Warehousing system

Abstract

The utility model relates to a warehousing system, in particular to the technical field of intelligent warehousing, and the warehousing system comprises at least one layer of platform, delivery equipment and warehousing equipment; each layer of platform is correspondingly provided with at least one container; the delivery equipment comprises a delivery mechanism, and the delivery equipment is configured to deliver the target objects corresponding to the different platforms into the corresponding containers of the corresponding platforms through the delivery mechanism; the storage equipment comprises a bearing device and a taking and placing device. Wherein the pick-and-place device is movably arranged on the bearing device, and the storage equipment is configured to deliver target objects corresponding to different platforms to the delivery equipment through movement of the pick-and-place device relative to the bearing device in at least one direction; the taking and placing device moves relative to the bearing device in at least one direction so that the containers, meeting the preset requirements, of each layer of platform can be carried to the designated position and the like. By applying the technical scheme, efficient sorting and transportation of goods can be achieved, and the sorting efficiency can be effectively improved.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent warehousing technology, specifically to a warehousing system. Background Technology

[0002] Currently, in the cargo sorting process, the relevant technology involves manually placing the goods to be sorted onto a robot, which then delivers the goods to the corresponding compartment of the target shelf.

[0003] However, in the target shelf, when some compartments are full and waiting for shipment, other compartments may still be empty. The relevant technology must wait until all compartments on the target shelf are full before the target shelf can be moved to the packing station for packing and shipping operations. The goods in these full compartments waiting for shipment may be in a waiting state for a long time, which will affect the sorting efficiency. Summary of the Invention

[0004] In view of this, this disclosure provides a warehousing system whose main purpose is to improve the technical problems that affect sorting efficiency in current related technologies.

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

[0006] At least one platform, wherein the at least one platform is spaced apart from the ground and stacked along the height direction, and each platform is provided with at least one container;

[0007] A delivery device, which operates on the platform, includes a delivery mechanism configured to deliver target objects corresponding to different platforms to corresponding containers on the corresponding platforms via the delivery mechanism.

[0008] A storage facility, comprising: a carrying device and a picking / placing device; wherein the picking / placing device is movably disposed on the carrying device, and the storage facility is configured to: deliver target objects corresponding to different platforms to a delivery device by moving the picking / placing device relative to the carrying device in at least one direction; and / or transport containers meeting preset requirements on each platform to a designated location by moving the picking / placing device relative to the carrying device in at least one direction; and / or transport containers corresponding to one platform to a corresponding location on other platforms by moving the picking / placing device relative to the carrying device in at least one direction; and / or deliver target objects from one platform to a delivery device on other platforms by moving the picking / placing device relative to the carrying device in at least one direction; and / or transport empty containers to a corresponding location on one platform by moving the picking / placing device relative to the carrying device in at least one direction.

[0009] Optionally, the storage equipment includes:

[0010] The first storage equipment includes a first bearing device and a first picking and placing device, wherein the first picking and placing device is movably disposed on the first bearing device;

[0011] The first storage device is configured to identify a target platform corresponding to a target object in the at least one layer of platforms, and to deliver the target object to a delivery device on the target platform by moving the first pick-and-place device relative to the first carrying device in at least one direction. The delivery device on the target platform is configured to deliver the target object into a container corresponding to the target platform by a delivery mechanism.

[0012] Optionally, the first storage facility further includes:

[0013] The workbench has at least one workstation, and the first storage equipment is specifically configured to deliver the target object at the workstation to the delivery device on the first platform by moving the first pick-and-place device relative to the first carrying device in at least one direction.

[0014] Optionally, the first storage facility further includes:

[0015] Drive mechanism;

[0016] The first pick-and-place device includes a pick-and-place platform and a pick-and-place mechanism. The driving mechanism is drivenly connected to the pick-and-place platform, and the pick-and-place mechanism is movably disposed on the pick-and-place platform along the width direction.

[0017] The first storage equipment is configured to drive the pick-and-place platform to move along the height direction and / or the pick-and-place mechanism to move along the width direction via the drive mechanism so that the pick-and-place mechanism reaches the docking position with the workbench, and to receive the target object transported to the workbench via the pick-and-place mechanism;

[0018] The first storage equipment is also configured to drive the pick-and-place platform to move along the height direction and / or the pick-and-place mechanism to move along the width direction via the drive mechanism to reach the docking position of the target platform with the delivery equipment, and to transport the target object on the pick-and-place mechanism to the delivery equipment via the pick-and-place mechanism, wherein the delivery equipment is configured to deliver the target object into the target container of the target platform.

[0019] Optionally, the storage equipment includes:

[0020] The second storage equipment includes a second carrying device and a second picking and placing device, wherein the second picking and placing device is movably disposed on the second carrying device;

[0021] The second storage equipment is configured to, when the container corresponding to the second platform in the at least one layer of the platform meets the preset requirements, move the second pick-and-place device relative to the second carrying device in at least one direction to transport the container that meets the preset requirements from the second platform to a designated location.

[0022] Optionally, the warehousing system further includes:

[0023] At least one conveyor line is provided on the side of the second carrying device of the second storage equipment away from the pick-and-place device. The second storage equipment is configured to move the second pick-and-place device relative to the second carrying device in at least one direction to transport containers that meet preset requirements on each platform to a position on the conveyor line. The conveyor line is configured to transport containers that meet preset requirements to a designated position, and / or the conveyor line is further configured to transport empty containers to the pick-and-place position of the second pick-and-place device of the second storage equipment. The second pick-and-place device of the second storage equipment is configured to transport multiple empty containers to corresponding positions on different platforms.

[0024] Optionally, the conveyor line includes:

[0025] A first conveyor line is located on the side of the second carrying device of the second storage equipment away from the second pick-and-place device. The first conveyor line is configured to transport empty containers to the pick-and-place position of the second pick-and-place device of the second storage equipment. The second storage equipment is configured to transport multiple empty containers to corresponding positions on different platforms by moving the second pick-and-place device relative to the second carrying device in at least one direction.

[0026] The second conveyor line is located on the side of the second carrying device of the second storage equipment away from the second picking and placing device. The second storage equipment is configured to move the second picking and placing device relative to the second carrying device in at least one direction to transport full containers from different platforms to the position of the second conveyor line. The second conveyor line is configured to transport full containers from different platforms to a designated location.

[0027] The first conveyor line and the second conveyor line are arranged side by side, or the first conveyor line and the second conveyor line are spaced apart and stacked along the height direction.

[0028] Optionally, each platform layer is provided with at least one container layer. The delivery device includes a motion mechanism and at least one delivery mechanism. The delivery mechanism is connected to the motion mechanism. The delivery device is configured to move on the platform via the motion mechanism to move from the docking position with the storage equipment to the delivery position of the target container, and to deliver the target object to the corresponding container of the corresponding container layer via the at least one delivery mechanism.

[0029] Optionally, when the delivery device has multiple delivery mechanisms, the multiple delivery mechanisms are spaced apart along the height direction, or the multiple delivery mechanisms are arranged side by side along the length or width direction. The delivery device is configured to receive multiple target objects through the multiple delivery mechanisms and deliver the multiple target objects into one container or different containers.

[0030] Optionally, the storage equipment is disposed on at least one side of the at least one-layer platform, or the at least one-layer platform is disposed around the storage equipment.

[0031] Optionally, there is a connection channel between two adjacent platforms, which is used for the delivery device to switch between the two adjacent platforms.

[0032] Compared with existing related technologies, the warehousing system in this disclosure has at least one platform structure, with each platform corresponding to at least one container, enabling flexible expansion of the number of containers. A corresponding number of delivery devices are configured on each platform for simultaneous sorting. On one hand, the warehousing equipment can deliver target items corresponding to different platforms to the delivery devices, which then deliver the target items to the corresponding containers on the corresponding platforms. On the other hand, the warehousing equipment can also transport containers that meet preset requirements from each platform to designated locations, thereby enabling the containers to be transported to the packing station for packing and shipping. The warehousing system provided by this disclosure enables efficient sorting and transportation of goods, effectively improving sorting efficiency.

[0033] The above description is merely an overview of the technical solution disclosed herein. In order to better understand the technical means of this disclosure and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this disclosure more apparent and understandable, specific embodiments of this disclosure are described below. Attached Figure Description

[0034] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0035] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 A schematic diagram of the structure of a warehousing system provided in an embodiment of this disclosure is shown;

[0037] Figure 2A schematic diagram of the structure of a robot provided in an embodiment of this disclosure is shown;

[0038] Figure 3 A schematic diagram of another robot provided in an embodiment of this disclosure is shown;

[0039] Figure 4 A schematic diagram of the structure of yet another robot provided in an embodiment of this disclosure is shown;

[0040] Figure 5 This is a schematic diagram of the structure of a storage facility according to an embodiment of the present disclosure;

[0041] Figure 6 This is a partial structural schematic diagram of the support device according to an embodiment of the present disclosure;

[0042] Figure 7 This is a partial structural schematic diagram of the support device according to an embodiment of the present disclosure;

[0043] Figure 8 This is a partial structural schematic diagram of the support device according to an embodiment of the present disclosure;

[0044] Figure 9 This is a schematic diagram of the structure of the support member of the support device according to an embodiment of the present disclosure;

[0045] Figure 10 This is a partial structural schematic diagram of the support member of the support device according to an embodiment of the present disclosure;

[0046] Figure 11 This is a schematic diagram of the structure of the bearing housing of the bearing device according to an embodiment of the present disclosure;

[0047] Figure 12 This is a schematic diagram of the structure of the bearing housing of the bearing device according to an embodiment of the present disclosure;

[0048] Figure 13 This is a partial structural schematic diagram of the support device according to an embodiment of the present disclosure;

[0049] Figure 14 This is a partial structural schematic diagram of the support device according to an embodiment of the present disclosure;

[0050] Figure 15 This is a partial structural schematic diagram of the support device according to an embodiment of the present disclosure;

[0051] Figure 16 This is a schematic diagram of the structure of a warehousing system according to an embodiment of the present disclosure;

[0052] Figure 17 This is a schematic diagram of the structure of the pick-and-place device according to an embodiment of the present disclosure;

[0053] Figure 18This is a schematic diagram of the structure of the pick-and-place device according to an embodiment of the present disclosure;

[0054] Figure 19 This is a partial structural schematic diagram of the pick-and-place device according to an embodiment of the present disclosure;

[0055] Figure 20 This is a partial structural schematic diagram of the pick-and-place device according to an embodiment of the present disclosure.

[0056] Figure 21 This is a side view of a workbench according to an embodiment of the present disclosure;

[0057] Figure 22 This is a partial enlarged view of the worktable according to an embodiment of the present disclosure;

[0058] Figure 23 This is a partial structural schematic diagram of the workbench according to an embodiment of the present disclosure;

[0059] Figure 24 This is a side view of a workbench according to an embodiment of the present disclosure;

[0060] Figure 25 This is a partial enlarged view of the worktable according to an embodiment of the present disclosure;

[0061] Figure 26 This is a partial structural schematic diagram of the workbench according to an embodiment of the present disclosure;

[0062] Figure 27 This is a top view of the workbench according to an embodiment of the present disclosure;

[0063] Figure 28 This is a front view of the workbench according to an embodiment of the present disclosure. Detailed Implementation

[0064] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0065] Numerous specific details are set forth in the following description to provide a full understanding of this disclosure. However, this disclosure can be implemented in many other ways than those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this disclosure. Therefore, this disclosure is not limited to the specific implementations disclosed below.

[0066] The terminology used in one or more embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of this disclosure. The singular forms “a,” “the,” and “the” as used in one or more embodiments of this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in one or more embodiments of this disclosure refers to and includes any or all possible combinations of one or more associated listed items.

[0067] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of this disclosure, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of this disclosure, and similarly, second may also be referred to as first. Depending on the context, the word “if” as used herein may be interpreted as “when”, “in response to a determination”, or “when…”.

[0068] like Figure 1 As shown, this disclosure provides a warehousing system, which includes: at least one platform 101, delivery equipment 102, and storage equipment 100;

[0069] In this arrangement, at least one platform 101 is spaced apart from the ground and stacked along the height direction. Each platform 101 has at least one container, which can be for goods or bins. For example, there are 5 platforms, and each platform 101 has 10 containers. These containers can be used for goods sorting, such as placing goods from the same order into one container, i.e., binding the container to the order. The goods in the container can then be packaged and shipped.

[0070] In some examples, each platform 101 may have at least one container layer, such as two or three layers of containers per platform 101, with 10 containers per layer. This setup can meet more order sorting needs.

[0071] Delivery equipment 102 can operate on platform 101, such as a robot, and can move on platform 101. For example, each layer of platform 101 has one or more delivery equipment 102, which are responsible for completing the delivery operation on their respective layer of platform 101.

[0072] Delivery device 102 includes a delivery mechanism. Accordingly, the delivery device is configured to deliver target items corresponding to different platforms to corresponding containers on those platforms via the delivery mechanism. For example, in a 5-layer platform, multiple delivery devices can operate on each layer. Each delivery device moves on its own platform and delivers the target items it receives (such as goods to be sorted) to the corresponding containers on its own platform. For example, if 5 delivery devices (such as robots) are operating on the third layer platform, each delivery device can move to the location of the container corresponding to the target item it receives and deliver the received target item to the corresponding container on the third layer platform.

[0073] For example, such as Figure 2 As shown, the delivery device 102 can be a robot, including a delivery mechanism 1021 and a motion mechanism 1022. The delivery mechanism 1021 and the motion mechanism 1022 are connected. The delivery device 102 receives the target object (such as goods to be sorted) through the delivery mechanism 1021, which can be placed manually or by the storage equipment 100. The motion mechanism 102 moves to the position of the target container, and then the delivery mechanism 1021 delivers the target object into the target container.

[0074] In some embodiments, each platform 101 corresponds to at least one container layer. For example, a platform 101 may correspond to 2 or 4 container layers, with each layer including 10 containers. Thus, if a platform 101 corresponds to 2 container layers, then a platform 101 corresponds to 20 containers, which can meet more sorting needs.

[0075] In order to enable the delivery device 102 to deliver containers of different container layers, for example, Figure 3 As shown, the delivery device 102 includes a delivery mechanism 1021, a movement mechanism 1022, and a lifting mechanism 1023. The delivery mechanism 1021 is connected to the lifting mechanism 1023, and the movement mechanism 1022 is connected to the lifting mechanism 1023. The delivery device 102 receives the target object (such as goods to be sorted) through the delivery mechanism 1021, which can be placed manually or by the storage equipment 100. The movement mechanism 102 moves to the position of the target container. When the height of the target container is greater than a certain threshold, the lifting mechanism 1023 can lift the delivery mechanism 1021 to the height corresponding to the target container, and then the delivery mechanism 1021 delivers the target object it has received into the target container.

[0076] The delivery mechanism 1021 can be a belt delivery mechanism or a flip-type delivery mechanism, etc. When the delivery mechanism 1021 is a belt delivery mechanism, the target object placed on the belt is delivered into the target container by the relative movement of the belt to the rotating shaft. When the delivery mechanism 1021 is a flip-type delivery structure, the delivery mechanism includes at least a flip plate, which can rotate relative to the lifting mechanism. By flipping and rotating, the target object placed on the flip plate is delivered into the target container. The delivery mechanism 1021 can realize unidirectional delivery or bidirectional delivery. It can be understood that the delivery mechanism 1021 can be used to deliver the target object into a target container on one side, or to deliver different target objects into target containers on opposite sides.

[0077] The lifting mechanism 1023 can be a sliding rail structure, a linkage structure, or a telescopic structure. When the lifting mechanism 1023 is a linkage structure, it can be a scissor fork or a four-bar linkage, etc. When the lifting mechanism 1023 is a sliding rail structure, the delivery mechanism 1021 can move along the sliding rail structure to achieve vertical lifting and lowering to the location of the target container. When the lifting mechanism 1023 is a telescopic structure, the delivery mechanism can be lifted and lowered vertically to the location of the target container by extending and retracting the lifting mechanism 1023 in the vertical direction.

[0078] To achieve more efficient delivery, the delivery device 102 may include a motion mechanism and at least one delivery mechanism connected to the motion mechanism 1022. The delivery device 102 is configured to move on the platform 101 via the motion mechanism to move from the docking position with the storage device 100 to the delivery position of the target container, and to deliver the target object to the corresponding container in the corresponding container layer via the at least one delivery mechanism.

[0079] For example, such as Figure 4 As shown, the delivery device 102 may include a motion mechanism 1022 and at least one delivery mechanism 1021. The delivery mechanism 1021 may be connected to the motion mechanism 1022 via a lifting mechanism 1023. The delivery device 102 is configured to move on the platform 101 via the motion mechanism 1022 to move from the docking position with the storage device 100 to the delivery position of the target container, and to deliver the target object on each delivery mechanism 1021 to the corresponding container in the corresponding container layer via the at least one delivery mechanism 1021.

[0080] Optionally, when the delivery device 102 has multiple delivery mechanisms, these mechanisms are spaced apart along the height direction, or arranged side-by-side along the length or width direction. The delivery device 102 is configured to receive multiple target objects and deliver them into one or different containers. For example, at least two delivery mechanisms 1021 are spaced apart along the height direction, and these mechanisms can be connected by connectors. Target objects located on different delivery mechanisms can be delivered to containers at different levels using different delivery mechanisms 1021. For example, a lower-level delivery mechanism can deliver to a lower-level container, and a higher-level delivery mechanism can deliver to a higher-level or lower-level container. This can be achieved through mechanisms such as... Figure 4 The two delivery mechanisms 1021 shown deliver two target items into the upper and lower containers to improve sorting efficiency.

[0081] In some embodiments, the storage equipment 100 may be as follows: Figures 5 to 28 The structure shown can also be used for equipment in other mechanisms, such as... Figures 5 to 28 As shown, the storage equipment 100 includes a carrying device 1 and a picking and placing device 2; wherein the picking and placing device 2 is movably disposed on the carrying device 1. Accordingly, the storage equipment 100 can be configured to deliver target objects corresponding to different platforms 101 to the delivery device 102 by moving the picking and placing device 2 relative to the carrying device 1 in at least one direction, and / or to move containers (such as full containers) that meet preset requirements on each platform 101 to a designated location by moving the picking and placing device 2 relative to the carrying device 1 in at least one direction, and / or to move containers corresponding to one platform 101 to the corresponding location on other platforms 101 by moving the picking and placing device 2 relative to the carrying device 1 in at least one direction, and / or to deliver target objects on one platform 101 to the delivery device 102 on other platforms 101 by moving the picking and placing device 2 relative to the carrying device 1 in at least one direction, and / or to move empty containers to the corresponding location on one platform 101 by moving the picking and placing device 2 relative to the carrying device 1 in at least one direction, etc.

[0082] Optionally, storage equipment 100 may be installed on at least one side of at least one layer of platform 101, or at least one layer of platform may be arranged around storage equipment 100, thereby meeting different layout requirements.

[0083] For example, the number of at least one platform 101 layer, the number of delivery devices 102, and the number of storage devices 100 can be increased or decreased according to actual needs, demonstrating good scalability. The storage devices 100 can also be adjusted as needed for the conveying of goods and the handling of containers, making the system highly adaptable and capable of handling different types of goods and sorting requirements.

[0084] like Figures 5-28 As shown, the storage equipment 100 of this embodiment includes a carrying device 1 and a picking and placing device 2.

[0085] The carrying device 1 includes at least two carrying members 11, which are spaced apart from each other. The picking and placing device 2 includes a picking and placing assembly 21 and a picking and placing platform 28, which is movably disposed between adjacent carrying members 11, and the picking and placing assembly 21 is connected to the picking and placing platform 28.

[0086] The pick-and-place assembly 21 has a first end 211 and a second end 212 disposed along a first direction. The first end 211 and the second end 212 are disposed opposite to each other in the first direction. At least one of the first end 211 and the second end 212 extends away from the carrier 11 and beyond the pick-and-place platform 28 in the first direction. The pick-and-place assembly 21 is configured to pick up a target object from a designated location or place the picked-up target object at a designated location.

[0087] By movably positioning the pick-and-place platform 28 between adjacent support members 11, the pick-and-place device 2 can be more securely mounted on the support device 1. Furthermore, by extending at least one of the first end 211 and the second end 212 of the pick-and-place assembly 21 away from the support member 11 in a first direction and beyond the pick-and-place platform 28, the pick-and-place device 2 can be more easily coupled with a vehicle or the like.

[0088] Therefore, the storage equipment 100 provided in this embodiment has advantages such as structural stability and ease of coordination with vehicles.

[0089] Optionally, the storage equipment 100 can move goods to be sorted, i.e., target items, onto the platform 101. Accordingly, as an example, the storage equipment 100 may include: a first storage device, which includes a first carrying device and a first picking and placing device, wherein the first picking and placing device is movably disposed on the first carrying device. See also... Figures 5 to 28 The shown are the support device 1 (corresponding to the first support device) and the pick-and-place device 2 (corresponding to the first pick-and-place device).

[0090] If it is necessary to deliver the target object to the target container in one of the platforms (target platforms) 101, the first storage equipment can be configured to deliver the target object to the delivery device 102 on the target platform 101 by moving the first pick-and-place device relative to the first carrier device in at least one direction. The delivery device 102 on the target platform is configured to move from the position of receiving the target object to the position of the target container and deliver the target object to the target container corresponding to the target platform 101 through the delivery mechanism.

[0091] Optionally, the first storage equipment also includes: workbenches, as detailed in the example below. Figures 5 to 28 Workbench 3 is shown.

[0092] The workbench is provided with at least one workstation, and the first storage equipment is specifically configured to deliver the target object at the workstation to the delivery device 102 on the first platform 101 by moving the first pick-and-place device relative to the first carrying device in at least one direction.

[0093] The first platform 101 can be the target platform corresponding to the target item. For example, if the target item needs to be delivered to the target container in the third-level platform, the third-level platform is the first platform 101. The carrier (such as a shelf) carrying the goods (target items) to be sorted can be moved from the cargo area to the location of the first storage equipment by the robot. After picking is completed at the workstation, the target item at the workstation is delivered to the delivery device 102 on the first platform 101 by the movement of the first pick-and-place device relative to the first carrying device in at least one direction.

[0094] Optionally, the first storage device further includes a drive mechanism, for example, the drive mechanism may include such as Figures 5 to 24 The first drive unit and / or the second drive unit and / or the third drive unit shown.

[0095] The first pick-and-place device includes a pick-and-place platform and a pick-and-place mechanism, such as Figures 5 to 28 The structure shown has a drive mechanism connected to a pick-and-place platform, which is movably mounted on the platform along the width direction. The first storage device is configured to drive the pick-and-place platform to move along the height direction and / or the pick-and-place mechanism to move along the width direction via the drive mechanism, so that the pick-and-place mechanism reaches the docking position with the workbench, and receives the target object transported to the workbench via the pick-and-place mechanism. Furthermore, the first storage device is also configured to drive the pick-and-place platform to move along the height direction and / or the pick-and-place mechanism to move along the width direction via the drive mechanism, so that the target platform reaches the docking position with the delivery device, and transports the target object on the pick-and-place mechanism to the delivery device via the pick-and-place mechanism. The delivery device is configured to deliver the target object into the target container of the target platform.

[0096] For example, the first storage equipment drives the pick-and-place platform to move along the height direction and / or the pick-and-place mechanism to move along the width direction through the drive mechanism so that the pick-and-place mechanism reaches the docking position with the workbench. It then receives the target object transported to the workbench through the suction cup and puts it into the pick-and-place mechanism. Then, the drive mechanism drives the pick-and-place platform to move along the height direction and / or the pick-and-place mechanism to move along the width direction so that the target platform reaches the docking position with the delivery equipment. The target object on the pick-and-place mechanism is transported to the delivery equipment through the conveyor belt on the pick-and-place mechanism. In this way, the target object on the workbench can be delivered to the delivery equipment 102 running on the target platform 101. Then, the delivery equipment 102 runs on the target platform to the position of the target container and delivers the target object it receives into the target container.

[0097] In some examples, the first storage device can interface with a supply device, which provides goods to be sorted to the first storage device. Supply devices include, but are not limited to, robotic arms, cage carts, conveyor lines, etc., and can also be used by workers to directly deliver goods to the first storage device. The first storage device can be adapted to different sources and types of goods, enhancing the sorting system's compatibility with various goods supply scenarios. The supply device can be a single supply device or multiple supply devices. A single supply device is used to obtain and supply goods from a single source or location to the workstation, suitable for scenarios where the goods source is relatively concentrated and the quantity is relatively stable. Multiple supply devices can be used to obtain goods from multiple different sources or locations and supply them to the first storage device, improving the system's flexibility and efficiency, suitable for situations requiring the handling of goods from multiple different sources. By interfaced with the first storage device, the supply device can continuously and stably provide goods to be sorted to the sorting system, avoiding a decrease in sorting efficiency due to interruptions in goods supply.

[0098] Optionally, the storage equipment 100 can move containers from the platform 101 to a packaging station, etc. Accordingly, as an example, the storage equipment 100 may include: a second storage equipment, which includes a second carrying device and a second picking and placing device, wherein the second picking and placing device is movably disposed on the second carrying device. See, for details, see... Figures 5 to 28 The carrier device 1 (corresponding to the second carrier device) and the pick-and-place device 2 (corresponding to the second pick-and-place device) are shown.

[0099] If it is necessary to move containers (such as full containers) that meet preset requirements from the second platform 101 of at least one platform 101 to a packing station, the second storage equipment is configured such that, when the containers corresponding to the second platform 101 meet the preset requirements, the second pick-and-place device moves relative to the second carrying device in at least one direction to move the containers that meet the preset requirements from the second platform 101 to a designated location, which can be used to transport them to the packing station, etc. For example, a transport device, such as a transport robot, can be set up at the designated location to receive the containers that meet the preset requirements and then transport them to the packing station.

[0100] For example, the second storage equipment drives the pick-and-place platform to move along the height direction and / or the pick-and-place mechanism to move along the width direction through the drive mechanism so that the pick-and-place mechanism reaches the docking position of the container in the second platform that meets the preset requirements, and receives the container that meets the preset requirements into the pick-and-place mechanism through the suction cup. Then, the drive mechanism drives the pick-and-place platform to move along the height direction and / or the pick-and-place mechanism to move along the width direction to reach the docking position with the designated position, and the target object on the pick-and-place mechanism is transported to the designated position by the conveyor belt on the pick-and-place mechanism.

[0101] Optionally, such as Figure 1 As shown, the warehousing system may further include: at least one conveyor line 103, which may be located on the side of the second carrying device of the second warehousing equipment away from the pick-and-place device. Accordingly, the second warehousing equipment is configured to move relative to the second carrying device in at least one direction via the second pick-and-place device to transport containers that meet preset requirements on each platform 101 to a position on the conveyor line 103. The conveyor line 103 is configured to transport containers that meet preset requirements to a designated position, and / or, the conveyor line 103 is also configured to transport empty containers to the pick-and-place position of the second pick-and-place device of the second warehousing equipment. Accordingly, the second pick-and-place device of the second warehousing equipment is configured to transport multiple empty containers to corresponding positions on different platforms 101.

[0102] For example, the second storage equipment drives the pick-and-place platform to move along the height direction and / or the pick-and-place mechanism to move along the width direction through the drive mechanism so that the pick-and-place mechanism reaches the docking position of the container in the platform that meets the preset requirements, and receives the container that meets the preset requirements into the pick-and-place mechanism through the suction cup. Then, the drive mechanism drives the pick-and-place platform to move along the height direction and / or the pick-and-place mechanism to move along the width direction to reach the docking position with the conveyor belt, and transports the target object on the pick-and-place mechanism to the designated position through the pick-and-place mechanism.

[0103] In some examples, conveyor line 103 includes: a first conveyor line disposed on the side of the second carrier of the second storage equipment away from the second pick-and-place device, the first conveyor line being configured to transport empty containers to the pick-and-place position of the second pick-and-place device of the second storage equipment, the second storage equipment being configured to transport a plurality of empty containers to corresponding positions on different platforms by moving the second pick-and-place device relative to the second carrier in at least one direction.

[0104] In some examples, conveyor line 103 further includes: a second conveyor line disposed on the side of the second carrier of the second storage equipment away from the second pick-and-place device, the second storage equipment being configured to move relative to the second carrier in at least one direction via the second pick-and-place device to transport full containers from different platforms to the location of the second conveyor line, and the second conveyor line being configured to transport full containers from different platforms to a designated location; wherein the first conveyor line and the second conveyor line are arranged side by side, or the first conveyor line and the second conveyor line are spaced apart and stacked along the height direction, etc.

[0105] For example, the second storage equipment can move its second pick-and-place device relative to the second carrying device in at least one direction to transport containers that meet preset requirements from each platform 101 to a position on the second conveyor line. The second conveyor line can then transport the containers it carries that meet the preset requirements to designated locations such as packing stations. Furthermore, the goods in the containers that meet the preset requirements can be packed and shipped at the packing station, turning the containers into empty containers. The empty containers can then be transported to the pick-and-place position of the second pick-and-place device of the second storage equipment via the first conveyor line. Then, the second pick-and-place device of the second storage equipment will transport the empty containers to corresponding positions on different platforms for use in a new round of goods sorting.

[0106] The structure of storage equipment 100 is described in detail below:

[0107] like Figures 5-28 As shown, the storage equipment 100 of this embodiment includes a carrying device 1, a picking and placing device 2, and a workbench 3. The workbench 3 has at least one workstation. The carrying device 1 includes at least two carrying members 11, which are spaced apart 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 forms a preset angle with the first direction, for example, the second direction is orthogonal to the first direction.

[0108] Optionally, there are multiple picking and placing devices 2, which are arranged between two adjacent support members 11 and along a third direction. This allows the storage equipment 100 to perform multiple picking and placing operations, thereby improving work efficiency.

[0109] There are at least three carrier components 11, and a pick-and-place device 2 is provided between two adjacent carrier components 11, or multiple pick-and-place devices 2 are arranged along a third direction. This enables the storage equipment 100 to achieve multiple platforms and multiple pick-and-place operations, thereby improving work efficiency.

[0110] The support device 1 also includes an actuation component 13, a transmission component 18, and a drive component 15. The actuation component 13 is disposed on the support component 11. The transmission component 18 is connected to two actuation components 13 on two adjacent support components 11 respectively. The drive component 15 is connected to the transmission component 18 to drive the two actuation components 13 to operate synchronously through the transmission component 18.

[0111] By using the drive element 15 to drive the two actuators 13 on the two adjacent carriers 11 to operate synchronously, the structure of the carrier device 1 and the storage equipment 100 can be simplified, the manufacturing cost of the carrier device 1 and the storage equipment 100 can be reduced, and the synchronization of the two actuators 13 on the two adjacent carriers 11 can be improved.

[0112] like Figure 7 As shown, the transmission assembly 18 includes a reducer 181 and a drive shaft 182. The reducer 181 has an input shaft and an output shaft, and the input shaft of the reducer 181 is connected to the drive member 15. Two actuators are detachably connected to the output shaft of the reducer 181. At least one of the two actuators is detachably connected to the output shaft of the reducer 181 via the drive shaft 182.

[0113] The input shaft of the reducer 181 is connected to the drive shaft of the drive member 15, and the output shaft of the reducer 181 extends along the second direction. The output shaft of the reducer 181 is connected to two actuators 13 on two adjacent support members 11. This allows for more precise control of the two actuators 13 on the two adjacent support members 11, thereby enabling more precise control of the displacement of the pick-and-place device 2 in the third direction.

[0114] Optionally, the drive unit 15 includes a motor. The first direction, the second direction, and the third direction are orthogonal to each other.

[0115] like Figure 2 and Figure 3 As shown, the actuation component 13 also includes a shaft 133, which is connected to the first rotating member 132 of the actuation component 13. The first end of the shaft 133 is detachably connected to the first end of the output shaft of the reducer 181. This allows the transmission component 18 and the different actuation components 13 to form relatively independent modular units, which not only facilitates the connection of the transmission component 18 and the different actuation components 13 together, but also facilitates the disassembly, transportation, and replacement of at least one of the transmission component 18 and the different actuation components 13.

[0116] Optionally, the drive shaft 182 extends in a second direction. A first end of the drive shaft 182 is detachably connected to a first end of the output shaft of the reducer 181, and a second end of the drive shaft 182 is detachably connected to a first end of the shaft 133 of an actuator 13. By providing a drive shaft 182 connected to the shaft 133 of both the reducer 181 and the actuator 13, the length of the shaft 133 of the actuator 13 can be reduced, making the actuator 13 easier to transport, disassemble, and replace.

[0117] Specifically, by connecting the shaft 133 of one actuator 13 to the reducer 181 via the transmission shaft 182, not only can the length of the shaft 133 of one actuator 13 be reduced, but the reducer 181 can also be positioned away from the shaft 133 of one actuator 13 and close to the shaft 133 of another actuator 13, thereby reducing the length of the shaft 133 of the other actuator 13.

[0118] like Figure 6 and Figure 7 As shown, the first end of the drive shaft 182 is detachably connected to the first end of the output shaft of the reducer 181 via a coupling 1343 (e.g., a cloverleaf coupling), the second end of the drive shaft 182 is detachably connected to the first end of the shaft 133 of the one actuator 13 via a coupling 1344 (e.g., a cloverleaf coupling), and the first end of the shaft 133 of the other actuator 13 is detachably connected to the second end of the output shaft of the reducer 181 via a coupling 1345 (e.g., a cloverleaf coupling).

[0119] Optionally, the drive shaft of the drive member 15 extends along the second direction. This allows for a more compact structure and smaller footprint for the transmission assembly 18 and the drive member 15.

[0120] like Figure 6 and Figure 7 As shown, the frame includes a connecting beam 161 and a plurality of third bearing seats 162. The connecting beam 161 extends along a second direction and is connected to each of two adjacent load-bearing members 11. A reducer 181 is disposed on the connecting beam 161 to facilitate a more secure and easier installation of the reducer 181 and the drive member 15.

[0121] Multiple bearing housings 162 are spaced apart along a second direction on the connecting beam 161, each bearing housing 162 is equipped with a bearing, and the drive shaft 182 is rotatably supported on the multiple bearings. This allows for a more secure installation of the drive shaft 182 and enables the drive shaft 182 to transmit power more stably.

[0122] like Figure 6 , Figure 7 as well as Figures 13-15As shown, the execution component 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 spaced apart from the support member 11 along a third direction and are rotatable relative to the support member 11. A driving member is connected to the first rotating member 132. The first connecting member 131 is disposed around the first rotating member 132 and the second rotating member 134, and is connected to the pick-and-place platform 28. The execution component 13 is configured to drive the pick-and-place platform 28 to move along a third direction.

[0123] Optionally, the actuating component 13 is embedded within the carrier 11. This allows for a more compact structure of the actuating component 13 and the carrier 11, reducing the space occupied by the actuating component 13 and the carrier 11, and consequently reducing the space occupied by the carrier device 1.

[0124] The first connecting member 131 is constructed as a belt, and the first rotating member 132 and the second rotating member 134 are both constructed as pulleys. Alternatively, the first connecting member 131 is constructed as a chain, and the first rotating member 132 and the second rotating member 134 are both constructed as sprockets.

[0125] Optionally, the drive member 15 and the transmission assembly 18 are adjacent to the upper end of the actuating assembly 13 in the vertical direction. That is, the drive member 15 and the transmission assembly 18 are adjacent to the upper end of the bearing member 11 in the vertical direction. This allows the driving member (first rotating member 132) of the actuating assembly 131 to be located at the top, thereby utilizing the gravity of the pick-and-place device 2 to provide tension to the first connecting member 131 of the actuating assembly 13.

[0126] If the second rotating member 134 of the actuator 13 is the driving member, an upward tension force needs to be applied to the first connecting member 131, and the gravity of the pick-and-place device 2 will counteract the tension force of the first connecting member 131. Therefore, a large tension force needs to be applied to the first connecting member 131.

[0127] By making the first rotating member 132 of the actuator 13 the driving member, the tension force on the first connecting member 131 can be effectively reduced. This not only extends the service life of the first connecting member 131, but also reduces the width of the first connecting member 131, thereby reducing the volume and space occupied by the actuator 13 and lowering the manufacturing cost of the actuator 13.

[0128] like Figures 8-10 as well as Figure 13 As shown, the carrier 11 has a first limiting groove 115 and a second limiting groove 116, with the opening 1153 of the first limiting groove 115 and the opening 1163 of the second limiting groove 116 being relatively open in a first direction.

[0129] To make the technical solution of this application easier to understand, the technical solution of this application is described below with the first direction being the front-back direction as an example. The first limiting groove 115 is located in front of the second limiting groove 116, the opening 1153 of the first limiting groove 115 is open to the rear, and the opening 1163 of the second limiting groove 116 is open to the front.

[0130] For example, the second direction is left and right, and the third direction is up and down. The first direction is... Figure 1 As shown by arrow A in the diagram, the second direction is as follows: Figure 1 As shown by arrow B in the image, the third direction is as follows: Figure 1 As shown by arrow C in the diagram.

[0131] like Figures 13-15 As shown, the supporting device 1 also includes a limiting component 14, which is disposed on the first connecting member 131. The pick-and-place platform 28 is connected to at least one of the limiting component 14 and the first connecting member 131. The limiting component 14 is movably fitted within the first limiting groove 115 and the second limiting groove 116. By providing the first limiting groove 115 and the second limiting groove 116 with relatively open openings, the limiting component 14 can be positioned inside the supporting device 1. This reduces the space occupied by the limiting component 14 in the first direction, thereby reducing the space occupied by the supporting device 1 in the first direction.

[0132] like Figures 13-15 As shown, the limiting assembly 14 includes a limiting body 141, a first limiting member 142, and a second limiting member 143. The limiting body 141 is connected to the first connecting member 131 so that the limiting body 141 can move under the action of the first connecting member 131. The first limiting member 142 and the second limiting member 143 are disposed on the limiting body 141. The first limiting member 142 is movably engaged with the bottom wall surface of the first limiting groove 115, and the second limiting member 143 is movably engaged with the bottom wall surface of the second limiting groove 116 to limit movement in a first direction. This makes the structure of the limiting assembly 14 more reasonable.

[0133] like Figures 13-15 As shown, the first limiting member 142 is configured as a first roller, and the first limiting member 142 can roll against the bottom wall surface of the first limiting groove 115. The second limiting member 143 is configured as a second roller, and the second limiting member 143 can roll against the bottom wall surface of the second limiting groove 116. This makes the structure of the limiting assembly 14 simpler and more reasonable.

[0134] Alternatively, a first slide rail is provided on the bottom wall of the first limiting groove 115, and the first limiting member 142 has a first sliding groove that mates with the first slide rail. A second slide rail is provided on the bottom wall of the second limiting groove 116, and the second limiting member 143 has a second sliding groove that mates with the second slide rail. This makes the structure of the limiting assembly 14 simpler and more reasonable.

[0135] like Figures 8-10 as well as Figures 13-15 As shown, the first limiting groove 115 has two opposite sidewalls in the second direction, and the second limiting groove 116 has two opposite sidewalls in the second direction, with the second direction forming a preset angle with the first direction. The limiting assembly 14 includes a limiting body 141, a third limiting member 144, and a fourth limiting member 145.

[0136] The limiting body 141 is connected to the first connecting member 131 so that the limiting body 141 can move under the drive of the first connecting member 131. The third limiting member 144 and the fourth limiting member 145 are provided on the limiting body 141. The third limiting member 144 is movably engaged with the two side walls of the first limiting groove 115 and the fourth limiting member 145 is movably engaged with the two side walls of the second limiting groove 116 to limit movement in the second direction.

[0137] Thus, the third limiting member 144 and the fourth limiting member 145 can be used to limit the movement in the second direction, so that the limiting body 141 can move more accurately and more stably with the first connecting member 131, thereby making the pick-and-place device 2 move up and down more accurately and stably with the execution component 13.

[0138] like Figures 13-15 As shown, the third limiting member 144 is configured as a third roller, and the third limiting member 144 can roll against the two side walls of the first limiting groove 115. The fourth limiting member 145 is configured as a fourth roller, and the fourth limiting member 145 can roll against the two side walls of the second limiting groove 116. This makes the structure of the limiting assembly 14 simpler and more reasonable.

[0139] Alternatively, a third slide rail is provided on the two side walls of the first limiting groove 115, and the third limiting member 144 has a third slide groove that mates with the third slide rail; a fourth slide rail is provided on the two side walls of the second limiting groove 116, and the fourth limiting member 145 has a fourth slide groove that mates with the fourth slide rail. This makes the structure of the limiting assembly 14 simpler and more reasonable.

[0140] Optionally, such as Figures 8-10 as well as Figure 13 As shown, the first limiting groove 115 has a first sidewall 1151 and a second sidewall 1152 opposite to each other in the second direction, and the second limiting groove 116 has a third sidewall 1161 and a fourth sidewall 1162 opposite to each other in the second direction. The third limiting member 144 is movably abutted against the first sidewall 1151 and the second sidewall 1152, and the fourth limiting member 145 is movably abutted against the third sidewall 1161 and the fourth sidewall 1162.

[0141] like Figures 13-15As shown, the limiting body 141 includes a supporting part 1414, a first mounting part 1411, and a second mounting part 1412, with a pick-and-place platform 28 disposed on the supporting part 1414. The first mounting part 1411 and the second mounting part 1412 are connected to the supporting part 1414 and are spaced apart from each other along a first direction. The actuating component 13 is located between the first mounting part 1411 and the second mounting part 1412 in the first direction. A first limiting member 142 is disposed on the first mounting part 1411, and a second limiting member 143 is disposed on the second mounting part 1412. This allows for a more rational structure of the limiting body 141 and the limiting component 14, and also allows for a more compact structure of the limiting component 14 and the actuating component 13.

[0142] Optionally, the third limiting member 144 is provided in the first mounting portion 1411, and the fourth limiting member 145 is provided in the second mounting portion 1412. This makes the structure of the limiting assembly 14 more reasonable.

[0143] like Figures 13-15 As shown, the first connector 131 is located between the first mounting portion 1411 and the second mounting portion 1412 in the first direction, and the first limiting groove 115, the second limiting groove 116, the first connector 131, the first mounting portion 1411 and the second mounting portion 1412 are arranged opposite to each other in the first direction. This makes the structure of the bearing device 1 more reasonable.

[0144] like Figure 14 and Figure 15 As shown, the limiting body 141 also includes a connecting portion 1413, which is connected to each of the first mounting portion 1411 and the second mounting portion 1412. A bearing portion 1414 is provided on the connecting portion 1413. This makes the structure of the limiting body 141 and the limiting assembly 14 more reasonable and facilitates the installation of the pick-and-place platform 28 (picking-and-place device 2).

[0145] like Figures 13-15 As shown, the first mounting portion 1411, the second mounting portion 1412, the connecting portion 1413, and the supporting portion 1414 are all plate-shaped. The first connecting member 131 can be a belt (e.g., a timing belt). The thickness direction of each of the first connecting member 131, the first mounting portion 1411, and the second mounting portion 1412 is aligned with the first direction. The thickness direction of the connecting portion 1413 is aligned with the second direction. The thickness direction of the supporting portion 1414 is perpendicular to both the first and second directions; for example, the thickness direction of the supporting portion 1414 is aligned with a third direction. This allows for a more rational structure of the limiting assembly 14 and the supporting device 1.

[0146] 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.

[0147] like Figures 13-15 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.

[0148] like Figure 14 and Figure 15 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.

[0149] 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.

[0150] like Figure 8 , Figure 11 and Figure 12 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.

[0151] 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.

[0152] For example, the first limiting protrusion 1363 fits against the first side wall 1151 of the first limiting groove 115, and the second limiting protrusion 1364 fits against the third side wall 1161 of the second limiting groove 116. This allows for more precise and stable installation of the bearing housing 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.

[0153] like Figure 10 As shown, the bearing member 11 is provided with a positioning groove 11851, which has two opposing sidewalls in a first direction. The bearing housing has a positioning part 1365, which fits into the positioning groove 11851. Thus, the positioning groove 11851 can be used to limit the bearing housing 136 in the first direction, thereby making the structure of the bearing device 1 more reasonable and allowing for more precise and stable installation of the bearing housing 136.

[0154] Optionally, the support member 11 extends along a third direction. If the dimension of the support member 11 along the third direction is greater than or equal to a threshold, a reinforcing member is provided on the support member 11. This makes the structure of the support member 11 and the support device 1 more stable, thereby better supporting the pick-and-place device 2.

[0155] In one example of an embodiment of this disclosure, both the first limiting groove 115 and the second limiting groove 116 extend horizontally, and the limiting body 141 is movably disposed horizontally. That is, the actuating component 13 can drive the limiting body 141 to move horizontally, the first limiting member 142 is movably engaged in the first limiting groove 115 horizontally, and the second limiting member 143 is movably engaged in the second limiting groove 116 horizontally.

[0156] In another example of this embodiment, both the first limiting groove 115 and the second limiting groove 116 extend in the vertical direction, and the limiting body 141 is movably disposed in the vertical direction. That is, the actuating component 13 can drive the limiting body 141 to move in the vertical direction, the first limiting member 142 is movably engaged in the first limiting groove 115 in the vertical direction, and the second limiting member 143 is movably engaged in the second limiting groove 116 in the vertical direction. Optionally, the supporting device 1 can be a gantry, and the supporting member 11 can be a column.

[0157] like Figures 8-10 as well as Figure 13 As shown, the carrier component 11 of the carrier device 1 includes a first part 1171, a second part 1172, a first limiting plate 1181, a second limiting plate 1182, a third limiting plate 1183, and a fourth limiting plate 1184. The first part 1171 and the second part 1172 are arranged opposite to each other and spaced apart in a first direction.

[0158] 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.

[0159] 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.

[0160] 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.

[0161] like Figure 8 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.

[0162] 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.

[0163] like Figures 8-10 as well as Figure 13As shown, the second limiting plate 1182 is L-shaped and includes a first sub-plate 11821 and a second sub-plate 11822 connected together. A first limiting groove 115 is defined between the first part 1171, the first limiting plate 1181, and the first sub-plate 11821. The seat 1361 mates with the second sub-plate 11822. This effectively increases the contact area between the seat 1361 (bearing seat 136) and the second sub-plate 11822 (second limiting plate 1182), thereby limiting the seat 1361 (bearing seat 136) more precisely and stably, so as to install the bearing seat 136 more precisely and stably.

[0164] The fourth limiting plate 1184 is L-shaped and includes a connected third sub-plate 11841 and a fourth sub-plate 11842. A second limiting groove 116 is defined between the second part 1172, the third limiting plate 1183, and the third sub-plate 11841. The seat 1361 mates with the fourth sub-plate 11842. This effectively increases the contact area between the seat 1361 (bearing seat 136) and the fourth sub-plate 11842 (fourth limiting plate 1184), thereby more accurately and stably limiting the seat 1361 (bearing seat 136) for more accurate and stable installation of the bearing seat 136.

[0165] like Figure 9 and Figure 10 As shown, the support member 11 includes a support plate 1186, which is located between the second sub-plate 11822 and the fourth sub-plate 11842 in a first direction, and is connected to both the second sub-plate 11822 and the fourth sub-plate 11842. A seat 1361 is supported on the support plate 1186, which has a clearance groove 11861 for accommodating the shaft 133 of the upper first rotating member 132. This allows for a more stable installation of the bearing seat 136.

[0166] like Figures 8-10 As shown, the carrier 11 includes a fifth limiting plate 1185, a second limiting plate 1182 (fourth limiting plate 1184) located in the second direction between the fifth limiting plate 1185 and the first limiting plate 1181, and the second limiting plate 1182 (fourth limiting plate 1184) located in the second direction between the fifth limiting plate 1185 and the third limiting plate 1183.

[0167] At least a portion of the seat 1361 is located in the second direction between the fifth limiting plate 1185 and the first limiting plate 1181 and the third limiting plate 1183, with the seat 1361 engaging with the fifth limiting plate 1185. Thus, the fifth limiting plate 1185, the first limiting plate 1181, and the third limiting plate 1183 can be used to limit the seat 1361 (bearing seat 136) in the second direction, 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.

[0168] like Figure 10 As shown, the fifth limiting plate 1185 is provided with a positioning groove 11851, which has a fifth side wall 11852 and a sixth side wall 11853 facing each other in a first direction. The positioning part 1365 of the bearing seat 136 is fitted between the fifth side wall 11852 and the sixth side wall 11853 in the first direction. The positioning part 1365 of the bearing seat 136 is supported on the bottom wall 11854 of the positioning groove 11851.

[0169] Therefore, the fifth side wall 11852 and the sixth side wall 11853 can be used to limit the bearing housing 136 in the first direction, and the bottom wall 11854 of the positioning groove 11851 can be used to limit the bearing housing 136 in the third direction. This allows for a more reasonable structure of the bearing device 1 and the bearing member 11, and a more precise and stable installation of the bearing housing 136.

[0170] like Figures 8-10 As shown, the fifth limiting plate 1185 includes a plate body 11855 and a third limiting protrusion 11856. The plate body 11855 is provided with a positioning groove 11851. The third limiting protrusion 11856 is provided 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.

[0171] Therefore, the bearing housing 136 can be installed on the carrier member 11 using fasteners (such as bolts, screws, etc.) that pass through the plate 11855 and the third limiting protrusion 11856 and engage within the seat 1361. By providing the third limiting protrusion 11856 on the plate 11855, not only can the bearing housing 136 be limited in the second direction using the third limiting protrusion 11856, but it is also convenient to install the bearing housing 136 on the carrier member 11 using fasteners that pass through the third limiting protrusion 11856. In other words, the third limiting protrusion 11856 serves both a limiting and installation function.

[0172] like Figure 8 , Figure 11 and Figure 12 As shown, the bearing housing 136 includes a first housing body 13611, a second housing body 13612, a first connecting portion 13613, and a second connecting portion 13614. The first housing body 13611 and the second housing body 13612 are spaced apart along a second direction, and bearings are provided on both the first connecting portion 13613 and the second connecting portion 13614.

[0173] The first connecting portion 13613 and the second connecting portion 13614 are located between the first seat 13611 and the second seat 13612 in the second direction. The first connecting portion 13613 and the second connecting portion 13614 are spaced apart along the first direction. The first connecting portion 13613 is connected to both the first seat 13611 and the second seat 13612, and the second connecting portion 13614 is connected to both the first seat 13611 and the second seat 13612. This makes the structure of the bearing housing 136 more reasonable and stable.

[0174] Optionally, the bearing housing 136 is integrally formed, that is, the first housing body 13611, the second housing body 13612, the first connecting part 13613, and the second connecting part 13614 are integrally formed. This allows the bearing housing 136 to be subjected to more even stress, avoiding excessive local stress on the bearing housing 136, which could lead to instability or even damage to the bearing housing 136. Alternatively, the bearing housing 136 can also be a split structure.

[0175] like Figure 8 , Figure 11 and Figure 12 As shown, the first limiting protrusion 1363 is provided on the first seat 13611 and / or the first connecting part 13613, the second limiting protrusion 1364 is provided on the first seat 13611 and / or the second connecting part 13614, and the positioning part 1365 of the bearing seat 136 is provided on the second seat 13612. This makes the structure of the bearing seat 136 more reasonable.

[0176] Optionally, the carrier 11 has a first side and a second side in a first direction. The first end 211 of the pick-and-place assembly 21 is connected to the pick-and-place platform 28, and the second end 212 of the pick-and-place assembly 21 extends away from the carrier 11 and beyond the pick-and-place platform 28. The second end 212 of the pick-and-place assembly 21 is located on the first side or the second side of the carrier 11.

[0177] This allows the pick-and-place assembly 21 to extend away from the support member 11 in a direction away from the worktable 3, thereby avoiding the pick-and-place device 2 occupying space on the worktable 3 and reducing the volume and space occupied by the worktable 3. Moreover, the size of the pick-and-place assembly 21 in the first direction can be effectively reduced, thereby not only greatly reducing the volume and space occupied by the pick-and-place assembly 21, but also effectively reducing the time for conveying the target object on the pick-and-place assembly 21.

[0178] Optionally, the carrier 11 has a first side and a second side in a first direction, and the pick-and-place platform 28 is connected to the position between the first end 211 and the second end 212 of the pick-and-place assembly 21. The first end 211 of the pick-and-place assembly 21 extends away from the carrier 11 beyond the pick-and-place platform 28 and is located on the first side of the carrier 11. The second end 212 of the pick-and-place assembly 21 extends away from the carrier 11 beyond the pick-and-place platform 28 and is located on the second side of the carrier 11. This allows for a more rational structure of the storage equipment 100.

[0179] The pick-and-place component 21 has a receiving space 213. The pick-and-place component 21 is configured to pick up a target object from a designated location and place it in the receiving space 213, or to pick up a target object from the receiving space 213 and place it in a designated location. This makes the structure of the pick-and-place component 21 more reasonable.

[0180] like Figures 16-20 As shown, the pick-and-place assembly 21 includes a first support member 22, a second support member 23, and a pick-and-place member 263.

[0181] The first support member 22 has a first end 221 and a second end 222 opposite to each other in a first direction. The first end 221 of the first support member 22 is connected to the pick-and-place platform 28. The second support member 23 has a first end 231 and a second end 232 opposite to each other in a first direction. The first end 231 of the second support member 23 is connected to the pick-and-place platform 28. The first support member 22 and the second support member 23 are spaced apart along a second direction to form a receiving space 213. The receiving space 213 has an opening along the first direction, and the second direction forms a preset angle with the first direction.

[0182] The pick-and-place member 263 is located in the second direction between the first support member 22 and the second support member 23. There is at least one pick-and-place member 263 and an opening, and the pick-and-place member 263 is configured to pass through any one of the at least one opening to retrieve a target object from a designated location or place a target object at a designated location. Alternatively, there are multiple pick-and-place members 263 and openings, and multiple pick-and-place members 263 are configured to respectively pass through corresponding openings to retrieve a target object from a designated location or place a target object at a designated location.

[0183] For example, the second end 222 of the first support member 22 is located away from the worktable 3 in a first direction relative to the first end 221 of the first support member 22. The second end 232 of the second support member 23 is located away from the worktable 3 in a first direction relative to the first end 231 of the second support member 23. That is, the first support member 22 extends from the pick-and-place platform 28 away from the worktable 3 along the first direction, and the second support member 23 extends from the pick-and-place platform 28 away from the worktable 3 along the first direction.

[0184] In other words, the first end 221 of the first support member 22 is located between the worktable 3 and the second end 222 of the first support member 22 in the first direction. The first end 231 of the second support member 23 is located between the worktable 3 and the second end 232 of the second support member 23 in the first direction.

[0185] Optionally, the first end 221 of the first support member 22 is located in the first direction between the work position of the worktable 3 and the second end 222 of the first support member 22. The first end 231 of the second support member 23 is located in the first direction between the work position of the worktable 3 and the second end 232 of the second support member 23.

[0186] For example, the first end 221 of the first support member 22 is the front end of the first support member 22, and the second end 222 of the first support member 22 is the rear end of the first support member 22. The first end 231 of the second support member 23 is the front end of the second support member 23, and the second end 232 of the second support member 23 is the rear end of the second support member 23. The first support member 22 and the second support member 23 are spaced apart in the left-right direction.

[0187] like Figures 17-20 As shown, the pick-and-place assembly 21 also includes a mounting base 29, which can be disposed on the pick-and-place platform 28. The first end 221 of the first support member 22 and the first end 231 of the second support member 23 are disposed on the mounting base 29, that is, the first end 221 of the first support member 22 and the first end 231 of the second support member 23 are disposed on the bearing device 1 through the mounting base 29. This allows the pick-and-place assembly 21 to be installed on the pick-and-place platform 28 more conveniently and more securely.

[0188] Optionally, the mounting base 29 is flat. This not only makes it easier and more stable to place the mounting base 29 on the pick-up and drop platform 28, but also makes it easier and more stable to install the first support member 22 and the second support member 23 onto the mounting base 29.

[0189] like Figure 17 and Figure 19 As shown, the first support member 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 via the first connecting portion 226. The first mounting portion 225 is provided on the pick-and-place platform 28. The dimension of the first mounting portion 225 in the first direction is smaller than the dimension of the first support beam 224 in the first direction. This reduces the space occupied by the first mounting portion 225 and the first support member 22, and the space where the first mounting portion 225 is not provided can be used to avoid cables. In other words, by making the dimension of the first mounting portion 225 in the first direction smaller than the dimension of the first support beam 224 in the first direction, space can be formed to avoid cables.

[0190] like Figure 17 As shown, the first mounting portion 225 includes a first plate portion 2251 and a first rod portion 2252, with the first rod portion 2252 disposed on the first plate portion 2251. The first rod portion 2252 is connected to the first support beam 224 via a first connecting portion 226. The first plate portion 2251 is disposed on the pick-and-place platform 28. For example, the first plate portion 2251 is disposed on the mounting base 29. By connecting the first plate portion 2251 to the pick-and-place platform 28, the first support member 22 can be more securely and conveniently installed on the pick-and-place platform 28.

[0191] like Figure 17 and Figure 20 As shown, the second support member 23 includes a second support beam 234, a second mounting portion 235, and a second connecting portion 236. The second support beam 234 is connected to the second mounting portion 235 via the second connecting portion 236. The second mounting portion 235 is provided on the pick-and-place platform 28. The dimension of the second mounting portion 235 in the first direction is smaller than the dimension of the second support beam 234 in the first direction. This reduces the space occupied by the second mounting portion 235 and the second support member 23, and the space where the second mounting portion 235 is not provided can be used to avoid cables. In other words, by making the dimension of the second mounting portion 235 in the first direction smaller than the dimension of the second support beam 234 in the first direction, space for avoiding cables can be formed.

[0192] like Figure 17 As shown, the second mounting portion 235 includes a second plate portion 2351 and a second rod portion 2352, with the second rod portion 2352 disposed on the second plate portion 2351. The second rod portion 2352 is connected to the second support beam 234 via a second connecting portion 236. The second plate portion 2351 is disposed on the pick-and-place platform 28. For example, the second plate portion 2351 is disposed on the mounting base 29. By connecting the second plate portion 2351 to the pick-and-place platform 28, the second support member 23 can be more securely and conveniently installed on the pick-and-place platform 28.

[0193] like Figure 17 and Figure 19 As 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. Figure 16 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.

[0194] 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.

[0195] like Figures 16-19 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. Figures 16-19 as well as Figure 20 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.

[0196] like Figure 17 , Figure 19 and Figure 20 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.

[0197] Optionally, one of the first guide portion 281 and the second guide portion 241 has a mating groove, the dimension of which in the first direction is less than or equal to a second preset value. That is, the dimension of the other of the first guide portion 281 and the second guide portion 241 in the first direction is less than or equal to the second preset value. This can improve the stress on the first guide portion 281 and the second guide portion 241, so that the first guide portion 281 and the second guide portion 241 can withstand the structural deformation and force brought by the first support member 22 and the second support member 23. In particular, it can enable the first guide portion 281 and the second guide portion 241 to withstand the structural deformation and force brought by the first support member 22 and the second support member 23 constituting the cantilever, so that the pick-and-place assembly 21 can be installed more stably on the pick-and-place platform 28.

[0198] The dimension of one of the first guide portion 281 and the second guide portion 241 in the first direction is greater than or equal to a third preset value. This improves the stress distribution on the first guide portion 281 and the second guide portion 241, enabling the first guide portion 281 and the second guide portion 241 to withstand the structural deformation and forces caused by the first support member 22 and the second support member 23. In particular, it enables the first guide portion 281 and the second guide portion 241 to withstand the structural deformation and forces caused by the first support member 22 and the second support member 23 constituting the cantilever, so that the pick-and-place assembly 21 can be more stably installed on the pick-and-place platform 28.

[0199] Optionally, there are at least two first guide portions 281 arranged at intervals along the first direction, and at least two second guide portions 241 arranged corresponding to the first guide portions 281. This not only allows the pick-and-place assembly 21 to move more accurately and stably along the second direction, but also allows the pick-and-place assembly 21 to be installed more stably on the pick-and-place platform 28.

[0200] The spacing between adjacent first guide portions 281 is greater than or equal to a first preset value. This improves the stress on the second guide portion 241, enabling it to withstand the structural deformation and forces from the first support member 22 and the second support member 23. In particular, it enables the second guide portion 241 to withstand the structural deformation and forces from the first support member 22 and the second support member 23 that form the cantilever, so that the pick-and-place assembly 21 can be installed more stably on the pick-and-place platform 28.

[0201] For example, the first guide part 281 is a guide rail, and the second guide part 241 is a slider.

[0202] like Figure 17 , Figure 19 and Figure 20 As shown, the pick-and-place platform 28 includes a rack 282, and the pick-and-place assembly 21 includes a gear 242. The rack 282 extends in a second direction and is located between adjacent first guide portions 281 in a first direction. The gear 242 meshes with the rack 282 so that by rotating the gear 242, the gear 242 moves in the second direction, thereby driving the pick-and-place assembly 21 to move in the second direction.

[0203] Optionally, motor 271 drives gear 242 to rotate. The drive shaft of motor 271 is connected to the input shaft of reducer 272, and the output shaft of reducer 272 is connected to gear 242. Reducer 272 is mounted on mounting base 29. This allows for a more rational structure of the pick-and-place assembly 21.

[0204] like Figure 17 and Figure 20As shown, the pick-and-place assembly 21 further includes a first support portion 251 and a second support portion 252, which are spaced apart in a first direction. The first support portion 251 is connected to each of the first support member 22 and the second support member 23, and the second support portion 252 is connected to each of the first support member 22 and the second support member 23. The first conveying member 261 of the pick-and-place assembly 21 is supported on the first support portion 251 and the second support portion 252, and the second conveying member 262 of the pick-and-place assembly 21 is supported on the first support portion 251 and the second support portion 252. This makes the structure of the pick-and-place assembly 21 more reasonable.

[0205] Optionally, the first support portion 251 is connected to the first end 221 of the first support member 22 and the first end 231 of the second support member 23, and the second support portion 252 is connected to the second end 222 of the first support member 22 and the second end 232 of the second support member 23.

[0206] For example, the first support portion 251 is located in front of the second support portion 252. The first support portion 251 is connected to the front end of the first support beam 224 and the front end of the second support beam 234, and the second support portion 252 is connected to the rear end of the first support beam 224 and the rear end of the second support beam 234.

[0207] Optionally, the pick-and-place member 263 is movable between a disengaged position and a pick-and-place position along a first direction. The pick-and-place member 263 is also movable between an extended position and a retracted position along a vertical direction. When the pick-and-place member 263 moves from the extended position to the retracted position, it moves downwards. When the pick-and-place member 263 moves from the retracted position to the extended position, it moves upwards.

[0208] When the pick-and-place member 263 is used to transport the target object, it moves from the disengaged position to the pick-and-place position and from the retracted position to the extended position. Subsequently, the pick-and-place member 263 transports the target object to the first conveyor 261 and the second conveyor 262 for transport using these components. After the first conveyor 261 and the second conveyor 262 are activated, the pick-and-place member 263 moves from the extended position to the retracted position to avoid interference between the pick-and-place member 263 and the target object.

[0209] The picking and placing device 2 can include picking and placing components 263 such as suction cups, hooks, levers, gripping forks, and magnetic suction structures. The position of the force exerted by the suction cup on the container / goods is not limited to the centerline of the side of the container / goods, and can be adjusted according to the center of gravity of the container / goods. The hook can grab the edge, top edge, bottom edge, protrusions or handles on the side of the container / goods, and can also grab the grooves, protrusions or handles on the bottom of the container / goods. The picking and placing device 2 can pick up and place containers / goods in a single position or in multiple positions. Taking the suction cup as an example, the suction cup can be a unidirectional suction cup that picks up containers / goods in two directions by rotating itself; the suction cup can also be a bidirectional suction cup that picks up containers / goods in two directions.

[0210] Optionally, when the pick-and-place device 2 transports the target object on the carrier to the worktable 3, the pick-and-place component 263 moves from front to back so that the pick-and-place component 263 moves from the disengagement position to the pick-and-place position. When the pick-and-place device 2 transports the target object on the worktable 3 to the carrier, the pick-and-place component 263 moves from back to front so that the pick-and-place component 263 moves from the disengagement position to the pick-and-place position.

[0211] like Figure 5 , Figure 16 as well as Figures 21-28 As shown, the storage equipment 100 also includes a workbench 3, which includes a main body 31 and a detector 34. The main body 31 includes a workstation 311. The detector 34 is located on the main body 31, and the minimum distance between the detector 34 and the pick-and-place assembly 21 in the first direction is greater than or equal to a preset value.

[0212] By ensuring that the minimum distance between the detector 34 and the pick-and-place component 21 in the first direction is greater than or equal to a preset value, the detector 34 is brought closer to the worker and further away from the pick-and-place component 21. Therefore, when the worker's body accidentally extends towards the pick-and-place component 21, the detector 34 can detect the worker's body earlier and more promptly, providing more time for controlling the next operation of the pick-and-place component 21. This effectively avoids interference between the worker's body and the pick-and-place component 21 or the target object on it, thereby further improving safety.

[0213] The workstation 311 of workbench 3 may include rollers or conveyor lines to facilitate the transfer of containers / goods. Buffer positions / racks may also be provided above, below, or beside workbench 3 to buffer containers or goods. Containers / goods on the buffer positions / racks can be retrieved using the pick-and-place device 2 or manually. A conveyor line may also be provided next to workstation 311 of workbench 3 to transport picked goods. A docking area for large items, pallets, irregularly shaped items, and conventional goods handling vehicles may also be provided next to workbench 3 for manual picking.

[0214] like Figure 27 As shown, workstation 311 has a first end 3111 and a second end 3112 in a first direction. When a worker performs picking, sorting, or other operations on workstation 3, the first end 3111 is adjacent to the worker in the first direction relative to the second end 3112. The pick-and-place assembly 21 transports the target object to workstation 311 via the second end 3112, and the worker performs picking, sorting, or other operations on the target object at workstation 311. The target object can be goods, containers containing goods, etc.

[0215] The minimum distance between detector 34 and the second end 3112 of workstation 311 in the first direction is greater than or equal to a preset value. Therefore, when the worker's body accidentally extends towards the pick-and-place assembly 21, detector 34 can detect the worker's body earlier and more timely, thus providing more time for controlling the next operation of pick-and-place assembly 21, so as to effectively avoid interference between the worker's body and pick-and-place assembly 21 or the target object on pick-and-place assembly 21, thereby further improving safety.

[0216] For example, the first end 3111 of station 311 is located in front of the second end 3112 of station 311. The detector 34 is located behind the first end 3111.

[0217] like Figures 21-28 As shown, the workbench 3 also includes a stop, which is located on the main body 31 and is used to prevent the operator from approaching the pick-and-place component 21. By setting the stop, the operator's body can be stopped, thereby further preventing the operator's body from accidentally extending towards the pick-and-place component 21, so as to more effectively avoid interference between the operator's body and the pick-and-place component 21 or the target object on the pick-and-place component 21, and thus further improve safety.

[0218] like Figures 21-28 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.

[0219] 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.

[0220] like Figure 28 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.

[0221] like Figure 21 , Figure 23 , Figure 24 as well as Figures 26-28 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.

[0222] For example, the mounting bracket 315 is adjacent to the second end 3112 in the first direction. For example, the mounting bracket 315 is located behind the platform 314 (station 311).

[0223] The platform 314 includes a first mounting part 3141 and a second mounting part 3142. The workstation 311 is located between the first mounting part 3141 and the second mounting part 3142 in a second direction, that is, the first mounting part 3141 and the second mounting part 3142 are opposite to each other in a second direction. The mounting bracket 315 includes a third mounting part 3153 and a fourth mounting part 3154. The workstation 311 is located between the third mounting part 3153 and the fourth mounting part 3154 in a second direction, that is, the third mounting part 3153 and the fourth mounting part 3154 are opposite to each other in a second direction.

[0224] A first stop 321 is provided in at least one of the first mounting portion 3141 and the third mounting portion 3153, and another first stop 321 is provided in at least one of the second mounting portion 3142 and the fourth mounting portion 3154. That is, the first side 312 of the main body 31 may include the first mounting portion 3141 and the third mounting portion 3153, and the second side 313 of the main body 31 may include the second mounting portion 3142 and the fourth mounting portion 3154.

[0225] Workstation 311 is located between two first stops 321 in the second direction. The two first stops 321 can be used to stop the worker's body, thereby further preventing the worker's body from accidentally extending from the two sides of workstation 311 toward 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, and thus further improve safety.

[0226] like Figures 21-28 As shown, at least one of the first mounting portion 3141 and the third mounting portion 3153 is provided with a first mounting member 331, which has a first clamping groove, and a first stop member 321 is clamped in the first clamping groove. At least one of the second mounting portion 3142 and the fourth mounting portion 3154 is provided with a second mounting member 332, which has a second clamping groove, and another first stop member 321 is clamped in the second clamping groove.

[0227] By providing a first mounting member 331 with a first clamping groove and a second mounting member 332 with a second clamping groove, the two first stops 321 can be installed on the main body 31 of the worktable 3 more securely and conveniently.

[0228] like Figures 21-23 as well as Figure 27 and Figure 28 As shown, the first mounting part 3141 is provided with a first mounting member 331, and the third mounting part 3153 is provided with a third mounting member 333. The third mounting member 333 has a third clamping groove, and a first stop member 321 is clamped in the first clamping groove and the third clamping groove.

[0229] like Figures 24-28 As shown, the second mounting part 3142 is provided with a second mounting member 332, and the fourth mounting part 3154 is provided with a fourth mounting member 334. The fourth mounting member 334 has a fourth clamping groove, and another first stop member 321 is clamped in the second clamping groove and the fourth clamping groove. Thus, both first stop members 321 can be mounted on the table body 314 and the mounting bracket 315, thereby allowing for a more stable and convenient mounting of the two first stop members 321 onto the main body 31 of the worktable 3.

[0230] Optionally, the first clamping groove extends through the first mounting member 331 in the front-to-back direction, and the second clamping groove extends through the second mounting member 332 in the front-to-back direction. Both the openings of the first and second clamping grooves face upwards. The third clamping groove extends through the third mounting member 333 in the vertical direction, and the fourth clamping groove extends through the fourth mounting member 334 in the vertical direction. Both the openings of the third and fourth clamping grooves face forwards. This allows for more convenient clamping of one first stop member 321 in the first and third clamping grooves, and of another first stop member 321 in the second and fourth clamping grooves.

[0231] like Figure 21 , Figure 24 and Figure 27 The mounting bracket 315 has a third end 3151 and a fourth end 3152 opposite to each other in a first direction, with the fourth end 3152 adjacent to the first end 3111 opposite to the third end 3151 in the first direction. For example, the fourth end 3152 is the front end of the mounting bracket 315, and the third end 3151 is the rear end of the mounting bracket 315. The fourth end 3152 includes a third mounting portion 3153 and a fourth mounting portion 3154, that is, both the third mounting member 333 and the fourth mounting member 334 are provided at the fourth end 3152 of the mounting bracket 315. This makes the structure of the worktable 3 more reasonable.

[0232] like Figure 28 As shown, the second stop 322 is connected to at least one of the first stop 321 and the fourth end 3152. This allows for a more secure and convenient installation of the second stop 322.

[0233] For example, the first mounting member 331 and the second mounting member 332 are both disposed on the upper surface 3143 of the platform 314, and the third mounting member 333 and the fourth mounting member 334 are both disposed on the front surface 3155 of the mounting bracket 315 (fourth end 3152). The second stop 322 is connected to each of the upper part 3213 of each first stop 321 and the front surface 3155 of the mounting bracket 315 (fourth end 3152).

[0234] In one embodiment of this disclosure, the mounting bracket 315 is provided with a detector 34. Optionally, the fourth end 3152 of the mounting bracket 315 is provided with a detector 34. This allows the detector 34 to be closer to the worker and further away from the pick-and-place assembly 21, enabling the detector 34 to detect the worker's body earlier and more promptly. This provides more time for controlling the next operation of the pick-and-place assembly 21 (e.g., stopping the pick-and-place assembly 21 from moving), effectively preventing interference between the worker's body and the pick-and-place assembly 21 or the target object on the pick-and-place assembly 21, thereby further improving safety.

[0235] Optionally, detector 34 is a grating detector or a radar detector. The transmitting end 341 and receiving end 342 of the grating detector can be spaced apart along a second direction (e.g., left-right direction) or spaced apart along a vertical direction. The transmitting end 341 and receiving end 342 of the grating detector can face each other directly in the second direction or vertical direction. Alternatively, the transmitting end 341 and receiving end 342 of the grating detector can be diagonally opposite each other in the second direction or vertical direction, for example, the transmitting end 341 of the grating detector is located in front of (behind) the receiving end 342 of the grating detector.

[0236] In another embodiment of this disclosure, the first stop 321 is provided with a detector 34. This allows the detector 34 to be closer to the worker and further away from the pick-and-place assembly 21, enabling the detector 34 to detect the worker's body earlier and more promptly. This provides more time for controlling the next operation of the pick-and-place assembly 21 (e.g., stopping the pick-and-place assembly 21 from moving), effectively preventing interference between the worker's body and the pick-and-place assembly 21 or the target object on the pick-and-place assembly 21, thereby further improving safety.

[0237] Optionally, detector 34 is a grating detector or a radar detector. The transmitting end 341 and receiving end 342 of the grating detector can be spaced apart along a second direction (e.g., left-right direction) or spaced apart along a vertical direction. The transmitting end 341 and receiving end 342 of the grating detector can face each other directly in the second direction or vertical direction. Alternatively, the transmitting end 341 and receiving end 342 of the grating detector can be diagonally opposite each other in the second direction or vertical direction, for example, the transmitting end 341 of the grating detector is located in front of (behind) the receiving end 342 of the grating detector.

[0238] like Figure 23 As shown, the emitting end 341 of the grating detector is disposed on a first stop 321 (another first stop 321), as... Figure 22 As shown, the receiving end 342 of the grating detector is disposed on another first stop 321 (one first stop 321). For example, Figure 23 The first stop 321 shown is provided on the first side 312 of the worktable 3. Figure 26 The first stop 321 shown is provided on the second side 313 of the worktable 3.

[0239] In another embodiment of this disclosure, the second stop 322 is provided with a detector 34. This allows the detector 34 to be closer to the worker and further away from the pick-and-place assembly 21, enabling the detector 34 to detect the worker's body earlier and more promptly. This provides more time for controlling the next operation of the pick-and-place assembly 21 (e.g., stopping the pick-and-place assembly 21 from moving), effectively preventing interference between the worker's body and the pick-and-place assembly 21 or the target object on the pick-and-place assembly 21, thereby further improving safety.

[0240] Optionally, detector 34 is a grating detector or a radar detector. The transmitting end 341 and receiving end 342 of the grating detector can be spaced apart along a second direction (e.g., left-right direction) or spaced apart along a vertical direction. The transmitting end 341 and receiving end 342 of the grating detector can face each other directly in the second direction or vertical direction. Alternatively, the transmitting end 341 and receiving end 342 of the grating detector can be diagonally opposite each other in the second direction or vertical direction, for example, the transmitting end 341 of the grating detector is located in front of (behind) the receiving end 342 of the grating detector. For example, the transmitting end 341 of the grating detector is disposed on the second stop member 322 (stage 314), and the receiving end 342 of the grating detector is disposed on the stage 314 (second stop member 322).

[0241] like Figure 21 , Figure 24 and Figure 27 As shown, the main body 31 includes multiple workstations 311, which are spaced apart along a second direction. The workbench 3 also includes a blocking member 323, which is provided between two adjacent workstations 311. For example, a workstation 311 may be located between a first stop member 321 and a blocking member 323 in the second direction, or a workstation 311 may be located between two adjacent blocking members 323 in the second direction.

[0242] By providing a shielding element 323 between two adjacent workstations 311, each workstation 311 can be detected independently. When a worker's body accidentally extends from one or more workstations 311 towards the pick-and-place assembly 21, the detector 34 can detect the worker's body, preventing the pick-and-place assembly 21 from conveying target objects to these workstations 311 or from conveying target objects from these workstations 311 to other locations. The pick-and-place assembly 21 can then convey target objects to other workstations 311 (workstations 311 where the worker's body has not been detected) and convey target objects from other workstations 311 to other locations, thereby improving work efficiency.

[0243] Optionally, at least one of the adjacent first stop members 321 and blocking members 323 is provided with a detector 34, and at least one of the adjacent blocking members 323 is provided with a blocking member 323. That is, at least one of the first stop member 321 and the blocking member 323 closest to the first stop member 321 in the second direction is provided with a detector 34. This can improve the accuracy of detection.

[0244] For example, at least one of a first stop 321 and a shield 323 that is closest to the first stop 321 in the second direction is provided with a detector 34, and at least one of another first stop 321 and a shield 323 that is closest to the other first stop 321 in the second direction is provided with a detector 34.

[0245] The first stop 321 includes a first edge 3215 and a second edge 3216 opposite each other in a first direction, and the shield 323 includes a first edge 3232 and a second edge 3233 opposite each other in a first direction. The first edges 3215 and 3232 are farther away from the pick-and-place assembly 21 in a first direction than the second edges 3216 and 3233, that is, the first edges 3215 and 3232 are closer to the first end 3111 of the workstation 311 in a first direction than the second edges 3216 and 3233. The detector 34 is disposed on the first edge 3215.

[0246] This allows the detector 34 to be closer to the worker and further away from the pick-and-place component 21, enabling the detector 34 to detect the worker's body earlier and more promptly. This provides more time for controlling the next step of the pick-and-place component 21, effectively preventing interference between the worker's body and the pick-and-place component 21 or the target object on it, thereby further improving safety.

[0247] For example, the first edge 3215 of the first stop 321 is the front edge and the second edge 3216 is the rear edge. The first edge 3232 of the blocking member 323 is the front edge and the second edge 3233 of the blocking member 323 is the rear edge.

[0248] For example, a detector 34 is provided on the first edge 3215, 3232 of at least one of a first stop 321 and a shield 323 that is closest to the first stop 321 in the second direction, and a detector 34 is provided on the first edge 3215, 3232 of another first stop 321 and a shield 323 that is closest to the other first stop 321 in the second direction.

[0249] like Figures 21-27As shown, the first edges 3215 and 3232 include inclined segments 3217 and 3234 that are inclined away from the pick-and-place assembly 21 along the first direction, and the detector 34 is disposed on the inclined segment 3217. That is, the first edge 3215 of the first stop 321 includes the inclined segment 3217, and the first edge 3232 of the shield 323 includes the inclined segment 3234.

[0250] This allows the detector 34 to be closer to the worker and further away from the pick-and-place component 21, enabling the detector 34 to detect the worker's body earlier and more promptly. This provides more time for controlling the next step of the pick-and-place component 21, effectively preventing interference between the worker's body and the pick-and-place component 21 or the target object on it, thereby further improving safety.

[0251] For example, the lower part of the inclined segment 3217 of the first stop 321 is adjacent to the first end 3111 in a first direction relative to the upper part of the inclined segment 3217 of the first stop 321, that is, the inclined segment 3217 of the first stop 321 is inclined from top to bottom and forward. The lower part of the inclined segment 3234 of the blocking member 323 is adjacent to the first end 3111 in a first direction relative to the upper part of the inclined segment 3234 of the blocking member 323, that is, the inclined segment 3234 of the blocking member 323 is inclined from top to bottom and forward.

[0252] Optionally, at least one of the first stop member 321 and the cooperating shield member 323 has a detector 34 on its inclined section 3217, 3234. The inclined section 3234 of at least one of two adjacent shield members 323 has a detector 34.

[0253] Optionally, detector 34 is a radar detector. For example, a radar detector is provided on the inclined segment 3217 of one first stop 321, or on the inclined segment 3234 of the shield 323 closest to the first stop 321 in the second direction. A radar detector is provided on the inclined segment 3217 of another first stop 321, or on the inclined segment 3234 of the shield 323 closest to the other first stop 321 in the second direction. A radar detector is provided on the inclined segment 3234 of one of two adjacent shields 323.

[0254] Optionally, the detector is a grating detector. For example, one of the two adjacent blocking members 323 has a grating detector transmitter 341 (receiver 342) on its inclined section 3234, and the other of the two adjacent blocking members 323 has a grating detector receiver 342 (transmitter 341) on its inclined section 3234.

[0255] One first stop 321 has an inclined section 3217 with a grating detector transmitter 341 (receiver 342), and the inclined section 3234 of the shield 323 closest to the first stop 321 in the second direction has a grating detector receiver 342 (transmitter 341). The other first stop 321 has an inclined section 3217 with a grating detector transmitter 341 (receiver 342), and the inclined section 3234 of the shield 323 closest to the other first stop 321 in the second direction has a grating detector receiver 342 (transmitter 341).

[0256] Optionally, a connecting channel is provided between two adjacent platforms 101, which is used for the delivery device 102 to switch operation between the two adjacent platforms 101. The connecting channel may be a ramp or the like, which allows the delivery device 102 to switch operation between the two adjacent platforms 101, thereby adjusting the number of delivery devices on each platform 101.

[0257] For example, via the ramp passage between adjacent platforms 101, the delivery device 102 can move freely not only on the same level of sorting platform but also between different levels of platforms 101. The ramp passage design allows the delivery device 102 to easily switch between adjacent sorting platforms without the need for complex lifting equipment or additional power units, reducing system complexity and cost. For instance, in cases of insufficient delivery devices 102 or low transportation efficiency on a certain level, the delivery devices 102 on each level can be rationally allocated according to order status or actual production conditions via the ramp passage between different platforms 101, without additional manual intervention or complex scheduling systems. This avoids reduced sorting efficiency due to excessively long switching times between levels, enabling rapid response to sorting task demands.

[0258] It should be noted that the above structural description of the storage equipment is primarily for understanding how the storage equipment achieves at least one of the following storage processes through the cooperation of its various components: delivering target objects corresponding to different platforms to delivery equipment by moving the pick-and-place device relative to the carrying device in at least one direction; and / or moving containers meeting preset requirements on each platform to a designated location by moving the pick-and-place device relative to the carrying device in at least one direction; and / or moving containers corresponding to one platform to corresponding locations on other platforms by moving the pick-and-place device relative to the carrying device in at least one direction; and / or delivering target objects from one platform to delivery equipment on other platforms by moving the pick-and-place device relative to the carrying device in at least one direction; and / or moving empty containers to corresponding locations on one platform by moving the pick-and-place device relative to the carrying device in at least one direction. It can be understood that the above storage processes are accomplished through the cooperation of the various components of the storage equipment.

[0259] This warehousing system enables rapid and accurate classification of received goods. The multi-level sorting platform design effectively utilizes vertical space, significantly reducing floor space compared to traditional single-level sorting systems and increasing sorting efficiency and cargo handling capacity per unit area. By integrating delivery equipment, storage equipment, and conveyor lines for collaborative operation, it can handle multiple goods simultaneously, efficiently completing tasks such as receiving, sorting, transporting, and packaging, greatly improving sorting efficiency.

[0260] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0261] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A warehousing system characterized by, The application relates to a delivery system and a warehouse system. The delivery system comprises at least one layer of platforms, which are arranged in a stacked manner and spaced apart from the ground in a height direction, and each layer of platforms is provided with at least one container corresponding thereto; and a delivery device arranged on the platforms, which comprises a delivery mechanism, and is configured to deliver target objects corresponding to different platforms into the corresponding containers of the corresponding platforms through the delivery mechanism. The warehouse system comprises a carrying device and a taking and placing device, wherein the taking and placing device is movably arranged on the carrying device, and the warehouse system is configured to deliver target objects corresponding to different platforms to the delivery device through movement of the taking and placing device relative to the carrying device in at least one direction, and / or to carry containers meeting preset requirements of each layer of platforms to designated positions through movement of the taking and placing device relative to the carrying device in at least one direction, and / or to carry containers corresponding to one layer of platforms to positions corresponding to other platforms through movement of the taking and placing device relative to the carrying device in at least one direction, and / or to deliver target objects of one layer of platforms to the delivery devices of other platforms through movement of the taking and placing device relative to the carrying device in at least one direction, and / or to carry empty containers to positions corresponding to one layer of platforms through movement of the taking and placing device relative to the carrying device in at least one direction. The warehouse system comprises:

2. The warehousing system according to claim 1, characterized in that, A first warehouse system, which comprises a first carrying device and a first taking and placing device, wherein the first taking and placing device is movably arranged on the first carrying device. The first warehouse system is configured to determine a target platform corresponding to a target object among the at least one layer of platforms, and to deliver the target object to the delivery device on the target platform through movement of the first taking and placing device relative to the first carrying device in at least one direction, wherein the delivery device on the target platform is configured to deliver the target object into the container corresponding to the target platform through the delivery mechanism. The first warehouse system further comprises:

3. The warehousing system according to claim 2, characterized in that, A workbench, which is provided with at least one work station, and the first warehouse system is specifically configured to deliver the target object on the work station to the delivery device on the first platform through movement of the first taking and placing device relative to the first carrying device in at least one direction. The first warehouse system further comprises:

4. The warehousing system according to claim 3, characterized in that, A driving mechanism. The first taking and placing device comprises a taking and placing platform and a taking and placing mechanism, the driving mechanism is drivingly connected with the taking and placing platform, and the taking and placing mechanism is movably arranged on the taking and placing platform in a width direction. The first warehouse system is configured to drive the taking and placing platform to move in the height direction and / or the taking and placing mechanism to move in the width direction through the driving mechanism, so that the taking and placing mechanism reaches a docking position with the workbench, and the target object transported to the workbench is received by the taking and placing mechanism. ​ The first storage device is further configured to drive the taking and placing platform to move along the height direction and / or the taking and placing mechanism to move along the width direction by the driving mechanism to reach a target platform's docking position with the delivery device, and transport the target object on the taking and placing mechanism to the delivery device by the taking and placing mechanism, and the delivery device is configured to deliver the target object into a target container of the target platform.

5. The warehousing system according to any one of claims 1 to 4, characterized in that, The storage device comprises: A second storage device comprising a second bearing device and a second taking and placing device, wherein the second taking and placing device is movably arranged on the second bearing device; The second storage device is configured to, when a corresponding container of a second platform in the at least one layer of platforms meets the preset requirement, move the container meeting the preset requirement from the second platform to a designated position by the movement of the second taking and placing device relative to the second bearing device along at least one direction.

6. The warehousing system according to claim 5, characterized in that, The storage system further comprises: At least one conveying line arranged on a side of the second bearing device of the second storage device away from the second taking and placing device, the second storage device is configured to move the container meeting the preset requirement of each layer of platforms to a position on the conveying line by the movement of the second taking and placing device relative to the second bearing device along at least one direction, the conveying line is configured to transport the container meeting the preset requirement to a designated position, and / or the conveying line is further configured to transport an empty container to a taking and placing position of the second taking and placing device of the second storage device, and the second taking and placing device of the second storage device is configured to transport a plurality of empty containers to corresponding positions of different platforms.

7. The warehousing system according to claim 6, characterized in that, The conveying line comprises: A first conveying line arranged on a side of the second bearing device of the second storage device away from the second taking and placing device, the first conveying line is configured to transport an empty container to a taking and placing position of the second taking and placing device of the second storage device, and the second storage device is configured to move a plurality of empty containers to corresponding positions of different platforms by the movement of the second taking and placing device relative to the second bearing device along at least one direction; A second conveying line arranged on a side of the second bearing device of the second storage device away from the second taking and placing device, the second storage device is configured to move the full container of different platforms to a position of the second conveying line by the movement of the second taking and placing device relative to the second bearing device along at least one direction, and the second conveying line is configured to transport the full container of different platforms to a designated position; Wherein the first conveying line and the second conveying line are arranged side by side, or the first conveying line and the second conveying line are arranged in a height direction interval and stacked.

8. The warehousing system of claim 1, wherein, Each layer of platforms is correspondingly provided with at least one container layer, and the delivery device comprises a movement mechanism and at least one delivery mechanism connected with the movement mechanism, and the delivery device is configured to move on the platform by the movement mechanism from a docking position with the storage device to a delivery position of a target container, and deliver a target object into a corresponding container of a corresponding container layer by the at least one delivery mechanism.

9. The warehousing system according to claim 8, characterized in that, In the case where the delivery mechanism of the delivery device is multiple, the multiple delivery mechanisms are arranged in the height direction with intervals or arranged side by side in the length direction or the width direction, and the delivery device is configured to receive multiple target objects by the multiple delivery mechanisms and deliver the multiple target objects into one container or different containers.

10. The warehousing system of claim 1, wherein, The at least one side of the at least one layer of platforms is provided with the storage device, or the at least one layer of platforms is arranged around the storage device.

11. The warehousing system of claim 1, wherein, The adjacent two layers of platforms have a connecting channel therebetween, and the connecting channel is used for switching operation of the delivery device between the adjacent two layers of platforms.

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