1 according to the carrying instruction, so as to obtain the target object from the carrier or carry the target object to the carrier.

[0240] The target object can be a cargo or a container. The container can be a cargo box, a pallet, a file bag, a bulk bag, a packaging bag, etc. The carrier can be a mobile carrier or a general carrier, and the mobile carrier can be a mobile shelf.

[0241] Optionally, the warehouse device is configured to drive the taking and placing device 2 to move relative to the carrying device 1 according to the carrying instruction, so as to obtain the target object from the carrier and carry the target object to a specified position, or obtain the target object from the specified position and carry the target object to the carrier. The specified position can be a working position 311 of the workbench 3, a shelf, a pallet, a seeding wall, or a carrying position of a bin robot.

[0242] Optionally, the warehouse device 100 is configured to drive the taking and placing device 2 to move in the second direction and / or in the third direction to a position where the target container of the carrier is located, and drive the taking and placing device 2 to move at least in the first direction to obtain the target container from the carrier and guide the target container into the accommodation space 213 of the taking and placing device 2.

[0243] Optionally, the warehouse device 100 is configured to accommodate the target container in the accommodation space 213 of the taking and placing device 2, drive the taking and placing device 2 to move in the second direction and / or in the third direction to a specified placement position of the carrier, and drive the taking and placing device 2 to move at least in the first direction to place the target container at the specified placement position of the carrier.

[0244] Optionally, the warehouse device 100 is configured to accommodate the target container in the accommodation space 213 of the taking and placing device 2, drive the taking and placing device 2 to move in the second direction and / or in the third direction to the working position 311 of the workbench 3, and drive the taking and placing device 2 to move at least in the first direction to place the target container at the working position 311 of the workbench 3, so as to perform picking or other operations at the working position 311.

[0245] As shown in Figure 29 The warehouse system further includes a work station, an inventory area, and a handling device. The inventory area and the warehouse device 100 are located at the work station. The handling device is configured to carry the carrier containing the target object to the work area of the warehouse device 100 and / or carry the carrier from the work station to the inventory area.

[0246] The work station is a goods picking area, in which goods picking, goods shelving, container adjustment, goods inventory, and other warehouse tasks can be performed, and the above-mentioned warehouse tasks can be performed by manual or automated equipment.

[0247] Taking a picking scenario as an example, the warehouse device 100 drives the taking and placing device 2 to move in the second direction and / or in the third direction to the position of the target object of the carrier, and drives the taking and placing device 2 to move at least in the first direction to obtain the target object from the carrier and guide the target object into the accommodation space of the taking and placing device 2.

[0248] The warehouse device 100 drives the taking and placing device 2 to move in the second direction and / or in the third direction to the work station 3 at the work position 311, and drives the taking and placing device 2 to move at least in the first direction to place the target object on the work station 3 at the work position 311, so as to perform picking at the work position 311 of the work station 3.

[0249] Taking a goods arrangement scenario as an example, one side of the warehouse device 100 is a conveying line, and the other side of the warehouse device 100 is provided with a goods shelf. The warehouse device 100 drives the taking and placing device 2 to move in the second direction and / or in the third direction to the position of the target object of the conveying line, and drives the taking and placing device 2 to move at least in the first direction to obtain the target object from the conveying line and guide the target object into the accommodation space of the taking and placing device 2.

[0250] The warehouse device 100 drives the taking and placing device 2 to move in the second direction and / or in the third direction to the storage position of the goods shelf, and drives the taking and placing device 2 to move at least in the first direction to place the target object obtained from the conveying line on the storage position of the goods shelf, so as to perform goods arrangement.

[0251] The warehouse device 100 can also replenish goods for the goods shelf. One side of the warehouse device 100 is a first conveying line for conveying target objects, and the other side of the warehouse device 100 is provided with a goods shelf. The warehouse device 100 drives the taking and placing device 2 to move in the second direction and / or in the third direction to the position of the target object of the first conveying line, and drives the taking and placing device 2 to move at least in the first direction to obtain the target object from the first conveying line and guide the target object into the accommodation space of the taking and placing device 2.

[0252] The storage device 100 drives the picking and placing device 2 to move along the second direction and / or the third direction to the storage position of the goods shelf, drives the picking and placing device 2 to move at least along the first direction to place the target object obtained from the first conveying line to the storage position of the goods shelf for restocking.

[0253] The side of the storage device 100 can also be provided with a second conveying line for conveying empty containers. The storage device 100 drives the picking and placing device 2 to move along the second direction and / or the third direction to the position of the empty container of the goods shelf, drives the picking and placing device 2 to move at least along the first direction to obtain the empty container from the goods shelf and guide the empty container into the containing space of the picking and placing device 2. The storage device 100 drives the picking and placing device 2 to move along the second direction and / or the third direction to the position of the second conveying line, drives the picking and placing device 2 to move at least along the first direction to place the empty container on the second conveying line. The second conveying line conveys the empty container to other positions.

[0254] Optionally, the storage system further comprises a management system, and the storage device is in communication connection with the management system. The management system is configured to send a carrying instruction to the storage device, and the storage device is configured to drive the picking and placing device 2 to move according to the carrying instruction to obtain the target object from the carrier or carry the target object to the carrier.

[0255] Optionally, the carrier comprises a goods shelf, and the storage device is configured to drive the picking and placing device 2 to move according to the carrying instruction to obtain the target object from the goods shelf or carry the obtained target object to the goods shelf. For example, the storage device can carry the target object on the goods shelf to the working position 311 of the workbench 3, and the worker performs picking, seeding, etc. on the target object on the working position 311. The storage device can also carry the target object on the working position 311 of the workbench 3 to the goods shelf.

[0256] Optionally, the carrier comprises a bin robot, and the storage device is configured to drive the picking and placing device 2 to move according to the carrying instruction to obtain the target object from the bin robot or carry the obtained target object to the bin robot. For example, the storage device can carry the target object on the bin robot to the working position 311 of the workbench 3, and the worker performs picking, seeding, etc. on the target object on the working position 311. The storage device can also carry the target object on the working position 311 of the workbench 3 to the bin robot, and then the bin robot can carry the target object to a designated position.

[0257] Optionally, the carrier includes a first rack and a second rack. The storage device is configured to drive the pick-and-place device 2 to move according to the handling instruction to obtain the target object located in at least one of the first rack and the second rack, or to handle the obtained target object to at least one of the first rack and the second rack. The storage device can handle the target object obtained from at least one of the first rack and the second rack to the workbench 3, the bin robot, etc.

[0258] Alternatively, the storage device is configured to drive the pick-and-place device 2 to move according to the handling instruction to handle the target object of one of the first rack and the second rack to the other of the first rack and the second rack, to realize the order picking between the first rack and the second rack.

[0259] Optionally, the carrier includes a seeding wall, and the storage device is configured to drive the pick-and-place device 2 to move according to the handling instruction to obtain the target object from the seeding wall or handle the obtained target object to the seeding wall.

[0260] Optionally, the carrier includes a sorting device, and the storage device is configured to drive the pick-and-place device 2 to move according to the handling instruction to obtain the target object from the sorting device or handle the obtained target object to the sorting device.

[0261] Optionally, the carrier is multiple, and the storage device is configured to drive the pick-and-place device 2 to move according to the handling instruction to handle the target object located in at least one carrier to at least another carrier or a specified position, or to handle the target object located in the specified position to at least one carrier. The multiple carriers include one or more of the racks, the bin robot, the seeding wall, and the sorting device. The specified position can be a station 311 of the workbench 3, a rack, a tray, a seeding wall, a carrying position of a bin robot.

[0262] Optionally, the storage system further includes a first handling device configured to handle the carrier to or from the working area of the storage device. The carrier can be a mobile rack.

[0263] Optionally, the storage system further includes a multi-layer platform and a first handling device, the multi-layer platform is spaced apart in the height direction, and at least one carrier is arranged on each layer platform. The carrier is a rack or a tray. The first handling device is configured to handle the target object or the carrier on which the target object is placed to the working area of the storage device, so that the storage device obtains the target object and handles the target object to a specified position. The specified position can be a station 311 of the workbench 3, a rack, a tray, a seeding wall, or a carrying position of a bin robot.

[0264] Optionally, the warehousing system also includes multiple platforms and first handling equipment, with the multiple platforms spaced apart along the height direction. Each platform has at least one first handling device, and each platform corresponds to at least one carrier, which can be a shelf, pallet, or seed wall. Carriers can be placed on the corresponding platforms, or they can be arranged adjacent to the corresponding platforms. The first handling equipment is configured to transport the target object obtained from the warehousing equipment to the carrier on the platform of the corresponding level.

[0265] Reference Figures 32 to 35 As shown, the storage equipment 100 (storage and retrieval device) of this application embodiment includes at least two support members 11 (columns) and a retrieval device 2 (box retrieval mechanism). The support members 11 are provided with vertical guide rails 171, and the at least two support members 11 are arranged at intervals along a second direction. The retrieval device 2 is disposed biased towards one side of the support member 11 in a first direction and is movably engaged with the vertical guide rails 171 in a vertical direction. The support member 11 has a fixing part 172 for connecting to a base. The second direction is orthogonal to the vertical direction, and the first direction is orthogonal to both the vertical and second directions.

[0266] The support member 11 is provided with a vertical guide rail 171, which can be understood as: the support member 11 itself forms the vertical guide rail 171; or, the vertical guide rail 171 is separately provided from the support member 11, and the vertical guide rail 11 is fixedly connected to the support member 11. The pick-and-place device 2 is movable in the vertical direction and cooperates with the vertical guide rail 171, so that the pick-and-place device 2 is set on the support member 11.

[0267] The placement device 2 is positioned biased towards one side of the support member 11 in the first direction. This can be understood as follows: the placement device 2 protrudes from the support member 11 on one side in the first direction, and the placement device 2 does not protrude from the support member 11 on the other side in the first direction; or, the placement device 2 protrudes from both sides of the support member 11 in the first direction, and the distance of the placement device 2 protruding from the support member 11 on one side in the first direction is greater than the distance of the placement device 2 protruding from the support member 11 on the other side in the first direction.

[0268] The fixing part 172 can be directly connected to the base, or it can be indirectly connected through a connector.

[0269] The vertical direction can be the direction shown by the Z-axis in the figure, the second direction can be the direction shown by the X-axis in the figure, and the first direction can be the direction shown by the Y-axis in the figure.

[0270] It should be noted that the second direction in the present application is not limited to the X-axis direction in the figure, but can also be the Y-axis direction, and any direction in the horizontal plane. The first direction in the present application is not limited to the Y-axis direction in the figure, but can also be the X-axis direction, and any direction in the horizontal plane. The following embodiments of the present application take the second direction as the X-axis direction in the figure and the first direction as the Y-axis direction in the figure as examples for description.

[0271] The storage equipment 100 in the embodiments of the present application can connect multiple carrier members 11 into one whole body by connecting the fixed part 172 and the base body, improve the structural strength of the whole body composed of the carrier member 11 and the base body, thereby reducing the risk of deformation of the carrier member 11 and limiting the relative position between the adjacent two carrier members 11, further reducing the risk of change of the spacing between the vertical guide rails 171 and the change of the relative position between the adjacent two vertical guide rails 171, thereby making the cooperation of the taking and placing device 2 and the vertical guide rail 171 more smooth, and improving the motion stability and motion accuracy of the taking and placing device 2.

[0272] In some examples of the embodiments of the present application, the multiple carrier members 11 are arranged at intervals along the left-right direction, and the taking and placing device 2 is arranged on the front side of the carrier member 11 in the front-rear direction. The left-right direction is consistent with the second direction, and the front-rear direction is consistent with the first direction. For example, the side of the taking and placing device 2 deviating to the side where the carrier member 11 is arranged is the front side, and the side opposite to the side is the rear side.

[0273] In some examples of the embodiments of the present application, as shown in Figure 36 , Figure 37 , Figure 36 The storage equipment 100 further includes at least one connecting beam 161, the connecting beam 161 extends from one of the adjacent two carrier members 11 towards the other carrier member 11, and the connecting beam 161 is connected with the fixed part 172 of the adjacent two carrier members 11. The connecting beam 161 and the carrier member 11 can be bonded, welded or connected by a fastener, which can be a bolt, a screw or a rivet.

[0274] For example, the number of carrier members 11 is two, the two carrier members 11 are arranged at intervals along the left-right direction, and the two ends of the connecting beam 161 are connected with the fixed parts 172 of the two carrier members 11, respectively, and the two carrier members 11 are connected by the connecting beam 161.

[0275] The two adjacent load bearers 11 can be connected as a whole with the connecting beam 161, the structural strength of the whole composed of the two adjacent load bearers 11 and the connecting beam 161 can be improved, the risk of deformation of the load bearers 11 and the relative position between the two adjacent load bearers 11 can be reduced, and the motion stability and motion accuracy of the taking-and-placing device 2 can be improved.

[0276] In some examples of the embodiments of the present application, the connecting beam 161 forms the base body, that is, the connecting beam 161 connects the plurality of load bearers 11 as a whole.

[0277] By forming the base body with the connecting beam 161, the structure of the base body is simple, and the installation and fixation of the storage equipment 100 are facilitated.

[0278] In other examples of the embodiments of the present application, the base body can also have other structures, for example, the base body is the ground, the floor or the frame structure (for example, the shelf fixed on the ground).

[0279] In other examples of the embodiments of the present application, the connecting beam 161 has a connecting portion connected with the base body. That is, the plurality of load bearers 11 are connected with the base body through the connecting beam 161. That is, the fixing portions 172 of the load bearers 11 are connected with the base body through the connecting beam 161.

[0280] The connecting portion and the base body can be connected by adhesion, welding or fasteners, and the fasteners can be bolts, screws or rivets.

[0281] By providing the connecting portion on the connecting beam 161 and connecting the plurality of load bearers 11 with the base body through the connecting beam 161, the connection of the plurality of load bearers 11 with the base body is facilitated, and the installation and fixation of the storage equipment 100 are facilitated.

[0282] In some examples of the embodiments of the present application, as shown in Figure 29 and Figures 32 to 35 The load bearer 11 has a plurality of fixing portions 172, and the plurality of fixing portions 172 are arranged at intervals. The connecting beam 161 is a plurality of connecting beams 161, and the plurality of connecting beams 161 are arranged at intervals and connected with the corresponding fixing portions 172 of the two adjacent load bearers 11.

[0283] For example, as shown in Figure 36As shown, the plurality of fixing portions 172 of the carrier 11 are arranged in the up-down direction, the plurality of connecting beams 161 are arranged in the up-down direction, and the connecting beams 161 are connected to the fixing portions 172 corresponding to the adjacent two carriers 11, so that the adjacent two carriers 11 are connected through the plurality of connecting beams 161. Of course, the plurality of fixing portions 172 of the carrier 11 can also be arranged in the front-rear direction, and the at least two connecting beams 161 are arranged in the front-rear direction in sequence. At this time, at the same height, the adjacent two carriers 11 are connected through the at least two connecting beams 161.

[0284] The adjacent two carriers 11 are connected through the plurality of connecting beams 161, which can further improve the structural strength of the whole composed of the adjacent two carriers 11 and the connecting beams 161, thereby further reducing the risk of deformation of the carrier 11 and the relative position between the adjacent two carriers 11, improving the motion stability and motion accuracy of the taking and placing device 2.

[0285] In some examples of the embodiments of the present application, as shown in Figure 37 、 Figure 37 、 Figure 38 As shown, the extension direction of the connecting beam 161 is parallel to the second direction.

[0286] For example, the second direction is consistent with the left-right direction, and the connecting beam 161 is arranged parallel to the left-right direction.

[0287] By setting the extension direction of the connecting beam 161 parallel to the second direction, the connection of the adjacent two carriers 11 can be realized in the case that the length of the connecting beam 161 is relatively short, which is conducive to reducing the cost of the connecting beam 161, thereby reducing the cost of the warehouse equipment 100.

[0288] In some examples of the embodiments of the present application, the warehouse equipment 100 further comprises a buffer rack, the buffer rack is arranged on the side of the carrier 11 away from the taking and placing device 2 in the first direction, and the buffer rack is connected with the connecting beam 161.

[0289] The number of buffer racks can be one or more, and at least one buffer rack can be arranged on each connecting beam 161.

[0290] For example, the taking and placing device 2 is arranged on the front side of the carrier 11, and the buffer rack is arranged on the rear side of the carrier 11.

[0291] By arranging the buffer rack on the warehouse equipment 100, the goods 7 taken down by the taking and placing device 2 can be placed on the buffer rack, so as to take down the next goods 7 by the taking and placing device 2, thereby improving the working efficiency of the taking and placing device 2, and improving the working efficiency of the warehouse equipment 100.

[0292] The goods 7 can be a cargo box, a material box, goods themselves, or goods original boxes, etc., which are not limited here.

[0293] In some specific application scenarios, taking the warehouse equipment 100 as a picking device and the taking and placing device 2 taking the goods 7 from the carrier (such as a mobile shelf, a tray, a transport trolley, etc.) carried by the transfer robot as an example, the following is described:

[0294] Firstly, the first transfer robot carries the first carrier with the first goods to the taking and placing device 2, the taking and placing device 2 takes the first goods in the first carrier and places the first goods on the picking position for sorting; then, the second transfer robot carries the carrier with the second goods to the taking and placing device 2, the taking and placing device 2 takes the second goods in the second carrier and places the second goods on the buffer shelf. Before the sorting of the first goods 7 is completed, the taking and placing device 2 can place other goods 7 in the carrier on the buffer shelf; and after the sorting of the first goods is completed, the taking and placing device 2 can take the second goods from the corresponding buffer shelf and place the second goods on the picking position for sorting.

[0295] In some examples of the embodiments of the present application, as shown in Figure 38 The extension direction of the connecting beam 161 is arranged obliquely relative to the second direction.

[0296] The connecting beam 161 can be provided with one, two or more. For example, as shown in Figure 30 The connecting beam 161 is provided with two, the included angle between the extension direction of the connecting beam 161 and the left-right direction is an acute angle, and the two connecting beams 161 are arranged in cross.

[0297] By arranging the extension direction of the connecting beam 161 to be oblique relative to the second direction, the connecting beam 161 can be connected with different positions of the two adjacent carriers 11, which facilitates strengthening different positions of each carrier 11 as needed, and is beneficial to improving the reliability of the warehouse equipment 100.

[0298] In some examples of the embodiments of the present application, as shown in Figure 29 The warehouse equipment 100 further includes a fixed beam 163, the fixed beam 163 is arranged obliquely relative to the second direction, and the two ends of the fixed beam 163 are respectively connected with the connecting beam 161 and the fixed part 172 of the at least one carrier 11.

[0299] For example, as shown in Figure 36As shown in FIG. 1, two fixed beams 163 are arranged along the second direction and are arranged on the lower side of the connecting beam 161. The two ends of one of the fixed beams 163 are connected to the connecting beam 161 and the fixed part 172 of one of the carriers 11, and the two ends of the other fixed beam 163 are connected to the connecting beam 161 and the fixed part 172 of the other carrier 11. At this time, the two carriers 11 are connected not only by the connecting beam 161 but also by the two fixed beams 163 and the connecting beam 161.

[0300] As shown in FIG. 1, the fixed part 172 is arranged on the top of the carrier 11. At this time, the top of the carrier 11 is connected to the base. Figure 37

[0301] For example, the top of the two carriers 11 is connected by the connecting beam 161, so that the two carriers 11 and the connecting beam 161 form a door-shaped frame, and the taking and placing device 2 is arranged on the inner side of the door-shaped frame. Among the two carriers 11, one of the carriers 11 is arranged with a vertical guide rail 171 towards the side surface of the other carrier 11.

[0302] By arranging the fixed part 172 on the top of the carrier 11, the risk of deformation of the top of the carrier 11 can be reduced, and the relative position between the tops of the two adjacent carriers 11 can be limited, thereby improving the motion stability and motion accuracy of the taking and placing device 2.

[0303] As shown in FIG. 1, the fixed part 172 is arranged on the bottom of the carrier 11. At this time, the bottom of the carrier 11 is connected to the base. Figure 31 For example, the ground serves as the base, and the bottom of the carrier 11 is connected to the ground. The bottom of the carrier 11 and the ground can be connected by a foundation bolt.

[0304] By arranging the fixed part 172 on the bottom of the carrier 11, the risk of deformation of the bottom of the carrier 11 can be reduced, and the relative position between the bottoms of the two adjacent carriers 11 can be limited, thereby improving the motion stability and motion accuracy of the taking and placing device 2.

[0305] In some examples of the embodiments of the present application, the fixed part 172 is arranged on the middle part of the carrier 11. At this time, the middle part of the carrier 11 is connected to the base.

[0306] For example, as shown in FIG. 1, the middle part of the carrier 11 is provided with the fixed part 172, and the middle part of the carrier 11 is connected to the connecting beam 161, and the connecting beam 161 forms the base.

[0307] Figure 39 Figure 40 For example, as shown in FIG. 1, the middle part of the carrier 11 is provided with the fixed part 172, and the middle part of the carrier 11 is connected to the connecting beam 161, and the connecting beam 161 forms the base.

[0308] ​​​By arranging the fixing portion 172 at the middle portion of the carrier 11, the risk of deformation of the middle portion of the carrier 11 can be reduced, and the relative positions between the middle portions of two adjacent carriers 11 can be limited, so that the movement stability and accuracy of the taking-and-placing device 2 are improved.

[0309] In some examples of the embodiments of the present application, the bottom of the carrier 11 is provided with the fixing member 4, and the fixing member 4 forms the fixing portion 172.

[0310] By arranging the fixing member 4 at the bottom of the carrier 11, the bottom of the carrier 11 is facilitated to be connected to the base, so that the installation and fixation of the storage equipment 100 are facilitated.

[0311] In some examples of the embodiments of the present application, the fixing member 4 is provided with a fixing hole 411, and the fixing hole 411 is used for the fastener to pass through to be connected to the base.

[0312] For example, the fixing hole 411 is used for the anchor bolt to pass through, so that the carrier 11 is connected to the ground.

[0313] In some examples of the embodiments of the present application, as shown in Figure 39 In some examples of the embodiments of the present application, as shown in

[0314] For example, the first plate 41 is arranged at the lower side of the carrier 11, the left side surface of the carrier 11 is the first wall surface 173, the second plate 42 is arranged at the left side of the carrier 11, the first plate 41 is provided with the fixing hole 411, the lower end surface of the carrier 11 is connected to the upper side surface of the first plate 41, the right side surface of the second plate 42 is connected to the left side surface of the carrier 11, and the lower side surface of the second plate 42 is connected to the upper side surface of the first plate 41.

[0315] By arranging the fixing member 4 in the above structure, the connection reliability of the fixing member 4 and the carrier 11 can be improved, so that the connection reliability of the carrier 11 and the base is improved, and the reliability of the storage equipment 100 is improved.

[0316] In some examples of the embodiments of the present application, the carrier 11 further comprises a third wall surface 174 and a fourth wall surface opposite to each other in the first direction. The fixing member 4 further comprises a connecting plate 43 and a rib plate 44, the connecting plate 43 is arranged on a side of the carrier 11 away from the fourth wall surface, and the rib plate 44 is arranged on a side of the connecting plate 43 away from the carrier 11. A side of the connecting plate 43 facing the third wall surface 174 is connected with the third wall surface 174, a side of the connecting plate 43 facing the second plate 42 is connected with the side of the second plate 42 facing the first wall surface 173, and a bottom surface of the connecting plate 43 is connected with a top surface of the first plate 41. A side of the rib plate 44 facing the third wall surface 174 is connected with a side of the connecting plate 43 facing away from the third wall surface 174, and a bottom surface of the rib plate 44 is connected with the top surface of the first plate 41.

[0317] For example, the connecting plate 43 is arranged on a front side of the carrier 11, the front side of the carrier 11 is the third wall surface 174, the rib plate 44 is arranged on a front side of the connecting plate 43, a lower surface of the connecting plate 43 is connected with an upper side of the first plate 41, a left side of the connecting plate 43 is connected with a right side of the second plate 42, a rear side of the rib plate 44 is connected with a front side of the connecting plate 43, and a lower side of the rib plate 44 is connected with an upper surface of the first plate 41.

[0318] By arranging the fixing member 4 in the above structure, the connection reliability of the fixing member 4 and the carrier 11 can be further improved, thereby improving the connection reliability of the carrier 11 and the base body, and improving the reliability of the storage device 100.

[0319] As shown in Figure 40 and Figure 39 The embodiments of the present application further provide a storage system, which comprises the storage device 100 of any of the above embodiments and the shelf 6, and the storage device 100 is arranged on at least one side of the shelf 6 in the second direction and / or the first direction. The shelf 6 is used to place the goods 7, and the taking and placing device 2 is used to take and place the goods 7.

[0320] The storage device 100 is arranged on at least one side of the shelf 6 in the second direction and / or the first direction, which can be understood as that the storage device 100 is arranged on at least one side of the shelf 6 in the second direction, and the storage device 100 is arranged on at least one side of the shelf 6 in the first direction; or the storage device 100 is arranged on at least one side of the shelf 6 in the second direction, and the storage device 100 is not arranged on any side of the shelf 6 in the first direction; or the storage device 100 is arranged on at least one side of the shelf 6 in the first direction, and the storage device 100 is not arranged on any side of the shelf 6 in the second direction.

[0321] Due to the storage device 100 of the embodiments of the present application, the movement stability and the movement precision of the taking and placing device 2 are good, and therefore the storage system of the embodiments of the present application has the advantages of good reliability and the like.

[0322] As shown in Figure 40 and Figure 29 , the fixed part 172 is fixedly connected with the shelf 6, and the shelf 6 forms a base body.

[0323] Among them, the vertical guide rail 171 can be fixed on the column of the shelf 6, or the column of the shelf 6 forms the vertical guide rail 171.

[0324] Among them, the fixed part 172 and the shelf 6 can be welded; the fixed part 172 and the shelf 6 can also be connected through a fastener, which can be a bolt, a screw, a rivet, etc.

[0325] By taking the shelf 6 as the base body, the additional base body can be avoided, the overall structure of the warehouse equipment 100 is simplified, and the overall cost of the warehouse equipment 100 is reduced.

[0326] Optionally, as shown in Figure 32 and Figure 35 , the warehouse equipment 100 is arranged on one side of the shelf 6 in the first direction, and the taking and placing device 2 is arranged on the side away from the shelf 6 in the first direction. The shelf 6 is provided with a transverse guide rail 61 extending in the second direction, and the carrying member 11 is provided with a guide part movably matched with the transverse guide rail 61 in the second direction.

[0327] Among them, the guide part can be a transverse wheel 175, a guide block, etc. The shelf 6 is provided with a transverse guide rail 61, which can be understood as: the transverse guide rail 61 is formed by the cross beam of the shelf 6 itself; or the shelf 6 and the transverse guide rail 61 are separately arranged, and the transverse guide rail 61 is fixedly connected with the shelf 6.

[0328] For example, the transverse wheel 175 can be directly arranged on the carrying member 11, and the transverse wheel 175 is movably matched with the transverse guide rail 61 in the second direction, so as to realize the movement of the carrying member 11 in the second direction, and the transverse wheel 175 forms the guide part. For another example, the fixed part 172 of the carrying member 11 can be connected with the base body, and the transverse wheel 175 can be arranged on the base body, and the transverse wheel 175 is movably matched with the transverse guide rail 61 in the second direction, so as to realize the movement of the carrying member 11 in the second direction, and the transverse wheel 175 forms the guide part.

[0329] By arranging the carrying member 11 to be movable in the second direction, the taking and placing device 2 can not only move along the vertical guide rail 171, but also move along the transverse guide rail with the carrying member 11, so that the warehouse equipment 100 can take and place the goods 7 at more positions of the shelf 6, which is beneficial to improve the working efficiency of the warehouse system. In some examples of the present application, the warehouse system further comprises at least one goods receiving point, which is arranged on the other side of the carrying member 11 in the first direction.

[0330] The goods receiving position can be a picking position, a temporary storage position for placing the goods 7, or a goods receiving trolley for carrying the goods 7, etc.

[0331] For example, the goods receiving position is arranged at the rear side of the carrier 11.

[0332] By arranging the goods receiving position, the placement of the goods 7 taken out by the taking and placing device 2 is facilitated, and the working efficiency of the warehouse system is improved.

[0333] In some examples of the embodiments of the present application, as shown in Figures 41 to 46 , Figure 41 and Figure 44 , the warehouse system further comprises a workbench 2 (picking table), and the workbench 2 is provided with at least one work station 311 (picking position), and the work station 311 forms the goods receiving position.

[0334] The workbench 2 is provided with at least one work station 311, which can be understood as that the workbench 2 is provided with one work station 311, or the workbench 2 is provided with two or more work stations 311.

[0335] For example, the workbench 2 is provided with three work stations 311.

[0336] By arranging at least one work station 311 on the workbench 2, the working efficiency of the warehouse system is improved.

[0337] In other examples of the embodiments of the present application, the workbench 2 can also be provided with only one work station 311.

[0338] In some examples of the embodiments of the present application, the workbench 2 comprises a first side plate 316 and a second side plate 317 arranged opposite to each other in the second direction, and at least one of the first side plate 316 and the second side plate 317 is provided with a plurality of hooking holes 318.

[0339] For example, the right side plate of the workbench 2 is the first side plate 316, and the left side plate of the workbench 2 is the second side plate 317, and both the first side plate 316 and the second side plate 317 are provided with a plurality of hooking holes 318. The hooking holes 318 can be used to hang a storage rack, and the storage rack can be used to store tools such as a barcode printer and a code scanner.

[0340] By arranging the hooking holes 318, it is convenient to hang auxiliary tools (such as a storage rack) on the workbench 2, and the practicability of the warehouse system is improved.

[0341] In other examples of the embodiments of the present application, the workbench 2 can also not be provided with the hooking holes 318. At this time, a storage rack can be arranged beside the workbench 2, and the storage rack is used to store tools such as a barcode printer and a code scanner.

[0342] The taking and placing device 2 comprises a carrying frame, a driving assembly and a taking and placing assembly. The carrying frame is movably connected with the support frame 1 in the vertical direction. The driving assembly is used to drive the carrying frame to move in the vertical direction. The taking and placing assembly is arranged on the carrying frame and is used to carry the goods 7 between the handling robot and the work station 311.

[0343] In the warehouse system, the handling equipment carries the goods corresponding to the order to the case taking mechanism of the picking system in response to the order instruction. The case taking mechanism transfers the goods to the picking platform of the picking system, and then sorts the items corresponding to the order into the order case, so as to realize the sorting of the items corresponding to the order. The goods can be items, carriers on which the items are placed, or cases on which the items are placed, etc. The handling equipment can be a mechanical arm or a handling robot, etc.

[0344] In the process of carrying the goods to the case taking mechanism of the picking system by the handling equipment, the handling equipment moves according to the set moving path. In the related art, the case taking mechanism of the picking system is arranged on the side of the support frame protruding in the horizontal direction. During the movement of the handling equipment, the handling equipment will pass through the side of the support frame provided with the case taking mechanism. This results in that when there is deviation in the moving path of the handling equipment, the goods carried on the handling equipment are easy to collide with the case taking mechanism, which affects the working efficiency and reliability of the warehouse system.

[0345] In view of the technical problems in the related art, with reference to Figure 45 The warehouse equipment 100 provided in the embodiments of the present application comprises a carrying device 1, a taking and placing device 2, and an anti-collision mark 8. The taking and placing device 2 is movably connected with the carrying device 1 in the vertical direction. The taking and placing device 2 is arranged on the side of the carrying device 1 protruding in the first direction. The anti-collision mark 8 is located on at least one side of the carrying device 1 and / or the taking and placing device 2 in the second direction. The anti-collision mark 8 is used for the handling equipment to identify, so that the goods carried by the handling equipment avoid the taking and placing device 2. The first direction is orthogonal to the vertical direction, and the second direction is orthogonal to the vertical direction and the first direction.

[0346] The taking and placing device 2 can be arranged away from the goods receiving point of the warehouse system in the first direction, for example, the goods receiving point is a temporary storage position for placing goods, a goods receiving trolley for carrying goods, or a picking position on the picking platform. The taking and placing device 2 can also be arranged close to the goods receiving point of the warehouse system, for example, the goods receiving point is a mobile shelf, and the taking and placing device 2 takes or returns goods from the mobile shelf. The goods can be items, carriers on which the items are placed, or cases on which the items are placed, etc. The anti-collision mark 8 can be an anti-collision piece, a two-dimensional code, an image mark, etc.

[0347] The anti-collision mark 8 is located on at least one side of the carrying device 1 and / or the taking and placing device 2 in the second direction. It can be understood that the anti-collision mark 8 is located on one side or both sides of the carrying device 1 in the second direction, but the anti-collision mark 8 is not arranged on each side of the taking and placing device 2 in the second direction. Alternatively, the anti-collision mark 8 is located on one side or both sides of the taking and placing device 2 in the second direction, but the anti-collision mark 8 is not arranged on each side of the carrying device 1 in the second direction. Alternatively, the anti-collision mark 8 is located on one side or both sides of the carrying device 1 in the second direction, and the anti-collision mark 8 is located on one side or both sides of the taking and placing device 2 in the second direction. At this time, the carrying device 1 and the taking and placing device 2 can be the same anti-collision mark 8 or different anti-collision marks 8.

[0348] The vertical direction can be the direction indicated by the Z axis in the figure, the first direction can be the direction indicated by the X axis in the figure, and the second direction can be the direction indicated by the Y axis in the figure.

[0349] It should be noted that the first direction in the present application is not limited to the direction of the X axis in the figure, but can also be the direction of the Y axis, and can be any direction in the horizontal plane. The second direction in the present application is not limited to the direction of the Y axis in the figure, but can also be the direction of the X axis, and can be any direction in the horizontal plane. The following embodiments of the present application take the direction of the X axis in the figure as the first direction and the direction of the Y axis in the figure as the second direction.

[0350] The warehouse equipment 100 of the present application sets the anti-collision mark 8 on at least one side of the carrying device 1 and / or the taking and placing device 2 in the second direction, so that the carrying device can determine its moving path by identifying the anti-collision mark 8 during the process of carrying the goods to the taking and placing device 2, avoiding the collision between the goods carried by the carrying device and the taking and placing device 2, thereby improving the working efficiency and reliability of the warehouse system.

[0351] The carrying device can be a mechanical arm, a carrying robot, or a mobile shelf. The carrying device determines its moving path, which can be understood as the carrying device re-planning the moving path or the carrying device continuing to move according to the already planned moving path. The determined moving path should satisfy that the goods carried by the carrying device will not collide with the taking and placing device 2.

[0352] In some examples of the present application, as shown in Figure 42 , Figure 46 and Figure 41 , the warehouse equipment 100 includes a fixing member 9. At least a part of the fixing member 9 is located on one side of the taking and placing device 2 in the second direction. At least a part of the fixing member 9 forms the anti-collision mark 8, or the anti-collision mark 8 is arranged on the fixing member 9.

[0353] At least a part of the fixing member 9 is located on one side of the taking and placing device 2 in the second direction, which means that a part of the fixing member 9 is located on one side of the taking and placing device 2 in the second direction, or the whole fixing member 9 is located on one side of the taking and placing device 2 in the second direction.

[0354] At least a part of the fixing member 9 forms the anti-collision mark 8, which means that at least a part of the fixing member 9 is used as the anti-collision mark 8. At this time, the carrying device determines the moving path when it identifies the part of the fixing member 9 as the anti-collision mark 8, so as to avoid the collision between the goods carried by the carrying device and the taking and placing device 2.

[0355] The anti-collision mark 8 is arranged on the fixing member 9, which means that the anti-collision mark 8 is fixed on the fixing member 9 by means of sticking, printing, fasteners and the like. The fasteners can be bolts, screws, rivets and the like. At this time, the carrying device determines the moving path when it identifies the anti-collision mark on the fixing member 9, so as to avoid the collision between the goods carried by the carrying device and the taking and placing device 2.

[0356] By arranging the fixing member 9 and arranging at least a part of the fixing member 9 as the anti-collision mark 8 or arranging the anti-collision mark 8 on the fixing member 9, the anti-collision mark 8 can be arranged at a position that is easy to be identified by the carrying device, which is conducive to the quick and accurate identification of the anti-collision mark 8 by the carrying device, so as to more effectively avoid the collision between the goods carried by the carrying device and the taking and placing device 2.

[0357] In some other examples of the present application, the anti-collision mark 8 is a two-dimensional code or an image mark. The image mark can be black and yellow stripes, black and white stripes, black and white squares and the like.

[0358] The two-dimensional code or the image mark can be fixed on the carrying device 1, the taking and placing device 2 or the ground by means of sticking, printing, fasteners and the like. At this time, a camera can be arranged on the carrying device, which identifies the two-dimensional code or the image mark as the anti-collision mark 8, determines the relative position between the carrying device and the taking and placing device 2, and determines the moving path of the carrying device, so as to avoid the collision between the goods carried by the carrying device and the taking and placing device 2.

[0359] By arranging the anti-collision mark 8 as a two-dimensional code or an image mark, the specific structure of the warehousing device 100 can be changed, and only the two-dimensional code or the image mark needs to be arranged on the warehousing device 100, which is conducive to reducing the cost of the warehousing device 100.

[0360] It should be noted that when the two-dimensional code or image mark is arranged on the carrying device 1 or the taking and placing device 2, the camera of the carrying equipment is preferably arranged on the front side of the moving direction of the carrying equipment, that is, the camera faces the front side of the moving direction of the carrying equipment, to identify the two-dimensional code or image mark on the carrying device 1 or the taking and placing device 2. When the two-dimensional code or image mark is arranged on the ground, the camera of the carrying equipment can be arranged on the bottom of the carrying equipment, that is, the camera faces downward, to identify the two-dimensional code on the carrying device 1 or the taking and placing device 2.

[0361] The position at which the camera can identify the two-dimensional code or image mark is the identification position, the identification position and the taking and placing device 2 are located on the same side of the carrying device 1, the distance between the identification position and the carrying device 1 in the second direction is D1, and the distance between the side of the taking and placing device 2 away from the carrying device 1 in the second direction and the carrying device 1 is D2, so D1 is greater than or equal to D2.

[0362] For example, the identification position is located on the front side of the carrying device 1, and the taking and placing device 2 is located on the front side of the carrying device 1. The distance between the identification position and the carrying device 1 in the front-rear direction is D1, the distance between the front side of the taking and placing device 2 and the carrying device 1 in the front-rear direction is D2, and D1 is greater than D2. Wherein, the front-rear direction can be consistent with the first direction, the left-right direction can be consistent with the second direction, and the box taking mechanism 1 is arranged protruding from the front side of the carrying device 1.

[0363] In some specific application scenarios, taking the process that the carrying equipment moves from the right front side of the taking and placing device 2 to the taking and placing device 2 as an example for illustration:

[0364] The carrying equipment first moves backward to the right side of the taking and placing device 2, and then moves leftward to the taking and placing device 2. During the leftward movement of the carrying equipment, if the carrying equipment moves to the identification position, the carrying equipment re-plans the moving path, for example, after identifying the two-dimensional code, the carrying equipment first moves forward by a certain distance to avoid the identification position, and then moves leftward to the taking and placing device 2. Wherein, the carrying equipment is in the front side of the identification position, so as to avoid the identification position, and when the carrying equipment is in the front side of the identification position, the carrying equipment is necessarily in the front side of the taking and placing device 2, so the goods carried by the carrying equipment will not collide with the taking and placing device 2.

[0365] In some examples of the embodiments of the present application, as shown in Figure 44 and Figure 45 At least a part of the fixing member 9 forms an anti-collision part 94, the anti-collision part 94 and the taking and placing device 2 are located on the same side of the carrying device 1 in the first direction, and the anti-collision part 94 is used to resist the carrying equipment.

[0366] At least part of the fixing member 9 forms the anti-collision part 94. It can be understood that part of the fixing member 9 is used as the anti-collision part 94. At this time, the part of the fixing member 9 used as the anti-collision part 94 plays a role of resisting the carrying device, and the remaining part of the fixing member 9 does not play a role of resisting the carrying device. Alternatively, the fixing member 9 as a whole is used as the anti-collision part 94. At this time, the fixing member 9 as a whole plays a role of resisting the carrying device.

[0367] For example, the anti-collision part 94 and the taking and placing device 2 are located on the front side of the carrying device 1, and the anti-collision part 94 is arranged on the left and right sides of the taking and placing device 2.

[0368] By forming the anti-collision part 94 with at least part of the fixing member 9, the anti-collision part 94 is used to resist the carrying device, so that when the goods carried by the carrying device is about to collide with the taking and placing device 2, the fixing member 9 can directly prevent the carrying device from continuing to move, thereby more effectively avoiding the collision between the goods carried by the carrying device and the taking and placing device 2.

[0369] In some specific application scenarios, taking the carrying device moving from the left front of the taking and placing device 2 to the taking and placing device 2 as an example for description:

[0370] The carrying device first moves backward to the left side of the taking and placing device 2, and then moves rightward to the taking and placing device 2. During the moving rightward of the carrying device, if the carrying device collides with the anti-collision part 94, it is determined that the goods carried by the carrying device will collide with the taking and placing device 2 in the moving path, and then the carrying device re-plans the moving path. For example, after colliding with the anti-collision part 94, the carrying device first moves forward by a certain distance to avoid the anti-collision part 94, and then moves rightward to the taking and placing device 2.

[0371] Of course, in another embodiment, the fixing member 9 can not have the role of resisting the carrying device. At this time, the carrying device only determines the moving path by recognizing the anti-collision mark 8 to avoid the collision between the goods carried by the carrying device and the taking and placing device 2.

[0372] In some examples of the embodiment, as shown in Figure 46 and Figure 43 The fixing member 9 and the carrying device 1 are arranged in the first direction. That is, the fixing member 9 and the carrying device 1 are arranged separately.

[0373] For example, the taking and placing device 2 is arranged on the front side of the carrying device 1, and the fixing member 9 is arranged on the front side of the carrying device 1.

[0374] By arranging the fixing member 9 and the carrying device 1 in the first direction, the setting position of the fixing member 9 is not limited by the carrying device 1, so the fixing member 9 can be arranged at a position easily recognized by the carrying equipment, thereby more effectively avoiding the collision between the goods carried by the carrying equipment and the taking and placing device 2.

[0375] In some examples of the embodiments of the present application, as shown in Figure 44 and Figure 46 , the fixing member 9 is fixedly connected with the carrying device 1. That is, the fixing member 9 is fixedly connected with the carrying device 1 as a whole.

[0376] In some examples of the embodiments of the present application, the fixing member 9 and the carrying device 1 can be welded, bonded or connected through a fastener, which can be a bolt, a screw, a rivet or the like.

[0377] The fixing member 9 is fixedly connected with the carrying device 1, so that the carrying device 1 can serve as a fixed base of the fixing member 9, facilitating the installation and fixation of the fixing member 9.

[0378] In some examples of the embodiments of the present application, as shown in Figure 41 、 Figure 44 and Figure 45 , the distance between the anti-collision part 94 and the carrying device 1 in the second direction is L1, the distance between the taking and placing device 2 and the carrying device 1 in the second direction is L2, and L1 is greater than or equal to L2.

[0379] For example, the anti-collision part 94 is located at the front side of the carrying device 1, and the taking and placing device 2 is located at the front side of the carrying device 1. The distance between the front side of the anti-collision part 94 and the carrying device 1 in the front-rear direction is L1, the distance between the front side of the taking and placing device 2 and the carrying device 1 in the front-rear direction is L2, and L1 is greater than L2.

[0380] In some specific application scenarios, taking the process that the carrying equipment moves from the right front side of the taking and placing device 2 to the taking and placing device 2 as an example for illustration:

[0381] The carrying equipment first moves backward to the right side of the taking and placing device 2, and then moves leftward to the taking and placing device 2. During the leftward movement of the carrying equipment, if the carrying equipment collides with the anti-collision part 94, the carrying equipment re-plans the movement path, for example, after colliding with the anti-collision part 94, the carrying equipment first moves forward by a certain distance to avoid the anti-collision part 94, and then moves leftward to the taking and placing device 2. Wherein, when the carrying equipment is at the front side of the anti-collision part 94, it can avoid the anti-collision part 94, and when the carrying equipment is at the front side of the anti-collision part 94, it must be at the front side of the taking and placing device 2, so the goods carried by the carrying equipment will not collide with the taking and placing device 2.

[0382] By setting L1 to be greater than or equal to L2, it is ensured that the goods on the carrying device will not collide with the taking-and-placing device 2 in the case that the carrying device does not collide with the anti-collision part 94. Thus, it is effectively avoided that the goods carried by the carrying device collide with the taking-and-placing device 2.

[0383] In some examples of the embodiments of the present application, as shown in Figure 43 , Figure 43 and Figure 45 , the fixing member 9 is an anti-collision frame, the anti-collision frame and the taking-and-placing device 2 are located on the same side of the carrying device 1 in the first direction, and the anti-collision frame forms an anti-collision mark.

[0384] By setting the fixing member 9 as an anti-collision frame, the structural strength of the fixing member 9 is good, so that the fixing member 9 is not damaged by the carrying device when the carrying device collides with the fixing member 9, and the reliability of the storage device 100 is improved.

[0385] In some examples of the embodiments of the present application, as shown in Figure 46 , the anti-collision frame includes an anti-collision beam 91 and a plurality of legs 92, the anti-collision beam 91 extends along the first direction, the plurality of legs 92 are arranged at intervals along the first direction, and the anti-collision beam 91 is connected with the plurality of legs 92.

[0386] For example, as shown in Figure 43 , the number of legs 92 is two, the anti-collision beam 91 extends along the front-back direction, the two legs 92 are arranged at intervals along the front-back direction, and the anti-collision beam 91 and the two legs 92 form a U-shaped frame.

[0387] The anti-collision frame is set to the above structure, which is conducive to simplifying the structure of the anti-collision frame and reducing the cost of the anti-collision frame while ensuring the structural strength of the anti-collision frame, thereby being conducive to reducing the cost of the storage device 100.

[0388] In other examples of the embodiments of the present application, the anti-collision frame can also be set to other structures, for example, the anti-collision frame is set to the structure as shown in Figure 46 and Figure 45 , or the anti-collision frame is set to a rectangular frame, a T-shaped frame or other structures.

[0389] In some examples of the embodiments of the present application, as shown in Figure 46 and Figure 42 , the bottom of the anti-collision frame is provided with a fixing part 93, and the fixing part 93 is used to be connected with a base body. The fixing part 93 and the base body can be directly connected or indirectly connected through a connecting member; the base body can be a ground, a support, a floor or the like.

[0390] For example, the bottom of the leg 92 is provided with a fixing plate, the fixing plate forms the fixing part 93, and the fixing plate is connected with the ground through a foundation bolt.

[0391] By arranging the fixing portion 93 at the bottom of the anti-collision frame, the fixing stability of the anti-collision frame can be improved by connecting the fixing portion 93 with the base, and the reliability of the storage device 100 can be improved.

[0392] In addition, as shown in Figure 45 and Figures 41 to 46 , when the anti-collision frame is connected with the bearing device 1, the connection of the bearing device 1 with the base can also be realized by connecting the fixing portion 93 with the base, so that the fixing stability of the bearing device 1 can be improved, and the reliability of the storage device 100 can be further improved.

[0393] In some examples of the embodiments of the present application, as shown in ​ and ​ , the bearing device 1 includes two bearing members 11 and a connecting beam 161, the two bearing members 11 are arranged at intervals along the second direction, the connecting beam 161 extends along the second direction, and the two ends of the connecting beam 161 are connected with the top of the two bearing members 11 respectively, and the bearing device 1 is a whole door-shaped frame.

[0394] The overall structure of the bearing device 1 is simple, and the design and processing are convenient.

[0395] In some examples of the embodiments of the present application, the storage device 100 further includes a receiving point, the receiving point is arranged at one side of the bearing device 1 in the first direction, and the taking and placing device 2 is arranged away from or close to the receiving point in the first direction.

[0396] When the taking and placing device 2 is arranged away from the receiving point in the first direction, the receiving point can be a temporary storage position for placing goods, a receiving trolley for bearing goods, or a picking position on a picking platform. When the taking and placing device 2 is arranged close to the receiving point in the first direction, the receiving point can be a mobile rack.

[0397] By arranging the taking and placing device 2 away from or close to the receiving point in the first direction, the taking and placing device 2 can take and place goods on the receiving point conveniently.

[0398] In some examples of the embodiments of the present application, as shown in ​ , the storage device 100 further includes a workbench 3, the workbench 3 is provided with at least one work station 311, and the work station 311 forms the receiving point.

[0399] The workbench 3 is provided with at least one work station 311, which can be understood as that the workbench 3 is provided with one work station 311, or the workbench 3 is provided with two or more work stations 311.

[0400] For example, the workbench 3 is provided with three work stations 311.

[0401] By arranging at least one work station 311 on the workbench 3, the working efficiency of the storage device 100 can be improved.

[0402] The taking and placing device 2 comprises a carrying frame, a driving assembly and a taking and placing assembly. The carrying frame is movably connected with the carrying device 1 in the vertical direction, and the carrying frame is arranged on the side of the carrying device 1 away from the receiving point in the first direction. The driving assembly is used to drive the carrying frame to move in the vertical direction. The taking and placing assembly is arranged on the carrying frame and is used to carry the goods between the handling equipment and the work station 311.

[0403] In some examples of the embodiments, the warehouse system comprises shelves and handling equipment, and the handling equipment is used to carry goods between the shelves and the taking and placing device 2.

[0404] In some specific application scenarios, taking the order items from the shelves to the order box as an example:

[0405] The handling equipment carries the goods box containing the order items from the shelves to the taking and placing device 2 according to the order instruction, and the goods box containing the order items is transferred to the work station 3 through the taking and placing device 2. Then, the order items are sorted into the order box through manual or automatic equipment, so as to realize the sorting of the items corresponding to the order. During the process of moving the handling equipment from the shelves to the taking and placing device 2, the anti-collision mark 8 is used to avoid the collision between the goods carried by the handling equipment and the taking and placing device 2.

[0406] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms “center”, “longitudinal”, “transverse”, “length”, “width”, “thickness”, “upper”, “lower”, “front”, “rear”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential” are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0407] In addition, the terms “first” and “second” are only 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 as “first” and “second” can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of “a plurality of” is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0408] In the utility model, unless another definite provision and limitation, the terms "mount", "link", "connect", "fix" and so on should do broad sense understanding, for example, can be fixed connection, also can be detachable connection, or be integrated;Can be mechanical connection, also can be electric connection or each other can communicate;Can be direct connection, also can indirectly connect through intermediate medium, can be two element internal communication or two element mutual action relation, unless another definite limitation.For ordinary skilled person in the art, can understand the specific meaning of above terms in the utility model according to specific circumstances.

[0409] In the utility model, unless another definite provision and limitation, first feature is "on" or "under" second feature can be that first and second features directly contact, or first and second features indirectly contact through intermediate medium.Moreover, first feature "over", "above" and "on" second feature can be that first feature is directly above or obliquely above second feature, or just indicates that the horizontal height of first feature is higher than that of second feature.First feature "under", "below" and "under" second feature can be that first feature is directly below or obliquely below second feature, or just indicates that the horizontal height of first feature is less than that of second feature.

[0410] In the utility model, the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model.In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example.Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.In addition, the skilled person in the art can combine and combine the different embodiments or examples described in the specification and the features of different embodiments or examples without contradiction.

[0411] Although the embodiments of the utility model have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the utility model.The ordinary skilled person in the art can change, modify, replace and modify the above embodiments within the scope of the utility model.

Claims

1. A drive device characterized by comprising: The drive device comprises: two execution assemblies; a transmission assembly connected with the two execution assemblies respectively; and a driving member connected with the transmission assembly to drive the execution assemblies to operate synchronously through the transmission assembly. The transmission assembly comprises a speed reducer, an input shaft of the speed reducer is connected with the driving member, and the two execution assemblies are respectively detachably connected with output shafts of the speed reducer.

2. The drive apparatus according to claim 1, characterized by The transmission assembly further comprises a transmission shaft, at least one of the two execution assemblies is detachably connected with the output shaft of the speed reducer through the transmission shaft.

3. The drive apparatus according to claim 2, characterized by Each of the execution assemblies comprises a first rotating member, a second rotating member and a first connecting member, the first rotating member and the second rotating member are arranged at intervals, the first connecting member is arranged around the first rotating member and the second rotating member, and the transmission assembly is connected with the first rotating member of each of the two execution assemblies respectively.

4. The drive apparatus according to claim 1, characterized by The drive device comprises:

5. A bearing device characterized by comprising: two bearing members arranged at intervals; and a driving device according to any one of claims 1-4, two execution assemblies of the driving device are arranged in the two bearing members respectively. The execution assemblies are embedded in the bearing members.

6. The load bearing device of claim 5, wherein, The bearing members have first limiting grooves and second limiting grooves, openings of the first limiting grooves and openings of the second limiting grooves are relatively open in a first direction; 7. The load bearing device of claim 5, wherein, The bearing device further comprises a limiting assembly arranged in the first connecting member of the execution assembly, the limiting assembly is movably fitted in the first limiting grooves and the second limiting grooves. The limiting assembly comprises a limiting body, a first limiting member and a second limiting member, the limiting body is connected with the first connecting member, the first limiting member and the second limiting member are arranged in the limiting body, the first limiting member is movably fitted with a bottom wall surface of the first limiting groove, and the second limiting member is movably fitted with a bottom wall surface of the second limiting groove, so as to limit in the first direction.

8. The load bearing device of claim 7, wherein, The first limiting groove has two side wall surfaces opposite in a second direction, the second limiting groove has two side wall surfaces opposite in the second direction, and the second direction forms a preset included angle with the first direction; 9. The load bearing device of claim 7, wherein, The limiting assembly comprises a limiting body, a third limiting member and a fourth limiting member, the limiting body is connected with the first connecting member, the third limiting member and the fourth limiting member are arranged in the limiting body, the third limiting member is movably fitted with the two side wall surfaces of the first limiting groove, and the fourth limiting member is movably fitted with the two side wall surfaces of the second limiting groove, so as to limit in the second direction. The limiting body comprises:

10. The load bearing device of claim 8, wherein, a bearing part; a first mounting part and a second mounting part connected with the bearing part and arranged at intervals in the first direction, the execution assembly is located between the first mounting part and the second mounting part, the first limiting member is arranged in the first mounting part, and the second limiting member is arranged in the second mounting part. ​ 11. The load bearing device of any one of claims 7 to 10, wherein, The bearing device further comprises a bearing seat, the bearing seat is arranged on the bearing member, and the first rotating member of the execution assembly is rotatably arranged on the bearing seat.

12. The load bearing device of claim 11, wherein, The bearing seat comprises: a seat body, the first rotating member is rotatably arranged on the seat body; and a first limiting protrusion and a second limiting protrusion, the first limiting protrusion and the second limiting protrusion are arranged on the seat body, the first limiting protrusion extends into the first limiting groove and abuts against one side wall surface of the first limiting groove, and the second limiting protrusion extends into the second limiting groove and abuts against one side wall surface of the second limiting groove.

13. The load bearing device of claim 11, wherein, The bearing member is provided with a positioning groove having two opposite side wall surfaces in the first direction, and the bearing seat is provided with a positioning portion fitted in the positioning groove.

14. The load bearing device of claim 5, wherein, The bearing member extends along a third direction, and the bearing member is provided with a reinforcing member.

15. A warehousing apparatus, characterised in that, Comprise: a bearing device, the bearing device is the bearing device according to any one of claims 5-14; and a taking and placing device, the taking and placing device is movably arranged between adjacent bearing members of the bearing device.

16. A warehousing system characterized by Comprise: a carrier; and a first storage device, the first storage device is the storage device according to claim 15, and the first storage device is configured to drive the taking and placing device to move relative to the bearing device according to a carrying instruction, so as to obtain a target object from the carrier or carry the target object to the carrier.

17. The warehousing system according to claim 16, characterized in that, The storage device is configured to drive the taking and placing device to move relative to the bearing device according to a carrying instruction, so as to obtain a target object from the carrier and carry the target object to a specified position, or obtain a target object from a specified position and carry the target object to the carrier.

18. The warehousing system according to claim 16 or 17, characterized in that, Further comprise a management system, the storage device is in communication connection with the management system, the management system is configured to send a carrying instruction to the storage device, and the storage device is configured to drive the taking and placing device to move according to the carrying instruction.

19. The warehousing system of claim 16, wherein, The carrier comprises a goods shelf, and the storage device is configured to drive the taking and placing device to move according to a carrying instruction, so as to obtain a target object from the goods shelf or carry the obtained target object to the goods shelf.

20. The warehousing system of claim 16, wherein, The carrier comprises a bin robot, and the storage device is configured to drive the taking and placing device to move according to a carrying instruction, so as to obtain a target object from the bin robot or carry the obtained target object to the bin robot.

21. The warehousing system of claim 16, wherein, The carrier comprises a first goods shelf and a second goods shelf, and the storage device is configured to drive the taking and placing device to move according to a carrying instruction, so as to obtain a target object from at least one of the first goods shelf and the second goods shelf, or carry the obtained target object to at least one of the first goods shelf and the second goods shelf, or carry a target object of one of the first goods shelf and the second goods shelf to the other one of the first goods shelf and the second goods shelf.

22. The warehousing system of claim 16, wherein, The carrier comprises a sorting device, and the storage device is configured to drive the taking and placing device to move according to a carrying instruction, so as to obtain a target object from the sorting device or carry the obtained target object to the sorting device.

23. The warehousing system of claim 16, wherein, The carriers are multiple, and the storage device is configured to drive the taking and placing device to move according to the carrying instruction to carry the target object located in at least one carrier to at least another carrier or a specified position, or carry the target object located in the specified position to at least one carrier, wherein the multiple carriers include one or more of a shelf, a bin robot, a seeding wall and a sorting device.

24. The warehousing system of claim 16, wherein, The storage system further comprises a first storage device configured to carry the carrier to a working area of the storage device, and the storage device is configured to obtain the target object from the carrier carried by the first storage device to the working area of the storage device or place the target object on the carrier carried by the first storage device to the working area of the storage device; or the storage device is configured to obtain the target object from the carrier or place the target object on the carrier, and the first storage device is configured to move away from the carrier from the working area of the storage device.

25. The warehousing system of claim 16, wherein, The storage system further comprises a plurality of platforms and a first storage device, and the plurality of platforms are spaced apart along the height direction, and at least one carrier is arranged on each platform, and the first storage device is configured to carry the target object or the carrier with the target object to the working area of the storage device, and the storage device is configured to obtain the target object and carry the target object to a specified position.

26. The warehousing system of claim 16, wherein, The storage system further comprises a plurality of platforms and a first storage device, and the plurality of platforms are spaced apart along the height direction, and at least one first storage device is arranged on each platform, and each platform corresponds to at least one carrier; The storage device is configured to carry the target object to the platform of the corresponding layer and deliver it to the first storage device, and the first storage device is configured to carry the target object obtained from the storage device to the carrier on the platform of the corresponding layer; or the first storage device is configured to carry the target object obtained from the storage device to the carrier on the platform of the corresponding layer, and the storage device is configured to carry the carrier to a specified position.

27. The warehousing system of claim 16, wherein, The storage system further comprises a workstation, an inventory area and a storage device, and the inventory area and the storage device are located at the workstation, and the storage device is configured to carry the carrier containing the target object to the working area of the storage device and / or carry the carrier from the workstation to the inventory area.

28. The warehousing system of claim 16, wherein, The storage device is configured to drive the taking and placing device to move in the second direction and / or in the third direction to the position of the target container of the carrier, and drive the taking and placing device to move at least in the first direction to obtain the target container from the carrier and guide the target container into the containing space of the taking and placing device.

29. The warehousing system of claim 16, wherein, The storage device is configured to contain the target container in the containing space of the taking and placing device, and drive the taking and placing device to move in the second direction and / or in the third direction to the specified placement position of the carrier, and drive the taking and placing device to move at least in the first direction to place the target container at the specified placement position of the carrier.

30. The warehousing system of claim 16, wherein, The storage device is configured to accommodate the target container in a containing space of the taking-and-placing device, drive the taking-and-placing device to move in a second direction and / or move in a third direction to a working position of a worktable, and drive the taking-and-placing device to move at least in the first direction to place the target container in the working position of the worktable.

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