Pick-and-place device, storage facility and storage system

Abstract

The embodiments of the present disclosure disclose a taking and placing device, a storage device and a storage system. The taking and placing device comprises: a taking and placing platform; and a taking and placing assembly, the taking and placing assembly has a first end and a second end opposite in a first direction, the first end of the taking and placing assembly is connected with the taking and placing platform, and the second end of the taking and placing assembly extends beyond the taking and placing platform. The taking and placing device of the embodiments of the present disclosure has the advantages of small volume, small space occupation, no occupation of the space of the workbench, reduction of the time for conveying target objects and the like.

Description

Technical Field

[0001] This disclosure relates to the field of warehousing and logistics technology, specifically to a pick-and-place device and warehousing equipment and warehousing system having the pick-and-place device. Background Technology

[0002] The pick-and-place device can transport target items from carrier equipment (such as shelves) to a workbench for sorting, and can also transport target items from the workbench to carrier equipment. In related technologies, the pick-and-place device is mounted in the middle of the carrier equipment, resulting in a large device size and occupying workbench space. Utility Model Content

[0003] This disclosure aims to address, at least to some extent, one of the technical problems in the related art. To this end, embodiments of this disclosure provide a pick-and-place device, storage equipment, and a storage system.

[0004] The pick-and-place device according to an embodiment of the present disclosure includes: a pick-and-place platform; and a pick-and-place component, the pick-and-place component having a first end and a second end opposite to each other in a first direction, the first end of the pick-and-place component being connected to the pick-and-place platform, and the second end of the pick-and-place component extending beyond the pick-and-place platform.

[0005] The pick-and-place device of this disclosure has the advantages of small size, small space occupation, no occupation of workbench space, and reduced time for transporting target objects.

[0006] Optionally, the pick-and-place assembly includes: a first support member having a first end and a second end opposite to each other in the first direction, the first end of the first support member being connected to the pick-and-place platform; and a second support member having a first end and a second end opposite to each other in the first direction, the first end of the second support member being connected to the pick-and-place platform, the first support member and the second support member being spaced apart along a second direction, the second direction forming a preset angle with the first direction.

[0007] Optionally, the first support member includes a first support beam, a first mounting portion, and a first connecting portion. The first support beam is connected to the first mounting portion through the first connecting portion. The first mounting portion is disposed on the pick-and-place platform, wherein the dimension of the first mounting portion in the first direction is smaller than the dimension of the first support beam in the first direction.

[0008] Optionally, the second support member includes a second support beam, a second mounting portion, and a second connecting portion. The second support beam is connected to the second mounting portion via the second connecting portion. The second mounting portion is disposed on the pick-and-place platform, wherein the dimension of the second mounting portion in the first direction is smaller than the dimension of the second support beam in the first direction.

[0009] Optionally, the pick-and-place assembly further includes a mounting base, which is disposed on the pick-and-place platform, and the first end of the first support member and the first end of the second support member are disposed on the mounting base.

[0010] Optionally, a receiving space is formed between the first support member and the second support member, the receiving space having an opening along the first direction, and the picking and placing assembly further includes a picking and placing member, wherein the picking and placing member and the opening are at least one, and the picking and placing member is configured to pick up a target object from a designated position or place a target object at the designated position through any one of the at least one opening, or the picking and placing member and the opening are multiple, and the multiple picking and placing members are configured to respectively pick up a target object from the designated position or place a target object at the designated position through the corresponding opening.

[0011] Optionally, the second end of the first support member is a free end so that the first support member constitutes a first cantilever, and the second end of the second support member is a free end so that the second support member constitutes a second cantilever.

[0012] Optionally, the pick-and-place device further includes a first support portion and a second support portion, the first support portion being connected to each of the first support member and the second support member, the second support portion being connected to each of the first support member and the second support member, the first support portion and the second support portion being spaced apart in the first direction, wherein a first conveying member of the pick-and-place device is supported on the first support portion and the second support portion, and a second conveying member of the pick-and-place device is supported on the first support portion and the second support portion.

[0013] Optionally, the pick-and-place platform includes a first guide portion, and the pick-and-place component includes a second guide portion. The second guide portion cooperates with the first guide portion to guide the movement of the pick-and-place component along a second direction, wherein the second direction forms a preset angle with the first direction.

[0014] Optionally, there are at least two first guide portions arranged at intervals along the first direction, and at least two second guide portions arranged corresponding to the first guide portions, with the spacing between adjacent first guide portions being greater than or equal to a first preset value.

[0015] Optionally, one of the first guide portion and the second guide portion has a mating groove, the size of the mating groove in the first direction is less than or equal to a second preset value, and the size of the first guide portion and the second guide portion in the first direction is greater than or equal to a third preset value.

[0016] The storage equipment of this disclosure includes: a carrying device; and a picking and placing device, wherein the picking and placing device is the picking and placing device described in this invention, and the picking and placing platform of the picking and placing device is movably disposed on the carrying device.

[0017] The warehousing equipment of this disclosure has the advantages of small size, small space occupation, short delivery time, and high efficiency.

[0018] The warehousing system of this disclosure includes: a carrier; and warehousing equipment, wherein the warehousing equipment is the warehousing equipment described in this disclosure embodiment, and the warehousing equipment is configured to drive a pick-and-place device to move relative to a carrier according to a handling instruction, so as to retrieve a target object from the carrier or transport a target object to the carrier.

[0019] The warehousing system of this disclosure has the advantages of small size, small space occupation, short delivery time, and high efficiency.

[0020] Optionally, the storage equipment is configured to drive the pick-and-place device to move relative to the carrier according to a handling instruction, so as to retrieve the target object from the carrier and transport the target object to a designated location, or retrieve the target object from the designated location and transport the target object to the carrier.

[0021] Optionally, the warehousing system further includes a management system, the warehousing equipment being communicatively connected to the management system, the management system being configured to send handling instructions to the warehousing equipment, and the warehousing equipment being configured to drive the picking and placing device to move according to the handling instructions.

[0022] Optionally, the carrier includes a shelf, and the storage equipment is configured to drive the pick-and-place device to move according to a handling instruction to retrieve a target object from the shelf or to move the retrieved target object to the shelf.

[0023] Optionally, the carrier includes a bin robot, and the storage equipment is configured to drive the pick-and-place device to move according to a handling instruction in order to retrieve a target object from the bin robot or to transport the retrieved target object to the bin robot.

[0024] Optionally, the carrier includes a first shelf and a second shelf, and the storage equipment is configured to drive the pick-and-place device to move according to a handling instruction to retrieve a target object located on at least one of the first shelf and the second shelf, or to move the retrieved target object to at least one of the first shelf and the second shelf, or to move a target object from one of the first shelf and the second shelf to the other of the first shelf and the second shelf.

[0025] Optionally, the carrier includes sorting equipment, and the storage equipment is configured to drive the pick-and-place device to move according to a handling instruction in order to retrieve a target item from the sorting equipment or to transport the retrieved target item to the sorting equipment.

[0026] Optionally, there are multiple carriers, and the storage equipment is configured to drive the pick-and-place device to move according to a handling instruction, so as to transport a target object located on at least one carrier to at least another carrier or a designated location, or to transport a target object located at a designated location to at least one carrier, wherein the multiple carriers include one or more of shelves, bin robots, seeding walls and sorting equipment.

[0027] Optionally, the warehousing system further includes a first warehousing device configured to transport the carrier to the working area of ​​the warehousing device, and the warehousing device configured to retrieve a target object from the carrier transported from the first warehousing device to the working area of ​​the warehousing device or place a target object onto the carrier transported from the first warehousing device to the working area of ​​the warehousing device; or, the warehousing device is configured to retrieve a target object from the carrier or place a target object onto the carrier, and the first warehousing device is configured to remove the carrier from the working area of ​​the warehousing device.

[0028] Optionally, the warehousing system further includes a multi-level platform and a first storage device. The multi-level platforms are spaced apart along the height direction, and each platform is provided with at least one of the carriers. The first storage device is configured to transport the target object or the carrier containing the target object to the working area of ​​the storage device. The storage device is configured to retrieve the target object and transport it to a designated location.

[0029] Optionally, the warehousing system further includes multi-level platforms and first storage equipment, the multi-level platforms being spaced apart along the height direction, each of the platforms being provided with at least one first storage equipment, and each of the platforms corresponding to at least one of the vehicles;

[0030] The storage equipment is configured to transport the target object to the platform of the corresponding layer and deliver it to the first storage equipment, the first storage equipment being configured to transport the target object obtained from the storage equipment to the vehicle on the platform of the corresponding layer; or, the first storage equipment is configured to transport the target object obtained from the storage equipment to the vehicle on the platform of the corresponding layer, the storage equipment being configured to transport the vehicle to a designated location.

[0031] Optionally, the warehousing system further includes: a workstation, a storage area, and storage equipment, wherein the storage area and the storage equipment are located at the workstation, and the storage equipment is configured to move a vehicle containing a target object to the work area of ​​the storage equipment and / or move a vehicle from the workstation to the storage area.

[0032] Optionally, the storage equipment is configured to drive the pick-and-place device to move along a second direction and / or along a third direction to the location of the target container on the vehicle, and to drive the pick-and-place device to move at least along a first direction to retrieve the target container from the vehicle and guide the target container into the receiving space of the pick-and-place device.

[0033] Optionally, the storage equipment is configured such that the receiving space of the pick-and-place device contains the target container, drives the pick-and-place device to move along a second direction and / or along a third direction to a designated placement position on the vehicle, and drives the pick-and-place device to move at least along a first direction to place the target container at the designated placement position on the vehicle.

[0034] Optionally, the storage equipment is configured such that the receiving space of the pick-and-place device contains the target container, drives the pick-and-place device to move along a second direction and / or along a third direction to a workstation on the workbench, and drives the pick-and-place device to move at least along a first direction to place the target container at the workstation on the workbench. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the structure of a storage facility according to an embodiment of the present disclosure;

[0036] Figure 2 This is a partial structural schematic diagram of the support device according to an embodiment of the present disclosure;

[0037] Figure 3 This is a partial structural schematic diagram of the support device according to an embodiment of the present disclosure;

[0038] Figure 4 This is a partial structural schematic diagram of the support device according to an embodiment of the present disclosure;

[0039] Figure 5This is a schematic diagram of the structure of the support member of the support device according to an embodiment of the present disclosure;

[0040] Figure 6 This is a partial structural schematic diagram of the support member of the support device according to an embodiment of the present disclosure;

[0041] Figure 7 This is a schematic diagram of the structure of the bearing housing of the bearing device according to an embodiment of the present disclosure;

[0042] Figure 8 This is a schematic diagram of the structure of the bearing housing of the bearing device according to an embodiment of the present disclosure;

[0043] Figure 9 This is a partial structural schematic diagram of the support device according to an embodiment of the present disclosure;

[0044] Figure 10 This is a partial structural schematic diagram of the support device according to an embodiment of the present disclosure;

[0045] Figure 11 This is a partial structural schematic diagram of the support device according to an embodiment of the present disclosure;

[0046] Figure 12 This is a schematic diagram of the structure of a warehousing system according to an embodiment of the present disclosure;

[0047] Figure 13 This is a schematic diagram of the structure of the pick-and-place device according to an embodiment of the present disclosure;

[0048] Figure 14 This is a schematic diagram of the structure of the pick-and-place device according to an embodiment of the present disclosure;

[0049] Figure 15 This is a partial structural schematic diagram of the pick-and-place device according to an embodiment of the present disclosure;

[0050] Figure 16 This is a partial structural schematic diagram of the pick-and-place device according to an embodiment of the present disclosure.

[0051] Figure 17 This is a side view of a workbench according to an embodiment of the present disclosure;

[0052] Figure 18 This is a partial enlarged view of the worktable according to an embodiment of the present disclosure;

[0053] Figure 19 This is a partial structural schematic diagram of the workbench according to an embodiment of the present disclosure;

[0054] Figure 20 This is a side view of a workbench according to an embodiment of the present disclosure;

[0055] Figure 21This is a partial enlarged view of the worktable according to an embodiment of the present disclosure;

[0056] Figure 22 This is a partial structural schematic diagram of the workbench according to an embodiment of the present disclosure;

[0057] Figure 23 This is a top view of the workbench according to an embodiment of the present disclosure;

[0058] Figure 24 This is a front view of the workbench according to an embodiment of the present disclosure;

[0059] Figure 25 This is a schematic diagram of the structure of a warehousing system according to an embodiment of the present disclosure;

[0060] Figure 26 This is a schematic diagram of the structure of a warehousing system according to an embodiment of the present disclosure;

[0061] Figure 27 This is a schematic diagram of the structure of a warehousing system according to an embodiment of the present disclosure;

[0062] Figure 28 This is a schematic diagram of the structure of a warehousing system according to an embodiment of the present disclosure;

[0063] Figure 29 This is a perspective view of a storage facility according to an embodiment of the present disclosure;

[0064] Figure 30 yes Figure 29 A magnified view of a section at point D;

[0065] Figure 31 yes Figure 29 A magnified view of a section at point E in the middle;

[0066] Figure 32 This is a front view of a storage facility according to one embodiment of the present disclosure from another perspective;

[0067] Figure 33 This is a front view of a storage facility according to an embodiment of the present disclosure;

[0068] Figure 34 This is a left view of a storage facility according to an embodiment of the present disclosure;

[0069] Figure 35 This is a top view of a storage facility according to an embodiment of the present disclosure;

[0070] Figure 36 This is a front view of a storage facility according to another embodiment of the present disclosure;

[0071] Figure 37 This is a front view of a storage facility according to yet another embodiment of the present disclosure;

[0072] Figure 38 This is a front view of a storage facility according to another embodiment of the present disclosure;

[0073] Figure 39 This is a perspective view of a warehousing system according to another embodiment of the present disclosure;

[0074] Figure 40 This is a right view of a warehousing system according to another embodiment of the present disclosure;

[0075] Figure 41 This is a perspective view of a warehousing system according to an embodiment of the present disclosure;

[0076] Figure 42 This is a perspective view of a warehousing system according to an embodiment of the present disclosure from another angle;

[0077] Figure 43 This is a left view of a warehousing system according to an embodiment of the present disclosure;

[0078] Figure 44 This is a top view of a warehousing system according to an embodiment of the present disclosure;

[0079] Figure 45 This is a perspective view of a warehousing system according to another embodiment of the present disclosure;

[0080] Figure 46 This is a left view of a warehousing system according to another embodiment of the present disclosure. Detailed Implementation

[0081] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0082] The pick-and-place device 2 according to an embodiment of the present disclosure is described below with reference to the accompanying drawings. Figures 12-16 As shown, the pick-and-place device 2 according to an embodiment of the present disclosure includes a pick-and-place platform 28 and a pick-and-place component 21.

[0083] The pick-and-place assembly 21 has a first end 211 and a second end 212 opposite to each other in a first direction. The first end 211 of the pick-and-place assembly 21 is connected to the pick-and-place platform 28, and the second end 212 of the pick-and-place assembly 21 extends beyond the pick-and-place platform 28.

[0084] This allows the pick-and-place device 2 to extend from the support device 1 away from the worktable 3, thereby avoiding the pick-and-place device 2 occupying the space of the worktable 3, so as to reduce the volume and space occupied by the worktable 3.

[0085] Furthermore, by mounting the end (first end 211) of the pick-and-place assembly 21 to the pick-and-place platform 28, the size of the pick-and-place device 2 in the first direction is greatly reduced. This not only greatly reduces the volume and space occupied by the pick-and-place device 2, but also effectively reduces the time spent transporting the target object on the pick-and-place device 2.

[0086] Therefore, the pick-and-place device 2 according to the embodiments of this disclosure has advantages such as small size, small space occupation, no occupation of the workbench 3 space, and reduced time for transporting target objects.

[0087] like Figures 1-28 As shown, the storage equipment 100 according to an embodiment of the present disclosure includes a carrying device 1 and a picking and placing device 2.

[0088] The supporting device 1 includes at least two supporting members 11, which are spaced apart from each other along a second direction. For example, the supporting members 11 are arranged side by side along the second direction. The second direction forms a predetermined angle with the first direction, for example, the second direction is orthogonal to the first direction.

[0089] Optionally, there can be multiple picking and placing devices 2, which are arranged between two adjacent support members 11 and along a third direction. This allows the storage equipment 100 to perform multiple picking and placing operations, thereby improving work efficiency.

[0090] There are at least three carrier components 11, and a pick-and-place device 2 is provided between two adjacent carrier components 11, or multiple pick-and-place devices 2 are arranged along a third direction. This enables the storage equipment 100 to achieve multiple platforms and multiple pick-and-place operations, thereby improving work efficiency.

[0091] The support device 1 also includes an actuation component 13, a transmission component 18, and a drive component 15. The actuation component 13 is disposed on the support component 11. The transmission component 18 is connected to two actuation components 13 on two adjacent support components 11.

[0092] Two adjacent actuators 13 can be driven by a drive element 15 or by different drive elements 15. Different drive elements 15 are connected to the transmission assembly 18 to drive the two actuators 13 respectively, resulting in a stable structure and no transmission error. The drive element 15 is connected to the transmission assembly 18 to drive the two actuators 13 to operate synchronously. By using the drive element 15 to drive the two actuators 13 on two adjacent support members 11 to operate synchronously, the structure of the support device 1 and the storage equipment 100 can be simplified, the manufacturing cost of the support device 1 and the storage equipment 100 can be reduced, and the synchronization of the two actuators 13 on two adjacent support members 11 can be improved.

[0093] like Figure 3As shown, the transmission assembly 18 includes a reducer 181 and a drive shaft 182. The reducer 181 has an input shaft and an output shaft, and the input shaft of the reducer 181 is connected to the drive member 15. Two actuators are detachably connected to the output shaft of the reducer 181. At least one of the two actuators is detachably connected to the output shaft of the reducer 181 via the drive shaft 182.

[0094] The input shaft of the reducer 181 is connected to the drive shaft of the drive member 15, and the output shaft of the reducer 181 extends along the second direction. The output shaft of the reducer 181 is connected to two actuators 13 on two adjacent support members 11. This allows for more precise control of the two actuators 13 on the two adjacent support members 11, thereby enabling more precise control of the displacement of the pick-and-place device 2 in the third direction.

[0095] Optionally, the drive element 15 includes a motor. The axis of rotation of the drive element 15 extends along a third direction or a first direction, wherein the first direction, the second direction, and the third direction are orthogonal to each other. For example: the first direction is as follows: Figure 1 , Figure 4 , Figure 5 , Figure 9 , Figure 12 , Figure 17 and Figure 23 As shown by arrow A in the diagram, the second direction is as follows: Figure 2 , Figure 3 , Figure 14 , Figure 23 and Figure 24 As shown by arrow C in the image, the third direction is as follows: Figures 1-3 , Figure 12 and Figure 17 As shown by arrow B in the diagram.

[0096] like Figure 2 and Figure 3 As shown, the actuation component 13 also includes a shaft 133, which is connected to the first rotating member 132 of the actuation component 13. The first end of the shaft 133 is detachably connected to the first end of the output shaft of the reducer 181. This allows the transmission component 18 and the different actuation components 13 to form relatively independent modular units, which not only facilitates the connection of the transmission component 18 and the different actuation components 13 together, but also facilitates the disassembly, transportation, and replacement of at least one of the transmission component 18 and the different actuation components 13.

[0097] Optionally, the drive shaft 182 extends in a second direction. A first end of the drive shaft 182 is detachably connected to a first end of the output shaft of the reducer 181, and a second end of the drive shaft 182 is detachably connected to a first end of the shaft 133 of an actuator 13. By providing a drive shaft 182 connected to the shaft 133 of both the reducer 181 and the actuator 13, the length of the shaft 133 of the actuator 13 can be reduced, making the actuator 13 easier to transport, disassemble, and replace.

[0098] Specifically, by connecting the shaft 133 of one actuator 13 to the reducer 181 via the transmission shaft 182, not only can the length of the shaft 133 of one actuator 13 be reduced, but the reducer 181 can also be positioned away from the shaft 133 of one actuator 13 and close to the shaft 133 of another actuator 13, thereby reducing the length of the shaft 133 of the other actuator 13.

[0099] like Figure 2 and Figure 3 As shown, the first end of the drive shaft 182 is detachably connected to the first end of the output shaft of the reducer 181 via a coupling 1343 (e.g., a clasp coupling), and the second end of the drive shaft 182 is detachably connected to the first end of the shaft 133 of the other actuator 13 via a coupling 1344 (e.g., a clasp coupling). The first end of the shaft 133 of the other actuator 13 is detachably connected to the second end of the output shaft of the reducer 181 via a coupling 1345 (e.g., a clasp coupling).

[0100] Optionally, the drive shaft of the drive member 15 extends along the second direction. This allows for a more compact structure and smaller footprint for the transmission assembly 18 and the drive member 15.

[0101] like Figure 2 and Figure 3 As shown, the frame includes a connecting beam 161 and a plurality of third bearing seats 162. The connecting beam 161 extends along a second direction and is connected to each of two adjacent load-bearing members 11. A reducer 181 is disposed on the connecting beam 161 to facilitate a more secure and easier installation of the reducer 181 and the drive member 15.

[0102] Multiple bearing housings 162 are spaced apart along a second direction on the connecting beam 161, each bearing housing 162 is equipped with a bearing, and the drive shaft 182 is rotatably supported on the multiple bearings. This allows for a more secure installation of the drive shaft 182 and enables the drive shaft 182 to transmit power more stably.

[0103] like Figure 2 , Figure 3 as well as Figures 9-11As shown, the execution component 13 includes a first rotating member 132, a second rotating member 134, and a first connecting member 131. The first rotating member 132 and the second rotating member 134 are spaced apart from the support member 11 along a third direction and are rotatable relative to the support member 11. A driving member is connected to the first rotating member 132. The first connecting member 131 is disposed around the first rotating member 132 and the second rotating member 134, and is connected to the pick-and-place platform 28. The execution component 13 is configured to drive the pick-and-place platform 28 to move along a third direction.

[0104] Optionally, the actuating component 13 is embedded within the carrier 11. This allows for a more compact structure of the actuating component 13 and the carrier 11, reducing the space occupied by the actuating component 13 and the carrier 11, and consequently reducing the space occupied by the carrier device 1.

[0105] The first connecting member 131 is constructed as a belt, and the first rotating member 132 and the second rotating member 134 are both constructed as pulleys. Alternatively, the first connecting member 131 is constructed as a chain, and the first rotating member 132 and the second rotating member 134 are both constructed as sprockets.

[0106] Optionally, the drive member 15 and the transmission assembly 18 are adjacent to the upper end of the actuating assembly 13 in the vertical direction. That is, the drive member 15 and the transmission assembly 18 are adjacent to the upper end of the bearing member 11 in the vertical direction. This allows the driving member (first rotating member 132) of the actuating assembly 131 to be located at the top, thereby utilizing the gravity of the pick-and-place device 2 to provide tension to the first connecting member 131 of the actuating assembly 13.

[0107] If the second rotating member 134 of the actuator 13 is the driving member, an upward tension force needs to be applied to the first connecting member 131, and the gravity of the pick-and-place device 2 will counteract the tension force of the first connecting member 131. Therefore, a large tension force needs to be applied to the first connecting member 131.

[0108] By making the first rotating member 132 of the actuator 13 the driving member, the tension force on the first connecting member 131 can be effectively reduced. This not only extends the service life of the first connecting member 131, but also reduces the width of the first connecting member 131, thereby reducing the volume and space occupied by the actuator 13 and lowering the manufacturing cost of the actuator 13.

[0109] like Figures 4-6 as well as Figure 9 As shown, the carrier 11 has a first limiting groove 115 and a second limiting groove 116, with the opening 1153 of the first limiting groove 115 and the opening 1163 of the second limiting groove 116 being relatively open in a first direction.

[0110] To make the technical solution of this application easier to understand, the technical solution of this application is described below with the first direction being the front-back direction as an example. The first limiting groove 115 is located in front of the second limiting groove 116, the opening 1153 of the first limiting groove 115 is open to the rear, and the opening 1163 of the second limiting groove 116 is open to the front.

[0111] For example, the second direction is left and right, and the third direction is up and down. The first direction is... Figure 1 As shown by arrow A in the diagram, the second direction is as follows: Figure 1 As shown by arrow B in the image, the third direction is as follows: Figure 1 As shown by arrow C in the diagram.

[0112] like Figures 9-11 As shown, the supporting device 1 also includes a limiting component 14, which is disposed on the first connecting member 131. The pick-and-place platform 28 is connected to at least one of the limiting component 14 and the first connecting member 131. The limiting component 14 is movably fitted within the first limiting groove 115 and the second limiting groove 116. By providing the first limiting groove 115 and the second limiting groove 116 with relatively open openings, the limiting component 14 can be positioned inside the supporting device 1. This reduces the space occupied by the limiting component 14 in the first direction, thereby reducing the space occupied by the supporting device 1 in the first direction.

[0113] like Figures 9-11 As shown, the limiting assembly 14 includes a limiting body 141, a first limiting member 142, and a second limiting member 143. The limiting body 141 is connected to the first connecting member 131 so that the limiting body 141 can move under the action of the first connecting member 131. The first limiting member 142 and the second limiting member 143 are disposed on the limiting body 141. The first limiting member 142 is movably engaged with the bottom wall surface of the first limiting groove 115, and the second limiting member 143 is movably engaged with the bottom wall surface of the second limiting groove 116 to limit movement in a first direction. This makes the structure of the limiting assembly 14 more reasonable.

[0114] like Figures 9-11 As shown, the first limiting member 142 is configured as a first roller, and the first limiting member 142 can roll against the bottom wall surface of the first limiting groove 115. The second limiting member 143 is configured as a second roller, and the second limiting member 143 can roll against the bottom wall surface of the second limiting groove 116. This makes the structure of the limiting assembly 14 simpler and more reasonable.

[0115] Alternatively, a first slide rail is provided on the bottom wall of the first limiting groove 115, and the first limiting member 142 has a first sliding groove that mates with the first slide rail. A second slide rail is provided on the bottom wall of the second limiting groove 116, and the second limiting member 143 has a second sliding groove that mates with the second slide rail. This makes the structure of the limiting assembly 14 simpler and more reasonable.

[0116] like Figures 4-6 as well as Figures 9-11 As shown, the first limiting groove 115 has two opposite sidewalls in the second direction, and the second limiting groove 116 has two opposite sidewalls in the second direction, with the second direction forming a preset angle with the first direction. The limiting assembly 14 includes a limiting body 141, a third limiting member 144, and a fourth limiting member 145.

[0117] The limiting body 141 is connected to the first connecting member 131 so that the limiting body 141 can move under the drive of the first connecting member 131. The third limiting member 144 and the fourth limiting member 145 are provided on the limiting body 141. The third limiting member 144 is movably engaged with the two side walls of the first limiting groove 115 and the fourth limiting member 145 is movably engaged with the two side walls of the second limiting groove 116 to limit movement in the second direction.

[0118] Thus, the third limiting member 144 and the fourth limiting member 145 can be used to limit the movement in the second direction, so that the limiting body 141 can move more accurately and more stably with the first connecting member 131, thereby making the pick-and-place device 2 move up and down more accurately and stably with the execution component 13.

[0119] like Figures 9-11 As shown, the third limiting member 144 is configured as a third roller, and the third limiting member 144 can roll against the two side walls of the first limiting groove 115. The fourth limiting member 145 is configured as a fourth roller, and the fourth limiting member 145 can roll against the two side walls of the second limiting groove 116. This makes the structure of the limiting assembly 14 simpler and more reasonable.

[0120] Alternatively, a third slide rail is provided on the two side walls of the first limiting groove 115, and the third limiting member 144 has a third slide groove that mates with the third slide rail; a fourth slide rail is provided on the two side walls of the second limiting groove 116, and the fourth limiting member 145 has a fourth slide groove that mates with the fourth slide rail. This makes the structure of the limiting assembly 14 simpler and more reasonable.

[0121] Optionally, such as Figures 4-6 as well as Figure 9 As shown, the first limiting groove 115 has a first sidewall 1151 and a second sidewall 1152 opposite to each other in the second direction, and the second limiting groove 116 has a third sidewall 1161 and a fourth sidewall 1162 opposite to each other in the second direction. The third limiting member 144 is movably abutted against the first sidewall 1151 and the second sidewall 1152, and the fourth limiting member 145 is movably abutted against the third sidewall 1161 and the fourth sidewall 1162.

[0122] like Figures 9-11As shown, the limiting body 141 includes a supporting part 1414, a first mounting part 1411, and a second mounting part 1412, with a pick-and-place platform 28 disposed on the supporting part 1414. The first mounting part 1411 and the second mounting part 1412 are connected to the supporting part 1414. The first mounting part 1411 and the second mounting part 1412 are spaced apart from each other along a first direction. The actuating component 13 is located between the first mounting part 1411 and the second mounting part 1412 in the first direction. A first limiting member 142 is disposed on the first mounting part 1411, and a second limiting member 143 is disposed on the second mounting part 1412. This allows for a more rational structure of the limiting body 141 and the limiting component 14, and also allows for a more compact structure of the limiting component 14 and the actuating component 13.

[0123] Optionally, the third limiting member 144 is provided in the first mounting portion 1411, and the fourth limiting member 145 is provided in the second mounting portion 1412. This makes the structure of the limiting assembly 14 more reasonable.

[0124] like Figures 9-11 As shown, the first connector 131 is located between the first mounting portion 1411 and the second mounting portion 1412 in the first direction, and the first limiting groove 115, the second limiting groove 116, the first connector 131, the first mounting portion 1411 and the second mounting portion 1412 are arranged opposite to each other in the first direction. This makes the structure of the bearing device 1 more reasonable.

[0125] like Figure 10 and Figure 11 As shown, the limiting body 141 also includes a connecting portion 1413, which is connected to each of the first mounting portion 1411 and the second mounting portion 1412. A bearing portion 1414 is provided on the connecting portion 1413. This makes the structure of the limiting body 141 and the limiting assembly 14 more reasonable and facilitates the installation of the pick-and-place platform 28 (picking-and-place device 2).

[0126] like Figures 9-11 As shown, the first mounting portion 1411, the second mounting portion 1412, the connecting portion 1413, and the supporting portion 1414 are all plate-shaped. The first connecting member 131 can be a belt (e.g., a timing belt). The thickness direction of each of the first connecting member 131, the first mounting portion 1411, and the second mounting portion 1412 is aligned with the first direction. The thickness direction of the connecting portion 1413 is aligned with the second direction. The thickness direction of the supporting portion 1414 is perpendicular to both the first and second directions; for example, the thickness direction of the supporting portion 1414 is aligned with a third direction. This allows for a more rational structure of the limiting assembly 14 and the supporting device 1.

[0127] For example, the thickness direction of the support portion 1414 is consistent with the vertical direction. The first connector 131, the first mounting portion 1411 and the second mounting portion 1412 are parallel to each other, and the first connector 131 (first mounting portion 1411, second mounting portion 1412), the connecting portion 1413 and the support portion 1414 are perpendicular to each other.

[0128] like Figures 9-11 As shown, the first limiting groove 115, the second limiting groove 116, and the actuation component 13 are arranged opposite to each other in the first direction, so that the first limiting member 142, the second limiting member 143, and the actuation component 13 are arranged opposite to each other in the first direction. This makes the structure of the bearing device 1 more reasonable.

[0129] like Figure 10 and Figure 11 As shown, the supporting device 1 includes an adjusting assembly 12, which includes a fixed connector 121, a movable connector 122, and a threaded component 123. Each of the fixed connector 121 and the movable connector 122 is connected to a first connector 131. The fixed connector 121 is disposed on the supporting member 11, and the movable connector 122 is movably disposed on the supporting member 11 in the vertical direction, meaning that the fixed connector 121 cannot move in the vertical direction.

[0130] A threaded member 123 is rotatably mounted on the support member 11 and extends in the vertical direction. The movable connector 122 has a threaded hole, and a portion of the threaded member 123 is threaded into the threaded hole. Thus, by rotating the threaded member 123, the movable connector 122 can be moved in the vertical direction, thereby changing the tension of the first connector 131.

[0131] like Figure 4 , Figure 7 and Figure 8 As shown, the bearing device 1 also includes a bearing housing 136, which is disposed on the bearing member 11, and the first rotating member 132 is rotatably disposed on the bearing housing 136. This allows the first rotating member 132 to be more securely mounted on the bearing member 11.

[0132] The bearing housing 136 includes a housing body 1361, a first limiting protrusion 1363, and a second limiting protrusion 1364. A first rotating member 132 is rotatably disposed on the housing body 1361. The first limiting protrusion 1363 and the second limiting protrusion 1364 are disposed on the housing body 1361. The first limiting protrusion 1363 extends into a first limiting groove 115 and is in contact with one side wall of the first limiting groove 115. The second limiting protrusion 1364 extends into a second limiting groove 116 and is in contact with one side wall of the second limiting groove 116.

[0133] For example, the first limiting protrusion 1363 fits against the first side wall 1151 of the first limiting groove 115, and the second limiting protrusion 1364 fits against the third side wall 1161 of the second limiting groove 116. This allows for more precise and stable installation of the bearing housing 136, and consequently, more precise installation of the first rotating member 132 and its shaft 133, improving the coaxiality of the shaft 133 and the transmission shaft 182.

[0134] like Figure 6 As shown, the bearing member 11 is provided with a positioning groove 11851, which has two opposing sidewalls in a first direction. The bearing housing has a positioning part 1365, which fits into the positioning groove 11851. Thus, the positioning groove 11851 can be used to limit the bearing housing 136 in the first direction, thereby making the structure of the bearing device 1 more reasonable and allowing for more precise and stable installation of the bearing housing 136.

[0135] Optionally, the support member 11 extends in a third direction and is provided with a reinforcing member. This makes the structure of the support member 11 and the support device 1 more stable, thereby better supporting the pick-and-place device 2.

[0136] In one example of an embodiment of this disclosure, both the first limiting groove 115 and the second limiting groove 116 extend horizontally, and the limiting body 141 is movably disposed horizontally. That is, the actuating component 13 can drive the limiting body 141 to move horizontally, the first limiting member 142 is movably engaged in the first limiting groove 115 horizontally, and the second limiting member 143 is movably engaged in the second limiting groove 116 horizontally.

[0137] In another example of this embodiment, both the first limiting groove 115 and the second limiting groove 116 extend in the vertical direction, and the limiting body 141 is movably disposed in the vertical direction. That is, the actuating component 13 can drive the limiting body 141 to move in the vertical direction, the first limiting member 142 is movably engaged in the first limiting groove 115 in the vertical direction, and the second limiting member 143 is movably engaged in the second limiting groove 116 in the vertical direction. Optionally, the supporting device 1 can be a gantry, and the supporting member 11 includes a column.

[0138] like Figures 4-6 as well as Figure 9 As shown, the carrier component 11 of the carrier device 1 includes a first part 1171, a second part 1172, a first limiting plate 1181, a second limiting plate 1182, a third limiting plate 1183, and a fourth limiting plate 1184. The first part 1171 and the second part 1172 are arranged opposite to each other and spaced apart in a first direction.

[0139] A first limiting plate 1181 and a second limiting plate 1182 are disposed at a distance from each other along a second direction in the first portion 1171, and a first limiting groove 115 is defined between the first portion 1171, the first limiting plate 1181, and the second limiting plate 1182. A third limiting plate 1183 and a fourth limiting plate 1184 are disposed at a distance from each other along a second direction in the second portion 1172, and a second limiting groove 116 is defined between the second portion 1172, the third limiting plate 1183, and the fourth limiting plate 1184.

[0140] The first limiting protrusion 1363 extends into the first limiting groove 115 and cooperates with the first limiting plate 1181 so that the first limiting plate 1181 can limit the first limiting protrusion 1363 (bearing seat 136) in the second direction. The second limiting protrusion 1364 extends into the second limiting groove 116 and cooperates with the third limiting plate 1183 so that the third limiting plate 1183 can limit the second limiting protrusion 1364 (bearing seat 136) in the second direction.

[0141] Therefore, the first limiting plate 1181 and the third limiting plate 1183 can not only cooperate with the limiting component 14, but also with the bearing seat 136, thereby making the structure of the carrier 11 simpler and the manufacturing cost lower. In other words, the carrier 11 does not need to be designed with different structures for cooperating with the limiting component 14 and the bearing seat 136 respectively.

[0142] like Figure 4 As shown, the seat 1361 is located between the second limiting plate 1182 and the fourth limiting plate 1184 in the first direction, and the seat 1361 cooperates with the second limiting plate 1182 and the fourth limiting plate 1184. Thus, the second limiting plate 1182 and the fourth limiting plate 1184 can limit the seat 1361 (bearing seat 136) in the first direction, thereby allowing for more precise and stable installation of the bearing seat 136, and consequently, more precise installation of the first rotating member 132 and its shaft 133, improving the coaxiality of the shaft 133 and the transmission shaft 182.

[0143] Furthermore, the second limiting plate 1182 and the fourth limiting plate 1184 can not only cooperate with the limiting component 14, but also with the bearing housing 136, thereby simplifying the structure of the carrier 11 and reducing manufacturing costs. In other words, the carrier 11 does not need to have different structures for cooperating with the limiting component 14 and the bearing housing 136 respectively.

[0144] like Figures 4-6 as well as Figure 9As shown, the second limiting plate 1182 is L-shaped and includes a first sub-plate 11821 and a second sub-plate 11822 connected together. A first limiting groove 115 is defined between the first part 1171, the first limiting plate 1181, and the first sub-plate 11821. The seat 1361 mates with the second sub-plate 11822. This effectively increases the contact area between the seat 1361 (bearing seat 136) and the second sub-plate 11822 (second limiting plate 1182), thereby limiting the seat 1361 (bearing seat 136) more precisely and stably, so as to install the bearing seat 136 more precisely and stably.

[0145] The fourth limiting plate 1184 can be L-shaped and includes a connected third sub-plate 11841 and a fourth sub-plate 11842. A second limiting groove 116 is defined between the second part 1172, the third limiting plate 1183, and the third sub-plate 11841. The seat 1361 mates with the fourth sub-plate 11842. This effectively increases the contact area between the seat 1361 (bearing seat 136) and the fourth sub-plate 11842 (fourth limiting plate 1184), thereby more accurately and stably limiting the seat 1361 (bearing seat 136) for more accurate and stable installation of the bearing seat 136.

[0146] like Figure 5 and Figure 6 As shown, the support member 11 includes a support plate 1186, which is located between the second sub-plate 11822 and the fourth sub-plate 11842 in a first direction, and is connected to both the second sub-plate 11822 and the fourth sub-plate 11842. A seat 1361 is supported on the support plate 1186, which has a clearance groove 11861 for accommodating the shaft 133 of the upper first rotating member 132. This allows for a more stable installation of the bearing seat 136.

[0147] like Figures 4-6 As shown, the carrier 11 includes a fifth limiting plate 1185, a second limiting plate 1182 (fourth limiting plate 1184) located in the second direction between the fifth limiting plate 1185 and the first limiting plate 1181, and the second limiting plate 1182 (fourth limiting plate 1184) located in the second direction between the fifth limiting plate 1185 and the third limiting plate 1183.

[0148] At least a portion of the seat 1361 is located in the second direction between the fifth limiting plate 1185 and the first limiting plate 1181 and the third limiting plate 1183, with the seat 1361 engaging with the fifth limiting plate 1185. Thus, the fifth limiting plate 1185, the first limiting plate 1181, and the third limiting plate 1183 can be used to limit the seat 1361 (bearing seat 136) in the second direction, allowing for more precise and stable installation of the bearing seat 136, and consequently, more precise installation of the first rotating member 132 and its shaft 133, improving the coaxiality of the shaft 133 and the transmission shaft 182.

[0149] like Figure 6 As shown, the fifth limiting plate 1185 is provided with a positioning groove 11851, which has a fifth side wall 11852 and a sixth side wall 11853 facing each other in a first direction. The positioning part 1365 of the bearing seat 136 is fitted between the fifth side wall 11852 and the sixth side wall 11853 in the first direction. The positioning part 1365 of the bearing seat 136 is supported on the bottom wall 11854 of the positioning groove 11851.

[0150] Therefore, the fifth side wall 11852 and the sixth side wall 11853 can be used to limit the bearing housing 136 in the first direction, and the bottom wall 11854 of the positioning groove 11851 can be used to limit the bearing housing 136 in the third direction. This allows for a more reasonable structure of the bearing device 1 and the bearing member 11, and a more precise and stable installation of the bearing housing 136.

[0151] like Figures 4-6 As shown, the fifth limiting plate 1185 includes a plate body 11855 and a third limiting protrusion 11856. The plate body 11855 is provided with a positioning groove 11851. The third limiting protrusion 11856 is provided on the plate body 11855, and the seat body 1361 cooperates with the third limiting protrusion 11856. That is, the bearing seat 136 is limited in the second direction by the third limiting protrusion 11856, the first limiting plate 1181, and the third limiting plate 1183.

[0152] Therefore, the bearing housing 136 can be installed on the carrier member 11 using fasteners (such as bolts, screws, etc.) that pass through the plate 11855 and the third limiting protrusion 11856 and engage within the seat 1361. By providing the third limiting protrusion 11856 on the plate 11855, not only can the bearing housing 136 be limited in the second direction using the third limiting protrusion 11856, but it is also convenient to install the bearing housing 136 on the carrier member 11 using fasteners that pass through the third limiting protrusion 11856. In other words, the third limiting protrusion 11856 serves both a limiting and an installation function.

[0153] like Figure 4 , Figure 7 and Figure 8 As shown, the bearing housing 136 includes a first housing body 13611, a second housing body 13612, a first connecting portion 13613, and a second connecting portion 13614. The first housing body 13611 and the second housing body 13612 are spaced apart along a second direction, and bearings are provided on both the first connecting portion 13613 and the second connecting portion 13614.

[0154] The first connecting portion 13613 and the second connecting portion 13614 are located between the first seat 13611 and the second seat 13612 in the second direction. The first connecting portion 13613 and the second connecting portion 13614 are spaced apart along the first direction. The first connecting portion 13613 is connected to both the first seat 13611 and the second seat 13612, and the second connecting portion 13614 is connected to both the first seat 13611 and the second seat 13612. This makes the structure of the bearing housing 136 more reasonable and stable.

[0155] Optionally, the bearing housing 136 can be integrally formed or a separate structure. When the bearing housing 136 is integrally formed, the first housing body 13611, the second housing body 13612, the first connecting part 13613, and the second connecting part 13614 are integrally formed. This allows the bearing housing 136 to be subjected to more even stress, avoiding excessive local stress on the bearing housing 136, which could lead to instability or even damage to the bearing housing 136. Alternatively, the bearing housing 136 can also be a separate structure.

[0156] like Figure 4 , Figure 7 and Figure 8 As shown, the first limiting protrusion 1363 is provided on the first seat 13611 and / or the first connecting part 13613, the second limiting protrusion 1364 is provided on the first seat 13611 and / or the second connecting part 13614, and the positioning part 1365 of the bearing seat 136 is provided on the second seat 13612. This makes the structure of the bearing seat 136 more reasonable.

[0157] Optionally, the carrier 11 has a first side and a second side in a first direction. The first end 211 of the pick-and-place assembly 21 is connected to the pick-and-place platform 28, and the second end 212 of the pick-and-place assembly 21 extends away from the carrier 11 and beyond the pick-and-place platform 28. The second end 212 of the pick-and-place assembly 21 is located on the first side or the second side of the carrier 11.

[0158] This allows the pick-and-place assembly 21 to extend away from the support member 11 in a direction away from the worktable 3, thereby avoiding the pick-and-place device 2 occupying space on the worktable 3 and reducing the volume and space occupied by the worktable 3. Moreover, the size of the pick-and-place assembly 21 in the first direction can be effectively reduced, thereby not only greatly reducing the volume and space occupied by the pick-and-place assembly 21, but also effectively reducing the time for conveying the target object on the pick-and-place assembly 21.

[0159] Optionally, the carrier 11 has a first side and a second side in a first direction, and the pick-and-place platform 28 is connected to the position between the first end 211 and the second end 212 of the pick-and-place assembly 21. The first end 211 of the pick-and-place assembly 21 extends away from the carrier 11 beyond the pick-and-place platform 28 and is located on the first side of the carrier 11. The second end 212 of the pick-and-place assembly 21 extends away from the carrier 11 beyond the pick-and-place platform 28 and is located on the second side of the carrier 11. This allows for a more rational structure of the storage equipment 100.

[0160] The pick-and-place assembly 21 includes a receiving space 213, which has an opening along a first direction. The pick-and-place assembly 21 is configured to pick up a target object from a designated location and place it in the receiving space 213, or to pick up a target object from the receiving space 213 and place it in a designated location. This makes the structure of the pick-and-place assembly 21 more reasonable.

[0161] like Figures 12-16 As shown, the pick-and-place assembly 21 includes a first support member 22, a second support member 23, and a pick-and-place member 263.

[0162] The first support member 22 has a first end 221 and a second end 222 opposite to each other in a first direction. The first end 221 of the first support member 22 is connected to the pick-and-place platform 28. The second support member 23 has a first end 231 and a second end 232 opposite to each other in a first direction. The first end 231 of the second support member 23 is connected to the pick-and-place platform 28. The first support member 22 and the second support member 23 are spaced apart along a second direction to form a receiving space 213. The receiving space 213 has an opening along the first direction, and the second direction forms a preset angle with the first direction.

[0163] The pick-and-place member 263 is located in the second direction between the first support member 22 and the second support member 23. There is at least one pick-and-place member 263 and an opening, and the pick-and-place member 263 is configured to pass through any one of the at least one opening to retrieve a target object from a designated location or place a target object at a designated location. Alternatively, there are multiple pick-and-place members 263 and openings, and multiple pick-and-place members 263 are configured to respectively pass through corresponding openings to retrieve a target object from a designated location or place a target object at a designated location.

[0164] For example, the second end 222 of the first support member 22 is located away from the worktable 3 in a first direction relative to the first end 221 of the first support member 22. The second end 232 of the second support member 23 is located away from the worktable 3 in a first direction relative to the first end 231 of the second support member 23. That is, the first support member 22 extends from the pick-and-place platform 28 away from the worktable 3 along the first direction, and the second support member 23 extends from the pick-and-place platform 28 away from the worktable 3 along the first direction.

[0165] In other words, the first end 221 of the first support member 22 is located between the worktable 3 and the second end 222 of the first support member 22 in the first direction. The first end 231 of the second support member 23 is located between the worktable 3 and the second end 232 of the second support member 23 in the first direction.

[0166] Optionally, the first end 221 of the first support member 22 is located in the first direction between the work position of the worktable 3 and the second end 222 of the first support member 22. The first end 231 of the second support member 23 is located in the first direction between the work position of the worktable 3 and the second end 232 of the second support member 23.

[0167] For example, the first end 221 of the first support member 22 is the front end of the first support member 22, and the second end 222 of the first support member 22 is the rear end of the first support member 22. The first end 231 of the second support member 23 is the front end of the second support member 23, and the second end 232 of the second support member 23 is the rear end of the second support member 23. The first support member 22 and the second support member 23 are spaced apart in the left-right direction.

[0168] like Figures 13-16 As shown, the pick-and-place assembly 21 also includes a mounting base 29, which can be disposed on the pick-and-place platform 28. The first end 221 of the first support member 22 and the first end 231 of the second support member 23 are disposed on the mounting base 29, that is, the first end 221 of the first support member 22 and the first end 231 of the second support member 23 are disposed on the bearing device 1 through the mounting base 29. This allows the pick-and-place assembly 21 to be installed on the pick-and-place platform 28 more conveniently and more securely.

[0169] Optionally, the mounting base 29 is flat. This not only makes it easier and more stable to place the mounting base 29 on the pick-up and drop platform 28, but also makes it easier and more stable to install the first support member 22 and the second support member 23 onto the mounting base 29.

[0170] like Figure 13 and Figure 15As shown, the first support member 22 includes a first support beam 224, a first mounting portion 225, and a first connecting portion 226. The first support beam 224 is connected to the first mounting portion 225 via the first connecting portion 226. The first mounting portion 225 is provided on the pick-and-place platform 28. The dimension of the first mounting portion 225 in the first direction is smaller than the dimension of the first support beam 224 in the first direction. This reduces the space occupied by the first mounting portion 225 and the first support member 22, and the space where the first mounting portion 225 is not provided can be used to avoid cables. In other words, by making the dimension of the first mounting portion 225 in the first direction smaller than the dimension of the first support beam 224 in the first direction, space for avoiding cables can be formed.

[0171] like Figure 13 As shown, the first mounting portion 225 includes a first plate portion 2251 and a first rod portion 2252, with the first rod portion 2252 disposed on the first plate portion 2251. The first rod portion 2252 is connected to the first support beam 224 via a first connecting portion 226. The first plate portion 2251 is disposed on the pick-and-place platform 28. For example, the first plate portion 2251 is disposed on the mounting base 29. By connecting the first plate portion 2251 to the pick-and-place platform 28, the first support member 22 can be more securely and conveniently installed on the pick-and-place platform 28.

[0172] like Figure 13 and Figure 16 As shown, the second support member 23 includes a second support beam 234, a second mounting portion 235, and a second connecting portion 236. The second support beam 234 is connected to the second mounting portion 235 via the second connecting portion 236. The second mounting portion 235 is provided on the pick-and-place platform 28. The dimension of the second mounting portion 235 in the first direction is smaller than the dimension of the second support beam 234 in the first direction. This reduces the space occupied by the second mounting portion 235 and the second support member 23, and the space where the second mounting portion 235 is not provided can be used to avoid cables. In other words, by making the dimension of the second mounting portion 235 in the first direction smaller than the dimension of the second support beam 234 in the first direction, space for avoiding cables can be formed.

[0173] like Figure 13 As shown, the second mounting portion 235 includes a second plate portion 2351 and a second rod portion 2352, with the second rod portion 2352 disposed on the second plate portion 2351. The second rod portion 2352 is connected to the second support beam 234 via a second connecting portion 236. The second plate portion 2351 is disposed on the pick-and-place platform 28. For example, the second plate portion 2351 is disposed on the mounting base 29. By connecting the second plate portion 2351 to the pick-and-place platform 28, the second support member 23 can be more securely and conveniently installed on the pick-and-place platform 28.

[0174] like Figure 13 and Figure 15As shown, there are multiple first connecting portions 226, which are spaced apart along a first direction. This allows for a more stable connection between the first support beam 224 and the first mounting portion 225, thereby improving the structural strength of the first support member 22. Figure 16 As shown, there are multiple second connecting portions 236, which are spaced apart along the first direction. This allows the second support beam 234 and the second mounting portion 235 to be connected more securely, thereby improving the structural strength of the second support member 23.

[0175] Optionally, the upper end of the first connecting portion 226 is connected to the first support beam 224, and the lower end of the first connecting portion 226 is connected to the first mounting portion 225. The upper end of the second connecting portion 236 is connected to the second support beam 234, and the lower end of the second connecting portion 236 is connected to the second mounting portion 235. This makes the structure of the first support member 22 and the second support member 23 more reasonable.

[0176] like Figures 12-15 As shown, the second end 222 of the first support member 22 is a free end, so that the first support member 22 forms a first cantilever. This makes the structure of the pick-and-place assembly 21 simpler and more rational. Figures 12-14 as well as Figure 16 As shown, the second end 232 of the second support member 23 is a free end, so that the second support member 23 forms a second cantilever. This makes the structure of the pick-and-place device 2 simpler and more reasonable.

[0177] like Figure 13 , Figure 15 and Figure 16 As shown, the pick-and-place platform 28 includes a first guide portion 281, and the pick-and-place component 21 includes a second guide portion 241. The second guide portion 241 cooperates with the first guide portion 281 to guide the movement of the pick-and-place component 21 along a second direction, which forms a preset angle with the first direction. This allows the pick-and-place component 21 to move more accurately and stably along the second direction.

[0178] Optionally, one of the first guide portion 281 and the second guide portion 241 has a mating groove, the dimension of which in the first direction is less than or equal to a second preset value. That is, the dimension of the other of the first guide portion 281 and the second guide portion 241 in the first direction is less than or equal to the second preset value. This can improve the stress on the first guide portion 281 and the second guide portion 241, so that the first guide portion 281 and the second guide portion 241 can withstand the structural deformation and force brought by the first support member 22 and the second support member 23. In particular, it can enable the first guide portion 281 and the second guide portion 241 to withstand the structural deformation and force brought by the first support member 22 and the second support member 23 constituting the cantilever, so that the pick-and-place assembly 21 can be installed more stably on the pick-and-place platform 28.

[0179] The dimension of one of the first guide portion 281 and the second guide portion 241 in the first direction is greater than or equal to a third preset value. This improves the stress distribution on the first guide portion 281 and the second guide portion 241, enabling the first guide portion 281 and the second guide portion 241 to withstand the structural deformation and forces caused by the first support member 22 and the second support member 23. In particular, it enables the first guide portion 281 and the second guide portion 241 to withstand the structural deformation and forces caused by the first support member 22 and the second support member 23 constituting the cantilever, so that the pick-and-place assembly 21 can be more stably installed on the pick-and-place platform 28.

[0180] Optionally, there are at least two first guide portions 281 arranged at intervals along the first direction, and at least two second guide portions 241 arranged corresponding to the first guide portions 281. This not only allows the pick-and-place assembly 21 to move more accurately and stably along the second direction, but also allows the pick-and-place assembly 21 to be installed more stably on the pick-and-place platform 28.

[0181] The spacing between adjacent first guide portions 281 is greater than or equal to a first preset value. This improves the stress on the second guide portion 241, enabling it to withstand the structural deformation and forces from the first support member 22 and the second support member 23. In particular, it enables the second guide portion 241 to withstand the structural deformation and forces from the first support member 22 and the second support member 23 that form the cantilever, so that the pick-and-place assembly 21 can be installed more stably on the pick-and-place platform 28.

[0182] For example, the first guide portion 281 can be a guide rail, and the second guide portion 241 can be a slider. The first guide portion 281 is a slider, and the second guide portion 241 is a guide rail.

[0183] like Figure 13 , Figure 15 and Figure 16As shown, the pick-and-place platform 28 includes a rack 282, and the pick-and-place assembly 21 includes a gear 242. The rack 282 extends in a second direction and is located between adjacent first guide portions 281 in a first direction. The gear 242 meshes with the rack 282 so that by rotating the gear 242, the gear 242 moves in the second direction, thereby driving the pick-and-place assembly 21 to move in the second direction.

[0184] Optionally, motor 271 drives gear 242 to rotate. The drive shaft of motor 271 is connected to the input shaft of reducer 272, and the output shaft of reducer 272 is connected to gear 242. Reducer 272 is mounted on mounting base 29. This allows for a more rational structure of the pick-and-place assembly 21.

[0185] like Figure 13 and Figure 14 As shown, the pick-and-place assembly 21 further includes a first support portion 251 and a second support portion 252, which are spaced apart in a first direction. The first support portion 251 is connected to each of the first support member 22 and the second support member 23, and the second support portion 252 is connected to each of the first support member 22 and the second support member 23. The first conveying member 261 of the pick-and-place assembly 21 is supported on the first support portion 251 and the second support portion 252, and the second conveying member 262 of the pick-and-place assembly 21 is supported on the first support portion 251 and the second support portion 252. This makes the structure of the pick-and-place assembly 21 more reasonable.

[0186] Optionally, the first support portion 251 is connected to the first end 221 of the first support member 22 and the first end 231 of the second support member 23, and the second support portion 252 is connected to the second end 222 of the first support member 22 and the second end 232 of the second support member 23.

[0187] For example, the first support portion 251 is located in front of the second support portion 252. The first support portion 251 is connected to the front end of the first support beam 224 and the front end of the second support beam 234, and the second support portion 252 is connected to the rear end of the first support beam 224 and the rear end of the second support beam 234.

[0188] Optionally, the pick-and-place member 263 is movable between a disengaged position and a pick-and-place position along a first direction. The pick-and-place member 263 is also movable between an extended position and a retracted position along a vertical direction. When the pick-and-place member 263 moves from the extended position to the retracted position, it moves downwards. When the pick-and-place member 263 moves from the retracted position to the extended position, it moves upwards.

[0189] When the pick-and-place member 263 is used to transport the target object, it moves from the disengaged position to the pick-and-place position and from the retracted position to the extended position. Subsequently, the pick-and-place member 263 transports the target object to the first conveyor 261 and the second conveyor 262 for transport using these components. After the first conveyor 261 and the second conveyor 262 are activated, the pick-and-place member 263 moves from the extended position to the retracted position to avoid interference between the pick-and-place member 263 and the target object.

[0190] The picking and placing device 2 can include picking and placing components 263 such as suction cups, hooks, levers, gripping forks, and magnetic suction structures. The position of the force exerted by the suction cup on the container / goods is not limited to the centerline of the side of the container / goods, and can be adjusted according to the center of gravity of the container / goods. The hook can grab the edge, top edge, bottom edge, protrusions or handles on the side of the container / goods, and can also grab the grooves, protrusions or handles on the bottom of the container / goods. The picking and placing device 2 can pick up and place containers / goods in a single position or in multiple positions. Taking the suction cup as an example, the suction cup can be a unidirectional suction cup that picks up containers / goods in two directions by rotating itself; the suction cup can also be a bidirectional suction cup that picks up containers / goods in two directions.

[0191] Optionally, when the pick-and-place device 2 transports the target object on the carrier to the worktable 3, the pick-and-place component 263 moves from front to back so that the pick-and-place component 263 moves from the disengagement position to the pick-and-place position. When the pick-and-place device 2 transports the target object on the worktable 3 to the carrier, the pick-and-place component 263 moves from back to front so that the pick-and-place component 263 moves from the disengagement position to the pick-and-place position.

[0192] like Figure 1 , Figure 12 as well as Figures 17-24 As shown, the storage equipment 100 also includes a workbench 3, which includes a main body 31 and a detector 34. The main body 31 includes a workstation 311. The detector 34 is located on the main body 31, and the minimum distance between the detector 34 and the pick-and-place assembly 21 in the first direction is greater than or equal to a preset value.

[0193] By ensuring that the minimum distance between the detector 34 and the pick-and-place component 21 in the first direction is greater than or equal to a preset value, the detector 34 is brought closer to the worker and further away from the pick-and-place component 21. Therefore, when the worker's body accidentally extends towards the pick-and-place component 21, the detector 34 can detect the worker's body earlier and more promptly, providing more time for controlling the next operation of the pick-and-place component 21. This effectively avoids interference between the worker's body and the pick-and-place component 21 or the target object on it, thereby further improving safety.

[0194] Workstation 311 of workbench 3 may include rollers or conveyor lines to facilitate the transfer of containers / goods. Buffer positions / racks may also be provided above, below, or beside workbench 3 to buffer containers or goods. Containers / goods on buffer positions / racks can be retrieved using the box-picking device 2 or manually. A conveyor line may also be provided next to workstation 311 of workbench 3 to transport picked goods. A docking area for large items, pallets, irregularly shaped items, and conventional cargo-type mobile carriers may also be provided next to workbench 3 for manual picking.

[0195] like Figure 23 As shown, workstation 311 has a first end 3111 and a second end 3112 in a first direction. When a worker performs picking, sorting, or other operations on workstation 3, the first end 3111 is adjacent to the worker in the first direction relative to the second end 3112. The pick-and-place assembly 21 transports the target object to workstation 311 via the second end 3112, and the worker performs picking, sorting, or other operations on the target object at workstation 311. The target object can be goods, containers containing goods, etc.

[0196] The minimum distance between detector 34 and the second end 3112 of workstation 311 in the first direction is greater than or equal to a preset value. Therefore, when the worker's body accidentally extends towards the pick-and-place assembly 21, detector 34 can detect the worker's body earlier and more timely, thus providing more time for controlling the next operation of pick-and-place assembly 21, so as to effectively avoid interference between the worker's body and pick-and-place assembly 21 or the target object on pick-and-place assembly 21, thereby further improving safety.

[0197] For example, the first end 3111 of station 311 is located in front of the second end 3112 of station 311. The detector 34 is located behind the first end 3111.

[0198] like Figures 17-24 As shown, the workbench 3 also includes a stop, which is located on the main body 31 and is used to prevent the operator from approaching the pick-and-place component 21. By setting the stop, the operator's body can be stopped, thereby further preventing the operator's body from accidentally extending towards the pick-and-place component 21, so as to more effectively avoid interference between the operator's body and the pick-and-place component 21 or the target object on the pick-and-place component 21, and thus further improve safety.

[0199] like Figures 17-24As shown, the stop includes a first stop 321. The main body 31 has a first side 312 and a second side 313 in a second direction orthogonal to the first direction, i.e., the first side 312 and the second side 313 are opposite to each other in the second direction. The workstation 311 is located between the first side 312 and the second side 313 in the second direction. The first stop 321 is provided on the main body 31 and located at at least one of the first side 312 and the second side 313.

[0200] By setting the first stop 321, the first stop 321 can be used to stop the worker's body, thereby further preventing the worker's body from accidentally extending from the side of the workstation 311 toward the direction of the pick-and-place component 21, so as to more effectively avoid interference between the worker's body and the pick-and-place component 21 or the target object on the pick-and-place component 21, thereby further improving safety.

[0201] like Figure 24 As shown, the workbench 3 further includes a second stop 322, which is disposed on the main body 31 and spaced apart from the workstation 311 in a third direction orthogonal to the second and first directions, and opposite to each other. By setting the second stop 322, the worker's body can be stopped, thereby further preventing the worker's body from accidentally extending towards the pick-and-place component 21, so as to more effectively avoid interference between the worker's body and the pick-and-place component 21 or the target object on the pick-and-place component 21, thereby further improving safety.

[0202] like Figure 17 , Figure 19 , Figure 20 as well as Figures 22-24 As shown, the main body 31 includes a platform 314 and a mounting frame 315. A workstation 311 is located on the platform 314, and the mounting frame 315 is connected to the platform 314. A first stop 321 is connected to the platform 314 and the mounting frame 315, and a second stop 322 is mounted on the mounting frame 315. At least one of the mounting frame 315, the first stop 321, and the second stop 322 is equipped with a detector 34. This allows for a more rational structure of the main body 31 and the worktable 3.

[0203] For example, the mounting bracket 315 is adjacent to the second end 3112 in the first direction. For example, the mounting bracket 315 is located behind the platform 314 (station 311).

[0204] The platform 314 includes a first mounting part 3141 and a second mounting part 3142. The workstation 311 is located between the first mounting part 3141 and the second mounting part 3142 in a second direction, that is, the first mounting part 3141 and the second mounting part 3142 are opposite to each other in a second direction. The mounting bracket 315 includes a third mounting part 3153 and a fourth mounting part 3154. The workstation 311 is located between the third mounting part 3153 and the fourth mounting part 3154 in a second direction, that is, the third mounting part 3153 and the fourth mounting part 3154 are opposite to each other in a second direction.

[0205] A first stop 321 is provided in at least one of the first mounting portion 3141 and the third mounting portion 3153, and another first stop 321 is provided in at least one of the second mounting portion 3142 and the fourth mounting portion 3154. That is, the first side 312 of the main body 31 may include the first mounting portion 3141 and the third mounting portion 3153, and the second side 313 of the main body 31 may include the second mounting portion 3142 and the fourth mounting portion 3154.

[0206] Workstation 311 is located between two first stops 321 in the second direction. The two first stops 321 can be used to stop the worker's body, thereby further preventing the worker's body from accidentally extending from the two sides of workstation 311 toward the pick-and-place component 21, so as to more effectively avoid interference between the worker's body and the pick-and-place component 21 or the target object on the pick-and-place component 21, and thus further improve safety.

[0207] like Figures 17-24 As shown, at least one of the first mounting portion 3141 and the third mounting portion 3153 is provided with a first mounting member 331, which has a first clamping groove, and a first stop member 321 is clamped in the first clamping groove. At least one of the second mounting portion 3142 and the fourth mounting portion 3154 is provided with a second mounting member 332, which has a second clamping groove, and another first stop member 321 is clamped in the second clamping groove.

[0208] By providing a first mounting member 331 with a first clamping groove and a second mounting member 332 with a second clamping groove, the two first stops 321 can be installed on the main body 31 of the worktable 3 more securely and conveniently.

[0209] like Figures 17-19 as well as Figure 23 and Figure 24 As shown, the first mounting part 3141 is provided with a first mounting member 331, and the third mounting part 3153 is provided with a third mounting member 333. The third mounting member 333 has a third clamping groove, and a first stop member 321 is clamped in the first clamping groove and the third clamping groove.

[0210] like Figures 20-24 As shown, the second mounting part 3142 is provided with a second mounting member 332, and the fourth mounting part 3154 is provided with a fourth mounting member 334. The fourth mounting member 334 has a fourth clamping groove, and another first stop member 321 is clamped in the second clamping groove and the fourth clamping groove. Thus, both first stop members 321 can be mounted on the table body 314 and the mounting bracket 315, thereby allowing for a more stable and convenient mounting of the two first stop members 321 onto the main body 31 of the worktable 3.

[0211] Optionally, the first clamping groove extends through the first mounting member 331 in the front-to-back direction, and the second clamping groove extends through the second mounting member 332 in the front-to-back direction. Both the openings of the first and second clamping grooves face upwards. The third clamping groove extends through the third mounting member 333 in the vertical direction, and the fourth clamping groove extends through the fourth mounting member 334 in the vertical direction. Both the openings of the third and fourth clamping grooves face forwards. This allows for more convenient clamping of one first stop member 321 in the first and third clamping grooves, and of another first stop member 321 in the second and fourth clamping grooves.

[0212] like Figure 17 , Figure 20 and Figure 23 The mounting bracket 315 has a third end 3151 and a fourth end 3152 opposite to each other in a first direction, with the fourth end 3152 adjacent to the first end 3111 opposite to the third end 3151 in the first direction. For example, the fourth end 3152 is the front end of the mounting bracket 315, and the third end 3151 is the rear end of the mounting bracket 315. The fourth end 3152 includes a third mounting portion 3153 and a fourth mounting portion 3154, that is, both the third mounting member 333 and the fourth mounting member 334 are provided at the fourth end 3152 of the mounting bracket 315. This makes the structure of the worktable 3 more reasonable.

[0213] like Figure 24 As shown, the second stop 322 is connected to at least one of the first stop 321 and the fourth end 3152. This allows for a more secure and convenient installation of the second stop 322.

[0214] For example, the first mounting member 331 and the second mounting member 332 are both disposed on the upper surface 3143 of the platform 314, and the third mounting member 333 and the fourth mounting member 334 are both disposed on the front surface 3155 of the mounting bracket 315 (fourth end 3152). The second stop 322 is connected to each of the upper part 3213 of each first stop 321 and the front surface 3155 of the mounting bracket 315 (fourth end 3152).

[0215] In one embodiment of this disclosure, the mounting bracket 315 is provided with a detector 34. Optionally, the fourth end 3152 of the mounting bracket 315 is provided with a detector 34. This allows the detector 34 to be closer to the worker and further away from the pick-and-place assembly 21, enabling the detector 34 to detect the worker's body earlier and more promptly. This provides more time for controlling the next operation of the pick-and-place assembly 21 (e.g., stopping the pick-and-place assembly 21 from moving), effectively preventing interference between the worker's body and the pick-and-place assembly 21 or the target object on the pick-and-place assembly 21, thereby further improving safety.

[0216] Optionally, detector 34 is a grating detector or a radar detector. The transmitting end 341 and receiving end 342 of the grating detector can be spaced apart along a second direction (e.g., left-right direction) or spaced apart along a vertical direction. The transmitting end 341 and receiving end 342 of the grating detector can face each other directly in the second direction or vertical direction. Alternatively, the transmitting end 341 and receiving end 342 of the grating detector can be diagonally opposite each other in the second direction or vertical direction, for example, the transmitting end 341 of the grating detector is located in front of (behind) the receiving end 342 of the grating detector.

[0217] In another embodiment of this disclosure, the first stop 321 is provided with a detector 34. This allows the detector 34 to be closer to the worker and further away from the pick-and-place assembly 21, enabling the detector 34 to detect the worker's body earlier and more promptly. This provides more time for controlling the next operation of the pick-and-place assembly 21 (e.g., stopping the pick-and-place assembly 21 from moving), effectively preventing interference between the worker's body and the pick-and-place assembly 21 or the target object on the pick-and-place assembly 21, thereby further improving safety.

[0218] Optionally, detector 34 is a grating detector or a radar detector. The transmitting end 341 and receiving end 342 of the grating detector can be spaced apart along a second direction (e.g., left-right direction) or spaced apart along a vertical direction. The transmitting end 341 and receiving end 342 of the grating detector can face each other directly in the second direction or vertical direction. Alternatively, the transmitting end 341 and receiving end 342 of the grating detector can be diagonally opposite each other in the second direction or vertical direction, for example, the transmitting end 341 of the grating detector is located in front of (behind) the receiving end 342 of the grating detector.

[0219] like Figure 19 As shown, the emitting end 341 of the grating detector is disposed on a first stop 321 (another first stop 321), as... Figure 22 As shown, the receiving end 342 of the grating detector is disposed on another first stop 321 (one first stop 321). For example, Figure 19The first stop 321 shown is provided on the first side 312 of the worktable 3. Figure 22 The first stop 321 shown is provided on the second side 313 of the worktable 3.

[0220] In another embodiment of this disclosure, the second stop 322 is provided with a detector 34. This allows the detector 34 to be closer to the worker and further away from the pick-and-place assembly 21, enabling the detector 34 to detect the worker's body earlier and more promptly. This provides more time for controlling the next operation of the pick-and-place assembly 21 (e.g., stopping the pick-and-place assembly 21 from moving), effectively preventing interference between the worker's body and the pick-and-place assembly 21 or the target object on the pick-and-place assembly 21, thereby further improving safety.

[0221] Optionally, detector 34 is a grating detector or a radar detector. The transmitting end 341 and receiving end 342 of the grating detector can be spaced apart along a second direction (e.g., left-right direction) or spaced apart along a vertical direction. The transmitting end 341 and receiving end 342 of the grating detector can be directly opposite each other in the second direction or vertical direction. Alternatively, the transmitting end 341 and receiving end 342 of the grating detector can be obliquely opposite each other in the second direction or vertical direction, for example, the transmitting end 341 of the grating detector is located in front of (behind) the receiving end 342 of the grating detector. For example, the transmitting end 341 of the grating detector is disposed on the second stop member 322 (stage 314), and the receiving end 342 of the grating detector is disposed on the stage 314 (second stop member 322).

[0222] like Figure 17 , Figure 20 and Figure 23 As shown, the main body 31 includes multiple workstations 311, which are spaced apart along a second direction. The workbench 3 also includes a blocking member 323, which is provided between two adjacent workstations 311. For example, a workstation 311 may be located between a first stop member 321 and a blocking member 323 in the second direction, or a workstation 311 may be located between two adjacent blocking members 323 in the second direction.

[0223] By providing a shielding element 323 between two adjacent workstations 311, each workstation 311 can be detected independently. When a worker's body accidentally extends from one or more workstations 311 towards the pick-and-place assembly 21, the detector 34 can detect the worker's body, preventing the pick-and-place assembly 21 from conveying target objects to these workstations 311 or from conveying target objects from these workstations 311 to other locations. The pick-and-place assembly 21 can then convey target objects to other workstations 311 (workstations 311 where the worker's body has not been detected) and convey target objects from other workstations 311 to other locations, thereby improving work efficiency.

[0224] Optionally, at least one of the adjacent first stop members 321 and blocking members 323 is provided with a detector 34, and at least one of the adjacent blocking members 323 is provided with a blocking member 323. That is, at least one of the first stop member 321 and the blocking member 323 closest to the first stop member 321 in the second direction is provided with a detector 34. This can improve the accuracy of detection.

[0225] For example, at least one of a first stop 321 and a shield 323 that is closest to the first stop 321 in the second direction is provided with a detector 34, and at least one of another first stop 321 and a shield 323 that is closest to the other first stop 321 in the second direction is provided with a detector 34.

[0226] The first stop 321 includes a first edge 3215 and a second edge 3216 opposite each other in a first direction, and the shield 323 includes a first edge 3232 and a second edge 3233 opposite each other in a first direction. The first edges 3215 and 3232 are farther away from the pick-and-place assembly 21 in a first direction than the second edges 3216 and 3233, that is, the first edges 3215 and 3232 are closer to the first end 3111 of the workstation 311 in a first direction than the second edges 3216 and 3233. The detector 34 is disposed on the first edge 3215.

[0227] This allows the detector 34 to be closer to the worker and further away from the pick-and-place component 21, enabling the detector 34 to detect the worker's body earlier and more promptly. This provides more time for controlling the next step of the pick-and-place component 21, effectively preventing interference between the worker's body and the pick-and-place component 21 or the target object on it, thereby further improving safety.

[0228] For example, the first edge 3215 of the first stop 321 is the front edge and the second edge 3216 is the rear edge. The first edge 3232 of the blocking member 323 is the front edge and the second edge 3233 of the blocking member 323 is the rear edge.

[0229] For example, a detector 34 is provided on the first edge 3215, 3232 of at least one of a first stop 321 and a shield 323 that is closest to the first stop 321 in the second direction, and a detector 34 is provided on the first edge 3215, 3232 of another first stop 321 and a shield 323 that is closest to the other first stop 321 in the second direction.

[0230] like Figures 17-23As shown, the first edges 3215 and 3232 include inclined segments 3217 and 3234 that are inclined away from the pick-and-place assembly 21 along the first direction, and the detector 34 is disposed on the inclined segment 3217. That is, the first edge 3215 of the first stop 321 includes the inclined segment 3217, and the first edge 3232 of the shield 323 includes the inclined segment 3234.

[0231] This allows the detector 34 to be closer to the worker and further away from the pick-and-place component 21, enabling the detector 34 to detect the worker's body earlier and more promptly. This provides more time for controlling the next step of the pick-and-place component 21, effectively preventing interference between the worker's body and the pick-and-place component 21 or the target object on it, thereby further improving safety.

[0232] For example, the lower part of the inclined segment 3217 of the first stop 321 is adjacent to the first end 3111 in a first direction relative to the upper part of the inclined segment 3217 of the first stop 321, that is, the inclined segment 3217 of the first stop 321 is inclined from top to bottom and forward. The lower part of the inclined segment 3234 of the blocking member 323 is adjacent to the first end 3111 in a first direction relative to the upper part of the inclined segment 3234 of the blocking member 323, that is, the inclined segment 3234 of the blocking member 323 is inclined from top to bottom and forward.

[0233] Optionally, at least one of the first stop member 321 and the cooperating shield member 323 has a detector 34 on its inclined section 3217, 3234. The inclined section 3234 of at least one of two adjacent shield members 323 has a detector 34.

[0234] Optionally, detector 34 is a radar detector. For example, a radar detector is provided on the inclined segment 3217 of one first stop 321, or on the inclined segment 3234 of the shield 323 closest to the first stop 321 in the second direction. A radar detector is provided on the inclined segment 3217 of another first stop 321, or on the inclined segment 3234 of the shield 323 closest to the other first stop 321 in the second direction. A radar detector is provided on the inclined segment 3234 of one of two adjacent shields 323.

[0235] Optionally, the detector is a grating detector. For example, one of the two adjacent blocking members 323 has a grating detector transmitting end 341 (receiving end 342) on its inclined section 3234, and the other of the two adjacent blocking members 323 has a grating detector receiving end 342 (transmitting end 341) on its inclined section 3234.

[0236] One first stop 321 has an inclined section 3217 with a grating detector transmitter 341 (receiver 342), and the inclined section 3234 of the shield 323 closest to the first stop 321 in the second direction has a grating detector receiver 342 (transmitter 341). Another first stop 321 has an inclined section 3217 with a grating detector transmitter 341 (receiver 342), and the inclined section 3234 of the shield 323 closest to the other first stop 321 in the second direction has a grating detector receiver 342 (transmitter 341).

[0237] This disclosure also discloses a warehousing system. The warehousing system of this disclosure includes a carrier and warehousing equipment, the warehousing equipment being warehousing equipment 100 of this disclosure. The warehousing equipment is configured to drive a pick-and-place device 2 to move relative to a carrying device 1 according to a handling instruction, in order to retrieve a target object from the carrier or transport a target object to the carrier.

[0238] The target object can be goods or containers. Containers can be boxes, pallets, document bags, bulk bags, packaging bags, etc. The vehicle can be a mobile vehicle or a regular vehicle; a mobile vehicle can be a mobile shelving unit.

[0239] Optionally, the storage equipment is configured to drive the pick-and-place device 2 to move relative to the carrier device 1 according to the handling instructions, so as to retrieve the target object from the carrier and transport the target object to a designated location, or retrieve the target object from the designated location and transport the target object to the carrier. The designated location may be a workstation 311 of the workbench 3, a shelf, a pallet, a seeding wall, or a carrier position of a bin robot.

[0240] Optionally, the storage equipment 100 is configured to drive the pick-and-place device 2 to move along a second direction and / or along a third direction to the location of the target container on the vehicle, and drive the pick-and-place device 2 to move at least along a first direction to retrieve the target container from the vehicle and guide the target container into the receiving space 213 of the pick-and-place device 2.

[0241] Optionally, the storage equipment 100 is configured such that the receiving space 213 of the pick-and-place device 2 contains the target container, and the pick-and-place device 2 is driven to move along a second direction and / or along a third direction to a designated placement position on the vehicle, and the pick-and-place device 2 is driven to move at least along a first direction to place the target container at the designated placement position on the vehicle.

[0242] Optionally, the storage equipment 100 is configured such that the receiving space 213 of the pick-and-place device 2 contains the target container, and the pick-and-place device 2 is driven to move along a second direction and / or along a third direction to the workstation 311 of the workbench 3, and the pick-and-place device 2 is driven to move at least along a first direction to place the target container at the workstation 311 of the workbench 3 for picking or other operations at the workstation 311.

[0243] like Figure 25 As shown, the warehousing system also includes workstations, storage areas, and handling equipment. The storage areas and warehousing equipment 100 are located at the workstations. The handling equipment is configured to move vehicles containing target items to the work area of ​​the warehousing equipment 100 and / or move vehicles from the workstations to the storage areas.

[0244] The workstation is a goods picking area where warehousing tasks such as goods picking, goods shelving, container adjustment, and goods inventory can be performed. These warehousing tasks can be performed manually or by automated equipment.

[0245] Taking a sorting scenario as an example, the storage equipment 100 drives the pick-and-place device 2 to move along the second direction and / or along the third direction to the location of the target object on the carrier, and drives the pick-and-place device 2 to move at least along the first direction to obtain the target object from the carrier and guide the target object into the receiving space of the pick-and-place device 2.

[0246] The storage equipment 100 drives the pick-and-place device 2 to move along a second direction and / or along a third direction to the workstation 311 of the workbench 3. The drive device 2 moves at least along a first direction to place the target object at the workstation 311 of the workbench 3 for picking at the workstation 311 of the workbench 3.

[0247] Taking a sorting scenario as an example, one side of the storage equipment 100 is a conveyor line, and the other side of the storage equipment 100 is equipped with shelves. The storage equipment 100 drives the picking and placing device 2 to move along a second direction and / or along a third direction to the location of the target object on the conveyor line, and drives the picking and placing device 2 to move at least along a first direction to obtain the target object from the conveyor line and guide the target object into the receiving space of the picking and placing device 2.

[0248] The storage equipment 100 drives the pick-and-place device 2 to move along a second direction and / or along a third direction to the storage location of the shelf, and drives the pick-and-place device 2 to move at least along a first direction to place the target object obtained from the conveyor line into the storage location of the shelf for sorting.

[0249] The storage equipment 100 can also replenish the shelves. One side of the storage equipment 100 is a first conveyor line used to transport the target item, and the other side of the storage equipment 100 is equipped with shelves. The storage equipment 100 drives the pick-and-place device 2 to move along a second direction and / or along a third direction to the location of the target item on the first conveyor line, and drives the pick-and-place device 2 to move at least along a first direction to retrieve the target item from the first conveyor line and guide the target item into the receiving space of the pick-and-place device 2.

[0250] The storage equipment 100 drives the pick-and-place device 2 to move along a second direction and / or along a third direction to a storage location on the shelf, and drives the pick-and-place device 2 to move at least along a first direction to place the target object obtained from the first conveyor line into the storage location on the shelf for replenishment.

[0251] A second conveyor line may also be placed on this side of the storage equipment 100 for transporting empty containers. The storage equipment 100 drives the pick-and-place device 2 to move along a second direction and / or a third direction to the location of the empty container on the shelf, and drives the pick-and-place device 2 to move at least along a first direction to retrieve the empty container from the shelf and guide it into the receiving space of the pick-and-place device 2. The storage equipment 100 drives the pick-and-place device 2 to move along the second direction and / or a third direction to the location of the second conveyor line, and drives the pick-and-place device 2 to move at least along the first direction to place the empty container on the second conveyor line. The second conveyor line transports the empty container to other locations.

[0252] Optionally, the warehousing system also includes a management system, and the warehousing equipment is communicatively connected to the management system. The management system is configured to send handling instructions to the warehousing equipment, and the warehousing equipment is configured to drive the pick-and-place device 2 to move according to the handling instructions, so as to retrieve the target object from the carrier or transport the target object to the carrier.

[0253] Optionally, the carrier includes shelves, and the storage equipment is configured to drive the pick-and-place device 2 to move according to handling instructions to retrieve target items from the shelves or transport retrieved target items to the shelves. For example, the storage equipment can transport target items from the shelves to workstation 311 of the workbench 3, where workers can perform picking, sorting, or other operations on the target items at workstation 311. The storage equipment can also transport target items from the shelves to a bin robot. Furthermore, the storage equipment can also transport target items from workstation 311 of the workbench 3 to the shelves.

[0254] Optionally, the carrier includes a bin robot, and the storage equipment is configured to drive the pick-and-place device 2 to move according to handling instructions to retrieve target objects from the bin robot or to transport retrieved target objects to the bin robot. For example, the storage equipment can transport target objects from the bin robot to workstation 311 of the workbench 3, where workers can perform operations such as picking and sorting on the target objects at workstation 311. Alternatively, the storage equipment can transport target objects from workstation 311 of the workbench 3 to the bin robot, which can then transport the target objects to a designated location.

[0255] Optionally, the carrier includes a first shelf and a second shelf. The storage equipment is configured to drive the pick-and-place device 2 to move according to handling instructions to retrieve a target item located on at least one of the first shelf and the second shelf, or to transport the retrieved target item to at least one of the first shelf and the second shelf. The storage equipment can transport the target item retrieved from at least one of the first shelf and the second shelf to a workbench 3, a bin robot, etc.

[0256] Alternatively, the storage equipment is configured to drive the pick-and-place device 2 to move according to handling instructions, so as to move the target item from one of the first shelf and the second shelf to the other of the first shelf and the second shelf, thereby realizing the sorting between the first shelf and the second shelf.

[0257] Optionally, the carrier includes a seeding wall, and the storage equipment is configured to drive the pick-and-place device 2 to move according to a handling instruction in order to retrieve the target object from the seeding wall or to transport the retrieved target object to the seeding wall.

[0258] Optionally, the carrier includes sorting equipment, and the storage equipment is configured to drive the pick-and-place device 2 to move according to a handling instruction in order to retrieve the target item from the sorting equipment or to transport the retrieved target item to the sorting equipment.

[0259] Optionally, there are multiple carriers, and the storage equipment is configured to drive the pick-and-place device 2 to move according to handling instructions, so as to move the target object located on at least one carrier to at least another carrier or a designated location, or to move the target object located at a designated location to at least one carrier. The multiple carriers include one or more of shelves, bin robots, seeding walls, and sorting equipment. The designated location can be a workstation 311 of the workbench 3, a shelf, a pallet, a seeding wall, or a bearing position of the bin robot.

[0260] Optionally, the warehousing system also includes a first handling device configured to move a vehicle to or from the working area of ​​the warehousing equipment. The vehicle may be a mobile shelving unit.

[0261] Optionally, the warehousing system also includes multi-level platforms and a first handling device. The multi-level platforms are spaced apart along the height direction, and each platform has at least one carrier, which is a shelf or pallet. The first handling device is configured to transport the target object or the carrier containing the target object to the working area of ​​the warehousing device, so that the warehousing device can retrieve the target object and transport it to a designated location. The designated location can be workstation 311 of workbench 3, a shelf, a pallet, a seeding wall, or the carrying position of a bin robot.

[0262] Optionally, the warehousing system also includes multiple platforms and first handling equipment, with the multiple platforms spaced apart along the height direction. Each platform has at least one first handling device, and each platform corresponds to at least one carrier, which can be a shelf, pallet, or seed wall. Carriers can be placed on the corresponding platforms, or they can be arranged adjacent to the corresponding platforms. The first handling equipment is configured to transport the target object obtained from the warehousing equipment to the carrier on the platform of the corresponding level.

[0263] Reference Figures 29 to 40 As shown, the storage equipment 100 (storage and retrieval device) of this application embodiment includes at least two support members 11 (columns) and a retrieval device 2 (box retrieval mechanism). The support members 11 are provided with vertical guide rails 171, and the at least two support members 11 are arranged at intervals along a second direction. The retrieval device 2 is disposed biased towards one side of the support member 11 in a first direction and is movably engaged with the vertical guide rails 171 in a vertical direction. The support member 11 has a fixing part 172 for connecting to a base. The second direction is orthogonal to the vertical direction, and the first direction is orthogonal to both the vertical and second directions.

[0264] The support member 11 is provided with a vertical guide rail 171, which can be understood as: the support member 11 itself forms the vertical guide rail 171; or, the vertical guide rail 171 is separately provided from the support member 11, and the vertical guide rail 11 is fixedly connected to the support member 11. The pick-and-place device 2 is movable in the vertical direction and cooperates with the vertical guide rail 171, so that the pick-and-place device 2 is set on the support member 11.

[0265] The placement device 2 is positioned biased towards one side of the support member 11 in the first direction. This can be understood as follows: the placement device 2 protrudes from the support member 11 on one side in the first direction, and the placement device 2 does not protrude from the support member 11 on the other side in the first direction; or, the placement device 2 protrudes from both sides of the support member 11 in the first direction, and the distance of the placement device 2 protruding from the support member 11 on one side in the first direction is greater than the distance of the placement device 2 protruding from the support member 11 on the other side in the first direction.

[0266] The fixing part 172 can be directly connected to the base, or it can be indirectly connected through a connector.

[0267] The vertical direction can be the direction shown by the Z-axis in the figure, the second direction can be the direction shown by the X-axis in the figure, and the first direction can be the direction shown by the Y-axis in the figure.

[0268] It should be noted that the second direction in this application is not limited to the X-axis direction in the figure, but can also be the Y-axis direction, or any direction in the horizontal plane; similarly, the first direction in this application is not limited to the Y-axis direction in the figure, but can also be the X-axis direction, or any direction in the horizontal plane. The following embodiments of this application use the X-axis direction in the figure as an example for illustrating the second direction and the Y-axis direction as an example for illustrating the first direction.

[0269] The storage equipment 100 of this application embodiment, by providing a fixing part 172 on the bearing member 11 and connecting the fixing part 172 to the base, can use the base to connect multiple bearing members 11 into a whole, thereby improving the structural strength of the whole formed by the bearing member 11 and the base, thereby reducing the risk of deformation of the bearing member 11 and limiting the relative position between two adjacent bearing members 11, thereby reducing the risk of changes in the spacing between the vertical guide rails 171 and changes in the relative position between two adjacent vertical guide rails 171, thereby making the cooperation between the picking and placing device 2 and the vertical guide rails 171 smoother and improving the movement stability and movement accuracy of the picking and placing device 2.

[0270] In some examples of embodiments of this application, multiple carriers 11 are arranged at intervals along the left-right direction, and the pick-and-place device 2 is disposed on the front side of the carriers 11 in the front-back direction. The left-right direction is consistent with the second direction, and the front-back direction is consistent with the first direction. For example, the side of the pick-and-place device 2 that is biased towards the carrier 11 is the front side, and the side opposite to that side is the rear side.

[0271] In some examples of embodiments of this application, such as Figure 29 , Figure 30 , Figures 32 to 35 As shown, the storage equipment 100 also includes at least one connecting beam 161, which extends from one of two adjacent support members 11 toward the other support member 11, and the connecting beam 161 is connected to the fixing portion 172 of the two adjacent support members 11. The connecting beam 161 can be bonded, welded, or connected to the support member 11 by fasteners, such as bolts, screws, or rivets.

[0272] For example, there are two bearing members 11, which are arranged at intervals in the left and right direction. The two ends of the connecting beam 161 are respectively connected to the fixing part 172 of the two bearing members 11, and the two bearing members 11 are connected by the connecting beam 161.

[0273] By connecting two adjacent bearing members 11 with the connecting beam 161, the two adjacent bearing members 11 and the connecting beam 161 can be connected into a whole, which can improve the structural strength of the whole formed by the two adjacent bearing members 11 and the connecting beam 161, thereby reducing the risk of deformation of the bearing member 11 and reducing the relative position between the two adjacent bearing members 11, and improving the motion stability and motion accuracy of the picking and placing device 2.

[0274] In some examples of embodiments of this application, the connecting beam 161 forms the base, that is, the connecting beam 161 connects multiple load-bearing members 11 into a whole.

[0275] By forming the base with the connecting beam 161, the structure of the base is simple, which facilitates the installation and fixing of the storage equipment 100.

[0276] In other examples of embodiments of this application, the substrate may also be other structures, such as ground, floor or frame structure (e.g. a shelf fixed to the ground).

[0277] In other examples of embodiments of this application, the connecting beam 161 has a connecting portion that is connected to the base. That is, multiple load-bearing members 11 are connected to the base via the connecting beam 161. In other words, the fixing portion 172 of the load-bearing member 11 is connected to the base via the connecting beam 161.

[0278] The connecting part can be bonded, welded or connected to the base by fasteners, which can be bolts, screws or rivets.

[0279] By setting a connecting part in the connecting beam 161, multiple load-bearing components 11 are connected to the base body through the connecting beam 161, which facilitates the connection between the multiple load-bearing components 11 and the base body, thereby facilitating the installation and fixing of the storage equipment 100.

[0280] In some examples of embodiments of this application, such as Figure 36 and Figure 37 As shown, the bearing member 11 has multiple fixing parts 172, which are arranged at intervals. There are multiple connecting beams 161, which are arranged at intervals and are connected to the corresponding fixing parts 172 of two adjacent bearing members 11.

[0281] For example, such as Figure 36As shown, multiple fixing parts 172 of the bearing member 11 are arranged at intervals in the vertical direction, and multiple connecting beams 161 are arranged at intervals in the vertical direction. The connecting beams 161 are connected to the fixing parts 172 of two adjacent bearing members 11, so that two adjacent bearing members 11 are connected by multiple connecting beams 161. Of course, the multiple fixing parts 172 of the bearing member 11 can also be arranged at intervals in the front-back direction, and at least two connecting beams 161 can be arranged sequentially in the front-back direction. In this case, at the same height, two adjacent bearing members 11 are connected by at least two connecting beams 161.

[0282] The two adjacent bearing members 11 are connected by multiple connecting beams 161, which can further improve the overall structural strength of the two adjacent bearing members 11 and the connecting beams 161, thereby further reducing the risk of deformation of the bearing members 11 and reducing the relative position between the two adjacent bearing members 11, and improving the motion stability and motion accuracy of the picking and placing device 2.

[0283] In some examples of embodiments of this application, such as Figure 29 , Figures 32 to 35 , Figure 36 As shown, the extension direction of the connecting beam 161 is parallel to the second direction.

[0284] For example, the second direction is consistent with the left and right directions, and the connecting beam 161 is arranged parallel to the left and right directions.

[0285] By setting the extension direction of the connecting beam 161 to be parallel to the second direction, the connection between two adjacent load-bearing members 11 can be achieved when the length of the connecting beam 161 is relatively short. This helps to reduce the cost of the connecting beam 161, thereby reducing the cost of the storage equipment 100.

[0286] In some examples of embodiments of this application, the storage equipment 100 further includes a buffer rack, which is disposed in a first direction on the side of the support member 11 away from the pick-and-place device 2, and the buffer rack is connected to the connecting beam 161.

[0287] The number of buffer racks can be one or more, and at least one buffer rack can be installed on each connecting beam 161.

[0288] For example, the pick-and-place device 2 is located on the front side of the carrier 11, and the buffer rack is located on the rear side of the carrier 11.

[0289] By setting up a buffer rack on the storage equipment 100, the goods 7 removed by the pick-and-place device 2 can be placed on the buffer rack so that the pick-and-place device 2 can remove the next goods 7, thereby improving the working efficiency of the pick-and-place device 2 and thus improving the working efficiency of the storage equipment 100.

[0290] Among them, goods 7 can be cargo boxes, material boxes, the goods themselves, or the original boxes of goods, etc., without limitation.

[0291] In some specific application scenarios, the following example illustrates how warehouse equipment 100, acting as a picking device and retrieval device 2, retrieves goods 7 from a carrier (such as a mobile shelf, pallet, or transport cart) carried by a handling robot:

[0292] First, the first handling robot transports the first carrier carrying the first item to the pick-and-place device 2. The pick-and-place device 2 removes the first item from the first carrier and places it on the picking station for sorting. Then, the second handling robot transports the carrier carrying the second item to the pick-and-place device 2. The pick-and-place device 2 removes the second item from the second carrier and places it on a buffer shelf. Before completing the sorting of the first item 7, the pick-and-place device 2 can place other items 7 from the carrier on the buffer shelf; and after completing the sorting of the first item, the pick-and-place device 2 can remove the second item from the corresponding buffer shelf and place it on the picking station for sorting.

[0293] In some examples of embodiments of this application, such as Figure 37 As shown, the extension direction of the connecting beam 161 is arranged at an angle relative to the second direction.

[0294] The connecting beam 161 can be one, two, or more. For example, as shown... Figure 37 As shown, two connecting beams 161 are provided. The angle between the extension direction of the connecting beam 161 and the left and right directions is an acute angle, and the two connecting beams 161 are arranged in a cross manner.

[0295] By setting the extension direction of the connecting beam 161 to be inclined relative to the second direction, the connecting beam 161 can be connected to different positions of two adjacent bearing members 11, which facilitates the reinforcement of different positions of each bearing member 11 as needed, and helps to improve the reliability of the storage equipment 100.

[0296] In some examples of embodiments of this application, such as Figure 38 As shown, the storage equipment 100 also includes a fixed beam 163, which is arranged at an angle relative to the second direction. The two ends of the fixed beam 163 are respectively connected to the connecting beam 161 and the fixing part 172 of at least one load-bearing member 11.

[0297] For example, such as Figure 38 As shown, two fixed beams 163 are provided, spaced apart along the second direction, and positioned below the connecting beam 161. One fixed beam 163 has its two ends connected to the connecting beam 161 and the fixing portion 172 of one of the bearing members 11, respectively. The other fixed beam 163 has its two ends connected to the connecting beam 161 and the fixing portion 172 of the other bearing member 11, respectively. In this configuration, the two bearing members 11 are connected not only by the connecting beam 161 but also by the two fixed beams 163 and the connecting beam 161.

[0298] In some examples of embodiments of this application, such as Figure 30 As shown, the fixing part 172 is provided on the top of the support member 11. At this time, the top of the support member 11 is connected to the base.

[0299] For example, the tops of the two support members 11 are connected by a connecting beam 161, so that the two support members 11 and the connecting beam 161 form a portal frame, and the pick-and-place device 2 is arranged on the inner side of the portal frame. In addition, one of the two support members 11 is provided with a vertical guide rail 171 facing the side of the other support member 11.

[0300] By setting the fixing part 172 on the top of the carrier 11, the risk of deformation of the top of the carrier 11 can be reduced and the relative position between the tops of two adjacent carriers 11 can be limited, thereby improving the movement stability and movement accuracy of the picking and placing device 2.

[0301] In some examples of embodiments of this application, such as Figure 29 As shown, the fixing part 172 is provided at the bottom of the support member 11. At this time, the bottom of the support member 11 is connected to the base.

[0302] For example, the ground serves as the base, and the bottom of each bearing member 11 is connected to the ground. The bottom of the bearing member 11 can be connected to the ground using anchor bolts.

[0303] By setting the fixing part 172 at the bottom of the support member 11, the risk of deformation of the bottom of the support member 11 can be reduced and the relative position between the bottoms of two adjacent support members 11 can be limited, thereby improving the movement stability and movement accuracy of the picking and placing device 2.

[0304] In some examples of embodiments of this application, the fixing part 172 is provided in the middle of the support member 11. In this case, the middle part of the support member 11 is connected to the base.

[0305] For example, such as Figure 36 and Figure 37 As shown, each of the bearing members 11 has a fixing part 172 in the middle, and the middle part of the bearing member 11 is connected to the connecting beam 161, which forms the base.

[0306] By setting the fixing part 172 in the middle of the bearing member 11, the risk of deformation of the middle of the bearing member 11 can be reduced and the relative position between the middle of two adjacent bearing members 11 can be limited, thereby improving the movement stability and movement accuracy of the picking and placing device 2.

[0307] In some examples of embodiments of this application, the bottom of the support member 11 is provided with a fixing member 4, and the fixing member 4 forms a fixing part 172.

[0308] By setting a fixing member 4 at the bottom of the support member 11, it is convenient to connect the bottom of the support member 11 to the base, thereby facilitating the installation and fixing of the storage equipment 100.

[0309] In some examples of embodiments of this application, the fastener 4 is provided with a fixing hole 411 through which a fastener passes to connect with the base.

[0310] For example, the fixing hole 411 allows the anchor bolt to pass through, thereby connecting the bearing member 11 to the ground.

[0311] In some examples of embodiments of this application, such as Figure 31 As shown, the support member 11 includes a first wall surface 173 and a second wall surface arranged opposite to each other in a second direction. The fixing member 4 includes a first plate 41 and a second plate 42. The first plate 41 is disposed at the bottom of the support member 11, and the second plate 42 is disposed on the side of the support member 11 away from the second wall surface. The first plate 41 is used to connect with the base, and the bottom surface of the support member 11 is connected to the top surface of the first plate 41. The side of the second plate 42 facing the first wall surface 173 is connected to the first wall surface 173, and the bottom surface of the second plate 42 is connected to the top surface of the first plate 41.

[0312] For example, the first plate 41 is disposed on the lower side of the support member 11, the left side of the support member 11 is the first wall surface 173, the second plate 42 is disposed on the left side of the support member 11, the first plate 41 is provided with the aforementioned fixing hole 411, the lower end surface of the support member 11 is connected to the upper side surface of the first plate 41, the right side surface of the second plate 42 is connected to the left side surface of the support member 11, and the lower side surface of the second plate 42 is connected to the upper side surface of the first plate 41.

[0313] By setting the fastener 4 to the above structure, the connection reliability between the fastener 4 and the bearing member 11 can be improved, thereby improving the connection reliability between the bearing member 11 and the base, and improving the reliability of the storage equipment 100.

[0314] In some examples of embodiments of this application, the carrier 11 further includes a third wall surface 174 and a fourth wall surface opposite each other in a first direction. The fixing member 4 further includes a connecting plate 43 and a rib 44. The connecting plate 43 is disposed on the side of the carrier 11 away from the fourth wall surface, and the rib 44 is disposed on the side of the connecting plate 43 away from the carrier 11. The side of the connecting plate 43 facing the third wall surface 174 is connected to the third wall surface 174, and the side of the connecting plate 43 facing the second plate 42 is connected to the side of the second plate 42 facing the first wall surface 173. The bottom surface of the connecting plate 43 is connected to the top surface of the first plate 41. The side of the rib 44 facing the third wall surface 174 is connected to the side of the connecting plate 43 facing away from the third wall surface 174, and the bottom surface of the rib 44 is connected to the top surface of the first plate 41.

[0315] For example, the connecting plate 43 is disposed on the front side of the bearing member 11, the front side of the bearing member 11 is the third wall surface 174, the rib plate 44 is disposed on the front side of the connecting plate 43, the lower surface of the connecting plate 43 is connected to the upper side of the first plate 41, the left side of the connecting plate 43 is connected to the right side of the second plate 42, the rear side of the rib plate 44 is connected to the front side of the connecting plate 43, and the lower side of the rib plate 44 is connected to the upper surface of the first plate 41.

[0316] By setting the fastener 4 to the above structure, the connection reliability between the fastener 4 and the bearing 11 can be further improved, thereby improving the connection reliability between the bearing 11 and the base, and improving the reliability of the storage equipment 100.

[0317] like Figure 39 and Figure 40 As shown, embodiments of this application also provide a warehousing system, which includes a shelf 6 and a storage device 100 as described in any of the above embodiments. The storage device 100 is disposed on at least one side of the shelf 6 in a second direction and / or a first direction. The shelf 6 is used to place goods 7, and the picking and placing device 2 is used to pick up and place goods 7.

[0318] The storage equipment 100 is disposed on at least one side of the shelf 6 in the second direction and / or the first direction, which can be understood as: the storage equipment 100 is disposed on at least one side of the shelf 6 in the second direction, and the storage equipment 100 is disposed on at least one side of the shelf 6 in the first direction; or, the storage equipment 100 is disposed on at least one side of the shelf 6 in the second direction, and the storage equipment 100 is not disposed on either side of the shelf 6 in the first direction; or, the storage equipment 100 is disposed on at least one side of the shelf 6 in the first direction, and the storage equipment 100 is not disposed on either side of the shelf 6 in the second direction.

[0319] Because the storage equipment 100 and the picking and placing device 2 in this embodiment have good motion stability and motion accuracy, the storage system in this embodiment has advantages such as good reliability.

[0320] like Figure 39 and Figure 40 As shown, the fixing part 172 is fixedly connected to the shelf 6, and the shelf 6 forms the base.

[0321] The vertical guide rail 171 can be fixed to the uprights of the shelf 6, or the uprights of the shelf 6 can form the vertical guide rail 171.

[0322] The fixing part 172 can be welded to the shelf 6; the fixing part 172 and the shelf 6 can also be connected by fasteners, such as bolts, screws, rivets, etc.

[0323] By using the shelf 6 as the base, it is possible to avoid setting up an additional base, simplify the overall structure of the storage equipment 100, and reduce the overall cost of the storage equipment 100.

[0324] Optionally, such as Figure 39 and Figure 40 As shown, the storage equipment 100 is disposed on one side of the shelf 6 in a first direction, and the pick-and-place device 2 is disposed on the side of the support member 11 away from the shelf 6 in the first direction. The shelf 6 is provided with a transverse guide rail 61 extending in a second direction, and the support member 11 is provided with a guide portion, which is movably engaged with the transverse guide rail 61 in the second direction.

[0325] The guide part can be a transverse caster 175, a guide block, etc. The shelf 6 is provided with a transverse guide rail 61, which can be understood as: the crossbeam of the shelf 6 itself forms the transverse guide rail 61; or, the shelf 6 and the transverse guide rail 61 are set separately, and the transverse guide rail 61 is fixedly connected to the shelf 6.

[0326] For example, a transverse wheel 175 can be directly installed on the support member 11. The transverse wheel 175 is movably coupled to the transverse guide rail 61 in the second direction, thereby enabling the support member 11 to move in the second direction. In this case, the transverse wheel 175 forms a guide portion. Alternatively, the fixing portion 172 of the support member 11 can be connected to the base, and a transverse wheel 175 can be installed on the base. The transverse wheel 175 is movably coupled to the transverse guide rail 61 in the second direction, thereby enabling the support member 11 to move in the second direction. In this case, the transverse wheel 175 forms a guide portion.

[0327] By making the carrier 11 movable in the second direction, the picking and placing device 2 can not only move along the vertical guide rail 171, but also move along the horizontal guide rail with the carrier 11. This allows the storage equipment 100 to pick and place goods 7 at more locations on the shelf 6, which helps improve the working efficiency of the storage system. In some examples of embodiments of this application, the storage system also includes at least one receiving point, which is located on the other side of the carrier 11 in the first direction.

[0328] The receiving point can be a picking station, a temporary storage station for placing goods 7, or a receiving trolley for carrying goods 7, etc.

[0329] For example, the receiving point is located on the rear side of the carrier 11.

[0330] By setting up receiving points, it is convenient to place the goods 7 taken out by the pick-up and place-down device 2, which helps to improve the working efficiency of the warehousing system.

[0331] In some examples of embodiments of this application, such as Figure 29 , Figure 32 and Figure 35As shown, the warehousing system also includes a workbench 2 (picking station), which has at least one workstation 311 (picking station), and the workstation 311 forms a receiving point.

[0332] The workbench 2 is provided with at least one workstation 311, which can be understood as: the workbench 2 has one workstation 311; or, the workbench 2 has two or more workstations 311.

[0333] For example, workbench 2 has three workstations 311.

[0334] By setting at least one workstation 311 on workbench 2, the working efficiency of the warehousing system can be improved.

[0335] In some other examples of embodiments of this application, the workbench 2 may also be provided with only one workstation 311.

[0336] In some examples of embodiments of this application, the workbench 2 includes a first side plate 316 and a second side plate 317 arranged opposite to each other along a second direction, and at least one of the first side plate 316 and the second side plate 317 is provided with a plurality of hook holes 318.

[0337] For example, the right side panel of the workbench 2 is the first side panel 316, and the left side panel of the workbench 2 is the second side panel 317. Both the first side panel 316 and the second side panel 317 are provided with multiple hook holes 318. Among them, the hook holes 318 can be used to hang storage racks, which can be used to store tools such as barcode printers and barcode scanners.

[0338] By setting up hook holes 318, it is convenient to hang auxiliary tools (such as storage racks) on the workbench 2, thereby improving the practicality of the storage and retrieval system.

[0339] In some other examples of embodiments of this application, the hook hole 318 may not be provided on the workbench 2. In this case, a storage rack can be directly provided on the side of the workbench 2 for storing tools such as barcode printers and barcode scanners.

[0340] The pick-and-place device 2 includes a carrier frame, a drive assembly, and a pick-and-place assembly. The carrier frame is movably coupled to the support frame 1 in the vertical direction. The drive assembly is used to drive the carrier frame to move in the vertical direction. The pick-and-place assembly is mounted on the carrier frame and is used to transport goods 7 between the transport robot and the workstation 311.

[0341] In a warehousing system, handling equipment responds to order instructions by moving the goods corresponding to the order to the picking mechanism of the picking system. The picking mechanism then transfers the goods to the picking platform of the picking system, where items corresponding to the order are sorted into order boxes, thus achieving the sorting of items corresponding to the order. The goods can be items, carriers containing items, or boxes containing items, etc.; the handling equipment can be robotic arms or handling robots, etc.

[0342] During the process of transporting goods to the picking mechanism of the picking system, the transport equipment moves along a set path. In related technologies, the picking mechanism of the picking system is set on one side of the support frame in the horizontal direction. During the movement of the transport equipment, it will pass through the side of the support frame where the picking mechanism is located. This means that when there is a deviation in the movement path of the transport equipment, the goods carried on the transport equipment are prone to collide with the picking mechanism, affecting the working efficiency and reliability of the warehousing system.

[0343] In response to the technical problems existing in the relevant technologies, refer to Figures 41 to 46 As shown, the storage equipment 100 of this embodiment includes a carrying device 1, a picking and placing device 2, and a collision avoidance mark 8. The picking and placing device 2 is movably connected to the carrying device 1 in a vertical direction. The picking and placing device 2 is disposed on one side protruding from the carrying device 1 in a first direction. The collision avoidance mark 8 is located on at least one side of the carrying device 1 and / or the picking and placing device 2 in a second direction. The collision avoidance mark 8 is used for identification by handling equipment to ensure that the goods carried by the handling equipment avoid the picking and placing device 2. The first direction is orthogonal to the vertical direction, and the second direction is orthogonal to both the vertical direction and the first direction.

[0344] The picking and placing device 2 can be positioned away from the receiving point of the warehousing system in the first direction. For example, the receiving point could be a temporary storage location for placing goods, a receiving cart for carrying goods, or a picking location on a picking platform. Alternatively, the picking and placing device 2 can be positioned close to the receiving point of the warehousing system, for example, a mobile shelf, from which the picking and placing device 2 retrieves and returns goods. The goods can be items, vehicles containing items, or boxes containing items. The anti-collision marking 8 can be anti-collision components, QR codes, image markings, etc.

[0345] Wherein, the anti-collision mark 8 is located on at least one side of the carrier device 1 and / or the pick-and-place device 2 in the second direction, which can be understood as: the anti-collision mark 8 is located on one or both sides of the carrier device 1 in the second direction, but the pick-and-place device 2 is not provided with anti-collision mark 8 on each side of the second direction; or, the anti-collision mark 8 is located on one or both sides of the carrier device 1 in the second direction, but the carrier device 1 is not provided with anti-collision mark 8 on each side of the second direction; or, the anti-collision mark 8 is located on one or both sides of the carrier device 1 in the second direction, and the anti-collision mark 8 is located on one or both sides of the pick-and-place device 2 in the second direction. In this case, the carrier device 1 and the pick-and-place device 2 can be the same anti-collision mark 8, or they can be different anti-collision marks 8.

[0346] The vertical direction can be the direction shown by the Z-axis in the figure, the first direction can be the direction shown by the X-axis in the figure, and the second direction can be the direction shown by the Y-axis in the figure.

[0347] It should be noted that the first direction in this application is not limited to the X-axis direction in the figure, but can also be the Y-axis direction, or any direction in the horizontal plane; similarly, the second direction in this application is not limited to the Y-axis direction in the figure, but can also be the X-axis direction, or any direction in the horizontal plane. The following embodiments of this application use the X-axis direction in the figure as an example for the first direction and the Y-axis direction in the figure as an example for the second direction.

[0348] The storage equipment 100 of this application embodiment, by setting anti-collision markings 8 on at least one side of the carrying device 1 and / or the picking and placing device 2 in the second direction, enables the handling equipment to determine its movement path by recognizing the anti-collision markings 8 during the process of the handling equipment moving goods to the picking and placing device 2, thereby avoiding collision between the goods carried by the handling equipment and the picking and placing device 2, thereby improving the working efficiency and reliability of the storage system.

[0349] The handling equipment can be a robotic arm, a handling robot, or a mobile shelf, etc. Determining the movement path of the handling equipment can be understood as: the handling equipment replanning its movement path or the handling equipment continuing to move according to the already planned movement path. The determined movement path should ensure that the goods carried by the handling equipment will not collide with the picking and placing device 2.

[0350] In some examples of embodiments of this application, such as Figure 41 , Figure 44 and Figure 45 As shown, the storage equipment 100 includes a fastener 9. At least a portion of the fastener 9 is located on one side of the pick-and-place device 2 in the second direction. At least a portion of the fastener 9 forms an anti-collision mark 8, or the anti-collision mark 8 is disposed on the fastener 9.

[0351] Wherein, at least a portion of the fixing member 9 is located on one side of the picking and placing device 2 in the second direction, which can be understood as: a portion of the fixing member 9 is located on one side of the picking and placing device 2 in the second direction; or, the entire fixing member 9 is located on one side of the picking and placing device 2 in the second direction.

[0352] At least a portion of the fixing member 9 forms an anti-collision mark 8, which can be understood as: at least a portion of the fixing member 9 is used as an anti-collision mark 8. At this time, when the handling equipment identifies the portion of the fixing member 9 that serves as an anti-collision mark 8, it determines its movement path to avoid the goods carried by the handling equipment from colliding with the pick-and-place device 2.

[0353] The anti-collision mark 8 is set on the fixing part 9. This can be understood as the anti-collision mark 8 being fixed to the fixing part 9 by means of adhesive, printing, fasteners, etc., such as bolts, screws, rivets, etc. When the handling equipment recognizes the anti-collision mark on the fixing part 9, it determines its movement path to avoid the goods carried by the handling equipment from colliding with the picking and placing device 2.

[0354] By setting a fixing member 9 and forming at least a portion of the fixing member 9 into an anti-collision mark 8, or by setting the anti-collision mark 8 on the fixing member 9, it is convenient to set the anti-collision mark 8 in a position that is easily identifiable by the handling equipment. This facilitates the handling equipment to quickly and accurately identify the anti-collision mark 8, thereby more effectively preventing the goods carried by the handling equipment from colliding with the picking and placing device 2.

[0355] In some other examples of embodiments of this application, the anti-collision mark 8 is a QR code or an image mark. The image mark can be: black and yellow stripes, black and white stripes, black and white squares, etc.

[0356] The QR code or image label can be fixed to the carrier device 1, the pick-and-place device 2, or the ground by pasting, printing, fasteners, etc. At this time, a camera can be installed on the handling equipment. By recognizing the QR code or image label as an anti-collision mark 8, the camera can determine the relative position of the handling equipment and the pick-and-place device 2, and determine the movement path of the handling equipment to avoid the goods carried by the handling equipment from colliding with the pick-and-place device 2.

[0357] By setting the anti-collision mark 8 as a QR code or image mark, the specific structure of the storage equipment 100 can be changed without changing it. Only the QR code or image mark needs to be set on the storage equipment 100, which helps to reduce the cost of the storage equipment 100.

[0358] It should be noted that when the QR code or image label is placed on the carrier device 1 or the pick-and-place device 2, the camera of the handling equipment is preferably located on the front side of its movement direction, that is, the camera faces the front side of the handling equipment in the movement direction, so as to identify the QR code or image label on the carrier device 1 or the pick-and-place device 2. When the QR code or image label is placed on the ground, the camera of the handling equipment can be placed on the bottom of the handling equipment, that is, the camera faces downwards, so as to identify the QR code on the carrier device 1 or the pick-and-place device 2.

[0359] The location where the camera can recognize the QR code or image mark is taken as the recognition location. The recognition location and the picking and placing device 2 are located on the same side of the carrier device 1. The distance between the recognition location and the carrier device 1 in the second direction is D1. The distance between the side of the picking and placing device 2 away from the carrier device 1 in the second direction and the carrier device 1 in the second direction is D2. Then D1 is greater than or equal to D2.

[0360] For example, the identification position is located on the front side of the carrier device 1, and the picking and placing device 2 is located on the front side of the carrier device 1. The distance between the identification position and the carrier device 1 in the front-back direction is D1, and the distance between the front side of the picking and placing device 2 and the carrier device 1 in the front-back direction is D2, where D1 is greater than D2. The front-back direction can be consistent with the first direction, and the left-right direction can be consistent with the second direction. Furthermore, the box picking mechanism 1 protrudes from the front side of the carrier device 1.

[0361] In some specific application scenarios, the process of the handling equipment moving from the right front of the pick-and-place device 2 to the pick-and-place device 2 will be used as an example for illustration:

[0362] The transport equipment first moves backward to the right side of the pick-and-place device 2, and then moves left to the pick-and-place device 2. During the leftward movement, if the transport equipment reaches the identification position, it replans its path. For example, after identifying the QR code, the transport equipment might move forward a certain distance to avoid the identification position before moving left to the pick-and-place device 2. The transport equipment must be in front of the identification position to avoid it, and when it is in front of the identification position, it is always in front of the pick-and-place device 2, ensuring that the goods carried by the transport equipment will not collide with it.

[0363] In some examples of embodiments of this application, such as Figure 42 and Figure 46 As shown, at least a portion of the fastener 9 forms a collision protection part 94, which is located on the same side of the carrier 1 in the first direction as the pickup and drop device 2. The collision protection part 94 is used to block the transport equipment.

[0364] Wherein, at least a portion of the fastener 9 forms a collision protection part 94, which can be understood as: a portion of the fastener 9 is used as a collision protection part 94, in which case the portion of the fastener 9 used as a collision protection part 94 serves to block the transport equipment, while the remaining portion of the fastener 9 does not serve to block the transport equipment; or, the entire fastener 9 is used as a collision protection part 94, in which case the entire fastener 9 serves to block the transport equipment.

[0365] For example, the anti-collision part 94 and the pick-and-place device 2 are both located on the front side of the bearing device 1, and the anti-collision part 94 is provided on both the left and right sides of the pick-and-place device 2.

[0366] By forming at least a portion of the fixing member 9 into a collision-resistant part 94, which is used to block the handling equipment, when the goods carried by the handling equipment are about to collide with the pick-and-place device 2, the fixing member 9 can directly prevent the handling equipment from continuing to move, thereby more effectively avoiding the collision between the goods carried by the handling equipment and the pick-and-place device 2.

[0367] In some specific application scenarios, the process of the handling equipment moving from the left front of the pick-and-place device 2 to the pick-and-place device 2 will be used as an example for illustration:

[0368] The transport equipment first moves backward to the left side of the pick-and-place device 2, and then moves to the right to the pick-and-place device 2. During the rightward movement of the transport equipment, if it collides with the anti-collision part 94, it is determined that the goods carried by the transport equipment will collide with the pick-and-place device 2 along this movement path. The transport equipment then replans its movement path. For example, after colliding with the anti-collision part 94, the transport equipment first moves forward a certain distance to avoid the anti-collision part 94, and then moves to the right to the pick-and-place device 2.

[0369] Of course, in some other embodiments, the fixing member 9 may not have the function of blocking the handling equipment. In this case, the handling equipment only determines its movement path by recognizing the anti-collision mark 8 to avoid the goods carried by the handling equipment from colliding with the picking and placing device 2.

[0370] In some examples of embodiments of this application, such as Figure 41 and Figure 44 As shown, the fastener 9 and the supporting device 1 are arranged at intervals along the first direction. That is to say, the fastener 9 and the supporting device 1 are separate components.

[0371] For example, the pick-and-place device 2 is located on the front side of the bearing device 1, and the fixing member 9 is located on the front side of the bearing device 1.

[0372] By arranging the fastener 9 and the carrier 1 at intervals along the first direction, the position of the fastener 9 is not restricted by the carrier 1. The fastener 9 can be set in a position that is easily recognized by the handling equipment, thereby more effectively preventing the goods carried by the handling equipment from colliding with the pick-and-place device 2.

[0373] In other examples of embodiments of this application, such as Figure 45 and Figure 46 As shown, the fastener 9 is fixedly connected to the bearing device 1. That is to say, the fastener 9 and the bearing device 1 are fixed as one unit.

[0374] The fastener 9 and the bearing device 1 can be welded, bonded or connected by fasteners, such as bolts, screws, rivets, etc.

[0375] The fastener 9 is fixedly connected to the bearing device 1, so that the bearing device 1 can serve as the fixing base for the fastener 9, which facilitates the installation and fixing of the fastener 9.

[0376] In some examples of embodiments of this application, such as Figure 43 , Figure 44 and Figure 46 As shown, the distance between the side of the anti-collision part 94 away from the support frame in the second direction and the bearing device 1 in the second direction is L1, and the distance between the side of the pick-and-place device 2 away from the bearing device 1 in the second direction and the bearing device 1 in the second direction is L2, and L1 is greater than or equal to L2.

[0377] For example, the anti-collision part 94 is located on the front side of the bearing device 1, and the pick-and-place device 2 is located on the front side of the bearing device 1. The distance between the front side of the anti-collision part 94 and the bearing device 1 in the front-rear direction is L1, and the distance between the front side of the pick-and-place device 2 and the bearing device 1 in the front-rear direction is L2, where L1 is greater than L2.

[0378] In some specific application scenarios, the process of the handling equipment moving from the right front of the pick-and-place device 2 to the pick-and-place device 2 will be used as an example for illustration:

[0379] The transport equipment first moves backward to the right side of the pick-and-place device 2, and then moves left to the pick-and-place device 2. During the leftward movement, if the transport equipment collides with the anti-collision part 94, the transport equipment replans its movement path. For example, after colliding with the anti-collision part 94, the transport equipment first moves forward a certain distance to avoid it, and then moves left to the pick-and-place device 2. The transport equipment can only avoid the anti-collision part 94 when it is in front of it. When the transport equipment is in front of the anti-collision part 94, it is always in front of the pick-and-place device 2, ensuring that the goods carried by the transport equipment will not collide with the pick-and-place device 2.

[0380] By setting L1 to be greater than or equal to L2, the goods on the handling equipment will not collide with the pick-and-place device 2 unless the handling equipment collides with the anti-collision part 94. This effectively prevents the goods carried by the handling equipment from colliding with the pick-and-place device 2.

[0381] In some examples of embodiments of this application, such as Figure 41 , Figure 44 and Figure 45 As shown, the fixing member 9 is a crash guard, and the crash guard and the picking and placing device 2 are located on the same side of the bearing device 1 in the first direction. The crash guard forms a crash protection mark.

[0382] By designing the fastener 9 as a collision avoidance frame, the fastener 9 has better structural strength, thereby preventing the fastener 9 from being damaged by the handling equipment when it collides with the handling equipment, and improving the reliability of the storage equipment 100.

[0383] In some examples of embodiments of this application, such as Figure 43 As shown, the anti-collision frame includes an anti-collision beam 91 and multiple support legs 92. The anti-collision beam 91 extends along a first direction, and the multiple support legs 92 are arranged at intervals along the first direction. The anti-collision beam 91 is connected to the multiple support legs 92.

[0384] For example, such as Figure 43 As shown, there are two support legs 92, the anti-collision beam 91 extends in the front-to-back direction, and the two support legs 92 are arranged at intervals in the front-to-back direction. The anti-collision beam 91 and the two support legs 92 form a U-shaped frame.

[0385] The above-mentioned structure of the anti-collision frame ensures the structural strength of the anti-collision frame while simplifying its structure and reducing its cost, thereby reducing the cost of the storage equipment 100.

[0386] In other examples of embodiments of this application, the bumper can also be configured with other structures, for example, the bumper can be configured as... Figure 45 and Figure 46 The structure shown can be either a rectangular frame, a T-shaped frame, or other structures.

[0387] In some examples of embodiments of this application, such as Figure 43 and Figure 46 As shown, the bottom of the crash barrier is provided with a fixing part 93, which is used to connect with the base. The fixing part 93 can be directly connected to the base, or indirectly connected through a connector; the base can be the ground, a support, a floor, etc.

[0388] For example, the bottom of the outrigger 92 is provided with a fixing plate, which forms a fixing part 93. The fixing plate is connected to the ground by anchor bolts.

[0389] By setting a fixing part 93 at the bottom of the anti-collision frame and connecting the fixing part 93 with the base, the fixing stability of the anti-collision frame can be improved, and the reliability of the storage equipment 100 can be improved.

[0390] In addition, such as Figure 45 and Figure 46 As shown, when the anti-collision frame is connected to the bearing device 1, it can also be connected to the base through the fixing part 93, thereby improving the fixing stability of the bearing device 1 and further improving the reliability of the storage equipment 100.

[0391] In some examples of embodiments of this application, such as Figure 42 and Figure 45 As shown, the bearing device 1 includes two bearing members 11 and a connecting beam 161. The two bearing members 11 are arranged at intervals along the second direction, and the connecting beam 161 extends along the second direction. The two ends of the connecting beam 161 are respectively connected to the top of the two bearing members 11. The bearing device 1 is a portal frame as a whole.

[0392] The overall structure of the bearing device 1 is simple and easy to design and manufacture.

[0393] In some examples of embodiments of this application, the storage equipment 100 further includes a receiving point, which is disposed on one side of the carrying device 1 in a first direction, and the picking and placing device 2 is disposed away from or close to the receiving point in the first direction.

[0394] When the picking and placing device 2 is positioned away from the receiving point in the first direction, the receiving point can be a temporary storage location for placing goods, a receiving trolley for carrying goods, or a picking location on a picking platform. When the picking and placing device 2 is positioned close to the receiving point in the first direction, the receiving point can be a mobile shelf.

[0395] By setting the pick-up and place device 2 away from or close to the receiving point in the first direction, it is convenient for the pick-up and place device 2 to pick up and place goods at the receiving point.

[0396] In some examples of embodiments of this application, such as Figures 41 to 46 As shown, the storage equipment 100 also includes a workbench 3, which has at least one workstation 311, forming a receiving point.

[0397] The workbench 3 is provided with at least one workstation 311, which can be understood as: the workbench 3 has one workstation 311; or, the workbench 3 has two or more workstations 311.

[0398] For example, workbench 3 has three workstations 311.

[0399] By setting at least one workstation 311 on the workbench 3, the working efficiency of the storage equipment 100 can be improved.

[0400] The pick-and-place device 2 includes a support frame, a drive assembly, and a pick-and-place assembly. The support frame is movably connected to the support device 1 in a vertical direction. The support frame protrudes from the support device 1 on the side away from the receiving point in a first direction. The drive assembly is used to drive the support frame to move in a vertical direction. The pick-and-place assembly is mounted on the support frame and is used to transport goods between the handling equipment and the workstation 311.

[0401] In some examples of embodiments of this application, the warehousing system includes shelves and handling equipment, which is used to move goods between the shelves and the pick-and-place device 2.

[0402] In some specific application scenarios, let's take the example of order items moving from the shelf to the order box to illustrate:

[0403] In response to order instructions, the handling equipment moves boxes containing ordered items from the shelf to the picking and placing device 2. The picking and placing device 2 then transfers the boxes to the workbench 3, whereby the items are manually or automatically sorted into order boxes, thus achieving the sorting of items corresponding to the order. During the movement of the handling equipment from the shelf to the picking and placing device 2, anti-collision markers 8 prevent the goods carried by the handling equipment from colliding with the picking and placing device 2.

[0404] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to 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 of this utility model.

[0405] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0406] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; 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, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0407] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0408] In this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0409] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A pick-and-place device, characterized in that, include: Pick-up and drop-off platform; and A pick-and-place assembly having a first end and a second end opposite each other in a first direction, the first end of the pick-and-place assembly being connected to the pick-and-place platform, and the second end of the pick-and-place assembly extending beyond the pick-and-place platform.

2. The pick-and-place device according to claim 1, characterized in that, The pick-and-place component includes: A first support member has a first end and a second end opposite to each other in the first direction, and the first end of the first support member is connected to the pick-and-place platform. The second support member has a first end and a second end opposite to each other in the first direction. The first end of the second support member is connected to the pick-and-place platform. The first support member and the second support member are spaced apart along a second direction, and the second direction forms a preset angle with the first direction.

3. The pick-and-place device according to claim 2, characterized in that, The first support member includes a first support beam, a first mounting part, and a first connecting part. The first support beam is connected to the first mounting part through the first connecting part. The first mounting part is disposed on the pick-and-place platform, wherein the dimension of the first mounting part in the first direction is smaller than the dimension of the first support beam in the first direction.

4. The pick-and-place device according to claim 2, characterized in that, The second support member includes a second support beam, a second mounting part, and a second connecting part. The second support beam is connected to the second mounting part through the second connecting part. The second mounting part is disposed on the pick-and-place platform, wherein the dimension of the second mounting part in the first direction is smaller than the dimension of the second support beam in the first direction.

5. The pick-and-place device according to claim 2, characterized in that, The pick-and-place assembly further includes a mounting base, which is disposed on the pick-and-place platform, and the first end of the first support member and the first end of the second support member are disposed on the mounting base.

6. The pick-and-place device according to claim 2, characterized in that, A receiving space is formed between the first support member and the second support member. The receiving space has an opening along the first direction. The picking and placing assembly further includes a picking and placing member. The picking and placing member and the opening are both at least one, and the picking and placing member is configured to pick up a target object from a designated position or place a target object at the designated position through any one of the at least one opening. Alternatively, the picking and placing member and the opening are both multiple, and the multiple picking and placing members are configured to pick up a target object from the designated position or place a target object at the designated position through the corresponding opening, respectively.

7. The pick-and-place device according to claim 2, characterized in that, The second end of the first support member is a free end so that the first support member constitutes a first cantilever, and the second end of the second support member is a free end so that the second support member constitutes a second cantilever.

8. The pick-and-place device according to claim 2, characterized in that, It further includes a first support portion and a second support portion, the first support portion being connected to each of the first support member and the second support member, the second support portion being connected to each of the first support member and the second support member, the first support portion and the second support portion being spaced apart in the first direction, wherein the first conveying member of the pick-and-place device is supported on the first support portion and the second support portion, and the second conveying member of the pick-and-place device is supported on the first support portion and the second support portion.

9. The pick-and-place device according to any one of claims 1 to 8, characterized in that, The pick-and-place platform includes a first guide portion, and the pick-and-place component includes a second guide portion. The second guide portion cooperates with the first guide portion to guide the movement of the pick-and-place component along a second direction, and the second direction forms a preset angle with the first direction.

10. The pick-and-place device according to claim 9, characterized in that, The first guide portion consists of at least two parts and is arranged at intervals along the first direction. The second guide portion consists of at least two parts and is arranged corresponding to the first guide portion. The distance between adjacent first guide portions is greater than or equal to a first preset value.

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

12. A storage equipment, characterized in that, include: Supporting device; and A pick-and-place device, wherein the pick-and-place device is the pick-and-place device according to any one of claims 1-11, and the pick-and-place platform of the pick-and-place device is movably disposed on the bearing device.

13. A warehousing system, characterized in that, include: Vehicle; and A storage facility, the storage facility according to claim 12, wherein the storage facility is configured to drive a pick-and-place device to move relative to a carrier according to a handling instruction, so as to retrieve a target object from the carrier or to transport a target object to the carrier.

14. The warehousing system according to claim 13, characterized in that, The storage equipment is configured to drive the pick-and-place device to move relative to the carrier according to a handling instruction, so as to retrieve a target object from the carrier and transport the target object to a designated location, or retrieve a target object from a designated location and transport the target object to the carrier.

15. The warehousing system according to claim 13 or 14, characterized in that, It also includes a management system, the storage equipment being communicatively connected to the management system, the management system being configured to send handling instructions to the storage equipment, and the storage equipment being configured to drive the pick-and-place device to move according to the handling instructions.

16. The warehousing system according to claim 13, characterized in that, The carrier includes a shelf, and the storage equipment is configured to drive the pick-and-place device to move according to a handling instruction in order to retrieve a target item from the shelf or to move the retrieved target item to the shelf.

17. The warehousing system according to claim 13, characterized in that, The carrier includes a bin robot, and the storage equipment is configured to drive the pick-and-place device to move according to a handling instruction in order to retrieve a target object from the bin robot or to transport the retrieved target object to the bin robot.

18. The warehousing system according to claim 13, characterized in that, The carrier includes a first shelf and a second shelf, and the storage equipment is configured to drive the pick-and-place device to move according to a handling instruction in order to pick up a target object located on at least one of the first shelf and the second shelf, or to move the picked-up target object to at least one of the first shelf and the second shelf, or to move a target object from one of the first shelf and the second shelf to the other of the first shelf and the second shelf.

19. The warehousing system according to claim 13, characterized in that, The carrier includes sorting equipment, and the storage equipment is configured to drive the pick-and-place device to move according to a handling instruction in order to retrieve a target item from the sorting equipment or to transport the retrieved target item to the sorting equipment.

20. The warehousing system according to claim 13, characterized in that, The carriers are multiple, and the storage equipment is configured to drive the pick-and-place device to move according to a handling instruction, so as to transport a target object located on at least one carrier to at least another carrier or a designated location, or to transport a target object located at a designated location to at least one carrier, wherein the multiple carriers include one or more of shelves, bin robots, seeding walls and sorting equipment.

21. The warehousing system according to claim 13, characterized in that, The warehousing system further includes a first warehousing device, which is configured to transport the vehicle to the working area of ​​the warehousing device. The warehousing device is configured to retrieve a target object from the vehicle transported from the first warehousing device to the working area of ​​the warehousing device or to place a target object onto the vehicle transported from the first warehousing device to the working area of ​​the warehousing device; or, the warehousing device is configured to retrieve a target object from the vehicle or to place a target object onto the vehicle, and the first warehousing device is configured to remove the vehicle from the working area of ​​the warehousing device.

22. The warehousing system according to claim 13, characterized in that, The warehousing system further includes a multi-level platform and a first warehousing device. The multi-level platforms are spaced apart along the height direction, and each platform is provided with at least one of the carriers. The first warehousing device is configured to transport the target object or the carrier containing the target object to the working area of ​​the warehousing device. The warehousing device is configured to retrieve the target object and transport it to a designated location.

23. The warehousing system according to claim 13, characterized in that, The warehousing system also includes multi-level platforms and first storage equipment. The multi-level platforms are spaced apart along the height direction. Each platform is provided with at least one first storage equipment, and each platform corresponds to at least one vehicle. The storage equipment is configured to transport the target object to the platform of the corresponding layer and deliver it to the first storage equipment, the first storage equipment being configured to transport the target object obtained from the storage equipment to the vehicle on the platform of the corresponding layer; or, the first storage equipment is configured to transport the target object obtained from the storage equipment to the vehicle on the platform of the corresponding layer, the storage equipment being configured to transport the vehicle to a designated location.

24. The warehousing system according to claim 13, characterized in that, The warehousing system further includes: workstations, storage areas, and storage equipment, wherein the storage areas and the storage equipment are located at the workstations, and the storage equipment is configured to move vehicles containing target objects to the work area of ​​the storage equipment and / or move vehicles from the workstations to the storage areas.

25. The warehousing system according to claim 13, characterized in that, The storage equipment is configured to drive the pick-and-place device to move along a second direction and / or along a third direction to the location of the target container on the vehicle, and to drive the pick-and-place device to move at least along a first direction to retrieve the target container from the vehicle and guide the target container into the receiving space of the pick-and-place device.

26. The warehousing system according to claim 13, characterized in that, The storage equipment is configured such that the receiving space of the pick-and-place device contains the target container, drives the pick-and-place device to move along a second direction and / or along a third direction to a designated placement position on the vehicle, and drives the pick-and-place device to move at least along a first direction to place the target container at the designated placement position on the vehicle.

27. The warehousing system according to claim 13, characterized in that, The storage equipment is configured such that the receiving space of the pick-and-place device contains the target container, drives the pick-and-place device to move along a second direction and / or along a third direction to the workstation of the workbench, and drives the pick-and-place device to move at least along a first direction to place the target container at the workstation of the workbench.

Images