Storage systems

Abstract

Storage system, comprehensive: a support (10) which is provided on a support surface of the storage system and is provided with multi-story cargo spaces (110) in the vertical direction; a removal and placement device (20) provided on one side of the support (10) and movable in the transverse direction of the support (10) with respect to the support (10), wherein the removal and placement device (20) comprises a removal and placement mechanism (210) movable along the longitudinal direction of the support (10) with respect to the support (10); a support element (30) arranged on one side of the carrier (10), wherein the first part of the removal and placement device (20) is supported on the support element (30) and a predetermined gap (301) is provided between the bottom of the support element (30) and the support table surface; a transfer robot (40) moving on the support table surface, wherein the transfer robot (40) is configured to move through the predetermined gap (301), or the transfer robot (40) moves through a passage at the bottom of the carrier (10) or between adjacent carriers (10) to transfer a target article between the transfer robot (40) and the pick-and-place device (20).

Description

[0001] This application claims priority to the application filed on January 23, 2025, with the Chinese Patent Office under application number 2025101153341, the entire contents of which are incorporated herein by reference. Technical area

[0002] The present disclosure relates to the technical field of storage devices, in particular to a storage system. Background technology

[0003] To fully utilize the vertical space of the storage system, racks are typically provided with multi-layered storage compartments along the vertical direction of the storage system. Store the target items in the storage compartment to fully utilize the vertical space of the storage system.

[0004] To place the target items into or out of the compartment, a pick and place device is usually provided on one side of the shelf. This pick and place device can move laterally along the shelf, thereby shifting the different rows of compartments on the shelf. A pick and place mechanism is provided on the pick and place device, which can move longitudinally along the pick and place device and thereby move to any level of the shelf. The pick and place mechanism places the target item in the loading space or takes it from the loading space and places it in the temporary storage position at the bottom of the shelf. Then, the transfer robot in the storage system moves the target item to the temporary storage position.

[0005] However, the prior art picking and placing device and the picking and placing mechanism have a relatively high total weight and exert a large load force on one side of the shelf, which requires high strength of the shelf. Content of the utility model

[0006] Embodiments of the present application provide a storage system capable of supporting a pick-and-place device on a carrier, wherein the force exerted by the pick-and-place device and the target object on one side of the carrier is reduced, which may reduce the strength requirements of the carrier.

[0007] Embodiments of the present application provide a storage system comprising: a support provided on a support surface of the storage system and provided with multi-level cargo spaces in the vertical direction; a removal and placement device provided on one side of the carrier and movable relative to the carrier in the transverse direction of the carrier, the removal and placement device comprising a removal and placement mechanism movable relative to the carrier along the longitudinal direction of the carrier; a support member arranged on one side of the carrier, wherein the first part of the removal and placement device is supported on the support member and a predetermined gap is provided between the bottom of the support member and the support table surface; a transfer robot moving on the support table surface, the transfer robot being configured to move through the predetermined gap, or the transfer robot moving through a passage at the bottom of the carrier or between adjacent carriers to transfer a target article between the transfer robot and the picking and placing device.

[0008] According to the storage system provided by embodiments of the present application, by providing a carrier on a support table surface of the storage system, the carrier is provided with a plurality of layers of cargo spaces along a height direction, so that the longitudinal space of the storage system can be fully utilized and the storage density and space utilization of the storage system can be improved.By providing a picking and placing device on one side of the carrier, the picking and placing device moves along a transverse direction of the carrier relative to the carrier, so that the picking and placing device can comprise a picking and placing mechanism, the picking and placing mechanism can move to each row of the carrier, the picking and placing mechanism can move along a longitudinal direction relative to the picking and placing device, so that the picking and placing mechanism can move to each layer of the carrier, which facilitates the exchange of the target article between the picking and placing mechanism and the carrier (e.g. The picking and placing mechanism places the target article on the carrier, or the picking and placing mechanism takes the target article off the carrier).In addition, the storage system is provided with a support member located on one side of the support. The first part of the picking and placing device in the longitudinal direction can be supported on the support member. In this way, the gravity of the picking and placing device, the picking and placing mechanism, and the target article placed on the picking and placing mechanism can be transferred from the side of the support to the support member. The gravity of the picking and placing device and the target article can be reduced to reduce the force caused by the gravity of the picking and placing device and the target article on the support. The strength requirement of the support can be reduced, and the production and processing costs of the support can be saved.Furthermore, in the storage system provided by embodiments of the present application, the support member and the floor of the picking and placing device have a predetermined gap between the floor of the picking and placing device and the support table surface. In this way, a transfer robot in the storage system can travel through the predetermined gap to the underside of the carrier when traveling on the support table surface. Thus, if the picking and placing device moves laterally on one side of the carrier, the transfer robot traveling on the support surface can travel through the predetermined gap to the bottom of the carrier, or alternatively, from the bottom of the carrier to the outside of the carrier.In other words, the lateral movement of the picking and placing device does not affect the movement of the transfer robot, which improves the efficiency of the transfer robot with respect to the target item and increases the efficiency of the flow of the target item in the warehouse system. Illustration of the attached drawings

[0009] The accompanying drawings are intended to provide a further understanding of the present disclosure and are part of the present disclosure, and the schematic embodiments of the present disclosure and their description are intended to illustrate the present disclosure and do not unduly limit the present disclosure. In the accompanying drawings: Fig. 1 is a schematic diagram of a structure of a storage system provided by some embodiments of the present application; Fig. 2 is a schematic diagram of a configuration of a picking and placing device that cooperates with a support member in a storage system provided by some embodiments of the present application; Fig. 3 is a schematic illustration of an alternative configuration of a picking and placing device that cooperates with a support member in a storage system provided by some embodiments of the present application; Fig. 4 is a partially enlarged view of A in Fig. 3; Fig. 5 is a schematic illustration of a structure of a first drive wheel cooperating with a support member in a bearing system provided by some embodiments of the present application; Fig. 6 is a schematic diagram of a partial structure of a picking and placing device provided in some embodiments of the present application; Fig. 7 is a schematic diagram of another partial structure of a picking and placing device provided by some embodiments of the present application.

[0010] In the attached drawings: 10 - carrier; 20 - removal and placement device; 30 - support element; 40 - transfer robot; 50 - auxiliary rail; 110-Cargo space; 120-Intermediate storage space; 130-Support column; 210-Removal and placement mechanism; 220-First drive assembly; 230-Column; 310-Support column; 320-Pull rod; 221-first drive member; 222-first drive gear; 223-first mounting bracket; 224-guide gear; 301-predetermined gap; 302-guide structure; 303-guide projection; 3021 - a first guide recess; 3022 - a second guide recess; 211-Base; 212-Moving mechanism; 213-Removal element; 214-First sensor; 2111-Transport area; 2112-Inlet and outlet; 2113-Third drive element; 2114-Carriage; 2115-Conveyor mechanism; 2116-Second sensor; 2117-Third sensor; 2118-Fourth sensor; 2119-Fifth sensor; 2121-Second mounting bracket; 2122-Second drive element; 2123-Third drive element; 2124-Slider; 2125-Third mounting bracket; 2126-Limiting element; 2131-Hook; 2112a-first inlet and outlet; 2112b-second inlet and outlet; 2113a-fourth drive element; 2113b-transmission element; 2116a-first signal transmitting element; 2116b-first signal receiving element; 2117a-second signal transmitting element; 2117b-second signal receiving element. Specific embodiments

[0011] To facilitate the understanding of the technical solutions in this application for those skilled in the art, the technical solutions of the embodiments of this application are described clearly and completely below in conjunction with the accompanying drawings. It is obvious that the described embodiments represent only a portion of the embodiments of this application and do not encompass all embodiments. Based on the embodiments described in this application, all other embodiments achieved by those skilled in the art without inventive activity are intended to fall within the scope of this application.

[0012] It should be understood that in the following description, many specific details are set forth in order to provide a thorough understanding of this application. However, this application may be practiced in other ways than those described herein; therefore, the scope of this application is not limited to the specific embodiments disclosed below.

[0013] Throughout the description of this application, it should be understood that the terms "top," "bottom," "horizontal," "below," "inner," "outer," etc., indicate the positional or locational relationships based on the locations or positions shown in the drawings and are used solely to describe this application and simplify the description. They are not intended to indicate or imply that the devices or elements mentioned necessarily have a particular location or must be constructed and operated in a particular location; therefore, they should not be understood as limiting this application. Throughout this application, unless otherwise stated and defined, the phrase "on top of" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact via an intermediate medium.

[0014] In this application, unless otherwise specified and defined, the terms "connected," "coupled," "attached," etc., should be interpreted broadly. For example, they may mean a fixed connection, a detachable connection, or an integral connection; they may mean a direct connection or an indirect connection via an intermediate medium; they may mean communication between the internal regions of two elements or interaction between two elements. However, when it is stated that it is a direct connection, it means that there is no transition structure between the two connected subjects, and they are connected into a single entity only by the connecting structure. Those skilled in the art can understand the specific meaning of the above terms in this application depending on the specific situation.

[0015] In this application, the terms "first," "second," etc., are for descriptive purposes only and should not be understood as indicating their relative importance or implicitly indicating the number of technical features mentioned. Therefore, features designated "first," "second," etc., may explicitly or implicitly encompass at least one such feature.

[0016] Fig. 1 is a schematic representation of the structure of a storage system as provided in some embodiments of the present application.

[0017] In the storage system, in order to fully utilize the longitudinal space of the storage system, the storage system may be designed with reference to Fig. 1 typically comprise a carrier 10. The carrier 10 can be arranged on a support surface of the storage system.

[0018] In some examples, the support surface may be the floor of the storage system.

[0019] In some examples, the support surface may be a support surface of a support platform located on the floor of the storage system.

[0020] In some examples, the carrier may contain 10 shelves.

[0021] In some examples, the subjects may be fixed subjects.

[0022] In some examples, the shelves may be removable.

[0023] In some examples, the bins may be cache bins.

[0024] In some examples, the shelves may be a combination of different types of shelves. For example, it may be a combination of a shelf and a movable shelf. The fixed compartments may be arranged above the movable compartments.

[0025] In some examples, the fixed and movable compartments may be arranged side by side on the support platform. For example, they may be arranged to the left and right of each other.

[0026] In some examples, the support 10 may be a drop wall for a picking workstation.

[0027] In some examples, in order to fully utilize the longitudinal space of the storage system, the carrier 10 may be provided with a plurality of rows of cargo compartments 110 along the height direction, as shown in Fig. 1. The cargo compartments 110 may be configured to accommodate the target items.

[0028] In some examples, the target object may be the goods themselves, the goods' original packaging, a container, a carrier pallet, a bin, a crate, a box, etc. The box may be a standard crate or a tipping crate, etc.

[0029] In some examples, the lower level of the carrier 10 may be provided with intermediate storage locations 120 to facilitate the transfer of the target objects in the storage system.

[0030] In some examples, the target item may be retrieved from the cargo hold 110 and placed in the intermediate storage location 120. The target item may be transported from the intermediate storage location 120 to another location in the warehouse system (e.g., to a picking workstation of the warehouse system) by the transfer robot 40 in the warehouse system.

[0031] In some examples, the transfer robot 40 may transport the target item from another location in the warehouse system to the intermediate storage location 120 and then place the target item from the intermediate storage location 120 onto the cargo space 110 of the carrier 10.

[0032] In some examples relating to Fig. 1, the storage system may include a picking and placing device 20 to facilitate the picking of a target item from the cargo space 110 and its placement in the intermediate storage location 120 or the placement of a target item from the intermediate storage location 120 in the cargo space 110. The picking and placing device 20 may be arranged on one side of the carrier 10.

[0033] In some examples, on one side of the carrier 10 in the transverse direction (e.g. in the direction shown in Fig. 1 on the y-axis). The removal and placement device 20 can be arranged on the guide rail. At least a part of the removal and placement device 20 can be arranged in a longitudinal direction (e.g. in the direction shown in Fig. 1 direction represented by the z-axis).

[0034] In some examples, the pick and place device 20 can be moved laterally relative to the carrier 10 along a guide track. In this way, the pick and place device 20 can be moved into any row of the carrier 10.

[0035] In some examples, the removal and placement device 20 may be provided with a removal and placement mechanism 210 that is movable relative to the carrier 10 along a longitudinal direction (e.g., in the direction shown in Fig. 1 by the z-axis) of the carrier 10 can be movable.

[0036] That is, in some embodiments of the present application, the pick-and-place device 20 can move the pick-and-place mechanism 210 transversely relative to the carrier 10, allowing the pick-and-place mechanism 210 to be moved to any column of the carrier 10. The pick-and-place mechanism 210 can move longitudinally relative to the carrier 10 to access any level of the cargo space 110 of the carrier 10. In this way, the pick-and-place mechanism 210 can be connected to any cargo space 110 of the carrier 10 and perform a goods transfer with the cargo space 110 (e.g., transferring the target item from the pick-and-place mechanism 210 to the cargo space 110 or removing the target item from the cargo space 110).

[0037] It can be understood that the picking and placing device 20 is mounted on one side of the carrier 10 by means of a rail, and the gravity of the picking and placing device 20 and the picking and placing mechanism 210 is concentrated on one side of the carrier 10, thereby exerting a force on the carrier 10, resulting in the force being uneven on both sides of the carrier 10, with a tendency to twist. In addition, when the picking and placing mechanism 210 supports a target object, the weight of the picking and placing device 20, the picking and placing mechanism 210, and the target object is concentrated on one side of the carrier 10. To avoid dangerous situations, higher requirements are generally placed on the strength of the carrier 10.

[0038] In some examples, the removal and placement device may include a column 230. The column 230 may be arranged on one side of the carrier 10. The removal and placement mechanism 210 may be provided on the column 230.

[0039] In some examples, the column 230 may be a single column, and the pick and place mechanism 210 may move longitudinally along the single column.

[0040] In some examples, the column 230 may consist of two columns, wherein the two columns 230 are arranged side by side to form a gantry, and the pick and place mechanism 210 may be arranged on the gantry and move longitudinally along the gantry.

[0041] In some examples, the bottom of the pick and place device 20 can be supported on a support table to avoid hazardous situations. For example, the lower end of the pick and place device 20 reaches the floor. In this way, the gravity of the pick and place device 20 and the target articles can be shifted to the surface of the support table.

[0042] However, when the picking and placing device 20 moves transversely relative to the carrier 10, the transfer robot 40 in the storage system must move to the bottom of the carrier 10 to transfer the items using the temporary storage location 120 at the bottom of the carrier 10. At this time, due to the high-speed movement of the picking and placing device 20, the transfer robot 40 must wait until the picking and placing device 20 stops before it can advance to the bottom of the carrier 10, which impairs the transfer efficiency of the transfer robot 40 for transferring the target items. In some cases, the transfer robot 40 cannot exit from the bottom of the carrier 10 and can only move within the floor channel of the shelf. This impairs the transport efficiency of the transfer robot 40 with respect to the target items.

[0043] In some examples relating to Fig. 1, the storage system may include a support element 30. The support element 30 may be arranged on one side of the carrier 10.

[0044] In some examples, a first portion of the pick and place device 20 may be supported along the longitudinal direction on the support member 30. In this way, the gravitational force of the pick and place device 20, the pick and place mechanism 210, and the target article may be discharged onto the support member 30.

[0045] In some examples, the first part may be the bottom of the removal and placement device 20.

[0046] In some examples, the first part may be the top of the removal and placement device 20.

[0047] In some examples of the embodiments of the present application, the "floor" may be a lower end of the picking and placing device 20, for example, a lowermost position of the picking and placing device 20. Of course, the "floor" may also be a position at a certain distance from the lower end of the picking and placing device 20, and the embodiments of the present application do not limit the specific position of the "floor."

[0048] Furthermore, in some examples of the embodiments of the present application, the "top" may be the top of the picking and placing device 20, e.g., the highest position of the picking and placing device 20. Of course, the "top" may also be a position at a certain distance from the top of the picking and placing device 20, and the embodiments of the present application do not limit the specific position of the "top."

[0049] In some examples, a predetermined gap 301 may be provided between the bottom of the support member 30 and the surface of the support table.

[0050] In some examples, the support element 30 can be attached to the ceiling of the storage system. For example, the support element 30 is suspended from the ceiling of the storage system using expansion screws. In this way, there is no direct contact between the support element 30 and the support plate of the storage system (e.g., the floor), which can lead to a predetermined gap 301 between the support element 30 and the support plate of the storage system.

[0051] In some examples, the top of the picking and placing device 20 may be supported on the support member 30. For example, the top of the picking and placing device 20 may be provided with casters (not shown in the figures), and the casters may be pivotally connected to the top of the picking and placing device 20. The casters may be suspended from the support member 30 so that the support member 30 supports the picking and placing device 20 and the casters can move along the support member 30.

[0052] In some examples, a predetermined gap 301 may be provided between the bottom of the pick and place device 20 and the surface of the support table.

[0053] In some examples relating to Fig. 1, the storage system may include a transfer robot 40. The transfer robot 40 may travel on a support table surface.

[0054] In some examples, the transfer robot 40 may be configured to move from the predetermined gap 301 to the bottom of the carrier 10 along a first direction (defined by the x-axis in Fig. 1). The transfer robot 40 can be docked to the picking and placing mechanism 210 of the picking and placing device 20. In this way, the target article can be transported between the transfer robot 40 and the picking and placing mechanism 210. That is, the picking and placing mechanism 210 can place the target article directly onto the transfer robot 40. Alternatively, the picking and placing mechanism 210 can remove the target article from the transfer robot 40.

[0055] In some examples, when the transfer robot 40 is unloaded, the transfer robot 40 may move from the predetermined gap to the bottom of the carrier 10. After the pick and place mechanism 210 has deposited the target article onto the transfer robot 40, the transfer robot 40 may wait until the pick and place device 20 has moved laterally before moving through the predetermined gap to the outside of the carrier 10.

[0056] Some examples are illustrated by removing a target object from the carrier 10.

[0057] In some examples, the warehouse system's dispatch center (or control center) may issue item transfer instructions to the pick and place device 20, the pick and place mechanism 210, and the transfer robot 40.

[0058] In some examples, upon receiving an item transfer command, the pick and place device 20 may move laterally along the carrier based on the position of the target item in the item transfer command until the pick and place device 20 moves to the column in which the target item is located.

[0059] In some examples, the pick and place mechanism 210 may be moved along the longitudinal direction of the carrier 10 according to the article transfer instructions until the pick and place mechanism 210 is moved to the cargo compartment in which the target article is located.

[0060] In some examples, the pick and place mechanism 210 may be moved longitudinally after the pick and place device 20 has been moved into place.

[0061] In some examples, the pick and place mechanism 210 may move longitudinally while the pick and place device 20 moves transversely.

[0062] In some examples, the picking and placing mechanism 210 may move in front of the picking and placing device 20. For example, after the picking and placing mechanism 210 has moved in the longitudinal direction to the storage plane in which the target cargo space is located, the picking and placing device 20 drives the picking and placing mechanism 210 in the transverse direction until the picking and placing device 20 has moved to the column in which the target article is located.

[0063] In some examples, the pick and place mechanism 210 may remove the target article from the target cargo space, and then the pick and place mechanism 210 may move downward in a longitudinal direction.

[0064] In some examples, the transfer robot 40 can move along the support table to the underside of the column containing the target item when a command is given to transfer the object. The transfer robot 40 is docked to a pick and place mechanism 210. The pick and place mechanism 210 can place the target item onto the transfer robot 40. The transfer robot 40 transports the target item to another location in the warehouse system (e.g., to a picking workstation).

[0065] In some examples, the transfer robot 40 may determine a first travel path on the support table based on the object handling instructions.

[0066] In some examples, the first travel path may be planned by a planning center of the warehouse system based on the item handling instructions, and the planning center may send the first travel path to the transfer robot 40 when it sends the item handling instructions to the transfer robot.

[0067] In some examples, the transfer robot 40 may determine whether the first travel path passes through the predetermined gap 301. For example, the first travel path may be determined with reference to Fig. 1 consist of moving through the predetermined gap 301 in a first direction (e.g. in the direction defined by the x-axis in Fig. 1), whereby the first travel path can lead through the predetermined gap 301.

[0068] In some examples relating to Fig. 1, the first route can be in one direction along the Fig. 1. This means that the transfer robot 40 can be moved along the axis shown in Fig. 1 to the underside of the carrier 10 and dock with the removal and placement mechanism 210. At this time, the transfer robot 40 is not allowed to pass through the predetermined gap 301, and the first travel path does not pass through the predetermined gap 301.

[0069] In some examples, when the first travel path passes through the predetermined gap 301, the transfer robot 40 can penetrate from the predetermined gap 301 to the underside of the carrier 10 and dock with the picking and placing mechanism 210. In this way, it is convenient to transfer the target article between the picking and placing mechanism 20 and the transfer robot 40. That is, the picking and placing mechanism 210 can place the target article on the transfer robot 40, and the transfer robot 40 transports the target article to another location in the warehouse system.

[0070] In some examples, the transfer robot may define multiple initial paths for movement on the surface of the support table based on the object transfer command. For example, one of the paths may be in the direction defined by the x-axis in Fig. 1, and another route can be in the direction defined by the y-axis in Fig. 1 indicated direction.

[0071] In some examples, the transfer robot 40 may determine a first target travel path from a plurality of first travel paths based on the efficiency of transporting the target article. The first target travel path may be a first travel path on which the transfer robot 40 travels.

[0072] Some examples may be determined by the travel distance required for the transfer robot 40 to travel from a current position to a docking position docked with the pick and place mechanism 210 from each of the first travel paths.

[0073] In some examples, a first travel path with the shortest travel distance may be set as the first target travel path. This allows the transfer robot 40 to travel the shortest distance, which can improve the efficiency of transporting the target article.

[0074] In some examples, the transfer efficiency of the target item for each first travel path can be determined by determining whether there is an obstacle on each first travel path, e.g., whether there are other transfer robots 40. The first travel path on which there are no other transfer robots 40 is assumed to be the first target travel path. In this way, the current transfer robot 40 does not need to avoid the other transfer robots 40 on the first travel path and is able to improve the efficiency of transferring the target items.

[0075] In some examples, after determining a first travel path with the shortest travel distance, the transfer robot 40 may determine whether other transfer robots 40 are blocking that first travel path.

[0076] In some examples, blocking may mean that the current transfer robot 40 is not blocked by other transfer robots 40 while traveling on the first travel path. That is, at a given time, other transfer robots 40 may be on the first travel path, as long as the other transfer robots 40 on the first travel path do not obstruct the travel of the current transfer robot 40 at that time. For example, the other transfer robots 40 may be within a certain distance from the current transfer robot 40, and at a subsequent time, the other transfer robots 40 may travel from the first travel path to the other path.

[0077] In some examples, if other transfer robots 40 are present on the first travel path with the shortest travel distance, it may be possible to determine whether or not other transfer robots 40 are present on the first travel path with the shortest travel distance based on the remaining first travel paths until the first travel path with the shortest travel distance and no other transfer robots 40 is determined as the target travel path. In this way, the transport efficiency of the transfer robot 40 for the target article can be improved.

[0078] In some examples, if the transfer robot 40 determines the first path with the shortest travel distance and other transfer robots 40 are located on that first path, it can determine whether the current transfer robot 40 and the other transfer robots 40 on the first path would meet at the intersection point. That is, it determines whether the two transfer robots 40 would interfere with each other.

[0079] In some examples, if two transfer robots 40 do not interfere with each other, the first path with the shortest travel distance can be determined as the first target path. The current transfer robot 40 travels along the first target path.

[0080] In some examples, the storage system, as in Fig. 1, include intermediate storage locations 120. The intermediate storage locations 120 may be located on the underside of the vehicle 10.

[0081] In some examples, the transfer robot 40 is configured to be able to move from the predetermined gap 301 to the bottom of the carrier 10 along a first direction (the direction defined by the x-axis in Fig. 1 is shown).

[0082] In some examples, the transfer robot 40 can dock with the intermediate storage location 120. The transfer robot 40 can transfer items between the transfer robot 40 and the intermediate storage location 120. For example, the transfer robot 40 can place a target item on the intermediate storage location 120, and the pick and place mechanism 210 of the pick and place device 20 removes the target item from the intermediate storage location 120 and places the target item on the cargo space 110 of the carrier 10. Alternatively, the transfer robot 40 removes the target item from the intermediate storage location 120.

[0083] In some examples, when the transfer robot 40 has successfully transferred the target goods from the intermediate storage location 120, for example, by the transfer robot 40 taking the target goods from the intermediate storage location 120 or placing the target goods there, the transfer robot 40 may determine the second travel path between the current location and the target location.

[0084] In some examples, the destination for transporting the goods may be another location in the warehouse system that is not at the current location of the transfer robot 40. This could be, for example, a picking station, another carrier 10, or another intermediate storage location 120.

[0085] In some examples, if the second travel path passes through a predetermined gap 301, the transfer robot 40 may travel through this predetermined gap 301 to the outside of the carrier and travel along the second travel path to the destination.

[0086] In some examples, the second route can be determined in the same, similar, or comparable manner as the first route. Detailed descriptions for determining the first route are already included in the previous embodiments of this application, and reference is made here to avoid repetition.

[0087] In some examples, the transfer robot 40 may be moved from the predetermined gap 301 to the outside of the carrier 10 along the Fig. 1 move in the direction shown by the x-axis.

[0088] In some examples, if the second travel path does not pass through the predetermined gap 301, the transfer robot 40 may travel along the second travel path.

[0089] In some examples, the buffer location 120 may be located on one side of the carrier 10. For example, as in Fig. 1, the buffer location 120 can be arranged along the Fig. 1 on one side of the carrier 10. The removal and placement device 210 on the opposite side of the carrier can be coupled to the intermediate storage location 120 to transfer the target article to the intermediate storage location 120.

[0090] In some examples, the transfer robot 40 may travel along a first travel path to the intermediate storage location 120, and after completing the transfer of the target article with the intermediate storage location 120, the transfer robot 40 may travel along a second travel path to the destination location.

[0091] In some examples, a plurality of carriers 10 may be provided in the storage system, and the plurality of carriers 10 may be arranged in a matrix arrangement on the support table of the storage system.

[0092] In some examples, an aisle may be reserved between two adjacent carriers 10. After the transfer robot 40 has moved through the predetermined gap 301 to the outside of the carriers 10, the transfer robot 40 may move within the aisle (e.g., it may move within the aisle in the direction indicated in Fig. 1 along the direction shown on the y-axis).

[0093] In some examples, the removal and placement device 20 may be disposed within a roadway.

[0094] According to the storage system provided in the embodiments of the present application, by providing the carrier 10 on a support surface of the storage system, the carrier 10 is provided with a multi-level cargo space 110 along a height direction, so that the longitudinal space of the storage system can be fully utilized to improve the storage density and space utilization rate of the storage system. An intermediate storage space 120 is provided on the lower level of the carrier 10, which facilitates the handling of the target items and increases the efficiency of transferring the target items.By setting the picking and placing device 20 on one side of the carrier 10, the picking and placing device 20 moves along the transverse direction of the carrier 10 relative to the carrier 10, so that the picking and placing device 20 can drive the picking and placing mechanism 210 set on the picking and placing device 20 to move to any row of the carrier 10. The picking and placing mechanism 210 can move along the longitudinal direction relative to the picking and placing device 20, so that the picking and placing mechanism 210 can move to any layer of the carrier 10, facilitating the transfer of the target articles. The picking and placing mechanism 210 can move to any position of the carrier 10 to facilitate the exchange of target objects between the picking and placing mechanism 210 and the carrier 10 (e.g.,The picking and placing mechanism 210 places the target article on the carrier 10, or the picking and placing mechanism 210 removes the target article from the carrier 10. Furthermore, the storage system is provided with a support located on one side of the carrier 10, and at least one end of the picking and placing mechanism 20 in the longitudinal direction can be supported on the support member 30.In this way, the gravity of the picking and placing device 20, the picking and placing mechanism 210, and the target article placed on the picking and placing mechanism 210 can be transmitted from the side of the carrier 10 to the support member 30, which is capable of reducing the force caused by the gravity of the picking and placing device 20, the picking and placing mechanism 210, and the target article on the carrier 10, which is capable of reducing the strength requirement of the carrier 10, and saving the cost of manufacturing and processing the carrier 10.

[0095] Additionally, the technical solution presented in this application provides a predetermined gap 301 between the support element 30 and the pick-and-place device 20 at an end close to the support frame (e.g., the floor) in a storage system. This allows the transfer robot 40 in the storage system, when moving over the support frame, to pass through the predetermined gap 301 into the lower intermediate storage location 120 of the carrier 10 and, after completing the target exchange, to pass through the predetermined gap 301 to the outside of the carrier 10. Thus, the transfer robot 40 moving over the support frame can pass through the predetermined gap 301 into the lower intermediate storage location 120 of the carrier 10 or pass from the lower intermediate storage location 120 of the carrier 10 to the outside of the carrier 10 when the pick-and-place device 20 moves laterally along one side of the carrier 10.In other words, the lateral movement of the picking and placing device 20 will not affect the movement of the transfer robot 40, which increases the efficiency of the transfer robot 40 in moving target objects and increases the circulation speed of the target objects in the storage system.

[0096] In some examples relating to Fig. 1, the support table surface is provided with a support column 310. The support member 30 can be supported at one end of the support column 310 away from the support table surface. That is, in some examples of embodiments of the present application, the support member 30 can be provided on the support table surface of the storage system via the support column 310. For example, the support member 30 can be provided on a floor via the support column 310. In this way, the support column 310 can support the support member 30 such that a predetermined gap 301 is formed between the support member 30 and the floor, which makes it easier for the transfer robot 40 to travel through the predetermined gap 301.

[0097] In some examples, the lower end of the pick and place device may be supported on the support member 30 and move along the support member 30.

[0098] In some embodiments of the present application, the support element 30 is supported on a support table surface of the storage system via the support columns 310. In this way, the gravity force of the pick and place device 20, the pick and place mechanism 210, and the target article can be discharged onto the support table surface via the support element 30 and the support column 310. The difficulty of installing the support element 30 is reduced.

[0099] Additionally, the support element 30 is supported on the support table surface by the support column 310. In this way, the support element 30 can be leveled so that the pick-and-place device 20 remains vertically stable during lateral movement. This facilitates docking of the pick-and-place mechanism 210 to any level of the cargo space 110. Compared to supporting the lower end of the pick-and-place device 20 on the floor, this simplifies vertical position control of the pick-and-place device 20 and its structure.

[0100] In some examples given with reference to Fig. 1, a plurality of support columns 310 may be provided, which may be spaced apart laterally along the carrier 10.

[0101] In some examples, the transfer robot 40 may travel between two adjacent support columns 310.

[0102] In some embodiments of the present application, a plurality of support columns 310 are arranged at a transverse spacing along the beam 10. The support element 30 is supported by the plurality of support columns 310, so that the span between adjacent support columns 310 can be reduced and the strength of the support element 30 between the adjacent support columns 310 can be increased. In this way, the spacing between adjacent support columns 310 can be reduced, which increases the strength of the support element 30 between the support columns 310. This ensures that the support element 30 can support the weight of the pick-and-place device 20, the gripping mechanism 210, and the target object without deforming. This ensures the accuracy of the vertical position of the pick-and-place device 20 and facilitates the docking of the gripping mechanism 210 to the storage plane 110.

[0103] In some examples relating to Fig. 1, the support 10 may have a support column 130. The support column 130 may be supported on a support table.

[0104] Some embodiments provide that the support columns 130 can be made of square steel, I-beams, or U-profiles. The support columns 130 can be supported longitudinally on the support table surface.

[0105] In some examples, a plurality of support columns 130 may be arranged along a transverse direction of the support 10 (e.g., the Fig. 1 (direction represented by the y-axis). This allows the cargo space 110 to be conveniently supported.

[0106] In some examples relating to Fig. 1, the support column 310 may be arranged relative to the support column 130 along the direction (e.g., the direction defined by the x-axis in Fig. 1) in which the transfer robot 40 passes through the predetermined gap 301.

[0107] In some examples, the support column 310 may be aligned with the carrier column 130 along the direction in which the transfer robot 40 moves through the preset gap 301, which may, for example, be the first direction (defined by the x-axis in Fig. 1). In this way, the support column 310 and the carrier column 130 occupy the same space, that is, the support column 310 does not occupy the walking channel of the transfer robot 40, which makes it easier for the transfer robot 40 to walk under the carrier 10, or makes it easier for the transfer robot 40 to move downward from the carrier 10 to the outside of the carrier 10.

[0108] In some examples, where the target article is placed on the transfer robot 40 and the transfer robot 40 is lowered to its lowest state, the target article and the transfer robot 40 have a first height relative to the surface of the support table. That is, the first height may be between the highest point of the target article and the surface of the support table.

[0109] In some examples, the support column 310 may have a second height. The second height may be higher than the first height. That is, after the support column 310 supports the support member 30, the height of the predetermined gap 301 formed between the bottom of the support member 30 and the support table may be higher than the first height.

[0110] That is, after the lifting mechanism of the transfer robot 40 is lifted to remove the target article from the temporary storage location 120, the lifting mechanism lowers to the lowest point and then the transfer robot 40 moves outward of the carrier 10 through the predetermined gap 301.

[0111] After the transfer robot 40 retrieves the target object from the temporary storage location 120, it can pass through the predetermined gap 301 to the outside of the carrier 10 without having to wait for the lifting mechanism to descend to the lowest point, thus shortening the waiting time. The transfer robot 40 improves the efficiency of the transfer. The efficiency of the robot 40 in transporting target objects.

[0112] In some examples, the transfer robot 40, in the unloaded state, may pass through the predetermined gap 301 after being lowered to the lowest position. It is understood that the transfer robot 40, in the unloaded and lowered state, has a height relative to the support table surface that is less than the second height.

[0113] In some embodiments of the present application, it is convenient for the transfer robot 40 to transport the target article through the predetermined gap 301 by setting the height of the support column 310 higher than the total height of the transfer robot 40 and the target article, so that the height of the predetermined gap 301 can be made higher than the total height of the transfer robot 40 and the target article. The efficiency of transferring the target article by the transfer robot 40 is improved.

[0114] Some examples are related to Fig. 1 with a tie rod 320 between the support element 30 and the beam 10. The tie rod 320 can be configured to define a distance of the support element 30 relative to the beam. The tie rod 320 can be a rigid element. For example, the tie rods 320 can be made of square steel, channel steel, or I-beam steel.

[0115] In some examples, one end of the tie rod 320 may be fixedly connected to the support member 30. The tie rod 320 may be fixedly connected to the support member 30, for example, by a bolt, screw, or thread.

[0116] In some examples of the embodiments of this application, descriptions such as "one end," "end," and "the other end" may refer to the endpoint of a particular component. In other examples, descriptions such as "one end," "end," and "the other end" may refer to a portion of a component that is a preset distance from the end. As long as it is not the center point of a particular component, the specific positions of "one end," "end," and "the other end" are not limited in the embodiments of this application.

[0117] In some examples, the other end of the tie rod 320 may be fixedly connected to the support 10. The fixed connection of the tie rod 320 to the support 10 may be related to the fixed connection of the tie rod 320 to the support element 30 in the previous embodiments of the present application, which is not repeated in the embodiments of the present application.

[0118] In some examples, the pull rod 320 may be a horizontal pull rod 320. The extension direction of the pull rod 320 may, for example, be along the axis defined by the x-axis in Fig. 1 shown direction.

[0119] In some examples, the tie rod 320 may be a diagonal tie rod 320. For example, the end of the tie rod 320 connected to the support member 30 may be higher than the end of the tie rod 320 connected to the beam 10.

[0120] In some examples, one end of the tie rod 320 connected to the support 10 may be connected to the bottom of the support column 130. In this way, the tie rod 320 and the support column 310 may form a triangular support for the support element 30, which may improve the stability of the support element for the support element 30.

[0121] In some embodiments of the present application, by providing a pull rod 320 between the support element 30 and the carrier 10, one end of the pull rod 320 is fixedly connected to the support element 30, and the other end of the pull rod 320 is fixedly connected to the carrier 10. In this way, the pull rod 320 can stabilize the support element 30 in a direction that is perpendicular to the plane of movement of the removal and placement device 20 (e.g., the direction defined by the y- and z-axes in Fig. 1 or a plane parallel to the y and z axes). This prevents wobbling of the support element 30 in the direction perpendicular to the plane of movement of the removal and placement device 20 (e.g. the plane shown in Fig. 1) while the pick-and-place device 20 moves on the support member 30. This increases the stability of the support of the support member 30 for the pick-and-place device 20, which improves the safety of the transfer of the target object.

[0122] Fig. 2 is a schematic diagram of a structure in which the picking and placing device cooperates with the support element in the storage system provided by some embodiments of the present application, and Fig. 3 is a schematic diagram of another structure in which the picking and placing device cooperates with the support member in the storage system provided by some embodiments of the present application.

[0123] In some examples relating to the Fig. 2 and Fig. 3, one end of the removal and placement device 20 near the support element 30 may be provided with a first drive assembly 220. The first drive assembly 220 may cooperate with the support element 30 to drive the removal and placement device 20 along the lateral movement of the carrier 10.

[0124] In some examples relating to the Fig. 2 and Fig. 3, one end of the removal and placement device 20 near the support element 30 may be provided with a first mounting bracket 223 which may be fixedly connected to the removal and placement device 20.

[0125] In some examples, the first mounting bracket 223 may extend in a lateral direction along the carrier 10. That is, the extension direction of the first mounting bracket 223 may intersect the extension direction of the removal and placement device 20.

[0126] In some examples, the first drive assembly 220 may be attached to the first mounting bracket 223. The first drive assembly 220 may be fixedly connected to the first mounting bracket 223.

[0127] It will be appreciated that in some embodiments of the present application, the gravity force of the pick and place device 20, the pick and place mechanism 210, and the target object is discharged onto the support member 30. The first drive assembly 220 may utilize friction with the support member 30 to drive the pick and place device 20 in a lateral direction relative to the carrier 10.

[0128] In the present embodiment, a first drive assembly 220 is mounted on the end of the pick-and-place device 20 located near the support member 30. In this way, the frictional force generated by the weight of the pick-and-place device 20, the pick-and-place mechanism 210, and the target object can be utilized to drive the pick-and-place device 20, thus facilitating its propulsion.

[0129] In some examples, which are given with reference to the Fig. 2 and Fig. 3, the first drive assembly 220 may include a first drive element 221. The first drive element 221 may be located at one end of the removal and placement device 20 near the support element 30.

[0130] In some examples, the first drive element 221 may be disposed on the first mounting bracket 223.

[0131] In some examples, the first mounting bracket 223 may be arranged on each side of the pick and place device 20 along a lateral direction of the carrier 10 (e.g., along the direction shown in Fig. 2). The first drive element 221 may be arranged on an outer side of the removal and placement device 20. In this way, it is convenient for the removal and placement mechanism 210, which is provided on the inner side of the removal and placement device 20, to move along the removal and placement device 20 in the longitudinal direction.

[0132] In some examples, the first drive element 221 may be a motor. For example, the first drive element 221 may be a servo motor, a stepper motor, or a synchronous motor, among others. The embodiments of the present application do not limit the specific type of the first drive element 221.

[0133] In some examples given with reference to Fig. 3, the first drive assembly 220 may include a first drive gear 222. The first drive gear 222 may be drivingly coupled to the first drive member 221.

[0134] In some examples, the first drive member 221 may rotate the first drive gear 222, and the first drive gear 222 moves along the support member 30 through friction with the support member 30, thus driving the pick and place device 20 as a whole.

[0135] In some examples, a rack may be provided on the support member 30. The first drive gear 222 may include a gear. When the first drive member 221 drives the first drive gear 222 to rotate, the first drive gear 222 moves along the rack, thus driving the pick-and-place device 20 along the support member 30.

[0136] In some examples, a chain may be provided on the support member 30. The first drive wheel 222 may comprise a sprocket. When the first drive member 221 drives the first drive wheel 222 to rotate, the first drive wheel 222 may move along the chain, thereby moving the pick and place device 20 along the support member 30.

[0137] In one embodiment of the present application, the first drive member 221 is provided at one end of the pick-and-place device 20 near the support member 30 and is drivingly connected to the first drive member 221 through the first drive gear 222. When the first drive member 221 drives the first drive gear 222 to rotate, the first drive gear 222 moves along the support member 30, thereby driving the pick-and-place device 20 to move along the support member 30. In this way, the structure of the first drive assembly 220 can be simplified.

[0138] In some examples relating to Fig. 2, two first drive assemblies 220 may be provided. One of the first drive assemblies 220 may be arranged on one side of the removal and placement device 20, and the other first drive assembly 220 may be arranged on the other side of the removal and placement device 20. The removal and placement device 20 is driven by the two first drive assemblies 220, so that both sides of the removal and placement device 20 can be subjected to the driving force of the first drive assemblies 220, which improves the force balance of the removal and placement device 20 and increases the stability of the movement of the removal and placement device 20.

[0139] Fig. 4 is a partially enlarged view of A in Fig. 3, and Fig. 5 is a schematic diagram of a structure of a first drive wheel cooperating with a support member in a bearing system provided by some embodiments of the present application.

[0140] In some examples, one of the first drive wheel 222 and the support member 30 is provided with a guide structure 302, as described with reference to the Fig. 2 to 5. The other of the first drive wheel 222 and the support member 30 cooperate with the guide structure 302 to align the direction of travel of the first drive wheel 222.

[0141] In some examples, the guide structure 302 can guide the direction of movement of the first drive wheel 222 along the extension direction of the support element 30. That is, the guiding effect of the guide structure 302 can keep the first drive wheel 222 moving on the support element 30. In this way, the stability of the movement of the removal and placement device 20 can be improved, thereby increasing the safety of the transfer of the target article.

[0142] In some examples relating to the Fig. 2 to 4, the guide structure 302 may include a first guide recess 3021. The first guide recess 3021 may be arranged on a side of the support member 30 near the first drive gear 222. For example, the first guide recess 3021 may be recessed into a top surface of the support member 30.

[0143] In some examples, the first guide recess 3021 may extend in an extension direction of the support member 30.

[0144] In some examples, at least a portion of the first drive gear 222 may be embedded in the first guide recess 3021. That is, the first drive gear 222 may move within the first guide recess 3021 in an extension direction of the first guide recess 3021.

[0145] In some embodiments of the present application, by providing a first guide recess 3021 on the side of the support member 30 near the first drive wheel 222, at least a part of the first drive wheel 222 is embedded in the first guide recess 3021 so that the first drive wheel 222 can move along the extending direction of the first guide recess 3021, which facilitates maintaining the moving direction of the first drive wheel 222 and improves the stability of the movement of the picking and placing device 20.

[0146] In some examples relating to Fig. 4, the first guide recess 3021 may have a first side wall and a second side wall along an axial direction of the first drive gear 222. The first side wall and the second side wall may be arranged opposite each other.

[0147] In some examples, the first guide recess 3021 is formed between the first side wall and the second side wall, ie, the first drive gear 222 is arranged between the first side wall and the second side wall.

[0148] In some examples, the distance between the first sidewall and the second sidewall is greater than an axial dimension of the first drive gear 222. In this way, after the first drive gear 222 is disposed between the first sidewall and the second sidewall, it is possible for a gap to exist between the first drive gear 222 and both the first sidewall and the second sidewall. When the first drive gear 222 moves, friction between the first drive gear 222 and either the first sidewall or the second sidewall can be avoided, which can improve the stability of the movement of the first drive gear 222 and the stability of the movement of the picking and placing device 20.

[0149] In some examples relating to Fig. 4, the removal and placement device 20 may be provided with a guide wheel 224, wherein a peripheral wall of the guide wheel 224 engages with the first or second side wall.

[0150] In some examples shown in Fig. 4, the axial direction of the guide wheel 224 may intersect with the axial direction of the first drive wheel 222.

[0151] Some examples are given with reference to Fig. 4. A plurality of guide wheels 224 may be provided, arranged side by side along the extension direction of the first guide recess 3021. In some embodiments of the present application, three guide wheels 224 are provided by way of example. By arranging a plurality of guide wheels 224, the guiding stability of the guide wheels 224 can be improved, and the stability of the first drive wheel 222, which runs along the first guide recess 3021, can be improved.

[0152] In some embodiments of the present application, by setting the distance between the first side wall and the second side wall of the first guide recess 3021 to be larger than the dimension of the axial direction of the first drive gear 222, when the first drive gear 222 moves in the first guide recess 3021, a certain gap can be maintained between the two axial ends of the first drive gear 222 and the first side wall and the second side wall, thereby avoiding friction between the ends of the first drive gear 222 along the axial direction and the first side wall and the second side wall, and improving the smooth running of the first drive gear 222.

[0153] By providing the removal and placement device 20 with a wheel angled downwards, the peripheral wall of the guide wheel 224 rests on one of the first and second side walls. In this way, the guide wheel 224 runs along the first guide recess 3021 on one of the two side walls as the removal and placement device 20 moves. The guide wheel 224 is always in contact with one of the two side walls, ensuring that a gap remains between the axial ends of the first drive wheel 222 and the two side walls. This prevents axial wobble of the first drive wheel 222 within the first guide recess 3021 and increases the stability of the first drive wheel 222 when moving along the first guide recess 3021.

[0154] In some examples relating to Fig. 5, the guide structure 302 may include a second guide recess 3022. The second guide recess 3022 may be disposed in a peripheral wall of the first drive wheel 222.

[0155] In some examples, the second guide recess 3022 may extend circumferentially around a peripheral wall of the first drive gear 222. The second guide recess 3022 may be recessed in the peripheral wall of the first drive gear 222 along a radial direction of the first drive gear 222.

[0156] In some examples relating to Fig. 5, the side of the support member 30 located near the first drive gear 222 may be provided with a guide projection 303. The guide projection 303 may be embedded in the second guide recess 3022.

[0157] In some examples, the guide projection 303 may extend in an extension direction of the support member 30.

[0158] In some examples, the guide projection 303 is always embedded in the second guide recess 3022 when the first drive wheel 222 travels along the support member 30, and the guide projection 303 guides the first drive wheel 222 over the support member 30 via the second guide recess 3022.

[0159] In some examples, the second guide recess 3022 may be a straight recess. The shape of the guide projection 303 may correspond to the shape of the second guide recess 3022.

[0160] In some examples, the width of the second guide recess 3022 may be greater than the width of the support member 30. That is, the side of the support member 30 closest to the first drive gear 222 may lie directly in the second guide recess 3022.

[0161] In some embodiments of the present application, the guide structure 302 is provided as a second guide recess 3022 in the peripheral wall of the first drive gear 222. The support member 30 is provided with a guide projection 303 on a side near the first drive gear 222, and the guide projection 303 is embedded in the second guide recess 3022. In this way, the stability of the movement of the pick-and-place device 20 along the support track can be improved, and the reliability of the transfer of the target article can be improved.

[0162] In some examples given with reference to Fig. 5, the second guide recess 3022 may be a V-shaped groove. That is, the size of the groove opening of the second groove is larger than the size of the groove bottom.

[0163] In some examples, such as Fig. As shown in Figure 5, the support member 30 may have a tapered cross-section. A side of the support member 30 near the first drive gear 222 may be configured as a guide projection 303.

[0164] In some embodiments of the present application, the second guide recess 3022 is formed as a V-shaped groove, and the cross section of the support member 30 is formed as a cone. In this way, the first drive gear 222 and the support member 30 can be in close contact under the action of the gravity of the pick-and-place device 20, the pick-and-place mechanism 210, and the target article, and the friction between the first drive gear 222 and the support member 30 can be increased. The friction force between the first drive gear 222 and the support member 30 can be increased, thereby improving the walking stability of the first drive gear 222 and preventing slippage of the first drive gear 222.

[0165] In some examples, the end of the removal and placement device 20 remote from the support element 30 is provided with a second drive assembly (not shown in the figures). According to the Fig. 2 and Fig. 3, the support 10 is provided on the side of the support 10 located near the removal and placement device 20 with an auxiliary rail 50 which can extend in the same direction as the extension of the support element 30.

[0166] In some embodiments, the second drive component may cooperate with the auxiliary rail 50 to assist in the synchronized movement of the end of the pick and place device 20 remote from the support member 30 with the end of the pick and place device 20 proximate the support member 30.

[0167] In some embodiments, the type of cooperation between the second drive assembly and the auxiliary rail can be identical or similar to that between the first drive assembly 220 and the support element 30. For detailed descriptions of this cooperation, reference is made to the previous embodiments in this application; repetition is avoided here.

[0168] In some embodiments of this application, a second drive component is provided at the end of the removal and placement device remote from the support element 30. An auxiliary rail 50 is arranged on the side of the carrier 10 facing the removal and placement device, with the second drive component cooperating with the auxiliary rail 50. In this way, the second drive component can drive the end of the removal and placement device remote from the support element 30, so that this end moves synchronously with the end of the removal and placement device facing the support element 30. This ensures the stability of the movement of the removal and placement device and increases the safety during transfer of the target article.

[0169] In some embodiments, the removal and placement device 20 may include a base 211, wherein the base 211 is arranged on the column 230 and can move along the column 230 in the height direction. In this way, the base 211 can be connected to any level of the carrier 10.

[0170] In some embodiments, as in Fig. 1, the column 230 may be arranged on one side of the carrier 10.

[0171] In some embodiments, along the lateral direction of the carrier 10 (e.g. in the direction shown in Fig. 1 shown y-axis) a guide rail may be arranged on which the column 230 is arranged. The column 230 may extend in the longitudinal direction (e.g. in the direction shown in Fig. 1 shown z-axis).

[0172] In some embodiments, the column 230 can move along the guide rail along the lateral direction of the carrier 10. In this way, the pick-and-place device 20 can be moved into any row of the carrier 10 using the column 230.

[0173] In some embodiments, a removal unit 210 may be arranged on the column 230. The removal unit 210 may include the base 211 already described in detail in the previous embodiments of this application.

[0174] Fig. Figure 6 shows a schematic representation of the part structure of the removal and placement device provided in some embodiments of this application.

[0175] As in Fig. 1 and Fig. 6, the base 211 may include a support portion 2111. The support portion 2111 may be configured to support the target article.

[0176] In some embodiments, as in Fig. 1 and Fig. As shown in Figure 6, the support area 2111 may include an inlet and outlet 2112. The inlet and outlet 2112 may be configured to move the target article into and out of the support area 2111. For example, when placing the target article on the support location, it may be moved out of the support area 2111 via the inlet and outlet 2112 and moved toward the support location. When moving the target article from the support location to the support area 2111, it may be inserted into the support area 2111 via the inlet and outlet 2112.

[0177] In some embodiments, the removal and placement device 20 may include a movement mechanism 212. As shown in Fig. 6, the movement mechanism 212 may be arranged on the base 211.

[0178] In some examples, the removal and placement device 20 may include a removal element 213. The removal element 213 may be disposed on the base 211.

[0179] In some examples, the removal element 213 may be movable in a first direction (e.g., the direction defined by the x-axis in Fig. 6) are moved in the direction of the inlet and outlet 2112, driven by the movement mechanism 212, in order to facilitate the docking of the removal element 213 to the target article.

[0180] In some examples, the removal element 213 may include a suction cup.

[0181] In some examples, the extraction element 213 may include an electromagnet.

[0182] In some examples, the removal element 213 may include a hook claw.

[0183] In some examples, the removal element 213 may be moved by the movement mechanism 212 in a first direction away from the inlet and outlet.

[0184] In some examples, the movement mechanism 212 may include, among other things, a chain, a belt, or a timing belt. The chain, belt, or timing belt may be provided in the first direction. The extraction element 213 may be coupled to the movement mechanism 212 to drive the extraction element 213 in the first direction when the chain, belt, or timing belt rotates.

[0185] In some examples, the movement mechanism 212 can be configured to move on the base 211 toward the inlet and outlet 2112. For example, when a target item needs to be placed on a cargo hold, the movement mechanism 212 can move toward the inlet and outlet 2112 and drive the removal element 213 to move the target item out of the inlet and outlet 2112, out of the carrying area 2111, and into the cargo hold. When the target item needs to be removed from the cargo hold, the movement mechanism 212 can be moved toward the inlet and outlet 2112 to allow the removal element 213 to remove the target item from the cargo hold.

[0186] In some examples, the movement mechanism 212 may move away from the inlet and outlet 2112. For example, after the movement mechanism 212 has been moved toward the inlet and outlet 2112 and after the removal element 213 has engaged the target article in the target cargo space, the movement mechanism 212 may be moved in a direction away from the inlet and outlet 2112 to propel the target article from the inlet and outlet 2112 into the carrying area 2111 via the removal element 213.

[0187] In some examples, the extraction element 213 may be disposed on the movement mechanism 212. The movement mechanism 212 may move the extraction element 213 toward the inlet and outlet 2112. Alternatively, the movement mechanism 212 may move the extraction element 213 away from the inlet and outlet 2112.

[0188] Some examples related to Fig. 6, show that the removal element 213 can be rotated along the first rotation axis i1 (relative to the movement mechanism 212). For example, in the Fig. 1 can be rotated in the direction shown by arrow a.

[0189] In some examples, the removal element 213 can rotate in both directions about the first rotation axis i1 relative to the movement mechanism 212. That is, the removal element 213 can rotate relative to the movement mechanism 212 in the direction indicated by the arrow a in Fig. 6. Alternatively, the removal element 213 can rotate relative to the movement mechanism 212 in the opposite direction of arrow a in Fig. 6 can be rotated.

[0190] In some examples, the removal element 213 may rotate relative to the movement mechanism 212 in a vertical plane (e.g., the plane defined by the x-axis and the z-axis in Fig. 6 is formed).

[0191] It will be appreciated that in some examples of embodiments of the present application, the direction of rotation of the receiving part 213 relative to the moving mechanism 212 is illustrated only as a specific example. In some other examples of embodiments of the present application, the direction of rotation of the receiving part 213 relative to the moving mechanism 212 may be other directions. The embodiments of the present application are not limited in this respect.

[0192] In some examples, the removal element 213 can be rotated from a vertical state to a horizontal state when the removal element 213 needs to engage a target article. That is, the removal element 213 can rotate from a docking position with the target article to an evasive position relative to the target article. The docking state can include both a state in which the removal element is engaged with the target article and a state in which the engagement with the target article is released.

[0193] In some examples, the avoidance state may be a state of avoiding the space in which the target article is located. For example, the extraction member 213 may be rotated from horizontal to vertical; or the extraction member 213 may be rotated from alignment with the inlet and outlet 2112 to face one side of the support area 2111; or the extraction member 213 may be rotated from alignment with the inlet and outlet 2112 to turn its back on the inlet and outlet 2112. In some examples, the avoidance state may be a state in which the extraction member 213 avoids moving away from a space in which the target article on the support area 2111 is located. The target article may move within the movement space of the support area 2111. For example, the target article on the support area 2111 may move in a first direction.

[0194] In some examples, the picking and placing device 20 may be arranged between two adjacent carriers 10. The picking element 213 may remove a target article from one of the carriers 10, and the picking element 213 drives the target article to move into the carrying area 2111. After the target article moves into the carrying area 2111, the picking element 213 may rotate about the first rotation axis into an avoidance state. At this time, the picking element 213 avoids the space where the target article is moving in the carrying area 2111. The target article continues to move into the carrying area 2111, and then the target article may transfer from the carrying area 2111 to another carrier 10. That is, the picking element 213 may transfer the target article from one of the two adjacent carriers 10 to the other carrier 10.

[0195] In some examples, the removal and placement device 20 can be arranged between the carrier 10 and the intermediate storage location. That is, the intermediate storage location and the carrier 10 can have a passageway between them. The removal and placement device 20 can be located in a passageway between the carrier 10 and the intermediate storage location, that is, the carrier 10 and the intermediate storage location are located on opposite sides of the removal and placement device 20. Alternatively, the intermediate storage location can also be located within the passageway.

[0196] In some examples, the picking element 213 may transport a target article from the intermediate storage position to the carrier 10 on the other side of the picking and placing device 20, where the target article is moved through the carrying area 2111 to the carrier 10.

[0197] In some examples, the removal element 213 may transfer a target article from the carrier 10 to a temporary storage location on the other side of the removal and placement device 20, and the target article may be moved to the temporary storage location by the carrying area 2111.

[0198] In some examples, the buffer spaces may be cargo spaces on the buffer shelves or buffer carriers. The transfer robot 40 may move the buffer shelves or buffer carriers so that they move on the surface of the support table, thereby transporting the target objects on the buffer shelves and buffer carriers. For example, the buffer shelves or buffer carriers may be located in an aisle between two adjacent carriers 10. The pick and place device 20 may transfer the target objects on the carriers 10 to the buffer shelves or buffer carriers. The transfer robot 40 moves the buffer shelves or buffer carriers across the support table. Alternatively, the transfer robot 40 moves the buffer shelf or buffer carrier into an aisle between adjacent carriers 10.

[0199] That is, in some examples of embodiments of the present application, the pick and place mechanism 210 may be configured to dock the staging location 120 on one side of the aisle and the carrier 10 on the other side of the aisle to transfer a target article between the staging location 120 on one side of the aisle and the carrier 10 on the other side of the aisle.

[0200] In some examples, the extraction element 213 can be rotated from a horizontal state to a vertical state when the extraction element 213 needs to be undocked from the target object. That is, the extraction element 213 can be rotated from the docking position to the evasive position.

[0201] In some examples, in the case where a target article needs to be removed from the carrier 10, the movement mechanism 212 may drive the removal element 213 toward the inlet and outlet 2112. After the movement mechanism 212 has moved a certain distance from the inlet and outlet 2112, the removal element 213 may rotate about the first rotation axis i1 relative to the movement mechanism 212.

[0202] In the embodiments of the present application, the removal element 213 is shown by way of example in a vertical plane with respect to the movement mechanism 212. The removal element 213 is moved relative to the movement mechanism 212 in the direction indicated by the arrow a in Fig. 6. The removal element 213 is rotated from the vertical state to the horizontal state, and in the case where the removal element 213 is rotated to the horizontal state, the removal element 213 is coupled to a loading structure on the target article.

[0203] In some examples, the loading structure on the target article may be a slot provided on an end surface of the target article. The hook 2131 of the receiving part 213 may engage the slot.

[0204] In some examples, after the removal member 213 engages the loading structure of the target article, the movement mechanism 212 moves in a direction away from the inlet and outlet 2112. The movement mechanism 212 moves the removal member 213 such that the removal member 213 propels the target article from the inlet and outlet 2112 into the support area 2111.

[0205] In some examples, the removal element 213 may engage a side of the loading structure opposite the side of the movement mechanism and exert a force on the loaded structure toward the support area 2111, thereby propelling the target article from the inlet and outlet 2112 toward the support area 2111.

[0206] In some examples, the removal and placement device 20 may include a first sensor 214 to ensure that the removal element 213 precisely interacts with the force-absorbing structure when rotating from the vertical to the horizontal position, as shown in Fig. 6 shown.

[0207] In some examples, the first sensor 214 may be disposed on the base 211.

[0208] In some examples, the first sensor 214 is disposed on the base 211. As illustrated in a specific example, the first sensor 214 may also be disposed on other structures connected to the base 211. In some examples of embodiments of the present application, the specific location of the first sensor 214 is not limited.

[0209] In some examples, the movement mechanism 212 may cause the first sensor 214 to move along with the sampling element 213.

[0210] In some examples, the first sensor 214 may be disposed on the movement mechanism 212.

[0211] In some examples, the first sensor 214 may be configured to detect a distance between the sampling element 213 and the target object.

[0212] In some examples, the first sensor 214 may be configured to detect a distance between the first rotation axis i1 of the sampling element 213 and the target object.

[0213] In some examples, the first sensor 214 may be a distance sensor.

[0214] In some examples, the first sensor 214 may include an ultrasonic range sensor, a laser sidenote sensor, an infrared range sensor, or a millimeter wave range sensor.

[0215] In some examples, when the first sensor 214 detects that the distance between the first rotation axis i1 and the target article corresponds to a first predetermined distance, the removal element 213 rotates relative to the movement mechanism 212 so that it engages or disengages the force-absorbing structure of the target article.

[0216] In some examples, the first predetermined distance may be the distance at which the removal element 213 can interact with the force-absorbing structure after rotation from the avoidance position to the docking position. This means that the distance between the first rotation axis i1 and the target article in the case of the first predetermined distance may be equal to the length of the removal element 213.

[0217] In some examples, the first predetermined distance may be a distance at which the extraction element 213 can fit into the loaded structure after the extraction element 213 has been rotated from the avoidance state to the docking state. That is, at the first predetermined distance, the distance between the first rotation axis i1 and the target article may be equal to a length of the extraction element 213.

[0218] Some examples are illustrated by the removal of a target object from a cargo hold. When the target item needs to be removed from the cargo hold, the column 230 of the removal and placement device 20 can be moved laterally along the support 10 and to the column where the target cargo hold is located, and then the base 211 is moved longitudinally along the column 230 to the storage plane where the target cargo hold is located. At this time, the movement mechanism 212 drives the removal element 213 toward the inlet and outlet 2112, and the first sensor 214 detects a distance between the first rotation axis i1 and the target object. In the case where the distance detected by the first sensor 214 is the first predetermined distance, the moving mechanism 212 stops driving the extraction member 213, and the extraction member 213 rotates into a docking state to cooperate with a loading structure on the target article.The movement mechanism 212 drives the removal element 213 away from the inlet and outlet 2112 and drives the target article from the inlet and outlet 2112 through the removal element 213 into the carrying area 2111, thereby transferring the target article from the target cargo space to the carrying area 2111. The base 211 can be moved longitudinally along the column 230 to transfer the target article to a temporary storage position at the bottom of the carrier 10, or the removal and placement mechanism 210 can transfer the target article to another transport vehicle.

[0219] Some examples are illustrated by placing a target article on a cargo hold. In the case where the target article needs to be placed on the cargo hold from the carrying area 2111, the target article can be moved from the inlet and outlet 2112 toward the cargo hold under the pressure of the moving mechanism 212. After the moving mechanism 212 has pressed against the target article for a certain distance, the moving mechanism 212 can move in a direction away from the target article. The first sensor 214 can detect a distance between the first rotation axis i1 and the target article, and in the case where the distance between the first rotation axis i1 and the target article is a predetermined distance, the removal element 213 is rotated in a first direction into a tensioned state to cooperate with a force-absorbing structure.The moving mechanism 212 continues to move toward the inlet and outlet 2112, and the gripping element 213 pushes the target article toward the cargo space.

[0220] According to the extraction and placement device 20 provided in the embodiment of the present application, the carrying portion 2111 and the inlet and outlet 2112 are arranged on the base 211 to facilitate the entry and exit of the target object into and from the carrying portion 2111 through the inlet and outlet 2112. The moving mechanism 212 is arranged on the base 211, and the extraction member 213 is arranged on the moving mechanism 212 so that the moving mechanism 212 can be driven to move toward the inlet and outlet 2112 when the moving mechanism 212 moves toward the inlet and outlet 2112.After the removal element 213 engages the target article, the moving mechanism 212 moves toward the inlet and outlet 2112. The moving mechanism 212 can drive the target article from the inlet and outlet 2112 to the carrying area 2111 through the removal element 213. Alternatively, the moving mechanism 212 can convey the target article from the carrying area 2111 onto the shelf using the removal unit to facilitate the removal and placement of the target article. The first sensor 214 is provided on the movable body 212, and the first sensor 214 can detect a distance between the movable body 212 and the target article.When the first sensor 214 detects that the distance between the movement mechanism 212 and the target article corresponds to the first preset distance, the removal element 213 can rotate relative to the movement mechanism 212 along the first direction, so that the removal element 213 unfolds and engages the target article. The first preset distance corresponds to the length of the unfolded removal element 213. This means that the removal element 213 precisely engages the target article when it is rotated relative to the movement mechanism 212 along the first direction into the docking position. This prevents the removal element 213 from pushing the target article in a direction away from the removal and placement device 20, or prevents the removal element 213 from being unable to engage the target article.This facilitates the rapid interaction of the removal element 213 with the target article and improves the efficiency and safety of the removal and placement device 20 when gripping and placing the target article.

[0221] In some examples, the first sensor 214 may have a first distance between the sensing surface of the first sensor 214 and the inlet and outlet 2112. For illustration, in the case where the sensing surface of the first sensor 214 is opposite the inlet and outlet 2112, the distance between the sensing surface of the first sensor 214 and the inlet and outlet 2112 may be the first distance.

[0222] The first sensor 214 is mounted on the movement mechanism 212 and moves with the movement mechanism 212. Therefore, in some examples of embodiments of the present application, the first distance may be a variable distance.

[0223] In some examples, the extraction element 213 has a second distance between the first rotation axis i1 and the inlet and outlet 2112. It is understood that the second distance may be a variable distance.

[0224] In some examples, the first distance and the second distance may have a predetermined distance difference. That is, in the direction of the inlet and outlet 2112, the first sensor 214 and the first rotation axis i1 may be offset such that the first distance and the second distance have a predetermined distance difference.

[0225] In some examples, during the process in which the movement mechanism 212 moves the first sensor 214 and the extraction element 213 toward the target article, the first sensor 214 may detect a first distance between itself and the target article. It should be understood that the difference between the first distance and the predetermined distance difference is the second distance. In other words, the second distance may be used to determine whether the first predetermined distance between the first rotation axis i1 and the target article has been reached. After the extraction element 213 is deployed, it snugly fits the force-absorbing structure of the target article. This prevents the extraction element 213 from pushing the target article in a direction away from the movement mechanism 212 or from engaging the force-absorbing structure of the target article.This improves the efficiency of the coupling between the removal element 213 and the target article as well as the efficiency and safety of the transfer of the target article.

[0226] In some examples, the first distance and the second distance may be equal. That is, in some examples of embodiments of the present application, the predetermined distance difference may be zero. The sensing surface of the first sensor 214 may be flush or nearly flush with the first rotation axis i1.

[0227] In some embodiments of the present application, the first distance and the second distance are set equal, so that the sensing surface of the first sensor 214 and the first rotation axis i1 can be flush or nearly flush. When the first sensor 214 detects that the distance between itself and the target article corresponds to the first preset distance, the distance between the first rotation axis i1 and the target article is exactly this first preset distance without having to subtract a preset distance difference. This simplifies the calculation of the first preset distance and increases the efficiency of transferring the target article.

[0228] In some embodiments, as in Fig. 6, the inlet and outlet 2112 includes a first inlet and outlet 2112a. The first inlet and outlet 2112a may be located in the support area 2111 near the support 10 on which the column 230 is arranged. The first inlet and outlet 2112a may be configured to be coupled to the location of the support 10 on which the column 230 is arranged.

[0229] In some embodiments, the target article may pass from a storage location into the carrying area 2111 via the first inlet and outlet 2112a.

[0230] In some embodiments, the target article may enter the storage location from the carrying area 2111 via the first inlet and outlet 2112a.

[0231] In some embodiments, as in Fig. 6, the inlet and outlet 2112 may include a second inlet and outlet 2112b. The second inlet and outlet 2112b is located in the support area 2111 on the side facing away from the support 10 with the column 230. The second inlet and outlet 2112b may be configured to be coupled to the parking space of an adjacent vehicle 10.

[0232] In some embodiments, the target article may enter the carrying area 2111 from the parking space of an adjacent vehicle 10 via the second inlet and outlet 2112b.

[0233] In some embodiments, the target article may pass from the carrying area 2111 into the parking space of an adjacent vehicle 10 via the second inlet and outlet 2112b.

[0234] In some embodiments, the movement mechanism 212 may be arranged along the direction in which the first inlet and outlet 2112a and the second inlet and outlet 2112b are located (e.g., along the direction shown in Fig. 6, ie the first direction), relative to the base 211.

[0235] In some embodiments, as in Fig. 6, rotate the removal element 213 about the first axis of rotation i1 relative to the movement device 212.

[0236] In some examples, the removal element 213 may place the target article from the first inlet and outlet 2112a into the target cargo hold. The removal element 213 then rotates about the first rotation axis i1 in the direction indicated by arrow a until it is aligned with the second inlet and outlet 2112b and removes the target article from the adjacent carrier 10 on the other side of the track.

[0237] In some examples relating to Fig. 6, the removal element 213 can be rotated about the first rotation axis i1 in the direction indicated by arrow a and can interact with the loading structure of the target article. The gripping element 213 can interact with the loading structure from below.

[0238] In some examples relating to Fig. 6, the removal element 213 can be rotated about the first rotation axis i1 in the opposite direction to that indicated by arrow a and can interact with the loading structure of the target article. The removal element 213 can interact with the loading structure from above.

[0239] In some examples, the removal element 213 can be rotated about the first rotation axis i1 in the direction indicated by arrow a, thereby releasing the connection to the loading structure.

[0240] In some embodiments, as in Fig. 6, the removal element 213 is explained using the example in which it removes the target article via the first inlet and outlet 2112a. The removal element 213 can be moved under the guidance of the movement mechanism 212 in the direction of the first inlet and outlet 2112a. When the first sensor 214 detects that the distance between the removal element 213 and the target article corresponds to the first preset distance, the removal element 213 can rotate about the first rotation axis i1. Subsequently, the removal element 213 can be moved a further preset distance in the direction of the first inlet and outlet 2112a by the movement mechanism 212. Thereafter, the removal element 213 can be moved by the movement mechanism 212 in the longitudinal direction (e.g., along the Fig. 6) so that the removal element 213 engages with the force absorption structure.

[0241] In some examples, after the target article is transferred to the base 211, the removal element 213 may be driven by the movement mechanism 212 to move in the opposite direction of the z-axis in Fig. 6. Then, the movement mechanism 212 drives the removal element 213 to move away from the target article in the first direction by a predetermined distance. Finally, the removal element 213 rotates about the first rotation axis i1 relative to the movement device 212, thereby releasing the connection between the removal element 213 and the force-absorbing structure.

[0242] In some embodiments, the removal element 213 may be engaged with the force-absorbing structure from above, as explained in the detailed description of the previous embodiments of this application.

[0243] It is understandable that acting on the force-absorbing structure from above, as well as releasing the connection to the force-absorbing structure, can be similar, comparable, or nearly identical to acting from below or contact-based engagement. For further details, reference can be made to the detailed description of the preceding embodiments of this application, which is why no further repetition is required here.

[0244] In some examples relating to Fig. 6, the movement mechanism 212 may be provided with a second mounting bracket 2121. The second mounting bracket 2121 may be rotatably coupled to the movement mechanism 212 about a second rotation axis i2. The second rotation axis i2 extends in a different direction than the first rotation axis i1.

[0245] In some examples, the second rotation axis i2 may be in a direction that is Fig. 6 along the z-axis. The first rotation axis i1 can be in a direction that is Fig. 6 along the y-axis.

[0246] In some examples, the second rotation axis i2 and the first rotation axis i1 may lie in the same plane.

[0247] In some examples, the second rotation axis i2 and the first rotation axis i1 may lie in different planes.

[0248] In some examples, the sampling element 213 and the first sensor 214 may be arranged on the second mounting bracket 2121. Thus, when the second mounting bracket 2121 is rotated about the second rotation axis i2 relative to the movement mechanism 212, the second mounting bracket 2121 may rotate together with the first sensor 214 and the sampling element 213.

[0249] In some embodiments, when the target article is to be transferred via the first inlet and outlet 2112a, the second mounting bracket 2121 can rotate the first sensor 214 and the extraction element 213 about the second rotation axis i2 until the first sensor 214 and the extraction element 213 are aligned toward the first inlet and outlet 2112a. The movement mechanism 212 then moves the extraction element 213 and the first sensor 214 over the second mounting bracket 2121 on the base 211, so that the target article is transferred via the first inlet and outlet 2112a.

[0250] In some embodiments, when the target article is to be transferred via the second inlet and outlet 2112b, the second mounting bracket 2121 can rotate the first sensor 214 and the extraction element 213 about the second rotation axis i2 until the first sensor 214 and the extraction element 213 are aligned toward the second inlet and outlet 2112b. The movement mechanism 212 then moves the extraction element 213 and the first sensor 214 over the second mounting bracket 2121 on the base 211, so that the target article is transferred via the first inlet and outlet 2112a.

[0251] In some embodiments of this application, the inlet and outlet 2112 of the carrying area 2111 is designed as a first inlet and outlet 2112a and a second inlet and outlet 2112b, wherein the first inlet and outlet 2112a and the second inlet and outlet 2112b are located on opposite sides of the carrying area 2111. Furthermore, a second mounting bracket 2121 is mounted on the movement mechanism 212, rotatable about the second rotation axis i2 relative to the movement device 212. The removal element 213 and the first sensor 214 are arranged on the second mounting bracket 2121. In this way, the transfer of target articles to different shelves can be realized by rotating the second mounting bracket 2121 relative to the movement device 212. This means that a single removal and storage device 20 can transfer the target articles between two adjacent transport devices 10.This allows the number of required removal and storage devices 20 to be reduced and the arrangement costs of the storage system to be lowered.

[0252] Some examples are given with reference to Fig. 6 is shown as an example of the removal of a target article from the first inlet and outlet 2112a. The second mounting bracket 2121 can cause the removal element 213 to rotate along the second rotation axis i2 so that the removal element 213 engages a loaded structure of the target article. Alternatively, the removal element 213 is contacted to connect to the loaded structure.

[0253] For example, when the moving mechanism 212 moves the extraction member 213 toward the first inlet and outlet 2112a until the distance between the extraction member 213 and the target article equals the first preset distance, the second mounting bracket 2121 may rotate the extraction member 213 about the second rotation axis i2 in the direction indicated by the arrow b, so that the extraction member 213 engages with the force-receiving structure of the target article.

[0254] When the connection between the extraction element 213 and the force-absorbing structure needs to be released, the second mounting bracket 2121 can rotate the extraction element 213 about the second rotation axis i2 in the opposite direction of the direction of movement indicated by the arrow b in order to release the coupling of the extraction element 213 with the force-absorbing structure.

[0255] Fig. 7 is a schematic diagram of another partial structure of a picking and placing device provided by some embodiments of the present application.

[0256] In some examples, the second mounting bracket 2121 is provided with a second drive element 2122, as shown in Fig. 7. The second drive element 2122 may be drivingly coupled to the removal element 213. The second drive element 2122 may be configured to drive the removal element 213 to rotate in a first direction relative to the movement mechanism 212.

[0257] In some examples, the second drive element 2122 may be a motor such as a servo motor, a synchronous motor, or a stepper motor that can rotate forward and reverse.

[0258] In some examples relating to Fig. 6, the second drive element 2122 can move the removal element 213 around the first rotation axis i1 in the direction indicated by the arrow a in Fig. 6 to rotate the removal element 213 from a vertical direction (avoidance state) to a horizontal state (docking state).

[0259] In some examples relating to Fig. 6, the second drive element 2122 can move the removal element 213 about the first rotation axis i1 in the opposite direction to that indicated by the arrow a in Fig. 6 to rotate the row of the removal element 213 horizontally in the vertical direction.

[0260] In some examples relating to Fig. 6, a third drive element 2123 may be provided on the movement mechanism 212. The third drive element 2123 may be drivingly coupled to the second mounting bracket 2121. The third drive element 2123 may be configured to drive the removal element 213 to rotate about the second rotation axis i2 relative to the movement mechanism 212.

[0261] In some embodiments, the type of third drive element 2123 may be the same, similar, or comparable to the type of second drive element 2122. Regarding the second drive element 2122, reference is made to the detailed description of the preceding embodiments of the present application, which is not repeated in the embodiments of the present application.

[0262] In some examples, the third drive element 2123 may be an articulated motor.

[0263] In some embodiments of this application, the arrangement of the second drive element 2122 on the second mounting bracket 2121, which is connected to the removal element 213, enables simple control of the removal element 213. This allows the removal element 213 to both engage and disengage from the target article. The arrangement of the third drive element 2123 on the movement mechanism 212, which is connected to the second mounting bracket 2121, enables the second mounting bracket 2121 to drive the second mounting bracket to rotate the removal element 213 and the first sensor 214. This facilitates the transfer of target articles via one of the two inlets and outlets, the first inlet and outlet 2112a or the second inlet and outlet 2112b.

[0264] In some examples relating to Fig. 6, the base 211 may be provided with a third drive assembly 2113. The third drive assembly 2113 may be drivingly coupled to the movement mechanism 212. The third drive assembly 2113 may be configured to drive the movement mechanism 212 relative to the base 211.

[0265] For example, when the target article is to be transferred to the carrying area 2111 via the first inlet and outlet 2112a, the third drive element 2123 can rotate the second mounting bracket 2121 relative to the moving device 212 until the removal element 213 and the first sensor 214 are aligned toward the first inlet and outlet 2112a. Subsequently, the third drive assembly 2113 drives the moving mechanism 212 toward the first inlet and outlet 2112a. When the first sensor 214 detects that the distance between the moving mechanism 212 and the target article corresponds to the first preset distance, the second drive element 2122 rotates the removal element 213 along the first direction relative to the moving device 212 to engage the target article.After the removal element 213 engages the target article, the third drive assembly 2113 will move the moving mechanism 212 away from the first inlet and outlet 2112a, so that the target article is transferred from the first inlet and outlet 2112a to the carrying area 2111.

[0266] Additionally, after the target article is transferred to the carrying area 2111, the third drive element 2123 can drive the second mounting bracket 2121 to rotate the picking element 213. This allows the picking element 213 to be rotated to the side of the carrying area 2111. This reduces the space occupied by the picking element 213 in the space between the target article and the moving mechanism 212, contributing to reducing the volume of the picking and placing device 20.

[0267] In some embodiments of the present application, the moving mechanism 212 is driven by the third drive assembly 2113 to move relative to the base 211 so that the movement of the moving mechanism 212 is facilitated to facilitate the transfer of the target article.

[0268] In some examples given with reference to Fig. 6, the third drive assembly 2113 may include a fourth drive element 2113a.

[0269] In some examples, the fourth drive element 2113a may be disposed on the base 211. The fourth drive element 2113a may have a telescopic structure. The fourth drive element 2113a may, for example, comprise a cylinder, an electric cylinder, or a piston cylinder.

[0270] In some examples, the fourth drive element 2113a may be disposed on the base 211. The fourth drive element 2113a may be, among other things, a servo motor, a stepper motor, or a synchronous motor.

[0271] In some examples, the third drive element 2113a may include a transmission element 2113b. The transmission element 2113b may be arranged in a first direction.

[0272] In some examples, the transmission element 2113b may be coupled to the movement mechanism 212. The fourth drive element 2113a may be coupled to the transmission element 2113b to drive the movement mechanism 212 in the first direction.

[0273] In some examples, the transmission element 2113b may include a screw. The screw may be disposed on the base 211. An axial direction of the screw may extend in a first direction.

[0274] In some examples, the transmission element 2113b may include a screw nut that can be screwed onto the screw. The movement mechanism 212 may be attached to the screw nut.

[0275] In some examples, the fourth drive element 2113a may rotate the screw so that the screw nut moves along the screw, thereby moving the movement mechanism 212.

[0276] In some examples, the transmission element 2113b may include a transmission gear. The transmission gear may be equipped with at least two gears. The two drive gears may be arranged in a first direction. One of the drive gears may be drivingly coupled to the fourth drive element 2113a.

[0277] In some examples, the transmission element 2113b may comprise a drive belt (e.g., a belt, timing belt, or chain). The transmission element 2113b may be arranged around the two drive gears. The transmission element 2113b may be coupled to the movement mechanism 212.

[0278] In some embodiments, the fourth drive element 2113a can rotate the drive wheel, which in turn moves the drive belt. The drive belt then drives the movement mechanism 212 to move in the first direction.

[0279] In some examples, the fourth drive element 2113a may be disposed on the movement mechanism 212. The fourth drive element 2113a may include a servo motor, a stepper motor, a synchronous motor, etc.

[0280] In some examples, the transmission element 2113b may include an engagement element. The engagement element may be disposed on the base. The engagement element may extend in a direction in which the first inlet and outlet and the second inlet and outlet are located.

[0281] In some examples, an output shaft of the fourth drive member may be provided with an engagement gear that engages the engagement member. When the fourth drive member 2113a drives the engagement gear to rotate, the engagement gear may move along the engagement member, thereby moving the movement mechanism 212.

[0282] In some embodiments of this application, the fourth drive element 2113a is arranged on the movement mechanism 212. An engagement element 2113b is installed on the base 211. This allows the gear on the output shaft of the fourth drive element 2113a to engage with the engagement element 2113b. When the fourth drive element 2113a rotates the gear, the gear moves along the gear 2113b. In this way, the movement mechanism 212 can be easily driven, simplifying the structure of the third drive assembly 2113 and reducing the production cost of the pick-and-place device 20.

[0283] In some examples, the engagement element 2113b may comprise a rack.

[0284] In some examples, the engagement element 2113b may be a chain.

[0285] In some examples relating to Fig. 6, the base 211 may be provided with a slide rail 2114. The slide rail 2114 may extend in the direction in which the first inlet and outlet 2112a and the second inlet and outlet 2112b are located.

[0286] In some examples relating to Fig. 6, the movement mechanism 212 may include a slider 2124. The slider 2124 may be disposed on the slide rail 2114. The slider 2124 may slide along the slide rail 2114.

[0287] In some examples relating to Fig. 6, the movement mechanism 212 may include a third mounting bracket 2125. The third mounting bracket 2125 may be disposed on the slider 2124.

[0288] In some examples, the third mounting bracket 2125 may be mounted on top of the slider 2124. For example, the third mounting bracket 2125 may be mounted on top of the slider 2124.

[0289] In some examples, the third mounting bracket 2125 may be disposed on one side of the slider 2124.

[0290] In some examples, the third mounting bracket 2125 may be provided in a curved shape, and the curved part of the third mounting bracket 2125 may be provided at the bottom of the slider 2124.

[0291] In some examples, the fourth drive element 2113a may be disposed on the third mounting bracket 2125.

[0292] In some examples, the second mounting bracket 2121 may be disposed on the third mounting bracket 2125.

[0293] In some embodiments of this application, a slide rail 2114 is installed on the base 211 along the direction in which the first inlet and outlet 2112a and the second inlet and outlet 2112b are arranged. The slider 2124 of the moving mechanism 212 is arranged on the slide rail 2114 and can move along the slide rail 2114. The third mounting bracket 2125 of the moving mechanism 212 is mounted on the slider 2124. When the fourth drive element 2113a of the moving mechanism 212 drives, the slider 2124 can slide on the slide rail 2114. This reduces the friction between the moving mechanism 212 and the base 211, thereby improving the freedom of movement of the moving mechanism 212. This results in better stability and safety when transferring the target article.

[0294] In some examples relating to Fig. 6, the base 211 may be provided with a conveying mechanism 2115. The conveying mechanism 2115 may extend in the direction in which the first inlet and outlet 2112a and the second inlet and outlet 2112b are located.

[0295] In some examples, the conveying mechanism 2115 may include a plurality of transfer rollers. The plurality of transfer rollers may be arranged in a row along the direction in which the first inlet and outlet 2112a and the second inlet and outlet 2112b are located.

[0296] In some examples, the conveying mechanism 2115 may include a conveyor belt.

[0297] In some examples, the conveyor mechanism 2115 may include a plurality of rollers. The plurality of rollers may be arranged adjacent to one another in a first direction.

[0298] In some embodiments, after the removal element 213 has transferred the target article from an inlet and outlet 2112 (which may be one of the first inlet and outlet 2112a or the second inlet and outlet 2112b) into the carrying area 2111 and moved it to the predetermined position, the second drive element 2122 may move the removal element 213 in the opposite direction of the in Fig. 6 to detach the removal element 213 from the force structure. The conveying mechanism 2115 can then continue to move the target article into the carrying area 2111. In this way, the moving mechanism 212 does not need to be moved from the second inlet and outlet 2112b to outside the base 211 to ensure that the target article completely enters the carrying area 2111. This reduces the volume of the base 211, reduces the space required by the removal and storage device 20, and increases the storage density of the storage system.

[0299] In some embodiments, when the target article is to be transferred from the carrying area 2111 to a shelf location, the conveyor mechanism 2115 may move the target article from the carrying area 2111 toward the inlet and outlet 2112 to a predetermined position. Once the target article has reached the predetermined position, the second drive element 2122 may move the removal element 213 in the direction of the Fig. 6, so that the removal element 213 engages the force structure. After the removal element 213 engages the force structure, the movement mechanism 212 can move toward the inlet and outlet 2112 to further move the target article toward the inlet and outlet 2112. In this way, the removal element 213 can convey the target article from the inlet and outlet 2112 to the shelf compartment.

[0300] In some embodiments, when the target article is to be transferred from the carrying area 2111 to a shelf location, the removal element 213 can engage the side surface of the force structure near the movement mechanism. The removal element 213 exerts a force on the force structure toward the shelf location, thereby moving the target article from the carrying area 2111 toward the shelf location. This means that the removal element 213 can engage different side surfaces of the force structure both when removing the target article from the shelf location and when placing the target article in the shelf location.

[0301] It can be understood that in some embodiments, when the removal element 213 is a loading structure, the force structure may be a groove on the end surface of the target article. When the target article needs to be removed from the shelf compartment, the loading structure of the hook 2131 can be inserted into the groove and contacted with the inside of the groove, exerting a force toward the support area 2111 on the inside of the groove. When the target article needs to be transferred from the support area 2111 to the shelf compartment, the hook 2131 can be positioned outside the groove. Of course, the hook can also be inserted into the groove.

[0302] In some embodiments of this application, a conveying mechanism 2115 is provided on the supporting area 2111. When the target article enters the supporting area 2111 through the inlet and outlet 2112 and is moved to a designated position, the second drive element 2122 can separate the removal element 213 from the force structure. Alternatively, when the conveying mechanism 2115 moves the target article from the supporting area 2111 toward the inlet and outlet 2112 to a designated position, the second drive element 2122 can engage the removal element 213 with the force structure. In this way, the moving mechanism 212 does not need to be removed from the second inlet and outlet 2112b to fully move the target article into the supporting area 2111, which reduces the volume of the supporting area 2111, reduces the space required by the removal system 20, and improves the storage density of the storage system.

[0303] In some examples, after the removal element 213 removes the target article from the carrier 10, the target article may be transported through the first inlet and outlet 2112a under the conveyor mechanism 2115 into the carrying area 2111. The removal element 213 may rotate to the avoidance state. The conveyor mechanism 2115 may further shift the target article toward the second inlet and outlet 2112b toward the adjacent carrier 10 or a buffer storage location. When the target article reaches a predetermined position toward the second inlet and outlet 2112b, the removal element 213 may rotate to the docking state and further shift the target article toward the adjacent carrier 10 or the buffer storage location.

[0304] It should be understood that in some examples of the present application, the process in which the removal element 213 transfers the target article from an adjacent carrier 10 or a temporary storage location to the carrier 10 may be identical, similar, or comparable to the process in which the removal element 213 transfers the target article from the carrier 10 to an adjacent carrier 10 or a temporary storage location. For further details, reference can be made to the detailed description of the preceding embodiments of this application. Therefore, no further explanation is provided here.

[0305] In some examples given with reference to Fig. 6, the conveyor mechanism 2115 may comprise two. The two conveyor mechanisms 2115 may be spaced apart from each other along a second direction (e.g., the direction defined by the y-axis in Fig. 6 shown direction).

[0306] In some examples, the slide rail 2114 and the movement mechanism 212 may be arranged between the two conveyor mechanisms 2115.

[0307] In some examples, the two conveyor mechanisms 2115 may be arranged symmetrically to the slide rail 2114.

[0308] In some examples of the present application, two conveyor mechanisms 2115 are provided, with the slide rail 2114 and the movement module 212 disposed between the two conveyor mechanisms 2115. This allows the target article to be supported by both conveyor mechanisms 2115 during movement in the support area 2111, thereby increasing the support table area for the target article and improving the stability of the target article's movement.

[0309] In some examples relating to Fig. 6, the base 211 may be provided with a second sensor 2116. The second sensor 2116 may be configured to detect the position of the target article in the support area 2111 and thereby determine whether the target article reaches the predetermined position.

[0310] In some examples, the second sensor 2116 may be a magnetic sensor. For example, the second sensor 2116 may be a Hall sensor.

[0311] In some examples, a magnetic element may be attached to the underside of the target article. When the target article moves from the inlet and outlet 2112 toward the support area 2111 and moves to the preset position, the second sensor 2116 may detect a change in the magnetic field of the magnetic element and thereby determine that the target article has moved to the preset position.

[0312] In some examples, the second sensor 2116 may be a contact sensor. When the target article moves from the inlet / outlet 2112 toward the support area 2111 and moves to the predetermined position, a bottom surface of the target article may come into contact with the second sensor 2116, thereby determining that the target article has moved to the predetermined position.

[0313] In some embodiments of the present application, the second sensor 2116 is provided on the base 211, and the second sensor 2116 detects the position of the target article in the support area 2111. This allows the position of the target article in the support area 2111 to be accurately determined, which facilitates the precise adaptation of the removal element 213 to the force-absorbing structure of the target article or enables a timely release of the connection between the removal element 213 and the force-absorbing structure.

[0314] In some examples, the second sensor 2116 may include a first back reflection sensor.

[0315] In some examples, the first signal transmitting element 2116a of the first back-reflection sensor may be arranged on one of the sides of the support region 2111. The first signal transmitting element 2116a may be arranged outside the support region 2111.

[0316] In some examples, the first signal receiving element 2116b of the first back-reflection sensor may be arranged on the other side of the support area 2111. The first signal receiving element 2116b may be arranged opposite the first signal transmitting element 2116a. The first signal receiving element 2116b may receive a signal from the first signal transmitting element 2116a.

[0317] In some examples, the first opposing sensor may be a photogate.

[0318] In some examples, the first opposing sensor may comprise an infrared sensor pair.

[0319] In some examples, the signal transmission path of the first back reflection sensor (i.e., the path of the first signal transmitting element 2116a transmitting the signal to the first signal receiving element 2116b) may intersect the direction of movement of the target article in the carrying area 2111.

[0320] In some examples, the target article may be moved from the inlet and outlet 2112 toward the carrying area 2111, for example, when the target article is removed from a cargo hold. If the target article moves into the carrying area 2111 and passes between the first signal transmitting element 2116a and the first signal receiving element 2116b, the target article blocks the signal emitted by the first signal transmitting element 2116a, preventing the first signal receiving element 2116b from receiving the signal. In this case, the signal received by the first signal receiving element 2116b can be used to determine whether the target article has reached the preset position.

[0321] In some examples, the target article may be moved from the carrying area 2111 toward the inlet / outlet 2112. For example, the target article may be placed on a loading platform from the carrying area 2111. In the case where the target article moves toward the inlet / outlet 2112 and crosses between the first signal transmitting element 2116a and the first signal receiving element 2116b, the target article does not block the signal from the first signal transmitting element 2116a, so that the first signal receiving element 2116b can receive the signal from the first signal transmitting element 2116a. At this time, it can be determined whether the target article reaches the predetermined position based on the fact that the first signal receiving element 2116b receives the signal.

[0322] In some examples of this application, the first signal transmitting element 2116a of the first counter-reflection sensor is arranged on one side of the support area 2111, while the first signal receiving element 2116b is located on the opposite side. In this way, it can be determined whether the first signal receiving element 2116b is receiving the signal emitted by the first signal transmitting element 2116a or whether the target article is blocking the signal. This allows the position of the target article in the support area 2111 to be precisely determined, which facilitates precise adaptation or separation of the removal element 213 to the force transmission structure of the target article.

[0323] In some examples, the second sensor 2116 may be arranged in the center of the carrying area 2111 along the direction of the first inlet and outlet 2112a and the second inlet and outlet 2112b. In this way, when the target article is removed from a cargo hold, it can be ensured that the center of gravity of the target article is located within the carrying area 2111 after reaching the predetermined position. This facilitates the transfer of the target article to the conveyor mechanism 2115 for further transport.

[0324] In some examples relating to Fig. 6, the base 211 may be provided with a third sensor 2117. The third sensor 2117 may be arranged at the inlet and outlet 2112. The third sensor 2117 may be configured to detect whether a target article is located in the area of ​​the inlet and outlet 2112.

[0325] In some examples, the third sensor 2117 may be a magnetic sensor. For example, the third sensor 2117 may be a Hall sensor. A magnetic element may be attached to the underside of the target article. The Hall sensor may determine whether the target article is present at the inlet and outlet 2112 by detecting a magnetic field of the magnetic element.

[0326] In some examples, the third sensor 2117 may be a contact sensor. If a target object moves toward the inlet / outlet 2112, the third sensor 2117 may contact the target object, thereby determining whether the target item is present in the inlet / outlet 2112.

[0327] In some embodiments, the removal element 213 can release the connection to the force-absorbing structure according to the preset position determined by the second sensor 2116 when a target article is located in the area of ​​the inlet and outlet 2112. For example, when a target article is removed from a cargo hold, it moves from the cargo hold into the carrying area 2111. First, the third sensor 2117 detects the presence of a target article at the inlet and outlet 2112. As the target article continues to move, the second sensor 2116 determines whether the target article has reached the preset position. Since the target article has not yet fully entered the carrying area 2111 at this time, the third sensor 2117 can continue to detect its presence at the inlet and outlet 2112.In other words, in some embodiments of this application, the third sensor 2117 and the second sensor 2116 may determine whether the target article has reached the preset position.

[0328] In some embodiments, the removal element 213 can release the connection to the force-absorbing structure according to the preset position determined by the second sensor 2116 when a target article is located in the area of ​​the inlet and outlet 2112. For example, when a target article is removed from a cargo hold, it moves from the cargo hold into the carrying area 2111. First, the third sensor 2117 detects the presence of a target article at the inlet and outlet 2112. As the target article continues to move, the second sensor 2116 determines whether the target article has reached the preset position. Since the target article has not yet fully entered the carrying area 2111 at this time, the third sensor 2117 can continue to detect its presence at the inlet and outlet 2112.In other words, in some embodiments of this application, the third sensor 2117 and the second sensor 2116 may determine whether the target article has reached the preset position.

[0329] In some embodiments of this application, the third sensor 2117 is installed at the inlet and outlet 2112 on the base 211. This allows the third sensor 2117 to detect the presence of a target article at the inlet and outlet 2112. In combination with the second sensor 2116, the third sensor 2117 can be used to accurately determine whether the target article has reached the preset position, increasing the accuracy of the target article position detection and improving the efficiency of the target article conveyance.

[0330] In some examples, the third sensor 2117 may also include a second back-reflection sensor. The second back-reflection sensor has a second signal transmitter 2117a positioned on one side of the support area 2111. The second signal receiving element 2117b of the second back-reflection sensor may be positioned on the opposite side of the support area 2111. The signal receiving element 2117b and the signal transmitter 2117a are arranged opposite each other.

[0331] In some embodiments, the signal transmission path of the second counter-reflection sensor may intersect the direction of movement of the target article at the inlet and outlet 2112.

[0332] In some embodiments, the type of the second back reflection sensor may be the same, similar, or comparable to the type of the first back reflection sensor. For details, please refer to the detailed description of the preceding embodiments of the present application, which is not repeated in the embodiments of the present application.

[0333] In some examples, the operating principle of the second back reflection sensor may be the same, similar, or similar to that of the first back reflection sensor, as described in detail with respect to the first back reflection sensor in the previous embodiments of the present application. These embodiments of the present application are not repeated here.

[0334] In some embodiments of the present application, the accuracy of detecting the presence of the target article at the inlet and outlet 2112 may be improved by providing the second opposing sensor at the inlet and outlet 2112 to detect the presence of the target article at the inlet and outlet 2112.

[0335] In some examples, the second sensor 2116 may consist of two sensors. One of the two second sensors 2116 may be arranged at the first inlet and outlet 2112a. The other of the two second sensors 2116 may be arranged at the second inlet and outlet 2112b.

[0336] In some examples relating to Fig. 6, the movement mechanism 212 may be provided with a limiting element 2126. The limiting element 2126 may be arranged on a rotation path of the second mounting bracket 2121, which rotates about the second rotation axis i2. The limiting element 2126 may be configured to limit a rotation angle of the second mounting bracket 2121 relative to the movement mechanism 212 in order to position the extraction element 213 toward the first inlet and outlet 2112a, or to position the extraction element 213 toward the second inlet and outlet 2112b.

[0337] In some examples, such as Fig. 6, when the second mounting bracket 2121 is rotated about the second rotation axis i2 in the direction of arrow b in Fig. 6 rotates so that the extraction element 213 points in the direction of the first inlet 2112a, the side wall of the second mounting bracket 2121 comes into contact with the side wall of the limiting element 2126, so that the second mounting bracket 2121 can no longer rotate in the second direction.

[0338] In some examples, when the second mounting bracket 2121 is rotated about the second rotation axis i2 in the opposite direction of arrow b in Fig. 6 rotates so that the extraction element 213 points towards the second inlet 2112b, the side wall of the second mounting bracket 2121 comes into contact with the side wall of the limiting element 2126 so that the second mounting bracket 2121 can no longer rotate.

[0339] In some examples of the present disclosure, a limiting element 2126 is attached to the movement unit 212 and positioned on the rotation path of the second mounting bracket 2121 about the second rotation axis i2. In this way, the limiting element 2126 can come into contact with the side wall of the second mounting bracket 2121 when the second mounting bracket 2121 rotates and limit the rotation angle of the second mounting bracket 2121. This ensures that the removal element 213 is precisely aligned toward the first inlet 2112a or the second inlet 2112b, enabling accurate coupling of the removal element 213 to the load structure of the target article and improving the efficiency of transferring the target article.

[0340] In some examples relating to Fig. 6, the base 211 may be provided with a fourth sensor 2118. The fourth sensor 2118 may be arranged at the inlet and outlet 2112. The fourth sensor 2118 may be configured to check whether a target article is present on the carrier 10.

[0341] In some examples, the fourth sensor 2118 may be, among others, a lidar, ultrasonic radar, millimeter-wave radar, or infrared sensor. The fourth sensor 2118 may determine whether a target object is present on the carrier 10 based on the signals reflected from the target object.

[0342] In some examples, the fourth sensor 2118 may be equipped with two sensors. One of the fourth sensors 2118 may be provided at the first inlet and outlet 2112a, and the other fourth sensor 2118 may be provided at the second inlet and outlet 2112b.

[0343] In some embodiments of the present application, by providing the fourth sensor 2118 at the inlet and outlet 2112, the first sensor 214 detects whether the target article is present on the carrier 10 or not, so that it can be quickly determined whether the target article is present in the cargo hold. This facilitates timely adjustment of the position of the pick-and-place device 20 and can improve the efficiency of transferring the target article.

[0344] In some examples relating to Fig. 6 and Fig. 7, the base 211 may be provided with a fifth sensor 2119. The fifth sensor 2119 may be configured to detect a position marker on the carrier 10 to locate a position of the base 211 along the carrier 10.

[0345] In some examples, the fifth sensor 2119 may be a magnetic sensor, e.g., a Hall sensor, and the positioning mark may be a magnetic element. The positioning mark may be mounted on a crossbar of the carrier 10.

[0346] In some examples, the fifth sensor 2119 may be a QR code camera, and the positioning mark may be a QR code.

[0347] In some examples, the fifth sensor 2119 may be a barcode camera, and the positioning mark may be a barcode or a printed mark.

[0348] In some examples, the fifth sensor 2119 may be a back reflection sensor and the positioning mark may be a stopper.

[0349] In some examples, the positioning mark may be a hole. The hole may be a round hole, a square hole, a polygonal hole, or a shaped hole.

[0350] In some examples, as the pick-and-place device 20 moves laterally relative to the carrier 10, the fifth sensor may detect a positioning mark on the carrier 10 to determine the position of the pick-and-place device 20. This facilitates the pick-and-place device 20 moving precisely to the column where the target cargo space is located.

[0351] In some examples, as the pick and place mechanism 210 moves longitudinally relative to the carrier 10, the fifth sensor may detect a positioning mark on the carrier 10 to determine the longitudinal position of the pick and place mechanism 210. This facilitates the pick and place mechanism 210 moving precisely to the storage level where the target cargo space is located.

[0352] In some embodiments of the present application, the fifth sensor 2119 on the base 211 may detect a positioning mark on the carrier 10 and thus position the base 211 to move along the carrier 10 to enable accurate docking of the inlet and outlet 2112 to the target cargo space and to facilitate the transfer of the target items between the support area 2111 and the cargo space.

[0353] In some examples, the fifth sensor 2119 may be provided in duplicate, where one fifth sensor 2119 may be attached to the first inlet and outlet 2112a and the other fifth sensor 2119 may be attached to the second inlet and outlet 2112b.

[0354] In some embodiments, the fifth sensor 2119 may simply be present. The fifth sensor 2119 may be aligned with one of two adjacent carriers 10. The two adjacent carriers 10 may be aligned such that the fifth sensor 2119 can determine whether the position matches the adjacent carrier 10 by detecting the positioning mark on one of the carriers 10.

[0355] In some examples, the pick and place device 20 may determine the target storage space based on an article transfer command. The pick and place device 20 may move along the transverse direction of the carrier 10 according to the article transfer command. The pick and place device 210 may move along the longitudinal direction of the carrier 10 according to the article transfer command.

[0356] In some examples, after the fifth sensor 2119 detects the positioning mark of the target cargo space, the pick and place device 210 may perform a fine adjustment along the transverse direction of the carrier 10 based on the detection of the positioning mark by the fifth sensor 2119 to adjust the position of the pick and place device 210 relative to the carrier 10 so that the pick and place device 210 is precisely aligned with the column in which the target cargo space is located.

[0357] In some examples, after the fifth sensor 2119 detects the positioning mark of the target cargo space, the picking and placing unit 210 may perform fine adjustment along the longitudinal direction of the carrier 10 based on the detection of the positioning mark by the fifth sensor 2119 to adjust the position of the picking and placing unit 210 to precisely align with the target cargo space.

[0358] It is understood that in some examples of the embodiments of this application, fine adjustment may involve adjusting the position of the pick and place unit 210 and the pick and place device 20 within a small range of motion. For example, the movement of the pick and place device 20 along the transverse direction may not exceed the current column, and the movement of the pick and place unit 210 along the longitudinal direction may not exceed the current storage level.

[0359] In some examples, detection of the positioning mark by the fifth sensor 2119 may mean that the fifth sensor 2119 detects the position of the positioning mark relative to the detection center of the fifth sensor 2119, for example, whether it is offset to the left or right along the transverse direction. In the case of a leftward shift, the picking and placing device 20 may be moved to the left to bring the positioning mark closer to the detection center of the fifth sensor 2119. In the case of a rightward shift, the picking and placing device 20 may be moved to the right. Alternatively, the shift may be upward or downward along the longitudinal direction. In the case of an upward shift, the picking and placing unit 210 may be moved upward, and in the case of a downward shift, the picking and placing unit 210 may be moved downward.In this way, it can be ensured that the picking and placing unit 210 is aligned with the target cargo space, which facilitates the transfer of the target article.

[0360] In some examples of the embodiments of this application, an item transfer method is provided. The item transfer method can be applied to the warehouse system described in the previous embodiments of this application. The item transfer method can include the following steps: S801: The picking and placing device 20 moves along the transverse direction of the carrier 10 according to the article transfer command.

[0361] In some examples, the pick and place device 20 may be moved along the transverse direction of the carrier 10 based on a target article transfer order issued by the warehouse system's dispatch center. This may be accomplished by the first drive assembly 220, described in detail in the previous embodiments, which moves the pick and place device 20 in the transverse direction.

[0362] In some examples, the pick and place device 20 may be moved in the transverse direction based on the target cargo position 110 of the target item included in the target item transfer order.

[0363] S802: The picking and placing element 210 moves along the longitudinal direction of the carrier 10 according to the article transfer command until it reaches the target cargo position 110 to transfer the target article between the picking and placing element 210 and the target cargo position 110.

[0364] In some examples, after the pick and place device 20 has been moved transversely to the column of the target cargo position 110, the pick and place element 210 may be moved along the longitudinal direction relative to the carrier 10. This may be accomplished by the third drive assembly 2113, described in detail in the previous embodiments, which moves the pick and place element 210 in the longitudinal direction.

[0365] In some examples, the pick and place element 210 may be moved simultaneously with the transverse movement of the pick and place device 20 along the longitudinal direction relative to the carrier 10.

[0366] In some examples, after reaching the target cargo position 110, the pick and place element 210 may transfer the target item with the target cargo position 110. For example, the pick and place element 210 may pick the target item from the target cargo position 110 or place the target item on the target cargo position 110.

[0367] S803: If the first movement path passes a predetermined gap 301, the transfer robot 40 passes through the predetermined gap 301 and transfers the target article between the transfer robot 40 and the picking and placing device 20.

[0368] It should be understood that in some examples of the embodiments of this application, the movement of the transfer robot 40 and the movement of the pick-and-place device 20 may occur simultaneously. In some examples, the transfer robot 40 may be moved before the pick-and-place device 20. In some examples, the transfer robot 40 may be moved after the pick-and-place device 20 and the pick-and-place element 210 have reached their positions. The order of movements of the transfer robot 40 and the pick-and-place device 20 is not limited in the embodiments of this application.

[0369] In some examples, the transfer robot 40 can traverse the predetermined gap 301 and move to the lower region of the carrier 10. In this way, the transfer robot 40 can transfer the target article using the picking and placing device 20 in the lower region of the carrier 10. For example, the transfer robot 40 can transfer the target article to the picking and placing element 210. Alternatively, the picking and placing element 210 can transfer the target article to the transfer robot 40, which then moves the target article to another position in the storage system.

[0370] In some examples, a temporary storage location 120 may be present in the lower region of the carrier 10. The pick and place element 210 may transfer the target item using the temporary storage location 120. This means that the pick and place element 210 may place the target item on the temporary storage location 120, and the transfer robot 40 may transfer the target item from the temporary storage location 120 to another location in the storage system. Alternatively, the transfer robot 40 may transfer the target item from another location in the storage system to the temporary storage location 120, and the pick and place element 210 may pick the target item from the temporary storage location 120 and transfer it to the target cargo location 110.

[0371] It is understood that the method embodiments of this application and the previous device embodiments have the same or corresponding technical features. Therefore, the method embodiments and the previous device embodiments can have similar technical effects. Details can be found in the detailed descriptions of the previous device embodiments, and these embodiments will not be explained further here.

[0372] In some examples, the article transfer method provided in the embodiments of this application may include the following steps: S901: The picking and placing device 20 moves along the transverse direction of the carrier 10 according to the article transfer command. S902: When the picking and placing member 210 is moved along the longitudinal direction of the carrier 10 according to the article transfer command until it reaches the target cargo position 110, the moving mechanism 212 moves the picking member 213 toward the target cargo position 110.

[0373] In some examples, the carrier 10 may be equipped with a positioning mark. When the pick and place element 210 moves along the longitudinal direction, the fifth sensor 2119 may detect the positioning mark on the carrier 10.

[0374] In some examples, when the fifth sensor 2119 detects the positioning mark of the target cargo position 110, it may be determined that the pick and place element 210 has reached the target cargo position 110.

[0375] In some examples, when the pick and place element 210 is moved along the longitudinal direction to the target cargo position 110, the carrier 10 on which the target cargo position 110 is located may be determined.

[0376] In some examples, the carrier 10 on which the target cargo position 110 is located may be the same carrier 10 on which the pick and place device 20 is located.

[0377] In some examples, the carrier 10 on which the target cargo position 110 is located may be an adjacent carrier 10, with the pick and place device 20 located in an aisle between the two carriers 10.

[0378] In some examples, based on the carrier 10 on which the target cargo position 110 is located, the second mounting bracket 2121 may rotate about the second rotation axis i2 relative to the movement mechanism 212 to rotate the sampling element 213 and the first sensor 214 to one of the first inlet and outlet 2112a and the second inlet and outlet 2112b docked to the target cargo space 110.

[0379] In some examples, when the target cargo position 110 is located on the carrier 10 on which the pick and place device 20 is located, the second mounting bracket 2121 may be rotated by the second drive member 2122 toward the first inlet and outlet 2112a.

[0380] In some examples, when the target cargo position 110 is located on an adjacent carrier 10, the second mounting bracket 2121 may be rotated by the second drive member 2122 toward the second inlet and outlet 2112b.

[0381] In some examples, the fourth sensor 2118 may detect whether the target item is located at the target cargo position 110. For example, if the fifth sensor 2119 determines that the pick and place element 210 has reached the target cargo position 110, it may be confirmed based on the fourth sensor 2118 whether the target item is located at the target cargo position 110.

[0382] In some examples, if the target item is not located at the target cargo position 110, it may be determined that the target item may have been manually moved, so it is not necessary to move the movement mechanism 212 to the target compartment 110 to transport the target item.

[0383] In some examples, the movement mechanism 212 may move the removal element 213 and the first sensor 214 synchronously toward the target cargo position 110.

[0384] In some examples, if the fourth sensor 2118 confirms that the target item is located at the target cargo location 110, the item transfer method may include the following steps: S903: When the first sensor 214 detects that the distance between the first rotation axis i1 and the target article is a predefined first distance, the removal element 213 rotates about the second rotation axis relative to the moving mechanism 212 to cooperate with the loading structure of the target article.

[0385] The detection method of the first sensor 214 and the rotation method of the extraction element 213 can be taken from the detailed descriptions of the previous embodiments of this application and will not be explained further here.

[0386] S904: The moving mechanism 212 moves away from the inlet and outlet 2112 to move the target article through the inlet and outlet 2112 toward the support area 2111.

[0387] In some examples, after the removal element 213 engages the loading structure, the movement mechanism 212 may move in the opposite direction. This means that the movement mechanism 212 moves away from the inlet and outlet 2112, thereby moving the target article. The target article may pass through the inlet and outlet 2112 into the support area 2111.

[0388] S905: When the second sensor 2116 detects that the target article has reached a predefined position, the removal element 213 rotates about the first rotation axis i1 relative to the movement mechanism 212 to release the removal element 213 from the load structure.

[0389] The termination of the interaction between the removal element 213 and the loading structure can be taken from the detailed descriptions of the previous embodiments of this application and will not be explained further here.

[0390] In some examples, when the second sensor 2116 detects that the target article has reached the predefined position and the third sensor 2117 detects that the target article is located at the inlet and outlet 2112, the removal element 213 may be rotated in the first direction relative to the movement mechanism 212 to detect the interaction with the loading structure.

[0391] S906: The conveying mechanism 2115 moves the target article from the predefined position toward the carrying area 2111 until the target article has completely entered the carrying area 2111.

[0392] In some examples, the conveyor mechanism 2115 moves the target article toward the support area 2111 until the third sensor 2117 detects that the target article is no longer at the inlet and outlet 2112.

[0393] In this way, the target article can be transferred from the target cargo position 110 to the carrying area 2111.

[0394] In some examples, the pick and place element 210 may place the target item on the target cargo position 110, and the item transfer method may include the following steps: S1001: The picking and placing device 20 moves along the transverse direction of the carrier 10 according to the article transfer command. S1002: When the pick-and-place member 210 is moved along the longitudinal direction of the carrier 10 according to the article transfer command until it reaches the target cargo position 110, the conveying mechanism 2115 moves the target article from the carrying area 2111 toward the target cargo position 110. S1003: When the third sensor 2117 detects that the target article is located at the inlet and outlet 2112 and the second sensor detects that the target article has reached the predefined position, the removal member 213 rotates about the first rotation axis i1 relative to the moving mechanism 212 to cooperate with the loading structure. S1004: The moving mechanism 212 moves toward the target cargo position 110 to move the removal member 213, which pushes the target article toward the target cargo position 110, until the third sensor detects that the target article is no longer at the inlet and outlet 2112.

[0395] The embodiments described above are only specific implementations of this application and are not intended to limit the scope of this application. All modifications, equivalent replacements, and improvements based on the technical concept of this application should be included within the scope of this application. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] CN 2025101153341

[0001]

Claims

[1] Storage system comprising: a support (10) provided on a support surface of the storage system and provided with multi-level cargo spaces (110) in the vertical direction; a removal and placement device (20) provided on one side of the carrier (10) and movable with respect to the carrier (10) in the transverse direction of the carrier (10), wherein the removal and placement device (20) comprises a removal and placement mechanism (210) movable with respect to the carrier (10) along the longitudinal direction of the carrier (10); a support element (30) arranged on one side of the carrier (10), wherein the first part of the removal and placement device (20) is supported on the support element (30) and a predetermined gap (301) is provided between the bottom of the support element (30) and the support table surface; a transfer robot (40) moving on the support table surface, wherein the transfer robot (40) is configured to move through the predetermined gap (301), or the transfer robot (40) moves through a passage at the bottom of the carrier (10) or between adjacent carriers (10) to transfer a target article between the transfer robot (40) and the picking and placing device (20). [2] Storage system according to claim 1, wherein the predetermined gap (301) is provided between the bottom of the picking and placing device (20) and the support table surface. [3] The storage system according to claim 1, wherein the picking and placing device (20) is moved along the lateral direction of the carrier (10) in accordance with an article transfer command to move the picking and placing mechanism (210) laterally relative to the carrier (10); wherein the picking and placing mechanism (210) is moved along the longitudinal direction of the carrier (10) according to the article transfer command until the picking and placing mechanism (210) reaches a target cargo position to transfer the target article between the picking and placing mechanism (210) and the target cargo position; wherein, if the first travel path of the transfer robot (40) passes through the predetermined gap (301), the transfer robot (40) moves through the predetermined gap (301) and transfers the target article between the transfer robot (40) and the removal and placement device (20). [4] The storage system according to claim 3, wherein the transfer robot (40) determines a plurality of first travel paths for the transfer robot (40) on the support table surface according to the article transfer command; wherein the transfer robot (40) determines a first target travel path from the plurality of first travel paths based on a transfer efficiency of the target article; wherein the transfer robot (40) determines whether the first target travel path passes through the predetermined gap. [5] The storage system of claim 4, wherein determining a first target travel path from the plurality of first travel paths based on a transfer efficiency of the target article comprises: Determining the travel distance that the transfer robot (40) travels for each of the first travel paths from the current location to the docking position with the removal and placement device (20); Determine the first route with the shortest travel distance as the first target route. [6] The storage system of claim 4, wherein determining a first target travel path from the plurality of first travel paths based on a transfer efficiency of the target article comprises: Determining whether other transfer robots (40) are blocking on each of the first travel paths; Determining the first travel paths without blocking by other transfer robots (40) as the first target travel path. [7] The storage system of claim 4, wherein determining a first target travel path from the plurality of first travel paths based on a transfer efficiency of the target article comprises: Determining a travel distance that the transfer robot (40) travels on each of the first travel paths from the current position to the docking position with the removal and placement device (20); Determining whether other transfer robots (40) block the path on the shortest of these first travel paths; Determining whether other transfer robots (40) block the path on the next shortest of the remaining first travel paths until a first travel path with the shortest travel distance without blocking by other transfer robots (40) is determined as the first target travel path if other transfer robots (40) block the path on the shortest of these first travel paths. [8] Storage system according to claim 7, wherein determining whether other transfer robots (40) block the path on the next shortest of the remaining first travel paths until a first travel path with the shortest travel distance without blocking by other transfer robots (40) is determined as the first target travel path comprises: Determining whether the current transfer robot (40) and other transfer robots (40) on the first travel path meet at intersection points of the first travel paths if other transfer robots (40) block the path on the shortest of these first travel paths; Determining whether other transfer robots (40) block the path on the next shortest of the remaining first travel paths until a first travel path with the shortest walking distance without blocking by other transfer robots (40) is determined as the first target travel path if the current transfer robot (40) and other transfer robots (40) meet on the first travel path at intersection points of the first travel paths. [9] Storage system according to any one of claims 3-8, further comprising: an intermediate storage location (120); wherein the picking and placing device (20) moves in the transverse direction of the carrier (10) to move the picking and placing element (210) in the transverse direction, and the picking and placing element (210) moves in the longitudinal direction to couple with the intermediate storage location (120), wherein the target article is transferred between the intermediate storage location (120) and the picking and placing element (210); and wherein the transfer robot (40) is configured to couple to the intermediate storage location (120) to transfer the target article. [10] The storage system according to claim 9, wherein, when the temporary storage location (120) is located on the underside of the carrier (10) and the first travel path passes through the predetermined gap (301), the transfer robot (40) is configured to travel through the predetermined gap (301) to the temporary storage location (120) to transfer the target article. [11] Storage system according to claim 10, wherein: after completion of the exchange of the target article between the transfer robot (40) and the intermediate storage location (120), a second travel distance between the transfer robot (40) and the position to be transferred is determined; and wherein the transfer robot (40) moves through the predetermined gap (301) into the aisle and travels along the second travel path to the position to be transferred when the second travel path passes through the predetermined gap (301). [12] The storage system of claim 9, wherein the pick and place element (210) is configured to couple the temporary storage location (120) on one side of the aisle and the carrier (10) on the other side of the aisle to transfer the target article between the temporary storage location (120) on one side of the aisle and the carrier (10) on the other side of the aisle. [13] Storage system according to claim 1, wherein the support table surface is provided with a support column (310), and the support element (30) is supported on a second portion of the support column (310) remote from the support table surface. [14] A storage system according to claim 13, wherein a plurality of said support columns (310) are provided which are arranged at intervals along the transverse direction of the carrier (10). [15] The storage system according to claim 14, wherein the carrier (10) has a support column (130) supported on the support table surface, wherein a plurality of the support columns (130) are arranged at intervals along the transverse direction of the carrier (10); and wherein, in a first direction, the support columns (310) are arranged opposite the support columns (130), wherein the transfer robot (40) is configured to travel through the predetermined gap (301) in the first direction. [16] The storage system according to claim 13, wherein, when the target article is placed on the transfer robot (40) and the transfer robot (40) is lowered to the lowest position, the target article and the transfer robot (40) have a first height relative to the support table surface, and the support column (310) has a second height greater than the first height such that the predetermined gap (301) is higher than the first height. [17] Storage system according to one of claims 1-8, wherein a pull rod (320) is provided between the support element (30) and the carrier (10), which pull rod is designed to determine the distance of the support element (30) relative to the carrier (10). [18] Storage system according to one of claims 1 to 8, wherein the removal and placement device (20) has a first drive assembly (220) which cooperates with the support element (30) to move the removal and placement device (20) in the transverse direction of the carrier (10). [19] A storage system according to claim 18, wherein the first drive assembly (220) comprises: • a first drive element (221) arranged at one end of the removal and placement device (20) near the support element (30); • a first drive wheel (222) drivingly connected to the first drive member (221) and driven by the first drive member (221) to rotate along the support member (30). [20] A bearing system according to claim 19, wherein either the first drive wheel (222) or the support member (30) has a guide structure (302), and the other of the two cooperates with the guide structure (302) to guide the direction of movement of the first drive wheel (222). [21] Storage system according to claim 20, wherein the guide structure (302) comprises a first guide recess (3021) arranged on a side of the support element (30) facing the first drive wheel (222), wherein at least a part of the first drive wheel (222) engages in the first guide recess (3021). [22] A storage system according to claim 21, wherein the first guide recess (3021) has a first side wall and a second side wall in the axial direction of the first drive wheel (222), and the distance between the first and second side walls is greater than the axial dimension of the first drive wheel (222), so that a gap is present between the first drive wheel (222) and both the first and second side walls; the removal and placement device (20) has a guide wheel (224) whose circumferential surface abuts against at least one of the first or second side walls. [23] Storage system according to claim 22, wherein a plurality of guide wheels (224) are provided, which are arranged next to one another along the extension direction of the first guide recess (3021). [24] A bearing system according to claim 20, wherein the guide structure (302) comprises a second guide recess (3022) arranged on the circumferential surface of the first drive wheel (222); and wherein the support element (30) has, on a side facing the first drive wheel (222), a guide projection (303) which engages in the second guide recess (3022). [25] Bearing system according to claim 24, wherein the second guide recess (3022) is a V-shaped groove, and the cross section of the support element (30) is conical, wherein a side of the support element (30) facing the first drive wheel (222) is designed as a guide projection (303). [26] Storage system according to claim 18, wherein a second drive element is provided at an end of the support element (30) facing away from the removal and placement device (20), and an auxiliary rail (50) is arranged on a side of the carrier (10) facing the support element (30), wherein the extension direction of the auxiliary rail (50) coincides with that of the support element (30); and wherein the second drive element cooperates with the auxiliary rail (50) to move the end of the removal and placement device (20) facing away from the support element (30) synchronously with the end of the removal and placement device (20) facing the support element (30). [27] Storage system according to one of claims 1 to 8, wherein the removal and placement device comprises: • a base (211) with a receiving area (2111) having an inlet and outlet (2112) configured to introduce and remove the target article into the receiving area (2111); • a movement unit (212) arranged on the base (211); • a removal element (213) arranged on the base (211) and moved by the movement unit (212) in a first direction relative to the base (211) to engage the target article. [28] Storage system according to claim 27, wherein the removal element (213) is arranged on the moving unit (212) so as to be rotatable about a first rotation axis and is rotated relative to the moving unit (212) to switch between a docking and an avoidance status of the target article; wherein in the docking state, the removal element (213) is connected or not connected to a load structure of the target article; and wherein in this avoidance status, the removal element (213) avoids the space in which the target article is located or avoids the space through which the target article passes. [29] A storage system according to claim 28, wherein the removal and placement device further comprises: a first sensor (214) configured to detect a distance between the sampling element (213) and a target object; wherein, in the event that the first sensor (214) detects that the distance between the first rotation axis and the target article is a first predetermined distance, the removal element (213) is rotated with respect to the moving mechanism (212) into the docking state to connect to the load structure on the target article, or the removal element (213) is rotated with respect to the moving mechanism (212) into the avoidance state to detach the removal element (213) from the load structure. [30] The storage system of claim 27, wherein the base (211) is provided with a third drive assembly (2113), the third drive assembly (2113) being drivingly connected to the movement mechanism (212), the third drive assembly (2113) being configured to drive the movement mechanism (212) in the first direction relative to the base (211). [31] A storage system according to claim 30, wherein the third drive assembly (2113) comprises: a fourth drive element (2113a); a transmission element (2113b) extending in said first direction, wherein the transmission element (2113b) is connected to the movement mechanism (212), and said fourth drive element (2113a) cooperates with said transmission element (2113b) to drive said movement mechanism (212). [32] A storage system according to claim 31, wherein the fourth drive element (2113a) is provided on the base (211); wherein the drive element (2113b) comprises: a screw provided in the base (211) in the first direction, the screw being connected to the fourth drive element (2113a); a screw nut attached to the outer circumference of the screw, the screw nut being connected to the moving mechanism (212) and driving the moving mechanism (212) in the first direction when the fourth driving element (2113a) drives the screw to rotate. [33] A storage system according to claim 31, wherein the fourth drive element (2113a) is provided on the base (211); wherein the drive element (2113b) comprises: a drive wheel connected to the fourth drive element (2113a); a drive belt wound around the drive gear, the drive belt being arranged in the first direction, the drive belt being connected to the moving mechanism (212); the fourth drive element (2113a) driving the drive belt through the drive gear to move the moving mechanism (212) in the first direction. [34] A storage system according to claim 31, wherein the fourth drive element (2113a) is provided in the movement mechanism (212); wherein the drive element (2113b) comprises: a transmission element provided in the base (211) in said first direction; an engagement gear engaged with the drive member, the engagement gear being drivingly connected to the fourth drive member (2113a); the fourth drive member (2113a) driving the engagement gear for rotation, the engagement gear moving along the drive member to move the moving mechanism (212) in the first direction. [35] A storage system according to claim 31, wherein the base (211) is provided with a carriage (2114) extending in the first direction; wherein the movement mechanism (212) comprises: a slider (2124) slidably mounted on the slider (2114); a third mounting bracket (2125) arranged on the slider (2124); wherein the fourth drive element (2113a) is arranged on the third mounting bracket (2125). [36] A storage system according to claim 29, wherein the base (211) is provided with a conveyor mechanism (2115), the conveyor mechanism (2115) extending in the first direction; where, in the event that the removal element (213) drives the target article from the inlet and outlet (2112) into the carrying area (2111) and moves to a predetermined position, the removal element (213) releases its cooperation with the target article and the conveying mechanism (2115) drives the target article to move further toward the carrying area (2111); or in the event that the conveying mechanism (2115) moves the target article from the carrying area (2111) toward the inlet and outlet (2112) to a predetermined position, the removal element (213) cooperates with the target article and pushes the target article to move further toward the inlet and outlet (2112). [37] A storage system according to claim 36, wherein two conveyor mechanisms (2115) are provided which are spaced apart from each other along a second direction which intersects the first direction. [38] A storage system according to claim 36, wherein the base (211) is provided with a second sensor (2116) configured to detect the position of the target article in the support area (2111) to determine whether the target article has arrived at the predetermined position. [39] The storage system according to claim 38, wherein the second sensor (2116) comprises a first counter-reflection sensor; wherein the first signal transmitting element (2116a) of the first counter-reflection sensor is arranged on one of the sides of the support area (2111), wherein the first signal receiving element (2116b) of the first counter-reflection sensor is arranged on the other side of the support area (2111), wherein the signal transmission path of the first counter-projection sensor intersects the movement direction of the target article in the support area (2111); where, in the event that the target article moves from the inlet and outlet (2112) toward the carrying area (2111) and the first signal receiving element (2116b) does not receive a signal from the first signal transmitting element (2116a), it is determined that the target article has moved to a predetermined position and that the removal element (213) is released from its cooperation with the loading structure; in the event that the target article moves from the carrying area (2111) towards the inlet and outlet (2112) and the first signal receiving element (2116b) receives a signal from the first signal transmitting element (2116a), it is determined that the target article has moved to a predetermined position and that the removal element (213) cooperates with the loading structure. [40] A storage system according to claim 38, wherein the second sensor (2116) is located in the center of the support area (2111) along the first direction. [41] A storage system according to claim 38, wherein the base (211) is provided with a third sensor (2117) provided at the inlet and outlet (2112) and configured to detect the presence of the target article at the inlet and outlet (2112); wherein, upon the presence of the target article in the inlet and outlet (2112), the extraction element (213) is released from cooperation with the load structure according to the predetermined position determined by the second sensor (2116), or the extraction element (213) is cooperated with the load structure according to the predetermined position determined by the second sensor (2116). [42] The storage system according to claim 41, wherein the third sensor (2117) comprises a second counter-reflection sensor, wherein the second signal transmitting element (2117a) of the second counter-reflection sensor is arranged on one of the sides of the loading area (2111) and the second signal receiving element (2117b) of the second counter-reflection sensor is arranged on the other side of the loading area (2111), wherein the signal transmission path of the second counter-reflection sensor intersects with the moving direction of the target article in the inlet and outlet (2112); and wherein, in the event that the second signal receiving element (2117b) does not receive a signal from the second signal transmitting element (2117a), it is determined that the target article is present at the inlet and outlet (2112). [43] A storage system according to claim 29, wherein the movement mechanism (212) is provided with a second mounting bracket (2121) rotatably mounted on the movement mechanism (212) about a second rotation axis, wherein the removal element (213) and the first sensor (214) are arranged on the second mounting bracket (2121); wherein the second rotation axis extends in a different direction than the first rotation axis. [44] The storage system of claim 43, wherein the inlet and outlet (2112) comprises a first inlet and outlet (2112a) and a second inlet and outlet (2112b) disposed opposite each other along the first direction; wherein the second mounting bracket (2121) rotates about the second rotation axis relative to the moving mechanism (212) to drive the sampling element (213) and the first sensor (214) to either the first inlet and outlet (2112a) or the second inlet and outlet (2112b). [45] The storage system of claim 43, wherein the second mounting bracket (2121) is provided with a second drive member (2122) drivably coupled to the removal member (213), the second drive member (2122) being configured to drive the removal member (213) to rotate about the first rotational axis relative to the moving mechanism (212). [46] The storage system according to claim 43, wherein the moving mechanism (212) is provided with a third drive element (2123) drivably coupled to the second mounting bracket (2121), the third drive element (2123) being configured to drive the second mounting bracket (2121) to rotate about the second rotation axis relative to the moving mechanism (212) to drive the removal element (213) to rotate relative to the moving mechanism (212). [47] The storage system according to claim 44, wherein the moving mechanism (212) is provided with a limiting element (2126) arranged on a rotational path of the second mounting bracket (2121) about the second rotation axis; wherein the limiting element (2126) is configured to limit the angle of rotation of the second mounting bracket (2121) relative to the moving mechanism (212) at a rotational angle to position the removal element (213) toward the first inlet and outlet (2112a) or to position the removal element (213) toward the second inlet and outlet (2112b). [48] ​​A storage system according to any one of claims 28-42, wherein the base (211) is provided with a fourth sensor (2118) provided at the inlet and outlet (2112), the fourth sensor (2118) being configured to detect the presence of a target article on the carrier. [49] A storage system according to any one of claims 28-42, wherein the picking and placing device further comprises a column (220) provided in a vertical direction; wherein the base (211) is movably arranged on the column (230), the base (211) being movable in the direction of extension of the column (230) relative to the column (230); and wherein the base (211) is further provided with a fifth sensor (2119) configured to detect a positioning mark on the carrier (10) to locate the position of the base (211) moving along the carrier (10).

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