Container retrieval and transport assembly, loading and unloading equipment, picking system, logistics sorting system, and container retrieval and transport method.

Abstract

The present disclosure relates to a container take-out transport assembly, a loading / unloading device, a picking system, and a container take-out transport method. The container take-out transport assembly includes a base (1), and the base (1) includes a bearing assembly (2) for bearing a container storage space, a take-out placement assembly (3) configured to load a container onto the bearing assembly (2) or push a container on the bearing assembly (2), a motion assembly (4) connected to the take-out placement assembly (3) for moving the take-out placement assembly (3) along a first motion trajectory and a second motion trajectory, and a drive assembly (5) for driving the motion assembly (4) along the first motion trajectory and the second motion trajectory. Since the take-out placement assembly (3) can move up to the second motion trajectory without occupying the space of the bearing assembly (2), the container take-out transport assembly has a more compact structure and can be adapted to a narrow working space.

Description

Technical Field

[0001] (Cross-reference to Related Applications) This application claims priority to a Chinese patent application filed with the Chinese Patent Office on October 15, 2021, with an application number of 202111205928.X and an invention title of "Container Retrieval and Conveying Assembly, Loading and Unloading Device, Picking System, and Container Retrieval and Conveying Method", a Chinese patent application filed with the Chinese Patent Office on October 15, 2021, with an application number of 202122497170.3 and an invention title of "Container Retrieval and Conveying Assembly, Loading and Unloading Device, and Picking System", a Chinese patent application filed with the Chinese Patent Office on October 15, 2021, with an application number of 202111205501.X and an invention title of "Transfer Device and Logistics Sorting System", and a Chinese patent application filed with the Chinese Patent Office on October 15, 2021, with an application number of 202122495320.7 and an invention title of "Transfer Device and Logistics Sorting System", the entire contents of which are incorporated herein by reference.

[0002] The present disclosure relates to the field of logistics, and more specifically, to a container retrieval and conveying assembly. Further, the present invention relates to a loading and unloading device, a picking system, a logistics sorting system, and a container retrieval and conveying method provided with the container retrieval and conveying assembly.

Background Art

[0003] Currently, automated warehouse storage systems are being applied in various fields of civilian and industrial warehouse storage. Instead of manually picking and transporting goods on the racks, they travel through the aisles between the racks by means of transportation equipment such as stackers. In centralized warehouse storage systems, since the racks are arranged compactly with a high density, it is difficult for current transportation equipment to adapt to the narrow aisle space between the racks and thus cannot be used in centralized warehouse storage systems.

Summary of the Invention

[0004] This disclosure provides a container unloading and transport assembly, loading and unloading equipment, a picking system, a logistics sorting system, and a container unloading and transport method to solve problems existing in the prior art.

[0005] According to the first aspect of this disclosure, the base comprises a bearing assembly, a take-out mounting assembly, and a motion assembly located on the base. The bearing assembly is configured to bear the container, and the bearing assembly has a housing space for housing the container. The removal and placement assembly is configured to either remove the container from the first target position and load it onto the bearing assembly, or to unload the container from the bearing assembly and place it on the second target position. The motion assembly is configured to move the removal and placement assembly along a first motion trajectory and a second motion trajectory. Within the first motion trajectory, the motion assembly is configured to move the unloading and loading assembly within the housing space of the bearing assembly in order to load and unload containers. Within a second motion trajectory, the motion assembly provides a container removal and transport assembly configured to move the removal and placement assembly away from the bearing assembly's dwelling space so that the container enters the dwelling space and is bearing onto the bearing assembly.

[0006] In one embodiment of the present disclosure, the motion assembly comprises a guide mechanism and a sliding mechanism, the guide mechanism comprising a first guide portion and a second guide portion in communication with each other, and the sliding mechanism being configured to move along the first guide portion and the second guide portion. The first guide section and the second guide section each limit the first and second motion trajectories of the sliding mechanism.

[0007] In one embodiment of the present disclosure, the first guide portion is configured to extend linearly in the horizontal direction, and the second guide portion is located in a direction different from that of the first guide portion. The sliding mechanism is configured such that, while moving along the first guide portion, the removal and mounting assembly moves linearly within the housing space of the bearing assembly. The sliding mechanism is configured such that, as it moves along the first guide portion to the second guide portion, the removal and mounting assembly moves gradually away from the housing space of the bearing assembly.

[0008] In one embodiment of the present disclosure, when the sliding mechanism moves to a predetermined position along the second guide portion, the removal and mounting assembly moves to one side of the bearing assembly. death It is configured to avoid the space required to house the bearing assembly.

[0009] In one embodiment of the present disclosure, the second guide portion is configured to be located above the first guide portion, and as the motion assembly moves along the second guide portion to a predetermined position, the take-out mounting assembly moves above the bearing assembly. death It is configured to avoid the space required to house the bearing assembly.

[0010] In one embodiment of the present disclosure, the second guide portion is configured to be located below the first guide portion, and as the motion assembly moves to a predetermined position along the second guide portion, the take-out mounting assembly moves below the bearing assembly. death It is configured to avoid the space required to house the bearing assembly.

[0011] In one embodiment of the present disclosure, the motion assembly is configured to move along the second guide portion until the removal and mounting assembly is lower than the bearing surface of the bearing assembly.

[0012] In one embodiment of the present disclosure, the first guide portion and the second guide portion are guide grooves provided in the guide mechanism, and the second guide portion is configured to extend diagonally downward from the tip of the first guide portion.

[0013] In one embodiment of the present disclosure, the first guide portion and the second guide portion are located on the same plane, and the sliding mechanism is A stationary part controlled by a drive assembly to move linearly along a direction parallel to the plane in which the first guide part and the second guide part are located, It comprises a sliding portion that is slidably coupled to the fixed portion and guidingly coupled to a first guide portion and a second guide portion, The aforementioned removal and mounting assembly is provided on the sliding portion.

[0014] In one embodiment of the present disclosure, the drive assembly is a belt-pulley structure, and the fixed portion is connected to the power transmission belt of the belt-pulley structure.

[0015] In one embodiment of the present disclosure, the guide mechanism is provided with a guide rod that is guidably coupled to a fixed portion, and the fixed portion is configured to move linearly along the extension direction of the guide rod by driving a power transmission belt.

[0016] In one embodiment of the present disclosure, the guide mechanism is For bearing assemblies Vertical Distributed to It is equipped with a guide plate, the upper end surface of the guide plate being lower than the bearing surface in the bearing assembly.

[0017] In one embodiment of the present disclosure, the removal and placement assembly comprises a suction cup mechanism configured to connect with the end face of the container.

[0018] In one embodiment of the present disclosure, the removal and placement assembly includes a fixed base, and a cushioning device is provided between the suction cup mechanism and the fixed base.

[0019] One embodiment of the present disclosure further comprises a detection device configured such that, when a container is detected, the removal and placement assembly places the container on a bearing assembly.

[0020] In one embodiment of the present disclosure, when the detection device detects a container, the movement assembly is at a position where the first movement trajectory and the second movement trajectory communicate with each other.

[0021] In one embodiment of the present disclosure, it further includes a positioning system provided on the base, and the positioning system is arranged to measure the relative position between the container taking-out and conveying assembly and the rack.

[0022] In one embodiment of the present disclosure, the positioning system is a visual scanning module, a laser scanning module or an infrared scanning module.

[0023] In one embodiment of the present disclosure, a support frame is provided on the base, and the positioning system is located on the support frame.

[0024] In one embodiment of the present disclosure, the first target position and the second target position are the same position or different positions.

[0025] In one embodiment of the present disclosure, the container taking-out and conveying assembly has a first opening end and a second opening end, and the bearing assembly is a transport belt configured to drive the container to move to the first opening end or the second opening end of the container taking-out and conveying assembly.

[0026] In one embodiment of the present disclosure, two transport belts are provided, and the two transport belts are at the edge positions of the container taking-out and conveying assembly at intervals, and a space for the take-out placement assembly to move below the transport belts is formed between the two transport belts.

[0027] In one embodiment of the present disclosure, the transport belt is provided on the base, and anti-falling ribs configured to limit the container on the transport belt are provided on both sides of the base.

[0028] In one embodiment of the present disclosure, the base is further provided with a calibration guide mechanism positioned to guide the container on the transport belt to the center of the container removal and transport assembly.

[0029] In one embodiment of the present disclosure, the fall prevention rib extends from a first open end to a second open end of the container removal and transport assembly, and the fall prevention rib extends inward in an intermediate region between the first and second open ends to form the calibration guide mechanism.

[0030] In one embodiment of the present disclosure, the bearing assembly further comprises a receiving end, a sending end, and a transport platform having a transport table surface between both ends, wherein the transport platform is arranged to move objects to be sorted from the receiving end to the sending end via the transport table surface. The aforementioned removal and placement assembly further comprises a gripping mechanism positioned to move the sorting object, which is located outside the transport table surface, to the transport table surface while gripping it. The motion assembly further includes an avoidance mechanism that is positioned to control the height of the gripping mechanism so that the highest position of the gripping mechanism is lower than the conveying table surface of the conveying platform, in order to enable the sorting object to move from the receiving end to the discharging end via the conveying table surface.

[0031] In one embodiment of the present disclosure, the transport platform comprises a pair of transport belts symmetrically mounted on the base, the transport surfaces of the transport belts constitute the transport table surface, there is a clearance space between the pair of transport belts, and the gripping mechanism is located within the clearance space.

[0032] In one embodiment of the present disclosure, the gripping mechanism comprises a guide mechanism whose guide trajectory connects the receiving end and the dispensing end, and a suction cup mechanism which is mounted on the guide mechanism so as to be guided along the guide trajectory and is arranged to move the sorting object along the guide trajectory.

[0033] In one embodiment of the present disclosure, the avoidance mechanism comprises a lifter provided on the base, the guide mechanism having a fixed end toward the receiving end and a movable end toward the discharging end, the fixed end being hinged to the base and lower than the transport table surface, the lifter being controllably connected to the movable end, and the lifter being positioned to controllably lower the height of the movable end so that the gripping mechanism can be lowered below the transport table surface.

[0034] In one embodiment of the present disclosure, the lifter comprises a telescopic rod hinged to the base, and a transmission link, one end of which is hinged to the telescopic end of the telescopic rod and the other end of which is hinged to the movable end.

[0035] In one embodiment of the present disclosure, the lifter further comprises a support link, one end of which is hinged to the base and the other end of which is hinged to the telescopic end of the telescopic rod.

[0036] In one embodiment of the present disclosure, the avoidance mechanism comprises a second guide portion connected to the guide mechanism, the extension trajectory of the second guide portion having one end connected to the guide trajectory of the guide mechanism and the other end extending below the transport table surface, in order to allow the gripping mechanism to move along the extension trajectory and become lower than the transport table surface.

[0037] According to a second aspect of this disclosure, the present invention further provides a loading and unloading device comprising a frame on which the above-described container unloading and transporting assembly is provided, wherein the container unloading and transporting assembly is positioned to move the frame.

[0038] In one embodiment of the present disclosure, the frame comprises an X-axis trajectory and a Y-axis trajectory whose directions are perpendicular to each other, the Y-axis trajectory is configured to move along the X-axis trajectory, and the container removal and transport assembly is configured to move along the Y-axis trajectory. The motion assembly is configured to move the unloading and loading assembly along the Z-axis direction within a first motion trajectory to load the container onto the bearing assembly.

[0039] In one embodiment of the present disclosure, the frame comprises a door frame assembly, the X-axis track comprises a ground rail structure and a sky rail structure provided on the door frame assembly, and both ends of the Y-axis track are guideably coupled to the ground rail structure and the sky rail structure, respectively.

[0040] In one embodiment of the present disclosure, at least two Y-axis tracks are provided, and at least one of the container removal and transport assemblies is provided on each Y-axis track.

[0041] According to the third aspect of this disclosure, A workstation area with a picking station, A rack docking area configured to dock racks, The picking system further includes the above-described loading and unloading device configured to transport containers between a workstation area and racks.

[0042] In one embodiment of the present disclosure, the workstation area further includes a transport line for receiving containers transported from a container retrieval and transport assembly, or for transporting containers in the transport line to a container retrieval and transport assembly.

[0043] According to the fourth aspect of this disclosure, The above container removal and transport assembly, A rack with several grids for temporarily storing items to be sorted, A positioning device is drivably connected to the container retrieval and transport assembly and is positioned to drive the container retrieval and transport assembly to a position aligned with the grid so that it can receive sorting objects transferred from the grid. The present invention further provides a logistics sorting system comprising a circulating device arranged to be coupled with the container retrieval and transport assembly and used to receive the items to be sorted.

[0044] In one embodiment of the present disclosure, the alignment device is a robotic arm drivably connected to the container removal and transport assembly. Alternatively, the system comprises a horizontal track having a horizontal guide trajectory, a vertical track movably mounted on the horizontal track along the horizontal guide trajectory, perpendicular to the horizontal track, and having a vertical guide trajectory, and a movable member movably mounted on the vertical track along the vertical guide trajectory and connected to the container removal and transport assembly.

[0045] According to Aspect 5 of this Disclosure, a method for retrieving a container by the picking system described above, Step S1000 involves the loading / unloading device driving the container removal and transport assembly to move it to the target position, Step S2000 involves controlling the motion assembly to move in a first motion trajectory, and moving the take-out and load assembly to load the container at the target position of the rack onto the bearing assembly, Step S3000 involves controlling the motion assembly to move in a second motion trajectory by the drive assembly, and moving the take-out mounting assembly to avoid the housing space of the bearing assembly, The present invention further provides a method for removing a container, which includes step S4000, of driving the container on a bearing assembly to move it to a workstation area.

[0046] In one embodiment of the present disclosure, step S1000 is, Step S1100 involves the loading / unloading device driving the container retrieval and transport assembly to move it to the target position according to coordinates pre-stored within the system, The process includes step S1200, in which a positioning system acquires position information marked on the rack, and the loading / unloading device adjusts the position of the container unloading and transporting assembly based on the acquired positional deviation.

[0047] In one embodiment of the present disclosure, step S2000 is: Step S2100 involves controlling the motion assembly to move to a first position in a first motion trajectory, and moving the take-out and load assembly to pull out and load the container at the target position on the rack, Step S2200 involves controlling the motion assembly to move in the direction of a second position in a first motion trajectory, and moving the stacked container in the direction of the bearing assembly's storage space, Step S2300 includes, when the detection device detects that the container has reached a second position, the removal and mounting assembly releases the container and supports the container on the bearing assembly.

[0048] In one embodiment of the present disclosure, in step S3000, the motion assembly is controlled by the drive assembly to move to a third position in a second motion trajectory, and the take-out mounting assembly moves below the bearing assembly, avoiding the housing space of the bearing assembly.

[0049] According to the sixth aspect of this disclosure, a container transport method carried out by the picking system described above, Step S1000 involves transporting a container in the workstation area to the bearing assembly of the container unloading and transporting assembly, Step S2000 involves the loading / unloading device driving the container removal and transport assembly to move it to the target position, Step S3000 involves driving the container on the bearing assembly to move it to a preset position, then controlling the motion assembly to move along a second motion trajectory to a first motion trajectory, and moving the removal and mounting assembly to enter the housing space of the bearing assembly, The present invention further provides a container transport method including step S4000, in which a drive assembly controls a motion assembly to move within a first motion trajectory, causing a take-out and place assembly to push and store a container on a bearing assembly to a target position on a rack.

[0050] One beneficial effect of this disclosure is that, in a first motion trajectory, the motion assembly moves the take-out and loading assembly to move within the housing space of the bearing assembly, thereby loading and unloading containers; and in a second motion trajectory, the motion assembly moves the take-out and loading assembly away from the housing space of the bearing assembly, so that the containers are housed within or move within the housing space. In the container take-out and transport assembly of this disclosure, since the take-out and loading assembly does not occupy the space of the bearing assembly, the container take-out and transport assembly has a more compact structure and can be adapted to narrow workspaces.

[0051] Other features and advantages of the present disclosure will become apparent by describing exemplary embodiments of the present disclosure in detail below with reference to the attached drawings. [Brief explanation of the drawing]

[0052] The drawings incorporated herein and forming part of the specification illustrate embodiments of the disclosure and are used together with their description to interpret the principles of the disclosure.

[0053] [Figure 1] This is a schematic diagram of the overall structure of a container removal and transport assembly provided in one embodiment of the present disclosure. [Figure 2]This is a schematic diagram of the structure of the motion assembly and drive assembly of a container retrieval and transport assembly provided in one embodiment of the present disclosure. [Figure 3] This is a schematic diagram of the structure of the container removal and transport assembly and the motion assembly of a container removal and transport assembly provided in one embodiment of the present disclosure. [Figure 4] This is a schematic diagram showing the case where the container removal and transport assembly provided in one embodiment of the present disclosure is located on a first motion trajectory. [Figure 5] This is a schematic diagram showing the case where the container removal and transport assembly provided in one embodiment of the present disclosure is located on a second motion trajectory. [Figure 6] This is a schematic diagram of the overall structure of a loading and unloading device provided in one embodiment of the present disclosure. [Figure 7] This is a schematic diagram illustrating the principle of a picking system provided in one embodiment of the present disclosure. [Figure 8] This is a schematic diagram illustrating the principle of a container removal method provided in one embodiment of the present disclosure. [Figure 9] This is a schematic diagram illustrating the principle of a container transport method provided in one embodiment of the present disclosure. [Figure 10] This is a front view of a container removal and transport assembly in a non-avoidance state, provided in one embodiment of the present disclosure. [Figure 11] Figure 10 is a perspective view of the container removal and transport assembly in a non-avoidance state. [Figure 12] Figure 10 is a front view of the container removal and transport assembly in its non-avoided state. [Figure 13] Figure 10 shows a perspective view of the non-avoidable state of a partial structure of the container removal and transport assembly. [Figure 14] This is a front view of the container removal and transport assembly in an avoidance state, as provided in one embodiment of the present disclosure. [Figure 15] Figure 14 is a perspective view of the container removal and transport assembly in its avoidance state. [Figure 16] Figure 14 is a front view of the avoidance state of a partial structure of the container removal and transport assembly. [Figure 17] Figure 14 is a perspective view of the avoidance state of a partial structure of the container removal and transport assembly. [Figure 18] This is a front view of the container removal and transport assembly in an avoidance state, as provided in another embodiment of the present disclosure. [Figure 19] Figure 18 shows a perspective view of the container removal and transport assembly in its avoidance state. [Figure 20] This is a front view of a logistics sorting system provided in one embodiment of the present disclosure. [Figure 21] Figure 20 is a side view of the logistics sorting system. [Figure 22] Figure 20 shows a perspective view of the logistics sorting system. [Figure 23] This is a front view of a first state of a logistics sorting system provided in another embodiment of the present disclosure. [Figure 24] Figure 23 is a perspective view of the first state of the logistics sorting system. [Figure 25] This is a front view of a second state of a logistics sorting system provided in another embodiment of the present disclosure. [Figure 26] Figure 25 is a perspective view of the second state of the logistics sorting system. [Figure 27] This is a perspective view of a frame provided in one embodiment of the present disclosure. [Figure 28] This is a perspective view of a rack provided in one embodiment of the present disclosure. [Modes for carrying out the invention]

[0054] Herein, exemplary embodiments of the present disclosure will be described in detail with reference to the attached drawings. It should be noted that, unless otherwise specified, the relative arrangements of components and steps, formulas, and numerical values ​​described in these embodiments do not limit the scope of the present disclosure.

[0055] The following description relating to at least one exemplary embodiment is for practical interpretation purposes only and is by no means a limitation on the disclosure or its applications or uses.

[0056] Techniques, methods, and apparatus known to those skilled in the art may not be discussed in detail, but such techniques, methods, and apparatus should be considered as part of the specification where appropriate.

[0057] In all examples shown and discussed herein, any specific values ​​should be interpreted as illustrative only and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0058] In the following diagrams, similar numbers and letters represent similar items, so it should be noted that once an item is defined in one diagram, it does not need to be further explained in subsequent diagrams.

[0059] Specific embodiments of this disclosure will be described below with reference to the drawings.

[0060] In this specification, terms such as "top," "bottom," "front," "back," "left," and "right" are merely used to indicate the relative positional relationship between related parts and do not limit the absolute position of these related parts.

[0061] In this specification, terms such as "First," "Second," etc., are used merely to distinguish between them and do not indicate importance, order, or prerequisites for each other's existence.

[0062] In this specification, “equal,” “same,” etc., are not strictly limited to the mathematical and / or geometric sense, but also include tolerances that are understandable to those skilled in the art and that may occur in manufacturing or use.

[0063] Unless otherwise specified, numerical ranges in this specification include not only the entire range within its two endpoints, but also any subranges contained therein.

[0064] This disclosure provides a container retrieval and transport assembly applicable to loading and unloading equipment for transporting containers between different target locations. The container retrieval and transport assembly mainly comprises a base, the base is provided with a bearing assembly and a retrieval and placement assembly, the bearing assembly is for bearing the container and has a storage space for housing the container. The removal and mounting assembly is The purpose is to remove a container from a first target position and load it onto the bearing assembly, or to unload a container from the bearing assembly and place it on a second target position. In this disclosure, a container is primarily used for loading cargo in logistics and includes, but is not limited to, material boxes, pallets, packaging boxes, etc.

[0065] The motion trajectory of the take-out and loading assembly includes a first motion trajectory and a second motion trajectory, and the container take-out and transport assembly further comprises a motion assembly connected to the take-out and loading assembly that moves the take-out and loading assembly in the first and second motion trajectories, and a drive assembly that drives the motion assembly to move.

[0066] When the drive assembly drives the motion assembly to move within a first motion trajectory, the motion assembly is configured to move the take-out and load assembly within the housing space of the bearing assembly, and to load the container at a first target position onto the bearing assembly by reciprocating motion such as pulling it out or retracting it, or to unload the container from the bearing assembly and place it at a second target position.

[0067] Here, the first target location and the second target location may be corresponding container locations on the rack. The first target location and the second target location may be the same container location or different container locations; there is no limitation on this.

[0068] As the drive assembly drives the motion assembly to move within a second motion trajectory, the motion assembly is configured to move the take-out mounting assembly away from the bearing assembly's housing space so that the container enters the bearing assembly's housing space and is bearing in the bearing assembly.

[0069] In the container unloading and transporting assembly of the present disclosure, in a first motion trajectory, the motion assembly moves the unloading and loading assembly to move within the housing space of the bearing assembly to load and unload containers, and in a second motion trajectory, the motion assembly moves the unloading and loading assembly away from the housing space of the bearing assembly so that the containers are housed within the housing space or can move within the housing space. In the container unloading and transporting assembly of the present disclosure, since the unloading and loading assembly does not occupy the space of the bearing assembly, the container unloading and transporting assembly has a more compact structure and can be adapted to narrow workspaces.

[0070] Example 1 Base 1 supports the container removal and transport assembly. As shown in Figure 1, Base 1 may be any structure, such as a plate or a frame, and may be provided at the bottom or around the bearing assembly 2. Those skilled in the art can select the structure and position of the base. In the specific embodiment of the container removal and transport assembly shown in Figure 1, Base 1 is a frame structure and may also be provided below the bearing assembly 2 to support it. The support assembly 2 is provided with a bearing surface for supporting containers, and above the bearing surface is a storage space for accommodating the containers.

[0071] In one embodiment, the motion assembly 4 includes a guide mechanism 41 and a sliding mechanism 42. As shown in Figures 3 to 6, the guide mechanism 41 includes a first guide portion 411 and a second guide portion 412 that are in communication with each other, and the first guide portion 411 and the second guide portion 412 define the first and second motion trajectories of the motion assembly, respectively. That is, the motion assembly can move along the extending direction of the first guide portion 411 and the second guide portion 412, and can also move along the first guide portion 411 until it connects with the second guide portion 412.

[0072] The sliding mechanism 42 is coupled to the guide mechanism 41, and the sliding mechanism 42 is configured to move along the first guide portion 411 and the second guide portion 412. The take-out and mounting assembly 3 is connected to the sliding mechanism 42, and as the sliding mechanism 42 moves along the first guide portion 411 and the second guide portion 412, it moves the take-out and mounting assembly 3 to move along the first and second motion trajectories.

[0073] In one specific embodiment of the present disclosure, the first guide portion 411 is configured to extend linearly in the horizontal direction, and the second guide portion 412 is located in a different direction from the first guide portion 412. The sliding mechanism 42 is configured such that, as it moves along the first guide portion 411, the take-out and loading assembly 3 moves linearly within the housing space of the bearing assembly 2. The moving assembly 4 can move the take-out and loading assembly 3 as it moves along the first guide portion 411 to load the container onto the bearing assembly 2 horizontally.

[0074] Furthermore, the motion assembly 4 is configured to move along the first guide portion 411 to the second guide portion 412, and then move gradually away from the housing space until the removal and mounting assembly 3 is located outside the housing space of the bearing assembly 2.

[0075] Specifically, as the take-out and mounting assembly 3 moves along the first motion trajectory, it is positioned above the bearing assembly 2 and moves along the extension direction of the bearing assembly 2. The take-out and mounting assembly 3 can move from the storage space above the bearing assembly 2 to exit the front end of the bearing assembly 2, thereby allowing it to load a container at a first target position in front of the bearing assembly 2. When the take-out and mounting assembly 3 moves in the reverse direction, it moves the loaded container to a position corresponding to the bearing assembly 2, thereby allowing the container to be placed on the bearing assembly 2.

[0076] Naturally, in other application scenarios, after the container is positioned in bearing assembly 2, the unloading and loading assembly 3 can lower the container to the second target position using the same motion method as described above.

[0077] Since the second guide portion 412 is positioned in a different direction from the first guide portion 411, as the motion assembly 4 moves along the second motion trajectory, the take-out and mounting assembly 3 can move away from the housing space of the bearing assembly 2 so as to gradually shift away from the bearing assembly 2, and thereafter the container can move completely onto the bearing assembly 2 or pass through the housing space of the bearing assembly 2.

[0078] In the guide mechanism 41, the second guide portion 412 is connected to the tip of the first guide portion 411 and is offset from the extension direction of the first guide portion 411 itself.

[0079] In one embodiment of the present disclosure, when the sliding mechanism 42 moves to a predetermined position along the second guide portion 412, the removal and mounting assembly 3 is configured to move to one side of the bearing assembly 2 so as to move away from the housing space of the bearing assembly 2. The “one side” at this position is one side of the bearing assembly 2 in the direction of extension. For example, in the plane of the paper of Figure 1, the bearing assembly 2 extends from left to right, and the “one side” at this position is the front or rear side of the bearing assembly 2.

[0080] In this embodiment, the first guide portion 411 may extend along the elongation direction of the bearing assembly, and the second guide portion may be located in the same horizontal plane as the first guide portion 411 and extend away from one side of the bearing assembly, or gradually away from one side.

[0081] In another embodiment of the present disclosure, the second guide portion 412 is configured to be located above the first guide portion 411, specifically, the first guide portion 411 extends linearly in the horizontal direction, and the second guide portion 412 extends diagonally upward relative to the first guide portion 411, forming an obtuse angle between the two guide portions. When the motion assembly 4 moves to a predetermined position along the second guide portion 412, the take-up and mount assembly 3 is configured to move above the bearing assembly 2 so as to move away from the housing space of the bearing assembly 2. In this case, the distance between the take-up and mount assembly 3, the motion assembly 4 and the bearing assembly 2 must be greater than the height of the housing space.

[0082] In another embodiment of the present disclosure, as shown in Figures 2 to 5, the second guide portion 412 is configured to be located below the first guide portion 411, specifically, the first guide portion 411 extends linearly in the horizontal direction, and the second guide portion 412 is located in the same vertical plane as the first guide portion 411 and extends diagonally downward relative to the first guide portion 411, forming an obtuse angle between the two guide portions. When the motion assembly 4 moves to a predetermined position along the second guide portion 412, the take-out mounting assembly 3 moves below the bearing assembly 2. death It is configured to avoid the space required for the bearing assembly 2.

[0083] In this embodiment, a gap or space may be provided in the central region of the bearing assembly 2 for the removal and mounting assembly 3 and the motion assembly 4 to pass through. When the motion assembly 4 moves the removal and mounting assembly 3 along the second motion trajectory, it can pass through the gap or space in the center of the bearing assembly 2 and move down to a level lower than the housing space.

[0084] The guiding system of this disclosure may be a conventional guiding structure such as a guide plate, guide rod, or track. The first and second guide sections may be slide grooves or guide holes provided in the guiding mechanism, or they may be two guide rods with opposite directions and connected ends. The above guiding mechanism is merely an example, and those skilled in the art will understand that all structures having two guide sections with opposite directions fall within the scope of protection of this disclosure.

[0085] In one specific embodiment of the present disclosure, as shown in Figures 2 and 4, the guide mechanism 41 is a guide plate, and the first guide portion 411 and the second guide portion 412 are guide grooves provided in the guide plate and communicating with each other, and the sliding mechanism 42 is guideably coupled to the guide grooves so as to be slidable along the guide grooves. The guide grooves may be provided on one side of the guide plate or on both opposing sides, or they may penetrate both sides of the guide plate to form through grooves. The guide plate is positioned longitudinally with respect to the bearing assembly, and the upper end surface of the guide plate is lower than the bearing surface of the bearing assembly 2 to avoid the housing space. The first guide portion 41 is configured as a guide groove extending horizontally, and the second guide portion 42 is configured as a guide groove extending diagonally downward from the tip of the first guide portion 411. When the sliding mechanism 42 moves the removal and mounting assembly 3 along the second guide portion 412, it passes through the gap or space in the center of the bearing assembly 2 and removes Installation The assembly can move until it leaves the housing space of the bearing assembly.

[0086] In one embodiment of the present disclosure, referring to Figures 3, 4, and 5, the sliding mechanism 42 comprises a fixed portion 421 and a sliding portion 422, the fixed portion 421 and the sliding portion 422 being slidably coupled so that the sliding portion 422 can slide relative to the fixed portion 421 by the action of an external force. The fixed portion 421 is controlled by a drive assembly 5, which provides a driving force to cause linear motion, and can drive the fixed portion 421 to move linearly along a direction parallel to the plane in which the first guide portion 411 and the second guide portion 412 are located. At the same time, the sliding portion 422 is guideably coupled within the first guide portion 411 and the second guide portion 412. The take-out and mounting assembly 3 is provided on the sliding portion 422, and the sliding portion 422 can move the take-out and mounting assembly 3 along the first guide portion 411 and the second guide portion 412. The second guide portion 412 extends diagonally to the first guide portion 411, and an obtuse angle is formed between it and the first guide portion 411.

[0087] The direction of relative motion between the fixed portion 421 and the sliding portion 422 may be perpendicular to the extension direction of the first guide portion 411. The drive assembly 5 can move the sliding portion 422 simultaneously by moving the fixed portion 421, and the direction of motion of the fixed portion 421 coincides with the extension direction of the first guide portion 411 but does not coincide with the extension direction of the second guide portion 412.

[0088] Referring to Figure 5, since the direction of motion of the fixed part 421 is different from the extension direction of the second guide part 412, when the drive assembly 5 drives the fixed part 421 to move linearly along the horizontal direction, the sliding part 422 moves gradually upward relative to the fixed part 421 due to the limiting action of the second guide part 412, thereby moving the take-out mounting assembly 3 upward so that it enters the housing space of the bearing assembly 2. When moving in the opposite direction, the take-out mounting assembly 3 moves away from the housing space of the bearing assembly 2.

[0089] Referring to Figure 4, after the sliding portion 422 has moved into the first guide portion 411, the direction of motion of the fixed portion 421 coincides with the extension direction of the first guide portion 411. Therefore, while the fixed portion 421 continues to move, there is no relative motion between the fixed portion 421 and the sliding portion 422. That is, both the fixed portion 421 and the sliding portion 422 move linearly in the horizontal direction, causing the sliding portion 422 to move the take-out mounting assembly 3 linearly within the housing space of the bearing assembly 2, thereby allowing the drive assembly 3 to be pulled out, and in the reverse direction, the take-out mounting assembly 3 to be retracted.

[0090] Both the fixed portion 421 and the sliding portion 422 may be block structures. In one specific embodiment, when viewed at the angles shown in Figures 2 to 5, the guide mechanism 41 is an upright guide plate, and the first guide portion 411 and the second guide portion 412 are elongated holes or through holes provided in the guide plate. Here, the first guide portion 411 extends linearly in the horizontal direction, and the second guide portion 412 extends diagonally downward relative to the first guide portion 411. The fixed portion 421 may include two clamping plates whose upper ends are connected, and a slide groove is provided between the two clamping plates of the fixed portion 421. The sliding portion 422 is sandwiched between the two clamping plates of the fixed portion 421 and is coupled to the slide groove in the fixed portion 421, and is slidable relative to the fixed portion 421. The sliding portion 422 also includes two clamping plates whose upper ends are connected, with a gap between the two clamping plates, and the guide plate is located between the two clamping plates of the sliding portion 422. A sliding member is further connected between the two clamping plates of the sliding portion 422, and the sliding member is slidably coupled within the first guide portion 411 and the second guide portion 412. The sliding member may be a structure such as an axle pin or a slider, or it may be a roller that can reduce the frictional force between it and the guide plate.

[0091] The drive assembly 5 provides linear driving force, and the sliding mechanism 42 and guide mechanism 41 are connected between the drive assembly 5 and the take-out mounting assembly 3, converting the linear driving force of the drive assembly 5 into two-directional driving force along the first guide section 411 and the second guide section 412, thereby moving the take-out mounting assembly 3 within a first and second motion trajectory with different directions.

[0092] The drive assembly 5 may use a linear motor, a lead screw assembly, a gear rack, a power transmission belt, etc., and any drive device capable of achieving linear motion is included within the scope of this disclosure. In one specific embodiment, the drive assembly 5 is a belt-pulley structure, referring to Figure 2, and includes at least two pulleys 51, a power transmission belt 52 wrapped around the pulleys 51, and a motor that drives the rotation of the pulleys 51, wherein the output end of the motor may be directly connected to one of the pulleys 51, or it may be transmitted to the pulley 51 via a transmission structure such as a gear assembly. The direction of motion of the power transmission belt 52 coincides with the direction of extension of the first guide portion 411. The fixed portion 421 of the sliding mechanism 42 is fixedly connected to the power transmission belt 52. The motor can be made to reciprocate by adjusting the direction of rotation, thereby moving the fixed portion 421 by the pulleys 51 and the power transmission belt 52.

[0093] The drive assembly 5 may be attached to the base 1 or the bearing assembly, or it may be attached to the guide mechanism 41 of the motion assembly 4. In one specific embodiment, the guide mechanism 41 is a guide plate, and the pulleys 51 and power transmission belt 52 of the drive assembly 5 are provided on the guide plate, there are two pulleys 51, the two pulleys 51 are provided at both ends of a first guide section 411 and a second guide section 412 respectively, and are rotatably connected to the guide plate via a rotating shaft, and a connecting member is provided on the fixed section 421 which is fixedly connected to the power transmission belt 52.

[0094] In one specific embodiment, as shown in Figure 2, the pulley 51 and power transmission belt 52 of the drive assembly 5 are provided on one side of the guide plate, and the take-out mounting assembly 3 is provided on the other side of the guide plate, so as to avoid interference with the drive mechanism when the take-out mounting assembly 3 is in motion. The motor may be provided at one end of the guide plate closer to the second guide portion 412.

[0095] The power transmission belt 52 of the drive assembly 5 has low strength, and to improve the stability of the sliding part 422's direction of motion, at least one guide rod 43 may be provided. The extension direction of the guide rod 43 coincides with the direction of motion of the fixed part 421. The fixed part 421 is coupled to the guide rod 43 and is configured to move linearly along the extension direction of the guide rod 43 when driven by the power transmission belt 52. The guide rod 43 may be provided at the base 1, bearing assembly 2, or guide mechanism 41, etc.

[0096] In one embodiment shown in Figure 2, the guide rods 43 are connected to a guide plate, specifically, both ends of two guide rods 43 are fixed to both sides of the guide plate via mounting seats. A slider 4220 is provided on the fixing part 421, which is slidably coupled to the guide rods 43, and the slider 4220 is inserted through the guide rods 43. Two guide rods 43 are provided, and the two guide rods 43 are provided on opposite sides of the guide plate. Sliders 4220 that slide along the two guide rods 43 are provided on the two clamping plates of the fixing part 421.

[0097] The retrieval and loading assembly 3 can load containers in a variety of ways, including but not limited to snap-fit, magnetic attraction, and vacuum chuck attraction. In one specific embodiment, the retrieval and loading assembly 3 includes a suction cup mechanism 31 configured to connect to the end face of a container and load the container. The retrieval and loading assembly 3 further includes a fixed base 32, to which the suction cup mechanism 31 is connected, and to which the fixed base 32 is connected to a sliding portion 422 of a sliding mechanism 42.

[0098] In one specific embodiment of the present disclosure, referring to Figures 3 and 5, a buffer device 33 may be provided between the suction cup mechanism 31 and the fixing base 32 to buffer the impact force when the suction cup mechanism 31 stacks a container. The buffer device 33 may include a spring connected between the suction cup mechanism 31 and the fixing base 32, and there is a certain amount of movement clearance between the suction cup mechanism 31 and the fixing base 32, so that the suction cup mechanism 31 can be displaced relative to the fixing part 32 by the action of an external force overcoming the action of the spring, thereby the spring can buffer the external force received by the suction cup mechanism 31.

[0099] The suction cup mechanism 31 may use a vacuum chuck, and its number may be one or more, without limitation. By controlling the vacuum source, the suction cup mechanism 31 can be controlled to adsorb or release the end face of the container, and the container can be placed on a bearing assembly or rack.

[0100] In the above embodiment, the motion assembly moves the take-out and mounting assembly to reciprocate along the first guide section. Move While doing so, the retrieval and placement assembly can be pulled out to attract the container at the first target position on the rack, and at the same time move the container onto the bearing assembly. At this time, the retrieval and placement assembly can release the container and place it onto the bearing assembly.

[0101] In one embodiment of the present disclosure, the removal and mounting assembly can move the container to fully move it onto the bearing assembly, then release the container and fully bear the container on the bearing assembly.

[0102] In one embodiment of the present disclosure, the take-out and mounting assembly can move the container until a portion of the container is positioned on the bearing assembly, and after the take-out and mounting assembly releases the container, a push device can fully push the container onto the bearing assembly.

[0103] In one specific embodiment of the present disclosure, the bearing assembly 2 is configured to transport a container, and both ends of the bearing assembly 2 can be described as a first open end and a second open end, respectively. In the plane of the paper of Figure 1, the left end of the bearing assembly 2 is the first open end, and its right end is the second open end. The bearing assembly 2 is transportable such that the container moves between the first open end and the second open end, and the accommodating space is provided between the first open end and the second open end of the bearing assembly 2.

[0104] In one embodiment, as shown in Figures 1 and 2, the bearing assembly 2 includes a transport belt 21, the upper surface of which is a bearing surface for supporting a container, the transport belt 21 is capable of transporting the container horizontally, and the transport direction of the transport belt 21 coincides with the extending direction of the first guide portion 411. When the unloading and loading assembly 3 loads the container and moves to a position where the first and second motion trajectories communicate or near such a position, the container is moved into the first opening end, at which point the unloading and loading assembly 3 releases the container and moves away from the storage space of the bearing assembly along the second motion trajectory. Subsequently, the transport belt can move the container until it is fully bearing on the transport belt 21.

[0105] The bearing assembly 2 further comprises a plurality of transmission rolls coupled to the transport belt 21, and a drive motor that drives the rotation of the transport belt 21 by the transmission rolls. In one embodiment, the bearing assembly 2 may be a belt conveyor. The structure and principle of a belt conveyor are prior art and will be understood by those skilled in the art, so they will not be specifically described in this disclosure.

[0106] In one embodiment, as shown in Figure 1, there may be two transport belts 21, which are spaced apart and located on the same horizontal plane, and the take-out and mounting assembly 3 and the motion assembly 4 may be located between the two transport belts 21. The two transport belts 21 move synchronously and transport the container. The two transport belts 21 may be driven by the same drive unit. When the take-out and mounting assembly 3 moves to a predetermined position along a first motion trajectory, it can exit from between the two transport belts 21 with its first open end and attract the end face of the container, and when the take-out and mounting assembly 3 moves to a predetermined position along a second motion trajectory, it can retract between the two transport belts 21 and move until it is lower than the bearing surface.

[0107] In one specific application of the present disclosure, the transport belt 21 further transports a container from the first opening end to the second opening end, or from the second opening end to the second 1 It is configured to transport to the opening end. For example, the container can be transported to a second opening end by a transport belt, and then transported from the second opening end to another target location, for example, to a workstation for picking, or to a transport line to a workstation. Alternatively, the container on the workstation transport line may be placed on the bearing assembly 2 via the second opening end and reach a corresponding position by the transport of the bearing assembly 2, and then retrieved. Installation The assembly moves along the first guide section, pushing the container in bearing assembly 2 through the first open end to the target position on the rack for storage. During this process, Installation The assembly may store the containers by pushing them to the target position on the rack using only a pushing action, or it may store the containers by suction and then pushing them to the target position on the rack.

[0108] In one embodiment, to prevent the container from falling from both sides of the bearing assembly 2, fall prevention ribs 22 may be provided on both sides of the base 1. fallingThe fall prevention ribs 22 can be configured to restrict the container onto the transport belt 21 by being located outside the transport belt. Specifically, the fall prevention ribs 22 on both sides have a strip-like structure and are aligned with the direction of extension of the transport belt 21, and the fall prevention ribs 22 can extend from the first open end to the second open end of the bearing assembly.

[0109] The base 1 may further be provided with calibration guide mechanisms 23 positioned to guide the container on the transport belt 21 to the center of the bearing assembly. Specifically, as shown in Figure 1, the calibration guide mechanisms 23 are provided on opposing sides of the base 1, and the calibration guide mechanisms 23 on both sides are provided symmetrically with respect to the centerline of the bearing assembly 2. The ends of the calibration guide mechanisms 23 are flared to allow the container to easily fit between the calibration guide mechanisms 23 on both sides.

[0110] The fall prevention rib 22 and the calibration guide mechanism 23 may be provided independently of each other, or they may be integrally molded. In the embodiment shown in Figure 1, the fall prevention rib 22 and the calibration guide mechanism 23 are connected as a single unit, and the fall prevention rib 22 extends inward in the intermediate region between the first and second opening ends to form the calibration guide mechanism 23, the distance between the calibration guide mechanisms 23 on both sides is smaller than the distance between the fall prevention ribs 22, and the calibration guide mechanism 23 and the fall prevention ribs 22 at both ends are connected via inclined surfaces, forming a flared structure, so that the container can easily enter between the calibration guide mechanisms 23.

[0111] In one embodiment, the container unloading and transporting assembly further includes a detection device for detecting the position of the container. When the unloading and loading assembly 3 loads and unloads a container and moves a portion of it onto the bearing assembly 2, the detection device can detect the container, at which point the unloading and loading assembly 3 can place the container onto the bearing assembly 2, and, for example, the vacuum source of the suction cup mechanism 31 can be shut off so that the suction cup mechanism 31 releases the container. Therefore, the detection position of the detection device determines when the unloading and loading assembly 3 releases the container, and the detection position of the detection device can be adjusted according to the design, and finally the container can be bearing onto the transport belt. For example, detection Device The detection position may be when the motion assembly 4 has moved to a position close to the second guide portion in the first guide portion.

[0112] The detection device includes, but is not limited to, sensors, infrared scanning devices, imaging devices, etc. The detection device can generate and transmit a detection signal when it detects a container. In one embodiment, the detection device may be a pressure sensor, which is provided on the bearing assembly 2, and when the container moves to the corresponding position on the bearing assembly 2, the pressure sensor can detect the pressure of the container and generate a detection signal. In another embodiment, it may be an infrared sensor or the like, which will not be specifically described here.

[0113] The container retrieval and transport assembly of this disclosure may be used to transport containers on a rack, and when transporting containers, the position of the container retrieval and transport assembly must correspond to a target position on the rack.

[0114] In actual warehouse storage environments, factors such as uneven ground and mounting errors in racks can cause discrepancies between the position of the container retrieval and transport assembly and the target position on the rack. To improve positional accuracy, the container retrieval and transport assembly is further equipped with a positioning system 6 that is positioned to determine the relative position between the container retrieval and transport assembly and the rack. If the positioning system 6 detects that the positional discrepancy between the container retrieval and transport assembly and the target position on the rack has reached a preset range, it is necessary to adjust the position of the container retrieval and transport assembly.

[0115] The positioning system may be a visual scanning module, a laser scanning module, or an infrared scanning module, and acquires location information of a container or container location by identifying a corresponding position on the rack. As shown in Figure 1, the positioning system may be mounted on a base 1, and the base 1 may be provided with a support frame 11, which is located above the bearing assembly 2 and avoids the storage space without interfering with the movement of the container. The support frame 11 may have a door-like structure, and the bottom end of the support frame 11 is fixedly connected to both sides of the first opening end of the bearing assembly 2, and the positioning system is mounted on the top of the support frame 11 and located above the bearing assembly 2.

[0116] In one specific embodiment of the present disclosure, the positioning system 6 may be a two-dimensional imaging module, where each container location on the rack is provided with a corresponding two-dimensional mark, the mark being located at the center of the front beam of the container location. The two-dimensional imaging module is configured to acquire the position information marked on the rack. The two-dimensional imaging module may be located at the center of the front end of the bearing assembly 2. This helps the two-dimensional imaging module read positional information of marks on the beam in front of it. After the two-dimensional imaging module has acquired the positional information of the marks on the beam, it can acquire the height and / or horizontal displacement of the container retrieval and transport assembly relative to the container location at the target position, thereby providing a reference for positioning the container retrieval and transport assembly.

[0117] Example 2 This embodiment provides a loading and unloading device. As shown in Figure 6, the loading and unloading device comprises a frame 7, on which the container removal and transport assembly described in Embodiment 1 is provided. The container removal and transport assembly is configured to move on the frame 7, and the position of the container removal and transport assembly can be adjusted on the frame. For the specific structure and principle of the container removal and transport assembly, please refer to Embodiment 1, and the explanation will be omitted in this embodiment.

[0118] Specifically, as shown in Figure 7, the frame 7 includes an X-axis trajectory 71 and a Y-axis trajectory 72 that are perpendicular to each other, and the X-axis trajectory 71 and the Y-axis trajectory 72 are located in a vertical plane. Specifically, the Y-axis trajectory is configured to move along the X-axis trajectory, and the container retrieval and transport assembly is configured to move along the Y-axis trajectory. The motion assembly 4 is configured to move the retrieval and placement assembly 3 along the Z-axis direction within a first motion trajectory, and the X-axis, Y-axis, and Z-axis constitute a three-dimensional coordinate system.

[0119] In one embodiment, the frame 7 comprises a door frame assembly, and the X-axis track 71 includes a ground rail structure and a sky rail structure provided on the door frame assembly. The X-axis track 71 extends horizontally, and the Y-axis track 72 extends vertically. The Y-axis track 72 may be a support structure, and both ends of the Y-axis track 72 are guideably connected to the ground rail structure and the sky rail structure, respectively, and the Y-axis track 72 moves horizontally along the ground rail structure and the sky rail structure.

[0120] Specifically, each of the two X-axis tracks 71 is provided with an X-axis moving plate, which is movable horizontally along the X-axis tracks 71, and both ends of the Y-axis track 72 are fixedly connected to the two X-axis moving plates. The Y-axis track 72 is provided with a Y-axis moving plate, which is movable vertically along the Y-axis track 72, and the container retrieval and transport assembly is fixedly connected to the Y-axis moving plate. Guide assemblies may be further attached to the X-axis and Y-axis moving plates, which slide along the corresponding X-axis tracks 71 and Y-axis tracks 72.

[0121] The frame 7 is further provided with a drive system including an X-axis drive unit and a Y-axis drive unit. Here, the X-axis drive unit drives the Y-axis trajectory 72 to move along the X-axis trajectory 71, and the Y-axis drive unit drives the container retrieval and transport assembly to move along the Y-axis trajectory 72, thereby moving the container retrieval and transport assembly to a corresponding position, for example, a position corresponding to a target position on the rack. The drive system may include a drive motor, transmission gears, transmission chain, lead screw assembly, etc., and those skilled in the art can configure the drive system based on the prior art to achieve the above functions.

[0122] In one embodiment of the present disclosure, there may be at least two Y-axis tracks 72, and at least two Y-axis tracks 72 move relatively independently between two upper and lower X-axis tracks 71. Each Y-axis track is provided with at least one container unloading and transporting assembly, and each container unloading and transporting assembly on each Y-axis track can move independently, thereby improving the operational efficiency of the loading and unloading device.

[0123] In this embodiment, the loading and unloading device is for transporting containers on a rack, and the container retrieval and transport assembly can move along the frame 7 along the X-axis trajectory 71 and the Y-axis trajectory 72 to the target position on the rack.

[0124] The container retrieval and transport assembly is misaligned with the target position on the rack. Get It has a positioning system 6 for this purpose. The positioning system 6 may use a two-dimensional imaging module such as a camera, or it may use a three-dimensional imaging module such as a depth camera or panoramic camera that can acquire positional information of a target location.

[0125] In one embodiment, a two-dimensional imaging module is used in the positioning system 6. Each container location on the rack is provided with a corresponding two-dimensional mark, and the two-dimensional imaging module is configured to acquire positional information marked on the rack. Based on the mark positions acquired by the two-dimensional imaging module, the positional misalignment between the container retrieval and transport assembly and the marks can be compared and analyzed, including horizontal and vertical misalignments. Based on the positional misalignment with the marks acquired by the two-dimensional imaging module, the container retrieval and transport assembly can be adjusted using the X-axis trajectory 71 and Y-axis trajectory 72 to improve the accuracy of the container retrieval and transport assembly's position relative to the target position.

[0126] The X-axis track 71 and Y-axis track 72 of the loading and unloading device have a frame-like structure, and when used in combination with a compact container retrieval and transport assembly, they can be used in relatively narrow workspaces, improving space utilization and contributing to an increase in warehouse storage capacity.

[0127] Example 3 This embodiment provides a picking system, as shown in Figure 7, which includes a workstation area, a rack docking area, and a loading / unloading device described in Embodiment 2. The specific structure and principle of the loading / unloading device are described in Embodiments 2 and 1, and are omitted in this embodiment.

[0128] The rack docking area is configured to dock racks, the loading / unloading equipment is configured to transport containers between the workstation area and the racks, and within the workstation area, there is a picking station where the cargo inside the containers can be sorted.

[0129] In one embodiment of the present disclosure, the workstation area may further include a transport line capable of transporting containers. The transport line is for receiving containers transferred from a container retrieval and transport assembly, and workers located at a picking station can pick containers on the transport line, or the transport line is for transporting containers on the transport line onto a container retrieval and transport assembly, where the containers transported onto the container retrieval and transport assembly are containers that have been picked.

[0130] The loading and unloading equipment can load containers to target locations on racks according to orders and transport the target containers to the transport line in the workstation area, where workers at the picking station can pick goods from the containers on the transport line according to orders. After picking is complete, the containers are transported via the transport line to the loading and unloading equipment. Stacking The unloading equipment can return containers to the racks. The picking system enables initial picking and transportation of containers using the loading and unloading equipment, and facilitates the transfer of containers between the racks and the workstation area, effectively improving the efficiency of sorting operations and reducing human labor.

[0131] Example 4 This embodiment discloses a container retrieval method performed by the picking system described in Embodiment 3, which includes the following steps, as shown in Figure 8. Step S1000: The loading / unloading device drives the container unloading and transporting assembly to move it to the target position.

[0132] The operational system issues a command to the loading / unloading equipment to remove a container. Upon receiving the operational command, the loading / unloading equipment drives the container removal and transport assembly to the target location based on the container location information included in the operational command. The container location information can be stored in advance in the operational system or the loading / unloading equipment's control system, for example, as coordinates, and the loading / unloading equipment can perform corresponding operations based on this location information.

[0133] Referencing the structure of the loading / unloading device in this disclosure, the loading / unloading device includes a horizontally oriented X-axis track 71 and a vertically oriented Y-axis track 72, and after receiving a work command, the loading / unloading device drives a container retrieval and transport assembly by motion in the X-axis and Y-axis directions to move it to a target position corresponding to the target container location included in the work command.

[0134] In one embodiment of the present disclosure, step S1000 includes the following steps. Step S1100: The loading / unloading device drives the container unloading and transporting assembly to the target position according to coordinates pre-stored in the system. Each container location on the rack may be pre-stored in the system as coordinates (x and y). Stacking After receiving a corresponding command, the unloading device controls the X-axis trajectory 71 and Y-axis trajectory 72 based on the coordinate information of the target position included in the command to move by a corresponding distance, driving the container unloading and transporting assembly to the corresponding coordinate position so that it reaches the target position.

[0135] Step S1200: The positioning system acquires position information marked on the rack, and the loading / unloading device adjusts the position of the container retrieval and transport assembly based on the acquired positional deviation.

[0136] Each container location on the rack is marked, and as the container retrieval and transport assembly moves to the target position on the rack, the positioning system can identify the mark at the target position on the rack and obtain the positional deviation between the target position and the container retrieval and transport assembly. Based on the obtained positional deviation, the loading and unloading device can adjust the position of the container retrieval and transport assembly along the X and Y axes to improve the accuracy of the container retrieval and transport assembly's position.

[0137] In one embodiment of the present disclosure, the loading and unloading device drives a container retrieval and transport assembly to move its bearing assembly until the bearing surface of the bearing assembly is lower than the bearing surface for the container bearing at the container location on the rack. This makes it easier for the retrieval and placement assembly to pull the container on the rack onto the bearing assembly.

[0138] Step S2000: The motion assembly 4 is controlled by the drive assembly 5 to move along a first motion trajectory, moving the take-out and load assembly 3 to load the container at the target position on the rack onto the bearing assembly 2.

[0139] The drive assembly moves the take-out and loading assembly 3 along a first motion trajectory via the motion assembly, causing the take-out and loading assembly to be pulled out along the extension direction of the bearing assembly 2 within the housing space of the bearing assembly 2 so as to attract the container ahead. The motion assembly moves in the reverse direction, moving the take-out and loading assembly to transport the container onto the bearing assembly 2.

[0140] In one specific embodiment of the present disclosure, step S2000 includes the following steps: Step S210 0 The motion assembly is controlled by the drive assembly to move to a first position in a first motion trajectory, and then moves the take-out and load assembly to pull out and load the container to the target position on the rack.

[0141] When in the first position, the retrieval and loading assembly aligns with the container at the target position on the rack, allowing the container to be loaded. When the retrieval and loading assembly 3 moves to the first position, the retrieval and loading assembly 2 is pulled out from the first open end of the bearing assembly 2 to the container at the target position on the rack, engages with the end face of the container, and loads the container. For example, if a suction cup mechanism is used in the retrieval and loading assembly 3, the suction cup mechanism engages with the end face of the container at this position and attracts the container.

[0142] Step S220 0 The motion assembly is controlled by the drive assembly to move in the direction of a second position in a first motion trajectory, and the take-out and loading assembly moves the loaded container in the direction of the housing space of the bearing assembly.

[0143] When in the second position, the take-out mounting assembly places the container on the bearing assembly. For example, if the take-out mounting assembly is a suction cup mechanism, in the second position, the vacuum source of the suction cup mechanism is shut off and the container is supported on the bearing assembly.

[0144] The second position may be located at the point where the first and second motion trajectories communicate, or it may be located near the point where the first motion trajectory communicates with the second motion trajectory. When the take-out and mounting assembly attracts the container to move it from the first position to the second position, the container moves toward the housing space of the bearing assembly so that it is fully or partially positioned on the bearing assembly.

[0145] Step S2300: If the detection device detects that the container has reached the second position, the removal and mounting assembly releases the container and supports the container on the bearing assembly.

[0146] When the container moves to the second position, it can be detected by a detection device, at which point the unloading and loading assembly can lower the container onto the bearing assembly. In embodiments where the bearing assembly includes a transport belt, the transport belt can move the container completely into the housing space of the bearing assembly during operation.

[0147] In embodiments where the removal and placement assembly includes a suction cup mechanism, when the container moves to a second position, the detection device transmits a detection signal indicating that the container has reached a predetermined position, thereby shutting off the vacuum source of the suction cup mechanism, which then loads the container onto the transport belt.

[0148] Step S3000: The motion assembly 4 is controlled by the drive assembly to move along a second motion trajectory, moving the take-out mounting assembly to avoid the housing space of the bearing assembly.

[0149] The sliding mechanism of the motion assembly 4 moves the take-out and mounting assembly 3 downwards to the second motion trajectory, and moves the take-out and mounting assembly 3 until it is lower than the bearing surface of the bearing assembly 2, thereby avoiding the storage space of the bearing assembly. At this time, the bearing assembly 2 can transport the container into the storage space.

[0150] In one embodiment, in step S3000, the motion assembly is controlled by the drive assembly to move to a third position in a second motion trajectory, and the take-out mounting assembly moves below the bearing assembly, thereby avoiding the housing space of the bearing assembly.

[0151] The third position is located on the second motion trajectory, and the take-out and loading assembly moves below the bearing assembly to avoid the storage space, so that there is no interference with the take-out and loading assembly when the container moves into or passes through the storage space along the bearing assembly 2, saving space for the container take-out and transport assembly and making the structure more compact.

[0152] Step S4000: Drive the container on bearing assembly 2 to move it to the workstation area.

[0153] After the container is moved onto the bearing assembly 2, the X-axis track 71 and Y-axis track 72 of the loading / unloading device drive the container retrieval and transport assembly from the target position to a corresponding position in the workstation area, for example, corresponding to the workstation transport line. The transport belt continues to transport the container, moving it onto the workstation transport line, allowing the container to be picked at the picking station in the workstation area. The loading / unloading device enables the automated transfer of the container, saving labor costs and improving work efficiency.

[0154] Example 5 This embodiment discloses a container transport method performed by the picking system described in Embodiment 3, and as shown in Figure 9, the container transport method includes the following steps. Step S1000: Transport the container in the workstation area onto the bearing assembly of the container unloading and transport assembly.

[0155] Containers that have been picked in the workstation area must be returned to the rack. When transporting a container onto the bearing assembly of the container retrieval and transport assembly, the retrieval and placement assembly is in the second motion trajectory, i.e., outside the housing space of the bearing assembly, and at this time, the container in the workstation area can be transported onto the bearing assembly of the container retrieval and transport assembly.

[0156] For example, the container may be transported on a transport line in the workstation area, enter the housing space of the bearing assembly through a second open end of the container unloading and transport assembly, and finally be supported on the bearing assembly.

[0157] Step S2000: The loading / unloading device drives the container unloading and transporting assembly to move it to the target position.

[0158] The loading and unloading device can drive the container unloading and transporting assembly to the target position using the X-axis trajectory 71 and the Y-axis trajectory 72. The method for this step is the same as the motion method described above and will not be specifically described here.

[0159] In one embodiment of the present disclosure, the loading and unloading device drives a container retrieval and transport assembly to move its bearing assembly until the bearing surface of the bearing assembly is higher than the bearing surface of the container bearing in the container location of the rack. This makes it easier for the retrieval and placement assembly to push and store the container on the bearing assembly into the container location of the rack.

[0160] Step S3000: After driving the container on the bearing assembly to move it to a preset position, the motion assembly is controlled by the drive assembly to move along the second motion trajectory to the first motion trajectory, and the container removal and transport assembly moves into the storage space of the bearing assembly.

[0161] After reaching the target position, the container on the bearing assembly Na It can be driven to move to a preset position, which may be the second position described above. Of course, in the art of this field, this step may be performed before the container unloading and transporting assembly moves, but is not limited thereto.

[0162] In embodiments where the bearing assembly is a transport belt, the container can be transported by the transport belt. When the container moves to the second position, the motion assembly is controlled to move along the second motion trajectory to the first motion trajectory, thereby moving the take-out and mounting assembly into the housing space of the bearing assembly.

[0163] Step S4000: The motion assembly is controlled by the drive assembly to move within a first motion trajectory, so that the take-out and place assembly pushes the container on the bearing assembly to the target position on the rack for storage.

[0164] The driving force of the drive assembly causes the take-out and place assembly to push the container toward the first opening end by pushing the container at a second position on the bearing assembly along a first motion trajectory, thereby pushing the container toward the target position on the rack for storage, thus completing the step of feeding the container onto the rack.

[0165] Loading and unloading equipment offers significant advantages in picking systems, as it can complete not only container retrieval but also container transport, improving equipment utilization and work efficiency, reducing human labor, and effectively lowering production costs.

[0166] Example 6 This embodiment discloses another container retrieval and transport assembly, as shown in Figures 10 to 19, the other container retrieval and transport assembly provided in this embodiment comprises a base 1, a transport platform 200, a gripping mechanism 300, and an avoidance mechanism 400, wherein the transport platform 200 is provided on the base 1, and the transport platform 200 has a receiving end, a sending end, and a transport table surface between the two ends, and the transport platform 200 is arranged to move the sorting object from the receiving end to the sending end via the transport table surface, and the gripping mechanism 30 The gripping mechanism 300 is movably mounted on the base 1 and is configured to move the sorting object, which is outside the transport table surface, to the transport table surface while gripping it. The avoidance mechanism 400 is provided on the base 1 and is controllably connected to the gripping mechanism 300. The avoidance mechanism 400 is configured to control the height of the gripping mechanism 300 so that its highest position is lower than the transport table surface of the transport platform 200, in order to allow the sorting object to move from the receiving end to the sending end via the transport table surface.

[0167] The container retrieval and transport assembly may be used to automatically move cargo from rack 500, especially when cargo is placed at a high position on rack 500, instead of workers manually retrieving the cargo from rack 500. When used in combination with a corresponding robotic arm 610 or similar structure, the container retrieval and transport assembly can be moved to a position corresponding to the appropriate cargo, thereby automatically moving the cargo and retrieving it. The container retrieval and transport assembly can also be used in combination with a corresponding system control, enabling rapid and automatic retrieval of cargo through predetermined logic control, thereby improving sorting efficiency. Therefore, the container retrieval and transport assembly enables the automatic retrieval of cargo instead of workers manually retrieving it from rack 500, and also enables automatic and rapid sorting of cargo.

[0168] When the container retrieval and transport assembly retrieves cargo, it must first reach the position on the rack 500 where the cargo will be placed. The gripping mechanism 300 can grasp the cargo on the rack 500 and then move it while still gripping it to the transport table surface of the transport platform 200. The transport platform 200 has a transport function and can move the cargo on the transport table surface from the receiving end to the sending end. Once the gripping mechanism 300 has moved the cargo onto the transport table surface while still gripping it, it lowers its height under the control of the avoidance mechanism 400 and moves below the transport platform 200 to prevent any obstacles from occurring during the process of moving the cargo from the receiving end to the transport end.

[0169] The transport platform 200 may employ any structure capable of transferring cargo, such as a transport belt 21, a slide rail table surface, a roll axis table surface, a ball table surface, etc. In one embodiment, the transport platform 200 includes a pair of transport belts 21 symmetrically mounted on the base 1, the transport surfaces of the transport belts 21 constitute the transport table surface, and there is a clearance space 220 between the pair of transport belts 21, and the gripping mechanism 300 is located within the clearance space 220. In addition, the transport platform 200 may also consist of a slide rail table surface, a roll axis table surface, or a ball table surface, which similarly form a central clearance space 220, as long as it can form a clearance space 220 for housing the gripping mechanism 300. Furthermore, in each transport platform 200 with a different structure, the clearance mechanism 400 is not limited to being located only in the central position, nor is it necessarily located in the absolute central position.

[0170] The gripping mechanism 300 is used as a component for gripping cargo, and may employ a mechanical gripper or a suction cup mechanism 31, etc., that has a gripping function. When the cargo is irregularly shaped, it is preferable to use a component such as a mechanical gripper, and when the cargo is regular in shape or placed in a regular-shaped storage box, a component such as a suction cup mechanism 31 may be used. In one embodiment, the gripping mechanism 300 includes a guide mechanism 41 and a suction cup mechanism 31, the guide trajectory of the guide mechanism 41 connects the receiving end and the sending end, the suction cup mechanism 31 is mounted on the guide mechanism 41 so as to be guided along the guide trajectory, and the suction cup mechanism 31 is positioned to move the sorting object along the guide trajectory. Therefore, the suction cup mechanism 31 may be used to suction cargo or storage boxes in which cargo is stacked so that the cargo can move from the receiving end to the transport platform 200 and then through the transport platform 200 to the sending end.

[0171] As a means for the suction cup mechanism 31 to move along the guide trajectory on the guide mechanism 41 from the receiving end to the dispensing end, any member having both guiding and movement functions may be used. In one embodiment, the gripping mechanism 300 further comprises an electrically controlled slider mounted on the guide mechanism 41 so as to be guided along the guide trajectory, and the suction cup mechanism 31 is mounted on the electrically controlled slider and further indirectly mounted on the guide mechanism 41. The guide mechanism 41 may be, for example, an electrically controlled guide rail, which has an electrically controlled slider for moving the suction cup mechanism 31, and the coupling of the electrically controlled guide rail and the electrically controlled slider can also satisfy logic control.

[0172] The avoidance mechanism 400 can control the gripping mechanism 300 in any manner to move it below the transport table surface. As shown in Figures 1 to 8, the avoidance mechanism 400 includes a lifter 410 provided on the base 1. The guide mechanism 41 has a fixed end facing the receiving end and a movable end facing the dispensing end. The fixed end is hinged to the base 1 and is lower than the transport table surface. The lifter 410 is controllably connected to the movable end, and the lifter 410 is positioned so that the height of the movable end can be controlled to lower the gripping mechanism 300 below the transport table surface.

[0173] The cargo remains held by the gripping mechanism 300. Transport After moving to the transport platform, the gripping mechanism 300 temporarily completes its work task. At this time, the lifter 410 can control the lowering of the height of the movable end of the guide mechanism 41 so as not to hinder the cargo from moving from the receiving end to the discharging end on the transport platform 200, and as the height of the movable end is lowered, the gripping mechanism 300 can be lowered to below the transport table surface so as to be accommodated within the avoidance space 220, thereby completely clearing the space for the cargo to move from the receiving end to the discharging end and satisfying the requirement to move the cargo from the receiving end to the discharging end.

[0174] The lifter 410 may employ components that have a lifting or retracting function, such as a telescopic cylinder, a retractable hydraulic cylinder, or a telescopic rod 411. In one embodiment, the lifter 410 includes a telescopic rod 411 and a transmission link 4121, the telescopic rod 411 being hinged to the base 1, the retractable end of the telescopic rod 411 being hinged to one end of the transmission link 4121, and the other end of the transmission link 4121 being hinged to the movable end. The transmission link 4121 can provide flexible motion control when the telescopic rod 411 controls the lowering of the height of the movable end, thus making the telescopic rod 411 more flexible when driving the lowering of the movable end. In addition, the lifter 410 further includes a support link 413, one end of which is hinged to the base 1 and the other end of which is hinged to the telescopic end of the telescopic rod 411, so that the support link 413 can perform a support role. The connection of the support link 413 and the transmission link 4121 makes the telescopic rod 411 more stable and flexible in the process of driving the height of the movable end down.

[0175] In another embodiment, as shown in Figures 9 and 10, the avoidance mechanism 400 includes a second guide section 412 connected to the guide mechanism 41, the extension trajectory of the second guide section 412 being connected at one end to the guide trajectory of the guide mechanism 41 and extending at the other end below the transport table surface, so that the gripping mechanism 300 moves along the extension trajectory so that it is lower than the transport table surface. In this embodiment, unlike the method in which the lifter 410 controls the descent of the movable end to exert an avoidance effect, the second guide section 412 extends the guide trajectory of the guide mechanism 41 and transports the guide trajectory by the extension trajectory. platform It serves to extend to a lower position.

[0176] The cargo remains held by the gripping mechanism 300. TransportAfter moving to the platform, the gripping mechanism 300 temporarily completes its work task. In this process, so as not to hinder the cargo from moving from the receiving end to the discharging end on the transport platform 200, the gripping mechanism 300 can continue to move along the extended trajectory of the second guide section 412 as it moves along the guide mechanism 41 to the discharging end, and as the trajectory of the extended trajectory changes, it can move to a position lower than the transport table surface. This completely frees up space for the cargo to move from the receiving end to the discharging end, and satisfies the requirement to move the cargo from the receiving end to the discharging end.

[0177] The second guide section 412 extends in the direction in which the gripping mechanism 300 transports along the extension trajectory. Table surface The position can be set arbitrarily as long as it can move to a lower position. For example, the angle between the guide trajectory and the extension trajectory is in the range of 90 to 150 degrees, and preferably the angle between the guide trajectory and the extension trajectory may be 90 degrees so that the gripping mechanism 300 can be rotated 90 degrees and stored on one side of the transport platform 200.

[0178] Example 7 As shown in Figures 20 to 28, the present invention further provides a logistics sorting system comprising the container retrieval and transport assembly, a rack 500, a positioning device 600, and a circulation device 700. The rack 500 has several grids 530 for temporarily storing items to be sorted, the positioning device 600 is drivably connected to the container retrieval and transport assembly, the positioning device 600 is arranged to drive the container retrieval and transport assembly to a position aligned with the grids 530 so that it can receive items to be sorted transferred from the grids 530, and the circulation device 700 is arranged to be coupled with the container retrieval and transport assembly and is used to receive the items to be sorted.

[0179] In this process, the rack 500 can store cargo using the grid 530 provided on the rack. Cargo can be placed directly on the grid 530 or stored in the grid 530 using standard cargo boxes. The alignment device 600 controls the container retrieval and transport assembly to reach the grid 530 of the cargo to be sorted, and then retrieves the cargo from the grid 530, thereby enabling cargo identification and sorting instead of manual retrieval by workers. This operation may be completed automatically by preset logic control, thereby reducing the workload on workers and improving work efficiency through automated logic control. After the container retrieval and transport assembly transfers the cargo to the circulation device 700, the circulation device 700 can continue circulating the cargo for the next sorting operation.

[0180] The rack 500 includes a chassis 510 and a frame 7, the grid 530 is located on the frame 7, the frame 7 is mounted on the chassis 510, and the chassis 510 is configured to move the frame 7. The chassis 510 may be an intelligent mobile chassis 510, which is automatically moved by intelligent control in a logistics sorting system to move the rack 500 to a target position. The frame 7 may also include an outer frame 540 and internal separators 550, some of which are mounted intersecting in the lateral and vertical directions to form the grid 530. The thickness of the internal separators 550 is in the range of 8 mm to 12 mm, for example, the thickness of the internal separators 550 may be 8 mm, 9 mm, 10 mm, 11 mm, 12 mm, etc. Setting the thickness of the internal separators 550 in this way can significantly save space in the rack 500, making the rack 500 lighter and reducing its volume to some extent, effectively improving storage efficiency. Furthermore, the Rack 500 can employ numerous hollow structures to further reduce weight, and the specific form of these hollow structures can be configured as needed.

[0181] The alignment device 600 may employ a robot arm 610. The robot arm 610 may be drivably connected to the container retrieval and transport assembly, or the alignment device 600 may constitute a rectangular coordinate system with a horizontal track, a vertical track, and a moving member. The horizontal track has a horizontal guide trajectory, the vertical track is movably mounted on the horizontal track along the horizontal guide trajectory and is perpendicular to the horizontal track, the vertical track has a vertical guide trajectory, the moving member is movably mounted on the vertical track along the vertical guide trajectory, and the moving member is connected to the container retrieval and transport assembly. Thus, the vertical track, horizontal track, and moving member result in motion in a two-dimensional plane, completing the positional movement of the container retrieval and transport assembly. Naturally, the moving member may have a different guide trajectory, and the container retrieval and transport assembly can be movably mounted on the moving member along the guide trajectory, resulting in the formation of a three-dimensional coordinate system and enabling movement in three-dimensional space, improving the flexibility of movement.

[0182] While the embodiments of this disclosure have been described above, the above descriptions are illustrative, not exhaustive, and are not limited to the embodiments disclosed. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the embodiments described. The terms used herein have been chosen to best describe the principle, practical application, or improvement of the technology in the market of each embodiment, or to enable other those skilled in the art to understand each embodiment disclosed herein. The scope of this disclosure is defined by the appended claims. [Explanation of Symbols]

[0183] In Figures 1 to 28, the one-to-one correspondence between the names of each component and their reference numerals is as follows:

[0184] 1: Bass 11: Support Slot 2: Bearing Assembly 21: Transport belt 22: Anti-fall rib 23: Calibration Guide Mechanism 3: Removal and mounting assembly 31: Suction cup mechanism 32: Fixed base 33:Buffer device 4: Exercise Assembly 41: Guide mechanism 411: First Guide Section 412: Second Guide Section 42: Sliding mechanism 421: Fixed part 422: Sliding part 4220: Slider 43: Guide Rod 5: Drive Assembly 51: Pulley 52: Power transmission belt 6: Positioning System 7:Frame body 71:X-axis orbit 72:Y-axis orbit 200: Transport Platform 300: Gripping mechanism 400: Evasion mechanism 500: Rack 600: Alignment device 700: Circulation device 220: Evasion space 410: Lifter 411: Telescopic rod 4121: Transmission Link 413: Support Links 510: Chassis 530: Grid 540: Outer frame 550: Internal separator 610: Robot arm

Claims

1. A container removal and transport assembly comprising a base, a bearing assembly located on the base, a removal and placement assembly, and a motion assembly, The bearing assembly is configured to bear the container, and the bearing assembly has a housing space for housing the container. The removal and placement assembly is configured to either remove the container from the first target position and load it onto the bearing assembly, or to unload the container from the bearing assembly and place it on the second target position. The motion assembly is configured to move the removal and placement assembly along a first motion trajectory and a second motion trajectory. Within the first motion trajectory, the motion assembly is configured to move the unloading and loading assembly within the housing space of the bearing assembly in order to load and unload containers. Within the second motion trajectory, the motion assembly is configured to move the removal and placement assembly away from the bearing assembly's housing space so that the container enters the housing space and is bearing onto the bearing assembly. The motion assembly comprises a guide mechanism and a sliding mechanism, the guide mechanism comprises a first guide portion and a second guide portion that are in communication with each other, and the sliding mechanism is configured to move along the first guide portion and the second guide portion. The first guide section and the second guide section each limit the first and second motion trajectories of the sliding mechanism, The sliding mechanism comprises a fixed part and a sliding part, and the fixed part and the sliding part are slidably coupled so that the sliding part can slide against the fixed part under the action of an external force. The aforementioned removal and placement assembly comprises a suction cup mechanism and a fixing base, the fixing base being connected to the sliding portion of the sliding mechanism, and the suction cup mechanism being connected to the fixing base and configured to connect to the end face of the container to stack the container. The container removal and transport assembly further comprises a detection device, wherein when the container moves to a second position, the detection device transmits a detection signal indicating that the container has reached a predetermined position, thereby shutting off the vacuum source of the suction cup mechanism, causing the suction cup mechanism to release the container and place it on the bearing assembly, wherein the second position is located at a communication point between the first motion trajectory and the second motion trajectory, or near a communication point between the first motion trajectory and the second motion trajectory.

2. The first guide portion is configured to extend linearly in the horizontal direction, and the second guide portion is located in a different direction from the first guide portion. The sliding mechanism is configured such that, while moving along the first guide portion, the removal and mounting assembly moves linearly within the housing space of the bearing assembly. The sliding mechanism is configured such that, as it moves along the first guide portion to the second guide portion, the removal and mounting assembly moves gradually away from the housing space of the bearing assembly. The container removal and transport assembly according to claim 1, characterized in that when the sliding mechanism moves to a predetermined position along the second guide portion, the removal and placement assembly moves to one side of the bearing assembly, thereby avoiding the housing space of the bearing assembly, and the one side is one side with respect to the extension direction of the bearing assembly.

3. The container removal and transport assembly according to claim 2, characterized in that the second guide portion is configured to be located above the first guide portion, and when the motion assembly moves to a predetermined position along the second guide portion, the removal and placement assembly moves above the bearing assembly, thereby avoiding the housing space of the bearing assembly.

4. The second guide portion is configured to be located below the first guide portion, and when the motion assembly moves along the second guide portion to a predetermined position, the removal and mounting assembly is configured to move below the bearing assembly, thereby avoiding the housing space of the bearing assembly. The motion assembly is configured to move along the second guide portion until the removal and mounting assembly is lower than the bearing surface of the bearing assembly. The container removal and transport assembly according to claim 2, characterized in that the first guide portion and the second guide portion are guide grooves provided in the guide mechanism, and the second guide portion is configured to extend diagonally downward from the tip of the first guide portion.

5. The first guide portion and the second guide portion are located on the same plane, and the sliding mechanism is, A stationary part controlled by a drive assembly to move linearly along a direction parallel to the plane in which the first guide part and the second guide part are located, It comprises a sliding portion that is slidably coupled to the fixed portion and guidably coupled to a first guide portion and a second guide portion, The container removal and transport assembly according to claim 4, characterized in that the removal and placement assembly is provided on the sliding part.

6. The drive assembly is a belt-pulley structure, and the fixed portion is connected to the power transmission belt of the belt-pulley structure. The container removal and transport assembly according to claim 5, characterized in that the guide mechanism is provided with a guide rod that is guidably coupled to a fixed part, and the fixed part is configured to move linearly along the extension direction of the guide rod by driving a power transmission belt.

7. The container removal and transport assembly according to claim 5, wherein the guide mechanism comprises a guide plate positioned longitudinally with respect to the bearing assembly, and the upper end surface of the guide plate is lower than the bearing surface of the bearing assembly.

8. The container retrieval and transport assembly according to claim 1, further comprising a positioning system provided on the base, wherein the positioning system is arranged to determine the relative position between the container retrieval and transport assembly and the rack.

9. The container removal and transport assembly according to claim 1, characterized in that the container removal and transport assembly has a first open end and a second open end, and the bearing assembly is a transport belt configured to drive the container to move to the first open end or the second open end of the container removal and transport assembly.

10. It comprises a base, a bearing assembly located on the base, a take-out mounting assembly, and a motion assembly, The bearing assembly is configured to bear the container, and the bearing assembly has a housing space for housing the container. The removal and placement assembly is configured to either remove the container from the first target position and load it onto the bearing assembly, or to unload the container from the bearing assembly and place it on the second target position. The motion assembly is configured to move the removal and placement assembly along a first motion trajectory and a second motion trajectory. Within the first motion trajectory, the motion assembly is configured to move the unloading and loading assembly within the housing space of the bearing assembly in order to load and unload containers. Within the second motion trajectory, the motion assembly is configured to move the removal and placement assembly away from the bearing assembly's housing space so that the container enters the housing space and is bearing onto the bearing assembly. The bearing assembly comprises a transport platform having a receiving end, a sending end, and a transport table surface between both ends, wherein the transport platform is arranged to move the sorting object from the receiving end to the sending end via the transport table surface. The removal and placement assembly includes a gripping mechanism positioned to move the sorting object, which is located outside the transport table surface, to the transport table surface while gripping it. The motion assembly includes an avoidance mechanism that is positioned to control the height of the gripping mechanism so that the highest position of the gripping mechanism is lower than the conveying table surface of the conveying platform, in order to enable the sorting object to move from the receiving end to the discharging end via the conveying table surface. The gripping mechanism includes a guide mechanism whose guide trajectory connects the receiving end and the dispensing end. The aforementioned avoidance mechanism is The base is equipped with a lifter, A container retrieval and transport assembly characterized in that one end of the guide mechanism toward the receiving end is a fixed end, and the other end toward the dispensing end is a movable end, the fixed end is hinged to the base and lower than the transport table surface, the lifter is controllably connected to the movable end, and the lifter is positioned so as to be able to control the lowering of the height of the movable end so that the gripping mechanism can be lowered below the transport table surface.

11. The aforementioned transport platform is The container removal and transport assembly according to claim 10, comprising a pair of transport belts symmetrically mounted on the base, wherein the transport surface of the transport belts constitutes the transport table surface, there is a clearance space between the pair of transport belts, and the gripping mechanism is located within the clearance space.

12. The aforementioned gripping mechanism is The container removal and transport assembly according to claim 11, further comprising a suction cup mechanism that is mounted on the guide mechanism so as to guide along the guide trajectory and is arranged to move the sorting object along the guide trajectory.

13. The aforementioned lifter is, A retractable rod is attached to the aforementioned base with a hinge, A transmission link is provided, with one end hinged to the telescopic end of the telescopic rod and the other end hinged to the movable end. The aforementioned lifter is, The container removal and transport assembly according to claim 12, further comprising a support link whose one end is hinged to the base and whose other end is hinged to the telescopic end of the telescopic rod.

14. The aforementioned avoidance mechanism is The container removal and transport assembly according to claim 12, further comprising a second guide portion connected to the guide mechanism, wherein the extension trajectory of the second guide portion is connected at one end to the guide trajectory of the guide mechanism and extends at the other end to below the transport table surface, in order to allow the gripping mechanism to move along the extension trajectory and become lower than the transport table surface.

15. A loading and unloading device comprising a frame on which a container removal and transport assembly according to any one of claims 1 to 14 is provided, wherein the container removal and transport assembly is arranged to move the frame.

16. The frame has an X-axis trajectory and a Y-axis trajectory whose directions are perpendicular to each other, the Y-axis trajectory is configured to move along the X-axis trajectory, and the container removal and transport assembly is configured to move along the Y-axis trajectory. The motion assembly is configured to move the take-out and load assembly so that it moves along the Z-axis direction within a first motion trajectory to load the container onto the bearing assembly. The loading and unloading device according to claim 15, characterized in that the frame comprises a door frame assembly, the X-axis track comprises a ground rail structure and a sky rail structure provided on the door frame assembly, and both ends of the Y-axis track are guideably connected to the ground rail structure and the sky rail structure, respectively.

17. A workstation area with a picking station, A rack docking area configured to dock racks, A loading and unloading device according to claim 15, configured to transfer containers between a workstation area and a rack, A picking system characterized by including [this].

18. The picking system according to claim 17, wherein the workstation area further includes a transport line, the transport line being for receiving containers transported from a container retrieval and transport assembly, or for transporting containers on the transport line to a container retrieval and transport assembly.

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