Picking and placing actuators, handling devices, and warehousing systems

Abstract

This disclosure relates to a pick-and-place actuator, a handling device, and a storage system. The pick-and-place actuator includes a fixed side plate, a first clamping assembly, a second clamping assembly, a first transmission assembly, and a boom assembly. The first transmission assembly includes a first pulley, a second pulley, and a first open belt. The first pulley and the second pulley are rotatably connected to the fixed side plate, and the first open belt is wound around the first pulley and the second pulley. One end of the first open belt passes through the first clamping assembly, and the other end passes through the second clamping assembly. The first clamping assembly and the second clamping assembly cooperate to limit the movement of the first open belt. The boom assembly includes a boom bracket, which is slidably connected to the fixed side plate along a first direction, and the boom bracket is relatively fixed to the first open belt.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more particularly to a pick-and-place actuator, a handling device, and a warehousing system. Background Technology

[0002] With the rapid development of industrial technology, the adoption rate of various robotic equipment is increasing, greatly reducing people's labor burden. As an important component of warehousing systems, material handling robots need to move back and forth between shelves to move boxes.

[0003] In related technologies, the arm assembly in a handling robot slides via a transmission system using sprockets and chains. However, due to the large size of the sprockets, the arm assembly occupies a significant amount of space on both sides. Furthermore, the chain can loosen after prolonged use, affecting the stability of the handling robot. Moreover, because the chain has a closed loop structure, replacing it requires disassembling numerous components to remove the chain, greatly increasing maintenance costs. Utility Model Content

[0004] This disclosure provides a pick-and-place actuator, a handling device, and a warehousing system to address the shortcomings of related technologies.

[0005] According to a first aspect of the present disclosure, a pick-and-place actuator is provided, comprising:

[0006] Fixed side panels;

[0007] First clamping assembly;

[0008] Second clamping component;

[0009] The first transmission assembly includes a first pulley, a second pulley, and a first open belt. The first pulley and the second pulley are rotatably connected to the fixed side plate. The first open belt is wound around the first pulley and the second pulley. One end of the first open belt passes through the first clamping assembly, and the other end passes through the second clamping assembly. The first clamping assembly and the second clamping assembly cooperate to limit the first open belt.

[0010] The arm extension assembly includes an arm extension bracket, which is slidably connected to the fixed side plate along a first direction, and the arm extension bracket is fixed relative to the first open belt.

[0011] Optionally, the first clamping assembly and the second clamping assembly are respectively fixedly connected to both ends of the first open belt, and at least one of the first clamping assembly and the second clamping assembly is fixedly connected to the extender arm bracket.

[0012] Optionally, the first clamping assembly clamps one end of the first open belt, and the second clamping assembly clamps the other end of the first open belt.

[0013] Optionally, the first clamping assembly and / or the second clamping assembly each include a clamping plate and a guide, the end of the first open belt is clamped between the clamping plate and the guide, and the first open belt is wrapped around a portion of the guide to guide the first open belt to change direction.

[0014] Optionally, the guide includes a flat plate portion and a guide arc portion, the guide arc portion being smoothly connected to the flat plate portion, and the first open belt being bent in the opposite direction along the guide arc portion and clamped between the flat plate portion and the clamping plate.

[0015] Optionally, the first open belt includes a toothed belt, and the first clamping assembly and the second clamping assembly are fixedly disposed relative to the fixed side plate.

[0016] The first clamping belt assembly and / or the second clamping belt assembly each include a third pulley and a limiting plate. The end of the first open belt passes between the third pulley and the limiting plate. The first pulley, the second pulley and the third pulley rotate synchronously and all mesh with the first open belt.

[0017] Optionally, it also includes a connector, which is fixedly connected to the first open belt and the boom bracket, respectively.

[0018] Optionally, one end of the first open belt is bent in the opposite direction and passed through the first clamping assembly, and is slidably connected to the first clamping assembly; the other end is bent in the opposite direction and passed through the second clamping assembly, and is slidably connected to the second clamping assembly.

[0019] When the boom assembly moves, the redundant length of the first open belt passing through the first clamping assembly and the redundant length passing through the second clamping assembly are inversely proportional.

[0020] Optionally, it also includes a hook assembly and a second transmission assembly. The hook assembly is slidably connected to the boom support along the first direction, and the second transmission assembly is disposed on the boom support and connected to the hook assembly to drive the hook assembly to slide relative to the boom support.

[0021] Optionally, the arm assembly includes a mounting bracket connected to the arm support and disposed along the first direction;

[0022] The second transmission assembly includes a second open belt and at least two fourth pulleys, the second open belt being wound around the fourth pulleys, and the fourth pulleys being rotatably connected to the mounting bracket;

[0023] The hook assembly includes an adapter and a hook body connected to the adapter, the adapter being connected to the second open belt.

[0024] Optionally, the first transmission assembly and the second transmission assembly are connected to different driving components; or,

[0025] The second open belt includes a fixed end and a movable end. When the fourth pulley slides along the first direction with the boom bracket, the movable end releases or tightens the second open belt.

[0026] Optionally, along the height direction of the pick-and-place actuator, the projection of the second transmission component and the projection of the first transmission component at least partially overlap, and the axial direction of the fourth pulley is perpendicular to the axial directions of the first pulley and the second pulley.

[0027] Optionally, a reinforcing beam is also included. The boom support includes a first boom support and a second boom support arranged at intervals, and the reinforcing beam is connected between the first boom support and the second boom support.

[0028] According to a second aspect of the present disclosure, a conveying device is provided, comprising:

[0029] A gantry, which is used for sliding connection with a shelf;

[0030] As described above, the pick-and-place actuator is slidably connected to the gantry, and the sliding direction of the pick-and-place actuator is perpendicular to the sliding direction of the gantry.

[0031] According to a third aspect of the present disclosure, a warehousing system is provided, comprising:

[0032] Shelves;

[0033] As described above, the conveying device is used to move goods to and / or remove goods from the shelf, and the mast is slidably connected to the shelf along the length of the shelf.

[0034] As can be seen from the above embodiments, the pick-and-place actuator of this disclosure uses a transmission form in which the first pulley, the second pulley, and the first open belt cooperate to enable the arm assembly to slide relative to the fixed side plate. Due to the small volume of the pulleys and belts, the arm assembly occupies less side space, which is conducive to the compactness and miniaturization of the pick-and-place actuator. The first open belt is easy to disassemble and assemble, which helps to reduce maintenance costs.

[0035] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this specification. Attached Figure Description

[0036] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this specification and, together with the description, serve to explain the principles of this specification.

[0037] Figure 1 This is a schematic diagram illustrating a pick-and-place actuator according to an exemplary embodiment.

[0038] Figure 2 yes Figure 1 A schematic diagram showing the assembly of the fixed side plate with the first clamping assembly, the second clamping assembly, the first transmission assembly, the extender arm assembly, and the second transmission assembly.

[0039] Figure 3 yes Figure 2 A side view diagram.

[0040] Figure 4 This is a schematic diagram illustrating an assembly of a first clamping assembly, a second clamping assembly, and a first transmission assembly according to an exemplary embodiment.

[0041] Figure 5 This is a schematic diagram illustrating an assembly of a first clamping assembly, a second clamping assembly, and a first transmission assembly according to another exemplary embodiment.

[0042] Figure 6 yes Figure 2 A side view diagram from another perspective.

[0043] Figure 7 yes Figure 2 A three-dimensional diagram from another perspective.

[0044] Figure 8 This is a schematic diagram of a second transmission assembly according to an exemplary embodiment.

[0045] Figure 9 This is a schematic diagram of a conveying device according to an exemplary embodiment.

[0046] Figure 10 This is a perspective view of a storage system according to an exemplary embodiment.

[0047] Figure 11 This is a partial enlarged view of a storage system according to an exemplary embodiment. Detailed Implementation

[0048] The technical solutions in the embodiments (or "implementations") of this disclosure will be clearly and completely described herein with reference to the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0049] If this disclosure uses terms relating to directional indications or positional relationships (e.g., up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationships and movements between components in a specific posture (as shown in the accompanying drawings); if the specific posture changes, the directional indications or positional relationships will also change accordingly. Furthermore, terms such as "first" and "second" in this disclosure are used only for descriptive convenience and should not be construed as indicating or implying relative importance.

[0050] Figure 1 This is a schematic diagram illustrating a pick-and-place actuator according to an exemplary embodiment. Figure 2 yes Figure 1 A schematic diagram showing the assembly of the fixed side plate with the first clamping assembly, the second clamping assembly, the first transmission assembly, the extender arm assembly, and the second transmission assembly. (See diagram for reference.) Figure 1 and Figure 2 As shown, the pick-and-place mechanism of this disclosure includes a fixed side plate 1, a first clamping assembly 2, a second clamping assembly 3, a first transmission assembly 4, and an extension arm assembly 5. The first clamping assembly 2 and the second clamping assembly 3 are both connected to the first transmission assembly 4, and the first transmission assembly 4 is connected to the extension arm assembly 5, thereby driving the extension arm assembly 5 to connect relative to the fixed side plate 1.

[0051] Specifically, the first transmission assembly 4 includes a first pulley 41, a second pulley 42, and a first open belt 43. The first pulley 41 and the second pulley 42 are rotatably connected to the fixed side plate 1. The first open belt 43 is wound around the first pulley 41 and the second pulley 42, with one end of the first open belt 43 passing through a first clamping assembly 2 and the other end passing through a second clamping assembly 3. The first clamping assembly 2 and the second clamping assembly 3 cooperate to limit the first open belt 43, ensuring that the first open belt 43 is always tautly wound around the first pulley 41 and the second pulley 42. It is worth noting that, since the first open belt 43 is always in a taut state and also has elastic properties, when loosening occurs between the first open belt 43 and the first pulley 41 and the second pulley 42, the first open belt 43 can compensate for the loosening gap, so that the first open belt 43 continues to be tautly wound around the first pulley 41 and the second pulley 42.

[0052] The boom assembly 5 includes a boom bracket 51, which is slidably connected to the fixed side plate 1 along a first direction. The boom bracket 51 and the first open belt 43 are relatively fixed. This arrangement allows the first transmission assembly 4 to drive the boom assembly 5 to slide as a whole via the first open belt 43. Furthermore, due to the small size of the first open belt 43, the first pulley 41, and the second pulley 42, as well as the elastic extension and contraction characteristics of the first open belt 43, the boom assembly 5 occupies less side space, allowing the pick-and-place actuator to be made narrower, which is beneficial for a compact and miniaturized layout. The first open belt 43 can also always be tensioned on the first pulley 41 and the second pulley 42, improving its transmission stability and thus the stability of the pick-and-place actuator. The first open belt 43 also facilitates subsequent disassembly and assembly, helping to reduce maintenance costs.

[0053] In some embodiments, Figure 3 yes Figure 2 A side view diagram, such as Figure 3 As shown, the first clamping assembly 2 and the second clamping assembly 3 are fixed relative to each other, and are respectively fixedly connected to both ends of the first open belt 43. At least one of the first clamping assembly 2 and the second clamping assembly 3 is fixedly connected to the boom support 51, and both move reciprocally relative to the fixed side plate 1 with the first open belt 43. Specifically, the first clamping assembly 2 clamps one end of the first open belt 43, and the second clamping assembly 3 clamps the other end of the first open belt 43. The pick-and-place mechanism may also include a connecting plate 110, which is fixedly connected to at least one of the first clamping assembly 2 and the second clamping assembly 3, as well as the boom support 51. To improve the stability of the first open belt 43 during operation, the connecting plate 110 is connected to the first clamping assembly 2 and the second clamping assembly 3. The connecting plate 110 is preferably, but not limited to, an L-shaped folding plate.

[0054] Figure 4 This is a schematic diagram illustrating an assembly of a first clamping assembly, a second clamping assembly, and a first transmission assembly according to an exemplary embodiment. Figure 4 As shown, regarding the arrangement of the first clamping assembly 2 and the second clamping assembly 3, in some embodiments, the first clamping assembly 2 and the second clamping assembly 3 are approximately the same two components. The following detailed description uses the first clamping assembly 2 as an example. The first clamping assembly 2 includes a clamping plate 21 and a guide member 22. The end of the first open belt 43 is clamped between the clamping plate 21 and the guide member 22, and the first open belt 43 is partially wrapped around the guide member 22 to guide the first open belt 43 to change direction. The clamping plate 21 can move relative to the guide member 22 to clamp and release the first open belt 43, thereby facilitating the maintenance or replacement of the first open belt 43.

[0055] The guide 22 includes a flat plate portion 221 and a guide arc portion 222, wherein the guide arc portion 222 is smoothly connected to the flat plate portion 221, and the first open belt 43 is bent in the opposite direction along the guide arc portion 222 and clamped between the flat plate portion 221 and the clamping plate 21.

[0056] To ensure greater stability during the movement of the first clamping assembly 2 and the second clamping assembly 3, the first clamping assembly 2 and / or the second clamping assembly 3 are provided with a first guide portion (not shown), and the fixed side plate 1 is provided with a second guide portion (not shown), wherein the first guide portion is slidably connected to the second guide portion. Specifically, the first guide portion may be a guide rail, and the second guide portion may be a guide groove, or the first guide portion may be a guide groove, and the second guide portion may be a guide rail; this is not limited herein.

[0057] Based on this, for the same fastener connected to the first clamping assembly 2 and the second clamping assembly 3, the fastener may also include a third guide portion (not shown), and the third guide portion is slidably connected to the second guide portion.

[0058] In some other embodiments, Figure 5 This is a schematic diagram illustrating an assembly of a first clamping assembly, a second clamping assembly, and a first transmission assembly according to another exemplary embodiment. Figure 5 As shown, the first open belt 43 includes a toothed belt. The first clamping assembly 2 and the second clamping assembly 3 are fixedly disposed relative to the fixed side plate 1, while the first open belt 43 is slidably disposed relative to the first clamping assembly 2 and the second clamping assembly 3. Specifically, the first clamping assembly 2 and the second clamping assembly 3 are approximately the same two components. The following is a detailed description of the first clamping assembly 2 as an example. The first clamping assembly 2 includes a third pulley 23 and a limiting plate 24. The third pulley 23 is rotatably connected to the fixed side plate 1, and the limiting plate 24 is fixed to the fixed side plate 1. The end of the first open belt 43 passes between the third pulley 23 and the limiting plate 24. The first pulley 41, the second pulley 42, and the third pulley 23 rotate synchronously and are all engaged with the first open belt 43. That is to say, when the first open belt 43 is in motion, the first clamping assembly 2 can control the sliding amount of the first open belt 43 through the third pulley 23 and the limiting plate 24, so that the first open belt 43 is always in a taut state.

[0059] One end of the first open belt 43 is bent in the opposite direction and passes through the first clamping assembly 2, engaging with it, for example, through a sliding engagement or meshing. The other end is bent in the opposite direction and passes through the second clamping assembly 3, engaging with it, for example, through a sliding engagement or meshing. The first open belt 43 is redirected by the limiting plate 24, whose structure is similar to that of the guide member 22.

[0060] When the first open belt 43 is in motion, the first clamping assembly 2 can release the excess first open belt 43, and the second clamping assembly 3 can retract the first open belt 43. In other words, when the arm extension assembly moves, the excess length of the first open belt 43 passing through the first clamping assembly 2 is inversely proportional to the excess length passing through the second clamping assembly 3. It is worth noting that the length of the first open belt 43 released by the first clamping assembly 2 is equal to the length of the first open belt 43 retracted by the second clamping assembly 3, thus keeping the first open belt 43 in a taut state.

[0061] In this embodiment, the connector 100 is fixedly connected to the first open belt 43 and the boom support 51, respectively. It should be noted that, to prevent the connector 100 from getting stuck between the first open belt 43 and the first pulley 41 or the second pulley 42, the connector 100 is fixed to the side of the first open belt 43 facing away from the first pulley 41 or the second pulley 42. This also allows the connector 100 to be moved above the first pulley 41 or the second pulley 42, thereby increasing the sliding stroke of the boom assembly 5. Even without affecting the direction of the first open belt 43, the connector 100 can extend directly above the first pulley 41 or the second pulley 42, further increasing the sliding stroke of the boom assembly 5.

[0062] In some embodiments, Figure 6 yes Figure 2 A side view diagram from another perspective. Figure 7 yes Figure 2 A three-dimensional diagram from another perspective. Figure 8 This is a schematic diagram illustrating a second transmission assembly according to an exemplary embodiment. Figures 6 to 8 As shown, the boom assembly 5 may also include a mounting bracket 52 connected to the boom support 51 and arranged along the first direction. The pick-and-place actuator of this disclosure may also include a hook assembly 6 and a second transmission assembly 7. The hook assembly 6 is slidably connected to the boom support 51 along the first direction. The second transmission assembly 7 is disposed on the boom support 51 and connected to the hook assembly 6 to drive the hook assembly 6 to slide relative to the boom support 51.

[0063] Specifically, the second transmission assembly 7 includes a second open belt 71 and at least two fourth pulleys 72. The second open belt 71 is wound around the fourth pulleys 72, and the two fourth pulleys 72 are rotatably connected to the mounting bracket 52. The first transmission assembly 4 and the second transmission assembly 7 can be connected to different driving components, so that the first transmission assembly 4 and the second transmission assembly 7 can be controlled independently, improving the flexibility of their movement. Of course, the first transmission assembly 4 and the second transmission assembly 7 can also be driven by only one driving component. Specifically, this individual driving component is connected to the first pulley 41 or the second pulley 42 to drive the boom bracket 51 to move in the first direction. During this process, the fourth pulley 72 will also move accordingly in the first direction to drive the second open belt 71 to move, thereby driving the hook assembly 6 to slide. In other words, the sliding of the hook assembly 6 and the boom bracket 51 is synchronized.

[0064] In some other embodiments, the second open belt 71 includes a fixed end 711 and a movable end 712. When the fourth pulley 72 slides along the first direction with the boom bracket 51, the movable end 712 releases or tightens the second open belt 71. It should be noted that the movable end 712 can be adjusted as described above. Figure 5 The first clamping component 2 or the second clamping component 3 in the illustrated embodiment controls its sliding amount, thereby causing the second open belt 71 to be in a released or tightened state.

[0065] The hook assembly 6 includes an adapter 61 and a hook body 62 connected to the adapter 61. The adapter 61 is connected to the second open belt 71. That is, the second transmission assembly 7 drives the hook assembly 6 to slide through the adapter 61 and the second open belt 71. The hook assembly 6 is connected to the arm extension assembly 5 through the second transmission assembly 7, which can effectively save space and make the pick-and-place actuator narrower.

[0066] Along the height direction of the pick-and-place actuator, the second transmission assembly 7 is located above the first transmission assembly 4, and the projection of the second transmission assembly 7 and the projection of the first transmission assembly 4 at least partially overlap. The axial direction of the fourth pulley 72 is perpendicular to the axial directions of the first pulley 41 and the second pulley 42. This arrangement saves space, allowing the pick-and-place actuator to be made narrower, which is beneficial for a compact and miniaturized layout.

[0067] The loading and unloading actuator may also include a reinforcing beam 8, and the boom support 51 includes a first boom support 511 and a second boom support 512 spaced apart, with the reinforcing beam 8 connecting the first boom support 511 and the second boom support 512. This arrangement improves the rigidity between the first boom support 511 and the second boom support 512, reducing the risk of deformation of the boom support 51 when supporting the material box.

[0068] Correspondingly, Figure 9 This is a schematic diagram illustrating a conveying device according to an exemplary embodiment. Figure 9 As shown, this disclosure also provides a handling device, including a gantry 9 and a pick-and-place actuator as described above. The gantry 9 is slidably connected to the shelf 10 of the storage system, and the pick-and-place actuator is slidably connected to the gantry 9, with the sliding direction of the pick-and-place actuator perpendicular to the sliding direction of the gantry 9. Specifically, the pick-and-place actuator includes a base support 200, a fixed side plate 1 disposed on the base support 200, and the base support 200 is slidably connected to the gantry 9. For example... Figure 9 As shown, the base bracket 200 can slide vertically relative to the gantry 9, allowing the gantry 9 to move horizontally along the shelf 10, thus maximizing the coverage of the storage compartments on the shelf 10. The connection between the gantry 9 and the shelf 10 facilitates the suspended movement of the handling device relative to the ground, freeing up ground space and allowing for the placement of other types of robots within that space.

[0069] Figure 10 This is a perspective view of a storage system according to an exemplary embodiment. Figure 11 This is a partially enlarged view illustrating a storage system according to an exemplary embodiment. Accordingly, this disclosure also provides a storage system including a rack 10 and a handling device as described above, the handling device being used to move goods to and / or remove goods from the rack. A mast 9 is slidably connected to the rack 10 along its length, thereby allowing the handling device to move along the length of the rack 10. Furthermore, the sliding of the base bracket 200 relative to the mast 9 allows the handling device to translate along the height of the rack 10, facilitating the handling device to grasp materials in each compartment of the rack 10. The length direction of the rack 10, the height direction of the rack 10, and the depth direction of the compartments are all perpendicular to each other.

[0070] It should be noted that the technical solutions or features described in the above embodiments can be combined or complemented by each other without conflict. The scope of protection of this disclosure is not limited to the precise structures described in the above embodiments and shown in the accompanying drawings; all modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A pick-and-place actuator, characterized in that, include: Fixed side panels; First clamping assembly; Second clamping component; The first transmission assembly includes a first pulley, a second pulley, and a first open belt. The first pulley and the second pulley are rotatably connected to the fixed side plate. The first open belt is wound around the first pulley and the second pulley. One end of the first open belt passes through the first clamping assembly, and the other end passes through the second clamping assembly. The first clamping assembly and the second clamping assembly cooperate to limit the first open belt. The arm extension assembly includes an arm extension bracket, which is slidably connected to the fixed side plate along a first direction, and the arm extension bracket is fixed relative to the first open belt.

2. The pick-and-place actuator according to claim 1, characterized in that, The first clamping assembly and the second clamping assembly are respectively fixedly connected to both ends of the first open belt, and at least one of the first clamping assembly and the second clamping assembly is fixedly connected to the arm support.

3. The pick-and-place actuator according to claim 2, characterized in that, The first clamping assembly clamps one end of the first open belt, and the second clamping assembly clamps the other end of the first open belt.

4. The pick-and-place actuator according to claim 3, characterized in that, The first clamping assembly and / or the second clamping assembly each include a clamping plate and a guide member. The end of the first open belt is clamped between the clamping plate and the guide member. The first open belt is wrapped around a portion of the guide member to guide the first open belt to change direction.

5. The pick-and-place actuator according to claim 4, characterized in that, The guide includes a flat plate portion and a guide arc portion, the guide arc portion being smoothly connected to the flat plate portion, and the first open belt being bent in the opposite direction along the guide arc portion and clamped between the flat plate portion and the clamping plate.

6. The pick-and-place actuator according to claim 1, characterized in that, The first open belt includes a toothed belt, and the first clamping assembly and the second clamping assembly are fixedly disposed relative to the fixed side plate; The first clamping assembly and / or the second clamping assembly each include a third pulley and a limiting plate. The end of the first open belt passes between the third pulley and the limiting plate. The first pulley, the second pulley and the third pulley rotate synchronously and all mesh with the first open belt.

7. The pick-and-place actuator according to claim 6, characterized in that, It also includes a connector, which is fixedly connected to the first open belt and the boom bracket respectively.

8. The pick-and-place actuator according to claim 6, characterized in that, One end of the first open belt is bent in the opposite direction and passed through the first clamping assembly, and is slidably connected to the first clamping assembly; the other end is bent in the opposite direction and passed through the second clamping assembly, and is slidably connected to the second clamping assembly. When the boom assembly moves, the redundant length of the first open belt passing through the first clamping assembly and the redundant length passing through the second clamping assembly are inversely proportional.

9. The pick-and-place actuator according to claim 1, characterized in that, It also includes a hook assembly and a second transmission assembly. The hook assembly is slidably connected to the boom support along the first direction. The second transmission assembly is disposed on the boom support and connected to the hook assembly to drive the hook assembly to slide relative to the boom support.

10. The pick-and-place actuator according to claim 9, characterized in that, The extendable arm assembly includes a mounting bracket connected to the extendable arm support and disposed along the first direction; The second transmission assembly includes a second open belt and at least two fourth pulleys, the second open belt being wound around the fourth pulleys, and the fourth pulleys being rotatably connected to the mounting bracket; The hook assembly includes an adapter and a hook body connected to the adapter, the adapter being connected to the second open belt.

11. The pick-and-place actuator according to claim 10, characterized in that, The first transmission assembly and the second transmission assembly are connected to different driving components; or, The second open belt includes a fixed end and a movable end. When the fourth pulley slides along the first direction with the boom bracket, the movable end releases or tightens the second open belt.

12. The pick-and-place actuator according to claim 10, characterized in that, Along the height direction of the pick-and-place actuator, the projection of the second transmission component and the projection of the first transmission component at least partially overlap, and the axial direction of the fourth pulley is perpendicular to the axial directions of the first pulley and the second pulley.

13. The pick-and-place actuator according to claim 1, characterized in that, It also includes a reinforcing beam, and the boom support includes a first boom support and a second boom support arranged at intervals, with the reinforcing beam connecting the first boom support and the second boom support.

14. A conveying device, characterized in that, include: A gantry, which is used for sliding connection with a shelf; The pick-and-place actuator as described in any one of claims 1 to 13, wherein the pick-and-place actuator is slidably connected to the gantry, and the sliding direction of the pick-and-place actuator is perpendicular to the sliding direction of the gantry.

15. A warehousing system, characterized in that, include: Shelves; The handling device as claimed in claim 14, wherein the handling device is used to handle goods to and / or remove goods from the shelf, and the mast is slidably connected to the shelf along the length of the shelf.

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