Access device and storage system

Abstract

The utility model relates to a kind of storage and retrieval device and warehousing system.Storage and retrieval device includes beam assembly, handling assembly and cooperation mechanism, handling assembly and cooperation mechanism are movable along beam assembly, handling assembly includes: movable arm, movable arm includes at least one movable joint;Handling piece, handling piece is movably connected to the free end of movable arm;And driver, driver includes movable arm driver and handling piece driver, movable arm is movable around joint under the drive of movable arm driver, handling piece is movable relative to the free end of movable arm under the drive of handling piece driver, so that handling piece can handle goods between the first operation position and the second operation position in the warehousing operating position of warehousing shelf and cooperation mechanism, first operation position is closer to the storage and retrieval operating surface of warehousing shelf compared to second operation position, and second operation position is in the longitudinal depth storage position of first operation position.Handling piece has very high degree of freedom, to handle more position goods.

Description

Technical Field

[0001] This utility model relates to the field of warehousing technology, specifically to a storage and retrieval device and a warehousing system having the storage and retrieval device. Background Technology

[0002] With the rapid development of e-commerce and modern logistics, the warehousing and logistics industry is facing increasing pressure to improve cargo throughput and efficiency.

[0003] In a typical warehousing environment, storing and retrieving boxes is a crucial business process for order fulfillment (goods entering and leaving the warehouse). Currently, there are many solutions for storing and retrieving standard boxes; however, for compact warehouse racking, especially for non-standard boxes such as cardboard boxes, the storage and retrieval of these boxes remains a bottleneck restricting the efficiency of warehousing order fulfillment. Utility Model Content

[0004] To at least partially address the problems existing in the prior art, according to one aspect of the present invention, a storage and retrieval device is provided. The storage and retrieval device includes a beam assembly, a conveying assembly, and a mating mechanism. Both the conveying assembly and the mating mechanism are movable along the beam assembly. The conveying assembly includes: a movable arm, the movable arm including at least one movable joint; a conveying member, the conveying member being movably connected to the free end of the movable arm; and a driver, the driver including a movable arm driver and a conveying member driver. The movable arm is movable about the joint under the drive of the movable arm driver, and the conveying member is movable relative to the free end of the movable arm under the drive of the conveying member driver, such that the conveying member can move items between a first operating position and a second operating position within a storage operating position of a storage rack and the mating mechanism. The first operating position is closer to the storage and retrieval operating surface of the storage rack than the second operating position, and the second operating position is located in a deeper storage position than the first operating position.

[0005] For example, the transporter is configured to be movable to a first operating position under the drive of a transporter driver to transport an article between the first operating position and a mating mechanism, and to transport an article between the mating mechanism and a docking position.

[0006] For example, the transporter is configured to be movable to a second operating position when there is no item at the first operating position, driven by the transporter driver, to transport items between the second operating position and the mating mechanism, and between the mating mechanism and the docking position.

[0007] For example, the transporter is configured such that when there is no item at the first operating position, it can be moved to the second operating position under the drive of the transporter driver to transport the item at the second operating position to the first operating position.

[0008] For example, the transport assembly further includes a coupling mechanism that can put two items in a coupled or decoupled state; when the transporter transports the item at the first operating position to the mating mechanism, the item at the first operating position and the item at the second operating position are in a coupled state to transport the item at the second operating position to the first operating position.

[0009] For example, the joint's degrees of freedom include the freedom to pivot about an axis parallel to the beam assembly, and the transport member is also pivotable about an axis parallel to the beam assembly relative to the free end of the movable arm.

[0010] For example, the conveying assembly further includes a conveying body that is movable along the beam assembly, and the movable arm includes at least a first movable arm and a second movable arm. The movable arm driver includes a first movable arm driver and a second movable arm driver, wherein: the first movable arm driver is disposed on the conveying body, and the drive end of the first movable arm driver is connected to the first movable arm to form a first joint; the second movable arm driver is disposed on the first movable arm, and the drive end of the second movable arm driver is connected to the second movable arm to form a second joint; and at least one movable joint includes a first joint and a second joint.

[0011] For example, the actuator further includes a translation actuator, under the drive of the translation actuator, the movable arm is movable in a first horizontal direction perpendicular to the beam assembly; and / or the conveying assembly further includes a translation track extending in the first horizontal direction, the movable arm being slidably connected to the translation track.

[0012] For example, the beam assembly includes at least one vertical beam and at least one horizontal beam, the conveying assembly and the mating mechanism are independently movable relative to each other along at least one vertical beam, at least one horizontal beam extends along a second horizontal direction, and at least one vertical beam is movably connected to at least one horizontal beam along the second horizontal direction.

[0013] For example, the conveying component is located above the mating mechanism, and the conveying component and the mating mechanism are spaced apart to accommodate the article supported on the mating mechanism.

[0014] According to another aspect of the present invention, a storage system is also provided. The storage system includes storage racks and any of the above-mentioned storage and retrieval devices. The storage racks have storage operation positions, including a first operation position and a second operation position for storing items. The first operation position is closer to the storage and retrieval operation surface of the storage rack than the second operation position, and the second operation position is located in the depth storage position of the first operation position. A second operation position for storing items is also located away from the cooperating mechanism. A transport component is movable to the first operation position, the second operation position, and the cooperating mechanism under the drive of a transport component driver, so that items can be transported between the first operation position, the second operation position, and the cooperating mechanism.

[0015] For example, the storage rack has a first side and a second side opposite to each other along a first horizontal direction, and at least one of the first side and the second side is provided with a storage and retrieval device. The first horizontal direction is perpendicular to the beam assembly. The storage rack includes a first storage rack and a second storage rack, which are spaced apart along the first horizontal direction to form an aisle. The storage and retrieval device is located in the aisle. The transport component is able to transport items between the cooperating mechanism and the first storage operation position of the first storage rack, and between the cooperating mechanism and the second storage operation position of the second storage rack, under the drive of the transport drive mechanism.

[0016] The storage and retrieval device provided in this embodiment of the invention, driven by a movable arm driver and a transport component driver, allows the transport component to have a very high degree of freedom and a long movement trajectory, enabling it to move to more positions to transport items from more locations. Thus, the storage and retrieval device has lower requirements for the position of the items, a higher success rate in transport, and a better user experience. Based on this, through reasonable design, the transport component can move vertically to engage with adaptable structures of different heights. Since the height of the adaptable structure for each item is fixed, the transport component can transport items of different heights. This makes the storage and retrieval device highly adaptable. Furthermore, the transport component can move along a first horizontal direction to transport items at a first operating position and a second operating position. Therefore, a first operating position and a second operating position can be set for the storage operating positions of the storage rack to accommodate more items arranged along the first horizontal direction. This increases the storage capacity of the warehouse.

[0017] This utility model description introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This utility model description is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0018] The advantages and features of this utility model will be described in detail below with reference to the accompanying drawings. Attached Figure Description

[0019] The following drawings, which are incorporated herein by reference as part of this invention, are provided for understanding the invention. The drawings illustrate embodiments of the invention and their descriptions, serving to explain the principles of the invention. In the drawings,

[0020] Figure 1 A 3D diagram of an existing cargo handling system;

[0021] Figure 2 This is a perspective view of an access device according to an exemplary embodiment of the present invention;

[0022] Figure 3 for Figure 2A partial enlarged view of the access device shown in the figure;

[0023] Figure 4 for Figure 3 A partial enlarged view of the access device shown in the figure;

[0024] Figure 5 for Figure 3 Another enlarged view of the access device shown in the figure;

[0025] Figure 6 for Figure 5 The image shows a partial enlarged view of the access device from another angle, with part of the housing removed;

[0026] Figure 7 A schematic diagram of an access device for an exemplary embodiment of the present invention;

[0027] Figure 8 This is a partial perspective view of an access device according to another exemplary embodiment of the present invention;

[0028] Figure 9 A side view of a storage system according to an exemplary embodiment of the present invention; and

[0029] Figure 10 This is a side view of a storage system according to another exemplary embodiment of the present invention.

[0030] The above figures include the following reference numerals:

[0031] 10. Horizontal beam; 20. Longitudinal beam; 30. Support frame; 31. Drive belt; 40. Storage robot; 41. Movable arm; 42. Hook; 100. Storage device; 200. Beam assembly; 210. Vertical beam; 211. Drive channel; 220. Horizontal beam; 300. Handling assembly; 310. Movable arm; 311. First movable arm; 312. Second movable arm; 313. Joint; 320. Handling component; 321. Handling section; 330. Driver; 331. Movable arm driver; 331a. First movable arm driver; 331b. Second movable arm driver; 332. Handling component driver; 333. Translation driver; 340. Handling body; 350. Translation track; 360. Belt drive mechanism; 370. Slider; 380. Coupling mechanism; 400. Matching mechanism; 410. Support body; 411. Conveying mechanism; 412, Supporting surface; 500, First drive assembly; 510, First actuator; 520, First wheel; 521, First upper wheel; 522, First lower wheel; 530, First annular flexible member; 531, First vertical segment; 532, Third vertical segment; 600, Second drive assembly; 610, Second actuator; 620, Second wheel; 621, Second upper wheel; 622, Second lower wheel; 630, Second annular member Flexible component; 631, second vertical section; 632, fourth vertical section; 710, first item; 720, second item; 900, storage rack; 901, storage operation position; 901a, first operation position; 901b, second operation position; 910, first storage rack; 911, first storage operation position; 920, second storage rack; 921, second storage operation position; 930, aisle; 940, storage and retrieval operation surface. Detailed Implementation

[0032] In the following description, some details of the present invention are provided to better understand the technical solution of the present invention. However, those skilled in the art will understand that the following description only illustrates preferred embodiments of the present invention, and the present invention can be implemented without one or more of these details. Furthermore, to avoid confusion with the present invention, some technical features known in the art are not described in detail.

[0033] According to one aspect of the present invention, a storage and retrieval device is provided. This device can retrieve items from a storage operation position on a storage rack and move them to a receiving position, or place items into a target storage operation position on the storage rack. The storage and retrieval device can be applied to any suitable equipment, including but not limited to storage systems. Therefore, according to another aspect of the present invention, a storage system is also provided. The storage and retrieval device and storage system of embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0034] To improve efficiency, a cargo handling system is currently available on the market, such as... Figure 1 As shown, the goods handling system may include multiple transverse beams 10 extending along the X direction, multiple longitudinal beams 20 extending along the Z direction (i.e., the height direction of the storage rack), a support frame 30, and a storage robot 40. The multiple transverse beams 10 are mounted on the sides of the storage rack and arranged along the Z direction. The multiple longitudinal beams 20 are movable along the multiple transverse beams 10. The support frame 30 is mounted on the multiple longitudinal beams 20 and is movable up and down along the longitudinal beams 20. The storage robot 40 is mounted on the support frame 30. Thus, the support frame 30 can move the storage robot 40 in the XY plane to reach any storage operation position on the storage rack.

[0035] The storage robot 40 moves along the Y-axis toward the storage rack so that the hook 42 at the tip of its arm 41 approaches the goods. Then, the motor 42 drives the hook 42 to rotate, causing it to extend into and hook onto a groove in the goods, thus pulling the goods from the storage rack onto the support 30. The support 30 can then move in the XY plane to transfer the goods to a handling trolley or a manual transfer station.

[0036] The aforementioned hook 42 has a small movement trajectory, limiting its ability to handle goods within a limited space. If the goods' position deviates, the hook 42 becomes ineffective. Therefore, the goods handling system requires high precision in goods positioning, resulting in a poor user experience.

[0037] In this application, as Figures 2 to 4 as well as Figure 9 As shown, the access device 100 may include a beam assembly 200, a conveying assembly 300, and a mating mechanism 400.

[0038] The beam assembly 200 can extend in any suitable direction, such as the vertical direction ZZ and / or the second horizontal direction XX. The second horizontal direction XX can be perpendicular to the vertical direction ZZ.

[0039] Both the handling assembly 300 and the cooperating mechanism 400 can move along the beam assembly 200, for example, by lifting vertically in the ZZ direction or moving horizontally in the second horizontal direction XX, thereby moving to different storage operation positions 901 on the storage rack 900. For example, as... Figure 9As shown, the storage rack 900 may have storage operation positions 901 for storing items. The storage operation position 901 may include a first operation position 901a and a second operation position 901b. The first horizontal direction YY may be perpendicular to the second horizontal direction XX and the vertical direction ZZ, respectively. Compared to the second operation position 901b, the first operation position 901a may be closer to the access operation surface 940 of the storage rack 900. The access operation surface 940 may face the access device 100. The access operation surface 940 may be parallel to the beam assembly 200 (or the plane defined by the second horizontal direction XX and the vertical direction ZZ). The second operation position 901b may be located in the depth of the first operation position 901a. The first operation position 901a and the second operation position 901b may be arranged along the first horizontal direction YY. The handling assembly 300 may perform access operations, i.e., retrieve or store items, via the access operation surface 940 at the first operation position 901a and the second operation position 901b. The first operating position 901a can be used to store items (e.g., first item 710). The second operating position 901b can be located away from the cooperating mechanism 400. Furthermore, the second operating position 901b can be used to store items (e.g., second item 720). The first item 710 and the second item 720 can be the same or different. With this configuration, the storage rack 900 has a high storage density.

[0040] Exemplarily, the conveying component 300 and the mating mechanism 400 can be connected to the beam assembly 200 respectively, so as to move independently along the beam assembly 200. Exemplarily, the conveying component 300 can be disposed on the mating mechanism 400, which can be connected to the beam assembly 200 to drive the conveying component 300 to move along the beam assembly 200. Exemplarily, the mating mechanism 400 can be disposed on the conveying component 300, which can be connected to the beam assembly 200 to drive the mating mechanism 400 to move along the beam assembly 200.

[0041] The cooperating mechanism 400 can at least have the function of supporting items. The cooperating mechanism 400 can also have the function of securing items by clamping or other means. The cooperating mechanism 400 can be a supporting mechanism, an automated guided vehicle (AGV), or a storage robot. The cooperating mechanism 400 can be used to support items. Items can be supported on the top surface of the cooperating mechanism 400. Alternatively, the cooperating mechanism 400 can be configured to have a storage compartment for placing items. Exemplarily, the cooperating mechanism 400 can include a top wall, a bottom wall, and side walls that are interconnected to form a passage-like storage compartment. The entrance and exit of the passage can face the storage rack 900, allowing items to move between the storage operating position 901 and the cooperating mechanism 400. Items can include goods and / or boxes. Boxes can include one or more of the following: a hopper adapted to the storage operating position 901 of the storage rack 900, and the original packaging of the goods. A hopper can include a plastic box or a cardboard box, etc. The original packaging can include one or more of the following: original packaging box and original packaging bag, etc. When storing goods via bins, typically only one or a few bin sizes are placed on each storage rack 900. When goods need to be retrieved from a bin, the bin can be moved from the storage operation position 901 of the storage rack 900 to the cooperating mechanism 400. The target goods can then be manually or using a picking device to select from the bins on the cooperating mechanism 400, and subsequently transported to the receiving position. The receiving position can be located on an AGV, on a rack buffer position, or at the junction of the storage and retrieval device and the AGV. Optionally, the bins along with their contents can be moved from the cooperating mechanism 400 to the receiving position by moving the cooperating mechanism 400 along the beam assembly 200. Optionally, empty bins on the storage operation position 901 of the storage rack 900 can also be moved to the cooperating mechanism 400 to place goods inside the empty bins. Optionally, when goods are placed directly on the storage operation position 901 of the storage rack 900, the goods on the storage operation position 901 can be moved entirely to the cooperating mechanism 400, and then the cooperating mechanism 400 can transport the goods entirely to the receiving position. Furthermore, when only the goods are being retrieved without removing the boxes, only the boxes can be partially moved to the cooperating mechanism 400, as long as the goods inside can be retrieved. When the cooperating mechanism 400 needs to move the goods or boxes entirely to the receiving position, the goods or boxes can be completely moved to the cooperating mechanism 400 to avoid interference when the cooperating mechanism 400 moves along the beam assembly 200. In short, the working principle of the handling component 300 is similar whether moving empty boxes or boxes containing goods to the cooperating mechanism 400, moving goods directly to the cooperating mechanism 400, or moving them from the cooperating mechanism 400 to the storage operation position 901 of the storage rack 900.

[0042] The conveying assembly 300 may include a movable arm 310, a conveying member 320, and a driver 330. The movable arm 310 may include at least one movable joint 313, such as one, two, three, or more. Components connected to the same joint 313 can move relative to each other to achieve pivoting in one or more directions. Thus, the movable arm 310 can perform various actions such as bending and / or pivoting. The conveying member 320 is movably connected to the free end of the movable arm 310. The movable arm 310 can drive the conveying member 320 to move. The driver 330 may include a movable arm driver 331 and a conveying member driver 332. The driving end of the movable arm driver 331 can be connected to the movable arm 310. Under the drive of the movable arm driver 331, the movable arm 310 can move around a joint 311. The conveying member driver 332 can be connected to the conveying member 320. Driven by the transport component driver 332, the transport component 320 can move relative to the free end of the movable arm 310, including but not limited to translation and / or pivoting. Driven by the driver 330, the transport component 320 can move to the first operating position 901a, the second operating position 901b, and the mating mechanism 400, thereby transporting items between these positions. Transporting items between the first operating position 901a and the mating mechanism 400, and between the second operating position 901b and the mating mechanism 400, achieves the purpose of storing and retrieving items. Transporting items between the first operating position 901a and the second operating position 901b achieves the purpose of inventory management. For example, during non-access periods, when there is no first item 710 on the first operating position 901a, the transport component 320 can transport the second item 720 from the second operating position 901b to the first operating position 901a, thereby reducing the length of the travel path of the transport component 320 when storing and retrieving items, and thus improving storage and retrieval efficiency. The transport component 320 can engage with the item in any suitable manner, such as through a suction cup, clamp, hook, or magnetic attraction, to achieve the purpose of transporting the item. Accordingly, the item can have an adapter structure that is compatible with the transport component 320. For example, if the transport component 320 uses a hook to engage the item, the item can be provided with an adapter structure such as a handle or groove for connecting to the hook of the transport component 320. The transport component 320 can connect to this adapter structure to transport the item. The movable arm actuator 331 can employ various types of actuators known in the art or that may emerge in the future, including but not limited to motors or rotary cylinders. The transport component actuator 332 can employ various types of actuators known in the art or that may emerge in the future, including but not limited to motors or rotary cylinders.

[0043] In addition to any of the storage and retrieval devices 100 described in this application, the warehousing system may also include storage racks 900. The storage racks 900 may include at least one storage operating position 901. Each storage operating position 901 can hold items. The storage racks 900 may have a first side and a second side opposite each other along a first horizontal direction YY. At least one of the first side and the second side may be provided with a storage and retrieval device 100. The warehousing system can be applied not only within warehouses for transferring goods, but also in other scenarios. For example, the warehousing system can be installed on a production line, with the storage racks 900 located beside the production line, used to store items needed for production or to store finished products. Thus, the warehousing system can function as part of the production line for loading and unloading. In short, the warehousing system is applicable to various scenarios requiring the handling of goods.

[0044] For example, such as Figure 10 As shown, the storage rack 900 may include a first storage rack 910 and a second storage rack 920. Storage operation positions 901 may include a first storage operation position 911 on the first storage rack 910 and a second storage operation position 921 on the second storage rack 920. The first storage operation position 911 and the second storage operation position 921 may respectively have a first operation position 901a and a second operation position 901b. The first storage rack 910 and the second storage rack 920 may be arranged at intervals along a first horizontal direction YY to form an aisle 930. The storage and retrieval device 100 may be located within the aisle 930. The storage and retrieval operation surfaces 940 of the first storage rack 910 and the second storage rack 920 may be arranged opposite to each other, and the aisle 930 may be located between them.

[0045] The storage and retrieval device 100 provided in this embodiment of the utility model, driven by the movable arm driver 331 and the transport component driver 332, allows the transport component 320 to have a very high degree of freedom and a long movement trajectory, thus enabling it to move to more positions to transport more items. Therefore, the storage and retrieval device 100 has lower requirements for the position of the items, a higher success rate in transport, and a better user experience. Based on this, through reasonable design, the transport component 320 can move along the vertical direction ZZ to engage with adaptable structures of different heights. Since the height of the adaptable structure for an item is fixed, the transport component 320 can transport items of different heights. Thus, the storage and retrieval device 100 has strong applicability. Furthermore, the transport component 320 can move along the first horizontal direction YY to transport items on the first operating position 901a and the second operating position 901b. Therefore, the first operating position 901a and the second operating position 901b can be set for the storage operating position 901 of the storage rack 900 to accommodate more items arranged along the first horizontal direction YY. This increases the warehouse's storage capacity. Furthermore, the transport component 320 extends to both sides along the first horizontal direction YY to the outside of the mating mechanism 400. Thus, the driver 330 can drive the transport component 320 to access the first storage rack 910 and the second storage rack 920 to transport items on the first storage rack 910 and the second storage rack 920. Specifically, the transport assembly 300 can be used to transport items between the mating mechanism 400 and the first storage operating position 911, and between the mating mechanism 400 and the second storage operating position 921. Thus, the transport assembly 300 can directly transport items between the two storage racks 900, eliminating the need for a docking device between the two storage racks 900.

[0046] In some embodiments, the transport member 320 can be configured such that, driven by the transport member driver 332, the transport member 320 can move to a first operating position 901a to transport items between the first operating position 901a and the mating mechanism 400, and between the mating mechanism 400 and the docking position. With this configuration, the transport assembly 300 can directly access items on the first operating position 901a.

[0047] In some embodiments, the transport member 320 can be configured such that, when there is no item on the first operating position 901a, driven by the transport member driver 332, the transport member 320 can move to the second operating position 901b to transport items between the second operating position 901b and the mating mechanism 400, and between the mating mechanism 400 and the docking position. With this configuration, the transport assembly 300 can directly access items on the second operating position 901b.

[0048] In some embodiments, the transport member 320 can be configured such that, when there is no item on the first operating position 901a, under the drive of the transport member driver 332, the transport member 320 can move to the second operating position 901b to transport the item on the second operating position 901b to the first operating position 901a. Thus, the transport member 320 can be used for inventory management.

[0049] In some embodiments, such as Figure 9 As shown, the conveying assembly 300 may further include a coupling mechanism 380. The coupling mechanism 380 can enable two items (e.g., a first item 710 and a second item 720) to be in a coupled or decoupled state. When the two items are in a coupled state, they can move synchronously, for example, synchronously along a first horizontal direction YY. When the two items are in a decoupled state, they can be decoupled and thus move separately. When the conveying component 320 conveys the first item 710 from the first operating position 901a to the mating mechanism 400, the first item 710 on the first operating position 901a and the second item 720 on the second operating position 901b can switch to a coupled state. Thus, the first item 710 can drive the second item 720 to move to the first operating position 901a. When the second item 720 moves to the first operating position 901a, the first item 710 on the first operating position 901a and the second item 720 on the second operating position 901b can switch to a decoupled state. In this way, the transport component 320 can simultaneously retrieve the first item 710 from the first operating position 901a to the mating mechanism 400, and simultaneously transfer the second item 720 from the second operating position 901b to the first operating position 901a. This configuration improves the working efficiency of the transport component 300. The coupling mechanism 380 can include various coupling mechanisms, such as a motor-driven coupling mechanism or a manually driven coupling mechanism. The connection structure between the coupling mechanism 380 and the first item 710 can be varied. For example, one of the coupling mechanism 380 and the first item 710 can have a groove, while the other can have a hook portion for inserting into the groove, or the coupling mechanism 380 and the first item 710 can be coupled via a magnetic attraction mechanism. Similarly, the connection structure between the coupling mechanism 380 and the second item 720 can be varied. For example, one of the coupling mechanism 380 and the second item 720 can have a groove, while the other can have a hook portion for inserting into the groove, or the coupling mechanism 380 and the second item 720 can be coupled via a magnetic attraction mechanism.

[0050] For example, such as Figures 2 to 4As shown, the degrees of freedom of joint 313 may include the degree of freedom to pivot about an axis parallel to beam assembly 200. This axis includes, but is not limited to, a horizontal axis or a vertical axis. That is, under the drive of the movable arm actuator 331, the component connecting joint 313 can pivot in a vertical plane. The transport component 320 can also pivot relative to the free end of movable arm 310 about an axis parallel to beam assembly 200. That is, under the drive of the transport component actuator 332, the transport component 320 can pivot in a vertical plane. With this configuration, through the pivoting of joint 313 and / or the pivoting of transport component 320, transport component 320 can move to any suitable position in a vertical plane, thereby enabling the transport of items at different heights and items located deeper within the storage rack 900. Furthermore, compared to structures that can pivot in multiple directions, the structure of this application is simpler and has lower manufacturing costs.

[0051] For example, such as Figures 2 to 4 As shown, the conveying assembly 300 may further include a conveying body 340. The conveying body 340 is movable along the beam assembly 200. The conveying body 340 may be directly connected to the beam assembly 200. Alternatively, the conveying body 340 may be connected to a mating mechanism 400, which may be connected to the beam assembly 200. The conveying body 340 includes, but is not limited to, any suitable structure such as a bracket or base. The movable arm 310 may include at least a first movable arm 311 and a second movable arm 312. The movable arm actuator 320 may include a first movable arm actuator 331a and a second movable arm actuator 331b. Wherein: the first movable arm actuator 331a may be disposed on the conveying body 340. The driving end of the first movable arm actuator 331a may be connected to the first movable arm 311 to form a first joint. The first movable arm actuator 331a may drive the first movable arm 311 to move, for example, pivot about a horizontal axis parallel to the beam assembly 200. Optionally, one end of the first movable arm 311 can be directly connected to the drive end of the first movable arm driver 331a, so that it can be pivoted by the first movable arm driver 331a. A second movable arm driver 331b can be disposed on the first movable arm 311. The drive end of the second movable arm driver 331b can be connected to the second movable arm 312 to form a second joint. The second movable arm driver 331b can drive the second movable arm 312 to move, for example, pivot about a horizontal axis parallel to the beam assembly 200. Optionally, the second movable arm 312 can be pivotally connected to the first movable arm 311. At least one movable joint 313 can include a first joint and a second joint. With this configuration, the structure of the conveying assembly 300 is relatively simple and the manufacturing cost is low. The first movable arm driver 331a and the second movable arm driver 331b can each include any suitable driver such as a motor or a rotary cylinder.

[0052] In the illustrated embodiment, the movable arm 310 includes a first movable arm 311 and a second movable arm 312. In other embodiments not shown, the movable arm 310 may include more or fewer movable arms. With only one movable arm, the length of the transport member 320 can be increased, thereby increasing the range of motion of the transport member 320. Furthermore, in the illustrated embodiment, the pivot axes of the first movable arm 311 and the second movable arm 312 are both parallel to the beam assembly 200, but in other embodiments not shown, the individual movable arms and the pivot axes of the transport member 320 may extend in different directions.

[0053] For example, such as Figures 2 to 4 As shown, the actuator 330 may further include a translation actuator 333. The drive end of the translation actuator 333 may be connected to the movable arm 310. Driven by the translation actuator 333, the movable arm 310 may move along a first horizontal direction YY perpendicular to the beam assembly 200. In this way, the movement trajectory of the transport member 320 in the first horizontal direction YY can be increased to transport items at a deeper position in the storage rack 900. Furthermore, the transport member 320 may move between the first storage rack 910 and the second storage rack 920 to facilitate the transport of items on the first storage rack 910 and the second storage rack 920. In an embodiment where the movable arm actuator 320 includes a first movable arm actuator 331a, the drive end of the translation actuator 333 may be connected to the first movable arm actuator 331a to drive the first movable arm actuator 331a, the second movable arm actuator 331b, the transport member actuator 332, the first movable arm 311, the second movable arm 312, and the transport member 320 to move synchronously along the first horizontal direction YY. Translation driver 333 includes, but is not limited to, motors or cylinders.

[0054] For example, such as Figures 2 to 4 As shown, the conveying assembly 300 may further include a translational track 350 extending along a first horizontal direction YY. The translational track 350 may be disposed on the conveying body 340. The movable arm 310 is slidably connected to the translational track 350. Thus, the translational actuator 333 can drive the movable arm 310 to slide along the translational track 350. The translational track 350 can provide better guidance for the movable arm 310, improving the linearity of the movable arm 310's movement. The drive end of the translational actuator 333 may be connected to the pulley of the belt drive mechanism 360 to drive the pulley to rotate. A slider 370 may be disposed on the belt of the belt drive mechanism 360. The translational actuator 333 can drive the belt of the belt drive mechanism 360 to rotate, thereby driving the slider 370 to slide along the translational track 350. The first movable arm actuator 331a and / or the first movable arm 311 may be disposed on the slider 370. Thus, the movable arm 310 and the movable arm driver 331 can move along the first horizontal direction YY with the slider 370.

[0055] For example, such as Figures 2 to 4 As shown, the conveying component 320 can be provided with conveying parts 321 for conveying items on opposite sides along its movement trajectory. The conveying parts 321 can be used to engage with the adapter structure of the item. Thus, the conveying part 321 on one side can convey items between the first storage operating position 911 of the first storage rack 910 and the mating mechanism 400, while the conveying part 321 on the other side can convey items between the second storage operating position 921 of the second storage rack 920 and the mating mechanism 400. The conveying parts 321 include, but are not limited to, suction cups, grippers, or hooks.

[0056] For example, such as Figures 2 to 4As shown, beam assembly 200 may include vertical beams 210. Vertical beams 210 may include at least one, for example, one, two, or more. Each vertical beam 210 may extend in a vertical direction ZZ. In embodiments with multiple vertical beams 210, the multiple vertical beams 210 may be arranged in a second horizontal direction XX. The vertical beams 210 may be made of any suitable material such as aluminum or steel. The handling assembly 300 and the cooperating mechanism 400 may each be connected to at least one vertical beam 210, thereby allowing them to rise and fall independently along at least one vertical beam 210. In embodiments where the handling assembly 300 includes a handling body 340, the handling body 340 may be connected to at least one vertical beam 210. With this configuration, the cooperating mechanism 400 and the handling assembly 300 can rise and fall to any position in the vertical direction ZZ, thereby allowing the handling of more items on storage operation positions 901 on the storage rack 900. Furthermore, the cooperating mechanism 400 and the handling assembly 300 can operate completely independently, unlike in the prior art where they must work together. For example, after the handling component 300 moves the items from the storage operation position 901 to the cooperating mechanism 400, the cooperating mechanism 400 can move independently to the vicinity of the receiving position without having to move the handling component 300 synchronously, thus reducing energy consumption. During this process, the handling component 300 can remain stationary or move in advance to the next storage operation position 901 to prepare for the next handling step, thereby improving work efficiency. The cooperating mechanism 400 and the handling component 300 do not need to be configured in a one-to-one correspondence; different cooperating mechanisms 400 and handling components 300 can be arbitrarily combined. For example, after the handling component 300 moves the goods from the storage operation position 901 to the cooperating mechanism 400, the handling component 300 can cooperate with other cooperating mechanisms 400 to move items; similarly, after the cooperating mechanism 400 completes the transfer of goods, it can also cooperate with other handling components 300 to move items. Thus, the number of cooperating mechanisms 400 and handling components 300 can be different to adapt to different needs. For example, if the path for the cooperating mechanism 400 to move to the vicinity of the docking position is long, more cooperating mechanisms 400 can be set up individually. In short, the cooperating mechanism 400 and the handling component 300 can have a variety of options to meet different logistics needs, thereby improving work efficiency in a targeted manner.

[0057] For example, when including a single vertical beam 210, one side of the opposite sides of the conveying assembly 300 along the second horizontal direction XX can be connected to the vertical beam 210. For example, when including multiple vertical beams 210, the multiple vertical beams 210 can be distributed on opposite sides of the conveying assembly 300 along the second horizontal direction XX. Each opposite side of the conveying assembly 300 along the second horizontal direction XX can be connected to a vertical beam 210. Of course, when including multiple vertical beams 210, the multiple vertical beams 210 can also be arranged on one side of the conveying assembly 300. The method for driving the conveying assembly 300 to move up and down along at least one vertical beam 210 can be arbitrary, for example, it can be a manual method, a motor-driven method, or a cylinder-driven method.

[0058] For example, when a single vertical beam 210 is included, one side of the mating mechanism 400 on opposite sides along the second horizontal direction XX can be connected to the vertical beam 210. For example, when multiple vertical beams 210 are included, the multiple vertical beams 210 can be distributed on opposite sides of the mating mechanism 400 along the second horizontal direction XX. Each opposite side of the mating mechanism 400 along the second horizontal direction XX can be connected to a vertical beam 210. Of course, when multiple vertical beams 210 are included, the multiple vertical beams 210 can also be arranged on one side of the mating mechanism 400. The method for driving the mating mechanism 400 to move up and down along at least one vertical beam 210 can be arbitrary, for example, it can be a manual method, a motor-driven method, or a cylinder-driven method.

[0059] For example, such as Figures 2 to 7 As shown, the access device 100 may further include a first drive assembly 500 and a second drive assembly 600. The first drive assembly 500 may be disposed on at least one of the at least one vertical beam 210. That is, the first drive assembly 500 may be disposed on only one vertical beam 210, or it may be disposed on multiple vertical beams 210. The second drive assembly 600 may be disposed on at least one of the at least one vertical beam 210. That is, the second drive assembly 600 may be disposed on only one vertical beam 210, or it may be disposed on multiple vertical beams 210.

[0060] Specifically, the first drive assembly 500 may include a first driver 510, a first wheel 520, and a first annular flexible member 530. The first driver 510 may be mounted on the vertical beam 210. Multiple first wheels 520 may be included. The first annular flexible member 530 may be tensioned on multiple first wheels 520. The first annular flexible member 530 may include a first vertical segment 531 extending ZZ in the vertical direction. One of the mating mechanism 400 and the conveying assembly 300 may be connected to the first vertical segment 531. The drive end of the first driver 510 may be connected to at least one of the multiple first wheels 520 to drive the first wheel 520 to rotate, thereby causing the first annular flexible member 530 to rotate, which in turn causes one of the mating mechanism 400 and the conveying assembly 300 connected thereto to move ZZ vertically. The first driver 510 may employ various types of drivers known in the art or that may emerge in the future, including but not limited to motors or rotary cylinders. The first wheel 520 and the first annular flexible member 530 can be adapted to each other. For example, the first wheel 520 may include a pulley and the first annular flexible member 530 may include a belt; or, the first wheel 520 may include a sprocket and the first annular flexible member 530 may include a chain.

[0061] Similarly, the second drive assembly 600 may include a second driver 610, a second wheel 620, and a second annular flexible member 630. The second driver 610 may be mounted on the vertical beam 210. Multiple second wheels 620 may be included. The second annular flexible member 630 may be tensioned on multiple second wheels 620. The second annular flexible member 630 may include a second vertical segment 631 extending ZZ in the vertical direction. Another of the mating mechanism 400 and the conveying assembly 300 may be connected to the second vertical segment 631. The drive end of the second driver 610 may be connected to at least one of the multiple second wheels 620 to drive the second wheel 620 to rotate, thereby causing the second annular flexible member 630 to rotate, which in turn causes the other of the mating mechanism 400 and the conveying assembly 300 connected thereto to move ZZ in the vertical direction. The second driver 610 may employ various types of drivers known in the art or that may emerge in the future, including but not limited to motors or rotary cylinders. The second wheel 620 and the second annular flexible member 630 can be adapted to each other. For example, the second wheel 620 may include a pulley, and the second annular flexible member 630 may include a belt; or, the second wheel 620 may include a sprocket, and the second annular flexible member 630 may include a chain. The first drive assembly 500 and the second drive assembly 600 configured in this way have lower costs and are easier to install and maintain. Especially for modern warehouse racks 900, which are increasingly tall, the lifting paths required for the cooperating mechanism 400 and the handling assembly 300 are longer. In this case, the first drive assembly 500 and the second drive assembly 600 of this embodiment have relatively low costs.

[0062] For example, such as Figure 7 As shown, the first annular flexible member 530 can surround the second annular flexible member 630. With this arrangement, the structures of the first drive assembly 500 and the second drive assembly 600 are more compact, thereby improving the space utilization of the access device 100 and facilitating miniaturization.

[0063] For example, such as Figures 2 to 7 As shown, the plurality of first wheels 520 may include a first upper wheel 521 and a first lower wheel 522. The first upper wheel 521 and the first lower wheel 522 may be arranged at a ZZ interval along the vertical direction. The first upper wheel 521 may be located at the upper end of the vertical beam 210 in which it is located. The first lower wheel 522 may be located at the lower end of the vertical beam 210 in which it is located. The upper end and the lower end of the first annular flexible member 530 may be respectively fitted onto the first upper wheel 521 and the first lower wheel 522.

[0064] For example, such as Figures 2 to 7 As shown, the plurality of second wheels 620 may include a second upper wheel 621 and a second lower wheel 622. The second upper wheel 621 and the second lower wheel 622 may be arranged at a ZZ interval along the vertical direction. The second upper wheel 621 may be located at the upper end of the vertical beam 210 in which it is located. The second lower wheel 622 may be located at the lower end of the vertical beam 210 in which it is located. The upper and lower ends of the second annular flexible member 630 may be respectively fitted onto the second upper wheel 621 and the second lower wheel 622.

[0065] The first upper wheel 521 can be located above the second upper wheel 621. The number of first upper wheels 521 can be greater than the number of second upper wheels 621; for example, there can be two first upper wheels 521 and one second upper wheel 621. The diameter of the first upper wheel 521 is not greater than the diameter of the second upper wheel 621. Thus, a greater number of first upper wheels 521 can protrude laterally from the second upper wheel 621 along its horizontal axial direction, allowing the first annular flexible member 530 to be positioned on the outer side of the second annular flexible member 630 at its upper end. Compared to using a large-sized first upper wheel, multiple small-sized first upper wheels 521 can reduce weight and size, thereby enabling the access device 100 to be lightweight and miniaturized.

[0066] The first lower end wheel 522 can be located below the second lower end wheel 622. The number of first lower end wheels 522 can be greater than the number of second lower end wheels 622; for example, there can be two first lower end wheels 522 and one second lower end wheel 622. The diameter of the first lower end wheel 522 is not greater than the diameter of the second lower end wheel 622. Thus, a greater number of first lower end wheels 522 can protrude laterally from the second lower end wheel 622 along its horizontal axial direction, allowing the first annular flexible member 530 to be located outside the second annular flexible member 630 at its lower end. Compared to using a large-sized first lower end wheel, multiple small-sized first lower end wheels 522 can reduce weight and size, thereby enabling the access device 100 to be lightweight and miniaturized. In summary, the first annular flexible member 530 can surround the second annular flexible member 630.

[0067] For example, the drive end of the first driver 510 can be connected to a first upper wheel 521, which can serve as the driving wheel, while the other first upper wheels 521 and the first lower wheels 522 can serve as driven wheels. The drive end of the second driver 610 can be connected to a second upper wheel 621, which can serve as the driving wheel, while the other second upper wheels 621 and the second lower wheels 622 can serve as driven wheels.

[0068] For example, such as Figures 2 to 7As shown, the first drive assembly 500 and the second drive assembly 600 can be disposed on the same vertical beam 210. In the illustrated embodiment, there are two vertical beams 210, each of which is provided with the first drive assembly 500 and the second drive assembly 600. In other embodiments not shown, more or fewer vertical beams 210 can be arranged. Disposing the first drive assembly 500 and the second drive assembly 600 on the vertical beams 210 can reduce the number of vertical beams 210, thereby reducing the weight, size, and manufacturing cost of the access device 100. In particular, for the embodiment where the first annular flexible member 530 surrounds the second annular flexible member 630, it is more advantageous to place them on the same vertical beam 210 due to their small space occupation. A transmission channel 211 can be disposed within the vertical beam 210. The transmission channel 211 can extend through the vertical beam 210 in the vertical direction. A portion of each of the first annular flexible member 530 and the second annular flexible member 630 can pass through the transmission channel 211. The first vertical segment 531 and the second vertical segment 631 may be located outside the transmission channel 211 to facilitate connection to the mating mechanism 400 and the transport assembly 300. Exemplarily, the first annular flexible member 530 may further include a third vertical segment 532 extending ZZ in the vertical direction. The third vertical segment 532 may be parallel to and opposite to the first vertical segment 531. The first vertical segment 531 may be located on the side of the first annular flexible member 530 facing the transport assembly 300 and the mating mechanism 400, and the third vertical segment 532 may be located on the side of the first annular flexible member 530 facing away from the transport assembly 300 and the mating mechanism 400. The third vertical segment 532 may pass through the transmission channel 211. The second annular flexible member 630 may further include a fourth vertical segment 632 extending ZZ in the vertical direction. The fourth vertical segment 632 may be parallel to and opposite to the second vertical segment 631. The second vertical segment 631 can be located on the side of the second annular flexible member 630 facing the transport assembly 300 and the mating mechanism 400, and the fourth vertical segment 632 can be located on the side of the second annular flexible member 630 facing away from the transport assembly 300 and the mating mechanism 400. The fourth vertical segment 632 can be inserted into the transmission channel 211.

[0069] For example, such as Figure 8 As shown, the first drive assembly 500 and the second drive assembly 600 can be mounted on different vertical beams 210. For example, two vertical beams 210 can be mounted on each side of the conveying assembly 300 and the mating mechanism 400, and the two vertical beams 210 can include two arranged along the second horizontal direction XX. Optionally, the two vertical beams 210 can be attached to each other and connected. Optionally, a gap can also be provided between the two vertical beams 210. The first drive assembly 500 and the second drive assembly 600 can be mounted on the two vertical beams 210 respectively. With this configuration, the structure of the access device 100 is relatively simple, and it is easy to install and maintain.

[0070] For example, such as Figures 2 to 4 As shown, at least one side of the mating mechanism 400 and the conveying assembly 300, located opposite each other along the second horizontal direction XX, can be connected to at least one vertical beam 210. Exemplarily, the mating mechanism 400 and the conveying assembly 300, located opposite each other along the second horizontal direction XX, can each be connected to a vertical beam 210. Thus, the vertical beam 210 provides better guidance for the conveying assembly 300 and the mating mechanism 400, and the lifting stability of the conveying assembly 300 and the mating mechanism 400 is better, thereby improving the safety of transporting items. Each side of the mating mechanism 400 and the conveying assembly 300, located opposite each other along the second horizontal direction XX, can be provided with a first drive assembly 500 and a second drive assembly 600. Therefore, when the first drive assembly 500 and the second drive assembly 600 are set on the same vertical beam 210, it means that within the same side, the first drive assembly 500 and the second drive assembly 600 are set on the same vertical beam 210 on that side; when the first drive assembly 500 and the second drive assembly 600 are set on different vertical beams 210, it means that within the same side, the first drive assembly 500 and the second drive assembly 600 are set on different vertical beams 210 on that side.

[0071] For example, such as Figures 2 to 4 As shown, the beam assembly 200 may further include horizontal beams 220. Horizontal beams 220 may include at least one, for example, one, two, or more. Each horizontal beam 220 may extend along a second horizontal direction XX. At least one vertical beam 210 may move along the horizontal beams 220. In embodiments with multiple horizontal beams 220, the multiple horizontal beams 220 may be arranged along a vertical direction ZZ. At least one vertical beam 210 may move along each horizontal beam 220. The horizontal beams 220 may be made of any suitable material such as aluminum or steel. With this arrangement, the handling assembly 300 and the mating mechanism 400 can move to any position within the plane defined by the second horizontal direction XX and the vertical direction ZZ, thereby enabling the handling of more items on the storage rack 900 at storage operation positions 901.

[0072] For example, such as Figures 2 to 4As shown, the height of the conveying component 300 relative to the mating mechanism 400 is adjustable. In some embodiments, as described above, the conveying component 300 and the mating mechanism 400 can be independently raised and lowered along at least one vertical beam 210, thereby making the height of the conveying component 300 relative to the mating mechanism 400 adjustable. In some embodiments, the conveying component 300 can be raised and lowered independently along at least one vertical beam 210, or the mating mechanism 400 can be raised and lowered independently along at least one vertical beam 210, both of which make the height of the conveying component 300 relative to the mating mechanism 400 adjustable. In some embodiments, any suitable lifting structure, including a telescopic support rod or a scissor-type bracket, can be connected between the conveying component 300 and the mating mechanism 400 to ensure that the heights of the mating mechanism 400 and the conveying component 300 are adjustable. By adjusting the height of the mating mechanism 400 and the conveying component 300 along the vertical direction ZZ, when the mating mechanism 400 is raised and lowered to approximately level with the storage operation position 901 of the storage rack 900, the conveying component 300 can be connected to adaptable structures of different heights. Therefore, the handling component 300 can handle goods of different heights, and the storage and retrieval device 100 has good applicability.

[0073] For example, such as Figures 2 to 4As shown, the conveying component 300 can be located above the mating mechanism 400. The conveying component 300 and the mating mechanism 400 can be spaced apart to accommodate an item supported on the mating mechanism 400. Exemplarily, the conveying component 300 and the mating mechanism 400 can be completely spaced apart without any connecting element between them. In this embodiment, the conveying component 300 and the mating mechanism 400 can be respectively connected to the beam assembly 200. Exemplarily, the spaced-apart conveying component 300 and the mating mechanism 400 can be connected by a connector such as a bracket or column to separate them. In this embodiment, one of the conveying component 300 and the mating mechanism 400 can be connected to the beam assembly 200. Along the vertical direction ZZ, the conveying component 300 can be located above the mating mechanism 400 of the mating mechanism 400. Therefore, the conveying component 300 no longer interferes with the mating mechanism 400. Although in the illustrated embodiment, the conveying component 300 is located directly above the mating mechanism 400, in other embodiments not shown, the conveying component 300 can be located diagonally above the mating mechanism 400, as long as the conveying component 300 is above the mating mechanism 400. The spaced-apart mating mechanism 400 and conveying component 300 no longer interfere with each other, thus simplifying their structure and allowing for optimized design according to usage requirements. Based on this, the conveying component 300 does not need to be located on the rear side of the mating mechanism 400 along the first horizontal direction YY (i.e., the side facing away from the storage rack 900), but can be located above the mating mechanism 400. In this way, the conveying component 300 does not need to occupy space on the mating mechanism 400, especially the space along the first horizontal direction YY, thereby reducing the size of the mating mechanism 400 along the first horizontal direction YY. Consequently, the spacing of the aisles 930 can be set smaller, thereby improving the warehouse's storage capacity. Furthermore, since the handling component 300 is no longer mounted on the mating mechanism 400, the restrictions on items moving on the mating mechanism 400 are reduced. Therefore, the mating mechanism 400 can handle items of various sizes, and is particularly suitable for non-standard items. In particular, the handling component 300 no longer occupies space along the first horizontal direction YY of the mating mechanism 400, thereby reducing the size of the mating mechanism 400 along the first horizontal direction YY. This allows for a smaller spacing between adjacent storage racks 900, thus improving warehouse storage efficiency. Moreover, the movement of items along the first horizontal direction YY is no longer restricted, allowing items to enter and exit the mating mechanism 400 unimpeded from both the front (facing the storage rack 900) and rear (facing away from the storage rack 900) sides, facilitating subsequent operations. Figure 10As shown, the storage and retrieval device 100 can be positioned between two adjacent rows of storage racks 900 along the first horizontal direction YY. When items can enter and exit the cooperating mechanism 400 without obstruction from both the front and rear sides, the handling component 300 can be configured to transport items between the two adjacent rows of storage racks 900 and the cooperating mechanism 400. For example, the handling component 300 can remove items from the rear side of the cooperating mechanism 400 and transport them to the second storage operation position 921 of the second storage rack 920 behind the cooperating mechanism 400; or, the picking device can remove items from the rear side of the cooperating mechanism 400 and transfer them to a handling trolley or manual transfer station. This not only reduces the number of storage and retrieval devices 100 used in the warehouse but also makes the functions of the storage and retrieval devices 100 more rational, thereby improving work efficiency.

[0074] For example, such as Figures 2 to 4 As shown, the mating mechanism 400 may include a support body 410. The mating mechanism 400 may be connected to at least one vertical beam 210, thereby being movable along at least one vertical beam 210. Exemplarily, both ends of the mating mechanism 400 may be movably connected to the vertical beam 210 along a second horizontal direction XX. The support body 410 includes, but is not limited to, any suitable structure such as a bracket or base. The support body 410 may include a conveying mechanism 411. The conveying mechanism 411 may be used to define the mating mechanism 400. The conveying mechanism 411 may be movable along a first horizontal direction YY on an item on the mating mechanism 400. This configuration facilitates the conveying of an item by the mating mechanism 400 along the first horizontal direction YY. Although in the illustrated embodiment, the conveying mechanism 411 includes a conveyor belt, in other embodiments not shown, the conveying mechanism 411 includes one or more of a conveyor roller, a conveyor chain, etc.

[0075] For example, such as Figures 2 to 4 As shown, the supporting body 410 may have a supporting surface 412 that defines the mating mechanism 400. The supporting surface 412 may be the top surface of the supporting body 410 or any other suitable surface. The supporting surface 412 may be configured to accommodate articles of various sizes along a first horizontal direction YY. For example, along the first horizontal direction YY, the supporting surface 412 may extend from one side of the supporting body 410 to the other. The width of the supporting surface 412 may be configured to match the widest commonly used articles. In this way, regardless of the width of the article, it can be placed on the supporting surface 412. Figure 1As shown, in the prior art, spaced-apart conveyor belts 31 are arranged on both sides of the access robot 40 to avoid obstructing the access robot 40. This results in smaller items not being able to be supported on the support body 410. In this application, because the handling component 300 is positioned above the mating mechanism 400, the integrity of the support surface 412 is not compromised, thus allowing for the adaptation of smaller items. Optionally, the support surface 412 of this application may also include multiple sub-support surfaces spaced relatively close together along the second horizontal direction XX, as long as the spacing does not cause items to fall off the support body 410 or become stuck in the gaps between the sub-support surfaces.

[0076] For example, such as Figures 2 to 4 As shown, the supporting body 410 can be configured to allow items to enter and exit the mating mechanism 400 from both opposite sides along the first horizontal direction YY. In this way, the handling assembly 300 can facilitate the handling of items between the mating mechanism 400 and the first storage operation position 911 of the first storage rack 910, and between the mating mechanism 400 and the second storage operation position 921 of the second storage rack 920.

[0077] In the description of this utility model, it should be understood that the directional terms such as "front", "rear", "up", "down", "left", "right", "horizontal", "vertical", "horizontal", "top", and "bottom" indicate the orientation or positional relationship, which are usually based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this utility model. The directional terms "inner" and "outer" refer to the inner and outer contours of each component itself.

[0078] For ease of description, relative terms such as "above," "over," "on the upper surface of," and "above" are used here to describe the regional positional relationship of one or more components or features shown in the figures to other components or features. It should be understood that relative terms include not only the orientation of the component as depicted in the figure but also different orientations during use or operation. For example, if the components in the figures are inverted as a whole, "above" or "above other components or features" will include cases where the component is "below" or "under" other components or features. Thus, the exemplary term "above" can include both "above" and "below." Furthermore, these components or features may also be positioned at other different angles (e.g., rotated 90 degrees or other angles), and this document intends to include all such cases.

[0079] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, parts, components, and / or combinations thereof.

[0080] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0081] This utility model has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit the utility model to the described embodiments. Furthermore, those skilled in the art will understand that this utility model is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this utility model, all of which fall within the scope of protection claimed by this utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. An access device, characterized in that, The assembly includes a beam assembly, a transport assembly, and a mating mechanism. Both the transport assembly and the mating mechanism are movable along the beam assembly. The transport assembly includes: A movable arm, the movable arm including at least one movable joint; A transport component, movably connected to the free end of the movable arm; and The actuator includes a movable arm actuator and a transport component actuator. The movable arm is movable around a joint under the drive of the movable arm actuator, and the transport component is movable relative to the free end of the movable arm under the drive of the transport component actuator, so that the transport component can transport items between a first operating position and a second operating position within the storage operating position of the storage rack and the cooperating mechanism. The first operating position is closer to the access operating surface of the storage rack than the second operating position, and the second operating position is located in the depth storage position of the first operating position.

2. The access device as claimed in claim 1, characterized in that, The transporter is configured to be movable to the first operating position under the drive of the transporter driver, so as to transport an item between the first operating position and the mating mechanism, and to transport an item between the mating mechanism and the docking position.

3. The access device as claimed in claim 1, characterized in that, The transporter is configured such that when there is no item at the first operating position, it can be moved to the second operating position under the drive of the transporter driver to transport items between the second operating position and the mating mechanism, and between the mating mechanism and the connecting position.

4. The access device as claimed in claim 1, characterized in that, The transporter is configured such that when there is no item at the first operating position, it can move to the second operating position under the drive of the transporter driver to transport the item at the second operating position to the first operating position.

5. The access device according to any one of claims 1-4, characterized in that, The handling assembly also includes a coupling mechanism that allows two items to be in a coupled or decoupled state. When the transporter moves the item at the first operating position to the mating mechanism, the item at the first operating position and the item at the second operating position are in the coupled state, so as to move the item at the second operating position to the first operating position.

6. The access device as claimed in claim 1, characterized in that, The joint's degrees of freedom include the freedom to pivot about an axis parallel to the beam assembly, and the transport member is also pivotable about an axis parallel to the beam assembly relative to the free end of the movable arm.

7. The access device as claimed in claim 1, characterized in that, The transport assembly also includes a transport body, which is movable along the beam assembly. The movable arm includes at least a first movable arm and a second movable arm, and the movable arm driver includes a first movable arm driver and a second movable arm driver, wherein: The first movable arm driver is disposed on the conveying body, and the drive end of the first movable arm driver is connected to the first movable arm to form a first joint; The second movable arm actuator is mounted on the first movable arm, and the drive end of the second movable arm actuator is connected to the second movable arm to form a second joint; and The at least one movable joint includes the first joint and the second joint.

8. The access device as claimed in claim 1, characterized in that, The actuator further includes a translation actuator, under the drive of the translation actuator, the movable arm is movable along a first horizontal direction perpendicular to the beam assembly; and / or The transport assembly further includes a translational track extending along the first horizontal direction, and the movable arm is slidably connected to the translational track.

9. The access device as claimed in claim 1, characterized in that, The beam assembly includes at least one vertical beam and at least one horizontal beam. The conveying assembly and the mating mechanism are independently movable along the at least one vertical beam. The at least one horizontal beam extends along a second horizontal direction, and the at least one vertical beam is movably connected to the at least one horizontal beam along the second horizontal direction.

10. The access device as claimed in claim 1, characterized in that, The conveying assembly is located above the mating mechanism, and the conveying assembly and the mating mechanism are spaced apart to accommodate an item supported on the mating mechanism.

11. A warehousing system, characterized in that, The device includes a storage rack and a storage and retrieval device as described in any one of claims 1-10. The storage rack has storage operation positions, each storage operation position including a first operation position and a second operation position for storing items. The first operation position is closer to the storage and retrieval operation surface of the storage rack than the second operation position, and the second operation position is located in a deeper storage position of the first operation position. The second operation position is located away from the cooperating mechanism and is also for storing items. The transport member is movable to the first operation position, the second operation position, and the cooperating mechanism under the drive of the transport member driver, so as to transport items between the first operation position, the second operation position, and the cooperating mechanism.

12. The warehousing system as described in claim 11, characterized in that, The storage rack has a first side and a second side opposite each other along a first horizontal direction, and the access device is provided on at least one of the first side and the second side, wherein the first horizontal direction is perpendicular to the beam assembly; The storage racks include a first storage rack and a second storage rack. The first and second storage racks are spaced apart along the first horizontal direction to form an aisle, and the access device is located within the aisle. Driven by the transport drive mechanism, the transport component is capable of transporting items between the cooperating mechanism and the first storage operation position of the first storage rack, and between the cooperating mechanism and the second storage operation position of the second storage rack.

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