Warehousing equipment and warehousing system

Abstract

The embodiment of the utility model discloses storage equipment and a storage system. The warehousing equipment provided by the embodiment of the utility model comprises a bearing device which comprises at least two bearing parts, and the bearing parts are arranged at intervals; the pick-and-place device comprises a pick-and-place assembly and a pick-and-place platform, the pick-and-place platform is movably arranged between the adjacent bearing pieces, the pick-and-place assembly is connected with the pick-and-place platform, and the pick-and-place assembly is provided with a first end and a second end which are opposite in the first direction; at least one of the first end and the second end extends away from the bearing part in the first direction and extends out of the taking and placing platform, and the taking and placing assembly is configured to obtain a target object from a designated position or place the obtained target object at the designated position. The warehousing equipment has the advantages of being stable in structure, capable of being matched with the carrier conveniently and the like.

Description

TECHNICAL FIELD

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

[0002] The taking and placing device of the warehouse device can transport a target object on the carrier to other devices or a designated position, or transport a target object from other devices or a designated position to the carrier. The taking and placing device is installed to the carrying device of the warehouse device and can move relative to the carrying device. SUMMARY

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

[0004] The warehouse device of embodiments of the present disclosure comprises a carrying device comprising at least two carrying members arranged at intervals from each other, and a taking and placing device comprising a taking and placing assembly and a taking and placing platform, the taking and placing platform being movably arranged between the adjacent carrying members, the taking and placing assembly being connected to the taking and placing platform, the taking and placing assembly having a first end portion and a second end portion opposite in a first direction, at least one of the first end portion and the second end portion extending away from the carrying members in the first direction and beyond the taking and placing platform, the taking and placing assembly being configured to obtain a target object from a designated position or place the obtained target object at the designated position.

[0005] The warehouse device of embodiments of the present disclosure has the advantages of stable structure and facilitating cooperation with a carrier.

[0006] Optionally, the carrying member has a first side and a second side in the first direction, the first end portion of the taking and placing assembly is connected to the taking and placing platform, the second end portion of the taking and placing assembly extends away from the carrying members beyond the taking and placing platform, and the second end portion of the taking and placing assembly is located at the first side or the second side of the carrying member.

[0007] Optionally, the carrying member has a first side and a second side in the first direction, the taking and placing platform is connected to a position between the first end portion of the taking and placing assembly and the second end portion of the taking and placing assembly, the first end portion of the taking and placing assembly extends away from the carrying members beyond the taking and placing platform and is located at the first side of the carrying member, and the second end portion of the taking and placing assembly extends away from the carrying members beyond the taking and placing platform and is located at the second side of the carrying member.

[0008] Optionally, the pick-and-place assembly comprises: a receiving space, the receiving space being provided with an opening in the first direction; and pick-and-place pieces, the pick-and-place pieces and the opening each being at least one and the pick-and-place pieces being configured to pick or place a target object from or to the designated position through any one of the at least one opening, or the pick-and-place pieces and the opening each being a plurality and the plurality of pick-and-place pieces being configured to pick or place a target object from or to the designated position through the corresponding openings, respectively.

[0009] Optionally, the pick-and-place assembly comprises: a first support having a first end and a second end opposite to each other in the first direction, the first end of the first support being connected to the pick-and-place platform; and a second support having a first end and a second end opposite to each other in the first direction, the first end of the second support being connected to the pick-and-place platform, the first support and the second support being spaced apart in a second direction to form a receiving space, the receiving space being provided with an opening in the first direction, the second direction being at a preset angle with the first direction, the pick-and-place pieces being located between the first support and the second support in the second direction.

[0010] Optionally, the first support comprises a first support beam, a first mounting portion and a first connecting portion, the first support beam being connected to the first mounting portion through the first connecting portion, the first mounting portion being provided on the pick-and-place platform, wherein a dimension of the first mounting portion in the first direction is smaller than a dimension of the first support beam in the first direction; and the second support comprises a second support beam, a second mounting portion and a second connecting portion, the second support beam being connected to the second mounting portion through the second connecting portion, the second mounting portion being provided on the pick-and-place platform, wherein a dimension of the second mounting portion in the first direction is smaller than a dimension of the second support beam in the first direction.

[0011] Optionally, the pick-and-place platform comprises a first guide portion, and the pick-and-place assembly comprises a second guide portion, the second guide portion cooperating with the first guide portion to guide movement of the pick-and-place assembly in a second direction, the second direction being at a preset angle with the first direction.

[0012] Optionally, the first guide portion is at least two and is spaced apart in the first direction, and the second guide portion is at least two and is arranged correspondingly to the first guide portion, a spacing between adjacent first guide portions being greater than or equal to a first preset value.

[0013] Optionally, one of the first guide portion and the second guide portion has a matching groove, a size of the matching groove in the first direction is less than or equal to a second preset value, and a size of the one of the first guide portion and the second guide portion in the first direction is greater than or equal to a third preset value.

[0014] Optionally, the bearing device further comprises a first driving member and an execution assembly, the 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 spaced apart along a third direction and are rotatable relative to the bearing member, the first driving member is connected with the first rotating member, the first connecting member is arranged around the first rotating member and the second rotating member, and the first connecting member is connected with the pick-and-place platform, and the execution assembly is configured to drive the pick-and-place platform to move along the third direction.

[0015] Optionally, the execution assembly is embedded in the bearing member.

[0016] Optionally, the bearing member has a first limiting groove and a second limiting groove, openings of the first limiting groove and the second limiting groove are relatively open in the first direction, the bearing device further comprises a limiting assembly, the limiting assembly is arranged in the first connecting member, the pick-and-place platform is connected with at least one of the limiting assembly and the first connecting member, and the limiting assembly is movably fitted in the first limiting groove and the second limiting groove.

[0017] Optionally, 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.

[0018] Optionally, 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, the second direction forms a preset included angle with the first direction, 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.

[0019] Optionally, the limiting body comprises: a bearing part, the taking and placing platform is arranged on the 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 from each other along the first direction, 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.

[0020] Optionally, the bearing device further comprises a bearing seat, the bearing seat is arranged on the bearing part, and the first rotating part is rotatably arranged on the bearing seat.

[0021] Optionally, the bearing seat comprises: a seat body, the first rotating part 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.

[0022] Optionally, the bearing part 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 part fitted in the positioning groove.

[0023] Optionally, the bearing part extends along a third direction, and the bearing part is provided with a reinforcing part.

[0024] Optionally, the bearing device comprises: an execution assembly arranged on the bearing part; a transmission assembly connected with two execution assemblies on two adjacent bearing parts respectively; and a first driving part connected with the transmission assembly to drive the execution assemblies to run synchronously through the transmission assembly.

[0025] Optionally, the transmission assembly comprises a speed reducer and a transmission shaft, the speed reducer has an input shaft and an output shaft, the input shaft of the speed reducer is connected with the first driving part, and two execution assemblies are detachably connected with the output shaft of the speed reducer respectively, wherein at least one of the two execution assemblies is detachably connected with the output shaft of the speed reducer through the transmission shaft.

[0026] Optionally, the storage equipment further comprises a workbench, the workbench comprises: a main body comprising a work station; and a detector arranged on the main body, and a minimum distance between the detector and the taking and placing assembly in the first direction is greater than or equal to a preset value.

[0027] Optionally, the storage equipment further comprises a stopper arranged on the main body of the table.

[0028] Optionally, the stopper comprises: a first stopper, the main body having a first side edge and a second side edge in a second direction orthogonal to the first direction, the first stopper being arranged on the main body and located at at least one of the first side edge and the second side edge; and a second stopper, the second stopper being arranged on the main body and spaced apart from the workstations in a third direction orthogonal to the second direction and the first direction and opposite to each other.

[0029] Optionally, the main body comprises: a table body, the workstations being arranged on the table body; and a mounting frame connected with the table body, the first stopper being connected with the table body and the mounting frame, and the second stopper being mounted on the mounting frame, at least one of the mounting frame, the first stopper and the second stopper being provided with the detector.

[0030] Optionally, the workstations are multiple, and the multiple workstations are arranged at intervals along the second direction, the workbench further comprising a shielding member, the shielding member being arranged between adjacent two workstations.

[0031] Optionally, at least one of the first stopper and the shielding member adjacent to each other is provided with the detector, and at least one of the shielding members adjacent to each other is provided with the detector.

[0032] Optionally, each of the first stopper and the shielding member comprises a first edge and a second edge opposite in the first direction, the first edge being farther away from the pick-and-place assembly than the second edge in the first direction, and the detector being arranged on the first edge.

[0033] Optionally, the first edge comprises the inclined section inclined away from the pick-and-place assembly along the first direction, and the detector is arranged on the inclined section.

[0034] Optionally, the pick-and-place devices are multiple, and the multiple pick-and-place devices are arranged between adjacent two carriers and arranged in a third direction.

[0035] Optionally, the carriers are at least three, and one pick-and-place device or multiple pick-and-place devices arranged in the third direction is arranged between adjacent two carriers.

[0036] The warehouse system of the embodiment of the present disclosure comprises: a carrier; and a warehouse device, the warehouse device being the warehouse device of the embodiment of the present disclosure, and the warehouse device being configured to drive the pick-and-place device to move relative to the carrier according to the carrying instruction, so as to obtain a target object from the carrier or carry the target object to the carrier.

[0037] The warehouse system of the embodiment of the present disclosure has the advantages of stable structure and convenience of cooperation between the warehouse device and the carrier.

[0038] Optionally, the storage device is configured to drive the pick-and-place device to move relative to the carrier device according to the handling instruction to obtain a target object from the carrier device and handle the target object to a designated location, or obtain a target object from a designated location and handle the target object to the carrier device.

[0039] Optionally, the storage system further comprises a management system, the storage device is communicatively connected with the management system, and the management system is configured to send a handling instruction to the storage device, and the storage device is configured to drive the pick-and-place device to move according to the handling instruction.

[0040] Optionally, the carrier device comprises a rack, and the storage device is configured to drive the pick-and-place device to move according to the handling instruction to obtain a target object from the rack or handle the obtained target object to the rack.

[0041] Optionally, the carrier device comprises a handling device, and the storage device is configured to drive the pick-and-place device to move according to the handling instruction to obtain a target object from the handling device or handle the obtained target object to the handling device.

[0042] Optionally, the carrier device comprises 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 handling instruction to obtain a target object located in at least one of the first rack and the second rack, or handle the obtained target object to at least one of the first rack and the second rack, or handle a target object of one of the first rack and the second rack to the other of the first rack and the second rack.

[0043] Optionally, the carrier device comprises a seeding wall, and the storage device is configured to drive the pick-and-place device to move according to the handling instruction to obtain a target object from the seeding wall or handle the obtained target object to the seeding wall.

[0044] Optionally, the carrier device comprises a sorting device, and the storage device is configured to drive the pick-and-place device to move according to the handling instruction to obtain a target object from the sorting device or handle the obtained target object to the sorting device.

[0045] Optionally, the carrier device is a plurality of carrier devices, the storage device is configured to drive the pick-and-place device to move according to the handling instruction to handle a target object located in at least one carrier device to at least another carrier device or a designated location, or handle a target object located in a designated location to at least one carrier device, and the plurality of carrier devices comprises one or more of a rack, a handling device, a seeding wall, and a sorting device.

[0046] Optionally, the warehousing system further comprises a carrying device configured to carry the carrier to or away from the working area of the warehousing device.

[0047] Optionally, the warehousing system further comprises a plurality of platforms and a carrying device, the plurality of platforms are spaced apart in a height direction, at least one carrier is arranged on each platform, the carrier is a shelf or a pallet, and the carrying device is configured to carry a target object or a carrier on which the target object is placed to the working area of the warehousing device, so that the warehousing device obtains the target object and carries the target object to a designated position.

[0048] Optionally, the designated position is a working position of a workbench, a shelf, a pallet, a seeding wall, or a carrying position of the carrying device.

[0049] Optionally, the warehousing system further comprises a plurality of platforms and a carrying device, the plurality of platforms are spaced apart in a height direction, at least one carrying device is arranged on each platform, each platform corresponds to at least one carrier, the carrier is a shelf, a pallet, or a seeding wall, and the carrying device is configured to carry a target object obtained from the warehousing device to the carrier on the corresponding platform. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 is a structural schematic diagram of a warehousing device according to an embodiment of the present disclosure;

[0051] Figure 2 is a partial structural schematic diagram of a carrying device according to an embodiment of the present disclosure;

[0052] Figure 3 is a partial structural schematic diagram of a carrying device according to an embodiment of the present disclosure;

[0053] Figure 4 is a partial structural schematic diagram of a carrying device according to an embodiment of the present disclosure;

[0054] Figure 5 is a structural schematic diagram of a carrying member of a carrying device according to an embodiment of the present disclosure;

[0055] Figure 6 is a partial structural schematic diagram of a carrying member of a carrying device according to an embodiment of the present disclosure;

[0056] Figure 7 is a structural schematic diagram of a bearing seat of a carrying device according to an embodiment of the present disclosure;

[0057] Figure 8 is a structural schematic diagram of a bearing seat of a carrying device according to an embodiment of the present disclosure;

[0058] Figure 9Figure 1 is a schematic diagram of a partial structure of a bearing device according to an embodiment of the present disclosure;

[0059] Figure 10 Figure 2 is a schematic diagram of a partial structure of a bearing device according to an embodiment of the present disclosure;

[0060] Figure 11 Figure 3 is a schematic diagram of a partial structure of a bearing device according to an embodiment of the present disclosure;

[0061] Figure 12 Figure 4 is a schematic diagram of a structure of a warehouse system according to an embodiment of the present disclosure;

[0062] Figure 13 Figure 5 is a schematic diagram of a structure of a taking and placing device according to an embodiment of the present disclosure;

[0063] Figure 14 Figure 6 is a schematic diagram of a structure of a taking and placing device according to an embodiment of the present disclosure;

[0064] Figure 15 Figure 7 is a schematic diagram of a partial structure of a taking and placing device according to an embodiment of the present disclosure;

[0065] Figure 16 Figure 8 is a schematic diagram of a partial structure of a taking and placing device according to an embodiment of the present disclosure.

[0066] Figure 17 Figure 9 is a side view of a workbench according to an embodiment of the present disclosure;

[0067] Figure 18 Figure 10 is an enlarged view of a partial structure of a workbench according to an embodiment of the present disclosure;

[0068] Figure 19 Figure 11 is a schematic diagram of a partial structure of a workbench according to an embodiment of the present disclosure;

[0069] Figure 20 Figure 12 is a side view of a workbench according to an embodiment of the present disclosure;

[0070] Figure 21 Figure 13 is an enlarged view of a partial structure of a workbench according to an embodiment of the present disclosure;

[0071] Figure 22 Figure 14 is a schematic diagram of a partial structure of a workbench according to an embodiment of the present disclosure;

[0072] Figure 23 Figure 15 is a top view of a workbench according to an embodiment of the present disclosure;

[0073] Figure 24 Figure 16 is a front view of a workbench according to an embodiment of the present disclosure;

[0074] Figure 25 Figure 17 is a schematic diagram of a structure of a warehouse system according to an embodiment of the present disclosure;

[0075] Figure 26 is a structural schematic diagram of a warehouse system according to an embodiment of the present disclosure;

[0076] Figure 27 is a structural schematic diagram of a warehouse system according to an embodiment of the present disclosure;

[0077] Figure 28 is a structural schematic diagram of a warehouse system according to an embodiment of the present disclosure;

[0078] Figure 29 is a perspective view of a warehouse device according to an embodiment of the present disclosure;

[0079] Figure 30 is Figure 29 is a partial enlarged view of D in FIG. 1;

[0080] Figure 31 is Figure 29 is a partial enlarged view of E in FIG. 1;

[0081] Figure 32 is a front view of a warehouse device from another perspective according to an embodiment of the present disclosure;

[0082] Figure 33 is a front view of a warehouse device according to an embodiment of the present disclosure;

[0083] Figure 34 is a left view of a warehouse device according to an embodiment of the present disclosure;

[0084] Figure 35 is a top view of a warehouse device according to an embodiment of the present disclosure;

[0085] Figure 36 is a front view of a warehouse device according to another embodiment of the present disclosure;

[0086] Figure 37 is a front view of a warehouse device according to yet another embodiment of the present disclosure;

[0087] Figure 38 is a front view of a warehouse device according to still another embodiment of the present disclosure;

[0088] Figure 39 is a perspective view of a warehouse system according to still another embodiment of the present disclosure;

[0089] Figure 40 is a right view of a warehouse system according to still another embodiment of the present disclosure;

[0090] Figure 41 is a perspective view of a warehouse system according to an embodiment of the present disclosure;

[0091] Figure 42is a perspective view of another view of the warehouse system according to an embodiment of the present disclosure;

[0092] Figure 43 is a left view of the warehouse system according to an embodiment of the present disclosure;

[0093] Figure 44 is a top view of the warehouse system according to an embodiment of the present disclosure;

[0094] Figure 45 is a perspective view of the warehouse system according to another embodiment of the present disclosure;

[0095] Figure 46 is a left view of the warehouse system according to another embodiment of the present disclosure. DETAILED DESCRIPTION

[0096] Embodiments of the embodiments of the present disclosure are described below in detail with examples shown in the accompanying drawings. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the embodiments of the present disclosure, and cannot be understood as a limitation of the embodiments of the present disclosure.

[0097] The warehouse device 100 according to an embodiment of the present disclosure is described below with reference to the accompanying drawings. As shown in Figures 1-28 The warehouse device 100 according to an embodiment of the present disclosure includes a carrying device 1 and a taking and placing device 2.

[0098] The carrying device 1 includes at least two carriers 11, which are arranged at intervals from each other. The taking and placing device includes a taking and placing assembly 21 and a taking and placing platform 28, which is movably arranged between the adjacent carriers 11, and the taking and placing assembly 21 is connected to the taking and placing platform 28.

[0099] The taking and placing assembly 21 has a first end portion 211 and a second end portion 212 arranged in a first direction. The first end portion 211 and the second end portion 212 are oppositely arranged in the first direction on the taking and placing assembly 21. At least one of the first end portion 211 and the second end portion 212 extends away from the carrier 11 in the first direction and protrudes out of the taking and placing platform 28. The taking and placing assembly 21 is configured to obtain a target object from a designated position or place the obtained target object at the designated position.

[0100] By movably arranging the taking and placing platform 28 between the adjacent carriers 11, the taking and placing device 2 can be more stably installed on the carrying device 1. Moreover, by making at least one of the first end portion 211 and the second end portion 212 of the taking and placing assembly 21 extend away from the carrier 11 in the first direction and protrude out of the taking and placing platform 28, the taking and placing device 2 can be more conveniently matched with a carrier or the like.

[0101] Therefore, the warehouse equipment 100 according to the embodiment of the present disclosure has the advantages of stable structure, convenient cooperation with the carrier, and the like.

[0102] As shown in Figures 1-28 , the warehouse equipment 100 according to the embodiment of the present disclosure comprises a carrying device 1 and a taking and placing device 2.

[0103] The carrying device 1 comprises at least two carrying members 11, and the carrying members 11 are arranged at intervals from each other 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.

[0104] 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.

[0105] 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 are 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.

[0106] The carrying device 1 further comprises an execution assembly 13, a transmission assembly 18, and a first 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.

[0107] The adjacent two execution assemblies 13 can be driven by the first driving member 15 or different first driving members 15. The different first 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, which is stable in structure and has no transmission error. The first 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 first 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 synchronism of the two execution assemblies 13 on the adjacent two carrying members 11 can be improved.

[0108] 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 first 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.

[0109] The input shaft of the speed reducer 181 is connected with the driving shaft of the first 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.

[0110] Optionally, the first driving member 15 comprises a motor. The rotation axis of the first 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 .

[0111] 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 connected together, and at least one of the transmission assembly 18 and different execution assemblies 13 can be detached, transported, replaced, etc.

[0112] 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 is more convenient to transport, detach, replace, etc.

[0113] 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.

[0114] 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).

[0115] Optionally, the drive shaft of the first driving member 15 extends in the second direction. In this way, the transmission assembly 18 and the first driving member 15 can be more compact and occupy less space.

[0116] 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 first driving member 15.

[0117] 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.

[0118] 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 first 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.

[0119] 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.

[0120] 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.

[0121] Optionally, the first 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 first 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.

[0122] If the second rotating member 134 of the execution assembly 13 is the driving member, the upward tension needs to be applied to the first connecting member 131, 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.

[0123] By making the first rotating member 132 of the execution assembly 13 the driving member, the tension applied to 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.

[0124] 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.

[0125] 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.

[0126] 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 9-11The arrow C in the figure shows the direction of the force.

[0127] As shown in the figure, Figures 9-11 The bearing device 1 further comprises a limiting assembly 14, which is arranged on the first connecting piece 131. The taking-and-placing platform 28 is connected to at least one of the limiting assembly 14 and the first connecting piece 131. The limiting assembly 14 is movably fitted in the first limiting groove 115 and the second limiting groove 116. By arranging the first limiting groove 115 and the second limiting groove 116 with relatively open openings, the limiting assembly 14 can be located on the inner side of the bearing device 1. In this way, the space occupied by the limiting assembly 14 in the first direction can be reduced, and thus the space occupied by the bearing device 1 in the first direction can be reduced.

[0128] As shown in the figure, Figures 4-6 The limiting assembly 14 comprises a limiting body 141, a first limiting piece 142, and a second limiting piece 143. The limiting body 141 is connected to the first connecting piece 131, so that the limiting body 141 moves under the driving of the first connecting piece 131. The first limiting piece 142 and the second limiting piece 143 are arranged on the limiting body 141. The first limiting piece 142 is movably fitted with the bottom wall surface of the first limiting groove 115, and the second limiting piece 143 is movably fitted with the bottom wall surface of the second limiting groove 116, so as to limit in the first direction. In this way, the structure of the limiting assembly 14 can be more reasonable.

[0129] As shown in the figure, Figures 9-11 The first limiting piece 142 is configured as a first roller, and the first limiting piece 142 is rollably abutted against the bottom wall surface of the first limiting groove 115. The second limiting piece 143 is configured as a second roller, and the second limiting piece 143 is rollably abutted against the bottom wall surface of the second limiting groove 116. In this way, the structure of the limiting assembly 14 can be more simple and more reasonable.

[0130] Alternatively, the bottom wall surface of the first limiting groove 115 is provided with a first sliding rail, and the first limiting piece 142 has a first sliding groove matched with the first sliding rail. The bottom wall surface of the second limiting groove 116 is provided with a second sliding rail, and the second limiting piece 143 has a second sliding groove matched with the second sliding rail. In this way, the structure of the limiting assembly 14 can be more simple and more reasonable.

[0131] As shown in the figure, Figures 9-11 and Figures 4-6 The first limiting groove 115 has two side wall surfaces opposite in the second direction, and the second limiting groove 116 has two side wall surfaces opposite in the second direction. The second direction forms a preset angle with the first direction. The limiting assembly 14 comprises a limiting body 141, a third limiting piece 144, and a fourth limiting piece 145.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] 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.

[0137] 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.

[0138] 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.

[0139] 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.

[0140] 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).

[0141] 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.

[0142] For example, the thickness direction of the support portion 1414 is consistent with the vertical direction. The first connector 131, the first mounting portion 1411 and the second mounting portion 1412 are parallel to each other, and the first connector 131 (first mounting portion 1411, second mounting portion 1412), the connecting portion 1413 and the support portion 1414 are perpendicular to each other.

[0143] like Figure 11 As shown, the first limiting groove 115, the second limiting groove 116, and the actuation component 13 are arranged opposite to each other in the first direction, so that the first limiting member 142, the second limiting member 143, and the actuation component 13 are arranged opposite to each other in the first direction. This makes the structure of the bearing device 1 more reasonable.

[0144] like Figure 4 and Figure 7 As shown, the supporting device 1 includes an adjusting assembly 12, which includes a fixed connector 121, a movable connector 122, and a threaded component 123. Each of the fixed connector 121 and the movable connector 122 is connected to a first connector 131. The fixed connector 121 is disposed on the supporting member 11, and the movable connector 122 is movably disposed on the supporting member 11 in the vertical direction, meaning that the fixed connector 121 cannot move in the vertical direction.

[0145] A threaded member 123 is rotatably mounted on the support member 11 and extends in the vertical direction. The movable connector 122 has a threaded hole, and a portion of the threaded member 123 is threaded into the threaded hole. Thus, by rotating the threaded member 123, the movable connector 122 can be moved in the vertical direction, thereby changing the tension of the first connector 131.

[0146] like Figure 8 , Figure 6 and Figures 4-6 As shown, the bearing device 1 also includes a bearing housing 136, which is disposed on the bearing member 11, and the first rotating member 132 is rotatably disposed on the bearing housing 136. This allows the first rotating member 132 to be more securely mounted on the bearing member 11.

[0147] The bearing housing 136 includes a housing body 1361, a first limiting protrusion 1363, and a second limiting protrusion 1364. A first rotating member 132 is rotatably disposed on the housing body 1361. The first limiting protrusion 1363 and the second limiting protrusion 1364 are disposed on the housing body 1361. The first limiting protrusion 1363 extends into a first limiting groove 115 and is in contact with one side wall of the first limiting groove 115. The second limiting protrusion 1364 extends into a second limiting groove 116 and is in contact with one side wall of the second limiting groove 116.

[0148] For example, the first limiting protrusion 1363 is attached to the first side wall surface 1151 of the first limiting groove 115, and the second limiting protrusion 1364 is attached to 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.

[0149] As shown in Figure 9 The bearing member 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 bearing seat 136 can be limited in the first direction by the positioning groove 11851, so that the structure of the bearing device 1 can be more reasonable, and the bearing seat 136 can be more accurately and stably installed.

[0150] Optionally, the bearing member 11 extends along the third direction, and the bearing member 11 is provided with a reinforcing member. In this way, the structure of the bearing member 11 and the bearing device 1 can be more stable, so that the pick-and-place device 2 can be better supported.

[0151] In one example of the embodiment 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.

[0152] In another example of the embodiment 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 bearing device 1 can be a portal frame, and the bearing member 11 includes a column.

[0153] As shown in Figure 4 and Figures 4-6 The bearing member 11 of the bearing 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.

[0154] 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.

[0155] 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.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] like Figure 5 as well as Figure 6As shown, the second limiting plate 1182 is L-shaped, and the second limiting plate 1182 comprises a first sub-plate 11821 and a second sub-plate 11822 connected with each other. The first part 1171, the first limiting plate 1181 and the first sub-plate 11821 define a first limiting groove 115. The seat body 1361 cooperates with the second sub-plate 11822. Thus, the contact area of the seat body 1361 (the bearing seat 136) and the second sub-plate 11822 (the second limiting plate 1182) can be effectively increased, so that the seat body 1361 (the bearing seat 136) can be more accurately and stably limited, and the bearing seat 136 can be more accurately and stably installed.

[0160] The fourth limiting plate 1184 can be L-shaped, and the fourth limiting plate 1184 comprises a third sub-plate 11841 and a fourth sub-plate 11842 connected with each other. The second part 1172, the third limiting plate 1183 and the third sub-plate 11841 define a second limiting groove 116. The seat body 1361 cooperates with the fourth sub-plate 11842. Thus, the contact area of the seat body 1361 (the bearing seat 136) and the fourth sub-plate 11842 (the fourth limiting plate 1184) can be effectively increased, so that the seat body 1361 (the bearing seat 136) can be more accurately and stably limited, and the bearing seat 136 can be more accurately and stably installed.

[0161] As shown in Figs. 1, 2 and 3, the bearing seat 136 is supported by the second limiting plate 1182 (the fourth limiting plate 1184). Figures 4-6 and Figure 6 As shown, the carrier 11 comprises a support plate 1186 located between the second sub-plate 11822 and the fourth sub-plate 11842 in the first direction, and the support plate 1186 is connected with the second sub-plate 11822 and the fourth sub-plate 11842. The seat body 1361 is supported by the support plate 1186, and the support plate 1186 is provided with an avoiding groove 11861 for avoiding the shaft 133 of the upper first rotating member 132. Thus, the bearing seat 136 can be more stably installed.

[0162] As shown in Figs. 1, 2 and 3, the bearing seat 136 is supported by the second limiting plate 1182 (the fourth limiting plate 1184). Figures 4-6 As shown, the carrier 11 comprises a fifth limiting plate 1185, and the second limiting plate 1182 (the fourth limiting plate 1184) is located between the fifth limiting plate 1185 and the first limiting plate 1181 in the second direction, and the second limiting plate 1182 (the fourth limiting plate 1184) is located between the fifth limiting plate 1185 and the third limiting plate 1183 in the second direction.

[0163] 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.

[0164] 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.

[0165] 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.

[0166] 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.

[0167] 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.

[0168] As shown in Figure 8 , 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.Figure 4 and Figure 7 As shown in

[0169] 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.

[0170] 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.

[0171] 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.

[0172] 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.

[0173] 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.

[0174] 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.

[0175] 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.

[0176] 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.

[0177] 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.

[0178] 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.

[0179] 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.

[0180] 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.

[0181] 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.

[0182] 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.

[0183] 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. Thus, the pick-and-place assembly 21 can be more conveniently and stably mounted on the pick-and-place platform 28.

[0184] Alternatively, the mounting seat 29 can be plate-shaped. Thus, the mounting seat 29 can be more conveniently and stably provided on the pick-and-place platform 28, and the first support 22 and the second support 23 can be more conveniently and stably mounted on the mounting seat 29.

[0185] 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.

[0186] 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.

[0187] 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.

[0188] 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.

[0189] 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.

[0190] 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.

[0191] 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.

[0192] 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.

[0193] 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.

[0194] 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.

[0195] 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.

[0196] 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.

[0197] 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.

[0198] As Figure 16 , Figure 13 and Figure 14As shown, the taking-and-placing platform 28 comprises a rack 282, and the taking-and-placing assembly 21 comprises a pinion 242. The rack 282 extends along the second direction, and the rack 282 is located between adjacent first guide portions 281 in the first direction. The pinion 242 is engaged with the rack 282, so that the pinion 242 is moved along the second direction by rotating the pinion 242, thereby driving the taking-and-placing assembly 21 to move along the second direction.

[0199] Optionally, the taking-and-placing device further comprises a second driving member connected with the taking-and-placing platform 28 and the taking-and-placing assembly 21, and the second driving member is configured to drive the taking-and-placing assembly 21 to move relative to the taking-and-placing platform 28 along the second direction. The second driving member comprises a motor 271 driving the pinion 242 to rotate. A driving shaft of the motor 271 is connected with an input shaft of a speed reducer 272, and an output shaft of the speed reducer 272 is connected with the pinion 242. The speed reducer 272 is arranged on the mounting seat 29. In this way, the structure of the taking-and-placing assembly 21 can be more reasonable.

[0200] As shown in Figs. Figure 1 and Figure 12 The taking-and-placing assembly 21 further comprises a first support portion 251 and a second support portion 252, and the first support portion 251 and the second support portion 252 are arranged in the first direction. The first support portion 251 is connected with each of the first support member 22 and the second support member 23, and the second support portion 252 is connected with each of the first support member 22 and the second support member 23. The first conveying member 261 of the taking-and-placing assembly 21 is supported on the first support portion 251 and the second support portion 252, and the second conveying member 262 of the taking-and-placing assembly 21 is supported on the first support portion 251 and the second support portion 252. In this way, the structure of the taking-and-placing assembly 21 can be more reasonable.

[0201] Optionally, the first support portion 251 is connected with the first end portion 221 of the first support member 22 and the first end portion 231 of the second support member 23, and the second support portion 252 is connected with the second end portion 222 of the first support member 22 and the second end portion 232 of the second support member 23.

[0202] For example, the first support portion 251 is located in front of the second support portion 252. The first support portion 251 is connected with the front end portion of the first support beam 224 and the front end portion of the second support beam 234, and the second support portion 252 is connected with the rear end portion of the first support beam 224 and the rear end portion of the second support beam 234.

[0203] Optionally, the taking-and-placing device further comprises a third driving member connected with the taking member 263, and the second driving member is configured to drive the taking member 263 to move along the first direction between the avoiding position and the taking position.

[0204] That is, the taking and placing member 263 is movably arranged between the avoiding position and the taking and placing position in the first direction. The taking and placing member 263 is movably arranged between the extended position and the retracted position in the up-down direction. When the taking and placing member 263 moves from the extended position to the retracted position, the taking and placing member 263 moves from up to down. When the taking and placing member 263 moves from the retracted position to the extended position, the taking and placing member 263 moves from down to up.

[0205] When the target object is transported by the taking and placing member 263, the taking and placing member 263 moves from the avoiding position to the taking and placing position and moves from the retracted position to the extended position. Then, the taking and placing member 263 transports the target object to the first transport member 261 and the second transport member 262, so as to transport the target object by the first transport member 261 and the second transport member 262. After the first transport member 261 and the second transport member 262 are started, the taking and placing member 263 moves from the extended position to the retracted position, so as to avoid interference between the taking and placing member 263 and the target object.

[0206] The taking and placing member 263 of the taking and placing device 2 can include a suction cup, a hook claw, a prong, a fork, a magnetic attraction, etc. The action force position of the suction cup on the container / goods is not limited to the middle line position of the side of the container / goods, and can also be adjusted according to the center of gravity of the container / goods. The hook claw can hook the edge of the side, the top edge, the bottom edge of the container / goods, the protrusion or handle on the container / goods, etc., and can also hook the groove, protrusion or handle on the bottom surface of the container / goods, etc. The taking and placing device 2 can take the container / goods in a single extension position, or can take the container / goods in multiple extension positions. Taking the suction cup as an example, the suction cup can be a one-way suction cup, and can take the container / goods in two directions respectively by rotating itself; the suction cup can also be a two-way suction cup, and can take the container / goods in two directions respectively.

[0207] Optionally, when the taking and placing device 2 transports the target object on the carrier to the workbench 3, the taking and placing member 263 moves in the first direction and from front to back, so as to move the taking and placing member 263 from the avoiding position to the taking and placing position. When the taking and placing device 2 transports the target object on the workbench 3 to the carrier, the taking and placing member 263 moves in the first direction and from back to front, so as to move the taking and placing member 263 from the avoiding position to the taking and placing position.

[0208] As shown in Figures 17-24 , Figure 23 and Figures 17-24 , the warehouse equipment 100 further includes a workbench 3, and the workbench 3 includes a main body 31 and a detector 34. The main body 31 includes a work station 311. The detector 34 is arranged on the main body 31, and the minimum distance between the detector 34 and the taking and placing assembly 21 in the first direction is greater than or equal to a preset value.

[0209] By making the minimum distance between the detector 34 and the pick-and-place assembly 21 in the first direction greater than or equal to the preset value, the detector 34 is made closer to the worker and farther away from the pick-and-place assembly 21. Thus, when the worker's body is mistakenly extended in the direction close to the pick-and-place assembly 21, the detector 34 can detect the worker's body earlier and more timely, thereby providing more time for controlling the next operation of the pick-and-place assembly 21, so as to effectively avoid 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 improve the safety.

[0210] The working position 311 of the workbench 3 can include a roller or a conveying line to facilitate the auxiliary transfer of the container / goods. The workbench 3 can be provided with a buffer position / buffer rack above, below or beside the workbench 3, for buffering the container / goods. The container / goods on the buffer position / buffer rack can be taken by the box taking device 2 or manually taken. A conveying line can be provided beside the working position 311 of the workbench 3 to convey the picked goods. A large piece, a pallet, a special-shaped piece, a traditional goods format mobile carrier parking area can be provided beside the workbench 3 for manual picking.

[0211] As shown in Figures 17-24 , the working position 311 has a first end 3111 and a second end 3112 in the first direction. When the worker is picking, seeding or the like at the workbench 3, the first end 3111 is adjacent to the worker relative to the second end 3112 in the first direction. The pick-and-place assembly 21 delivers the target object to the working position 311 through the second end 3112, and the worker picks, seeds or the like the target object on the working position 311. The target object can be a goods, a container containing the goods or the like.

[0212] The minimum distance between the detector 34 and the second end 3112 of the working position 311 in the first direction is greater than or equal to the preset value. Thus, when the worker's body is mistakenly extended in the direction close to the pick-and-place assembly 21, the detector 34 can detect the worker's body earlier and more timely, thereby providing more time for controlling the next operation of the pick-and-place assembly 21, so as to effectively avoid 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 improve the safety.

[0213] For example, the first end 3111 of the working position 311 is located in front of the second end 3112 of the working position 311. The detector 34 is located behind the first end 3111.

[0214] As shown in Figure 24As 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.

[0215] like Figure 17 As shown, the stop includes a first stop 321. The main body 31 has a first side 312 and a second side 313 in a second direction orthogonal to the first direction, i.e., the first side 312 and the second side 313 are opposite to each other in the second direction. The workstation 311 is located between the first side 312 and the second side 313 in the second direction. The first stop 321 is provided on the main body 31 and located at at least one of the first side 312 and the second side 313.

[0216] By setting the first stop 321, the first stop 321 can be used to stop the worker's body, thereby further preventing the worker's body from accidentally extending from the side of the workstation 311 toward the direction of the pick-and-place component 21, so as to more effectively avoid interference between the worker's body and the pick-and-place component 21 or the target object on the pick-and-place component 21, thereby further improving safety.

[0217] like Figure 19 As shown, the workbench 3 further includes a second stop 322, which is disposed on the main body 31 and spaced apart from the workstation 311 in a third direction orthogonal to the second and first directions, and opposite to each other. By setting the second stop 322, the worker's body can be stopped, thereby further preventing the worker's body from accidentally extending towards the pick-and-place component 21, so as to more effectively avoid interference between the worker's body and the pick-and-place component 21 or the target object on the pick-and-place component 21, thereby further improving safety.

[0218] like Figure 20 , Figures 22-24 , Figures 17-24 as well as Figures 17-19 As shown, the main body 31 includes a platform 314 and a mounting frame 315. A workstation 311 is located on the platform 314, and the mounting frame 315 is connected to the platform 314. A first stop 321 is connected to the platform 314 and the mounting frame 315, and a second stop 322 is mounted on the mounting frame 315. At least one of the mounting frame 315, the first stop 321, and the second stop 322 is equipped with a detector 34. This allows for a more rational structure of the main body 31 and the worktable 3.

[0219] For example, the mounting rack 315 is adjacent to the second end portion 3112 in the first direction. For example, the mounting rack 315 is located behind the table body 314 (the work station 311).

[0220] 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 to each other 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 to each other in the second direction.

[0221] 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.

[0222] 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.

[0223] 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.

[0224] 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.

[0225] As shown in Figure 24 and Figures 20-24 and Figure 17As shown, the first mounting portion 3141 is provided with a first mounting piece 331, the third mounting portion 3153 is provided with a third mounting piece 333, the third mounting piece 333 has a third clamping groove, and one first stop piece 321 is clamped in the first clamping groove and the third clamping groove.

[0226] As shown in Figure 20 , the second mounting portion 3142 is provided with a second mounting piece 332, the fourth mounting portion 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 mounted on the table body 314 and the mounting bracket 315, so that the two first stop pieces 321 can be more stably and conveniently mounted on the main body 31 of the workbench 3.

[0227] 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 upwardly open. 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 forwardly open. 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.

[0228] As shown in Figure 23 , Figure 24 and Figure 19 , the mounting bracket 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 bracket 315, and the third end portion 3151 is the rear end portion of the mounting bracket 315. The fourth end portion 3152 includes the third mounting portion 3153 and the fourth mounting portion 3154, i.e. the third mounting piece 333 and the fourth mounting piece 334 are both provided on the fourth end portion 3152 of the mounting bracket 315. In this way, the structure of the workbench 3 can be more reasonable.

[0229] 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 conveniently mounted.

[0230] For example, the first mounting member 331 and the second mounting member 332 are arranged on the upper surface 3143 of the table body 314, and the third mounting member 333 and the fourth mounting member 334 are arranged on the front surface 3155 of the mounting frame 315 (the fourth end portion 3152). The second stop member 322 is connected to each of the upper portion 3213 of each first stop member 321 and the front surface 3155 of the mounting frame 315 (the fourth end portion 3152).

[0231] In one of the embodiments of the present disclosure, the mounting frame 315 is provided with the detector 34. Optionally, the fourth end portion 3152 of the mounting frame 315 is provided with the detector 34. In this way, the detector 34 can be closer to the worker and farther away from the taking-and-placing 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 taking-and-placing assembly 21 (for example, stopping the movement of the taking-and-placing assembly 21), effectively avoiding the interference between the worker's body and the taking-and-placing assembly 21 or the target object on the taking-and-placing assembly 21, and further improving the safety.

[0232] Optionally, the detector 34 is a grating detector or a radar detector. The emission 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 emission 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 emission end 341 and the receiving end 342 of the grating detector can be obliquely opposite in the second direction or the up-down direction, for example, the emission end 341 of the grating detector is in front of (behind) the receiving end 342 of the grating detector.

[0233] In another embodiment of the present disclosure, the first stop member 321 is provided with the detector 34. In this way, the detector 34 can be closer to the worker and farther away from the taking-and-placing 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 taking-and-placing assembly 21 (for example, stopping the movement of the taking-and-placing assembly 21), effectively avoiding the interference between the worker's body and the taking-and-placing assembly 21 or the target object on the taking-and-placing assembly 21, and further improving the safety.

[0234] Optionally, the detector 34 is a grating detector or a radar detector. The emission 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 emission 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 emission end 341 and the receiving end 342 of the grating detector can be obliquely opposite in the second direction or the up-down direction, for example, the emission end 341 of the grating detector is in front of (behind) the receiving end 342 of the grating detector.

[0235] As shown in Figure 19 , the emitting end 341 of the grating detector is arranged at one first stopper 321 (the other first stopper 321), as shown in Figure 22 , the receiving end 342 of the grating detector is arranged at the other first stopper 321 (one first stopper 321). For example, Figure 17 The first stopper 321 shown is arranged at the first side edge 312 of the workbench 3. Figure 20 The first stopper 321 shown is arranged at the second side edge 313 of the workbench 3.

[0236] In still another embodiment of the present disclosure, the second stopper 322 is provided with the detector 34. In this way, the detector 34 can be closer to the worker and farther away from the taking and placing 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 taking and placing assembly 21 (for example, stopping the movement of the taking and placing assembly 21), effectively avoiding the interference between the worker's body and the taking and placing assembly 21 and the target object on the taking and placing assembly 21, and further improving the safety.

[0237] 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 in 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. For example, the emitting end 341 of the grating detector is arranged at the second stopper 322 (the table body 314), and the receiving end 342 of the grating detector is arranged at the table body 314 (the second stopper 322).

[0238] As shown in Figure 23 , Figures 17-23 and Figure 25 , the main body 31 comprises a plurality of workstations 311, and the plurality of workstations 311 are arranged in the second direction. The workbench 3 further comprises a shielding member 323, and the shielding member 323 is arranged between two adjacent workstations 311. For example, the workstation 311 is located between the first stopper 321 and the shielding member 323 in the second direction, or the workstation 311 is located between two adjacent shielding members 323 in the second direction.

[0239] The blocking member 323 is arranged between two adjacent workstations 311, so that each workstation 311 can be independently detected. When the body of the worker extends from one or more workstations 311 in the direction of the picking and placing assembly 21, the detector 34 can detect the body of the worker, so that the picking and placing assembly 21 no longer delivers target objects to these workstations 311, and no longer delivers target objects of these workstations 311 to other positions. The picking and placing assembly 21 can deliver target objects to other workstations 311 (workstations 311 where the body of the worker is not detected) and deliver target objects of other workstations 311 to other positions, thereby improving work efficiency.

[0240] Optionally, at least one of the first stop member 321 and the blocking member 323 adjacent to each other is provided with a detector 34, and at least one of the blocking members 323 adjacent to each other is provided with a blocking member 323. That is, at least one of the first stop member 321 and the blocking member 323 most adjacent to the first stop member 321 in the second direction is provided with a detector 34. In this way, the accuracy of detection can be improved.

[0241] For example, at least one of one first stop member 321 and the blocking member 323 most adjacent to the one first stop member 321 in the second direction is provided with a detector 34, and at least one of another first stop member 321 and the blocking member 323 most adjacent to the another first stop member 321 in the second direction is provided with a detector 34.

[0242] The first stop member 321 includes a first edge 3215 and a second edge 3216 opposite in the first direction, and the blocking 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 picking and placing 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 workstation 311 in the first direction than the second edge 3216, 3233. The detector 34 is arranged at the first edge 3215.

[0243] In this way, the detector 34 can be closer to the worker and farther away from the picking and placing assembly 21, so that the detector 34 can detect the body of the worker earlier and more timely, so as to provide more time for the next operation of controlling the picking and placing assembly 21, effectively avoiding the interference between the body of the worker and the picking and placing assembly 21 and the target objects on the picking and placing assembly 21, and further improving safety.

[0244] For example, the first edge 3215 of the first stop member 321 is a front edge, and the second edge 3216 is a rear edge. The first edge 3232 of the blocking member 323 is a front edge, and the second edge 3233 of the blocking member 323 is a rear edge.

[0245] For example, the first edge 3215, 3232 of the at least one of the one first stopper 321 and the shutter 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 the at least one of the other first stopper 321 and the shutter 323 most adjacent to the other first stopper 321 in the second direction is provided with the detector 34.

[0246] As shown in FIG. 1, the first edge 3215, 3232 includes an inclined segment 3217, 3234 inclined away from the pick-and-place assembly 21 in the first direction, and the detector 34 is arranged on the inclined segment 3217. That is, the first edge 3215 of the first stopper 321 includes the inclined segment 3217, and the first edge 3232 of the shutter 323 includes the inclined segment 3234. Figure 26

[0247] 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.

[0248] For example, the lower part of the inclined segment 3217 of the one first stopper 321 is adjacent to the first end 3111 in the first direction relative to the upper part of the inclined segment 3217 of the one first stopper 321, that is, the inclined segment 3217 of the one first stopper 321 is inclined forward from top to bottom. The lower part of the inclined segment 3234 of the shutter 323 is adjacent to the first end 3111 in the first direction relative to the upper part of the inclined segment 3234 of the shutter 323, that is, the inclined segment 3234 of the shutter 323 is inclined forward from top to bottom.

[0249] Optionally, the inclined segment 3217, 3234 of the at least one of the first stopper 321 and the cooperating shutter 323 is provided with the detector 34. The inclined segment 3234 of the at least one of the two adjacent shutters 323 is provided with the detector 34.

[0250] Optionally, the detector 34 is a radar detector. For example, the inclined segment 3217 of the one first stopper 321 is provided with the radar detector, or the inclined segment 3234 of the shutter 323 most adjacent to the one first stopper 321 in the second direction is provided with the radar detector. The inclined segment 3217 of the other first stopper 321 is provided with the radar detector, or the inclined segment 3234 of the shutter 323 most adjacent to the other first stopper 321 in the second direction is provided with the radar detector. The inclined segment 3234 of one of the two adjacent shutters 323 is provided with the radar detector.

[0251] ​Optionally, the detector is a grating detector. For example, the inclined section 3234 of one of the two adjacent shielding pieces 323 is provided with the transmitting end 341 (receiving end 342) of the grating detector, and the inclined section 3234 of the other of the two adjacent shielding pieces 323 is provided with the receiving end 342 (transmitting end 341) of the grating detector.

[0252] The inclined section 3217 of one of the first stop pieces 321 is provided with the transmitting end 341 (receiving end 342) of the grating detector, and the inclined section 3234 of the shielding piece 323 most adjacent to the one of the first stop pieces 321 in the second direction is provided with the receiving end 342 (transmitting end 341) of the grating detector. The inclined section 3217 of the other of the first stop pieces 321 is provided with the transmitting end 341 (receiving end 342) of the grating detector, and the inclined section 3234 of the shielding piece 323 most adjacent to the other of the first stop pieces 321 in the second direction is provided with the receiving end 342 (transmitting end 341) of the grating detector.

[0253] The embodiments of the present disclosure also disclose a warehousing system. The warehousing system of the embodiments of the present disclosure comprises a carrier and a warehousing device, and the warehousing device is the warehousing device 100 of the embodiments of the present disclosure. The warehousing device is configured to drive the taking and placing device 2 to move relative to the carrying device 1 according to a carrying instruction, so as to obtain a target object from the carrier or carry the target object to the carrier.

[0254] The target object can be a cargo or a container. The container can be a cargo box, a file bag, a bulk bag, a packaging bag, etc. The carrier can be a mobile carrier or a general carrier. The carrier can be a shelf, a seeding wall, a tray, a movable carrying robot, a conveying line, etc.

[0255] In some embodiments, the warehousing system further comprises a management system, and the warehousing device is in communication connection with the management system. The management system is configured to send a carrying instruction to the warehousing device, and the warehousing device is configured to drive the taking and placing device 2 to move according to the carrying instruction, so as to obtain a target object from the carrier or carry the target object to the carrier.

[0256] Optionally, the warehousing 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 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. The specified position can be a station 311 of a workbench 3, a shelf, a tray, a seeding wall, a carrying position of a carrying device. The carrying device can be a bin robot or a conveying line, etc.

[0257] Optionally, the storage device 100 is configured to drive the picking and placing device 2 to move along the second direction and / or to move along the third direction to a target container location of the carrier, and drive the picking and placing member of the picking and placing device 2 to move at least along the first direction from the avoiding position to the picking and placing position to pick the target container from the carrier and guide the target container into the accommodating space 213 of the picking and placing device 2. The avoiding position is below or aside the accommodating space. The picking and placing position is on the first side or the second side of the carrier.

[0258] The storage device 100 is configured to drive the execution assembly between two adjacent carriers to move along the second direction by the first driving member and the transmission assembly, and / or drive the picking assembly to move along the third direction to a target container location of the carrier by the second driving member. The picking and placing member of the picking and placing device 2 is driven to move at least along the first direction from the avoiding position to the picking and placing position by the third driving member to pick the target container from the carrier and guide the target container into the accommodating space 213 of the picking and placing device 2.

[0259] Optionally, the storage device 100 is configured to drive the picking and placing device 2 to move along the second direction and / or to move along the third direction to a target container location of the carrier, and drive the picking and placing member of the picking and placing device 2 to move at least along the first direction from the avoiding position to the picking and placing position to pick the target container from the carrier and guide the target container into the accommodating space 213 of the picking and placing device 2. The avoiding position is below or aside the accommodating space. The picking and placing position is on the first side or the second side of the carrier.

[0260] Optionally, the storage device 100 is configured to accommodate the target container in the accommodating space 213 of the picking and placing device 2, drive the execution assembly to move along the second direction by the first driving member and the transmission assembly, and / or drive the picking assembly to move along the third direction relative to the picking and placing platform by the second driving member to move to the working station 311 of the workbench 3. The picking and placing member of the picking and placing device 2 is driven to move at least along the first direction to one side of the workbench 3 by the third driving member to place the target container in the working station 311 of the workbench 3 for picking or other operations in the working station 311.

[0261] In some embodiments, the storage system further comprises a carrying device configured to carry the carrier to or away from the working area of the storage device. The carrier can be a mobile shelf.

[0262] In some embodiments, the storage system further comprises a multi-layer platform and a carrying device, the multi-layer platform is spaced apart along the height direction, and each layer of the platform is provided with at least one carrier, which is a shelf or a tray. The carrying device is configured to carry 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 carries the target object to a specified position. The specified position can be a working station 311 of a workbench 3, a shelf, a tray, a sowing wall, or a carrying position of the carrying device.

[0263] The carriers can be mobile carriers or ordinary carriers. There can be multiple carriers. The multiple carriers include one or more of shelves, handling devices, seeding walls, and sorting devices. The storage device is configured to drive the picking and placing device 2 to move according to the handling instruction to carry the target objects located in at least one carrier to at least another carrier or a designated location, or carry the target objects located in the designated location to at least one carrier. The designated location can be a station 311 of the workbench 3, a shelf, a tray, a seeding wall, or a carrying position of a handling device.

[0264] When the carriers include shelves, the storage device is configured to drive the picking and placing device 2 to move according to the handling instruction to obtain the target objects from the shelves, or carry the obtained target objects to the shelves. For example, the storage device can carry the target objects on the shelves to the stations 311 of the workbench 3, and a worker performs picking, seeding, or other operations on the target objects on the stations 311. The storage device can also carry the target objects on the shelves to the handling devices. The storage device can also carry the target objects on the stations 311 of the workbench 3 to the shelves.

[0265] Optionally, the carriers include a first shelf and a second shelf. The storage device is configured to drive the picking and placing device 2 to move according to the handling instruction to obtain the target objects located in at least one of the first shelf and the second shelf, or carry the obtained target objects to at least one of the first shelf and the second shelf. The storage device can carry the target objects obtained from at least one of the first shelf and the second shelf to the workbench 3, the handling devices, or the like. Alternatively, the storage device is configured to drive the picking and placing device 2 to move according to the handling instruction to carry the target objects of one of the first shelf and the second shelf to the other of the first shelf and the second shelf, to realize restocking between the first shelf and the second shelf.

[0266] When the carriers include handling devices, the storage device is configured to drive the picking and placing device 2 to move according to the handling instruction to obtain the target objects from the handling devices, or carry the obtained target objects to the handling devices. For example, the storage device can carry the target objects on the handling devices to the stations 311 of the workbench 3, and a worker performs picking, seeding, or other operations on the target objects on the stations 311. The storage device can also carry the target objects on the stations 311 of the workbench 3 to the handling devices, and the handling devices can then carry the target objects to designated locations.

[0267] For example, the handling device comprises a first conveying line configured to deliver the container to the storage device. The storage device 100 is configured to drive the execution assembly between two adjacent carriers to move the picking and placing device 2 in the second direction by the first driving member and the transmission assembly, and / or to move the picking assembly in the third direction to the position of the target container of the carrier by the second driving member. The picking and placing assembly is moved at least in the first direction from the avoiding position to the picking position by the third driving member to obtain the target container from the first conveying line and guide the target container into the accommodation space 213 of the picking and placing device 2. The storage device 100 is configured to drive the picking and placing device 2 to move in the second direction and / or in the third direction to the designated placement position of the carrier, and drive the picking and placing assembly of the picking and placing device 2 to move at least in the first direction from the avoiding position to the picking position to place the target container in the accommodation space 213 at the designated placement position of the carrier.

[0268] For example, the handling device comprises a second conveying line, and the first conveying line is configured to deliver the container at the storage device to the designated position. The storage device 100 is configured to drive the picking and placing device 2 to move in the second direction and / or in the third direction to the designated placement position of the carrier, and drive the picking and placing assembly of the picking and placing device 2 to move at least in the first direction from the avoiding position to the picking position to place the target container on the second conveying line.

[0269] The handling device comprises a first conveying line and a second conveying line, the first conveying line is configured to deliver the container to the storage device, and the second conveying line is configured to deliver the container at the storage device to the designated position, and the first conveying line and the second conveying line are arranged in the second direction.

[0270] In the case that the carrier comprises a sowing wall, the storage device is configured to drive the picking and placing device 2 to move according to the handling instruction to obtain the target object from the sowing wall or deliver the obtained target object to the sowing wall.

[0271] In the case that the carrier comprises a sorting device, the storage system comprises the sorting device, the storage device comprises a workbench, and the carrier comprises the target container. The storage device is configured to drive the picking and placing device to move in the second direction and / or in the third direction to the work station of the workbench, and drive the picking and placing device to move at least in the first direction to place the target container in the accommodation space at the work station for sorting. The sorting device is configured to deliver the target object sorted from the target container to the designated position.

[0272] For example, the handling device comprises a second conveying line, and the first conveying line is configured to deliver the container at the storage device to the designated position. The storage device 100 is configured to drive the picking and placing device 2 to move in the second direction and / or in the third direction to the designated placement position of the carrier, and drive the picking and placing assembly of the picking and placing device 2 to move at least in the first direction from the avoiding position to the picking position to place the target container on the second conveying line. Figure 25As shown, the warehouse system 1000 further comprises a workstation 150, an inventory area 120 and a conveying device 140. The warehouse device 100 can be located at the workstation or the inventory area. In the case that the warehouse device is located at the workstation, the workstation is a goods picking area, in which warehouse tasks such as goods picking, goods shelving, container adjustment, goods inventory, etc. can be performed, and the above-mentioned warehouse tasks can be performed by manual or automated devices at the workstation. In the case that the warehouse device 100 is located at the inventory area, the warehouse device is used to arrange the same carrier or different carriers. The conveying device 140 is configured to convey the carrier containing the target object to the working area of the warehouse device 100, and / or convey the carrier from the workstation to the inventory area, and / or convey the carrier between different positions in the inventory area. The conveying device 140 comprises a conveying robot, a conveying line, etc.

[0273] Referring to Figure 27 , the working area of the warehouse device comprises a first area and / or a second area, the first area is configured to pick the first type of carrier, and the second area is configured to pick the second type of carrier.

[0274] Referring to Figure 25 and Figure 28 , the warehouse device is located at the inventory area, the conveying device is configured to convey the carrier to the working area of the warehouse device or from the working area of the warehouse device to other positions, and the warehouse device is configured to convey the target object of one of the carriers to another carrier, or convey the target object of the carrier from one position of the carrier to another position of the carrier.

[0275] Referring to Figure 28 and Figure 28 , the warehouse device is located at the workstation, the warehouse device is provided with a worktable, the warehouse device 100 drives the pick-and-place 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 pick-and-place 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 pick-and-place device 2. The warehouse device 100 is configured to drive the pick-and-place device 2 to move in the second direction and / or in the third direction to the work station 311 of the worktable 3, and drive the pick-and-place device 2 to move at least in the first direction to place the target object at the work station 311 of the worktable 3, so as to perform picking at the work station 311 of the worktable 3.

[0276] Referring to Figures 29 to 40The one side of the storage device 100 is a conveying line, and the other side of the storage device 100 is provided with a shelf. The storage device 100 drives the taking and placing device 2 to move in the second direction and / or in the third direction to a position of a target object on the conveying line, 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. The storage device 100 drives the taking and placing device 2 to move in the second direction and / or in the third direction to a storage position of the 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 in the storage position of the shelf for goods arrangement.

[0277] Referring to Figure 29 The storage device 100 can also replenish goods for the shelf. The one side of the storage device 100 is a first conveying line for conveying target objects, and the other side of the storage device 100 is provided with a shelf. The storage device 100 drives the taking and placing device 2 to move in the second direction and / or in the third direction to a position of a target object on the first conveying line, 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. The storage device 100 drives the taking and placing device 2 to move in the second direction and / or in the third direction to a storage position of the 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 first conveying line in the storage position of the shelf for goods replenishment.

[0278] The one 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 taking and placing device 2 to move in the second direction and / or in the third direction to a position of an empty container on the shelf, drives the taking and placing device 2 to move at least in the first direction to obtain the empty container from the shelf and guide the empty container into the accommodation space of the taking and placing device 2. The storage device 100 drives the taking and placing device 2 to move in the second direction and / or in the third direction to a position of the second conveying line, and drives the taking and placing device 2 to move at least in the first direction to place the empty container on the second conveying line. The second conveying line conveys the empty container to other positions.

[0279] Referring to Figure 30 As shown in the figure, the storage device 100 (storage and taking device) of the embodiment of the application comprises at least two bearing members 11 (columns) and a taking and placing device 2 (box taking mechanism). The bearing member 11 is provided with a vertical guide rail 171, and the at least two bearing members 11 are arranged in a spaced manner in a second direction. The taking and placing device 2 is arranged on one side of the bearing member 11 in a first direction and is movably connected with the vertical guide rail 171 in a vertical direction. The bearing member 11 has a fixed part 172 for connecting with a base body. The second direction is orthogonal to the vertical direction, and the first direction is orthogonal to the vertical direction and the second direction.

[0280] The bearing member 11 is provided with a vertical guide rail 171. It can be understood that the bearing member 11 itself forms the vertical guide rail 171, or the vertical guide rail 171 is separately provided from the bearing member 11 and is fixedly connected with the bearing member 11. The taking and placing device 2 is movably connected with the vertical guide rail 171 in the vertical direction, so that the taking and placing device 2 is arranged on the bearing member 11.

[0281] The taking and placing device 2 is arranged on one side of the bearing member 11 in the first direction. It can be understood that the taking and placing device 2 protrudes from one side of the bearing member 11 in the first direction, and the other side of the taking and placing device 2 does not protrude from the other side of the bearing member 11 in the first direction. Alternatively, the taking and placing device 2 protrudes from both sides of the bearing member 11 in the first direction, and the distance from the taking and placing device 2 to one side of the bearing member 11 in the first direction is greater than the distance from the taking and placing device 2 to the other side of the bearing member 11 in the first direction.

[0282] The fixed part 172 and the base body can be directly connected or indirectly connected through a connecting piece.

[0283] The vertical direction can be the direction indicated by the Z axis in the figure, the second direction can be the direction indicated by the X axis in the figure, and the first direction can be the direction indicated by the Y axis in the figure.

[0284] 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 can be 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 can be any direction in the horizontal plane. The following embodiments of the present application take the second direction as the direction of the X axis in the figure and the first direction as the direction of the Y axis in the figure as examples.

[0285] The warehouse equipment 100 of the present application can connect multiple bearing members 11 into one whole body by connecting the fixed part 172 with the base body, thereby improving the structural strength of the whole body composed of the bearing member 11 and the base body, reducing the risk of deformation of the bearing member 11 and limiting the relative position between adjacent two bearing members 11, thereby reducing the risk of change of the distance between the vertical guide rails 171 and the relative position between adjacent two vertical guide rails 171, thereby making the cooperation of the taking and placing device 2 with the vertical guide rail 171 more smooth, and improving the motion stability and motion accuracy of the taking and placing device 2.

[0286] In some examples of the embodiments of the present application, the plurality of carriers 11 are arranged at intervals in the left-right direction, and the taking-and-placing device 2 is arranged on the front side of the carriers 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 to which the taking-and-placing device 2 is biased relative to the carriers 11 is the front side, and the side opposite to the front side is the rear side.

[0287] In some examples of the embodiments of the present application, as shown in Figures 32 to 35 、 Figure 36 、 Figure 37 The storage device 100 further includes at least one connecting beam 161, which extends from one of the adjacent two carriers 11 towards the other carrier 11, and is connected with the fixed portions 172 of the adjacent two carriers 11. The connecting beam 161 and the carrier 11 can be connected by bonding, welding, or a fastener, which can be a bolt, a screw, or a rivet.

[0288] For example, the number of carriers 11 is two, the two carriers 11 are arranged at intervals in the left-right direction, and the two ends of the connecting beam 161 are connected with the fixed portions 172 of the two carriers 11, respectively, so as to connect the two carriers 11 by the connecting beam 161.

[0289] Connecting the adjacent two carriers 11 by the connecting beam 161 can connect the adjacent two carriers 11 and the connecting beam 161 as a whole, which can improve the structural strength of the whole composed of the adjacent two carriers 11 and the connecting beam 161, thereby reducing the risk of deformation of the carrier 11 and reducing the relative position between the adjacent two carriers 11, and improving the motion stability and motion accuracy of the taking-and-placing device 2.

[0290] In some examples of the embodiments of the present application, the connecting beam 161 forms the base, that is, the connecting beam 161 connects the plurality of carriers 11 as a whole.

[0291] By forming the connecting beam 161 as the base, the structure of the base is simple, and the installation and fixation of the storage device 100 are facilitated.

[0292] In other examples of the embodiments of the present application, the base can also have other structures, for example, the base is the ground, a floor, or a frame structure (for example, a shelf fixed on the ground).

[0293] In other examples of the embodiments of the present application, the connecting beam 161 has a connecting portion connected with the base. That is, the plurality of carriers 11 are connected with the base by the connecting beam 161. That is, the fixed portion 172 of the carrier 11 is connected with the base by the connecting beam 161.

[0294] The connecting portion and the base body can be connected by bonding, welding or fasteners, which can be bolts, screws or rivets.

[0295] By arranging the connecting portion on the connecting beam 161 and connecting the plurality of bearing members 11 and the base body by the connecting beam 161, the plurality of bearing members 11 and the base body are conveniently connected, thereby facilitating the installation and fixation of the storage equipment 100.

[0296] In some examples of the embodiments of the present application, as shown in Figure 36 and Figure 29 , the bearing member 11 has a plurality of fixing portions 172, and the plurality of fixing portions 172 are arranged at intervals. There are a plurality of connecting beams 161, and the plurality of connecting beams 161 are arranged at intervals. The connecting beam 161 is connected with the corresponding fixing portions 172 of the adjacent two bearing members 11.

[0297] For example, as shown in Figures 32 to 35 , the plurality of fixing portions 172 of the bearing member 11 are arranged at intervals in the up-down direction, and the plurality of connecting beams 161 are arranged at intervals in the up-down direction. The connecting beam 161 is connected with the corresponding fixing portions 172 of the adjacent two bearing members 11, so that the adjacent two bearing members 11 are connected by the plurality of connecting beams 161. Of course, the plurality of fixing portions 172 of the bearing member 11 can also be arranged at intervals in the front-back direction, and at least two connecting beams 161 are arranged in sequence in the front-back direction. At this time, at the same height, the adjacent two bearing members 11 are connected by at least two connecting beams 161.

[0298] The adjacent two bearing members 11 are connected by the plurality of connecting beams 161, which can further improve the structural strength of the whole composed of the adjacent two bearing members 11 and the connecting beam 161, thereby further reducing the risk of deformation of the bearing member 11 and the relative position between the adjacent two bearing members 11, improving the motion stability and motion accuracy of the taking and placing device 2.

[0299] In some examples of the embodiments of the present application, as shown in Figure 36 , Figure 37 , Figure 37 , the extension direction of the connecting beam 161 is parallel to the second direction.

[0300] 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.

[0301] By setting the extension direction of the connecting beam 161 to be parallel to the second direction, the adjacent two bearing members 11 can be connected 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 and thereby reducing the cost of the storage equipment 100.

[0302] In some examples of the embodiments of the present application, the storage device 100 further comprises a buffer rack, which is arranged on the side of the carrier 11 away from the taking and placing device 2 in the first direction and is connected with the connecting beam 161.

[0303] The number of buffer racks can be one or more, and at least one buffer rack can be arranged on each connecting beam 161.

[0304] 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 back side of the carrier 11.

[0305] By arranging the buffer rack on the storage device 100, the goods 7 taken down by the taking and placing device 2 can be placed on the buffer rack, so that the taking and placing device 2 takes down the next goods 7, improves the working efficiency of the taking and placing device 2, and thus improves the working efficiency of the storage device 100.

[0306] The goods 7 can be a box, a container, goods themselves or goods in original boxes, etc., which are not limited herein.

[0307] In some specific application scenarios, taking the storage device 100 as a picking device and the taking and placing device 2 taking goods 7 from a carrier (such as a mobile shelf, a pallet, a transport trolley, etc.) carried by a carrying robot as an example, the following is described:

[0308] Firstly, the first carrying robot carries a first carrier with first goods to the taking and placing device 2, the taking and placing device 2 takes down the first goods in the first carrier and places the first goods on a picking position for sorting; then, the second carrying robot carries a carrier with second goods to the taking and placing device 2, the taking and placing device 2 takes down the second goods in the second carrier and places the second goods on the buffer rack. 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 rack; and after the sorting of the first goods is completed, the taking and placing device 2 can take down the second goods from the corresponding buffer rack and place them on the picking position for sorting.

[0309] 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.

[0310] The number of connecting beams 161 can be one, two or more. For example, as shown in Figure 38 Two connecting beams 161 are arranged, 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.

[0311] By arranging the extension direction of the connecting beam 161 to be inclined relative to the second direction, the connecting beam 161 can be connected to different positions of the two adjacent load bearers 11, facilitating the reinforcement of different positions of each load bearer 11 as needed, and improving the reliability of the storage device 100.

[0312] As shown in some examples of the embodiments of the present application, Figure 30 The storage device 100 further includes a fixed beam 163, the fixed beam 163 is arranged to be inclined relative to the second direction, and the two ends of the fixed beam 163 are respectively connected to the connecting beam 161 and the fixed part 172 of the at least one load bearer 11.

[0313] For example, as shown in some examples of the embodiments of the present application, Figure 29 The fixed beam 163 is provided in two, the two fixed beams 163 are arranged to be spaced apart along the second direction, and the fixed beam 163 is arranged on the lower side of the connecting beam 161. The two ends of one of the fixed beams 163 are respectively connected to the connecting beam 161 and the fixed part 172 of one of the load bearers 11, and the two ends of the other fixed beam 163 are respectively connected to the connecting beam 161 and the fixed part 172 of the other load bearer 11. At this time, the two load bearers 11 are not only connected by the connecting beam 161, but also connected by the two fixed beams 163 and the connecting beam 161.

[0314] As shown in some examples of the embodiments of the present application, Figure 36 The fixed part 172 is arranged on the top of the load bearer 11. At this time, the top of the load bearer 11 is connected to the base.

[0315] For example, the top of the two load bearers 11 is connected by the connecting beam 161, so that the two load bearers 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 load bearers 11, one of the load bearers 11 is arranged with a vertical guide rail 171 towards the side surface of the other load bearer 11.

[0316] By arranging the fixed part 172 on the top of the load bearer 11, the risk of deformation of the top of the load bearer 11 can be reduced, and the relative position between the tops of the two adjacent load bearers 11 can be limited, thereby improving the motion stability and motion accuracy of the taking and placing device 2.

[0317] As shown in some examples of the embodiments of the present application, Figure 37 The fixed part 172 is arranged on the bottom of the load bearer 11. At this time, the bottom of the load bearer 11 is connected to the base.

[0318] For example, the ground serves as the base, and the bottom of the load bearer 11 is connected to the ground. The bottom of the load bearer 11 and the ground can be connected by a foundation bolt.

[0319] By arranging the fixing part 172 at the bottom of the bearing part 11, the risk of deformation of the bottom of the bearing part 11 can be reduced, and the relative position between the bottoms of two adjacent bearing parts 11 can be limited, thereby improving the movement stability and accuracy of the taking and placing device 2.

[0320] In some examples of the embodiments of the present application, the fixing part 172 is arranged at the middle of the bearing part 11. At this time, the middle of the bearing part 11 is connected to the base.

[0321] For example, as shown in Figure 31 and Figure 39 , the middle of the bearing part 11 is provided with the fixing part 172, and the middle of the bearing part 11 is connected to the connecting beam 161, and the connecting beam 161 forms the base.

[0322] By arranging the fixing part 172 at the middle of the bearing part 11, the risk of deformation of the middle of the bearing part 11 can be reduced, and the relative position between the middles of two adjacent bearing parts 11 can be limited, thereby improving the movement stability and accuracy of the taking and placing device 2.

[0323] In some examples of the embodiments of the present application, the bottom of the bearing part 11 is provided with the fixing part 4, and the fixing part 4 forms the fixing part 172.

[0324] By arranging the fixing part 4 at the bottom of the bearing part 11, the bottom of the bearing part 11 can be conveniently connected to the base, thereby facilitating the installation and fixation of the storage equipment 100.

[0325] In some examples of the embodiments of the present application, the fixing part 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.

[0326] For example, the fixing hole 411 is used for the anchor bolt to pass through, so as to realize the connection between the bearing part 11 and the ground.

[0327] In some examples of the embodiments of the present application, as shown in Figure 40 , the bearing part 11 includes a first wall surface 173 and a second wall surface arranged opposite in the second direction. The fixing part 4 includes a first plate 41 and a second plate 42, the first plate 41 is arranged at the bottom of the bearing part 11, and the second plate 42 is arranged at the side of the bearing part 11 away from the second wall surface. The first plate 41 is used for being connected to the base, and the bottom surface of the bearing part 11 is connected to the top surface of the first plate 41. The side surface of the second plate 42 facing the first wall surface 173 is connected to the first wall surface 173, and the bottom surface of the second plate 42 is connected to the top surface of the first plate 41.

[0328] For example, the first plate 41 is arranged on 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 on 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 with the upper side surface of the first plate 41, the right side surface of the second plate 42 is connected with the left side surface of the carrier 11, and the lower side surface of the second plate 42 is connected with the upper side surface of the first plate 41.

[0329] By setting the fixing member 4 as the above structure, the connection reliability of the fixing member 4 and the carrier 11 can be improved, thereby improving the connection reliability of the carrier 11 and the base body and improving the reliability of the storage device 100.

[0330] In some examples of the embodiments of the present application, the carrier 11 further includes a third wall surface 174 and a fourth wall surface opposite to each other in the first direction. The fixing member 4 further includes a connecting plate 43 and a rib plate 44, the connecting plate 43 is arranged on the side of the carrier 11 away from the fourth wall surface, and the rib plate 44 is arranged on the side of the connecting plate 43 away from the carrier 11. The side of the connecting plate 43 facing the third wall surface 174 is connected with the third wall surface 174, the 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 the bottom surface of the connecting plate 43 is connected with the top surface of the first plate 41. The side of the rib plate 44 facing the third wall surface 174 is connected with the side of the connecting plate 43 away from the third wall surface 174, and the bottom surface of the rib plate 44 is connected with the top surface of the first plate 41.

[0331] For example, the connecting plate 43 is arranged on the front side of the carrier 11, the front side surface of the carrier 11 is the third wall surface 174, the rib plate 44 is arranged on the front side of the connecting plate 43, the lower surface of the connecting plate 43 is connected with the upper side surface of the first plate 41, the left side surface of the connecting plate 43 is connected with the right side surface of the second plate 42, the rear side surface of the rib plate 44 is connected with the front side surface of the connecting plate 43, and the lower side surface of the rib plate 44 is connected with the upper surface of the first plate 41.

[0332] By setting the fixing member 4 as 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.

[0333] As shown in Figure 39 and Figure 40 The embodiments of the present application also provide a storage system, which includes the shelf 6 and the storage device 100 of any of the above embodiments, 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.

[0334] The storage device 100 is arranged at least one side of the shelf 6 in the second direction and / or the first direction. It can be understood that the storage device 100 is arranged at least one side of the shelf 6 in the second direction, and the storage device 100 is arranged at least one side of the shelf 6 in the first direction; or the storage device 100 is arranged at least one side of the shelf 6 in the second direction, and the shelf 6 is not arranged with the storage device 100 in any side in the first direction; or the storage device 100 is arranged at least one side of the shelf 6 in the first direction, and the shelf 6 is not arranged with the storage device 100 in any side in the second direction.

[0335] The storage device 100 of the embodiment of the present application has good movement stability and movement accuracy of the taking and placing device 2, and the storage system of the embodiment of the present application has the advantages of good reliability and the like.

[0336] As shown in Figure 39 and Figure 40 , the fixed part 172 is fixedly connected with the shelf 6, and the shelf 6 forms a base body.

[0337] 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.

[0338] The fixed part 172 can be welded with the shelf 6; or the fixed part 172 can be connected with the shelf 6 through a fastener, which can be a bolt, a screw, a rivet, etc.

[0339] By taking the shelf 6 as the base body, the additional base body can be avoided, the overall structure of the storage device 100 is simplified, and the overall cost of the storage device 100 is reduced.

[0340] Optionally, as shown in Figure 29 and Figure 32 , the storage device 100 is arranged at one side of the shelf 6 in the first direction, and the taking and placing device 2 is arranged at one side of the shelf 6 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 carrier 11 is provided with a guide part movably matched with the transverse guide rail 61 in the second direction.

[0341] The guide part can be a transverse wheel 175 or a guide block. The shelf 6 is provided with the transverse guide rail 61, which can be understood as that the transverse guide rail 61 is formed by the transverse 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.

[0342] For example, the transverse moving wheel 175 can be arranged on the carrier 11 directly, and the transverse moving wheel 175 is movably matched with the transverse guide rail 61 in the second direction, so as to realize the movement of the carrier 11 in the second direction, and the transverse moving wheel 175 forms the guide part. For another example, the fixed part 172 of the carrier 11 can be connected with the base body, and the transverse moving wheel 175 is arranged on the base body, and the transverse moving wheel 175 is movably matched with the transverse guide rail 61 in the second direction, so as to realize the movement of the carrier 11 in the second direction, and the transverse moving wheel 175 forms the guide part.

[0343] By arranging the carrier 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 carrier 11, so that the storage device 100 can take and place the goods 7 at more positions of the shelf 6, and the working efficiency of the storage system is improved. In some examples of the embodiment of the application, the storage system further comprises at least one goods receiving point, and the goods receiving point is arranged on the other side of the carrier 11 in the first direction.

[0344] The goods receiving point can be a picking position, a temporary storage position for placing the goods 7, or a goods receiving trolley for carrying the goods 7.

[0345] For example, the goods receiving point is arranged on the rear side of the carrier 11.

[0346] By arranging the goods receiving point, the placement of the goods 7 taken out by the taking and placing device 2 is facilitated, and the working efficiency of the storage system is improved.

[0347] In some examples of the embodiment of the application, as shown in Figure 35 , Figures 41 to 46 and Figure 41 , the storage 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 point.

[0348] 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.

[0349] For example, the workbench 2 is provided with three work stations 311.

[0350] By arranging at least one work station 311 on the workbench 2, the working efficiency of the storage system is improved.

[0351] In other examples of the embodiment of the application, the workbench 2 can also be provided with only one work station 311.

[0352] In some examples of the embodiments of the present application, the workbench 2 includes a first side plate 316 and a second side plate 317 arranged opposite 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.

[0353] 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. Among them, the hooking hole 318 can hang a storage rack, which can be used to store tools such as a barcode printer and a code gun.

[0354] By providing the hooking hole 318, it is convenient to hang auxiliary tools (such as a storage rack) on the workbench 2, thereby improving the practicability of the warehouse picking system.

[0355] In other examples of the embodiments of the present application, the workbench 2 can also not be provided with the hooking hole 318. At this time, a storage rack for storing tools such as a barcode printer and a code gun can be directly arranged beside the workbench 2.

[0356] The picking and placing device 2 includes a carrying frame, a driving assembly, and a picking 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 picking and placing assembly is arranged on the carrying frame and is used to carry the goods 7 between the transfer robot and the work station 311.

[0357] In the warehouse system, the transfer device carries the goods corresponding to the order to the box taking mechanism of the picking system in response to the order instruction. The box taking mechanism transfers the goods to the picking platform of the picking system, and then sorts the items corresponding to the order in the goods into the order box, so as to realize the sorting of the items corresponding to the order. The goods can be items, carriers carrying items, or boxes carrying items, etc. The transfer device can be a mechanical arm or a transfer robot, etc.

[0358] In the process of carrying the goods to the box taking mechanism of the picking system by the transfer device, the transfer device moves according to the set movement path. In the related art, the box 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 transfer device, the side of the support frame provided with the box taking mechanism is passed, which leads to that when there is deviation in the movement path of the transfer device, the goods carried on the transfer device are easy to collide with the box taking mechanism, thereby affecting the work efficiency and reliability of the warehouse system.

[0359] In view of the technical problems in the related art, with reference to Figure 44As shown, the storage equipment 100 of this embodiment includes a carrying device 1, a picking and placing device 2, and a collision avoidance mark 8. The picking and placing device 2 is movably connected to the carrying device 1 in a vertical direction. The picking and placing device 2 is disposed on one side protruding from the carrying device 1 in a first direction. The collision avoidance mark 8 is located on at least one side of the carrying device 1 and / or the picking and placing device 2 in a second direction. The collision avoidance mark 8 is used for identification by handling equipment to ensure that the goods carried by the handling equipment avoid the picking and placing device 2. The first direction is orthogonal to the vertical direction, and the second direction is orthogonal to both the vertical direction and the first direction.

[0360] The picking and placing device 2 can be positioned away from the receiving point of the warehousing system in the first direction. For example, the receiving point could be a temporary storage location for placing goods, a receiving cart for carrying goods, or a picking location on a picking platform. Alternatively, the picking and placing device 2 can be positioned close to the receiving point of the warehousing system, for example, a mobile shelf, from which the picking and placing device 2 retrieves and returns goods. The goods can be items, vehicles containing items, or boxes containing items. The anti-collision marking 8 can be anti-collision components, QR codes, image markings, etc.

[0361] Wherein, the anti-collision mark 8 is located on at least one side of the carrier device 1 and / or the pick-and-place device 2 in the second direction, which can be understood as: the anti-collision mark 8 is located on one or both sides of the carrier device 1 in the second direction, but the pick-and-place device 2 is not provided with anti-collision mark 8 on each side of the second direction; or, the anti-collision mark 8 is located on one or both sides of the carrier device 1 in the second direction, but the carrier device 1 is not provided with anti-collision mark 8 on each side of the second direction; or, the anti-collision mark 8 is located on one or both sides of the carrier device 1 in the second direction, and the anti-collision mark 8 is located on one or both sides of the pick-and-place device 2 in the second direction. In this case, the carrier device 1 and the pick-and-place device 2 can be the same anti-collision mark 8, or they can be different anti-collision marks 8.

[0362] The vertical direction can be the direction shown by the Z-axis in the figure, the first direction can be the direction shown by the X-axis in the figure, and the second direction can be the direction shown by the Y-axis in the figure.

[0363] It should be noted that the first direction in this application is not limited to the X-axis direction in the figure, but can also be the Y-axis direction, or any direction in the horizontal plane; similarly, the second direction in this application is not limited to the Y-axis direction in the figure, but can also be the X-axis direction, or any direction in the horizontal plane. The following embodiments of this application use the X-axis direction in the figure as an example for the first direction and the Y-axis direction in the figure as an example for the second direction.

[0364] The storage device 100 of the embodiment 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 in the process of carrying the goods to the taking and placing device 2, and the carrying device carrying the goods is prevented from colliding with the taking and placing device 2, thereby improving the working efficiency and reliability of the storage system.

[0365] The carrying device can be a mechanical arm, a carrying robot or a mobile shelf, etc. The carrying device determining its moving path can be understood as that the carrying device re-plans the moving path or the carrying device continues to move according to the already planned moving path, and the determined moving path should meet the requirement that the goods carried by the carrying device will not collide with the taking and placing device 2.

[0366] In some examples of the embodiment of the present application, as shown in Figure 45 、 Figure 42 and Figure 46 , the storage device 100 comprises 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.

[0367] 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 can be understood as 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.

[0368] At least a part of the fixing member 9 forms the anti-collision mark 8 can be understood as 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 its moving path when identifying the part of the fixing member 9 as the anti-collision mark 8, so as to avoid the goods carried by the carrying device from colliding with the taking and placing device 2.

[0369] The anti-collision mark 8 is arranged on the fixing member 9 can be understood as that the anti-collision mark 8 is fixed on the fixing member 9 by pasting, printing, fasteners, etc. The fasteners can be bolts, screws, rivets, etc. At this time, the carrying device determines its moving path when identifying the anti-collision mark on the fixing member 9, so as to avoid the goods carried by the carrying device from colliding with the taking and placing device 2.

[0370] By setting the fixing member 9 and forming 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 conveniently arranged at a position which is easy to be identified by the carrying device, and the carrying device can quickly and accurately identify the anti-collision mark 8, thereby more effectively avoiding the goods carried by the carrying device from colliding with the taking and placing device 2.

[0371] In some other examples of the embodiments 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, etc.

[0372] 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 pasting, printing, fasteners, etc. At this time, a camera can be arranged on the carrying device to determine the relative position of the carrying device and the taking and placing device 2 by recognizing the two-dimensional code or the image mark as the anti-collision mark 8, and determine the moving path of the carrying device to avoid collision between the goods carried by the carrying device and the taking and placing device 2.

[0373] By setting the anti-collision mark 8 as a two-dimensional code or an image mark, the specific structure of the warehouse equipment 100 can be changed, and only the two-dimensional code or the image mark needs to be arranged on the warehouse equipment 100, which is conducive to reducing the cost of the warehouse equipment 100.

[0374] It should be noted that when the two-dimensional code or the image mark is arranged on the carrying device 1 or the taking and placing device 2, the camera of the carrying device is preferably arranged on the front side of the moving direction of the carrying device, i.e. the camera faces the front side of the moving direction of the carrying device, to recognize the two-dimensional code or the image mark on the carrying device 1 or the taking and placing device 2. When the two-dimensional code or the image mark is arranged on the ground, the camera of the carrying device can be arranged on the bottom of the carrying device, i.e. the camera faces downward, to recognize the two-dimensional code on the carrying device 1 or the taking and placing device 2.

[0375] The position at which the camera can recognize the two-dimensional code or the image mark is the recognition position, the recognition position and the taking and placing device 2 are located on the same side of the carrying device 1, the distance between the recognition 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 in the second direction is D2, then D1 is greater than or equal to D2.

[0376] For example, the recognition 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 recognition position and the carrying device 1 in the front-rear direction is D1, and 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, 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 taking mechanism 1 is arranged on the front side of the carrying device 1.

[0377] In some specific application scenarios, taking the process that the carrying device moves from the right front of the taking and placing device 2 to the taking and placing device 2 as an example for illustration:

[0378] The carrying device first moves backward to the right side of the taking and placing device 2, and then moves left to the taking and placing device 2. During the movement of the carrying device to the left, if the carrying device moves to the identification position, the carrying device re-plans the movement path. For example, after the carrying device identifies the two-dimensional code, the carrying device first moves forward by a certain distance to avoid the identification position, and then moves left to the taking and placing device 2. Wherein, the carrying device is in the front side of the identification position, and the carrying device can avoid the identification position. When the carrying device is in the front side of the identification position, the carrying device is in the front side of the taking and placing device 2, and the goods carried by the carrying device will not collide with the taking and placing device 2.

[0379] In some examples of the embodiments of the present application, as shown in Figure 41 and Figure 44 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 device.

[0380] Wherein, at least a part of the fixing member 9 forms the anti-collision part 94, which can be understood as: a 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 in resisting the carrying device, and the remaining part of the fixing member 9 does not play a role in resisting the carrying device; or the whole fixing member 9 is used as the anti-collision part 94, at this time, the whole fixing member 9 plays a role in resisting the carrying device.

[0381] 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.

[0382] By forming the anti-collision part 94 with at least a 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 are 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.

[0383] In some specific application scenarios, taking the movement of the carrying device from the left front of the taking and placing device 2 to the taking and placing device 2 as an example for illustration:

[0384] The carrying device first moves backward to the left side of the taking and placing device 2, and then moves right to the taking and placing device 2. During the movement of the carrying device to the right, if the carrying device collides with the anti-collision part 94, it is judged that the goods carried by the carrying device will collide with the taking and placing device 2 in this movement path, and then the carrying device re-plans the movement path. For example, after the carrying device collides 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 right to the taking and placing device 2.

[0385] Of course, in other embodiments, the fixing member 9 can not have the function of resisting the handling equipment, in which case the handling equipment only determines its moving path by recognizing the anti-collision mark 8 to avoid collision between the goods carried by the handling equipment and the taking-and-placing device 2.

[0386] In some examples of the embodiments, as shown in Figure 45 and Figure 46 , the fixing member 9 is arranged apart from the carrying device 1 in the first direction. That is, the fixing member 9 is arranged separately from the carrying device 1.

[0387] For example, the taking-and-placing device 2 is arranged at the front side of the carrying device 1, and the fixing member 9 is arranged at the front side of the carrying device 1.

[0388] By arranging the fixing member 9 apart from the carrying device 1 in the first direction, the setting position of the fixing member 9 is not limited by the carrying device 1, and the fixing member 9 can be arranged at a position that is easily recognized by the handling equipment, thereby more effectively avoiding collision between the goods carried by the handling equipment and the taking-and-placing device 2.

[0389] In other examples of the embodiments, as shown in Figure 43 and Figure 44 , the fixing member 9 is fixedly connected with the carrying device 1. That is, the fixing member 9 is fixedly integrated with the carrying device 1.

[0390] The fixing member 9 and the carrying device 1 can be welded, bonded or connected through fasteners, which can be bolts, screws, rivets, etc.

[0391] The fixed connection of the fixing member 9 and the carrying device 1 enables the carrying device 1 to serve as a fixing base of the fixing member 9, facilitating the installation and fixation of the fixing member 9.

[0392] In some examples of the embodiments, as shown in Figure 46 , Figure 41 and Figure 44 , the anti-collision part 94 is away from the side surface of the support frame in the second direction by a distance L1, the taking-and-placing device 2 is away from the side surface of the carrying device 1 in the second direction by a distance L2, and L1 is greater than or equal to L2.

[0393] 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 front side surface of the anti-collision part 94 is away from the carrying device 1 in the front-rear direction by a distance L1, and the front side surface of the taking-and-placing device 2 is away from the carrying device 1 in the front-rear direction by a distance L2, and L1 is greater than L2.

[0394] In some specific application scenarios, taking the movement of the carrying device from the right front of the pick-and-place device 2 to the pick-and-place device 2 as an example, the following is described:

[0395] The carrying device first moves backward to the right side of the pick-and-place device 2, and then moves left to the pick-and-place device 2. During the left movement of the carrying device, if the carrying device collides with the anti-collision part 94, the carrying device re-plans the movement 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 left to the pick-and-place device 2. Wherein, the carrying device is in the front side of the anti-collision part 94, which can avoid the anti-collision part 94, and when the carrying device is in the front side of the anti-collision part 94, the carrying device is in the front side of the pick-and-place device 2, and the goods carried by the carrying device will not collide with the pick-and-place device 2.

[0396] By setting L1 to be greater than or equal to L2, the goods on the carrying device will not collide with the pick-and-place device 2 without colliding with the anti-collision part 94. Thus, the collision between the goods carried by the carrying device and the pick-and-place device 2 is effectively avoided.

[0397] In some examples of the embodiments of the present application, as shown in Figure 45 , Figure 43 and Figure 43 , the fixing part 9 is an anti-collision frame, the anti-collision frame and the pick-and-place 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.

[0398] By setting the fixing part 9 as an anti-collision frame, the structural strength of the fixing part 9 is better, so that the fixing part 9 is not damaged by the carrying device when the carrying device collides with the fixing part 9, and the reliability of the storage device 100 is improved.

[0399] In some examples of the embodiments of the present application, as shown in Figure 45 , 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.

[0400] For example, as shown in Figure 46 , the number of legs 92 is two, the anti-collision beam 91 extends along the front-back direction, and 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.

[0401] 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 facilitating the reduction of the cost of the storage device 100.

[0402] In some examples of the embodiments of the present application, the anti-collision frame can also be provided in other structures, for example, the anti-collision frame is provided in a structure as shown in Figure 43 and Figure 46 or the anti-collision frame is provided in a rectangular frame, a T-shaped frame or other structures.

[0403] In some examples of the embodiments of the present application, as shown in Figure 45 and Figure 46 the bottom of the anti-collision frame is provided with a fixing portion 93, and the fixing portion 93 is used to be connected with a base. The fixing portion 93 and the base can be directly connected or indirectly connected through a connecting piece. The base can be a ground, a support, a floor or the like.

[0404] For example, the bottom of the supporting leg 92 is provided with a fixing plate, the fixing plate forms the fixing portion 93, and the fixing plate is connected with the ground through foundation bolts.

[0405] By providing the fixing portion 93 at the bottom of the anti-collision frame and connecting the fixing portion 93 with the base, the fixing stability of the anti-collision frame can be improved, and the reliability of the storage equipment 100 can be improved.

[0406] In addition, as shown in Figure 42 and Figure 45 when the anti-collision frame is connected with the carrying device 1, the fixing portion 93 is connected with the base, and the connection of the carrying device 1 and the base can also be realized, so that the fixing stability of the carrying device 1 can be improved, and the reliability of the storage equipment 100 can be further improved.

[0407] In some examples of the embodiments of the present application, as shown in Figures 41 to 46 and ​ the carrying device 1 comprises two carrying pieces 11 and a connecting beam 161, the two carrying pieces 11 are arranged at intervals along a second direction, the connecting beam 161 extends along the second direction, two ends of the connecting beam 161 are respectively connected with the top of the two carrying pieces 11, and the carrying device 1 as a whole is a door-shaped frame.

[0408] The overall structure of the carrying device 1 is simple, and the design and processing are convenient.

[0409] In some examples of the embodiments of the present application, the storage equipment 100 further comprises a goods receiving point, the goods receiving point is arranged at one side of the carrying device 1 in a first direction, and the taking and placing device 2 is arranged away from or close to the goods receiving point in the first direction.

[0410] When the taking and placing device 2 is arranged away from the goods receiving point in the first direction, the goods receiving point can be a temporary storage position for placing goods, a goods receiving trolley for carrying goods or a picking position on a picking platform. When the taking and placing device 2 is arranged close to the goods receiving point in the first direction, the goods receiving point can be a mobile goods shelf.

[0411] By setting the taking and placing device 2 away from or close to the receiving point in the first direction, the taking and placing device 2 is facilitated to take and place the goods at the receiving point.

[0412] As shown in some examples of the embodiments of the present application, ​ The storage device 100 further includes a workbench 3, and the workbench 3 is provided with at least one work station 311, and the work station 311 forms the receiving point.

[0413] 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.

[0414] For example, the workbench 3 is provided with three work stations 311.

[0415] By setting at least one work station 311 on the workbench 3, the working efficiency of the storage device 100 can be improved.

[0416] The taking and placing device 2 includes 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 set 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 set on the carrying frame, and the taking and placing assembly is used to carry the goods between the carrying device and the work station 311.

[0417] In some examples of the embodiments of the present application, the storage system includes a goods shelf and a carrying device, and the carrying device is used to carry the goods between the goods shelf and the taking and placing device 2.

[0418] In some specific application scenarios, taking the order items from the goods shelf to the order box as an example for illustration:

[0419] The carrying device carries the goods box containing the order items from the goods shelf to the taking and placing device 2 according to the order instruction, and the goods box containing the order items is transferred to the workbench 3 by the taking and placing device 2. Then the order items are sorted into the order box by manual or automatic equipment, so as to realize the sorting of the items corresponding to the order. In the process of moving the carrying device from the goods shelf to the taking and placing device 2, the anti-collision mark 8 is used to avoid the collision between the goods carried by the carrying device and the taking and placing device 2.

[0420] In the description of the embodiments of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship shown in the drawings, and are merely used for the purpose of facilitating the description of the embodiments of the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the embodiments of the present disclosure.

[0421] In addition, the terms "first", "second", "third", etc. are used only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second", etc. can explicitly or implicitly include at least one of the features. In the description of the embodiments of the present disclosure, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0422] In the embodiments of the present disclosure, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixedly connected, or can be detachably connected, or can be integrated; can be mechanically connected, or can be electrically connected or can communicate with each other; can be directly connected, or can be indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present disclosure can be understood according to the specific circumstances.

[0423] In the embodiments of the present disclosure, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0424] In the embodiments of the present disclosure, the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present disclosure. In the present specification, the illustrative representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0425] Although the above has shown and described embodiments of the embodiments of the present disclosure, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the embodiments of the present disclosure, and the person skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the embodiments of the present disclosure.

Claims

1. A storage equipment, characterized in that, include: A support device, the support device comprising at least two support members, the support members being spaced apart from each other; A pick-and-place device, comprising a pick-and-place assembly and a pick-and-place platform, wherein the pick-and-place platform is movably disposed between adjacent carriers, the pick-and-place assembly is connected to the pick-and-place platform, the pick-and-place assembly having a first end and a second end opposite each other in a first direction, at least one of the first end and the second end extending away from the carriers along the first direction and extending beyond the pick-and-place platform, the pick-and-place assembly being configured to pick up a target object from a designated location or to place the picked-up target object at a designated location.

2. The storage equipment according to claim 1, characterized in that, The carrier has a first side and a second side in the first direction. The first end of the pick-and-place assembly is connected to the pick-and-place platform. The second end of the pick-and-place assembly extends away from the carrier and beyond the pick-and-place platform. The second end of the pick-and-place assembly is located on the first side or the second side of the carrier.

3. The storage equipment according to claim 1, characterized in that, The carrier has a first side and a second side in the first direction. The pick-and-place platform is connected to the position between the first end of the pick-and-place assembly and the second end of the pick-and-place assembly. The first end of the pick-and-place assembly extends away from the carrier beyond the pick-and-place platform and is located on the first side of the carrier. The second end of the pick-and-place assembly extends away from the carrier beyond the pick-and-place platform and is located on the second side of the carrier.

4. The storage equipment according to any one of claims 1-3, characterized in that, The pick-and-place component includes: A receiving space, wherein the receiving space has an opening along the first direction; The picking and placing device and the opening are both at least one, and the picking and placing device is configured to retrieve a target object from the designated location or place a target object at the designated location through any one of the at least one opening; or the picking and placing device and the opening are both multiple, and multiple picking and placing devices are configured to retrieve a target object from the designated location or place a target object at the designated location through corresponding openings, respectively.

5. The storage equipment according to claim 4, characterized in that, The pick-and-place component includes: A first support member has a first end and a second end opposite to each other in the first direction, and the first end of the first support member is connected to the pick-and-place platform. The second support member has a first end and a second end opposite to each other in the first direction. The first end of the second support member is connected to the pick-and-place platform. The first support member and the second support member are spaced apart along the second direction to form a receiving space. The receiving space has an opening along the first direction. The second direction forms a preset angle with the first direction. The pick-and-place member is located between the first support member and the second support member in the second direction.

6. The storage equipment according to claim 5, characterized in that, The first support member includes a first support beam, a first mounting part, and a first connecting part. The first support beam is connected to the first mounting part through the first connecting part. The first mounting part is disposed on the pick-and-place platform, wherein the dimension of the first mounting part in the first direction is smaller than the dimension of the first support beam in the first direction. The second support member includes a second support beam, a second mounting part, and a second connecting part. The second support beam is connected to the second mounting part through the second connecting part. The second mounting part is disposed on the pick-and-place platform, wherein the dimension of the second mounting part in the first direction is smaller than the dimension of the second support beam in the first direction.

7. The storage equipment according to any one of claims 1 to 6, characterized in that, The pick-and-place platform includes a first guide portion, and the pick-and-place component includes a second guide portion. The second guide portion cooperates with the first guide portion to guide the movement of the pick-and-place component along a second direction, and the second direction forms a preset angle with the first direction.

8. The storage equipment according to claim 7, characterized in that, The first guide portion consists of at least two parts and is arranged at intervals along the first direction. The second guide portion consists of at least two parts and is arranged corresponding to the first guide portion. The distance between adjacent first guide portions is greater than or equal to a first preset value.

9. The storage equipment according to claim 7, characterized in that, One of the first guide portion and the second guide portion has a mating groove, the size of the mating groove in the first direction is less than or equal to a second preset value, and the size of the first guide portion and the second guide portion in the first direction is greater than or equal to a third preset value.

10. The storage equipment according to any one of claims 1-9, characterized in that, The supporting device further includes: First driving component; and An execution component includes a first rotating member, a second rotating member, and a first connecting member. The first rotating member and the second rotating member are spaced apart from the support member along a third direction and are rotatable relative to the support member. A first driving member is connected to the first rotating member. The first connecting member is disposed around the first rotating member and the second rotating member and is connected to the pick-and-place platform. The execution component is configured to drive the pick-and-place platform to move along the third direction.

11. The storage equipment according to claim 10, characterized in that, The execution component is embedded within the carrier.

12. The storage equipment according to claim 10 or 11, characterized in that, The carrier has a first limiting groove and a second limiting groove, and the openings of the first limiting groove and the second limiting groove are relatively open in the first direction. The bearing device further includes a limiting component, which is disposed on the first connecting member. The pick-and-place platform is connected to at least one of the limiting component and the first connecting member. The limiting component is movably fitted within the first limiting groove and the second limiting groove.

13. The storage equipment according to claim 12, characterized in that, The limiting component includes a limiting body, a first limiting member, and a second limiting member. The limiting body is connected to the first connecting member. The first limiting member and the second limiting member are disposed on the limiting body. The first limiting member is movably engaged with the bottom wall surface of the first limiting groove, and the second limiting member is movably engaged with the bottom wall surface of the second limiting groove, so as to limit movement in the first direction.

14. The storage equipment according to claim 12, characterized in that, The first limiting groove has two opposite sidewalls in the second direction, and the second limiting groove has two opposite sidewalls in the second direction, the second direction forming a preset angle with the first direction; The limiting assembly includes a limiting body, a third limiting member, and a fourth limiting member. The limiting body is connected to the first connecting member. The third and fourth limiting members are disposed on the limiting body. The third limiting member is movably engaged with two side walls of the first limiting groove, and the fourth limiting member is movably engaged with two side walls of the second limiting groove, so as to limit movement in the second direction.

15. The storage equipment according to claim 13, characterized in that, The limiting body includes: The support unit, wherein the pick-and-place platform is disposed on the support unit; A first mounting portion and a second mounting portion are connected to the bearing portion and spaced apart from each other along the first direction. The execution component is located between the first mounting portion and the second mounting portion, wherein a first limiting member is disposed in the first mounting portion and a second limiting member is disposed in the second mounting portion.

16. The storage equipment according to any one of claims 10 to 15, characterized in that, The bearing device further includes a bearing seat, which is disposed on the bearing member, and the first rotating member is rotatably disposed on the bearing seat.

17. The storage equipment according to claim 16, characterized in that, The bearing housing includes: A base, wherein the first rotating member is rotatably disposed on the base; and A first limiting protrusion and a second limiting protrusion are provided on the seat body. The first limiting protrusion extends into the first limiting groove and is in contact with one side wall of the first limiting groove. The second limiting protrusion extends into the second limiting groove and is in contact with one side wall of the second limiting groove.

18. The storage equipment according to claim 16, characterized in that, The bearing member is provided with a positioning groove, the positioning groove having two opposite sidewalls in the first direction, and the bearing seat has a positioning part that fits into the positioning groove.

19. The storage equipment according to any one of claims 1-18, characterized in that, The support member extends in a third direction and is provided with a reinforcing member.

20. The storage equipment according to any one of claims 1 to 9, characterized in that, The supporting device includes: An execution component is disposed on the carrier. The transmission assembly is connected to two actuators on two adjacent carrier members; and A first driving element is connected to the transmission assembly to drive the execution component to operate synchronously via the transmission assembly.

21. The storage equipment according to claim 20, characterized in that, The transmission assembly includes a reducer and a drive shaft. The reducer has an input shaft and an output shaft. The input shaft of the reducer is connected to the first drive member. The two actuation components are detachably connected to the output shaft of the reducer, wherein at least one of the two actuation components is detachably connected to the output shaft of the reducer via the drive shaft.

22. The storage equipment according to any one of claims 1 to 21, characterized in that, It also includes a workbench, the workbench comprising: The main body includes a workstation; and The detector is located on the main body, and the minimum distance between the detector and the pick-and-place component in the first direction is greater than or equal to a preset value.

23. The storage equipment according to claim 22, characterized in that, It also includes a stop member, which is disposed on the main body.

24. The storage equipment according to claim 23, characterized in that, The stop member includes: The first stop member, the main body has a first side and a second side in a second direction orthogonal to the first direction, the first stop member is disposed on the main body and located at at least one of the first side and the second side; The second stop is disposed on the main body and is spaced apart from the workstation and opposite to each other in a third direction orthogonal to the second direction and the first direction.

25. The storage equipment according to claim 24, characterized in that, The subject includes: The platform, wherein the workstation is located on the platform; and The mounting bracket is connected to the platform body, the first stop is connected to the platform body and the mounting bracket, the second stop is mounted on the mounting bracket, and the detector is provided on at least one of the mounting bracket, the first stop and the second stop.

26. The storage equipment according to claim 25, characterized in that, The workstations are multiple and are spaced apart along the second direction. The workbench also includes a shielding component, which is provided between two adjacent workstations.

27. The storage equipment according to claim 26, characterized in that, At least one of the first stop members and the blocking members that are adjacent to each other is provided with the detector.

28. The storage equipment according to claim 27, characterized in that, Each of the first stop and the shield includes a first edge and a second edge opposite each other in the first direction, the first edge being further away from the pick-and-place assembly in the first direction than the second edge, and the detector being disposed at the first edge.

29. The storage equipment according to claim 28, characterized in that, The first edge includes an inclined segment that is tilted away from the pick-and-place assembly along the first direction, and the detector is disposed on the inclined segment.

30. The storage equipment according to any one of claims 1-29, characterized in that, There are multiple pick-and-place devices, which are arranged between two adjacent support members and along a third direction. Each pick-and-place device has a pick-and-place platform movably connected to at least one pick-and-place component; or... The pick-and-place components are multiple, and the pick-and-place platform is movably provided with at least one pick-and-place component, and the at least one pick-and-place component is arranged along the second direction.

31. The storage equipment according to any one of claims 1-29, characterized in that, There are at least three carriers, and one of the pick-and-place devices or multiple pick-and-place devices arranged along a third direction are provided between two adjacent carriers.

32. A warehousing system, characterized in that, include: Vehicle; and Storage equipment, wherein the storage equipment is the storage equipment according to any one of claims 1 to 31; wherein, The storage equipment is configured to drive a pick-and-place device to move relative to a carrier according to a handling instruction, in order to retrieve a target object from the carrier or to move a target object to the carrier; and / or, The storage equipment is configured to drive the pick-and-place device to move relative to the carrier according to a handling instruction, so as to retrieve the target object from the carrier and transport the target object to a designated location; and / or, The storage equipment is configured to drive the pick-and-place device to move relative to the carrier according to the handling instructions, to retrieve the target object from the designated location and transport the target object to the carrier.

33. The warehousing system according to claim 32, characterized in that, The carrier includes a handling device configured to transport a target object to the working area of ​​a storage device. The storage device is configured to drive the pick-and-place device to move relative to the mobile platform in a second direction and / or relative to the carrier in a third direction according to a handling instruction to move to a pick-and-place position with the handling device, drive the pick-and-place device to move at least to one side of the pick-and-place position to retrieve the target object from the handling device, and drive the pick-and-place device to move at least along one side away from the pick-and-place position to place the target object into a receiving space. And / or, The storage equipment is configured to drive the pick-and-place device to move relative to the mobile platform in a second direction and / or relative to the carrier in a third direction according to a handling instruction to move to a pick-and-place position with the handling equipment, and drive the pick-and-place device to move from a clearance position to the pick-and-place position side to place the target object located in the accommodating space onto the handling equipment, the handling equipment being configured to transport the target object to a designated position.

34. The warehousing system according to any one of claims 32-33, characterized in that, The carrier includes a first shelf and a second shelf, and the storage equipment is configured to drive the pick-and-place device to move relative to the mobile platform in a second direction and / or relative to the carrier in a third direction according to a handling instruction, in order to acquire a target object located on at least one of the first shelf and the second shelf, or to move the acquired target object to at least one of the first shelf and the second shelf, or to move a target object on one of the first shelf and the second shelf to the other of the first shelf and the second shelf.

35. The warehousing system according to any one of claims 32-34, characterized in that, The warehousing system includes sorting equipment, the warehousing equipment includes a workbench, the carrier includes a target container, the warehousing equipment is configured to drive the pick-and-place device to move along a second direction and / or along a third direction to a workstation on the workbench, drive the pick-and-place device to move at least along a first direction to place the target container placed in the accommodating space at the workstation on the workbench for picking, and the sorting equipment is configured to deliver the target item picked from the target container to a designated location.

36. The warehousing system according to any one of claims 32 to 34, characterized in that, The warehousing system also includes workstations, storage areas, and handling equipment, with the warehousing equipment located at the workstations; The handling equipment is configured to move the carrier from the storage area to the working area of ​​the storage equipment at the workstation. The storage equipment is configured to drive the pick-and-place device to move along a second direction and / or along a third direction to the location of the target container on the carrier, and to drive the pick-and-place device to move at least along a first direction to place the target container on the carrier into the receiving space of the pick-and-place device and move the target container to a designated location; or The storage equipment is configured to drive the pick-and-place device to move relative to the mobile platform in a second direction and / or relative to the carrier in a third direction according to a handling instruction to move to a pick-and-place position with the carrier, drive the pick-and-place device to move from a clearance position to the pick-and-place position side to place the target container located in the accommodating space onto the carrier, and the handling equipment is configured to transport the carrier from the working area of ​​the storage equipment to a designated position.

37. The warehousing system according to any one of claims 32-34, characterized in that, The warehousing system also includes multi-level platforms and handling equipment. The multi-level platforms are spaced apart along the height direction, and each platform is equipped with at least one of the carriers. The handling equipment is configured to transport the target object or the carrier containing the target object to the working area of ​​the warehousing equipment. The warehousing equipment is configured to retrieve the target object and transport it to a designated location.

38. The warehousing system according to any one of claims 32-34, characterized in that, The warehousing system also includes multi-level platforms and handling equipment. The multi-level platforms are spaced apart along the height direction. Each platform is equipped with at least one handling device, and each platform corresponds to at least one vehicle. The storage equipment is configured to move the target object to the platform of the corresponding layer and deliver it to the handling equipment, which is configured to move the target object obtained from the storage equipment to the carrier on the platform of the corresponding layer; or, the handling equipment is configured to move the target object obtained from the storage equipment to the carrier on the platform of the corresponding layer, and the storage equipment is configured to move the carrier to a designated location.

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