Pick-and-place device and warehousing system

Abstract

The embodiment of the utility model provides a taking and placing device and a warehousing system. The pick-and-place device comprises a base with a bearing area, the bearing area is provided with an entrance and exit, and the entrance and exit is configured for target objects to enter and exit the bearing area; the moving mechanism is arranged on the base; the object taking part is arranged on the moving mechanism, and the object taking part is driven by the moving mechanism to move relative to the base in the first direction so as to be in butt joint with the target object; the object taking part at least can rotate around a first rotating axis relative to the moving mechanism; a first sensor configured to detect a distance between the moving mechanism and the target article; and under the condition that the first sensor detects that the distance between the first rotating axis and the target object is a first preset distance, the object taking part rotates around the first rotating axis relative to the moving mechanism so as to be switched between the state of being in butt joint with the target object and the state of avoiding the target object.

Description

Technical Field

[0001] This application belongs to the field of warehousing equipment technology, specifically relating to a retrieval and placement device, i.e., a warehousing system. Background Technology

[0002] In warehousing systems, to fully utilize the vertical space, shelving is typically installed. This shelving, with multiple storage locations along the height of the system, stores the target items within these locations, thus maximizing the use of vertical space. To facilitate the removal or placement of items from or onto storage locations, a picking / placing mechanism is usually used. This mechanism applies force to the front surface of the item, moving it from the storage location to the picking / placing device, or vice versa.

[0003] In the relevant technology, in order to ensure the stability of the force applied by the picking and placing mechanism to the target item, a hook is set up to hook and rotate to connect with the slider on the picking and placing device. The slider drives the hook to move in the direction closer to the cargo position. After the slider moves to the appropriate position, the hook rotates and unfolds relative to the slider and engages with the hook on the front end face of the target item on the cargo position. After the hook and the hook engage, the hook moves in the direction away from the cargo, transferring the target item from the cargo position to the picking and placing device.

[0004] However, in related technologies, when the hook is extended, it is difficult to accurately engage with the hook on the target item, resulting in low efficiency in picking up and placing the target item. Utility Model Content

[0005] This application provides a pick-and-place device and a storage system that can accurately engage with the target item when the hook is extended, thereby improving the efficiency and safety of picking up and placing the target item.

[0006] On one hand, embodiments of this application provide a pick-and-place device, including:

[0007] The base has a load-bearing area with an inlet / outlet configured to allow target items to enter and exit the load-bearing area.

[0008] The moving mechanism is located on the base;

[0009] The object-grabbing component is mounted on the moving mechanism. Driven by the moving mechanism, the object-grabbing component moves relative to the base in a first direction to dock with the target object. The object-grabbing component can rotate relative to the moving mechanism at least around a first rotation axis.

[0010] The first sensor is configured to detect the distance between the moving mechanism and the target object;

[0011] When the first sensor detects that the distance between the first rotation axis and the target object is a first preset distance, the object-grabbing component rotates relative to the moving mechanism around the first rotation axis.

[0012] It can switch between docking with the target object and avoiding the target object.

[0013] In the docking state, the picking component engages with or disengages from the force-bearing structure of the target item;

[0014] In the avoidance state, the object retrieval component avoids the space where the target object is located.

[0015] In one implementation, a first drive assembly is provided on the base, the first drive assembly is connected to the moving mechanism, and the first drive assembly is configured to drive the moving mechanism to move relative to the base along a first direction.

[0016] In one implementation, the first driving component includes:

[0017] First driving component;

[0018] The transmission component extends along a first direction and is connected to the moving mechanism. The first driving component cooperates with the transmission component to drive the moving mechanism to move.

[0019] In one implementation, the first driving member is disposed on the base; the transmission member includes:

[0020] A lead screw is disposed on the base along a first direction, and the lead screw is connected to the first driving component for transmission.

[0021] A lead screw nut is sleeved on the outer circumference of the lead screw and is connected to the moving mechanism. When the first driving member drives the lead screw to rotate, the lead screw nut drives the moving mechanism to move along the first direction.

[0022] In one implementation, the first driving member is disposed on the base; the transmission member includes:

[0023] The transmission gear is connected to the first driving component in a transmission manner.

[0024] A transmission belt is wound around a transmission gear and arranged along a first direction. The transmission belt is connected to a moving mechanism. A first driving member drives the transmission belt through the transmission gear to move the moving mechanism along the first direction.

[0025] In one implementation, the first driving member is disposed on the moving mechanism; the transmission member includes:

[0026] A transmission component is disposed on the base along the first direction;

[0027] The meshing gear meshes with the transmission component and is connected to the first driving component for transmission. The first driving component drives the meshing gear to rotate, and the meshing gear moves along the transmission component to drive the moving mechanism to move in the first direction.

[0028] In one implementation, a slide rail is provided on the base, and the slide rail extends along a first direction; the moving mechanism includes:

[0029] The slider is mounted on the slide rail.

[0030] The third mounting bracket is located on the slider, and the first driving component is located on the third mounting bracket.

[0031] In one implementation, a conveying mechanism is provided on the base, and the conveying mechanism extends along a first direction;

[0032] Once the picking component has moved the target item from the inlet / outlet into the carrying area and to the preset position, the picking component releases its engagement with the target item; the conveying mechanism then moves the target item further into the carrying area.

[0033] or,

[0034] When the conveyor moves the target item from the carrying area to the entrance / exit to the preset position, the picking component works with the target item and pushes the target item to continue moving towards the entrance / exit.

[0035] In one implementation, the transmission mechanism includes two transmission mechanisms, which are arranged at intervals along a second direction, which intersects with the first direction.

[0036] In one implementation, a second sensor is provided on the base, which is configured to detect the position of the target item in the carrying area to determine whether the target item has reached the preset position.

[0037] In one implementation, the second sensor includes a first through-beam sensor; the first signal transmitter of the first through-beam sensor is located on one side of the carrying area, the first signal receiver of the first through-beam sensor is located on the other side of the carrying area, and the signal transmission path of the first through-beam sensor intersects with the movement direction of the target item in the carrying area.

[0038] When the target item moves from the inlet / outlet to the carrying area, and the first signal receiver does not receive the signal emitted by the first signal transmitter, it is determined that the target item has moved to the preset position, and the picking component disengages from the force-bearing structure.

[0039] When the target item moves from the carrying area to the inlet / outlet and the first signal receiver receives the signal emitted by the first signal transmitter, it is determined that the target item has moved to the preset position and the picking component cooperates with the force-bearing structure.

[0040] In one implementation, the second sensor is located in the middle of the bearing area along the first direction.

[0041] In one implementation, a third sensor is provided on the base, the third sensor is located at the inlet / outlet, and the third sensor is configured to detect whether a target item exists at the inlet / outlet.

[0042] When there is a target item at the import / export point, the object-retrieving component disengages from the force-bearing structure based on the preset position determined by the second sensor, or the object-retrieving component engages with the force-bearing structure based on the preset position determined by the second sensor.

[0043] In one implementation, the third sensor includes a second through-beam sensor; the second signal transmitter of the second through-beam sensor is located on one side of the bearing area, and the second signal receiver of the second through-beam sensor is located on the other side of the bearing area; the signal transmission path of the second through-beam sensor intersects with the movement direction of the target item at the inlet and outlet.

[0044] If the second signal receiver does not receive a signal from the second signal transmitter, it is determined that the target item exists at the import / export.

[0045] In one implementation, a second mounting bracket is provided on the moving mechanism, and the second mounting bracket is rotatably mounted on the moving mechanism about a second rotation axis. The object-grabbing component and the first sensor are mounted on the second mounting bracket; the direction of the second rotation axis is different from that of the first rotation axis.

[0046] In one implementation, the import / export includes a first import / export and a second import / export, which are arranged opposite to each other along a first direction.

[0047] The second mounting bracket rotates relative to the moving mechanism about the second rotation axis to drive the picking component and the first sensor toward either the first inlet / outlet or the second inlet / outlet.

[0048] In one implementation, a second driving member is provided on the second mounting bracket. The second driving member is connected to the object-grabbing component in a transmission manner. The second driving member is configured to drive the object-grabbing component to rotate relative to the moving mechanism about a first rotation axis.

[0049] In one implementation, the moving mechanism is provided with a third driving member, which is connected to the second mounting bracket in a transmission manner. The third driving member is configured to drive the second mounting bracket to rotate relative to the moving mechanism about a second rotation axis, so as to drive the picking component to rotate relative to the moving mechanism.

[0050] In one implementation, the moving mechanism is provided with a limiting member, which is disposed on the rotation path of the second mounting bracket about the second rotation axis; the limiting member is configured to limit the rotation angle of the second mounting bracket relative to the moving mechanism, so as to position the picking component toward the first inlet or outlet, or to position the picking component toward the second inlet or outlet.

[0051] In one implementation, a fourth sensor is provided on the base, the fourth sensor is located at the inlet / outlet, and the fourth sensor is configured to detect whether a target item is present on the vehicle.

[0052] In one implementation, the picking and placing device further includes a column, which is arranged vertically; a base is movably mounted on the column and can move relative to the column along the extension direction of the column.

[0053] The base is also equipped with a fifth sensor, which is configured to detect positioning marks on the vehicle to locate the position of the base as it moves along the vehicle.

[0054] On the other hand, embodiments of this application provide a warehousing system, including:

[0055] The vehicle is located on the support platform of the warehousing system and has multiple storage locations along the height direction, which are configured to store the target items.

[0056] The pick-and-place device provided in the foregoing embodiments of this application has a base that can move along the height direction of the carrier so that the bearing area of ​​the base can dock with any layer of cargo space; the upright of the pick-and-place device is located on one side of the carrier and can move laterally along the carrier.

[0057] A support member is located on one side of the carrier. The first part of the pick-and-place device is supported on the support member. There is a preset gap between the support member and the bottom of the pick-and-place device and the support platform.

[0058] The transfer robot walks on the support platform and is configured to move through preset gaps to transfer the target item between the transfer robot and the picking device.

[0059] According to the retrieval and storage system provided in the embodiments of this application, by setting a carrying area and an inlet / outlet on the base, it is convenient for target items to enter and exit the carrying area through the inlet / outlet; a moving mechanism is set on the base, and a retrieval component is set on the moving mechanism, so that when the moving mechanism moves towards the inlet / outlet, the moving mechanism can drive the retrieval component to move towards the inlet / outlet, and after the retrieval component cooperates with the target item, the moving mechanism can use the retrieval component to drive the target item from the inlet / outlet into the carrying area; or, the moving mechanism can use the retrieval component to push the target item from the carrying area to the storage location, facilitating the retrieval and placement of the target item; by setting a first sensor, the first sensor can detect the distance between the moving mechanism and the target item; thus, When the first sensor detects that the distance between the moving mechanism and the target item is a first preset distance, the picking component can rotate relative to the moving mechanism in a first direction, thereby allowing the picking component to unfold and cooperate with the target item. In this way, the first preset distance can be the length of the unfolded picking component. That is, when the picking component rotates to the unfolded state relative to the moving mechanism in the first direction, the length of the picking component allows it to cooperate with the target item precisely. Thus, the picking component will not push the target item away from the picking and placing device, or it can avoid the situation where the picking component cannot cooperate with the target item. This facilitates the picking component to quickly cooperate with the target item, improving the efficiency and safety of the picking and placing device in picking up and placing the target item. Attached Figure Description

[0060] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0061] Figure 1 This is a schematic diagram of a warehousing system provided in some embodiments of this application;

[0062] Figure 2 This is a schematic diagram of a structure in which a picking and placing device and a support member cooperate in a warehousing system provided in some embodiments of this application;

[0063] Figure 3 This is a schematic diagram showing another result of the cooperation between the pick-and-place device and the support in a storage system provided by some embodiments of this application;

[0064] Figure 4 yes Figure 3 A magnified view of a portion of point A in the middle;

[0065] Figure 5 This is a schematic diagram of a structure in which a first drive wheel and a support member cooperate in a warehousing system provided in some embodiments of this application;

[0066] Figure 6This is a partial structural schematic diagram of the pick-and-place device provided in some embodiments of this application;

[0067] Figure 7 This is another partial structural schematic diagram of the pick-and-place device provided in some embodiments of this application;

[0068] Figure 8 This is a flowchart illustrating one implementation of the article transfer method provided in some embodiments of this application;

[0069] Figure 9 This is another implementation flowchart of the article transfer method provided in some embodiments of this application;

[0070] Figure 10 This is another implementation flowchart of the article transfer method provided in some embodiments of this application.

[0071] Explanation of reference numerals in the attached figures:

[0072] 10-Carrier; 20-Pick-and-place device; 30-Support component; 40-Transfer robot; 50-Auxiliary track;

[0073] 110 - Cargo location; 120 - Buffer location; 130 - Carrier column; 210 - Pick-and-place mechanism; 220 - Third drive assembly; 230 - Column; 310 - Support column; 320 - Tie rod;

[0074] 221-Fourth driving component; 222-First driving wheel; 223-First mounting bracket; 224-Guide wheel; 301-Preset gap; 302-Guide structure; 303-Guide protrusion;

[0075] 3021 - First guide groove; 3022 - Second guide groove;

[0076] 211-Base; 212-Moving mechanism; 213-Object-picking component; 214-First sensor;

[0077] 2111-Bearing area; 2112-Inlet / outlet; 2113-First drive assembly; 2114-Slide rail; 2115-Transmission mechanism; 2116-Second sensor; 2117-Third sensor; 2118-Fourth sensor; 2119-Fifth sensor; 2121-Second mounting bracket; 2122-Second drive component; 2123-Third drive component; 2124-Slider; 2125-Third mounting bracket; 2126-Limiting component; 2131-Hook;

[0078] 2112a - First inlet / outlet; 2112b - Second inlet / outlet; 2113a - First driving component; 2113b - Transmission component; 2116a - First signal transmitter; 2116b - First signal receiver; 2117a - Second signal transmitter; 2117b - Second signal receiver. Detailed Implementation

[0079] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0080] It should be noted that many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0081] In the description of this application, it should be understood that the terms "upper," "lower," "horizontal," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In this application, unless otherwise expressly specified and limited, the first feature being "upper" or "lower" than the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.

[0082] In this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral unit; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. However, specifying a direct connection indicates that the two entities connected are not linked by an intermediate structure, but are simply connected to form a whole. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0083] In this application, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0084] Figure 1 This is a schematic diagram of a warehousing system provided in some embodiments of this application.

[0085] In warehousing systems, to fully utilize the vertical space of the warehousing system, refer to Figure 1 As shown, a warehousing system typically includes a carrier 10. The carrier 10 may be mounted on a support platform of the warehousing system.

[0086] In some examples, the support platform can be the floor of a storage system.

[0087] In some examples, the support surface can be the surface of a support platform set on the ground of the storage system.

[0088] In some examples, vehicle 10 may include shelves.

[0089] In some examples, the shelves can be fixed shelves.

[0090] In some examples, the shelves can be movable shelves.

[0091] In some examples, the shelf could be a cache shelf.

[0092] In some examples, the shelving can be a combination of different types of shelving. For example, it could be a combination of fixed shelving and movable shelving. Fixed shelving can be positioned above movable shelving.

[0093] In some examples, fixed shelves and movable shelves can be arranged side by side on a support platform, for example, they can be arranged side by side.

[0094] In some examples, vehicle 10 can be the seeding wall of a picking station.

[0095] In some examples, to fully utilize the vertical space of the warehousing system, refer to Figure 1 As shown, the vehicle 10 can be configured with multiple cargo bays 110 along its height. The cargo bays 110 can be configured to hold target items.

[0096] In some examples, the target item can be the goods themselves, the original packaging, a container, a carrying pallet, a bin, a box, or a packaging box, etc. The bin can be a standard bin or a stackable bin, etc.

[0097] In some examples, to facilitate the transfer or circulation of target items in the warehousing system, the bottom layer of vehicle 10 may be equipped with a buffer slot 120.

[0098] In some examples, the target item can be retrieved from location 110 and placed in buffer location 120, and then transferred from buffer location 120 to other locations in the warehouse system (e.g., to picking workstations in the warehouse system) by transfer robot 40 in the warehouse system.

[0099] In some examples, a transfer robot 40 may move the target item from another location in the warehousing system to a buffer location 120, and then place the target item from the buffer location 120 onto a storage location 110 of the vehicle 10.

[0100] In some examples, refer to Figure 1 As shown, to facilitate the retrieval of the target item from storage location 110 and its placement in buffer location 120; or, to place the target item from buffer location 120 into storage location 110, the storage system may include a pick-and-place device 20. The pick-and-place device 20 may be located on one side of the carrier 10.

[0101] In some examples, it can be done laterally on one side of vehicle 10 (e.g.) Figure 1 A guide rail is set in the direction shown by the y-axis, and the pick-and-place device 20 can be mounted on the guide rail. At least a portion of the pick-and-place device 20 can be mounted longitudinally (e.g., along the direction indicated by the y-axis). Figure 1 Move in the direction shown by the z-axis.

[0102] In some examples, the pick-and-place device 20 can move along a guide rail laterally relative to the carrier 10. In this way, the pick-and-place device 20 can be moved to any column of the carrier 10.

[0103] In some examples, the pick-and-place device 20 may be equipped with a pick-and-place mechanism 210, which can be positioned along the longitudinal direction of the carrier 10 (e.g., Figure 1 (The direction shown by the z-axis) moves relative to vehicle 10.

[0104] In other words, in some examples of embodiments of this application, the pick-and-place device 20 can carry the pick-and-place mechanism 210 and move it laterally relative to the carrier 10, thereby moving the pick-and-place mechanism 210 to any column of the carrier 10. The pick-and-place mechanism 210 can move longitudinally relative to the carrier 10, thereby moving to any layer of storage location 110 of the carrier 10. In this way, the pick-and-place mechanism 210 can dock with storage location 110 at any position of the carrier 10 and transfer items with storage location 110 (e.g., transferring the target item from the pick-and-place mechanism 210 to storage location 110; or, retrieving the target item from storage location 110).

[0105] It is understandable that the pick-and-place device 20 is mounted on one side of the carrier 10 via a track. The weight of the pick-and-place device 20 and the pick-and-place mechanism 210 is concentrated on one side of the carrier 10, exerting a force on the carrier 10, resulting in uneven force distribution on both sides of the carrier 10 and a tendency to twist. Furthermore, when the pick-and-place mechanism 210 is carrying a target item, the weight of the pick-and-place device 20, the pick-and-place mechanism 210, and the target item is all concentrated on one side of the carrier 10. To avoid dangerous situations, the carrier 10 typically requires high strength.

[0106] In some examples, the pick-and-place device may include a column 230. The column 230 may be disposed on one side of the carrier 10. The pick-and-place mechanism 210 may be disposed on the column 230.

[0107] In some examples, column 230 can be a single column, and pick-and-place mechanism 210 can move longitudinally along the single column.

[0108] In some examples, the column 230 may include two columns arranged side by side to form a gantry, and the pick-and-place mechanism 210 may be mounted on the gantry and move longitudinally along the gantry.

[0109] In some examples, to avoid dangerous situations, the bottom of the pick-and-place device 20 can be supported on a support platform. For example, the bottom end of the pick-and-place device 20 can extend to the ground. In this way, the weight of the pick-and-place device 20 and the target item can be unloaded onto the support platform.

[0110] However, when the pick-and-place device 20 moves laterally relative to the carrier 10, the transfer robot 40 in the storage system needs to move to the bottom of the carrier 10 to transfer items between itself and the buffer space 120 at the bottom of the carrier 10. At this time, because the pick-and-place device 20 moves at high speed, the transfer robot 40 needs to wait for the pick-and-place device 20 to stop before it can pass through to the bottom of the carrier 10, affecting the transfer efficiency of the transfer robot 40 in transferring the target items. In some cases, the transfer robot 40 cannot pass through the bottom of the carrier 10 and can only move within the bottom aisle of the shelf. This further affects the transfer efficiency of the transfer robot 40 in transferring the target items.

[0111] In some examples, refer to Figure 1 As shown, the storage system may include a support member 30. The support member 30 may be located on one side of the carrier 10.

[0112] In some examples, the first part of the pick-and-place device 20 along the longitudinal direction can be supported on the support member 30. In this way, the weight of the pick-and-place device 20, the pick-and-place mechanism 210, and the target item can be unloaded onto the support member 30.

[0113] In some examples, the first part may be the bottom of the pick-and-place device 20.

[0114] In some examples, the first part may be the top of the pick-and-place device 20.

[0115] In some examples of embodiments of this application, "bottom" can be the bottom end of the pick-and-place device 20, such as the lowest position of the pick-and-place device 20. Of course, "bottom" can also be a position at a certain distance from the bottom end of the pick-and-place device 20. The specific position of "bottom" is not limited in the embodiments of this application.

[0116] In addition, in some examples of the embodiments of this application, "top" can be the top of the pick-and-place device 20, such as the highest position of the pick-and-place device 20. Of course, "top" can also be a position at a certain distance from the top of the pick-and-place device 20, and the specific position of "top" is not limited in the embodiments of this application.

[0117] In some examples, the bottom of the support 30 may have a preset gap 301 between it and the support platform.

[0118] In some examples, the support member 30 can be mounted on the ceiling of the storage system. For example, the support member 30 can be suspended from the ceiling of the storage system by expansion screws. In this way, there is no direct contact between the support member 30 and the support surface (e.g., the ground) of the storage system, which allows for a predetermined gap 301 between the support member 30 and the support surface of the storage system.

[0119] In some examples, the top of the pick-and-place device 20 can be supported on the support member 30. For example, the top of the pick-and-place device 20 can be provided with a traveling roller (not shown in the figure), which can be rotatably connected to the top of the pick-and-place device 20. The traveling roller can be suspended on the support member 30, so that the support member 30 supports the pick-and-place device 20, and the traveling roller can travel along the support member 30.

[0120] In some examples, the bottom of the pick-and-place device 20 may have a preset gap 301 between it and the support platform.

[0121] In some examples, refer to Figure 1 As shown, the warehousing system may include a transfer robot 40. The transfer robot 40 can move on the support platform.

[0122] In some examples, the transfer robot 40 can be configured to move along a first direction ( Figure 1The transfer robot 40 travels through a preset gap 301 to the bottom of the carrier 10 in the direction indicated by the x-axis. The transfer robot 40 can dock with the pick-and-place mechanism 210 of the pick-and-place device 20. Thus, the target item can be transferred between the transfer robot 40 and the pick-and-place mechanism 210. That is, the pick-and-place mechanism 210 can directly place the target item onto the transfer robot 40. Alternatively, the pick-and-place mechanism 210 can remove the target item from the transfer robot 40.

[0123] In some examples, when the transfer robot 40 is unloaded, it can pass through a preset gap to the bottom of the carrier 10. After the pick-and-place mechanism 210 places the target item on the transfer robot 40, the transfer robot 40 can wait for the pick-and-place device 20 to move laterally before passing through the preset gap to the outside of the carrier 10.

[0124] In some examples, the removal of the target item from vehicle 10 is used as an illustration.

[0125] In some examples, the dispatch center (or control center) of the warehousing system can issue item transfer instructions to the pick-and-place device 20, the pick-and-place mechanism 210, and the transfer robot 40.

[0126] In some examples, after receiving an item transfer instruction, the pick-up and place device 20 can move laterally along the vehicle 10 according to the location of the target item in the item transfer instruction until the pick-up and place device 20 moves to the column where the target item is located.

[0127] In some examples, the pick-and-place mechanism 210 can move longitudinally along the vehicle 10 according to the item transfer instruction until the pick-and-place mechanism 210 moves to the storage location where the target item is located.

[0128] In some examples, the pick-and-place mechanism 210 can move longitudinally after the pick-and-place device 20 has been moved into place.

[0129] In some examples, the pick-and-place mechanism 210 can move longitudinally while the pick-and-place device 20 moves laterally.

[0130] In some examples, the pick-and-place mechanism 210 may move before the pick-and-place device 20. For example, after the pick-and-place mechanism 210 moves longitudinally to the storage layer where the target storage location is located, the pick-and-place device 20 moves laterally, driving the pick-and-place mechanism 210 until the pick-and-place device 20 moves to the column where the target item is located.

[0131] In some examples, the pick-and-place mechanism 210 can remove the target item from the target location, and then the pick-and-place mechanism 210 can move downwards longitudinally.

[0132] In some examples, the transfer robot 40 can move along a support platform to below the column containing the target item, based on an item transfer instruction. The transfer robot 40 docks with the pick-and-place mechanism 210. The pick-and-place mechanism 210 can place the target item onto the transfer robot 40. The transfer robot 40 then transfers the target item to another location in the warehousing system (e.g., a picking station).

[0133] In some examples, the transfer robot 40 can determine the first walking path on the support platform based on the item handling instructions.

[0134] In some examples, the first walking path can be planned by the warehouse system's dispatch center based on the item handling instructions. The dispatch center can send the first walking path to the transfer robot 40 when sending the item handling instructions to the transfer robot.

[0135] In some examples, the transfer robot 40 can determine whether the first travel path passes through a preset gap 301. For example, refer to Figure 1 As shown, the first walking path can be along a first direction (e.g., Figure 1 (In the direction shown by the x-axis) the first walking path passes through the preset gap 301. At this time, the first walking path can pass through the preset gap 301.

[0136] In some examples, refer to Figure 1 As shown, the first walking path can be along Figure 1 The direction indicated by the y-axis. That is, the transfer robot 40 can move along... Figure 1 The robot moves in the direction indicated by the y-axis to the underside of the carrier 10 and docks with the pick-and-place mechanism 210. At this time, the transfer robot 40 can move without passing through the preset gap 301, and the first walking path does not pass through the preset gap 301.

[0137] In some examples, when the first travel path passes through a preset gap 301, the transfer robot 40 can pass through the preset gap 301 to the underside of the carrier 10 and dock with the pick-and-place mechanism 210. This facilitates the transfer of the target item between the pick-and-place device 20 and the transfer robot 40. That is, the pick-and-place mechanism 210 can place the target item on the transfer robot 40, and the transfer robot 40 can transfer the target item to other locations in the storage system.

[0138] In some examples, the transfer robot can determine multiple primary paths for moving on the support platform based on the item transfer instructions. For example, one of the paths could be along... Figure 1 The direction of travel is shown on the x-axis; another possible path is along... Figure 1 Travel in the direction indicated by the y-axis.

[0139] In some examples, the transfer robot 40 can determine a target first walking path from multiple first walking paths based on the efficiency of transferring the target item. The target first walking path can be a first walking path that the transfer robot 40 determines to follow.

[0140] In some examples, the distance that the transfer robot 40 needs to travel from its current position to the docking position with the pick-and-place mechanism 210 along each first walking path can be determined.

[0141] In some examples, the shortest first walking path can be determined as the target first walking path. In this way, the transfer robot 40 needs to travel the shortest distance, which can improve the efficiency of transferring the target item.

[0142] In some examples, the efficiency of transferring the target item on each first walking path can be determined by identifying whether there are obstacles on each first walking path, such as whether there are other transfer robots 40. The first walking path where no other transfer robots 40 exist is designated as the target first walking path. In this way, the current transfer robot 40 does not need to avoid other transfer robots 40 on the first walking path, thus improving the efficiency of transferring the target item.

[0143] In some examples, after determining the first travel path with the shortest travel distance, the transfer robot 40 can determine whether there are other transfer robots 40 blocking the first travel path.

[0144] In some examples, "obstruction" can mean that the current transfer robot 40 is not blocked by other transfer robots 40 during its movement along the first walking path. That is, at any given moment, other transfer robots 40 may be present on the first walking path, as long as they do not affect the movement of the current transfer robot 40 at that moment. For example, other transfer robots 40 may be a certain distance away from the current transfer robot 40, and in the next moment, the other transfer robots 40 may move from the first walking path to another path.

[0145] In some examples, if other transfer robots 40 exist on the shortest first walking path, it can be determined from the remaining first walking paths whether other transfer robots 40 exist on the shortest first walking path. This continues until the shortest first walking path without other transfer robots 40 is determined as the target walking path. In this way, the transfer efficiency of the transfer robot 40 in transferring the target item can be improved.

[0146] In some examples, when the transfer robot 40 determines the shortest first travel path and there are other transfer robots 40 on that first travel path, the transfer robot 40 can determine whether it will meet the other transfer robots 40 on the first travel path when they reach the intersection of the first path. That is, it determines whether the two transfer robots 40 will obstruct each other.

[0147] In some examples, where the two transfer robots 40 do not obstruct each other, the first path with the shortest walking distance can be determined as the target first walking path. The current transfer robot 40 walks along the target first walking path.

[0148] In some examples, refer to Figure 1 As shown, the storage system may include a buffer position 120. The buffer position 120 may be located at the bottom of the vehicle 10.

[0149] In some examples, the transfer robot 40 is configured to move along a first direction ( Figure 1 (In the direction shown by the x-axis) it travels from the preset gap 301 to the bottom of the vehicle 10.

[0150] In some examples, the transfer robot 40 can dock with the buffer position 120. The transfer robot 40 can transfer items between the buffer position 120 and the buffer position 120. For example, the transfer robot 40 can place the target item on the buffer position 120, and the pick-and-place mechanism 210 on the pick-and-place device 20 can remove the target item from the buffer position 120 and place the target item on the cargo position 110 of the carrier 10. Alternatively, the transfer robot 40 can remove the target item from the buffer position 120.

[0151] In some examples, after the transfer robot 40 completes the transfer of the target item with the buffer position 120—for example, the transfer robot 40 removes the target item from the buffer position 120, or the transfer robot 40 places the target item in the buffer position 120—the transfer robot 40 can determine a second travel path between itself and the location to be transferred.

[0152] In some examples, the location to be transferred can be another location in the warehousing system besides the current location of the transfer robot 40. For example, it could be a picking workstation, another carrier 10, or another buffer location 120 in the warehousing system.

[0153] In some examples, when the second walking path passes through the preset gap 301, the transfer robot can pass through the preset gap 301 to the outside of the vehicle and walk along the second walking path to the transfer location.

[0154] In some examples, the method for determining the second walking path may be the same as, similar to or similar to the method for determining the first walking path. For details, please refer to the detailed description of the first walking path in the foregoing embodiments of this application. This application will not repeat the details in the embodiments.

[0155] In some examples, the transfer robot 40 can travel along... Figure 1 The direction shown by the x-axis extends from the preset gap 301 to the outside of the vehicle 10.

[0156] In some examples, the transfer robot 40 can travel along the second travel path without passing through the preset gap 301.

[0157] In some examples, cache bit 120 may be located on one side of vehicle 10. For example, with Figure 1 Taking this as an example, cache bit 120 can be used along... Figure 1 The direction indicated by the x-axis is set on one side of the vehicle 10. The side of the pick-up and drop mechanism 210 away from the vehicle can dock with the buffer position 120, thereby transferring the target item to the buffer position 120.

[0158] In some examples, the transfer robot 40 can walk along a first walking path to the buffer position 120. After completing the transfer of the target item between the transfer robot 40 and the buffer position 120, the transfer robot 40 can walk along a second walking path to the position to be transferred.

[0159] In some examples, the storage system may have multiple carriers 10, which may be arranged in a matrix on the support platform of the storage system.

[0160] In some examples, a passageway may be provided between two adjacent vehicles 10. After the transfer robot 40 passes through the preset gap 301 to the outside of the vehicle 10, the transfer robot 40 can move within the passageway (e.g., it can move along...). Figure 1 The direction indicated by the y-axis is the direction of movement within the tunnel.

[0161] In some examples, the pick-and-place device 20 may be located inside the tunnel.

[0162] According to the warehousing system provided in this application embodiment, by setting a carrier 10 on the support platform of the warehousing system, and having multiple layers of storage locations 110 along the height direction of the carrier 10, the vertical space of the warehousing system can be fully utilized, thereby improving the storage density and space utilization rate of the warehousing system. A buffer location 120 is set at the bottom of the carrier 10 to facilitate the turnover and transfer of target items, improving the transfer efficiency of target items. By setting a pick-and-place device 20 on one side of the carrier 10, the pick-and-place device 20 can move relative to the carrier 10 in the lateral direction. Thus, the pick-and-place device 20 can drive the pick-and-place mechanism 210 set on the pick-and-place device 20 to move to any column of the carrier 10. The pick-and-place mechanism 210 can move relative to the pick-and-place device 20 in the longitudinal direction, thereby moving to any layer of the carrier 10, facilitating the exchange of target items between the pick-and-place mechanism 210 and the carrier 10 (e.g., the pick-and-place mechanism 210 places the target item on the carrier 10, or the pick-and-place mechanism 210 removes the target item from the carrier 10). In addition, a support member 30 is provided in the storage system. The support member 30 is located on one side of the carrier 10, and at least one end of the pick-and-place device 20 along the longitudinal direction can be supported on the support member 30. In this way, the weight of the pick-and-place device 20, the pick-and-place mechanism 210, and the target item placed on the pick-and-place mechanism 210 can be transferred from one side of the carrier 10 to the support member 30. This can reduce the force exerted on the carrier 10 by the weight of the pick-and-place device 20, the pick-and-place mechanism 210, and the target item, thereby reducing the strength requirements of the carrier 10 and saving on the production and processing costs of the carrier 10.

[0163] Furthermore, in the warehousing system provided in this application embodiment, there is a preset gap 301 between the support member 30 and the end of the pick-and-place device 20 near the support platform (e.g., the ground) and the support platform. Thus, when the transfer robot 40 in the warehousing system walks on the support platform, it can pass through the preset gap 301 to the buffer position 120 at the bottom of the carrier 10, and after completing the target exchange with the buffer position 120, it can pass through the preset gap 301 to the outside of the carrier 10. In this way, when the pick-and-place device 20 moves laterally on one side of the carrier 10, the transfer robot 40 walking on the support platform can pass through the preset gap 301 to the bottom buffer position 120 of the carrier 10; or, from the bottom buffer position 120 of the carrier 10, to the outside of the carrier 10. That is to say, the lateral movement of the pick-and-place device 20 will not affect the movement of the transfer robot 40, improving the transfer efficiency of the transfer robot 40 in handling target items and improving the flow efficiency of target items in the warehousing system.

[0164] In some examples, refer to Figure 1As shown, the support platform is provided with a support column 310. The support member 30 can be supported on the end of the support column 310 away from the support platform. That is, in some examples of the embodiments of this application, the support member 30 can be set on the support platform of the storage system through the support column 310. For example, the support member 30 can be set on the ground through the support column 310. In this way, the support column 310 can support the support member 30, so that there is a preset gap 301 between the support member 30 and the ground, which facilitates the passage of the transfer robot 40 through the preset gap 301.

[0165] In some examples, the bottom end of the pick-and-place device 20 may be supported on the support member 30 and travel along the support member 30.

[0166] In some examples of embodiments of this application, the support member 30 is supported on the support platform of the storage system by the support column 310. In this way, the weight of the picking and placing device 20, the picking and placing mechanism 210, and the target item can be unloaded onto the support platform through the support member 30 and the support column 310. This reduces the installation difficulty of the support member 30.

[0167] Furthermore, by supporting the support member 30 on the support platform through the support column 310, the support member 30 can be leveled, thus ensuring longitudinal stability of the picking and placing device 20 when moving laterally. This facilitates the docking of the picking and placing mechanism 210 with each layer of storage location 110. Compared to supporting the bottom of the picking and placing device 20 on the ground, this simplifies the longitudinal position control of the picking and placing device 20 and simplifies its structure.

[0168] In some examples, refer to Figure 1 As shown, the support columns 310 may include multiple columns. The multiple support columns 310 may be arranged at lateral intervals along the carrier 10.

[0169] In some examples, the transfer robot 40 can move between two adjacent support columns 310.

[0170] In some examples of embodiments of this application, multiple support columns 310 are arranged at lateral intervals along the carrier 10. The support member 30 is supported by the multiple support columns 310. In this way, the span between adjacent support columns 310 can be reduced, and the strength of the support member 30 between adjacent support columns 310 can be improved. This ensures that the support member 30 can bear the weight of the pick-and-place device 20, the pick-and-place mechanism 210 and the target item, and can keep the support member 30 from deforming. This ensures the accuracy of the longitudinal position of the pick-and-place device 20 and facilitates the docking of the pick-and-place mechanism 210 with the cargo location 110.

[0171] In some examples, refer to Figure 1 As shown, the vehicle 10 may have a vehicle column 130. The vehicle column 130 may be supported on a support platform.

[0172] In some examples, the vehicle column 130 can be square steel, I-beam steel, or channel steel, etc. The vehicle column 130 can be supported longitudinally on the support platform.

[0173] In some examples, along the lateral direction of vehicle 10 (e.g.) Figure 1 (As shown by the y-axis), multiple carrier columns 130 can be arranged at intervals. This facilitates the support of the cargo space 110.

[0174] In some examples, refer to Figure 1 As shown, along the direction in which the transfer robot 40 travels through the preset gap 301 (e.g.) Figure 1 (in the direction shown by the x-axis), the support column 310 can be set opposite to the vehicle column 130.

[0175] In some examples, the direction in which the transfer robot 40 travels through the preset gap 301 can be, for example, a first direction (e.g., Figure 1 (In the direction shown by the x-axis), the support column 310 can be aligned with the carrier column 130. In this way, the support column 310 and the carrier column 130 occupy the same space, that is, the support column 310 will not occupy the walking channel of the transfer robot 40, which facilitates the transfer robot 40 to walk under the carrier 10, or facilitates the transfer robot 40 to walk from under the carrier 10 to the outside of the carrier 10.

[0176] In some examples, when the target item is placed on the transfer robot 40 and the transfer robot 40 is lowered to its lowest position, the target item and the transfer robot 40 have a first height relative to the support platform. That is, the first height can be the distance between the highest point of the target item and the support platform.

[0177] In some examples, the support column 310 may have a second height. The second height may be higher than the first height. That is, after the support column 310 supports the support member 30, the height of the preset gap 301 formed between the support member 30 and the support platform may be higher than the first height.

[0178] In other words, after the lifting mechanism of the transfer robot 40 rises to remove the target item from the buffer position 120, the lifting mechanism descends to the lowest point, and then the transfer robot 40 passes through the preset gap 301 to the outside of the vehicle 10.

[0179] In this way, after the transfer robot 40 takes the target item from the buffer position 120, it can pass through the preset gap 301 to the outside of the vehicle 10 without waiting for the lifting mechanism to descend to the lowest point, which reduces the waiting time of the transfer robot 40 and improves the efficiency of the transfer robot 40 in transferring the target item.

[0180] In some examples, when the transfer robot 40 is in an unloaded state, it can be lowered to its lowest position and pass through the preset gap 301. It can be understood that when the transfer robot 40 is in an unloaded state and lowered to its lowest position, the height of the transfer robot 40 relative to the support platform is lower than the second height.

[0181] In some examples of embodiments of this application, by setting the height of the support column 310 to be higher than the total height of the transfer robot 40 and the target item, the height of the preset gap 301 can be higher than the total height of the transfer robot 40 and the target item, making it easier for the transfer robot 40 to carry the target item through the preset gap 301. This improves the transfer efficiency of the transfer robot 40 in transporting the target item.

[0182] In some examples, refer to Figure 1 As shown, a tie rod 320 is provided between the support member 30 and the carrier 10. The tie rod 320 can be configured to limit the distance between the support member 30 and the carrier. The tie rod 320 can be a rigid member. For example, the tie rod 320 can be square steel, channel steel, or I-beam steel, etc.

[0183] In some examples, one end of the pull rod 320 can be fixedly connected to the support member 30. The pull rod 320 can be fixedly connected to the support member 30 by bolts, screws, or threaded rods.

[0184] In some examples of the embodiments of this application, the descriptions such as "one end," "end," and "other end" can refer to the endpoint of a component. In other examples, the descriptions such as "one end," "end," and "other end" can refer to a part of a component that is at a predetermined distance from the end. As long as it is not the midpoint of a component, the specific location of "one end," "end," and "other end" is not limited in the embodiments of this application.

[0185] In some examples, the other end of the pull rod 320 can be fixedly connected to the carrier 10. The fixed connection method between the pull rod 320 and the carrier 10 can refer to the fixed connection method between the pull rod 320 and the support member 30 in the foregoing embodiments of this application, and will not be repeated in the embodiments of this application.

[0186] In some examples, the lever 320 can be a horizontal lever 320. For example, the extension direction of the lever 320 can be along... Figure 1 The direction indicated by the x-axis.

[0187] In some examples, the tie rod 320 can be a diagonal tie rod 320. For example, the end of the tie rod 320 connected to the support member 30 can be higher than the end of the tie rod 320 connected to the carrier 10.

[0188] In some examples, the end of the tie rod 320 that connects to the vehicle 10 can be connected to the bottom of the vehicle column 130. In this way, the tie rod 320 and the support column 310 can provide triangular support for the support member 30, thereby improving the stability of the support member 30.

[0189] In some examples of embodiments of this application, a pull rod 320 is provided between the support member 30 and the carrier 10, with one end of the pull rod 320 fixedly connected to the support member 30 and the other end fixedly connected to the carrier 10. Thus, the pull rod 320 can move in a plane perpendicular to the picking and placing device 20 (e.g., ...). Figure 1 The plane formed by the y-axis and z-axis, or the plane parallel to the y-axis and z-axis, provides fixed support for the support member 30, eliminating the need for the pick-and-place device 20 to move along the plane perpendicular to the moving plane of the pick-and-place device 20 (e.g., the plane formed by the y-axis and z-axis). Figure 1 The swaying (in the direction shown by the x-axis) can improve the stability of the support member 30 supporting the pick-and-place device 20, thereby improving the safety of transferring the target item.

[0190] Figure 2 This is a schematic diagram of a structure in which a retrieval and placement device and a support member cooperate in a warehousing system according to some embodiments of this application. Figure 3 This is a schematic diagram showing another result of the cooperation between the pick-and-place device and the support in a storage system provided by some embodiments of this application.

[0191] In some examples, refer to Figure 2 and Figure 3 As shown, a third drive assembly 220 may be provided at one end of the pick-and-place device 20 near the support member 30. The third drive assembly 220 may cooperate with the support member 30 to drive the pick-and-place device 20 to move laterally along the carrier 10.

[0192] In some examples, refer to Figure 2 and Figure 3 As shown, the end of the pick-and-place device 20 near the support member 30 may be provided with a first mounting bracket 223. The first mounting bracket 223 may be fixedly connected to the pick-and-place device 20.

[0193] In some examples, the first mounting bracket 223 may extend laterally along the carrier 10. That is, the extension direction of the first mounting bracket 223 may intersect with the extension direction of the pick-and-place device 20.

[0194] In some examples, the third drive component 220 may be mounted on the first mounting bracket 223. The third drive component 220 may be fixedly connected to the first mounting bracket 223.

[0195] It is understood that in some examples of the embodiments of this application, the weight of the pick-and-place device 20, the pick-and-place mechanism 210, and the target item is unloaded onto the support member 30. The third drive assembly 220 can use the frictional force between itself and the support member 30 to drive the pick-and-place device 20 to move laterally relative to the carrier 10.

[0196] In this embodiment, by providing a third driving component 220 at one end of the pick-and-place device 20 near the support member 30, the frictional force provided by the pick-and-place device 20, the pick-and-place mechanism 210, and the weight of the target item can be used to drive the pick-and-place device 20, which facilitates driving the pick-and-place device 20.

[0197] In some examples, refer to Figure 2 and Figure 3 As shown, the third drive assembly 220 may include a fourth drive member 221. The fourth drive member 221 may be located at one end of the pick-and-place device 20 near the support member 30.

[0198] In some examples, the fourth drive element 221 may be mounted on the first mounting bracket 223.

[0199] In some examples, along the lateral side of vehicle 10 (e.g., along...) Figure 2 (in the direction indicated by the y-axis), the first mounting bracket 223 can protrude from both sides of the pick-and-place device 20. The fourth driving member 221 can be provided on the outside of the pick-and-place device 20. In this way, the pick-and-place mechanism 210 provided on the inside of the pick-and-place device 20 can move longitudinally along the pick-and-place device 20.

[0200] In some examples, the fourth drive element 221 can be a motor. For example, the fourth drive element 221 can be a servo motor, a stepper motor, or a synchronous motor. This application does not limit the specific type of the fourth drive element 221.

[0201] In some examples, refer to Figure 3 As shown, the third drive assembly 220 may include a first drive wheel 222. The first drive wheel 222 may be connected to the fourth drive member 221 for transmission.

[0202] In some examples, the fourth drive member 221 can drive the first drive wheel 222 to rotate, and the first drive wheel 222 travels along the support member 30 through the friction between the first drive wheel and the support member 30, thereby driving the entire pick-up and put-down device 20 to move.

[0203] In some examples, a rack may be provided on the support member 30. The first drive wheel 222 may include a gear. When the fourth drive member 221 drives the first drive wheel 222 to rotate, the first drive wheel 222 travels along the rack, thereby driving the pick-and-place device 20 to travel along the support member 30.

[0204] In some examples, a chain may be mounted on the support member 30. The first drive wheel 222 may include a sprocket. When the fourth drive member 221 drives the first drive wheel 222 to rotate, the first drive wheel 222 can travel along the chain, thereby driving the pick-and-place device 20 to travel along the support member 30.

[0205] In this embodiment, a fourth driving member 221 is provided at one end of the pick-and-place device 20 near the support member 30, and is connected to the first driving wheel 222 via the fourth driving member 221. When the fourth driving member 221 drives the first driving wheel 222 to rotate, the first driving wheel 222 moves along the support member 30, thereby driving the pick-and-place device 20 to move along the support member 30. In this way, the structure of the third driving assembly 220 can be simplified.

[0206] In some examples, refer to Figure 2 As shown, the third drive assembly 220 may include two components. One third drive assembly 220 may be located on one side of the pick-and-place device 20, and the other third drive assembly 220 may be located on the other side of the pick-and-place device 20. By driving the pick-and-place device 20 through the two third drive assemblies 220, the pick-and-place device 20 can be driven by the third drive assembly 220 on both sides, thereby improving the force balance of the pick-and-place device 20 and enhancing the stability of the movement of the pick-and-place device 20.

[0207] Figure 4 yes Figure 3 A magnified view of a portion of point A in the middle. Figure 5 This is a schematic diagram of a structure in which the first drive wheel and the support member cooperate in a warehousing system provided in some embodiments of this application.

[0208] In some examples, refer to Figures 2-5 As shown, one of the first drive wheel 222 and the support member 30 is provided with a guide structure 302. The other of the first drive wheel 222 and the support member 30 cooperates with the guide structure 302 to guide the travel direction of the first drive wheel 222.

[0209] In some examples, the guide structure 302 can guide the walking direction of the first drive wheel 222 along the extension direction of the support member 30. That is, under the guidance of the guide structure 302, the first drive wheel 222 can remain on the support member 30. In this way, the stability of the movement of the pick-and-place device 20 can be improved, thereby improving the safety of the transfer of the target item.

[0210] In some examples, refer to Figures 2-4As shown, the guide structure 302 may include a first guide groove 3021. The first guide groove 3021 may be provided on the side of the support member 30 near the first drive wheel 222. For example, the first guide groove 3021 may be recessed into the top of the support member 30.

[0211] In some examples, the first guide groove 3021 may extend along the extension direction of the support 30.

[0212] In some examples, at least a portion of the first drive wheel 222 may be fitted into the first guide groove 3021. That is, the first drive wheel 222 may travel within the first guide groove 3021 along the extending direction of the first guide groove 3021.

[0213] In some examples of embodiments of this application, by providing a first guide groove 3021 on the side of the support member 30 near the first drive wheel 222, at least a portion of the first drive wheel 222 is embedded in the first guide groove 3021. In this way, the first drive wheel 222 can travel along the extension direction of the first guide groove 3021, which facilitates maintaining the traveling direction of the first drive wheel 222 and improves the stability of the movement of the pick-and-place device 20.

[0214] In some examples, refer to Figure 4 As shown, along the axial direction of the first drive wheel 222, the first guide groove 3021 may have a first sidewall and a second sidewall. The first sidewall and the second sidewall may be arranged opposite to each other.

[0215] In some examples, a first guide groove 3021 is constructed between the first sidewall and the second sidewall. That is, the first drive wheel 222 is located between the first sidewall and the second sidewall.

[0216] In some examples, the distance between the first sidewall and the second sidewall is greater than the axial dimension of the first drive wheel 222. Thus, by positioning the first drive wheel 222 between the first and second sidewalls, a gap can be created between the first drive wheel 222 and both the first and second sidewalls. When the first drive wheel 222 moves, friction between the first drive wheel 222 and either the first or second sidewall can be avoided, improving the stability of the first drive wheel 222's movement and thus improving the stability of the pick-and-place device 20's movement.

[0217] In some examples, refer to Figure 4 As shown, the pick-and-place device 20 may be equipped with a guide wheel 224. The peripheral wall of the guide wheel 224 may abut against one of the first side wall and the second side wall.

[0218] In some examples, refer to Figure 4 As shown, the axial direction of the guide wheel 224 can intersect with the axial direction of the first drive wheel 222.

[0219] In some examples, refer to Figure 4 As shown, multiple guide wheels 224 can be provided, and the multiple guide wheels 224 are arranged side by side along the extending direction of the first guide groove 3021. In some examples of embodiments of this application, three guide wheels 224 are shown as an example. By providing multiple guide wheels 224, the guiding stability of the guide wheels 224 can be improved, thereby improving the stability of the first drive wheel 222 traveling along the first guide groove 3021.

[0220] In some examples of embodiments of this application, by setting the distance between the first sidewall and the second sidewall of the first guide groove 3021 to be greater than the axial dimension of the first drive wheel 222, when the first drive wheel 222 moves within the first guide groove 3021, a certain gap can be maintained between the two ends of the first drive wheel 222 in the axial direction and the first and second sidewalls, which can prevent the two ends of the first drive wheel 222 in the axial direction from rubbing against the first and second sidewalls and improve the smoothness of the first drive wheel 222's movement.

[0221] Furthermore, by providing a bottom-mounted wheel on the pick-and-place device 20, the peripheral wall of the guide wheel 224 abuts against one of the first side wall and the second side wall. Thus, when the pick-and-place device 20 moves along the first guide groove 3021, the guide wheel 224 moves along one of the first side wall and the second side wall. Since the guide wheel 224 always abuts against one of the first and second side walls, a gap is maintained between the two ends of the first drive wheel 222 along the axial direction and the first and second side walls, preventing the first drive wheel 222 from wobbling axially within the first guide groove 3021 and improving the stability of the first drive wheel 222 as it moves along the first guide groove 3021.

[0222] In some examples, refer to Figure 5 As shown, the guide structure 302 may include a second guide groove 3022. The second guide groove 3022 may be provided on the peripheral wall of the first drive wheel 222.

[0223] In some examples, the second guide groove 3022 may surround the peripheral wall of the first drive wheel 222. The second guide groove 3022 may be recessed into the peripheral wall of the first drive wheel 222 radially.

[0224] In some examples, refer to Figure 5 As shown, the support member 30 may have a guide protrusion 303 on the side near the first drive wheel 222. The guide protrusion 303 may be embedded in the second guide groove 3022.

[0225] In some examples, the guide protrusion 303 may extend along the extension direction of the support 30.

[0226] In some examples, as the first drive wheel 222 travels along the support member 30, the guide protrusion 303 is always embedded in the second guide groove 3022, and the guide protrusion 303 guides the first drive wheel 222 to travel on the support member 30 through the second guide groove 3022.

[0227] In some examples, the second guide groove 3022 can be a straight groove. The shape of the guide protrusion 303 can match the shape of the second guide groove 3022.

[0228] In some examples, the width of the second guide groove 3022 can be greater than the width of the support member 30. That is, the support member 30 can be directly embedded in the second guide groove 3022 on the side closest to the first drive wheel 222.

[0229] In some examples of embodiments of this application, the guide structure 302 is configured as a second guide groove 3022 on the peripheral wall of the first drive wheel 222, and a guide protrusion 303 is provided on the side of the support member 30 near the first drive wheel 222, the guide protrusion 303 being embedded in the second guide groove 3022. This improves the stability of the pick-and-place device 20 as it travels along the support track, and enhances the safety of transferring the target item.

[0230] In some examples, refer to Figure 5 As shown, the second guide groove 3022 can be a V-shaped groove. That is, the opening size of the second groove is larger than the bottom size.

[0231] In some examples, refer to Figure 5 As shown, the cross-section of the support member 30 can be tapered. The side of the support member 30 near the first drive wheel 222 can be configured as a guide protrusion 303.

[0232] In some examples of embodiments of this application, by setting the second guide groove 3022 as a V-shaped groove and setting the cross section of the support member 30 as conical, the first drive wheel 222 and the support member 30 can be in close contact under the gravity of the pick-and-place device 20, the pick-and-place mechanism 210 and the target item, which can improve the friction between the first drive wheel 222 and the support member 30, thereby improving the stability of the first drive wheel 222 and avoiding the slippage of the first drive wheel 222.

[0233] In some examples, the end of the pick-and-place device 20 away from the support 30 is provided with a second drive assembly (not shown in the figure). See reference... Figure 2 and Figure 3 As shown, the carrier 10 is provided with an auxiliary rail 50 on the side near the pick-and-place device 20. The extension direction of the auxiliary rail 50 can be consistent with the extension direction of the support member 30.

[0234] In some examples, the second drive component may cooperate with the auxiliary rail 50 to assist the end of the pick-and-place device 20 away from the support 30 to move synchronously with the end of the pick-and-place device 20 close to the support 30.

[0235] In some examples, the way the second drive component and the auxiliary guide rail cooperate can be the same as, similar to or similar to the way the third drive component 220 and the support member 30 cooperate. For details, please refer to the detailed description of the cooperation between the third drive component 220 and the support member 30 in the foregoing embodiments of this application. This application will not repeat the details in this embodiment.

[0236] In some examples of embodiments of this application, a second drive assembly is provided at the end of the pick-and-place device 20 away from the support member 30, and an auxiliary rail 50 is provided on the side of the carrier 10 near the pick-and-place device 20. The second drive assembly cooperates with the auxiliary rail 50. In this way, the second drive assembly can drive the end of the pick-and-place device 20 away from the support member 30 to move, thereby enabling the end of the pick-and-place device 20 away from the support member 30 and the end of the pick-and-place device 20 near the support member 30 to move synchronously. This ensures the stability of the movement of the pick-and-place device 20 and improves the safety of the transfer of the target item.

[0237] In some examples, the loading / unloading device 20 may include a base 211, which may be mounted on a column 230 and move along the column 230 in the height direction. In this way, the base 211 can dock with a cargo position on any level of the carrier 10.

[0238] In some examples, refer to Figure 1 As shown, the column 230 can be installed on one side of the vehicle 10.

[0239] In some examples, it can be done laterally on one side of vehicle 10 (e.g.) Figure 1 The guide rail is set along the direction indicated by the y-axis, and the column 230 can be mounted on the guide rail. The column 230 can be mounted longitudinally (e.g., along the y-axis). Figure 1 Extending in the direction shown by the z-axis.

[0240] In some examples, the column 230 can move laterally along the guide rail of the carrier 10. In this way, the pick-and-place device 20 can be moved to any column of the carrier 10 by the column 230.

[0241] In some examples, the column 230 may be provided with a pick-and-place mechanism 210. The pick-and-place mechanism 210 may include the base 211 described in detail in the foregoing embodiments of this application.

[0242] Figure 6 This is a partial structural schematic diagram of the pick-and-place device provided in some embodiments of this application.

[0243] Reference Figure 1 and Figure 6As shown, the base 211 may have a support area 2111. The support area 2111 may be configured to support a target item.

[0244] In some examples, refer to Figure 1 and Figure 6 As shown, the carrying area 2111 has an inlet / outlet 2112. The inlet / outlet 2112 can be configured to allow target items to enter and exit the carrying area 2111. For example, when a target item is placed on a storage location, the target item can leave the carrying area 2111 from the inlet / outlet 2112 and move towards the storage location. When a target item is moved from a storage location to the carrying area 2111, the target item can enter the carrying area 2111 from the inlet / outlet 2112.

[0245] In some examples, the pick-and-place device 20 may include a moving mechanism 212. (See also...) Figure 6 As shown, the moving mechanism 212 can be mounted on the base 211.

[0246] In some examples, the picking and placing device 20 may include a picking component 213. The picking component 213 may be disposed on the base 211.

[0247] In some examples, the picking component 213 can move along a first direction (e.g., driven by the moving mechanism 212) Figure 6 The object moves toward the inlet / outlet 2112 (in the direction indicated by the x-axis) to facilitate docking of the object-retrieving component 213 with the target item.

[0248] In some examples, the picking component 213 may include a suction cup.

[0249] In some examples, the object-grabbing component 213 may include an electromagnet.

[0250] In some examples, the picking component 213 may include a hook.

[0251] In some examples, the picking component 213 can move away from the inlet / outlet along a first direction under the action of the moving mechanism 212.

[0252] In some examples, the moving mechanism 212 may include a chain, belt, or timing belt. The chain, belt, or timing belt may be arranged along a first direction. The picking component 213 may be connected to the moving mechanism 212, and when the chain, belt, or timing belt rotates, it drives the picking component 213 to move along the first direction.

[0253] In some examples, the moving mechanism 212 can be configured to move on the base 211 toward the inlet / outlet 2112. For example, when a target item needs to be placed in a storage location, the moving mechanism 212 can move toward the inlet / outlet 2112, thereby causing the picking component 213 to push the target item from the inlet / outlet 2112 away from the carrying area 2111 and into the storage location. Alternatively, when a target item needs to be removed from the storage location, the moving mechanism 212 can move toward the inlet / outlet 2112 to facilitate the picking component 213 in removing the target item from the storage location.

[0254] In some examples, the moving mechanism 212 can move away from the inlet / outlet 2112. For example, after the moving mechanism 212 moves toward the inlet / outlet 2112 and the picking component 213 engages with the target item in the target location, the moving mechanism 212 can move away from the inlet / outlet 2112, thereby using the picking component 213 to move the target item from the inlet / outlet 2112 into the carrying area 2111.

[0255] In some examples, the picking component 213 may be mounted on the moving mechanism 212. The moving mechanism 212 may move the picking component 213 toward the inlet / outlet 2112. Alternatively, the moving mechanism 212 may move the picking component 213 away from the inlet / outlet 2112.

[0256] In some examples, refer to Figure 6 As shown, the picking component 213 can rotate along the first rotation axis i1 (relative to the moving mechanism 212). For example, it can move towards... Figure 1 Rotate in the direction indicated by the middle arrow a.

[0257] In some examples, the picking component 213 can rotate bidirectionally relative to the moving mechanism 212 about the first rotation axis i1. That is, the picking component 213 can rotate bidirectionally relative to the moving mechanism 212. Figure 6 Rotate in the direction indicated by the middle arrow a. Additionally, the picking component 213 can rotate relative to the moving mechanism 212. Figure 6 The reverse rotation of the middle arrow a.

[0258] In some examples, the picking component 213 may be in a vertical plane relative to the moving mechanism 212 (e.g., Figure 6 Rotation within the plane formed by the x-axis and z-axis.

[0259] It is understood that in some examples of the embodiments of this application, the rotation direction of the picking component 213 relative to the moving mechanism 212 is only shown as a specific example. In other examples of the embodiments of this application, the rotation direction of the picking component 213 relative to the moving mechanism 212 may be other directions. The embodiments of this application do not limit this.

[0260] In some examples, when the picking component 213 needs to engage with the target item, the picking component 213 can rotate from a vertical state to a horizontal state. That is, the picking component 213 can rotate from a state of engagement with the target item to a state of avoidance of the target item. The engagement state can include a state of engagement with the target item and a state of disengagement from the target item.

[0261] In some examples, the avoidance state can be to avoid the space where the target item is located. For example, the picking component 213 can rotate from horizontal to vertical; or, the picking component 213 can rotate from facing the inlet / outlet 2112 to facing the receiving area 2111; or, the picking component 213 can rotate from facing the inlet / outlet 2112 to facing away from the inlet / outlet 2112. In some examples, the avoidance state can be that the picking component 213 avoids the movement space of the target item in the receiving area 2111. For example, the target item can move in the receiving area 2111 along a first direction.

[0262] In some examples, the retrieval device 20 can be positioned between two adjacent vehicles 10. The retrieval component 213 can retrieve the target item from one of the vehicles 10, moving the target item to the carrying area 2111. After the target item reaches the carrying area 2111, the retrieval component 213 can rotate around a first rotation axis to a clearance state. At this point, the retrieval component 213 clears the movement space of the target item in the carrying area 2111. The target item continues to move within the carrying area 2111, and then can move from the carrying area 2111 to the other vehicle 10. In other words, the retrieval component 213 can transfer the target item from one of two adjacent vehicles 10 to the other.

[0263] In some examples, the retrieval device 20 can be positioned between the vehicle 10 and the buffer position. That is, there can be a passageway between the buffer position and the vehicle 10. The retrieval device 20 can be located in the passageway between the vehicle 10 and the buffer position, i.e., the vehicle 10 and the buffer position are located on opposite sides of the retrieval device 20. Alternatively, the buffer position can be located within the passageway.

[0264] In some examples, the retrieval component 213 can transfer the target item from the buffer position to the vehicle 10 on the other side of the retrieval device 20, and the target item moves to the vehicle 10 through the carrying area 2111.

[0265] In some examples, the retrieval component 213 can transfer the target item from the vehicle 10 to the buffer position on the other side of the retrieval device 20, and the target item can be moved to the buffer position through the carrying area 2111.

[0266] In some examples, the buffer location can be a storage location on a buffer shelf or buffer carrier. The transfer robot 40 can move the buffer shelf or buffer carrier across a support platform to transfer target items from the buffer shelf or buffer carrier. For example, the buffer shelf or buffer carrier can be located in an aisle between two adjacent carriers 10. The pick-and-place device 20 can transfer target items from carrier 10 to the buffer shelf or buffer carrier. The transfer robot 40 moves the buffer shelf or buffer carrier across the support platform. Alternatively, the transfer robot 40 moves the buffer shelf or buffer carrier into an aisle between adjacent carriers 10.

[0267] In some examples, when the picking component 213 needs to be disengaged from the target item, the picking component 213 can rotate from a horizontal state to a vertical state. That is, the picking component 213 can rotate from a docking state to a clearance state.

[0268] In some examples, when it is necessary to remove the target item from the vehicle 10, the moving mechanism 212 can drive the picking component 213 to move toward the inlet / outlet 2112. After the moving mechanism 212 moves to a certain distance from the inlet / outlet 2112, the picking component 213 can rotate relative to the moving mechanism 212 around the first rotation axis i1.

[0269] In this embodiment, the example is given where the object-grabbing component 213 is positioned relative to the moving mechanism 212 in a vertical plane. The object-grabbing component 213 moves relative to the moving mechanism 212 towards... Figure 6 Rotate in the direction indicated by the middle arrow a, and the object-retrieving component 213 rotates from a vertical state to a horizontal state. When the object-retrieving component 213 is rotated to a horizontal state, the object-retrieving component 213 cooperates with the force-bearing structure on the target object.

[0270] In some examples, the force-bearing structure on the target object can be a slot located on the end face of the target object. The hook 2131 of the picking component 213 can be inserted into the slot.

[0271] In some examples, after the picking component 213 engages with the force-bearing structure on the target item, the moving mechanism 212 moves away from the inlet / outlet 2112. The moving mechanism 212 drives the picking component 213 to move, thereby enabling the picking component 213 to carry the target item from the inlet / outlet 2112 into the carrying area 2111.

[0272] In some examples, the picking component 213 can cooperate with the side of the force-bearing structure away from the moving mechanism and provide a force to the force-bearing structure toward the bearing area 2111, thereby moving the target item from the inlet / outlet 2112 toward the bearing area 2111.

[0273] In some examples, to facilitate the accurate engagement of the lifting component 213 with the load-bearing structure when rotating from a vertical to a horizontal position, refer to... Figure 6 As shown, the pick-and-place device 20 may include a first sensor 214.

[0274] In some examples, the first sensor 214 may be mounted on the base 211.

[0275] In some examples, the first sensor 214 is disposed on the base 211 as a specific example. The first sensor 214 may also be disposed on other structures connected to the base 211. In some examples of embodiments of this application, the specific location of the first sensor 214 is not limited.

[0276] In some examples, the moving mechanism 212 can drive the first sensor 214 to move synchronously with the object-grabbing component 213.

[0277] In some examples, the first sensor 214 may be located on the moving mechanism 212.

[0278] In some examples, the first sensor 214 may be configured to detect the distance between the object-taking component 213 and the target object.

[0279] In some examples, the first sensor 214 may be configured to detect the distance between the first rotation axis i1 of the picking component 213 and the target object.

[0280] In some examples, the first sensor 214 may be a ranging sensor.

[0281] In some examples, the first sensor 214 may include any one of an ultrasonic ranging sensor, a laser ranging sensor, an infrared ranging sensor, or a millimeter-wave ranging sensor.

[0282] In some examples, when the moving mechanism 212 moves on the base 211, it causes the first sensor 214 to move synchronously. The first sensor 214 detects the distance between itself and the target object, thereby obtaining the distance between the moving mechanism 212 and the target object.

[0283] In some examples, when the first sensor 214 detects that the distance between the first rotation axis i1 and the target item is a first preset distance, the picking component 213 rotates relative to the moving mechanism 212 to engage with the force-bearing structure on the target item, or to disengage the picking component 213 from the force-bearing structure.

[0284] In some examples, the first preset distance can be the distance at which the object-retrieving component 213 can engage with the force-bearing structure after it rotates from the avoidance state to the docking state. That is, under the first preset distance, the distance between the first rotation axis i1 and the target item can be equal to the length of the object-retrieving component 213.

[0285] In some examples, the removal of a target item from its storage location is used as an example. When it is necessary to remove the target item from its storage location, the column 230 of the pick-and-place device 20 can move laterally along the carrier 10 and move to the column where the target storage location is located. Then, the base 211 moves longitudinally along the column 230 and moves to the storage layer where the target storage location is located. At this time, the moving mechanism 212 drives the picking component 213 to move towards the inlet / outlet 2112, and the first sensor 214 detects the distance between the first rotation axis i1 and the target item. When the distance detected by the first sensor 214 is a first preset distance, the moving mechanism 212 stops driving the picking component 213 to move, and the picking component 213 rotates to the docking state, engaging with the force-bearing structure on the target item. The moving mechanism 212 drives the picking component 213 away from the inlet / outlet 2112, and the picking component 213 carries the target item from the inlet / outlet 2112 into the carrying area 2111. Thus, the target item is removed from the target storage location and placed on the carrying area 2111. The base 211 can move longitudinally along the column 230 to transfer the target item to the buffer position at the bottom of the vehicle 10, or the pick-and-place mechanism 210 can transfer the target item to other transfer vehicles.

[0286] In some examples, placing a target item on a storage location is used as an example. When it is necessary to place a target item from the carrying area 2111 to the storage location, the target item can be moved from the inlet / outlet 2112 toward the storage location by the pushing action of the moving mechanism 212. After the moving mechanism 212 pushes the target item a certain distance, the moving mechanism 212 can move away from the target item. The first sensor 214 can detect the distance between the first rotation axis i1 and the target item. When the distance between the first rotation axis i1 and the target item is a preset distance, the picking component 213 rotates along the first direction to the open state, cooperating with the force-bearing structure on the target item. The moving mechanism 212 continues to move toward the inlet / outlet 2112, and the picking component 213 pushes the target item toward the storage location.

[0287] According to the retrieval and placement device 20 provided in the embodiments of this application, by providing a carrying area 2111 and an inlet / outlet 2112 on the base 211, it is convenient for the target item to enter and exit the carrying area 2111 through the inlet / outlet 2112; a moving mechanism 212 is provided on the base 211, and a retrieval component 213 is provided on the moving mechanism 212; thus, when the moving mechanism 212 moves toward the inlet / outlet 2112, the moving mechanism 212 can drive the retrieval component 213 to move toward the inlet / outlet 2112, and after the retrieval component 213 cooperates with the target item, the moving mechanism 212 can use the retrieval component 213 to drive the target item from the inlet / outlet 2112 into the carrying area 2111; or, the moving mechanism 212 can use the retrieval component 213 to push the target item from the carrying area 2111 to the storage location, which facilitates the retrieval and placement of the target item; a first sensor 214 is provided on the moving mechanism 212, and the first sensor 214 can... The distance between the moving mechanism 212 and the target item is detected. When the first sensor 214 detects that the distance between the moving mechanism 212 and the target item is a first preset distance, the picking component 213 can rotate relative to the moving mechanism 212 along a first direction, thereby allowing the picking component 213 to unfold and engage with the target item. The first preset distance can be the unfolded length of the picking component 213. That is, when the picking component 213 rotates relative to the moving mechanism 212 along the first direction to the docking state, the length of the picking component 213 ensures that it engages precisely with the target item. Thus, the picking component 213 will not push the target item away from the picking and placing device 20, or it can avoid situations where the picking component 213 cannot engage with the target item. This facilitates the quick engagement of the picking component 213 with the target item, improving the efficiency and safety of the picking and placing device 20 in picking and placing the target item.

[0288] In some examples, the detection surface of the first sensor 214 may have a first distance from the inlet / outlet 2112. It should be noted that when the detection surface of the first sensor 214 faces the inlet / outlet 2112, the distance between the detection surface of the first sensor 214 and the inlet / outlet 2112 may be the first distance.

[0289] It is understood that the first sensor 214 is mounted on the moving mechanism 212 and moves together with the moving mechanism 212. Therefore, in some examples of embodiments of this application, the first distance can be a variable distance.

[0290] In some examples, there is a second distance between the first rotation axis i1 of the picking component 213 and the inlet / outlet 2112. It is understood that the second distance can be a variable distance.

[0291] In some examples, the first distance and the second distance can have a preset distance difference. That is, in the direction toward the inlet / outlet 2112, the first sensor 214 and the first rotation axis i1 can be misaligned, so that the first distance and the second distance have a preset distance difference.

[0292] In some examples, as the moving mechanism 212 moves the first sensor 214 and the picking component 213 toward the target item, the first sensor 214 can detect a first distance between itself and the target item. It can be understood that the difference between the first distance and a preset distance is the second distance. That is, the second distance can be used to determine whether the first rotation axis i1 has reached the first preset distance from the target item. Thus, after the picking component 213 unfolds, it precisely engages with the force-bearing structure of the target item. The picking component 213 will not push the target item away from the moving mechanism 212, nor will it fail to engage with the force-bearing structure of the target item. This improves the efficiency of the picking component 213 engaging with the target item, enhancing the transfer efficiency and safety of the target item.

[0293] In some examples, the first distance and the second distance can be equal. That is, in some examples of embodiments of this application, the preset distance difference can be zero. The detection surface of the first sensor 214 can be flush with or approximately flush with the first rotation axis i1.

[0294] In some examples of embodiments of this application, the first distance and the second distance are set to be equal, so that the detection surface of the first sensor 214 can be flush with or approximately flush with the first rotation axis i1. When the first sensor 214 detects that the distance between itself and the target object is the first preset distance, the distance between the first rotation axis i1 and the target object is the first preset distance, without the need to subtract the preset distance difference, which simplifies the calculation of the first preset distance and improves the transfer efficiency of the target object.

[0295] In some examples, refer to Figure 6 As shown, the import / export 2112 may include a first import / export 2112a. The first import / export 2112a may be located in the carrying area 2111 near the carrier 10 where the column 230 is located. The first import / export 2112a may be configured to dock with the cargo position of the carrier 10 where the column 230 is located.

[0296] In some examples, the target item can enter the carrying area 2111 from the storage location via the first inlet / outlet 2112a.

[0297] In some examples, the target item can enter the storage location from the carrying area 2111 via the first inlet / outlet 2112a.

[0298] In some examples, refer to Figure 6As shown, the import / export 2112 may include a second import / export 2112b. The second import / export 2112b is located in the carrying area 2111 away from the carrier 10 where the column 230 is located. The second import / export 2112b may be configured to dock with a cargo position on an adjacent carrier 10 of the carrier 10 where the column 230 is located.

[0299] In some examples, the target item can enter the carrying area 2111 from the cargo position of the adjacent vehicle 10 via the second inlet / outlet 2112b.

[0300] In some examples, the target item can be accessed from the carrying area 2111 via the second entrance / exit 2112b to the cargo location of the adjacent vehicle 10.

[0301] In some examples, the moving mechanism 212 can be along the direction of the first inlet / outlet 2112a and the second inlet / outlet 2112b (e.g. Figure 6 The direction shown by the x-axis (i.e., the first direction) moves relative to the base 211.

[0302] In some examples, refer to Figure 6 As shown, the object-grabbing component 213 can rotate relative to the moving mechanism 212 about the first rotation axis i1.

[0303] In some examples, the retrieval component 213 can place the target item from the first inlet / outlet 2112a to the target location. Then, the retrieval component 213 rotates about the first rotation axis i1 in the direction shown by arrow a to face the second inlet / outlet 2112b and retrieves the target item from the adjacent vehicle 10 on the other side of the aisle.

[0304] In some examples, refer to Figure 6 As shown, the object-grabbing component 213 can rotate around the first rotation axis i1 in the direction indicated by arrow a, and cooperate with the force-bearing structure of the target object. The object-grabbing component 213 can cooperate with the force-bearing structure from below.

[0305] In some examples, refer to Figure 6 As shown, when the object-retrieving component 213 needs to be disengaged from the force-bearing structure, the object-retrieving component 213 can rotate in the opposite direction of the first rotation axis i1 in the direction shown by arrow a, thereby disengaging from the force-bearing structure.

[0306] In some examples, refer to Figure 6 As shown, the object-grabbing component 213 can rotate around the first rotation axis i1 in the opposite direction to that indicated by arrow a, and engage with the force-bearing structure of the target object. The object-grabbing component 213 can engage with the force-bearing structure from above.

[0307] In some examples, the picking component 213 can rotate about the first rotation axis i1 in the direction shown by arrow a, thereby disengaging from the force-bearing structure.

[0308] In some examples, refer to Figure 6 As shown, the example given is the retrieval component 213 retrieving a target item from the first inlet / outlet 2112a. The retrieval component 213 can move towards the first inlet / outlet 2112a under the action of the moving mechanism 212. When the first sensor 214 detects that the distance between the retrieval component 213 and the target item is a first preset distance, the retrieval component 213 can rotate around the first rotation axis i1. Then, the retrieval component 213 can continue to move towards the first inlet / outlet 2112a a preset distance under the action of the moving mechanism 212. Afterwards, the retrieval component 213 can move longitudinally (e.g., along the moving mechanism 212)... Figure 6 The object-taking component 213 moves in the direction indicated by the z-axis, thereby enabling it to engage with the force-bearing structure.

[0309] In some examples, after the target item is transferred onto the base 211, the picking component 213 can move along the path driven by the moving mechanism 212. Figure 6 The moving mechanism 212 moves the object-retrieving component 213 away from the target object along the first direction by a preset distance, moving in the opposite direction of the z-axis. Finally, the object-retrieving component 213 rotates relative to the moving mechanism 212 around the first rotation axis i1, thereby disengaging the object-retrieving component 213 from the force-bearing structure.

[0310] In some examples, as described in the foregoing embodiments of this application, the picking component 213 can engage with the force-bearing structure from above. It is understood that engaging with and disengaging from the force-bearing structure from above can be the same as, similar to, or analogous to engaging with and contacting the force-bearing structure from below. For details, please refer to the foregoing embodiments of this application; further elaboration is not required in this application.

[0311] In some examples, refer to Figure 6 As shown, a second mounting bracket 2121 may be provided on the moving mechanism 212. The second mounting bracket 2121 can be rotatably connected to the moving mechanism 212 about a second rotation axis i2. The direction of the second rotation axis i2 is different from that of the first rotation axis i1.

[0312] In some examples, the second rotation axis i2 can be along Figure 6 The direction shown by the z-axis indicates that the first rotation axis i1 can be along... Figure 6 The direction indicated by the y-axis.

[0313] In some examples, the second rotation axis i2 and the first rotation axis i1 may be located in the same plane.

[0314] In some examples, the second rotation axis i2 and the first rotation axis i1 may be located in different planes.

[0315] In some examples, the object-grabbing component 213 and the first sensor 214 may be mounted on the second mounting bracket 2121. Thus, when the second mounting bracket 2121 rotates relative to the moving mechanism 212 about the second rotation axis i2, the second mounting bracket 2121 can drive the first sensor 214 and the object-grabbing component 213 to rotate together.

[0316] In some examples, when it is necessary to transfer a target item from the first inlet / outlet 2112a, the second mounting bracket 2121 can drive the first sensor 214 and the retrieval component 213 to rotate about the second rotation axis i2 until the first sensor 214 and the retrieval component 213 are rotated toward the first inlet / outlet 2112a. Then, the moving mechanism 212, through the second mounting bracket 2121, drives the retrieval component 213 and the first sensor 214 to move on the base 211, thereby transferring the target item from the first inlet / outlet 2112a.

[0317] In some examples, when it is necessary to transfer a target item from the second inlet / outlet 2112b, the second mounting bracket 2121 can drive the first sensor 214 and the retrieval component 213 to rotate about the second rotation axis i2 until the first sensor 214 and the retrieval component 213 are rotated toward the second inlet / outlet 2112b. Then, the moving mechanism 212 moves the retrieval component 213 and the first sensor 214 on the base 211 via the second mounting bracket 2121, thereby transferring the target item from the second inlet / outlet 2112b.

[0318] In some examples of embodiments of this application, by setting the inlet and outlet 2112 of the carrying area 2111 as a first inlet and outlet 2112a and a second inlet and outlet 2112b, the first inlet and outlet 2112a and the second inlet and outlet 2112b are located on opposite sides of the carrying area 2111, and a second mounting bracket 2121 is provided on the moving mechanism 212 and rotatably connected to the moving mechanism 212 about the second rotation axis i2. The picking component 213 and the first sensor 214 are provided on the second mounting bracket 2121. In this way, the target items on different shelves can be transferred by the rotation of the second mounting bracket 2121 relative to the moving mechanism 212. That is, one picking and placing device 20 can transfer the target items on two adjacent carriers 10, which can reduce the number of picking and placing devices 20 and reduce the layout cost of the warehousing system.

[0319] In some examples, refer to Figure 6As shown, the example of retrieving a target item from the first inlet / outlet 2112a will be used for explanation. The second mounting bracket 2121 can drive the retrieval component 213 to rotate along the second rotation axis i2, thereby enabling the retrieval component 213 to engage with the force-bearing structure of the target item. Alternatively, it can facilitate the engagement between the retrieval component 213 and the force-bearing structure.

[0320] For example, when the moving mechanism 212 moves the picking component 213 toward the first inlet / outlet 2112a until the distance between the picking component 213 and the target item is a first preset distance, the second mounting bracket 2121 can drive the picking component 213 to rotate around the second rotation axis i2 in the direction shown by arrow b, so that the picking component 213 cooperates with the force-bearing structure of the target item.

[0321] When it is necessary to disengage the object-retrieving component 213 from the force-bearing structure, the second mounting bracket 2121 can drive the object-retrieving component 213 to rotate around the second rotation axis i2 in the opposite direction to the direction shown by arrow b, so as to disengage the object-retrieving component 213 from the force-bearing structure.

[0322] Figure 7 This is another partial structural schematic diagram of the pick-and-place device provided in some embodiments of this application.

[0323] In some examples, refer to Figure 7 As shown, a second driving member 2122 is provided on the second mounting bracket 2121. The second driving member 2122 can be connected to the object-grabbing component 213 in a transmission manner. The second driving member 2122 can be configured to drive the object-grabbing component 213 to rotate relative to the moving mechanism 212 in a first direction.

[0324] In some examples, the second drive 2122 can be a servo motor, synchronous motor, or stepper motor, which can rotate in both forward and reverse directions.

[0325] In some examples, refer to Figure 6 As shown, the second driving member 2122 can rotate around the first rotation axis i1. Figure 6 The direction indicated by the middle arrow a drives the picking component 213 to rotate from the vertical direction (avoidance state) to the horizontal state (docking state).

[0326] In some examples, refer to Figure 6 As shown, the second driving member 2122 can rotate around the first rotation axis i1. Figure 6 The object-grabbing component 213 is driven to rotate from the horizontal direction to the vertical direction in the opposite direction of the direction indicated by the middle arrow a.

[0327] In some examples, refer to Figure 6As shown, a third driving member 2123 may be provided on the moving mechanism 212. The third driving member 2123 may be connected to the second mounting bracket 2121 in a transmission manner. The third driving member 2123 may be configured to drive the picking component 213 to rotate relative to the moving mechanism 212 about the second rotation axis i2.

[0328] In some examples, the type of the third drive member 2123 may be the same as, similar to or similar to the type of the second drive member 2122. For details, please refer to the detailed description of the second drive member 2122 in the foregoing embodiments of this application. The embodiments of this application will not repeat the details here.

[0329] In some examples, the third drive 2123 may be a joint motor.

[0330] In some examples of embodiments of this application, a second driving member 2122 is provided on the second mounting bracket 2121, and the second driving member 2122 is drivenly connected to the picking member 213. This facilitates driving the picking member 213, allowing it to engage or disengage with the target item. A third driving member 2123 is provided on the moving mechanism 212, and the third driving member 2123 is drivenly connected to the second mounting bracket 2121. This facilitates driving the second mounting bracket 2121 to rotate the picking member 213 and the first sensor 214, facilitating the transfer of the target item from either the first inlet / outlet 2112a or the second inlet / outlet 2112b.

[0331] In some examples, refer to Figure 6 As shown, a first drive assembly 2113 may be provided on the base 211. The first drive assembly 2113 may be connected to the moving mechanism 212 in a transmission manner. The first drive assembly 2113 may be configured to drive the moving mechanism 212 to move relative to the base 211.

[0332] For example, when it is necessary to transfer a target item from the first inlet / outlet 2112a to the carrying area 2111, the third drive component 2123 can drive the second mounting bracket 2121 to rotate relative to the moving mechanism 212 until the picking component 213 and the first sensor 214 rotate toward the first inlet / outlet 2112a. Then, the first drive component 2113 drives the moving mechanism 212 to move toward the first inlet / outlet 2112a. When the first sensor 214 detects that the moving mechanism 212 is a first preset distance away from the target item, the second drive component 2122 drives the picking component 213 to rotate relative to the moving mechanism 212 in a first direction and cooperate with the target item. After the picking component 213 cooperates with the target item, the first drive component 2113 drives the moving mechanism 212 to move away from the first inlet / outlet 2112a, thereby bringing the target item from the first inlet / outlet 2112a into the carrying area 2111.

[0333] In addition, after the target item is transferred to the carrying area 2111, the third driving member 2123 can drive the second mounting bracket 2121 to rotate, thereby driving the picking member 213 to rotate. The picking member 213 can be rotated to the side of the carrying area 2111, thus reducing the space occupied by the picking member 213 between the target item and the moving mechanism 212, and reducing the size of the picking and placing device 20.

[0334] In some examples of embodiments of this application, the moving mechanism 212 is driven to move relative to the base 211 by the first driving component 2113, which facilitates the movement of the moving mechanism 212 and the transfer of the target item.

[0335] In some examples, refer to Figure 6 As shown, the first drive component 2113 may include a first drive element 2113a.

[0336] In some examples, the first drive element 2113a may be disposed on the base 211. The first drive element 2113a may include a telescopic structure. For example, the first drive element 2113a may include a cylinder, an electric cylinder, or a piston cylinder, etc.

[0337] In some examples, the first drive element 2113a may be mounted on the base 211. The first drive element 2113a may include a servo motor, a stepper motor, or a synchronous motor, etc.

[0338] In some examples, the first drive component 2113 may include a transmission element 2113b. The transmission element 2113b may be positioned along a first direction.

[0339] In some examples, the transmission element 2113b may be connected to the moving mechanism 212. The fourth drive mechanism 2113a may cooperate with the transmission element 2113b to drive the moving mechanism 212 to move in the first direction.

[0340] In some examples, the transmission element 2113b may include a lead screw. The lead screw may be mounted on the base 211. The axial direction of the lead screw may extend in a first direction.

[0341] In some examples, the transmission component 2113b may include a lead screw nut, which may be fitted onto a lead screw. The moving mechanism 212 may be mounted on the lead screw nut.

[0342] In some examples, the first drive member 2113a can drive the lead screw to rotate, causing the lead screw nut to move along the lead screw, thereby driving the moving mechanism 212 to move.

[0343] In some examples, the transmission element 2113b may include transmission gears. There may be at least two transmission gears. The two transmission gears may be arranged along a first direction. One of the transmission gears may be drive-connected to the first drive element 2113a.

[0344] In some examples, transmission element 2113b may include a transmission belt (e.g., a belt, timing belt, or chain). Transmission element 2113b may be wound around two transmission gears. Transmission element 2113b may be connected to the moving mechanism 212.

[0345] In some examples, the fourth drive mechanism 2113a can drive the transmission gear to rotate, the transmission gear drives the transmission belt to move, and the transmission belt drives the moving mechanism 212 to move along the first direction.

[0346] In some examples, the first drive element 2113a may be located on the moving mechanism 212. The first drive element 2113a may include a servo motor, a stepper motor, and a synchronous motor, etc.

[0347] In some examples, the transmission element 2113b may include an engaging element. The engaging element may be disposed on a base. The engaging element may extend along the direction of the first inlet and the second inlet / outlet.

[0348] In some examples, a meshing gear that meshes with a meshing member may be mounted on the output shaft of the first drive member. When the first drive member 2113a drives the meshing gear to rotate, the meshing gear can travel along the meshing member, thereby driving the moving mechanism 212 to move.

[0349] In some examples of embodiments of this application, the first driving member 2113a is disposed on the moving mechanism 212, and the meshing member 2113b is disposed on the base 211. In this way, the gear on the output shaft of the first driving member 2113a can mesh with the meshing member 2113b. When the first driving member 2113a drives the gear to rotate, the gear moves along the meshing member 2113b, thereby facilitating the driving of the moving mechanism 212, simplifying the structure of the first driving assembly 2113, and saving production costs of the pick-and-place device 20.

[0350] In some examples, the meshing element 2113b may include a rack.

[0351] In some examples, the engagement element 2113b may include a chain.

[0352] In some examples, refer to Figure 6 As shown, a slide rail 2114 may be provided on the base 211. The slide rail 2114 may extend along the direction of the first inlet / outlet 2112a and the second inlet / outlet 2112b.

[0353] In some examples, refer to Figure 6As shown, the moving mechanism 212 may include a slider 2124. The slider 2124 may be disposed on the slide rail 2114. The slider 2124 may slide along the slide rail 2114.

[0354] In some examples, refer to Figure 6 As shown, the moving mechanism 212 may include a third mounting bracket 2125. The third mounting bracket 2125 may be disposed on the slider 2124.

[0355] In some examples, the third mounting bracket 2125 may be located above the slider 2124. For example, the third mounting bracket 2125 may be located on top of the slider 2124.

[0356] In some examples, the third mounting bracket 2125 may be located on the side of the slider 2124.

[0357] In some examples, the third mounting bracket 2125 can be configured as a bent shape, and the bent portion of the third mounting bracket 2125 can be located at the bottom of the slider 2124.

[0358] In some examples, the first drive element 2113a may be mounted on the third mounting bracket 2125.

[0359] In some examples, the second mounting bracket 2121 may be mounted on the third mounting bracket 2125.

[0360] In some examples of embodiments of this application, a slide rail 2114 is provided on the base 211 along the direction of the first inlet / outlet 2112a and the second inlet / outlet 2112b. The slider 2124 of the moving mechanism 212 is disposed on the slide rail 2114 and moves along the slide rail 2114. The third mounting bracket 2125 of the moving mechanism 212 is disposed on the slider 2124. Thus, when the first driving member 2113a drives the moving mechanism 212 to move, the slider 2124 can slide on the slide rail 2114, which can reduce the friction between the moving mechanism 212 and the base 211, improve the smoothness of the movement of the moving mechanism 212, and thus improve the stability and safety of the transfer of the target item.

[0361] In some examples, refer to Figure 6 As shown, a conveying mechanism 2115 may be provided on the base 211. The conveying mechanism 2115 may extend along the direction of the first inlet / outlet 2112a and the second inlet / outlet 2112b.

[0362] In some examples, the conveying mechanism 2115 may include multiple conveying rollers. The multiple conveying rollers may be arranged along the direction of the first inlet / outlet 2112a and the second inlet / outlet 2112b.

[0363] In some examples, the conveying mechanism 2115 may include a conveyor belt.

[0364] In some examples, the conveying mechanism 2115 may include multiple rollers. The multiple rollers may be arranged side by side along a first direction.

[0365] In some examples, when the picking component 213 carries the target item from the inlet / outlet 2112 (which can be either the first inlet / outlet 2112a or the second inlet / outlet 2112b) into the carrying area 2111 and moves it to a preset position, the second driving component 2122 can drive the picking component 213 to... Figure 6 The object is rotated in the opposite direction indicated by the middle arrow a, thereby disengaging the picking component 213 from the force-bearing structure. Then, the conveying mechanism 2115 can continue to move the target item towards the carrying area 2111. In this way, the moving mechanism 212 can be moved from the second inlet / outlet 2112b to outside the base 211 to ensure that the target item is fully inserted into the carrying area 2111. This reduces the volume of the base 211, reduces the space required by the picking and placing device 20, and increases the storage density of the storage system.

[0366] In some examples, when it is necessary to transfer a target item from the carrying area 2111 to a storage location, the conveyor mechanism 2115 can move the target item from the carrying area 2111 towards the inlet / outlet 2112 to a preset position. Once the target item reaches the preset position, the second drive member 2122 can drive the picking component 213 towards... Figure 6 The object-grabbing component 213 rotates in the direction indicated by the middle arrow a to engage with the force-receiving structure. After the object-grabbing component 213 engages with the force-receiving structure, the moving mechanism 212 moves toward the inlet / outlet 2112, thereby pushing the target item further toward the inlet / outlet 2112. In this way, the object-grabbing component 213 can push the target item from the inlet / outlet 2112 into the storage location.

[0367] In some examples, when it is necessary to transfer a target item from the carrying area 2111 to the storage location, the picking component 213 can engage with the side of the force-bearing structure closest to the moving mechanism. The picking component 213 applies a force toward the storage location to the force-bearing structure, thereby pushing the target item from the carrying area 2111 toward the storage location. That is, the picking component 213 can engage with different sides of the force-bearing structure for retrieving the target item from the storage location and for placing the target item in the storage location.

[0368] It is understandable that in some examples, when the retrieval component 213 is a hook, the force-bearing structure can be a slot located on the end face of the target item. When it is necessary to retrieve the target item from the storage location, the hook 2131 can be inserted into the slot and contact the inner wall of the slot, applying a force towards the bearing area 2111. When it is necessary to transfer the target item from the bearing area 2111 to the storage location, the hook 2131 can be located outside the slot. Of course, the hook can also be inserted into the slot.

[0369] In some examples of embodiments of this application, by providing a conveying mechanism 2115 on the base 211, when the target item enters the carrying area 2111 from the inlet / outlet 2112 and moves to a preset position, the second driving member 2122 drives the picking member 213 to disengage from the force-bearing structure; or, when the conveying mechanism 2115 moves the target item from the carrying area 2111 to the inlet / outlet 2112 to a preset position, the second driving member 2122 can drive the picking member 213 to engage with the force-bearing structure; thus, without moving the moving mechanism 212 from the second inlet / outlet 2112b to outside the base 211, it is ensured that the target item completely enters the carrying area 2111, which can reduce the volume of the base 211, reduce the space required by the picking and placing device 20, and improve the storage density of the warehousing system.

[0370] In some examples, after the retrieval component 213 removes the target item from the carrier 10, the target item can be moved to the carrying area 2111 via the first inlet / outlet 2112a under the action of the conveying mechanism 2115. The retrieval component 213 can rotate to a clearance state, and the conveying mechanism 2115 can continue to move the target item toward the second inlet / outlet 2112b toward the adjacent carrier 10 or the buffer position. When the target item moves toward the second inlet / outlet 2112b to a preset position, the retrieval component 213 rotates to a docking state, pushing the target item toward the adjacent carrier 10 or the buffer position to continue moving.

[0371] It is understood that in some examples of the embodiments of this application, the process of the retrieval component 213 transferring the target item from the adjacent vehicle 10 or the buffer position to the vehicle 10 may be the same as, similar to or similar to the process of the retrieval component 213 transferring the target item from the vehicle 10 to the adjacent vehicle 10 or the buffer position. For details, please refer to the detailed description of the foregoing embodiments of this application. The embodiments of this application will not repeat the details here.

[0372] In some examples, refer to Figure 6 As shown, the conveying mechanism 2115 may include two. The two conveying mechanisms 2115 may be along a second direction (e.g., Figure 6 Arranged at intervals (in the direction shown by the y-axis).

[0373] In some examples, the slide rail 2114 and the moving mechanism 212 may be located between two conveying mechanisms 2115.

[0374] In some examples, the two conveying mechanisms 2115 can be arranged symmetrically with respect to the slide rail 2114.

[0375] In some examples of embodiments of this application, two conveying mechanisms 2115 are provided, with a slide rail 2114 and a moving mechanism 212 located between the two conveying mechanisms 2115. Thus, when the target item moves in the carrying area 2111, it can be supported by the two conveying mechanisms 2115, increasing the support area for the target item and improving the stability of its movement.

[0376] In some examples, refer to Figure 6 As shown, a second sensor 2116 may be provided on the base 211. The second sensor 2116 may be configured to detect the position of the target item in the bearing area 2111, thereby determining whether the target item has reached the preset position.

[0377] In some examples, the second sensor 2116 may be a magnetic sensor. For example, the second sensor 2116 may be a Hall sensor.

[0378] In some examples, the bottom of the target item may be equipped with a magnetic component. When the target item moves from the inlet / outlet 2112 to the carrying area 2111 and moves to a preset position, the second sensor 2116 can detect the change in the magnetic field of the magnetic component, thereby determining that the target item has moved to the preset position.

[0379] In some examples, the second sensor 2116 may be a contact sensor. When the target item moves from the inlet / outlet 2112 to the carrying area 2111 and moves to a preset position, the bottom of the target item may come into contact with the second sensor 2116, thereby determining that the target item has moved to the preset position.

[0380] In some examples of embodiments of this application, by setting a second sensor 2116 on the base 211, the second sensor 2116 detects the position of the target item in the bearing area 2111. In this way, the position of the target item in the bearing area 2111 can be accurately determined, which facilitates the control of the picking component 213 to accurately cooperate with the force-bearing structure of the target item, or to promptly release the cooperation between the picking component 213 and the force-bearing structure.

[0381] In some examples, the second sensor 2116 may include the first through-beam sensor.

[0382] In some examples, the first signal transmitter 2116a of the first through-beam sensor may be located on one side of the support area 2111. The first signal transmitter 2116a may be located outside the support area 2111.

[0383] In some examples, the first signal receiver 2116b of the first through-beam sensor may be located on the other side of the bearing area 2111. The first signal receiver 2116b may be disposed opposite to the first signal transmitter 2116a. The first signal receiver 2116b can receive signals emitted by the first signal transmitter 2116a.

[0384] In some examples, the first through-beam sensor can be a photogate.

[0385] In some examples, the first through-beam sensor may include an infrared through-beam sensor.

[0386] In some examples, the signal transmission path of the first through-beam sensor (i.e., the path through which the first signal transmitter 2116a transmits a signal to the first signal receiver 2116b) may intersect with the direction of movement of the target item in the carrying area 2111.

[0387] In some examples, the target item can move from the inlet / outlet 2112 to the carrying area 2111. For example, it could be retrieved from a storage location. When the target item moves to the carrying area 2111 and is between the first signal transmitter 2116a and the first signal receiver 2116b, the target item blocks the signal emitted by the first signal transmitter 2116a, preventing the first signal receiver 2116b from receiving the signal. In this case, it can be determined whether the target item has reached the preset position based on whether the first signal receiver 2116b receives the signal.

[0388] In some examples, the target item can move from the carrying area 2111 to the inlet / outlet 2112. For example, the target item can be placed on the storage location from the carrying area 2111. When the target item moves towards the inlet / outlet 2112 and passes between the first signal transmitter 2116a and the first signal receiver 2116b, the target item no longer obstructs the signal emitted by the first signal transmitter 2116a, allowing the first signal receiver 2116b to receive the signal emitted by the first signal transmitter 2116a. At this time, it can be determined whether the target item has reached the preset position based on whether the first signal receiver 2116b receives the signal.

[0389] In some examples of embodiments of this application, a first signal transmitter 2116a of a first through-beam sensor is provided on one side of the bearing area 2111, and a first signal receiver 2116b of the first through-beam sensor is provided on the other side of the bearing area 2111. Thus, whether the target object obstructs the signal can be determined by whether the first signal receiver 2116b receives the signal emitted by the first signal transmitter 2116a, thereby accurately determining the position of the target object in the bearing area 2111, facilitating accurate engagement or disengagement of the object-receiving component 213 with the force-bearing structure of the target object.

[0390] In some examples, the second sensor 2116 may be located in the middle of the carrying area 2111 along the direction of the first inlet / outlet 2112a and the second inlet / outlet 2112b. In this way, when the target item is taken out from the storage location, after the target item moves to the preset position, the center of gravity of the target item may be located in the carrying area 2111, which facilitates the conveying mechanism 2115 to convey the target item.

[0391] In some examples, refer to Figure 6 As shown, a third sensor 2117 may be provided on the base 211. The third sensor 2117 may be located at the inlet / outlet 2112. The third sensor 2117 may be configured to detect whether a target item is present at the inlet / outlet 2112.

[0392] In some examples, the third sensor 2117 can be a magnetic sensor. For example, the third sensor 2117 can be a Hall sensor. A magnetic element can be placed on the bottom of the target item. The Hall sensor can determine whether the target item is present at the inlet / outlet 2112 by sensing the magnetic field of the magnetic element.

[0393] In some examples, the third sensor 2117 can be a contact sensor. When the target item moves to the inlet / outlet 2112, the third sensor 2117 can come into contact with the target item to determine whether the target item is present at the inlet / outlet 2112.

[0394] In some examples, when a target item is present at the inlet / outlet 2112, the retrieval component 213 can disengage from the force-bearing structure based on a preset position determined by the second sensor 2116. For example, when retrieving a target item from a storage location, the target item moves from the storage location to the carrying area 2111. The third sensor 2117 of the inlet / outlet 2112 first detects the presence of the target item. As the target item continues to move, when the second sensor 2116 determines that the target item has moved to the preset position, since the target item has not yet fully entered the carrying area 2111, the third sensor 2117 can still detect the presence of the target item at the inlet / outlet 2112. In other words, in some examples of the embodiments of this application, the third sensor 2117 and the second sensor 2116 can jointly determine whether the target item has moved to the preset position.

[0395] In some examples, when a target item is present at the inlet / outlet 2112, the retrieval component 213 can cooperate with the force-bearing structure based on the preset position determined by the second sensor 2116. For example, during the process of moving the target item from the carrying area 2111 to the storage location, as the target item moves to the inlet / outlet 2112, the third detection sensor can detect the presence of the target item at the inlet / outlet 2112, locking the target item in place and continuing to move. When the second sensor 2116 determines that the target item has moved to the preset position, since the target item has not completely left the carrying area 2111, the third sensor 2117 can still detect the presence of the target item at the inlet / outlet 2112. That is to say, in some examples of the embodiments of this application, the third sensor 2117 and the second sensor 2116 can jointly determine whether the target item has moved to the preset position.

[0396] In some examples of embodiments of this application, a third sensor 2117 is provided on the base 211, and the third sensor 2117 is located at the inlet / outlet 2112. Thus, the third sensor 2117 can detect whether a target item exists at the inlet / outlet 2112. By using the third sensor 2117 and the second sensor 2116 together to determine whether the target item has moved to a preset position, the accuracy of target item position detection is improved, and the efficiency of target item transfer is increased.

[0397] In some examples, the third sensor 2117 may include a second through-beam sensor. A second signal transmitter 2117a of the second through-beam sensor is located on one side of the carrier area 2111. A second signal receiver 2117b of the second through-beam sensor may be located on the other side of the carrier area 2111. The second signal receiver 2117b and the second signal transmitter 2117a may be arranged opposite to each other.

[0398] In some examples, the signal transmission path of the second through-beam sensor may intersect with the direction of movement of the target item at the inlet / outlet 2112.

[0399] In some examples, the type of the second through-beam sensor may be the same as, similar to or similar to the type of the first through-beam sensor. For details, please refer to the detailed description of the first through-beam sensor in the foregoing embodiments of this application. The embodiments of this application will not repeat the details here.

[0400] In some examples, the working principle of the second through-beam sensor may be the same as, similar to or similar to that of the first through-beam sensor. For details, please refer to the detailed description of the first through-beam sensor in the foregoing embodiments of this application. The embodiments of this application will not repeat the details here.

[0401] In some examples of embodiments of this application, by setting a second through-beam sensor at the inlet / outlet 2112 to detect whether a target item exists at the inlet / outlet 2112, the accuracy of detecting whether a target item exists at the inlet / outlet 2112 can be improved.

[0402] In some examples, the second sensor 2116 may include two. One of the two second sensors 2116 may be located at the first inlet / outlet 2112a. The other of the two second sensors 2116 may be located at the second inlet / outlet 2112b.

[0403] In some examples, refer to Figure 6 As shown, the moving mechanism 212 may be provided with a limiting member 2126. The limiting member 2126 may be located on the rotation path of the second mounting bracket 2121 rotating about the second rotation axis i2. The limiting member 2126 may be configured to limit the rotation angle of the second mounting bracket 2121 relative to the moving mechanism 212, so as to position the picking member 213 toward the first inlet / outlet 2112a, or to position the picking member 213 toward the second inlet / outlet 2112b.

[0404] In some examples, refer to Figure 6 As shown, the second mounting bracket 2121 rotates around the second rotation axis i2. Figure 6 When the object-retrieving component 213 is rotated in the direction indicated by the middle arrow b to face the first inlet / outlet 2112a, the side wall of the second mounting bracket 2121 abuts against the side wall of the limiting member 2126, and the second mounting bracket 2121 cannot continue to rotate in the second direction.

[0405] In some examples, the second mounting bracket 2121 is oriented about the second rotation axis i2. Figure 6 When the object-retrieving component 213 is rotated in the opposite direction of the middle arrow b to face the second inlet / outlet 2112b, the side wall of the second mounting bracket 2121 is flush with the side wall of the limiting member 2126, and the second mounting bracket 2121 cannot continue to rotate.

[0406] In some examples of embodiments of this application, by providing a limiting member 2126 on the moving mechanism 212, the limiting member 2126 is disposed on the rotation path of the second mounting bracket 2121 rotating around the second rotation axis i2. Thus, when the second mounting bracket 2121 rotates, the limiting member 2126 can abut against the side wall of the second mounting bracket 2121, thereby limiting the rotation angle of the second mounting bracket 2121. This allows the picking component 213 to accurately face either the first inlet / outlet 2112a or the second inlet / outlet 2112b, facilitating accurate matching between the picking component 213 and the force-bearing structure of the target item, thereby improving the transfer efficiency of the target item.

[0407] In some examples, refer to Figure 6 As shown, a fourth sensor 2118 may be provided on the base 211. The fourth sensor 2118 may be located at the inlet / outlet 2112. The fourth sensor 2118 may be configured to detect whether a target item is present on the vehicle 10.

[0408] In some examples, the fourth sensor 2118 may include a lidar, ultrasonic radar, millimeter-wave radar, or infrared sensor. The fourth sensor 2118 can determine whether a target object is on the vehicle 10 based on the signal reflected by the target object.

[0409] In some examples, there may be two fourth sensors 2118. One fourth sensor 2118 may be located at the first inlet / outlet 2112a, and the other fourth sensor 2118 may be located at the second inlet / outlet 2112b.

[0410] In some examples of embodiments of this application, by setting a fourth sensor 2118 at the inlet / outlet 2112, and the first sensor 214 detecting whether there is a target item on the carrier 10, it is possible to quickly determine whether there is a target item in the cargo location, so as to adjust the position of the pick-up and put-down device 20 in a timely manner and improve the transfer efficiency of the target item.

[0411] In some examples, refer to Figure 6 and Figure 7 As shown, a fifth sensor 2119 may be provided on the base 211. The fifth sensor 2119 may be configured to detect a positioning mark on the carrier 10 to locate the moving position of the base 211 along the carrier 10.

[0412] In some examples, the fifth sensor 2119 can be a magnetic sensor, such as a Hall sensor, and the positioning mark can be a magnetic component. The positioning mark can be located on the crossbeam of the carrier 10.

[0413] In some examples, the fifth sensor 2119 can be a QR code camera, and the location identifier can be a QR code.

[0414] In some examples, the fifth sensor 2119 can be a barcode camera, and the positioning identifier can be a barcode or a printed mark.

[0415] In some examples, the fifth sensor 2119 can be a through-beam sensor, and the positioning marker can be a baffle.

[0416] In some examples, the positioning marker can be a hole. The hole can be at least one of a round hole, a square hole, a polygonal hole, or an irregularly shaped hole.

[0417] In some examples, as the pick-and-place device 20 moves laterally relative to the carrier 10, the fifth sensor can identify positioning marks on the carrier 10 to determine the position of the pick-and-place device 20. This facilitates the accurate movement of the pick-and-place device 20 to the column where the target cargo location is located.

[0418] In some examples, as the pick-and-place mechanism 210 moves longitudinally relative to the carrier 10, the fifth sensor can identify positioning markers on the carrier 10 to determine the longitudinal position of the pick-and-place mechanism 210. This facilitates the accurate movement of the pick-and-place mechanism 210 to the storage layer where the target cargo location is located.

[0419] In some examples of embodiments of this application, by setting a fifth sensor 2119 on the base 211, the fifth sensor 2119 can detect the positioning mark on the carrier 10, thereby positioning the moving position of the base 211 along the carrier 10. This facilitates the accurate docking of the inlet / outlet 2112 with the target cargo location and facilitates the transfer of the target items between the carrying area 2111 and the cargo location.

[0420] In some examples, there may be two fifth sensors 2119, one of which may be located at the first inlet / outlet 2112a and the other may be located at the second inlet / outlet 2112b.

[0421] In some embodiments, a fifth sensor 2119 may be provided. The fifth sensor 2119 may be oriented toward one of two adjacent vehicles 10. The two adjacent vehicles 10 may be aligned, so that the fifth sensor 2119 can determine whether it is aligned with the cargo position of the adjacent vehicle 10 by recognizing the positioning mark on one of the vehicles 10.

[0422] In some examples, the pick-and-place device 20 can determine the target storage location based on the item transfer instruction. The pick-and-place device 20 can move laterally along the carrier 10 based on the item transfer instruction. The pick-and-place device 210 can move longitudinally along the carrier 10 based on the item transfer instruction.

[0423] In some examples, after the fifth sensor 2119 identifies the positioning mark corresponding to the target location, the pick-and-place device 210 can adjust its position relative to the carrier 10 along the lateral side of the carrier 10 according to the identification of the positioning mark by the fifth sensor 2119, so that the pick-and-place device 210 is directly facing the column where the target location is located.

[0424] In some examples, after the fifth sensor 2119 identifies the positioning mark corresponding to the target cargo location, the pick-up and place mechanism 210 can adjust its position along the longitudinal direction of the carrier 10 according to the identification of the positioning mark by the fifth sensor, so that the pick-up and place mechanism 210 is directly facing the target cargo location.

[0425] It is understood that in some examples of the embodiments of this application, fine-tuning may refer to adjusting the position of the pick-and-place mechanism 210 and the pick-and-place device 20 within a small range of movement. For example, the pick-and-place device 20 may move laterally without exceeding the current column, and the pick-and-place mechanism 210 may move longitudinally without exceeding the current reservoir.

[0426] In some examples, the fifth sensor 2119 identifies the positioning marker by recognizing its position relative to its center point. For example, laterally, this could be slightly to the left or right. If it's slightly to the left, the pick-and-place device 20 can move to the left, bringing the positioning marker closer to the center point of the sensor. If it's slightly to the right, the pick-and-place device 20 can move to the right. Alternatively, longitudinally, it could be slightly to the top or bottom. If it's slightly to the top, the pick-and-place mechanism 210 can move upwards; if it's slightly to the bottom, the pick-and-place mechanism 210 can move downwards. This ensures that the pick-and-place mechanism 210 is aligned with the target location, facilitating the transfer of the target item.

[0427] Figure 8 This is a flowchart of one implementation of the article transfer method provided in some embodiments of this application.

[0428] Reference Figure 8 As shown, in some examples of embodiments of this application, a method for transferring goods is provided. This method can be applied to the warehousing system provided in the foregoing embodiments of this application. The method may include the following steps:

[0429] s801, the pick-up and drop device 20 moves laterally along the vehicle 10 according to the item transfer command.

[0430] In some examples, the pick-and-place device 20 can move laterally along the carrier 10 according to the target item transfer task instruction issued by the dispatch center of the warehousing system. The lateral movement of the pick-and-place device 20 can be driven by the third drive component 220, as described in the foregoing embodiments of this application.

[0431] In some examples, the pick-and-place device 20 can move laterally according to the target storage location 110 where the target item is located, as indicated in the target item transfer task instruction.

[0432] s802, the pick-up and place mechanism 210 moves longitudinally along the carrier 10 according to the item transfer instruction until the pick-up and place mechanism 210 moves to the target storage location 110, so as to transfer the target item between the pick-up and place mechanism 210 and the target storage location 110.

[0433] In some examples, the pick-and-place mechanism 210 can move longitudinally relative to the carrier 10 after the pick-and-place device 20 has moved laterally to the column where the target storage location 110 is located. The longitudinal movement of the pick-and-place mechanism 210 can be driven by the first drive assembly 2113 described in detail in the foregoing embodiments of this application.

[0434] In some examples, the pick-and-place mechanism 210 can move longitudinally relative to the carrier 10 while the pick-and-place device 20 moves laterally.

[0435] In some examples, after the pick-and-place mechanism 210 moves to the target storage location 110, it can transfer the target item between the pick-and-place mechanism 210 and the target storage location 110. For example, the pick-and-place mechanism 210 can remove the target item from the target storage location 110. Alternatively, the pick-and-place mechanism 210 can place the target item on the target storage location 110.

[0436] s803, when the first walking path passes through the preset gap 301, the transfer robot 40 passes through the preset gap 301 and transfers the target item between the transfer robot 40 and the pick-and-place device 20.

[0437] It is understood that in some examples of the embodiments of this application, the movement of the transfer robot 40 and the movement of the pick-and-place device 20 can be performed simultaneously. In some examples, the transfer robot 40 can move before the pick-and-place device 20. In some examples, the transfer robot 40 can move after the pick-and-place device 20 and the pick-and-place mechanism 210 have moved into place. The embodiments of this application do not limit the order in which the transfer robot 40 moves and the pick-and-place device 20 moves.

[0438] In some examples, the transfer robot 40 can pass through the preset gap 301 and reach the bottom of the carrier 10. Thus, at the bottom of the carrier 10, the transfer robot 40 can transfer the target item between itself and the pick-and-place device 20. For example, the transfer robot 40 can transfer the target item to the pick-and-place mechanism 210. Alternatively, the pick-and-place mechanism 210 can transfer the target item to the transfer robot 40, which then transfers the target item to another location in the storage system.

[0439] In some examples, the bottom of the vehicle 10 may have a buffer position 120. The pick-and-place mechanism 210 can transfer target items between itself and the buffer position 120. That is, the pick-and-place mechanism 210 can place the target item on the buffer position 120, and the transfer robot 40 can transfer the target item from the buffer position 120 to another location in the storage system. Alternatively, the transfer robot 40 can transfer the target item from another location in the storage system to the buffer position 120, and after the pick-and-place mechanism 210 retrieves the target item from the buffer position 120, it is transferred to the target storage location 110.

[0440] It is understood that the method embodiments of this application have the same or corresponding technical features as the aforementioned device embodiments of this application. Therefore, the method embodiments of this application and the aforementioned device embodiments may have the same or similar technical effects. For details, please refer to the detailed description of the aforementioned device embodiments of this application. This application will not repeat the details.

[0441] Figure 9 This is another implementation flowchart of the article transfer method provided in some embodiments of this application.

[0442] In some examples, refer to Figure 9 As shown, the article transfer method provided in this application embodiment may include the following steps:

[0443] S901, the pick-up and drop device 20 moves laterally along the vehicle 10 according to the item transfer command.

[0444] s902, when the pick-up and place mechanism 210 moves longitudinally along the carrier 10 according to the item transfer instruction, and the pick-up and place mechanism 210 moves to the target storage location 110, the moving mechanism 212 drives the pick-up component 213 to move toward the target storage location 110.

[0445] In some examples, the carrier 10 may be equipped with a positioning mark. When the pick-up and drop-off mechanism 210 moves longitudinally, the fifth sensor 2119 can detect the positioning mark on the carrier 10.

[0446] In some examples, when the fifth sensor 2119 detects the location marker where the target storage location 110 is located, it can be determined that the pick-and-place mechanism 210 has moved to the target storage location 110.

[0447] In some examples, when the pick-and-place mechanism 210 moves longitudinally to the target location 110, the vehicle 10 where the target location 110 is located is determined.

[0448] In some examples, the vehicle 10 where the target storage location 110 is located can be the vehicle 10 where the pick-and-place device 20 is located.

[0449] In some examples, the vehicle 10 where the target location 110 is located may be an adjacent vehicle 10 to the vehicle 10 where the pick-and-place device 20 is located. The pick-and-place device 20 is located in the aisle between the two vehicles 10.

[0450] In some examples, based on the carrier 10 where the target storage location 110 is located, the second mounting bracket 2121 rotates about the second rotation axis i2 relative to the moving mechanism 212, so that the picking component 213 and the first sensor 214 rotate to one of the first inlet / outlet 2112a and the second inlet / outlet 2112b2 that docks with the target storage location 110.

[0451] In some examples, when the target location 110 is located on the carrier 10 where the pick-and-place device 20 is located, the second mounting bracket 2121 can be rotated toward the first inlet / outlet 2112a under the drive of the second drive member 2122.

[0452] In some examples, when the target storage location 110 is located in an adjacent vehicle 10, the second mounting bracket 2121 can be rotated toward the second inlet / outlet 2112b under the drive of the second drive member 2122.

[0453] In some examples, the fourth sensor 2118 can detect whether a target item is present in the target storage location 110. For example, if the fifth sensor 2119 determines that the pick-and-place mechanism 210 has moved to the target storage location 110, the presence of a target item in the target storage location 110 can be confirmed based on the fourth sensor 2118.

[0454] In some examples, if the target item is not present in the target storage location 110, it can be determined that the target item in the target storage location 110 may have been moved by human intervention. In this case, it is not necessary to move the moving mechanism 212 to the target storage location 110 to transfer the target item.

[0455] In some examples, the moving mechanism 212 can drive the picking component 213 and the first sensor 214 to move synchronously toward the target storage location 110.

[0456] In some examples, if the fourth sensor 2118 determines that the target item exists in the target storage location 110, the item transfer method may include:

[0457] S903, when the first sensor 214 detects that the distance between the first rotation axis i1 and the target item is a first preset distance, the picking component 213 rotates relative to the moving mechanism 212 around the second rotation axis to cooperate with the force-bearing structure on the target item.

[0458] In some examples of embodiments of this application, the detection method of the first sensor 214 and the rotation method of the object-taking component 213 can be referred to the detailed description of the foregoing embodiments of this application, and will not be repeated here.

[0459] S904, the moving mechanism 212 moves away from the inlet / outlet 2112 to drive the target item through the inlet / outlet 2112 toward the carrying area 2111.

[0460] In some examples, after the picking component 213 engages with the force-bearing structure, the moving mechanism 212 can move in the opposite direction. That is, the moving mechanism 212 moves away from the inlet / outlet 2112, thereby moving the target item. The target item can then enter the carrying area 2111 from the inlet / outlet 2112.

[0461] s905, when the second sensor 2116 detects that the target item has reached the preset position, the picking component 213 rotates relative to the moving mechanism 212 around the first rotation axis i1 to release the picking component 213 from the force-bearing structure.

[0462] In some examples, the disengagement of the object-retrieving component 213 from the force-bearing structure can be described in detail in the foregoing embodiments of this application, and will not be repeated in the embodiments of this application.

[0463] In some examples, when the second sensor 2116 detects that the target item has reached the preset position and the third sensor 2117 detects that the target item is present in the inlet / outlet 2112, the picking component 213 rotates relative to the moving mechanism 212 in the first direction to detect the cooperation between the picking component 213 and the force-bearing structure.

[0464] s906, the conveyor mechanism 2115 moves the target item from the preset position toward the carrying area 2111 until the target item is completely inside the carrying area 2111.

[0465] In some examples, the conveyor 2115 moves the target item toward the carrying area 2111 until the third sensor 2117 detects that the target item is not present at the inlet / outlet 2112.

[0466] In this way, the target item can be transferred from storage location 110 to carrying area 2111.

[0467] Figure 10 This is another implementation flowchart of the article transfer method provided in some embodiments of this application. In some examples, refer to... Figure 10 As shown, the pick-and-place mechanism 210 can place the target item on the target storage location 110, and the item transfer method may include:

[0468] s1001, the pick-up and drop-off device 20 moves laterally along the vehicle 10 according to the item transfer command.

[0469] s1002, when the pick-up and place mechanism 210 moves longitudinally along the carrier 10 according to the item transfer instruction, and the pick-up and place mechanism 210 moves to the target storage location 110, the conveying mechanism 2115 drives the target item from the carrying area 2111 toward the target storage location 110.

[0470] s1003, when the third sensor 2117 detects that there is a target item at the inlet / outlet 2112 and the second detection sensor detects that the target item has reached the preset position, the picking component 213 rotates relative to the moving mechanism 212 around the first rotation axis i1 to cooperate with the force-bearing structure.

[0471] s1004, the moving mechanism 212 moves toward the target storage location 110, so as to drive the picking component 213 to push the target item toward the target storage location 110 until the third detection sensor detects that the target item does not exist at the inlet / outlet 2112.

[0472] The embodiments described above are merely specific embodiments of this application and are not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made based on the technical solution of this application should be included within the scope of protection of this application.

Claims

1. A pick-and-place device, characterized in that, include: The base (211) has a carrying area (2111) having an inlet (2112) configured to allow a target item to enter or exit the carrying area (2111). A moving mechanism (212) is provided on the base (211); The object-grabbing component (213) is disposed on the moving mechanism (212). The object-grabbing component (213) moves relative to the base (211) along a first direction under the drive of the moving mechanism (212) to dock with the target item. The object-grabbing component (213) can rotate relative to the moving mechanism (212) at least around a first rotation axis. A first sensor (214) is configured to detect the distance between the moving mechanism (212) and the target object; When the first sensor (214) detects that the distance between the first rotation axis and the target item is a first preset distance, the object-grabbing component (213) rotates relative to the moving mechanism (212) around the first rotation axis. The system can switch between a docking state with the target object and a avoidance state with the target object. In the docking state, the object-taking component (213) engages with or disengages from the force-bearing structure of the target item; In the avoidance state, the object retrieval component (213) avoids the space where the target object is located.

2. The pick-and-place device according to claim 1, characterized in that, The base (211) is provided with a first drive assembly (2113), which is connected to the moving mechanism (212) in a transmission manner. The first drive assembly (2113) is configured to drive the moving mechanism (212) to move relative to the base (211) along the first direction.

3. The pick-and-place device according to claim 2, characterized in that, The first driving component (2113) includes: First drive unit (2113a); The transmission member (2113b) extends along the first direction and is connected to the moving mechanism (212). The first driving member (2113a) cooperates with the transmission member (2113b) to drive the moving mechanism (212) to move.

4. The pick-and-place device according to claim 3, characterized in that, The first driving member (2113a) is disposed on the base (211); the transmission member (2113b) includes: A lead screw is disposed on the base (211) along the first direction, and the lead screw is connected to the first driving member (2113a) in a transmission connection. A lead screw nut is sleeved on the outer periphery of the lead screw and is connected to the moving mechanism (212). When the first driving member (2113a) drives the lead screw to rotate, the lead screw nut drives the moving mechanism (212) to move along the first direction.

5. The pick-and-place device according to claim 3, characterized in that, The first driving member (2113a) is disposed on the base (211); the transmission member (2113b) includes: A transmission gear, which is connected to the first driving member (2113a) in a transmission manner; A transmission belt is wound around the transmission gear and arranged along the first direction. The transmission belt is connected to the moving mechanism (212). The first driving member (2113a) drives the transmission belt through the transmission gear to drive the moving mechanism (212) to move along the first direction.

6. The pick-and-place device according to claim 3, characterized in that, The first driving member (2113a) is disposed on the moving mechanism (212); the transmission member (2113b) includes: A transmission component is disposed on the base (211) along the first direction. The meshing gear meshes with the transmission member, and the meshing gear is connected to the first driving member (2113a) in a transmission connection; the first driving member (2113a) drives the meshing gear to rotate, and the meshing gear moves along the transmission member to drive the moving mechanism (212) to move in the first direction.

7. The pick-and-place device according to claim 3, characterized in that, The base (211) is provided with a slide rail (2114), which extends along the first direction; the moving mechanism (212) includes: The slider (2124) is slidably disposed on the slide rail (2114). The third mounting bracket (2125) is disposed on the slider (2124), and the first driving member (2113a) is disposed on the third mounting bracket (2125).

8. The pick-and-place device according to claim 1, characterized in that, The base (211) is provided with a conveying mechanism (2115), which extends along the first direction; When the picking component (213) carries the target item from the inlet / outlet (2112) into the carrying area (2111) and moves it to a preset position, the picking component (213) disengages from the target item; the conveying mechanism (2115) carries the target item to continue moving towards the carrying area (2111); or, When the conveying mechanism (2115) moves the target item from the carrying area (2111) to the inlet / outlet (2112) to a preset position, the picking component (213) cooperates with the target item and pushes the target item to continue moving towards the inlet / outlet (2112).

9. The pick-and-place device according to claim 8, characterized in that, The conveying mechanism (2115) includes two, which are arranged at intervals along a second direction, which intersects with the first direction.

10. The pick-and-place device according to claim 8, characterized in that, The base (211) is provided with a second sensor (2116), which is configured to detect the position of the target item in the bearing area (2111) to determine whether the target item has reached the preset position.

11. The pick-and-place device according to claim 10, characterized in that, The second sensor (2116) includes a first through-beam sensor; the first signal transmitter (2116a) of the first through-beam sensor is disposed on one side of the bearing area (2111), and the first signal receiver (2116b) of the first through-beam sensor is disposed on the other side of the bearing area (2111). The signal transmission path of the first through-beam sensor intersects with the movement direction of the target item in the bearing area (2111). When the target item moves from the inlet / outlet (2112) to the bearing area (2111), and the first signal receiver (2116b) does not receive the signal emitted by the first signal transmitter (2116a), it is determined that the target item has moved to a preset position, and the picking component (213) disengages from the force-bearing structure. When the target item moves from the bearing area (2111) to the inlet / outlet (2112) and the first signal receiver (2116b) receives the signal emitted by the first signal transmitter (2116a), it is determined that the target item has moved to a preset position, and the picking component (213) cooperates with the force-bearing structure.

12. The pick-and-place device according to claim 10, characterized in that, Along the first direction, the second sensor (2116) is located in the middle of the bearing area (2111).

13. The pick-and-place device according to claim 10, characterized in that, A third sensor (2117) is provided on the base (211), the third sensor (2117) is disposed at the inlet / outlet (2112), and the third sensor (2117) is configured to detect whether the target item exists at the inlet / outlet (2112); When the target item is present at the inlet / outlet (2112), the picking component (213) releases its engagement with the force-bearing structure according to the preset position determined by the second sensor (2116), or the picking component (213) engages with the force-bearing structure according to the preset position determined by the second sensor (2116).

14. The pick-and-place device according to claim 13, characterized in that, The third sensor (2117) includes a second through-beam sensor; the second signal transmitter (2117a) of the second through-beam sensor is located on one side of the bearing area (2111), and the second signal receiver (2117b) of the second through-beam sensor is located on the other side of the bearing area (2111); the signal transmission path of the second through-beam sensor intersects with the movement direction of the target item at the inlet / outlet (2112); If the second signal receiver (2117b) does not receive a signal from the second signal transmitter (2117a), it is determined that the target item exists at the import / export (2112).

15. The pick-and-place device according to any one of claims 1-13, characterized in that, The moving mechanism (212) is provided with a second mounting bracket (2121), which is rotatably mounted on the moving mechanism (212) around a second rotation axis. The object picking component (213) and the first sensor (214) are mounted on the second mounting bracket (2121). The direction of the second rotation axis is different from that of the first rotation axis.

16. The pick-and-place device according to claim 15, characterized in that, The inlet / outlet (2112) includes a first inlet / outlet (2112a) and a second inlet / outlet (2112b), wherein the first inlet / outlet (2112a) and the second inlet / outlet (2112b) are arranged opposite to each other along the first direction; The second mounting bracket (2121) rotates about the second rotation axis relative to the moving mechanism (212) to drive the picking component (213) and the first sensor (214) toward either the first inlet / outlet (2112a) or the second inlet / outlet (2112b).

17. The pick-and-place device according to claim 16, characterized in that, The second mounting bracket (2121) is provided with a second driving member (2122), which is connected to the object-retrieving component (213) in a transmission manner. The second driving member (2122) is configured to drive the object-retrieving component (213) to rotate relative to the moving mechanism (212) about the first rotation axis.

18. The pick-and-place device according to claim 16, characterized in that, The moving mechanism (212) is provided with a third driving member (2123), which is connected to the second mounting bracket (2121) in a transmission manner. The third driving member (2123) is configured to drive the second mounting bracket (2121) to rotate relative to the moving mechanism (212) around the second rotation axis, so as to drive the object picking component (213) to rotate relative to the moving mechanism (212).

19. The pick-and-place device according to claim 16, characterized in that, The moving mechanism (212) is provided with a limiting member (2126), which is disposed on the rotation path of the second mounting bracket (2121) about the second rotation axis; the limiting member (2126) is configured to limit the rotation angle of the second mounting bracket (2121) relative to the moving mechanism (212) to position the picking member (213) toward the first inlet / outlet (2112a) or to position the picking member (213) toward the second inlet / outlet (2112b).

20. The pick-and-place device according to any one of claims 1-13, characterized in that, The base (211) is provided with a fourth sensor (2118), which is located at the inlet / outlet (2112) and is configured to detect whether a target item is present on the vehicle.

21. The pick-and-place device according to any one of claims 1-13, characterized in that, The pick-and-place device further includes a column (230) and a pick-and-place mechanism (210). The column (230) is arranged in a vertical direction. The pick-and-place mechanism includes a base (211), which is movably mounted on the column (230). The base (211) can move relative to the column (230) along the extension direction of the column (230). The base (211) is also provided with a fifth sensor (2119), which is configured to detect the positioning mark on the carrier (10) to locate the position of the base (211) moving along the carrier (10).

22. The pick-and-place device according to claim 21, characterized in that, The pick-and-place device (20) is configured to adjust the position between the pick-and-place device (20) and the vehicle (10) laterally according to the identification of the positioning mark by the fifth sensor (2119); The pick-and-place mechanism (210) is configured to adjust the position between the pick-and-place mechanism (210) and the vehicle (10) along the longitudinal direction of the vehicle (10) based on the identification of the positioning mark by the fifth sensor (2119).

23. A warehousing system, characterized in that, include: The carrier (10) is located on the support platform of the storage system and has multiple storage locations along the height direction, wherein the storage locations are configured to store target items. ； The pick-and-place device (20) according to any one of claims 1-22, wherein the base (211) of the pick-and-place device (20) is movable along the height direction of the carrier (10) so that the bearing area (2111) of the base (211) is connected to any layer of the cargo position; the column (230) of the pick-and-place device (20) is provided on one side of the carrier (10), and the column (230) is movable along the lateral direction of the carrier (10); The support member (30) is located on one side of the carrier (10), and the first part of the pick-and-place device (20) is supported on the support member (30). There is a preset gap (301) between the support member (30) and the bottom of the pick-and-place device (20) and the support platform. A transfer robot (40) walks on the support platform and is configured to pass through the preset gap (301) to transfer the target item between the transfer robot (40) and the pick-and-place device (20).

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